Steering module, chassis system and vehicle

Abstract

The invention relates to the technical field of vehicle steering, in particular to a steering module, a chassis system and a vehicle. The steering module comprises a steering device, the steering device is used for being connected with the wheels and driving the wheels to steer, and the steering device is static relative to the wheels in the wheel steering process. The steering device is static relative to the wheels in the wheel steering process, the problem that the wheels and pipelines of the wheels interfere with the steering device under the large-turning-angle working condition is effectively solved, and the control performance of the vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle steering technology, and in particular to a steering module, a chassis system and a vehicle. Background Art

[0002] The vehicle's steering module is arranged around the bottom of the vehicle body, integrating driving, braking and steering functions into one, which can simplify the chassis structure and control the independent driving and steering of each wheel, making the movement and steering of the vehicle more flexible.

[0003] With the development of technology, the steering module is required to occupy a smaller space to further optimize the vehicle layout, and the steering angle range is required to be larger to meet more flexible usage requirements. However, if the steering module components are compact, if the steering angle range is increased, the wheels are prone to interfere with the steering drive and other structures. Summary of the invention

[0004] The embodiments of the present application provide a steering module, a chassis system and a vehicle, which solve the problem that it is difficult to increase the steering angle range when the steering module has a compact structure.

[0005] In order to achieve the above-mentioned purpose, according to a first aspect of the present application, a steering module is provided, comprising a steering device, wherein the steering device is used to connect with a wheel and drive the wheel to steer, wherein the steering device is relatively stationary with the wheel during the wheel steering process.

[0006] In one embodiment of the present application, the steering device includes a steering motor, and the steering motor is relatively stationary with respect to the wheel during the steering process of the wheel.

[0007] In one embodiment of the present application, the steering motor and the wheel rotate together around a first axis to remain relatively stationary, the output shaft of the steering motor extends along a second axis, and the first axis and the second axis do not coincide with each other.

[0008] In one embodiment of the present application, the steering device and the wheel are respectively located on two sides of the first axis.

[0009] In one embodiment of the present application, the steering module further includes a steering knuckle, and the steering device is fixedly connected to the wheel hub of the wheel via the steering knuckle.

[0010] In one embodiment of the present application, the steering device further includes a steering shaft, the steering shaft is rotatably connected to the steering knuckle, and a center line of the steering shaft forms the first axis.

[0011] In one embodiment of the present application, the steering device further includes a transmission assembly, and the output shaft of the steering motor is transmission-connected to the steering shaft via the transmission assembly.

[0012] In one embodiment of the present application, the transmission assembly includes a first gear, which is coaxially connected to the output shaft of the steering motor. When the first gear rotates, it can revolve around the steering shaft to drive the steering motor to rotate around the steering shaft.

[0013] In one embodiment of the present application, the transmission assembly further includes a second gear, the second gear is fixedly disposed on the steering shaft, and the second gear is meshed with the first gear.

[0014] In an embodiment of the present application, the transmission assembly further includes at least one third gear, and the third gear is respectively meshed with the first gear and the second gear.

[0015] In one embodiment of the present application, the transmission assembly includes two third gears, the two third gears are arranged between the first gear and the second gear, and the first gear is meshed with the second gear through the two third gears.

[0016] In one embodiment of the present application, the steering shaft is connected to a suspension on which the wheel is located to limit the circumferential movement of the steering shaft, so that the first gear can move circumferentially around the second gear.

[0017] In one embodiment of the present application, the steering module further includes a connecting mechanism, which connects the steering shaft and the suspension to limit the circumferential movement of the steering shaft and allows the steering shaft to float relative to the suspension.

[0018] In one embodiment of the present application, the connection mechanism includes:

[0019] A first rod connected to the steering shaft and limiting the circumferential rotation of the steering shaft;

[0020] a second rod, hinged to the suspension;

[0021] The first rod is connected to the second rod and can rotate relatively around a third axis, and an angle between the third axis and the first axis is greater than zero.

[0022] In one embodiment of the present application, the connection mechanism includes:

[0023] A first rod connected to the steering shaft and limiting the circumferential rotation of the steering shaft;

[0024] a second rod, hinged to the suspension;

[0025] The first rod is telescopic relative to the second rod.

[0026] In one embodiment of the present application, the steering device further includes a housing, the transmission assembly is disposed in the housing, and the steering motor and the steering knuckle are fixedly connected to the housing.

[0027] In one embodiment of the present application, the housing and the steering knuckle are integrally formed.

[0028] In one embodiment of the present application, the steering shaft is disposed on the housing, and at least a portion of the steering shaft extends out of the housing and is connected to a suspension where the wheel is located.

[0029] In one embodiment of the present application, the shell includes a first shell portion and a second shell portion, the first shell portion is provided with a groove, the transmission assembly is arranged in the groove, the second shell portion covers the groove and is connected to the first shell portion, and the steering motor is fixedly arranged in the second shell portion.

[0030] In one embodiment of the present application, at least one of the first shell portion and the second shell portion is provided with a slide groove, and the steering shaft further includes a limit pin, which cooperates with the slide groove to limit the rotation angle of the steering device around the steering shaft.

[0031] In one embodiment of the present application, the steering knuckle is bent toward the direction of the wheel hub to form an installation space on a side away from the wheel, and the steering device is arranged in the installation space.

[0032] According to the second aspect of the present application, an embodiment of the present application further provides a chassis system, including:

[0033] wheels; and

[0034] The steering module according to any one of the first aspects.

[0035] In one embodiment of the present application, the chassis system further includes a suspension, and the wheels and the steering module are rotatably connected to the suspension.

[0036] In one embodiment of the present application, the suspension includes a first swing arm and a second swing arm spaced apart along a first direction, and the steering device is rotatably disposed between the first swing arm and the second swing arm.

[0037] According to a third aspect of the present application, an embodiment of the present application further provides a vehicle, comprising the chassis system described in any one of the second aspects.

[0038] In the steering module, chassis system and vehicle provided in the embodiments of the present application, through the above-mentioned technical scheme, the steering device is relatively stationary with the wheel during the wheel steering process, which effectively alleviates the interference problem between the wheel and the wheel pipeline and the steering device under large turning angle conditions, and improves the vehicle's handling performance.

[0039] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0041] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same figure numbers represent the same parts in the following description.

[0042] Figure 1 is a structural schematic diagram of a vehicle provided in an embodiment of the present application;

[0043] Figure 2 is a structural schematic diagram of a steering module provided in an embodiment of the present application;

[0044] Figure 3 is an exploded view of a steering module provided in one embodiment of the present application;

[0045] Figure 4 is a schematic structural diagram of a steering device provided in one embodiment of the present application;

[0046] Figure 5 is an exploded view of a steering device provided in one embodiment of the present application;

[0047] Figure 6 is a schematic structural diagram of a housing provided in an embodiment of the present application;

[0048] Figure 7 is a schematic structural diagram of a second gear and a first gear provided in an embodiment of the present application;

[0049] Figure 8 It is a schematic diagram of the structure of the limit pin and the slide groove provided in one embodiment of the present application;

[0050] Fig. 9 is a structural schematic diagram of a connecting mechanism provided in an embodiment of the present application;

[0051] Fig.10 is a structural schematic diagram of a connecting mechanism provided in another embodiment of the present application;

[0052] Fig.11 is a structural schematic diagram of a connecting mechanism provided in another embodiment of the present application;

[0053] Fig.12 is a state diagram of a steering module when the wheel is at 0° provided in one embodiment of the present application;

[0054] Fig.13 is a state diagram of a steering module when the wheel is at 90° provided in one embodiment of the present application;

[0055] Fig.14 is a first-view structural schematic diagram of a steering knuckle provided in an embodiment of the present application;

[0056] Fig.15 is a schematic diagram of the structure of a steering knuckle provided in an embodiment of the present application from a second perspective;

[0057] Fig.16 is a structural schematic diagram of a first swing arm provided in an embodiment of the present application;

[0058] Fig.17 is a structural schematic diagram of a second swing arm provided in an embodiment of the present application;

[0059] Fig.18 is a schematic diagram of the structure of a hub motor provided in an embodiment of the present application from a first perspective;

[0060] Fig.19 is a schematic diagram of the structure of a hub motor provided in an embodiment of the present application from a second perspective;

[0061] Description of reference numerals:

[0062] 1000-body; 2000-steering module;

[0063] 1- Suspension;

[0064] 11-first swing arm; 111-first mounting member; 112-first rotating connecting member;

[0065] 12-second swing arm; 12a-extension arm; 121-second mounting member; 122-second rotating connecting member; 123-rotation limiting fixing portion; 124-first surface; 125-vibration reduction mounting portion;

[0066] 2-steering knuckle; 21-first part; 22-second part; 221-first end; 222-second end; 23-third part; 231-third end; 232-fourth end; 24-first hollow part; 25-second hollow part; 26-installation space;

[0067] 3-wheel; 31-wheel hub; 311-fixed connector; 312-tire mounting member;

[0068] 4- Steering device;

[0069] 41-second gear; 413-limiting pin;

[0070] 42-first gear; 421-first gear plate; 422-first central axis;

[0071] 43-steering motor; 431-reducer;

[0072] 44-housing; 441-first housing; 4411-first through hole; 4412-sliding groove; 442-second housing; 4421-second through hole; 4422-third through hole;

[0073] 45-third gear;

[0074] 46-steering shaft;

[0075] 5-Connection mechanism;

[0076] 51-first rod member; 511-spline sleeve; 52-second rod member;

[0077] 6- shock absorber;

[0078] 7-brake device; 71-brake caliper; 72-brake disc. DETAILED DESCRIPTION

[0079] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0080] The steering module of a vehicle generally includes a suspension system, a steering drive, a steering knuckle and a hub motor. The hub motor is rotatably connected to the suspension system around a first axis A1 through the steering knuckle. The steering drive is fixed on the suspension system. The output end of the steering drive drives the steering knuckle to realize steering of the hub motor.

[0081] The steering drive is usually far away from the wheel hub motor and set above the wheel hub motor, which occupies a large space. In order to optimize the space layout, it is considered to set the steering drive close to the wheel hub motor and the steering knuckle. However, after such a setting, since the steering drive occupies the envelope space of the wheel hub motor in the rotation direction, it is difficult to increase the steering angle range of the wheel hub motor. Therefore, how to take into account the larger steering angle range requirements of the wheel hub motor while reducing the space occupied by the steering module is one of the research directions in this field.

[0082] The embodiment of the present application provides a steering module, a chassis system and a vehicle, which are used to solve the problem that it is difficult to increase the steering angle range when the steering module has a compact structure. The embodiment of the present application is exemplarily described below with reference to the accompanying drawings.

[0083] First, if Figure 1 , Figure 2 and Figure 3 As shown, the steering module 2000 provided in the embodiment of the present application is applied to a vehicle. The steering module 2000 includes a steering device 4, which is used to connect with the wheel 3 and drive the wheel 3 to turn, wherein the steering device 4 is relatively stationary with the wheel 3 during the steering process of the wheel 3, so that the steering device 4 and the wheel 3 turn synchronously, thereby avoiding interference between the steering device 4 and the wheel 3 during the steering process, and meeting the demand for increasing the steering angle range.

[0084] As an example, the number of the steering modules 2000 is four, respectively corresponding to the four wheels 3 of the vehicle. It can be understood that in other embodiments, the number of the steering modules 2000 can also be set to one, two, three, five, etc. according to actual needs, and this embodiment does not limit this.

[0085] Furthermore, the steering device 4 includes a steering motor 43, which is relatively stationary with the wheel 3 during the steering process of the wheel 3, that is, the steering motor 43 for providing driving force to the wheel 3 steers synchronously with the wheel 3 to avoid interference between the steering motor 43 and the wheel 3.

[0086] Among them, Figure 2 and Figure 4 As shown, the steering motor 43 and the wheel 3 rotate together around the first axis A1 to achieve relative stationary synchronous rotation of the two. Furthermore, the output shaft of the steering motor 43 extends along the second axis A2, wherein the first axis A1 and the second axis A2 do not coincide. In other words, the first axis A1 and the axis of the output shaft of the steering motor 43 are not aligned, which avoids interference and makes the installation position of the steering motor 43 more flexible.

[0087] As an example, the steering device 4 and the wheel 3 are respectively located on both sides of the first axis A1, so that the first axis A1 can be closer to the ground contact center line of the wheel 3, which is beneficial to reducing the offset between the first axis A1 and the ground contact center line, making it difficult for the wheel 3 to swing under impact, thereby improving the stability of the wheel 3 and being able to better adapt to high-speed working conditions.

[0088] In some embodiments, Figure 2 and Figure 3As shown, the steering module 2000 also includes a steering knuckle 2, and the steering device 4 is fixedly connected to the wheel hub 31 of the wheel 3 through the steering knuckle 2. By setting the steering knuckle 2, the installation connection between the steering device 4 and the wheel 3 is facilitated. Among them, the wheel hub 31 is an important component of the wheel 3, which is used to install and fix the tire of the wheel 3. As an example, according to its function and design, the wheel hub 31 can be self-powered or unpowered. For example, the wheel hub 31 can be configured as a hub motor, which can directly drive the wheel 3 to rotate, so that the wheel 3 provides walking power to the vehicle. The wheel hub 31 without power is common in traditional vehicles. Its main function is to support the tire and be connected to the axle through a bearing. This wheel hub 31 itself does not provide power, and the power is transmitted to the wheel 3 through a transmission system (such as a drive shaft, a differential, etc.).

[0089] like Fig.18 and Fig.19 As shown, the wheel 3 includes a wheel hub 31 and a tire, and the tire is mounted on the wheel hub 31. The tire is hidden in the figure to facilitate observation of the wheel hub 31. The outer periphery of the wheel hub 31 is used to mount the tire, and a plurality of tire mounting members 312 are provided on the side of the wheel hub 31 facing away from the steering knuckle 2 to fix the tire. A plurality of fixing connectors 311 are provided on the side of the wheel hub 31 facing the steering knuckle 2, and the plurality of fixing connectors 311 are arranged around the wheel center of the wheel hub 31. Optionally, the fixing connector 311 includes a threaded portion, and a plurality of threaded holes are provided on the steering knuckle 2. The plurality of threaded holes cooperate with the threaded portions of the plurality of fixing connectors 311 to fix the wheel 3 to the steering knuckle 2. As a preferred example, in this embodiment, the wheel hub 31 includes a wheel hub motor, and the steering device 4 is connected to the wheel hub motor through the steering knuckle 2, and the steering device 4 drives the wheel hub motor to steer to drive the wheel 3 to steer. In some embodiments, as Figure 3 As shown, the steering module 2000 also includes a braking device 7, which includes a brake caliper 71 and a brake disc 72. The brake caliper 71 is fixedly arranged on the steering knuckle 2, and the brake disc 72 is fixedly arranged on the wheel hub 31. The brake caliper 71 and the brake disc 72 cooperate to brake the wheel 3.

[0090] Combination Figure 3 As shown, as an example, the steering device 4 further includes a steering shaft 46, which is rotatably connected to the steering knuckle 2, wherein the center line of the steering shaft 46 forms a first axis A1. By such an arrangement, on the one hand, the first axis A1 is ensured to be located between the wheel 3 and the steering device 4, which is conducive to reducing the offset between the first axis A1 and the ground center line; on the other hand, the installation and rotation state of the steering knuckle 2 is more stable, so that the installation and rotation state of the wheel 3 and the steering device 4 connected to the steering knuckle 2 is more stable.

[0091] In some embodiments, in order to achieve a transmission connection between the output shaft of the steering motor 43 and the steering shaft 46, in this embodiment, the steering device 4 also includes a transmission assembly, and the output shaft of the steering motor 43 and the steering shaft 46 are transmission connected through the transmission assembly.

[0092] Among them, combined Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, the transmission assembly may include a first gear 42, the first gear 42 is coaxially connected to the output shaft of the steering motor 43, and the first gear 42 can revolve around the steering shaft 46 of the steering device 4 when rotating, so as to drive the steering motor 43 to rotate around the steering shaft 46. Exemplarily, the first gear 42 includes a first gear plate 421 and a first center shaft 422, the first center shaft 422 is fixedly arranged on the first gear plate 421, and the first center shaft 422 is used to be connected to the output shaft of the steering motor 43. Optionally, the steering device 4 also includes a reducer 431, and the output shaft of the steering motor 43 is connected to the first gear 42 through the reducer 431. The reducer 431 plays a role in reducing the speed of the output of the steering motor 43 and increasing the torque, so that the steering torque is amplified, the steering accuracy is improved, the steering process is smoother, and the driving safety and steering control experience are improved.

[0093] Furthermore, the transmission assembly also includes a second gear 41, which is fixedly disposed on the steering shaft 46, and the first gear 42 is meshed with the second gear 41. It can be understood that the second gear 41 is fixedly disposed on the steering shaft 46 means that the second gear 41 is sleeved on the steering shaft 46 and fixed. For example, the second gear 41 is provided with an axial center hole, and the steering shaft 46 is passed through the axial center hole of the second gear 41. The second gear 41 and the steering shaft 46 are fixed by interference fit, welding or hot melting, so that the axis center line of the second gear 41 coincides with the axis center line of the steering shaft 46, and coaxial fixation is achieved. Therefore, when the first gear 42 meshed with the second gear 41 is driven by the steering motor 43, the second gear 41 can drive the steering motor 43 to rotate around the steering shaft 46.

[0094] Based on the above structure, when the first gear 42 rotates under the drive of the steering motor 43, the circumferentially fixed steering shaft 46 provides a reaction force to the first gear 42 through the second gear 41, so that the first gear 42 rotates around the second gear 41 and drives the steering device 4, the steering knuckle 2, and the wheel 3 to steer synchronously. Optionally, the pitch circle diameter of the first gear 42 is smaller than the pitch circle diameter of the second gear 41 to further improve the steering accuracy.

[0095] In the embodiment of the present application, the steering device 4 for driving the wheel 3 to steer can be placed in the middle, and the steering device 4 as a whole can be placed close to the wheel 3 and the steering knuckle 2, so that the structure of the steering module 2000 is more compact and occupies less space. In addition, by fixing the steering device 4 to the steering knuckle 2, and fixing the steering shaft 46 with the second gear 41 circumferentially, the steering motor 43 is driven by the second gear 41 and the first gear 42, so that the steering motor 43 drives the first gear 42 to rotate around the second gear 41 when working, and drives the steering motor 43 and the steering device 4 itself to steer synchronously with the steering knuckle 2 and the wheel 3, effectively alleviating the problem of interference between the wheel 3 and its pipeline and the steering device 4 under large turning angle conditions, and taking into account the structural compactness requirements of the steering module 2000 and the requirements of a larger steering angle range.

[0096] In addition, in some embodiments, please refer to Figure 7 As shown, the transmission assembly may further include at least one third gear 45, and the third gear 45 is meshed with the first gear 42 and the second gear 41 respectively. As a preferred example, the transmission assembly may include two third gears 45, and the two third gears 45 are arranged between the first gear 42 and the second gear 41, and the first gear 42 is meshed with the second gear 41 through the two third gears 45. Among them, the two third gears 45 can be arranged between the first gear 42 and the second gear 41 at intervals. In the case of a compact structure of the steering module 2000, the space between the wheel 3 and the steering motor 43 is small, the radial space of the pitch circle of the gear is limited, the specification of the gear is relatively small, and it is easy to be overloaded and damaged when the steering torque is large. Through the transmission of the two third gears 45, the force points of the second gear 41 are increased, and the force points of the first gear 42 are increased, the stress of a single force point is shared, the overload problem is alleviated, and the steering torque is improved while optimizing the structure of the steering module 2000.

[0097] Optionally, the pitch circle diameter of the third gear 45 is smaller than the pitch circle diameter of the second gear 41. The third gear 45 occupies a smaller space, which is beneficial to reducing the volume of the steering device 4, thereby reducing the influence of the central steering device 4 on the installation positions of other components.

[0098] There are many ways to fix the steering shaft 46, combined with Figure 2 and Figure 3 As shown, the steering shaft 46 of the steering device 4 is connected to the suspension 1 where the wheel 3 is located to limit the circumferential movement of the steering shaft 46 so that the first gear 42 can move circumferentially around the second gear 41 .

[0099] The suspension 1 is a structure for mounting the steering module 2000 as a whole on the vehicle. Figure 2 As shown, one end of the suspension 1 is used for mounting various components, and the other end is used for connecting the vehicle body 1000 .

[0100] Combination Figure 2 , Figure 3 and Fig. 9 As shown, the steering module further includes a connecting mechanism 5 , which connects the steering shaft 46 and the suspension 1 to limit the circumferential movement of the steering shaft 46 and allow the steering shaft 46 to float relative to the suspension 1 .

[0101] As an example, the connection mechanism 5 may include a first rod 51 and a second rod 52. The first rod 51 is connected to the steering shaft 46 and limits the circumferential rotation of the steering shaft 46, the second rod 52 is hinged to the suspension 1, the first rod 51 is connected to the second rod 52 and can rotate relative to each other around the third axis A3, and the third axis A3 intersects with the first axis A1 and forms an angle greater than zero.

[0102] The second rod 52 is hinged to the suspension 1, and the first rod 51 and the second rod 52 are connected to be rotatable relative to each other, thereby providing freedom for the suspension 1 and the steering shaft 46. By setting the third axis A3 and the first axis A1 to be non-coincidental and non-parallel but to form a certain angle, the circumferential rotation of the steering shaft 46 and the second gear 41 can be limited.

[0103] The connection between the first rod 51 and the steering shaft 46 can be a direct fixed connection or a spline connection, which is not limited in this embodiment. For example, the first rod 51 is provided with a spline sleeve 511, and the steering shaft 46 of the second gear 41 is inserted into the spline sleeve 511. The outer peripheral surface of the steering shaft 46 can be provided with a protrusion that cooperates with the spline sleeve 511 to limit the steering shaft 46 from rotating in the spline sleeve 511.

[0104] There are many ways to articulate the second rod 52 with the suspension 1. For example, a ball head connector is provided at one end of the second rod 52, and the second rod 52 is connected to the rotation-limiting fixing portion 123 of the second swing arm 12 through the ball head connector.

[0105] Optionally, the first rod 51 is connected to the second rod 52 by a ball head. Exemplarily, a ball head connector is provided at the other end of the second rod 52, and the second rod 52 is connected to the first rod 51 through the ball head connector. By providing ball head connectors at both ends of the second rod 52 to connect with the first rod 51 and the second swing arm 12 of the suspension 1 respectively, not only the degree of freedom between the steering shaft 46 and the suspension 1 is further improved, the impact load resistance and structural reliability are improved, but also the gradient of the wheel hop toe angle change can be reduced, and the driving stability can be improved.

[0106] As another example, Fig.10 and Fig.11As shown, the first rod 51 is arranged along the first axis A1, the first rod 51 is connected to the steering shaft 46 and limits the circumferential rotation of the steering shaft 46, and the second rod 52 is hinged to the suspension 1, wherein the first rod 51 is retractable, thereby providing freedom for the suspension 1 and the steering shaft 46, and limiting the circumferential rotation of the steering shaft 46. Exemplarily, the first rod 51 is configured as a cross pin or a pin, and the first rod 51 is retractably connected to the second rod 52, and the second rod 52 is configured as a cross bearing or a bushing to be hinged to the suspension 1. By the second rod 52 being hinged to the suspension 1 and the first rod 51 being retractable relative to the second rod 52, the suspension 1 and the second gear 41 are provided with freedom, and floating up and down and slight swinging are achieved, and the circumferential rotation of the steering shaft 46 is limited by the fixed connection with the steering shaft 46.

[0107] Further integration Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, the steering device 4 further includes a housing 44, the transmission assembly is disposed in the housing 44, and the steering motor 43 and the steering knuckle 2 are respectively fixedly connected to the housing 44. Optionally, the housing 44 and the steering knuckle 2 may be integrally formed.

[0108] The housing 44 includes a first housing 441 and a second housing 442. The first housing 441 is provided with a groove, the transmission assembly is arranged in the groove, the second housing 442 is covered in the groove and connected to the first housing 441, and the steering motor 43 is fixedly arranged in the second housing 442. The second gear 41, the first gear 42 and the steering motor 43 in the transmission assembly are integrated into one body through the housing 44 for easy installation.

[0109] Furthermore, combined with Figure 6 As shown, the first shell 441 is provided with a first through hole 4411, and the second shell 442 is provided with a second through hole 4421. The first through hole 4411 corresponds to the second gear 41, and the first through hole 4411 allows the steering shaft 46 to pass through to connect with the second gear 41. The second through hole 4421 corresponds to the first gear 42, and the second through hole 4421 allows the output shaft of the steering motor 43 to connect with the first gear 42. The housing 44 is convenient for the transmission assembly to be connected and transmitted with the components of the steering device 4 while protecting the transmission assembly.

[0110] Since the steering shaft 46 is connected to the suspension 1 from one side of the shell 44 and the steering motor 43 is arranged on the other side of the shell 44, the two are not easy to interfere with each other. At the same time, it can also reduce the occupation of horizontal space, make the structure more compact, and make the steering device 4 less likely to interfere with other parts on the vehicle, further reducing the adverse effects on setting a large steering angle range.

[0111] In some embodiments, the Figure 3 and Figure 5As shown, the housing 44 further includes a third through hole 4422, and the third through hole 4422 is disposed in the second shell portion 442, and one end of the steering shaft 46 is rotatably penetrated in the third through hole 4422, and the other end is rotatably penetrated in the first through hole 4411. The two ends of the steering shaft 46 are respectively penetrated in the first through hole 4411 and the second through hole 4421, thereby improving the installation stability, making the rotation process of the housing 44 relative to the steering shaft 46 smoother, and improving the steering stability. Optionally, the steering shaft 46 is connected to the inner wall of the first through hole 4411 through a rotating bearing, and the steering shaft 46 is connected to the inner wall of the third through hole 4422 through a rotating bearing.

[0112] In the embodiment where the steering shaft 46 is installed in the first through hole 4411 and the second through hole 4421, during production, the steering shaft 46 can be arranged in the housing 44 to further improve the installation stability of the steering shaft 46, wherein at least a portion of the steering shaft 46 extends out of the housing 44 and is connected to the suspension 1 where the wheel 3 is located. It can be understood that one end of the steering shaft 46 is rotatably connected to the housing 44, passes through the second gear 41 in the housing 44 and is fixedly connected to the second gear 41, and the other end extends downward from the housing 44 from the first through hole 4411, and is rotatably passed through the steering knuckle 2, and then connected to the suspension 1 through the connecting mechanism 5.

[0113] In order to further limit the rotation angle of the steering device 4 around the steering shaft 46, at least one of the first shell 441 and the second shell 442 is provided with a slide groove 4412, and the steering shaft 46 further includes a limit pin 413, and the limit pin 413 cooperates with the slide groove 4412 to limit the rotation angle of the steering device 4 around the steering shaft 46. The slide groove 4412 can be an arc groove with the axis of the first through hole 4411 as the center line, and the rotation angle range is limited by setting the arc of the slide groove 4412.

[0114] In this way, the rotation angle range is mechanically limited by cooperating with the limit pin 413 and the slide groove 4412, which can prevent the wheel 3 from over-rotating to exceed the set maximum rotation angle when problems such as control failure occur, avoid unnecessary interference, and protect the vehicle from normal driving.

[0115] In some embodiments, the stop pin 413 is disposed on the axial end face of the second gear 41. The axial direction of the second gear 41 refers to the extension direction of the steering shaft 46, and the axial end face of the second gear 41 refers to the surface of the second gear 41 in the axial direction. The slide groove 4412 is correspondingly disposed on the first shell portion 441 or the second shell portion 442 of the housing 44. When the housing 44 and the wheel 3 are turned synchronously, the housing 44 rotates relative to the second gear 41, so that the stop pin 413 slides along the slide groove 4412.

[0116] In other embodiments, the limit pin 413 is disposed on the circumferential surface of the second gear 41 (not shown in the figure). As an example, the circumferential surface of the second gear 41 includes a first circumferential surface and a second circumferential surface, the first circumferential surface is configured as a tooth surface to mesh with the first gear 42, the second circumferential surface is provided with a limit pin 413 protruding in the radial direction, and the arc of the first circumferential surface is greater than or equal to the limited rotation angle range.

[0117] Optionally, in the embodiment of the present application, the steering motor 43 is electrically connected to the control system of the vehicle, and when steering is required, the steering motor 43 is controlled to rotate a set number of times to achieve a set rotation angle. Therefore, the rotation angle range of the vehicle can be limited by controlling the maximum forward rotation number and the maximum reverse rotation number of the steering motor 43.

[0118] In some embodiments, the rotation angle range may be -32° to 90°. Fig.12 As shown, taking the steering angle of the wheel 3 facing forward as 0° as a reference, the maximum steering angle of the wheel 3 to the left is 32°, and the maximum steering angle to the right is 90°. Fig.13 The state diagram of the wheel turning 90° to the right is shown. Or, conversely, the maximum steering angle of the wheel 3 to the right is 32°, and the maximum steering angle to the left is 90°.

[0119] In some embodiments, reference Fig.14 and Fig.15 As shown, the steering knuckle 2 is bent toward the direction where the wheel hub 31 of the wheel 3 is located, so as to form an installation space 26 on the side away from the wheel 3, and the steering device is arranged in the installation space. Part of the steering knuckle 2 can be bent relative to another part, so that one side of the part protrudes toward the wheel 3 and the other side is recessed to form the installation space 26 of the steering device 4.

[0120] like Fig.14 and Fig.15 As shown, the steering knuckle 2 includes a first part 21, a second part 22 and a third part 23 connected in sequence. The suspension 1 includes a first swing arm 11 and a second swing arm 12 arranged opposite to each other. The first swing arm 11 is provided with a first rotating connection member 112, and the second swing arm 12 is provided with a second rotating connection member 122.

[0121] The first part 21 is rotatably connected to the second swing arm 12 around the first axis A1, that is, connected to the aforementioned first rotating connection member 112. The wheel hub 31 and the steering device 4 are respectively fixedly connected to the first part 21 and are located on both sides of the first axis A1.

[0122] Optionally, the steering knuckle 2 includes a first hollow portion 24, which is disposed in the first portion 21 and is located between the steering device 4 and the wheel 3. By providing the first hollow portion 24, the wheel 3 and the steering device 4 are avoided, so that the first axis A1 can be closer to the ground center line of the wheel 3, which is conducive to reducing the offset between the first axis A1 and the ground center line of the wheel 3, so that the wheel 3 is not easy to swing under impact, improve the stability of the wheel 3, and can better adapt to high-speed conditions. At the same time, the structure of the steering module 2000 is more compact, and the deadweight of the steering knuckle 2 can also be reduced. In addition, in some embodiments, the first hollow portion 24 can also be used for the installation pipeline of the wheel 3 to pass through, which is convenient for wiring.

[0123] The second portion 22 includes a first end 221 and a second end 222 . The first end 221 is connected to the second portion 22 . The second end 222 extends along the first axis A1 and toward the side where the steering device 4 is located, so that a mounting space 26 is formed on the side of the first portion 21 away from the wheel 3 .

[0124] The third part 23 includes a third end 231 and a fourth end 232. The third end 231 is connected to the second end 222. The fourth end 232 is located on the first axis A1. The fourth end 232 is rotatably connected to the first swing arm 11 around the first axis A1, that is, the fourth end 232 is connected to the aforementioned second rotating connection member 122. By such an arrangement, on the basis of ensuring that the third part 23 is connected to the first swing arm 11 on the first axis A1, the second part 22 is first deviated from the first axis A1 to avoid the wheel 3. On the one hand, the tire of the wheel 3 can be closer to the vehicle body 1000, thereby further reducing the offset between the first axis A1 and the grounding center line of the wheel 3. On the other hand, it also avoids interfering with the rotation and steering of the wheel 3.

[0125] In some embodiments, the steering knuckle 2 further includes a second hollow portion 25, and the second hollow portion 25 is disposed in the second portion 22 and / or the third portion 23. For example, the second hollow portion 25 is disposed in the second portion 22; or, the second hollow portion 25 is disposed in the third portion 23; or, the second hollow portion 25 extends from the second portion 22 to the third portion 23; or, the second hollow portion 25 is respectively disposed on the second portion 22 and the third portion 23. By providing the second hollow portion 25, not only can the pipelines related to the wheel 3 (such as the pipelines required by the hub motor) be routed, but also the components of the wheel 3 or the steering device 4 can be avoided, so as to facilitate the installation of the steering device 4. For example, the upper end of the steering motor 43 can be located in the hollow portion, which not only facilitates installation, but also alleviates the problem of the size limitation of the steering motor 43 caused by the small installation space. The size of the steering motor 43 increases, and its power can be increased, thereby increasing the steering torque and improving the handling.

[0126] According to the second aspect of the present application, an embodiment of the present application further provides a chassis system, including the aforementioned wheel 3 and a steering module 2000.

[0127] The chassis system further includes the aforementioned suspension 1 , and the wheels 3 and the steering module 2000 are rotatably connected to the suspension 1 .

[0128] Combination Figure 2 , Figure 3 , Fig.16 and Fig.17 As shown, the suspension 1 includes a first swing arm 11 and a second swing arm 12 which are spaced apart from each other, and the steering device 4 is rotatably disposed between the first swing arm 11 and the second swing arm 12 .

[0129] In some embodiments, the first swing arm 11 and the second swing arm 12 are arranged opposite to each other, the steering knuckle 2 is rotatably connected to the first swing arm 11 and the second swing arm 12, and the steering device 4 is arranged between the first swing arm 11 and the second swing arm 12. By configuring the suspension 1 to include the first swing arm 11 and the second swing arm 12, the steering knuckle 2 can be rotatably connected to the suspension 1, the structural stability is better, and at the same time, the steering device 4 is limited to a position corresponding to the wheel center of the wheel 3 in the vertical direction, further optimizing the structure and making the structure more compact.

[0130] like Fig.16 As shown, first mounting members 111 are provided at both ends of the first swing arm 11, the middle position of the first swing arm 11 protrudes toward the direction where the wheel hub 31 is located to form a U shape, and a first rotating connecting member 112 is provided at the middle position. The first mounting member 111 is used to connect the vehicle body 1000. Optionally, the first mounting member 111 includes a bushing so that the first swing arm 11 has a certain degree of freedom relative to the vehicle body 1000, and can swing slightly during vibration to avoid damage. A bushing is a sleeve-shaped part used to wrap or embed other parts, such as shafts, pins, bolts, etc., to play a connecting role and reduce friction and wear. The first rotating connecting member 112 is used to connect with the steering knuckle 2 so that the steering knuckle 2 can rotate relative to the first swing arm 11. The first rotating connecting member 112 includes a ball head connecting member so that the steering knuckle 2 can not only rotate, but also swing slightly relative to the first swing arm 11 to avoid damage during long-term vibration. By arranging the first mounting members 111 at both ends of the first swing arm 11 and arranging the first rotating connecting member 112 at the middle position of the first swing arm 11 , the stress at the connection portion between the first swing arm 11 and the vehicle body 1000 can be reduced.

[0131] like Fig.17As shown, the second mounting member 121 is provided at both ends of the second swing arm 12, and the extension arm 12a is provided at the middle position of the second swing arm 12, and the extension arm 12a extends toward the direction where the wheel hub 31 is located, and the second rotating connecting member 122 is provided on the extension arm 12a. The second mounting member 121 is used to connect the vehicle body 1000. Optionally, the second mounting member 121 includes a bushing, so that the second swing arm 12 has a certain degree of freedom relative to the vehicle body 1000, and can swing slightly during vibration to avoid damage. The bushing is a sleeve-shaped part used to wrap or embed other parts, such as shafts, pins, bolts, etc., to play a connecting role and reduce friction and wear. The second rotating connecting member 122 is used to connect with the steering knuckle 2, so that the steering knuckle 2 can rotate around the first axis A1 relative to the second swing arm 12. The second rotating connecting member 122 includes a ball head connecting member, so that the steering knuckle 2 can not only rotate around the first axis A1, but also swing slightly relative to the second swing arm 12 to avoid damage during long-term vibration. By providing the second mounting members 121 at both ends of the second swing arm 12 and providing the second rotating connecting member 122 on the extension arm 12a of the second swing arm 12, the stress at the connection part between the second swing arm 12 and the vehicle body 1000 is reduced. By providing the extension arm 12a, it is also convenient to install other parts. Figure 8 As shown, the second swing arm 12 is also provided with a rotation limiting fixing portion 123 for connecting the second gear 41 to achieve circumferential fixation of the second gear 41. Optionally, the second swing arm 12 is also provided with a vibration reduction mounting portion 125, the lower end of the shock absorber 6 is connected to the vibration reduction mounting portion 125, and the upper end is connected to the vehicle body 1000.

[0132] In some embodiments, the second swing arm 12 has a first surface 124 facing away from the first swing arm 11, and the first surface 124 is concave toward the direction where the first swing arm 11 is located to form an arc surface. By providing the upwardly concave arc surface, the wheel 3 is avoided, the maximum steering angle of the wheel 3 is increased, and the wheel 3 is prevented from interfering with the second swing arm 12 when the wheel 3 rotates to the limit angle. Exemplarily, the extension arm 12a of the second swing arm 12 extending toward the wheel 3 is an arc with a convex upward in the middle, so that the first surface 124 of the second swing arm 12 is a curved surface.

[0133] In some embodiments, Figure 2 and Figure 3 As shown, the chassis system also includes a shock absorber 6, which connects the suspension 1 and the vehicle body 1000. The shock absorber 6 is located on the side of the steering device 4 away from the wheel 3, so that the shock absorber 6 can be easily connected to the vehicle body 1000. By setting the aforementioned mid-mounted steering device 4 and placing the steering device 4 as close to the wheel 3 as possible through the steering knuckle 2, it is helpful to reduce the distance between the shock absorber 6 and the wheel 3, reduce the influence of setting the steering device 4 between the shock absorber 6 and the wheel 3 on the lever ratio of the shock absorber 6, and improve the driving stability of the vehicle.

[0134] According to a third aspect of the present application, an embodiment of the present application further provides a vehicle, which includes the above-mentioned chassis system.

[0135] The vehicle provided in the embodiment of the present application has more flexible maneuverability and higher space utilization of the whole vehicle due to having the steering module 2000 and chassis system of any of the aforementioned embodiments.

[0136] The vehicle may be a fuel vehicle, a plug-in hybrid vehicle, a new energy vehicle, etc., and the present disclosure does not make any specific limitation on this.

[0137] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0138] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0139] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0140] The above are only preferred embodiments of the present application and do not constitute any form of limitation to the present application. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A steering module, characterized in that: The invention comprises a steering device, wherein the steering device is used to be connected with a wheel and drive the wheel to turn, wherein the steering device is relatively stationary with the wheel during the wheel turning process.

2. The steering module according to claim 1, characterized in that: The steering device comprises a steering motor, and the steering motor is relatively stationary with respect to the wheel during the steering process of the wheel.

3. The steering module according to claim 2, characterized in that: The steering motor and the wheel rotate together around a first axis to be relatively stationary, and an output shaft of the steering motor extends along a second axis, and the first axis and the second axis do not coincide with each other.

4. The steering module according to claim 3, characterized in that: The steering device and the wheels are respectively located on two sides of the first axis.

5. The steering module according to claim 3, characterized in that: It also includes a steering knuckle, and the steering device is fixedly connected to the wheel hub of the wheel through the steering knuckle.

6. The steering module according to claim 5, characterized in that: The steering device further comprises a steering shaft, wherein the steering shaft is rotatably connected to the steering knuckle, and a center line of the steering shaft forms the first axis.

7. The steering module according to claim 6, characterized in that: The steering device also includes a transmission assembly, and the output shaft of the steering motor is transmission-connected with the steering shaft through the transmission assembly.

8. The steering module according to claim 7, characterized in that: The transmission assembly includes a first gear, which is coaxially connected to the output shaft of the steering motor. The first gear can revolve around the steering shaft when rotating, so as to drive the steering motor to rotate around the steering shaft.

9. The steering module according to claim 8, characterized in that: The transmission assembly also includes a second gear, which is fixed to the steering shaft and meshes with the first gear.

10. The steering module according to claim 9, characterized in that: The transmission assembly further includes at least one third gear, and the third gear is meshed with the first gear and the second gear respectively.

11. The steering module according to claim 10, characterized in that: The transmission assembly includes two third gears, the two third gears are arranged between the first gear and the second gear, and the first gear is meshed with the second gear through the two third gears.

12. The steering module according to claim 9, characterized in that: The steering shaft is connected to a suspension on which the wheel is located to limit the circumferential movement of the steering shaft, so that the first gear can move circumferentially around the second gear.

13. The steering module according to claim 12, characterized in that: The steering module further includes a connection mechanism, which connects the steering shaft and the suspension to limit the circumferential movement of the steering shaft and allows the steering shaft to float relative to the suspension.

14. The steering module according to claim 13, characterized in that: The connecting mechanism comprises: A first rod connected to the steering shaft and limiting the circumferential rotation of the steering shaft; a second rod, hinged to the suspension; The first rod is connected to the second rod and can rotate relatively around a third axis, and an angle between the third axis and the first axis is greater than zero.

15. The steering module according to claim 13, characterized in that: The connecting mechanism comprises: A first rod connected to the steering shaft and limiting the circumferential rotation of the steering shaft; a second rod, hinged to the suspension; The first rod is telescopic relative to the second rod.

16. The steering module according to claim 7, characterized in that: The steering device further comprises a housing, the transmission assembly is arranged in the housing, and the steering motor and the steering knuckle are fixedly connected to the housing.

17. The steering module according to claim 16, characterized in that: The housing and the steering knuckle are integrally formed.

18. The steering module according to claim 16, characterized in that: The steering shaft is arranged on the housing, and at least a portion of the steering shaft extends out of the housing and is connected to a suspension where the wheel is located.

19. The steering module according to claim 16, characterized in that: The housing includes a first shell portion and a second shell portion, the first shell portion is provided with a groove, the transmission assembly is arranged in the groove, the second shell portion covers the groove and is connected to the first shell portion, and the steering motor is fixedly arranged on the second shell portion.

20. The steering module according to claim 19, characterized in that At least one of the first shell part and the second shell part is provided with a slide groove, and the steering shaft further includes a limit pin, and the limit pin cooperates with the slide groove to limit the rotation angle of the steering device around the steering shaft.

21. The steering module according to claim 5, characterized in that The steering knuckle is bent toward the direction where the wheel hub is located to form an installation space on a side away from the wheel, and the steering device is arranged in the installation space.

22. A chassis system, characterized in that: include: wheel; as well as The steering module according to any one of claims 1 to 21.

23. The chassis system according to claim 22, characterized in that: A suspension is also included, and the wheels and the steering module are rotatably connected to the suspension.

24. The chassis system according to claim 23, characterized in that: The suspension includes a first swing arm and a second swing arm spaced apart in a first direction, and the steering device is rotatably disposed between the first swing arm and the second swing arm.

25. A vehicle, characterized in that: A chassis system comprising any one of claims 22-24.

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