Rear wheel steering gear and vehicle

Abstract

The invention provides a rear wheel steering gear and a vehicle. The steering linear motor of the rear wheel steering gear comprises a stator, two rotors and a guide structure. Wherein the stator comprises a permanent magnet. Each mover comprises a first section and a second section which are connected, the first section of each mover is used for fixing a winding of the mover, and the second sections of the two movers are used for being in transmission connection with rear wheels on the two sides of the vehicle respectively. The two rotors are arranged in the extending direction of the guide structure, the extending direction of the guide structure is parallel to the center connecting line of rear wheels on the two sides of the vehicle, and the guide structure is used for guiding the two rotors to move in the extending direction of the guide structure under the action of one stator. The windings of the two rotors receive different alternating currents to drive the two rotors to move in the extending direction of the guide structure. According to the rear wheel steering gear, the two rotors are driven by the same stator so as to drive the rear wheels on the two sides of the vehicle to steer, the size of the rear wheel steering gear is compressed, and the control modes of the rear wheels are enriched.

Description

Technical Field

[0001] This application relates to the technical field of vehicles, and specifically relates to a rear-wheel steering gear and a vehicle. Background Art

[0002] The rear-wheel steering of the rear-wheel steering gear to control the vehicle includes a centralized type and a distributed type. Among them, the centralized type uses one steering motor to control the synchronous steering of the rear wheels on both sides of the vehicle. The rear-wheel steering gear of this control method has a relatively small volume, but the control method for the rear wheels is relatively single. The distributed type uses two steering motors to control the rear-wheel steering on both sides of the vehicle respectively. The rear-wheel steering gear of this control method has a richer control method for the rear wheels, but the existing distributed type does not have an obvious volume advantage. Summary of the Invention

[0003] This application provides a rear-wheel steering gear and a vehicle. The rear-wheel steering gear drives two rotors respectively through the same stator, thereby driving the rear wheels on both sides of the vehicle to turn respectively, reducing the volume of the rear-wheel steering gear and enriching the control method for the rear wheels.

[0004] In a first aspect, this application provides a rear-wheel steering gear. The steering linear motor of the rear-wheel steering gear includes a stator, two rotors and a guiding structure. Among them, the stator includes a permanent magnet. Each rotor of the two rotors includes a first section and a second section connected together. The first section of each rotor is used to fix the winding of the rotor. The second sections of the two rotors are respectively used to drive and connect the rear wheels on both sides of the vehicle. The two rotors are arranged along the extending direction of the guiding structure. The extending direction of the guiding structure is parallel to the center line connecting the rear wheels on both sides of the vehicle. The guiding structure is used to guide the two rotors to move along the extending direction of the guiding structure under the action of a stator. The windings of the two rotors respectively receive different alternating currents to drive the two rotors to move along the extending direction of the guiding structure respectively.

[0005] The rear-wheel steering gear provided by this application cooperates with two rotors respectively through one stator, reducing the overall volume of the rear-wheel steering gear, which is beneficial to saving the internal space of the vehicle. By guiding the two rotors to move along a direction parallel to the center line connecting the rear wheels on both sides of the vehicle through the guiding structure, each rotor can directly drive the rear wheel on one side of the vehicle to turn. The rear-wheel steering gear provided by this application also transmits different alternating currents to the windings of the two rotors respectively, which can drive the two rotors respectively and drive the wheels on both sides of the vehicle to turn independently respectively. The rear-wheel steering gear provided by this application can achieve a rich steering control method for the rear wheels.

[0006] An implementation manner, the guiding structure includes a slide rail formed on the stator.

[0007] In this implementation, the stator of the linear motor of the rear-wheel steering gear is used to form a slide rail, and the extending direction of the slide rail is parallel to the connecting line of the centers of the rear wheels on both sides of the vehicle. The stator restricts the two movers to move respectively along the direction parallel to the connecting line of the centers of the rear wheels on both sides of the vehicle through the slide rail.

[0008] An implementation, the stator includes a stator core and a permanent magnet. The stator core includes a slide rail, and the extending direction of the slide rail is parallel to the arrangement direction of the rear wheels on both sides of the vehicle. The permanent magnet is fixed to the inner wall of the slide rail.

[0009] In this implementation, the stator forms a slide rail through the stator core, and forms a magnetic field by fixing a permanent magnet on the inner wall of the slide rail. The windings of the two movers can move along the slide rail respectively under the drive of the magnetic field in response to different alternating currents.

[0010] An implementation, the cross-sectional shape of the slide rail is U-shaped, and the opening of the U-shape is used to form a through groove, and the other three inner walls of the U-shape are used to fix permanent magnets respectively.

[0011] An implementation, the guiding structure includes two guiding bearings.

[0012] In this implementation, the stator can drive the mover to rotate, and each guiding bearing is used to sleeved on a mover and restrict the mover to move along the direction parallel to the connecting line of the centers of the rear wheels on both sides of the vehicle.

[0013] An implementation, the rear-wheel steering gear further includes a locking structure, and the locking structure is used to lock the synchronous movement of the two movers, and any one of the two movers drives the other mover to move through the locking structure.

[0014] In this implementation, the rear-wheel steering gear provided by the present application can fixedly connect the two movers through a locking structure, so that by transmitting alternating current to the winding of one of the movers, the two movers can be driven to move synchronously. Such a control method can form a centralized rear-wheel steering method and save the energy consumption of the rear-wheel steering gear.

[0015] An implementation, the locking structure is arranged on one side of the two movers along the direction perpendicular to the connecting line of the centers of the rear wheels on both sides of the vehicle and is used for sliding connection with the stator. The locking structure is used to respectively hold the two movers to restrict the synchronous movement of the two movers after sliding in one direction, and the locking structure is also used to release at least one mover after sliding in the other direction. One of the directions is opposite to the other direction.

[0016] An implementation, the locking structure further includes a pull rod, and a pull rod is used to lock the two movers.

[0017] In one implementation, a pull rod includes two protrusions that extend toward two movers respectively, and the two protrusions are used to be embedded into the two movers respectively to synchronize the movement of the two movers.

[0018] In one implementation, a pull rod includes two grooves, the openings of the two grooves face the two movers respectively, and the first sections of the two movers each include a column. The two grooves are used to accommodate the columns of the two movers respectively to synchronize the movement of the two movers.

[0019] In the above two implementations, the locking structure fixedly connects the two movers through the pull rod. The length direction of the pull rod is parallel to the connecting line direction of the center of the rear wheels on both sides of the vehicle. The pull rod restricts the synchronous movement of the two movers by being embedded in or nested in the first sections of the two movers.

[0020] In one implementation, the locking structure further includes a first electromagnetic switch, which is fixed on the inner wall of the rear-wheel steering gear and faces a pull rod, and the first electromagnetic switch is used to drive a pull rod to lock the two movers.

[0021] In this implementation, the locking structure controls the pull rod to lock or release the two movers through the first electromagnetic switch, so as to achieve the active control of the synchronous movement or separate movement of the two movers.

[0022] In one implementation, the rear-wheel steering gear includes a first elastic component. One end of the first elastic component is fixed to the inner wall of the rear-wheel steering gear, and the other end is used to drive the pull rod to slide toward the two movers to lock the two movers. The first electromagnetic switch is used to open and drive the pull rod to release the two movers.

[0023] In one implementation, the rear-wheel steering gear includes a displacement sensor, which is fixed on the inner wall of the rear-wheel steering gear. The displacement sensor and the first electromagnetic switch are on both sides of the mover respectively, and the displacement sensor is used to detect the displacement of the mover.

[0024] In this implementation, the rear-wheel steering gear detects the displacement of one or two movers through the displacement sensor, so as to form a closed-loop control for the rear-wheel steering on one side or both sides of the vehicle.

[0025] In one implementation, the rear-wheel steering gear includes two displacement sensors, and the two displacement sensors are arranged at intervals along the extension direction of the guiding structure. The two displacement sensors are used to detect the displacements of the two movers respectively.

[0026] In this implementation, the rear-wheel steering gear provided in the present application detects the displacements of the two movers respectively through the two displacement sensors, so as to form a closed-loop control for the two movers respectively, and ensure the control accuracy of the rear-wheel steering gear for the deflection of the rear wheels on both sides of the vehicle.

[0027] In one implementation, the locking structure further includes a pair of friction plates. The first sections of the two rotors each include a fixing post. The pair of friction plates are respectively located on both sides of the fixing posts of the two rotors. The pair of friction plates are used to clamp the fixing posts of the two rotors so that the two rotors move synchronously.

[0028] In this implementation, the locking structure clamps the fixing posts of the two rotors through a pair of friction plates, and can also limit the synchronous movement of the two rotors. The length direction of the friction plates is parallel to the connecting line of the center points of the rear wheels on both sides of the vehicle. The friction plates can still limit the synchronous movement of the two rotors after one or both rotors move relative to the stator and deviate from the initial position.

[0029] In one implementation, the locking structure further includes a second electromagnetic switch. The second electromagnetic switch is fixed on the inner wall of the rear-wheel steering gear and faces the pair of friction plates. The second electromagnetic switch is used to drive the pair of friction plates to clamp the fixing posts of the two rotors.

[0030] In this implementation, the locking structure controls the pair of friction plates to lock or release the two rotors through the second electromagnetic switch, so as to realize the active control of the synchronous movement or separate movement of the two rotors.

[0031] In one implementation, the rear-wheel steering gear includes a second elastic component. The second elastic component includes two second elastic members. One end of each second elastic member is fixed to the inner wall of the rear-wheel steering gear, and the other end is used to drive a friction plate to slide towards the fixing posts of the two rotors to clamp the two rotors. The second electromagnetic switch is used to open and drive at least one friction plate to release the two rotors.

[0032] In one implementation, the rear-wheel steering gear includes a motor controller. The motor controller is used to output alternating current to the windings of the rotors to drive the two rotors to move towards each other or away from each other.

[0033] In this implementation, the rear-wheel steering gear drives the two rotors to move separately through the alternating current output by the motor controller to the windings of the two rotors respectively.

[0034] In one implementation, the motor controller is used to output a first alternating current to the winding of one or two rotors to drive one or two rotors to move towards one side of the vehicle and drive one or two rear wheels to deflect. The motor controller is also used to output a second alternating current to the winding of one or two rotors to drive one or two rotors to move towards the other side of the vehicle and drive one or two rear wheels to deflect. The phases of the first alternating current and the second alternating current are different.

[0035] In this implementation manner, the rear-wheel steering gear provided by the present application can drive one or two movers to move toward one side or the other side of the vehicle by controlling the phase of the alternating current output by the motor controller, and thereby control the direction of the rear wheels deflected to one side or both sides of the vehicle.

[0036] In one implementation manner, in response to a first control signal, the motor controller is used to drive two movers to move away from each other to drive the rear wheels on both sides of the vehicle to deflect away from each other. The first control signal is used to indicate that the turning radius of the road surface is less than a first preset threshold. In the top view direction of the vehicle, along the tail of the vehicle towards the head of the vehicle, the included angle between the two rear wheels forms a V shape.

[0037] In this implementation manner, after receiving the first control signal, the rear-wheel steering gear provided by the present application controls the rear wheels on both sides of the vehicle to deflect away from each other to form an "outward V" shape. This shape can reduce the turning radius of the vehicle and improve the flexibility of the vehicle on narrow roads.

[0038] In one implementation manner, in response to a second control signal, the motor controller is used to drive two movers to move towards each other to drive the rear wheels on both sides of the vehicle to deflect towards each other. The second control signal is used to indicate that the braking force of the vehicle is greater than or equal to a second preset threshold. In the top view direction of the vehicle, along the tail of the vehicle towards the head of the vehicle, the included angle between the two rear wheels forms an inverted V shape.

[0039] In this implementation manner, after receiving the second control signal, the rear-wheel steering gear provided by the present application controls the rear wheels on both sides of the vehicle to deflect towards each other to form an "inward V" shape. This shape can improve the vehicle's ability to resist lateral disturbances, enhance vehicle stability, and reduce the braking distance.

[0040] In one implementation manner, the motor controller is used to output a first alternating current to the winding of one mover and output a second alternating current to the winding of the other mover to drive the two movers to move towards each other or away from each other, thereby driving the rear wheels on both sides of the vehicle to deflect relatively.

[0041] In this implementation manner, the rear-wheel steering gear provided by the present application can drive the two movers to move towards each other or away from each other by controlling the motor controller to output alternating currents with different phases to the two movers respectively, and thereby control the rear wheels on both sides of the vehicle to deflect relatively to form an "inward V" or "outward V" shape. The two different relative deflection shapes can be applied to different driving scenarios.

[0042] In one implementation manner, in response to the front-wheel turning angle of the vehicle being less than a first preset turning angle value, the motor controller is used to control the locking structure to lock the two movers. In response to the front-wheel turning angle of the vehicle being greater than or equal to the first preset turning angle value, the motor controller is used to control the locking structure to release the two movers.

[0043] In this implementation, when the front wheel angle of the vehicle is relatively small, the rear wheel steering gear provided by the present application can control the synchronous deflection of the rear wheels on both sides of the vehicle through the motor controller to cooperate with the front wheels to achieve vehicle turning, reduce the turning radius of the vehicle and save energy consumption. When the front wheel angle of the vehicle is relatively large, the rear wheel steering gear provided by the present application can control the independent deflection of the rear wheels on both sides of the vehicle through the motor controller, thereby reducing the turning radius of the vehicle and providing greater turning flexibility for the vehicle.

[0044] An implementation, in response to the front wheel angle of the vehicle being greater than or equal to a second preset angle value, the motor controller is used to control the two movers to move different displacements, and the second preset angle value is greater than the first preset angle value.

[0045] In this implementation, when the front wheel angle of the vehicle exceeds the first preset angle value, the rear wheel steering gear provided by the present application can control the independent deflection of the rear wheels on both sides of the vehicle by different angles through the motor controller, and further ensure the stable attitude of the vehicle when cornering on the basis of reducing the turning radius of the vehicle.

[0046] An implementation, the motor controller is used to output alternating current with the same phase and different magnitudes to the windings of the two movers at the same time, so as to drive the two movers to move towards the same side of the vehicle and the displacement amounts are different, thereby driving the synchronous deflection of the two rear wheels and the deflection angles of the two rear wheels are different.

[0047] An implementation, in response to a third control signal, the motor controller is used to control the locking structure to lock the two movers, and the third control signal is used to indicate that any one of the two movers cannot move.

[0048] In this implementation, when one of the two movers of the steering linear motor fails, the rear wheel steering gear provided by the present application can keep the two movers moving synchronously through the locking structure, thereby improving the reliability of the rear wheel steering gear provided by the present application and avoiding the inability of the rear wheels on both sides of the vehicle to deflect due to the failure of one mover to move.

[0049] In a second aspect, the present application provides a vehicle, the vehicle includes the rear wheel steering gear provided by any of the above implementations, and the rear wheel steering gear is used to drive any one or more of the rear wheels on both sides of the vehicle to deflect. The rear wheel steering gear provided by the present application has a small volume, and the rear wheels on both sides can be independently controlled to steer respectively, so as to have a richer rear wheel steering control method and adapt to more driving scenarios to improve the user experience.

[0050] An implementation, when the vehicle is in a reverse state, the rear wheel steering gear controls the two movers to move synchronously, and the front wheel angle of the vehicle is less than a third preset angle value, and the third preset angle value is less than the first preset angle value.

[0051] In this implementation, during the reverse process of the vehicle, the rear-wheel steering gear can also be used to control the two rear wheels, so as to reduce the turning radius of the vehicle and improve the flexibility of vehicle reverse. Brief Description of the Drawings

[0052] To more clearly illustrate the technical solutions of the present application, the drawings required for implementation will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0053] Figure 1 Schematic diagram of the external structure of a vehicle provided by an embodiment of the present application;

[0054] Figure 2 Schematic diagram of the structure of the rear-wheel steering gear and the rear wheels provided by an embodiment of the present application;

[0055] Figure 3 Schematic diagram of the structure of the rear-wheel steering gear provided by an embodiment of the present application;

[0056] Figure 4 Schematic diagram of the partial structure of the rear-wheel steering gear and the rear wheels provided by an embodiment of the present application;

[0057] Figure 5 Schematic diagram of the partial structure of the rear-wheel steering gear and the rear wheels provided by an embodiment of the present application;

[0058] Figure 6 Schematic diagram of the cooperation between the rear-wheel steering gear and the rear wheels provided by an embodiment of the present application;

[0059] Figure 7 Schematic diagram of the cooperation between the rear-wheel steering gear and the rear wheels provided by an embodiment of the present application;

[0060] Figure 8 Schematic diagram of the cooperation between the rear-wheel steering gear and the rear wheels provided by an embodiment of the present application;

[0061] Figure 9 Schematic diagram of the cooperation between the rear-wheel steering gear and the rear wheels provided by an embodiment of the present application;

[0062] Figure 10 Schematic diagram of the internal structure of the rear-wheel steering gear provided by an embodiment of the present application;

[0063] Figure 11 Schematic diagram of the structure of the rear-wheel steering gear provided by an embodiment of the present application;

[0064] Figure 12A schematic diagram of the structure of a rear wheel steering device provided in one embodiment of the present application;

[0065] Figure 13 A schematic diagram of the structure of a rear wheel steering device provided in one embodiment of the present application;

[0066] Figure 14 A schematic diagram of the structure of a rear wheel steering device provided in one embodiment of the present application;

[0067] Figure 15 A schematic diagram of the structure of a rear wheel steering device provided in one embodiment of the present application;

[0068] Figure 16 A schematic diagram of the structure of a rear wheel steering device provided in one embodiment of the present application;

[0069] Figure 17 A cross-sectional schematic diagram of a rear wheel steering gear provided in one embodiment of the present application. DETAILED DESCRIPTION

[0070] The following will describe the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of this application.

[0071] The present application provides a rear wheel steering gear, wherein the steering linear motor of the rear wheel steering gear comprises a stator, two movers and a guide structure. The stator comprises a permanent magnet, each mover comprises a first section and a second section connected to each other, the first section of each mover is used to fix the winding of the mover, and the second sections of the two movers are used to respectively drive and connect the rear wheels on both sides of the vehicle, that is, the second section of one mover is used to drive and connect the left rear wheel of the vehicle, and the second section of the other mover is used to drive and connect the right rear wheel of the vehicle. The two movers are arranged along the extension direction of the guide structure of the steering linear motor, and can be arranged in sequence or arranged with a support at intervals. The extension direction of the guide structure is parallel to the center line of the rear wheels on both sides of the vehicle, and the guide structure is used to guide the two movers to move along the extension direction of the guide structure under the magnetic force of a stator. The windings of the two movers receive different alternating currents respectively to drive the two movers to move respectively along the extension direction of the guide structure, that is, the movement of the two movers can be independently controlled. The rear wheel steering gear provided by the present application is small in size, which is conducive to saving the internal space of the vehicle.

[0072] The present application provides a vehicle, the vehicle includes the rear wheel steering device provided by the present application, and the rear wheel steering device is used to drive one or more rear wheels on both sides of the vehicle to deflect. The vehicle rear wheel steering device provided by the present application is small in size, and the rear wheels on both sides can be independently controlled to steer, thereby providing a richer rear wheel steering control method, adapting to more driving scenarios to improve user experience.

[0073] See also Figure 1 A schematic diagram of the appearance structure of a vehicle 200 provided by an embodiment of the present application is shown.

[0074] like Figure 1 As shown, the vehicle 200 provided by the present application includes a frame 201, at least two rear wheels 202, at least one front wheel 203, and a rear wheel steering device 100. The frame 201 is used to rotatably connect the rear wheels 202 and the front wheels 203. The two sides of the vehicle 200 respectively include at least one rear wheel 202. The rear wheel steering device 100 is used to be fixed to the frame 201, and the rear wheel steering device 100 is fixed between the rear wheels 202 on both sides along the arrangement direction of the rear wheels 202 on both sides of the vehicle 200. The rear wheel steering device 100 is used to be respectively connected to the rear wheels 202 on both sides of the vehicle 200. The rear wheel steering device 100 is used to drive at least one rear wheel 202 on both sides of the vehicle 200 to deflect to change the steering, thereby expanding the control range of the steering angle of the vehicle 200, matching different driving scenarios, and improving user experience.

[0075] Please see Figure 2 and Figure 3 ,in Figure 2 A schematic diagram of the structure of a rear wheel steering device 100 and a rear wheel 202 provided in an embodiment of the present application; Figure 3 A schematic structural diagram of a rear wheel steering gear 100 provided in one embodiment of the present application.

[0076] The rear wheel steering device 100 provided in the present application includes a steering linear motor. The steering linear motor is arranged between the rear wheels 202 on both sides of the vehicle 200. The steering linear motor includes a stator 10 and two movers 20, the stator 10 is used to form a magnetic field, and the two movers 20 are used to form an alternating magnetic field in response to the received alternating current so as to move respectively relative to the stator 10.

[0077] The rear wheel steering gear 100 provided in the present application also includes a guide structure, and the two movers 20 are arranged along the extension direction of the guide structure. The extension direction of the guide structure is parallel to the center line of the rear wheels 202 on both sides of the vehicle 200. The guide structure is used to guide the two movers 20 to move along the extension direction of the guide structure under the action of a stator 10.

[0078] In one embodiment, the guide structure includes a slide rail 111 formed on the stator 10 .

[0079] An embodiment, the guiding structure includes two guiding bearings. The two rotors 20 rotate relative to the stator 10 respectively, and each guiding bearing is used to sleeved on a rotor 20 and used to limit the movement of the rotor 20 along the direction parallel to the center line of the rear wheels 202 on both sides of the vehicle 200.

[0080] An embodiment, the rear-wheel steering gear 100 provided in the present application includes a motor controller 102. The motor controller 102 is used to output alternating current to at least one of the two rotors 20 to drive at least one rotor 20 to move.

[0081] For the rear-wheel steering gear 100 provided in the present application, its stator 10 may only have permanent magnets, or may include a combination of permanent magnets and iron cores. The guiding structure may be a slide rail, or a sliding bearing, etc. Hereinafter, an example will be described in which the stator 10 includes permanent magnets and a stator iron core, the guiding structure is a slide rail 111, and the two rotors 20 are arranged at intervals along the extending direction of the slide rail 111.

[0082] In this embodiment, the stator 10 includes a stator iron core 11 and permanent magnets 12. The stator iron core 11 includes a slide rail 111, and the extending direction of the slide rail 111 is parallel to the arrangement direction of the rear wheels 202 on both sides of the vehicle 200. The permanent magnets 12 are fixed to the inner wall of the slide rail 111.

[0083] The two rotors 20 are arranged at intervals along the extending direction of the slide rail 111, that is, the two rotors 20 are arranged at intervals along the center line direction of the rear wheels 202 on both sides of the vehicle 200. Thus, along the arrangement direction of the rear wheels 202 on both sides of the vehicle 200, a rear wheel 202, a rotor 20, the other rotor 20, and the other rear wheel 202 are arranged in sequence.

[0084] For the convenience of description, in the embodiment of the present application, the rear wheels 202 on both sides of the vehicle 200 are respectively defined as the first rear wheel 2021 and the second rear wheel 2022. The rotor 20 close to the first rear wheel 2021 among the two rotors 20 is the first rotor 21, and the rotor 20 close to the second rear wheel 2022 among the two rotors 20 is the second rotor 22. Thus, the first rear wheel 2021, the first rotor 21, the second rotor 22, and the second rear wheel 2022 are arranged in sequence. The first rear wheel 2021 and the first rotor 21 are arranged on the same side of the vehicle 200, and the second rear wheel 2022 and the second rotor 22 are arranged on the other side of the vehicle 200.

[0085] Along the extending direction of the slide rail 111, each rotor 20 respectively includes a first section and a second section connected to each other. The two first sections among the two rotors 20 are used to be respectively embedded in the slide rail 111 and used to respectively fix a winding, and the two second sections among the two rotors 20 are used to be respectively drivingly connected to the rear wheels 202 on both sides of the vehicle 200.

[0086] Please refer toFigure 4 and Figure 5 , wherein Figure 4 is a partial structural schematic diagram of a rear-wheel steering gear 100 and a rear wheel 202 provided in an embodiment of the present application; Figure 5 is a partial structural schematic diagram of a rear-wheel steering gear 100 and a rear wheel 202 provided in an embodiment of the present application.

[0087] Specifically, as Figure 4 shown. The first mover 21 includes a first section and a second section connected to each other. For the convenience of description, in the embodiment of the present application, the first section of the first mover 21 is defined as the first sliding section 211, and the second section of the first mover 21 is defined as the first transmission section 212. The first sliding section 211 is used to fix a winding, and in the embodiment of the present application, the winding of the first mover 21 is defined as the first winding 231. Among them, the first sliding section 211 is used to be embedded in the slide rail 111 of the stator core 11, and the first winding 231 is fixed to the first sliding section 211. The first transmission section 212 is used to extend towards the first rear wheel 2021, and the first transmission section 212 is used to be drivingly connected to the first rear wheel 2021.

[0088] In one embodiment, the first winding 231 is wound around the outer surface of the first sliding section 211.

[0089] As Figure 5 shown, the second mover 22 includes a first section and a second section connected to each other. For the convenience of description, in the embodiment of the present application, the first section of the second mover 22 is defined as the second sliding section 221, and the second section of the second mover 22 is defined as the second transmission section 222. The second sliding section 221 is used to fix a winding, and in the embodiment of the present application, the winding of the second mover 22 is defined as the second winding 232. Among them, the second sliding section 221 is used to be embedded in the slide rail 111 of the stator core 11, and the second winding 232 is fixed to the second sliding section 221. The second transmission section 222 is used to extend towards the second rear wheel 2022, and the second transmission section 222 is used to be drivingly connected to the second rear wheel 2022.

[0090] In one embodiment, the second winding 232 is wound around the outer surface of the second sliding section 221.

[0091] Thus, along the arrangement direction of the first rear wheel 2021 and the second rear wheel 2022, the first mover 21 and the second mover 22 are arranged at intervals. The first mover 21 and the second mover 22 are respectively inserted into the slide rail 111 from both side portions of the slide rail 111 to slide relative to the slide rail 111. Among them, the first sliding section 211 and the second sliding section 221 are arranged between the first transmission section 212 and the second transmission section 222. The first sliding section 211 and the second sliding section 221 are respectively inserted into the slide rail 111 from both sides of the stator core 11, and the first transmission section 212 and the second transmission section 222 respectively extend from both sides of the stator core 11. The first transmission section 212 and the second transmission section 222 are respectively used for drivingly connecting the first rear wheel 2021 and the second rear wheel 2022.

[0092] The two movers 20 are respectively used to receive the drive of the motor controller 102 through the windings to move along the extension direction of the slide rail 111 and respectively drive the rear wheels 202 on one side of the vehicle 200 to deflect.

[0093] The first winding 231 and the second winding 232 are respectively fixed to the first sliding section 211 and the second sliding section 221. The motor controller 102 is used to be electrically connected to the first winding 231 and the second winding 232 respectively. The motor controller 102 is used to output alternating current to the first winding 231 and the second winding 232 respectively.

[0094] The stator 10 forms a magnetic field by fixing permanent magnets 12 on the inner wall of the slide rail 111. The direction of the magnetic field is parallel to the extension direction of the slide rail 111, that is, the stator 10 forms a magnetic field along the arrangement direction of the rear wheels 202 on both sides of the vehicle 200. In one embodiment, when the motor controller 102 outputs alternating current to the first winding 231 of the first mover 21, the first winding 231 generates an alternating magnetic field in response to the alternating current. The alternating magnetic field generated by the first winding 231 interacts with the magnetic field in the stator 10, and can drive the first sliding section 211 of the first mover 21 to move relative to the stator 10. The first sliding section 211 is inserted into the slide rail 111, and the moving direction of the first sliding section 211 is parallel to the extension direction of the slide rail 111, that is, the first sliding section 211 moves along the arrangement direction of the rear wheels 202 on both sides of the vehicle 200.

[0095] The first sliding section 211 drives the whole first mover 21 to move, and the first transmission section 212 moves synchronously with the first sliding section 211. Thus, the first transmission section 212 can drive the first rear wheel 2021 connected thereto to change the steering, realizing the function that the rear wheel steering device 100 of the present application drives the rear wheels 202 on at least one side of the vehicle 200 to steer.

[0096] In one embodiment, when the motor controller 102 outputs alternating current to the second winding 232 of the second mover 22, the second winding 232 generates an alternating magnetic field in response to the alternating current and drives the second sliding section 221 and the second transmission section 222 to move synchronously. The second transmission section 222 can drive the second rear wheel 2022 to change its steering direction.

[0097] In one embodiment, when the motor controller 102 outputs alternating current to the first winding 231 and the second winding 232 respectively, the first mover 21 and the second mover 22 can drive the first rear wheel 2021 and the second rear wheel 2022 to change their steering directions respectively.

[0098] Thus, the rear-wheel steering device 100 provided in this application can output alternating current to the two windings respectively through the motor controller 102, so as to achieve the effect that the same stator 10 drives the two movers 20 respectively and drives the rear wheels 202 on both sides of the vehicle 200 to steer respectively. Compared with the structure in which each stator 10 drives one mover 20, the volume of the rear-wheel steering device 100 provided in this application can be controlled, which is beneficial to saving the internal space of the vehicle 200. Through the control of the alternating current of the motor controller 102, the rear-wheel steering device 100 provided in this application can achieve a rich steering control method for the rear wheels 202.

[0099] In the embodiment of this application, the outer shapes of the two sections of each mover 20 can be the same. That is, for the first mover 21, the outer dimensions of the first sliding section 211 and the first transmission section 212 are equal, and the only difference is that the first winding 231 is fixed on the outer surface of the first sliding section 211. As the first mover 21 slides relative to the slide rail 111, the first sliding section 211 and the first winding 231 can partially extend out of the slide rail 111, or the first transmission section 212 can partially extend into the slide rail 111. The working scenario of the second mover 22 is similar. For the rear-wheel steering device 100 of this application, the two sections of each mover 20 are distinguished by their functions during the working process, and the comparison of the outer shapes between the two sections is not limited.

[0100] In one embodiment, the motor controller 102 is configured to output a first alternating current to the windings of one or two movers 20 to drive one or two movers 20 to move toward one side of the vehicle 200 and drive one or two rear wheels 202 to deflect. The motor controller 102 is further configured to output a second alternating current to the windings of one or two movers 20 to drive one or two movers 20 to move toward the other side of the vehicle 200 and drive one or two rear wheels 202 to deflect; wherein, the phases of the first alternating current and the second alternating current are different.

[0101] In this embodiment, the magnetic field direction of the stator 10 remains unchanged along the extension direction of the slide rail 111, that is, the magnetic field direction of the stator 10 is from the first rear wheel 2021 towards the second rear wheel 2022, or from the second rear wheel 2022 towards the first rear wheel 2021. The first winding 231 and the second winding 232 are respectively helically wound around the outer surfaces of the first sliding section 211 and the second sliding section 221 in the same winding direction.

[0102] Please refer to Figure 6 and Figure 7 , wherein Figure 6 is a schematic diagram of the cooperation between the rear-wheel steering gear 100 and the rear wheel 202 provided by an embodiment of the present application; Figure 7 is a schematic diagram of the cooperation between the rear-wheel steering gear 100 and the rear wheel 202 provided by an embodiment of the present application.

[0103] As Figure 6 shown, the motor controller 102 is used to output first alternating current to the first winding 231 and the second winding 232 respectively. The first winding 231 and the second winding 232 respectively form alternating magnetic fields in response to the first alternating current. The directions of the two alternating magnetic fields are the same, and the two alternating magnetic fields respectively interact with the magnetic field of the stator 10, and the directions of driving the first sliding section 211 and the second sliding section 221 to move relative to the slide rail 111 are also the same. Thus, the first mover 21 and the second mover 22 move synchronously towards the first rear wheel 2021 or the second rear wheel 2022 along the extension direction of the first slide rail 111, so that the first rear wheel 2021 and the second rear wheel 2022 deflect towards the same side of the vehicle 200.

[0104] And as Figure 7 shown, the motor controller 102 is used to output second alternating current to the first winding 231 and the second winding 232 respectively, where the phase of the second alternating current is different from that of the first alternating current. At this time, the first winding 231 and the second winding 232 respectively form alternating magnetic fields in response to the second alternating current, and the directions of the two alternating magnetic fields are opposite to the directions of the magnetic fields formed when they respond to the first alternating current. Thus, the two alternating magnetic fields formed in response to the second alternating current respectively interact with the magnetic field of the stator 10, driving the first sliding section 211 and the second sliding section 221 to move relative to the slide rail 111 in the same direction, and the moving direction is opposite to the moving direction formed in response to the first alternating current. Thus, the first mover 21 and the second mover 22 move synchronously towards the second rear wheel 2022 or the first rear wheel 2021 along the extension direction of the first slide rail 111, so that the first rear wheel 2021 and the second rear wheel 2022 deflect towards the other side of the vehicle 200 synchronously.

[0105] In the above two embodiments, the rear-wheel steering gear 100 provided by the present application can drive one or two rotors 20 to move toward one side or the other side of the vehicle 200 by controlling the phase of the alternating current output by the motor controller 102, and thereby control the deflection direction of the rear wheels 202 on one side or both sides of the vehicle 200.

[0106] In some scenarios, when the vehicle 200 needs to turn or reverse with a smaller turning radius, it can control the front wheels 203 and the rear wheels 202 of the vehicle 200 to deflect in opposite directions, thereby reducing the turning radius of the vehicle 200 and improving the flexibility of the vehicle 200. In other scenarios, when the vehicle 200 needs to turn at a higher speed, it can control the front wheels 203 and the rear wheels 202 of the vehicle 200 to deflect in the same direction, thereby reducing the sideslip angle of the center of mass of the vehicle 200 and reducing the steady-state overshoot of the yaw rate of the vehicle 200, and further enhancing the handling stability of the vehicle 200.

[0107] The rear-wheel steering gear 100 provided by the present application can drive the rear wheels 202 on both sides of the vehicle 200 to deflect toward the same side of the vehicle 200 by controlling the phase of the alternating current output by the motor controller 102, so as to adapt to the above scenarios and improve the flexibility and handling stability of the vehicle 200.

[0108] In one embodiment, by changing the magnetic pole direction of the permanent magnet 12, the magnetic field direction of the stator 10 can include two directions along the extension direction of the slide rail 111, that is, the magnetic field direction of the stator 10 faces the first rear wheel 2021 and the second rear wheel 2022 respectively from the center of the slide rail 111, or faces the center of the slide rail 111 from the first rear wheel 2021 and the second rear wheel 2022 respectively. At this time, the motor controller 102 outputs alternating currents with different phases to the first winding 231 and the second winding 232 respectively to drive the first rotor 21 and the second rotor 22 to move toward the same side of the vehicle 200, and can also control the first rear wheel 2021 and the second rear wheel 2022 to deflect toward the same side of the vehicle 200.

[0109] In one embodiment, the first winding 231 and the second winding 232 are respectively helically wound on the outer surfaces of the first sliding section 211 and the second sliding section 221 along different helix directions. The motor controller 102 outputs alternating currents with different phases to the first winding 231 and the second winding 232 respectively, and can also drive the first rotor 21 and the second rotor 22 to move toward the same side of the vehicle 200, and drive the first rear wheel 2021 and the second rear wheel 2022 to deflect toward the same side of the vehicle 200.

[0110] In one embodiment, the motor controller 102 is configured to output alternating current to the windings of the mover 20 to drive the two movers 20 to move towards or away from each other. Exemplarily, the motor controller 102 is configured to output a first alternating current to the winding of one mover 20 and output a second alternating current to the winding of the other mover 20 to drive the two movers 20 to move towards or away from each other, thereby driving the relative deflection of the rear wheels 202 on both sides of the vehicle 200.

[0111] In this embodiment, the rear-wheel steering device 100 provided in the present application can drive the two movers 20 to move towards or away from each other by controlling the motor controller 102 to output alternating currents with different phases to the two movers 20 respectively, and thereby control the relative deflection of the rear wheels 202 on both sides of the vehicle 200 to form a "narrow-track" shape, i.e., a figure-eight shape, or a "wide-track" shape, i.e., a V shape. The two different relative deflection shapes can be applied to different driving scenarios.

[0112] In one embodiment, in response to a first control signal, the motor controller 102 is configured to drive the two movers 20 to move away from each other to drive the rear wheels 202 on both sides of the vehicle 200 to deflect away from each other. The first control signal is used to indicate that the radius of the curve of the road surface is less than a first preset threshold. Wherein, in the top view direction of the vehicle 200, along the tail of the vehicle 200 towards the head of the vehicle 200, the included angle between the two rear wheels 202 forms a V shape. At this time, the included angle between the rear wheels 202 on both sides of the vehicle 200 faces the front wheels 203.

[0113] In one embodiment, in response to a second control signal, the motor controller 102 is configured to drive the two movers 20 to move towards each other to drive the rear wheels 202 on both sides of the vehicle 200 to deflect towards each other. The second control signal is used to indicate that the braking force of the vehicle 200 is greater than or equal to a second preset threshold. Wherein, in the top view direction of the vehicle 200, along the tail of the vehicle 200 towards the head of the vehicle 200, the included angle between the two rear wheels 202 forms a figure-eight shape. At this time, the included angle between the rear wheels 202 on both sides of the vehicle 200 faces away from the front wheels 203.

[0114] Please refer to Figure 8 and Figure 9 , wherein Figure 8 is a schematic diagram of the cooperation between the rear-wheel steering device 100 and the rear wheels 202 provided in one embodiment of the present application; Figure 9 is a schematic diagram of the cooperation between the rear-wheel steering device 100 and the rear wheels 202 provided in one embodiment of the present application.

[0115] As shown in Figure 8As shown, the motor controller 102 is configured to output a first alternating current to the first winding 231 and a second alternating current to the second winding 232. The first winding 231 forms an alternating magnetic field in response to the first alternating current, and the second winding 232 forms another alternating magnetic field in response to the second alternating current. Since the phases of the first alternating current and the second alternating current are different, the directions of the two alternating magnetic fields formed by the first winding 231 and the second winding 232 are opposite. The two alternating magnetic fields interact with the magnetic field of the stator 10 respectively, and the directions of driving the first sliding segment 211 and the second sliding segment 221 to move relative to the slide rail 111 are also opposite.

[0116] Among them, the first winding 231 drives the first mover 21 to move toward the first rear wheel 2021 side, and the second winding 232 drives the second mover 22 to move toward the second rear wheel 2022 side. That is, the first mover 21 and the second mover 22 move away from each other along the extension direction of the slide rail 111. At this time, the first rear wheel 2021 and the second rear wheel 2022 deflect outward toward the two sides of the vehicle 200 respectively, forming a "V" shape with an "outer eight".

[0117] And as Figure 9 shown, the motor controller 102 is configured to output a second alternating current to the first winding 231 and a first alternating current to the second winding 232. At this time, the first winding 231 drives the first mover 21 to move toward the second rear wheel 2022 side in response to the second alternating current, and the second winding 232 drives the second mover 22 to move toward the first rear wheel 2021 side in response to the first alternating current. The first mover 21 and the second mover 22 move relatively along the extension direction of the first slide rail 111, so that the first rear wheel 2021 and the second rear wheel 2022 deflect inward toward the two sides of the vehicle 200 respectively, forming an "inner eight" shape.

[0118] In response to the first control signal, the motor controller 102 is configured to drive the two movers 20 to move away from each other to drive the rear wheels 202 on both sides of the vehicle 200 to deflect relatively. The first control signal is used to indicate that the turning radius of the road surface is less than a first preset threshold. In one embodiment, the first preset threshold can be defined as the minimum turning radius that the vehicle 200 has when none of the rear wheels 202 deflects. That is, when the turning radius of the road surface is less than the first preset threshold, the vehicle 200 needs to reduce the turning radius to pass through the road surface. The user can send the first control signal to the rear wheel steering gear 100 through the vehicle 200, or the vehicle 200 actively sends the first control signal to the rear wheel steering gear 100 to instruct the motor controller 102 to output alternating currents with different phases to the first winding 231 and the second winding 232 respectively, so as to drive the two rear wheels 202 to deflect backward to form an "outer eight" shape. At this time, the turning radius of the vehicle 200 is reduced, and the vehicle 200 can perform actions such as turning, turning around, and side parking in a relatively narrow space, improving the flexibility of the vehicle 200.

[0119] In response to the second control signal, the motor controller 102 is configured to drive the two movers 20 to move towards each other, so as to drive the rear wheels 202 on both sides of the vehicle 200 to deflect towards each other. The second control signal is used to indicate that the braking force of the vehicle 200 is greater than or equal to a second preset threshold. In one embodiment, the second preset threshold may be defined as the minimum braking force for the vehicle 200 to activate the ABS to hold. That is, when the vehicle 200 needs to perform an emergency braking, the user can send a second control signal to the rear wheel steering gear 100 through the vehicle 200, or the vehicle 200 actively sends a second control signal to the rear wheel steering gear 100, so as to instruct the motor controller 102 to output alternating current with different phases to the first winding 231 and the second winding 232 respectively, thereby driving the two rear wheels 202 to relatively deflect to form an "inward V" or V-shaped configuration. This configuration can enhance the ability of the vehicle 200 to resist lateral disturbances, improve the stability of the vehicle 200 and reduce the braking distance.

[0120] In one embodiment, by changing the pole direction of the permanent magnet 12 or by changing the winding directions of the two windings, after the first winding 231 and the second winding 232 receive the alternating current with the same phase output by the motor controller 102, the alternating magnetic fields formed by them interact with the alternating magnetic field of the stator 10, and the moving directions of the first mover 21 and the second mover 22 are opposite. At this time, when the motor controller 102 receives the first control signal or the second control signal, it can output alternating current with the same phase to the first winding 231 and the second winding 232 respectively, and can also drive the first mover 21 and the second mover 22 to move relatively or away from each other, and make the rear wheels 202 on both sides of the vehicle 200 form an "inward V" or "outward V" configuration to adapt to different scenarios.

[0121] The rear wheel steering gear 100 of the present application cooperates with two movers 20 respectively through a stator 10. By using the motor controller 102 to output alternating current to the two movers 20 respectively, the moving directions of the two movers 20 can be controlled respectively, and different relative deflection configurations can be formed by the two movers 20 to adapt to different scenarios. The rear wheel steering gear 100 of the present application has a smaller volume, is easier to control, and has relatively rich configurations, which can save the internal space of the vehicle 200 and adapt to more scenarios.

[0122] In one embodiment, the motor controller 102 is configured to simultaneously output alternating current with the same phase and different magnitudes of current to the windings of the two movers 20, so as to drive the two movers 20 to move towards the same side of the vehicle 200 and with different displacements, thereby driving the two rear wheels 202 to deflect synchronously, wherein the deflection angles of the two rear wheels 202 are different.

[0123] In this embodiment, when the motor controller 102 outputs alternating current to the two windings respectively, the magnitude of the alternating current can be controlled separately. Exemplarily, the magnitude of the alternating current output by the motor controller 102 to the first winding 231 is greater than that of the alternating current output to the second winding 232, and the phases of the two alternating currents are the same. Thus, the magnetic force of the alternating magnetic field generated by the first winding 231 is greater than that of the alternating magnetic field generated by the second winding 232. In the same time period, the displacement of the first mover 21 relative to the slide rail 111 caused by the alternating magnetic field generated by the first winding 231 is greater than the displacement of the second mover 22 relative to the slide rail 111 caused by the alternating magnetic field generated by the second winding 232.

[0124] Such a control method enables the rear-wheel steering device 100 provided in the present application to control the different moving distances of the two movers 20 when driving them to move on the same side of the vehicle 200 respectively by controlling the motor controller 102. The deflection angle of the first rear wheel 2021 is greater than that of the second rear wheel 2022. Thus, the first rear wheel 2021 and the second rear wheel 2022 form a differential deflection state. When the vehicle 200 turns towards the side of the second rear wheel 2022, the turning radius of the first rear wheel 2021 is larger than that of the second rear wheel 2022. Increasing the deflection angle of the first rear wheel 2021 can make the vehicle 200 turn more smoothly. By outputting alternating current to the two movers respectively through the motor controller 102, the rear-wheel steering device 100 of the present application can further enrich the form control of the rear-wheel 202 steering provided by the rear-wheel steering device 100 of the present application to adapt to more different driving scenarios.

[0125] In one embodiment, the rear-wheel steering device 100 includes a displacement sensor. The displacement sensor is fixed on the inner wall of the housing of the rear-wheel steering device 100, and the displacement sensor is used to detect the displacement of the mover 20. The number of displacement sensors can be one or two, and each displacement sensor is used to detect the displacement of one mover 20. The rear-wheel steering device 100 provided in the present application detects the displacement of one or two movers 20 through the displacement sensor, so as to form a closed-loop control for the steering of the rear wheels 202 on one side or both sides of the vehicle 200.

[0126] In one embodiment, the rear-wheel steering device 100 includes two displacement sensors. The two displacement sensors are respectively fixed on the outer wall of the stator core 11 and arranged at intervals along the extension direction of the slide rail 111. The two displacement sensors are used to extend into the inner wall of the slide rail 111 respectively and to detect the displacements of the two movers 20 respectively. In this embodiment, the displacement sensor is fixedly connected to the inner wall of the housing of the rear-wheel steering device 100 through the stator core 11, and can also detect the displacement of the mover 20.

[0127] Please refer to Figure 10 , Figure 10Schematic diagram of the internal structure of a rear-wheel steering gear 100 provided by an embodiment of the present application.

[0128] As Figure 10 shown, the rear-wheel steering gear 100 includes two displacement sensors. For the convenience of description, in subsequent embodiments of the present application, the two displacement sensors are defined as a first displacement sensor 31 and a second displacement sensor 32 respectively. Both the first displacement sensor 31 and the second displacement sensor 32 are fixed to the inner wall of the slide rail 111. The distance between the first displacement sensor 31 and the first rear wheel 2021 is less than the distance between the second displacement sensor 32 and the second rear wheel 2022. The first displacement sensor 31 is used to detect the displacement of the first sliding section 211 of the first mover 21 relative to the slide rail 111, and the second displacement sensor 32 is used to detect the displacement of the second sliding section 221 of the second mover 22 relative to the slide rail 111.

[0129] In this embodiment, the rear-wheel steering gear 100 provided by the present application respectively detects the displacement of the two movers 20 through two displacement sensors, so as to respectively form a closed-loop control for the two movers 20, ensuring the control accuracy of the rear-wheel steering gear 100 for the rear wheels 202 on both sides of the vehicle 200.

[0130] In an embodiment, the rear-wheel steering gear 100 provided by the present application includes a locking structure 40. The locking structure 40 is used to lock the synchronous movement of the two movers 20, and any one of the two movers 20 drives the other mover 20 to move through the locking structure 40. Specifically, the locking structure 40 is used to hold or release the two movers 20. When the locking structure 40 holds the two movers 20, the two movers 20 move synchronously relative to the slide rail 111. When the locking structure 40 releases the two movers 20, the two movers 20 move independently relative to the slide rail 111 respectively.

[0131] In an embodiment, along the direction perpendicular to the center line connecting the rear wheels 202 on both sides of the vehicle 200, the locking structure 40 is arranged on one side of the two movers 20 and is used for slidably connecting to the stator 10. Exemplarily, the locking structure 40 is used for slidably connecting to the stator core 11 or for slidably connecting to the housing of the rear-wheel steering gear 100. In an embodiment, the locking structure 40 is arranged on one side of the two movers 20 along the direction perpendicular to the extension direction of the slide rail 111. The locking structure 40 is used to hold the two movers 20 respectively to limit the synchronous movement of the two movers 20 after sliding in one direction, and the locking structure 40 is also used to release at least one mover 20 after sliding in the other direction, so that the two movers 20 slide respectively. One direction and the other direction are respectively parallel to the sliding direction of the locking structure 40 and the stator core 11 and are opposite to each other.

[0132] When the locking structure 40 holds the two rotors 20 to move synchronously, the rear-wheel steering gear 100 provided by the present application can fixedly connect the two rotors 20 through a locking structure 40. At this time, the motor controller 102 outputs alternating current to the windings of one rotor 20, which can drive the two rotors 20 to move synchronously. Thereby, the energy consumption of the rear-wheel steering gear 100 is saved. The moving directions and moving distances of the two rotors 20 are equal, and such a control method can form a centralized rear-wheel steering control.

[0133] When the two rotors 20 move separately, the displacement directions or displacement distances of the two rotors 20 can be different, and such a control method can form a distributed rear-wheel steering control. In the integrated control mode, the energy consumption of the rear-wheel steering gear 100 is lower, and the vehicle 200 can be in an economic driving mode. In the distributed control mode, the control method of the rear-wheel steering gear 100 for the rear wheels is richer, and the vehicle 200 can be in a sports driving mode. The rear-wheel steering gear 100 of the present application realizes the switching of different driving modes of the vehicle 200 through the locking structure 40, and the operation is relatively convenient and the user experience is improved.

[0134] Please refer to Figure 11 and Figure 12 . Among them Figure 11 is a schematic structural diagram of the rear-wheel steering gear 100 provided by an embodiment of the present application; Figure 12 is a schematic structural diagram of the rear-wheel steering gear 100 provided by an embodiment of the present application.

[0135] In one embodiment, the locking structure 40 includes a pull rod 41. The pull rod 41 is used to lock the two rotors 20. Exemplarily, the pull rod 41 is arranged on one side of the two rotors 20 along the extension direction perpendicular to the slide rail 111, and the sliding direction of the pull rod 41 relative to the stator core 11 is perpendicular to the extension direction of the slide rail 111. At this time, one direction is the direction in which the pull rod 41 faces the two rotors 20, and the other direction is the direction in which the pull rod 41 is away from the two rotors 20. The length direction of the pull rod 41 is parallel to the extension direction of the slide rail 111, and the pull rod 41 includes opposite ends along its own length direction, one end of which is used to cooperate with one rotor 20, and the other end is used to cooperate with the other rotor 20. The two ends of the pull rod 41 slide in one direction or the other to hold or release the two rotors 20.

[0136] An embodiment, both ends of the pull rod 41 include two protrusions. The two protrusions are respectively used to extend towards the two movers 20 along one direction. The two protrusions are respectively used to be embedded in the two movers 20 to respectively hold the two movers 20, so that the two movers 20 are displaced synchronously. For the convenience of description, in the subsequent embodiments of the present application, the two protrusions are respectively defined as the first protrusion 411 and the second protrusion 412. The distance between the first protrusion 411 and the first rear wheel 2021 is less than the distance between the second protrusion 412 and the first rear wheel 2021. The first protrusion 411 is used to extend towards the first mover 21, and the second protrusion 412 is used to extend towards the second mover 22. After the pull rod 41 slides towards the two movers 20 along one direction, the first protrusion 411 is used to be embedded in the first mover 21, and the second protrusion 412 is used to be embedded in the second mover 22, and the pull rod 41 can hold the first mover 21 and the second mover 22.

[0137] An embodiment, both ends of the pull rod 41 include two grooves. The openings of the two grooves respectively face the two movers 20. The first segments of the two movers 20 respectively include a column. The two grooves are respectively used to accommodate the columns of the two movers 20 so that the two movers 20 move synchronously. Exemplarily, the two columns are respectively used to extend towards the other direction, and the two grooves are respectively used to be nested on the two columns to respectively hold the two movers 20.

[0138] Please refer to Figure 13 and Figure 14 . Among them Figure 13 is the structural schematic diagram of the rear wheel steering gear 100 provided by an embodiment of the present application; Figure 14 is the structural schematic diagram of the rear wheel steering gear 100 provided by an embodiment of the present application.

[0139] An embodiment, the two grooves of the pull rod 41 are respectively the first groove 413 and the second groove 414. The first mover 21 includes a first column 213, and the second mover 22 includes a second column 223. The first column 213 is located in the first sliding segment 211 of the first mover 21, and the second column 223 is located in the second sliding segment 221 of the second mover 22. The first column 213 and the second column 223 respectively extend towards the pull rod 41. Among them, the first groove 413 is used to be aligned with the first column 213, and the second groove 414 is used to be aligned with the second column 223. When the pull rod 41 slides towards the two movers 20, the first groove 413 is nested outside the first column 213, and the second groove 414 is nested outside the second column 223, and the pull rod 41 can hold the first mover 21 and the second mover 22.

[0140] In the above two embodiments, the locking structure 40 fixedly connects the two rotors 20 through the pull rod 41. The length direction of the pull rod 41 is parallel to the arrangement direction of the two rear wheels 202 on both sides of the vehicle 200 and perpendicular to one direction. The pull rod 41 is embedded or nested in the first sections of the two rotors 20 along one direction to limit the synchronous movement of the two rotors 20.

[0141] In one embodiment, the locking structure 40 further includes a first electromagnetic switch 43. The first electromagnetic switch 43 is fixedly arranged on the inner wall of the housing of the rear-wheel steering gear 100 and faces one pull rod 41. The first electromagnetic switch 43 is used to drive one pull rod 41 to lock the two rotors 20. The locking structure 40 controls the pull rod 41 to lock or release the two rotors 20 through the first electromagnetic switch 43, so as to achieve the active control of the synchronous movement or separate movement of the two rotors 20. Exemplarily, the first electromagnetic switch 43 is used to drive the pull rod 41 to slide in the other direction to release the two rotors 20 after being opened, and the first electromagnetic switch 43 is used to drive the pull rod 41 to slide in one direction to lock the two rotors 20 after being closed.

[0142] In one embodiment, the rear-wheel steering gear 100 includes a first elastic component 51. One end of the first elastic component 51 is fixedly arranged on the inner wall of the housing of the rear-wheel steering gear 100, and the other end is used to drive the pull rod 41 to slide towards the two rotors 20 to lock the two rotors 20. The first electromagnetic switch 43 is used to open and drive the pull rod 41 to release the two rotors 20.

[0143] Thus, the rear-wheel steering gear 100 provided in the present application controls the pull rod 41 to hold the two rotors 20 through the cooperation of the first elastic component 51 and the first electromagnetic switch 43 to achieve synchronous movement, or controls the pull rod 41 to release the two rotors 20 so that the two rotors 20 move independently. Among them, the rear-wheel steering gear 100 provided in the present application drives the pull rod 41 to hold the two rotors 20 to move synchronously through the first elastic component 51, and also drives the pull rod 41 to release the two rotors 20 through the first electromagnetic switch 43, thereby realizing the closed-loop control of the locking structure 40.

[0144] Please refer to Figure 12 . In one embodiment, the first elastic component 51 is arranged between the vehicle frame 201 and the pull rod 41 along the arrangement direction of the pull rod 41 relative to the slide rail 111. The first elastic component 51 is used to drive the pull rod 41 to slide towards the slide rail 111 and make the pull rod 41 continuously hold the two rotors 20. Thus, the two rotors 20 of the rear-wheel steering gear 100 can move synchronously continuously. The motor controller 102 outputs alternating current to the windings of one or two rotors 20, and the synchronous movement of the two rotors 20 can be controlled, forming a centralized control mode of the rear-wheel steering gear 100.

[0145] Correspondingly, along the arrangement direction of the pull rod 41 relative to the slide rail 111, the first electromagnetic switch 43 can be fixed to the vehicle frame 201 to be fixed to the inner wall of the housing of the rear-wheel steering gear 100. After the first electromagnetic switch 43 is turned on, it can drive the pull rod 41 to slide towards the vehicle frame 201 and release the two rotors 20. Thus, the two rotors 20 can slide independently respectively, forming a distributed control mode of the rear-wheel steering gear 100. Because the usage scenario of the distributed control mode is less and the duration is shorter, the rear-wheel steering gear 100 can turn off the first electromagnetic switch 43 after the distributed control ends and continue to control the two rotors 20 in the centralized control mode to save energy consumption.

[0146] Please refer to Figure 14 . In one embodiment, the first elastic component 51 is arranged between the pull rod 41 and the stator core 11 along the arrangement direction of the pull rod 41 relative to the slide rail 111. The first elastic component 51 is used to provide a pulling force to drive the pull rod 41 to slide towards the slide rail 111. Correspondingly, the first electromagnetic switch 43 is fixed to the vehicle frame 201, and the first electromagnetic switch 43 is used to provide a pulling force to drive the pull rod 41 to slide towards the rotor 20 and lock the relative displacement of the two rotors 20 after being turned on. That is, the first elastic component 51 and the first electromagnetic switch 43 are arranged on both sides of the pull rod 41, and each of them is used to pull the pull rod 41 to slide towards its own side, and the first elastic component 51 can also be used to control the rear-wheel steering gear 100 to be more in the centralized control mode, and the rear-wheel steering gear 100 is switched to the distributed control mode after the first electromagnetic switch 43 is turned on.

[0147] In one embodiment, the rear-wheel steering gear 100 includes a displacement sensor and a locking structure 40, and the displacement sensor and the first electromagnetic switch 43 are arranged on both sides of the rotor 20. Thus, the displacement sensor will not block the sliding of the pull rod 41 relative to the rotor 20.

[0148] In one embodiment, the locking structure 40 includes a pair of friction plates 42, and the first sections of the two rotors 20 each include a fixing column. The pair of friction plates 42 are respectively located on both sides of the fixing columns of the two rotors 20, and the pair of friction plates 42 are used to clamp the fixing columns of the two rotors 20 so that the two rotors 20 move synchronously. The locking structure 40 can also limit the synchronous movement of the two rotors 20 by clamping the fixing columns of the two rotors 20 with the pair of friction plates 42. The length direction of the friction plate 42 is parallel to the center point connection line of the two rear wheels 202 on both sides of the vehicle 200, and the friction plate 42 can still limit the synchronous movement action of the two rotors 20 after one or two rotors 20 move relative to the stator 10 or deviate from the initial position.

[0149] Exemplarily, the fixed columns of the two movers 20 are respectively located on the first sliding section 211 of the first mover 21 and the second sliding section 221 of the second mover 22. The two fixed columns respectively protrude from the slide rail 111. The extending directions of the two fixed columns are the same. A pair of friction plates 42 are arranged on one side of the slide rail 111 along the extending direction of the two fixed columns. The pair of friction plates 42 are used to be arranged at intervals along a direction perpendicular to the extending direction of the two fixed columns. The pair of friction plates 42 are used to be slidably connected to the slide rail 111 or the vehicle frame 201 respectively. The pair of friction plates 42 are used to move relatively close to each other and clamp the two fixed columns to drive the two movers 20 to move synchronously, and the pair of friction plates 42 are used to move away from each other and release the two fixed columns, so that the two movers 20 move independently respectively.

[0150] In this embodiment, the locking structure 40 is used to lock the two movers 20 in a direction perpendicular to the extending direction of the two fixed columns and towards the fixed columns, that is, one direction is the direction in which the two friction plates 42 move relatively close to each other. The locking structure 40 is used to release the two movers 20 in the other direction, which is the direction in which the two friction plates 42 move away from each other.

[0151] In this embodiment, the locking structure 40 fixedly connects the two movers 20 through a pair of friction plates 42. The arrangement direction of the pair of friction plates 42 is perpendicular to the extending direction of the two fixed columns and perpendicular to the arrangement direction of the rear wheels 202 on both sides of the vehicle 200. The pair of friction plates 42 limit the synchronous movement of the two movers 20 by moving closer to each other in one direction and clamping the two fixed columns at the same time.

[0152] Since the two movers 20 in the rear wheel steering gear 100 of the present application can be displaced relative to the slide rail 111 respectively, in some scenarios, along the extending direction of the slide rail 111, the distance between the two movers 20 may change, resulting in that a structure similar to the pull rod 41 cannot be fixedly held with the two movers 20 at the same time. The two friction plates 42 in the pair of friction plates 42 respectively extend along the length direction of the slide rail 111. After the distance between the two movers 20 changes, the pair of friction plates 42 can still clamp the two movers 20 from both sides and make the two movers 20 move synchronously.

[0153] In one embodiment, two vertical columns are used to form two fixed columns respectively.

[0154] Please refer to Figure 15 and Figure 16 . Among them Figure 15 is the structural schematic diagram of the rear wheel steering gear 100 provided by one embodiment of the present application; Figure 16 is the structural schematic diagram of the rear wheel steering gear 100 provided by one embodiment of the present application.

[0155] In this embodiment, the first mover 21 includes a first upright column 213, and the second mover 22 includes a second upright column 223. The first upright column 213 and the second upright column 223 respectively protrude out of the slide rail 111. A pair of friction plates 42 are arranged on both sides of the first upright column 213 and the second upright column 223. The length direction of each friction plate 42 in the pair of friction plates 42 is parallel to the extension direction of the slide rail 111. The length of each friction plate 42 is at least greater than the distance between the first upright column 213 and the second upright column 223.

[0156] When the pair of friction plates 42 slide relatively close to each other, the pair of friction plates 42 respectively abut against the opposite sides of the first upright column 213 and respectively abut against the opposite sides of the second upright column 223. At this time, the pair of friction plates 42 respectively form frictional forces with the first upright column 213 and the second upright column 223. The pair of friction plates 42 are used to clamp the first upright column 213 and the second upright column 223 to drive the first upright column 213 and the second upright column 223 to move synchronously. When the pair of friction plates 42 slide away from each other, the pair of friction plates 42 release the first upright column 213 and the second upright column 223, and the first upright column 213 and the second upright column 223 can move independently respectively.

[0157] In one embodiment, along the arrangement direction of the pair of friction plates 42, the thickness dimensions of the first upright column 213 and the second upright column 223 are equal.

[0158] In one embodiment, the locking structure 40 further includes a second electromagnetic switch 44. The second electromagnetic switch 44 is fixed on the inner wall of the housing of the rear-wheel steering gear 100 and faces the pair of friction plates 42. The second electromagnetic switch 44 is used to drive the pair of friction plates 42 to clamp the fixed columns of the two movers 20.

[0159] In one embodiment, the rear-wheel steering gear includes a second elastic component 52. The second elastic component 52 includes two second elastic members 521. One end of each second elastic member 521 is fixed on the inner wall of the housing of the rear-wheel steering gear 100, and the other end is used to drive a friction plate 42 to slide towards the fixed columns of the two movers 20 to clamp the two movers 20. The second electromagnetic switch 44 is used to open and drive at least one friction plate 42 to release the two movers 20.

[0160] Please refer to Figure 16 . In one embodiment, the locking structure 40 includes two friction plates 42. The second elastic component 52 includes two second elastic members 521. Along the arrangement direction of the two friction plates 42, the two second elastic members 521 are arranged on both sides of the two friction plates 42 respectively. Each second elastic member 521 is used to drive a friction plate 42 to slide towards the other friction plate 42, so that the two friction plates 42 slide relatively close to each other and hold the first upright column 213 and the second upright column 223.

[0161] Correspondingly, the two second electromagnetic switches 44 are arranged on both sides of the two friction plates 42 along the arrangement direction of the two friction plates 42. Each second electromagnetic switch 44 is used to be fixed to the stator core 11 or to the vehicle frame 201. After each second electromagnetic switch 44 is opened, it drives one friction plate 42 to slide away from the first upright post 213 and the second upright post 223, so as to release the two rotors 20.

[0162] Please refer to Figure 17 the cross-sectional schematic view of the rear-wheel steering gear 100 provided by an embodiment of the present application as shown.

[0163] In one embodiment, the stator core 11 includes two sliding grooves 113, and the two sliding grooves 113 are arranged on both sides of the fixing columns of the two rotors 20. Figure 17 In the shown embodiment, the fixing columns are represented by the first upright posts 213. The two friction plates 42 are respectively received in the two sliding grooves 113, and the two sliding grooves 113 are also used to respectively receive the two second elastic members 521 and the two second electromagnetic switches 44. At this time, the two friction plates 42 are slidably connected to the stator core 11, and clamp or release the two rotors 20 through the driving of the two second elastic members 521 and the two second electromagnetic switches 44.

[0164] Based on the expansion of the above various embodiments, since the rear-wheel steering gear 100 of the present application can independently drive the two rotors 20 to move through the locking structure 40 respectively, the rear-wheel steering gear 100 can respectively implement a distributed control mode and an integrated control mode, and control the overall volume of the rear-wheel steering gear 100.

[0165] In one embodiment, in response to the front-wheel 203 rotation angle of the vehicle 200 being less than the first preset rotation angle value, the motor controller 102 is used to control the locking structure 40 to lock the two rotors 20. In response to the front-wheel rotation angle of the vehicle 200 being greater than or equal to the first preset rotation angle value, the motor controller 102 is used to control the locking structure 40 to release the two rotors 20.

[0166] That is, when the front-wheel 203 rotation angle of the vehicle 200 is relatively small, the rear-wheel steering gear 100 provided by the present application can control the locking structure 40 to hold the two rotors 20 through the motor controller 102, so that the rear wheels 202 on both sides of the vehicle 200 deflect synchronously to cooperate with the front wheels 203 to realize vehicle turning, reduce the turning radius of the vehicle 200 and save energy consumption. Since the rotation angle of the front wheels 203 is small and the curve radius of the road surface is relatively large, the vehicle 200 can smoothly pass through the curve by controlling the rear wheels 202 on both sides to deflect synchronously, and ensure the relatively stable attitude of the vehicle 200.

[0167] When the steering angle of the front wheels 203 of the vehicle 200 is relatively large, the rear-wheel steering gear 100 provided in the present application can control the locking structure 40 to release the two movers 20 through the motor controller 102, so that the rear wheels 202 on both sides of the vehicle 200 deflect independently, thereby reducing the turning radius of the vehicle 200 and providing greater turning flexibility for the vehicle 200. Since the steering angle of the front wheels 203 is large and the radius of the road curve is relatively small, by controlling the rear wheels 202 on both sides of the vehicle 200 to deflect independently, the turning radius of the vehicle 200 can be further reduced, and the attitude of the vehicle 200 can be ensured to be relatively stable.

[0168] In one embodiment, in response to the steering angle of the front wheels 203 of the vehicle 200 being greater than or equal to a second preset steering angle value, the motor controller 102 is configured to control the two movers 20 to move different displacements, and the second preset steering angle value is greater than the first preset steering angle value. That is, when the steering angle of the front wheels 203 of the vehicle 200 is further increased compared with the first preset steering angle value, on the basis that the rear-wheel steering gear 100 provided in the present application can control the locking structure 40 to release the two movers 20 through the motor controller 102, the motor controller 102 further drives the rear wheels 202 on both sides of the vehicle 200 to deflect independently by different angles, so that the difference in the deflection angles of the rear wheels 202 on both sides of the vehicle 200 can further adapt to the relatively small radius of the road curve, thereby further ensuring the stable attitude of the vehicle 200 when cornering.

[0169] In one embodiment, in response to the braking force of the vehicle 200 being less than a second preset threshold, the motor controller 102 is configured to output alternating current to the windings of one or both of the two movers 20 to drive the two movers 20 and the locking structure 40 to move synchronously. That is, when the braking force of the vehicle 200 is small, the rear-wheel steering gear 100 provided in the present application can be controlled in an integrated manner to keep the two movers 20 moving synchronously during the daily driving of the vehicle 200 to save energy consumption.

[0170] In one embodiment, in response to the braking force of the vehicle 200 being greater than or equal to a second preset threshold, the motor controller 102 is configured to drive the locking structure 40 to release the two movers 20 and output alternating current to the windings of the two movers 20 among the two movers 20 respectively to drive the two movers 20 to move independently. That is, when the braking force of the vehicle 200 is large, the rear-wheel steering gear 100 provided in the present application can be controlled in a distributed manner to improve the grip of the vehicle 200 and enhance the anti-lateral disturbance ability, ensuring reliable braking of the vehicle 200.

[0171] In one embodiment, when the vehicle 200 provided by the present application is in a reverse state, the rear-wheel steering gear 100 controls the synchronous movement of the two movers 20. The turning angle of the front wheels 203 of the vehicle 200 is less than a third preset turning angle value, and the third preset turning angle value is less than the first preset turning angle value. Thus, during reverse driving, the vehicle 200 can also control the two rear wheels 202 on both sides through the rear-wheel steering gear 100 to reduce the turning radius of the vehicle 200 and improve the flexibility of the vehicle 200 during reverse driving. It can be understood that the reverse driving scenario of the vehicle 200 can also be regarded as one of the scenarios with a relatively small road surface curve radius. The deflection control method of the rear-wheel steering gear 100 for the two rear wheels 202 on both sides of the vehicle 200 is similar to the control method in the above scenario.

[0172] In one embodiment, the cross-sectional shape of the slide rail 111 is U-shaped. The opening of the U-shape is used to form a through groove 112, and the other three inner walls of the U-shape are used to fix the permanent magnets 12 respectively. When the locking structure 40 includes a pull rod 41, the pull rod 41 is arranged on one side of the notch of the through groove 112 and slides in the through groove 112 to lock or release the two movers 20.

[0173] In one embodiment, when the first mover 21 and the second mover 22 respectively include a first column 213 and a second column 223, the first column 213 and the second column 223 also extend out of the slide rail 111 through the notch of the through groove 112. The permanent magnets 12 are fixed to the other three inner walls of the U-shaped slide rail 111 to enhance the magnetic field strength in the slide rail 111, facilitating the motor controller 102 to drive the two movers 20 to move in the slide rail 111.

[0174] In one embodiment, the opening of the through groove 112 faces upward in the vertical direction, thereby preventing foreign objects from entering the slide rail 111 from the through groove 112 during vehicle driving and ensuring the reliable sliding of the two movers 20 relative to the slide rail 111.

[0175] In one embodiment, the rear-wheel steering gear 100 includes a pull rod 41 and a pair of friction plates 42. Since the positions of the pull rod 41 and the pair of friction plates 42 do not interfere with each other, the rear-wheel steering gear 100 can select one of the pull rod 41 or the pair of friction plates 42 to hold the two movers 20 according to its current working state. Exemplarily, when the two movers 20 are both in the initial position, the pull rod 41 is aligned with the two movers 20 respectively, and the rear-wheel steering gear 100 can hold the two movers 20 through the pull rod 41. The pull rod 41 is used to be respectively embedded in or nested in the two movers 20. The reliability of the pull rod 41 is relatively high, which can ensure the synchronous movement of the two movers 20. When at least one of the two movers 20 deviates from the initial position, the pull rod 41 cannot be aligned with at least one of the movers 20, and then the two movers 20 can be held by the pair of friction plates 42.

[0176] An embodiment is that when at least one of the two movers 20 deviates from the initial position, the rear-wheel steering gear 100 can hold the two movers 20 by a pair of friction plates 42, and after driving one of the movers 20 to drive the other mover 20 back to the initial position, the pull rod 41 is used to hold the two movers 20 to move synchronously.

[0177] In one embodiment, in response to a third control signal, the motor controller 102 is used to control the locking structure 40 to lock the two movers 20, and the third control signal is used to indicate that any one of the two movers 20 cannot move.

[0178] In this embodiment, when one of the two movers 20 of the steering linear motor fails, the rear-wheel steering gear 100 provided in this application can keep the two movers 20 moving synchronously through the locking structure 40, that is, lock the relative movement of the two movers 20 through the locking structure 40, and drive the failed mover 20 to move synchronously by the non-failed mover 20. Thereby, the reliability of the rear-wheel steering gear 100 provided in this application is improved, and the phenomenon that the rear wheels 202 on both sides of the vehicle 200 cannot deflect due to the failure of one mover 20 not being able to move is avoided.

[0179] An embodiment is that the rear-wheel steering gear 100 includes a pull rod 41 and a pair of friction plates 42. When one of the movers 20 fails and deviates from the initial position, the rear-wheel steering gear 100 can hold the two movers 20 by a pair of friction plates 42, and after driving one of the movers 20 to drive the other failed mover 20 back to the initial position, the pull rod 41 is used to hold the two movers 20 to move synchronously.

[0180] In this embodiment, in response to the third control signal, the motor controller 102 is used to output a control signal and alternating current to the second electromagnetic switch 44 and one of the movers 20 respectively. The second electromagnetic switch 44 is used to drive a pair of friction plates 42 to hold the two movers 20. The motor controller 102 is used to drive one of the movers 20 to drive the failed mover 20 to move along the extension direction of the slide rail 111 through the friction plates 42, and make the failed mover 20 return to the initial position. Then the motor controller 102 drives the non-failed mover 20 to also return to the initial position, and then drives the pull rod 41 to align with the two movers 20 and hold the two movers 20 through the first electromagnetic switch 43, and drives the failed mover 20 to move synchronously by the non-failed mover 20 and the pull rod 41.

[0181] Obviously, those skilled in the art can make various changes and modifications to this application without departing from the protection scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalent technologies, this application also intends to include these changes and modifications.

Claims

1. A rear-wheel steering gear, characterized in that, The steering linear motor of the rear wheel steering device comprises: a stator, the stator comprising permanent magnets; Two movers, each of which comprises a first section and a second section connected to each other, the first section of each mover is used to fix the winding of the mover, and the second sections of the two movers are used to respectively drive and connect the rear wheels on both sides of the vehicle; A guide structure, wherein the two movers are arranged along an extension direction of the guide structure, the extension direction of the guide structure is parallel to a line connecting the centers of the rear wheels on both sides of the vehicle, and the guide structure is used to guide the two movers to move along the extension direction of the guide structure under the action of the one stator; The windings of the two movers receive different alternating currents respectively to drive the two movers to move respectively along the extension direction of the guide structure.

2. The rear-wheel steering gear according to claim 1, wherein The rear wheel steering gear further comprises a locking structure, and the locking structure is used to lock the two movers to move synchronously, and any one of the two movers drives the other mover to move through the locking structure.

3. The rear-wheel steering gear according to claim 2, wherein, The locking structure further comprises a pull rod, and the pull rod is used to lock the two movers, wherein: The one pull rod comprises two protrusions, the two protrusions respectively extend toward the two movers, and the two protrusions are used to respectively embed into the two movers so that the two movers move synchronously; or, The pull rod comprises two grooves, the openings of the two grooves face the two movers respectively, the first sections of the two movers respectively comprise a column, and the two grooves are used to respectively accommodate the columns of the two movers so that the two movers move synchronously.

4. The rear wheel steering gear according to claim 3, wherein The locking structure further includes a first electromagnetic switch, which is fixed to the inner wall of the rear wheel steering gear and faces the one pull rod, and is used to drive the one pull rod to lock the two movers.

5. The rear wheel steering gear according to claim 4, wherein The rear wheel steering gear comprises a displacement sensor, which is fixed to the inner wall of the rear wheel steering gear. The displacement sensor and the first electromagnetic switch are respectively disposed on both sides of the mover, and the displacement sensor is used to detect the displacement of the mover.

6. The rear-wheel steering gear according to claim 2, wherein The locking structure further includes a pair of friction plates, the first sections of the two movers each include a fixed column, the pair of friction plates are respectively located on both sides of the fixed columns of the two movers, and the pair of friction plates are used to clamp the fixed columns of the two movers so that the two movers move synchronously.

7. The rear-wheel steering gear according to claim 6, characterized in that, The locking structure also includes a second electromagnetic switch, which is fixed to the inner wall of the rear wheel steering gear and faces the pair of friction plates. The second electromagnetic switch is used to drive the pair of friction plates to clamp the fixing columns of the two movers.

8. The rear-wheel steering gear according to any one of claims 1-7, characterized in that, The rear wheel steering gear comprises a motor controller, and the motor controller is used to output alternating current to the windings of the movers to drive the two movers to move towards each other or away from each other.

9. The rear-wheel steering gear according to claim 8, characterized in that, In response to a first control signal, the motor controller is configured to drive the two movers to move away from each other, so as to drive the rear wheels on both sides of the vehicle to deflect away from each other. The first control signal is used to indicate that the turning radius of the road surface is less than a first preset threshold. In the top view direction of the vehicle, along the tail of the vehicle towards the head of the vehicle, the included angle between the two rear wheels forms a V shape.

10. The rear-wheel steering gear according to claim 8 or 9, characterized in that, In response to a second control signal, the motor controller is configured to drive the two movers to move towards each other, so as to drive the rear wheels on both sides of the vehicle to deflect towards each other. The second control signal is used to indicate that the braking force of the vehicle is greater than or equal to a second preset threshold. In the top view direction of the vehicle, along the tail of the vehicle towards the head of the vehicle, the included angle between the two rear wheels forms an inverted V shape.

11. The rear-wheel steering gear according to any one of claims 8-10, characterized in that, In response to the front wheel steering angle of the vehicle being less than a first preset steering angle value, the motor controller is configured to control the locking structure to lock the two movers. In response to the front wheel steering angle of the vehicle being greater than or equal to the first preset steering angle value, the motor controller is configured to control the locking structure to release the two movers.

12. The rear-wheel steering gear according to claim 11, wherein, In response to the front wheel steering angle of the vehicle being greater than or equal to a second preset steering angle value, the motor controller is configured to control the two movers to move different displacements, and the second preset steering angle value is greater than the first preset steering angle value.

13. The rear-wheel steering gear according to claims 8-12, characterized in that, In response to a third control signal, the motor controller is configured to control the locking structure to lock the two movers, and the third control signal is used to indicate that any one of the two movers cannot move.

14. A vehicle, characterized in that, The vehicle includes a rear wheel steering device according to any one of claims 1-13, and the rear wheel steering device is configured to drive any one or more of the rear wheels on both sides of the vehicle to deflect.

15. The vehicle according to claim 14, characterized in that, When the vehicle is in a reverse state, the rear wheel steering device controls the two movers to move synchronously, and the front wheel steering angle of the vehicle is less than a third preset steering angle value, and the third preset steering angle value is less than the first preset steering angle value.

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