Angle module kingpin steering device with controllable self-locking

Abstract

The present invention discloses a kingpin steering device with a controllable self-locking angular module, which is used to drive the steering of the wheel and belongs to the field of vehicle engineering technology. The device 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 disc, a plurality of transmission self-locking pins, a locking disc and a blocking ring; the transmission disc is arranged in the self-locking housing and is connected to the input end of the planetary helical gear reducer; the plurality of transmission self-locking pins are all arranged on the transmission disc and can slide relative to the transmission disc; the locking disc is fixed in the self-locking housing and has 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 housing, is sleeved on the outside of the locking disc, and can rotate; a plurality of baffles are fixed on the inner side of the blocking ring. The present invention can achieve controllable self-locking, that is, it can meet the function of still achieving steering when the external impact on the wheel is large, and can also meet the demand of external rotation of the wheel for maintenance, etc.

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] Currently, most electric steering systems on the market use electric power-assisted tie-rod steering technology. However, this technology struggles with variable-ratio steering, lacks independent control of the steering angle for each steering wheel, and exhibits limitations when large steering angles are required. In contrast, electric kingpin steering technology supports variable-ratio steering, allowing for different steering angles for each wheel. Given the available space around the steering wheel, it can achieve unlimited steering angles. However, a challenge with electric kingpin steering is the difficulty of directly driving the wheels with the steering motor. While some electric kingpin steering solutions are available that utilize direct steering motors, most rely on worm gear reducers. These reducers not only occupy a large radial space, making them unsuitable for installation near the wheels, but also suffer from low transmission efficiency, high heat generation, and the potential for adhesion issues during long-term operation. Furthermore, significant backlash exists during transmission. Compared to directly attaching the steering motor to the output of a planetary reducer, the kingpin steering system has a larger axial dimension and higher wheel flange height requirements than conventional vehicles. The self-locking mechanism lacks selective self-locking, preventing wheel rotation under external input, which inconveniences vehicle maintenance and repair. 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 is used to drive the steering of the wheels, including a driving mechanism, a controllable self-locking mechanism and a planetary helical gear reducer; the controllable self-locking mechanism includes 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 the plurality of transmission self-locking pins to synchronously drive the transmission plate to rotate; the locking plate is fixed in the self-locking housing and has a plurality of The stem is a locking groove corresponding to and matching 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 rotate the transmission disc, and the transmission disc drives the wheel to turn through the planetary helical gear reducer; when the transmission self-locking pin is in the locking groove, the transmission disc is self-locked 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 inside 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.

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

[0007] Furthermore, in the controllable self-locking mechanism, the blocking ring is equipped with an electromagnetic lock; the electromagnetic lock is fixed in the self-locking shell; 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 to the connecting rod; the rotation of the blocking 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 several limiting strip holes running through its upper and lower surfaces; the bottom surface of the self-locking shell is fixed with several limiting pins corresponding to and matching the limiting strip holes, and the limiting pins are inserted into the corresponding limiting strip holes to limit the rotation angle of the blocking ring.

[0009] Furthermore, in the controllable self-locking mechanism, a number of transmission self-locking pins are evenly distributed within the circumference of the transmission disk, and the transmission self-locking pins can slide relative to the transmission disk in the radial direction; a number of locking grooves are opened on the edge of the locking disk and correspond one-to-one to the number of transmission self-locking pins; the transmission self-locking pins move toward the center of the transmission disk and enter the locking groove; and move toward the edge of the transmission disk and move out of the locking groove.

[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 sliding grooves arranged radially and passing through its upper and lower surfaces; the plurality of sliding grooves correspond one-to-one to a plurality of transmission self-locking pins, and the transmission self-locking pins are arranged in the corresponding sliding grooves and can slide along the sliding grooves; the lower end of the transmission self-locking pin extends out of the sliding groove and can enter the corresponding locking groove.

[0011] Furthermore, 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 in the center of the lower surface of the gear paddle, and a plurality of paddles are provided on the outside; the upper end of the transmission self-locking pin also extends out of the slide groove; the gear-like structure is located in the center of the plurality of transmission self-locking pins; the plurality of paddles are arranged crosswise with the plurality of transmission self-locking pins and are located on the outside of the tooth 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; the outer ends of the slide grooves are each provided with an elastic member; 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 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 also provided at the center of the bottom surface of the transmission disc, and 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 is 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-circuit 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 present invention provides a corner module kingpin steering system with controllable self-locking, enabling controllable self-locking, meaning that the self-locking mode can be enabled or disabled. Specifically, the self-locking mode is enabled during actual steering system operation, allowing steering to continue even under significant external impacts on the wheels. The self-locking mode can be disabled when the wheels require external rotation, such as for maintenance on the corner module.

[0017] This device utilizes a synchronous belt drive and a three-stage planetary reducer for reduction transmission. The synchronous belt drive ratio can be adjusted within the planetary reducer's load range as needed, making it easier to meet various transmission ratio requirements. Furthermore, the radial arrangement of the reducer and motor shortens the axial dimension of the kingpin steering drive, making it easier to arrange the drive around the wheel. 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 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 2. It is a schematic structural diagram 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 2. It is a schematic structural diagram 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] Figure 9This is a schematic structural 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] Figure 10 It is a structural schematic diagram of the barrier ring of the controllable self-locking mechanism of the present invention;

[0028] Figure 11 2. It is a schematic structural diagram 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] Figure 12 2. It is a schematic structural diagram 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] Figure 13 This is a structural diagram of the transmission connection mechanism:

[0031] Figure 14 This is a schematic diagram of the structure of the present invention when the self-locking mode is turned on and the drive steering state is in place, and the transmission plate rotates away from the direction of the paddle;

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

[0033] The specific embodiments of the present invention are 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 function, which is used to drive wheel steering. The device includes a drive mechanism 1, a controllable self-locking mechanism 2, a planetary helical gear reducer 3, and a transmission connection mechanism 4. The drive 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 is connected to the input end of the planetary helical gear reducer 3, driving the wheel steering through the planetary helical gear reducer 3. The plurality of transmission self-locking pins 23 are all arranged on the transmission disc 22. The transmission self-locking pins 23 can slide relative to the transmission disc 22, and the drive mechanism 1 can drive the plurality of transmission self-locking pins 23 to rotate synchronously with the transmission disc 22 as a whole. The locking disc 24 is fixed in the self-locking housing 21. 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 helical 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 one specific embodiment, a plurality of self-locking transmission pins 23 are evenly distributed around the circumference of the transmission disk 22. The self-locking transmission pins 23 are able to slide radially relative to the transmission disk 22. A plurality of locking slots 241 are defined on the edge of the locking disk 24, corresponding one-to-one with the self-locking transmission pins 23. The self-locking transmission pins 23 move toward the center of the transmission disk 22, entering the locking slots 241; and move toward the edge of the transmission disk 22, exiting the locking slots 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 2-4 As shown, the transmission plate 22 has a plurality of radially arranged sliding grooves 221 extending through its upper and lower surfaces. Each of the sliding grooves 221 corresponds to a plurality of transmission self-locking pins 23. The transmission self-locking pins 23 are disposed within corresponding sliding grooves 221 and are capable of sliding along the sliding grooves 221. The lower ends of the transmission self-locking pins 23 extend out of the sliding grooves 221 and can enter corresponding locking grooves 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 arranged above the transmission plate 22. The driving mechanism 1 is connected to the gear paddle 25 to drive it to rotate. A gear-like structure 251 is provided at the center of the lower surface of the gear paddle 25, and a plurality of paddles 252 are provided on the outer side. The upper end of the transmission self-locking pin 23 also extends out of the slide slot 221. Figures 6 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 tops 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 radial motion of the transmission self-locking pin 23. At this time, the transmission self-locking pin 23 abuts against one side of the paddle 252, and the gear paddle 25 continues to rotate. The paddle 252 drives the transmission disk 22 to rotate through the transmission self-locking pin 23, as shown in FIG. Figure 8 and 9 shown.

[0041] like Figure 2 and 4 As shown, the outer ends of the slide grooves 221 are each provided with elastic members 26. When the transmission self-locking pin 23 is pushed to the outer end of the slide groove 221 and moves out of the locking groove 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 toward the center of the transmission disk 22 and enters 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 sliding groove 221 are both T-shaped. The sliding groove 221 and the transmission self-locking pin 23 both have a sliding plane 222 that is inclined downward from the outside to the inside, and the sliding plane 222 of the sliding groove 221 and the transmission self-locking pin 23 are in contact and can slide relative to each other. The inclined sliding plane 222 allows the transmission self-locking pin 23 to move toward the center of the transmission disk 22 under the action of gravity and the compressive force of the elastic member 26. That is, the transmission self-locking pin 23 achieves a downward movement along the sliding groove 221 of the transmission disk 22 under the dual action of gravity and the elastic member 26.

[0043] In a preferred embodiment, a thrust bearing (not shown) is further provided between the gear paddle 25 and the transmission plate 22 in the controllable self-locking mechanism 2. The thrust bearing guides the rotation of the transmission plate 22. Specifically, the bottom of the gear paddle 25 engages with the outer diameter of the thrust bearing through a countersunk hole. The transmission plate 22 engages with the inner diameter of the thrust bearing through a cylindrical pin at the center of the top, and contacts the annular side surface of the thrust bearing through a 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 with the transmission disk 22 is provided at the center of the bottom surface thereof. 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, the first-stage sun gear of the three-stage planetary helical gear reducer 3 is interference fit to realize rotational transmission.

[0045] like Figures 10-12 As shown, the blocking ring 28 is disposed within the self-locking housing 21 and is rotatably mounted on the locking plate 24. A plurality of baffles 281 are fixed to the inside of the blocking ring 28, corresponding to and matching the locking grooves 241. Rotating the blocking ring 28 allows the baffles 281 to move 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 one specific embodiment, the barrier ring 28 is equipped with an electromagnetic lock 282. The electromagnetic lock 282 is fixed within the self-locking housing 21. A connecting rod 283 is fixed to the outside of the barrier ring 28. The outer end of the lock core 2821 of the electromagnetic lock 282 is rotatably connected to the connecting rod 283. The rotation of the barrier ring 28 is controlled by extending or retracting the lock core 2821 of the electromagnetic lock 282.

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

[0049] like Figure 13 As shown, the transmission connection mechanism 4 includes a connecting housing 41, a large synchronous pulley 42, a small synchronous pulley 43, and a synchronous belt 44. The connecting housing 41 is fixed above the self-locking housing 21. The large synchronous pulley 42 is disposed within the connecting housing 41 and secured to the gear paddle 25 by bolts. The drive mechanism 1 is fixed below the connecting housing 41, to the side of the controllable self-locking mechanism 2. The small synchronous pulley 43 is disposed within the connecting housing 41, and the drive mechanism 1 is capable of driving the small synchronous pulley 43 to rotate. The synchronous belt 44 is mounted on the large synchronous pulley 42 and the small synchronous pulley 43. The small synchronous pulley 43 drives the large synchronous pulley 42 to rotate via the synchronous belt 44. In other words, when the drive mechanism 1 drives the small synchronous pulley 43 to rotate, the small synchronous pulley 43 drives the large synchronous pulley 42 to rotate via the synchronous belt 44, causing the gear paddle 25 to rotate synchronously with it, thereby enabling the drive mechanism 1 to drive the gear paddle 25.

[0050] The drive mechanism 1 includes a dual-winding motor and a dual-circuit controller that controls its operation. The dual-winding motor is fixed below the connecting shell. The motor output shaft extends into the connecting shell and is fixed to the small synchronous pulley 43 via a C-shaped flat key, driving 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 self-locking mode is required, the VCU controls electromagnetic lock 282 to de-energize, extending the lock cylinder 2821 of electromagnetic lock 282 and engaging self-locking mode. The dual-winding motor of drive mechanism 1 rotates the gear paddle 25 of controllable self-locking mechanism 2 via transmission connection mechanism 4. The gear-like structure 251 at the bottom of gear paddle 25 rotates, pushing the transmission self-locking pin 23 outward within the slot 221 of the transmission disc 22. During this outward movement, the transmission self-locking pin 23 presses against the elastic member 26, which exerts a radial force on the transmission self-locking pin 23 toward the axis of the transmission disc 22. As the transmission self-locking pin 23 moves outward, the bottom of the transmission self-locking pin 23 disengages the locking groove 241 of the locking plate 24, releasing the self-locking state between the transmission plate 22 and the locking plate 24. 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 drives 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. The output torque of the drive mechanism 1 passes through the transmission connection mechanism 4, the controllable self-locking mechanism 2, and the three-stage planetary helical gear reducer 3, driving the steering wheel to achieve 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 As shown in the position, the transmission self-locking pin 23 is out of the locking groove 241 of the locking plate 24, as shown in the figure. Figure 9 shown.

[0055] When the steering wheel is impacted by the outside world, the impact of the steering wheel is transmitted to the transmission plate 22 of the 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. The transmission plate 22 has two different directions of rotation due to the different force directions of the wheel end: Figure 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; Figure 15 As shown, when the transmission plate 22 rotates in the direction of the paddle 252 close to the gear paddle 25, the driving mechanism 1 adopts the PID algorithm position loop control method to keep the angular position of the output shaft of the dual-winding motor unchanged.

[0057] When the steering wheel of the vehicle is subjected to a large external impact, the transmission plate 22 also has two different directions of rotational movement due to the different force directions of the wheel end: when the transmission plate 22 rotates in the direction away from the paddle 252 of the gear paddle 25, the transmission self-locking pin 23 enters the locking groove 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 several transmission self-locking pins 23 to rotate as a whole, and the gear paddle 25 rotates under the push of the transmission self-locking pins 23. When the 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 and the transmission disc 22 to rotate relative to each other, and the transmission self-locking pin 23 enters the locking groove 241 of the locking disc 24, 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 no longer needed, the VCU sends a signal to energize the electromagnetic lock 282, retracting the lock cylinder 2821 and turning off the self-locking mode. 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 to 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 descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A kingpin steering device with a controllable self-locking angle module for driving wheel steering, comprising a drive mechanism, characterized in that: It includes a controllable self-locking mechanism and a planetary helical gear reducer; The controllable self-locking mechanism includes 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 is connected to the input end of the planetary helical gear reducer, driving the wheel steering through the planetary helical gear reducer; A plurality of transmission self-locking pins are arranged on the transmission disk, the transmission self-locking pins can slide relative to the transmission disk, and the driving mechanism can drive the plurality of transmission self-locking pins to synchronously drive the transmission disk to rotate; The locking disc is fixed in the self-locking housing and has a number 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 steer through the planetary helical gear reducer; when the transmission self-locking pin is inside the locking groove, the transmission disc is self-locked and fixed; The blocking ring is arranged in the self-locking housing and is sleeved on the outside of 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 to 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. 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 distributed within the circumference of the transmission disc, and the transmission self-locking pins can slide relative to the transmission disc in the radial direction; 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 radially arranged sliding grooves that penetrate the upper and lower surfaces thereof; the plurality of sliding grooves correspond one to one with a plurality of transmission self-locking pins, and the transmission self-locking pins are arranged in the corresponding sliding grooves and can slide along the sliding grooves; The lower end of the transmission self-locking pin extends out of the sliding groove and can enter the corresponding locking groove.

6. The corner module kingpin steering device with controllable self-locking according to claim 1, characterized in that: The controllable self-locking mechanism further includes a gear paddle; The gear paddle is arranged above the transmission plate; the driving mechanism drives the gear paddle to rotate; The center of the lower surface of the gear paddle is provided with a gear-like structure, and a number of paddles are provided on the outside; 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, moving out of the locking groove and at the same time abutting one side of the paddle. The gear paddle continues to rotate, and the paddle drives the transmission disk to rotate through the transmission self-locking pin; The outer ends of the slides are each provided with elastic members; 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 sliding groove and the transmission self-locking pin both have sliding planes that are inclined downward from the outside to the inside, and the sliding planes of the sliding groove and the transmission self-locking pin are in contact and can slide relatively.

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 further 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 pulley 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 pulley is arranged in the connecting housing, and the driving mechanism can drive the small synchronous pulley to rotate; The synchronous belt is put 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.

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 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.

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