Vehicle

Abstract

The invention discloses a vehicle which comprises a connecting structure and driven steering wheels arranged at the two ends of the connecting structure, the connecting structure comprises a steering part, the steering part is provided with a rotating shaft, the driven steering wheels are in clearance fit with the rotating shaft, the vehicle further comprises a main driving wheel, and the main driving wheel drives the driven steering wheels to rotate around the rotating shaft. The connecting structure further comprises a steering shaft, the steering part drives the driven steering wheel to rotate around the axis of the steering shaft, the vehicle is further provided with an adjusting device, and the adjusting device can drive the driven steering wheel to move along the axis of the rotating shaft so as to adjust the distance between the driven steering wheel and the steering shaft. The invention provides a vehicle to solve the technical problem that when an existing vehicle is braked, the vehicle deflects due to braking, so that vehicle driving is affected, and the technical problem that in the prior art, the braking effect of the vehicle is reduced due to braking deflection prevention is solved.

Description

Technical Field

[0001] The present application belongs to the field of vehicle technology, and specifically relates to a vehicle. Background Art

[0002] The existing vehicle has a main driving wheel and a driven steering wheel. The rotation of the main driving wheel drives the driven steering wheel to rotate to realize the forward movement of the vehicle. The driven steering wheel includes a left driven steering wheel and a right driven steering wheel. The left driven steering wheel is connected to the right driven steering wheel through a connecting structure. The connecting structure is also provided with a steering shaft and a steering part. The driven steering wheel rotates around the rotating shaft on the steering part. The driven steering wheel can rotate around the steering shaft to realize the steering of the vehicle. The working principle of steering is that the vehicle is also provided with a steering tie rod. When the vehicle needs to turn, the rotation of the steering wheel is converted into the forward and backward swing of the steering rocker arm through the action of the steering gear. The forward and backward swing of the steering rocker arm then drives the steering straight tie rod to move forward and backward. The steering straight tie rod pushes the steering part to rotate around the steering shaft to realize the steering of the driven steering wheel. The connecting structure is also connected to the frame through the suspension system. When the vehicle brakes, because the vehicle passes through different sections, the road environment of the left and right driven steering wheels is different (such as the left driven wheel is placed in water and the right driven wheel is placed on a dry road), or the braking force of the brakes on the left and right driven steering wheels of the vehicle is different, when the vehicle brakes, the braking force of the left driven steering wheel is different from that of the right driven steering wheel, and the car will have a movement tendency to deflect toward the side of the driven steering wheel with greater braking force. At this time, the connecting structure will rotate around the instantaneous center of the vehicle, and then deform the suspension system or reduce the clearance of the vehicle steering rocker arm and other components, or elastic deformation of the components. At this time, the connecting structure rotates and the steering straight tie rod remains stationary. Therefore, the forward and backward movement of the connecting structure will cause the steering straight tie rod to push the steering part to rotate. At this time, the steering wheel does not deflect but the wheel deflects, affecting the driving of the vehicle.

[0003] Especially when the vehicle uses a leaf spring suspension system, when the vehicle brakes normally, the braking force of the left and right driven steering wheels of the vehicle will drive the connecting structure to twist the leaf spring suspension, causing the connecting structure to shift in the front-rear direction of the vehicle, and then the steering pull rod drives the steering part to rotate, causing the wheel to deflect, resulting in the vehicle braking deflection direction, affecting vehicle driving. At present, an ESC system is usually used to control the braking deviation of the vehicle by reducing the braking force of the driven wheels with large braking force, but the weakening of the braking force will extend the braking distance to a certain extent, reduce the braking effect, and make it impossible for the driver to reasonably predict the braking distance, affecting vehicle driving. Summary of the invention

[0004] The present application provides a vehicle to solve the technical problem that when the existing vehicle brakes, the vehicle deflects due to braking, which affects the driving of the vehicle, and the technical problem that preventing braking deflection in the existing technology will reduce the braking effect of the vehicle.

[0005] The technical solution adopted in this application is:

[0006] A vehicle, comprising a connecting structure and driven steering wheels arranged at both ends of the connecting structure, the connecting structure comprising a steering part, the steering part being provided with a rotating shaft, the driven steering wheel being in clearance with the rotating shaft, the vehicle further comprising a main driving wheel, the main driving wheel driving the driven steering wheel to rotate around the rotating shaft, the connecting structure further comprising a steering shaft, the steering part driving the driven steering wheel to rotate around the axis of the steering shaft, the vehicle further comprising an adjustment device, the adjustment device being able to drive the driven steering wheel to move along the axis of the rotating shaft to adjust the distance between the driven steering wheel and the steering shaft.

[0007] A vehicle in the present application also includes the following additional technical features:

[0008] The driven steering wheel is provided with at least one rotational shifting member which is in clearance with the rotating shaft. The rotational shifting member has a rotating portion connected to the driven steering wheel and a positioning portion which is in clearance with the rotating shaft. The rotating portion rotates relative to the positioning portion, and the adjustment device drives the positioning portion to move along the axis of the rotating shaft.

[0009] The adjusting device comprises a driving part which abuts against the positioning part, and the driving part is telescopically arranged on the adjusting device.

[0010] The driven steering wheel is provided with a rotating member, the adjusting devices are provided on both sides of the rotating member, the adjusting devices are arranged on the rotating shaft, and the driving part abuts against the positioning part to keep the rotating member at the adjusted position.

[0011] The driven steering wheel is provided with two rotating members, the rotating member close to the steering shaft is the first rotating member, the rotating member located on the side of the first rotating member away from the steering shaft is the second rotating member, the first rotating member and the second rotating member are spaced apart along the axial direction of the rotating shaft, the adjusting device is arranged on the side of the first rotating member close to the steering shaft and on the side of the second rotating member away from the first rotating member, and the driving part abuts against the first rotating member and the second rotating member.

[0012] The adjustment device is provided with an assembly hole matched with the rotating shaft, and the driving part is an annular structure arranged coaxially with the assembly hole. The driven steering wheel is provided with a rotation member that is loosely matched with the rotating shaft, the adjustment device is arranged on the rotating shaft, the adjustment device has a driving part that abuts against the rotation member, the rotating shaft is provided with a positioning protrusion, and the positioning protrusion is arranged on the side of the adjustment device away from the rotation member.

[0013] The driven steering wheel is provided with two rotating members, the rotating member close to the steering shaft is a first rotating member, the rotating member located on the side of the first rotating member away from the steering shaft is a second rotating member, the first rotating member and the second rotating member are spaced apart along the axial direction of the rotating shaft, the adjusting device is arranged on the side of the first rotating member close to the steering shaft, and on the side of the second rotating member away from the first rotating member, the adjusting device arranged on the side of the first rotating member close to the steering shaft is an inner adjusting device, and the adjusting device arranged on the side of the second rotating member away from the first rotating member is an outer adjusting device, the rotating shaft is provided with a positioning protrusion on the side of the inner adjusting device away from the first rotating member, a fastener is arranged at one end of the rotating shaft, and the fastener has a limiting end that abuts against the outer adjusting device.

[0014] The rotating shaft has an end face facing away from the steering shaft, and the end face is provided with a mounting hole. The mounting hole extends along the axis of the rotating shaft toward the inner adjustment device and exposes the side face of the rotating shaft.

[0015] A method for controlling a vehicle, wherein the vehicle further comprises a steering wheel, the driven steering wheels comprise a left driven steering wheel and a right driven steering wheel, and the method for controlling the vehicle comprises:

[0016] When the vehicle turns normally, one of the left driven steering wheel and the right driven steering wheel is set as the target driven wheel, and the other of the left driven steering wheel is set as the non-target driven wheel, and a set value is determined according to the target driven wheel and the steering wheel rotation angle;

[0017] When the vehicle is braked, the deflection information of the vehicle is determined according to the steering state of the vehicle, and the adjustment device is controlled according to the deflection information to adjust the distance between the driven steering wheel and the steering shaft;

[0018] Determining the set value according to the target driven wheel and the steering wheel rotation angle includes:

[0019] Determine the target driven wheel rotation angle as a first rotation angle value, determine the steering wheel rotation angle as a second rotation angle value, and set the ratio of the first rotation angle value to the second rotation angle value as a set value;

[0020] Determining the deflection information of the vehicle according to the steering state of the vehicle includes:

[0021] Determining the state of the steering wheel;

[0022] If the steering wheel is in a left-turn state, determining the rotation angle of the target driven wheel to be a third rotation angle value, determining the rotation angle of the steering wheel to be a fourth rotation angle value, setting the ratio of the third rotation angle value to the fourth rotation angle value as a deflection value, and determining the deflection information according to the deflection value and the set value;

[0023] If the steering wheel is in a straight-ahead state, obtaining the rotation angle of the non-target driven wheel as a fourth rotation angle value, determining the rotation angle of the target driven wheel as the first rotation angle value, and determining the deflection information according to the fourth rotation angle value and the first rotation angle value;

[0024] If the steering wheel is in a right-turn state, the rotation angle of the target driven wheel is determined to be a third rotation angle value, the steering wheel rotation angle is determined to be a fourth rotation angle value, the ratio of the third rotation angle value to the fourth rotation angle value is set as a deflection value, and the deflection information is determined according to the deflection value and the set value.

[0025] Due to the adoption of the above technical solution, the beneficial effects achieved by this application are as follows:

[0026] 1. The present application sets a clearance fit between the driven steering wheel and the rotating shaft, so that the driven steering wheel can be driven by the adjusting device to achieve displacement along the axial direction of the rotating shaft when rotating. By setting the two ends of the connecting structure to connect the driven steering wheels, the left and right driven steering wheels will be involved with each other when passing through the bumpy road section, and the change in the angle of a single driven steering wheel becomes smaller, thereby reducing the wear of the driven steering wheel. In addition, by connecting the driven steering wheels at both ends of the connecting structure, the connecting structure can withstand greater impact and load. The driven steering wheel can rotate around the rotating shaft under the drive of the main driving wheel to realize the forward or backward movement of the vehicle. The connecting structure provides support and positioning for the driven steering wheel during the forward movement of the vehicle, simplifying the setting of the connecting structure. By setting the adjusting device, the adjusting device can drive the driven steering wheel to move along the axis of the rotating shaft. The movement of the driven steering wheel along the axis of the rotating shaft can adjust the distance between the steering wheel and the steering shaft, so that the distance between the intersection of the steering shaft axis and the ground and the intersection of the driven steering wheel and the ground changes, so as to adjust the deflection torque around the steering shaft when the driven steering wheel is subjected to force. In one embodiment, the vehicle is set to a positive kingpin offset distance. When the braking forces of the left and right driven steering wheels are different during vehicle braking, the vehicle deflects toward the driven steering wheel with greater braking force. At this time, the distance between the driven steering wheel with greater braking force and the steering shaft is reduced, the deflection torque of the driven steering wheel with greater braking force around the steering shaft is reduced, and the distance between the driven steering wheel with less braking force and the steering shaft is increased to increase the deflection torque of the driven steering wheel around the steering shaft, thereby preventing the vehicle from deflecting toward the driven steering wheel with greater braking force during braking. In another embodiment, the vehicle is set to a positive kingpin offset distance. When the vehicle is braked normally, the connection structure causes the suspension system to twist, causing the vehicle to deflect toward the left side. By reducing the distance between the left driven steering wheel and the steering shaft, the deflection torque of the left driven wheel around the steering shaft is reduced, the distance between the right driven steering wheel and the steering shaft is increased, and the deflection torque of the right driven steering wheel around the steering shaft is increased, the vehicle deflection is corrected, and the impact on vehicle driving is avoided. At the same time, by adjusting the distance between the driven steering wheel and the steering shaft, the braking force of the vehicle will not be affected, thereby ensuring the braking effect of the vehicle.

[0027] 2. As a preferred embodiment of the present application, the present application sets a rotational shifting member, which has a rotating portion connected to the driven steering wheel and a positioning portion that cooperates with the clearance of the rotating shaft. The rotating portion rotates relative to the positioning portion so that the driven steering wheel can stably rotate around the rotating shaft, thereby avoiding hard contact between the driven steering wheel and the rotating shaft. By setting a clearance between the positioning portion and the rotating shaft, the wear of the rotational shifting member is reduced, the service life of the rotational shifting member is extended, and it is also convenient for the adjustment device to drive the positioning portion to move. By setting the rotating portion to rotate relative to the positioning portion, the adjustment device can drive the positioning portion to move the driven steering wheel along the axis of the rotating shaft. The positioning portion does not rotate with the driven steering wheel, and can be stably driven by the adjustment device, which is convenient for the adjustment device to drive the positioning portion to move, improves the accuracy of the adjustment device driving the positioning portion to move, can accurately control the pushing distance and positioning of the positioning portion, and ensure the accuracy of the deflection torque adjustment of the driven steering wheel around the steering shaft.

[0028] Furthermore, by providing the adjustment device with a driving portion that abuts the positioning portion, the driving portion can be telescopically arranged in the adjustment device, thereby reducing the structural requirements of the adjustment device on the rotational shifting member, facilitating the installation and maintenance of the adjustment device, and making the pushing distance of the positioning portion adjusted by the adjustment device more precise, thereby ensuring the accuracy of the distance between the driven steering wheel and the steering shaft.

[0029] 3. As a preferred embodiment of the present application, the present application provides adjustment devices on both sides of the rotary member, and the adjustment devices are provided on the rotating shaft, which can facilitate the setting of the adjustment device, so that the abutting direction of the driving part is along the axial direction of the rotating shaft, avoiding the generation of a component force that deviates from the axial direction of the rotating shaft, ensuring that the rotary member is subjected to force along the axial direction of the rotating shaft, and ensuring the stability of the movement of the rotary member. At the same time, adjustment devices are provided on both sides of the rotary member, and when the rotary member is adjusted into place and in the initial position, the adjustment devices on both sides can keep the rotary member stable and prevent the rotary member from moving. The driving parts of the adjustment devices on both sides can work together, which also facilitates the driving part to abut against the positioning part, ensuring the stability of the movement of the rotary member along the axial direction of the rotating shaft, and further ensuring the stability of the movement of the driven steering wheel.

[0030] 4. As a preferred embodiment of the present application, by arranging two rotational shifting members on the driven steering wheel, the contact area between the driven steering wheel and the rotational shifting members is increased, and the two rotational shifting members are spaced apart along the circumference of the rotating shaft. The rotational shifting members can provide higher support capacity and ensure the stability of the rotation of the driven steering wheel around the rotating shaft. Moreover, after the two rotational shifting members are driven by the adjustment device, the rotational shifting members can better transfer force to the driven steering wheel through the increased contact area, so as to drive the driven steering wheel to move along the axis of the rotating shaft, thereby improving the stability of the movement of the driven steering wheel. By arranging the adjustment device on the side of the first rotational shifting member close to the steering shaft, and the side of the second rotational shifting member away from the first rotational shifting member, the stability of the movement of the driven steering wheel is improved through the coordinated action of the two adjustment devices, and the driving part of the adjustment device abuts against the first rotational shifting member and the second rotational shifting member, which can avoid the concentration of force on the rotational shifting member and improve the service life of the rotational shifting member.

[0031] 5. As a preferred embodiment of the present application, by setting the driving part as a ring structure, the contact area with the positioning part is increased, ensuring that the positioning part is subjected to uniform force, and improving the stability of the movement of the rotational member.

[0032] 6. As a preferred embodiment of the present application, by providing a positioning protrusion, the installation and positioning of the adjustment device can be facilitated, the assembly process can be simplified, and the assembly efficiency can be improved. At the same time, the positioning protrusion can enhance the connection stability and firmness between the adjustment device and the rotating shaft, ensuring the stable operation of the adjustment device.

[0033] Furthermore, by setting the adjustment device on the side of the first rotating member close to the steering shaft and the side of the second rotating member away from the first rotating member, the smoothness of the movement of the driven steering wheel is improved through the coordinated action of the internal adjustment device and the adjustment device, and the driving part of the adjustment device abuts the first rotating member and the second rotating member, which can avoid the concentration of force on the rotating member and improve the service life of the rotating member. By setting the positioning protrusion and the fastener having a limit end that abuts the external adjustment device, the installation and positioning of the adjustment device is facilitated, and the stability and firmness of the connection between the adjustment device and the rotating shaft are improved. By setting the fastener, on the one hand, the external adjustment device is fixed more firmly. In one embodiment, the fastener is detachably arranged on the rotating shaft, which is convenient for the later replacement and maintenance of the external adjustment device and the internal adjustment device.

[0034] 7. By setting the mounting hole, the mounting hole extends toward the inner adjustment device and exposes the side of the rotating shaft, which facilitates the connection between the inner adjustment device and the outer adjustment device, ensures the coordination of the adjustment operation of the inner adjustment device and the outer adjustment device, ensures the stability of the movement of the rotating member, and improves the stability of the movement of the driven steering wheel. At the same time, by setting the mounting hole, it can facilitate the layout of the line, and facilitate the later replacement and maintenance.

[0035] 8. The present application determines the set value by setting the rotation angle of the target driven wheel and the steering wheel, which is easy to obtain and more intuitively reflects the state of the vehicle during normal turning. By setting the deflection information, it is easy to identify the vehicle control adjustment device and improve the accuracy of the adjustment device. At the same time, when the vehicle brakes, the control method of the present application can automatically control the distance between the driven steering wheel and the steering shaft, so that the vehicle can adjust the vehicle deflection caused by braking in time, and improve the stability of the vehicle during the vehicle braking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0037] Figure 1 A schematic diagram of a portion of the structure of a vehicle of the present application in one implementation manner;

[0038] Figure 2 for Figure 1 Enlarged view of area A in the middle.

[0039] Reference numerals:

[0040] 1. connection structure; 11. steering part; 111. rotating shaft; 1111. positioning protrusion; 1112. end surface; 1113. mounting hole; 112. fastener; 12. steering shaft;

[0041] 2. driven steering wheel; 21. rotating member; 211. rotating part; 212. positioning part;

[0042] 3. Adjustment device; 31. Driving unit; 32. Assembly hole. DETAILED DESCRIPTION

[0043] In order to more clearly illustrate the overall concept of the present application, a detailed description is given below in an illustrative manner in conjunction with the accompanying drawings.

[0044] In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present application is not limited by the specific embodiments disclosed below. It should be noted that the embodiments of the present application and the features in each embodiment may be combined with each other without conflict.

[0045] like Figure 1 , Figure 2As shown, a vehicle comprises a connection structure 1 and driven steering wheels 2 arranged at both ends of the connection structure 1, the connection structure 1 comprises a steering portion 11, the steering portion 11 is provided with a rotating shaft 111, the driven steering wheel 2 is clearance-matched with the rotating shaft 111, the vehicle further comprises a main driving wheel, the main driving wheel drives the driven steering wheel 2 to rotate around the rotating shaft 111, the connection structure 1 further comprises a steering shaft 12, the steering portion 11 drives the driven steering wheel 2 to rotate around the axis of the steering shaft 12, and the vehicle is further provided with an adjusting device 3, the adjusting device 3 can drive the driven steering wheel 2 to move along the axis of the rotating shaft 111 to adjust the distance between the driven steering wheel 2 and the steering shaft 12.

[0046] The present application sets a clearance fit between the driven steering wheel 2 and the rotating shaft 111, so that the driven steering wheel 2 can be driven by the adjustment device 3 to achieve displacement along the axial direction of the rotating shaft 111 when rotating. By setting the two ends of the connection structure 1 to connect the driven steering wheels 2, the left and right driven steering wheels will be entangled with each other when passing through a bumpy road section, and the change in the angle of a single driven steering wheel 2 becomes smaller, thereby reducing the wear of the driven steering wheel 2. In addition, by connecting the driven steering wheels 2 at both ends of the connection structure 1, the connection structure 1 can withstand greater impact and load. The driven steering wheel 2 can rotate around the rotating shaft 111 under the drive of the main driving wheel to realize the forward or backward movement of the vehicle. The connection structure 1 provides support and positioning for the driven steering wheel 2 during the forward movement of the vehicle, thereby simplifying the setting of the connection structure 1. By setting the adjustment device 3, the adjustment device 3 can drive the driven steering wheel 2 to move along the axis direction of the rotating shaft 111. The driven steering wheel 2 can move along the axis direction of the rotating shaft 111 to adjust the distance between the steering wheel and the steering shaft 12, so that the distance between the intersection of the axis of the steering shaft 12 and the ground and the intersection of the driven steering wheel 2 and the ground changes, so as to adjust the deflection torque around the steering shaft 12 when the driven steering wheel 2 is subjected to force. In one embodiment, the vehicle is set to a positive kingpin offset distance. When the braking forces of the left and right driven steering wheels are different during vehicle braking, the vehicle deflects toward the driven steering wheel 2 with greater braking force. At this time, the distance between the driven steering wheel 2 with greater braking force and the steering shaft 12 is shortened, the deflection torque of the driven steering wheel 2 with greater braking force around the steering shaft 12 is reduced, and the distance between the driven steering wheel 2 with less braking force and the steering shaft 12 is increased, so as to increase the deflection torque of the driven steering wheel 2 around the steering shaft 12, and prevent the vehicle from deflecting toward the driven steering wheel with greater braking force when braking. In another embodiment, the vehicle is set to a positive kingpin offset distance, and the vehicle is braked normally. The connection structure 1 causes the suspension system to twist, causing the vehicle to deflect to the left. By reducing the distance between the left driven steering wheel and the steering shaft 12, the deflection torque of the left driven steering wheel around the steering shaft 12 is reduced, and the distance between the right driven steering wheel and the steering shaft 12 is increased, and the deflection torque of the right driven steering wheel around the steering shaft 12 is increased, the vehicle deflection is corrected. At the same time, by adjusting the distance between the driven steering wheel 2 and the steering shaft 12, the braking force of the vehicle will not be affected, and the braking effect of the vehicle is guaranteed.

[0047] As a preferred embodiment of the present application, Figure 1 , Figure 2 As shown, the driven steering wheel 2 is provided with at least one rotation member 21 which is clearance-matched with the rotating shaft 111. The rotation member 21 has a rotating portion 211 connected to the driven steering wheel 2, and a positioning portion 212 which is clearance-matched with the rotating shaft 111. The rotating portion 211 rotates relative to the positioning portion 212, and the adjusting device 3 drives the positioning portion 212 to move along the axis of the rotating shaft 111.

[0048] The present application sets a rotational member 21, which has a rotating portion 211 connected to the driven steering wheel 2 and a positioning portion 212 with a clearance fit with the rotating shaft 111. The rotating portion 211 rotates relative to the positioning portion 212 so that the driven steering wheel 2 can stably rotate around the rotating shaft 111, thereby avoiding hard contact between the driven steering wheel 2 and the rotating shaft 111. By setting a clearance between the positioning portion 212 and the rotating shaft 111, the wear of the rotational member 21 is reduced, the service life of the rotational member 21 is extended, and it is also convenient for the adjustment device 3 to drive the positioning portion 212 to move. By setting the rotating portion 211 to rotate relative to the positioning portion 212, the adjustment device 3 can drive the positioning portion 212 to move the driven steering wheel 2 along the axis of the rotating shaft 111. The positioning part 212 does not rotate with the driven steering wheel 2, and can be stably driven by the adjusting device 3, which makes it easier for the adjusting device 3 to drive the positioning part 212 to move, thereby improving the accuracy of the adjusting device 3 driving the positioning part 212 to move, and can accurately control the pushing distance and positioning of the positioning part 212, thereby ensuring the accuracy of the adjustment of the deflection torque of the driven steering wheel 2 around the steering shaft 12.

[0049] In the present application, the connection method between the rotational member 21 and the driven steering wheel 2 is not limited in the present application. The driven steering wheel 2 may have a reserved mounting hole 1113, and the rotating portion 211 of the rotational member 21 may be interference-fitted with the mounting hole 1113, or the driven steering wheel 2 may be integrally formed with the rotating portion 211 of the rotational member 21 during the production process, and then the rotating portion 211 may be matched with the positioning portion 212 to achieve assembly. Preferably, the rotational member 21 in the present application may be a bearing, and the bearing may be interference-fitted with the mounting hole 1113 of the driven steering wheel 2.

[0050] In this embodiment, the setting mode of the adjustment device 3 can be any one of the following embodiments:

[0051] Example 1: Figure 1 , Figure 2As shown, the adjusting device 3 has a driving portion 31 that abuts against the positioning portion 212, and the driving portion 31 is retractably arranged on the adjusting device 3. By providing the adjusting device 3 with the driving portion 31 that abuts against the positioning portion 212, and the driving portion 31 is retractably arranged on the adjusting device 3, the structural requirements of the adjusting device 3 on the rotation member 21 can be reduced, the installation and maintenance of the adjusting device 3 are facilitated, and the pushing distance of the positioning portion 212 adjusted by the adjusting device 3 is made more accurate, thereby ensuring the accuracy of the distance between the driven steering wheel 2 and the steering shaft 12.

[0052] Embodiment 2: This embodiment 2 is not shown in the figure, the adjustment device is fixed at the positioning part, the connection structure is provided with a matching part, the adjustment device has a driving part that abuts against the matching part, and the driving part is retractably arranged on the adjustment device. Preferably, the matching part can be a protrusion arranged on the rotating shaft.

[0053] In Embodiment 1, the configuration of the rotation member 21 may be any one of the following specific examples:

[0054] Specific example 1: This specific example is not shown in the figure. The driven steering wheel is provided with a rotating member, and adjustment devices are provided on both sides of the rotating member. The adjustment devices are arranged on the rotating shaft, and the driving part abuts against the positioning part to keep the rotating member in the adjusted position. The present application provides adjustment devices on both sides of the rotating member, and the adjustment devices are arranged on the rotating shaft, which can facilitate the setting of the adjustment device, so that the abutting direction of the driving part is along the axial direction of the rotating shaft, avoiding the generation of a component force that deviates from the axial direction of the rotating shaft 1, ensuring that the rotating member is subjected to force along the axial direction of the rotating shaft, and ensuring the stability of the movement of the rotating member. At the same time, adjustment devices are provided on both sides of the rotating member. When the rotating member is adjusted into place and in the initial position, the adjusting devices on both sides can keep the rotating member stable and prevent the rotating member from moving. The driving parts 31 of the adjustment devices on both sides can work together and also facilitate the driving part to abut against the positioning part, ensuring the stability of the movement of the rotating member 1 along the axial direction of the rotating shaft 1, and thus ensuring the stability of the movement of the driven steering wheel.

[0055] Specific example 2: such as Figure 1 , Figure 2As shown, the driven steering wheel 2 is provided with two rotational members 21, the rotational member 21 close to the steering shaft 12 is the first rotational member, the rotational member 21 located on the side of the first rotational member away from the steering shaft 12 is the second rotational member, the first rotational member and the second rotational member are axially spaced apart along the rotating shaft 111, the adjustment device 3 is provided on the side of the first rotational member close to the steering shaft 12, and on the side of the second rotational member away from the first rotational member, and the driving part 31 abuts against the first rotational member and the second rotational member. By providing the driven steering wheel 2 with two rotational members 21, the contact area between the driven steering wheel 2 and the rotational member 21 is increased, the two rotational members 21 are circumferentially spaced apart along the rotating shaft 111, and the rotational members 21 can provide a higher support capacity to ensure the stability of the driven steering wheel 2 rotating around the rotating shaft 111. Moreover, after the two rotating members 21 are driven by the adjustment device 3, the rotating members 21 can better transmit force to the driven steering wheel 2 through the increased contact area, so as to drive the driven steering wheel 2 to move along the axis direction of the rotating shaft 111, thereby improving the smoothness of the movement of the driven steering wheel 2. By arranging the adjustment device 3 on the side of the first rotating member close to the steering shaft 12 and the side of the second rotating member away from the first rotating member, the two adjustment devices 3 work together to improve the smoothness of the movement of the driven steering wheel 2, and the driving part 31 of the adjustment device 3 abuts against the first rotating member and the second rotating member, thereby avoiding the concentrated force on the rotating member 21 and improving the service life of the rotating member 21.

[0056] In the specific example 2, the adjustment device 3 can be set on the rotating shaft 111, or can be set at the installation position of the connecting structure 1. The adjustment device 3 is fixed at the installation position. The adjustment device 3 has a driving part 31 that abuts against the positioning part 212 of the rotating member 21. This application does not limit this. In this application, when the adjustment device 3 is set on the rotating shaft 111, the rotating shaft 111 in this application extends toward the side away from the steering shaft 12 to provide an installation position for the adjustment device 3.

[0057] Specific example 3: This specific example 3 is not shown in the figure. It is different from specific example 1 in that an adjustment device is provided on one side of the rotational member, one end of the driving part is fixedly connected to the positioning part, and the movement of the rotational member is driven by the extension and contraction of the driving part.

[0058] It is clear to those skilled in the art that multiple rotation members 21 and multiple adjustment devices 3 can be provided to further improve the stability of the driven steering wheel 2 in rotation along the rotating shaft, and to facilitate the adjustment device 3 to drive the driven steering wheel 2 to move, thereby improving the stability of the driven steering wheel 2 in axial movement.

[0059] In Embodiment 1, the arrangement of the adjustment device 3 may be any one of the following specific examples:

[0060] Specific example 4: if Figure 1 , Figure 2As shown, the adjustment device 3 has an assembly hole 32 that cooperates with the rotating shaft 111, and the driving part 31 is an annular structure that is coaxially arranged with the assembly hole 32, so as to increase the contact area between the driving part 31 and the positioning part 212, ensure that the positioning part 212 is evenly stressed, and improve the stability of the movement of the rotation member 21. Preferably, the adjustment device 3 is cylindrical. Specific example 5: This specific example 5 is not shown in the figure, and multiple adjustment devices are arranged at intervals along the circumference of the rotating shaft. Preferably, the adjustment devices are arranged symmetrically up and down. By arranging multiple adjustment devices along the circumference of the rotating shaft, the force on the positioning part is more balanced, and the stability of the movement of the driven steering wheel is improved. At the same time, multiple adjustment devices jointly drive the positioning part to facilitate the movement of the positioning part.

[0061] As a preferred implementation of the present application, Figure 1 , Figure 2 As shown, the driven steering wheel 2 is provided with a rotating member 21 that is clearance-matched with the rotating shaft 111, the adjusting device 3 is provided on the rotating shaft 111, the adjusting device 3 has a driving portion 31 that abuts against the rotating member 21, and the rotating shaft 111 is provided with a positioning protrusion 1111, and the positioning protrusion 1111 is provided on the side of the adjusting device 3 away from the rotating member 21. By providing the positioning protrusion 1111, the installation and positioning of the adjusting device 3 can be facilitated, the assembly process can be simplified, and the assembly efficiency can be improved. At the same time, the positioning protrusion 1111 can enhance the connection stability and firmness between the adjusting device 3 and the rotating shaft 111, and ensure the stable operation of the adjusting device 3.

[0062] In a preferred embodiment of this embodiment, Figure 1 , Figure 2 As shown, the driven steering wheel 2 is provided with two rotation members 21, close to the steering shaft 12 (as shown in FIG. Figure 1 , Figure 2 The rotation member 21 (shown on the right side) is a first rotation member, which is located on the side of the first rotation member away from the steering shaft 12 (as shown in FIG. Figure 1 , Figure 2 The rotation member 21 on the left side of the figure is the second rotation member, the first rotation member and the second rotation member are axially spaced apart along the rotating shaft 111, the adjustment device 3 is arranged on the side of the first rotation member close to the steering shaft 12, and the side of the second rotation member away from the first rotation member, and the adjustment device 3 arranged on the side of the first rotation member close to the steering shaft 12 is the inner adjustment device ( Figure 2 The adjustment device 3 on the right side of the middle), the adjustment device 3 arranged on the side of the second rotating member away from the first rotating member is the outer adjustment device ( Figure 2 The left side of the adjustment device 3), the shaft 111 is provided with a positioning protrusion 1111 on the side of the inner adjustment device away from the first rotation member, and a fastener 112 is provided at one end of the shaft 111, and the fastener 112 has a limit end that abuts against the outer adjustment device. Figure 1 , Figure 2As shown, the limiting end is the right end face of the fastener 112. Preferably, the fastener 112 is detachably connected to the rotating shaft 111. Figure 1 , Figure 2 As shown, the fastener 112 is a nut threadedly connected to one end of the rotating shaft 111. In a specific example of this embodiment, the first rotation member and the second rotation member are symmetrically arranged.

[0063] By setting the adjustment device 3 on the side of the first rotating member close to the steering shaft 12 and the side of the second rotating member away from the first rotating member, the smoothness of the movement of the driven steering wheel 2 is improved through the coordinated action of the internal adjustment device and the adjustment device 3. The driving part 31 of the adjustment device 3 abuts the first rotating member and the second rotating member, which can avoid the concentrated force on the rotating member 21 and improve the service life of the rotating member 21. By setting the positioning protrusion 1111 and the fastener 112 having a limit end that abuts the external adjustment device, the installation and positioning of the adjustment device 3 is facilitated, and the stability and firmness of the connection between the adjustment device 3 and the rotating shaft 111 are improved. By setting the fastener 112, on the one hand, the external adjustment device is fixed more firmly, and the fastener 112 can be detachably arranged on the rotating shaft 111, which is convenient for the later replacement and maintenance of the external adjustment device and the internal adjustment device.

[0064] It is clear to those skilled in the art that a positioning protrusion 1111 may also be provided on the side of the outer adjustment device facing away from the inner adjustment device, and the positioning protrusion 1111 may be used to achieve positioning and auxiliary fixation of the outer adjustment device.

[0065] As a preferred specific example in this embodiment, Figure 1 , Figure 2As shown, the rotating shaft 111 has an end face 1112 facing away from the steering shaft 12, and the end face 1112 is provided with a mounting hole 1113, and the mounting hole 1113 extends along the axis of the rotating shaft 111 toward the inner adjustment device and exposes the side of the rotating shaft 111. Preferably, the adjustment device 3 of the present application can be a hydraulic cylinder arranged on the rotating shaft 111, the hydraulic cylinder is fixed on the rotating shaft 111, the hydraulic cylinder is controlled by the control system, the oil pipe reaches the end face 1112 through the mounting hole 1113 and is connected to the outer hydraulic cylinder, and the inner and outer hydraulic cylinders are driven to act synchronously and cooperatively through the three-position four-way electro-hydraulic reversing valve. It is clear to those skilled in the art that the number of three-position four-way electro-hydraulic reversing valves can be adjusted according to the needs of the vehicle, and one three-position four-way electro-hydraulic reversing valve can control one hydraulic cylinder, and the hydraulic cylinder can also be connected in parallel to realize one three-position four-way electro-hydraulic reversing valve to control multiple hydraulic cylinders. Preferably, when it is necessary to control multiple hydraulic cylinders through one three-position four-way electro-hydraulic reversing valve, a synchronous valve or a proportional valve can be configured synchronously to achieve uniform flow of each hydraulic cylinder. The adjustment device 3 can also be an electromagnetically controlled electric push rod or other device that can push the rotation member 21 to move along the axial direction of the rotating shaft 111, and this application does not limit this. By setting the mounting hole 1113, the mounting hole 1113 extends toward the inner adjustment device and exposes the side of the rotating shaft 111, which facilitates the connection between the inner adjustment device and the outer adjustment device, ensures the coordination of the adjustment operation of the inner adjustment device and the outer adjustment device, ensures the stability of the movement of the rotation member 21, and improves the stability of the movement of the driven steering wheel. At the same time, by setting the mounting hole 1113, it can facilitate the layout of the line, and facilitate later replacement and maintenance.

[0066] The present application also provides a control method applied to a vehicle involved in the present application, wherein the vehicle further comprises a steering wheel, and the driven steering wheels comprise a left driven steering wheel and a right driven steering wheel, and the control method of the vehicle comprises:

[0067] When the vehicle turns normally, one of the left driven steering wheel and the right driven steering wheel is set as the target driven wheel, and the other is set as the non-target driven wheel. The set value is determined according to the target driven wheel and the steering wheel rotation angle. Preferably, the present application sets a steering wheel angle sensor on the steering tube of the steering wheel, and after calibrating the middle position, the steering wheel rotation angle and the steering state of the steering wheel can be determined. The present application sets a steering wheel angle sensor on the steering parts on the left and right sides of the connecting structure to determine the rotation angle of the target driven steering wheel and the non-target driven steering wheel.

[0068] When the vehicle brakes, the deflection information of the vehicle is determined according to the steering state of the vehicle, and the adjustment device is controlled to adjust the distance between the driven steering wheel and the steering shaft according to the deflection information;

[0069] Determining the set value according to the target driven wheel and steering wheel rotation angle includes:

[0070] Determine the rotation angle of the target driven wheel as a first rotation angle value, determine the rotation angle of the steering wheel as a second rotation angle value, and set the ratio of the first rotation angle value to the second rotation angle value as a set value;

[0071] The deflection information of the vehicle is determined according to the steering state of the vehicle, including:

[0072] Determine the state of the steering wheel;

[0073] Take the vehicle set to a positive kingpin offset (the intersection of the steering axis and the ground is inside the intersection of the tire and the ground) and the braking force of the left and right driven steering wheels is different when the vehicle brakes as an example:

[0074] If the steering wheel is in a left-turn state, the rotation angle of the target driven wheel is determined to be a third rotation angle value, the steering wheel rotation angle is determined to be a fourth rotation angle value, the ratio of the third rotation angle value to the fourth rotation angle value is set as a deflection value, and the deflection information is determined according to the deflection value and the set value; the deflection information includes the steering wheel rotation state, the deflection value and the set value. When the steering wheel is in a left-turn state, the deflection value is greater than the set value, which means that the vehicle brakes to deflect to the left, and the braking force on the left driven steering wheel is greater than the braking force on the right driven steering wheel. The control system controls the adjustment device to reduce the distance between the left driven steering wheel and the steering shaft and increase the distance between the right driven steering wheel and the steering shaft; the deflection value is less than the set value, which means that the vehicle brakes to deflect to the right, and the braking force on the right driven steering wheel is greater than the braking force on the left driven steering wheel. At this time, the control system controls the adjustment device to reduce the distance between the right driven steering wheel and the steering shaft and increase the distance between the left driven steering wheel and the steering shaft.

[0075] If the steering wheel is in a straight-ahead state, the rotation angle of the non-target driven wheel is obtained as a fourth rotation angle value, the rotation angle of the target driven wheel is determined to be a first rotation angle value, and the deflection information is determined according to the fourth rotation angle value and the first rotation angle value; the deflection information includes the steering wheel rotation state, the fourth rotation angle value and the first rotation angle value. When the steering wheel is in a straight-ahead state, the fourth rotation angle is greater than the first rotation angle, which means that the vehicle brakes and deflects toward the non-target driven wheel, and the braking force of the non-target driven wheel is greater than the braking force of the target driven wheel. The control system controls the adjustment device to reduce the distance between the non-target driven wheel and the steering shaft and increase the distance between the target driven wheel and the steering shaft; the fourth rotation angle is less than the first rotation angle, which means that the vehicle brakes and deflects toward the target driven wheel, and the braking force of the target driven wheel is greater than the braking force of the non-target driven wheel. The control system controls the adjustment device to reduce the distance between the target driven wheel and the steering shaft and increase the distance between the non-target driven wheel and the steering shaft.

[0076] If the steering wheel is in a right-turn state, the rotation angle of the target driven wheel is determined to be a third rotation angle value, the rotation angle of the steering wheel is determined to be a fourth rotation angle value, the ratio of the third rotation angle value to the fourth rotation angle value is set as the deflection value, and the deflection information is determined according to the deflection value and the set value. When the steering wheel is in a right-turn state, the deflection value is greater than the set value, which means that the vehicle brakes and deflects to the right, and the braking force on the right driven steering wheel is greater than the braking force on the left driven steering wheel. The control system controls the adjustment device to reduce the distance between the right driven steering wheel and the steering shaft and increase the distance between the left driven steering wheel and the steering shaft; the deflection value is less than the set value, which means that the vehicle brakes and deflects to the left, and the braking force on the left driven steering wheel is greater than the braking force on the right driven steering wheel. At this time, the control system controls the adjustment device to reduce the distance between the left driven steering wheel and the steering shaft and increase the distance between the right driven steering wheel and the steering shaft.

[0077] It is clear to those skilled in the art that when the vehicle is set to a negative kingpin offset (the intersection of the steering shaft axis and the ground is outside the intersection of the tire and the ground), the method of the present application can also be applied. The case where the braking forces of the left and right driven steering wheels are different when the vehicle is braked is used as an example. Taking the vehicle turning left as an example, the steering wheel is in a left-turn state, and the deflection value is greater than the set value, which means that the vehicle is braking, the braking force of the left driven steering wheel is greater than the braking force of the right driven steering wheel, and the control system controls the adjustment device to increase the distance between the left driven steering wheel and the steering shaft and reduce the distance between the right driven steering wheel and the steering shaft; the deflection value is less than the set value, which means that the vehicle is braking, the braking force of the right driven steering wheel is greater than the braking force of the left driven steering wheel, and the control system controls the adjustment device to increase the distance between the right driven steering wheel and the steering shaft and reduce the distance between the left driven steering wheel and the steering shaft. Because the vehicle is set to a negative kingpin offset, the driven steering wheel with a large braking force can generate a self-aligning torque, so the distance between the driven steering wheel with a large braking force and the steering shaft is increased to increase the self-aligning torque, so that the vehicle can maintain stable driving when braking.

[0078] Moreover, regarding how to stop the adjustment operation of the adjustment device, the present application can use the control system to identify that the deflection value in the deflection information is equal to the set value or the fourth rotation angle is equal to the first rotation angle, or the difference between the deflection value and the set value is within a certain set range or the difference between the fourth rotation angle and the first rotation angle is within a certain range, and the control system controls the adjustment device to remain in the adjustment position. It can also be achieved by adding a body detector to the vehicle, and when the detector detects a signal that the vehicle's braking is stable, the control system controls the adjustment device to stop adjusting and remain in the adjustment position.

[0079] At the same time, it is clear to those skilled in the art that the deflection information in the present application can be further optimized, such as by setting a driven steering wheel braking force detection device on the vehicle, so that the deflection information includes detecting the magnitude of the braking force of the left and right driven steering wheels, and determining the distance the driven steering wheel moves from the steering shaft and the deflection direction of the vehicle by the magnitude of the braking force. Alternatively, the distance the driven steering wheel needs to move can be calculated based on the angle of the driven steering wheel, and the deflection information may include the distance the driven steering wheel needs to adjust and move, etc., which is not limited in the present application. Moreover, the reason why the deflection value of the present application is different from the set value is not only because of the difference in the braking force of the left and right driven wheels, but may also be due to the suspension system used by the vehicle, normal braking of the vehicle, and the braking deflection caused by the connection structure driving the vehicle suspension system to twist.

[0080] For ease of understanding, an embodiment of the present application is used for description. In this embodiment, Figure 1 , Figure 2As shown, the vehicle is set to a positive kingpin offset distance, and the driven steering wheel 2 of the vehicle is provided with two rotation members 21. The rotation member 21 close to the steering shaft 12 is the first rotation member, and the rotation member 21 located on the side of the first rotation member away from the steering shaft 12 is the second rotation member. The first rotation member and the second rotation member are axially spaced and distributed along the rotating shaft 111. Preferably, the first rotation member and the second rotation member are symmetrically arranged. The adjustment device 3 is arranged on the side of the first rotation member close to the steering shaft 12, and on the side of the second rotation member away from the first rotation member. The adjustment device 3 arranged on the side of the first rotation member close to the steering shaft 12 is the inner adjustment device, and the adjustment device 3 arranged on the side of the second rotation member away from the first rotation member is the outer adjustment device. The rotating shaft 111 is provided with a positioning protrusion 1111 on the side of the inner adjustment device away from the first rotation member, and a fastener 112 is provided at one end of the rotating shaft 111. The fastener 112 has a limit end that abuts against the outer adjustment device. The rotating shaft 111 has an end face 1112 facing away from the steering shaft 12, and the end face 1112 is provided with a mounting hole 1113, and the mounting hole 1113 extends along the axis of the rotating shaft 111 toward the inner adjustment device and exposes the side of the rotating shaft 111. In this embodiment, the adjustment device 3 has an assembly hole 32 that matches the rotating shaft 111, and the driving part 31 is a ring-shaped structure coaxially arranged with the assembly hole 32. The adjustment device 3 is cylindrical, and the adjustment device 3 is a hydraulic cylinder. The inner adjustment device is an inner hydraulic cylinder, and the outer adjustment device is an outer hydraulic cylinder. The vehicle is also provided with a three-position four-way electro-hydraulic reversing valve to control the inner hydraulic cylinder and the outer hydraulic cylinder, and the oil pipe is connected to the outer hydraulic cylinder through the mounting hole 1113. In this embodiment, a steering wheel angle sensor is provided on the steering tube of the vehicle steering wheel, and a steering wheel angle sensor is provided on the steering parts 11 on the left and right sides of the connecting structure 1. During vehicle driving, the steering wheel angle sensor and the steering wheel angle sensor transmit information to the vehicle control system in real time. When the vehicle brakes (for example, the vehicle turns left), the control system determines that the steering wheel is in a left turn state and the deflection value is greater than the set value through the deflection information. At this time, the control system controls the inner hydraulic cylinder of the right driven steering wheel to push the second rotational shifting member through the three-position four-way electro-hydraulic reversing valve, and the outer hydraulic cylinder contracts synchronously to achieve the rightward movement of the right driven steering wheel. The outer hydraulic cylinder of the left driven steering wheel is controlled to push the second rotational shifting member, and the inner hydraulic cylinder contracts synchronously to achieve the rightward movement of the left driven steering wheel. The deflection value in the deflection information is adjusted to be equal to the set value. The control system controls the inner and outer hydraulic cylinders to maintain the current state to achieve the fixation of the rotational shifting member 21. At this time, there is no deflection during the left turn of the vehicle.

[0081] Anything not described in this application can be achieved by adopting or drawing on existing technologies.

[0082] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0083] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A vehicle, comprising a connecting structure and driven steering wheels arranged at both ends of the connecting structure, wherein the connecting structure comprises a steering part, the steering part is provided with a rotating shaft, the driven steering wheel is in clearance with the rotating shaft, the vehicle further comprises a main driving wheel, the main driving wheel drives the driven steering wheel to rotate around the rotating shaft, characterized in that: The connection structure also includes a steering shaft, and the steering part drives the driven steering wheel to rotate around the axis of the steering shaft. The vehicle is also provided with an adjustment device, which can drive the driven steering wheel to move along the axis of the rotating shaft to adjust the distance between the driven steering wheel and the steering shaft.

2. A vehicle according to claim 1, characterized in that: The driven steering wheel is provided with at least one rotational shifting member which is in clearance with the rotating shaft. The rotational shifting member has a rotating portion connected to the driven steering wheel and a positioning portion which is in clearance with the rotating shaft. The rotating portion rotates relative to the positioning portion, and the adjustment device drives the positioning portion to move along the axis of the rotating shaft.

3. A vehicle according to claim 2, characterized in that: The adjusting device comprises a driving part which abuts against the positioning part, and the driving part is telescopically arranged on the adjusting device.

4. A vehicle according to claim 3, characterized in that: The driven steering wheel is provided with a rotating member, the adjusting devices are provided on both sides of the rotating member, the adjusting devices are arranged on the rotating shaft, and the driving part abuts against the positioning part to keep the rotating member at the adjusted position.

5. A vehicle according to claim 3, characterized in that: The driven steering wheel is provided with two rotating members, the rotating member close to the steering shaft is the first rotating member, the rotating member located on the side of the first rotating member away from the steering shaft is the second rotating member, the first rotating member and the second rotating member are spaced apart along the axial direction of the rotating shaft, the adjusting device is arranged on the side of the first rotating member close to the steering shaft and on the side of the second rotating member away from the first rotating member, and the driving part abuts against the first rotating member and the second rotating member.

6. A vehicle according to claim 3, characterized in that: The adjustment device is provided with an assembly hole matched with the rotating shaft, and the driving part is an annular structure arranged coaxially with the assembly hole.

7. A vehicle according to claim 1, characterized in that: The driven steering wheel is provided with a rotation member that is loosely matched with the rotating shaft. The adjusting device is arranged on the rotating shaft. The adjusting device has a driving portion that abuts against the rotation member. The rotating shaft is provided with a positioning protrusion, and the positioning protrusion is arranged on the side of the adjusting device away from the rotation member.

8. A vehicle according to claim 7, characterized in that: The driven steering wheel is provided with two rotating members, the rotating member close to the steering shaft is a first rotating member, the rotating member located on the side of the first rotating member away from the steering shaft is a second rotating member, the first rotating member and the second rotating member are spaced apart along the axial direction of the rotating shaft, the adjusting device is arranged on the side of the first rotating member close to the steering shaft, and on the side of the second rotating member away from the first rotating member, the adjusting device arranged on the side of the first rotating member close to the steering shaft is an inner adjusting device, and the adjusting device arranged on the side of the second rotating member away from the first rotating member is an outer adjusting device, the rotating shaft is provided with a positioning protrusion on the side of the inner adjusting device away from the first rotating member, a fastener is arranged at one end of the rotating shaft, and the fastener has a limiting end that abuts against the outer adjusting device.

9. A vehicle according to claim 8, characterized in that: The rotating shaft has an end face facing away from the steering shaft, and the end face is provided with a mounting hole. The mounting hole extends along the axis of the rotating shaft toward the inner adjustment device and exposes the side face of the rotating shaft.

10. A vehicle control method, characterized in that: The vehicle is a vehicle according to any one of claims 1 to 9, the vehicle further comprises a steering wheel, the driven steering wheels comprise a left driven steering wheel and a right driven steering wheel, and the control method of the vehicle comprises: When the vehicle turns normally, one of the left driven steering wheel and the right driven steering wheel is set as the target driven wheel, and the other of the left driven steering wheel is set as the non-target driven wheel, and a set value is determined according to the target driven wheel and the steering wheel rotation angle; When the vehicle is braked, the deflection information of the vehicle is determined according to the steering state of the vehicle, and the adjustment device is controlled according to the deflection information to adjust the distance between the driven steering wheel and the steering shaft; Determining the set value according to the target driven wheel and the steering wheel rotation angle includes: Determine the target driven wheel rotation angle as a first rotation angle value, determine the steering wheel rotation angle as a second rotation angle value, and set the ratio of the first rotation angle value to the second rotation angle value as a set value; Determining the deflection information of the vehicle according to the steering state of the vehicle includes: Determining the state of the steering wheel; If the steering wheel is in a left-turn state, determining the rotation angle of the target driven wheel to be a third rotation angle value, determining the rotation angle of the steering wheel to be a fourth rotation angle value, setting the ratio of the third rotation angle value to the fourth rotation angle value as a deflection value, and determining the deflection information according to the deflection value and the set value; If the steering wheel is in a straight-ahead state, obtaining the rotation angle of the non-target driven wheel as a fourth rotation angle value, determining the rotation angle of the target driven wheel as the first rotation angle value, and determining the deflection information according to the fourth rotation angle value and the first rotation angle value; If the steering wheel is in a right-turn state, the rotation angle of the target driven wheel is determined to be a third rotation angle value, the steering wheel rotation angle is determined to be a fourth rotation angle value, the ratio of the third rotation angle value to the fourth rotation angle value is set as a deflection value, and the deflection information is determined according to the deflection value and the set value.

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