Steering structure, steering device and vehicle

Abstract

The invention relates to a steering structure, a steering device and a vehicle. The connecting piece is suitable for connecting wheels; the input end of the speed reducing mechanism is connected with an output shaft of the motor, the output end of the speed reducing mechanism is connected with the input end of the transmission mechanism, and the output end of the transmission mechanism is only connected with one connecting piece; a shell of the motor and the connecting piece are arranged on the same side of the speed reducing mechanism; and the speed reducing mechanism and the transmission mechanism can convert the rotary motion of the motor into the linear motion of the connecting piece so as to drive the wheels to steer. According to the steering structure, the shell of the motor and the connecting piece are arranged on the same side of the speed reducing mechanism, the size of the steering structure in the left-right direction of the vehicle can be reduced, the spatial arrangement requirement of the steering structure in the left-right direction of the vehicle is lowered, the linear movement distance of the connecting piece in the left-right direction of the vehicle is long, and the steering effect is good. Therefore, the wheels can have a larger steering angle.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle steering and relates to a steering structure, a steering device and a vehicle. Background Art

[0002] The rear wheel steering gear assembly is divided into an integrated rear wheel steering gear assembly and a split rear wheel steering gear assembly.

[0003] In an integrated rear-wheel steering assembly, the motor is located between the left and right mounting forks. Through a transmission assembly, the motor simultaneously drives the two mounting forks in linear reciprocating motion, thereby rotating the vehicle's two rear wheels to a certain angle. This integrated rear-wheel steering assembly only allows simultaneous and unidirectional steering of the vehicle's two rear wheels; it cannot achieve independent steering of the left and right rear wheels.

[0004] The split rear wheel steering gear assembly can enable the two rear wheels to deflect to different angles.

[0005] However, the split rear wheel steering gear assembly in the related art is relatively long in the left-right direction of the vehicle, and the split rear wheel steering gear assembly occupies more space in the left-right direction of the vehicle, allowing the mounting fork to move a shorter distance in the left-right direction, thereby making the steering angle of the rear wheel smaller. Summary of the Invention

[0006] The technical problem to be solved by the present invention is: to provide a steering structure, a steering device and a vehicle in view of the problem that the steering angle of the rear wheels of the split rear wheel steering gear assembly in the related art is small.

[0007] In order to solve the above technical problems, the present invention provides a steering structure, comprising:

[0008] Motor;

[0009] A connecting piece, suitable for connecting the wheel;

[0010] A reduction mechanism and a transmission mechanism, wherein the input end of the reduction mechanism is connected to the output shaft of the motor, the output end of the reduction mechanism is connected to the input end of the transmission mechanism, and the output end of the transmission mechanism is connected to only one of the connecting members;

[0011] The housing of the motor and the connecting member are arranged on the same side of the reduction mechanism; the reduction mechanism and the transmission mechanism can convert the rotational motion of the motor into the linear motion of the connecting member to drive the wheel to turn.

[0012] Optionally, the transmission mechanism is used to convert the rotational motion of the output end of the reduction mechanism into linear motion of the output end of the transmission mechanism, so as to drive the connecting member to move linearly in a direction close to or away from the reduction mechanism.

[0013] Optionally, the axial direction of the motor is parallel to the movement direction of the output end of the transmission mechanism.

[0014] Optionally, the transmission mechanism self-locks when the motor stops working, so that the wheel does not deflect when the motor stops working.

[0015] Optionally, one end of the connecting member away from the speed reduction mechanism protrudes from an end surface of the motor away from the speed reduction mechanism.

[0016] Optionally, it further includes a housing, which includes a reduction mechanism housing and a transmission mechanism housing. The reduction mechanism is arranged in the reduction mechanism housing, and the transmission mechanism is arranged in the transmission mechanism housing.

[0017] Optionally, the reduction mechanism housing has a first opening toward the outer casing of the motor and a second opening toward the connecting member, one side end face of the outer casing of the motor abuts against the first opening, the output shaft of the motor passes through the first opening, and the end of the transmission mechanism housing away from the connecting member is connected to the second opening.

[0018] Optionally, the housing further includes an end cover, and a side of the reduction mechanism housing away from the outer shell of the motor further includes a third opening, and the end cover and the reduction mechanism housing are connected at the third opening via a first fixing member.

[0019] Optionally, the housing of the motor is connected to the housing of the reduction mechanism at the first opening via a second fixing member, and the connecting member is exposed from the housing.

[0020] Optionally, the housing of the motor and the transmission mechanism housing are located on the same side of the end cover.

[0021] Optionally, the reduction mechanism housing and the transmission mechanism housing are integrally formed.

[0022] Optionally, the extension direction of the transmission mechanism housing is consistent with the extension direction of the motor housing.

[0023] Optionally, the reduction mechanism housing has a protruding portion protruding from the transmission mechanism housing, and the protruding portion and the transmission mechanism housing enclose a motor installation space for accommodating the motor.

[0024] Optionally, the transmission mechanism includes a screw and a screw nut threadedly connected to the screw, the screw nut is fixedly connected to the output end of the reduction mechanism, and the end of the screw away from the reduction mechanism is fixedly connected to the connecting member.

[0025] Optionally, the threads of the screw rod and the screw nut are trapezoidal, so that when the motor stops working, the screw rod and the screw nut are interlocked.

[0026] Optionally, a stopper is further included, wherein a slide groove extending along the length direction of the screw rod is provided in the shell, the stopper is slidably provided in the slide groove, and the rotation of the stopper relative to the shell is limited by the side wall of the slide groove, so that the rotation of the screw rod relative to the shell is limited.

[0027] Optionally, a displacement sensor is further included, wherein the displacement sensor is mounted on the housing, one end of the stopper is fixedly connected to the screw rod, and the other end is slidably connected to the displacement sensor;

[0028] The displacement sensor is used to detect the displacement of the screw rod by measuring the relative displacement between the displacement sensor and the stopper.

[0029] Optionally, a rolling bearing is further included, wherein the inner ring of the rolling bearing is interference-fitted on the outside of the screw nut, and the outer ring of the rolling bearing remains stationary relative to the inner wall of the housing.

[0030] Optionally, a locking screw is further included, which is loosely sleeved on the outside of the screw nut, and a threaded hole and a first limiting surface are provided on the inner wall of the shell. The locking screw is threadedly connected in the threaded hole and abuts against the end face of the outer ring of the rolling bearing away from the connecting piece, so as to tighten the end face of the outer ring of the rolling bearing close to the connecting piece against the first limiting surface.

[0031] Optionally, the locking screw plug is deformed and expanded by riveting to limit the locking screw plug from rotating and becoming loose.

[0032] Optionally, the screw nut protrudes from the rolling bearing in the direction of the connecting member to form a protruding section, and an external thread is provided on the outside of the protruding section;

[0033] It also includes a lock nut, and a second limiting surface extending radially thereof is provided on the outer periphery of the screw nut. The lock nut thread is outside the protruding section and abuts against the end face of the inner ring of the rolling bearing close to the connecting piece, so as to abut the end face of the inner ring of the rolling bearing away from the connecting piece against the second limiting surface.

[0034] Optionally, a through hole is provided on the housing, and an end of the screw rod away from the speed reduction mechanism passes through the through hole.

[0035] Optionally, a section of the screw rod away from the speed reduction mechanism is an optical axis, the optical axis is connected to the connecting piece, a sliding bearing is provided between the inner wall of the through hole and the outer periphery of the optical axis, and the optical axis is slidably fitted with the sliding bearing.

[0036] Optionally, the transmission mechanism includes a gear and a rack meshing with each other, the gear is fixedly connected to the output end of the reduction mechanism, and the end of the rack away from the reduction mechanism is fixedly connected to the connecting member;

[0037] It also includes a locking mechanism, which can achieve interlocking of the gear and the rack when the motor stops working.

[0038] Optionally, the transmission mechanism includes a worm wheel and a worm that mesh with each other, the worm wheel is fixedly connected to the output end of the reduction mechanism, and the end of the worm away from the reduction mechanism is fixedly connected to the connecting member;

[0039] When the motor stops working, the worm wheel and the worm are interlocked.

[0040] Optionally, the deceleration mechanism includes an input pulley, an output pulley, and a belt wound around the input pulley and the output pulley, the input pulley is connected to the output shaft of the motor, and the output pulley is connected to the input end of the transmission mechanism;

[0041] or,

[0042] The speed reduction mechanism includes an input gear, an output gear, and an idler gear meshed between the input gear and the output gear, wherein the input gear is connected to the output shaft of the motor, and the output gear is connected to the input end of the transmission mechanism;

[0043] or,

[0044] The deceleration mechanism includes an input sprocket, an output sprocket, and a chain wound around the input sprocket and the output sprocket, the input sprocket is connected to the output shaft of the motor, and the output sprocket is connected to the input end of the transmission mechanism;

[0045] or,

[0046] The reduction mechanism is a planetary gear reduction mechanism, the input shaft and output shaft of the planetary gear reduction mechanism are parallel and spaced apart, the input shaft of the planetary gear reduction mechanism is connected to the output shaft of the motor, and the output shaft of the planetary gear reduction mechanism is connected to the input end of the transmission mechanism.

[0047] Optionally, the connecting member is a mounting fork or a steering rod.

[0048] In the steering structure of an embodiment of the present invention, the motor housing and connector are arranged on the same side of the reduction mechanism. This reduces the size of the steering structure in the left-right direction of the vehicle, reducing the space required for its placement. The connector also has a longer linear travel distance in this direction, allowing the wheels to achieve a greater steering angle. Another embodiment of the present invention provides a steering device comprising two of the aforementioned steering structures, spaced apart along the left-right direction of the vehicle.

[0049] On the other hand, an embodiment of the present invention further provides a vehicle, comprising the above-mentioned steering structure or the above-mentioned steering device.

[0050] Optionally, the two steering structures are symmetrically arranged along the left-right direction of the vehicle.

[0051] Optionally, the two steering structures are arranged side by side in the left-right direction of the vehicle at a middle position between the left wheel and the right wheel;

[0052] or,

[0053] The steering structure on the left side is arranged close to the wheel on the left side, and the steering structure on the right side is arranged close to the wheel on the right side.

[0054] Optionally, the connecting members of the two steering structures are respectively connected to the left rear wheel and the right rear wheel. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 is a perspective view of a steering structure provided by a first embodiment of the present invention;

[0056] Figure 2 is a diagram of the internal structure of the steering structure provided by the first embodiment of the present invention;

[0057] Figure 3 is a partial enlarged view of the transmission mechanism of the steering structure provided by the first embodiment of the present invention;

[0058] Figure 4 It is a diagram of the internal structure of the steering structure provided by the seventh embodiment of the present invention.

[0059] The reference numerals in the specification are as follows:

[0060] 1. Motor; 2. Mounting fork; 2a. Steering rod; 21a. Stud; 3. Housing; 31. Mounting frame; 311. Mounting hole; 32. First limiting surface; 33. Through hole; 34. Speed ​​reduction mechanism housing; 341. Protrusion; 35. Transmission mechanism housing; 36. End cover; 4. Speed ​​reduction mechanism; 41. Input pulley; 42. Output pulley; 43. Belt; 5. Transmission mechanism; 51. Screw; 511. Internal threaded hole; 512. Pin hole; 513. Optical axis; 52. Screw nut; 521. Protruding section; 522. Second limiting surface; 6. Stop member; 61. Stop pin; 62. Sleeve; 63. Buffer member; 7. Displacement sensor; 8. Second sealing ring; 9. Rolling bearing; 10. Locking screw plug; 20. Bolt; 30. Anti-loosening nut; 40. Sliding bearing; 50. Dust cover. DETAILED DESCRIPTION

[0061] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0062] First embodiment

[0063] See also Figures 1 to 4 The steering structure provided by the first embodiment of the present invention includes a motor 1, a mounting fork 2 constituting a connecting member, a reduction mechanism and a transmission mechanism; the mounting fork 2 is suitable for connecting to a wheel, the input end of the reduction mechanism 4 is connected to the output shaft of the motor 1, the output end of the reduction mechanism 4 is connected to the input end of the transmission mechanism 5, and the output end of the transmission mechanism 5 is only connected to one mounting fork 2. The housing of the motor 1 and the mounting fork 2 are arranged on the same side of the reduction mechanism 4; the reduction mechanism 4 and the transmission mechanism 5 can convert the rotational motion of the motor 1 into the linear motion of the mounting fork 2 (that is, the motor 1 only drives a single mounting fork 2 to move linearly) to drive the steering of the wheel. The linear motion of the mounting fork 2 is a reciprocating linear motion in the direction of approaching or moving away from the reduction mechanism 4. Wherein, the wheel is a rear wheel. That is, the steering structure of this embodiment is a rear-wheel steering structure.

[0064] According to the steering structure of an embodiment of the present invention, the housing of the motor 1 and the mounting fork 2 are arranged on the same side of the reduction mechanism 4, which can reduce the size of the steering structure in the left-right direction of the vehicle and reduce the spatial arrangement requirements of the steering structure in the left-right direction of the vehicle. The mounting fork 2 has a longer linear moving distance in the left-right direction of the vehicle, thereby enabling the wheel to have a larger steering angle.

[0065] In addition, a motor 1 with greater power can be arranged to increase the output force of the entire steering structure, so that a greater wheel turning angle requirement can be achieved even on a vehicle with a greater load.

[0066] The mounting fork 2 is connected to the wheel via a ball pin. That is, the steering structure of the present embodiment can be applied to a vehicle on which a ball pin is arranged.

[0067] The motor 3 further comprises a housing 3, the housing of the motor 3 is mounted on the housing 3, the reduction mechanism 4 and the transmission mechanism 5 are disposed in the housing 3, and the mounting fork 2 is exposed from the housing 3. Specifically, the housing of the motor 3 is fixed to the housing 3 by a plurality of bolts.

[0068] The housing 3 includes a reduction mechanism housing 34 and a transmission mechanism housing 35. The reduction mechanism 4 is disposed within the reduction mechanism housing 34, and the transmission mechanism 5 is disposed within the transmission mechanism housing 35. The transmission mechanism housing 35 extends in the same direction as the housing of the motor 1. Thus, the transmission mechanism housing 35 overlaps with the housing of the motor 1 in the longitudinal direction, further shortening the length of the housing 3 in the left-right direction of the vehicle.

[0069] The reduction mechanism housing 24 has a first opening toward the outer casing of the motor 1 and a second opening toward the mounting fork 2. One side end face of the outer casing of the motor 1 abuts against the first opening, the output shaft of the motor 1 passes through the first opening, and the end of the transmission mechanism housing 35 away from the mounting fork 2 is connected to the second opening.

[0070] The housing 3 further includes an end cover 36 , which is fixed to a side of the speed reduction mechanism housing 34 away from the motor 1 .

[0071] Preferably, the speed reduction mechanism housing 34 and the transmission mechanism housing 35 are integrally formed. However, the speed reduction mechanism housing 34 and the transmission mechanism housing 35 may also be formed separately and fixedly connected.

[0072] The reduction mechanism housing 34 has a protrusion 341 that protrudes from the transmission mechanism housing 35. The protrusion 341 and the transmission mechanism housing 35 enclose a motor mounting space for accommodating the motor 1. In other words, the reduction mechanism housing 34 and the transmission mechanism housing 35 form a generally L-shaped structure. The inner side of the L-shaped structure forms the motor mounting space, which is generally rectangular.

[0073] See also Figure 1 The housing 3 is provided with a mounting bracket 31 on the outside thereof, which is suitable for connecting to the vehicle's sub-frame. A plurality of mounting brackets 31 may be provided, and the mounting brackets 31 are provided with mounting holes 311 for bolt connection to the sub-frame. For example Figure 1 In the embodiment, three mounting brackets 31 are provided and arranged in a triangle. In this way, the housing 3 is firmly and stably connected to the auxiliary frame.

[0074] The transmission mechanism 5 is used to convert the rotational motion of the output end of the reduction mechanism 4 into linear motion of the output end of the transmission mechanism 5 , so as to drive the mounting fork 2 to move linearly toward or away from the reduction mechanism 4 .

[0075] Preferably, the axial direction of the motor 1 is parallel to the movement direction of the output end of the transmission mechanism 5, so as to make the steering structure more compact.

[0076] Preferably, the transmission mechanism 5 self-locks when the motor 1 stops working, so that the wheel does not deflect when the motor 1 stops working. In this way, the steering of the wheel can be locked when the motor 1 is not working, preventing the wheel from deflecting arbitrarily and ensuring the steering accuracy of the wheel.

[0077] Preferably, the end of the mounting fork 2 away from the reduction mechanism 4 protrudes from the end surface of the motor 1 away from the reduction mechanism 4 to reserve a distance between the vehicle and the motor 1 to avoid interference with the motor 1 when the wheel turns.

[0078] See also Figure 2 and Figure 3 The deceleration mechanism 4 includes an input pulley 41, an output pulley 42, and a belt 43 wound around the input pulley 41 and the output pulley 42. The input pulley 41 is connected to the output shaft of the motor 1, and the output pulley 43 is connected to the input end of the transmission mechanism 5. The diameter of the output pulley 42 is larger than that of the input pulley 41 to achieve deceleration and torque increase.

[0079] See also Figure 2 and Figure 3 The transmission mechanism 5 includes a screw rod 51 and a screw nut 52 threadedly connected to the screw rod 51. The screw nut 52 is fixedly connected to the output end (output pulley 42) of the reduction mechanism 4, and the end of the screw rod 51 away from the reduction mechanism 4 is fixedly connected to the mounting fork 2.

[0080] The output pulley 42 is interference-pressed onto the outer periphery of the screw nut 52 .

[0081] The threads of the screw rod 51 and the screw nut 52 are trapezoidal (i.e., the screw rod 51 is a trapezoidal screw rod), so that when the motor 1 stops working, the screw rod 51 and the screw nut 52 are interlocked (self-locking). The screw rod 51 and the screw nut 52 with trapezoidal threads have good self-locking performance.

[0082] Yet, screw rod 51 and screw nut 52 also adopt triangular thread.At this moment, need to increase a locking mechanism, to realize the interlocking of screw rod 51 and screw nut 52 when described motor 1 stops working.

[0083] However, the screw rod 51 and the screw nut 52 also use ball screws. In this case, a locking mechanism needs to be added to achieve interlocking of the screw rod 51 and the screw nut 52 when the motor 1 stops working. Compared with trapezoidal screws, ball screws have higher transmission efficiency, better wear resistance, and longer life.

[0084] See also Figure 2 An internal threaded hole 511 is provided at one end of the screw rod 51 away from the reduction mechanism 4 , and the mounting fork 2 is fixed to the end of the screw rod 51 away from the reduction mechanism 4 by a bolt 20 threadedly connected to the internal threaded hole 511 .

[0085] However, the mounting fork 2 may also be riveted or welded to the end of the screw rod 51 away from the speed reduction mechanism 4. However, riveting or welding may affect the assembly tolerance and coaxiality due to deformation, and thus may require secondary processing.

[0086] See also Figure 3 , further comprising a stopper 6. A slot extending along the length of the screw rod 51 is provided in the housing 3. The stopper 6 is slidably disposed in the slot, and the rotation of the stopper 6 relative to the housing 3 is restricted by the sidewalls of the slot, thereby restricting the rotation of the screw rod 51 relative to the housing 3. That is, when the screw nut 52 rotates, the screw rod 51 can only reciprocate linearly.

[0087] See also Figure 3 , further comprising a displacement sensor 7 mounted on the housing 3. One end of the stopper 6 is fixedly connected to the screw rod 51, and the other end is slidably connected to the displacement sensor 7. The displacement sensor 7 is configured to detect the displacement of the screw rod 51 by measuring the relative displacement between the displacement sensor 7 and the stopper 6. The displacement information detected by the circuit board in the displacement sensor 7 is transmitted to the electronic control unit via an electrical signal. The electronic control unit controls the rotation of the motor 1 to achieve precise displacement of the screw rod 51, thereby achieving precise steering of the wheel.

[0088] A slide rail is provided on one side of the displacement sensor 7 facing the stopper 6 . The length direction of the slide rail is parallel to the axial direction of the screw rod 51 . The stopper 6 is slidably connected to the slide rail.

[0089] See also Figure 3 The stopper 6 includes a stopper pin 61 and a sliding sleeve 62. The screw rod 51 is provided with a pin hole 512 along its radial direction. The stopper pin 61 is inserted into the pin hole 512. The sliding sleeve 62 is sleeved over the end of the stopper pin 61 that is exposed from the pin hole. The sliding sleeve 62 is slidably connected to the slide rail of the displacement sensor 7. In this way, the displacement of the screw rod 51 is transmitted to the displacement sensor 7 via the stopper pin 61 and the sliding sleeve 62.

[0090] The stop pin 61 may be threadedly connected to the pin hole 512 or may be interference fitted into the pin hole 512 .

[0091] See also Figure 3 A buffer member 63 is provided on the outer periphery of the end of the stop pin 61 exposed from the pin hole. The buffer member 63 elastically contacts the inner wall of the sliding sleeve 62. When the stop pin 61 moves with the screw rod 51, the buffer member 63 elastically collides with the sliding sleeve 62 to cushion the impact force and avoid abnormal noise caused by the collision between the stop pin 61 and the sliding sleeve 62. The sliding sleeve 62 can be made of nylon.

[0092] At least one annular groove is provided on the outer periphery of the end of the stop pin 61 exposed from the pin hole, and the buffer member 63 is a first sealing ring press-fitted into the annular groove.

[0093] See also Figure 3 A second sealing ring 8 is provided between the housing 3 and the displacement sensor 7 to seal the gap between the housing 3 and the displacement sensor 7. This prevents dust, water, and the like from entering the housing 3 through the gap between the displacement sensor 7 and the housing 3, thereby providing a waterproof and dustproof function. The axis of the second sealing ring 8 is perpendicular to the screw rod 51.

[0094] See also Figure 2 , further comprising a rolling bearing 9, the inner ring of the rolling bearing 9 being interference fitted on the outside of the screw nut 52, and the outer ring of the rolling bearing 9 remaining stationary relative to the inner wall of the housing 3. The rolling bearing 9 may be a deep groove ball bearing.

[0095] See also Figure 2 , and also includes a locking screw plug 10, which is loosely sleeved on the outside of the screw nut 52, and a threaded hole and a first limiting surface 32 are provided on the inner wall of the housing 3. The locking screw plug 10 is threadedly connected in the threaded hole and abuts against the end surface of the outer ring of the rolling bearing 9 away from the mounting fork 2, so as to tighten the end surface of the outer ring of the rolling bearing 9 close to the mounting fork 2 against the first limiting surface 32, so as to lock the rolling bearing 9 on the housing 3.

[0096] Preferably, after the locking screw 10 is locked, the locking screw 10 can be deformed and expanded by pressure riveting to limit the rotation and loosening of the locking screw 10. In this way, the rolling bearing 9 is stably locked to the housing 3 and is not easy to move.

[0097] See also Figure 2The screw nut 52 protrudes from the rolling bearing 9 toward the mounting fork 2 to form a protruding section 521. The protruding section 521 is externally threaded. A locking nut 30 is also included. A second radially extending retaining surface 522 is provided on the outer periphery of the screw nut 52. The locking nut 30 is threaded onto the outer periphery of the protruding section 521 and abuts against the end face of the inner ring of the rolling bearing 9 near the mounting fork 2, thereby tightening the inner ring of the rolling bearing 9 away from the mounting fork 2 against the second retaining surface 522. This prevents the inner ring of the rolling bearing 9 from moving axially.

[0098] See also Figure 2 and Figure 3 The housing 3 is provided with a through hole 33 , and the end of the screw rod 51 away from the speed reduction mechanism 4 passes through the through hole 33 .

[0099] See also Figure 3 The section of the screw rod 51 away from the reduction mechanism 4 forms an optical axis 513, which is connected to the mounting fork 2. A sliding bearing 40 is provided between the inner wall of the through hole 33 and the outer periphery of the optical axis 513. The optical axis 513 and the sliding bearing 40 are in sliding engagement. This prevents significant wear and noise caused by direct contact between the screw rod 51 and the housing 3. A dust cover 50 is provided on the outside of the connection between the screw rod 51 and the mounting fork 2 to prevent dust, water, and other foreign matter from entering the housing 3 and damaging the screw rod 51 and the screw nut 52.

[0100] In the steering structure of this embodiment, the housing of the motor 1 and the mounting fork 2 are arranged on the same side of the reduction mechanism 4. The steering structure occupies less space, so there is more space to arrange a higher-power motor 1 and a larger-diameter screw 51. This can improve the output force of the entire steering structure, and even on a vehicle with a larger load, a larger wheel turning angle requirement can be achieved.

[0101] The working principle of the steering structure is as follows:

[0102] When the electronic control unit receives the steering command of the vehicle, the motor 1 rotates to drive the input pulley 41 to rotate, and drives the output pulley 42 to rotate through the belt 43, and the output pulley 42 drives the screw nut 52 to rotate. In this force transmission process, the speed reduction mechanism 4 completes the function of reducing the speed and increasing the torque. Since the rotation of the stopper 6 relative to the housing 3 is limited by the side wall of the slide groove, the rotation of the screw 51 relative to the housing 3 is limited. That is, when the screw nut 52 rotates, the screw 51 can only reciprocate in a straight line (extend and retract). In this force transmission, a process of converting rotational motion into linear motion is completed, providing a large push-pull force to the screw 51. The reciprocating linear motion of the screw 51 drives the mounting fork 2 to move linearly in the direction close to or away from the speed reduction mechanism 4, so as to drive the wheel connected to the mounting fork 2 by the ball pin to turn.

[0103] Second embodiment

[0104] The steering structure provided in the second embodiment of the present invention is different from the first embodiment in that the reduction mechanism is a gear reduction mechanism. Specifically, the reduction mechanism includes an input gear, an output gear and an idler gear meshed between the input gear and the output gear. The input gear is connected to the output shaft of the motor, and the output gear is connected to the input end (screw nut) of the transmission mechanism.

[0105] Third embodiment

[0106] The steering structure provided in the third embodiment of the present invention is different from the first embodiment in that the reduction mechanism is a sprocket reduction mechanism. Specifically, the reduction mechanism includes an input sprocket, an output sprocket and a chain wound around the input sprocket and the output sprocket, the input sprocket is connected to the output shaft of the motor, and the output sprocket is connected to the input end (screw nut) of the transmission mechanism.

[0107] Fourth embodiment

[0108] The steering structure provided by the fourth embodiment of the present invention is different from the first embodiment in that the reduction mechanism is a planetary gear reduction mechanism. Specifically, the input shaft and the output shaft of the planetary gear reduction mechanism are parallel and spaced apart, the input shaft of the planetary gear reduction mechanism is connected to the output shaft of the motor, and the output shaft of the planetary gear reduction mechanism is connected to the input end (screw nut) of the transmission mechanism.

[0109] Fifth embodiment

[0110] The steering structure provided in the fifth embodiment of the present invention is different from the first embodiment in that the transmission mechanism is a gear rack mechanism. Specifically, the transmission mechanism includes a gear and a rack that are meshed with each other, the gear is fixedly connected to the output end (output pulley) of the reduction mechanism, and the end of the rack away from the reduction mechanism is fixedly connected to the mounting fork.

[0111] Since the gear rack does not have a self-locking function, this embodiment further includes a locking mechanism that can interlock the gear and rack (screw nut) when the motor stops working. The locking mechanism can be a clutch, brake, or synchronizer.

[0112] Sixth embodiment

[0113] The steering structure provided in the sixth embodiment of the present invention differs from the first embodiment in that the transmission mechanism is a worm gear mechanism. Specifically, the transmission mechanism includes a worm wheel and a worm that mesh with each other. The worm wheel is fixedly connected to the output end of the reduction mechanism, and the end of the worm that is away from the reduction mechanism is fixedly connected to the connecting member.

[0114] The worm wheel and the worm have a self-locking property. When the motor stops working, the worm wheel and the worm are interlocked.

[0115] Seventh embodiment

[0116] See also Figure 4 The steering structure provided by the seventh embodiment of the present invention is different from the first embodiment in that the connecting member is a steering rod 2a, and the steering rod 2a is fixedly connected to the wheel.

[0117] That is, the steering structure of this embodiment can be applied to a vehicle in which no ball pin is provided on the wheel.

[0118] See also Figure 4 An internal threaded hole 511 is provided at one end of the screw rod 51 away from the speed reduction mechanism 4, and a stud 21a is provided at one end of the steering rod 2a. The stud 21a is threadedly connected in the internal threaded hole 511 to fix the end of the screw rod 51 away from the speed reduction mechanism 4 to the steering rod 2a.

[0119] In addition, an embodiment of the present invention further provides a steering device, comprising two steering structures of the above embodiments, wherein the two steering structures are spaced apart along the left-right direction of the vehicle.

[0120] The steering structure on the left side is arranged on the right side of the left wheel, and the connecting member of the steering structure on the left side is suitable for connecting to the left wheel to drive the left wheel to steer; the steering structure on the right side is arranged on the left side of the right wheel, and the connecting member of the steering structure on the right side is suitable for connecting to the right wheel to drive the right wheel to steer.

[0121] In addition, an embodiment of the present invention provides a vehicle, comprising the steering device of the above embodiment.

[0122] Preferably, the two steering structures are symmetrically arranged along the left-right direction of the vehicle.

[0123] Of course, according to different space requirements, the two steering structures can also be staggered in front and back.

[0124] The two steering structures are arranged side by side in the left-right direction of the vehicle at a middle position between the left wheel and the right wheel. That is, the two steering structures are arranged closely.

[0125] Alternatively, the steering structure on the left side is arranged close to the wheel on the left side, and the steering structure on the right side is arranged close to the wheel on the right side. That is, both steering structures are close to their respective wheel sides and are relatively far apart from each other.

[0126] In this way, the arrangement of the entire steering structure on the rear subframe is more flexible and has a wider application range.

[0127] Alternatively, two steering structures are arranged on the rear axle of the vehicle, and the connecting members of the two steering structures are connected to the left rear wheel and the right rear wheel respectively. In this way, the steering device is a rear-wheel steering device.

[0128] Alternatively, two steering structures are arranged on the front axle of the vehicle, and the connecting members of the two steering structures are connected to the left front wheel and the right front wheel respectively. In this way, the steering device is a front-wheel steering device.

[0129] Alternatively, two steering structures may be arranged on the front axle of the vehicle, and two steering structures may be arranged on the rear axle of the vehicle, with the connectors of the two steering structures on the front axle respectively connected to the left front wheel and the right front wheel, and the connectors of the two steering structures on the rear axle respectively connected to the left rear wheel and the right rear wheel. In this way, the steering device is a four-wheel independent steering device. The above is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A steering structure, characterized in that: include: Motor; A connecting piece, suitable for connecting the wheel; A reduction mechanism and a transmission mechanism, wherein the input end of the reduction mechanism is connected to the output shaft of the motor, the output end of the reduction mechanism is connected to the input end of the transmission mechanism, and the output end of the transmission mechanism is connected to only one of the connecting members; The housing of the motor and the connecting member are arranged on the same side of the reduction mechanism; the reduction mechanism and the transmission mechanism can convert the rotational motion of the motor into the linear motion of the connecting member to drive the wheel to turn.

2. The steering structure according to claim 1, characterized in that: The transmission mechanism is used to convert the rotational motion of the output end of the reduction mechanism into linear motion of the output end of the transmission mechanism, so as to drive the connecting member to move linearly in a direction close to or away from the reduction mechanism.

3. The steering structure according to claim 2, characterized in that: The axial direction of the motor is parallel to the movement direction of the output end of the transmission mechanism.

4. The steering structure according to claim 2, characterized in that: The transmission mechanism is self-locking when the motor stops working, so that the wheel does not deflect when the motor stops working.

5. The steering structure according to claim 2, characterized in that: One end of the connecting member away from the speed reduction mechanism protrudes from an end surface of the motor away from the speed reduction mechanism.

6. The steering structure according to claim 1, characterized in that: It also includes a housing, which includes a speed reduction mechanism housing and a transmission mechanism housing. The speed reduction mechanism is arranged in the speed reduction mechanism housing, and the transmission mechanism is arranged in the transmission mechanism housing.

7. The steering structure according to claim 6, characterized in that: The reduction mechanism housing has a first opening toward the motor housing and a second opening toward the connecting member. One side end face of the motor housing abuts against the first opening, the output shaft of the motor passes through the first opening, and one end of the transmission mechanism housing away from the connecting member is connected to the second opening.

8. The steering structure according to claim 7, characterized in that: The housing further includes an end cover. The side of the reduction mechanism housing away from the outer shell of the motor further includes a third opening. The end cover and the reduction mechanism housing are connected at the third opening via a first fixing member.

9. The steering structure according to claim 7, characterized in that: The housing of the motor is connected to the housing of the speed reduction mechanism at the first opening through a second fixing piece, and the connecting piece is exposed from the housing.

10. The steering structure according to claim 8, characterized in that: The housing of the motor and the transmission mechanism housing are located on the same side of the end cover.

11. The steering structure according to claim 6, characterized in that: The speed reduction mechanism housing and the transmission mechanism housing are integrally formed.

12. The steering structure according to claim 6, characterized in that: The extension direction of the transmission mechanism housing is consistent with the extension direction of the motor housing.

13. The steering structure according to claim 6, characterized in that: The reduction mechanism housing has a protruding portion protruding from the transmission mechanism housing, and the protruding portion and the transmission mechanism housing enclose a motor installation space for accommodating the motor.

14. The steering structure according to claim 6, characterized in that: The transmission mechanism includes a screw and a screw nut threadedly connected to the screw, the screw nut is fixedly connected to the output end of the reduction mechanism, and one end of the screw away from the reduction mechanism is fixedly connected to the connecting piece.

15. The steering structure according to claim 14, characterized in that: The threads of the screw rod and the screw nut are trapezoidal, so that when the motor stops working, the screw rod and the screw nut are interlocked.

16. The steering structure according to claim 14, characterized in that: It also includes a stopper, a slide groove extending along the length direction of the screw rod is provided in the shell, the stopper is slidably set in the slide groove, and the rotation of the stopper relative to the shell is limited by the side wall of the slide groove, so that the rotation of the screw rod relative to the shell is limited.

17. The steering structure according to claim 16, characterized in that: It also includes a displacement sensor, which is mounted on the housing, one end of the stopper is fixedly connected to the screw rod, and the other end is slidably connected to the displacement sensor; The displacement sensor is used to detect the displacement of the screw rod by measuring the relative displacement between the displacement sensor and the stopper.

18. The steering structure according to claim 14, characterized in that: It also includes a rolling bearing, the inner ring of the rolling bearing is interference-fitted on the outside of the screw nut, and the outer ring of the rolling bearing remains stationary relative to the inner wall of the housing.

19. The steering structure according to claim 18, characterized in that: It also includes a locking screw plug, which is loosely sleeved on the outside of the screw nut. A threaded hole and a first limiting surface are provided on the inner wall of the shell. The locking screw plug is threadedly connected in the threaded hole and abuts against the end surface of the outer ring of the rolling bearing away from the connecting piece, so as to tighten the end surface of the outer ring of the rolling bearing close to the connecting piece against the first limiting surface.

20. The steering structure according to claim 19, characterized in that: The locking screw plug is deformed and expanded by pressure riveting to limit the locking screw plug from rotating and loosening.

21. The steering structure according to claim 18, wherein: The screw nut protrudes from the rolling bearing in the direction of the connecting piece to form a protruding section, and an external thread is provided on the outside of the protruding section; It also includes a lock nut, and a second limiting surface extending radially thereof is provided on the outer periphery of the screw nut. The lock nut thread is outside the protruding section and abuts against the end face of the inner ring of the rolling bearing close to the connecting piece, so as to abut the end face of the inner ring of the rolling bearing away from the connecting piece against the second limiting surface.

22. The steering structure according to claim 14, characterized in that: The housing is provided with a through hole, and one end of the screw rod away from the speed reduction mechanism passes through the through hole.

23. The steering structure according to claim 22, characterized in that: A section of the screw rod away from the speed reduction mechanism is an optical axis, the optical axis is connected to the connecting piece, a sliding bearing is provided between the inner wall of the through hole and the outer periphery of the optical axis, and the optical axis and the sliding bearing are in sliding fit.

24. The steering structure according to claim 1, characterized in that The transmission mechanism includes a gear and a rack that mesh with each other, the gear is fixedly connected to the output end of the reduction mechanism, and the end of the rack away from the reduction mechanism is fixedly connected to the connecting member; It also includes a locking mechanism, which can achieve interlocking of the gear and the rack when the motor stops working.

25. The steering structure according to claim 1, characterized in that The transmission mechanism includes a worm wheel and a worm that mesh with each other, the worm wheel is fixedly connected to the output end of the reduction mechanism, and the end of the worm that is away from the reduction mechanism is fixedly connected to the connecting member; When the motor stops working, the worm wheel and the worm are interlocked.

26. The steering structure according to claim 1, characterized in that The deceleration mechanism includes an input pulley, an output pulley, and a belt wound around the input pulley and the output pulley, the input pulley is connected to the output shaft of the motor, and the output pulley is connected to the input end of the transmission mechanism; or, The speed reduction mechanism includes an input gear, an output gear, and an idler gear meshed between the input gear and the output gear, wherein the input gear is connected to the output shaft of the motor, and the output gear is connected to the input end of the transmission mechanism; or, The deceleration mechanism includes an input sprocket, an output sprocket, and a chain wound around the input sprocket and the output sprocket, the input sprocket is connected to the output shaft of the motor, and the output sprocket is connected to the input end of the transmission mechanism; or, The reduction mechanism is a planetary gear reduction mechanism, the input shaft and output shaft of the planetary gear reduction mechanism are parallel and spaced apart, the input shaft of the planetary gear reduction mechanism is connected to the output shaft of the motor, and the output shaft of the planetary gear reduction mechanism is connected to the input end of the transmission mechanism.

27. The steering structure according to any one of claims 1 to 26, characterized in that: The connecting piece is a mounting fork or a steering rod.

28. A steering device, characterized in that: The invention comprises two steering structures according to any one of claims 1 to 27, wherein the two steering structures are suitable for being arranged at intervals along the left-right direction of the vehicle.

29. A vehicle, characterized in that: Including the steering device as claimed in claim 28.

30. The vehicle according to claim 29, characterized in that The two steering structures are symmetrically arranged along the left-right direction of the vehicle.

31. The vehicle of claim 29, wherein: The two steering structures are arranged side by side in the left and right directions of the vehicle at a middle position between the left wheel and the right wheel; or, The steering structure on the left side is arranged close to the wheel on the left side, and the steering structure on the right side is arranged close to the wheel on the right side.

32. The vehicle of claim 29, wherein: The connecting members of the two steering structures are respectively connected to the left rear wheel and the right rear wheel.

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