Angle module kingpin steering device with controllable self-locking function

Abstract

The invention discloses an angle module kingpin steering device with a controllable self-locking function, which is used for driving wheels to steer, belongs to the technical field of vehicle engineering, and comprises a driving mechanism, a controllable self-locking mechanism and a planetary helical gear reducer, the controllable self-locking mechanism comprises a self-locking shell, a transmission disc, a plurality of transmission self-locking pins, a locking disc and a blocking ring. The transmission disc is arranged in the self-locking shell and connected with the input end of the planetary bevel gear reducer. The plurality of transmission self-locking pins are arranged on the transmission disc and can slide relative to the transmission disc; the locking disc is fixed in the self-locking shell and is provided with a plurality of locking grooves; the sliding transmission self-locking pins can enter and move out of the corresponding locking grooves; the blocking ring is arranged in the self-locking shell, arranged outside the locking disc in a sleeving mode and can rotate. A plurality of baffles are fixed to the inner side of the blocking ring. Controllable self-locking can be achieved, the steering function can still be achieved when the external impact on the wheels is large, and the requirement for external rotation of the wheels during maintenance and the like can also be met.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle engineering, and relates to a kingpin steering drive device, and in particular to a kingpin steering device with an angle module having controllable self-locking. Background Art

[0002] At present, most electric steering systems on the market use electric power-assisted tie rod steering technology. However, this technology is difficult to achieve variable transmission ratio steering, and cannot independently control the specific steering angle of each steering wheel. At the same time, it also shows certain limitations when large-angle steering is required. In contrast, electric kingpin steering technology can support variable transmission ratio steering, allowing different steering angles to be set for each wheel, and unlimited angle steering can be achieved if the space conditions of the steering wheel allow. However, one challenge faced by electric kingpin steering is that it is difficult to drive the wheel steering directly through the steering motor. Although there are some electric kingpin steering solutions directly driven by steering motors on the market, most of these solutions rely on worm gear reducers. This reducer not only occupies a large radial space and is not suitable for installation near the wheel, but also due to its low transmission efficiency and severe heat generation, it may cause adhesion problems during long-term operation, and there is a large gap during the transmission process. Compared with the steering motor directly added to the output end of the planetary reducer, the kingpin steering gear has an increased axial size and higher requirements for the wheel side height size than traditional vehicles. The self-locking mechanism cannot selectively self-lock, making it impossible to rotate the wheel under external input, which brings inconvenience to the maintenance or repair of the vehicle. Summary of the invention

[0003] The present invention provides a kingpin steering device with an angle module and controllable self-locking function, so as to overcome the defects of the prior art.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] A kingpin steering drive device with a switchable self-locking mode, used for driving wheel steering, comprises a driving mechanism, a controllable self-locking mechanism and a planetary helical gear reducer; the controllable self-locking mechanism comprises a self-locking housing, a transmission plate, a plurality of transmission self-locking pins, a locking plate and a blocking ring; the self-locking housing is fixed above the planetary helical gear reducer; the transmission plate is arranged in the self-locking housing and is connected to the input end of the planetary helical gear reducer, and the wheel steering is driven by the planetary helical gear reducer; a plurality of transmission self-locking pins are all arranged on the transmission plate, the transmission self-locking pins can slide relative to the transmission plate, and the driving mechanism can drive a plurality of transmission self-locking pins to drive the transmission plate to rotate synchronously as a whole; the locking plate is fixed in the self-locking housing, and has a plurality of transmission self-locking pins. The locking groove corresponds to and matches the transmission self-locking pin; the sliding transmission self-locking pin can enter and move out of the corresponding locking groove; 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 wheel to turn through the planetary bevel gear reducer; when the transmission self-locking pin is in the locking groove, the transmission disc is self-locking and fixed; the blocking ring is arranged in the self-locking shell, is sleeved on the outside of the locking disc, and can rotate; a number of baffles corresponding to and matching the locking grooves are fixed on the inner side of the blocking ring; when the blocking ring is rotated until the baffle is outside the corresponding locking groove, the transmission self-locking pin is blocked from entering the locking groove; when the blocking ring is rotated until the baffle and the locking groove are intertwined, the transmission self-locking pin can enter and move out of the corresponding locking groove.

[0006] To optimize the above technical solutions, the specific measures taken also include:

[0007] Furthermore, in the controllable self-locking mechanism, the barrier ring is equipped with an electromagnetic lock; the electromagnetic lock is fixed in the self-locking shell; a connecting rod is fixed to the outside of the barrier ring; the outer end of the lock core of the electromagnetic lock is rotatably connected to the connecting rod; the rotation of the barrier ring is controlled by extending or retracting the lock core of the electromagnetic lock.

[0008] Furthermore, in the controllable self-locking mechanism, the blocking ring has a plurality of limit strip holes penetrating its upper and lower surfaces; a plurality of limit pins corresponding to and matching the limit strip holes are fixed to the bottom surface of the self-locking shell, and the limit pins are inserted into the corresponding limit strip holes to limit the rotation angle of the blocking ring.

[0009] Furthermore, in the controllable self-locking mechanism, a plurality of transmission self-locking pins are evenly arranged 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 plurality of locking grooves are opened on the edge of the locking disk, and correspond one by one to the plurality 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.

[0010] Furthermore, in the controllable self-locking mechanism, the locking plate is fixed at the bottom of the self-locking shell of the self-locking mechanism, and the transmission plate is located above the locking plate; the transmission plate has a plurality of slide grooves arranged radially and passing through its upper and lower surfaces; the plurality of slide grooves correspond one-to-one to a plurality of transmission self-locking pins, and the transmission self-locking pins are arranged in the corresponding slide grooves and can slide along the slide grooves; the lower end of the transmission self-locking pin extends out of the slide groove and can enter the corresponding locking groove.

[0011] Further, the controllable self-locking mechanism also includes a gear paddle; the gear paddle is arranged above the transmission disk; the driving mechanism drives the gear paddle to rotate; a gear-like structure is provided at 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 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; elastic members are provided at the outer ends of the slide grooves; when the transmission self-locking pin is pushed to move 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.

[0012] 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 that are 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.

[0013] Furthermore, in the controllable self-locking mechanism, a thrust bearing is provided between the gear paddle and the transmission disc; a self-locking mechanism output shaft is provided at the center of the bottom surface of the transmission disc, the self-locking mechanism output shaft passes through the locking disc and the self-locking shell, and the lower end is connected to the input end of the planetary helical gear reducer.

[0014] Furthermore, it also includes a transmission connection mechanism; the transmission connection mechanism includes a connecting shell, a large synchronous pulley, a small synchronous pulley and a synchronous belt; the connecting shell is fixed above the self-locking shell; the large synchronous pulley is arranged in the connecting shell and is fixed to the gear paddle; the driving mechanism is fixed below the connecting shell and located on the side of the controllable self-locking mechanism; the small synchronous pulley is arranged in the connecting shell, and the driving mechanism can drive the small synchronous pulley to rotate; the synchronous belt is sleeved on the large synchronous pulley and the small synchronous pulley, and the small synchronous pulley drives the large synchronous pulley to rotate through the synchronous belt.

[0015] Furthermore, the driving mechanism includes a dual-winding motor and a dual-loop controller for controlling its operation; the dual-winding motor is fixed below the connecting shell, and the motor output shaft extends into the connecting shell and is fixed to the small synchronous pulley to drive the small synchronous pulley to rotate.

[0016] The beneficial effect of the present invention is that the present invention provides a kingpin steering device with a corner module having controllable self-locking, which can realize controllable self-locking, that is, the self-locking mode can be turned on or off. Specifically, the self-locking mode is enabled when the steering system is actually working, so that the steering function can still be realized when the external impact on the wheel is large; and when the corner module needs to be maintained and the wheel needs to be rotated by the outside world, the self-locking mode can be turned off.

[0017] This device uses synchronous belt drive and three-stage planetary reducer for speed reduction transmission. In the synchronous belt drive, the synchronous belt drive ratio can be adjusted within the load range of the planetary reducer according to the needs, so as to more easily meet various transmission ratio requirements. At the same time, the reducer and the motor are arranged in a radial position, which shortens the axial size of the kingpin steering drive device, making it easier for the kingpin steering drive device to be arranged on the wheel side. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the external structure of the corner module kingpin steering device of the present invention:

[0019] Figure 2 It is a schematic diagram of the exploded structure of the controllable self-locking mechanism of the present invention;

[0020] Figure 3 It is a partial cross-sectional view of the transmission disc of the controllable self-locking mechanism of the present invention;

[0021] Figure 4 It is a partial cross-sectional view of the transmission disc, transmission self-locking pin and elastic member of the controllable self-locking mechanism of the present invention;

[0022] Figure 5 It is a structural schematic diagram of the gear paddle of the controllable self-locking mechanism of the present invention;

[0023] Figure 6 It is a schematic diagram of the structure of the transmission self-locking pin and the gear paddle when the self-locking mode of the present invention is turned on and in the self-locking state;

[0024] Figure 7 It is a structural schematic diagram of the transmission self-locking pin and the locking plate when the self-locking mode of the present invention is turned on and in the self-locking state;

[0025] Figure 8 It is a schematic diagram of the structure of the transmission self-locking pin and the gear paddle when the self-locking mode of the present invention is turned on and in the driving steering state;

[0026] Fig. 9It is a structural schematic diagram of the transmission self-locking pin and the locking plate when the self-locking mode of the present invention is turned on and in the driving steering state;

[0027] Fig.10 It is a structural schematic diagram of the barrier ring of the controllable self-locking mechanism of the present invention;

[0028] Fig.11 It is a schematic diagram of the structure of the blocking ring and the locking disk when the self-locking mode of the controllable self-locking mechanism of the present invention is turned on;

[0029] Fig.12 It is a schematic diagram of the structure of the blocking ring and the locking disk when the self-locking mode of the controllable self-locking mechanism of the present invention is closed;

[0030] Fig.13 This is a schematic diagram of the structure of the transmission connection mechanism:

[0031] Fig.14 It is a structural schematic diagram of the present invention in which the transmission disc rotates away from the paddle direction when the self-locking mode is turned on and the device is in a driving steering state;

[0032] Fig.15 It is a structural schematic diagram of the present invention in which the transmission disc rotates close to the direction of the paddle when the self-locking mode is turned on and the transmission disc is in the driving steering state. DETAILED DESCRIPTION

[0033] The specific implementation of the present invention is described below with reference to the accompanying drawings.

[0034] like Figure 1 As shown, the present invention provides an angle module kingpin steering device with controllable self-locking, which is used to drive the wheel steering, including a driving mechanism 1, a controllable self-locking mechanism 2, a planetary helical gear reducer 3 and a transmission connection mechanism 4. The driving mechanism 1 drives the wheel steering through the transmission connection mechanism 4, the controllable self-locking mechanism 2 and the planetary helical gear reducer 3 in sequence.

[0035] like Figures 2 to 9 As shown, the controllable self-locking mechanism 2 includes a self-locking housing 21, a transmission disc 22, a plurality of transmission self-locking pins 23, a locking disc 24 and a blocking ring 28. The self-locking housing 21 is fixed above the planetary helical gear reducer 3. The transmission disc 22 is arranged in the self-locking housing 21 and connected to the input end of the planetary helical gear reducer 3, and the wheel steering is driven by the planetary helical gear reducer 3. A plurality of transmission self-locking pins 23 are arranged on the transmission disc 22, and the transmission self-locking pins 23 can slide relative to the transmission disc 22, and the driving mechanism 1 can drive a plurality of transmission self-locking pins 23 as a whole to rotate the transmission disc 22 synchronously with the belt 44. The locking disc 24 is fixed in the self-locking housing 21, and specifically, the locking disc 24 is fixed in the center of the bottom plane of the self-locking housing 21. The locking disc 24 has a plurality of locking grooves 241 corresponding to and matching the transmission self-locking pins 23. The sliding transmission self-locking pins 23 can enter and move out of the corresponding locking grooves 241.

[0036] When the transmission self-locking pin 23 is located outside the locking groove 241, the driving mechanism 1 drives the transmission self-locking pin 23 to drive the transmission plate 22 to rotate, and the transmission plate 22 drives the steering knuckle 5 to steer through the planetary bevel gear reducer 3; when the transmission self-locking pin 23 is located in the locking groove 241, the transmission self-locking pin 23 limits the relative rotation of the transmission plate 22 and the locking plate 24, and the transmission plate 22 is self-locked and fixed, realizing the self-locking function.

[0037] In a specific embodiment, a plurality of transmission self-locking pins 23 are evenly arranged within the circumference of the transmission disk 22, and the transmission self-locking pins 23 can slide relative to the transmission disk 22 in the radial direction. A plurality of locking grooves 241 are provided at the edge of the locking disk 24, and correspond one by one to the plurality of transmission self-locking pins 23. The transmission self-locking pins 23 move toward the center of the transmission disk 22 and enter the locking grooves 241; and move toward the edge of the transmission disk 22 and move out of the locking grooves 241.

[0038] Furthermore, the locking plate 24 is fixed to the bottom of the self-locking housing 21, and the transmission plate 22 is located above the locking plate 24. Figures 2 to 4 As shown, the transmission plate 22 has a plurality of slide grooves 221 arranged radially and penetrating the upper and lower surfaces thereof. The plurality of slide grooves 221 correspond to the plurality of transmission self-locking pins 23 one by one, and the transmission self-locking pins 23 are arranged in the corresponding slide grooves 221 and can slide along the slide grooves 221. The lower end of the transmission self-locking pin 23 extends out of the slide groove 221 and can enter the corresponding locking groove 241 on the locking plate 24.

[0039] 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 a specific embodiment, the controllable 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 disposed at the center of the lower surface of the gear paddle 25, and a plurality of paddles 252 are disposed on the outer side. The upper end of the transmission self-locking pin 23 also extends out of the slide slot 221. Figures 6 to 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 top of the gear-like structure 251.

[0040] like Figure 6 and 7As shown, when the transmission self-locking pin 23 slides toward the center until its lower end enters the locking groove 241, 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 241, that is, the rotational motion of the gear-like structure 251 is converted into the 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. Figure 8 and 9 shown.

[0041] like Figure 2 and 4 As shown, the outer ends of the slide grooves 221 are 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 241 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 to move toward the center of the transmission disk 22 and enter the locking groove 241. 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.

[0042] like Figure 3 and 4 As shown, in a preferred embodiment, the cross-sections of the transmission self-locking pin 23 and the slide groove 221 are both T-shaped. The slide groove 221 and the transmission self-locking pin 23 both have a sliding plane 222 that is tilted downward from the outside to the inside, and the slide groove 221 and the sliding plane 222 of the transmission self-locking pin 23 are in contact and can slide relative to each other. The tilted 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 compression force of the elastic member 26, that is, the transmission self-locking pin 23 realizes a sliding motion along the slide groove 221 of the transmission disk 22 under the dual action of gravity and the elastic member 26.

[0043] In a preferred embodiment, in the controllable self-locking mechanism 2, a thrust bearing (not shown) is further provided between the gear paddle 25 and the transmission disc 22, and the thrust bearing guides the rotation of the transmission disc 22. Specifically, the bottom of the gear paddle 25 is matched with the outer diameter of the thrust bearing through a countersunk hole, and the transmission disc 22 is matched with the inner diameter of the thrust bearing through a cylindrical pin at the center of the top, and contacts with the annular side surface of the thrust bearing through the countersunk hole outside the cylindrical pin.

[0044] like Figure 3 and 4As shown, in a specific embodiment, in the controllable self-locking mechanism 2, a self-locking mechanism output shaft 27 integrally formed therewith is also provided at the center of the bottom surface of the transmission disk 22. The self-locking mechanism output shaft 27 passes through the locking disk 24 and the self-locking shell 21, and the lower end is connected to the input end of the planetary helical gear reducer 3, specifically, it is interference fit with the first-stage sun gear of the three-stage planetary helical gear reducer 3 to realize rotation transmission.

[0045] like Figures 10-12 As shown, the blocking ring 28 is arranged in the self-locking housing 21 and is sleeved outside the locking plate 24, and can rotate. A plurality of baffles 281 corresponding to and matching the locking grooves 241 are fixed inside the blocking ring 28. When the blocking ring 28 is rotated, the baffles 281 can move to the outside of the corresponding locking grooves 241 or intersect with the locking grooves 241.

[0046] When the blocking ring 28 rotates until the baffle 281 is outside the corresponding locking groove 241, the transmission self-locking pin 23 is blocked from entering the locking groove 241, and the self-locking mode is closed; when the blocking ring 28 rotates until the baffle 281 and the locking groove 241 are intertwined, the transmission self-locking pin 23 can enter and move out of the corresponding locking groove 241, and the self-locking mode is turned on.

[0047] In a specific embodiment, the blocking ring 28 is equipped with an electromagnetic lock 282. The electromagnetic lock 282 is fixed in the self-locking housing 21. A connecting rod 283 is fixed to the outside of the blocking ring 28. The outer end of the lock core 2821 of the electromagnetic lock 282 is rotatably connected to the connecting rod 283, and the rotation of the blocking ring 28 is controlled by extending or retracting the lock core 2821 of the electromagnetic lock 282.

[0048] In a preferred embodiment, the blocking ring 28 has a plurality of position-limiting strip holes 284 penetrating the upper and lower surfaces thereof. A plurality of position-limiting pins 285 corresponding to and matching the position-limiting strip holes 284 are fixed to the bottom surface of the self-locking housing 21, and the position-limiting pins 285 are inserted into the corresponding position-limiting strip holes 284 to limit the rotation angle of the blocking ring 28.

[0049] like Fig.13 As shown, the transmission connection mechanism 4 includes a connection shell 41, a large synchronous pulley 42, a small synchronous pulley 43 and a synchronous belt 44. The connection shell 41 is fixed above the self-locking shell 21. The large synchronous pulley 42 is arranged in the connection shell 41 and fixed to the gear paddle 25 by bolts. The driving mechanism 1 is fixed below the connection shell 41 and located on the side of the controllable self-locking mechanism 2. The small synchronous pulley 43 is arranged in the connection shell 41, and the driving mechanism 1 can drive the small synchronous pulley 43 to rotate. The synchronous belt 44 is sleeved on the large synchronous pulley 42 and the small synchronous pulley 43, and the small synchronous pulley 43 drives the large synchronous pulley 42 to rotate through the synchronous belt 44. That is, the driving mechanism 1 drives the small synchronous pulley 43 to rotate, and the small synchronous pulley 43 drives the large synchronous pulley 42 to rotate through the synchronous belt 44, and the gear paddle 25 rotates synchronously therewith, thereby realizing the driving mechanism 1 to drive the gear paddle 25.

[0050] The driving mechanism 1 includes a double-winding motor and a double-circuit controller for controlling the operation of the double-winding motor. The double-winding motor is fixed below the connecting shell, and the motor output shaft extends into the connecting shell and is fixed to the small synchronous pulley 43 through a C-shaped flat key to drive the small synchronous pulley 43 to rotate.

[0051] The working principle of the corner module kingpin steering device of the present invention is:

[0052] 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 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.

[0053] When the self-locking mode is required, the VCU controls the electromagnetic lock 282 to cut off the power, and the lock core 2821 of the electromagnetic lock 282 extends to start the self-locking mode. The double-winding motor of the driving mechanism 1 drives the gear paddle 25 of the controllable self-locking mechanism 2 to rotate through the transmission connection mechanism 4. The gear-like structure 251 at the bottom of the gear paddle 25 rotates to push the transmission self-locking pin 23 to move outward in the slide groove 221 of the transmission disk 22. The transmission self-locking pin 23 squeezes the elastic member 26 during the outward movement, and the elastic member 26 generates a radial force on the transmission self-locking pin 23 toward the axis of the transmission disk 22. During the outward movement of the transmission self-locking pin 23, when the bottom of the transmission self-locking pin 23 escapes from the locking groove 241 of the locking plate 24, the limited self-locking state between the transmission plate 22 and the locking plate 24 is released. When the paddle 252 of the gear paddle 25 contacts the transmission self-locking pin 23, the paddle 252 pushes the transmission self-locking pins 23 to rotate as a whole. The transmission self-locking pin 23 pushes the transmission plate 22 to rotate, and the transmission plate 22 drives the first-stage sun gear of the planetary helical gear reducer 3 to rotate. After the output torque of the driving mechanism 1 passes through the transmission connection mechanism 4, the controllable self-locking mechanism 2 and the three-stage planetary helical gear reducer 3, it drives the steering wheel to realize the kingpin steering.

[0054] When the driving mechanism 1 completes the VCU execution of the steering wheel angle signal, the dual-loop controller uses the PID position loop control algorithm to control the steering angle of the dual-winding motor output shaft, thereby determining the steering angle of the gear paddle 25. When the dual-winding motor completes the VCU execution of the steering wheel angle position, the gear paddle 25 of the controllable self-locking mechanism 2 is in Figure 8 The position shown in FIG. 1 is when the transmission self-locking pin 23 is out of the locking groove 241 of the locking plate 24, as shown in FIG. Fig. 9 shown.

[0055] When the steering wheel is impacted by the outside, the impact of the steering wheel is transmitted to the transmission plate 22 of the controllable self-locking mechanism 2 through the steering knuckle 5, the conical transmission mechanism 6 and the planetary helical gear reducer 3.

[0056] When the steering wheel is subjected to a small external impact, the gear paddle 25 of the controllable self-locking mechanism 2 is stabilized at a constant angle under the control and drive of the driving mechanism 1. At this time, the transmission plate 22 has two different directions of rotational motion due to the different force directions of the wheel end: Fig.14 As 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 241 of the locking plate 24, limiting the relative rotation of the transmission plate 22 and the self-locking housing 21; Fig.15 As shown, when the transmission plate 22 rotates in the direction of the paddle 252 close to the gear paddle 25, the drive mechanism 1 adopts the PID algorithm position loop control method to keep the angular position of the output shaft of the dual-winding motor unchanged.

[0057] When the steering wheel of the vehicle is subjected to a large external impact, the transmission plate 22 also has two rotational movements in different directions due to the different force directions at 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 241 of the locking plate 24, limiting the relative rotation of the transmission plate 22 and the self-locking 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, and the gear paddle 25 of the controllable 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 a plurality of 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 dual-winding motor encoder detects that the output shaft angle shows a rotation trend, the dual-loop controller outputs a fast rotation signal so that the dual-winding motor drives the gear paddle 25 to rotate relative to the transmission disc 22, and the transmission self-locking pin 23 enters the locking groove 241 of the locking disc 24, thereby limiting the relative rotation of the transmission disc 22 and the self-locking shell 21, thereby achieving self-locking.

[0058] When the self-locking mode is not needed, the VCU sends a signal to control the electromagnetic lock 282 to be energized, the lock core 2821 retracts, and the self-locking mode is turned off. At this time, since the baffle 281 of the blocking ring 28 is blocked outside the corresponding locking groove 241, the transmission self-locking pin 23 no longer enters the locking groove 241.

[0059] 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.

[0060] 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 in their relative relationships should be regarded as the scope of implementation of the present invention without substantially changing the technical content.

[0061] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is 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 can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A kingpin steering device with controllable self-locking angle module, used for driving wheel steering, comprising a driving mechanism, characterized in that: It includes a controllable self-locking mechanism and a planetary helical gear reducer; The controllable self-locking mechanism comprises a self-locking housing, a transmission disc, a plurality of transmission self-locking pins, a locking disc and a blocking ring; The self-locking housing is fixed above the planetary helical gear reducer; The transmission disc is arranged in the self-locking housing and connected to the input end of the planetary helical gear reducer, and the wheel steering is driven by 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 as a whole; The locking disc is fixed in the self-locking housing and has a plurality of locking grooves corresponding to and matching 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 wheels to turn 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 blocking ring is arranged in the self-locking housing and sleeved outside the locking disk, and can rotate; a plurality of baffles corresponding to and matching the locking grooves are fixed on the inner side of the blocking ring; When the blocking ring rotates until the baffle is outside the corresponding locking groove, the transmission self-locking pin is blocked from entering the locking groove; when the blocking ring rotates until the baffle and the locking groove are intertwined, the transmission self-locking pin can enter and move out of the corresponding locking groove.

2. The corner module kingpin steering device with controllable self-locking according to claim 1, characterized in that: In the controllable self-locking mechanism, the barrier ring is equipped with an electromagnetic lock; The electromagnetic lock is fixed in the self-locking housing; a connecting rod is fixed on the outside of the blocking ring; the outer end of the lock core of the electromagnetic lock is rotatably connected with the connecting rod; the rotation of the blocking ring is controlled by extending or retracting the lock core of the electromagnetic lock.

3. The corner module kingpin steering device with controllable self-locking according to claim 1, characterized in that: In the controllable self-locking mechanism, the barrier ring has a plurality of position-limiting strip holes penetrating the upper and lower surfaces thereof; A plurality of limit pins corresponding to and matching the limit strip holes are fixed to the bottom surface of the self-locking shell, and the limit pins are inserted into the corresponding limit strip holes to limit the rotation angle of the blocking ring.

4. The corner module kingpin steering device with controllable self-locking according to claim 1, characterized in that: In the controllable self-locking mechanism, a plurality of transmission self-locking pins are evenly arranged 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.

5. The corner module kingpin steering device with controllable self-locking according to claim 4, characterized in that: In the controllable self-locking mechanism, the locking disc is fixed to the bottom of the self-locking housing of the self-locking mechanism, and the transmission disc is located above the locking disc; The transmission disc has a plurality of slide grooves arranged radially and penetrating the upper and lower surfaces thereof; the plurality of slide grooves correspond to a plurality of transmission self-locking pins one by one, and the transmission self-locking pins are arranged in the corresponding slide grooves and can slide along the slide grooves; The lower end of the transmission self-locking pin extends out of the slide slot and can enter the corresponding locking slot.

6. The corner module kingpin steering device with controllable self-locking according to claim 1, characterized in that: The controllable self-locking mechanism also includes a gear shifter; The gear paddle is arranged above the transmission plate; the driving mechanism drives the gear paddle to rotate; A gear-like structure is provided at the center of the lower surface of the gear paddle, and a plurality of paddles are provided on the outer side; The upper end of the transmission self-locking pin also extends out of the slide slot; The gear-like structure is located at 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 outside 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 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 abuts against one side of the paddle, and 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 provided with elastic parts; When the transmission self-locking pin is pushed 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.

7. The corner module kingpin steering device with controllable self-locking according to claim 6, characterized in that: 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 a sliding plane which is 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 relatively.

8. The corner module kingpin steering device with controllable self-locking according to claim 6, characterized in that: In the controllable self-locking mechanism, a thrust bearing is also provided between the gear paddle and the transmission disc; A self-locking mechanism output shaft is also provided at the center of the bottom surface of the transmission disc. The self-locking mechanism output shaft passes through the locking disc and the self-locking housing, and the lower end is connected to the input end of the planetary helical gear reducer.

9. The corner module kingpin steering device with controllable self-locking according to claim 6, characterized in that: Also includes a transmission connection mechanism; The transmission connection mechanism includes a connection housing, a large synchronous pulley, a small synchronous pulley and a synchronous belt; The connecting shell is fixed above the self-locking shell; The large synchronous belt wheel is arranged in the connecting housing and is fixed to the gear paddle; The driving mechanism is fixed below the connecting shell and located on the side of the controllable self-locking mechanism; The small synchronous belt wheel is arranged in the connection shell, and the driving mechanism can drive the small synchronous belt wheel to rotate; The synchronous belt is sleeved on a large synchronous pulley and a small synchronous pulley, and the small synchronous pulley drives the large synchronous pulley to rotate through the synchronous belt.

10. The corner module kingpin steering device with controllable self-locking according to claim 9, 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 under the connecting shell, and the motor output shaft extends into the connecting shell and is fixed to the small synchronous belt wheel to drive the small synchronous belt wheel to rotate.

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