A modular steering mechanism with adjustable kingpin inclination angle and wheel camber angle

Abstract

The present invention discloses a steering modular mechanism with adjustable kingpin inclination and wheel camber, which relates to the technical field of kingpin inclination and wheel camber adjustment, and includes a steering drive assembly, a kingpin inclination adjustment assembly, a wheel camber adjustment assembly, and a wheel frame sleeve rotatably connected to the wheel frame shaft through a bearing; the steering drive assembly is installed on one side of the wheel frame sleeve and connected to the wheel frame shaft to drive the wheel to turn; the wheel camber adjustment assembly is installed on the frame and connected to the kingpin inclination adjustment assembly, the kingpin inclination adjustment assembly is installed on one side of the wheel frame sleeve, and the wheel camber adjustment assembly is used to adjust the camber angle of the wheel. In the present application, automatic adjustment is achieved according to different road conditions, which improves the stability and safety of the vehicle during driving and enables the vehicle to reach the best motion state.

Description

Technical Field

[0001] The invention relates to the technical field of adjusting the kingpin inclination angle and the wheel camber angle, and in particular to a steering modular mechanism capable of adjusting the kingpin inclination angle and the wheel camber angle. Background Art

[0002] The kingpin caster angle mainly refers to the upper end of the kingpin axis slightly tilted backward. In the longitudinal vertical plane, the angle between the kingpin axis and the vertical line is called the kingpin caster angle. Its value is closely related to the steering and handling performance of the car. If the kingpin caster angle is too small, when the car is driving in a straight line, the front wheel is prone to shimmy, the steering wheel is swaying, the steering wheel's automatic self-centering ability becomes weak after turning, and the driver will lose the sense of the road; when the kingpin caster angles of the left and right wheels are not equal, the vehicle will cause deviation when driving in a straight line, and the driver dare not let go of the steering wheel, making it difficult to operate or easily causing driver fatigue;

[0003] The wheel camber angle refers to the inclination angle of the actual center line of the wheel relative to the ideal vertical inward or outward. If the wheel is tilted outward, the wheel roll angle is positive. If the wheel is tilted inward, the wheel roll angle is negative. The ideal wheel camber angle is zero. When the actual vehicle is driving, it is necessary to change the wheel roll angle to compensate for the influence of various loads and driving conditions on the wheel roll angle. The purpose is to improve the safety of the wheel when it is working. Since there are assembly gaps between the kingpin and the bushing, the wheel hub and the bearing, these gaps affect the normal operation of the wheel to varying degrees. Since the wheel rotates around the center and radius of the kingpin axis when turning, a large torque will be generated around the steering kingpin due to the rolling resistance of the tire, thereby increasing the steering force. The greater the offset, the greater the torque generated. When there is a camber angle, the offset can be reduced, so the steering force can be reduced. In addition, when the wheel is cambered, a component force applied to the mandrel will be generated under the action of the vertical load, causing the wheel to press inward on the bearing to prevent the wheel from falling off. When the wheel camber angle does not meet the requirements, the wear of the ball joint and wheel bearing will increase (negative camber inner bearing wear increases; positive camber outer bearing wear increases). When the camber angle is too large, or unequal on the left and right, it will also cause the vehicle to deviate to the side with a larger positive camber angle.

[0004] A reverse tricycle is a type of three-wheeled motorcycle, generally with two wheels in the front and one wheel in the back. The castor angle and camber angle of the reverse tricycle need to be fixed before leaving the factory to achieve the optimal driving parameters of the three-wheeled motorcycle.

[0005] However, the castor angle and wheel camber angle of existing reverse tricycles are fixed. When they need to be adjusted, the tricycle needs to be lifted up and adjusted with special tools, which is time-consuming and labor-intensive. For some reverse tricycles used in college competitions, they need to be driven on tracks with different working conditions, which puts a great test on the performance of the vehicle. The real-time adjustment of the castor angle and wheel camber angle is particularly important. Therefore, the present application provides a steering modular mechanism with adjustable kingpin inclination and wheel camber to meet the needs. Summary of the invention

[0006] The purpose of the present application is to provide a modular steering mechanism with adjustable kingpin inclination and wheel camber, which can realize automatic adjustment according to different road conditions, improve the stability and safety of the vehicle during driving, and enable the vehicle to reach the best movement state.

[0007] To achieve the above-mentioned objectives, the present application provides the following technical solutions: a modular steering mechanism with adjustable kingpin inclination and wheel camber, comprising a steering drive assembly, a kingpin inclination adjustment assembly, a wheel camber adjustment assembly and a wheel frame sleeve rotatably connected to the wheel frame shaft through a bearing; the steering drive assembly is installed on one side of the wheel frame sleeve and connected to the wheel frame shaft for driving the wheel to steer; the wheel camber adjustment assembly is installed on the frame and connected to the kingpin inclination adjustment assembly, the kingpin inclination adjustment assembly is installed on one side of the wheel frame sleeve, the wheel camber adjustment assembly is used to adjust the camber angle of the wheel, and the kingpin inclination adjustment assembly is used to adjust the kingpin inclination angle of the wheel; and also includes a controller, the controller is signal-connected to the steering drive assembly, the kingpin inclination adjustment assembly and the wheel camber adjustment assembly, and the controller is signal-connected to a vehicle central processing unit.

[0008] Preferably, the steering drive assembly includes a first servo motor fixedly connected to a side wall of the wheel frame sleeve, the output end of the first servo motor is fixedly connected to a first driving gear, one side of the first driving gear is meshed with a first driven gear, and the first driven gear is fixedly connected to the wheel frame shaft.

[0009] Preferably, the wheel camber angle adjustment assembly includes a planetary gear assembly and a motor drive assembly, the planetary gear assembly includes a planetary carrier, a plurality of planetary gears are rotatably connected to the planetary carrier, the outer sides of the plurality of planetary gears are meshed with the same internal gear plate, the inner sides of the plurality of planetary gears are meshed with the same sun gear, one side of the sun gear is fixedly connected to a drive shaft, one end of the drive shaft is fixedly connected to a flange, the motor drive assembly includes a pair of second servo motors, the output ends of the pair of second servo motors are both fixedly connected to a second drive gear, a pair of second drive gears are meshed with the same second driven gear, one side of the second driven gear is fixedly connected to one side of the internal gear plate, one side of the second servo motor is fixedly connected to a fixing plate, the planetary carrier is fixedly connected to the fixing plate, the sun gear and the internal gear plate are both rotatably connected to the fixing plate, and the kingpin inclination angle adjustment assembly is connected to the flange.

[0010] Preferably, the planet carrier is made of aluminum alloy, and comprises a pair of mounting plates, a plurality of connecting plates are fixedly connected between the pair of mounting plates, and the planet gear is rotatably connected between the pair of mounting plates via an axis.

[0011] Preferably, mounting holes are provided on all four sides of the fixing plate, and the fixing plate is fixedly connected to the frame via mounting bolts and the mounting holes.

[0012] Preferably, a mounting box is provided on one side of the fixing plate, a pair of the second servo motors are both located in the mounting box, and the mounting box is fixedly connected to the fixing plate by bolts.

[0013] Preferably, the kingpin inclination adjustment assembly includes a pair of hydraulic cylinder assemblies, the telescopic ends of the pair of hydraulic cylinder assemblies are fixedly connected to a rotating shaft, the pair of rotating shafts are rotatably connected to the same U-shaped plate, the U-shaped plate is fixedly connected to one side wall of the wheel frame sleeve, one side of the pair of hydraulic cylinder assemblies is fixedly connected to the same U-shaped plate, and the U-shaped plate is fixedly connected to one side of the flange.

[0014] Preferably, one side of the flange and one side of the U-shaped plate are both provided with corresponding fixing holes, a fixing bolt is sleeved in the fixing hole, and one end of the fixing bolt is threadedly connected with a fixing nut.

[0015] Preferably, the controller is signal-connected to the first servo motor, a pair of the hydraulic cylinder assemblies and a pair of the second servo motors.

[0016] In summary, the technical effects and advantages of the present invention are as follows: a road spectrum data model is set in the central controller, which can identify the road spectrum according to the road section on which the vehicle is traveling, and send the corresponding road spectrum data model signal to the controller. The controller sends the received signals to the steering drive component, the kingpin inclination adjustment component and the wheel camber adjustment component respectively. The steering drive component controls the steering of the wheel, assists the driver in steering the vehicle, provides steering assistance, and reduces the steering force applied by the operator. The kingpin inclination adjustment component automatically adjusts the kingpin castor angle according to the road spectrum signals of different sections to adapt to the kingpin castor angle requirements of different sections, reduces the wheel shimmy and steering wheel swing during vehicle driving, improves the driver's road feel when driving, and reduces the driver's fatigue. The wheel camber adjustment component automatically adjusts the wheel camber angle according to the road spectrum signals of different sections to adapt to the wheel camber angle requirements of different sections, improves the safety of the wheel when working, reduces the vehicle's deviation, and reduces the steering force. The steering modular mechanism of the kingpin inclination angle and the wheel camber angle is highly integrated, and automatic adjustment is achieved according to the conditions of different sections, which improves the stability and safety of the vehicle when driving, and enables the vehicle to reach the best motion state. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of a steering modular mechanism with adjustable kingpin inclination angle and wheel camber angle;

[0019] Figure 2 A partially cutaway three-dimensional structural schematic diagram of a steering modular mechanism with adjustable kingpin inclination and wheel camber from a first-person perspective;

[0020] Figure 3 A partially cutaway three-dimensional structural schematic diagram of a steering modular mechanism with adjustable kingpin inclination and wheel camber from a second viewing angle;

[0021] Figure 4 for Figure 3 The enlarged structural diagram at A in the middle;

[0022] Figure 5 It is a schematic diagram of the enlarged three-dimensional structure of the wheel camber angle adjustment component;

[0023] Figure 6 This is an enlarged three-dimensional structural diagram of the planetary gear assembly.

[0024] In the figure: 1. wheel carrier sleeve; 2. first servo motor; 3. first drive gear; 4. first driven gear; 5. U-shaped plate; 6. hydraulic cylinder assembly; 7. second driven gear; 8. fixed plate; 9. second drive gear; 10. second servo motor; 11. bearing; 12. rotating shaft; 13. flange; 14. planet carrier; 15. planetary gear; 16. internal gear plate; 17. sun gear. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] Example: Reference Figure 1-6A steering modular mechanism with adjustable kingpin inclination and wheel camber shown in the figure comprises a steering drive assembly, a kingpin inclination adjustment assembly, a wheel camber adjustment assembly and a wheel frame sleeve 1 rotatably connected to the wheel frame shaft through a bearing 11; the steering drive assembly is installed on one side of the wheel frame sleeve 1 and is connected to the wheel frame shaft for driving the wheel to steer; the wheel camber adjustment assembly is installed on the frame and connected to the kingpin inclination adjustment assembly, the kingpin inclination adjustment assembly is installed on one side of the wheel frame sleeve 1, the wheel camber adjustment assembly is used to adjust the camber angle of the wheel, and the kingpin inclination adjustment assembly is used to adjust the kingpin inclination angle of the wheel; it also includes a controller, the controller is connected to the steering drive assembly, the kingpin inclination adjustment assembly, and the wheel camber adjustment assembly by signal, the controller is connected to the vehicle central processing unit by signal, mounting holes are opened on all sides of the fixing plate 8, the fixing plate 8 is fixedly connected to the frame by mounting bolts and mounting holes, and a road spectrum data model is set in the central controller, which can perform road spectrum recognition according to the road section traveled by the vehicle. , and sends the corresponding road spectrum data model signal to the controller, the controller sends the received signals to the steering drive component, the kingpin inclination adjustment component and the wheel camber adjustment component respectively, the steering drive component controls the steering of the wheel, assists the driver in steering the vehicle, provides steering assistance, and reduces the steering force applied by the operator, the kingpin inclination adjustment component automatically adjusts the kingpin caster angle according to the road spectrum signals of different sections to adapt to the kingpin caster angle requirements of different sections, reduces the wheel shimmy and steering wheel swing during vehicle driving, improves the driver's road feel when driving, and reduces the driver's fatigue, the wheel camber adjustment component automatically adjusts the wheel camber angle according to the road spectrum signals of different sections to adapt to the wheel camber angle requirements of different sections, improves the safety of the wheel when working, reduces the vehicle's deviation, and reduces the steering force. The steering modular mechanism of the kingpin inclination angle and the wheel camber angle is highly integrated, and automatic adjustment is achieved according to the conditions of different sections, which improves the stability and safety of the vehicle when driving, and enables the vehicle to reach the best motion state.

[0027] As an implementation method in this embodiment, the steering drive assembly includes a first servo motor 2 fixedly connected to a side wall of a wheel frame sleeve 1, the output end of the first servo motor 2 is fixedly connected to a first driving gear 3, one side of the first driving gear 3 is meshed with a first driven gear 4, the first driven gear 4 is fixedly connected to the wheel frame shaft, the controller is connected to the first servo motor 2 signal, the controller sends a signal to the first servo motor 2, the output end of the first servo motor 2 rotates to drive the first driving gear 3 to rotate, the first driving gear 3 is meshed with the first driven gear 4, driving the first driven gear 4 to rotate, the first driven gear 4 rotates to drive the wheel frame shaft to rotate, thereby driving the wheel to turn, assisting the driver to steer the vehicle, providing steering assistance, and reducing the steering force applied by the operator. In this embodiment, the steering angle can be adjusted from -180° to +180°.

[0028] As an implementation method in this embodiment, the wheel camber angle adjustment assembly includes a planetary gear assembly and a motor drive assembly, the planetary gear assembly includes a planetary carrier 14, a plurality of planetary gears 15 are rotatably connected to the planetary carrier 14, the outer sides of the plurality of planetary gears 15 are meshed with the same internal gear plate 16, the inner sides of the plurality of planetary gears 15 are meshed with the same sun gear 17, one side of the sun gear 17 is fixedly connected to a drive shaft, one end of the drive shaft is fixedly connected to a flange 13, the motor drive assembly includes a pair of second servo motors 10, the output ends of the pair of second servo motors 10 are fixedly connected to a second drive gear 9, a pair of second drive gears 9 are meshed with the same second driven gear 7, one side of the second driven gear 7 is fixedly connected to one side of the internal gear plate 16, one side of the second servo motor 10 is fixedly connected to a fixed plate 8, the planetary carrier 14 is fixedly connected to the fixed plate 8, the sun gear 17 and the internal gear plate 16 are fixedly connected to the fixed The fixed plate 8 is rotatably connected, the kingpin inclination adjustment assembly is connected to the flange 13, the controller is signal-connected to a pair of second servo motors 10, the controller sends a signal to the second servo motor 10, the output end of the second servo motor 10 rotates to drive the second drive gear 9 to rotate, the second drive gear 9 rotates to drive the second driven gear 7 to rotate, the second driven gear 7 rotates to drive the inner gear plate 16 to rotate, the inner gear plate 16 rotates to drive multiple planetary gears 15 to rotate, the multiple planetary gears 15 rotate to drive the sun gear 17 to rotate, the sun gear 17 rotates to drive the flange 13 to rotate the kingpin inclination adjustment assembly and the wheel to achieve the adjustment of the wheel camber angle to meet the wheel camber angle requirements of different road sections, improve the safety of the wheel when working, reduce the vehicle running deviation, and reduce the steering force. In this embodiment, the wheel camber angle can be adjusted in real time from -45° to +45° to meet the use under various road conditions such as unpaved roads.

[0029] In this embodiment, the planetary carrier 14 is made of aluminum alloy and includes a pair of mounting plates, a plurality of connecting plates are fixedly connected between the pair of mounting plates, and the planetary gear 15 is rotatably connected between the pair of mounting plates through an axis. The advantage of such an arrangement is that the weight of the entire vehicle is reduced and the energy consumption of the vehicle is reduced.

[0030] In this embodiment, a mounting box is provided on one side of the fixing plate 8 , and a pair of second servo motors 10 are both located in the mounting box. The mounting box is fixedly connected to the fixing plate 8 by bolts, and the mounting box protects the second servo motors 10 .

[0031] As an implementation method in this embodiment, the kingpin inclination angle adjustment assembly includes a pair of hydraulic cylinder assemblies 6, the telescopic ends of the pair of hydraulic cylinder assemblies 6 are fixedly connected to the rotating shaft 12, the pair of rotating shafts 12 are rotatably connected to the same U-shaped plate 5, the U-shaped plate 5 is fixedly connected to one side wall of the wheel frame sleeve 1, one side of the pair of hydraulic cylinder assemblies 6 is fixedly connected to the same U-shaped plate 5, the U-shaped plate 5 is fixedly connected to one side of the flange 13, the controllers are signal-connected to the pair of hydraulic cylinder assemblies 6, one side of the flange 13 and one side of the U-shaped plate 5 are provided with corresponding fixing holes, fixing bolts are sleeved in the fixing holes, one end of the fixing bolts is threadedly connected to a fixing nut, the controller sends a signal to the pair of hydraulic cylinder assemblies 6, one of the hydraulic cylinder assemblies Component 6 is not started, and another hydraulic cylinder component 6 is started. The telescopic end of the started hydraulic cylinder component 6 moves to drive the U-shaped plate 5 to deflect the wheel frame sending angle, thereby adjusting the kingpin caster angle to adapt to the kingpin caster angle requirements of different sections of road, reduce wheel shimmy and steering wheel swing during vehicle driving, improve the driver's road feel when driving, and reduce driver fatigue. In this embodiment, the kingpin caster angle can be adjusted in the range of -45° to +45°, which is far beyond the small angle of 1-2° of traditional cars. It can be adjusted in real time according to the vehicle state to make the vehicle reach the best movement state. When a pair of hydraulic cylinder components 6 are started at the same time, the wheelbase of the vehicle can be adjusted. In this embodiment, the wheelbase adjustment range is 10cm, which improves the center stability of the vehicle body.

[0032] Working principle of the present invention:

[0033] The central controller is set with a road spectrum data model, which can identify the road spectrum according to the road section the vehicle is traveling on, and send the corresponding road spectrum data model signal to the controller, which sends the received signal to the steering drive component, the kingpin inclination adjustment component and the wheel camber adjustment component respectively;

[0034] The controller is connected to the first servo motor 2 by signal. The controller sends a signal to the first servo motor 2. The output end of the first servo motor 2 rotates to drive the first driving gear 3 to rotate. The first driving gear 3 is meshed with the first driven gear 4 to drive the first driven gear 4 to rotate. The rotation of the first driven gear 4 drives the wheel frame shaft to rotate, thereby driving the wheel to turn, assisting the driver to turn the vehicle, providing steering assistance, and reducing the steering force applied by the operator.

[0035] The kingpin inclination angle adjustment component automatically adjusts the caster angle of the kingpin according to the road spectrum signals of different road sections. The controller sends a signal to a pair of hydraulic cylinder components 6, one of which is not started, and the other is started. The telescopic end of the started hydraulic cylinder component 6 moves to drive the U-shaped plate 5 to deflect the wheel frame sending angle, thereby adjusting the kingpin caster angle to meet the kingpin caster angle requirements of different road sections, reduce the wheel shimmy and steering wheel swing during vehicle driving, improve the driver's road feel when driving, and reduce the driver's fatigue. In this embodiment, the kingpin caster angle adjustment angle is adjustable in the range of -45° to +45°, which is far beyond the small angle of 1-2° of traditional cars. It can be adjusted in real time according to the vehicle state to make the vehicle reach the best motion state. When a pair of hydraulic cylinder components 6 are started at the same time, the wheelbase of the vehicle can be adjusted. In this embodiment, the wheelbase adjustment range is 10cm, which improves the center stability of the vehicle body.

[0036] The wheel camber angle adjustment component automatically adjusts the wheel camber angle according to the road spectrum signals of different road sections. The controller sends the signal to the second servo motor 10. The output end of the second servo motor 10 rotates to drive the second drive gear 9 to rotate. The second drive gear 9 rotates to drive the second driven gear 7 to rotate. The second driven gear 7 rotates to drive the inner gear plate 16 to rotate. The inner gear plate 16 rotates to drive the multiple planetary gears 15 to rotate. The multiple planetary gears 15 rotate to drive the sun gear 17 to rotate. The sun gear 17 rotates to drive the flange 13 to rotate the kingpin inclination angle adjustment component and the wheel to rotate, so as to adjust the wheel camber angle to meet the wheel camber angle requirements of different road sections, improve the safety of the wheel when working, reduce the vehicle's deviation when driving, and reduce the steering force. The steering modular mechanism of the kingpin inclination angle and the wheel camber angle is highly integrated, and automatic adjustment according to the conditions of different road sections is achieved, which improves the stability and safety of the vehicle when driving, and enables the vehicle to reach the best motion state.

[0037] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A modular steering mechanism with adjustable kingpin inclination and wheel camber, characterized in that: It comprises a steering drive assembly, a kingpin inclination angle adjustment assembly, a wheel camber angle adjustment assembly and a wheel frame sleeve (1) rotatably connected to the wheel frame shaft via a bearing (11); The steering drive assembly is mounted on one side of the wheel frame sleeve (1) and is connected to the wheel frame shaft to drive the wheel to steer; The wheel camber angle adjustment component is mounted on the vehicle frame and connected to the kingpin inclination angle adjustment component. The kingpin inclination angle adjustment component is mounted on one side of the wheel frame sleeve (1). The wheel camber angle adjustment component is used to adjust the camber angle of the wheel. The kingpin inclination angle adjustment component is used to adjust the kingpin inclination angle of the wheel. It also includes a controller, the controller is connected to the steering drive component, the kingpin inclination adjustment component, and the wheel camber adjustment component by signal, and the controller is connected to the vehicle central processing unit by signal; The steering drive assembly comprises a first servo motor (2) fixedly connected to a side wall of one side of the wheel frame sleeve (1); an output end of the first servo motor (2) is fixedly connected to a first driving gear (3); a first driven gear (4) is meshed with one side of the first driving gear (3); and the first driven gear (4) is fixedly connected to the wheel frame shaft; The wheel camber angle adjustment assembly comprises a planetary gear assembly and a motor drive assembly, the planetary gear assembly comprising a planet carrier (14), a plurality of planetary gears (15) being rotatably connected to the planet carrier (14), the outer sides of the plurality of planetary gears (15) being meshed with a same internal gear plate (16), the inner sides of the plurality of planetary gears (15) being meshed with a same sun gear (17), one side of the sun gear (17) being fixedly connected to a drive shaft, one end of the drive shaft being fixedly connected to a flange plate (13), the motor drive assembly comprising a pair of second servo motors (10), a pair of second servo motors (10) and a plurality of second servo motors (11). The output ends of the motors (10) are fixedly connected to second drive gears (9), a pair of the second drive gears (9) are meshed with a same second driven gear (7), one side of the second driven gear (7) is fixedly connected to one side of the inner gear plate (16), one side of the second servo motor (10) is fixedly connected to a fixing plate (8), the planet carrier (14) is fixedly connected to the fixing plate (8), the sun gear (17) and the inner gear plate (16) are both rotatably connected to the fixing plate (8), and the kingpin inclination adjustment assembly is connected to the flange plate (13); The kingpin inclination angle adjustment assembly comprises a pair of hydraulic cylinder assemblies (6), the telescopic ends of the pair of hydraulic cylinder assemblies (6) are fixedly connected to a rotating shaft (12), the pair of rotating shafts (12) are rotatably connected to a same U-shaped plate (5), the U-shaped plate (5) is fixedly connected to a side wall of one side of the wheel frame sleeve (1), one side of the pair of hydraulic cylinder assemblies (6) is fixedly connected to the same U-shaped plate (5), and the U-shaped plate (5) is fixedly connected to one side of the flange (13).

2. A modular steering mechanism with adjustable kingpin inclination and wheel camber according to claim 1, characterized in that: The planet carrier (14) is made of aluminum alloy, and comprises a pair of mounting plates, a plurality of connecting plates are fixedly connected between the pair of mounting plates, and the planet gear (15) is rotatably connected between the pair of mounting plates via an axis.

3. A modular steering mechanism with adjustable kingpin inclination and wheel camber according to claim 2, characterized in that: The fixing plate (8) is provided with mounting holes on all four sides, and the fixing plate (8) is fixedly connected to the vehicle frame via mounting bolts and the mounting holes.

4. A modular steering mechanism with adjustable kingpin inclination and wheel camber according to claim 3, characterized in that: A mounting box is provided on one side of the fixing plate (8), a pair of the second servo motors (10) are both located in the mounting box, and the mounting box is fixedly connected to the fixing plate (8) by bolts.

5. A modular steering mechanism with adjustable kingpin inclination and wheel camber according to claim 4, characterized in that: One side of the flange (13) and one side of the U-shaped plate (5) are both provided with corresponding fixing holes, a fixing bolt is sleeved in the fixing hole, and one end of the fixing bolt is threadedly connected to a fixing nut.

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