A steering mechanism

Abstract

The application discloses a kind of steering mechanism, comprising: steering support and frame rotation connection and have rotation axis center line one;Steering support is connected with suspension, and suspension includes main pin, steering knuckle is rotationally connected with main pin, and wheel is connected with steering knuckle;Drive machine one is transmission connection with the steering knuckle arm of steering knuckle;Telescopic piece is installed on frame, universal joint one is rotationally installed on steering support, one end of connecting rod one is ball hinged with telescopic end of telescopic piece, and the other end is fixedly connected with one connection end of universal joint one, one end of connecting rod two is fixedly connected with the other connection end of universal joint one, the other end of connecting rod two is ball hinged with one end of connecting rod three, the other end of connecting rod three is ball hinged with one end of connecting rod four, and the other end of connecting rod four is connected with steering knuckle arm.The steering mechanism in the present application is used, and the mechanical connection of wheel and frame is retained when wheel turns, so as to improve the reliability of steering system;The present application has two kinds of steering modes, and wheel can realize 0 °-90 ° steering.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automobiles, and more particularly to a steering mechanism. BACKGROUND

[0002] The steering system of a conventional vehicle usually uses steering tie rods to push and pull the wheels on both sides to achieve steering, which is limited by mechanical mechanisms. For a conventional vehicle steering system, there is a problem of limited steering angle in scenarios requiring large-angle steering or lateral driving. 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 operational convenience. In order to obtain a larger steering angle, existing solutions mostly adjust the kingpin positioning parameters, such as increasing the kingpin lateral offset distance to achieve large-angle steering, but such solutions sacrifice vehicle handling stability and the maximum speed of the vehicle, and are only suitable for small vehicles with low sports speed. The angle module that can achieve large-angle steering currently mostly uses the form of disconnecting the mechanical connection of the steering system of the suspensions on both sides to achieve this, which reduces 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 steer effectively. At the same time, when the wheels are subjected to a larger impact from the ground, the steering system needs to withstand a larger bending moment.

[0003] Therefore, how to provide a steering mechanism that can overcome the above problems is a problem that those skilled in the art need to solve. SUMMARY

[0004] Therefore, the present application provides a steering mechanism.

[0005] In order to achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0006] A steering mechanism is installed on a vehicle frame, comprising:

[0007] A steering bracket is arranged on both sides of the vehicle frame, the steering bracket is rotationally connected to the vehicle frame and has a rotational axis line one;

[0008] A suspension is arranged on both sides of the vehicle frame, each of the plurality of steering brackets is connected to a plurality of suspensions, the suspension comprises a kingpin, a steering knuckle is rotationally connected to the kingpin, and a wheel is connected to the steering knuckle;

[0009] A main steering mechanism comprises a driving machine one, the driving machine one is installed on the vehicle frame, the driving machine one is in driving connection with the steering knuckle arm of the steering knuckle on both sides of the vehicle frame, and the driving machine one can drive the plurality of steering knuckles to rotate in the same direction around the kingpin;

[0010] The auxiliary steering mechanism comprises a telescopic part and a guide part, the telescopic part is installed on the frame, the telescopic part has two telescopic ends which are parallel and opposite in the telescopic direction, and the telescopic direction of the telescopic end of the telescopic part is the same as the width direction of the frame; the guide part is arranged on both sides of the frame and comprises a universal joint one, a connecting rod one, a connecting rod two, a connecting rod three and a connecting rod four, the universal joint one is rotatably installed on the steering support, one end of the connecting rod one is spherically connected with the telescopic end of the telescopic part, the other end of the connecting rod one is fixedly connected with one connecting end of the universal joint one, the other connecting end of the universal joint one is fixedly connected with one end of the connecting rod two, the other end of the connecting rod two is spherically connected with one end of the connecting rod three, the other end of the connecting rod three is spherically connected with one end of the connecting rod four, and the other end of the connecting rod four is connected with the steering knuckle arm.

[0011] Compared with the prior art, the auxiliary steering mechanism can effectively avoid the problem that the whole vehicle loses the steering ability when the single-side steering mechanism of the frame fails, thereby improving the reliability of the steering system; meanwhile, the mechanical connection between the wheel steering and the frame can help the steering mechanism to disperse the stress, thereby improving the carrying capacity of the frame; the application has two steering modes, i.e., the main steering mode and the auxiliary steering mode, the main steering mode drives the steering knuckle to rotate around the kingpin by using the worm, the worm gear and the connecting rod five, so as to realize the small-amplitude steering of the wheel; in the auxiliary steering mode, the steering support rotates around the rotation axis one, and the steering knuckle also rotates around the kingpin, the above-mentioned two parts rotate synchronously, so that the wheel can realize the steering of 0°-90°; through the design of the auxiliary steering mechanism, the positioning parameters of the kingpin are retained, and the adverse effects of the large-angle steering on the parameters are eliminated, so that the vehicle can have the large-angle steering ability and the steering stability.

[0012] Preferably, the suspension further comprises an upper swing arm, a lower swing arm and a shock absorber, one upper swing arm and one lower swing arm are rotatably installed on each steering support; one shock absorber is connected to each lower swing arm, one end of the shock absorber away from the lower swing arm is connected to the steering support; the upper swing arm and the lower swing arm on the same side of the frame are spherically connected to the two ends of the same kingpin. The frame has a simple structure, and has good shock absorption and riding comfort while ensuring the steering effect.

[0013] Preferably, the main steering mechanism further comprises a worm, a worm wheel and a connecting rod five, and the worm, the worm wheel and the connecting rod five are arranged on both sides of the frame; one worm is rotatably supported on each kingpin, and the worm is in transmission connection with the output rotating shaft of the driving machine one; one worm wheel is rotatably supported on each kingpin, and the worm wheel is arranged adjacent to the kingpin, and a plurality of worm wheels are respectively in meshing connection with a plurality of worms; one connecting rod five is hingedly connected to the end wall of each worm wheel, the connecting rod five and the worm wheel have a hinging axis line, the hinging axis line is parallel to the axis line of the worm wheel and has a gap; one end of the connecting rod five away from the worm wheel is hingedly connected to the knuckle arm ball; and one end of the connecting rod four away from the connecting rod three is fixedly connected to the kingpin. The worm drives the rotation of the worm wheel, the worm wheel can drive the knuckle arm to swing around the kingpin through the connecting rod five when the worm wheel rotates, and the rotation of the knuckle around the kingpin is realized, so that the wheels can be reliably steered in the main steering mode; meanwhile, the worm and the worm wheel have self-locking property, the worm wheel cannot drive the worm to rotate, and the secondary steering mode is facilitated to be implemented in the later stage.

[0014] Preferably, the main steering mechanism further comprises a transmission member, and the transmission member comprises a driving gear, a driven gear, a main shaft, two universal joints two, two spline shafts one, two inner spline tubes one, three universal joints three, two intermediate shafts, four universal joints four, two inner spline tubes two, two spline shafts two and five universal joints five; two universal joints two, two spline shafts one, two inner spline tubes one, three universal joints three, two intermediate shafts, four universal joints four, two inner spline tubes two, two spline shafts two and five universal joints five are provided; the driving gear is coaxially fixed with the output rotating shaft of the driving machine one; the driven gear is in meshing connection with the driving gear; the main shaft is rotatably installed on the frame, the axial 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 each of the two universal joints two is fixedly connected to the two ends of the main shaft; one end of each of the two spline shafts one is fixedly connected to one connecting end of the two universal joints two away from the main shaft; the inner spline tube one is matched with the spline shaft one, and one end of each of the two spline shafts one is coaxially and slidingly inserted into the two inner spline tubes one; one connecting end of each of the two universal joints three is fixedly connected to one end of the two inner spline tubes one away from the spline shaft one; the two intermediate shafts are rotatably installed on the two steering supports, one end of each of the two intermediate shafts is fixedly connected to one connecting end of the two universal joints three away from the inner spline tube one; one connecting end of each of the four universal joints four is fixedly connected to the connecting end of the two intermediate shafts away from the universal joint three; one end of each of the two inner spline tubes two is fixedly connected to one connecting end of the two universal joints four away from the intermediate shaft; the spline shaft two is matched with the inner spline tube two, and one end of each of the two spline shafts two is coaxially and slidingly inserted into the two inner spline tubes two; one connecting end of each 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; and the other connecting end of each of the two universal joints five is fixedly connected to one end of the two worms. Through the above design, the driving machine one can be reliably in transmission connection with the worm when the wheels deflect left and right or move up and down.

[0015] Preferably, the telescopic member comprises a second driving machine, a driving gear and two racks, the second driving machine is installed on the frame, the driving gear is coaxially fixed with the output shaft of the second driving machine, the two racks are arranged in parallel with the width direction of the frame, the driving gear is arranged between the two racks and engaged with the two racks, and the end of the rack away from the driving gear is ball-jointed with the end of the first connecting rod away from the first universal joint.

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

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only constitute the embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor based on the provided drawings.

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

[0019] Figure 2 is Figure 1 a top view of the steering mechanism;

[0020] Figure 3 is Figure 1 a partial top view of the steering mechanism; Figure 1 ;

[0021] Figure 4 is Figure 1 a partial front view of the steering mechanism;

[0022] Figure 5 is a top view of the steering mechanism in a main steering mode;

[0023] Figure 6 is Figure 1 a partial top view of the steering mechanism; Figure 2 ;

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

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

[0026] Figure 9 is a partial axonometric view of a steering mechanism in a secondary steering mode;

[0027] Figure 10 is Figure 9 is a partial enlarged view at A in Fig.

[0028] In the figures:

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

[0030] The technical solutions in the embodiments of the present application will be clearly and completely described below. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0031] The present application discloses a steering mechanism. The steering mechanism in the present application retains the mechanical connection between the wheel 8 and the frame 1 when the wheel 8 turns. This design can effectively avoid the problem that the whole vehicle loses the steering ability when the single-sided steering mechanism of the frame 1 fails, thereby improving the reliability of the steering system. At the same time, the mechanical connection between the wheel 8 and the frame 1 when the wheel 8 turns can also help the steering mechanism to disperse the stress, thereby improving the carrying capacity of the frame 1.

[0032] The present application has two steering modes, namely a primary steering mode and a secondary steering mode. In the primary steering mode, the worm 10, the worm wheel 11 and the connecting rod five 12 drive the knuckle arm 70 to rotate around the kingpin 3, so as to realize the small-amplitude turning of the wheel 8. In the secondary steering mode, the steering bracket 2 rotates around the rotation axis one, and the knuckle 7 also rotates around the kingpin 3. The above-mentioned two cooperative actions enable the wheel 8 to realize the turning of 0°-90°.

[0033] In the secondary steering mode, the original positioning parameters of the kingpin 3 can be retained, which aims to balance the requirements of the steering stability, maneuverability, reliability and layout space of the vehicle.

[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 significant lifting effect, thereby increasing the burden during the turning process. At the same time, the inclination of the kingpin 3 will also affect the camber change of the wheel 8. However, the present application designs a steering bracket 2 based on the positioning parameters of the kingpin 3. 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. Ultimately, 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 parameters when the wheel 8 is turning at a large angle are eliminated, so that the vehicle equipped with this steering mechanism can have both large-angle steering capabilities and take into account handling stability.

[0035] Example

[0036] See attached Figures 1-10 The figure is a schematic diagram of the overall and partial structure of an embodiment of the present invention. The present invention specifically discloses a steering mechanism installed on a vehicle frame 1. The steering mechanism includes:

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

[0038] Suspension: Suspensions are arranged on both sides of the frame 1, and 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 vehicle frame 1 and is connected to the steering knuckle arms 70 of the steering knuckles 7 on both sides of the vehicle frame 1. The driving machine 9 can drive the multiple steering knuckles 7 to rotate in the same direction and at a constant speed around the kingpin 3.

[0040] The auxiliary steering mechanism comprises a telescopic member and a guide member, the telescopic member is installed on the frame 1, the telescopic member has two telescopic ends which are parallel and opposite in the telescopic direction, and the telescopic direction of the telescopic end of the telescopic member is the same as the width direction of the frame 1; the guide member is arranged on both sides of the frame 1, the guide member comprises a universal joint one 28, a connecting rod one 29, a connecting rod two 30, a connecting rod three 31 and a connecting rod four 32, the universal joint one 28 is rotatably installed on the steering support 2, the universal joint one 28 and the rotating support have a rotating axis line two, one end of the connecting rod one 29 is ball-jointed with the telescopic end of the telescopic member, the other end of the connecting rod one 29 is fixedly connected with one connecting end of the universal joint one 28, one end of the connecting rod two 30 is fixedly connected with the other connecting end of the universal joint one 28, the other end of the connecting rod two 30 is ball-jointed with one end of the connecting rod three 31, the other end of the connecting rod three 31 is ball-jointed with one end of the connecting rod four 32, and the other end of the connecting rod four 32 is connected with the steering knuckle arm 70.

[0041] The rod center line of the connecting rod one 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 one 29 can be deflected while moving along the telescopic direction of the telescopic end of the telescopic member, that is, the connecting rod one 29 can also rotate around the rotating axis line two, and the connecting rod one 29 rotates to make the steering support 2 rotate around the rotating axis line one, at the same time, the universal joint one 28 can rotate around the rotating axis line two due to the design.

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

[0043] The rod center line of the connecting rod two 30 and the rod center line of the connecting rod three 31 have an angle less than 180°, and the connecting rod two 30 rotates around the rotating axis line five to drive the connecting rod three 31 to act.

[0044] The rod center line of the connecting rod three 31 and the rod center line of the connecting rod four 32 have an angle less than 180°, and when the connecting rod three 31 acts, the connecting rod four 32 rotates around the kingpin 3, since the connecting rod four 32 is connected with the steering knuckle arm 70, the steering knuckle 7 also deflects around the kingpin 3; through the rotation of the steering support 2 around the rotating axis line one and the rotation of the steering knuckle 7 around the kingpin 3, a larger steering angle of the wheel 8 relative to the frame 1 can be realized, and 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 in parallel.

[0045] The suspension can be of various existing forms, in the present application, in addition to the kingpin 3, the suspension further comprises an upper swing arm 4, a lower swing arm 5 and a shock absorber 6, one upper swing arm 4 and one lower swing arm 5 are rotatably arranged on each steering support 2; one shock absorber 6 is connected to each lower swing arm 5, and the end of the shock absorber 6 away from the lower swing arm 5 is connected to the steering support 2; the upper swing arm 4 and the lower swing arm 5 located on the same side of the frame 1 are respectively hingedly connected to the two ends of the same kingpin 3; the two ends of the upper swing arm 4 and the lower swing arm 5 are arranged near the two ends of the steering support 2 respectively, and the shock absorber 6 is located below the upper swing arm 4.

[0046] Further specifically, the main steering mechanism further comprises a worm 10, a worm wheel 11 and a connecting rod five 12, the worm 10, the worm wheel 11 and the connecting rod five 12 are arranged on both sides of the frame 1; one worm 10 is rotatably supported on each kingpin 3, and the worm 10 is in transmission connection with the output shaft of the driving machine 9; one worm wheel 11 is rotatably supported on each kingpin 3, and the worm wheel 11 is arranged adjacent to the kingpin 3, a plurality of worm wheels 11 are respectively engaged with a plurality of worms 10, the worm wheel 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; one connecting rod five 12 is hingedly connected to the end wall of each worm wheel 11, the connecting rod five 12 and the worm wheel 11 have a hinged axis line, the hinged axis line is parallel to the axis line of the worm wheel 11 and has a gap; the end of the connecting rod five 12 away from the worm wheel 11 is hingedly connected to the steering knuckle arm 70; the end of the connecting rod four 32 away from the connecting rod three 31 is fixedly connected to the kingpin 3.

[0047] The worm wheel 11 can drive the connecting rod five 12 to move when the worm wheel 11 rotates, the connecting rod five 12 can drive the steering knuckle arm 70 to move when the connecting rod five 12 moves, 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 line, the worm wheel 11 also rotates around the kingpin 3 as the axis, due to the self-locking engagement between the worm wheel 11 and the worm 10, the worm wheel 11 will not rotate around its own axis line, the steering knuckle arm 70 is connected to the worm wheel 11 through the connecting rod five 12, the steering knuckle 7 is in rotational connection with 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] Further specifically, the main steering mechanism further comprises a transmission member, the transmission member comprising a driving gear 13, a driven gear 14, a main shaft 15, two universal joints 16, two spline shafts 17, two inner spline tubes 18, a universal joint 19, an intermediate shaft 20, a universal joint 21, two inner spline tubes 22, two spline shafts 23 and a universal joint 24; the two universal joints 16, the two spline shafts 17, the two inner spline tubes 18, the universal joint 19, the intermediate shaft 20, the universal joint 21, the two inner spline tubes 22, the two spline shafts 23 and the universal joint 24 are coaxially fixed; the driving gear 13 is coaxially fixed with the output shaft of the driving machine 9; the driven gear 14 is engaged with the driving gear 13; the main shaft 15 is rotatably installed on the frame 1, the axial 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 end of each of the two universal joints 16 is fixedly connected with one end of the main shaft 15; one end of each of the two spline shafts 17 is fixedly connected with one end of the two universal joints 16 away from the main shaft 15; the inner spline tube 18 is matched with the spline shaft 17, one end of each of the two spline shafts 17 is coaxially and slidingly inserted into the two inner spline tubes 18; one end of each of the two universal joints 19 is fixedly connected with one end of the two inner spline tubes 18 away from the spline shaft 17; the two intermediate shafts 20 are rotatably installed on the two steering supports 2, one end of each of the two intermediate shafts 20 is fixedly connected with one end of the two universal joints 19 away from the inner spline tube 18; one end of each of the two universal joints 21 is fixedly connected with one end of the two intermediate shafts 20 away from the universal joint 19; one end of each of the two inner spline tubes 22 is fixedly connected with one end of the two universal joints 21 away from the intermediate shaft 20; the spline shaft 23 is matched with the inner spline tube 22, one end of each of the two spline shafts 23 is coaxially and slidingly inserted into the two inner spline tubes 22; one end of each of the two universal joints 24 is fixedly connected with one end of the two spline shafts 23 away from the inner spline tube 22; the other end of each of the two universal joints 24 is fixedly connected with one end of the two worms 10; when the wheels 8 are deflected left and right or moved up and down, the driving machine 9 can be reliably connected with the worms 10 through the transmission member by the universal transmission of the two universal joints 16, the universal joint 19, the universal joint 21 and the universal joint 24, and the expansion and contraction of the two spline shafts 17 and the two spline shafts 23.

[0050] The expansion and contraction member comprises 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, the rack 27 is provided with two, the length direction of the rack 27 is the same as the width direction of the frame 1, the driving gear 26 is arranged between the two racks 27 and engaged with the two racks 27; one end of the rack 27 away from the driving gear 26 is ball-jointed with one end of the connecting rod 29 away from the universal joint 28; the driving machine 25 drives the driving gear 26 to rotate, the driving gear 26 can drive the two racks 27 to move synchronously and reversely when the driving gear 26 rotates.

[0051] The universal joint 28 is a cross universal joint, which ensures the constant angle between the straight line A and the straight line B, and ensures the action of the connecting rod 29 and the connecting rod 30, and meanwhile, the connecting rod 29 can swing freely.

[0052] The steering mode of the steering mechanism has two modes:

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

[0054] The main steering mode, in the main steering mode, the driving machine 25 does not act, the driving machine 1 9 drives the worm 10 to rotate through the transmission member, the worm 10 drives the worm wheel 11 to rotate, the worm wheel 11 drives the connecting rod 5 and the steering knuckle arm 70 to act when rotating, the steering knuckle 7 rotates around the kingpin 3, further makes the wheel 8 rotate around the kingpin 3, realizes the main steering function; and through the design of the length of the connecting rod 1 and the connecting rod 2 and the angle between the connecting rod 1 and the connecting rod 2, the Ackerman steering geometry of the frame 1 is realized, and the steering mechanisms of the wheels 8 on both sides of the frame 1 are mechanically connected.

[0055] The secondary steering mode, that is, the large-angle steering mode, in this mode, the wheel 8 can realize 0°-90° steering;

[0056] The driving machine 1 9 does not act, the driving machine 25 drives the driving gear 26 to rotate, the driving gear 26 drives the rack 27 to move when rotating, 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 single wheel 8 as an example, the rack 27 pulls the connecting rod 1 to be close to the frame 1, the connecting rod 1 moves at the same time and drives the steering bracket 2 to rotate clockwise around the rotation axis 1, at the same time, the connecting rod 2 rotates counterclockwise relative to the rotation axis 2, the connecting rod 2 pulls the connecting rod 3 to act, the connecting rod 3 pulls the connecting rod 4 to act when acting, the connecting rod 4 drives the kingpin 3 to rotate around the axis of the kingpin 3, and further makes the steering knuckle 7 rotate clockwise around the kingpin 3, that is, the wheel 8 rotates clockwise;

[0058] In the secondary steering mode, the wheel 8 rotates from the initial state to the state that the axis of the wheel 8 is parallel to the length direction of the frame 1, in the process, 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 in the height direction of the frame 1 does not change;

[0059] In the secondary steering mode, due to the large-angle steering of the wheel 8, the worm wheel 11 and the worm 10 are also forced to rotate with the kingpin 3, and due to the design of the transmission member, it is ensured that the main steering mechanism does not interfere with the secondary steering, and the function of the main steering mechanism does not fail.

[0060] The various embodiments described in this specification are presented by way of example, and each embodiment is not necessarily composed of all features described with respect to other embodiments. Each embodiment described in this specification can be combined with one or more other embodiments to produce an embodiment that is not explicitly described but that is nonetheless within the scope of the disclosure.

[0061] The above description of disclosed embodiments is intended to be illustrative, and not restrictive. Many embodiments will be apparent to those of skill in the art upon reviewing this disclosure. The scope of the disclosure should, therefore, be determined not with reference to the above description, but instead with reference to the appended claims, along with their full scope of equivalents.

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, with suspensions arranged on both sides of the frame, multiple steering brackets each connected to multiple suspensions, the suspension including a kingpin, a steering knuckle rotatably connected to the kingpin, and wheels connected to the steering knuckle; The main steering mechanism includes a driving machine 1, which is installed on the vehicle frame and is connected to the steering knuckle arms of the steering knuckles on both sides of the vehicle frame. The driving machine 1 can drive multiple steering knuckles to rotate in the same direction around the kingpin; The auxiliary 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, and 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 lower swing arm located on the same side of the frame are each 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 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, which 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 component, which includes a driving gear, a driven gear, a main shaft, a second universal joint, a first spline shaft, a first internal spline tube, a third universal joint, an intermediate shaft, a fourth universal joint, a second internal spline tube, a second spline shaft, and a fifth universal joint; two of each of the second universal joint, the first spline shaft, the first internal spline tube, the third universal joint, the intermediate shaft, the fourth universal joint, the second internal spline tube, the second spline shaft, and the fifth universal joint; the driving gear is coaxially fixed to the output shaft of the first driving machine; the driven gear is meshed with the driving gear; The main shaft is rotatably mounted on the vehicle frame, and the axial length direction of the main shaft is the same as the width direction of the vehicle frame. The main shaft and the driven gear are coaxially fixed; one connecting end of the two universal joints 2 are respectively fixedly connected to the two ends of the main shaft; one end of the two spline shafts 1 are respectively fixedly connected to the connecting ends 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 are respectively coaxially slidably inserted into the two inner spline tubes 1; one connecting end of the two universal joints 3 are respectively fixedly connected to the ends 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 an end of the two spline shafts two away from the inner spline tube two; the other connecting end of the two universal joints five is fixedly connected to one end of the two worm gears.

5. The steering mechanism according to claim 1, characterized in that: The telescopic part 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. There are two racks. The length direction of the rack is the same as the width direction of the frame. A driving gear is arranged between the two racks, and the driving gear is engaged 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.

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

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