Transmission device, steering system and whole vehicle

Abstract

The application provides a transmission device, which comprises a steering motor, a first-stage worm, a first-stage worm wheel, a second-stage worm, a first-stage worm wheel shaft and an angle unit; the first end of the steering motor is rotationally connected with the second end of the first-stage worm; the transmission area of the first-stage worm is inlayed transmission connection with the transmission area of the first-stage worm wheel; the central through hole part of the first-stage worm wheel penetrates the first-stage worm wheel shaft, and the first end of the second-stage worm is connected with the second end of the first-stage worm wheel shaft; the transmission area of the second-stage worm is in transmission connection with the angle unit; the steering motor, the first-stage worm, the first-stage worm wheel, the second-stage worm, the first-stage worm wheel shaft and the angle unit are all arranged in a worm and gear transmission box; when the steering motor works, the steering motor drives the first-stage worm, the first-stage worm wheel and the second-stage worm to rotate around the axis of the angle unit, and further drives the worm and gear transmission box to rotate around the axis of the angle unit.

Description

Technical Field

[0001] This invention relates to the field of vehicle chassis, and more particularly to a transmission device, steering system, and vehicle. Background Technology

[0002] In the prior art, there is a double wishbone suspension system for an in-wheel electric motor. The system includes an upper arm having a first end pivotally connected to an upper portion of an electric motor mounting plate and two second ends spaced apart from each other, wherein each second end of the upper arm is arranged to connect to a first and a second suspension mounting point, respectively. A lower arm has a first end pivotally connected to a lower portion of the electric motor mounting plate and two second ends spaced apart from each other, wherein each second end of the lower arm is arranged to connect to a third and a fourth suspension mounting point, respectively. A first connecting member has a second end pivotally connected to the first end of the lower arm between the first and second ends, and a second end of the first connecting member pivotally connected to the first end of a second connecting member, wherein the end of the second connecting member is pivotally connected to the electric motor mounting plate at a position between the first end of the upper arm and the first end of the lower arm.

[0003] Its technical disadvantages lie in its complex structure and the large number of parts used. In addition, existing technologies generally place the steering mechanism on the upper part of the corner unit, resulting in low space utilization in the upper part of the chassis. Summary of the Invention

[0004] This invention provides a transmission device, a steering system, and a complete vehicle to save chassis space and improve the utilization rate of upper chassis space.

[0005] According to a first aspect of the present invention, a transmission device is provided, comprising a steering motor, a first-stage worm, a first-stage worm wheel, a second-stage worm, a first-stage worm wheel shaft, and an angle unit;

[0006] The first end of the steering motor is rotatably connected to the second end of the first-stage worm gear.

[0007] The transmission area of ​​the first-stage worm gear is embedded and connected to the transmission area of ​​the first-stage worm wheel.

[0008] The central through hole of the first stage worm gear passes through the first stage worm gear shaft, and the first end of the second stage worm is connected to the second end of the first stage worm gear shaft;

[0009] The transmission area of ​​the second-stage worm gear is connected to the angular unit transmission.

[0010] Optionally, the angle unit includes an angle sensor, a rotating shaft, a second-stage worm gear, a second-stage worm gear cover, a sensor connecting rod, and a bearing seat;

[0011] The angle sensor is rotatably connected to the first end of the sensor connecting rod via a coupling, and is fixedly connected to the first surface of the rotating shaft;

[0012] The second-stage worm gear cover is located at the lowest end of the angle unit. The rotating shaft, the second-stage worm gear, the bearing seat, and the second-stage worm gear cover are all provided with a central through hole, so that the sensor connecting rod can pass through the rotating shaft, the second-stage worm gear, and the bearing seat to be inserted into the through hole of the second-stage worm gear cover and fixed to the second-stage worm gear cover.

[0013] The second-stage worm gear cover is fixed to the second surface of the bearing housing;

[0014] The second surface of the rotating shaft is fixedly connected to the first surface of the second-stage worm gear via a spline, and the rotating shaft and the second-stage worm gear are rotatably connected to the first surface of the bearing housing as a whole.

[0015] Optionally, the sensor connecting rod is provided with a milled flat structure. The plane of the milled flat structure is pressed by bolts and nuts installed on the second-stage worm gear cover to prevent relative rotation between the sensor connecting rod and the second-stage worm gear cover.

[0016] Optionally, the angle unit, the first-stage worm, the first-stage worm wheel, the second-stage worm, and the first-stage worm wheel shaft are all fixed inside the worm gear transmission box;

[0017] The first end of the first stage worm gear shaft is connected to the first stage worm gear cover, and the first stage worm gear cover is fixed to the worm gear transmission box by bolts and nuts;

[0018] The first end of the first-stage worm gear is rotatably connected to the worm gear transmission box by bolts and nuts;

[0019] The rotating shaft is rotatably mounted in the worm gear transmission box via a locking nut and a locking washer, and the locking nut and locking washer are located between the second-stage worm gear cover and the bearing seat.

[0020] Optionally, bearings are provided between the first stage worm gear cover and the first end of the first stage worm gear shaft, between the first end of the first stage worm and the worm gear transmission box, between the second end of the first stage worm and the steering motor, between the second stage worm gear cover and the bearing seat, between the second end of the second stage worm and the worm gear transmission box, between the rotating shaft and the second stage worm gear, and between the second end of the first stage worm gear shaft and the first end of the second stage worm.

[0021] Optionally, sealing rings are provided between the rotating shaft and the bearing housing, between the bearing housing and the second-stage worm gear cover, between the first-stage worm gear cover and the first-stage worm gear shaft, and between the rotating shaft and the second-stage worm gear.

[0022] Optionally, spacers are provided between the rotating shaft and the second-stage worm gear, and between the bearing housing and the second-stage worm gear cover;

[0023] The spacer is used to support the connected devices.

[0024] Optionally, the transmission device further includes a steering arm; the steering motor is fixed to the first end of the steering arm by bolts and nuts and positioning pins thereon.

[0025] Optionally, a turbine adjusting shim is further provided between the bearing housing and the second-stage worm gear cover; the turbine adjusting shim is used to adjust the bearing clearance between the bearing housing and the second-stage worm gear cover.

[0026] According to a second aspect of the present invention, a steering system is provided, comprising the transmission device, lower trailing arm assembly and drive assembly provided by the first aspect and alternative embodiments of the present invention;

[0027] The drive assembly is equipped with a hub motor; the hub motor is disposed inside the wheel.

[0028] The first end of the lower trailing arm assembly is connected to the second end of the steering arm of the transmission device via a lower trailing arm T-sleeve, bolts, and nuts; the second end of the lower trailing arm assembly is connected to the hub motor via a steering knuckle; wherein:

[0029] When the steering motor of the transmission device is working, it drives the first-stage worm, the first-stage worm wheel, and the second-stage worm in the worm gear transmission box to rotate around the axis of the angular unit in the transmission device, thereby driving the worm gear transmission box to rotate around the axis of ...

[0030] Optionally, the axis of the rotating shaft is shifted inward and tilted relative to the center vertical line of the wheel.

[0031] Optionally, the drive assembly includes a hub motor, brake disc, brake caliper, round nut, and steering knuckle;

[0032] The brake disc is fixed to the hub motor by bolts and nuts;

[0033] The steering knuckle is connected to the hub motor, and the steering knuckle and the hub motor are limited by a milling structure to prevent relative rotation between the steering knuckle and the hub motor. The steering knuckle is fixed to the hub motor by the round nut.

[0034] The brake caliper is mounted on the steering knuckle.

[0035] Optionally, the steering system may also include a shock absorber and a shock absorber bracket;

[0036] The first end of the shock absorber is connected to the second end of the shock absorber bracket, and the second end of the shock absorber is connected to the steering knuckle; the first end of the shock absorber bracket is connected to the worm gear transmission box.

[0037] According to a third aspect of the present invention, a complete vehicle is provided, which includes the steering system provided by the second aspect and alternative embodiments of the present invention.

[0038] The transmission device provided by this invention is configured as an inverted type, that is, the lower end of the transmission device is connected to the lower trailing arm assembly through the steering arm, and the upper end of the transmission device is a flat plane without protrusions connected to the vehicle frame. Therefore, there is no need to reserve space above the wheels for the steering drive assembly, which allows the vehicle frame and chassis to be set as flat. This not only increases the space inside the vehicle for carrying people or goods, but also makes it more regular, improves the utilization rate of the upper space of the chassis, lowers the height and center of gravity of the load on the chassis, and improves the convenience of carrying people and goods. Attached Figure Description

[0039] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0040] Figure 1 The structure of the transmission device provided in the embodiments of the present invention Figure 1 ;

[0041] Figure 2 The structure of the transmission device provided in the embodiments of the present invention Figure 2 ;

[0042] Figure 3 A structural diagram of the steering system provided in an embodiment of the present invention;

[0043] Figure 4(a) is a rear view of the steering system provided in an embodiment of the present invention;

[0044] Figure 4(b) is a left view of the steering system provided in an embodiment of the present invention.

[0045] Explanation of reference numerals in the attached figures:

[0046] 10-Steering motor;

[0047] 11-Positioning pin;

[0048] 20 - First stage worm gear;

[0049] 30 - First stage worm gear;

[0050] 40 - Second stage worm gear;

[0051] 50 - First stage worm gear shaft;

[0052] 60-angle unit;

[0053] 601 - Shaft;

[0054] 602 - Second stage worm gear;

[0055] 603 - Bearing housing;

[0056] 604 - Second-stage worm gear cover;

[0057] 605 - Locking washer;

[0058] 606 - Locknut;

[0059] 607 - Turbo shim;

[0060] 608 - Sensor Link;

[0061] 609 - Coupling;

[0062] 610 - Angle sensor;

[0063] 70-Steering arm;

[0064] 701 - Steering arm head;

[0065] 702 - Steering arm body;

[0066] 703 - Tail end of steering arm;

[0067] 80-Bearing;

[0068] 90-Oil Seal;

[0069] 100-spacer;

[0070] 110 - First stage worm gear cover;

[0071] 120-worm gear transmission box;

[0072] 130 - Drive assembly;

[0073] 131 - Round Nut;

[0074] 132 - Brake caliper;

[0075] 133 - Brake disc;

[0076] 134 - Hub motor;

[0077] 135 - Steering knuckle;

[0078] 136 - Vibration damper;

[0079] 137 - Vibration damper bracket;

[0080] 140 - Lower trailing arm assembly;

[0081] 141-Lower longitudinal arm T-shaped sleeve;

[0082] 150-O-ring. Detailed Implementation

[0083] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0084] The terms "first" and "second" in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be used interchangeably where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0085] The technical solution of the present invention will be described in detail below with reference to specific embodiments. In the following specific embodiments, the same or similar concepts or processes may not be described again in some embodiments.

[0086] refer to Figure 1 The present invention provides a transmission device, including a steering motor 10, a first-stage worm 20, a first-stage worm wheel 30, a first-stage worm wheel shaft 50, a second-stage worm 40, and an angle unit 60;

[0087] The first end of the steering motor 10 is rotatably connected to the second end of the first-stage worm gear 20;

[0088] The transmission area of ​​the first-stage worm 20 is embedded and connected to the transmission area of ​​the first-stage worm wheel 30.

[0089] The central through hole of the first-stage worm gear 30 passes through the first-stage worm gear shaft 50, and the first end of the second-stage worm 40 is connected to the second end of the first-stage worm gear shaft 50.

[0090] The transmission area of ​​the second-stage worm 40 is connected to the angular unit 60; wherein: the first-stage worm 20 includes a cylindrical Archimedean worm, the axial tooth profile of which is a straight line, and the axial cross-section is an isosceles trapezoid, similar to a trapezoidal thread. Of course, the first-stage worm 20 is not limited to an Archimedean worm, but can also be an involute worm, a normal straight profile worm, etc., which are not limited here; the first-stage worm wheel 30 is equivalent to a helical cylindrical gear, and its teeth are distributed on a toroidal surface, so that the gear can wrap around the worm to improve the contact condition.

[0091] Please refer to Figure 2 In a preferred embodiment, the angle unit 60 includes an angle sensor 610, a rotating shaft 601, a second-stage worm gear 602, a second-stage worm gear cover 604, a sensor connecting rod 608, and a bearing seat 603.

[0092] The angle sensor 610 is rotatably connected to the first end of the sensor connecting rod 608 via a coupling 609, and is fixedly connected to the first surface of the rotating shaft 601.

[0093] The second-stage worm gear cover 604 is located at the lowest end of the corner unit 60. The rotating shaft 601, the second-stage worm gear 602, the bearing seat 603, and the second-stage worm gear cover 604 are all provided with a central through hole, so that the sensor connecting rod 608 can pass through the rotating shaft 601, the second-stage worm gear 602, and the bearing seat 603 and be inserted into the through hole of the second-stage worm gear cover 604 and fixed to the second-stage worm gear cover 604. The specific fixing method is as follows: the sensor connecting rod 608 is provided with a milled flat structure, and bolts are installed on the second-stage worm gear cover 604. The bolts press the plane of the milled flat structure so that the sensor connecting rod 608 and the second-stage worm gear cover 604 do not move relative to each other, that is, the sensor connecting rod 608 and the corner unit 60 do not rotate relative to each other.

[0094] The second-stage worm gear cover 604 is fixed to the second surface of the bearing housing 603;

[0095] The second surface of the rotating shaft 601 is fixedly connected to the first surface of the second-stage worm gear 602 via a spline, and the rotating shaft 601 and the second-stage worm gear 602 are rotatably connected to the first surface of the bearing seat 603 as a whole; wherein: the rotating shaft 601 and the second-stage worm gear 602 are fixedly connected via an external spline, and the rotating shaft 601 is fixed to the chassis of the vehicle; when the transmission device controls the wheels to rotate, the angle unit 60 will rotate around the axis of the rotating shaft 601, while the rotating shaft 601 and the second-stage worm gear 602 remain stationary as a whole. At this time, the angle sensor 610 can obtain the rotation angle of the angle unit 60 by detecting the rotation angle of the sensor connecting rod 608.

[0096] In one specific embodiment, the angle unit 60, the first-stage worm 20, the first-stage worm wheel 30, the second-stage worm 40, and the first-stage worm wheel shaft 50 are all fixed inside the worm gear transmission box 120;

[0097] The first end of the first stage worm gear shaft 50 is connected to the first stage worm gear cover 110, and the first stage worm gear cover 110 is fixed to the worm gear transmission box 120 by bolts and nuts;

[0098] The first end of the first-stage worm 20 is rotatably connected to the worm gear transmission box 120 by bolts and nuts;

[0099] The rotating shaft 601 is rotatably mounted in the worm gear transmission box 120 via a locking nut 606 and a locking washer 605. The locking nut 606 and the locking washer 605 are located between the second-stage worm gear cover 604 and the bearing seat 603.

[0100] In a preferred embodiment, bearings 80 are provided between the first-stage worm gear cover 110 and the first end of the first-stage worm gear shaft 50, between the first end of the first-stage worm 20 and the worm gear transmission box 120, between the second end of the first-stage worm 20 and the steering motor 10, between the second-stage worm gear cover 604 and the bearing seat 603, between the second end of the second-stage worm 40 and the worm gear transmission box 120, between the rotating shaft 601 and the second-stage worm gear 602, and between the second end of the first-stage worm gear shaft 50 and the first end of the second-stage worm 40. The purpose is to support the rotation of each rotating body during the process where the steering motor 10 drives the first-stage worm 20 to rotate, and then the first-stage worm gear 30 drives the second-stage worm 40 to rotate around the second-stage worm gear 602, thereby reducing the coefficient of friction during movement and ensuring rotational accuracy. Because each rotating body may move in any direction during operation, bearings 80 are needed to ensure that each rotating body can only rotate.

[0101] As a specific implementation, the 603 is fixedly connected to the worm and worm gear transmission box 120 by bolts and nuts; the bearing housing 603 is used to support the bearing 80 between the rotating shaft 601 and the second-stage worm gear 602, fix the outer ring of the bearing 80, only allow the inner ring to rotate, keep the outer ring stationary, always keep consistent with the transmission direction, and maintain the balance of the bearing 80.

[0102] As a preferred implementation, O-ring 150 is provided between the rotating shaft 601 and the bearing housing 603, between the bearing housing 603 and the second-stage worm gear cover 604, and between the first-stage worm gear cover 110 and the first-stage worm gear shaft 50;

[0103] An oil seal 90 is provided between the rotating shaft 601 and the second-stage worm gear 602; both the O-ring 150 and the oil seal 90 are applicable to rotational motion, axial reciprocating motion or combined motion between components, and have a self-sealing function; among them, the oil seal 90 is usually used to seal grease, and the grease is usually lubricating oil; the materials of the O-ring 150 and the oil seal 90 are not limited here.

[0104] As a specific implementation, a spacer 100 is provided between the rotating shaft 601 and the second-stage worm gear 602 and between the bearing housing 603 and the second-stage worm gear cover 604; the spacer 100 is used to assist the bearing 80 to support the rotating shaft 601.

[0105] Please refer to As a preferred implementation, the transmission device further includes a steering arm 70. The steering arm 70 is in the shape of "厂" from top to bottom, and includes a steering arm head 701, a steering arm body 702, and a steering arm tail 703; the steering arm head 701 is a rectangular cavity, and the steering motor 10 is fixed in the rectangular cavity of the steering arm 70 through the positioning pin 11 on its side wall and bolts and nuts, that is, the steering arm 70 and the worm and worm gear transmission box 120 are connected through the steering motor 10 and the first-stage worm 20; the steering arm body 702 is a structure formed by the first outer wall, the second outer wall, and the third outer wall of the steering arm head 701 extending downward in sequence, and the steering arm tail 703 is a hollow cylinder located at the end of the steering arm body 702; the steering arm 70 is used to connect the worm and worm gear transmission box 120 and the suspension structure below; the suspension structure can be a single longitudinal arm structure or a double longitudinal arm structure, which is not limited here.

[0106] In a preferred embodiment, a turbine adjustment shim 607 is further provided between the bearing housing 603 and the second-stage worm gear cover 604; the turbine adjustment shim 607 is used to adjust the clearance of the bearing 80 between the bearing housing 603 and the second-stage worm gear cover 604.

[0107] Please refer to Figure 3 As shown in Figure 4, an embodiment of the present invention provides a steering system, including the transmission device, the lower trailing arm assembly 140, and the drive assembly 130;

[0108] The drive assembly 130 is provided with a hub motor 134; the hub motor 134 is disposed inside the wheel.

[0109] The first end of the lower trailing arm assembly 140 is connected to the steering arm tail 703 of the steering arm 70 of the transmission device via a lower trailing arm T-sleeve 141, bolts and nuts; the second end of the lower trailing arm assembly 140 is connected to the hub motor 134 via a steering knuckle 135.

[0110] In practical applications, the driver inputs a rotation signal to the vehicle control unit (VCU) via a control mechanism (such as a steering wheel). Upon receiving the rotation signal, the VCU drives the rotation motor within the transmission device. When the steering motor 10 of the transmission device operates, it drives the first-stage worm 20, the first-stage worm wheel 30, and the second-stage worm 40 within the worm gear transmission box 120 to rotate around the axis of the rotation shaft 601 of the angular unit 60 within the transmission device, thereby causing the worm gear transmission box 120 to rotate around the axis of the rotation shaft 601. The lower trailing arm assembly 140 and the drive assembly 130 follow the worm gear transmission box 120 around the axis of the rotation shaft 601 via the steering arm 70. The axis of the shaft 601 rotates to achieve a 90° turn of the wheel; and during the rotation of the wheel, the shaft 601 remains fixed to the vehicle, so that the second-stage worm gear 602 and the angle sensor 610 fixedly connected to the shaft 601 remain stationary, and the other components of the angle unit 60 rotate normally with the worm gear transmission box 120; the angle unit 60 collects the rotation angle data of the angle unit 60 through the angle unit 60 sensor and transmits the rotation angle data to the VCU; after analysis, if the rotation angle of the angle unit 60 does not reach the preset angle, a correction signal is input to the VCU, and the steering motor 10 is controlled by the VCU to correct the wheel steering.

[0111] In a preferred embodiment, the axis of the rotating shaft 601 is not vertical, but is shifted inward and tilted relative to the center vertical line of the wheel to obtain a certain kingpin inclination angle, kingpin inclination angle, and kingpin offset distance, so that the space required for the worm gear transmission box 120 to bounce with the wheel tire is offset; such a design can reduce the height of the worm gear transmission box 120, that is, reduce the height of the angle unit 60.

[0112] In one specific embodiment, the drive assembly 130 includes a hub motor 134, a brake disc 133, a brake caliper 132, a round nut 131, and a steering knuckle 135;

[0113] The brake disc 133 is fixed to the hub motor 134 by bolts and nuts;

[0114] The steering knuckle 135 is connected to the hub motor 134, and the steering knuckle 135 and the hub motor 134 are limited by a milling structure so that the steering knuckle 135 and the hub motor 134 do not rotate relative to each other. The steering knuckle 135 is fixed to the hub motor 134 by the round nut 131. The brake caliper 132 is installed on the steering knuckle 135.

[0115] In one specific embodiment, the steering system further includes a shock absorber 136 and a shock absorber bracket 137;

[0116] The first end of the shock absorber 136 is connected to the second end of the shock absorber bracket 137, and the second end of the shock absorber 136 is connected to the steering knuckle 135; the first end of the shock absorber bracket 137 is connected to the worm gear transmission box 120.

[0117] Based on the above information, it can be seen that the present invention integrates the steering and suspension functions of the wheels near the hub motor 134. No steering mechanism is needed between the transmission device and the lower trailing arm assembly 140, saving space. Since the upper end of the transmission device is the housing of the worm gear transmission box 120 and the rotating shaft 601, and the steering arm 70 has an inverted structure, connected to the worm gear transmission box 120 via the rotating motor and the first-stage worm 20, there are no other connecting structures between the transmission device and the vehicle frame. This allows the upper surface of the vehicle chassis to be completely flat, reducing the height and center of gravity of the upper cargo platform and improving the utilization rate of the upper space of the vehicle chassis.

[0118] This invention also provides a complete vehicle, including the steering system provided in this invention.

[0119] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A transmission, characterized in that Includes a steering motor, a first-stage worm gear, a first-stage worm wheel, a second-stage worm gear, a first-stage worm wheel shaft, and an angle unit; The first end of the steering motor is rotatably connected to the second end of the first-stage worm gear. The transmission area of ​​the first-stage worm gear is embedded and connected to the transmission area of ​​the first-stage worm wheel. The central through hole of the first stage worm gear passes through the first stage worm gear shaft, and the first end of the second stage worm is connected to the second end of the first stage worm gear shaft; The transmission area of ​​the second-stage worm gear is connected to the angular unit transmission; The angle unit includes an angle sensor, a rotating shaft, a second-stage worm gear, a second-stage worm gear cover, a sensor connecting rod, and a bearing seat; The angle sensor is rotatably connected to the first end of the sensor connecting rod via a coupling, and is fixedly connected to the first surface of the rotating shaft; The second-stage worm gear cover is located at the lowest end of the angle unit. The rotating shaft, the second-stage worm gear, the bearing seat, and the second-stage worm gear cover are all provided with a central through hole, so that the sensor connecting rod can pass through the rotating shaft, the second-stage worm gear, and the bearing seat to be inserted into the through hole of the second-stage worm gear cover and fixed to the second-stage worm gear cover. The second-stage worm gear cover is fixed to the second surface of the bearing housing; The second surface of the rotating shaft is fixedly connected to the first surface of the second-stage worm gear by a spline, and the rotating shaft and the second-stage worm gear are rotatably connected to the first surface of the bearing seat as a whole; The angle unit, the first-stage worm, the first-stage worm wheel, the second-stage worm, and the first-stage worm wheel shaft are all fixed inside the worm gear transmission box; The first end of the first stage worm gear shaft is connected to the first stage worm gear cover, and the first stage worm gear cover is fixed to the worm gear transmission box by bolts and nuts; The first end of the first-stage worm gear is rotatably connected to the worm gear transmission box by bolts and nuts; The rotating shaft is rotatably mounted in the worm gear transmission box via a locking nut and a locking washer, and the locking nut and locking washer are located between the second-stage worm gear cover and the bearing seat; The transmission device also includes a steering arm; the steering motor is fixed to the first end of the steering arm by bolts, nuts and locating pins thereon.

2. The transmission of claim 1, wherein The sensor connecting rod is provided with a milled flat structure. The plane of the milled flat structure is pressed by bolts and nuts installed on the second stage worm gear cover to prevent relative rotation between the sensor connecting rod and the second stage worm gear cover.

3. The transmission of claim 2, wherein Bearings are provided between the first stage worm gear cover and the first end of the first stage worm gear shaft, between the first end of the first stage worm and the worm gear transmission box, between the second end of the first stage worm and the steering motor, between the second stage worm gear cover and the bearing seat, between the second end of the second stage worm and the worm gear transmission box, between the rotating shaft and the second stage worm gear, and between the second end of the first stage worm gear shaft and the first end of the second stage worm.

4. The transmission of claim 3, wherein The bearing housing is fixedly connected to the worm gear transmission box by bolts and nuts.

5. The transmission of claim 4, wherein Sealing rings are provided between the rotating shaft and the bearing housing, between the bearing housing and the second-stage worm gear cover, between the first-stage worm gear cover and the first-stage worm gear shaft, and between the rotating shaft and the second-stage worm gear.

6. The transmission of claim 5, wherein Spacers are provided between the rotating shaft and the second-stage worm gear, and between the bearing housing and the second-stage worm gear cover.

7. The transmission of claim 3, wherein A worm gear adjusting shim is also provided between the bearing housing and the second-stage worm gear cover; the worm gear adjusting shim is used to adjust the bearing clearance between the bearing housing and the second-stage worm gear cover.

8. A steering system characterized by, Includes the transmission device, lower trailing arm assembly, and drive assembly as described in any one of claims 1 to 7; The drive assembly is equipped with a hub motor; the hub motor is disposed inside the wheel. The first end of the lower trailing arm assembly is connected to the second end of the steering arm of the transmission device via a lower trailing arm T-sleeve, bolts, and nuts; the second end of the lower trailing arm assembly is connected to the hub motor via a steering knuckle; wherein: When the steering motor of the transmission device is working, it drives the first-stage worm, the first-stage worm wheel, and the second-stage worm in the worm gear transmission box to rotate around the axis of the angular unit in the transmission device, thereby driving the worm gear transmission box to rotate around the axis of ...

9. The steering system of claim 8, wherein, The axis of the rotating shaft is shifted inward and tilted relative to the center vertical line of the wheel.

10. The steering system of claim 8, wherein, The drive assembly includes a hub motor, brake disc, brake caliper, round nut, and steering knuckle; The brake disc is fixed to the hub motor by bolts and nuts; The steering knuckle is connected to the hub motor, and the steering knuckle and the hub motor are limited by a milling structure to prevent relative rotation between the steering knuckle and the hub motor. The steering knuckle is fixed to the hub motor by the round nut. The brake caliper is mounted on the steering knuckle.

11. The steering system of claim 10, wherein, The steering system also includes a shock absorber and a shock absorber bracket; The first end of the shock absorber is connected to the second end of the shock absorber bracket, and the second end of the shock absorber is connected to the steering knuckle; the first end of the shock absorber bracket is connected to the worm gear transmission box.

12. A whole vehicle, characterized by Each wheel of the vehicle is equipped with a steering system as described in any one of claims 8 to 11.

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