Independent steering mechanism and vehicle
By fixing the steering motor to the body in an independent steering mechanism and connecting it to the second output shaft with a reduction structure, the problem of easy damage to the steering motor when the body rails move is solved, achieving a more stable and compact design and reducing faults Risk and rotational demand.
Patent Information
- Application Number
- CN202421146628.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-23
- Publication Date
- 2025-01-14
- Estimated Expiration
- 2034-05-23
AI Technical Summary
In the existing independent angle module, the steering motor is prone to premature damage when the body rails move, resulting in equipment failure.
An independent steering mechanism is designed, wherein the steering motor is fixed to the vehicle body and is connected to the second output shaft through at least one step of reduction structure, the second output shaft coincides with the second steering gear to ensure that the steering motor is fixed and the speed is reduced by at least one step of reduction The structure increases torque, reduces the torque requirement for the steering motor, and reduces its volume.
It effectively avoids premature damage to the steering motor, enhances the stability and compactness of the mechanism, reduces the probability of failure, and improves the efficiency and rotation ability of the wheel steering.
Smart Images
Figure CN222347121U_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the technical field of vehicle equipment, and in particular, to an independent steering mechanism and a vehicle. Background Art
[0002] In the related art, Korean invention patent application number "KR20210135564" discloses an independent corner module, in which the steering motor rotates to drive the steering frame and steering knuckle to rotate, and the steering motor moves along the body rail to achieve independent steering of the wheels. However, the disadvantage of this independent corner module is that when the wheel turns, the steering motor needs to move along the body rail, which makes the steering motor prone to premature damage. Utility Model Content
[0003] An object of the present disclosure is to provide an independent steering mechanism, in which the position of the steering motor is fixed, thereby preventing the steering motor from being damaged prematurely.
[0004] In order to achieve the above-mentioned purpose, the present disclosure provides an independent steering mechanism, including: a first steering gear for fixing to a wheel; a second steering gear meshing with the first steering gear; a steering motor for fixing to a vehicle body, the steering motor having a first output shaft; and a second output shaft connected to the second steering gear, the central axis of the second output shaft coincides with the central axis of the second steering gear, wherein at least one stage of reduction structure is connected between the first output shaft and the second output shaft.
[0005] Optionally, at least two-stage reduction structures are connected between the first output shaft and the second output shaft, and the at least two-stage reduction structures include a first-stage reduction structure and a second-stage reduction structure, and the first-stage reduction structure includes a first-stage worm wheel and a first-stage worm, and one of the first-stage worm wheel and the first-stage worm is connected to the first output shaft, and the other is connected to the second-stage reduction structure.
[0006] Optionally, the second-stage reduction structure includes a second-stage worm wheel and a second-stage worm, wherein the first-stage worm is connected to the first output shaft, the first-stage worm wheel is connected to the second-stage worm, and the second-stage worm wheel is connected to the second output shaft.
[0007] Optionally, the second steering gear is configured as a semicircular gear, and the first steering gear and the second steering gear have the same radius.
[0008] Optionally, the second steering gear has a first end and a second end that are relatively arranged, a first connecting rod is connected between the first end and the second end, a connecting hole is opened on the first connecting rod, a central axis of the connecting hole coincides with the central axis of the second steering gear, and the second output shaft is connected to the connecting hole.
[0009] Optionally, at least one stabilizing rod is connected between the first connecting rod and the second steering gear.
[0010] Optionally, the first steering gear is configured as a semicircular gear, and the radius of the first steering gear is the same as that of the second steering gear.
[0011] Optionally, the first steering gear has a third end and a fourth end that are relatively arranged, and the third end and the fourth end are respectively used to be fixed to the wheel through an adjustment block, and the independent steering mechanism includes a steering knuckle, an upper swing arm and a lower swing arm, and the upper swing arm and the lower swing arm are respectively connected to the upper and lower sides of the steering knuckle, and the connecting line between the connecting point of the upper swing arm and the steering knuckle and the connecting line of the connecting point of the lower swing arm and the steering knuckle is constructed as a kingpin axis, and the central axis of the first steering gear coincides with the kingpin axis.
[0012] Optionally, the adjustment block further comprises a limiting portion extending out of the first steering gear along the length direction of the vehicle, and a connecting portion arranged opposite to the limiting portion, wherein the connecting portion is fixed on the steering knuckle.
[0013] Optionally, the lower swing arm includes a second connecting rod, which is connected to the steering knuckle, wherein the second connecting rod has a length in the vehicle width direction, and the length of the second connecting rod is greater than the radius of the wheel.
[0014] Optionally, the first steering gear has an avoidance hole for a shock absorber to pass through.
[0015] Optionally, the steering motor is used to fix the subframe.
[0016] According to a second aspect of the present disclosure, a vehicle is provided, comprising the independent steering mechanism as described above.
[0017] Through the above technical solution, in the independent steering mechanism provided by the present disclosure, when the wheel is turned, the steering motor works to rotate the first output shaft, and the first output shaft drives the second output shaft to rotate through at least one reduction structure, thereby driving the second steering gear to rotate. Since the first steering gear is meshed with the second steering gear, the second steering gear can drive the first steering gear to rotate, thereby driving the wheel to rotate, and realize the steering of the wheel. Here, since the central axis of the second output shaft coincides with the central axis of the second steering gear, when the first output shaft drives the second output shaft to rotate through at least one reduction structure, the second output shaft will only rotate around its own central axis to drive the second steering gear to rotate, and will not move or rotate in other directions. Therefore, the first output shaft will not move or rotate in other directions, so that such a setting will fix the position of the steering motor, so that the steering motor is firmly fixed on the vehicle body, and the steering motor is prevented from being damaged prematurely. In addition, by setting at least one reduction structure between the first output shaft and the second output shaft, the torque of the second output shaft can be increased, which is conducive to the rotation of the second steering gear, and such a setting can also reduce the demand for the output torque of the steering motor, thereby facilitating the reduction of the volume of the steering motor and making the independent steering mechanism more compact.
[0018] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:
[0020] Figure 1 is a partial structural schematic diagram of a vehicle provided according to an embodiment of the present disclosure;
[0021] Figure 2 is a schematic top view of a partial structure of a vehicle provided according to an embodiment of the present disclosure;
[0022] Figure 3 is another partial structural schematic diagram of a vehicle provided according to an embodiment of the present disclosure;
[0023] Figure 4 is a partial structural schematic diagram of a second steering gear in an independent steering mechanism provided according to an embodiment of the present disclosure;
[0024] Figure 5 is a schematic diagram of the coordination between the steering motor and the two-stage reduction structure in the independent steering mechanism provided in an embodiment of the present disclosure;
[0025] Figure 6is a schematic top view of a partial structure of a vehicle provided according to an embodiment of the present disclosure, wherein the vehicle is rotated 90° to the left;
[0026] Figure 7 It is a schematic top view of a partial structure of a vehicle provided according to an embodiment of the present disclosure, wherein the vehicle is rotated 90° to the right.
[0027] Description of Reference Numerals
[0028] 1-first steering gear, 11-third end, 12-fourth end, 13-avoidance hole, 2-second steering gear, 21-first end, 22-second end, 3-steering motor, 31-first output shaft, 4-second output shaft, 41-connecting key, 5-first stage reduction structure, 51-first stage worm wheel, 52-first stage worm, 6-second stage reduction structure, 61-second stage worm wheel, 62-second stage worm, 7-first connecting rod, 71-connecting hole, 72-keyway, 8-stabilizing rod, 9-adjusting block, 91-limiting part, 92-connecting part, 10-steering knuckle, 20-upper swing arm, 30-lower swing arm, 301-second connecting rod, 302-fork arm, 40-shock absorber, 100-wheel. DETAILED DESCRIPTION
[0029] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.
[0030] In the present disclosure, unless otherwise specified, directional terms such as "vehicle width direction, vehicle length direction, vehicle height direction" are used based on Figure 1 The XYZ coordinate system is defined in the figure. Specifically, the X direction represents the width direction of the vehicle, and the side indicated by the arrow is the left, and the opposite is the right; the Y direction represents the length direction of the vehicle, and the Z direction represents the height direction of the vehicle, and corresponds to the up and down directions, and the side indicated by the arrow is the top, and the opposite is the bottom. "Inside and outside" refer to the inside and outside of the contour of each component itself. The terms "first" and "second" are used to distinguish one element from another, and do not have order and importance. In addition, when the following description refers to the drawings, the same figure marks in different drawings represent the same or similar elements, and the present disclosure will not elaborate on this.
[0031] According to an exemplary embodiment of the present disclosure, an independent steering mechanism is provided, referring to Figures 1 to 5As shown in , the independent steering mechanism includes: a first steering gear 1, which is used to be fixed to the wheel 100; a second steering gear 2, which is meshed with the first steering gear 1; a steering motor 3, which is used to be fixed to the vehicle body, for example, a subframe used to be fixed to the vehicle body, and the steering motor 3 has a first output shaft 31; and a second output shaft 4, which is connected to the second steering gear 2, and the central axis of the second output shaft 4 coincides with the central axis of the second steering gear 2, wherein at least one stage of reduction structure is connected between the first output shaft 31 and the second output shaft 4. Here, the central axes of the first steering gear 1, the second steering gear 2, the first output shaft 31 and the second output shaft 4 can extend along the height direction of the vehicle.
[0032] Through the above technical solution, in the independent steering mechanism provided by the present disclosure, when the wheel 100 is turned, the steering motor 3 works to rotate the first output shaft 31, and the first output shaft 31 drives the second output shaft 4 to rotate through at least one stage of reduction structure, thereby driving the second steering gear 2 to rotate. Since the first steering gear 1 is meshed with the second steering gear 2, the second steering gear 2 can drive the first steering gear 1 to rotate, thereby driving the wheel 100 to rotate, and realize the steering of the wheel 100. Here, since the central axis of the second output shaft 4 coincides with the central axis of the second steering gear 2, when the first output shaft 31 drives the second output shaft 4 to rotate through at least one stage of reduction structure, the second output shaft 4 will only rotate around its own central axis to drive the second steering gear 2 to rotate, and will not move or rotate in other directions. Therefore, the first output shaft 31 will not move or rotate in other directions either, so that such a setting will fix the position of the steering motor 3, so that the steering motor 3 is firmly fixed on the vehicle body, and the steering motor 3 is prevented from being damaged prematurely. In addition, by setting at least one stage of reduction structure between the first output shaft 31 and the second output shaft 4, the torque of the second output shaft 4 can be increased, which is beneficial to the rotation of the second steering gear 2. Such a setting can also reduce the demand for the output torque of the steering motor 3, thereby facilitating the reduction of the volume of the steering motor 3 and making the independent steering mechanism more compact.
[0033] It should be noted that the central axis of the first steering gear 1 is its own rotation axis. Similarly, the center of the second steering gear 2 is its own rotation axis, the central axis of the first output shaft 31 is its own rotation axis, and the central axis of the second output shaft 4 is its own rotation axis. In addition, the first steering gear 1 and the second steering gear 2 of the present disclosure are both configured as external gears, that is, teeth are provided on the outer periphery of each. It can be understood that the meshing point of the first steering gear 1 and the second steering gear 2 is provided between the central axis of the first steering gear 1 and the central axis of the second steering gear 2.
[0034] In the exemplary embodiment of the present disclosure, referring to Figure 1 , Figure 2 and Figure 5 As shown in , at least two stages of reduction structures may be connected between the first output shaft 31 and the second output shaft 4, and the at least two stages of reduction structures include a first stage reduction structure 5 and a second stage reduction structure 6. The first stage reduction structure 5 may include a first stage worm wheel 51 and a first stage worm 52, one of the first stage worm wheel 51 and the first stage worm 52 is connected to the first output shaft 31, and the other is connected to the second stage reduction structure 6. Here, the first stage reduction structure 5 is set as a worm gear reduction structure, so that the first stage reduction structure 5 has a larger transmission ratio, which is conducive to improving the torque of the second output shaft 4. In addition, the first stage reduction structure 5 can also be self-locking to prevent the second output shaft 4 from accidentally reversing.
[0035] In some embodiments of the present disclosure, reference Figure 1 , Figure 2 and Figure 5 As shown in , the second-stage reduction structure 6 may include a second-stage worm wheel 61 and a second-stage worm 62, wherein the first-stage worm 52 is connected to the first output shaft 31, wherein the central axis of the first-stage worm 52 coincides with the central axis of the first output shaft 31, the first-stage worm wheel 51 is connected to the second-stage worm 62, the central axis of the first-stage worm wheel 51 coincides with the central axis of the second-stage worm wheel 61, the second-stage worm wheel 61 is connected to the second output shaft 4, and the central axis of the second-stage worm wheel 61 coincides with the central axis of the second output shaft 4. In this way, the first output shaft 31 can drive the first-stage worm 52 to rotate, thereby driving the first-stage worm wheel 51 to rotate, the first-stage worm wheel 51 drives the second-stage worm 62 to rotate, thereby driving the second-stage worm wheel 61 to rotate, and then driving the second output shaft 4 to rotate, so as to realize the rotation of the second steering gear 2. Here, the second-stage reduction structure 6 is set as a worm gear reduction structure, which can also make the second-stage reduction structure 6 have a larger transmission ratio, which is conducive to increasing the torque of the second output shaft 4. In addition, the second-stage reduction structure 6 can also be self-locking to prevent the second output shaft 4 from accidentally reversing.
[0036] In an exemplary embodiment of the present disclosure, a single-stage reduction structure or a multi-stage reduction structure may also be connected between the first output shaft 31 and the second output shaft 4, wherein the specific structure of each stage reduction structure may be adaptively designed as needed, and the present disclosure does not impose any restrictions on this.
[0037] In the exemplary embodiment of the present disclosure, referring to Figures 1 to 3 as well as Figure 6 and Figure 7As shown in , the second steering gear 2 can be constructed as a semicircular gear, and the radius of the first steering gear 1 is the same as that of the second steering gear 2. In this way, a large turning angle of 100±90° can be achieved for the wheel, which is conducive to realizing special driving functions such as turning the vehicle in place, driving in the width direction of the vehicle, and driving diagonally. Here, according to some embodiments, reference Figure 1 and Figure 2 As shown in , when the wheel 100 is in a straight-line running state, the meshing point of the first steering gear 1 and the second steering gear 2 is on the same straight line as the center of the first steering gear 1 and the center of the second steering gear 2. Of course, in other embodiments, the first steering gear 1 can also be constructed as a quarter circular gear, in which case a wheel turning angle of 100±45° can be achieved, and the present disclosure does not limit this.
[0038] In some embodiments of the present disclosure, reference Figures 2 to 7 As shown in , the second steering gear 2 has a first end 21 and a second end 22 that are arranged opposite to each other, and a first connecting rod 7 can be connected between the first end 21 and the second end 22. A connecting hole 71 is provided on the first connecting rod 7, and the central axis of the connecting hole 71 coincides with the central axis of the second steering gear 2, and the second output shaft 4 is connected to the connecting hole 71. In this way, the first connecting rod 7 can be used to realize the connection between the second output shaft 4 and the second steering gear 2 of the semicircular gear.
[0039] In some embodiments of the present disclosure, reference Figures 3 to 5 As shown in , a connecting key 41 may be provided at the end of the second output shaft 4, a key slot 72 may be provided in the connecting hole 71, and the connecting key 41 may be provided in the key slot 72 to achieve a transmission connection between the second output shaft 4 and the second steering gear 2. Of course, in other embodiments, the second output shaft 4 may also be welded in the connecting hole 71, and the present disclosure does not limit this.
[0040] In some embodiments of the present disclosure, reference Figures 2 to 7 As shown in , at least one stabilizing rod 8 is connected between the first connecting rod 7 and the second steering gear 2. In this way, the stabilizing rod 8 can improve the connection strength between the first connecting rod 7 and the second steering gear 2, and improve the service life of the second steering gear 2. Here, in some embodiments, the number of the stabilizing rod 8 is one, and the stabilizing rod 8 can be perpendicular to the first connecting rod 7.
[0041] In the exemplary embodiment of the present disclosure, referring to Figures 1 to 3 as well as Figure 6 and Figure 7As shown in , the first steering gear 1 can be constructed as a semicircular gear, and the radius of the first steering gear 1 is the same as that of the second steering gear 2. In this way, on the one hand, it is convenient to fix the first steering gear 1 to the wheel 100, that is, the first steering gear 1 is fixed to the wheel 100 by using the third end 11 and the fourth end 12 described below. On the other hand, a large turning angle of the wheel of 100±90° can be achieved, which is conducive to realizing special driving functions such as turning the vehicle on the spot, driving in the width direction of the vehicle, and driving diagonally. In some embodiments, the first steering gear 1 and the second steering gear 2 can both be constructed as semicircular gears with the same diameter, and the present disclosure does not limit this.
[0042] In some embodiments of the present disclosure, reference Figures 1 to 3 As shown in, the first steering gear 1 has a third end 11 and a fourth end 12 arranged opposite to each other, and the third end 11 and the fourth end 12 are respectively used to be fixed to the wheel 100 through the adjusting block 9, and the independent steering mechanism includes a steering knuckle 10, an upper swing arm 20 and a lower swing arm 30, and the upper swing arm 20 and the lower swing arm 30 are respectively connected to the upper and lower sides of the steering knuckle 10, and the connecting line of the connecting point of the upper swing arm 20 and the steering knuckle 10 (i.e., the hinge point of the upper swing arm 20 and the steering knuckle 10) and the connecting line of the connecting point of the lower swing arm 30 and the steering knuckle 10 (i.e., the hinge point of the lower swing arm 30 and the steering knuckle 10) is constructed as the kingpin axis, and the steering knuckle 10 is used to be fixed on the wheel 100, and the adjusting block 9 has a width in the vehicle width direction, and the width of the adjusting block 9 is equal to the distance between the kingpin axis and the wheel 100, so that the central axis of the first steering gear 1 coincides with the kingpin axis. Here, since the first steering gear 1 is constructed as a semicircular gear, directly fixing the third end 11 and the fourth end 12 to the vehicle will cause the central axis of the first steering gear 1 to be misaligned with the kingpin axis. Therefore, by setting the adjustment block 9, the distance between the central axis of the first steering gear 1 and the vehicle can be adjusted. By setting the width of the adjustment block 9 to be equal to the distance between the kingpin axis and the wheel 100, the central axis of the first steering gear 1 can be made to coincide with the kingpin axis, thereby ensuring that the wheel 100, the steering knuckle 10 and the first steering gear 1 rotate coaxially. Here, the kingpin axis is well known to those skilled in the art.
[0043] In some embodiments of the present disclosure, reference Figure 2 , Figure 3 , Figure 6 as well as Figure 7 As shown in FIG. 1 , the adjustment block 9 also has a stopper 91 extending from the first steering gear 1 along the length direction of the vehicle. In this way, the stopper 91 can be used to prevent the wheel 100 from rotating excessively. Specifically, referring to FIG. Figure 6 As shown in , when the wheel 100 rotates 90° to the left, one of the two limiting portions 91 can abut against the second steering gear 2 to limit the wheel 100 from continuing to rotate to the left; Figure 7As shown in , after the wheel 100 rotates rightward by 90°, the other of the two limiting portions 91 may abut against the second steering gear 2 to limit the wheel 100 from continuing to rotate rightward.
[0044] In some embodiments of the present disclosure, reference Figure 3 As shown in , the adjustment block 9 also has a connecting portion 92 arranged opposite to the limiting portion 91, and the connecting portion 92 is fixed on the steering knuckle 10. In this way, the connection strength between the second steering gear 2 and the vehicle can be improved.
[0045] In some embodiments of the present disclosure, reference Figure 1 As shown in , the lower arm 30 may include a second connecting rod 301, and the second connecting rod 301 is connected to the steering knuckle 10, wherein the second connecting rod 301 has a length in the vehicle width direction, and the length of the second connecting rod 301 is greater than the radius of the wheel 100. In this way, when the wheel 100 rotates ±90°, the second connecting rod 301 can be prevented from interfering with the vehicle. According to some embodiments, the second connecting rod 301 can be hinged to the steering knuckle 10 through a ball head, and the present disclosure does not limit this. According to some embodiments, refer to Figure 1 As shown in , the lower arm 30 may further include a fork arm 302 , which may be connected to the subframe via a bushing, wherein the fork arm 302 may be constructed as a double fork arm 302 to improve the reliability of the connection between the lower arm 30 and the subframe.
[0046] In some embodiments of the present disclosure, reference Figure 1 As shown in , one end of the upper swing arm 20 can be connected to the steering knuckle 10 through a ball head, and the other end is connected to the subframe, wherein the upper swing arm 20 can also be constructed as a double wishbone 302 to improve the reliability of the connection between the upper swing arm 20 and the subframe.
[0047] In some embodiments of the present disclosure, reference Figure 1 , Figure 2 as well as Figure 6 and Figure 7 As shown in , the first steering gear 1 has an avoidance hole 13 for the shock absorber 40 to pass through. In this way, the first steering gear 1 can avoid the shock absorber 40 through the avoidance hole 13 to prevent the first steering gear 1 from interfering with the shock absorber 40 when rotating. Here, according to some embodiments, one end of the shock absorber 40 can be hinged on the lower swing arm 30, and the other end can be connected to the subframe through a bushing. Here, the fork arms 302 of the upper swing arm 20 and the lower swing arm 30 can be constructed as double fork arms 302 to reduce the force on the shock absorber 40 in the vehicle width direction, improve the vibration reduction effect of the shock absorber 40, and improve the service life of the shock absorber 40.
[0048] Next, the present disclosure will combine the above specific embodiments to introduce the use of the independent steering mechanism in detail. Figures 1 to 7 As shown in , during the steering process of the wheel 100, the steering motor 3 transmits the torque to the second output shaft 4 after the first stage reduction structure 5 and the second stage reduction structure 6 reduce the torque. The second output shaft 4 drives the second steering gear 2 to rotate around its own central axis through the connection key 41 and the keyway 72, and the second steering gear 2 drives the first steering gear 1 to rotate. Here, by adjusting the width of the block 9, the central axis of the first steering gear 1 coincides with the main pin axis, thereby ensuring that the wheel 100, the steering knuckle 10 and the first steering gear 1 rotate coaxially. During the entire steering process of the wheel 100, the steering motor 3 and at least two stages of reduction structures are fixed in position, reducing the probability of failure. In addition, since the steering angle of the wheel 100 is linearly related to the first steering gear 1 and the second steering gear 2, the control requirements for the steering motor 3 are reduced.
[0049] According to a second aspect of the present disclosure, a vehicle is provided, comprising the independent steering mechanism as described above. The vehicle has all the beneficial effects of the independent steering mechanism as described above, which are not described in detail in the present disclosure. According to some embodiments, each wheel 100 may be connected to the vehicle body with the independent steering mechanism as described above, which is not limited in the present disclosure.
[0050] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.
[0051] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.
[0052] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.
Claims
1. An independent steering mechanism, characterized in that: include: A first steering gear, used to be fixed to the wheel; a second steering gear meshing with the first steering gear; A steering motor, used for fixing to the vehicle body, the steering motor having a first output shaft; as well as The second output shaft is connected to the second steering gear, and the central axis of the second output shaft coincides with the central axis of the second steering gear, wherein at least one stage of reduction structure is connected between the first output shaft and the second output shaft.
2. The independent steering mechanism according to claim 1, characterized in that: At least two-stage reduction structures are connected between the first output shaft and the second output shaft, and the at least two-stage reduction structures include a first-stage reduction structure and a second-stage reduction structure. The first-stage reduction structure includes a first-stage worm wheel and a first-stage worm. One of the first-stage worm wheel and the first-stage worm is connected to the first output shaft, and the other is connected to the second-stage reduction structure.
3. The independent steering mechanism according to claim 2, characterized in that: The second-stage reduction structure includes a second-stage worm wheel and a second-stage worm, wherein the first-stage worm is connected to the first output shaft, the first-stage worm wheel is connected to the second-stage worm, and the second-stage worm wheel is connected to the second output shaft.
4. The independent steering mechanism according to claim 1, characterized in that: The second steering gear is configured as a semicircular gear, and the first steering gear and the second steering gear have the same radius.
5. The independent steering mechanism according to claim 4, characterized in that: The second steering gear has a first end and a second end that are arranged opposite to each other, a first connecting rod is connected between the first end and the second end, a connecting hole is opened on the first connecting rod, a central axis of the connecting hole coincides with the central axis of the second steering gear, and the second output shaft is connected to the connecting hole.
6. The independent steering mechanism according to claim 5, characterized in that: At least one stabilizing rod is connected between the first connecting rod and the second steering gear.
7. The independent steering mechanism according to claim 1, characterized in that: The first steering gear is configured as a semicircular gear, and the first steering gear and the second steering gear have the same radius.
8. The independent steering mechanism according to claim 7, characterized in that: The first steering gear has a third end and a fourth end that are arranged opposite to each other, and the third end and the fourth end are respectively used to be fixed to the wheel through an adjustment block. The independent steering mechanism comprises a steering knuckle, an upper swing arm and a lower swing arm, wherein the upper swing arm and the lower swing arm are respectively connected to the upper and lower sides of the steering knuckle, and the connecting line between the connecting point between the upper swing arm and the steering knuckle and the connecting point between the lower swing arm and the steering knuckle is constructed as a main pin axis. The central axis of the first steering gear coincides with the kingpin axis.
9. The independent steering mechanism according to claim 8, characterized in that: The adjustment block also has a limiting portion extending out of the first steering gear along the length direction of the vehicle, and a connecting portion arranged opposite to the limiting portion, and the connecting portion is fixed on the steering knuckle.
10. The independent steering mechanism according to claim 8, characterized in that: The lower swing arm includes a second connecting rod connected to the steering knuckle, wherein the second connecting rod has a length in a vehicle width direction, and the length of the second connecting rod is greater than a radius of the wheel.
11. The independent steering mechanism according to claim 8, characterized in that: The first steering gear has an avoidance hole for the shock absorber to pass through.
12. The independent steering mechanism according to any one of claims 1 to 11, characterized in that: The steering motor is used to fix the auxiliary frame.
13. A vehicle, characterized in that: An independent steering mechanism comprising any one of claims 1-12.