A kingpin steering drive device with reverse double stroke planetary gear self-locking function

Abstract

The application discloses a kingpin steering driving device with reverse double-stroke planetary gear self-locking function and belongs to the technical field of vehicle engineering, which comprises a planetary helical gear reducer and a self-locking mechanism; the self-locking mechanism comprises a self-locking mechanism shell, a transmission disc, a plurality of transmission self-locking pins and a locking disc; the self-locking mechanism shell is fixed on the planetary helical gear reducer; the transmission disc is arranged in the self-locking mechanism shell and is connected with an input end of the planetary helical gear reducer; the plurality of transmission self-locking pins are arranged on the transmission disc and can slide relative to the transmission disc, and a driving mechanism can drive the plurality of transmission self-locking pins to synchronously drive the transmission disc to rotate as a whole; the locking disc is fixed in the self-locking mechanism shell and is provided with a plurality of locking grooves matched with the transmission self-locking pins; the sliding transmission self-locking pins can enter and move out of the corresponding locking grooves. The application adopts planetary gear transmission to reduce speed and provides a self-locking structure matched with the planetary gear transmission.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of vehicle engineering, and relates to a kingpin steering drive device, in particular to a kingpin steering drive device with reverse double-stroke planetary gear self-locking function. BACKGROUND

[0002] The existing electric steering device in the market is basically an electric power-assisted pull rod steering. The electric power-assisted pull rod steering is difficult to realize variable transmission ratio steering, difficult to control the steering angle of each steering wheel individually, and difficult to realize large-angle steering control of the steering wheel. The electric kingpin steering can realize variable transmission ratio steering, each wheel can send different steering angle instructions, and the steering wheel can be turned to any angle without interference from the kingpin steering angle in the wheel edge space. However, the kingpin steering device is difficult to directly drive the wheel to steer by the steering motor. Even if there are some kingpin steering devices driven directly by the steering motor, they mainly use a worm gear reducer. The worm gear reducer has a large radial space in the kingpin steering arrangement, which is not convenient to arrange at the wheel end, and the worm gear transmission efficiency is low, which generates a lot of heat and is prone to gelling during continuous operation. The backlash in the transmission process is large. SUMMARY

[0003] The present application provides a kingpin steering drive device with reverse double-stroke planetary gear self-locking function to overcome the defects of the prior art.

[0004] To achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0005] A kingpin steering drive device with reverse double-stroke planetary gear self-locking function, comprising a driving mechanism, a trailing arm suspension and a steering knuckle, the driving mechanism drives the steering knuckle with a steering wheel mounted thereon to steer; further comprising a planetary helical gear reducer and a self-locking mechanism; the planetary helical gear reducer is installed on the trailing arm suspension, and the reducer output shaft drives the steering knuckle to steer; the self-locking mechanism comprises a self-locking mechanism housing, a transmission disc, a plurality of transmission self-locking pins and a locking disc; the self-locking mechanism housing is fixed on the planetary helical gear reducer; the transmission disc is arranged in the self-locking mechanism housing and connected with the input end of the planetary helical gear reducer; the plurality of transmission self-locking pins are arranged on the transmission disc, the transmission self-locking pins can slide relative to the transmission disc, and the driving mechanism can drive the plurality of transmission self-locking pins to synchronously drive the transmission disc to rotate as a whole; the locking disc is fixed in the self-locking mechanism housing and has a plurality of locking grooves matched with the transmission self-locking pins; the sliding transmission self-locking pins can enter and move out of the corresponding locking grooves; when the transmission self-locking pins are located outside the locking grooves, the driving mechanism drives the transmission self-locking pins to drive the transmission disc to rotate, and the transmission disc drives the steering knuckle to steer through the planetary helical gear reducer; when the transmission self-locking pins are located in the locking grooves, the transmission disc is self-locked.

[0006] To optimize the above technical solutions, the following specific measures are taken:

[0007] Furthermore, in the self-locking mechanism, a number of transmission self-locking pins are evenly distributed within the circumference of the transmission disk, and the transmission self-locking pins can slide relative to the transmission disk in the radial direction; a number of locking grooves are opened on the edge of the locking disk and correspond one-to-one to the number of transmission self-locking pins; the transmission self-locking pins move toward the center of the transmission disk and enter the locking groove; and move toward the edge of the transmission disk and move out of the locking groove.

[0008] Furthermore, in the self-locking mechanism, the locking plate is fixed at the bottom of the self-locking mechanism housing, and the transmission plate is located above the locking plate; the transmission plate has a plurality of sliding grooves arranged radially and passing through its upper and lower surfaces; the plurality of sliding grooves correspond one-to-one to a plurality of transmission self-locking pins, and the transmission self-locking pins are arranged in the corresponding sliding grooves and can slide along the sliding grooves; the lower end of the transmission self-locking pin extends out of the sliding groove and can enter the corresponding locking groove.

[0009] Furthermore, the self-locking mechanism also includes a gear paddle; the gear paddle is arranged above the transmission disk; the driving mechanism is connected to the gear paddle to drive it to rotate; a gear-like structure is provided in the center of the lower surface of the gear paddle, and a plurality of paddles are provided on the outside; the upper end of the transmission self-locking pin also extends out of the slide groove; the gear-like structure is located in the center of the plurality of transmission self-locking pins; the plurality of paddles are arranged crosswise with the plurality of transmission self-locking pins and are located on the outside of the tooth tops of the gear-like structure; when the transmission self-locking pin slides toward the center until its lower end enters the locking groove, the inner side of its upper end is located at the tooth root of the gear-like structure; the gear paddle rotates, and the rotating gear-like structure pushes the transmission self-locking pin to move toward the edge of the transmission disk and move out of the locking groove, while abutting against one side of the paddle, the gear paddle continues to rotate, and the paddle drives the transmission disk to rotate through the transmission self-locking pin; the outer ends of the slide grooves are each provided with an elastic member; when the transmission self-locking pin is pushed into and out of the locking groove, the elastic member is compressed by the transmission self-locking pin; the gear paddle rotates in the opposite direction, and the compressed elastic member pushes the transmission self-locking pin to move toward the center of the transmission disk and enter the locking groove.

[0010] Furthermore, the cross-sections of the transmission self-locking pin and the slide groove are both T-shaped; the slide groove and the transmission self-locking pin both have sliding planes inclined downward from the outside to the inside, and the sliding planes of the slide groove and the transmission self-locking pin are in contact and can slide relative to each other.

[0011] Furthermore, the self-locking mechanism further includes a thrust bearing; the thrust bearing is arranged between the gear paddle and the transmission plate.

[0012] Furthermore, the self-locking mechanism also includes a self-locking mechanism output shaft; the self-locking mechanism output shaft passes through the locking plate and the self-locking mechanism housing, the upper end is fixed to the bottom center of the transmission plate, and the lower end is connected to the input end of the planetary helical gear reducer.

[0013] Furthermore, the driving mechanism includes a dual-winding motor and a dual-circuit controller for controlling its operation; the dual-winding motor is fixed on the self-locking mechanism housing, and the motor output shaft extends into the self-locking mechanism housing and is fixed to the gear paddle to drive the gear paddle to rotate.

[0014] Furthermore, it also includes a conical transmission mechanism; the conical transmission mechanism includes a conical inner sleeve and a fastener; the reducer output shaft has a conical shaft section with a conical surface; the inner wall of the conical inner sleeve is a conical surface that matches the conical shaft section; the conical inner sleeve is sleeved on the outside of the conical shaft section of the reducer output shaft to form a conical transmission; the outer wall of the conical inner sleeve matches the steering hole at the top of the steering knuckle, and the conical inner sleeve is assembled in the steering hole to drive the steering knuckle to steer; the fastener is assembled at the end of the reducer output shaft, applying a clamping force to the steering knuckle and the conical inner sleeve, and during the conical transmission process, it is ensured that the positive pressure between the conical inner sleeve and the two conical surfaces of the conical shaft section is sufficient to provide friction to meet the torque required for the steering wheel driven by the steering knuckle; the planetary helical gear reducer is fixed on the transverse arm suspension, and the reducer output shaft passes through the transverse arm suspension and is assembled with the conical inner sleeve in the steering knuckle.

[0015] Furthermore, the conical shaft section of the reducer output shaft has a steering flat key shaft keyway, in which a steering flat key is installed; correspondingly, the conical inner sleeve has a steering flat key sleeve keyway protruding outward; the steering hole at the top of the steering knuckle has a quasi-keyway that matches the protruding steering flat key sleeve keyway; the conical shaft section of the reducer output shaft has an external thread at the bottom, and the fastener is a fastening nut; the fastening nut is threadedly connected to the end of the reducer output shaft.

[0016] The beneficial effects of the present invention are as follows: It provides a kingpin steering drive device with a self-locking function for a reverse-direction two-stroke planetary gear. The drive torque generated by the drive mechanism is transmitted through the self-locking mechanism to a planetary helical gear reducer, which then drives the steering knuckle via a conical transmission mechanism to achieve the kingpin steering function. During normal operation of the kingpin steering drive device, the steering movement of the steering wheel around the kingpin is controlled solely by the steering angle and direction controlled by the drive mechanism. When the wheel end experiences a minor external impact, the drive mechanism maintains the steering angle of the motor output shaft, thereby ensuring that the steering wheel steering angle remains unchanged. When the wheel end experiences a significant external impact, the output torque of the drive mechanism is less than the torque transmitted to the self-locking mechanism by the impact at the steering wheel end, causing the self-locking mechanism to activate, maintaining the steering wheel angle at the output angle of the drive mechanism, thus achieving the self-locking function of the reverse-direction two-stroke planetary gear. Similarly, when the drive mechanism malfunctions and the output torque decreases, becoming insufficient to resist the impact load on the steering wheel end, the self-locking mechanism activates to maintain the steering wheel angle at the steering angle capable of the drive mechanism. The "dual-stroke" feature of the "kingpin steering drive device with a reverse dual-stroke planetary gear self-locking function" refers to the two different directions of steering wheel rotation. This device utilizes planetary gear transmission for speed reduction, enabling high torque output. Planetary gear transmissions are precision transmissions characterized by high efficiency, minimal play, compact structure, and smooth motion. However, planetary gear transmissions lack self-locking capabilities. This invention provides a self-locking mechanism at the input of a planetary helical gear reducer, enabling self-locking functionality and allowing for integration with the reducer. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the external structure of the kingpin steering drive device of the present invention:

[0018] Figure 2 It is a schematic diagram of the exploded structure of the self-locking mechanism in the kingpin steering drive device of the present invention;

[0019] Figure 3 It is a partial cross-sectional view of the transmission disc of the self-locking mechanism in the kingpin steering drive device of the present invention;

[0020] Figure 4 It is a partial cross-sectional view of the transmission disc, transmission self-locking pin and elastic member of the self-locking mechanism in the kingpin steering drive device of the present invention;

[0021] Figure 5 It is a structural schematic diagram of the gear paddle of the self-locking mechanism in the kingpin steering drive device of the present invention;

[0022] Figure 6 It is a structural schematic diagram of the transmission self-locking pin and the gear paddle when the kingpin steering drive device of the present invention is in a self-locking state;

[0023] Figure 7It is a structural schematic diagram of the transmission self-locking pin and the locking plate when the kingpin steering drive device of the present invention is in the self-locking state;

[0024] Figure 8 It is a structural schematic diagram of the transmission self-locking pin and the gear paddle when the kingpin steering drive device of the present invention is in the driving steering state;

[0025] Figure 9 It is a structural schematic diagram of the transmission self-locking pin and the locking plate when the kingpin steering drive device of the present invention is in the driving steering state;

[0026] Figure 10 This is a schematic diagram of the structure of the driving mechanism in the kingpin steering drive device of the present invention:

[0027] Figure 11 It is a schematic diagram of the exploded structure of the reducer output shaft and the conical transmission mechanism in the kingpin steering drive device of the present invention;

[0028] Figure 12 It is a structural schematic diagram of the kingpin steering drive device of the present invention when the drive disc rotates away from the paddle direction when the kingpin steering drive device is in the driving steering state;

[0029] Figure 13 It is a structural schematic diagram of the kingpin steering drive device of the present invention when the drive plate rotates close to the direction of the paddle when the kingpin steering drive device is in the driving steering state. DETAILED DESCRIPTION

[0030] The specific embodiments of the present invention are described below with reference to the accompanying drawings.

[0031] like Figure 1 As shown, the present invention provides a kingpin steering drive device with a reverse double-stroke planetary gear self-locking function, including a drive mechanism 1, a self-locking mechanism 2, a planetary helical gear reducer 3, a transverse arm suspension 4 and a steering knuckle 5. The output of the drive mechanism 1 drives the steering knuckle 5 equipped with a steering wheel through the self-locking mechanism 2 and the planetary helical gear reducer 3 via a conical transmission mechanism 6 to steer.

[0032] The planetary helical gear reducer 3 is mounted on the transverse arm suspension 4 , and the reducer output shaft 31 drives the steering knuckle 5 to steer.

[0033] like Figure 2As shown, the self-locking mechanism 2 includes a self-locking mechanism housing 21, a transmission disc 22, a plurality of transmission self-locking pins 23, and a locking disc 24. The self-locking mechanism housing 21 is fixed to the planetary helical gear reducer 3. The transmission disc 22 is arranged in the self-locking mechanism housing 21 and is connected to the input end of the planetary helical gear reducer 3. A plurality of transmission self-locking pins 23 are arranged on the transmission disc 22. The transmission self-locking pins 23 can slide relative to the transmission disc 22, and the drive mechanism 1 can drive the plurality of transmission self-locking pins 23 to rotate synchronously as a whole. The locking disc 24 is fixed in the self-locking mechanism housing 21. Specifically, the locking disc 24 is fastened to the center of the bottom plane of the self-locking mechanism housing 21 by six slotted flat-end set screws. The locking disc 24 has a plurality of locking grooves that match the transmission self-locking pins 23. The sliding transmission self-locking pins 23 can enter and move out of the corresponding locking grooves.

[0034] When the transmission self-locking pin 23 is outside the locking groove, the drive mechanism 1 drives the transmission self-locking pin 23 to rotate the transmission plate 22, and the transmission plate 22 drives the steering knuckle 5 to steer through the planetary helical gear reducer 3. When the transmission self-locking pin 23 is inside the locking groove, the transmission self-locking pin 23 restricts the relative rotation between the transmission plate 22 and the locking plate 24, and the transmission plate 22 is self-locked and fixed, realizing the self-locking function.

[0035] In one specific embodiment, a plurality of self-locking transmission pins 23 are evenly distributed around the circumference of the transmission disk 22. The self-locking transmission pins 23 are able to slide radially relative to the transmission disk 22. A plurality of locking grooves are defined on the edge of the locking disk 24, corresponding one-to-one with the self-locking transmission pins 23. The self-locking transmission pins 23 move toward the center of the transmission disk 22, entering the locking grooves; and move toward the edge of the transmission disk 22, exiting the locking grooves.

[0036] Furthermore, the locking plate 24 is fixed to the bottom of the self-locking mechanism housing 21, and the transmission plate 22 is located above the locking plate 24. Figures 2-4 As shown, the transmission plate 22 has a plurality of radially arranged sliding grooves 221 extending through its upper and lower surfaces. Each of the sliding grooves 221 corresponds to a plurality of transmission self-locking pins 23. The transmission self-locking pins 23 are disposed within corresponding sliding grooves 221 and are capable of sliding along the sliding grooves 221. The lower ends of the transmission self-locking pins 23 extend out of the sliding grooves 221 and can enter corresponding locking grooves on the locking plate 24.

[0037] Regarding the radial sliding and overall rotation of the transmission self-locking pin 23: Figure 2 、 4 As shown in Figures 5 and 6, in one embodiment, the self-locking mechanism 2 further includes a gear paddle 25. The gear paddle 25 is disposed above the transmission plate 22. The driving mechanism 1 is connected to the gear paddle 25 to drive it to rotate. A gear-like structure 251 is provided at the center of the lower surface of the gear paddle 25, and a plurality of paddles 252 are provided on the outer side. The upper end of the transmission self-locking pin 23 also extends out of the slide slot 221. Figures 6-9 As shown, the gear-like structure 251 is located at the center of the plurality of transmission self-locking pins 23. The plurality of paddles 252 are arranged crosswise with the plurality of transmission self-locking pins 23 and are located outside the tooth tops of the gear-like structure 251.

[0038] like Figure 6 and 7 As shown, when the transmission self-locking pin 23 slides toward the center until its lower end enters the locking groove, the inner side of its upper end is located at the root of the gear-like structure 251. The gear paddle 25 rotates, and the rotating gear-like structure 251 pushes the transmission self-locking pin 23 to move toward the edge of the transmission disk 22 and out of the locking groove, that is, the rotational motion of the gear-like structure 251 is converted into radial motion of the transmission self-locking pin 23. At this time, the transmission self-locking pin 23 abuts against one side of the paddle 252, and the gear paddle 25 continues to rotate. The paddle 252 drives the transmission disk 22 to rotate through the transmission self-locking pin 23, as shown in FIG. Figure 8 and 9 shown.

[0039] like Figure 2 and 4 As shown, the outer ends of the slide grooves 221 are each provided with elastic members 26. When the transmission self-locking pin 23 is pushed to the outer end of the slide groove 221 and moves out of the locking groove on the locking disk 24, the elastic member 26 is compressed by the transmission self-locking pin 23 (not shown in the figure). The gear paddle 25 rotates in the opposite direction, and the compressed elastic member 26 pushes the transmission self-locking pin 23 toward the center of the transmission disk 22 and enters the locking groove. That is, the compressed elastic member 26 provides the transmission self-locking pin 23 with a force to slide down in the slide groove 221 of the transmission disk 22. Specifically, the elastic member 26 is a "V"-shaped spring, and the outer end of the slide groove 221 has a spring mounting groove, and one end of the "V"-shaped spring is fixedly embedded in the spring mounting groove.

[0040] like Figure 3 and 4 As shown, in a preferred embodiment, the cross-sections of the transmission self-locking pin 23 and the sliding groove 221 are both T-shaped. The sliding groove 221 and the transmission self-locking pin 23 both have a sliding plane 222 that is inclined downward from the outside to the inside, and the sliding plane 222 of the sliding groove 221 and the transmission self-locking pin 23 are in contact and can slide relative to each other. The inclined sliding plane 222 allows the transmission self-locking pin 23 to move toward the center of the transmission disk 22 under the action of gravity and the compressive force of the elastic member 26. That is, the transmission self-locking pin 23 achieves a downward movement along the sliding groove 221 of the transmission disk 22 under the dual action of gravity and the elastic member 26.

[0041] like Figure 2 、 6As shown in FIG8 , in a preferred embodiment, the self-locking mechanism 2 further includes a thrust bearing 27. The thrust bearing 27 is disposed between the gear paddle 25 and the transmission plate 22 and guides the rotation of the transmission plate 22. Specifically, the bottom of the gear paddle 25 engages with the outer diameter of the thrust bearing 27 via a countersunk hole. The transmission plate 22 engages with the inner diameter of the thrust bearing 27 via a cylindrical pin at the top center, and contacts the annular side surface of the thrust bearing 27 via a countersunk hole outside the cylindrical pin.

[0042] like Figure 3 and 4 As shown, in a specific embodiment, the self-locking mechanism 2 further includes a self-locking mechanism output shaft 28. The self-locking mechanism output shaft 28 passes through the locking plate 24 and the self-locking mechanism housing 21. The upper end of the self-locking mechanism output shaft 28 is located at the center of the bottom surface of the transmission plate 22 and is integrally formed therewith. The lower end is connected to the input end of the planetary helical gear reducer 3. Specifically, the self-locking mechanism output shaft 28 is interference-fitted with the first-stage sun gear of the three-stage planetary helical gear reducer 3 to achieve rotational transmission.

[0043] like Figure 1 and 10 As shown, the drive mechanism 1 includes a dual-winding motor 11 and a dual-circuit controller 12 that controls its operation. The dual-winding motor 11 is fixed to the housing of the self-locking mechanism 2, and the motor output shaft extends into the self-locking mechanism housing 21 and is fixed to the gear paddle 25, driving the gear paddle 25 to rotate. That is, the self-locking mechanism 2 fixes the self-locking mechanism housing 21 between the drive mechanism 1 and the planetary helical gear reducer 3 by bolts, and the bolts pass through the drive mechanism 1 and the self-locking mechanism 2 and are tightened on the housing of the planetary helical gear reducer 3. Specifically, the gear paddle 25 is connected to the motor output shaft of the dual-winding motor 11 through the self-locking flat key through the keyway of the self-locking flat key. The rotation of the motor output shaft drives the gear paddle 25 to rotate. The self-locking flat key is specifically a C-type flat key.

[0044] The planetary helical gear reducer 3 is specifically a three-stage planetary helical gear reducer 3, comprising three stages of planetary helical gears. The reducer output shaft 31 is the torque output shaft, formed by integrating the planetary carrier and drive shaft of the third-stage planetary helical gear transmission of the three-stage planetary helical gear reducer 3. The torque of the dual-winding motor 11 is transmitted through the self-locking mechanism 2 to the self-locking mechanism output shaft 28. The torque is then transmitted through the three-stage planetary carrier of the three-stage planetary helical gear reducer 3 and outputted. The end of the third-stage planetary carrier is machined into the reducer output shaft 31 of the three-stage planetary helical gear reducer 3, outputting the torque after the three-stage reduction of the three-stage planetary helical gear reducer 3.

[0045] like Figure 1 and 11As shown, in a preferred embodiment, the planetary helical gear reducer 3 and the steering knuckle 5 are connected by a conical transmission. Specifically, the device further includes a conical transmission mechanism 6. The conical transmission mechanism 6 comprises a conical inner sleeve 61 and a fastener 62. The reducer output shaft 31 has a conical shaft section 311 with a conical surface. The inner wall of the conical inner sleeve 61 is a conical surface that matches the conical shaft section 311. The conical inner sleeve 61 fits over the conical shaft section 311 of the reducer output shaft 31, forming a conical transmission. The outer wall of the conical inner sleeve 61 matches the steering hole at the top of the steering knuckle 5. The conical inner sleeve 61 is installed in the steering hole and can drive the steering knuckle 5 in a steering direction. The fastener 62 is installed at the end of the reducer output shaft 31 and applies a compressive force to the steering knuckle 5 and the conical inner sleeve 61. During the conical transmission process, the positive pressure between the conical inner sleeve 61 and the conical shaft section 311 is sufficient to provide friction to meet the torque required by the steering knuckle 5 to drive the steering wheel.

[0046] Regarding the transmission method between the conical inner sleeve 61 and the steering knuckle 5, in a specific embodiment, the conical shaft section 311 of the reducer output shaft 31 has a keyway for a steering flat key 63, in which the steering flat key 63 is installed. Correspondingly, the conical inner sleeve 61 has a steering flat key sleeve keyway 611 that protrudes outward. The steering flat key 63 does not play a force transmission role during the normal operation of the conical transmission. The flat key transmission serves as a safety device to temporarily limit the relative rotation of the steering knuckle 5 and the reducer output shaft 31. The steering hole at the top of the steering knuckle 5 has a quasi-keyway 51 that matches the protruding steering flat key sleeve keyway 611. The quasi-keyway 51 cooperates with the protruding portion of the conical inner sleeve 61 to receive force from the conical inner sleeve 61 during the transmission process. Specifically, the steering flat key 63 is an A-type flat key.

[0047] Regarding the fastener 62, in one specific embodiment, the tapered shaft section 311 of the reducer output shaft 31 has external threads on its underside. The fastener 62 is a fastening nut. The fastening nut is threaded onto the end of the reducer output shaft 31. Tightening the fastening nut applies a compressive force to the steering knuckle 5 and the tapered inner sleeve 61. Multiple fastening nuts may be provided.

[0048] like Figure 1 As shown, the planetary helical gear reducer 3 is fixed to the transverse arm suspension 4. The reducer output shaft 31 passes through the transverse arm suspension 4 and is assembled with the conical inner sleeve 61 in the steering knuckle 5. Specifically, the transverse arm suspension 4 is a double wishbone suspension, comprising an upper control arm and a lower control arm. The upper control arm is bolted to the housing of the planetary helical gear reducer 3, and the kingpin steering drive is connected to the upper control arm. The lower control arm is connected to the steering knuckle 5 via a ball joint 41. The top of the steering knuckle 5 receives torque input through the conical transmission mechanism 6, which drives its steering. The middle part is bolted to the steering wheel, and the bottom part is connected to the lower control arm of the double wishbone suspension via a ball joint 41.

[0049] The working principle of the kingpin steering drive device of the present invention is:

[0050] During vehicle driving, the steering wheel angle encoder receives the steering wheel angle change and inputs the angle signal into the VCU. The VCU calculates and outputs the steering wheel angle signal. After receiving the steering wheel angle signal from the VCU, the dual-loop controller 12 of the drive mechanism 1 uses the PID algorithm position loop control method to control the angular position of the motor output shaft of the dual-winding motor 11.

[0051] When the dual-winding motor 11 of the drive mechanism 1 drives the gear paddle 25 of the self-locking mechanism 2 to rotate, the gear-like structure 251 at the bottom of the gear paddle 25 rotates and pushes the transmission self-locking pin 23 outward in the slide groove 221 of the transmission disk 22. During this outward movement, the transmission self-locking pin 23 presses the elastic member 26, which exerts a radial force on the transmission self-locking pin 23 toward the axis of the transmission disk 22. During this outward movement of the transmission self-locking pin 23, the bottom of the transmission self-locking pin 23 disengages the locking groove of the locking disk 24, releasing the limited self-locking state between the transmission disk 22 and the locking disk 24. When the paddle 252 of the gear paddle 25 contacts the transmission self-locking pin 23, the paddle 252 pushes the plurality of transmission self-locking pins 23 to rotate as a whole. The transmission self-locking pins 23 drive the transmission disk 22 to rotate, and the transmission disk 22 drives the first-stage sun gear of the planetary helical gear reducer 3 to rotate. The output torque of the driving mechanism 1 passes through the self-locking mechanism 2 and the three-stage planetary helical gear reducer 3, and is then transmitted to the conical transmission mechanism 6 through the reducer output shaft 31 of the planetary helical gear reducer 3, and then drives the steering knuckle 5 to drive the steering wheel to achieve kingpin steering.

[0052] When the driving mechanism 1 completes the VCU execution of the steering wheel angle signal, the dual-loop controller 12 uses the PID position loop control algorithm to control the steering angle of the output shaft of the dual-winding motor 11, thereby determining the steering angle of the gear paddle 25. When the dual-winding motor 11 completes the VCU execution of the steering wheel angle position, the gear paddle 25 of the self-locking mechanism 2 is in Figure 8 As shown in the position, the transmission self-locking pin 23 is out of the locking groove of the locking plate 24, as shown in the figure. Figure 9 shown.

[0053] When the steering wheel is impacted by the outside world, the impact of the steering wheel is transmitted to the transmission plate 22 of the self-locking mechanism 2 through the steering knuckle 5, the conical transmission mechanism 6 and the planetary helical gear reducer 3.

[0054] When the steering wheel is subjected to a small external impact, the gear paddle 25 of the self-locking mechanism 2 is stabilized at a constant angle under the control and drive of the driving mechanism 1. The transmission plate 22 has two different directions of rotation due to the different force directions of the wheel end: Figure 12As shown, when the transmission plate 22 rotates in the direction away from the paddle 252 of the gear paddle 25, the transmission self-locking pin 23 enters the locking groove of the locking plate 24, limiting the relative rotation of the transmission plate 22 and the self-locking mechanism housing 21; Figure 13 As shown, when the transmission plate 22 rotates in the direction of the paddle 252 close to the gear paddle 25, the driving mechanism 1 adopts the PID algorithm position loop control method to keep the angular position of the output shaft of the dual-winding motor 11 unchanged.

[0055] When the steering wheel of the vehicle is subjected to a large external impact, the transmission plate 22 also has two different directions of rotational movement due to the different force directions of the wheel end: when the transmission plate 22 rotates in the direction away from the paddle 252 of the gear paddle 25, the transmission self-locking pin 23 enters the locking groove of the locking plate 24, limiting the relative rotation of the transmission plate 22 and the self-locking mechanism housing 21. When the transmission disc 22 rotates in the direction of the paddle 252 close to the gear paddle 25, the torque transmitted to the gear paddle 25 by the external impact is greater than the output torque of the dual-winding motor 11, and the gear paddle 25 of the self-locking mechanism 2 cannot be stabilized at a certain constant angle under the control and drive of the driving mechanism 1, so that the transmission disc 22 drives several transmission self-locking pins 23 to rotate as a whole, and the gear paddle 25 rotates under the push of the transmission self-locking pins 23. When the encoder of the dual-winding motor 11 detects a rotation trend of the output shaft angle, the dual-loop controller 12 outputs a fast rotation signal so that the dual-winding motor 11 drives the gear paddle 25 and the transmission disc 22 to rotate relative to each other, and the transmission self-locking pin 23 enters the locking groove of the locking disc 24, thereby limiting the relative rotation of the transmission disc 22 and the self-locking mechanism housing 21, thereby achieving self-locking.

[0056] In the present invention, unless otherwise specified, the scientific and technical terms used herein have the meanings commonly understood by those skilled in the art.

[0057] It should be noted that the terms such as "upper", "lower", "left", "right", "front", "back", etc. cited in the invention are only for the convenience of description and are not used to limit the scope of implementation of the present invention. Changes or adjustments to their relative relationships should be regarded as the scope of implementation of the present invention without substantially changing the technical content.

[0058] Finally, it should be noted that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A kingpin steering drive device with a reverse dual-stroke planetary gear self-locking function, comprising a drive mechanism, a transverse arm suspension, and a steering knuckle, wherein the drive mechanism drives the steering knuckle mounted with the steering wheel to steer, and is characterized by: It also includes a planetary helical gear reducer and a self-locking mechanism; The planetary helical gear reducer is installed on the transverse arm suspension, and the output shaft of the reducer drives the steering knuckle to steer; The self-locking mechanism includes a self-locking mechanism housing, a transmission disc, a plurality of transmission self-locking pins and a locking disc; The self-locking mechanism housing is fixed on the planetary helical gear reducer; The transmission disc is arranged in the self-locking mechanism housing and is connected to the input end of the planetary helical gear reducer; A plurality of transmission self-locking pins are arranged on the transmission disk, the transmission self-locking pins can slide relative to the transmission disk, and the driving mechanism can drive the plurality of transmission self-locking pins to synchronously drive the transmission disk to rotate; The locking disc is fixed in the self-locking mechanism housing and has a number of locking grooves that match the transmission self-locking pins; the sliding transmission self-locking pins can enter and move out of the corresponding locking grooves; When the transmission self-locking pin is outside the locking groove, the driving mechanism drives the transmission self-locking pin to drive the transmission disc to rotate, and the transmission disc drives the steering knuckle to steer through the planetary helical gear reducer; when the transmission self-locking pin is inside the locking groove, the transmission disc is self-locked and fixed; The self-locking mechanism also includes a gear paddle; the gear paddle is arranged above the transmission disk; the driving mechanism is connected to the gear paddle to drive it to rotate; a gear-like structure is provided in the center of the lower surface of the gear paddle, and a plurality of paddles are provided on the outside; the upper end of the transmission self-locking pin also extends out of the slide groove; the gear-like structure is located at the center of the plurality of transmission self-locking pins; the plurality of paddles are cross-arranged with the plurality of transmission self-locking pins, and are located on the outside of the tooth top of the gear-like structure; when the transmission self-locking pin slides toward the center until its lower end enters the locking groove, the inner side of its upper end is located at the tooth root of the gear-like structure; the gear paddle rotates, and the rotating gear-like structure pushes the transmission self-locking pin to move toward the edge of the transmission disk, moves out of the locking groove, and at the same time presses against one side of the paddle, the gear paddle continues to rotate, and the paddle drives the transmission disk to rotate through the transmission self-locking pin.

2. The kingpin steering drive device with reverse dual-stroke planetary gear self-locking function according to claim 1, characterized in that: In the self-locking mechanism, a plurality of transmission self-locking pins are evenly distributed within the circumference of the transmission disc, and the transmission self-locking pins can slide relative to the transmission disc in the radial direction thereof; A plurality of locking grooves are provided on the edge of the locking plate and correspond one to one with the plurality of transmission self-locking pins; The transmission self-locking pin moves toward the center of the transmission disk and enters the locking groove; it moves toward the edge of the transmission disk and moves out of the locking groove.

3. The kingpin steering drive device with reverse dual-stroke planetary gear self-locking function according to claim 2, characterized in that: In the self-locking mechanism, the locking disc is fixed to the bottom of the self-locking mechanism housing, and the transmission disc is located above the locking disc; The transmission disc has a plurality of radially arranged sliding grooves that penetrate the upper and lower surfaces thereof; the plurality of sliding grooves correspond one to one with a plurality of transmission self-locking pins, and the transmission self-locking pins are arranged in the corresponding sliding grooves and can slide along the sliding grooves; The lower end of the transmission self-locking pin extends out of the sliding groove and can enter the corresponding locking groove.

4. The kingpin steering drive device with reverse dual-stroke planetary gear self-locking function according to claim 3, characterized in that: The outer ends of the slides are each provided with elastic members; When the transmission self-locking pin is pushed to and moved out of the locking groove, the elastic member is compressed by the transmission self-locking pin; the gear paddle rotates in the opposite direction, and the compressed elastic member pushes the transmission self-locking pin to move toward the center of the transmission disk and enter the locking groove.

5. The kingpin steering drive device with reverse dual-stroke planetary gear self-locking function according to claim 4, characterized in that: The cross-sections of the transmission self-locking pin and the slide groove are both T-shaped; The sliding groove and the transmission self-locking pin both have sliding planes that are inclined downward from the outside to the inside, and the sliding planes of the sliding groove and the transmission self-locking pin are in contact and can slide relatively.

6. The kingpin steering drive device with reverse dual-stroke planetary gear self-locking function according to claim 4, characterized in that: The self-locking mechanism further includes a thrust bearing; the thrust bearing is arranged between the gear paddle and the transmission plate.

7. The kingpin steering drive device with reverse dual-stroke planetary gear self-locking function according to claim 3, characterized in that: The self-locking mechanism further includes a self-locking mechanism output shaft; The output shaft of the self-locking mechanism passes through the locking plate and the self-locking mechanism housing, the upper end is fixed to the bottom center of the transmission plate, and the lower end is connected to the input end of the planetary helical gear reducer.

8. The kingpin steering drive device with reverse dual-stroke planetary gear self-locking function according to claim 4, characterized in that: The driving mechanism includes a dual-winding motor and a dual-loop controller for controlling its operation; The double-winding motor is fixed on the self-locking mechanism housing, and the motor output shaft extends into the self-locking mechanism housing and is fixed to the gear paddle to drive the gear paddle to rotate.

9. The kingpin steering drive device with reverse dual-stroke planetary gear self-locking function according to claim 1, characterized in that: Also includes a conical transmission mechanism; The conical transmission mechanism includes a conical inner sleeve and a fastener; The output shaft of the reducer has a conical shaft section with a conical surface; the inner wall of the conical inner sleeve is a conical surface that matches the conical shaft section; the conical inner sleeve is sleeved outside the conical shaft section of the output shaft of the reducer to form a conical transmission; The outer wall of the conical inner sleeve matches the steering hole at the top of the steering knuckle. The conical inner sleeve is assembled in the steering hole and can drive the steering knuckle to steer. The fastener is assembled at the end of the reducer output shaft, applying a compressive force to the steering knuckle and the conical inner sleeve, ensuring that the positive pressure between the conical inner sleeve and the two conical surfaces of the conical shaft section is sufficient to provide friction to meet the torque required by the steering knuckle to drive the steering wheel during the conical transmission process; The planetary helical gear reducer is fixed on the transverse arm suspension, and the reducer output shaft passes through the transverse arm suspension and is fitted into the conical surface in the steering knuckle.

10. The kingpin steering drive device with reverse dual-stroke planetary gear self-locking function according to claim 9, characterized in that: The conical shaft section of the reducer output shaft has a steering flat key shaft keyway, in which a steering flat key is installed; correspondingly, the conical inner sleeve has an outwardly protruding steering flat key sleeve keyway; the steering hole at the top of the steering knuckle has a similar keyway that matches the protruding steering flat key sleeve keyway; The tapered shaft section of the reducer output shaft is provided with an external thread below, and the fastener is a fastening nut; the fastening nut is threadedly connected to the end of the reducer output shaft.

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