Drive-by-wire angle module with 90-degree steering function and chassis with angle module

Abstract

The invention provides a drive-by-wire angle module with a 90-degree steering function and a chassis with the drive-by-wire angle module. The drive-by-wire angle module comprises a wheel assembly, an upper control arm assembly, an upper control arm fixing seat, a pipeline harness assembly, a steering motor assembly, a lower control arm assembly, a spring shock absorber assembly and a main pin bogie assembly. One end of the upper control arm assembly is connected with the upper control arm fixing seat, and the other end of the upper control arm assembly is connected with a vehicle body or a frame; one end of the lower control arm assembly is movably connected with the lower end of the main pin bogie assembly through the multi-direction rotating connecting assembly, and the other end of the lower control arm assembly is connected with a vehicle body or a vehicle frame. One end of the spring shock absorber assembly is connected to the lower control arm assembly, and the other end of the spring shock absorber assembly is connected to a vehicle body or a vehicle frame. According to the drive-by-wire angle module with the 90-degree steering function and the chassis with the angle module, a driving system, a steering system, a suspension system, a braking system and the like are integrated, and on the basis of achieving the functions of in-situ turning, transverse moving, oblique moving and normal running, the problem of pipeline harness arrangement can be well solved.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile parts, and in particular to a wire-controlled corner module with a 90-degree steering function and a chassis with the corner module. Background Art

[0002] At present, pure wire-controlled electric vehicles are developing faster and faster, and the corresponding corner module products are also increasing. In order to achieve functions such as turning around and moving sideways, the wheels need to turn 90 degrees.

[0003] In order to decouple the suspension from the steering movement, most of the current technical solutions place the steering system above the wheel, which sacrifices the body space in the height direction of the vehicle. It can be arranged more conveniently when the vehicle allows. When the steering system is placed on the inside of the wheel, the space in the width direction of the vehicle is sacrificed, making the wheelbase larger and the vehicle difficult to arrange compactly. At the same time, the pipe harnesses in the drive-by-wire, steering, braking and other systems are difficult to arrange, and motion interference often occurs. The use of a dedicated slip ring structure greatly increases the cost of the corner module, and when the voltage and current of the high-voltage harness are large, the height or diameter of the slip ring increases exponentially.

[0004] On the other hand, in order to ensure the ability of the wire-controlled steer system to drive in a straight line, some technical solutions use a large-speed ratio worm gear reduction mechanism with a self-locking function. However, if the steering motor fails during the steering process, the vehicle's steering wheel will not be able to return to the center position, which poses a certain safety risk.

[0005] Under the same load conditions, in order to minimize the space for corner module layout, some patented structures change the suspension system to a longitudinal swing arm or single trailing arm suspension structure, and rigidly connect the wheel side components to ensure the steering torque output during wheel hop. However, due to the inherent dynamic performance defects of this type of suspension, this configuration cannot provide good basic performance to meet the user's basic needs for vehicle smoothness and handling stability. Summary of the invention

[0006] 1. Technical issues to be solved

[0007] In view of the deficiencies of the prior art, the present invention provides a wire-controlled corner module with a 90° steering function and a chassis with a corner module, which integrates drive, steering, suspension and braking systems. On the basis of realizing the functions of turning around on the spot, lateral movement, diagonal driving and normal driving, it can also solve the layout of pipe harnesses. At the same time, the solution has the ability of automatic steering return, avoiding the safety defect of being unable to return to the center due to failure of the deceleration mechanism with a self-locking function during the turning process. The solution can also reduce the overall height and width of the module, making the layout of the whole vehicle more convenient and the body space larger. The multi-link suspension also avoids the defects of the single longitudinal arm suspension.

[0008] (II) Technical solution

[0009] To achieve the above objectives, the present invention is implemented through the following technical solutions: a wire-controlled angle module with a 90° steering function, comprising a wheel assembly, an upper control arm assembly, an upper control arm fixing seat, a pipe harness assembly, a steering motor assembly, a lower control arm assembly, a spring damper assembly, and a kingpin bogie assembly, wherein one end of the upper control arm assembly is connected to the upper control arm fixing seat, and the other end is connected to a vehicle body or a frame; one end of the lower control arm assembly is movably connected to the lower end of the kingpin bogie assembly through a multi-directional rotating connection assembly, and the other end is connected to the vehicle body or the frame; one end of the spring damper assembly is connected to the lower control arm assembly, and the other end is connected to the vehicle body or the frame, and the steering motor assembly drives the wheel assembly to rotate through the kingpin bogie assembly.

[0010] Preferably, the kingpin bogie assembly includes a kingpin bogie, a steering reduction gear, and a cross roller bearing; the steering motor assembly includes a steering motor and a steering motor output gear; the steering motor is arranged on an upper control arm fixing seat; the steering reduction gear is arranged at the end of the kingpin bogie and is pivotally connected to the upper control arm fixing seat through a cross roller bearing; the output gear is connected to the output shaft of the steering motor and meshes with the steering reduction gear.

[0011] Preferably, the upper portion of the kingpin bogie is an annular hollow structure, and evenly distributed holes are arranged around the annular structure for connecting the steering reduction gear. The lower half of the pipe harness assembly is fixed on the kingpin bogie, and the upper half passes through the annular hollow structure and is fixed on the upper control arm assembly.

[0012] Preferably, an outer ring of the annular hollow structure on the upper portion of the kingpin bogie is provided with an annular groove, and a sealing shell sleeved outside the annular groove is provided on the upper control arm fixing seat.

[0013] Preferably, the main body of the kingpin bogie is provided with hole 1 for installing a wheel speed sensor, hole 2 for installing a wheel assembly, hole 3 for installing a lower control arm assembly, hole 4 for passing a wiring harness assembly, and hole 5 for fixing an integrated EPB type hydraulic brake caliper assembly A1.

[0014] Preferably, a limiting groove is provided below the upper control arm fixing seat, and a limiting pin slidably fitted in the limiting groove is provided above the steering reduction gear, and the limiting angle is -45° to +90°.

[0015] Preferably, an axle tube device for installing the upper control arm assembly is provided on the upper control arm fixing seat, and one end of the upper control arm assembly is rotatably fixed on the axle tube device through a pair of tapered roller bearings and bearing retaining rings, an oil seal, a customized pin shaft and a limit sleeve.

[0016] Preferably, the steering reduction gear may be helical gear or spur gear.

[0017] (III) Beneficial effects

[0018] The present invention provides a wire-controlled corner module with a 90° steering function and a chassis with the corner module. The following beneficial effects are achieved:

[0019] 1. The wire-controlled corner module with 90° steering function and the chassis with corner module integrate drive, steering, suspension and braking systems. On the basis of realizing the functions of turning around on the spot, lateral movement, diagonal driving and normal driving, it can also solve the layout of pipe harnesses. At the same time, the solution has the ability of automatic steering return, avoiding the safety defect of failure to return to the center due to failure of the deceleration mechanism with self-locking function during the turning process. The solution can also reduce the overall height and width of the module, making the layout of the whole vehicle more convenient and the body space larger. The multi-link suspension also avoids the defects of the single trailing arm suspension.

[0020] 2. The wire-controlled angle module with a 90° steering function and the chassis with the angle module, the pipe harness assembly can be divided into two groups and fixed on the first upper control arm and the second upper control arm respectively. When the vehicle turns, the pipe harness on the upper side is relatively fixed to the steering motor assembly, the upper control arm assembly and other components, and the pipe harness on the lower side rotates together with the kingpin bogie, the wheel assembly and other components. When the vehicle bounces, the pipe harness on the lower side moves together with the kingpin bogie, the wheel assembly and other components, and the pipe harness on the upper side swings simultaneously with the upper control arm assembly. The present invention decouples the movement of the pipe harness in the two motion states of the vehicle corner module bouncing and steering, so that it will not produce motion interference while being more convenient to arrange. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the wire control angle module of the present invention;

[0022] Figure 2 It is a schematic diagram of the connecting parts of the kingpin bogie assembly of the present invention;

[0023] Figure 3 It is a schematic diagram of the upper control arm fixing seat connecting component of the present invention;

[0024] Figure 4 It is a schematic diagram of the wheel assembly structure of the present invention;

[0025] Figure 5 It is a cross-sectional view of the upper control arm fixing seat and the kingpin bogie of the present invention;

[0026] Figure 6 It is a schematic diagram of the cross roller bearing and the peripheral connection structure of the present invention;

[0027] Figure 7It is a schematic diagram of the top structure of the upper control arm fixing seat of the present invention;

[0028] Figure 8 It is a schematic diagram of the bottom structure of the upper control arm fixing seat of the present invention;

[0029] Fig. 9 A cross-sectional view of an upper control arm fixing seat of the present invention;

[0030] Fig.10 It is a corresponding diagram of the limiting groove and the limiting pin of the present invention;

[0031] Fig.11 It is a schematic diagram of the upper control arm fixing seat and the upper control arm assembly component of the present invention;

[0032] Fig.12 It is a schematic diagram of the separate arrangement of the corner module of the present invention in the vehicle frame connection structure and the pipe harness assembly;

[0033] Fig.13 It is a schematic structural diagram of a lower control arm assembly of the present invention;

[0034] Fig.14 A diagram showing an arrangement state of the present invention on a vehicle frame;

[0035] Fig.15 This is a state diagram of the corner module chassis of the present invention during normal driving;

[0036] Fig.16 This is a state diagram of the corner module chassis of the present invention when it moves laterally;

[0037] Fig.17 This is a state diagram of the corner module chassis of the present invention when it is tilted;

[0038] Fig.18 This is a state diagram of the corner module chassis of the present invention when turning around in place.

[0039] In the figure: 1 wheel assembly, 11 wheel hub motor, 12 brake disc, 13 tire, 14 wheel, 15 fasteners of various components, 2 upper control arm assembly, 21 first upper control arm, 22 second upper control arm, 23 tapered roller bearing, 24 bearing retaining ring, 25 oil seal, 26 customized pin shaft, 27 limiting sleeve, 28 cotter pin, 29 slotted nut, 3 upper control arm fixing seat, 31 shaft tube device, 32 rubber protective layer, 301 steering motor output gear hole, 302 steering motor fixing hole, 303 grease nozzle fixing hole, 304 limiting groove, 305 zero position locking mechanism mounting hole, 306 sealing shell mounting hole, 307 flange, 308 cross roller bearing mounting hole, 309 hollow wire hole, 4 pipe harness assembly, 5 steering motor Assembly, 51 steering motor, 52 steering motor controller, 53 steering motor reduction output structure, 531 steering motor output gear, 6 lower control arm assembly, 61 ball joint assembly, 62 lower control arm body, 63 spring damper fixed ball joint, 64 eccentric gasket, 65 locking nut, 66 eccentric bolt with gasket, 67 rubber bushing, 7 spring damper assembly, 8 sealing shell, 81 sealing shell body, 82 rubber ring, 9 kingpin bogie assembly, 91 kingpin bogie, 911 hole one, 912 hole two, 913 hole three, 914 hole four, 915 hole five, 92 steering reduction gear, 921 limit pin, 922 gradient arc track, 93 cross roller bearing, 94 fasteners, A1 integrated EPB hydraulic brake caliper assembly. DETAILED DESCRIPTION

[0040] The embodiment of the present invention provides a wire-controlled corner module with a 90° steering function and a chassis with the corner module, such as Figure 1-18 As shown, it includes a wheel assembly 1, an upper control arm assembly 2, an upper control arm fixing seat 3, a pipe harness assembly 4, a steering motor assembly 5, a lower control arm assembly 6, a spring damper assembly 7, a sealing shell 8, and a kingpin bogie assembly 9.

[0041] One end of the upper control arm assembly 2 is connected to the upper control arm fixing seat 3, and the other end of the upper control arm assembly 2 is connected to at least one of the vehicle body and the frame; a multi-directional rotation connection component is provided at one end of the lower control arm assembly 6, and the multi-directional rotation connection component is movably connected to the lower end of the kingpin bogie assembly 9, and the other end of the lower control arm assembly 6 is connected to at least one of the vehicle body and the frame; one end of the spring damper assembly 7 is connected to the lower control arm assembly 6, and the other end is connected to the vehicle body or the frame, and the steering motor assembly 5 drives the wheel assembly 1 to rotate through the kingpin bogie assembly 9.

[0042] like Figure 3 and Figure 5As shown, the kingpin bogie assembly 9 includes a kingpin bogie 91, a steering reduction gear 92, and a cross roller bearing 93. The steering motor assembly 5 includes a steering motor 51, a steering motor controller 52, and a steering motor reduction output structure 53. The steering motor reduction output structure 53 is a steering motor output gear 531. The steering motor 51 is arranged on the upper control arm fixing seat 3. The steering reduction gear 92 is arranged at the end of the kingpin bogie 91 and is pivotally connected to the upper control arm fixing seat 3 through the cross roller bearing 93. The output gear 531 is connected to the output shaft of the steering motor 51 and meshes with the steering reduction gear 92.

[0043] When the steering motor controller 52 receives the command from the vehicle controller, it converts the required steering angle of the vehicle into the motor rotation angle, and drives the steering motor 51, which starts to rotate the corresponding number of circles according to the established requirements and outputs the steering torque. Specifically, the steering motor assembly 5 also includes components such as an angle sensor, and the angle sensor returns the corresponding angle signal in real time to form a closed-loop control with the input signal. The torque output by the steering motor 51 is transmitted to the steering reduction gear 92 through the steering motor output gear 531, and after the steering reduction gear 92 reduces the torque and increases the torque, it drives the kingpin bogie 91 fixed thereto to rotate, and then drives the wheel assembly 1 to rotate, realizing the steering function of the vehicle. At the same time, when the steering motor assembly 5 outputs torque, the connection structure between the upper control arm fixing seat 3 and the upper control arm assembly 2 makes the upper control arm fixing seat 3, the upper control arm assembly 2 and the steering motor assembly 5 effectively fixed on the vehicle body or frame, and will not produce rotation relative to the vertical direction, thereby maximizing the torque transmission to the wheel assembly 1.

[0044] The steering motor 51 can be a brushless DC motor, a servo motor, or an axial flux permanent magnet motor, etc. The steering motor controller 52 can be fixed on the steering motor 51 or on the vehicle body or frame and controlled by a wiring harness. The steering motor 51 outputs torque through planetary reduction or worm gear reduction. In order to ensure the batch capacity of the product, this example only uses the combination of existing brushless products with lower costs and worm gear reduction for illustration. However, after using an axial flux motor plus planetary gear reduction output, the size is more compact and the effect is better. When the steering motor assembly uses a first-stage planetary gear reduction output, if the torque cannot meet the steering requirements, the terminal steering reduction gear mechanism in the case can be adjusted to a worm and a hollow worm gear type.

[0045] like Figure 2 As shown, the kingpin bogie 91 in the kingpin bogie assembly 9 is a multifunctional carrier, which includes, in addition to the components fixed thereon, a lower control arm assembly 6, a wheel assembly 1, an integrated EPB type hydraulic brake caliper assembly A1 and other components.

[0046] like Figure 3As shown, the upper control arm fixing seat 3 is also a multifunctional carrier, and connected to it are components such as the steering motor assembly 5 and the sealing shell 8 in addition to the upper control arm assembly 2.

[0047] like Figure 4 As shown, the wheel assembly includes a hub motor 11, a brake disc 12, a tire 13, a wheel 14 and component fasteners 15. The component fasteners 15 are used to coaxially connect the brake disc 12 to the wheel 14 shaft.

[0048] By setting the wheel assembly 1, the upper control arm assembly 2, the steering motor assembly 5, the lower control arm assembly 6, the spring damper assembly 7, the upper control arm fixing seat 3 and the kingpin bogie assembly 9, the wheel hop motion control and force transmission of the vehicle are realized. The steering motor assembly 5 drives the kingpin bogie 91 to realize the wheel steering. The torque output axis of the kingpin bogie 91 is the rotational motion axis of the wheel during steering, that is, the kingpin axis. Through the mechanism arrangement, it is ensured that the static lower kingpin axis passes through the center of the multi-directional rotation connection assembly at the end of the lower control arm assembly 6. By connecting the kingpin bogie 91 with the multi-directional rotation connection assembly of the lower control arm assembly 6, the kingpin offset distance of the wheel edge angle module is smaller under the condition of ensuring sufficient ground clearance, which is beneficial to the high-speed stability control of the vehicle. At the same time, based on the double wishbone suspension (composed of the upper control arm assembly 2 and the lower control arm assembly 6), the wheel edge components are highly integrated, the wheel alignment parameters are reasonably optimized, and the smoothness and handling stability can reach the same level. Therefore, the wheel corner module can not only support the realization of the kingpin steering function and improve the driving flexibility of the vehicle, but also give the kingpin steering configuration vehicle the same smoothness, handling stability and carrying capacity as the traditional configuration vehicle.

[0049] like Figure 5 and Figure 6 As shown, the upper part of the kingpin bogie 91 is an annular hollow structure, and holes evenly distributed around the annular structure are provided for connecting the steering reduction gear 92 and the outer ring of the cross roller bearing 93. The cross roller bearing 93 is fixed in the hole by a fastener 94. The outer ring of the annular hollow structure on the upper part of the kingpin bogie 91 is provided with an annular groove, and a sealing shell 8 sleeved outside the annular groove is provided on the upper control arm fixing seat 3. The sealing shell 8 includes a sealing shell body 81, and the rubber ring 82 of the sealing shell body 81 is pressed in the annular groove by its own elasticity, so as to achieve the function of maintaining the sealing grease, so as to effectively prevent the lubrication failure of the reduction gear and the bearing.

[0050] like Figure 5 As shown, the main body of the kingpin bogie 91 is provided with a hole 1 911 for installing a wheel speed sensor, a hole 2 912 for installing the wheel assembly 1, a hole 3 913 for installing the lower control arm assembly 6, a hole 4 914 for passing the wiring harness assembly 4, and a hole 5 915 for fixing the integrated EPB type hydraulic brake caliper assembly A1.

[0051] like Figure 5 As shown, the housing of the steering motor assembly 5 is fixed on the upper control arm fixing seat 3. The upper control arm fixing seat 3 has an output hole of the steering motor output gear 531, and is in contact and sealed with the upper control arm fixing seat 3 through the mounting surface of the steering motor assembly 5 housing.

[0052] like Figure 5-10 As shown, in this embodiment, the steering reduction gear 92 can be helical or straight. The main feature is the hollow structure, with the outer ring of the cross roller bearing 93 connected to the upper part and the kingpin bogie 91 connected to the lower part. The outer ring of the steering reduction gear 92 is in a non-circumferential full-tooth state, and the angle β requirement of -45°≤β≤+90° is met. A steering 0-position return auxiliary mechanism is arranged above the gear, which is composed of a height-gradient arc track 922 on the steering reduction gear 92 and a clamping mechanism assembly 33. When the vehicle is assembled and calibrated to the 0 position, the clamping mechanism assembly 33 fixed on the upper control arm fixing seat 3 can be tightened. The internal preload of the clamping mechanism assembly 33 is adjustable.

[0053] A limiting groove 304 is provided below the upper control arm fixing seat 3, and a limiting pin 921 is provided above the steering reduction gear 92 to slide in the limiting groove 304, with a limiting angle of -45° to +90°. The limiting pin 921 contacts the end of the limiting groove 304 below the upper control arm fixing seat 3 for mechanical limiting, so as to protect related components and extend the service life of the module components. Specifically, the limiting method can be adjusted to other types according to the specific structure.

[0054] like Figure 5 and Figure 6 As shown, a plurality of threaded holes are evenly distributed on the inner ring of the cross roller bearing 93, and the upper control arm fixing seat 3 is connected by bolts. A plurality of holes are also evenly distributed on the outer ring of the cross roller bearing 93, and the kingpin bogie 91 and the steering reduction gear 92 are connected by bolts. The application of the cross roller bearing 93 can transmit steering torque and loads in all directions, and can achieve the effect of reducing the overall height of the module compared with the roller bearings used in pairs under the condition that the module is subjected to stress. Specifically, in order to reduce the overall cost, improve the strength of components, reduce the weight of components, and simplify processing and assembly, the steering reduction gear 92 and the cross roller bearing 93 can be processed as one.

[0055] like Fig.11As shown, the upper control arm fixing seat 3 is provided with an axle tube device 31 for installing the upper control arm assembly 2. One end of the upper control arm assembly 2 is rotatably fixed on the axle tube device 31 through a pair of tapered roller bearings 23 and bearing retaining rings 24, oil seals 25, custom pins 26 and limit sleeves 27. A grease nipple mounting hole is also provided on the axle tube device 31 to facilitate the lubrication of the tapered roller bearings 21. The main body of the upper control arm assembly 2 is a split structure, consisting of a first upper control arm 21 and a second upper control arm 22. A rubber hinge is provided on the other end connected to the vehicle body or frame. Several pipe harness fixing holes are provided along the direction of the control arm to facilitate the fixing of the pipe harness, which is beautiful and reliable. A slotted nut 29 is provided on the outer side of the tapered roller bearing 23, and the custom pin 26 is located on the outer side of the slotted nut 29 and is locked by a cotter pin 28.

[0056] like Figure 8 As shown, the upper control arm fixing seat 3 is provided with a raised flange 307 at the contact position of the fixed cross roller bearing 93, and a positioning stopper is provided on the lower side of the flange 307 to ensure the positioning accuracy of the kingpin center axis. The hollow structure inside the stopper is provided with a rubber protective layer 32 to effectively protect the pipe harness assembly 4 passing through.

[0057] like Figure 8 As shown, the upper control arm fixing seat 3 is also connected to the sealing shell 8 through a plurality of mounting holes 306 as a part of the seal of the reduction output mechanism, so as to effectively prevent dust pollution and failure of lubricating grease.

[0058] The upper control arm fixing seat 3 is provided with a steering motor output gear hole 301 for installing the steering motor output gear 531, a steering motor fixing hole 302 for installing the steering motor, a grease nozzle fixing hole 303 for installing the grease nozzle, a zero-position locking mechanism mounting hole 305 for installing the zero-position locking mechanism, a sealing shell mounting hole 306 for installing the sealing shell 8, a cross-roller bearing mounting hole 308 for installing the cross-roller bearing, and a hollow wire hole 309 for the pipe harness assembly 4 to pass through.

[0059] The upper control arm fixing seat 3, the steering reduction gear 92, the kingpin bogie 91 and the cross roller bearing 93 are all hollow structures inside, and can smoothly pass through the pipe harness assembly 4. The lower half of the pipe harness assembly 4 on the lower side of the hollow structure is fixed to the kingpin bogie 91, and the upper half of the pipe harness assembly 4 above the hollow structure passes through the annular hollow structure and is fixed to the upper control arm assembly 2.

[0060] like Fig.12As shown, the pipe harness assembly 4 can be divided into two groups, which are fixed on the first upper control arm 21 and the second upper control arm 22 respectively. When the vehicle turns, the pipe harness on the upper side is relatively fixed with the steering motor assembly 5, the upper control arm assembly 2 and other components, and the pipe harness on the lower side rotates together with the kingpin bogie 91, the wheel assembly 1 and other components. When the vehicle bounces, the pipe harness on the lower side moves with the kingpin bogie 91, the wheel assembly 1 and other components (without relative motion), and the pipe harness on the upper side swings simultaneously with the upper control arm assembly 2. The present invention decouples the movement of the pipe harness in the two motion states of the vehicle corner module bouncing and steering, so that it will not produce motion interference under the premise of more convenient layout.

[0061] The other end of the pipe harness in the module is centrally fixed on a connector assembly to facilitate the installation and docking of the module with other vehicle systems.

[0062] like Fig.13 As shown, the lower control arm assembly 6 is composed of a ball joint assembly 61, a lower control arm body 62, a spring damper fixed ball joint 63, an eccentric washer 64, a locking nut 65, an eccentric bolt with a washer 66 and a rubber bushing 67. The center of the ball joint assembly 61 coincides with the center of the kingpin bogie 91, and together they constitute the rotation center of the wheel. The eccentric washer 64, the locking nut 65 and the eccentric bolt with a washer 66 fix the lower control arm assembly 6 to the vehicle body or frame, and the kingpin inclination angle of the wheel can be fine-tuned through the limiting bracket of the vehicle body or frame to compensate for the errors caused by assembly and manufacturing.

[0063] like Fig.14 The figure shows an axle module assembly consisting of two corner modules, which also includes a frame assembly to meet the needs of fixing the corner modules. The frame assembly also serves as a connection with the middle section of the frame and the front or rear enclosure assembly. Multiple axle module assemblies can form vehicles of different structural types.

[0064] The wheel assembly 1 of the present invention has four states during driving, such as Fig.15 As shown, it is the state of the wheel assembly 1 when it is running normally; Fig.16 As shown, it is the state of the wheel assembly 1 when it moves laterally; Fig.17 As shown, it is the state of the wheel assembly 1 when it is tilted; Fig.18 As shown, it is a state diagram of the wheel assembly 1 when turning around on the spot.

[0065] Although 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 appended claims and their equivalents.

Claims

1. A wire-controlled angle module with a 90° steering function, characterized in that: The invention comprises a wheel assembly (1), an upper control arm assembly (2), an upper control arm fixing seat (3), a pipe harness assembly (4), a steering motor assembly (5), a lower control arm assembly (6), a spring damper assembly (7), and a kingpin bogie assembly (9); one end of the upper control arm assembly (2) is connected to the upper control arm fixing seat (3), and the other end is connected to a vehicle body or a frame; one end of the lower control arm assembly (6) is movably connected to the lower end of the kingpin bogie assembly (9) through a multi-directional rotating connection assembly, and the other end is connected to the vehicle body or the frame; one end of the spring damper assembly (7) is connected to the lower control arm assembly (6), and the other end is connected to the vehicle body or the frame; the steering motor assembly (5) drives the wheel assembly (1) to rotate through the kingpin bogie assembly (9).

2. The wire-controlled angle module with 90° steering function according to claim 1, characterized in that: The kingpin bogie assembly (9) comprises a kingpin bogie (91), a steering reduction gear (92), and a cross roller bearing (93); the steering motor assembly (5) comprises a steering motor (51) and a steering motor output gear (531); the steering motor (51) is arranged on an upper control arm fixing seat (3); the steering reduction gear (92) is arranged at an end of the kingpin bogie (91) and is pivotally connected to the upper control arm fixing seat (3) through a cross roller bearing (93); the output gear (531) is connected to an output shaft of the steering motor (51) and is meshed with the steering reduction gear (92).

3. The wire-controlled angle module with 90° steering function according to claim 2, characterized in that: The upper part of the kingpin bogie (91) is an annular hollow structure, and holes evenly distributed around the annular structure are provided for connecting the steering reduction gear (92). The lower half of the pipe harness assembly (4) is fixed on the kingpin bogie (91), and the upper half passes through the annular hollow structure and is fixed on the upper control arm assembly (2).

4. The wire-controlled angle module with 90° steering function according to claim 3, characterized in that: The outer ring of the upper annular hollow structure of the kingpin bogie (91) is provided with an annular groove, and the upper control arm fixing seat (3) is provided with a sealing shell (8) sleeved outside the annular groove.

5. The wire-controlled angle module with 90° steering function according to claim 3, characterized in that: The main body of the kingpin bogie (91) is provided with a hole 1 (911) for installing a wheel speed sensor, a hole 2 (912) for installing a wheel assembly (1), a hole 3 (913) for installing a lower control arm assembly (6), a hole 4 (914) for passing a pipe harness assembly (4), and a hole 5 (915) for fixing an integrated EPB type hydraulic brake caliper assembly A1.

6. The wire-controlled angle module with 90° steering function according to claim 3, characterized in that: A limiting groove (304) is arranged below the upper control arm fixing seat (3), and a limiting pin (921) is arranged above the steering reduction gear (92) and is slidably fitted in the limiting groove (304), and the limiting angle is -45° to +90°.

7. The wire-controlled angle module with 90° steering function according to claim 1, characterized in that: The upper control arm fixing seat (3) is provided with an axle tube device (31) for mounting the upper control arm assembly (2); one end of the upper control arm assembly (2) is rotatably fixed on the axle tube device (31) via a pair of tapered roller bearings (23) and bearing retaining rings (24), an oil seal (25), a customized pin shaft (26) and a limiting sleeve (27).

8. The wire-controlled angle module with 90° steering function according to claim 2, characterized in that: The steering reduction gear (92) may be helical gear or straight gear.

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