Vehicle steering device, independent steering angle module and vehicle

Abstract

The utility model relates to a vehicle steering device, an independent steering angle module and a vehicle. The vehicle steering device comprises a rocker arm mechanism, a steering pull rod and a driving mechanism. The first end of the rocker arm mechanism is connected to a frame, the rocker arm mechanism can swing relative to the frame, the first end of the steering pull rod is hinged to the rocker arm mechanism, and the driving end of the driving mechanism is connected with the rocker arm mechanism and used for driving the rocker arm mechanism to swing. The second end of the steering pull rod is used for being rotatably connected with a steering knuckle. The vehicle steering device swings through the arranged rocker arm mechanism, so that the driving mechanism, the rocker arm mechanism, the steering pull rod and the steering knuckle can form a multi-stage connecting rod structure, the steering torque can be improved, the torque requirement that wheels continue to steer after rotating to a certain angle is met, and a large steering angle is achieved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicle manufacturing, and in particular to a vehicle steering device, an independent steering angle module and a vehicle. Background Art

[0002] In the related art, the vehicle steering device uses a steering motor to drive the wheel steering. Due to the limitation of the torque of the steering motor, the steering angle is limited and a larger steering angle cannot be achieved. If a larger steering angle is to be achieved, it is necessary to increase the size of the steering motor and install a reducer, which will take up a lot of space. Utility Model Content

[0003] The purpose of the present disclosure is to provide a vehicle steering device, an independent steering angle module and a vehicle to solve the problems in the above-mentioned related technologies.

[0004] In order to achieve the above-mentioned object, one aspect of the present disclosure provides a vehicle steering device, including a rocker arm mechanism, a steering tie rod and a driving mechanism;

[0005] The first end of the rocker mechanism is connected to the frame, and the rocker mechanism is configured to be able to swing relative to the frame. The first end of the steering rod is hinged to the rocker mechanism. The driving end of the driving mechanism is connected to the rocker mechanism and is used to drive the rocker mechanism to swing. The second end of the steering rod is used to be rotatably connected to the steering knuckle.

[0006] Optionally, the driving end of the driving mechanism is hinged to the second end of the rocker mechanism, and the projections of the connection point between the driving end of the driving mechanism and the rocker mechanism and the connection point between the first end of the steering rod and the rocker mechanism in the vehicle height direction do not overlap.

[0007] Optionally, the second end of the rocker mechanism is formed with a first connecting part and a second connecting part, the first connecting part and the second connecting part are arranged at intervals and both extend along the height direction of the vehicle, the driving end of the driving mechanism is hinged to the first connecting part, the driving end of the driving mechanism and the rocker mechanism can rotate relative to each other around the axis of the first connecting part, the first end of the steering rod is hinged to the second connecting part, the first end of the steering rod and the rocker mechanism can rotate relative to each other around the axis of the second connecting part, and the second end of the steering rod is used to be hinged to the steering knuckle.

[0008] Optionally, a connection point between the driving end of the driving mechanism and the rocker mechanism is farther away from the first end of the rocker mechanism than a connection point between the first end of the steering rod and the rocker mechanism.

[0009] Optionally, the rocker mechanism includes a rocker body and a rocker mounting seat, the rocker mounting seat is used to be connected to the frame, a rocker shaft is formed on the rocker mounting seat, the rocker shaft extends along the height direction of the vehicle, one end of the rocker body is hinged to the rocker shaft and can rotate around the axis of the rocker shaft.

[0010] Optionally, the driving end of the driving mechanism is connected to the rocker arm body, and the rocker arm body extends substantially along the front-rear direction of the vehicle.

[0011] Optionally, the driving mechanism is constructed as a hydraulic push rod, one end of the hydraulic push rod is hinged to the frame, the other end of the hydraulic push rod is hinged to the second end of the rocker mechanism, and the hydraulic push rod and the steering rod both extend in the left and right direction of the vehicle.

[0012] Optionally, the hydraulic push rod includes a hydraulic cylinder outer body and a hydraulic cylinder inner rod, the hydraulic cylinder inner rod is slidably connected to the hydraulic cylinder outer body, the hydraulic cylinder outer body is provided with oil inlet and outlet ports, the number of the oil inlet and outlet ports is two, the two oil inlet and outlet ports are configured to allow hydraulic oil to flow into the hydraulic cylinder outer body or flow out of the hydraulic cylinder outer body respectively, one of the hydraulic cylinder outer body and the hydraulic cylinder inner rod is hinged to the second end of the rocker mechanism, and the other is hinged to the frame.

[0013] A second aspect of the present disclosure further provides an independent steering angle module, comprising a steering knuckle, a wheel and the above-mentioned vehicle steering device;

[0014] The steering knuckle is connected to the wheel, and the second end of the steering tie rod of the vehicle steering device is hinged to the steering knuckle.

[0015] Optionally, the independent steering angle module further includes a suspension device, a braking device and a wheel hub motor;

[0016] The suspension device comprises an upper swing arm, a lower swing arm and a shock absorber assembly, the steering knuckle is rotatably connected to the upper swing arm and the lower swing arm, the upper end of the shock absorber assembly is connected to the vehicle frame, and the lower end of the shock absorber assembly is connected to the lower swing arm;

[0017] The hub motor and the brake device are both connected to the wheel.

[0018] A third aspect of the present disclosure also provides a vehicle, comprising the above-mentioned vehicle steering device, or the above-mentioned independent steering angle module.

[0019] The above technical solution swings through the rocker arm mechanism, so that the drive mechanism, rocker arm mechanism, steering rod and steering knuckle can form a multi-stage connecting rod structure, thereby improving the steering torque and meeting the torque requirement for the wheel to continue steering after turning to a certain angle. The power or torque requirement of the drive mechanism is reduced, and a larger steering angle is achieved, which effectively solves the problem that the torque of a general steering motor is too low to meet the steering angle of the wheel. At the same time, there is no need to increase the structure of the motor or set a reducer, so it will not take up too much space and meet the space design of the vehicle.

[0020] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] 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:

[0022] Figure 1 is a structural schematic diagram of a vehicle steering device in a use state according to an embodiment of the present disclosure;

[0023] Figure 2 It is a structural schematic diagram of another usage state of a vehicle steering device according to an embodiment of the present invention.

[0024] Description of Reference Numerals

[0025] 1. rocker arm mechanism, 11. rocker arm body, 12. rocker arm mounting seat, 13. first connecting part, 14. second connecting part, 15. rocker arm rotating shaft;

[0026] 2. Steering rod;

[0027] 3. Driving mechanism; 31. Hydraulic push rod; 311. Hydraulic cylinder outer cylinder; 312. Hydraulic cylinder inner rod; 313. Oil inlet and outlet;

[0028] 4. Steering knuckle;

[0029] 5. Wheels;

[0030] 6. Braking device;

[0031] 7. Suspension device, 71. Upper swing arm, 72. Lower swing arm, 73. Shock absorber assembly. DETAILED DESCRIPTION

[0032] 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.

[0033] In the present disclosure, unless otherwise stated, directional words such as "upper, lower, left, right" are usually defined by the direction of the drawing, and "inner" and "outer" refer to the inside and outside of the relevant parts. In addition, the terms "first", "second", etc. are only used to distinguish descriptions and cannot be understood as indicating or implying relative importance.

[0034] In the description of the present disclosure, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "disposed" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, it can be a direct connection, it can be indirectly connected through an intermediate medium, and it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0035] like Figure 1 and Figure 2 As shown, one aspect of the present disclosure provides a vehicle steering device, including a rocker arm mechanism 1 , a steering rod 2 and a driving mechanism 3 .

[0036] The first end of the rocker mechanism 1 is connected to the frame, and the rocker mechanism 1 is configured to be able to swing relative to the frame. The first end of the steering rod 2 is hinged to the rocker mechanism 1. The driving end of the driving mechanism 3 is connected to the rocker mechanism 1 and is used to drive the rocker mechanism 1 to swing. The second end of the steering rod 2 is used to be rotatably connected to the steering knuckle 4.

[0037] The rocker mechanism 1 swings under the drive of the driving mechanism 3 , so that the steering rod 2 is pulled by the rocker mechanism 1 , whereby the steering rod 2 can pull the steering knuckle 4 or push the steering knuckle 4 to achieve the steering of the wheel 5 .

[0038] In the above technical solution, the rocker mechanism 1 is set to swing, so that the driving mechanism 3, the rocker mechanism 1, the steering rod and the steering knuckle 4 can form a multi-stage connecting rod structure, thereby improving the steering torque and meeting the torque requirement of the wheel 5 to continue steering after turning to a certain angle. The power or torque requirement of the driving mechanism 3 is reduced, and a larger steering angle is achieved, which effectively solves the problem that the torque of a general steering motor is too low to meet the steering angle of the wheel 5. At the same time, there is no need to increase the structure of the motor and set a reducer, so it will not take up too much space and meet the space design of the vehicle.

[0039] Optionally, in one embodiment of the present disclosure, the driving end of the driving mechanism 3 is hinged to the second end of the rocker mechanism 1, and the projections of the connection point between the driving end of the driving mechanism 3 and the rocker mechanism 1 and the connection point between the first end of the steering rod 2 and the rocker mechanism 1 in the vehicle height direction do not coincide.

[0040] Among them, the driving end of the driving mechanism 3 is also hinged to the second end of the rocker mechanism 1, that is, when the rocker mechanism 1 swings, the driving end of the driving mechanism 3 can rotate relative to the rocker mechanism 1, thereby making the driving mechanism 3, the rocker mechanism 1, the steering rod and the steering knuckle 4 can form a five-link structure, and at the same time, the driving end of the driving mechanism 3 and the first end of the steering rod 2 are respectively connected to the rocker mechanism 1 without overlapping, so that the rocker mechanism 1 can produce a lever effect, and there is a force arm between the connection point between the driving end of the driving mechanism 3 and the second end of the rocker mechanism 1 and the connection point between the first end of the steering rod 2 and the second end of the rocker mechanism 1, so that the steering torque can be further increased, driving the wheel 5 to achieve a large angle of steering, and the steering angle can reach 135°, where +90° to -45°.

[0041] Optionally, in some other embodiments of the present disclosure, the driving end of the driving mechanism 3 is connected to the first end of the rocker mechanism 1, and the driving mechanism 3 drives the rocker mechanism 1 to rotate to achieve swinging. In some examples, the driving mechanism 3 is also a motor.

[0042] Optionally, in one embodiment of the present disclosure, the second end of the rocker mechanism 1 is formed with a first connection portion 13 and a second connection portion 14, the first connection portion 13 and the second connection portion 14 are arranged at intervals and both extend in the height direction of the vehicle, the driving end of the driving mechanism 3 is hinged to the first connection portion 13, the driving end of the driving mechanism 3 and the rocker mechanism 1 can rotate relative to each other around the axis of the first connection portion 13, the first end of the steering tie rod 2 is hinged to the second connection portion 14, the first end of the steering tie rod 2 and the rocker mechanism 1 can rotate relative to each other around the axis of the second connection portion 14, and the second end of the steering tie rod 2 is used to be hinged to the steering knuckle 4. The first connection portion 13 and the second connection portion 14 can facilitate the driving end of the driving mechanism 3 and the first end of the steering tie rod 2 to be hinged to the rocker mechanism 1 respectively.

[0043] In some examples, the first connection part 13 and the second connection part 14 are both integrally formed with the second end of the rocker mechanism 1, and the first connection part 13 and the second connection part 14 can be a connecting shaft or a pin shaft, the driving end of the driving mechanism 3 is formed with a first connecting ring, and the first end of the steering rod 2 is formed with a second connecting ring, the first connecting ring is sleeved on the first connection part 13, and the second connecting ring is sleeved on the second connection part 14, and can be limited by a threaded connection nut. Optionally, in other examples, the first connection part 13 and the second connection part 14 can also be a ball head.

[0044] The first connection portion 13 and the second connection portion 14 are spaced apart so that the line between the first connection portion 13 and the second connection portion 14 can constitute a lever arm, thereby increasing the torque. It should be noted that the straight-line distance between the first connection portion 13 and the second connection portion 14 can be adjusted according to the vehicle model or actual needs to produce different steering torque effects.

[0045] Optionally, in an embodiment of the present disclosure, a connection point between a driving end of the driving mechanism 3 and the rocker mechanism 1 is farther away from a first end of the rocker mechanism 1 than a connection point between a first end of the steering rod 2 and the rocker mechanism 1 .

[0046] In some examples, the first connection portion 13 is farther away from the first end of the rocker mechanism 1 than the second connection portion 14. By such an arrangement, the driving mechanism 3 drives the rocker mechanism 1 to move away from the far end of the swing axis, while the steering rod 2 is located at the near end close to the swing axis, which can further increase the steering torque.

[0047] Optionally, in another embodiment of the present disclosure, the first connecting portion 13 may also be closer to the first end of the rocker mechanism 1 than the second connecting portion 14 .

[0048] Optionally, in one embodiment of the present disclosure, the rocker mechanism 1 includes a rocker body 11 and a rocker mounting seat 12, the rocker mounting seat 12 is used to be connected to the frame, a rocker shaft 15 is formed on the rocker mounting seat 12, the rocker shaft 15 extends along the height direction of the vehicle, one end of the rocker body 11 is hinged to the rocker shaft 15 and can rotate around the axis of the rocker shaft 15.

[0049] Optionally, the driving end of the driving mechanism 3 is connected to the rocker arm body 11, the first end of the steering rod 2 is hinged to one end of the rocker arm body 11 away from the rocker arm shaft 15, and the rocker arm body 11 extends roughly along the front and rear direction of the vehicle.

[0050] Among them, the rocker arm mounting seat 12 has a supporting effect, the rocker arm mounting seat 12 is fixed on the vehicle frame, the rocker arm shaft 15 can be connected to the top or bottom plate of the rocker arm mounting seat 12, the rocker arm body 11 is a long strip structure, one end of the rocker arm body 11 can be provided with a collar, the collar is sleeved on the rocker arm shaft 15, so that the rocker arm body 11 rotates around the axis of the rocker arm shaft 15 to achieve swing. It should be noted that the rocker arm mounting seat 12 is set as the first end of the rocker arm mechanism 1, and the end of the rocker arm body 11 away from the rocker arm mounting seat 12 is set as the second end of the rocker arm mechanism 1.

[0051] Optionally, in one embodiment of the present disclosure, the driving mechanism 3 is constructed as a hydraulic push rod 31, one end of the hydraulic push rod 31 is hinged to the frame, the other end of the hydraulic push rod 31 is hinged to the second end of the rocker mechanism 1, and the hydraulic push rod 31 and the steering rod 2 both extend in the left and right direction of the vehicle.

[0052] The hydraulic push rod 31 is driven by hydraulic oil and can perform linear telescopic motion, thereby facilitating the rocker mechanism 1 to swing. The hydraulic push rod 31, the rocker mechanism 1, the steering tie rod and the steering knuckle 4 can form a five-link structure, and the line connecting the point where the hydraulic push rod 31 is connected to the frame and the point where the rocker mounting seat 12 of the above embodiment is connected to the frame can form a virtual rod body.

[0053] Optionally, in some examples, the hydraulic push rod 31 and the steering tie rod 2 are respectively located on both sides of the rocker arm mechanism 1 , which facilitates the connection between the hydraulic push rod 31 and the vehicle frame, and the connection between the steering tie rod 2 and the steering knuckle 4 .

[0054] Optionally, in one embodiment of the present disclosure, the hydraulic push rod 31 includes a hydraulic cylinder outer body 311 and a hydraulic cylinder inner rod 312, the hydraulic cylinder inner rod 312 is slidably connected to the hydraulic cylinder outer body 311, and the hydraulic cylinder outer body 311 is provided with an oil inlet and outlet 313, the number of the oil inlet and outlet 313 is two, and the two oil inlet and outlet 313 are configured to allow hydraulic oil to flow into or out of the hydraulic cylinder outer body 311, respectively, and one of the hydraulic cylinder outer body 311 and the hydraulic cylinder inner rod 312 is hinged to the second end of the rocker mechanism 1, and the other is hinged to the frame. Such a configuration can facilitate the control of the extension or shortening of the hydraulic push rod 31, and realize the steering of the wheel 5 at different angles.

[0055] The rod 312 in the hydraulic cylinder can slide in the outer cylinder 311 of the hydraulic cylinder, and the outer cylinder 311 of the hydraulic cylinder can store hydraulic oil. As the hydraulic oil in the outer cylinder 311 changes in volume, the rod 312 in the hydraulic cylinder can slide in and out. In some examples, there are two oil inlet and outlet ports 313, which respectively control the sliding out and sliding in of the rod 312 in the hydraulic cylinder. It should be noted that the oil inlet and outlet ports 313 can be connected to the hydraulic cylinder of the vehicle.

[0056] Among them, in the actual use process of the vehicle steering device of this embodiment, during the steering process, the hydraulic cylinder installed on the frame supplies oil to the outer cylinder body 311 of the hydraulic cylinder to establish pressure, and the hydraulic push rod 31 extends, so that a driving force is generated and acts on the rocker arm body 11, driving the rocker arm body 11 to rotate. During the rotation of the rocker arm body 11, the second connecting part 14 is driven to move with it, and then the steering rod 2 is driven to move, and the steering rod 2 drives the steering knuckle 4 and the wheel 5 to rotate, so as to achieve vehicle steering. On the contrary, the hydraulic push rod 31 can be shortened, so that a pulling force is generated and acts on the rocker arm body 11, driving the rocker arm body 11 to rotate. During the rotation of the rocker arm body 11, the second connecting part 14 is driven to move with it, and then the steering rod 2 is pulled to move, and the steering rod 2 pulls the steering knuckle 4 and the wheel 5 to rotate, so as to achieve vehicle steering.

[0057] It should be noted that under large turning angle conditions, the angle θ between the rocker arm body 11 and the steering tie rod 2 will change to a minimum value, but at this time, the required rotational pulling force F1 of the wheel 5, or understood as the self-aligning torque, will not change significantly, so the tangential force F2 required to be provided in the component F2*sinθ parallel to the tie rod direction remains unchanged, and as θ decreases, the demand for the tangential force F2 will gradually increase, so a greater driving force is required, and a preliminary estimate is that a torque output of more than 4500N.m is required. If the existing steering motor structure is used, a larger steering motor and reducer are required, which will occupy more space for the vehicle layout and cause energy loss problems caused by the increased power of the steering motor.

[0058] The hydraulic push rod 31, the rocker arm mechanism 1, the steering rod 2 and the steering knuckle 4 form a five-link structure. The thrust or pull of the hydraulic push rod 31 drives the rocker arm body 11 to rotate and then drives the steering rod 2 to move, which solves the problem of a significant increase in torque demand caused by a decrease in the θ angle and achieves a large turning angle of 135°.

[0059] A second aspect of the present disclosure further provides an independent steering angle module, comprising a steering knuckle 4, a wheel 5 and the above-mentioned vehicle steering device.

[0060] The steering knuckle 4 is connected to the wheel 5, and the second end of the steering tie rod 2 of the vehicle steering device is hinged to the steering knuckle 4. The steering knuckle 4 can be connected to the wheel 5 through a wheel hub bearing.

[0061] Optionally, in one embodiment of the present disclosure, the independent steering angle module further includes a suspension device 7, a braking device 6 and a hub motor.

[0062] The suspension device 7 includes an upper swing arm 71, a lower swing arm 72 and a shock absorber assembly 73. The steering knuckle 4 is rotatably connected to the upper swing arm 71 and the lower swing arm 72. The upper end of the shock absorber assembly 73 is connected to the vehicle frame, and the lower end of the shock absorber assembly 73 is connected to the lower swing arm 72. The wheel hub motor and the brake device 6 are both connected to the wheel 5.

[0063] The steering knuckle 4 is connected to the upper swing arm 71 and the lower swing arm 72 through a ball head, and the steering knuckle 4 can rotate relative to the upper swing arm 71 and the lower swing arm 72. The brake device 6 includes a brake disc and a brake, the brake disc is connected to the wheel hub bearing through 12 evenly distributed bolts, the brake is installed on the steering knuckle 4 through bolts, and the brake cooperates with the brake disc to achieve braking of the wheel 5.

[0064] A third aspect of the present disclosure also provides a vehicle, comprising the above-mentioned vehicle steering device, or the above-mentioned independent steering angle module.

[0065] 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.

[0066] 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.

[0067] 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. A vehicle steering device, characterized in that: It includes a rocker arm mechanism, a steering tie rod and a driving mechanism; The first end of the rocker mechanism is connected to the frame, and the rocker mechanism is configured to be able to swing relative to the frame. The first end of the steering rod is hinged to the rocker mechanism. The driving end of the driving mechanism is connected to the rocker mechanism and is used to drive the rocker mechanism to swing. The second end of the steering rod is used to be rotatably connected to the steering knuckle.

2. The vehicle steering device according to claim 1, characterized in that: The driving end of the driving mechanism is hinged to the second end of the rocker mechanism, and the projections of the connection point between the driving end of the driving mechanism and the rocker mechanism and the connection point between the first end of the steering rod and the rocker mechanism in the vehicle height direction do not overlap.

3. The vehicle steering device according to claim 2, characterized in that: The second end of the rocker mechanism is formed with a first connection part and a second connection part, the first connection part and the second connection part are arranged at intervals and both extend along the height direction of the vehicle, the driving end of the driving mechanism is hinged to the first connection part, the driving end of the driving mechanism and the rocker mechanism can rotate relative to each other around the axis of the first connection part, the first end of the steering rod is hinged to the second connection part, the first end of the steering rod and the rocker mechanism can rotate relative to each other around the axis of the second connection part, and the second end of the steering rod is used to be hinged to the steering knuckle.

4. The vehicle steering device according to claim 2, characterized in that: The connection point between the driving end of the driving mechanism and the rocker mechanism is farther away from the first end of the rocker mechanism than the connection point between the first end of the steering tie rod and the rocker mechanism.

5. The vehicle steering device according to claim 1, characterized in that: The rocker mechanism includes a rocker body and a rocker mounting seat, the rocker mounting seat is used to be connected to the frame, a rocker shaft is formed on the rocker mounting seat, the rocker shaft extends along the height direction of the vehicle, one end of the rocker body is hinged to the rocker shaft and can rotate around the axis of the rocker shaft.

6. The vehicle steering device according to claim 5, characterized in that: The driving end of the driving mechanism is connected to the rocker arm body, and the rocker arm body extends substantially along the front-rear direction of the vehicle.

7. The vehicle steering device according to any one of claims 1 to 6, characterized in that: The driving mechanism is constructed as a hydraulic push rod, one end of which is hinged to the frame, and the other end of which is hinged to the second end of the rocker mechanism. The hydraulic push rod and the steering rod both extend in the left-right direction of the vehicle.

8. The vehicle steering device according to claim 7, characterized in that: The hydraulic push rod includes a hydraulic cylinder outer body and a hydraulic cylinder inner rod, the hydraulic cylinder inner rod is slidably connected to the hydraulic cylinder outer body, the hydraulic cylinder outer body is provided with oil inlet and outlet ports, the number of the oil inlet and outlet ports is two, and the two oil inlet and outlet ports are configured to allow hydraulic oil to flow into the hydraulic cylinder outer body or flow out of the hydraulic cylinder outer body respectively, one of the hydraulic cylinder outer body and the hydraulic cylinder inner rod is hinged to the second end of the rocker arm mechanism, and the other is hinged to the frame.

9. An independent steering angle module, characterized in that: A vehicle steering device comprising a steering knuckle, a wheel and any one of claims 1 to 8; The steering knuckle is connected to the wheel, and the second end of the steering tie rod of the vehicle steering device is hinged to the steering knuckle.

10. The independent steering angle module according to claim 9, characterized in that: The independent steering angle module also includes a suspension device, a braking device and a wheel hub motor; The suspension device comprises an upper swing arm, a lower swing arm and a shock absorber assembly, the steering knuckle is rotatably connected to the upper swing arm and the lower swing arm, the upper end of the shock absorber assembly is connected to the vehicle frame, and the lower end of the shock absorber assembly is connected to the lower swing arm; The hub motor and the brake device are both connected to the wheel.

11. A vehicle, characterized in that: It comprises the vehicle steering device as claimed in any one of claims 1 to 8, or the independent steering angle module as claimed in any one of claims 9 to 10.

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