Self-locking device, rear wheel steering gear, steering system and vehicle

Abstract

The application discloses a self-locking device, a rear wheel steering device, a steering system and a vehicle, and relates to the technical field of vehicle manufacturing. The self-locking device comprises a rotating input structure, a rotating output structure and a fixed structure; a self-locking structure is movably connected to the rotating output structure, and the rotating output structure is rotationally locked with the fixed structure through the self-locking structure; the self-locking structure is only movable when the rotating input structure rotates, and the self-locking structure rotationally unlocks the rotating output structure and the fixed structure, so that the rotating input structure drives the rotating output structure to rotate. The self-locking device of the application can drive the self-locking structure to unlock when the rotating input structure rotates, so as to drive the rotating output structure to rotate, and the self-locking structure is locked with the fixed structure when the rotating input structure does not rotate, so as to avoid the rotating input structure from rotating. The structure is simple, and the self-locking mode is easy to realize.

Description

Technical Field

[0001] This invention relates to the field of vehicle manufacturing technology, and more particularly to a self-locking device, a rear wheel steering system, a steering system, and a vehicle. Background Technology

[0002] During operation, vehicles are often subjected to impacts from the ground due to bumps or tilts. To prevent unexpected steering, a self-locking function is typically added to vehicles. Related technologies usually employ a trapezoidal lead screw pair, worm gear, or trapezoidal lead screw transmission, or use a solenoid valve for locking. However, traditional self-locking solutions have low transmission efficiency, are prone to wear, generate abnormal noise, and malfunction, indicating room for improvement. Summary of the Invention

[0003] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a self-locking device that can effectively drive the rotation output structure to rotate when the rotation input structure rotates, and can achieve rotation locking when the rotation input structure does not rotate, thereby achieving controllable wheel angle.

[0004] According to an embodiment of the present invention, a self-locking device includes: a rotation input structure, a rotation output structure, and a fixed structure; the self-locking structure is movably connected to the rotation output structure, and the rotation output structure is rotationally locked to the fixed structure through the self-locking structure; the self-locking structure is only active when the rotation input structure rotates, and causes the rotation output structure to be rotationally unlocked from the fixed structure, so that the rotation input structure drives the rotation output structure to rotate.

[0005] According to the self-locking device of the present invention, the locking state of the self-locking structure can be switched by rotating the rotation input structure. When the rotation input structure rotates, the self-locking structure is driven to unlock from the fixed structure, thereby enabling the rotation input structure to transmit torque to the rotation output structure. After the rotation output structure is subjected to vibration impact from the wheel axle, the self-locking structure locks the rotation output structure to the fixed structure, thereby cutting off the torque. Torque from different directions of the wheel axle can be cut off by the cooperation of the self-locking structure and the fixed structure, thereby preventing the torque from being transmitted to the rotation input structure. This achieves controllable wheel angle and controllable vehicle forward direction. The structure is simple and the self-locking method is easy to implement.

[0006] According to some embodiments of the present invention, the self-locking device includes a self-locking member that is telescopically connected to the rotation output structure. The self-locking member is adapted to extend toward the fixed structure to lock the rotation output structure in rotation with the fixed structure. The rotation input structure is adapted to drive the self-locking member to retract so that the rotation output structure and the fixed structure can rotate relative to each other.

[0007] According to some embodiments of the present invention, the fixing structure is a ring structure, the rotation output structure is rotatably installed inside the fixing structure, the rotation input structure is rotatably sleeved outside the fixing structure, and the rotation axis of the rotation input structure, the rotation axis of the rotation output structure, and the axis of the fixing structure coincide.

[0008] According to some embodiments of the present invention, the fixed structure is provided with a radially through movable hole, the self-locking member is radially telescopically connected to the outer peripheral wall of the rotary output structure, the self-locking member is adapted to extend radially outward to the movable hole to be rotatably locked with the fixed structure, and the rotary input structure is adapted to push the self-locking member radially inward to unlock it from the movable hole at the circumferential upper limit.

[0009] According to some embodiments of the present invention, the inner peripheral wall of the rotary input structure is provided with an unlocking recess that opens toward the fixed structure, and at least a portion of the self-locking member is adapted to extend radially outward into the unlocking recess;

[0010] The unlocking notch is provided with a driving slope, and when the rotation input structure rotates, the driving slope is adapted to push the self-locking member to move radially inward.

[0011] According to some embodiments of the present invention, the inner wall of the movable hole includes a limiting surface, and when the self-locking member is circumferentially rotated and locked with the fixed structure, the limiting surface contacts the self-locking member;

[0012] When the rotary input structure rotates, the self-locking member moves radially inward under the action of the driving inclined surface and disengages from the limiting surface, so that the rotary output structure is rotated and unlocked from the fixed structure.

[0013] According to some embodiments of the self-locking device of the present invention, the inner wall of the movable hole further includes a guide surface;

[0014] Wherein, after the self-locking member disengages from the limiting surface, the self-locking member moves inward along the guide surface under the action of the rotation output structure.

[0015] According to some embodiments of the present invention, the outer peripheral wall of the rotary output structure is provided with an outwardly open mounting groove, the self-locking member is telescopically mounted in the mounting groove, and at least a portion of the self-locking member extends outside the mounting groove to contact and engage with the fixed structure and the rotary input structure.

[0016] According to some embodiments of the present invention, the self-locking device includes multiple self-locking elements and multiple movable holes, which are spaced apart in the circumferential direction of the fixed structure and / or spaced apart in the axial direction of the fixed structure, and the multiple self-locking elements and multiple movable holes are matched one-to-one.

[0017] According to some embodiments of the present invention, the movable holes are configured in multiple groups, and the multiple groups of movable holes are spaced apart in the axial direction of the fixed structure, and the plurality of movable holes in each group are spaced apart in the circumferential direction of the fixed structure.

[0018] Wherein, at least a portion of the two adjacent sets of movable holes are staggered in the axial direction of the fixed structure, and in the static state, at least a portion of the self-locking member extends into the corresponding movable hole.

[0019] According to some embodiments of the present invention, the self-locking device further includes an elastic element connected to both the self-locking element and the rotation output structure, and the elastic element is used to apply an elastic force to the self-locking element extending outward toward the rotation output structure.

[0020] According to some embodiments of the present invention, the self-locking device has the elastic element constructed as a spring, one end of the spring being connected to the side of the self-locking element near the interior of the fixed structure, and the other end of the spring being connected to the rotation output structure.

[0021] According to some embodiments of the present invention, the self-locking device is configured as a spherical member.

[0022] According to some embodiments of the present invention, the rotation input structure is provided with a rotation input tooth, and the rotation output structure is provided with a rotation output tooth. When the rotation input structure rotates, the rotation input tooth drives the rotation output tooth to rotate the rotation output structure.

[0023] According to some embodiments of the present invention, the self-locking device has a plurality of rotary input teeth, and the plurality of rotary input teeth are spaced apart on the rotary input structure around the rotation axis of the rotary input structure;

[0024] There are multiple rotating output teeth, and the multiple rotating output teeth are distributed at intervals around the rotation axis of the rotating output structure on the rotating output structure, and the multiple rotating output teeth are arranged in a one-to-one correspondence with the multiple rotating input teeth.

[0025] According to some embodiments of the present invention, the self-locking device further includes a buffer member, at least a portion of which is located between the rotary input tooth and the rotary output tooth.

[0026] According to some embodiments of the present invention, the rotation input structure first presses against the buffer when it starts to rotate, and after the rotation input structure pushes the self-locking structure to unlock, the rotation input structure pushes the buffer to drive the rotation output structure to rotate.

[0027] The present invention also proposes a rear wheel steering system.

[0028] The rear wheel steering system according to embodiments of the present invention includes the self-locking device of any of the above embodiments.

[0029] The present invention also proposes a steering system.

[0030] The steering system according to embodiments of the present invention includes a self-locking device of any of the above embodiments, or a rear wheel steering system of the above embodiments.

[0031] According to some embodiments of the present invention, the self-locking device further includes a power structure and a wheel axle, wherein the power structure is poweredly connected to the rotation input structure to selectively drive the rotation input structure to rotate, and the rotation output structure is poweredly connected to the wheel axle.

[0032] The present invention also proposes a vehicle.

[0033] The vehicle according to embodiments of the present invention includes a self-locking device of any of the above embodiments, a rear wheel steering system of any of the above embodiments, or a steering system of any of the above embodiments.

[0034] The vehicle, steering system, and rear wheel steering gear described above have the same advantages over the prior art as the self-locking device, and will not be repeated here.

[0035] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0036] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0037] Figure 1 This is a schematic diagram of the structure of the self-locking device according to an embodiment of the present invention. Figure 1 ;

[0038] Figure 2 This is a schematic diagram of the structure of the self-locking device according to an embodiment of the present invention. Figure 2 ;

[0039] Figure 3 This is a schematic diagram of the rotation input structure according to an embodiment of the present invention;

[0040] Figure 4 This is a schematic diagram of the rotation output structure according to an embodiment of the present invention;

[0041] Figure 5 This is a schematic diagram of the structure of the limiting surface and the guiding surface in an embodiment of the present invention;

[0042] Figure 6 This is a side view of the self-locking device according to an embodiment of the present invention;

[0043] Figure 7 This is a cross-sectional view of the locking position of the self-locking device according to an embodiment of the present invention;

[0044] Figure 8 This is a schematic diagram of the locking state of the self-locking device according to an embodiment of the present invention. Figure 1 ;

[0045] Figure 9 This is a schematic diagram of the locking state of the self-locking device according to an embodiment of the present invention. Figure 2 ;

[0046] Figure 10 This is a cross-sectional view of the transmission position of the self-locking device according to an embodiment of the present invention;

[0047] Figure 11 This is a schematic diagram of the steering system according to an embodiment of the present invention. Figure 1 ;

[0048] Figure 12 This is a schematic diagram of the steering system according to an embodiment of the present invention. Figure 2 .

[0049] Figure label:

[0050] Self-locking device 100,

[0051] Rotate input structure 1, unlock notch 11, drive inclined surface 111, rotate input gear 12.

[0052] Rotary output structure 2, mounting slot 21, rotating output gear 22.

[0053] Fixed structure 3, movable hole 31, limiting surface 311, guide surface 312.

[0054] Self-locking structure 4, self-locking component 41, elastic component 42.

[0055] Buffer 5,

[0056] Steering system 200,

[0057] 6. Power structure; 7. Wheel axle. Detailed Implementation

[0058] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0059] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0060] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0061] The following is for reference. Figures 1-10 The self-locking device 100 according to an embodiment of the present invention is described. The self-locking device 100 can be applied to a steering system or other systems with a transmission structure. By setting a self-locking structure 4 and a fixing structure 3 between the rotation input structure 1 and the rotation output structure 2, the rotation input structure 1 can effectively drive the rotation output structure 2 to rotate when it rotates, and rotation locking can be achieved when the rotation input structure 1 does not rotate, so that the wheel angle can be controlled. The structure is simple and the self-locking method is easy to implement.

[0062] like Figure 1 and Figure 2As shown, the self-locking device 100 according to an embodiment of the present invention includes: a rotation input structure 1, a rotation output structure 2, a fixing structure 3, and a self-locking structure 4. When the self-locking device 100 is applied to the steering system of a vehicle, the rotation input structure 1 can be powered by the power structure 6, and the rotation output structure 2 can be powered by the wheel axle 7. That is, the rotation input structure 1 serves as the power input end of the self-locking device 100, and the rotation output structure 2 serves as the power output end of the self-locking device 100. Thus, power can be transmitted from the vehicle's power structure 6 to the self-locking device 100, and then to the wheel axle 7, thereby realizing the control of the vehicle's wheels.

[0063] The fixed structure 3 can be relatively fixed to the outer shell or vehicle body structure of the self-locking device 100, that is, when the self-locking device 100 transmits power, the fixed structure 3 is in a relatively fixed state and does not rotate with other structural components.

[0064] The self-locking structure 4 is movably connected to the rotary output structure 2, and the rotary output structure 2 is rotaryly locked to the fixed structure 3 via the self-locking structure 4. That is, the self-locking structure 4 is connected to the rotary output structure 2 and is movable relative to the rotary output structure 2. When the rotary input structure 1 rotates, the self-locking structure 4 is driven to move, thereby unlocking the rotary output structure 2 from the fixed structure 3 and causing the rotary output structure 2 to rotate; and when the rotary input structure 1 does not rotate, the self-locking structure 4 circumferentially locks the rotary output structure 2 to the fixed structure 3.

[0065] In other words, the rotation input structure 1 and the rotation output structure 2 can be rotated together. At the same time, the self-locking structure 4 has an unlocked position and a locked position. When the self-locking structure 4 is in the unlocked position, the rotation input structure 1 can drive the rotation output structure 2 to rotate. When the self-locking structure 4 is in the locked position, the rotation output structure 2 cannot drive the rotation input structure 1 to rotate.

[0066] The self-locking structure 4 is active only when the rotation input structure 1 rotates, and it unlocks the rotation output structure 2 from the fixed structure 3, allowing the rotation input structure 1 to drive the rotation output structure 2 to rotate. In other words, the rotation input structure 1 can switch the state of the self-locking structure 4 while rotating; that is, when the rotation input structure 1 rotates, it can drive the self-locking structure 4 from the locked position to the unlocked position, so that the self-locking structure 4 no longer restricts the relative rotation of the rotation output structure 2 and the fixed structure 3. This allows the rotation output structure 2 to rotate together with the rotation input structure 1, thereby transmitting rotational power from the rotation input structure 1 to the rotation output structure 2 to control the wheel angle of the vehicle.

[0067] Therefore, when the power structure 6 outputs power, the rotation input structure 1 is subjected to a clockwise torque, thus producing clockwise motion, or the rotation input structure 1 is subjected to a counterclockwise torque, thus producing counterclockwise motion. The self-locking structure 4 can switch to the unlocked position under the action of the rotation input structure 1, so that the rotation output structure 2 can move clockwise or counterclockwise synchronously with the rotation input structure 1. Thus, the wheel angle of the vehicle can be controlled.

[0068] Furthermore, when the rotation output structure 2 is subjected to steering driving force at the non-power structure 6, such as vibration impact from the road surface at the wheel axle 7, the rotation input structure 1 does not rotate, while the rotation output structure 2 tends to rotate. At this time, the self-locking structure 4 can circumferentially lock the rotation output structure 2 and the fixed structure 3 so that the rotation output structure 2 will not transmit the torque generated by the vibration impact to the rotation input structure 1. That is, when the rotation output structure 2 rotates clockwise or counterclockwise after being subjected to vibration from the road surface, the self-locking structure 4 will circumferentially lock the rotation output structure 2 and the fixed structure 3 to stop the rotation of the rotation output structure 2, thereby cutting off the vibration torque, ensuring that the wheel angle is controllable, and preventing the wheel from rotating significantly under vibration.

[0069] In other words, the self-locking structure 4 in this invention can switch its self-locking state through the rotation input structure 1. That is, the rotation input structure 1 can drive the self-locking structure 4 to unlock when rotating, and when there is no power input at the rotation input structure 1, the self-locking structure 4 is in the locked position, so that the rotation output structure 2 is locked relative to the fixed structure 3. Thus, the unidirectional locking of the self-locking device 100 can be realized. The structure is simple and the self-locking method is easy to implement.

[0070] According to the self-locking device 100 of the present invention, the locking state of the self-locking structure 4 can be switched by rotating the rotation input structure 1. When the rotation input structure 1 rotates, the self-locking structure 4 is driven to unlock from the fixed structure 3, thereby enabling the rotation input structure 1 to transmit torque to the rotation output structure 2. After the rotation output structure 2 is subjected to vibration impact from the wheel axle 7, the rotation input structure 1 does not rotate. The self-locking structure 4 locks the rotation output structure 2 and the fixed structure 3 in a circumferential rotation, thereby cutting off the torque. Torque from different directions from the wheel axle 7 can be cut off through the mutual cooperation of the self-locking structure 4 and the fixed structure 3, thereby preventing the torque from being transmitted to the rotation input structure 1. This achieves controllable wheel angle and controllable vehicle forward direction. The structure is simple and the self-locking method is easy to implement.

[0071] In some embodiments, the self-locking structure 4 includes a self-locking member 41, which is telescopically connected to the rotation output structure 2. The self-locking member 41 is adapted to extend toward the fixed structure 3 to lock the rotation output structure 2 and the fixed structure 3 in a rotational manner. The rotation input structure 1 is adapted to drive the self-locking member 41 to retract so that the rotation output structure 2 and the fixed structure 3 can rotate relative to each other. That is, the self-locking member 41 can extend or retract relative to the rotation output structure 2, and the locking position and unlocking position of the self-locking structure 4 can be switched by switching the extension and retraction of the self-locking member 41.

[0072] In other words, when the power structure 6 needs to transmit power through the self-locking device 100, the rotation input structure 1 can act on the self-locking member 41 to retract it. At this time, the self-locking member 41 no longer restricts the rotation of the rotation output structure 2 relative to the fixed structure 3, allowing the rotation output structure 2 to rotate with the rotation input structure 1, thereby achieving power output and driving the wheels to rotate, thus realizing torque transmission and controllable wheel angle. When the vehicle has no power output, the self-locking member 41 extends towards the fixed structure 3 to restrict the rotation of the rotation output structure 2 relative to the fixed structure 3. Thus, the self-locking member 41 can selectively lock or allow relative rotation between the rotation output structure 2 and the fixed structure 3.

[0073] In some embodiments, the fixed structure 3 is a ring structure, the rotation output structure 2 is rotatably installed inside the fixed structure 3, and the rotation input structure 1 is rotatably sleeved outside the fixed structure 3. The rotation axis of the rotation input structure 1, the rotation axis of the rotation output structure 2, and the axis of the fixed structure 3 coincide. That is, the rotation input structure 1 is sleeved outside the rotation output structure 2, and the fixed structure 3 is located between the rotation input structure 1 and the rotation output structure 2. Furthermore, the rotation input structure 1, the rotation output structure 2, and the fixed structure 3 are located on the same rotation axis, thereby facilitating torque transmission and reverse locking between the rotation input structure 1 and the rotation output structure 2. The sleeved installation of the rotation input structure 1, the fixed structure 3, and the rotation output structure 2 allows the three structural components to share a certain radial and axial space, achieving a compact design of the self-locking device 100, reducing overall space occupation, and facilitating installation on the vehicle body.

[0074] Specifically, such as Figure 2 and Figure 7As shown, the self-locking member 41 is connected to the rotary output structure 2 and can extend and retract radially along the rotary output structure 2. When the rotary input structure 1 rotates actively, the rotary input structure 1 pushes the self-locking member 41 to retract radially toward the rotary output structure 2, thereby making the rotary output structure 2 movable relative to the fixed structure 3, that is, the rotary output structure 2 is unlocked relative to the fixed structure 3. When the rotary output structure 2 rotates actively, the self-locking member 41 is in the extended state toward the fixed structure 3. At this time, the rotary output structure 2 and the fixed structure 3 are relatively fixed in the circumferential direction, that is, the rotary output structure 2 is locked relative to the fixed structure 3. Thus, by controlling the limiting state between the rotary output structure 2 and the fixed structure 3 through the self-locking member 41, the positive transmission of torque and the reverse locking of the self-locking device 100 are realized.

[0075] Furthermore, it should be noted that the order in which the fixed structure 3, the rotation input structure 1, and the rotation output structure 2 are fitted can be flexibly selected. That is to say, the fixed structure 3 does not have to be located between the rotation input structure 1 and the rotation output structure 2. For example, the rotation output structure 2 can be fitted inside the rotation input structure 1, and the fixed structure 3 can be fitted outside the rotation input structure 1, that is, the rotation input structure 1 is located between the fixed structure 3 and the rotation output structure 2. Power transmission and reverse self-locking can also be achieved. The setting method is flexible and selectable.

[0076] In some embodiments, the fixed structure 3 is provided with a radially through movable hole 31, and a self-locking member 41 is radially retractable to the outer peripheral wall of the rotary output structure 2. The self-locking member 41 is adapted to extend radially outward into the movable hole 31 to be rotaryly locked with the fixed structure 3, and the rotary input structure 1 is adapted to push the self-locking member 41 radially inward to unlock it from the movable hole 31 at its circumferential upper limit. That is, the self-locking member 41 can extend from the movable hole 31 into the fixed structure 3, thereby rotaryly locking the rotary output structure 2 with the fixed structure 3, or retract from the movable hole 31 to be close to the rotary output structure 2 to rotary unlock the rotary output structure 2 with the fixed structure 3.

[0077] Specifically, such as Figure 1 and Figures 6-9 As shown, the self-locking member 41 is connected to the outer peripheral wall of the rotating output structure 2 and can be directly opposite the movable hole 31. When the rotating output structure 2 rotates and the self-locking member 41 is directly opposite the movable hole 31, the self-locking member 41 can extend into the movable hole 31 to make the rotating output structure 2 and the fixed structure 3 form a circumferential limiting fit. When the rotating output structure 2 rotates and the self-locking member 41 is not directly opposite the movable hole 31, the rotating output structure 2 can rotate a certain angle to make the self-locking member 41 directly opposite the movable hole 31, so that the self-locking member 41 extends into the movable hole 31 to realize the circumferential limiting fit between the rotating output structure 2 and the fixed structure 3. Thus, when the rotating output structure 2 rotates, the self-locking device 100 can complete the rotation locking.

[0078] Furthermore, when the input structure 1 rotates, it can push the self-locking member 41 to retract radially towards the output structure 2 through the movable hole 31. That is, the output structure 2 and the fixed structure 3 can move relative to each other in the circumferential direction, thereby achieving limit unlocking. Thus, by controlling the relative movement of the output structure 2 and the fixed structure 3 in the circumferential direction through the self-locking member 41, the positive transmission of torque and the reverse locking of the self-locking device 100 can be achieved.

[0079] In some embodiments, the inner peripheral wall of the rotary input structure 1 is provided with an unlocking recess 11 that opens toward the fixed structure 3, and at least a portion of the self-locking member 41 is adapted to extend radially outward into the unlocking recess 11. That is, when the self-locking device 100 achieves self-locking, the self-locking member 41 can extend into the unlocking recess 11 through the movable hole 31, thereby achieving a circumferential limiting engagement between the rotary output structure 2 and the fixed structure 3 through the self-locking member 41.

[0080] The unlocking notch 11 is equipped with a driving ramp 111. When the rotation input structure 1 rotates, the driving ramp 111 is adapted to push the self-locking member 41 to move radially inward. That is, when the self-locking device 100 needs to transmit torque, the driving ramp 111 of the rotation notch can push the self-locking member 41, which is pressed against it, to move radially towards the rotation output structure 2, thereby realizing rotational unlocking. Each unlocking notch 11 has two mutually symmetrical driving ramps 111, both of which press against the self-locking member 41. This means that the rotational unlocking of the self-locking device 100 can be achieved when the rotation input structure 1 rotates in two opposite directions.

[0081] Specifically, such as Figures 6-9 As shown, the self-locking member 41 extends into the unlocking recess 11 through the movable hole 31 and abuts against both driving inclined surfaces 111 of the unlocking recess 11. When the rotation input structure 1 rotates, if the rotation input structure 1 rotates clockwise, the driving inclined surface 111 on the opposite side of the clockwise direction applies a driving force to the self-locking member 41, thereby pressing the self-locking member 41 inward through the movable hole 31 into the rotation output structure 2, thus achieving rotational unlocking. Therefore, the rotation of the rotation input structure 1 can cause the self-locking device 100 to rotate and unlock, thereby transmitting torque and achieving wheel angle control.

[0082] In some embodiments, the inner wall of the movable hole 31 includes a limiting surface 311. When the self-locking member 41 is circumferentially locked to the fixed structure 3, the limiting surface 311 contacts the self-locking member 41. When rotating with the rotation input structure 1, the self-locking member 41 moves radially inward under the action of the driving inclined surface 111 and disengages from the limiting surface, thereby unlocking the rotation output structure 2 from the fixed structure 3.

[0083] In other words, when the output structure 2 rotates, the limiting surface 311 can press against the self-locking member 41 to limit the self-locking member 41 in the circumferential direction, thereby achieving the circumferential rotation lock of the self-locking member 41 with the fixed structure 3; when the input structure 1 rotates, the driving inclined surface 111 can make the self-locking member 41 move radially inward, thereby causing the self-locking member 41 to disengage from the limiting surface 311, that is, the limiting surface 311 can no longer limit the self-locking member 41 in the circumferential direction, thereby allowing the output structure 2 and the fixed structure 3 to rotate relative to each other, realizing the transmission of torque.

[0084] Specifically, such as Figures 7-9 As shown, when the rotating output structure 2 rotates, the self-locking member 41 can extend into the movable hole 31 and form a limiting fit with the inner wall of the movable hole 31. Alternatively, after the rotating output structure 2 rotates to a certain angle, the self-locking member 41 can extend into the movable hole 31 and form a limiting fit with the inner wall of the movable hole 31. At this time, the self-locking member 41 presses against the limiting surface 311 in the inner wall of the movable hole 31. The limiting surface 311 applies a limiting effect to the self-locking member 41 to stop the rotating output structure 2 from rotating, thereby keeping the self-locking member 41 relatively fixed with the fixed structure 3.

[0085] When the rotary input structure 1 rotates, the driving inclined surface 111 of the rotary input structure 1 presses against the self-locking member 41 and causes it to move radially inward. Under the push of the driving inclined surface 111, the self-locking member 41 retracts radially, thereby disengaging from the limiting surface 311. At this time, the limiting surface 311 cannot exert a limiting effect on the self-locking member 41 to stop the rotary output structure 2 from rotating, so that the rotary output structure 2 can rotate relative to the fixed structure 3. That is, the rotary input structure 1 can drive the rotary output structure 2 to rotate, thereby realizing the transmission of torque.

[0086] In some embodiments, the inner wall of the movable hole 31 further includes a guide surface 312. After the self-locking member 41 disengages from the limiting surface, the self-locking member 41 moves inward along the guide surface 312 under the action of the rotation output structure 2. It should be noted that the direction in which the driving inclined surface 111 presses against the self-locking member 41 has a certain angle with the radial direction. That is, during the radial contraction process, the self-locking member 41 will have a tendency to move at a certain angle with the radial direction. The guide surface 312 allows the self-locking member 41 to move slightly in this direction, so that the self-locking member 41 can smoothly contract radially, thereby disengaging the self-locking member 41 from the limiting surface. The rotation input structure 1 can give the rotation output structure 2 a tendency to rotate. The self-locking member 41 can move inward along the guide surface 312 under the action of the rotation output structure 2, thereby unlocking the rotation output structure 2 from the fixed structure 3.

[0087] Specifically, such as Figures 7-9As shown, when the rotary input structure 1 rotates, the driving inclined surface 111 presses against the self-locking member 41, and the pressing direction has a certain angle with the radial direction, so that the self-locking member 41 has a movement tendency with a certain angle with the radial direction while contracting radially. The guide surface 312 can cooperate with this movement tendency. The self-locking member 41 generates movement along the guide surface 312 while contracting. Thus, the rotary output structure 2 and the fixed structure 3 are unlocked by rotation. The rotary input structure 1 can drive the rotary output structure 2 to rotate, realizing the transmission of torque.

[0088] In some embodiments, the outer peripheral wall of the rotary output structure 2 is provided with a mounting groove 21 that opens radially outward. The self-locking member 41 is telescopically mounted in the mounting groove 21, and at least a portion of the self-locking member 41 extends outside the mounting groove 21 to contact and engage with the fixed structure 3 and the rotary input structure 1. That is, the self-locking member 41 is mounted in the mounting groove 21 and can extend and retract radially along the rotary output structure 2 under the guidance of the mounting groove 21. The self-locking member 41 can extend to the unlocking recess 11 so that the self-locking member 41 contacts the fixed structure 3 and the mounting groove 21 simultaneously. Thus, through the self-locking member 41, the rotary output structure 2 and the fixed structure 3 achieve a circumferential limiting engagement.

[0089] Specifically, such as Figures 7-9 As shown, when the self-locking device 100 is in the rotational locking state, the self-locking member 41 extends along the mounting groove 21 toward the unlocking recess 11 and presses against the driving inclined surface 111 of the unlocking recess 11. At the same time, the self-locking member 41 presses against the limiting surface 311 of the fixed structure 3 and contacts the mounting groove 21 of the rotational output structure 2. That is, the self-locking member 41 simultaneously achieves a limiting engagement with the fixed structure 3 and the rotational output structure 2 in the circumferential direction. Thus, the rotational output structure 2 and the fixed structure 3 are relatively fixed, thereby achieving self-locking.

[0090] In some embodiments, there are multiple self-locking elements 41 and multiple movable holes 31. The multiple movable holes 31 are spaced apart in the circumferential direction of the fixed structure 3, and / or spaced apart in the axial direction of the fixed structure 3. The multiple self-locking elements 41 are matched one-to-one with the multiple movable holes 31. That is, the multiple self-locking elements 41 can be spaced apart in the circumferential direction of the rotating output structure 2, or spaced apart in the axial direction of the rotating output structure 2, or spaced apart in both the circumferential and axial directions of the rotating output structure 2. In other words, the number and arrangement of the multiple self-locking elements 41 can be flexibly set, and each self-locking element 41 has a movable hole 31 that matches it one-to-one. Thus, when the rotating output structure 2 rotates to a certain angle, the multiple self-locking elements 41 can extend into the multiple movable holes 31 respectively, improving the success rate and stability of self-locking.

[0091] Specifically, such as Figure 1 and Figure 7As shown, six movable holes 31 are spaced apart in the circumferential direction of the fixed structure 3, and four movable holes 31 are spaced apart in the axial direction, that is, there are 24 movable holes 31 arranged in 4 rows and 6 columns. At the same time, the rotation output structure 2 is provided with the same number of self-locking parts 41 so that multiple self-locking parts 41 can extend into the movable holes 31 one by one, thereby achieving a limiting fit between the self-locking parts 41 and the fixed structure 3, realizing the rotational locking of the self-locking device 100. Moreover, the multiple self-locking parts 41 cooperate with the fixed structure 3, resulting in a high self-locking success rate and stable rotational locking.

[0092] In some embodiments, the movable holes 31 are configured in multiple groups, and the multiple groups of movable holes 31 are spaced apart in the axial direction of the fixed structure 3, and the multiple movable holes 31 in each group are spaced apart in the circumferential direction of the fixed structure 3. That is, the multiple movable holes 31 are arranged in multiple rows and columns on the outer peripheral wall of the fixed structure 3, so that the multiple movable holes 31 can selectively lock with the multiple self-locking members 41 at multiple positions in the axial and circumferential directions respectively.

[0093] In this configuration, at least a portion of adjacent sets of movable holes 31 are staggered axially in the fixing structure 3, and in a static state, at least a portion of the self-locking member 41 extends into the corresponding movable hole 31. In other words, a plurality of movable holes 31 in one set and a plurality of movable holes 31 in the other set can be staggered axially in the fixing structure 3, and in a static state, at least one set of self-locking members 41 extends into the corresponding movable hole 31. Specifically, as... Figure 1 As shown, at least a portion of two adjacent movable holes 31 in the axial direction of the fixed structure 3 are staggered along the axial direction. At the same time, multiple self-locking elements 41 in each column of the rotating output structure 2 are arranged facing each other in the axial direction of the rotating output structure 2, and the multiple self-locking elements 41 in each group are arranged in a one-to-one correspondence with the multiple movable holes 31 in each group. It can be seen that when the rotating output structure 2 rotates, only one set of self-locking elements 41 cooperates with the movable holes 31 to achieve self-locking. And when the rotating output structure 2 rotates by a small angle, a set of self-locking elements 41 cooperates with the movable holes 31. Therefore, when the self-locking device 100 reverses and self-locks, the rotating output structure 2 can achieve self-locking by rotating by a small angle, thus preventing the wheel axle 7 from transmitting excessive torque to the power structure 6.

[0094] In some embodiments, the self-locking structure 4 further includes an elastic element 42, which is connected to both the self-locking member 41 and the rotation output structure 2. The elastic element 42 is used to apply an elastic force to the self-locking member 41, extending outward toward the rotation output structure 2. That is, multiple self-locking members 41 are provided with multiple elastic elements 42, each of which is connected to the rotation output structure 2. Thus, each self-locking member 41 can extend outward toward the rotation output structure 2 under the action of the elastic force applied by the elastic element 42, thereby achieving rotational locking of the self-locking device 100.

[0095] In other words, when the rotary input structure 1 has no power input, i.e., when the rotary input structure 1 is not rotating, the rotary input structure 1 has no driving force on the self-locking member 41. At this time, the elastic member 42 applies an elastic driving force to the self-locking member 41, so that the self-locking member 41 automatically extends towards the outside of the rotary output structure 2, realizing the automatic locking of the self-locking member 41 between the rotary output structure 2 and the fixed structure 3. That is, the elastic force applied by the elastic member 42 is used to keep the self-locking member 41 in a pre-tightened state of extending towards the outside of the rotary output structure 2. Thus, when the rotary input structure 1 is not rotating, regardless of whether the rotary output structure 2 is rotating, the elastic member 42 can push the self-locking member 41 to engage with the fixed structure 3 in a limiting engagement, so that the rotary output structure 2 and the fixed structure 3 remain in a constant limiting lock state, thereby preventing the vibration of the wheel end during vehicle operation from being transmitted to the rotary input structure 1 through the rotary output structure 2, ensuring the reliability of power output.

[0096] In some embodiments, the elastic element 42 is constructed as a spring, with one end of the spring connected to the side of the self-locking element 41 near the interior of the fixed structure 3, and the other end of the spring connected to the rotation output structure 2. That is, the spring is located between the self-locking element 41 and the rotation output structure 2, with both ends connected to both. Thus, the spring can apply a driving force to the self-locking element 41 to separate it from the rotation output structure 2, causing the self-locking element 41 to extend toward the fixed structure 3, which facilitates the limiting fit between the rotation output structure 2 and the fixed structure 3.

[0097] Specifically, such as Figures 8-9 As shown, the spring is located in the mounting groove 21. The lower end of the spring is connected to the rotation output structure 2, and the upper end is connected to the self-locking member 41. At the same time, the spring is in a compressed state and applies an elastic force to the self-locking member 41 to move it away from the rotation output structure 2. That is, the self-locking member 41 is pushed by the spring towards the movable hole 31 and presses against the driving inclined surface 111 of the unlocking notch 11. Thus, through the driving action of the spring on the self-locking member 41, the self-locking device 100 achieves self-locking.

[0098] In some embodiments, the self-locking member 41 is configured as a spherical member. Specifically, as shown in the figure Figures 7-9 As shown, the self-locking member 41 is a spherical member and is adapted to press against the guide surface 312, the limiting surface 311 and the driving inclined surface 111. When the rotation input structure 1 transmits driving force to the rotation output structure 2, the spherical member is adapted to be pushed and pressed against the rotation output structure 2 by the driving inclined surface 111. Subsequently, the spherical member presses against the guide surface 312 and, since the spherical member is adapted to slide on the guide surface 312, when the rotation input structure 1 rotates, the self-locking member 41 can slide along the guide surface 312 to unlock the self-locking device 100, which is beneficial for transmitting rotation driving force.

[0099] It should be noted that the self-locking component 41 can also be set as a pin or other shape that facilitates the transmission of driving force, and the specific shape can be flexibly selected.

[0100] In some embodiments, the rotation input structure 1 is provided with a rotation input tooth 12, and the rotation output structure 2 is provided with a rotation output tooth 22. The rotation input tooth 12 and the rotation output tooth 22 can cooperate with each other to transmit rotational power. That is, when the rotation input structure 1 rotates, it drives the rotation output tooth 22 through the rotation input tooth 12 to drive the rotation output structure 2 to rotate. In other words, when the rotation input structure 1 rotates, it can push the self-locking member 41 to move toward the rotation output structure 2 to achieve rotational unlocking. At the same time, the rotation input structure 1 causes the rotation output structure 2 to rotate synchronously through the cooperation between the rotation input tooth 12 and the rotation output tooth 22. Thus, the transmission of rotational power from the rotation input structure 1 to the rotation output structure 2 is completed.

[0101] In some embodiments, there are multiple rotary input teeth 12, and these multiple rotary input teeth 12 are spaced apart on the rotary input structure 1 around its rotation axis; there are multiple rotary output teeth 22, and these multiple rotary output teeth 22 are spaced apart on the rotary output structure 2 around its rotation axis, and the multiple rotary output teeth 22 are arranged in a one-to-one correspondence with the multiple rotary input teeth 12. That is, the multiple rotary input teeth 12 and the multiple rotary output teeth 22 can cooperate with each other to realize the transmission of rotational power.

[0102] Specifically, such as Figure 3 , Figure 4 and Figure 10 As shown, the rotary input structure 1 has four rotary input teeth 12, which are evenly distributed around the rotation axis of the rotary input structure 1. The four rotary input teeth 12 can be located at the ends of the rotary input structure 1. The rotary output structure 2 has four rotary output teeth 22, which are evenly distributed around the rotation axis of the rotary output structure 2. The four rotary output teeth 22 can be located at the ends of the rotary output structure 2. The four rotary output teeth 22 and the four rotary input teeth 12 can be interlocked. When the rotary input structure 1 rotates actively, the sides of the rotary input teeth 12 and the rotary output teeth 22 that are close to each other press against each other. Thus, as the rotary input structure 1 rotates, the rotary input teeth 12 transmit torque to the rotary output teeth 22, causing the rotary output structure 2 to rotate synchronously. Therefore, rotational unlocking is achieved through the interaction between the rotary input teeth 12 and the rotary output teeth 22.

[0103] In some embodiments, the self-locking device 100 further includes a buffer 5, at least a portion of which is located between the rotary input tooth 12 and the rotary output tooth 22.

[0104] Specifically, such as Figure 10As shown, the buffer 5 is located at the central axis of the rotary input structure 1 and the rotary output structure 2, and at least a portion of the buffer 5 is located between the rotary input tooth 12 and the rotary output tooth 22. That is, at least a portion of the buffer 5 is provided between the pressing contact surfaces of each rotary input tooth 12 and the rotary output tooth 22.

[0105] When the input structure 1 rotates, the input tooth 12 presses against at least a portion of the buffer 5 and causes at least a portion of the buffer 5 to deform, while the output tooth 22 is not subjected to rotational torque, i.e., the output structure 2 does not rotate. At the same time, the self-locking member 41 is pressed into the output structure 2 by the input structure 1 to complete the unlocking. In other words, when the input structure 1 rotates, the self-locking device 100 first completes the rotational unlocking, and then transmits the rotational torque to the output structure 2 to make the output structure 2 rotate, which is beneficial to the transmission of rotational power.

[0106] When the rotation output structure 2 rotates, the rotation output tooth 22 presses against at least a portion of the buffer member 5 and causes at least a portion of the buffer member 5 to deform, while the rotation input tooth 12 is not subjected to rotational torque, that is, the rotation input structure 1 does not rotate. As a result, the rotation input structure 1 cannot push the self-locking member 41 toward the rotation output structure 2, and the self-locking device 100 cannot complete the rotational unlocking. In other words, when the rotation output structure 2 rotates actively, the rotational power cannot be transmitted from the rotation output structure 2 to the rotation input structure 1, which is beneficial for the control of the wheel angle.

[0107] In this configuration, at least a portion of the buffer member 5 is spaced apart in the circumferential direction, so that when the buffer member 5 is installed at the mating position of the rotary input structure 1 and the rotary output structure 2, at least a portion of the multiple buffer members 5 can extend one-to-one between the multiple rotary input teeth 12 and the multiple rotary output teeth 22, thereby achieving a buffering effect at multiple transmission positions and helping to reduce the overall noise of the self-locking device 100.

[0108] In some embodiments, the rotation input structure 1 first presses against the buffer 5 when it starts to rotate, and after the rotation input structure 1 pushes the self-locking structure 3 to unlock, the rotation input structure 1 pushes the buffer 5 to drive the rotation output structure 2 to rotate. That is to say, the rotation input structure 1 and the rotation output structure 2 do not rotate simultaneously, so that the rotation input structure 1 can first unlock the self-locking structure 3 and then drive the rotation output structure 2 to rotate.

[0109] Specifically, when the rotary input structure 1 rotates, the rotary input tooth 12 of the rotary input structure 1 presses against the buffer 5, causing the buffer 5 to deform, thereby causing the rotary input structure 1 to rotate. However, the rotary output structure 2 does not rotate synchronously with the rotary input structure 1. At the same time, the rotary input structure 1 pushes the self-locking structure 3 to unlock. At this time, the rotary output structure 2 can rotate, that is, the rotary input structure 1 can drive the rotary output structure 2 to rotate synchronously, thereby realizing the transmission of torque.

[0110] The present invention also proposes a rear wheel steering system.

[0111] The rear wheel steering system according to an embodiment of the present invention includes a self-locking device 100 of any of the above embodiments. Through this rear wheel steering system, the rotation input structure 1 can transmit torque to the rotation output structure 2, and when the rotation output structure 2 transmits torque to the rotation input structure 1, the self-locking structure 4 can circumferentially lock the rotation output structure 2 to the fixed structure 3, thereby cutting off the torque and achieving controllable wheel angle and controllable vehicle forward direction.

[0112] The present invention also proposes a steering system 200.

[0113] The steering system 200 according to an embodiment of the present invention includes the self-locking device 100 of any of the above embodiments or the rear wheel steering gear of the above embodiments. Through this steering system 200, torque can be cut off when it is being transmitted in the reverse direction, thus achieving unidirectional torque transmission.

[0114] In some embodiments, the steering system 200 further includes a power structure 6 and a wheel axle 7, such as Figure 11 and Figure 12 As shown, the power structure 6 is poweredly connected to the rotation input structure 1 to selectively drive the rotation input structure 1 to rotate, and the rotation output structure 2 is poweredly connected to the wheel axle 7. Thus, the power structure 6 can transmit torque to the rotation input structure 1. By providing rotation input teeth 12 on the rotation input structure 1 and rotation output teeth 22 on the rotation output structure 2, and by interleaving the rotation input teeth 12 and rotation output teeth 22, the rotation input structure 1 can transmit torque to the rotation output structure 2. Furthermore, when the wheel is subjected to external impact, the steering system 200 can transmit torque to the rotation output structure 2 through the wheel axle 7. The self-locking structure 4 achieves rotational locking between the rotation output structure 2 and the fixed structure 3, cutting off the vibration torque transmitted by the rotation output structure 2, thereby achieving controllable wheel angle.

[0115] The present invention also proposes a vehicle.

[0116] The vehicle according to embodiments of the present invention includes a self-locking device 100 of any of the above embodiments, a rear-wheel steering system of any of the above embodiments, or a steering system 200 of any of the above embodiments. The vehicle of the present invention, by employing the self-locking device 100, can achieve control over the wheels and controllable wheel angles, effectively control the direction of travel, and has a simple structure with an easy-to-implement self-locking mechanism.

[0117] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0118] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A self-locking device, characterized in that, include: Rotational input structure (1), rotational output structure (2), and fixed structure (3); A self-locking structure (4) is movably connected to the rotating output structure (2), and the rotating output structure (2) is rotatably locked to the fixed structure (3) through the self-locking structure (4); The self-locking structure (4) is active only when the rotation input structure (1) rotates, and causes the rotation output structure (2) to rotate and unlock from the fixed structure (3), so that the rotation input structure (1) drives the rotation output structure (2) to rotate.

2. The self-locking device according to claim 1, characterized in that, The self-locking structure (4) includes a self-locking member (41) which is telescopically connected to the rotation output structure (2). The self-locking member (41) is adapted to extend toward the fixed structure (3) so that the rotation output structure (2) and the fixed structure (3) are rotated and locked. The rotation input structure (1) is adapted to drive the self-locking member (41) to retract so that the rotation output structure (2) and the fixed structure (3) can rotate relative to each other.

3. The self-locking device according to claim 2, characterized in that, The fixed structure (3) is a ring structure. The rotation output structure (2) is rotatably installed inside the fixed structure (3). The rotation input structure (1) is rotatably sleeved outside the fixed structure (3). The rotation axis of the rotation input structure (1), the rotation axis of the rotation output structure (2), and the axis of the fixed structure (3) coincide.

4. The self-locking device according to claim 3, characterized in that, The fixed structure (3) is provided with a radially penetrating movable hole (31). The self-locking member (41) is radially telescopically connected to the outer peripheral wall of the rotating output structure (2). The self-locking member (41) is adapted to extend radially outward to the movable hole (31) to rotate and lock with the fixed structure (3). The rotating input structure (1) is adapted to push the self-locking member (41) radially inward to unlock with the movable hole (31) at the circumferential upper limit.

5. The self-locking device according to claim 4, characterized in that, The inner peripheral wall of the rotary input structure (1) is provided with an unlocking recess (11) that opens toward the fixed structure (3), and at least a portion of the self-locking member (41) is adapted to extend radially outward into the unlocking recess (11). The unlocking notch (11) is provided with a driving slope (111), and when the rotation input structure (1) rotates, the driving slope (111) is adapted to push the self-locking member (41) to move radially inward.

6. The self-locking device according to claim 5, characterized in that, The inner wall of the movable hole (31) includes a limiting surface (311). When the self-locking member (41) is circumferentially rotated and locked with the fixed structure (3), the limiting surface (311) contacts the self-locking member (41). When the rotation input structure (1) rotates, the self-locking member (41) moves radially inward under the action of the driving inclined surface (111) and disengages from the contact with the limiting surface, so that the rotation output structure (2) and the fixed structure (3) are rotated and unlocked.

7. The self-locking device according to claim 6, characterized in that, The inner wall of the movable hole (31) also includes a guide surface (312); After the self-locking member (41) disengages from the limiting surface, the self-locking member (41) moves inward along the guide surface (312) under the action of the rotation output structure (2).

8. The self-locking device according to claim 4, characterized in that, The outer peripheral wall of the rotation output structure (2) is provided with an outwardly open mounting groove (21). The self-locking member (41) is telescopically installed in the mounting groove (21), and at least a portion of the self-locking member (41) extends outside the mounting groove (21) to contact and cooperate with the fixing structure (3) and the rotation input structure (1).

9. The self-locking device according to claim 4, characterized in that, There are multiple self-locking components (41) and multiple movable holes (31). The multiple movable holes (31) are spaced apart in the circumferential direction of the fixed structure (3), and / or the multiple movable holes (31) are spaced apart in the axial direction of the fixed structure (3). The multiple self-locking components (41) and the multiple movable holes (31) are matched one-to-one.

10. The self-locking device according to claim 9, characterized in that, The movable holes (31) are configured in multiple groups, and the multiple groups of movable holes (31) are spaced apart in the axial direction of the fixed structure (3), and the multiple movable holes (31) in each group are spaced apart in the circumferential direction of the fixed structure (3). In this configuration, at least a portion of the two adjacent sets of movable holes (31) are staggered in the axial direction of the fixed structure (3), and in a static state, at least a portion of the self-locking member (41) extends into the corresponding movable hole (31).

11. The self-locking device according to claim 2, characterized in that, The self-locking structure (4) further includes an elastic element (42), which is connected to the self-locking element (41) and the rotation output structure (2) respectively. The elastic element (42) is used to apply an elastic force to the self-locking element (41) extending outward toward the rotation output structure (2).

12. The self-locking device according to claim 11, characterized in that, The elastic element (42) is constructed as a spring, one end of which is connected to the side of the self-locking element (41) near the inside of the fixed structure (3), and the other end of which is connected to the rotation output structure (2).

13. The self-locking device according to claim 2, characterized in that, The self-locking element (41) is constructed as a spherical element.

14. The self-locking device according to claim 1, characterized in that, The rotation input structure (1) is provided with a rotation input tooth (12), and the rotation output structure (2) is provided with a rotation output tooth (22). When the rotation input structure (1) rotates, the rotation input tooth (12) drives the rotation output tooth (22) to rotate the rotation output structure (2).

15. The self-locking device according to claim 14, characterized in that, There are multiple rotary input teeth (12), and the multiple rotary input teeth (12) are distributed at intervals around the rotation axis of the rotary input structure (1) on the rotary input structure (1); There are multiple rotating output teeth (22), and the multiple rotating output teeth (22) are distributed at intervals around the rotation axis of the rotating output structure (2) on the rotating output structure (2), and the multiple rotating output teeth (22) are arranged in a one-to-one correspondence with the multiple rotating input teeth (12).

16. The self-locking device according to claim 14, characterized in that, It also includes a buffer (5), at least a portion of which is located between the rotary input tooth (12) and the rotary output tooth (22).

17. The self-locking device according to claim 16, characterized in that, When the rotation input structure (1) starts to rotate, it first presses against the buffer (5), and after the rotation input structure (1) pushes the self-locking structure (3) to unlock, the rotation input structure (1) pushes the buffer (5) to drive the rotation output structure (2) to rotate.

18. A rear-wheel steering system, characterized in that, Includes the self-locking device according to any one of claims 1-17.

19. A steering system (200), characterized in that, Includes the self-locking device according to any one of claims 1-17 or the rear wheel steering system according to claim 18.

20. The self-locking device according to claim 19, characterized in that, It also includes a power structure (6) and a wheel axle (7), the power structure (6) being poweredly connected to the rotation input structure (1) to selectively drive the rotation input structure (1) to rotate, and the rotation output structure (2) being poweredly connected to the wheel axle (7).

21. A vehicle, characterized in that, Includes the self-locking device according to any one of claims 1-17, the rear wheel steering system according to claim 18, or the steering system (200) according to any one of claims 19-20.

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