Steering mechanism for a vehicle and vehicle

Abstract

The application discloses a steering mechanism of a vehicle and the vehicle, which comprises a first steering knuckle, the first steering knuckle comprising a hydraulic cylinder, a first end and a second end, the hydraulic cylinder comprising a cylinder body and a rotary pressure-bearing body, the cylinder body being arranged at the first end, the rotary pressure-bearing body being arranged at the second end, the rotary pressure-bearing body being rotatably arranged in the cylinder body, a hydraulic cavity being formed in the cylinder body, and the hydraulic cavity being provided with an opening; a hydraulic pump, an output end of the hydraulic pump being connected with the opening, so as to adjust the hydraulic pressure in the hydraulic cavity, wherein the rotary pressure-bearing body rotates relative to the cylinder body when the hydraulic pressure in the hydraulic cavity changes. The oil pressure in the cavity drives the rotary pressure-bearing body, and the rotary pressure-bearing body drives the first steering knuckle to rotate, wherein the movement of the rotary pressure-bearing body is rotation, the rotary pressure-bearing body can be connected with the first steering knuckle, the transmission between the rotary pressure-bearing body and the first steering knuckle is more simple and convenient, the transmission space between the rotary pressure-bearing body and the first steering knuckle is reduced, and thus the steering mechanism is small in structure and simple in design.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a steering mechanism of a vehicle and the vehicle. BACKGROUND

[0002] In the related art, the steering mechanism of a vehicle is mainly driven to steer by a hydraulic piston, wherein the movement of the piston is a translation, so it is necessary to connect the piston to a knuckle or a steering arm through a hinged rod structure to convert the translation into a rotation, and the translation of the piston requires a sufficient stroke, so the overall structure of the steering mechanism is relatively large and occupies a large space. SUMMARY

[0003] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application provides a steering mechanism of a vehicle, which can reduce the transmission space of a rotating pressure-bearing body and a first knuckle, so as to make the overall structure of the steering mechanism small and simple.

[0004] The present application further provides a vehicle.

[0005] The steering mechanism of the vehicle according to the present application comprises a first knuckle, a hydraulic pump and a rotating pressure-bearing body, wherein the first knuckle comprises a hydraulic cylinder, a first end and a second end, the hydraulic cylinder comprises a cylinder body and a rotating pressure-bearing body, the cylinder body is arranged at the first end, the rotating pressure-bearing body is arranged at the second end, the rotating pressure-bearing body is rotatably arranged in the cylinder body, a hydraulic cavity is formed in the cylinder body, and the hydraulic cavity is provided with an opening; the output end of the hydraulic pump is connected with the opening to adjust the hydraulic pressure in the hydraulic cavity, wherein the rotating pressure-bearing body rotates relative to the cylinder body when the hydraulic pressure in the hydraulic cavity changes.

[0006] The steering mechanism of the vehicle according to the present application drives the rotating pressure-bearing body by using the oil pressure in the cavity, and then the rotating pressure-bearing body drives the first knuckle to rotate, wherein the movement of the rotating pressure-bearing body is a rotation, and the rotating pressure-bearing body can be directly connected with the first knuckle, so that the transmission of the rotating pressure-bearing body and the first knuckle is more simple and convenient, the transmission space of the rotating pressure-bearing body and the first knuckle is reduced, and thus the overall structure of the steering mechanism can be made small and simple.

[0007] In some examples of the present application, the hydraulic cavity includes: a first hydraulic cavity and a second hydraulic cavity, the first hydraulic cavity and the second hydraulic cavity are arranged in the cylinder body, the first hydraulic cavity is defined between at least part of the rotating pressure-bearing body and at least part of the cylinder body, and the second hydraulic cavity is defined between at least part of the rotating pressure-bearing body and at least part of the cylinder body, the openings include a first opening and a second opening, the first opening is arranged in the first hydraulic cavity, and the second opening is arranged in the second hydraulic cavity; when the hydraulic pressure of the first hydraulic cavity increases and the hydraulic pressure of the second hydraulic cavity decreases, the rotating pressure-bearing body rotates in a first direction, and when the hydraulic pressure of the first hydraulic cavity decreases and the hydraulic pressure of the second hydraulic cavity increases, the rotating pressure-bearing body rotates in a second direction, wherein the first direction and the second direction are opposite.

[0008] In some examples of the present application, the steering mechanism of the vehicle further includes: a hydraulic source and a valve assembly, the input end of the hydraulic pump is connected to the hydraulic source, the valve assembly is connected between the hydraulic pump and the openings and connected between the openings and the hydraulic source; the valve assembly has a first state and a second state, when the valve assembly is in the first state, the output end of the hydraulic pump is in communication with the first opening, and the second opening is in communication with the hydraulic source, when the valve assembly is in the second state, the output end of the hydraulic pump is in communication with the second opening, and the first opening is in communication with the hydraulic source.

[0009] In some examples of the present application, the valve assembly includes: a first electromagnetic valve, a second electromagnetic valve and a third electromagnetic valve, the first electromagnetic valve is connected between the hydraulic pump and the second opening, the second electromagnetic valve is connected between the hydraulic pump and the first opening, and the third electromagnetic valve is connected between the openings and the hydraulic source; when the valve assembly is in the first state, the first electromagnetic valve is turned off to disconnect the hydraulic pump from the second opening, the second electromagnetic valve is turned on to connect the hydraulic pump to the first opening, and the third electromagnetic valve is turned on to connect the second opening to the hydraulic source, when the valve assembly is in the second state, the first electromagnetic valve is turned on to connect the hydraulic pump to the second opening, the second electromagnetic valve is turned off to disconnect the hydraulic pump from the first opening, and the third electromagnetic valve is turned on to connect the first opening to the hydraulic source.

[0010] In some examples of the present application, the first hydraulic cavity and the second hydraulic cavity are at least two, and the at least two first hydraulic cavities and the at least two second hydraulic cavities are arranged in a staggered manner in the circumferential direction of the cylinder body.

[0011] In some examples of the present application, at least two of the first hydraulic chambers are symmetrically arranged about the rotation axis of the rotating pressure-bearing body, and at least two of the second hydraulic chambers are symmetrically arranged about the rotation axis of the rotating pressure-bearing body.

[0012] In some examples of the present application, the rotating pressure-bearing body comprises a middle shaft body, a first pressure-bearing body and a second pressure-bearing body, the first pressure-bearing body and the second pressure-bearing body are arranged on the middle shaft body, the middle shaft body is rotatably arranged on the cylinder body, the first hydraulic chamber and the second hydraulic chamber are separated by a partition plate of the cylinder body, the first hydraulic chamber is defined between the partition plate and the first pressure-bearing body, and the second hydraulic chamber is defined between the partition plate and the second pressure-bearing body; or the rotating pressure-bearing body comprises a middle shaft body and a first pressure-bearing body, the first pressure-bearing body is arranged on the middle shaft body, the middle shaft body is rotatably arranged on the cylinder body, the first hydraulic chamber and the second hydraulic chamber are separated by the first pressure-bearing body, the first hydraulic chamber is defined between the first pressure-bearing body and a first partition plate of the cylinder body, and the second hydraulic chamber is defined between the first pressure-bearing body and a second partition plate.

[0013] In some examples of the present application, the steering mechanism of the vehicle further comprises a steering driving member, which is in transmission connection with the rotating pressure-bearing body.

[0014] In some examples of the present application, the steering mechanism of the vehicle further comprises a kingpin, and the rotating pressure-bearing body and the cylinder body are sleeved on the kingpin.

[0015] In some examples of the present application, the steering mechanism of the vehicle further comprises a linkage assembly and a second steering knuckle, the second steering knuckle comprises a third end portion and a fourth end portion, the third end portion and the fourth end portion are relatively rotatably connected, and the linkage assembly is connected between the second end portion of the first steering knuckle and the fourth end portion of the second steering knuckle.

[0016] In some examples of the present application, the linkage assembly comprises a first steering arm, a transverse tie rod and a second steering arm, the first steering arm is connected with the second end portion of the first steering knuckle, the second steering arm is connected with the fourth end portion of the second steering knuckle, and the transverse tie rod is rotatably connected between the first steering arm and the second steering arm.

[0017] In some examples of the present application, the steering mechanism of the vehicle further comprises a beam, which is connected between the first end portion of the first steering knuckle and the third end portion of the second steering knuckle.

[0018] In some examples of the present application, the steering mechanism of the vehicle further comprises: sensors, including: a wheel speed sensor for acquiring the rotation speed of each wheel of the vehicle; and / or an acceleration sensor for acquiring the acceleration information of the vehicle; and / or a yaw angle sensor for acquiring the yaw angle information of the vehicle; and / or a hydraulic cylinder pressure sensor for acquiring the internal hydraulic value of the hydraulic cylinder; and / or a hydraulic cylinder position sensor for acquiring the relative position of the rotation shaft pressure surface in the hydraulic cylinder; and a controller electrically connected with the sensors and the hydraulic pump respectively, to control the hydraulic pump to adjust the hydraulic pressure in the hydraulic cavity according to the information provided by the sensors.

[0019] The vehicle according to the present application comprises: wheels; the above-mentioned steering mechanism of the vehicle, and at least one of the wheels is connected with the first end of the first steering knuckle.

[0020] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0021] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, including the accompanying drawings, wherein:

[0022] Figure 1 is a structural schematic diagram of a steering mechanism according to an embodiment of the present application;

[0023] Figure 2 is a partial sectional view of a steering mechanism according to an embodiment of the present application;

[0024] Figure 3 is a first schematic diagram of a hydraulic cylinder;

[0025] Figure 4 is a control block diagram of a controller;

[0026] Figure 5 is a schematic diagram of oil path control;

[0027] Figure 6 is a second schematic diagram of a hydraulic cylinder.

[0028] Reference Signs:

[0029] 1, steering mechanism;

[0030] 10, beam; 20, first knuckle; 21, first end; 22, second end; 30, hydraulic pump; 40, hydraulic cylinder; 41, cylinder body; 410, partition; 411, first partition; 412, second partition; 42, rotary pressure-bearing body; 420, central shaft body; 421, first pressure-bearing body; 422, second pressure-bearing body; 43, hydraulic cavity; 430, first hydraulic cavity; 431, second hydraulic cavity; 44, opening; 440, first opening; 441, second opening; 50, steering driving member; 60, kingpin; 70, linkage assembly; 71, first steering arm; 72, transverse tie rod; 73, second steering arm; 80, second knuckle; 90, sensor; 91, wheel speed sensor; 92, acceleration sensor; 93, yaw angle sensor; 94, hydraulic cylinder pressure sensor; 95, hydraulic cylinder position sensor; 100, controller; 101, first electromagnetic valve; 102, second electromagnetic valve; 103, third electromagnetic valve; 104, fourth electromagnetic valve; 105, fifth electromagnetic valve; 106, first overflow valve; 107, second overflow valve; 108, first accumulator; 109, second accumulator. DETAILED DESCRIPTION

[0031] Embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0032] Reference is made to Figures 1-6 A steering mechanism 1 of a vehicle according to an embodiment of the present application is described below.

[0033] As shown in Figure 1 A steering mechanism 1 of a vehicle according to an embodiment of the present application includes a beam 10, a first knuckle 20, and a hydraulic pump 30. The beam 10 can be an I-beam 10, is a main structural member of the steering mechanism 1, can be used to mount other structural members, and is a base for movement of various components. The first knuckle 20 mainly uses a shaft-bearing-hole matching arrangement, and can cause deflection of a wheel. The hydraulic pump 30 can convert low-pressure oil into high-pressure oil, has a variable speed function, and can control the output pressure of the oil.

[0034] As shown in Figure 1 The first knuckle 20 is rotatably arranged at one end of the beam 10, and the hydraulic cylinder 40 is arranged at one end of the beam 10. It can be understood that the first knuckle 20 is arranged at one end of the beam 10, so as to facilitate cooperation of the first knuckle 20 with the wheel, and the first knuckle 20 can rotate relative to the beam 10, so that through rotation of the first knuckle 20, the vehicle tire can be deflected to realize rotation of the vehicle. The hydraulic cylinder 40 is arranged at one end of the beam 10, so that the hydraulic cylinder 40 and the first knuckle 20 are located at the same end of the beam 10, facilitating cooperation between the hydraulic cylinder 40 and the first knuckle 20.

[0035] AsFigure 3 As shown, the first steering knuckle 20 includes a first end 21, a second end 22 and a hydraulic cylinder 40. The hydraulic cylinder 40 can convert the high-pressure oil output by the hydraulic pump 30 into circular motion and drive the first steering knuckle 20 to rotate through hydraulic action.

[0036] like Figure 3 As shown, the hydraulic cylinder 40 includes a cylinder body 41 and a rotating pressure bearing body 42. The cylinder body 41 is located at the first end 21, and the rotating pressure bearing body 42 is located at the second end 22. A hydraulic chamber 43 is formed inside the cylinder body 41. The hydraulic chamber 43 is connected to an opening 44, which is connected to the output end of the hydraulic pump 30. This allows adjustment of the hydraulic pressure inside the hydraulic chamber 43. The rotating pressure bearing body 42 is rotatably disposed inside the cylinder body 41, and rotates relative to the cylinder body 41 when the hydraulic pressure inside the hydraulic chamber 43 changes. The rotating pressure bearing body 42 is connected to the first steering knuckle 20. In other words, the oil in the hydraulic chamber 43 can enter the hydraulic chamber 43 through the opening 44. The rotating pressure bearing 42 is placed in the hydraulic chamber 43. As the amount of oil in the hydraulic chamber 43 increases, the oil pressure in the oil will also increase, thereby driving the rotating pressure bearing 42 to rotate. The rotating pressure bearing 42 is connected to the first steering knuckle 20. Thus, the rotation of the rotating pressure bearing 42 can drive the first steering knuckle 20 to rotate, and the first steering knuckle 20 can make the wheels deflect, thereby realizing the steering of the vehicle.

[0037] Therefore, by using the oil pressure in the cavity to drive the rotating bearing body 42, and then the rotating bearing body 42 drives the first steering knuckle 20 to rotate, the movement of the rotating bearing body 42 is rotation. The rotating bearing body 42 can be directly connected to the first steering knuckle 20, which makes the transmission between the rotating bearing body 42 and the first steering knuckle 20 simpler and more convenient, reduces the transmission space between the rotating bearing body 42 and the first steering knuckle 20, and thus makes the overall structure of the steering mechanism 1 compact and simple.

[0038] Among them, such as Figure 3As shown, the hydraulic cavity 43 comprises: a first hydraulic cavity 430 and a second hydraulic cavity 431, the first hydraulic cavity 430 and the second hydraulic cavity 431 are spaced apart in the cylinder body 41, at least part of the rotating pressure bearing body 42 and at least part of the cylinder body 41 define the first hydraulic cavity 430, and at least part of the rotating pressure bearing body 42 and at least part of the cylinder body 41 define the second hydraulic cavity 431, the opening 44 is multiple, the multiple openings 44 comprise a first opening 440 and a second opening 441, the first opening 440 is arranged in the first hydraulic cavity 430, and the second opening 441 is arranged in the second hydraulic cavity 431, when the hydraulic pressure of the first hydraulic cavity 430 increases and the hydraulic pressure of the second hydraulic cavity 431 decreases, the rotating pressure bearing body 42 rotates in the first direction, when the hydraulic pressure of the first hydraulic cavity 430 decreases and the hydraulic pressure of the second hydraulic cavity 431 increases, the rotating pressure bearing body 42 rotates in the second direction, wherein the first direction and the second direction are opposite. The first direction is the left turning direction, and the second direction is the right turning direction.

[0039] It should be noted that the multiple openings 44 comprise: a first opening 440 and a second opening 441, the first hydraulic cavity 430 is connected with the first opening 440, and the second hydraulic cavity 431 is connected with the second opening 441, and it can be understood that when the hydraulic pump 30 enters oil into the first hydraulic cavity 430 through the first opening 440, the oil pressure in the first hydraulic cavity 430 increases, and correspondingly, the second hydraulic cavity 431 can be relieved, so as to increase the oil pressure difference between the first hydraulic cavity 430 and the second hydraulic cavity 431, and better make the rotating pressure bearing body 42 rotate in the left turning direction of the vehicle, drive the first steering knuckle 20 to also rotate to the left, so as to realize the left turning of the vehicle, and similarly, when the hydraulic pump 30 enters oil into the second hydraulic cavity 431 through the second opening 441, the oil pressure in the second hydraulic cavity 431 increases, and correspondingly, the first hydraulic cavity 430 can be relieved, so as to increase the oil pressure difference between the first hydraulic cavity 430 and the second hydraulic cavity 431, and better make the rotating pressure bearing body 42 rotate in the right turning direction of the vehicle, drive the first steering knuckle 20 to also rotate to the right, so as to realize the right turning of the vehicle. Of course, the first hydraulic cavity 430 and the second hydraulic cavity 431 can also be arranged in the same cavity, and the rotating pressure bearing body 42 is located between the first hydraulic cavity 430 and the second hydraulic cavity 431, so that the rotation of the rotating pressure bearing body 42 can also be realized through the oil pressure difference between the first hydraulic cavity 430 and the second hydraulic cavity 431.

[0040] The steering mechanism 1 of the vehicle further comprises a hydraulic source and a valve assembly, the input end of the hydraulic pump 30 is connected with the hydraulic source, the valve assembly is connected between the hydraulic pump 30 and the plurality of openings 44, and the valve assembly is connected between the plurality of openings 44 and the hydraulic source, the valve assembly has a first state and a second state, when the valve assembly is in the first state, the output end of the hydraulic pump 30 is communicated with the first opening 440, and the second opening 441 is communicated with the hydraulic source, when the valve assembly is in the second state, the output end of the hydraulic pump 30 is communicated with the second opening 441, and the first opening 440 is communicated with the hydraulic source.

[0041] That is, the oil in the second hydraulic cavity 431 enters the hydraulic source through the second opening 441, so as to realize pressure relief of the second hydraulic cavity 431, and the output end of the hydraulic pump 30 is communicated with the first opening 440, so that the hydraulic pump 30 can pump the oil in the hydraulic source into the first hydraulic cavity 430 through the first opening 440, increase the oil pressure of the first hydraulic cavity 430, increase the oil pressure difference between the first hydraulic cavity 430 and the second hydraulic cavity 431, and better drive the rotating pressure-bearing body 42 to rotate in the left turning direction of the vehicle, drive the first steering knuckle 20 to also rotate to the left, so as to realize the left turning of the vehicle.

[0042] Similarly, the oil in the first hydraulic cavity 430 enters the hydraulic source through the first opening 440, so as to realize pressure relief of the first hydraulic cavity 430, and the output end of the hydraulic pump 30 is communicated with the second opening 441, so that the hydraulic pump 30 can pump the oil in the hydraulic source into the second hydraulic cavity 431 through the second opening 441, increase the oil pressure of the second hydraulic cavity 431, increase the oil pressure difference between the first hydraulic cavity 430 and the second hydraulic cavity 431, and better drive the rotating pressure-bearing body 42 to rotate in the right turning direction of the vehicle, drive the first steering knuckle 20 to also rotate to the right, so as to realize the right turning of the vehicle.

[0043] Of course, as shown in Figure 3 The first hydraulic cavity 430 and the second hydraulic cavity 431 are at least two, and the at least two first hydraulic cavities 430 and the at least two second hydraulic cavities 431 are arranged in a staggered manner in the circumferential direction of the cylinder body 41. The provision of the at least two first hydraulic cavities 430 and the at least two second hydraulic cavities 431 can provide greater oil pressure, and the at least two first hydraulic cavities 430 or the at least two second hydraulic cavities 431 can better drive the rotating pressure-bearing body 42 to rotate. The at least two first hydraulic cavities 430 and the at least two second hydraulic cavities 431 are arranged in a staggered manner in the circumferential direction of the cylinder body 41, so that the rotating pressure-bearing body 42 in the first hydraulic cavity 430 and the second hydraulic cavity 431 can rotate better, and when the first hydraulic cavity 430 and the second hydraulic cavity 431 are arranged in the same cavity, the arrangement of the at least two first hydraulic cavities 430 and the at least two second hydraulic cavities 431 is facilitated.

[0044] In addition, asFigure 3 As shown, the at least two first hydraulic cavities 430 are symmetrically arranged about the rotation axis of the rotation pressure-bearing body 42, and the at least two second hydraulic cavities 431 are symmetrically arranged about the rotation axis of the rotation pressure-bearing body 42. That is, the at least two first hydraulic cavities 430 and the at least two second hydraulic cavities 431 are identical in shape and size, so that the amount of oil in the at least two first hydraulic cavities 430 and the at least two second hydraulic cavities 431 can remain the same when oil is filled and drained, and the rotation amplitude of the rotation pressure-bearing body 42 in the first hydraulic cavities 430 and the second hydraulic cavities 431 is the same, so as to ensure that the rotation of the rotation pressure-bearing body 42 is more stable and reliable.

[0045] Specifically, as shown, Figure 3 The rotation pressure-bearing body 42 comprises a middle shaft body 420, a first pressure-bearing body 421 and a second pressure-bearing body 422, the first pressure-bearing body 421 and the second pressure-bearing body 422 are arranged in the middle shaft body 420, the middle shaft body 420 is rotatably arranged in the cylinder body 41, the first hydraulic cavities 430 and the second hydraulic cavities 431 are separated by the partition plate 410 of the cylinder body 41, the first hydraulic cavities 430 are defined between the partition plate 410 and the first pressure-bearing body 421, and the second hydraulic cavities 431 are defined between the partition plate 410 and the second pressure-bearing body 422.

[0046] That is, when one of the first hydraulic cavities 430 and the second hydraulic cavities 431 is filled with oil and the other is drained, an oil pressure difference is formed between the first hydraulic cavities 430 and the second hydraulic cavities 431, so that the first pressure-bearing body 421 and the second pressure-bearing body 422 can rotate correspondingly according to the oil pressure difference, and the middle shaft body 420 is rotatably arranged in the cylinder body 41, so that the first pressure-bearing body 421 and the second pressure-bearing body 422 can simultaneously drive the middle shaft body 420 to rotate relative to the cylinder body 41, and the middle shaft body 420 is connected to the first steering knuckle 20, thereby driving the first steering knuckle 20 to rotate, and thus the steering of the vehicle can be realized. In this way, the movement of the middle shaft body 420 is rotation, and the transmission between the rotation pressure-bearing body 42 and the first steering knuckle 20 is more simple and convenient, the transmission space between the rotation pressure-bearing body 42 and the first steering knuckle 20 is reduced, and the overall structure of the steering mechanism 1 is small and simple.

[0047] When the first hydraulic cavity 430 and the second hydraulic cavity 431 are separated by the partition plate 410 of the cylinder body 41, the hydraulic pump 30 enters oil between the partition plate 410 and the first pressure-bearing body 421 through the first opening 440, and the partition plate 410 and the second pressure-bearing body 422 discharge oil, which can relieve pressure, so as to increase the oil pressure difference between the first hydraulic cavity 430 and the second hydraulic cavity 431, better make the rotary pressure-bearing body 42 rotate in the left turning direction of the vehicle, drive the first steering knuckle 20 to also rotate left, and thus the left turning of the vehicle can be realized. Similarly, when the hydraulic pump 30 enters oil between the partition plate 410 and the second pressure-bearing body 422 through the second opening 441, the oil pressure in the second hydraulic cavity 431 increases, and correspondingly, the partition plate 410 and the first pressure-bearing body 421 can relieve pressure, so as to increase the oil pressure difference between the first hydraulic cavity 430 and the second hydraulic cavity 431, better make the rotary pressure-bearing body 42 rotate in the right turning direction of the vehicle, drive the first steering knuckle 20 to also rotate right, and thus the right turning of the vehicle can be realized.

[0048] Alternatively, as shown in FIG. 4, the rotary pressure-bearing body 42 includes the middle shaft body 420 and the first pressure-bearing body 421, the first pressure-bearing body 421 is arranged on the middle shaft body 420, the middle shaft body 420 is rotatably arranged on the cylinder body 41, the first hydraulic cavity 430 and the second hydraulic cavity 431 are separated by the first pressure-bearing body 421, the first hydraulic cavity 430 is defined between the first pressure-bearing body 421 and the first partition plate 411 of the cylinder body 41, and the second hydraulic cavity 431 is defined between the first pressure-bearing body 421 and the second partition plate 412. Figure 6 Of course, when the rotary pressure-bearing body 42 includes the middle shaft body 420 and the first pressure-bearing body 421, the first hydraulic cavity 430 and the second hydraulic cavity 431 can also be separated by the first pressure-bearing body 421, the first hydraulic cavity 430 and the second hydraulic cavity 431 can also be arranged in the same cavity, the first hydraulic cavity 430 is defined between the first pressure-bearing body 421 and the first partition plate 411 of the cylinder body 41, and the second hydraulic cavity 431 is defined between the first pressure-bearing body 421 and the second partition plate 412, so that the rotation of the rotary pressure-bearing body 42 can also be realized by the oil pressure difference between the first hydraulic cavity 430 and the second hydraulic cavity 431.

[0049] Optionally, as shown in FIG. 4, the first pressure-bearing body 421 includes a first pressure-bearing body 421a and a second pressure-bearing body 421b, the first pressure-bearing body 421a is arranged on the middle shaft body 420, and the second pressure-bearing body 421b is arranged on the first pressure-bearing body 421a. Figure 1 and Figure 2As shown, the second end portion 22 is connected with the first end portion 21, and the second end portion 22 is rotatably arranged on the beam 10, and the second end portion 22 is connected with the middle shaft portion or is in an integrated structure. That is, the second end portion 22 can be connected with the middle shaft portion, or the second end portion 22 and the middle shaft portion form an integrated structure, so that the middle shaft portion can drive the second end portion 22 to rotate after rotating, and the second end portion 22 is connected with the first end portion 21, so that the first end portion 21 can rotate together with the second end portion 22, and it should be noted that the first end portion 21 acts on the wheel to make the wheel perform a deflection movement, so as to realize the steering of the vehicle.

[0050] In addition, as shown in Figure 2 The steering mechanism 1 of the vehicle further comprises a steering driving member 50, and the steering driving member 50 is in transmission connection with the rotating pressure-bearing body 42. Specifically, the steering driving member 50 is further connected on at least one of the second end portion 22 and the middle shaft portion, and the steering driving member 50 can drive at least one of the second end portion 22 and the middle shaft portion to rotate, so as to improve the steering power of the second end portion 22 and the middle shaft portion, and avoid that the force arm of the rotating pressure-bearing body 42 is small and is limited by the hydraulic pressure to drive a vehicle with a large load.

[0051] Further, as shown in Figure 2 The steering mechanism 1 of the vehicle further comprises a kingpin 60, and the rotating pressure-bearing body 42 and the cylinder body 41 are sleeved on the kingpin 60, and the axes of the steering driving member 50, the middle shaft portion, the second end portion 22 and the kingpin 60 are collinear. The kingpin 60 can play a fixed role, and the rotating pressure-bearing body 42 and the cylinder body 41 are sleeved on the kingpin 60, that is, the second end portion 22 can be fixed to the beam 10 through the kingpin 60, so as to ensure the stability and reliability of the arrangement of the second end portion 22. And the axes of the steering driving member 50, the middle shaft portion, the second end portion 22 and the kingpin 60 are collinear, so that the steering driving member 50, the middle shaft portion and the second end portion 22 can rotate along the axis of the kingpin 60, ensuring the consistency of the rotation of the steering driving member 50, the middle shaft portion and the second end portion 22, and improving the steering effect of the steering mechanism 1.

[0052] According to an optional embodiment of the present application, as shown in Figure 1As shown, the vehicle's steering mechanism 1 further includes: a linkage component 70 and a second steering knuckle 80. The second steering knuckle 80 includes a third end and a fourth end, which are rotatably connected relative to each other. The linkage component 70 is connected between the second end 22 of the first steering knuckle 20 and the fourth end of the second steering knuckle 80. The first steering knuckle 20 acts on the wheel at one end of the beam 10. The second steering knuckle 80 includes a third end and a fourth end, which are rotatably connected relative to each other. Thus, the second steering knuckle 80 is rotatably mounted on the other end of the beam 10, acting on the wheel at the other end. The linkage assembly 70 acts as a linkage, connecting the second end 22 of the first steering knuckle 20 and the fourth end of the second steering knuckle 80. When the first steering knuckle 20 rotates, it pulls the linkage assembly 70, causing it to move towards the side the vehicle is turning. This linkage assembly 70, in turn, drives the second steering knuckle 80, causing the wheel at the other end of the beam 10 to also rotate towards the side the vehicle is turning. This ensures consistent wheel steering and improves the vehicle's steering performance. Alternatively, the linkage assembly 70 can also be connected between the rotating bearing body 42 and the second steering knuckle 80.

[0053] Among them, such as Figure 1 As shown, the linkage assembly 70 includes a first steering arm 71, a lateral tie rod 72, and a second steering arm 73. The first steering arm 71 is connected to the second end 22 of the first steering knuckle 20, and the second steering arm 73 is connected to the fourth end of the second steering knuckle 80. The lateral tie rod 72 is rotatably connected between the first steering arm 71 and the second steering arm 73. The rotation of the first steering knuckle 20 first drives the first steering arm 71 to move, while the lateral tie rod 72 acts as a lateral connection, connecting the first steering arm 71 and the second steering arm 73. In this way, the movement of the first steering arm 71 can drive the movement of the second steering arm 73 through the lateral tie rod 72, thereby driving the movement of the second steering knuckle 80. This causes the wheel at the other end of the beam 10 to rotate in the same direction as the vehicle's steering, thus ensuring consistent wheel steering and better vehicle steering performance. The connection between the first steering arm 71 and the second end 22 of the first steering knuckle 20 can be fixed or integral. Similarly, the connection between the second steering arm 73 and the fourth end of the second steering knuckle 80 can be fixed or integral.

[0054] Optionally, such as Figure 1As shown, the beam 10 is connected between the first end 21 of the first knuckle 20 and the third end of the second knuckle 80. The first end 21 of the first knuckle 20 acts on the wheels at one end of the beam 10, and the third end of the second knuckle 80 can act on the wheels at the other end of the beam 10. When the first knuckle 20 rotates, it can drive the second knuckle 80 to move, so that the wheels at the other end of the beam 10 also rotate to the same side of the vehicle, thereby ensuring the consistency of the vehicle wheel steering, and the steering effect of the vehicle is better.

[0055] In addition, as shown, Figure 4 As shown, the steering mechanism 1 of the vehicle further comprises a sensor 90 and a controller 100. The sensor 90 comprises a wheel speed sensor 91 for acquiring the rotational speed of each wheel of the vehicle, and / or an acceleration sensor 92 for acquiring acceleration information of the vehicle, and / or a yaw angle sensor 93 for acquiring yaw angle information of the vehicle, and / or a hydraulic cylinder pressure sensor 94 for acquiring the internal hydraulic value of the hydraulic cylinder 40, and / or a hydraulic cylinder position sensor 95 for acquiring the relative position of the shaft pressure surface in the hydraulic cylinder 40. The controller 100 is electrically connected with the sensor 90 and the hydraulic pump 30 respectively, so as to control the adjustment of the hydraulic pressure in the hydraulic chamber 43 according to the information provided by the sensor 90. The wheel speed sensor 91 can acquire the rotational speed of each wheel, and the vehicle speed and driving state can be calculated. The acceleration sensor 92 and the yaw angle sensor 93 are arranged at the position of the overall center of mass of the vehicle. The hydraulic cylinder pressure sensor 94 is located inside the hydraulic cylinder 40, and is used to acquire the hydraulic value inside the hydraulic cylinder 40, so as to calculate the output torque of the hydraulic cylinder 40 and the road resistance torque. The hydraulic cylinder position sensor 95 is located inside the hydraulic cylinder 40, and is used to acquire the relative position of the shaft pressure surface in the hydraulic cylinder 40, so as to calculate the actual turning angle of the wheel.

[0056] It should be noted that the steering wheel control system of the vehicle comprises a steering wheel, an angle sensor 90, a mechanical transmission device and a torque feedback motor. The steering wheel is mainly used for inputting and transmitting human torque. The angle sensor 90 is mainly used for detecting the angle signal of the steering wheel and outputting the angle signal to the controller 100. The mechanical transmission device is mainly used for executing the steering wheel control, and cooperates with the angle sensor 90 to output the angle signal of the steering wheel, and cooperates with the torque feedback motor to realize the feedback of road feeling. The torque feedback motor mainly realizes the simulation of road feeling according to the information fed back by the controller 100, so that the driver can feel the road information.

[0057] The steering mechanism 1 of the vehicle is integrated controlled by the controller 100, when the battery of the vehicle is connected to the controller 100, the controller 100 receives the vehicle speed signal, the yaw rate signal, the acceleration signal, the steering wheel angle signal, the hydraulic cylinder 40 pressure signal and the hydraulic cylinder 40 position signal, and then analyzes and calculates to obtain the steering wheel return torque signal and the steering motor control signal. The steering wheel return torque signal is output to the torque feedback motor to realize the road feeling feedback, and the steering motor control signal is output to the hydraulic pump 30 and the valve assembly to realize the steering operation of the vehicle.

[0058] When the driver turns the steering wheel, the angle torque sensor 90 installed on the steering column outputs the angle direction, angle size, rotation speed and rotation torque signals in real time. The front and rear steering mechanisms 1 receive the steering demand signal from the angle torque sensor 90 and read the real-time vehicle speed signal, calculate and analyze the corresponding steering matching information of the wheels, and control the front and rear hydraulic pumps 30 to output the demand pressure high-pressure oil respectively, control the opening of each valve on the steering mechanism 1, realize the work of the steering mechanism 1, and when the four-wheel steering is turned on, the opening directions of the valves in the front and rear hydraulic cylinders 40 are opposite, and the opening angle can be set according to requirements.

[0059] And the steering mechanism 1 sends a request to the controller 100 according to the steering demand, controls or adjusts the rotation speed of the hydraulic pump 30 motor, so that the hydraulic pump 30 provides matched oil flow to the hydraulic cylinder 40, and achieves the purpose of high-pressure assistance.

[0060] In addition, one steering mechanism 1 is used to control the steering motion of two sets of steering mechanisms 1 on two steering axles, and the front and rear wheel steering are respectively provided with control switches.

[0061] The control switch of the front steering mechanism 1 is a normally open switch, and the front wheel steering function always exists when the switch is not pressed. When the steering wheel is turned, the steering mechanism 1 controls the front wheel steering. When the switch is pressed, the front wheel steering locking function is activated only when the vehicle speed is less than 5km / h (safety requirement, the value can be set according to vehicle requirements). When the steering wheel is turned, the steering mechanism 1 controls the front axle steering mechanism 1 to not respond to the steering requirement. When the vehicle speed is higher than 5km / h, the switch is automatically reset, and the front wheel steering locking function is exited.

[0062] The control switch of the rear steering mechanism 1 is a normally closed switch. When the switch is not pressed, the rear wheel steering function is always locked, that is, when the steering wheel is turned, the rear axle steering mechanism 1 controlled by the steering mechanism 1 does not respond to the steering requirement. When the switch is pressed, when the vehicle speed is greater than 30 km / h (safety requirement, the value can be set according to the demand of the whole vehicle), the rear wheel steering is not activated. In the range of 0-30 km / h vehicle speed, the rear wheel steering function can be activated. When the steering wheel is turned, the rear axle steering mechanism 1 is coordinated to control the rear axle steering mechanism 1 to realize the rear wheel steering. The size of the rear wheel steering angle and the steering speed are set by the steering mechanism 1 according to the size of the vehicle speed and the size and speed of the front wheel steering angle.

[0063] In addition, as shown in Figure 5 The electrically controlled hydraulic power steering mechanism 1 integrates an actuator instead of only manually operating the turning valve in the steering gear to realize hydraulic power steering by using a common hydraulic power system.

[0064] The valve body assembly includes a first electromagnetic valve 101, a second electromagnetic valve 102, and a third electromagnetic valve 103. The first electromagnetic valve 101 is connected between the hydraulic pump 30 and the second opening 441. The second electromagnetic valve 102 is connected between the hydraulic pump 30 and the first opening 440. The third electromagnetic valve 103 is connected between the plurality of openings 44 and the hydraulic source. When the valve body assembly is in the first state, the first electromagnetic valve 101 is disconnected to disconnect the hydraulic pump 30 from the second opening 441. The second electromagnetic valve 102 is connected to communicate the hydraulic pump 30 with the first opening 440. The third electromagnetic valve 103 is connected to the second opening 441 and the hydraulic source. When the valve body assembly is in the second state, the first electromagnetic valve 101 is connected to communicate the hydraulic pump 30 with the second opening 441. The second electromagnetic valve 102 is disconnected to disconnect the hydraulic pump 30 from the first opening 440. The third electromagnetic valve 103 is connected to the first opening 440 and the hydraulic source.

[0065] Specifically, the working principle of the steering mechanism 1 is as follows:

[0066] When there is no steering operation, the first electromagnetic valve 101 is in the left position and the second electromagnetic valve 102 is in the right position, both of which are not connected. The third electromagnetic valve 103 is in the middle position. The hydraulic pump 30 works. The oil passes through the steering oil pipe. At this time, the oil passes through the third electromagnetic valve 103 to directly communicate with the hydraulic source. The oil returns to the steering oil pipe to form a loop, and there is no steering.

[0067] When the steering wheel is turned to the left, the controller 100 recognizes the signal, the first electromagnetic valve 101 is kept in the left position, the first electromagnetic valve 101 is turned off, the hydraulic pump 30 is disconnected from the second opening 441, the hydraulic pump 30 cannot enter the second hydraulic cavity 431 through the second opening 441, the second electromagnetic valve 102 is controlled to move to the left position, the second electromagnetic valve 102 is turned on, the hydraulic pump 30 is connected with the first opening 440, the hydraulic pump 30 enters the first hydraulic cavity 430 through the first opening 440, the third electromagnetic valve 103 moves to the left position, the third electromagnetic valve 103 is turned on, the second opening 441 is connected with the hydraulic source, the second hydraulic cavity 431 is depressurized, so that a pressure difference is formed to drive the other side of the rotating pressure-bearing body 42 to rotate, the rotating pressure-bearing body 42 drives the wheel end to rotate together, and drives the rotation of the second steering knuckle 80 through the linkage assembly 70, so as to realize the steering of the wheels on both sides. During the process, when the steering wheel is turned to the left, the fifth electromagnetic valve 105 moves to the left position, the second energy accumulator 109 rapidly releases hydraulic energy, and after the hydraulic pressure in the circuit is raised, the fourth electromagnetic valve 104 moves to the left position, the first energy accumulator 108 maintains the existing hydraulic energy, and the first overflow valve 106 automatically depressurizes when the hydraulic pressure in the pipeline is too high.

[0068] When the steering wheel is turned to the right, the controller 100 controls the first electromagnetic valve 101 to move to the right position, the first electromagnetic valve 101 is turned on, the hydraulic pump 30 is connected with the second opening 441, the hydraulic pump 30 enters the second hydraulic cavity 431 through the second opening 441, the second electromagnetic valve 102 moves to the right position, the second electromagnetic valve 102 is turned off, the hydraulic pump 30 is disconnected from the first opening 440, the hydraulic pump 30 cannot enter the first hydraulic cavity 430 through the first opening 440, the third electromagnetic valve 103 moves to the right position, the third electromagnetic valve 103 is turned on, the first opening 440 is connected with the hydraulic source, the first hydraulic cavity 430 is depressurized, so that a pressure difference is formed to drive the other side of the rotating pressure-bearing body 42 to rotate, the rotating pressure-bearing body 42 drives the wheel end to rotate together, and drives the rotation of the second steering knuckle 80 through the linkage assembly 70, so as to realize the steering of the wheels on both sides. During the process, when the steering wheel is turned to the right, the fourth electromagnetic valve 104 moves to the right position, the first energy accumulator 108 rapidly releases hydraulic energy, and after the hydraulic pressure in the circuit is raised, the fifth electromagnetic valve 105 moves to the right position, the second energy accumulator 109 maintains the hydraulic energy, and the second overflow valve 107 automatically depressurizes when the hydraulic pressure in the pipeline is too high.

[0069] When the steering wheel is released, the steering wheel has no holding force, the torque feedback motor recognizes the change in torque to generate a feedback torque, driving the steering wheel to return to normal, the third electromagnetic valve 103 switches between the left and right positions, one side of the rotating pressure bearing body 42 is unloaded, the other side is pressurized, forming a return force to drive the wheels to return to normal, the angle sensor 90 recognizes the direction return, the third electromagnetic valve 103 returns to the middle position, the first electromagnetic valve 101 returns to the left position, the second electromagnetic valve 102 returns to the right position, and the pressure difference between the first hydraulic cavity 430 and the second hydraulic cavity 431 of the rotating pressure bearing body 42 is maintained to maintain the driving direction of the vehicle.

[0070] During the operation of the hydraulic steering mechanism 1, the driver's steering wheel input signal and the steering mechanism 1 hydraulic signal are combined for calculation, and the valve state is quickly adjusted to complete the control of the vehicle direction.

[0071] The vehicle according to the embodiment of the application comprises: a wheel and the steering mechanism 1 of the vehicle described in the above embodiments, and at least one wheel is connected with the first end portion 21 of the first steering knuckle 20. The middle shaft portion can drive the second end portion 22 to rotate, and the second end portion 22 is connected with the first end portion 21, so that the first end portion 21 can rotate together with the second end portion 22, and the first end portion 21 acts on the wheel to make the wheel perform a deflection movement, so that the steering of the vehicle can be realized.

[0072] In the description of the present application, it should be understood that the orientations or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0073] In the description of the present application, "first feature" and "second feature" can include one or more features. In the description of the present application, "a plurality of" means two or more. In the description of the present application, "above" or "below" the first feature of the second feature can include that the first and second features are in direct contact, or can include that the first and second features are not in direct contact but are in contact through another feature between them. In the description of the present application, "above", "above" and "above" of the first feature of the second feature include that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is higher than the second feature in height.

[0074] In the description of the specification, reference to "one embodiment", "some embodiments", "an exemplary embodiment", "an example", "a specific example", or "some examples" means that a particular feature, structure, material, or characteristic being described is included in at least one embodiment or example of the application. The appearances of the phrases "in one embodiment", "in some embodiments", "in an exemplary embodiment", "an example", "a specific example", or "some examples" in various places in the specification are not necessarily referring to the same embodiment or example.

[0075] While embodiments of the application have been shown and described, it is to be understood that the application is not limited to these embodiments. Rather, it is the intention that modifications, changes, substitutions, and variations be made to the embodiments in keeping with the principles and spirit of the application. The scope of the application is to be limited only by the claims and their equivalents.

Claims

1. A steering mechanism (1) of a vehicle, characterized in that, The utility model relates to a kind of hydraulic steering knuckles, comprising: First knuckle (20), the first knuckle (20) includes hydraulic cylinder (40), first end (21) and second end (22), the hydraulic cylinder (40) includes cylinder (41) and rotating pressure body (42), the cylinder (41) is arranged at the first end (21), the rotating pressure body (42) is arranged at the second end (22), the rotating pressure body (42) is rotatably arranged in the cylinder (41), and the hydraulic cavity (43) is formed in the cylinder (41), and the hydraulic cavity (43) is provided with opening (44); Hydraulic pump (30), the output of the hydraulic pump (30) is connected with the opening (44), to adjust the hydraulic pressure in the hydraulic cavity (43); Steering drive (50), the rotating pressure body (42) is drivingly connected with the steering drive (50); Kingpin (60), the rotating pressure body (42) and the cylinder (41) are both sleeved on the kingpin (60); Wherein, the rotating pressure body (42) rotates relative to the cylinder (41) when the hydraulic pressure in the hydraulic cavity (43) changes, the second end (22) is connected with the first end (21), and the second end (22) is rotatably arranged on beam (10), and the first end (21) acts on wheel.

2. The steering mechanism (1) of a vehicle according to claim 1, characterized in that The hydraulic cavity (43) includes: first hydraulic cavity (430) and second hydraulic cavity (431), the first hydraulic cavity (430) and the second hydraulic cavity (431) are spaced apart in the cylinder (41), and the first hydraulic cavity (430) is defined between at least part of the rotating pressure body (42) and at least part of the cylinder (41), and the second hydraulic cavity (431) is defined between at least part of the rotating pressure body (42) and at least part of the cylinder (41), the opening (44) is multiple, and multiple openings (44) include first opening (440) and second opening (441), the first opening (440) is arranged in the first hydraulic cavity (430), and the second opening (441) is arranged in the second hydraulic cavity (431); When the hydraulic pressure of the first hydraulic cavity (430) increases and the hydraulic pressure of the second hydraulic cavity (431) decreases, the rotating pressure body (42) rotates around the first direction, and when the hydraulic pressure of the first hydraulic cavity (430) decreases and the hydraulic pressure of the second hydraulic cavity (431) increases, the rotating pressure body (42) rotates around the second direction, wherein the first direction and the second direction are opposite.

3. The steering mechanism (1) of a vehicle according to claim 2, characterized in that Further comprising: Hydraulic source and valve body assembly, the input of the hydraulic pump (30) is connected with the hydraulic source, the valve body assembly is connected between the hydraulic pump (30) and multiple openings (44), and the valve body assembly is connected between multiple openings (44) and the hydraulic source. The valve assembly has a first state and a second state, when the valve assembly is in the first state, the output end of the hydraulic pump (30) is communicated with the first opening (440), the second opening (441) is communicated with the hydraulic source, when the valve assembly is in the second state, the output end of the hydraulic pump (30) is communicated with the second opening (441), the first opening (440) is communicated with the hydraulic source.

4. The steering mechanism (1) of a vehicle according to claim 3, characterized in that The valve assembly comprises a first electromagnetic valve (101), a second electromagnetic valve (102) and a third electromagnetic valve (103), the first electromagnetic valve (101) is connected between the hydraulic pump (30) and the second opening (441), the second electromagnetic valve (102) is connected between the hydraulic pump (30) and the first opening (440), and the third electromagnetic valve (103) is connected between the plurality of openings (44) and the hydraulic source. When the valve assembly is in the first state, the first electromagnetic valve (101) is disconnected to disconnect the hydraulic pump (30) and the second opening (441), the second electromagnetic valve (102) is connected to communicate the hydraulic pump (30) and the first opening (440), and the third electromagnetic valve (103) is connected to the second opening (441) and the hydraulic source, when the valve assembly is in the second state, the first electromagnetic valve (101) is connected to communicate the hydraulic pump (30) and the second opening (441), the second electromagnetic valve (102) is disconnected to disconnect the hydraulic pump (30) and the first opening (440), and the third electromagnetic valve (103) is connected to the first opening (440) and the hydraulic source.

5. The steering mechanism (1) of the vehicle according to claim 2, characterized in that, The first hydraulic cavity (430) and the second hydraulic cavity (431) are at least two, and the at least two first hydraulic cavities (430) and the at least two second hydraulic cavities (431) are staggered in the circumferential direction of the cylinder body (41).

6. The steering mechanism (1) of a vehicle according to claim 5, characterised in that The at least two first hydraulic cavities (430) are symmetrically arranged about the rotation axis of the rotating pressure-bearing body (42), and the at least two second hydraulic cavities (431) are symmetrically arranged about the rotation axis of the rotating pressure-bearing body (42).

7. The steering mechanism (1) of the vehicle according to claim 2, characterized in that The rotating pressure-bearing body (42) comprises a middle shaft body (420), a first pressure-bearing body (421) and a second pressure-bearing body (422), the first pressure-bearing body (421) and the second pressure-bearing body (422) are arranged in the middle shaft body (420), the middle shaft body (420) is rotatably arranged in the cylinder body (41), the first hydraulic cavity (430) and the second hydraulic cavity (431) are separated by a partition plate (410) of the cylinder body (41), the first hydraulic cavity (430) is defined between the partition plate (410) and the first pressure-bearing body (421), and the second hydraulic cavity (431) is defined between the partition plate (410) and the second pressure-bearing body (422); or The rotating pressure-bearing body (42) comprises a middle shaft body (420) and a first pressure-bearing body (421), the first pressure-bearing body (421) is arranged on the middle shaft body (420), the middle shaft body (420) is rotatably arranged on the cylinder body (41), the first hydraulic cavity (430) and the second hydraulic cavity (431) are separated by the first pressure-bearing body (421), the first pressure-bearing body (421) and the first partition plate (411) of the cylinder body (41) define the first hydraulic cavity (430), and the first pressure-bearing body (421) and the second partition plate (412) define the second hydraulic cavity (431).

8. A steering mechanism (1) of a vehicle according to claim 1, characterized in that Further comprising: A linkage assembly (70) and a second knuckle (80), the second knuckle (80) comprises a third end and a fourth end, the third end and the fourth end are rotatably connected, the linkage assembly (70) is connected between the second end (22) of the first knuckle (20) and the fourth end of the second knuckle (80).

9. The steering mechanism (1) of a vehicle according to claim 8, characterised in that The linkage assembly (70) comprises a first steering arm (71), a transverse pull rod (72) and a second steering arm (73), the first steering arm (71) is connected with the second end (22) of the first knuckle (20), the second steering arm (73) is connected with the fourth end of the second knuckle (80), and the transverse pull rod (72) is rotatably connected between the first steering arm (71) and the second steering arm (73).

10. The steering mechanism (1) of the vehicle according to claim 8, characterized in that Further comprising: A beam (10) connected between the first end (21) of the first knuckle (20) and the third end of the second knuckle (80).

11. A steering mechanism (1) of a vehicle according to claim 1, characterized in that Further comprising: A sensor (90) and a controller (100), the sensor (90) comprises: A wheel speed sensor (91) for acquiring the rotational speed of each wheel of the vehicle; And / or An acceleration sensor (92) for acquiring acceleration information of the vehicle; and / or A yaw angle sensor (93) for acquiring yaw angle information of the vehicle; and / or A hydraulic cylinder pressure sensor (94) for acquiring the internal hydraulic value of the hydraulic cylinder (40); and / or A hydraulic cylinder position sensor (95) for acquiring the relative position of the rotating shaft pressure surface in the hydraulic cylinder (40); The controller (100) is electrically connected with the sensor (90) and the hydraulic pump (30) respectively, so as to control the hydraulic pump (30) to adjust the hydraulic pressure in the hydraulic cavity (43) according to the information provided by the sensor (90).

12. A vehicle characterized by comprising: Including: A wheel; The steering mechanism (1) of the vehicle according to any one of claims 1-11, at least one of the wheels is connected with the first end (21) of the first knuckle (20).

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