Electric steering axle, control method and vehicle

Abstract

This invention relates to the field of vehicle technology, providing an electric steering axle, a control method, and a vehicle. The electric steering axle includes: an axle housing, an electric actuator, a first sensor, and a controller. Steering knuckles are respectively located at both ends of the axle housing. The electric actuator is disposed on the axle housing and drivenly connected to the steering knuckles for driving the steering knuckles to rotate. The first sensor is disposed on the steering knuckles for detecting the rotation angle of the steering knuckles. The controller is electrically connected to both the electric actuator and the first sensor, and controls the electric actuator based on the difference between the detected rotation angle of the steering knuckles and a target preset angle. This invention enables electric steering and features high control precision, low noise, environmental friendliness, and good comfort.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and more particularly to an electric steering axle, a control method, and a vehicle. Background Technology

[0002] In related technologies, counterbalance forklifts are indispensable industrial handling vehicles. Their steering mechanisms mainly adopt hydraulic steering axle mechanisms, which use hydraulic pumps to drive hydraulic cylinders to support steering. However, this mechanism has relatively low sensitivity and steering efficiency. At the same time, the hydraulic pump and pipelines require regular maintenance, posing a safety hazard of hydraulic oil leakage and environmental pollution. Furthermore, the hydraulic steering axle mechanism has a large oil capacity, which increases the vehicle's weight and fuel consumption, resulting in poor overall vehicle economy. Summary of the Invention

[0003] This invention provides an electric steering axle, a control method, and a vehicle to overcome the shortcomings of hydraulic steering axle mechanisms in related technologies. It enables electric steering and features high control precision, low noise, environmental friendliness, and good comfort.

[0004] This invention provides an electric steering axle, comprising:

[0005] Axle housing, wherein steering knuckles are provided at both ends of the axle housing;

[0006] An electric actuator, disposed in the axle housing and drivenly connected to the steering knuckle, is used to drive the steering knuckle to rotate;

[0007] A first sensor is disposed on the steering knuckle and is used to detect the rotation angle of the steering knuckle;

[0008] The controller is electrically connected to the electric actuator and the first sensor respectively, and is used to control the electric actuator according to the difference between the detected rotation angle of the steering knuckle and the target preset angle.

[0009] The electric steering axle provided by this invention has steering knuckles at both ends of the axle housing, which can steer the vehicle wheels. An electric actuator, mounted on the axle housing and driven by the steering knuckles, drives the steering knuckles to rotate. A first sensor, mounted on the steering knuckles, detects the rotation angle of the steering knuckles. A controller, electrically connected to both the electric actuator and the first sensor, can control the electric actuator to drive the steering knuckles to the target preset angle based on the difference between the detected rotation angle and the target preset angle, thus achieving precise closed-loop steering control. Therefore, this invention avoids the defects of traditional hydraulic steering axles, enabling electric steering with high control precision, low noise, environmental friendliness, and good comfort.

[0010] According to an electric steering axle provided by the present invention, the electric actuator includes:

[0011] A ball screw, wherein both ends of the ball screw are hinged to the steering knuckle via connecting rods;

[0012] The steering motor is connected to the nut of the ball screw via a reduction mechanism and is electrically connected to the controller. It is used to drive the lead screw of the ball screw to move along the length direction of the bridge housing.

[0013] This invention achieves a deceleration and torque increase effect by employing a deceleration mechanism, further improving control accuracy. Furthermore, it uses a ball screw structure, which is characterized by high precision, good reversibility, and high efficiency, thus benefiting vehicle steering control.

[0014] According to an electric steering axle provided by the present invention, the reduction mechanism includes:

[0015] A housing is mounted on the axle housing, and the steering motor is mounted on the housing. The lead screw of the ball screw passes through the housing.

[0016] A speed reduction transmission assembly is disposed inside the housing, and the steering motor is connected to the nut of the ball screw via the speed reduction transmission assembly;

[0017] A limiting component, disposed within the housing, is used to axially limit the nut of the ball screw.

[0018] According to an electric steering axle provided by the present invention, the reduction gear assembly includes:

[0019] The drive wheel is connected to the steering motor;

[0020] The driven pulley is connected to the nut of the ball screw, and the driven pulley is connected to the driving pulley via a synchronous belt;

[0021] The diameter of the driving wheel is smaller than the diameter of the driven wheel.

[0022] The speed reduction transmission assembly of the present invention uses a combination of a large wheel, a small wheel and a synchronous belt to achieve transmission, speed reduction and torque increase functions. By using a synchronous belt speed reduction mechanism, it has the characteristics of accurate transmission ratio without slippage, high transmission efficiency, high linear speed, compact structure and strong buffering and shock absorption capabilities.

[0023] According to an electric steering axle provided by the present invention, the limiting component includes:

[0024] The first bearing and the second bearing are sleeved on the lead screw of the ball screw and respectively located on both sides of the nut of the ball screw;

[0025] A flange is fitted onto the lead screw of the ball screw and abuts between the second bearing and the end cover of the housing;

[0026] An elastic washer is fitted onto the lead screw of the ball screw and positioned between the housing and the end cap;

[0027] An adjusting bolt passes through the elastic gasket and connects the housing to the end cap.

[0028] When the axial clearance between the bearings on both sides and the ball screw nut increases, this invention can deform the elastic washer by turning the adjusting bolt, thereby causing the end cover to move to the left, pushing the flange to the left, and further pushing the bearings to be tightly confined on both sides of the ball screw nut. Therefore, the limiting component provided by this invention can adjust the axial clearance between the bearings on both sides and the ball screw nut, ensuring a precise limiting effect, thereby improving the accuracy of the screw's left and right movement and improving the steering control precision.

[0029] According to an electric steering axle provided by the present invention, the limiting component further includes:

[0030] The second sensor, located inside the housing and electrically connected to the controller, is used to detect the axial clearance between the first bearing and the second bearing and the nut of the ball screw.

[0031] A screwing device is mounted on the housing and electrically connected to the controller. The controller is also used to control the screwing device to screw the adjusting bolt according to the detected axial clearance.

[0032] The limiting component of this invention can automatically and accurately adjust the axial clearance between the bearing and the ball screw nut without manual operation, effectively ensuring the steering accuracy of the steering axle.

[0033] According to the present invention, the electric steering axle housing is a one-piece molded structure.

[0034] According to an electric steering axle provided by the present invention, the axle housing is provided with connecting columns at both ends of the middle portion, and the connecting columns are connected to the vehicle frame via a shock absorption assembly.

[0035] The present invention also provides a control method for the above-mentioned electric steering axle, comprising:

[0036] Obtain vehicle steering commands;

[0037] In response to the vehicle steering command, the rotation angle of the steering knuckle is detected;

[0038] The electric actuator is controlled based on the difference between the detected rotation angle of the steering knuckle and the target preset angle.

[0039] The electric steering axle control method provided by this invention can realize electric steering, and can accurately control the steering process by adopting a closed-loop control method, which has the characteristics of high control precision.

[0040] The present invention also provides a vehicle, comprising: a frame and the above-described electric steering axle, wherein the electric steering axle is disposed on the frame. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in this invention or related technologies, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a schematic diagram of the electric steering axle provided by the present invention;

[0043] Figure 2 This is a schematic diagram of the internal structure of the deceleration mechanism provided by the present invention with part of the housing removed;

[0044] Figure 3 This is a flowchart illustrating the control method for the electric steering axle provided by the present invention.

[0045] Figure label:

[0046] 100: Axle housing; 101: Steering knuckle; 102: Connecting post;

[0047] 200: Electric actuator; 201: Ball screw; 2011: Lead screw;

[0048] 202: Reduction mechanism; 2021: Housing; 20211: Connecting block; 20212: End cover;

[0049] 2022: Driving pulley; 2023: Driven pulley; 2024: Synchronous belt; 2025: First bearing;

[0050] 2026: Second bearing; 2027: Flange; 2028: Elastic gasket;

[0051] 2029: Adjusting bolt; 203: Steering motor;

[0052] 300: Linkage. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0054] In the description of the embodiments of the present invention, it should be noted that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0055] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0056] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0057] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0058] The following is combined with Figures 1-3 The electric steering axle, control method, and vehicle of the present invention are described.

[0059] According to an embodiment of the first aspect of the present invention, referring to Figure 1 and Figure 2 As shown, the electric steering axle provided by the present invention mainly includes: axle housing 100, electric actuator 200, first sensor and controller, etc.

[0060] The axle housing 100 serves as the main carrier of the vehicle steering mechanism, and steering knuckles 101 are provided at both the left and right ends of the axle housing 100. The steering knuckles 101 are connected to the wheels of the vehicle. When the steering knuckles 101 rotate, they can drive the wheels of the vehicle to rotate synchronously, thereby realizing the steering function of the steering axle.

[0061] An electric actuator 200 is mounted on the axle housing 100 and is drivenly connected to the steering knuckle 101 to drive the steering knuckle 101 to rotate. Specifically, the electric actuator 200 can be fixed to the axle housing 100 by fasteners such as bolts to drive the steering knuckles 101 at both ends of the axle housing 100 to rotate synchronously.

[0062] The first sensor is mounted on the steering knuckle 101 and is mainly used to detect the rotation angle of the steering knuckle 101.

[0063] The controller is electrically connected to the electric actuator 200 and the first sensor, respectively, and is used to control the electric actuator 200 to drive the steering knuckle 101 to the target preset angle based on the difference between the detected rotation angle of the steering knuckle 101 and the target preset angle. The target preset angle can be understood as the steering angle required by the user.

[0064] Specifically, during vehicle steering, the first sensor detects the rotation angle of the steering knuckle 101 in real time and feeds back the detected rotation angle of the steering knuckle 101 to the controller. The controller controls the electric actuator 200 in real time based on the deviation between the feedback rotation angle of the steering knuckle 101 and the target preset angle, so as to drive the steering knuckle 101 to rotate precisely to the target preset angle, thereby realizing steering closed-loop control and meeting user needs.

[0065] Therefore, the electric steering axle provided in this embodiment of the invention can avoid the defects of traditional hydraulic steering axles, realize electric steering, and accurately control the steering process by adopting a closed-loop control method. It has the characteristics of high control accuracy, low noise, environmental protection, and good comfort.

[0066] According to one embodiment of the present invention, referring to Figure 1 and Figure 2 As shown, the electric actuator 200 of the present invention mainly includes: a ball screw 201, a reduction mechanism 202, and a steering motor 203.

[0067] The ball screw 201 includes a lead screw 2011 and a nut that are threaded together. Both ends of the lead screw 2011 are hinged to the steering knuckle 101 via connecting rods 300. Specifically, the left end of the lead screw 2011 is hinged to the first end of the left connecting rod 300, and the second end of the left connecting rod 300 is hinged to the steering knuckle 101 at the left end of the axle housing 100; the right end of the lead screw 2011 is hinged to the first end of the right connecting rod 300, and the second end of the right connecting rod 300 is hinged to the steering knuckle 101 at the right end of the axle housing 100.

[0068] The steering motor 203 is connected to the nut of the ball screw 201 via the reduction mechanism 202, and the steering motor 203 is electrically connected to the controller to drive the screw 2011 of the ball screw 201 to move linearly along the length of the axle housing 100, thereby driving the steering knuckles 101 at both ends of the axle housing 100 to rotate synchronously and realize the steering function of the steering axle.

[0069] The embodiments of the present invention can achieve a deceleration and torque increase effect by using a deceleration mechanism 202, thereby further improving control accuracy. Furthermore, the ball screw 201 structure is characterized by high precision, good reversibility, and high efficiency, which is beneficial to the steering control of the vehicle.

[0070] According to one embodiment of the present invention, referring to Figure 1 and Figure 2 As shown, the deceleration mechanism 202 includes: a housing 2021, a deceleration transmission assembly, and a limit assembly.

[0071] The housing 2021 is mounted on the axle housing 100, and the steering motor 203 is mounted on the housing 2021. The lead screw 2011 of the ball screw 201 passes through the housing 2021, with its left and right ends located outside the housing 2021 to facilitate corresponding connection with the steering knuckles 101 at both ends of the axle housing 100. Specifically, the upper and lower parts of the housing 2021 are respectively provided with multiple connecting blocks 20211. The connecting blocks 20211 are connected to the connecting lugs on the axle housing 100 by fasteners such as bolts and locking washers, thereby integrating the ball screw 201, the reduction mechanism 202, and the steering motor 203, and other electric actuators 200, and fixing them to the axle housing 100.

[0072] The speed reduction transmission assembly is located inside the housing 2021, and the steering motor 203 is connected to the nut of the ball screw 201 via the speed reduction transmission assembly.

[0073] The limiting component is located inside the housing 2021 and is used to limit the axial movement of the nut of the ball screw 201.

[0074] During operation, the power of the steering motor 203 is transmitted to the ball screw 201 structure through the reduction gear transmission assembly. Because the nut in the ball screw 201 structure is axially limited and rotates around the screw 2011, it can drive the screw 2011 to move linearly left and right, thus completing the steering motion. When the steering motor 203 rotates forward, it is decelerated by the reduction gear transmission assembly, causing the screw 2011 to move to the left, which in turn causes the connecting rod 300 to drive the steering knuckle 101 to rotate, achieving a left turn. Similarly, when the steering motor 203 rotates in reverse, it is decelerated by the reduction gear transmission assembly, causing the screw 2011 to move to the right, which in turn causes the connecting rod 300 to drive the steering knuckle 101 to rotate, achieving a right turn.

[0075] According to one embodiment of the present invention, referring to Figure 2 As shown, the reduction transmission assembly includes a drive wheel 2022 and a driven wheel 2023. The output shaft of the steering motor 203 is connected to the drive wheel 2022 via a spline to transmit torque. The driven wheel 2023 is connected to the nut of the ball screw 201, specifically sleeved on the outside of the nut, and the driven wheel 2023 is connected to the drive wheel 2022 via a synchronous belt 2024. The diameter of the drive wheel 2022 is smaller than the diameter of the driven wheel 2023.

[0076] The speed reduction transmission assembly of this invention uses a combination of a large wheel, a small wheel, and a synchronous belt to achieve transmission, speed reduction, and torque increase functions. By using a synchronous belt speed reduction mechanism, it has the characteristics of accurate transmission ratio without slippage, high transmission efficiency, high linear speed, compact structure, and strong buffering and shock absorption capabilities.

[0077] According to one embodiment of the present invention, the driven wheel 2023 and the nut of the ball screw 201 can be integrally formed, thereby eliminating the need for the driven wheel 2023. In this case, the timing belt 2024 is connected to the driving wheel 2022 and the nut of the ball screw 201 respectively, thereby simplifying the structure and reducing costs.

[0078] In other examples, the speed reduction transmission assembly of the present invention can also be a speed reduction gear mechanism, including a driving gear and a driven gear. The driving gear is connected to the output shaft of the steering motor 203, the driven gear meshes with the driving gear, and the driven gear meshes with the teeth on the outer wall of the nut of the ball screw 201, thereby driving the nut of the ball screw 201 to rotate.

[0079] Of course, the driven gear can also be used to replace the nut of the ball screw 201. The driven gear is driven by the driving gear to rotate, thereby moving the screw 2011. The specific design can be based on actual needs.

[0080] According to one embodiment of the present invention, referring to Figure 2As shown, the limiting component of the present invention includes: a first bearing 2025, a second bearing 2026, a flange 2027, an elastic gasket 2028, and an adjusting bolt 2029, etc. The first bearing 2025 and the second bearing 2026 are sleeved on the lead screw 2011 of the ball screw 201 and are respectively located on the left and right sides of the nut of the ball screw 201, providing axial positioning for the nut of the ball screw 201; the flange 2027 is sleeved on the lead screw 2011 of the ball screw 201 and abuts against the second bearing 2026 and the end cover 20212 of the housing 2021; the elastic washer 2028 is sleeved on the lead screw 2011 of the ball screw 201 and is located between the housing 2021 and the end cover 20212; the adjusting bolt 2029 passes through the elastic washer 2028 and connects the housing 2021 and the end cover 20212, and is used to adjust the axial clearance between the first bearing 2025 and the second bearing 2026 and the nut of the ball screw 201, thereby ensuring precise positioning, improving the accuracy of the left and right movement of the lead screw 2011, and thus improving the steering control precision.

[0081] During actual long-term use, wear will occur between the bearings on both sides and the nut of the ball screw 201, resulting in an increase in the axial clearance between the bearings on both sides and the nut of the ball screw 201. This makes it impossible to effectively limit the movement of the nut of the ball screw 201, causing the nut to move during steering, which in turn prevents the screw 2011 from moving, resulting in a large error in the steering angle of the steering knuckle 101.

[0082] Therefore, when the axial clearance between the bearings on both sides and the ball screw 201 nut increases, the embodiment of the present invention can deform the elastic washer 2028 by turning the adjusting bolt 2029, thereby causing the end cover 20212 to move to the left, pushing the flange 2027 to move to the left, and thus pushing the bearing to be tightly confined on both sides of the ball screw 201 nut.

[0083] Of course, the elastic washer 2028 can also be removed and replaced with elastic washer 2028 of different thicknesses to achieve the effect of adjusting the axial clearance between the bearings on both sides and the ball screw nut 201.

[0084] Therefore, the limiting component provided in this embodiment of the invention can adjust the axial clearance between the bearings on both sides and the ball screw 201 nut to ensure precise limiting effect, thereby improving the accuracy of the left and right movement of the screw 2011 and thus improving the steering control precision.

[0085] The specific types of the first bearing 2025 and the second bearing 2026 of the present invention are not particularly limited; for example, they can be angular contact ball bearings.

[0086] According to one embodiment of the present invention, the limiting component further includes: a second sensor and a tightening device; the second sensor is disposed inside the housing 2021 and is electrically connected to the controller, for detecting the axial clearance between the first bearing 2025 and the second bearing 2026 and the nut of the ball screw 201; the tightening device is disposed on the housing 2021 and is electrically connected to the controller, for tightening the adjusting bolt 2029; the controller is also used to control the tightening device to tighten the adjusting bolt 2029 according to the detected axial clearance.

[0087] Specifically, the second sensor detects the axial clearance between the bearings on both sides and the nut of the ball screw 201 in real time, and sends the detected axial clearance of the ball screw 201 nut to the controller. The controller compares it with the set value that meets the operating requirements. When the detected axial clearance is greater than the set value, the controller controls the tightening device to tighten the adjusting bolt 2029 to reduce the axial clearance between the bearing and the nut of the ball screw 201, thereby improving the steering control accuracy.

[0088] Therefore, the embodiments of the present invention can realize the automatic and precise adjustment of the axial clearance between the bearing and the ball screw 201 nut without manual operation, effectively ensuring the steering accuracy of the steering axle.

[0089] According to one embodiment of the present invention, the bridge housing 100 is an integrally formed structure, for example, formed by integral casting technology, and has the characteristics of high strength, stability and reliability.

[0090] According to one embodiment of the present invention, referring to Figure 1 As shown, the axle housing 100 has connecting columns 102 at both the front and rear ends of the middle section. The connecting columns 102 are connected to the vehicle frame via the shock absorption assembly, so that the electric steering axle structure can be fixedly installed on the frame as a whole. The shock absorption assembly mainly plays the role of steering shock absorption and noise reduction, thereby improving comfort.

[0091] Specifically, the shock absorption assembly may include components such as a shock absorber sleeve, a pressure plate, and bolts. The shock absorber sleeve is fitted onto the connecting post 102, and the pressure plate is located between the shock absorber sleeve and the vehicle frame. Then, the vehicle frame is fastened to the pressure plate, the shock absorber sleeve, and the connecting post 102 by bolts to complete the assembly.

[0092] Furthermore, the shape of the connecting post 102 of the present invention is not particularly limited. For example, the shape of the connecting post 102 can be a cone, a column, or the like.

[0093] The control method of the electric steering axle provided by the present invention will be described below. The control method of the electric steering axle described below can be referred to in correspondence with the electric steering axle described above.

[0094] According to an embodiment of the second aspect of the present invention, referring to Figure 3As shown, the present invention also provides a control method for an electric steering axle according to any of the above embodiments, mainly including the following steps:

[0095] S100, Obtain vehicle steering command;

[0096] S200, in response to the vehicle steering command, detects the rotation angle of the steering knuckle 101;

[0097] S300: Control the electric actuator 200 based on the difference between the detected rotation angle of the steering knuckle 101 and the target preset angle.

[0098] Specifically, during vehicle steering, the first sensor detects the rotation angle of the steering knuckle 101 and feeds the detected rotation angle of the steering knuckle 101 back to the controller. The controller controls the electric actuator 200 in real time based on the deviation between the feedback rotation angle of the steering knuckle 101 and the target preset angle, so as to drive the steering knuckle 101 to rotate precisely to the target preset angle, thereby realizing steering closed-loop control.

[0099] Therefore, the electric steering axle control method provided in this embodiment of the invention can realize electric steering, and can accurately control the steering process by adopting a closed-loop control method, thus having the characteristics of high control precision.

[0100] According to an embodiment of a third aspect of the present invention, the present invention also provides a vehicle, mainly comprising: a frame and an electric steering axle of any of the above embodiments, the electric steering axle being disposed on the frame.

[0101] The specific type of vehicle in this embodiment of the invention is not particularly limited. For example, it can be a commercial vehicle, a work vehicle, etc., and the work vehicle can be a counterbalance forklift.

[0102] Since the vehicle provided in this embodiment includes the electric steering axle of any of the above embodiments, it has all the technical effects of the electric steering axle of any of the above embodiments, which will not be elaborated here.

[0103] 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 of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An electric steering axle, characterized in that, include: Axle housing, wherein steering knuckles are provided at both ends of the axle housing; An electric actuator, disposed in the axle housing and drivenly connected to the steering knuckle, is used to drive the steering knuckle to rotate; A first sensor is disposed on the steering knuckle and is used to detect the rotation angle of the steering knuckle; The controller is electrically connected to the electric actuator and the first sensor respectively, and is used to control the electric actuator according to the difference between the detected rotation angle of the steering knuckle and the target preset angle. The electric actuator includes: a ball screw, the two ends of which are hinged to the steering knuckle via connecting rods; and a steering motor, which is connected to the nut of the ball screw via a reduction mechanism and electrically connected to the controller, for driving the ball screw to move along the length of the axle housing. The deceleration mechanism includes: a housing disposed on the axle housing, and the steering motor disposed on the housing, with the lead screw of the ball screw passing through the housing; a deceleration transmission assembly disposed in the housing, with the steering motor connected to the nut of the ball screw via the deceleration transmission assembly; and a limiting assembly disposed in the housing for axially limiting the nut of the ball screw. The limiting assembly includes: a first bearing and a second bearing, sleeved on the lead screw of the ball screw and respectively disposed on both sides of the nut of the ball screw; a flange, sleeved on the lead screw of the ball screw and abutting between the second bearing and the end cover of the housing; an elastic gasket, sleeved on the lead screw of the ball screw and disposed between the housing and the end cover; and an adjusting bolt, passing through the elastic gasket and connecting the housing and the end cover. The limiting component also includes: The second sensor, located inside the housing and electrically connected to the controller, is used to detect the axial clearance between the first bearing and the second bearing and the nut of the ball screw. A screwing device is mounted on the housing and electrically connected to the controller. The controller is also used to control the screwing device to screw the adjusting bolt according to the detected axial clearance.

2. The electric steering axle according to claim 1, characterized in that, The speed reduction transmission assembly includes: The drive wheel is connected to the steering motor; The driven pulley is connected to the nut of the ball screw, and the driven pulley is connected to the driving pulley via a synchronous belt; The diameter of the driving wheel is smaller than the diameter of the driven wheel.

3. The electric steering axle according to claim 1, characterized in that, The bridge shell is a one-piece molded structure.

4. The electric steering axle according to any one of claims 1-3, characterized in that, The axle housing has connecting columns at both ends of its middle section, and the connecting columns are connected to the vehicle frame via shock absorption components.

5. A control method for an electric steering axle according to any one of claims 1-4, characterized in that, include: Obtain vehicle steering commands; In response to the vehicle steering command, the rotation angle of the steering knuckle is detected; The electric actuator is controlled based on the difference between the detected rotation angle of the steering knuckle and the target preset angle.

6. A vehicle, characterized in that, include: The vehicle frame and the electric steering axle according to any one of claims 1-4, wherein the electric steering axle is disposed on the vehicle frame.

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