Pedal assembly and vehicle

Abstract

This application relates to a pedal assembly and a vehicle, including a first linkage mechanism and a second linkage mechanism spaced apart on the vehicle, and a pedal connected to the first linkage mechanism and the second linkage mechanism. The first linkage mechanism and the second linkage mechanism are used to switch the pedal between an extended position and a retracted position. When the pedal is in the retracted position, the first linkage mechanism and the second linkage mechanism synchronously form a dead-point self-locking, maintaining the stability of the pedal position through the geometric constraint relationship of the linkage mechanism. After an external load is applied to the pedal, it is transmitted to the linkage structure near the dead-point position through the first linkage mechanism and the second linkage mechanism, and is converted into an axial force on the linkage, thereby reducing the effective torque for driving the linkage to rotate. This pedal assembly uses synchronous self-locking of the double-sided linkage mechanism to maintain the retracted state, which helps to reduce the dependence on motor self-locking or gravity self-locking, reduce the load on the drive components, simplify the structural design, and enhance the pedal support stability and reliability.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more particularly to a pedal assembly and a vehicle. Background Technology

[0002] Currently, in related technologies, the locking of vehicle pedals in the retracted state usually relies on motor self-locking or gravity self-locking. Among them, motor self-locking requires long-term resistance to reverse loads, which can easily increase gear wear; while gravity self-locking places higher demands on the arrangement of linkage mechanisms and the design of the center of gravity, increasing the difficulty of structural design.

[0003] Therefore, how to reduce the motor load and simplify the mechanism design while ensuring stable pedal retraction has become a pressing technical problem to be solved in this field. Summary of the Invention

[0004] This application provides a pedal assembly and a vehicle to at least partially solve the above-mentioned technical problems.

[0005] To achieve the above objectives, according to a first aspect of this application, a pedal assembly is provided, comprising: The first linkage and the second linkage are configured to be spaced apart on the vehicle; The pedal is connected to the first linkage mechanism and the second linkage mechanism, and has a switchable extended position and a retracted position under the action of the first linkage mechanism and the second linkage mechanism; When the pedal is in the retracted position, the first linkage mechanism and the second linkage mechanism simultaneously form a dead-point self-locking.

[0006] Optionally, the first linkage mechanism is a multi-link mechanism; And / or, the first linkage mechanism includes a first link, a second link, a third link and a connecting rod, one end of the connecting rod is connected to the pedal, the first end of the first link is rotatably connected to the connecting rod, the first end of the second link is rotatably connected to the connecting rod, and the two ends of the third link are respectively rotatably connected to the second end of the first link and the second link; The first link, the second link, the third link, and the connecting rod form a four-link structure.

[0007] Optionally, the first linkage mechanism further includes a bracket, a fourth link, a fifth link, and a sixth link. The bracket is configured to be mounted on the vehicle. The second end of the second link is rotatably connected to the bracket. The first end of the fourth link is connected to the bracket, and the second end of the fourth link is rotatably connected to the second end of the first link. The first end of the fifth link is configured to be drive-connected to a drive source, and the second end of the fifth link is rotatably connected to the first end of the sixth link. The second end of the sixth link is rotatably connected to the first end of the second link. The bracket, the second link, the fifth link, and the sixth link form a four-link structure.

[0008] Optionally, the pedal is configured to be mounted under the chassis of the vehicle. When the pedal is in the extended position, the plane on which the upper surface of the pedal is located defines a gap in the height direction with the chassis. The gap is used to allow the pedal to switch from the extended position to the retracted position, and the pedal is retracted into the gap when in the retracted position.

[0009] Optionally, the pedal assembly further includes a drive unit mounted on the bracket, and the first end of the fifth link is connected to the drive unit in a transmission manner.

[0010] Optionally, when the fifth link rotates under the action of the drive member to be collinear with the sixth link, and the fifth link and the sixth link partially overlap, the fifth link and the sixth link form the dead-point self-locking, so that the pedal is held in the retracted position; And / or, when the fifth link rotates under the action of the drive member to be collinear with the sixth link, and the fifth link and the sixth link do not overlap, the fifth link and the sixth link form the dead-point self-locking so that the pedal is held in the deployed position.

[0011] Optionally, the driving component includes a motor, the output shaft of which is connected to the fifth link in a transmission manner.

[0012] Optionally, the fifth link includes a rotating disk, the rotating disk having an internal toothed hole along its own thickness direction, the motor's output shaft having external teeth, and the motor's output shaft being inserted into the internal toothed hole and engaging with the internal toothed hole in a transmission manner; The fifth link also includes a rotating ring, which is connected to one side of the rotating disk and is rotatably connected to the first end of the sixth link; The length direction of the fifth link is consistent with the length direction of the connecting line between the central axis of the rotating ring and the central axis of the internal tooth hole.

[0013] Optionally, the pedal assembly further includes a transmission component, which is tractively connected between the rotating disk and the second linkage mechanism to enable the first linkage mechanism and the second linkage mechanism to operate synchronously.

[0014] Optionally, the transmission component includes two ropes, namely a first rope and a second rope, and an arc-shaped groove is formed on the outer ring wall of the rotating disk along the outer circumferential direction of the rotating disk; Wherein, the first end of the first rope is connected to the first end of the arc-shaped groove on the rotating disk, and the second end of the first rope is connected to the second linkage mechanism; The first end of the second rope is connected to the second end of the arc-shaped groove on the rotating disk, and the second end of the second rope is connected to the second linkage mechanism; When the rotating disk rotates in the first direction, the second linkage mechanism is driven to operate synchronously through the first rope; when the rotating disk rotates in the opposite direction of the first direction, the second linkage mechanism is driven to operate synchronously through the second rope.

[0015] Optionally, the first linkage mechanism and the second linkage mechanism have the same structure; Wherein, the first end of the first rope is connected to the first end of the arc-shaped groove in the first linkage mechanism, and the second end of the first rope is connected to the second end of the arc-shaped groove in the second linkage mechanism; The first end of the second rope is connected to the second end of the arc-shaped groove in the first linkage mechanism, and the second end of the second rope is connected to the first end of the arc-shaped groove in the second linkage mechanism; And / or, the rotating disk is provided with a first knot hole, the first knot hole is close to the first end of the arc-shaped groove and communicates with the first end, and the end of the rope is tied in the first knot hole; And / or, the rotating disk has a second knot hole, the second knot hole is close to the second end of the arc-shaped groove and communicates with the second end, and the end of the rope is tied in the second knot hole.

[0016] Optionally, the pedal assembly further includes a steering component, which is rotatably mounted on the bracket. Each rotating disc corresponds to one steering component, and the steering component rotates in conjunction with the rope.

[0017] Optionally, the steering component includes a roller, and a groove is formed on the outer ring wall of the roller along the outer circumferential direction of the roller, and a portion of the rope is fitted into the groove.

[0018] Optionally, two rollers are provided, each roller corresponding to one rope body, and the outer diameters of the two rollers are different.

[0019] According to a second aspect of this application, a vehicle is provided, including the pedal assembly described in the first aspect.

[0020] In the pedal assembly of this application embodiment, a first linkage mechanism and a second linkage mechanism are spaced apart on the pedal, and a dead-point self-locking mechanism is simultaneously formed when the pedal is in the retracted position. This allows the pedal to maintain its retracted state by relying on the first and second linkage mechanisms. Compared to a scheme that relies on the continuous output of holding torque from the motor, the reverse load on the drive system is relatively low, which helps reduce wear on gears and transmission components. Compared to a scheme that relies on gravity self-locking, there are relatively fewer constraints on the pedal's center of gravity position and motion trajectory, which helps reduce the complexity of the mechanism layout. At the same time, the linkage mechanisms on both sides jointly participate in support and locking, resulting in a more balanced force on the pedal, which helps reduce torsional loads and local stress concentration, and enhances overall stability and reliability.

[0021] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0023] Figure 1 This is a schematic diagram of the pedal assembly provided in the embodiments of this application; Figure 2 This is a partial exploded view of the pedal assembly provided in the embodiments of this application; Figure 3 This is a partial structural schematic diagram of the connecting mechanism provided in the embodiments of this application; Figure 4 This is a schematic diagram of the connection principle between the pedal and the linkage mechanism when the pedal is in the retracted position, provided in an embodiment of this application. Figure 5 This is a schematic diagram of the connection principle between the pedal and the linkage mechanism when the pedal is in the deployed position, provided in an embodiment of this application. Figure 6 This is a partial structural diagram of the pedal assembly provided in the embodiments of this application; Figure 7 This is a partial structural diagram of the fifth link provided in the embodiments of this application; Figure 8This is a partial structural diagram of the steering component provided in the embodiments of this application.

[0024] Explanation of reference numerals in the attached figures: 100. First linkage mechanism; 10. Connecting rod; 11. First link; 12. Second link; 13. Third link; 14. Fourth link; 15. Fifth link; 151. Rotating disk; 1511. Internal toothed hole; 1512. Arc groove; 1513. First knot hole; 1514. Second knot hole; 152. Rotating ring; 16. Sixth link; 17. Support; 200. Second linkage mechanism; 2. Driving components; 21. Motor; 3. Transmission component; 31. Rope body; 311. First rope body; 312. Second rope body; 4. Pedal; 5. Steering component; 51. Roller; 511. Groove. Detailed Implementation

[0025] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0026] Firstly, this application provides a pedal assembly, please refer to... Figure 1 and Figure 2 The pedal assembly includes pedal 4, a first linkage mechanism 100 and a second linkage mechanism 200.

[0027] For example, the first linkage mechanism 100 and the second linkage mechanism 200 are spaced apart on the vehicle, and the pedal 4 is connected to both the first linkage mechanism 100 and the second linkage mechanism 200.

[0028] Specifically, the interval setting can be understood as the first linkage mechanism 100 and the second linkage mechanism 200 being located at different positions in the width direction of the pedal 4, for example, located on both sides of the pedal 4, so as to jointly provide support for the pedal 4.

[0029] The extended position can be understood as the position where pedal 4 extends outwards from the vehicle and is available for passengers to step on; the retracted position can be understood as the position where pedal 4 is retracted towards the bottom of the vehicle or the side wall of the vehicle body.

[0030] For example, both the first linkage mechanism 100 and the second linkage mechanism 200 can drive the pedal 4 to switch between the extended position and the retracted position, and simultaneously form a dead-point self-locking when the pedal 4 is in the retracted position.

[0031] Specifically, dead-point self-locking can be understood as a state in which multiple rotating components in a linkage mechanism move to a specific geometric position, and adjacent links are nearly collinear or reach an over-center state, making it difficult to continue generating effective driving torque along the original direction of motion under external loads. Compared to locking methods that rely on the motor to maintain output torque, dead-point self-locking mainly relies on the geometry of the mechanism itself to maintain the current position. Therefore, even with loads from the weight of the pedal 4, vehicle vibration, or external collisions, the linkage mechanism in the self-locking state can still decompose external forces through force transmission between the links.

[0032] It is understandable that when pedal 4 moves to the retracted position, the first linkage mechanism 100 enters the corresponding dead point position, and the second linkage mechanism 200 simultaneously enters the corresponding dead point position. At this time, the external load acting on pedal 4 is transmitted to the first linkage mechanism 100 and the second linkage mechanism 200 respectively. Due to the specific angular relationship between the links near the dead point position, the external load is more converted into axial pressure or tension of the links, rather than an effective torque to drive the links to continue rotating. Therefore, the first linkage mechanism 100 is difficult to disengage from its current position, and the second linkage mechanism 200 is also difficult to disengage from its current position. Since pedal 4 is connected to both the first linkage mechanism 100 and the second linkage mechanism 200, the load on pedal 4 is borne by both mechanisms, thus forming a state of dual-sided synchronous constraint.

[0033] Furthermore, after the first linkage mechanism 100 and the second linkage mechanism 200 simultaneously form a dead-point self-locking, the position of the pedal 4 in the retracted state is mainly maintained by the mechanism itself, rather than by the motor output maintaining torque for a long time.

[0034] For the motor-driven pedal 4 system, the motor does not need to continuously bear a large reverse load after retraction. The continuous stress on the motor output shaft, reduction gears, and transmission components is relatively small, which helps to reduce tooth surface contact stress and long-term wear. At the same time, since the locking function is undertaken by the first linkage mechanism 100 and the second linkage mechanism 200, the system's dependence on the motor's self-locking capability is relatively low, allowing for greater design flexibility in motor selection.

[0035] In addition, compared to the design method that uses gravity to form a stable closed state, this embodiment obtains the position holding capability through the dead point self-locking formed by the first linkage mechanism 100 and the second linkage mechanism 200. Therefore, it does not need to rely excessively on the special matching relationship between the center of gravity position of the pedal 4 and the movement trajectory of the linkage.

[0036] Meanwhile, the first linkage mechanism 100 and the second linkage mechanism 200 are located in different areas of the pedal 4. The two mechanisms work together to support and lock the pedal. The force distribution in the width direction of the pedal 4 is relatively balanced. When the vehicle is in a vibration condition or the pedal 4 is subjected to external impact, the possibility of the pedal 4 generating torsional load is relatively low. The local stress concentration phenomenon at the connection part is reduced, which is beneficial to maintaining the stability and reliability of the pedal assembly during long-term operation.

[0037] Therefore, by having the first linkage mechanism 100 and the second linkage mechanism 200 jointly support the pedal 4 and simultaneously form a dead-point self-lock when the pedal 4 is in the retracted position, the position of the pedal 4 in the retracted state can be maintained by utilizing the geometric constraints of the mechanism itself. This reduces the load on the motor and the dependence on the gravity self-locking scheme, which is beneficial to simplifying the overall structural design and enhancing the stability of the pedal assembly during long-term use.

[0038] In some implementations, combined Figure 2 , Figure 3 The first linkage mechanism 100 is a multi-link mechanism.

[0039] Specifically, a multi-link mechanism can be understood as a linkage mechanism formed by multiple links connected sequentially through revolute joints. It can complete motion transmission and motion trajectory control through the relative rotation between the links. Compared with a simple swing arm structure, the multi-link mechanism has the advantages of a larger adjustable range of motion trajectory, flexible structural arrangement, and rich force transmission paths. Therefore, it is beneficial to meet the needs of the electric pedal 4 to complete the unfolding and retraction actions within a limited installation space.

[0040] In some implementations, combined Figure 2 , Figure 3 , Figure 4 and Figure 5 The first linkage mechanism 100 includes a first link 11, a second link 12, a third link 13, and a connecting rod 10.

[0041] For example, one end of the connecting rod 10 is connected to the pedal 4. The connecting rod 10 can serve as a connecting member between the pedal 4 and the linkage mechanism, and is used to bear the load and motion displacement transmitted by the pedal 4.

[0042] For example, the first end of the first link 11 is rotatably connected to the connecting rod 10, the first end of the second link 12 is rotatably connected to the connecting rod 10, and the two ends of the third link 13 are rotatably connected to the second end of the first link 11 and the second link 12, respectively.

[0043] Specifically, the first link 11, the second link 12, the third link 13 and the connecting rod 10 are connected end to end through multiple hinge points to form a closed loop structure, which constitutes a four-bar linkage structure from a mechanics perspective.

[0044] It is worth noting that the “four-bar linkage” here does not require that the lengths of each link be the same, nor does it limit the positional relationship of each revolute joint. It only requires that a planar closed-loop mechanism with four components and four revolute joints be formed.

[0045] It is understandable that when the connecting rod 10 moves with the pedal 4, the displacement generated by the connecting rod 10 can be simultaneously transmitted to the first link 11 and the second link 12. Since both the first link 11 and the second link 12 are connected to the third link 13, a mutual constraint relationship is formed among the first link 11, the second link 12, and the third link 13. This constraint relationship is beneficial for controlling the spatial posture of the pedal 4 during movement, reducing excessive unilateral swaying or local motion imbalance. At the same time, the four-bar structure can form different force transmission angles at different positions, thus adjusting the direction of force transmission according to the changes in working conditions during the unfolding and retraction of the pedal 4, which has a positive effect on reducing the load concentration at local connection points.

[0046] In some implementations, combined Figure 2 , Figure 3 , Figure 4 and Figure 5 The first linkage mechanism 100 also includes a bracket 17, a fourth link 14, a fifth link 15, and a sixth link 16.

[0047] For example, bracket 17 is configured to be mounted on a vehicle. Specifically, bracket 17 is configured to be mounted on the chassis of a vehicle.

[0048] It is understandable that bracket 17 can serve as a fixed reference component for the entire mechanism, providing an installation base for each link.

[0049] For example, the second end of the second link 12 is rotatably connected to the bracket 17, the first end of the fourth link 14 is connected to the bracket 17, and the second end of the fourth link 14 is rotatably connected to the second end of the first link 11.

[0050] Based on this, a new motion constraint relationship is formed between the first link 11, the second link 12, the fourth link 14, and the support 17. During the motion, the first link 11 and the second link 12 are constrained not only by the third link 13, but also by the fourth link 14 and the support 17. Therefore, the entire first link mechanism 100 forms a multi-level linkage system, which is beneficial to obtaining a more stable motion trajectory.

[0051] For example, the first end of the fifth link 15 is connected to the drive source, the second end of the fifth link 15 is rotatably connected to the first end of the sixth link 16, and the second end of the sixth link 16 is rotatably connected to the first end of the second link 12.

[0052] Specifically, the bracket 17, the second link 12, the fifth link 15, and the sixth link 16 together form another four-bar linkage structure.

[0053] It is understandable that the torque output by the drive source is first transmitted to the fifth link 15, the fifth link 15 drives the sixth link 16 to move, the sixth link 16 then drives the second link 12 to rotate, and then drives the connecting rod 10 to move through the linkage between the second link 12, the third link 13 and the first link 11, and finally drives the pedal 4 to complete the unfolding or retracting action.

[0054] Based on this, the entire power transmission path is transmitted outward from the drive source step by step, and each member participates in the motion and is subjected to force. Therefore, the load can be distributed and transmitted among multiple components, which is of positive significance for reducing the excessive load on a single component.

[0055] In some implementations, combined Figure 4 When pedal 4 moves to the retracted position, the fifth link 15 continues to rotate under the action of the drive source until it is basically collinear with the length direction of the sixth link 16.

[0056] It is worth noting that "basically collinear" here can be understood as the angle between the centerlines of the two connecting rods being close to zero degrees, allowing for minor deviations due to machining errors, installation errors, and assembly tolerances. At the same time, there is a partial overlap between the fifth connecting rod 15 and the sixth connecting rod 16 in the length direction, meaning that a portion of each connecting rod extends along the same side. At this point, the four-bar linkage formed by the bracket 17, the second connecting rod 12, the fifth connecting rod 15, and the sixth connecting rod 16 enters the dead-point region.

[0057] It is understandable that when the fifth link 15 and the sixth link 16 are nearly collinear, the direction of the force transmitted from the sixth link 16 to the fifth link 15 gradually approaches the length direction of the fifth link 15 itself. Since the lever arm between the direction of the force and the rotation direction of the fifth link 15 tends to decrease, the effective driving torque applied by the sixth link 16 to the fifth link 15 decreases synchronously. When both enter the dead zone, the effective torque generated by the sixth link 16 attempting to drive the fifth link 15 to rotate is close to zero. At this point, even if the pedal 4 is affected by its own weight, vehicle vibration inertia, or occupant pedal load, and these external forces are transmitted step-by-step to the sixth link 16 via the connecting rod 10, the first link 11, the third link 13, and the second link 12, the sixth link 16 still finds it difficult to provide the fifth link 15 with an effective torque sufficient to drive the mechanism in the opposite direction.

[0058] Meanwhile, since the four-bar linkage consisting of the fifth link 15 and the sixth link 16 is in a dead zone, and the support 17 itself is fixed, the degree of freedom of movement of the second link 12 is restricted. After the movement of the second link 12 is restricted, the corresponding end position of the third link 13, which is hinged to the second link 12, remains stable, and the hinge relationship between the third link 13 and the first link 11 is simultaneously constrained.

[0059] Furthermore, in the four-bar linkage structure formed by the first link 11, the second link 12, the third link 13, and the connecting rod 10, the positions of multiple key nodes tend to be fixed, thus forming a stable force-bearing system. In this structural state, the pedal 4 is kept in the retracted position, which helps to reduce the risk of accidental deployment caused by external vibrations, and also helps to reduce the impact noise generated by the continuous swinging of the linkage mechanism.

[0060] In some implementations, combined Figure 5 When pedal 4 moves to the extended position, the fifth link 15, driven by the drive source, rotates to a position where it is again nearly collinear with the sixth link 16. However, at this point, there is no overlap between the fifth link 15 and the sixth link 16; the two links extend to opposite sides of the hinge point. At this time, the four-bar linkage consisting of the bracket 17, the second link 12, the fifth link 15, and the sixth link 16 enters another dead-point state. This state corresponds to the extreme extension position of pedal 4, restricting its tendency to extend further outward; therefore, pedal 4 remains in the extended position.

[0061] It is understandable that the working principle of the self-locking state in the deployed position is similar to that in the retracted position. When an external load is applied to pedal 4, the load is transmitted through connecting rod 10 and the first linkage mechanism 100 to the second linkage 12, and then from the second linkage 12 to the sixth linkage 16. Since the fifth linkage 15 and the sixth linkage 16 are nearly collinear, the torque exerted by the sixth linkage 16 on the fifth linkage 15 is still relatively small, making it difficult for the mechanism to overcome the dead point region under external force. Based on this structural feature, pedal 4 has good position retention capability in the deployed state, which helps to reduce the shaking phenomenon generated during pedaling and also helps to maintain the support stability of pedal 4 when bearing load.

[0062] Furthermore, since this embodiment uses a mechanical dead-point self-locking structure instead of relying on the self-locking motor 21 to maintain the position, the pedal 4 can still maintain its current position after the drive source is powered off.

[0063] In maintenance, emergency, or vehicle power failure situations, operators can manually apply external force to release the mechanism from its current state and push it past the dead zone, thereby completing the deployment or retraction of pedal 4. Compared to the structure using a self-locking motor 21 in related technologies, the mechanical dead-point self-locking scheme has a relatively lower dependence on the control system and is also beneficial in reducing the complexity of the drive unit structure and manufacturing costs.

[0064] In summary, the four-bar linkage consisting of the first link 11, the second link 12, the third link 13, and the connecting rod 10, together with the four-bar linkage consisting of the bracket 17, the second link 12, the fifth link 15, and the sixth link 16, participate in the motion control of the pedal 4. The two sets of four-bar linkages form a hierarchical linkage relationship. Through the different forms of dead-point self-locking states formed by the fifth link 15 and the sixth link 16 in the extended and retracted positions, the pedal 4 has good position holding capability in both extreme positions. At the same time, the combination of the single drive source drive scheme and the mechanical dead-point self-locking principle has a positive effect on reducing system cost, simplifying layout, reducing the torsional tendency of the pedal 4, reducing the risk of long-term stress deformation of the linkages, and reducing the probability of abnormal noise.

[0065] In some embodiments, the pedal 4 is mounted under the chassis of the vehicle, and when the pedal 4 is in the extended position, a gap is formed between the upper surface of the pedal 4 and the chassis along the height direction.

[0066] Specifically, the gap can be understood as the space in the vehicle height direction between the plane where the underside of the vehicle chassis and the upper side of the pedal 4 are located. This space is located under the chassis and has a preset range in the vehicle width and length directions.

[0067] For example, when the pedal 4 moves from the unfolded position to the retracted position under the drive of the first linkage mechanism 100 and the second linkage mechanism 200, the pedal 4 gradually approaches the chassis along a preset movement trajectory and finally enters the gap to complete the storage. In other words, the gap not only exists as a structural space under the chassis, but also participates in the entire movement process of the pedal 4 switching from the unfolded position to the retracted position. Therefore, the gap has the dual functions of movement avoidance space and storage space.

[0068] Specifically, when pedal 4 is in the extended position, it is located on the outside of the vehicle and is used by passengers. When the first linkage mechanism 100 and the second linkage mechanism 200 move pedal 4 towards the retracted position, pedal 4 gradually moves towards the chassis and enters the gap range. Because the gap is designed with a space dimension that matches the movement trajectory of pedal 4, pedal 4 can complete the posture and position changes along a preset path during the switching process. After pedal 4 moves to the retracted position, pedal 4 is completely stored in the gap. The protrusion of the lower surface of pedal 4 relative to the bottom contour of the vehicle is relatively small, which helps to reduce the exposed structural dimensions of the vehicle bottom.

[0069] Furthermore, compared to some existing technologies that utilize only the space between the chassis and pedal 4 to accommodate the linkage mechanism, the gap in this embodiment simultaneously serves the functions of linkage mechanism arrangement, pedal 4 movement avoidance, and pedal 4 storage. In other words, the gap not only provides installation space for the first linkage mechanism 100 and the second linkage mechanism 200, but also reserves space for pedal 4 to switch states. When pedal 4 switches from the extended position to the retracted position, the pedal 4 body can enter the gap; when pedal 4 switches from the retracted position to the extended position, pedal 4 can move out of the gap and unfold to the use position. Therefore, the same space can simultaneously serve the movement of the linkage mechanism and the movement of pedal 4, which is beneficial to improving the utilization rate of the space under the chassis.

[0070] Furthermore, with pedal 4 retracted within the gap, the chassis provides a degree of concealment, resulting in a relatively high degree of integration between pedal 4 and the vehicle's bottom profile. This helps reduce the likelihood of external debris, mud, and water directly impacting the surface of pedal 4. Simultaneously, with pedal 4 located within the gap when not in use, the exposed structure on the vehicle's side is minimized, improving the overall seamlessness of the vehicle's appearance. This structural design, which balances movement and storage space within the gap, allows for the concealed placement of pedal 4 without the need for additional independent storage cavities. This simplifies the overall structural layout and provides greater design flexibility for the vehicle's underbody space planning.

[0071] In some implementations, combined Figure 2 The pedal assembly also includes a drive unit 2, which is mounted on the bracket 17, and the first end of the fifth link 15 is connected to the drive unit 2 for transmission.

[0072] For example, the drive unit 2 includes a motor 21, the output shaft of which is connected to the fifth link 15 in a transmission manner.

[0073] It is worth noting that in actual products, the drive component 2 typically does not stop the fifth link 15 and the sixth link 16 at the theoretical dead point position. Instead, it continues to drive the fifth link 15 to rotate a certain angle, causing the mechanism to pass the dead point position and enter the over-center state. Due to objective factors such as machining dimensional errors, installation tolerances, and long-term wear, the theoretical dead point position is difficult to accurately reproduce in actual products. By adopting the design method of passing the dead point, the fifth link 15 and the sixth link 16 are located on the other side of the dead point. Even with some tolerance accumulation, they can still maintain stable self-locking characteristics, which is of positive significance for enhancing the reliability of the mechanism's operation.

[0074] For example, the motor 21 may be a DC brushed motor 21, a DC brushless motor 21, a stepper motor 21, or other drive units capable of outputting rotational power.

[0075] It is worth noting that the "transmission connection" here can be understood as the connection between the output shaft of motor 21 and the fifth link 15 that enables power transmission, including direct connection or indirect connection.

[0076] It is understandable that by using motor 21 as the driving component 2, the output torque generated by motor 21 can directly act on the fifth link 15, and then be transmitted to the sixth link 16 and the second link 12 through the fifth link 15. Subsequently, it drives the first link mechanism 100 to move synchronously, ultimately completing the unfolding and retracting action of the pedal 4. Because the power transmission path is short and the number of intermediate transmission links is relatively small, it is beneficial to reduce energy loss during the transmission process, and at the same time, it is beneficial to improve the response speed and stability of the mechanism.

[0077] Furthermore, since the position holding function of the pedal assembly mainly relies on the dead-point self-locking structure formed by the fifth link 15 and the sixth link 16, the position locking function is mainly undertaken by the mechanical structure when the pedal 4 is in the extended or retracted position. After completing the driving action, the motor 21 does not need to continuously output holding torque, nor does it need to rely on its internal self-locking structure to maintain the current position. Based on this, a non-self-locking motor 21 can be used. Compared to a self-locking motor 21, a non-self-locking motor 21 typically has the advantages of relatively simple structure, lower manufacturing cost, and lower transmission resistance, thus helping to reduce the overall manufacturing cost of the pedal assembly. At the same time, the motor 21 does not need to continuously bear a large holding load during long-term use, which plays a positive role in reducing gear wear, reducing output shaft stress, and maintaining the operational stability of the drive system.

[0078] In some implementations, combined Figure 2 , Figure 6 and Figure 7 The fifth link 15 includes a rotating disk 151, and the rotating disk 151 has an internal toothed hole 1511 along its own thickness direction.

[0079] It is worth noting that the internal toothed hole 1511 can be understood as a toothed mounting hole formed in the central area of ​​the rotating disk 151, and its inner peripheral wall is provided with a toothed structure distributed in the circumferential direction.

[0080] For example, the output shaft of the motor 21 is provided with external teeth, which are formed on the outer circumferential surface of the output shaft and cooperate with the tooth structure in the internal tooth hole 1511.

[0081] Specifically, after the output shaft of the motor 21 is inserted into the internal tooth hole 1511, the external teeth and the internal tooth hole 1511 form a meshing connection. Here, "insertion" can be understood as the output shaft extending axially into the internal tooth hole 1511 and forming an assembly relationship, and "transmission meshing" can be understood as a connection method in which two components with toothed structures transmit power and motion through tooth surface contact.

[0082] It is understandable that when the motor 21 is powered on, the output shaft rotates around its own axis, and the external teeth on the outer circumference of the output shaft rotate synchronously. Since the external teeth and the internal tooth hole 1511 remain in a continuous meshing state, the torque generated by the output shaft can be directly transmitted to the rotating disk 151. The rotating disk 151 then acts as part of the fifth link 15, driving the entire fifth link 15 to rotate synchronously. After the fifth link 15 moves, it further drives the sixth link 16 and the second link 12 to move, thereby completing the motion control of the pedal 4.

[0083] Meanwhile, by adopting a structure in which the external teeth and internal tooth holes 1511 directly mesh, a stable circumferential transmission relationship is formed between the output shaft of the motor 21 and the rotating disk 151, which helps to reduce relative slippage and improve torque transmission capability. On the other hand, the rotating disk 151 and the output shaft are arranged coaxially, and the power input position is relatively close to the rotation center of the fifth link 15. Therefore, it helps to simplify the overall structural layout, reduce the installation space requirement, and provide convenient conditions for the miniaturization design of the pedal assembly.

[0084] In some implementations, refer to Figure 2 , Figure 6 and Figure 7 The fifth link 15 also includes a rotating ring 152, which is connected to one side of the rotating disk 151 and is rotatably connected to the first end of the sixth link 16.

[0085] Specifically, the rotating disk 151 can be understood as a power input component for receiving the power output from the driving component 2 and generating rotational motion, and the rotating ring 152 can be understood as a force transmission component disposed on the outside of the rotating disk 151 and used to connect the sixth link 16.

[0086] Furthermore, the rotating disk 151 and the rotating ring 152 together constitute the fifth connecting rod 15, thereby transforming the traditional rod-shaped component into a composite component with a disk structure and a ring structure.

[0087] For example, the length direction of the fifth link 15 is consistent with the length direction of the connecting line between the central axis of the rotating ring 152 and the central axis of the internal tooth hole 1511, that is, the length direction of the fifth link 15 is defined as the direction of the line connecting the rotation center of the rotating disk 151 to the rotation center of the rotating ring 152.

[0088] Based on this, with this structural form, the rotating disk 151 can serve as the power input center and the rotating ring 152 can serve as the power output center, forming a stable force transmission path between the two. This is beneficial to reduce the phenomenon of local load concentration, and at the same time, it is beneficial to improve the overall structural strength and motion stability of the fifth link 15.

[0089] Furthermore, since both the rotating disk 151 and the rotating ring 152 are circular or nearly circular structures, the fifth link 15 experiences a relatively uniform stress distribution when subjected to cyclic loads. Compared to link structures with sharp corners or abrupt changes in cross-section, the circular profile helps to reduce the tendency for stress concentration.

[0090] In some implementations, refer to Figure 1 , Figure 6 The pedal assembly also includes a transmission component 3, which is connected between the rotating disk 151 and the second linkage mechanism 200 so that the first linkage mechanism 100 and the second linkage mechanism 200 operate synchronously.

[0091] For example, the transmission component 3 may be a rope structure, a transmission shaft, a synchronous shaft, a gear transmission structure, a chain transmission structure, a belt transmission structure, or other mechanical transmission structures capable of transmitting motion and torque.

[0092] For example, to reduce costs and save space, the transmission component 3 is preferably a rope structure. Specifically, the rotating disk 151 can provide a large circumferential space for arranging the transmission component 3 as a rope structure, and the sixth link 16 is connected through the rotating ring 152. Therefore, the power input area and the power output area are spatially separated, which is of positive significance for the overall mechanism layout.

[0093] It can be understood that the power output by the driving component 2 is first transmitted to the first linkage mechanism 100, and then transmitted to the second linkage mechanism 200 through the transmission component 3, thus forming a transmission path in which a single power source drives the synchronous movement of the two linkage mechanisms.

[0094] Specifically, synchronous action means that the first linkage mechanism 100 and the second linkage mechanism 200 maintain a preset motion relationship during the movement. For example, synchronous rotation, synchronous swinging, or synchronous folding, so as to ensure that the motion states of both sides of the pedal 4 are basically consistent during the unfolding and closing process.

[0095] It is understandable that when the driving component 2 drives the first linkage mechanism 100 to move, the angular displacement generated by the first linkage mechanism 100 is synchronously transmitted to the second linkage mechanism 200 through the transmission component 3. After receiving the power transmitted by the transmission component 3, the second linkage mechanism 200, together with the first linkage mechanism 100, drives the pedal 4 to move. Since both the first linkage mechanism 100 and the second linkage mechanism 200 participate in supporting the pedal 4, and the two maintain a synchronous relationship during the movement, the displacement, rotation angle, and movement rhythm on both sides of the pedal 4 have a high degree of consistency.

[0096] Compared to the structure in related technologies where only one drive mechanism is set on one side and the other side is rigidly dragged by the pedal 4 body, the transmission component 3 can continuously transmit the power of the active end to the second linkage mechanism 200, so that the second linkage mechanism 200 changes from a passive following state to a controlled synchronous motion state.

[0097] Based on this transmission relationship, the torsional load on pedal 4 during the unfolding and retraction process can be reduced to a certain extent, which is also beneficial to reduce structural interference, local stress concentration and abnormal vibration caused by asynchronous movement on both sides.

[0098] Compared to related technologies where only the driving end forms a self-locking mechanism while the driven end lacks locking capability, the structure with simultaneous dead-point self-locking on both sides helps reduce the torsional tendency of the pedal 4 along its length, further alleviating the long-term internal torque load on the pedal 4 body, connecting rods, and mounting bracket 17. With a more balanced internal load distribution, phenomena such as local deformation of rods, changes in connection gaps, and frictional vibration at contact points are expected to be alleviated to some extent, playing a positive role in maintaining the smooth operation of the mechanism.

[0099] Meanwhile, since the second linkage mechanism 200 obtains power through the transmission component 3 and forms a synchronous dead-point self-locking mechanism, there is no need to set up an additional independent drive component 2 at the second linkage mechanism 200, nor is there a need to configure an additional dedicated locking mechanism such as an electrically controlled telescopic rod. A single drive component 2 can simultaneously complete the driving and synchronous control of the two linkage mechanisms, which is beneficial to reduce the number of drive units, reduce the complexity of the control system, and reduce the space requirements for the entire mechanism.

[0100] In some implementations, for pedal assemblies already in use, the transmission component 3 can also be arranged near the original structure as an external or additional component, and the function can be expanded by establishing a power transmission relationship between the active end and the driven end. Therefore, the need for large-scale modifications to the vehicle structure is relatively small, which helps to reduce the difficulty of modification and manufacturing costs.

[0101] Furthermore, the first linkage mechanism 100 and the second linkage mechanism 200 together constitute a dual-station synchronous motion system. During the deployment phase of pedal 4, the two linkage mechanisms deploy synchronously and jointly support pedal 4; during the retraction phase of pedal 4, the two linkage mechanisms retract synchronously and jointly enter the dead zone. Throughout the entire motion process, the power transmission path is clear, and the linkage relationship between the mechanisms is well-defined, ensuring both motion synchronization and locking capability. Based on the above structural configuration, the pedal assembly has good application value in terms of smooth operation, reducing uneven stress on the linkages, reducing the torsional tendency of pedal 4, and mitigating the risk of abnormal noise, while also offering advantages such as structural simplification, cost control, and ease of installation.

[0102] For example, the power input end of the transmission component 3 is connected to the rotating disk 151 in the first linkage mechanism 100, and the power output end is connected to the second linkage mechanism 200. Since the driving component 2 directly drives the first linkage mechanism 100 to move, the first linkage mechanism 100 constitutes the active mechanism; the second linkage mechanism 200 mainly obtains power through the transmission component 3, thus constituting the driven mechanism. After the transmission component 3 establishes the power transmission relationship between the first linkage mechanism 100 and the second linkage mechanism 200, the rotational motion generated by the first linkage mechanism 100 can be synchronously transmitted to the second linkage mechanism 200, thereby ensuring that the two mechanisms maintain a similar rhythm during movement.

[0103] In some implementations, refer to Figure 2 , Figure 6 and Figure 7 The transmission component 3 includes two ropes 31, namely a first rope 311 and a second rope 312.

[0104] For example, the rope 31 is a slender component with flexible force transmission capability, and can be made of steel wire rope, aramid rope, polymer fiber rope, rubber-coated steel cable or other flexible components with tensile strength.

[0105] It is understandable that, compared with gear transmission, linkage transmission or synchronous shaft transmission, the rope body 31 has the advantages of flexible arrangement, lighter weight and smaller installation space requirements, which is beneficial to meeting the installation requirements of vehicle chassis area with limited space.

[0106] For example, an arc-shaped groove 1512 is formed on the outer ring wall of the rotating disk 151 along the outer circumference of the rotating disk 151. Specifically, the arc-shaped groove 1512 can be understood as a guide groove structure extending along the circumference of the rotating disk 151, and its extension trajectory is basically consistent with the rotation trajectory of the rotating disk 151.

[0107] For example, the width and depth of the arc-shaped groove 1512 can be designed to match the diameter of the rope 31, so that part of the rope 31 is embedded inside the arc-shaped groove 1512. Since the rope 31 is located in the arc-shaped groove 1512, the rope 31 can move along a predetermined trajectory during the force application process, which helps to reduce the risk of the rope 31 leaving the working area, and at the same time helps to maintain the stability of power transmission.

[0108] For example, the first end of the first rope 311 is connected to the first end of the arc groove 1512, and the second end of the first rope 311 is connected to the second linkage mechanism 200.

[0109] For example, the first end of the second rope 312 is connected to the second end of the arcuate groove 1512, and the second end of the second rope 312 is connected to the second linkage mechanism 200.

[0110] Specifically, the first rope 311 and the second rope 312 are respectively connected to the two sides of the rotating disk 151 around the circumference, and respectively undertake the power transmission tasks in different motion stages.

[0111] It is understandable that when the rotating disk 151 rotates in the first direction, the first rope 311 gradually tightens and enters a state of tension. Since one end of the first rope 311 is fixed to the rotating disk 151 in the first linkage mechanism 100, and the other end is connected to the second linkage mechanism 200, the first rope 311 can transmit the tension to the second linkage mechanism 200 after being subjected to tension. The fifth link 15 in the second linkage mechanism 200 rotates synchronously under the action of the first rope 311, and its rotation direction is consistent with that of the fifth link 15 in the first linkage mechanism 100. With the rotation of the fifth link 15, the sixth link 16, the second link 12, and the remaining links move synchronously, eventually entering the corresponding dead point region.

[0112] It is understandable that in the dual-position pedal 4 structure, the first linkage mechanism 100 can directly obtain driving force through the driving component 2, and therefore it is easier to enter the dead-point self-locking state; the second linkage mechanism 200, due to the lack of an independent driving source, may not be able to enter the dead-point position sufficiently when it relies solely on the rigidity of the pedal 4 itself to transmit power.

[0113] Therefore, after the first rope 311 establishes a direct pulling relationship between the first linkage 100 and the second linkage 200, the fifth link 15 of the second linkage 200 can obtain additional driving force, which is beneficial for pushing the second linkage 200 towards the dead point region. When the first linkage 100 enters the dead point position, the second linkage 200 simultaneously enters the corresponding dead point region, and the two mechanisms form a synchronous self-locking state. Based on this structure, the locking states on both sides of the pedal 4 tend to be consistent, which has a positive effect on reducing the torsional stress on the pedal 4.

[0114] However, even with only the first rope 311 installed, although the second linkage 200 can be pulled into the dead zone, it may still be difficult for it to disengage. When the pedal 4 is locked, the dead zone self-locking structure itself has a strong position-holding capability, and the weight of the pedal 4, the inertial force of vehicle vibration, and the force indirectly transmitted by the first linkage 100 are all insufficient to actively push the second linkage 200 out of the dead zone. If the first linkage 100 begins to unfold while the second linkage 200 remains locked, the movements on both sides will be asynchronous, and the pedal 4 body may bear torsional loads.

[0115] For the reasons mentioned above, the transmission component 3 includes a first rope 311 and a second rope 312, that is, the two together transmit power.

[0116] When the rotating disk 151 rotates in the opposite direction to the first direction, the second rope 312 gradually tightens and assumes the function of power transmission. At this time, the second rope 312 transmits the power from the first linkage mechanism 100 to the second linkage mechanism 200, pulling the fifth link 15 in the second linkage mechanism 200 to move away from the dead point. As the fifth link 15 rotates, the sixth link 16 gradually leaves the dead point region, and the second linkage mechanism 200 regains its degree of freedom of movement.

[0117] It can be seen that the first rope 311 mainly undertakes the power transmission function during the process of entering the dead point state, and the second rope 312 mainly undertakes the power transmission function during the process of leaving the dead point state. The two ropes 31 correspond to two directions of movement respectively, and together they constitute a two-way power transmission system.

[0118] In some implementations, combined Figure 1 , Figure 6 The first linkage mechanism 100 and the second linkage mechanism 200 have the same structure.

[0119] Specifically, identical structures can be understood to include the same number of links, the same connection relationships, and the same motion trajectory. By adopting identical structures, the first linkage mechanism 100 and the second linkage mechanism 200 can obtain similar motion responses under the same input displacement conditions, which is beneficial to maintaining the synchronous motion characteristics of both sides.

[0120] For example, the first end of the first rope 311 is connected to the first end of the arc groove 1512 in the first linkage mechanism 100, and the second end of the first rope 311 is connected to the second end of the arc groove 1512 in the second linkage mechanism 200.

[0121] For example, the first end of the second rope 312 is connected to the second end of the arcuate groove 1512 in the first linkage mechanism 100, and the second end of the second rope 312 is connected to the first end of the arcuate groove 1512 in the second linkage mechanism 200.

[0122] It can be understood that this cross-connection method forms a closed-loop synchronous structure. When one rotating disk 151 rotates clockwise, the corresponding rope 31 is in a taut state; when the rotating disk 151 rotates counterclockwise, the other rope 31 is in a taut state. The two ropes 31 correspond to different directions of movement, thus ensuring synchronous driving capability in both directions.

[0123] In some implementations, combined Figure 6 , Figure 7The rotating disk 151 has a first knot hole 1513 and a second knot hole 1514. The first knot hole 1513 is close to the first end of the arc-shaped groove 1512 and communicates with the arc-shaped groove 1512, and the second knot hole 1514 is close to the second end of the arc-shaped groove 1512 and communicates with the arc-shaped groove 1512. The end of the rope 31 passes through the corresponding knot hole to form a knot fixing structure.

[0124] It is worth noting that the "knot hole" here can be understood as a mounting hole structure used to fix the end of the rope 31. Using the knot hole fixing method, the rope 31 can be installed without additional pressure plates, clips, or fasteners, thus simplifying the assembly process. At the same time, the end of the rope 31 is located inside the hole, which positively reduces interference from exposed structures.

[0125] In some implementations, combined Figure 6 , Figure 8 The pedal assembly also includes a steering component 5. The steering component 5 is rotatably mounted on the bracket 17, and each rotating disc 151 corresponds to one steering component 5. The steering component 5 is rotatably engaged with the rope body 31.

[0126] It is understandable that, since there is usually a certain distance between the first linkage 100 and the second linkage 200, the transmission path of the rope 31 is not completely straight. Therefore, it is necessary to change the direction of the rope 31 through the steering component 5. The steering component 5 can guide the rope 31 to be arranged according to a predetermined path, thereby helping to reduce the probability of interference between the rope 31 and surrounding components.

[0127] For example, the steering component 5 includes a roller 51. A groove 511 is formed on the outer circumferential wall of the roller 51, and a portion of the rope 31 is fitted into the groove 511. When the roller 51 rotates, the rope 31 and the roller 51 primarily exhibit a rolling contact relationship. Compared to a scheme where the rope 31 directly rubs against a fixed guide component, the roller 51 structure helps reduce frictional resistance and decreases surface wear on the rope 31. The groove 511 provides a limiting and guiding function for the rope 31; when the rope 31 runs within the groove 511, its movement trajectory is more stable, which is beneficial for maintaining the reliability of power transmission.

[0128] For example, two rollers 51 are provided, each roller 51 corresponding to a rope 31, and the outer diameters of the two rollers 51 are different. With different outer diameters, the two ropes 31 form running tracks with different heights or radii. Using this structure, the first rope 311 and the second rope 312 are spatially staggered. Since the two ropes 31 are located on different tracks, the contact opportunities between the ropes 31 are relatively few, which has a positive effect on reducing wear caused by long-term friction between the two ropes 31. At the same time, the two ropes 31 correspond to independent guide paths, which helps maintain the stability of their respective force states, thereby extending the service life of the ropes 31 and maintaining synchronous transmission performance.

[0129] In summary, the rotating disk 151, the first rope 311, the second rope 312, the steering component 5, and the roller 51 together constitute a bidirectional flexible synchronous transmission system. The movement of the fifth link 15 of the first linkage mechanism 100 can be synchronously transmitted to the second linkage mechanism 200 in both the retracting and unfolding directions of the pedal 4. On the one hand, the first rope 311 provides auxiliary driving force for the second linkage mechanism 200 to enter the dead-point self-locking region; on the other hand, the second rope 312 provides auxiliary driving force for the second linkage mechanism 200 to disengage from the dead-point self-locking region. The two ropes 31 respectively undertake the power transmission tasks of different motion stages. Combined with the guide structure of the roller 51 and the dual-position dead-point self-locking structure, this helps maintain the synchronous motion characteristics of the linkage mechanisms on both sides, reduces the torsional load on the pedal 4, the tendency of the linkage to deform, and the risk of abnormal noise. At the same time, it also takes into account the advantages of simple structure, convenient installation, and controllable cost.

[0130] Secondly, this application provides a vehicle including the pedal assembly of the first aspect.

[0131] The vehicle may be a gasoline-powered vehicle, a plug-in hybrid electric vehicle, or a new energy vehicle, etc., and this application does not make any specific restrictions.

[0132] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0133] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0134] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0135] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A pedal assembly, characterized by, include: The first linkage (100) and the second linkage (200) are configured to be spaced apart on the vehicle; The pedal (4) is connected to the first linkage mechanism (100) and the second linkage mechanism (200), and has a switchable unfolded position and a retracted position under the action of the first linkage mechanism (100) and the second linkage mechanism (200); When the pedal (4) is in the retracted position, the first linkage mechanism (100) and the second linkage mechanism (200) simultaneously form a dead-point self-locking.

2. The pedal assembly of claim 1, wherein, The first linkage mechanism (100) is a multi-link mechanism; And / or, the first linkage mechanism (100) includes a first link (11), a second link (12), a third link (13) and a connecting rod (10), one end of the connecting rod (10) is connected to the pedal (4), the first end of the first link (11) is rotatably connected to the connecting rod (10), the first end of the second link (12) is rotatably connected to the connecting rod (10), and the two ends of the third link (13) are rotatably connected to the second end of the first link (11) and the second link (12) respectively; The first link (11), the second link (12), the third link (13) and the connecting rod (10) form a four-link structure.

3. The pedal assembly of claim 2, wherein, The first linkage mechanism (100) further includes a bracket (17), a fourth link (14), a fifth link (15), and a sixth link (16). The bracket (17) is configured to be mounted on the vehicle. The second end of the second link (12) is rotatably connected to the bracket (17). The first end of the fourth link (14) is connected to the bracket (17). The second end of the fourth link (14) is rotatably connected to the second end of the first link (11). The first end of the fifth link (15) is configured to be driven by a drive source. The second end of the fifth link (15) is rotatably connected to the first end of the sixth link (16). The second end of the sixth link (16) is rotatably connected to the first end of the second link (12). The bracket (17), the second link (12), the fifth link (15) and the sixth link (16) form a four-bar linkage structure.

4. The pedal assembly according to any one of claims 1 to 3, characterized in that, The pedal (4) is configured to be installed under the chassis of the vehicle. When the pedal (4) is in the extended position, the plane on which the upper surface of the pedal (4) is located defines a gap in the height direction with the chassis. The gap is used to allow the pedal (4) to switch from the extended position to the retracted position, and the pedal (4) is retracted into the gap when in the retracted position.

5. The pedal assembly of claim 3, wherein, The pedal assembly also includes a drive unit (2), which is mounted on the bracket (17), and the first end of the fifth link (15) is connected to the drive unit (2) in a transmission manner.

6. The pedal assembly of claim 5, wherein, When the fifth link (15) rotates under the action of the drive member (2) to be collinear with the sixth link (16), and when the fifth link (15) and the sixth link (16) partially overlap, the fifth link (15) and the sixth link (16) form the dead-point self-locking so that the pedal (4) is held in the retracted position; and / or, when the fifth link (15) of the pedal assembly rotates under the action of the drive member (2) to be collinear with the sixth link (16), and when the fifth link (15) and the sixth link (16) do not overlap, the fifth link (15) and the sixth link (16) form the dead-point self-locking so that the pedal (4) is held in the extended position.

7. The pedal assembly of claim 5, wherein, The drive unit (2) includes a motor (21), the output shaft of which is connected to the fifth link (15) in a transmission connection.

8. The pedal assembly of claim 7, wherein, The fifth link (15) includes a rotating disk (151), the rotating disk (151) has an internal toothed hole (1511) along its own thickness direction, the output shaft of the motor (21) has external teeth, the output shaft of the motor (21) is inserted into the internal toothed hole (1511) and engages with the internal toothed hole (1511) in transmission. The fifth link (15) of the pedal assembly also includes a rotating ring (152), which is connected to one side of the rotating disk (151) and is rotatably connected to the first end of the sixth link (16); The length direction of the fifth link (15) is consistent with the length direction of the connecting line between the central axis of the rotating ring (152) and the central axis of the internal tooth hole (1511).

9. The pedal assembly of claim 8, wherein, The pedal assembly also includes a transmission component (3), which is tractively connected between the rotating disk (151) and the second linkage mechanism (200) so that the first linkage mechanism (100) and the second linkage mechanism (200) operate synchronously.

10. The pedal assembly of claim 9, wherein, The transmission component (3) includes two ropes (31), which are a first rope (311) and a second rope (312), respectively. An arc-shaped groove (1512) is provided on the outer ring wall of the rotating disk (151) and along the outer periphery of the rotating disk (151). Wherein, the first end of the first rope (311) is connected to the first end of the arc groove (1512) on the rotating disk (151), and the second end of the first rope (311) is connected to the second linkage mechanism (200); The first end of the second rope (312) is connected to the second end of the arc groove (1512) on the rotating disk (151), and the second end of the second rope (312) is connected to the second linkage mechanism (200); When the rotating disk (151) rotates in the first direction, the second linkage mechanism (200) is driven to operate synchronously through the first rope (311); when the rotating disk (151) rotates in the opposite direction of the first direction, the second linkage mechanism (200) is driven to operate synchronously through the second rope (312).

11. The pedal assembly of claim 10, wherein, The first linkage mechanism (100) and the second linkage mechanism (200) have the same structure; Wherein, the first end of the first rope (311) is connected to the first end of the arc groove (1512) in the first linkage mechanism (100), and the second end of the first rope (311) is connected to the second end of the arc groove (1512) in the second linkage mechanism (200); The first end of the second rope (312) is connected to the second end of the arcuate groove (1512) in the first linkage mechanism (100), and the second end of the second rope (312) is connected to the first end of the arcuate groove (1512) in the second linkage mechanism (200); And / or, the rotating disk (151) is provided with a first knot hole (1513), the first knot hole (1513) is close to the first end of the arc groove (1512) and communicates with the first end, and the end of the rope (31) is tied in the first knot hole (1513). And / or, the rotating disk (151) is provided with a second knot hole (1514), the second knot hole (1514) is close to the second end of the arc groove (1512) and communicates with the second end, and the end of the rope (31) is tied in the second knot hole (1514).

12. The pedal assembly of claim 10, wherein, The pedal assembly also includes a steering component (5), which is rotatably mounted on the bracket (17). Each rotating disc (151) corresponds to one steering component (5), and the steering component (5) is rotatably engaged with the rope (31).

13. The pedal assembly of claim 12, wherein, The steering component (5) includes a roller (51), and a groove (511) is provided on the outer ring wall of the roller (51) along the outer periphery of the roller (51), and part of the rope (31) is fitted into the groove (511).

14. The pedal assembly of claim 13, wherein, There are two rollers (51), each roller (51) corresponds to one rope body (31), and the outer diameters of the two rollers (51) are different.

15. A vehicle characterized by comprising: Includes the pedal assembly according to any one of claims 1 to 14.

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