Steering mechanism

Abstract

The invention discloses a steering mechanism. The steering mechanism is characterized in that a steering bracket is rotationally connected with a frame and is provided with a rotating shaft axis I; the steering support is connected with the suspension, the suspension comprises a main pin, the steering knuckle is rotationally connected with the main pin, and the wheel is connected with the steering knuckle. The driver I is in transmission connection with a steering knuckle arm of the steering knuckle; one end of a first connecting rod is in ball joint with the telescopic end of the telescopic piece, the other end of the first connecting rod is fixedly connected with one connecting end of the first universal joint, one end of a second connecting rod is fixedly connected with the other connecting end of the first universal joint, and the other end of the second connecting rod is in ball joint with one end of a third connecting rod. The other end of the third connecting rod is in ball joint with one end of a fourth connecting rod, and the other end of the fourth connecting rod is connected with a steering knuckle arm. By the adoption of the steering mechanism, mechanical connection between the wheels and the frame is reserved during steering of the wheels, and therefore the reliability of a steering system is improved; the steering system has two steering modes, and the wheels can achieve steering of 0-90 degrees.

Description

Technical Field

[0001] The present invention relates to the field of automobiles, and more particularly to a steering mechanism. Background Art

[0002] The steering system of traditional vehicles usually uses a steering tie rod to push and pull the wheels on both sides to achieve steering. Due to the limitations of the mechanical mechanism, the steering angle of traditional vehicle steering systems is limited in scenarios where large-angle steering or lateral driving is required. Especially in the fields of urban parking, narrow road conditions and autonomous driving, vehicles need to have higher flexibility and maneuverability to improve driving safety and control convenience. In order to obtain a larger steering angle, most existing solutions adjust the kingpin positioning parameters, such as increasing the kingpin lateral offset distance to achieve large-angle steering, but such solutions will sacrifice vehicle handling stability and the vehicle's maximum speed, and are only suitable for small cars with low sports speeds. At present, the corner modules that can achieve large-angle steering are mostly achieved by disconnecting the mechanical connection of the suspension steering system on both sides. Such solutions reduce the safety of the vehicle. For example, when the steering motor on one side of the vehicle fails, the vehicle will no longer be able to make any effective steering. At the same time, when the wheel is hit by a large impact from the ground, the steering system needs to withstand a large bending moment.

[0003] Therefore, how to provide a steering mechanism that can overcome the above problems is an issue that those skilled in the art need to solve urgently. Summary of the invention

[0004] In view of this, the present invention provides a steering mechanism.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] A steering mechanism, mounted on a vehicle frame, comprises:

[0007] Steering brackets are arranged on both sides of the frame, the steering brackets are rotatably connected to the frame and have a rotation axis line 1;

[0008] Suspension, suspensions are arranged on both sides of the frame, multiple steering brackets are respectively connected to multiple suspensions, the suspensions include a kingpin, a steering knuckle is rotatably connected to the kingpin, and the wheels are connected to the steering knuckle;

[0009] The main steering mechanism includes a driving machine 1, which is installed on the frame and is connected to the steering knuckle arms of the steering knuckles on both sides of the frame. The driving machine 1 can drive multiple steering knuckles to rotate in the same direction around the kingpin;

[0010] A secondary steering mechanism, the secondary steering mechanism includes a telescopic member and a guide member, the telescopic member is installed on the frame, the telescopic member has two telescopic ends with parallel and opposite telescopic directions, the telescopic direction of the telescopic end of the telescopic member is the same as the width direction of the frame; guide members are arranged on both sides of the frame, the guide members include universal joint 1, connecting rod 1, connecting rod 2, connecting rod 3 and connecting rod 4, universal joint 1 is rotatably installed on the steering bracket, one end of connecting rod 1 is ball-jointed with the telescopic end of the telescopic member, the other end of connecting rod 1 is fixedly connected to a connecting end of universal joint 1, one end of connecting rod 2 is fixedly connected to the other connecting end of universal joint 1, the other end of connecting rod 2 is ball-jointed with one end of connecting rod 3, the other end of connecting rod 3 is ball-jointed with one end of connecting rod 4, and the other end of connecting rod 4 is connected to the steering knuckle arm.

[0011] Through the above technical solutions, it can be known that compared with the prior art, the present invention discloses a steering mechanism. By adopting the steering mechanism in the present application, the mechanical connection between the steering mechanism and the frame is retained when the wheel is turned; this design can effectively avoid the problem that the whole vehicle loses the steering ability when the unilateral steering mechanism of the frame fails, thereby improving the reliability of the steering system; at the same time, the wheel steering and the mechanical connection retained with the frame can also help the steering mechanism to disperse the force, thereby improving the bearing capacity of the frame; the present application has two steering modes, namely the main steering mode and the auxiliary steering mode. The main steering mode uses the worm, the worm wheel and the connecting rod to drive the steering knuckle to rotate around the kingpin, so as to achieve a small steering of the wheel; while in the auxiliary steering mode, the steering bracket rotates around the rotation axis while the steering knuckle also rotates around the kingpin. The above two cooperate to enable the wheel to achieve a steering of 0°-90°; through the design of the above auxiliary steering mechanism, not only the positioning parameters of the kingpin are retained, but also the adverse effects of large-angle steering on these parameters can be eliminated, so that the vehicle can have a large-angle capability and take into account the handling stability.

[0012] Preferably, the suspension also includes an upper swing arm, a lower swing arm and a shock absorber, and each steering bracket is rotatably mounted with an upper swing arm and a lower swing arm; each lower swing arm is connected to a shock absorber, and one end of the shock absorber away from the lower swing arm is connected to the steering bracket; the upper swing arm and the lower swing arm located on the same side of the frame are respectively ball-hinged with the two ends of the same kingpin. The frame has a simple structure, and while ensuring the steering effect, it has good shock absorption and riding comfort.

[0013] Preferably, the main steering mechanism also includes a worm, a worm wheel and a connecting rod 5, and the worm, the worm wheel and the connecting rod 5 are arranged on both sides of the frame; each kingpin is rotatably supported with a worm, and the worm is connected to the output shaft of the driving machine 1; each kingpin is rotatably supported with a worm wheel, and the worm wheel is arranged adjacent to the kingpin, and multiple worm wheels are respectively engaged with multiple worms; a connecting rod 5 is hinged on the end wall of each worm wheel, and the connecting rod 5 and the worm wheel have an articulation axis, and the articulation axis is parallel to the axis of the worm wheel and has a gap; the end of the connecting rod 5 away from the worm wheel is articulated with the steering knuckle arm ball; the end of the connecting rod 4 away from the connecting rod 3 is fixedly connected with the kingpin. The worm drives the worm wheel to rotate, and when the worm wheel rotates, the steering knuckle arm can be driven to swing around the kingpin through the connecting rod 5, thereby realizing the rotation of the steering knuckle around the kingpin. In the main steering mode, the wheel can realize reliable steering; at the same time, the worm and worm have self-locking properties, and the worm wheel cannot drive the worm to rotate, which is convenient for the implementation of the secondary steering mode in the later stage.

[0014] Preferably, the main steering mechanism also includes a transmission member, which includes a driving gear, a driven gear, a main shaft, a universal joint 2, a spline shaft 1, an internal spline tube 1, a universal joint 3, an intermediate shaft, a universal joint 4, an internal spline tube 2, a spline shaft 2 and a universal joint 5; two of each of the universal joint 2, the spline shaft 1, the internal spline tube 1, the universal joint 3, the intermediate shaft, the universal joint 4, the internal spline tube 2, the spline shaft 2 and the universal joint 5; the driving gear is coaxially fixed with the output shaft of the driving machine 1; the driven gear is meshed with the driving gear; the main shaft is rotatably installed on the frame, the axial length direction of the main shaft is the same as the width direction of the frame, and the main shaft is coaxially fixed with the driven gear; one connecting end of the two universal joints 2 is respectively fixed to the two ends of the main shaft; one end of the two spline shafts 1 is respectively fixed to a connecting end of the two universal joints 2 away from the main shaft; the internal spline tube 1 is adapted to the spline shaft 1, and the two One end of the spline shaft 1 is coaxially slidably inserted in the two inner spline tubes 1; one connecting end of the two universal joints 3 is fixedly connected to one end of the two inner spline tubes 1 away from the spline shaft 1; the two intermediate shafts are rotatably installed on the two steering brackets, and one end of the two intermediate shafts is fixedly connected to one connecting end of the two universal joints 3 away from the inner spline tube 1; one connecting end of the two universal joints 4 is fixedly connected to one connecting end of the two intermediate shafts away from the universal joint 3; one end of the two inner spline tubes 2 is fixedly connected to one connecting end of the two universal joints 4 away from the intermediate shaft; the spline shaft 2 is adapted to the inner spline tube 2, and one end of the two spline shafts 2 is coaxially slidably inserted in the two inner spline tubes 2; one connecting end of the two universal joints 5 is fixedly connected to one end of the two spline shafts 2 away from the inner spline tube 2; the other connecting end of the two universal joints 5 is fixedly connected to one end of the two worms. Through the above design, when the wheel deflects left and right or moves up and down, the driving machine 1 can always be reliably connected to the worm transmission.

[0015] Preferably, the telescopic member includes a second driving machine, a driving gear and a rack. The second driving machine is mounted on the frame. The driving gear is coaxially fixed with the output shaft of the second driving machine. Two racks are provided. The length direction of the racks is the same as the width direction of the frame. A driving gear is arranged between the two racks. The driving gear meshes with the two racks at the same time. The end of the rack away from the driving gear is ball-jointed with the end of the connecting rod away from the universal joint. The two racks can achieve synchronous reverse movement, thereby achieving synchronous steering of the wheels on both sides of the frame.

[0016] Preferably, the universal joint 1 is a cross universal joint. Since the connecting rod 2 is connected to the connecting rod 1 through the universal joint 1, the projection of the center line of the connecting rod 1 on the plane perpendicular to the height direction of the frame is a straight line A, and the projection of the center line of the connecting rod 2 on the plane perpendicular to the height direction of the frame is a straight line B, and the angle between the straight lines A and B is constant. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0018] Figure 1 It is an overall axonometric view of the steering mechanism in the non-steering state;

[0019] Figure 2 yes Figure 1 A top view of

[0020] Figure 3 yes Figure 1 A partial view of Figure 1 ;

[0021] Figure 4 yes Figure 1 A partial front view of

[0022] Figure 5 It is a schematic diagram of a top view of a steering mechanism when in a main steering mode;

[0023] Figure 6 yes Figure 1 A partial view of Figure 2 ;

[0024] Figure 7 is a partial top view of a steering mechanism in a primary steering mode;

[0025] Figure 8 is a top view of a steering mechanism in a secondary steering mode;

[0026] Fig. 9 It is a partial axonometric view of a steering mechanism in auxiliary steering mode;

[0027] Fig.10 yes Fig. 9 A partial enlarged view of point A in the middle.

[0028] In the figure:

[0029] 1 is a frame, 2 is a steering bracket, 3 is a main pin, 4 is an upper swing arm, 5 is a lower swing arm, 6 is a shock absorber, 7 is a steering knuckle, 70 is a steering knuckle arm, 8 is a wheel, 9 is a driving machine 1, 10 is a worm, 11 is a worm wheel, 12 is a connecting rod 5, 13 is a driving gear, 14 is a driven gear, 15 is a main shaft, 16 is a universal joint 2, 17 is a spline shaft 1, 18 is an inner spline tube 1, 19 is a universal joint 3, 20 is an intermediate shaft, 21 is a universal joint 4, 22 is an inner spline tube 2, 23 is a spline shaft 2, 24 is a universal joint 5, 25 is a driving machine 2, 26 is a driving gear, 27 is a rack, 28 is a universal joint 1, 29 is a connecting rod 1, 30 is a connecting rod 2, 31 is a connecting rod 3, and 32 is a connecting rod 4. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] The present invention discloses a steering mechanism. By adopting the steering mechanism of the present application, the wheel 8 retains its mechanical connection with the frame 1 when turning; this design can effectively avoid the problem that the whole vehicle loses the steering ability when the steering mechanism on one side of the frame 1 fails, thereby improving the reliability of the steering system; at the same time, the steering of the wheel 8 retains the mechanical connection with the frame 1, which can also help the steering mechanism to disperse the force, thereby improving the load-bearing capacity of the frame 1;

[0032] The present application has two steering modes, namely a main steering mode and an auxiliary steering mode. In the main steering mode, the worm 10, the worm wheel 11 and the connecting rod 12 are used to drive the steering knuckle arm 70 to rotate around the kingpin 3, so as to achieve a small steering of the wheel 8; in the auxiliary steering mode, while the steering bracket 2 rotates around the rotation axis, the steering knuckle 7 also rotates around the kingpin 3. The above two coordinated actions enable the wheel 8 to achieve a steering of 0°-90°.

[0033] In the auxiliary steering mode, the original positioning parameters of the kingpin 3 can be retained, the purpose of which is to take into account the vehicle's handling stability, maneuverability, reliability and layout space requirements;

[0034] When the existing wheel 8 is turning at a large angle, that is, when the steering angle of the wheel 8 continues to increase, the inclination of the kingpin 3 will produce a more obvious lifting effect, thereby increasing the burden during the steering process. At the same time, the inclination of the kingpin 3 will also affect the camber change of the wheel 8; while the present application designs the steering bracket 2 according to the positioning parameters of the kingpin 3, and through the coordinated cooperation and correction of the kingpin 3 and the steering bracket 2, the lifting effect of the kingpin 3 and the influence of the inclination change of the wheel 8 when the wheel 8 is turning at a large angle are eliminated, and finally when the steering angle of the wheel 8 is from 0° to 90°, the inclination of the wheel 8 is always zero and the vertical position of the wheel center of the wheel 8 does not change. Through the design of the above-mentioned auxiliary steering mechanism, not only the suspension positioning parameters of the kingpin 3 are retained, but also the adverse effects of the above-mentioned parameters when the wheel 8 is turning at a large angle can be eliminated, so that the vehicle equipped with the steering mechanism can have a large-angle steering capability and take into account the handling stability.

[0035] Example

[0036] See attached Figure 1-10 The overall and partial structural schematic diagram of an embodiment of the present invention specifically discloses a steering mechanism installed on a vehicle frame 1, and the steering mechanism includes:

[0037] Steering bracket 2, both sides of the frame 1 are provided with steering bracket 2, the steering bracket 2 is rotatably connected with the frame 1 and has a rotation axis line 1;

[0038] Suspension, suspensions are arranged on both sides of the frame 1, multiple steering brackets 2 are respectively connected to multiple suspensions, the suspension includes a kingpin 3, a steering knuckle 7 is rotatably connected to the kingpin 3, and a wheel 8 is connected to the steering knuckle 7;

[0039] The main steering mechanism includes a driving machine 9, which is mounted on the frame 1. The driving machine 9 is connected to the steering knuckle arms 70 of the steering knuckles 7 on both sides of the frame 1. The driving machine 9 can drive multiple steering knuckles 7 to rotate in the same direction and at a constant speed around the kingpin 3.

[0040] Auxiliary steering mechanism, the auxiliary steering mechanism includes a telescopic member and a guide member, the telescopic member is installed on the frame 1, the telescopic member has two telescopic ends with parallel and opposite telescopic directions, the telescopic direction of the telescopic end of the telescopic member is the same as the width direction of the frame 1; guide members are arranged on both sides of the frame 1, the guide members include a universal joint 28, a connecting rod 29, a connecting rod 30, a connecting rod 31 and a connecting rod 4 32, the universal joint 28 is rotatably installed on the steering bracket 2, the universal joint 28 and the rotating bracket have a rotating axis line 2, one end of the connecting rod 29 is ball-hinged with the telescopic end of the telescopic member, the other end of the connecting rod 29 is fixedly connected to a connecting end of the universal joint 28, one end of the connecting rod 2 30 is fixedly connected to the other connecting end of the universal joint 28, the other end of the connecting rod 2 30 is ball-hinged with one end of the connecting rod 3 31, the other end of the connecting rod 3 31 is ball-hinged with one end of the connecting rod 4 32, and the other end of the connecting rod 4 32 is connected to the steering knuckle arm 70;

[0041] The rod center line of the connecting rod 29 is not parallel to the telescopic direction of the telescopic end of the telescopic member. When the telescopic end of the telescopic member is extended or retracted, the connecting rod 29 can deflect while moving along the telescopic direction of the telescopic end of the telescopic member, that is, the connecting rod 29 can also rotate around the rotation axis center line 2. The connecting rod 29 moves to make the steering bracket 2 rotate around the rotation axis center line 1. At the same time, due to the design of the universal joint 28, the universal joint 28 can rotate around the rotation axis center line 2.

[0042] Since the connecting rod 2 30 is connected to the connecting rod 1 29 through the universal joint 1 28, the projection of the center line of the connecting rod 1 29 on the plane perpendicular to the height direction of the frame 1 is a straight line A, and the projection of the center line of the connecting rod 2 30 on the plane perpendicular to the height direction of the frame 1 is a straight line B. The angle between the straight line A and the straight line B is constant, that is, when the connecting rod 1 29 rotates around the rotation axis center line 2 by a certain angle, the connecting rod 2 30 also rotates around the rotation axis center line 2 by the same angle, pulling the steering bracket to rotate around the rotation axis center line 1;

[0043] The rod centerline of the second connecting rod 30 and the rod centerline of the third connecting rod 31 have an angle less than 180°, and the second connecting rod 30 will drive the third connecting rod 31 to move when rotating around the rotation axis 5;

[0044] The rod centerline of the connecting rod three 31 and the rod centerline of the connecting rod four 32 have an angle less than 180°. When the connecting rod three 31 moves, it will drive the connecting rod four 32 to rotate around the kingpin 3. Since the connecting rod four 32 is connected to the steering knuckle arm 70, the steering knuckle 7 is also deflected around the kingpin 3. Through the rotation of the steering bracket 2 around the rotation axis line one and the rotation of the steering knuckle 7 around the kingpin 3, the wheel 8 can achieve a larger steering angle relative to the frame 1. The steering angle of the wheel 8 is 0°-90°, that is, the axis line of the wheel 8 and the length direction of the frame 1 can be arranged parallel.

[0045] The suspension can be of various existing forms. In the present application, in addition to the kingpin 3, the suspension also includes an upper swing arm 4, a lower swing arm 5 and a shock absorber 6. An upper swing arm 4 and a lower swing arm 5 are rotatably mounted on each steering bracket 2; each lower swing arm 5 is connected to a shock absorber 6, and the end of the shock absorber 6 away from the lower swing arm 5 is connected to the steering bracket 2; the upper swing arm 4 and the lower swing arm 5 located on the same side of the frame 1 are respectively ball-hinged with the two ends of the same kingpin 3; the upper swing arm 4 and the lower swing arm 5 are respectively arranged close to the two ends of the steering bracket 2, and the shock absorber 6 is located below the upper swing arm 4.

[0046] To be more specific, the main steering mechanism also includes a worm 10, a worm wheel 11 and a connecting rod 5 12, and the worm 10, the worm wheel 11 and the connecting rod 5 12 are arranged on both sides of the frame 1; a worm 10 is rotatably supported on each kingpin 3, and the worm 10 is transmission-connected to the output shaft of the driving machine 9; a worm wheel 11 is rotatably supported on each kingpin 3, and the worm wheel 11 is arranged adjacent to the kingpin 3, and multiple worm wheels 11 are respectively meshed with multiple worms 10, and the worm wheels 11 and the worm 10 have a self-locking function, that is, the worm wheel 11 cannot drive the worm 10 to rotate in the reverse direction; a connecting rod 5 12 is hinged on the end wall of each worm wheel 11, and the connecting rod 5 12 and the worm wheel 11 have an articulation axis, and the articulation axis is parallel to the axis of the worm wheel 11 and has a gap; the end of the connecting rod 5 12 away from the worm wheel 11 is ball-hinged with the steering knuckle arm 70; the end of the connecting rod 4 32 away from the connecting rod 3 31 is fixedly connected to the kingpin 3.

[0047] When the worm gear 11 rotates, it can drive the connecting rod 5 12 to move. When the connecting rod 5 12 moves, it can drive the steering knuckle arm 70 to move, and the steering knuckle 7 can rotate around the kingpin 3;

[0048] Regarding the connection between the connecting rod four 32 and the steering knuckle arm 70, the connecting rod four 32 drives the kingpin 3 to rotate. When the kingpin 3 rotates around its own axis, the worm wheel 11 also rotates around the kingpin 3 as the axis. Due to the self-locking property of the meshing of the worm wheel 11 and the worm 10, the worm wheel 11 will not rotate around its own axis. The steering knuckle arm 70 is connected to the worm wheel 11 through the connecting rod five 12, and the steering knuckle 7 is rotationally connected to the kingpin 3. Therefore, when the worm wheel 11 rotates around the kingpin 3, the steering knuckle arm 70 will also rotate around the kingpin 3.

[0049] More specifically, the main steering mechanism also includes a transmission member, which includes a driving gear 13, a driven gear 14, a main shaft 15, a universal joint 2 16, a spline shaft 1 17, an inner spline tube 1 18, a universal joint 3 19, an intermediate shaft 20, a universal joint 4 21, an inner spline tube 2 22, a spline shaft 2 23 and a universal joint 5 24; the universal joint 2 16, the spline shaft 1 17, the inner spline tube 1 18, the universal joint 3 19, the intermediate shaft 20, the universal joint 4 21, the inner spline tube 2 22, the spline shaft 2 23 and the universal joint 5 24 are each provided with two; the driving gear 13 and the driving machine 1 9 The output shaft is coaxially fixed; the driven gear 14 is meshed with the driving gear 13; the main shaft 15 is rotatably mounted on the frame 1, the axial length direction of the main shaft 15 is the same as the width direction of the frame 1, and the main shaft 15 is coaxially fixed with the driven gear 14; one connecting end of the two universal joints 16 is respectively fixed to the two ends of the main shaft 15; one end of the two spline shafts 17 is respectively fixed to one connecting end of the two universal joints 16 away from the main shaft 15; the inner spline tube 18 is adapted to the spline shaft 17, and one end of the two spline shafts 17 is respectively coaxially slidably inserted in the two inner spline tubes 18; the two universal joints One connecting end of the three 19 is respectively fixedly connected to one end of the two inner spline tubes 18 away from the spline shaft 17; the two intermediate shafts 20 are respectively rotatably mounted on the two steering brackets 2, and one end of the two intermediate shafts 20 is respectively fixedly connected to one connecting end of the two universal joints 3 19 away from the inner spline tube 18; one connecting end of the two universal joints 4 21 is respectively fixedly connected to one connecting end of the two intermediate shafts 20 away from the universal joint 3 19; one end of the two inner spline tubes 22 is respectively fixedly connected to one connecting end of the two universal joints 4 21 away from the intermediate shaft 20; the spline shaft 23 is adapted to the inner spline tube 22, and the two spline shafts 23 are respectively adapted to the inner spline tube 22. One end of the key shaft 23 is coaxially slidably inserted in the two inner spline tubes 22; one connecting end of the two universal joints 5 24 is respectively fixedly connected to one end of the two spline shafts 23 away from the inner spline tube 22; the other connecting ends of the two universal joints 5 24 are respectively fixedly connected to one end of the two worm gears 10; when the wheel 8 deflects left or right or moves up and down, relying on the universal transmission of universal joints 2 16, universal joints 3 19, universal joints 4 21 and universal joints 5 24, as well as the extension and retraction of spline shaft 17 and spline shaft 2 23, the drive motor 1 9 can be reliably connected to the worm gear 10 through the transmission member.

[0050] The telescopic member includes a driving machine 25, a driving gear 26 and a rack 27. The driving machine 25 is installed on the frame 1. The driving gear 26 is coaxially fixed with the output shaft of the driving machine 25. Two racks 27 are provided. The length direction of the rack 27 is the same as the width direction of the frame 1. A driving gear 26 is arranged between the two racks 27, and the driving gear 26 is meshed with the two racks 27 at the same time; one end of the rack 27 away from the driving gear 26 is ball-jointed with one end of the connecting rod 1 29 away from the universal joint 1 28; the driving machine 25 drives the driving gear 26 to rotate, and when the driving gear 26 rotates, it can drive the two racks 27 to move synchronously and in opposite directions.

[0051] The universal joint 28 is a cross universal joint, which ensures that the angle between the straight line A and the straight line B is constant on the one hand, and ensures that the connecting rod 29 can drive the connecting rod 2 30 to move on the other hand, while retaining the freedom of the connecting rod 29 to swing up and down.

[0052] The steering mechanism has two steering modes:

[0053] In the initial state, the axis of the wheel 8 is perpendicular to the length direction of the frame 1;

[0054] Main steering mode, in the main steering mode, the driving machine 25 does not work; the driving machine 19 drives the worm 10 to rotate through the transmission member, the worm 10 drives the worm wheel 11 to rotate, and when the worm wheel 11 rotates, it drives the connecting rod 5 12 and the steering knuckle arm 70 to move, and the steering knuckle 7 rotates around the kingpin 3, further causing the wheel 8 to rotate around the kingpin 3, thereby realizing the main steering function; and by designing the length of the connecting rod 1 29 and the connecting rod 2 30 and the angle between the connecting rod 1 29 and the connecting rod 2 30, the Ackerman steering geometry of the frame 1 is realized, and the mechanical connection is retained between the steering mechanisms of the wheels 8 on both sides of the frame 1.

[0055] Auxiliary steering mode, i.e. large-angle steering mode, in which the wheel 8 can achieve 0°-90° steering;

[0056] The driving machine 1 9 does not move, and the driving machine 2 25 drives the driving gear 26 to rotate. When the driving gear 26 rotates, it drives the rack 27 to move. The movement directions of the two racks 27 are opposite, that is, the deflection directions of the wheels 8 on both sides of the frame 1 are opposite;

[0057] Taking the wheel 8 on one side as an example, the rack 27 pulls the connecting rod 1 29 to approach the frame 1. When the connecting rod 1 29 moves, it will drive the steering bracket 2 to rotate clockwise around the rotation axis 1. At the same time, the connecting rod 2 30 rotates counterclockwise relative to the rotation axis 2. The connecting rod 2 30 will pull the connecting rod 3 31 to move. When the connecting rod 3 31 moves, it will pull the connecting rod 4 32 to move. The connecting rod 4 32 will drive the kingpin 3 to rotate around its own axis, thereby making the steering knuckle 7 rotate clockwise around the kingpin 3, that is, the wheel 8 rotates clockwise;

[0058] In the auxiliary steering mode, when the wheel 8 rotates from the initial state until its axis is parallel to the length direction of the frame 1, the inclination angle of the wheel 8 is zero under the cooperation of the rotation axis 1 and the kingpin 3, and the position of the wheel center of the wheel 8 along the height direction of the frame 1 does not change;

[0059] In the auxiliary steering mode, due to the large-angle steering of the wheel 8, the worm wheel 11 and the worm 10 will also be forced to rotate with the kingpin 3. Due to the design of the transmission parts, the main steering mechanism will not interfere with the auxiliary steering and the function of the main steering mechanism will not fail.

[0060] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0061] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A steering mechanism, mounted on a vehicle frame, characterized in that: include: Steering brackets are arranged on both sides of the frame, the steering brackets are rotatably connected to the frame and have a rotation axis line 1; Suspension, suspensions are arranged on both sides of the frame, multiple steering brackets are respectively connected to multiple suspensions, the suspensions include a kingpin, a steering knuckle is rotatably connected to the kingpin, and the wheels are connected to the steering knuckle; The main steering mechanism includes a driving machine 1, which is installed on the frame and is connected to the steering knuckle arms of the steering knuckles on both sides of the frame. The driving machine 1 can drive multiple steering knuckles to rotate in the same direction around the kingpin; A secondary steering mechanism, the secondary steering mechanism includes a telescopic member and a guide member, the telescopic member is installed on the frame, the telescopic member has two telescopic ends with parallel and opposite telescopic directions, the telescopic direction of the telescopic end of the telescopic member is the same as the width direction of the frame; guide members are arranged on both sides of the frame, the guide members include universal joint 1, connecting rod 1, connecting rod 2, connecting rod 3 and connecting rod 4, universal joint 1 is rotatably installed on the steering bracket, one end of connecting rod 1 is ball-jointed with the telescopic end of the telescopic member, the other end of connecting rod 1 is fixedly connected to a connecting end of universal joint 1, one end of connecting rod 2 is fixedly connected to the other connecting end of universal joint 1, the other end of connecting rod 2 is ball-jointed with one end of connecting rod 3, the other end of connecting rod 3 is ball-jointed with one end of connecting rod 4, and the other end of connecting rod 4 is connected to the steering knuckle arm.

2. A steering mechanism according to claim 1, characterized in that: The suspension also includes an upper swing arm, a lower swing arm and a shock absorber. An upper swing arm and a lower swing arm are rotatably mounted on each steering bracket; each lower swing arm is connected to a shock absorber, and the end of the shock absorber away from the lower swing arm is connected to the steering bracket; the upper swing arm and the lower swing arm located on the same side of the frame are respectively ball-jointed to the two ends of the same kingpin.

3. A steering mechanism according to claim 1, characterized in that: The main steering mechanism also includes a worm, a worm wheel and a connecting rod five, which are arranged on both sides of the frame; a worm is rotatably supported on each kingpin, and the worm is transmission-connected to the output shaft of the driving machine one; a worm wheel is rotatably supported on each kingpin, and the worm wheel is arranged adjacent to the kingpin, and multiple worm wheels are respectively engaged with multiple worms; a connecting rod five is hinged on the end wall of each worm wheel, and the connecting rod five and the worm wheel have an articulation axis, and the articulation axis is parallel to the axis of the worm wheel and has a gap; the end of the connecting rod five away from the worm wheel is hinged to the steering knuckle arm ball; the end of the connecting rod four away from the connecting rod three is fixedly connected to the kingpin.

4. A steering mechanism according to claim 3, characterized in that: The main steering mechanism also includes a transmission member, which includes a driving gear, a driven gear, a main shaft, a universal joint 2, a spline shaft 1, an internal spline tube 1, a universal joint 3, an intermediate shaft, a universal joint 4, an internal spline tube 2, a spline shaft 2 and a universal joint 5; the universal joint 2, the spline shaft 1, the internal spline tube 1, the universal joint 3, the intermediate shaft, the universal joint 4, the internal spline tube 2, the spline shaft 2 and the universal joint 5 are each provided with two; the driving gear is coaxially fixed with the output shaft of the driving machine 1; the driven gear is meshed with the driving gear; The main shaft is rotatably mounted on the frame, the axial length direction of the main shaft is the same as the width direction of the frame, and the main shaft is coaxially fixed with the driven gear; one connecting end of the two universal joints 2 is respectively fixedly connected to the two ends of the main shaft; one end of the two spline shafts 1 is respectively fixedly connected to one connecting end of the two universal joints 2 away from the main shaft; the inner spline tube 1 is adapted to the spline shaft 1, and one end of the two spline shafts 1 is respectively coaxially slidably inserted in the two inner spline tubes 1; one connecting end of the two universal joints 3 is respectively fixedly connected to one end of the two inner spline tubes 1 away from the spline shaft 1; the two intermediate shafts are rotatably mounted on the two steering brackets, and the two intermediate One end of the shaft is fixedly connected to a connecting end of the two universal joints three away from the inner spline tube one; one connecting end of the two universal joints four is fixedly connected to a connecting end of the two intermediate shafts away from the universal joint three; one end of the two inner spline tubes two is fixedly connected to a connecting end of the two universal joints four away from the intermediate shaft; the spline shaft two is adapted to the inner spline tube two, and one end of the two spline shafts two is coaxially slidably inserted in the two inner spline tubes two; one connecting end of the two universal joints five is fixedly connected to one end of the two spline shafts two away from the inner spline tube two; the other connecting ends of the two universal joints five are fixedly connected to one end of the two worm gears.

5. A steering mechanism according to claim 1, characterized in that: The telescopic member includes a driving machine 2, a driving gear and a rack. The driving machine 2 is installed on the frame. The driving gear is coaxially fixed with the output shaft of the driving machine 2. Two racks are provided. The length direction of the racks is the same as the width direction of the frame. A driving gear is arranged between the two racks, and the driving gear is meshed with the two racks at the same time; one end of the rack away from the driving gear is ball-jointed with the end of the connecting rod 1 away from the universal joint 1.

6. A steering mechanism according to claim 1, characterized in that: The first universal joint is a cross universal joint.

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