Multi-mode steering pull rod, system and mobile platform

Abstract

The utility model discloses a multi-mode steering pull rod, a system and a mobile platform, and belongs to the field of steering systems. The multi-mode steering pull rod comprises a pull rod body. The two ends of the pull rod body are connected with a first knuckle bearing and a second knuckle bearing respectively. The pull rod body comprises a first connecting seat, a second connecting seat and a movable rod, one end of the movable rod is fixedly connected with the first connecting seat, and the first connecting seat is connected with the first joint bearing; an insertion hole matched with the movable rod is formed in the second connecting seat, and the other end of the movable rod is inserted into the insertion hole; the movable rod is further connected with a multi-mode damping adjusting mechanism capable of adjusting the motion damping of the movable rod. According to the utility model, the movable rod, the damping adjusting mechanism for adjusting the motion damping of the movable rod and the like are integrated on the steering pull rod, so that the steering pull rod can carry out damping adjustment between flexibility and rigidity, the steering rigidity can be ensured on a flat road surface, damping can be realized as much as possible under extreme road conditions, and the steering pull rod is suitable for different road conditions.

Description

Technical Field

[0001] The utility model relates to the field of steering systems, in particular to a multi-modal steering rod, a system and a mobile platform. Background Art

[0002] The steering rod is a critical component in a vehicle's steering mechanism, directly impacting handling stability, operational safety, and tire life. Existing steering rods are mostly rigid, connected via threads and spherical bearings. These rods are very stable and reliable under normal, flat road conditions. However, due to the complex road conditions in parts of my country, with numerous bumps and potholes, conventional rigid steering rods are susceptible to plastic deformation under frequent impacts, causing steering deviation and excessive tire wear. Furthermore, rigid impacts can significantly damage the steering mechanism. Frequent impacts under complex road conditions can create wiggle and play, which can cause minor steering wheel shake and stiff steering during high-speed driving. In severe cases, this can lead to steering failure and loss of control. Currently, some flexible steering rods are connected solely via springs or hard rubber, but these fail to maintain adequate steering rigidity when the vehicle is traveling on normal, flat roads. Utility Model Content

[0003] Based on the above technical problems, the present invention proposes a multi-modal steering rod, system and mobile platform.

[0004] The technical solution adopted by this utility model is:

[0005] One of the purposes of the present utility model is to provide a multi-modal steering tie rod, which includes a tie rod body, wherein both ends of the tie rod body are respectively connected to a first joint bearing and a second joint bearing;

[0006] The pull rod body includes a first connecting seat, a second connecting seat and a movable rod, one end of the movable rod is fixedly connected to the first connecting seat, and the first connecting seat is connected to the first joint bearing; a socket adapted to the movable rod is provided on the second connecting seat, and the other end of the movable rod is inserted into the socket;

[0007] The movable rod is also connected to a multi-modal damping adjustment mechanism capable of adjusting the magnitude of its motion damping.

[0008] Preferably, the multi-modal damping adjustment mechanism includes a sleeve sleeved on the outside of the movable rod segment, a piston is provided on the movable rod and corresponds to the interior of the sleeve, and the piston and the sleeve are in sliding and sealing cooperation;

[0009] The piston divides the interior of the sleeve into a first oil chamber and a second oil chamber; a first oil inlet and outlet is provided on the side wall of the sleeve at a position corresponding to the first oil chamber, and a second oil inlet and outlet is provided on the side wall of the sleeve at a position corresponding to the second oil chamber. An oil channel is also provided on the side wall of the sleeve, and the first oil inlet and outlet are connected to the second oil inlet and outlet through the oil channel;

[0010] A sliding sealing member for controlling the opening amplitude thereof is provided at the first oil inlet and outlet and / or the second oil inlet and outlet.

[0011] Preferably, the sliding blocking member is provided at the second oil inlet and outlet, and the sliding blocking member comprises a blocking piece and a first driving assembly for driving the blocking piece to move back and forth along the axial direction of the sleeve;

[0012] The first driving assembly includes a first motor, a first worm and a first worm wheel. The rotating shaft of the first motor is transmission-connected to the first worm wheel. The first worm wheel is meshed with the first worm wheel, and the first worm wheel is connected to the blocking piece.

[0013] Preferably, the blocking piece is annular, the first worm gear is connected to the blocking piece via a stepped connector, a countersunk hole adapted to the stepped connector is provided on the second connecting seat; an external thread is provided on a portion of the stepped connector, and a matching internal thread groove is provided at the countersunk hole;

[0014] The first motor is fixed on the second connecting seat; the second connecting seat is also connected to one end of the sleeve.

[0015] Preferably, the movable rod passes through the sleeve through both ends of the sleeve, and sealing rings are provided between the movable rod and the sleeve, between the piston and the inner wall of the sleeve, and between the stepped connector and the second connecting seat.

[0016] Preferably, the first oil inlet and outlet and the second oil inlet and outlet are both provided in plurality and are arranged at intervals along the circumference of the side wall of the sleeve.

[0017] Preferably, a spring is further provided between the first connecting seat and the second connecting seat, and the spring is located outside the sleeve.

[0018] Preferably, the threaded end of the first spherical bearing is threadedly connected to the first connecting seat, and a rotating sleeve is further provided on the first connecting seat, and the rotating sleeve is connected to the first spherical bearing via a clamping member;

[0019] The rotating sleeve is connected to a second driving assembly that drives it to rotate. The second driving assembly includes a second motor, a second worm and a second worm wheel. The rotating shaft of the second motor is transmission-connected to the second worm, the second worm is meshed with the second worm wheel, and the second worm wheel is connected to the rotating sleeve.

[0020] A second object of the present invention is to provide a multi-modal steering system, which adopts the multi-modal steering rod as described above.

[0021] A third object of the present utility model is to provide a mobile platform, which adopts the multimodal steering system as described above; the mobile platform also includes a speed sensor, a posture sensor and a controller, the speed sensor and the posture sensor are both connected to the controller, and the controller is connected to the first motor and / or the second motor.

[0022] The beneficial technical effects of the utility model are:

[0023] (1) The utility model integrates a movable rod and a damping adjustment mechanism for adjusting the size of its motion damping on the steering rod, so that the steering rod itself can adjust the damping between flexibility and rigidity. It can ensure steering rigidity on flat roads and reduce shock as much as possible under extreme road conditions, and is suitable for different road conditions.

[0024] (2) Compared with a rigid steering rod, the present invention can effectively avoid problems such as steering wheel shaking, insensitive steering, and easy tire wear during driving, and can effectively ensure the service life of the steering gear. On bumpy roads, the present invention can reduce the vibration fed back to the driver by the road surface, ensuring driving comfort.

[0025] (3) The utility model can perform multi-modal adjustment of the rigid locking and non-locking of the steering rod by controlling the opening and closing of the oil inlet and outlet ports; and adopts a design in which the first motor drives the blocking plate to move slowly to adjust the amplitude of blocking the oil inlet and outlet ports, thereby realizing multi-stage damping adjustment of the rod body. The operation is simple and convenient, and the steering rod can be adaptively adjusted according to the bumpy road conditions and driving requirements. The scope of application is wider and the driving comfort is higher.

[0026] (4) The present invention can also drive the threaded end of the first joint bearing to rotate in or out relative to the first connecting seat through the second drive component, so that the driver can perform four-wheel alignment anytime and anywhere, ensuring driving safety and reducing tire wear and excessive wear of the tire.

[0027] (5) The utility model further sets a speed sensor, a posture sensor and a controller on the vehicle body moving platform, which can timely feed back the vehicle's travel speed and vehicle body bumps to the controller, and then the controller controls the first motor to perform adaptive adjustment of the steering rod damping.

[0028] (6) The utility model is suitable for installation on hard-core off-road vehicles, or as a modified part for ordinary family cars. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the three-dimensional structure of the multi-modal steering rod of the present invention;

[0030] Figure 2This is a front view of the multi-modal steering tie rod of the present invention;

[0031] Figure 3 This is a schematic cross-sectional view of the multi-modal steering tie rod of the present invention when the piston is in the first working position;

[0032] Figure 4 This is a schematic cross-sectional view of the multi-modal steering tie rod of the present invention when the piston is in the second working position;

[0033] Figure 5 This is a schematic diagram of a state in which the sliding blocking member in the multi-modal steering tie rod of the present invention has not yet blocked the second oil inlet and outlet;

[0034] Figure 6 for Figure 5 A partial enlarged view of

[0035] Figure 7 This is a schematic diagram of a state in which the sliding blocking member in the multi-modal steering tie rod of the present invention completely blocks the second oil inlet and outlet;

[0036] Figure 8 for Figure 7 A partial enlarged view of

[0037] Figure 9 This is a schematic diagram of the structural principle of an embodiment of the multi-modal steering mobile platform of the present utility model;

[0038] Figure 10 This is a schematic diagram of the structural principle of another embodiment of the multi-modal steering mobile platform of the present utility model.

[0039] In the figure: 1-tie rod body, 2-first joint bearing, 3-second joint bearing, 4-spring, 5-rotating sleeve, 6-clamping member, 7-second drive assembly, 8-speed sensor, 9-attitude sensor, 10-controller, 11-signal conditioning board, 12-driver, 13-sealing ring, 14-wheel;

[0040] 101-first connecting seat, 102-second connecting seat, 103-movable rod, 104-jack, 105-sleeve, 106-sliding sealing member, 107-piston;

[0041] 1051 - first oil chamber, 1052 - second oil chamber, 1053 - first oil inlet and outlet, 1054 - second oil inlet and outlet, 1055 - oil channel;

[0042] 1061 - blocking piece, 1062 - first motor, 1063 - first worm, 1064 - first worm gear, 1065 - stepped connector;

[0043] 701 - second motor, 702 - second worm, 703 - second worm gear. DETAILED DESCRIPTION

[0044] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0045] Example 1

[0046] like Figure 1-8 As shown, a multimodal steering rod includes a rod body 1, and the two ends of the rod body 1 are respectively connected to the first joint bearing 2 and the second joint bearing 3. The rod body 1 includes a first connecting seat 101, a second connecting seat 102 and a movable rod 103, one end of the movable rod 103 is fixedly connected to the first connecting seat 101, and the first connecting seat 101 is connected to the first joint bearing 2. A socket 104 adapted to the movable rod 103 is provided on the second connecting seat 102, and the other end of the movable rod 103 is inserted into the socket 104. The setting of the socket 104 provides space for the movement of the movable rod 103. The movable rod 103 is also connected to a multimodal damping adjustment mechanism that can adjust the size of its motion damping.

[0047] By integrating a movable rod and a damping adjustment mechanism for adjusting its motion damping into the steering rod, this new system allows the steering rod itself to adjust its damping between flexibility and rigidity. This ensures steering rigidity on flat roads while minimizing shock absorption in extreme conditions, making it suitable for a variety of road conditions. Compared to rigid steering rods, this new system effectively prevents steering wheel shake, insensitive steering, and tire wear during driving, while also effectively extending the life of the steering gear. On bumpy roads, this system reduces vibrations transmitted back to the driver from the road, ensuring driving comfort.

[0048] like Figure 3 、 Figure 4 As shown, the multi-modal damping adjustment mechanism includes a sleeve 105 that is sleeved on the outside of the movable rod section, and a piston 107 is provided on the movable rod and corresponding to the interior of the sleeve. The piston 107 and the movable rod 103 are of an integral design. The piston 107 and the sleeve 105 are in sliding and sealing cooperation. The piston 107 divides the interior of the sleeve into a first oil chamber 1051 and a second oil chamber 1052. A first oil inlet and outlet 1053 is provided on the side wall of the sleeve 105 and at a position corresponding to the first oil chamber 1051, and a second oil inlet and outlet 1054 is provided on the side wall of the sleeve and at a position corresponding to the second oil chamber 1052. An oil channel 1055 is also provided on the side wall of the sleeve, and the first oil inlet and outlet 1053 is connected to the second oil inlet and outlet 1054 through the oil channel 1055. A sliding sealing member 106 is provided at the second oil inlet and outlet 1054 for controlling its opening amplitude. As shown Figure 4-Figure 8As shown, the sliding blocking member 106 includes a blocking piece 1061 and a first drive assembly for driving the blocking piece 1061 to move back and forth along the axial direction of the sleeve 105. The first drive assembly includes a first motor 1062, a first worm 1063, and a first worm gear 1064. The rotating shaft 1062 of the first motor is drivingly connected to the first worm 1063, the first worm 1063 is meshed with the first worm gear 1064, and the first worm gear 1064 is connected to the blocking piece 1061.

[0049] Specifically, the sealing plate 1061 is annular, and the first worm gear 1064 is connected to the sealing plate 1061 via a stepped connector 1065. A countersunk hole that mates with the stepped connector is provided on the second connecting base 102. The stepped connector has external threads on some sections, and the countersunk hole has a matching internal thread groove. The first motor 1062 is fixed to the second connecting base 102; the second connecting base 102 is also connected to one end of the sleeve 105.

[0050] By starting the first motor 1062, the rotating shaft of the first motor 1062 drives the first worm 1063 to move, and the first worm 1063 drives the first worm wheel 1064 meshing with it to move. During the movement of the first worm wheel 1064, the blocking piece 1061 is driven to translate along the axial direction of the sleeve 105 through the stepped connector 1065, thereby realizing the opening and closing of the second oil inlet and outlet 1054 on the sleeve. Of course, the opening size of the second oil inlet and outlet 1054 can also be adjusted. Through the above operation, the switching control of the hydraulic oil between the first oil chamber 1051 and the second oil chamber 1052 can be realized, thereby realizing the multi-modal damping control of the steering rod. That is, the damping adjustment control between the rigidity and flexibility of the steering rod can be realized.

[0051] By controlling the opening and closing of the oil inlet and outlet ports, this utility model allows for multi-mode adjustment of the steering tie rod's rigidity, whether locked or unlocked. Furthermore, a first motor is used to slowly move the blocking plate to adjust the extent of the oil inlet and outlet blocking, thereby achieving multi-level damping adjustment for the tie rod body. This simple and convenient operation allows for adaptive adjustment based on road conditions and driving requirements, extending its applicability and enhancing driving comfort.

[0052] In the above-mentioned multi-modal steering tie rod, a spring 4 is further provided between the first connecting seat 101 and the second connecting seat 102 , and the spring 4 is located outside the sleeve 105 .

[0053] The movable rod 103 passes through the sleeve 105 at both ends of the sleeve. Sealing rings 13 are provided between the movable rod 103 and the sleeve 105, between the piston 107 and the inner wall of the sleeve 105, and between the stepped connector and the second connector 102 to improve sealing. Specifically, a Y-shaped sealing ring can be provided between the movable rod 103 and the sleeve 105, between the piston 107 and the inner wall of the sleeve 105, and an O-shaped sealing ring can be provided between the stepped connector and the second connector.

[0054] The first oil inlet and outlet 1053 and the second oil inlet and outlet 1054 are each provided in a plurality and spaced apart along the circumference of the sidewall of the sleeve. Specifically, three or four oil inlets and outlets may be provided, each spaced apart at angles of 120 degrees and 90 degrees, respectively. The oil passage 1055 may be provided in a circular shape.

[0055] Example 2

[0056] The basic structure is the same as that of Example 1, except that the following settings are also performed: Figure 1-5 、 Figure 7 As shown, the threaded end of the first spherical plain bearing 2 is threadedly connected to the first connecting seat 101. A rotating sleeve 5 is also provided on the first connecting seat 101 and connected to the first spherical plain bearing 2 via a clamping member 6. The rotating sleeve 5 is connected to a second drive assembly 7 that drives its rotation. The second drive assembly 7 includes a second motor 701, a second worm 702, and a second worm gear 703. The rotating shaft of the second motor 701 is drivingly connected to the second worm 702, which meshes with the second worm gear 703, which is connected to the rotating sleeve 5. The second motor 701 and other components are fixed to the first connecting seat 101.

[0057] When the second motor 701 is started, the rotating shaft of the second motor 701 drives the second worm 702 to move. The second worm engages with the second worm wheel, which in turn drives the second worm wheel 703 to move. The second worm wheel 703 drives the rotating sleeve 5 to move. The rotating sleeve 5 drives the threaded end of the first spherical bearing 2 to rotate in or out relative to the first connecting seat 101 via the clamping member 6, allowing the driver to adjust the four-wheel alignment anytime and anywhere. For example, when the steering wheel angle sensor detects that the steering wheel input angle is 0, the wheel speed sensor detects the wheel speed data on both sides through comparison. If there is a discrepancy, it is determined that the vehicle is deviating from the direction. At this time, the second motor 701 can be used to control the threaded end of the first spherical bearing 2 to rotate out relative to the first connecting seat 101 to increase the length of the steering rod until the steering wheel input is adjusted to 0 degrees and there is no speed difference between the two ends. This configuration ensures driving safety and reduces tire wear and excessive tire wear.

[0058] Example 3

[0059] A multimodal steering system employing the multimodal steering tie rod described in Example 2. When a relatively flat road surface is detected, the speed is less than 15 km / h, and there is sustained braking action, the system controls the first motor to reduce the oil inlet and outlet openings in advance when the steering wheel input angle is within the range of -10° to 10°. This increases steering stiffness in low-speed, good road conditions, accommodates the greater steering friction caused by low wheel speeds during low-speed steering, and ensures steering stiffness during cornering.

[0060] Example 4

[0061] A mobile platform adopts the multimodal steering system as described in Example 3. Figure 9 As shown, the mobile platform further includes a speed sensor 8, a posture sensor 9, and a controller 10. The speed sensor 8 and the posture sensor 9 are both connected to the controller 10, and the controller 10 is connected to the first motor 1062 and the second motor 701. Alternatively, it further includes a signal conditioning board 11 and a driver 12. The speed sensor 8 and the posture sensor 9 are connected to the controller 10 via the signal conditioning board 11, and the controller 10 is respectively connected to the first motor 1062 and the second motor 701 via the driver 12.

[0062] The speed sensor 8 and the attitude sensor 9 can monitor the speed signal and bumping of the vehicle body or mobile platform in real time, and transmit the signal to the controller 10. The controller 10 then adjusts the rotation of the second motor 701 and other components through feedback, thereby realizing intelligent and real-time steering rod damping adjustment control according to the driving conditions. For example, when it is detected that the vehicle body speed is fast and the bumping is not obvious, the second motor 701 can be used to control the sliding sealing member 106 to close the second oil inlet and outlet 1054, so that the steering rod has stronger rigidity. When it is detected that the vehicle body speed is slow and the bumping is severe, the second motor 701 can be used to control the sliding sealing member 106 to move away from the second oil inlet and outlet 1054, so that the steering rod has a certain degree of flexibility.

[0063] Parts not described in the above methods can be achieved by adopting or drawing on existing technologies.

[0064] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A multi-modal steering tie rod, characterized in that: It includes a pull rod body, with two ends of the pull rod body connected to a first joint bearing and a second joint bearing respectively; The pull rod body includes a first connecting seat, a second connecting seat and a movable rod, one end of the movable rod is fixedly connected to the first connecting seat, and the first connecting seat is connected to the first joint bearing; a socket adapted to the movable rod is provided on the second connecting seat, and the other end of the movable rod is inserted into the socket; The movable rod is also connected to a multi-modal damping adjustment mechanism capable of adjusting the magnitude of its motion damping.

2. The multi-modal steering tie rod according to claim 1, characterized in that: The multi-modal damping adjustment mechanism includes a sleeve sleeved on the outside of the movable rod segment, a piston is provided on the movable rod and corresponds to the interior of the sleeve, and the piston and the sleeve are slidably sealed; The piston divides the interior of the sleeve into a first oil chamber and a second oil chamber; a first oil inlet and outlet is provided on the side wall of the sleeve at a position corresponding to the first oil chamber, and a second oil inlet and outlet is provided on the side wall of the sleeve at a position corresponding to the second oil chamber. An oil channel is also provided on the side wall of the sleeve, and the first oil inlet and outlet are connected to the second oil inlet and outlet through the oil channel; A sliding sealing member for controlling the opening amplitude thereof is provided at the first oil inlet and outlet and / or the second oil inlet and outlet.

3. The multi-modal steering tie rod according to claim 2, characterized in that: The sliding blocking member is arranged at the second oil inlet and outlet, and comprises a blocking piece and a first driving assembly for driving the blocking piece to move back and forth along the axial direction of the sleeve; The first driving assembly includes a first motor, a first worm and a first worm wheel. The rotating shaft of the first motor is transmission-connected to the first worm wheel. The first worm wheel is meshed with the first worm wheel, and the first worm wheel is connected to the blocking piece.

4. The multi-modal steering tie rod according to claim 3, characterized in that: The blocking piece is annular, the first worm gear is connected to the blocking piece via a stepped connector, a countersunk hole adapted to the stepped connector is provided on the second connecting seat; external threads are provided on a portion of the stepped connector, and a matching internal thread groove is provided on the countersunk hole; The first motor is fixed on the second connecting seat; the second connecting seat is also connected to one end of the sleeve.

5. The multi-modal steering tie rod according to claim 4, characterized in that: The movable rod passes through the sleeve via both ends of the sleeve. Sealing rings are provided between the movable rod and the sleeve, between the piston and the inner wall of the sleeve, and between the stepped connector and the second connecting seat.

6. The multi-modal steering tie rod according to claim 2, characterized in that: The first oil inlet and outlet ports and the second oil inlet and outlet ports are both provided in plurality and are arranged at intervals along the circumference of the side wall of the sleeve.

7. The multi-modal steering tie rod according to claim 2, characterized in that: A spring is further provided between the first connecting seat and the second connecting seat, and the spring is located outside the sleeve.

8. The multi-modal steering tie rod according to claim 3, characterized in that: The threaded end of the first joint bearing is threadedly connected to the first connecting seat. A rotating sleeve is also provided on the first connecting seat. The rotating sleeve is connected to the first joint bearing through a clamping member. The rotating sleeve is connected to a second driving assembly that drives it to rotate. The second driving assembly includes a second motor, a second worm and a second worm wheel. The rotating shaft of the second motor is transmission-connected to the second worm, the second worm is meshed with the second worm wheel, and the second worm wheel is connected to the rotating sleeve.

9. A multimodal steering system, characterized in that: A multimodal steering tie rod as described in any one of claims 1 to 8 is used.

10. A mobile platform, characterized in that: A multimodal steering system as claimed in claim 9 is adopted; the mobile platform further comprises a speed sensor, a posture sensor and a controller, the speed sensor and the posture sensor are both connected to the controller, and the controller is connected to the first motor and / or the second motor.

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