Full-vector chassis semi-decoupling steering tie rod structure and execution control method

Abstract

The invention discloses a full-vector chassis semi-decoupling steering tie rod structure and an execution control method. The full-vector chassis semi-decoupling steering tie rod structure comprises a shell; a first rack; the first steering pull rod is connected with the first rack and a steering knuckle of the first angle module; the first gear is meshed with the first rack; the second rack and the first rack are arranged in parallel at an interval; the second steering pull rod is connected with the second rack and a steering knuckle of the second angle module; the second gear is meshed with the second rack; the clutch device is connected with the first gear and the second gear in the combined state and enables the first gear and the second gear to rotate together, and the clutch device disconnects the first gear and the second gear in the separated state. The full-vector chassis semi-decoupling steering tie rod structure has the advantages of being good in high-speed stability, high in low-speed flexibility, high in fault-tolerant capability, large in steering range, simple in structure and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle engineering, and in particular to a semi-decoupled steering tie rod structure of a full vector chassis and an execution control method thereof. Background Art

[0002] With the continuous advancement of automobile technology, the wire-controlled chassis that cancels mechanical connections by using electrical signals is gradually replacing the traditional mechanical chassis and has become a key technology for autonomous vehicles. The wire-controlled steering system is mostly focused on decoupling the control from the actuator, while the full-vector wire-controlled chassis further decouples the execution function to each wheel, making the three independent force vectors of each wheel, including longitudinal force, lateral force and vertical force, all independently controllable. This new chassis form can meet the requirements of high-level autonomous driving and various special application scenarios (such as battlefield combat, natural disaster relief, etc.) for the automobile chassis. The corner module is the basic structural unit of the full-vector wire-controlled chassis, which integrates the drive, braking, steering and suspension functions.

[0003] The full-vector drive-by-wire chassis in related technologies cannot achieve both flexibility and stability, and lacks fault tolerance. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a semi-decoupled steering tie rod structure for a full vector chassis, which has the advantages of good high-speed stability, strong low-speed flexibility, high fault tolerance, large steering range, simple structure, etc.

[0005] The present invention also provides an execution control method having the semi-decoupled steering tie rod structure of the full vector chassis.

[0006] To achieve the above-mentioned purpose, according to an embodiment of the first aspect of the present invention, a semi-decoupled steering tie rod structure for a full-vector chassis is proposed, and the semi-decoupled steering tie rod structure for the full-vector chassis includes: a housing; a first rack, the length direction of which is oriented in the left-right direction, and the first rack is movably arranged on the housing; a first steering rod, the first steering rod is rotatably connected to the first rack and the steering knuckle of the first steering angle module respectively, and the first steering angle module is provided with a first steering drive device and a first braking device; a first gear, the first gear is rotatably arranged on the housing and meshes with the first rack; a second rack, the length direction of which is oriented in the left-right direction, and the first rack is movably arranged on the housing; Two racks are movably arranged on the housing, and the second rack is arranged parallel to and spaced from the first rack; a second steering rod, the second steering rod is rotatably connected to the second rack and the steering knuckle of the second steering angle module respectively, and the second steering angle module is provided with a second steering drive device and a second braking device; a second gear, the second gear is rotatably arranged on the housing and meshes with the second rack; a clutch device, the clutch device has a separated state and a combined state, the clutch device connects the first gear and the second gear in the combined state and makes the first gear and the second gear rotate together, and the clutch device disconnects the first gear and the second gear in the separated state.

[0007] The semi-decoupled steering tie rod structure of the full vector chassis according to the embodiment of the present invention has the advantages of good high-speed stability, strong low-speed flexibility, high fault tolerance, large steering range, simple structure, etc.

[0008] In addition, the semi-decoupled steering tie rod structure of the full vector chassis according to the above embodiment of the present invention may also have the following additional technical features:

[0009] According to one embodiment of the present invention, the clutch device includes: a first clutch member, which is axially movable on the first gear between a disengaged position and an engaged position and rotates together with the first gear; a second clutch member, which is disposed on the second gear, the first clutch member is connected to the second clutch member and rotates together with the second clutch member when in the engaged position, and the first clutch member is separated from the second clutch member when in the disengaged position.

[0010] According to an embodiment of the present invention, the first clutch member is coaxially arranged with the first gear, and the second clutch member is coaxially arranged with the second gear.

[0011] According to an embodiment of the present invention, the end surface of the first clutch member is provided with a first clutch tooth, and the end surface of the second clutch member is provided with a second clutch tooth. When the first clutch member is in the engaging position, the first clutch tooth meshes with the second clutch tooth.

[0012] According to one embodiment of the present invention, the first steering rod includes: a first inner steering rod, one end of which is rotatably connected to one end of the first rack; a first outer steering rod, one end of which is threadedly engaged with the other end of the first inner steering rod and the other end of the first outer steering rod is rotatably connected to the steering knuckle of the first angle module; the second steering rod includes: a second inner steering rod, one end of which is rotatably connected to one end of the second rack; and a second outer steering rod, one end of which is threadedly engaged with the other end of the second inner steering rod and the other end of the second outer steering rod is rotatably connected to the steering knuckle of the second angle module.

[0013] According to an embodiment of the present invention, both the first gear and the second gear are helical gears, and both the first rack and the second rack are helical racks.

[0014] According to an embodiment of the present invention, a dust cover is provided between the housing and the first steering tie rod and between the housing and the second steering tie rod.

[0015] According to an embodiment of the second aspect of the present invention, a method for executing and controlling a semi-decoupled steering tie rod structure of a full vector chassis according to an embodiment of the first aspect of the present invention is proposed, comprising: obtaining a driving speed of the vehicle, and if the driving speed is greater than or equal to a predetermined value, controlling the clutch device to switch to the engaged state; if the driving speed is less than the predetermined value, controlling the clutch device to switch to the disengaged state.

[0016] The execution control method of the semi-decoupled steering tie rod structure of the full vector chassis according to the embodiment of the present invention, by utilizing the semi-decoupled steering tie rod structure of the full vector chassis according to the embodiment of the first aspect of the present invention, has the advantages of good high-speed stability, strong low-speed flexibility, high fault tolerance, large steering range, simple structure, etc.

[0017] According to one embodiment of the present invention, the execution control method of the semi-decoupled steering tie rod structure of the full vector chassis also includes: obtaining the operating status of the first steering drive device and the second steering drive device, and if one of the first steering device and the second steering device fails, controlling the clutch device to switch to the engaged state.

[0018] According to one embodiment of the present invention, the execution control method of the semi-decoupled steering tie rod structure of the full vector chassis also includes: obtaining the braking state of the vehicle, and if the wheel is in an active in-toe braking state, controlling the clutch device to switch to the engagement state.

[0019] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0021] Figure 1 It is a schematic structural diagram of a semi-decoupled steering tie rod structure, a first corner module and a second corner module of a full vector chassis according to an embodiment of the present invention.

[0022] Figure 2 Schematic diagram of the structure of a semi-decoupled steering tie rod structure of a full vector chassis according to an embodiment of the present invention.

[0023] Figure 3 is an exploded view of a semi-decoupled steering tie rod structure of a full vector chassis according to an embodiment of the present invention.

[0024] Figure 4 Schematic diagram of an execution control method of a semi-decoupled steering tie rod structure of a full vector chassis according to an embodiment of the present invention.

[0025] Figure numerals: full vector chassis semi-decoupled steering tie rod structure 1, first rack 10, first steering tie rod 20, first steering inner tie rod 21, first steering outer tie rod 22, first gear 30, second rack 40, second steering tie rod 50, second steering inner tie rod 51, second steering outer tie rod 52, second gear 60, clutch device 70, first clutch component 71, second clutch component 72, first angle module 2, second angle module 3. DETAILED DESCRIPTION

[0026] This application is based on the inventor's discovery and understanding of the following facts and problems:

[0027] The full-vector drive-by-wire chassis in related technologies cannot achieve both flexibility and stability, and lacks fault tolerance.

[0028] Specifically, since each corner module of the full-vector wire-controlled chassis independently performs driving, braking, steering and other functions, problems such as wheel shimmy and left-right asynchronous steering may occur easily, affecting vehicle stability. If two corner modules are connected to form axle steering, this will affect vehicle flexibility. Moreover, if some functions of the corner modules fail, there is a lack of redundant fault tolerance.

[0029] In addition, in some steering systems in the related art, the steering motor is connected to the rack and pinion mechanism through a commutator, and the rack is then connected to the wheels to achieve steering. The commutators of the same group of wheels are connected or disconnected through a clutch to achieve synchronous steering or independent steering. However, on the one hand, such steering systems are not used for full-vector wire-controlled chassis. Their steering motor drives the rack and pinion structure and then drives the wheel steering. It is not independently arranged on the corner module, which is different from the full-vector wire-controlled chassis targeted by this application. On the other hand, it uses a commutator to realize the transmission of the clutch, steering motor and rack and pinion mechanism, and has a complex structure, more transmission steps and poor stability.

[0030] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0031] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0032] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] The following describes a semi-decoupled steering tie rod structure 1 for a full vector chassis according to an embodiment of the present invention with reference to the accompanying drawings.

[0034] like Figure 1-Figure 4As shown, the semi-decoupled steering tie rod structure 1 of the full vector chassis according to an embodiment of the present invention includes a housing (not shown in the figure), a first rack 10, a first steering rod 20, a first gear 30, a second rack 40, a second steering rod 50, a second gear 60 and a clutch device 70.

[0035] The length direction of the first rack 10 is oriented in the left-right direction (the left-right direction is indicated by the arrow in the figure), and the first rack 10 is arranged on the housing so as to be movable left-right. The first steering tie rod 20 is rotatably connected to the first rack 10 and the steering knuckle of the first angle module 2, respectively, and the first angle module 2 is provided with a first steering drive device and a first brake device. The first gear 30 is rotatably arranged on the housing and meshes with the first rack 10.

[0036] The length direction of the second rack 40 is oriented in the left-right direction. The second rack 40 is movably arranged on the housing. The second rack 40 is arranged parallel to and spaced from the first rack 10. The second steering tie rod 50 is rotatably connected to the second rack 40 and the steering knuckle of the second corner module 3, respectively. The second corner module 3 is provided with a second steering drive device and a second braking device. The second gear 60 is rotatably arranged on the housing and meshes with the second rack 40.

[0037] The clutch device 70 has a separation state and a connection state. In the connection state, the clutch device 70 connects the first gear 30 and the second gear 60 and makes the first gear 30 and the second gear 60 rotate together. In the separation state, the clutch device 70 disconnects the first gear 30 and the second gear 60.

[0038] Specifically, the steering drive of the first corner module 2 by the first steering drive device is transmitted to the first rack 10 through the first steering rod 20, and then transmitted to the first gear 30 through the engagement of the first rack 10 with the first gear 30. The steering drive of the second corner module 3 by the second steering drive device is transmitted to the second rack 40 through the second steering rod 50, and then transmitted to the second gear 60 through the engagement of the second rack 40 with the second gear 60.

[0039] When the clutch device 70 is in the disengaged state, the first gear 30 and the second gear 60 are disengaged from each other and can rotate relative to each other. At this time, the steering drive force of the first corner module 2 and the second corner module 3 will not be transmitted to each other through the clutch device 70, and the first corner module 2 and the second corner module 3 can be turned independently without affecting each other. When the clutch device 70 is in the engaged state, the first gear 30 and the second gear 60 are connected by the clutch device 70 and the first gear 30 and the second gear 60 rotate together. At this time, the steering drive force of the first corner module 2 and the second corner module 3 will be transmitted to each other through the clutch device 70, so that the steering movements of the first corner module 2 and the second corner module 3 can affect each other, forming an axial steering form, and the first steering drive device and the second steering drive device can be redundant with each other.

[0040] For example, Figure 4 As shown in a, when the vehicle is traveling at medium or low speeds, the turning angles of the left and right wheels may be large. To ensure the flexibility of the vehicle, the clutch device 70 can be controlled to switch to a disengaged state so that the steering movements of the first corner module 2 and the second corner module 3 do not affect each other.

[0041] like Figure 4 As shown in b, when the vehicle is running at high speed, the turning angles of the left and right wheels are generally small. To ensure the stability of the vehicle, the clutch device 70 can be controlled to switch to the combined state, so that the horizontal movement distances of the first rack 10 and the second rack 40 are consistent and the directions are opposite, so that the steering movements of the first angle module 2 and the second angle module 3 are coupled and converted into an axis steering form. On the one hand, it can ensure the improvement of the rigidity of the entire steering system and avoid the problem of wheel shimmy. On the other hand, the coupling of the first angle module 2 and the second angle module 3 can ensure the coordination of the movement of the first angle module 2 and the second angle module 3 under high-frequency steering and improve the stability of the whole vehicle. At the same time, the first steering drive device and the second steering drive device can be redundant with each other. When one of the first steering drive device and the second steering drive device fails, the other can be used to achieve steering drive to improve the fault tolerance of the entire system.

[0042] like Figure 4 As shown in c, when one of the first steering drive device and the second steering drive device fails, the figure shows an example of the failure of the steering drive device of one of the two corner modules on the rear side of the vehicle. At this time, the clutch device 70 can be switched to the engaged state, and the failed steering drive device can be driven by the non-failed steering drive device through the full vector chassis semi-decoupled steering tie rod structure 1 to steer.

[0043] like Figure 4As shown in middle d, when the vehicle needs to adopt active inner-to-eight braking of the wheels, that is, the left wheel turns right and the right wheel turns left at the same time, for example, when the first braking device and the second braking device both fail and the braking performance of the vehicle is significantly deteriorated, the structural strength and rigidity of a single corner module are difficult to achieve active inner-to-eight braking relying solely on its own steering drive device. At this time, after the wheel rotates to the inner-to-eight active braking state, the clutch device 70 can be switched to the engaged state to increase the rigidity and strength of the system and improve the braking effect.

[0044] According to the semi-decoupled steering tie rod structure 1 of the full vector chassis of the embodiment of the present invention, by providing the first rack 10, the first steering rod 20, the first gear 30, the second rack 40, the second steering rod 50 and the second gear 60, the steering drive of the first angle module 2 can be transmitted to the first rack 10 through the first steering rod 20, and then transmitted to the first gear 30 through the engagement of the first rack 10 with the first gear 30, and the steering drive of the second angle module 3 can be transmitted to the second rack 40 through the second steering rod 50, and then transmitted to the second gear 60 through the engagement of the second rack 40 with the second gear 60. In addition, by providing the clutch device 70, the clutch device 70 has a separation state and a combination state. When the clutch device 70 is in the separation state, the first gear 30 and the second gear 60 are disengaged from each other and can rotate relative to each other. At this time, the steering drive forces of the first angle module 2 and the second angle module 3 will not be transmitted to each other through the clutch device 70, and the first angle module 2 and the second angle module 3 can be steered independently without affecting each other. When the clutch device 70 is in the engaged state, the first gear 30 and the second gear 60 are connected through the clutch device 70 and the first gear 30 and the second gear 60 rotate together. At this time, the steering drive force of the first angle module 2 and the second angle module 3 will be transmitted to each other through the clutch device 70, so that the steering movements of the first angle module 2 and the second angle module 3 can affect each other, forming an axial steering form, and the first steering drive device and the second steering drive device can be redundant with each other.

[0045] Therefore, when the clutch device 70 is disconnected, the steering of the first corner module 2 and the second corner module 3 are independent of each other, and this is an independent steering form, which can improve the flexibility of the vehicle. When the clutch device 70 is engaged, the first corner module 2 and the second corner module 3 can form a traditional axis steering form, which ensures the high-speed stability of the vehicle, improves the rigidity of the steering system, and makes the first corner module 2 and the second corner module 3 redundant to each other, thereby ensuring the fault tolerance after steering and braking failure.

[0046] In addition, by using a pull rod to connect the rack and the steering knuckle, the rack is meshed with the gear, the gears are connected by a clutch, and the second rack 40 is arranged parallel to the first rack 10, not only can the horizontal movement of the rack be converted into gear rotation, but also the racks can be prevented from interfering with each other, thereby avoiding affecting the steering range of the angle module and improving the steering range. In addition, compared with the commutator connection method used in related technologies, the structure is simpler and more stable.

[0047] Therefore, the semi-decoupled steering tie rod structure 1 of the full vector chassis according to the embodiment of the present invention has the advantages of good high-speed stability, strong low-speed flexibility, high fault tolerance, large steering range, simple structure, etc.

[0048] The following describes a semi-decoupled steering tie rod structure 1 for a full vector chassis according to a specific embodiment of the present invention with reference to the accompanying drawings.

[0049] In some specific embodiments of the present invention, Figure 1-Figure 4 As shown, the semi-decoupled steering tie rod structure 1 of the full vector chassis according to the embodiment of the present invention includes a housing, a first rack 10, a first steering tie rod 20, a first gear 30, a second rack 40, a second steering tie rod 50, a second gear 60 and a clutch device 70.

[0050] Specifically, Figure 1-Figure 3 As shown, the clutch device 70 includes a first clutch member 71 and a second clutch member 72. The first clutch member 71 is axially movable between the separation position and the combination position and is arranged on the first gear 30 and rotates with the first gear 30. The second clutch member 72 is arranged on the second gear 60, and the first clutch member 71 is connected to the second clutch member 72 in the combination position and rotates with the second clutch member 72, and the first clutch member 71 is separated from the second clutch member 72 in the separation position. Specifically, when the clutch device 70 is in the separation state, the first clutch member 71 is in the separation position, and when the clutch device 70 is in the combination state, the first clutch member 71 is in the combination position. The clutch device 70 can be an electromagnetic clutch device and is driven by an electromagnet and a spring. In this way, the combination or separation of the clutch device 70 can be achieved by the movement of the first clutch member 71, and the clutch member is directly arranged on the gear, which can reduce the transmission process and further improve the stability.

[0051] More specifically, Figure 1-Figure 3 As shown, the first clutch member 71 is coaxially arranged with the first gear 30, and the second clutch member 72 is coaxially arranged with the second gear 60. In this way, the stability of the semi-decoupled steering tie rod structure 1 of the full vector chassis can be further improved.

[0052] Furthermore, if Figure 1-Figure 3As shown, the end surface of the first clutch member 71 is provided with a first clutch tooth, and the end surface of the second clutch member 72 is provided with a second clutch tooth, and the first clutch tooth is meshed with the second clutch tooth when the first clutch member 71 is in the combined position. In this way, the first clutch member 71 can drive the second clutch member 72 to rotate together when in the combined position.

[0053] Figure 3 The semi-decoupled steering tie rod structure 1 of the full vector chassis according to some examples of the present invention is shown. Figure 3 As shown, the first steering tie rod 20 includes a first inner steering tie rod 21 and a first outer steering tie rod 22. One end of the first inner steering tie rod 21 is rotatably connected to one end of the first rack 10. One end of the first outer steering tie rod 22 is threadedly engaged with the other end of the first inner steering tie rod 21, and the other end of the first outer steering tie rod 22 is rotatably connected to the steering knuckle of the first angle module 2. Specifically, the first inner steering tie rod 21 is connected to the first rack 10 through a ball bearing, and the first outer steering tie rod 22 is connected to the steering knuckle of the first angle module 2 through a fisheye bearing.

[0054] The second steering tie rod 50 includes a second inner steering tie rod 51 and a second outer steering tie rod 52. One end of the second inner steering tie rod 51 is rotatably connected to one end of the second rack 40. One end of the second outer steering tie rod 52 is threadedly engaged with the other end of the second inner steering tie rod 51, and the other end of the second outer steering tie rod 52 is rotatably connected to the steering knuckle of the second corner module 3. Specifically, the second inner steering tie rod 51 is connected to the second rack 40 via a ball bearing, and the second outer steering tie rod 52 is connected to the steering knuckle of the second corner module 3 via a fisheye bearing.

[0055] This makes it easier to dispose the first steering tie rod 20 and the second steering tie rod 50 , and to adjust the lengths of the first steering tie rod 20 and the second steering tie rod 50 .

[0056] Optionally, the first gear 30 and the second gear 60 are both helical gears, and the first rack 10 and the second rack 40 are both helical racks, which can make the transmission between the gears and racks smoother.

[0057] Advantageously, a dust cover is provided between the housing and the first steering tie rod 20 and between the housing and the second steering tie rod 50. This can prevent dust from entering the housing and ensure the lubrication performance of each structure in the housing.

[0058] The following describes the execution control method of the semi-decoupled steering tie rod structure 1 of the full vector chassis according to the above embodiment of the present invention.

[0059] The driving speed of the vehicle is obtained. If the driving speed is greater than or equal to a predetermined value, the clutch device 70 is controlled to switch to the engaged state. If the driving speed is less than the predetermined value, the clutch device 70 is controlled to switch to the disengaged state.

[0060] The execution control method of the full vector chassis semi-decoupled steering tie rod structure 1 according to the embodiment of the present invention, by utilizing the full vector chassis semi-decoupled steering tie rod structure 1 according to the above embodiment of the present invention, has the advantages of good high-speed stability, strong low-speed flexibility, high fault tolerance, large steering range, simple structure, etc.

[0061] Advantageously, the execution control method of the semi-decoupled steering tie rod structure 1 of the full vector chassis also includes: obtaining the operating status of the first steering drive device and the second steering drive device, and if one of the first steering device and the second steering device fails, controlling the clutch device 70 to switch to the engaged state.

[0062] More advantageously, the execution control method of the full vector chassis semi-decoupled steering tie rod structure 1 also includes:

[0063] The braking state of the vehicle is obtained, and if the vehicle is in the active inward-facing braking state of the wheels, the clutch device 70 is controlled to switch to the engagement state.

[0064] Therefore, the clutch device 70 can be disconnected under medium and low speed conditions, so that the steering movements of the first corner module 2 and the second corner module 3 are independent of each other, thereby improving the low-speed driving flexibility of the vehicle; under high-speed conditions, the clutch device 70 is engaged, and the first corner module 2 and the second corner module 3 form traditional axle steering, thereby ensuring the high-speed stability of the vehicle and avoiding the influence of wheel shimmy and left-right asynchronous steering on the stability of the vehicle; when the steering function of one of the first corner module 2 and the second corner module 3 fails, the corner module whose steering function has not failed can control the corner module whose steering function has failed on the other side through the full-vector chassis semi-decoupled steering tie rod structure 1, thereby realizing mutual redundancy of the first corner module 2 and the second corner module 3; when the vehicle needs to adopt active inner-toe braking of the wheels, for example, when both the first braking device and the second braking device fail, resulting in a significant deterioration in the braking performance of the vehicle, the clutch device 70 can be switched to the engaged state after the wheel rotates to the inner-toe active braking state, so as to improve the stiffness and strength of the system and improve the braking effect.

[0065] The semi-decoupled steering tie rod structure 1 of the full vector chassis and other structures and operations of the execution control method according to the embodiment of the present invention are well known to those skilled in the art and will not be described in detail here.

[0066] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0067] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A semi-decoupled steering tie rod structure for a full vector chassis, characterized in that: include: case; A first rack, wherein the length direction of the first rack is oriented in the left-right direction, and the first rack is movably disposed on the housing; A first steering tie rod, the first steering tie rod is rotatably connected to the first rack and the steering knuckle of the first angle module respectively, and the first angle module is provided with a first steering drive device and a first brake device; a first gear, the first gear being rotatably disposed on the housing and meshing with the first rack; a second rack, wherein the length direction of the second rack is oriented in the left-right direction, the second rack is disposed on the housing so as to be movable left-right, and the second rack is disposed parallel to the first rack and spaced apart; a second steering tie rod, the second steering tie rod being rotatably connected to the second rack and the steering knuckle of the second angle module respectively, and the second angle module being provided with a second steering drive device and a second braking device; a second gear, the second gear being rotatably disposed on the housing and meshing with the second rack; The clutch device has a separation state and a connection state. In the connection state, the clutch device connects the first gear and the second gear and makes the first gear and the second gear rotate together. In the separation state, the clutch device disconnects the first gear and the second gear.

2. The semi-decoupled steering tie rod structure of the full vector chassis according to claim 1 is characterized in that: The clutch device comprises: A first clutch member, the first clutch member is axially movable on the first gear between a disengaged position and an engaged position and rotates together with the first gear; The second clutch is arranged on the second gear, the first clutch is connected with the second clutch and rotates together with the second clutch when in the engaged position, and the first clutch is separated from the second clutch when in the separated position.

3. The semi-decoupled steering tie rod structure of the full vector chassis according to claim 2 is characterized in that: The first clutch member is coaxially arranged with the first gear, and the second clutch member is coaxially arranged with the second gear.

4. The semi-decoupled steering tie rod structure of the full vector chassis according to claim 2 is characterized in that: The end surface of the first clutch member is provided with a first clutch tooth, and the end surface of the second clutch member is provided with a second clutch tooth. When the first clutch member is in the combined position, the first clutch tooth is meshed with the second clutch tooth.

5. The semi-decoupled steering tie rod structure of the full vector chassis according to claim 1 is characterized in that: The first steering tie rod comprises: a first inward-turning tie rod, one end of which is rotatably connected to one end of the first rack; A first steering outer tie rod, one end of which is threadedly engaged with the other end of the first steering inner tie rod and the other end of which is rotatably connected to the steering knuckle of the first angle module; The second steering tie rod comprises: a second inward-steering tie rod, one end of which is rotatably connected to one end of the second rack; A second steering outer tie rod, one end of which is threadedly matched with the other end of the second steering inner tie rod and the other end of the second steering outer tie rod is rotatably connected to the steering knuckle of the second angle module.

6. The semi-decoupled steering tie rod structure of the full vector chassis according to claim 1, characterized in that: The first gear and the second gear are both helical gears, and the first rack and the second rack are both helical racks.

7. The semi-decoupled steering tie rod structure of the full vector chassis according to claim 1, characterized in that: A dust cover is provided between the housing and the first steering tie rod and between the housing and the second steering tie rod.

8. An execution control method for a semi-decoupled steering tie rod structure of a full vector chassis according to any one of claims 1 to 7, characterized in that: include: The driving speed of the vehicle is obtained. If the driving speed is greater than or equal to a predetermined value, the clutch device is controlled to switch to the engaged state. If the driving speed is less than the predetermined value, the clutch device is controlled to switch to the disengaged state.

9. The execution control method of the semi-decoupled steering tie rod structure of the full vector chassis according to claim 8 is characterized in that: Also includes: The operating states of the first steering drive device and the second steering drive device are obtained, and if one of the first steering device and the second steering device fails, the clutch device is controlled to switch to the engagement state.

10. The execution control method of the semi-decoupled steering tie rod structure of the full vector chassis according to claim 8, characterized in that: Also includes: The braking state of the vehicle is obtained, and if the vehicle is in the active inward-facing braking state of the wheels, the clutch device is controlled to switch to the engagement state.

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