Vehicle steering device and vehicle

Abstract

The invention discloses a steering device of a vehicle and the vehicle. The steering device comprises a steering knuckle, a steering assembly and a limiting part, the steering assembly is used for being in transmission connection with the steering knuckle to achieve wheel steering, and the limiting part is connected with the steering assembly and used for limiting rotation of the steering assembly along with wheels. According to the steering device, by arranging the limiting part, redundant rotation of the steering mechanism is restrained, rotation of the steering assembly along with the wheels is limited, large-range adjustment of the steering angle of the wheels is achieved, and the requirement of a user for the large steering angle of the wheels can be met.

Description

Technical Field

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

[0002] The vehicle has a steering device, which includes a steering knuckle, a steering mechanism, and a steering motor. The steering motor drives the steering knuckle to steer through the steering mechanism, and the steering knuckle drives the wheels to steer. In the related art, when the wheels bounce up and down, the steering mechanism is easy to rotate, resulting in a small steering angle range of the wheels, which cannot meet the user's demand for a large steering angle. Therefore, there is room for improvement. Summary of the invention

[0003] The present application aims to solve at least one of the above technical problems in the prior art to a certain extent. To this end, the present application proposes a steering device for a vehicle, which can achieve a wide range of adjustment of the steering angle of the wheel.

[0004] The application also proposes a vehicle having the steering device.

[0005] According to an embodiment of the present application, the steering device of the vehicle includes: a steering knuckle, a steering assembly and a limiting portion, wherein the steering assembly is used to be transmission-connected to the steering knuckle to achieve wheel steering, and the limiting portion is connected to the steering assembly, and the limiting portion is used to limit the steering assembly from rotating with the wheel.

[0006] According to the steering device of the embodiment of the present application, by setting a limit part, the unnecessary rotation of the steering mechanism is restrained, and the steering component is restricted from rotating with the wheel, thereby realizing a wide range of adjustment of the wheel steering angle and meeting the user's demand for a large wheel steering angle.

[0007] According to some embodiments of the present application, the steering assembly includes a steering mechanism, which includes a steering housing and a steering transmission component, the steering transmission component is arranged in the steering housing, the part of the steering knuckle extending into the steering housing is transmitted to the steering transmission component, and one end of the limiting portion is rotatably connected to the steering housing.

[0008] According to some embodiments of the present application, the steering assembly further includes a steering motor, which is mounted on the steering housing, and is used to drive the steering transmission member to move so as to drive the steering knuckle to steer.

[0009] According to some embodiments of the present application, the steering device also includes: a first fork arm and a second fork arm, wherein one end of the first fork arm is rotationally connected to the steering knuckle, and the other end of the first fork arm is suitable for rotationally connected to the vehicle body; the second fork arm is spaced apart from the first fork arm in the up and down directions of the vehicle, and one end of the second fork arm is rotationally connected to the steering knuckle, and the other end of the second fork arm is suitable for rotationally connected to the subframe.

[0010] According to some embodiments of the present application, the other end of the limiting portion is rotatably connected to at least one of the vehicle body and the sub-frame.

[0011] According to some embodiments of the present application, the limiting portion includes a first traction arm and a second traction arm, the first traction arm is located on a side of the second traction arm away from the center of the vehicle, the first traction arm has a first connecting tube and a first mounting tube, the second traction arm has a second connecting tube and a second mounting tube, the first connecting tube and the second connecting tube are both rotatably connected to the steering housing, the first mounting tube is rotatably connected to the vehicle body or the subframe, and the second mounting tube is rotatably connected to the vehicle body or the subframe.

[0012] According to some embodiments of the present application, the center point of the rotational connection between the first fork arm and the steering knuckle is the first center point, the center point of the rotational connection between the second fork arm and the steering knuckle is the second center point, and the line connecting the first center point and the second center point is the kingpin axis; the line connecting the center of the first connecting tube and the center of the first mounting tube, and the line connecting the center of the second connecting tube and the center of the second mounting tube intersect at the same point on the kingpin axis.

[0013] According to some embodiments of the present application, the first traction arm includes a first arm first section and a first arm second section, the first connecting tube is arranged on the first arm first section, the first mounting tube is arranged on the first arm second section, and the first arm second section is bent relative to the first arm first section in a direction away from the second traction arm.

[0014] According to some embodiments of the present application, the second traction arm includes a second arm first section and a second arm second section, the second connecting tube is arranged on the second arm first section, the second mounting tube is arranged on the second arm second section, and the second arm second section is bent relative to the second arm first section in a direction away from the first traction arm.

[0015] According to some embodiments of the present application, the other end of the limiting portion is rotatably connected to the second fork arm.

[0016] According to some embodiments of the present application, a rotating shaft is provided on the second fork arm, and the rotating shaft and the second fork arm can rotate relative to each other, and the limiting portion includes at least one slide rail structure, and the slide rail structure includes a first slide tube and a second slide tube, and the first slide tube and the second slide tube are at least partially nested. The first slide tube is rotationally connected to the steering housing, and the second slide tube is rotationally connected to the rotating shaft to achieve a rotational connection with the second fork arm.

[0017] According to some embodiments of the present application, there are two sliding rail structures, wherein the second sliding tube of one sliding rail structure is suitable for rotationally connecting with one end of the second fork arm extending from the rotating shaft, and the second sliding tube of the other sliding rail structure is suitable for rotationally connecting with the other end of the second fork arm extending from the rotating shaft.

[0018] According to some embodiments of the present application, the second sliding tubes of the two sliding rail structures are fixedly connected by a connecting rod.

[0019] According to some embodiments of the present application, the second fork arm has a fork arm hole with two ends passing through, the rotating shaft passes through the fork arm hole and extends outward from the fork arm hole, a fork arm bearing is provided between the fork arm hole and the rotating shaft, seals are provided at both ends of the fork arm hole, and the rotating shaft passes through the seals.

[0020] According to some embodiments of the present application, a sliding groove is provided on one of the second fork arm and the steering housing, and a sliding yoke is provided on the other, and the sliding yoke is slidably matched with the sliding groove.

[0021] According to some embodiments of the present application, a slide groove is provided on the second fork arm, and the slide groove extends along the height direction of the vehicle. A slider is provided in the slide groove, and the slider can slide along the slide groove. A pin is provided on the slider, and the pin is connected to the steering housing through a double ball head secondary connecting rod.

[0022] According to some embodiments of the present application, the steering transmission component includes: a first gear and a second gear, the steering motor is used to drive the first gear to rotate, the second gear is fixed to the steering knuckle, and the second gear is meshed with the first gear for transmission; wherein, the first gear and the second gear are both sector gears.

[0023] According to some embodiments of the present application, the wheel includes a rim, and the steering mechanism is at least partially located inside the rim.

[0024] According to some embodiments of the present application, when the steering assembly drives the steering knuckle to turn, the wheel is driven to turn, and the steering angle range of the wheel reaches a preset angle value, and the preset angle value is not less than 120°.

[0025] According to some embodiments of the present application, when the wheel is in an initial position, the axis of the wheel is parallel to the left-right direction of the vehicle; the wheel can be turned from the initial position along a first direction until the angle between the axis of the wheel and the left-right direction of the vehicle is a first angle; the wheel can be turned from the initial position along a second direction until the angle between the axis of the wheel and the left-right direction of the vehicle is a second angle; wherein the first direction and the second direction are opposite directions, the first angle is greater than the second angle, and the sum of the angle values ​​of the first angle and the second angle is equal to the preset angle value.

[0026] According to some embodiments of the present application, the preset angle value is 135°, the first angle is 90°, and the second angle is 45°.

[0027] According to some embodiments of the present application, the steering device also includes: a hub motor, the hub motor includes a motor stator and a motor rotor, the motor rotor is connected to the wheel, the motor rotor can rotate relative to the motor stator, and the motor rotor can drive the wheel to rotate when it rotates, and the steering knuckle is connected to the motor stator.

[0028] According to some embodiments of the present application, the vehicle includes a shock absorber, a first end of the shock absorber is a vehicle body connection end, and a second end of the shock absorber is rotatably connected to the second fork arm; the first fork arm includes a main arm, a first branch arm and a second branch arm, the first branch arm and the second branch arm are both connected to the main arm, an end of the main arm away from the first branch arm and the second branch arm is rotatably connected to the first end of the steering knuckle, the first branch arm and the second branch arm both have a first fork arm mounting structure for connecting to the vehicle body, a fork arm space is enclosed between the first branch arm and the second branch arm, and the shock absorber at least partially passes through the fork arm space.

[0029] A vehicle according to another embodiment of the present application includes the above-mentioned steering device.

[0030] According to the vehicle embodiment of the present application, the steering device thereof constrains the unnecessary rotation of the steering mechanism by setting a limit portion, and limits the steering assembly from rotating with the wheel, thereby realizing a wide range of adjustment of the wheel steering angle, which can meet the user's demand for a large wheel steering angle.

[0031] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a schematic diagram of a steering device according to an embodiment of the present application;

[0033] Figure 2 yes Figure 1 A schematic diagram of the steering device shown after removing the second housing of the steering housing;

[0034] Figure 3 It is a schematic diagram of the wheels and steering device when the vehicle is in the initial position;

[0035] Figure 4 is a schematic diagram of the wheels and steering device when the vehicle is in the first extreme position;

[0036] Figure 5 is a schematic diagram of the wheels and the steering device when the vehicle is in the second extreme position;

[0037] Figure 6 yes Figure 1 A schematic diagram of a first traction arm of the steering device shown;

[0038] Figure 7 yes Figure 1 A schematic diagram of a second traction arm of the steering device shown;

[0039] Figure 8 is a schematic diagram of a steering device according to another embodiment of the present application;

[0040] Fig. 9 yes Figure 8 A partial enlarged schematic diagram of point B in the middle;

[0041] Fig.10 yes Figure 1 A schematic diagram of two slide rail structures of the steering device shown;

[0042] Fig.11 It is a schematic diagram of a single slide rail structure;

[0043] Fig.12 is a schematic diagram of a vehicle according to an embodiment of the present application;

[0044] Fig.13 is a schematic diagram of four wheels and four steering devices when the vehicle is in the first extreme position;

[0045] Fig.14 It is a schematic diagram of the four wheels and four steering devices when the vehicle is in the second extreme position.

[0046] Reference numerals:

[0047] Vehicle 100, steering device 10, first fork arm 1, first support arm 11, second support arm 12, main arm 13, first fork arm mounting structure 14, fork arm space 15, second fork arm 2, second fork arm mounting structure 21, steering knuckle 3, steering connection part 31, steering mechanism 4, steering housing 41, first housing 411, second housing 412, steering transmission member 42, first gear 421, second gear 422, first bearing 43, second bearing 44, limiter 5, first traction arm 51, first connection Cylinder 511, first mounting cylinder 512, first arm first section 513, first arm second section 514, second traction arm 52, second connecting cylinder 521, second mounting cylinder 522, second arm first section 523, second arm second section 524, slide rail structure 53, first slide tube 531, second slide tube 532, dust cover 533, slide rail ball head 534, connecting rod 535, steering motor 6, rotating shaft 7, fork arm bearing 71, seal 72, fastening nut 73, reducer 8, wheel 20, shock absorber 30. DETAILED DESCRIPTION

[0048] Embodiments of the present application are described in detail below, and examples of the embodiments 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 intended to be used to explain the present application, and should not be construed as limiting the present application.

[0049] In the description of the present application, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0050] Combine the following Figure 1-Figure 14 A steering device 10 of a vehicle 100 and a vehicle 100 having the steering device 10 according to an embodiment of the present application are described in detail.

[0051] Reference Figure 1-Figure 5 , Figure 8 As shown, the vehicle 100 includes a vehicle body, a subframe and a wheel 20, the vehicle body is mounted above the subframe, and the wheel 20 can rotate around its own axis and can also turn. The steering device 10 according to the embodiment of the present application is used for the vehicle 100, and the steering device 10 may include a steering knuckle 3, a steering assembly and a limiting portion 5, the steering assembly is used to be connected to the steering knuckle 3 to achieve the steering of the wheel 20, the limiting portion 5 is connected to the steering assembly, and the limiting portion 5 is used to limit the steering assembly from rotating with the wheel 20.

[0052] If the steering assembly rotates with the wheel 20, a large-angle steering of the wheel 20 cannot be achieved. Therefore, the steering device 10 according to the embodiment of the present application, by setting a limit portion 5, the redundant rotation of the steering mechanism 4 is constrained, and the steering assembly is restricted from rotating with the wheel 20, thereby achieving a wide range of adjustment of the steering angle of the wheel 20, which can meet the user's demand for a large steering angle of the wheel 20.

[0053] In some embodiments, reference Figure 1-Figure 2 , Figure 8-Figure 9 As shown, the steering assembly includes a steering mechanism 4, which includes a steering housing 41 and a steering transmission member 42. The steering transmission member 42 is arranged in the steering housing 41. The steering housing 41 can protect the internal steering transmission member 42 to prevent the steering transmission member 42 from colliding with other parts around the steering device 10. The part of the steering knuckle 3 extending into the steering housing 41 is transmitted to the steering transmission member 42. The steering transmission member 42 is used to transmit power to drive the steering knuckle 3 to steer.

[0054] In some embodiments, the steering housing 41 may include a first housing 411 and a second housing 412, and the first housing 411 and the second housing 412 may be detachably connected, for example, the first housing 411 and the second housing 412 may be detachably connected by bolt connection, snap connection, etc. This facilitates the installation of the steering transmission member 42 in the steering housing 41.

[0055] A bearing is provided between the steering knuckle 3 and the steering housing 41, thereby avoiding friction between the steering knuckle 3 and the steering housing 41. Specifically, a first shell hole for the steering knuckle 3 to extend is provided on the first housing 411, and an upper bearing is provided between the steering knuckle 3 and the first housing 411, thereby avoiding friction between the steering knuckle 3 and the first housing 411. A second shell hole for the steering knuckle 3 to extend is provided on the second housing 412, and a first bearing 43 is provided between the steering knuckle 3 and the second housing 412, thereby avoiding friction between the steering knuckle 3 and the second housing 412.

[0056] In some embodiments, the limiter 5 is rotatably connected to the steering housing 41, so that the limiter 5 can constrain the steering housing 41, prevent the steering housing 41 from rotating at will, and limit the steering assembly from rotating with the wheel 20. In other words, when the wheel 20 is turning, the limiter 5 will restrain the tendency of the steering mechanism 4 to rotate left and right, and limit the steering mechanism 4 from rotating with the wheel 20, so as to ensure the normal steering action of the wheel 20.

[0057] It should be pointed out that the rotational connection between the two parts mentioned in the present application may refer to a direct rotational connection between the two parts or an indirect rotational connection between the two parts. For example, the first part is first connected to the middle part (which may be a fixed connection or a rotational connection), and the middle part is then rotationally connected to the second part.

[0058] In some embodiments, the steering device 10 further includes: a first fork arm 1 and a second fork arm 2. The first fork arm 1 and the second fork arm 2 constitute a double fork arm structure, wherein one end of the first fork arm 1 is rotationally connected to the steering knuckle 3, and the other end of the first fork arm 1 is rotationally connected to the vehicle body. The second fork arm 2 is spaced apart from the first fork arm 1 in the up-down direction of the vehicle 100, one end of the second fork arm 2 is rotationally connected to the steering knuckle 3, and the other end of the second fork arm 2 is rotationally connected to the subframe. Specifically, in the up-down direction of the vehicle 100, the first fork arm 1 is located above the second fork arm 2, the first fork arm 1 is rotationally connected to the upper end of the steering knuckle 3, and the second fork arm 2 is rotationally connected to the lower end of the steering knuckle 3.

[0059] Specifically, the steering knuckle 3 passes through the steering housing 41 , the upper end of the steering knuckle 3 extends upward from the upper side of the steering housing 41 to be rotationally connected to the first fork arm 1 , and the lower end of the steering knuckle 3 extends downward from the lower side of the steering housing 41 to be rotationally connected to the second fork arm 2 .

[0060] Specifically, when the steering knuckle 3 turns, the first fork arm 1 and the steering knuckle 3 can rotate relative to each other at the connection between the two. Optionally, a first ball head can be provided at one end of the first fork arm 1, and the first ball head is hingedly connected to the steering knuckle 3; or, a first ball head is provided on the steering knuckle 3, and the first ball head is hingedly connected to the first fork arm 1. In this way, the relative rotation direction between the first fork arm 1 and the steering knuckle 3 is more flexible and changeable, and universal adjustment is achieved, and the first fork arm 1 and the steering knuckle 3 are not easy to get stuck at the connection between the two.

[0061] Similarly, when the steering knuckle 3 turns, the second fork arm 2 and the steering knuckle 3 can rotate relative to each other at the connection between the two. A second ball head can be provided at one end of the second fork arm 2, and the second ball head is hingedly connected to the steering knuckle 3; or a second ball head is provided on the steering knuckle 3, and the second ball head is hingedly connected to the second fork arm 2. In this way, the relative rotation direction between the second fork arm 2 and the steering knuckle 3 is more flexible and changeable, achieving universal adjustment, and the second fork arm 2 and the steering knuckle 3 are not easy to get stuck at the connection between the two.

[0062] In some embodiments, the other end of the first fork arm 1 can be rotatably connected to the vehicle body through a ball joint structure. In this way, the relative rotation direction between the first fork arm 1 and the vehicle body is more flexible and changeable, achieving universal adjustment, and the first fork arm 1 and the vehicle body are not easily stuck at the connection between the two.

[0063] In some embodiments, the other end of the second fork arm 2 can be rotatably connected to the sub-frame through a ball joint structure, so that the relative rotation direction between the second fork arm 2 and the sub-frame is more flexible and changeable, achieving universal adjustment, and the second fork arm 2 and the sub-frame are not easily stuck at the connection between the two.

[0064] In some embodiments, the steering assembly further includes a steering motor 6 , which is mounted on the steering housing 41 . The steering motor 6 is used to drive the steering transmission member 42 to move so as to drive the steering knuckle 3 to steer.

[0065] In some embodiments, when the steering assembly drives the steering knuckle 3 to turn, the wheel 20 is driven to turn, and the steering angle range of the wheel 20 reaches a preset angle value, and the preset angle value is not less than 120°. For example, the preset angle value can be 120°, 125°, 130°, 135°, etc., or other values ​​not less than 120°.

[0066] The steering knuckle 3 is used to drive the wheel 20 to turn. It should be noted that "the steering angle range of the wheel 20 reaches the preset angle value" means that when the wheel 20 turns from one extreme position to another extreme position, the steering angle is the preset angle value. For example, Figure 4 The wheel 20 is shown in a first extreme position, Figure 5 The wheel 20 is shown in the second extreme position. Figure 4 The first limit position shown is turned to Figure 5 In the second extreme position shown, the steering angle of the wheel 20 is a preset angle value.

[0067] The rotation connection center point of the first fork arm 1 and the steering knuckle 3 is the first center point A1, the rotation connection center point of the second fork arm 2 and the steering knuckle 3 is the second center point A2, and the line connecting the first center point A1 and the second center point A2 is the kingpin axis L3.

[0068] The left and right direction of the vehicle 100 is the Y direction, and the up and down direction of the vehicle 100 is the Z direction. In the related art, when the wheel jumps up and down, there is a relative movement of rotation in the YZ plane between the steering mechanism and the second fork arm 4, and at the same time, there is a relative rotation of the steering mechanism relative to the kingpin axis L3. These two rotations result in a small steering angle range of the wheel, which cannot meet the user's demand for a large steering angle. According to the steering device 10 of the embodiment of the present application, by setting a limiter 5, the redundant rotation of the steering mechanism 4 is constrained, and the double fork arm structure and the limiter 5 are used to limit the steering mechanism 4 to rotate with the wheel 20, so that the steering angle range of the wheel 20 is not less than 120°, thereby realizing a large range of adjustment of the steering angle of the wheel 20, which can meet the user's demand for a large steering angle of the wheel 20.

[0069] In some embodiments of the present application, reference Figure 3 As shown, when the wheel 20 is in the initial position, the axis of the wheel 20 is parallel to the left and right direction of the vehicle 100. At this time, the steering angle of the wheel 20 is 0°; Figure 4As shown, the wheel 20 can be turned from the initial position along the first direction until the angle between the axis of the wheel 20 and the left and right direction of the vehicle 100 is the first angle. At this time, the wheel 20 is in the first extreme position; Figure 5 As shown, the wheel 20 can turn from the initial position along the second direction until the angle between the axis of the wheel 20 and the left and right direction of the vehicle 100 is the second angle, and the wheel 20 is in the second extreme position; wherein the first direction and the second direction are opposite directions, the first angle is greater than the second angle, and the sum of the angle value of the first angle and the angle value of the second angle is equal to the preset angle value. For example, Figure 3-Figure 5 , the first direction is clockwise and the second direction is counterclockwise.

[0070] In some embodiments of the present application, the preset angle value is 135°, the first angle is 90°, at this time, the axis of the wheel 20 is perpendicular to the left and right direction of the vehicle 100; the second angle is 45°, at this time, the angle between the axis of the wheel 20 and the left and right direction of the vehicle 100 is 45°.

[0071] It is understood that the “left and right direction of the vehicle 100” refers to the direction from left to right when the driver is sitting in the main driving seat and facing the front direction of the vehicle. Figure 3-Figure 5 The Y1-Y2 direction shown in .

[0072] In some embodiments of the present application, the steering device 10 may further include a wheel hub motor, which can provide an electric driving force for the steering of the wheel 20, thereby providing assistance for the steering operation of the steering wheel on the wheel 20. The wheel hub motor includes a motor stator and a motor rotor, the motor rotor is connected to the wheel 20, the motor rotor can rotate relative to the motor stator, and when the motor rotor rotates, it can drive the wheel 20 to rotate, and the steering knuckle 3 is connected to the motor stator.

[0073] The wheel 20 includes a wheel hub and a tire, the tire is mounted on the wheel hub, and the motor rotor is connected to the wheel hub. The steering device 10 is centrally arranged on the axial inner side of the wheel hub, so that the steering device 10 is not easily visible from the outside of the vehicle, the steering device 10 is hidden, and the wheel hub can protect the steering device 10, which is conducive to improving the service life of the steering device 10.

[0074] In some embodiments of the present application, a braking system and a driving system are also integrated on the axial inner side of the wheel hub.

[0075] Reference Figure 2 As shown, the steering knuckle 3 includes a steering connection portion 31, and the steering connection portion 31 is connected to the motor stator. The upper bearing is located above the steering connection portion 31, and the first bearing 42 is located below the steering connection portion 31. In this way, when the steering knuckle 3 drives the motor stator of the hub motor to turn, the action is more stable.

[0076] In some embodiments, one end of the limiting portion 5 is rotatably connected to the steering housing 41, and the other end of the limiting portion 5 is rotatably connected to at least one of the vehicle body and the subframe, for example Figure 1-Figure 2 shown.

[0077] In some embodiments of the present application, reference Figure 1-Figure 5 , Figure 13-14 As shown, the limiting portion 5 includes a first traction arm 51 and a second traction arm 52. The first traction arm 51 is located on a side of the second traction arm 52 away from the center of the vehicle 100. The first traction arm 51 has a first connecting cylinder 511 and a first mounting cylinder 512. The second traction arm 52 has a second connecting cylinder 521 and a second mounting cylinder 522. The first connecting cylinder 511 and the second connecting cylinder 521 are both rotatably connected to the steering housing 41. The first mounting cylinder 512 is rotatably connected to the vehicle body or the subframe. The second mounting cylinder 522 is rotatably connected to the vehicle body or the subframe.

[0078] It can be understood that the “center of the vehicle 100” may refer to the coincidence point of the midpoint of the vehicle 100 in the front-to-back direction, the midpoint in the left-to-right direction, and the midpoint in the up-to-down direction. Figure 13-14 Point C is shown.

[0079] In some embodiments of the present application, reference Figure 1-Figure 2 As shown, the straight line connecting the center of the first connecting tube 511 and the center of the first mounting tube 512 is the first straight line L1, the straight line connecting the center of the second connecting tube 521 and the center of the second mounting tube 522 is the second straight line L2, and the first straight line L1 and the second straight line L2 intersect at the same point on the kingpin axis L3, that is, the first straight line L1, the second straight line L2 and the kingpin axis L3 converge to the same point, namely Figure 1 Thus, when the wheel 20 is turning, the first traction arm 51 and the second traction arm 52 can better restrain the tendency of the steering mechanism 4 to turn left and right, so as to ensure the normal turning action of the wheel 20.

[0080] In some embodiments of the present application, reference Figure 1-Figure 2 As shown, the plane formed by the first straight line L1 and the second straight line L2 is perpendicular to the kingpin axis L3, so that when the wheel 20 bounces up and down, no extra bending moment is generated between the steering mechanism 4 and the first traction arm 51, and between the steering mechanism 4 and the second traction arm 52. When the wheel 20 is turning, the first traction arm 51 and the second traction arm 52 will restrain the tendency of the steering mechanism 4 to turn left and right, so as to ensure the normal steering action of the wheel 20.

[0081] In some embodiments of the present application, the first traction arm 51 includes a first arm first section 513 and a first arm second section 514, the first connecting tube 511 is disposed on the first arm first section 513, the first mounting tube 512 is disposed on the first arm second section 514, and the first arm second section 514 is bent relative to the first arm first section 513 in a direction away from the second traction arm 52. Figure 1 and Figure 6 As shown, when the wheel 20 is the left front wheel 20a, the first arm second section 514 is bent toward the front direction of the vehicle relative to the first arm first section 513.

[0082] In some embodiments of the present application, the first arm second section 514 is bent at an angle of 110° to 130° relative to the first arm first section 513 in a direction away from the second pulling arm 52. Figure 1 and Figure 6 As shown, the angle at which the second section 514 of the first arm is bent relative to the first section 513 of the first arm is α, and α satisfies: 110°≤α≤130°. Optionally, α can be 110°, 115°, 120°, 125°, 130°, or other angle values ​​within the range of 110° to 130°, which are not listed here one by one. By setting the second section 514 of the first arm to bend in a direction away from the second traction arm 52 relative to the first section 513 of the first arm, the first traction arm 51 can be formed into a non-straight strip structure, so that other components around the steering device 10 can be reasonably avoided to avoid interference when the wheel 20 turns at a large angle.

[0083] In some optional embodiments of the present application, the first traction arm 51 may be configured to be in an arc shape, and an outer end of the first traction arm 51 is bent in a direction away from the second traction arm 52 .

[0084] In some embodiments of the present application, the second traction arm 52 includes a second arm first section 523 and a second arm second section 524, the second connecting tube 521 is disposed on the second arm first section 523, the second mounting tube 522 is disposed on the second arm second section 524, and the second arm second section 524 is bent relative to the second arm first section 523 in a direction away from the first traction arm 51. Figure 1 and Figure 7 As shown, when the wheel 20 is the left front wheel 20a, the second arm second section 524 is bent toward the rear of the vehicle relative to the second arm first section 523.

[0085] In some embodiments of the present application, the angle at which the second arm second section 524 is bent relative to the second arm first section 523 in a direction away from the first pulling arm 51 is 110° to 130°. Figure 1 and Figure 7As shown, the angle at which the second section 524 of the second arm is bent relative to the first section 523 of the second arm is β, and β satisfies: 110°≤β≤130°. Optionally, β can be 110°, 115°, 120°, 125°, 130°, or other angle values ​​within the range of 110° to 130°, which are not listed here one by one. By setting the second section 524 of the second arm to bend in a direction away from the first traction arm 51 relative to the first section 523 of the second arm, the second traction arm 52 can be formed into a non-straight strip structure, so that other components around the steering device 10 can be reasonably avoided to avoid interference when the wheel 20 turns at a large angle.

[0086] In some optional embodiments of the present application, the second traction arm 52 may be configured to be in an arc shape, and an outer end of the second traction arm 52 is bent in a direction away from the first traction arm 51 .

[0087] In some embodiments, for example Figure 8-Figure 9 As shown, one end of the limiting portion 5 is rotatably connected to the steering housing 41 , and the other end of the limiting portion 5 is rotatably connected to the second fork arm 2 .

[0088] In some embodiments of the present application, reference Figure 8-Figure 11 As shown, the second fork arm 2 is provided with a rotating shaft 7, and the rotating shaft 7 and the second fork arm 2 can rotate relative to each other. The limiting part 5 includes at least one slide rail structure 53, and each slide rail structure 53 includes a first slide tube 531 and a second slide tube 532. The first slide tube 531 and the second slide tube 532 are at least partially nested. The first slide tube 531 is rotatably connected to the steering housing 41, and the second slide tube 532 is rotatably connected to the second fork arm 2 by being rotatably connected to the rotating shaft 7. Specifically, a slide rail ball head 534 is provided at one end of the first slide tube 531 away from the second slide tube 532, and the first slide tube 531 is hingedly connected to the steering housing 41 through the slide rail ball head 534. Therefore, the relative rotation direction between the first slide tube 531 and the steering housing 41 is more flexible and changeable, and universal adjustment is achieved. The first slide tube 531 and the steering housing 41 are not easily stuck at the connection between the two.

[0089] Optionally, the number of the slide rail structures 53 may be one or more.

[0090] In some embodiments of the present application, reference Figure 8-Figure 10 As shown, there are two slide rail structures 53, so that the limiting portion 5 is a double slide rail structure, wherein the second slide tube 532 of one slide rail structure 53 (such as the first slide rail structure 53a) is suitable for rotational connection with one end of the second fork arm 2 extending from the rotating shaft 7, and the second slide tube 532 of the other slide rail structure 53 (such as the second slide rail structure 53b) is suitable for rotational connection with the other end of the second fork arm 2 extending from the rotating shaft 7.

[0091] Optionally, the fitting portion between the first sliding tube 531 and the second sliding tube 532 may be a special-shaped structure (such as a spline, a plum blossom, etc.) or a round tube shape.

[0092] In some embodiments of the present application, reference Fig.10 As shown, the second slide tubes 532 of the two slide rail structures 53 are fixedly connected via a connecting rod 535 , whereby the two slide rail structures 53 are connected as a whole, which can better constrain the steering mechanism 4 .

[0093] The two slide rail structures 53 are arranged in parallel on the left and right sides of the second fork arm 2, and the two slide rail structures 53 can only rotate around the axis of the rotating shaft 7, and all other degrees of freedom need to be constrained. The first slide tube 531 and the second slide tube 532 of the two slide rail structures 53 provide the release of the sliding motion pair when the wheel 20 jumps up and down to ensure the normal jumping of the wheel 20. When the wheel 20 turns left and right, the two slide rail structures 53 need to bear the lateral bending moment force to ensure the normal turning of the wheel 20.

[0094] In some embodiments of the present application, reference Figure 8-Figure 11 As shown, a dust cover 533 is provided outside the nested matching position of the first sliding tube 531 and the second sliding tube 532 , thereby reducing the probability of dust entering the first sliding tube 531 and the second sliding tube 532 .

[0095] Optionally, the outer surface of the dust cover 533 may be corrugated or cylindrical, etc.

[0096] In some embodiments of the present application, reference Fig.10 As shown, the second fork arm 2 has a fork arm hole with two ends passing through it, the rotating shaft 7 passes through the fork arm hole, and the two ends of the rotating shaft 7 extend outward from the fork arm hole. A fork arm bearing 71 is provided between the fork arm hole and the rotating shaft 7. By providing the fork arm bearing 71, direct friction between the second fork arm 2 and the rotating shaft 7 can be avoided. Fig.10 In the example, the number of the fork arm bearings 71 is two, and the two fork arm bearings 71 are spaced apart along the axial direction of the fork arm hole, thereby making the relative rotation of the rotating shaft 7 and the second fork arm 2 more stable.

[0097] Optionally, the fork arm bearing 71 may be a deep groove ball bearing that can bear both axial force and radial force.

[0098] In some embodiments of the present application, reference Fig.10 As shown, seals 72 are provided at both ends of the fork arm hole, and the rotating shaft 7 passes through the seals 72 . The seals 72 are used to block the ports at both ends of the fork arm hole to prevent water vapor from entering the fork arm hole of the second fork arm 2 and overlooking the second fork arm 2 .

[0099] Optionally, the sealing member 72 may be a rubber plug, a silicone plug, or the like.

[0100] The rotating shaft 7 passes through the slide tube hole of the second slide tube 532, and the rotating shaft 7 extends outward from the slide tube hole (i.e., in the direction away from the second fork arm 22) and is screwed with the fastening nut 73, thereby preventing the slide rail structure 53 from falling off the rotating shaft 7, thereby improving the connection firmness between the slide rail structure 53 and the rotating shaft 7.

[0101] In some embodiments not shown in the figure, one of the second fork arm 2 and the steering housing 41 is provided with a sliding groove, and the other is provided with a sliding yoke, and the sliding yoke is slidably matched with the sliding groove. For example, the second fork arm 2 is provided with a sliding groove, and the steering housing 41 is provided with a sliding yoke; or, the steering housing 41 is provided with a sliding groove, and the second fork arm 2 is provided with a sliding yoke. The second fork arm 2 and the steering housing 41 are slidably matched, so that the second fork arm 2 can limit the steering housing 41 from rotating with the wheel 20.

[0102] The sliding yoke releases the sliding pair when the wheel 20 jumps up, and the surface of the second fork arm 2 limits the swing torque when the wheel 20 rotates left and right.

[0103] In some embodiments not shown in the figure, a slide groove is provided on the second fork arm 2, and the slide groove extends in the height direction of the vehicle, for example, the slide groove extends in the vertical direction, a slider is provided in the slide groove, the slider can slide along the slide groove, a pin is provided on the slider, and the pin is connected to the steering housing 41 through a double ball head secondary connecting rod. In this way, the sliding fit between the second fork arm 2 and the steering housing 41 is achieved, and the second fork arm 2 can better limit the steering housing 41 from rotating with the wheel 20.

[0104] In some embodiments of the present application, reference Figure 2 As shown, the steering transmission member 42 includes: a first gear 421 and a second gear 422 . The steering motor 6 is used to drive the first gear 421 to rotate. The second gear 422 is fixed to the steering knuckle 3 . The second gear 422 is meshed with the first gear 421 for transmission.

[0105] In some embodiments of the present application, reference Figure 2 As shown, the steering device 10 also includes a reducer 8, a first gear 421 is arranged on the first wheel axle, and the reducer 8 is connected between the output end of the steering motor 6 and the first wheel axle, so that the high speed of the steering motor 6 can be transmitted to the first wheel axle after being reduced by the reducer 8, so that the speed of the first wheel axle is reduced, and the first gear 421 rotates synchronously with the first wheel axle, so that the speed of the first gear 421 is reduced.

[0106] Optionally, the reducer 8 may be a harmonic reducer.

[0107] Optionally, the reduction ratio of the reducer 8 ranges from 100 to 200. For example, the reduction ratio of the reducer 8 may be 10, 30, 50, 70, 100, etc., or other values ​​between 100 and 200, which are not listed here one by one.

[0108] In some embodiments of the present application, the diameter of the first gear 421 is smaller than the diameter of the second gear 422. In this way, the power can be decelerated when it is transmitted to the second gear 422 via the first gear 421, so that the steering action of the steering knuckle 3 is slowed down, avoiding the danger caused by the wheel 20 turning too fast.

[0109] One end of the first axle is rotatably supported on the steering housing 41 through a second bearing 44 to avoid friction between the first axle and the steering housing 41 and to make the rotation of the first axle more stable.

[0110] In some embodiments of the present application, reference Figure 2 As shown, the first gear 421 and the second gear 422 are both sector gears, thereby avoiding the phenomenon of gear tooth waste when the first gear 421 and the second gear 422 are provided with a full circle of gear teeth.

[0111] Optionally, the central angle of the gear tooth portion of the first gear 421 may range from 110° to 130°, such as 110°, 115°, 120°, 125°, 130°, etc.

[0112] Optionally, the central angle range of the gear tooth portion of the second gear 422 may be 110° to 130°, such as 110°, 115°, 120°, 125°, 130°, etc.

[0113] In some embodiments of the present application, reference Figure 1-Figure 5 , Figure 8 As shown, the wheel 20 includes a wheel rim, and the steering mechanism 4 is at least partially located inside the wheel rim. In this way, the steering mechanism 4 can reasonably utilize the internal space of the wheel hub, so that the overall structure of the vehicle 100 is compact.

[0114] In some embodiments of the present application, the wheel 20 further includes a tire, and the tire is mounted on the rim.

[0115] In some embodiments of the present application, reference Figure 1-Figure 5 , Figure 8As shown, the vehicle 100 includes a shock absorber 30, the first end of the shock absorber 30 is a vehicle body connection end, and the second end of the shock absorber 30 is rotatably connected to the second fork arm 2. The first fork arm 1 includes a main arm 13, a first arm 11 and a second arm 12, the first arm 11 and the second arm 12 are both connected to the main arm 13, one end of the main arm 13 away from the first arm 11 and the second arm 12 is rotatably connected to the first end of the steering knuckle 3, the first arm 11 and the second arm 12 are both provided with a first fork arm mounting structure 14, the first fork arm mounting structure 14 is used to connect to the vehicle body, a fork arm space 15 is enclosed between the first arm 11 and the second arm 12, and the shock absorber 30 at least partially passes through the fork arm space 15, thereby making the overall structure compact and not occupying too much layout space.

[0116] Specifically, the vehicle body connection end of the shock absorber 30 is a tower top, and the upper tower top of the shock absorber 30 is connected to the vehicle body. The lower end of the shock absorber 30 is connected to the second fork arm 2, and the middle of the shock absorber 30 passes through the fork arm space 15.

[0117] Optionally, the first fork arm mounting structure 14 may be a ball head structure, or a columnar structure, or a sleeve structure, etc.

[0118] In some embodiments of the present application, reference Figure 1-Figure 2 , Figure 8 As shown, the second fork arm 2 has a second fork arm mounting structure 21, and the second fork arm mounting structure 21 is used to be connected to the subframe.

[0119] Optionally, the second fork arm mounting structure 21 may be a ball head structure, or a columnar structure, or a sleeve structure, etc.

[0120] The steering device 10 according to the embodiment of the present application utilizes the existing chassis platform, with only minor structural modifications without changing the hard points, to achieve large-angle steering of the corner module, with a compact structure, small footprint, short development time and low cost.

[0121] Reference Figure 12-14 As shown, a vehicle 100 according to another embodiment of the present application includes the steering device 10 of the above embodiment.

[0122] The number of steering devices 10 is equal to the number of wheels 20. Figure 13-14In the example shown, the vehicle 100 has four wheels 20, namely, a left front wheel 20a, a right front wheel 20b, a left rear wheel 20c, and a right rear wheel 20d. The vehicle 100 may include four steering devices 10, and each wheel 20 is provided with a steering device 10. A first steering device 10a is provided at the left front wheel 20a, a second steering device 10b is provided at the right front wheel 20b, a third steering device 10c is provided at the left rear wheel 20c, and a fourth steering device 10d is provided at the right rear wheel 20d. The structures of the first steering device 10a and the second steering device 10b are symmetrical, the structures of the first steering device 10a and the third steering device 10c are symmetrical, the structures of the second steering device 10b and the fourth steering device 10d are symmetrical, and the structures of the third steering device 10c and the fourth steering device 10d are symmetrical. Fig.13 The state shown is that all four wheels 20 are in the first extreme position. Fig.14 The state shown is that all four wheels 20 are in the second extreme position.

[0123] According to the vehicle 100 of the embodiment of the present application, the steering device 10 thereof constrains the unnecessary rotation of the steering mechanism 4 by setting a limit portion 5, and limits the steering assembly from rotating with the wheel 20, thereby realizing a wide range of adjustment of the steering angle of the wheel 20, which can meet the user's demand for a large steering angle of the wheel 20.

[0124] In the description of the present application, it should be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0125] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like 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, an electrical connection, or can communicate with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0126] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" etc. 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 application. In this specification, the schematic representations of the above terms do 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. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification.

[0127] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A steering device (10) for a vehicle, characterized in that: The steering device (10) comprises: Steering knuckle (3); A steering assembly, the steering assembly being used for drivingly connecting with the steering knuckle (3) to realize steering of the wheel (20); and A limiting portion (5), the limiting portion (5) being connected to the steering assembly, and the limiting portion (5) being used to limit the steering assembly from rotating following the wheel (20).

2. The vehicle steering device (10) according to claim 1, characterized in that: The steering assembly comprises a steering mechanism (4), the steering mechanism (4) comprises a steering housing (41) and a steering transmission member (42), the steering transmission member (42) is arranged in the steering housing (41), the part of the steering knuckle (3) extending into the steering housing (41) is transmitted to the steering transmission member (42), and one end of the limiting portion (5) is rotatably connected to the steering housing (41).

3. The vehicle steering device (10) according to claim 2, characterized in that: The steering assembly further comprises a steering motor (6), wherein the steering motor (6) is mounted on the steering housing (41), and the steering motor (6) is used to drive the steering transmission member (42) to move so as to drive the steering knuckle (3) to steer.

4. The vehicle steering device (10) according to claim 2 or 3, characterized in that: The steering device (10) further comprises: a first fork arm (1), one end of the first fork arm (1) being rotatably connected to the steering knuckle (3), and the other end of the first fork arm (1) being suitable for being rotatably connected to the vehicle body; and A second fork arm (2), the second fork arm (2) is spaced apart from the first fork arm (1) in the up-down direction of the vehicle, one end of the second fork arm (2) is rotationally connected to the steering knuckle (3), and the other end of the second fork arm (2) is suitable for rotationally connecting to a subframe.

5. The vehicle steering device (10) according to claim 4, characterized in that: The other end of the limiting portion (5) is rotatably connected to at least one of the vehicle body and the sub-frame.

6. The vehicle steering device (10) according to claim 5, characterized in that: The limiting portion (5) comprises a first traction arm (51) and a second traction arm (52); the first traction arm (51) is located on a side of the second traction arm (52) away from the center of the vehicle; the first traction arm (51) has a first connecting tube (511) and a first mounting tube (512); the second traction arm (52) has a second connecting tube (521) and a second mounting tube (522); the first connecting tube (511) and the second connecting tube (521) are both rotatably connected to the steering housing (41); the first mounting tube (512) is rotatably connected to the vehicle body or the sub-frame; and the second mounting tube (522) is rotatably connected to the vehicle body or the sub-frame.

7. The vehicle steering device (10) according to claim 6, characterized in that: The rotational connection center point of the first fork arm (1) and the steering knuckle (3) is the first center point, the rotational connection center point of the second fork arm (2) and the steering knuckle (3) is the second center point, and the line connecting the first center point and the second center point is the kingpin axis; A line connecting the center of the first connecting tube (511) and the center of the first mounting tube (512), and a line connecting the center of the second connecting tube (521) and the center of the second mounting tube (522) intersect at the same point on the kingpin axis.

8. The vehicle steering device (10) according to claim 6, characterized in that: The first traction arm (51) comprises a first arm first section (513) and a first arm second section (514); the first connecting tube (511) is arranged on the first arm first section (513); the first mounting tube (512) is arranged on the first arm second section (514); the first arm second section (514) is bent relative to the first arm first section (513) in a direction away from the second traction arm (52).

9. The vehicle steering device (10) according to claim 6, characterized in that: The second traction arm (52) comprises a second arm first section (523) and a second arm second section (524); the second connecting tube (521) is arranged on the second arm first section (523); the second mounting tube (522) is arranged on the second arm second section (524); the second arm second section (524) is bent relative to the second arm first section (523) in a direction away from the first traction arm (51).

10. The vehicle steering device (10) according to claim 4, characterized in that: The other end of the limiting portion (5) is rotatably connected to the second fork arm (2).

11. The vehicle steering device (10) according to claim 10, characterized in that: The second fork arm (2) is provided with a rotating shaft (7), and the rotating shaft (7) and the second fork arm (2) can rotate relative to each other. The limiting portion (5) includes at least one slide rail structure (53), and the slide rail structure (53) includes a first slide tube (531) and a second slide tube (532). The first slide tube (531) and the second slide tube (532) are at least partially nested. The first slide tube (531) is rotationally connected to the steering housing (41), and the second slide tube (532) is rotationally connected to the rotating shaft (7) to achieve rotational connection with the second fork arm (2).

12. The vehicle steering device (10) according to claim 11, characterized in that: There are two slide rail structures (53), wherein the second slide tube (532) of one slide rail structure (53) is suitable for being rotatably connected to one end of the second fork arm (2) extending out of the rotating shaft (7), and the second slide tube (532) of the other slide rail structure (53) is suitable for being rotatably connected to the other end of the second fork arm (2) extending out of the rotating shaft (7).

13. The vehicle steering device (10) according to claim 12, characterized in that: The second sliding tubes (532) of the two sliding rail structures (53) are fixedly connected via a connecting rod (535).

14. The vehicle steering device (10) according to claim 11, characterized in that: The second fork arm (2) has fork arm holes penetrating at both ends, the rotating shaft (7) passes through the fork arm hole and extends outward from the fork arm hole, a fork arm bearing (71) is provided between the fork arm hole and the rotating shaft (7), and sealing members (72) are provided at both ends of the fork arm hole, and the rotating shaft (7) passes through the sealing members (72).

15. The vehicle steering device (10) according to claim 4, characterized in that: One of the second fork arm (2) and the steering housing (41) is provided with a sliding groove, and the other is provided with a sliding yoke, and the sliding yoke is slidably matched with the sliding groove.

16. The vehicle steering device (10) according to claim 4, characterized in that: The second fork arm (2) is provided with a slide groove, the slide groove extends along the height direction of the vehicle, a slider is provided in the slide groove, the slider can slide along the slide groove, a pin is provided on the slider, and the pin is connected to the steering housing (41) via a double ball head secondary connecting rod.

17. The vehicle steering device (10) according to claim 3, characterized in that: The steering transmission member (42) comprises: A first gear (421), the steering motor (6) is used to drive the first gear (421) to rotate; and A second gear (422), the second gear (422) is fixed to the steering knuckle (3), and the second gear (422) is meshed with the first gear (421) for transmission; Wherein, the first gear (421) and the second gear (422) are both sector gears.

18. The vehicle steering device (10) according to claim 2, characterized in that: The wheel (20) comprises a rim, and the steering mechanism (4) is at least partially located inside the rim.

19. The vehicle steering device (10) according to claim 1, characterized in that: When the steering assembly drives the steering knuckle (3) to steer, the wheel (20) is driven to steer, and the steering angle range of the wheel (20) reaches a preset angle value, and the preset angle value is not less than 120°.

20. The vehicle steering device (10) according to claim 19, characterized in that: When the wheel (20) is located at the initial position, the axis of the wheel (20) is parallel to the left-right direction of the vehicle; The wheel (20) can be turned from the initial position along a first direction until the angle between the axis of the wheel (20) and the left-right direction of the vehicle is a first angle; The wheel (20) can be turned from the initial position along the second direction until the angle between the axis of the wheel (20) and the left-right direction of the vehicle is a second included angle; The first direction and the second direction are opposite directions, the first angle is greater than the second angle, and the sum of the angle value of the first angle and the angle value of the second angle is equal to the preset angle value.

21. The vehicle steering device (10) according to claim 20, characterized in that: The preset angle value is 135°, the first angle is 90°, and the second angle is 45°.

22. The vehicle steering device (10) according to claim 1, characterized in that: The steering device (10) further comprises: a wheel hub motor, the wheel hub motor comprising a motor stator and a motor rotor, the motor rotor being connected to the wheel (20), the motor rotor being capable of rotating relative to the motor stator, and the motor rotor being capable of driving the wheel (20) to rotate when rotating, and the steering knuckle (3) being connected to the motor stator.

23. The vehicle steering device (10) according to claim 4, characterized in that: The vehicle comprises a shock absorber (30), a first end of the shock absorber (30) being a vehicle body connection end, and a second end of the shock absorber (30) being rotationally connected to the second fork arm (2); The first fork arm (1) comprises a main arm (13), a first branch arm (11) and a second branch arm (12); the first branch arm (11) and the second branch arm (12) are both connected to the main arm (13); one end of the main arm (13) away from the first branch arm (11) and the second branch arm (12) is rotatably connected to the first end of the steering knuckle (3); the first branch arm (11) and the second branch arm (12) are both provided with a first fork arm mounting structure (14) for connecting to the vehicle body; a fork arm space (15) is enclosed between the first branch arm (11) and the second branch arm (12); and the shock absorber (30) at least partially passes through the fork arm space (15).

24. A vehicle, characterized in that: The invention comprises a steering device (10) as claimed in any one of claims 1 to 23.

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