Linkage mechanism and vehicle

Abstract

The utility model relates to the technical field of vehicle steering, and particularly provides a linkage mechanism and a vehicle, the linkage mechanism is suitable for being arranged between two wheel modules which are oppositely arranged and can independently steer, the linkage mechanism comprises a telescopic sliding rod assembly and a locking assembly, the sliding rod assembly comprises a first sliding rod and a second sliding rod, and the locking assembly is arranged on the first sliding rod. One end of the first sliding rod and one end of the second sliding rod can be assembled together in a relative sliding mode, the other end of the first sliding rod is hinged to the wheel module on one side, the other end of the second sliding rod is hinged to the wheel module on the other side, and the locking assembly can be switched between a locking state and an unlocking state; when the locking assembly is in the locking state, the sliding rod assembly is locked to be non-telescopic. According to the linkage mechanism, parameters of four wheels on the two sides can be conveniently adjusted, steering of the wheels on the two sides can be mutually redundant, meanwhile, steering energy consumption can be reduced, and the overall performance of a vehicle with the wheel independent steering function can be improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to vehicle steering technical field, especially relate to a linkage mechanism, and the utility model relates to the vehicle with the linkage mechanism. BACKGROUND

[0002] In the related art, for the vehicle with independent steering wheels, especially the vehicle with four-wheel independent steering, it is increasingly concerned because it can improve the stability of the vehicle at high speed, reduce the turning radius of the vehicle at low speed, and enable large vehicles to have the same maneuvering and parking agility as small vehicles.

[0003] However, the four-wheel independent steering system in the current vehicle has the problems of difficult four-wheel parameter adjustment, difficult coordination of the wheels on both sides, insufficient safety redundancy of the wheels on both sides, and large energy consumption of four-wheel steering, because the wheels on the left and right sides are not mechanically connected, that is, the wheels are independent of each other, which is not conducive to improving the overall performance of the vehicle with independent steering function. SUMMARY

[0004] Therefore, the utility model aims at providing a linkage mechanism to improve the overall performance of the vehicle with independent steering function.

[0005] To achieve the above-mentioned purpose, the technical scheme of the utility model is as follows:

[0006] A linkage mechanism is suitable for being arranged between two independent steering wheel modules, the linkage mechanism comprising a telescopic slide rod assembly and a locking assembly arranged on the slide rod assembly.

[0007] The slide rod assembly comprises a first slide rod and a second slide rod, one end of the first slide rod is slidably assembled with one end of the second slide rod, the other end of the first slide rod is hingedly connected with one of the wheel modules, and the other end of the second slide rod is hingedly connected with the other wheel module.

[0008] The locking assembly can be switched between a locked state and an unlocked state, and when the locking assembly is in the locked state, the slide rod assembly is locked and cannot be telescoped.

[0009] Further, one end of the first slide rod is slidably assembled with one end of the second slide rod.

[0010] Further, a rolling support structure is arranged between the two ends of the first slide rod and the second slide rod.

[0011] Further, the rolling support structure comprises a retainer nested between the first slide rod and the second slide rod, and a plurality of rolling members arranged on the retainer; the rolling members are rolling supported between the first slide rod and the second slide rod, and the first slide rod and the second slide rod are each provided with a groove accommodating part of the rolling members.

[0012] Further, the rolling support structure is a plurality of structures arranged along the extension direction of the slide rod assembly.

[0013] Further, the first slide rod and the second slide rod are provided with a spline pair arranged along the extension direction of the slide rod assembly between the two ends of the relative sliding.

[0014] Further, the first slide rod and the second slide rod are each connected to the wheel module on the same side through a steering pull rod.

[0015] Further, the first slide rod and the second slide rod are each connected to the corresponding steering pull rod through an adjusting rod; the adjusting rod is screw-connected to the first slide rod, the second slide rod and the steering pull rod, and a four-wheel parameter adjusting nut is screw-connected to the adjusting rod.

[0016] Further, the locking assembly comprises an electric control lock arranged on the slide rod assembly; the electric control lock is connected to an external control module, and the electric control lock is triggered by the external control module and can be switched between the locked state and the unlocked state.

[0017] Compared with the prior art, the utility model has the following advantages:

[0018] The linkage mechanism sets the slide rod assembly with the locking assembly between the two wheel modules, and the slide rod assembly with the locking function can form a linkage structure with the two wheel modules, realize the cooperative control between the two wheels, and thus can adjust the parameters such as toe as the conventional vehicle, facilitate the adjustment of the four-wheel parameters of the two wheels, and also can drive the steering of the other wheel when one wheel fails, realize the mutual redundancy of the steering of the two wheels, realize the synchronous steering control of the two wheels by one wheel, reduce the steering energy consumption, and improve the overall performance of the vehicle with the independent steering function.

[0019] In addition, the first slide rod and the second slide rod are slidingly inserted together, which can realize the relative sliding assembly of the two, and has the advantages of simple structure, easy design and assembly. The rolling support structure arranged between the first slide rod and the second slide rod can make the relative sliding between the two slide rods more smooth, reduce the wear of the slide rod assembly during use, and improve the use performance of the slide rod assembly.

[0020] Secondly, the rolling support structure adopts a retainer and rolling members arranged on the retainer, which is simple in structure and mature in technology, and enables the rolling members to be partially located in the grooves, so that the relative rotation between the two slide rods can be avoided during the extension and retraction, and the use effect of the slide rod assembly can be ensured.

[0021] Furthermore, the spline pair arranged between the first slide rod and the second slide rod can guide the relative sliding of the two slide rods, improve the smoothness of the sliding, and avoid the relative rotation between the two slide rods, so that the use effect of the slide rod assembly can be ensured.

[0022] In addition, the connection between the slide rods and the corresponding steering pull rods is achieved by adjusting rods and screwing, which can meet the connection requirements and facilitate the adjustment of the four-wheel parameters through the linkage mechanism. The four-wheel parameter adjusting nuts are screwed on the adjusting rods, so that the linkage mechanism can be kept in the adjusted state after the slide rod assembly is locked and the four-wheel parameters are adjusted, and the steering and driving performance of the vehicle can be ensured.

[0023] Another purpose of the utility model is to provide a vehicle, the front and / or rear of the vehicle has two independently steerable wheel modules arranged oppositely, and the linkage mechanism as described above is arranged between the two oppositely arranged wheel modules.

[0024] The vehicle adopts the linkage mechanism of the first embodiment, which can facilitate the adjustment of the four-wheel parameters of the two side wheels, and can also steer through the other side wheel when one side wheel fails, realize the redundancy of the steering of the two side wheels, and realize the synchronous steering control of the two side wheels by using one side wheel, so that the steering energy consumption can be reduced, the overall performance of the vehicle with independent steering function of the wheels can be improved, and good use effect can be achieved. BRIEF DESCRIPTION OF DRAWINGS

[0025] The drawings that form a part of the present utility model are used to provide a further understanding of the present utility model, and the illustrative embodiments of the present utility model and their descriptions are used to explain the present utility model and do not constitute an improper limitation on the present utility model. In the drawings:

[0026] Figure 1A first perspective view of the linkage mechanism application state structure diagram of the embodiment of the utility model is shown in the figure;

[0027] Figure 2 A second perspective view of the linkage mechanism application state structure diagram of the embodiment of the utility model is shown in the figure;

[0028] Figure 3 For Figure 2 The enlarged view of A part in the middle;

[0029] Figure 4 For Figure 2 The enlarged view of B part in the middle;

[0030] Figure 5 For Figure 2 The enlarged view of C part in the middle;

[0031] Figure 6 A structure diagram of the linkage mechanism of the embodiment of the utility model is shown in the figure;

[0032] Figure 7 For Figure 6 The explosion view of the structure shown;

[0033] Figure 8 A partial enlarged view of the second slide rod of the embodiment of the utility model is shown in the figure;

[0034] Figure 9 A structure diagram of the rolling support structure of the embodiment of the utility model is shown in the figure;

[0035] Figure 10 A structure diagram of the vehicle when driving at medium and high speed, small angle steering of the embodiment of the utility model is shown in the figure;

[0036] Figure 11 A structure diagram of the vehicle when driving at low speed, large angle steering of the embodiment of the utility model is shown in the figure;

[0037] Figure 12 A structure diagram of the vehicle when needing to turn around in place of the embodiment of the utility model is shown in the figure;

[0038] Figure 13 A structure diagram of the vehicle when needing to drive horizontally of the embodiment of the utility model is shown in the figure;

[0039] Mark explanation:

[0040] 1, slide rod assembly;2, locking assembly;3, steering knuckle;4, upper swing arm;5, lower swing arm;6, shock absorber;7, steering motor;11, rolling support structure;12, steering tie rod;13, ball pin assembly;14, adjusting rod;15, four-wheel parameter adjusting nut;

[0041] 101, first slide bar; 102, second slide bar; 1021, groove; 1101, retainer; 1102, rolling element;

[0042] 10, left front wheel module; 20, right front wheel module; 30, left rear wheel module; 40, right rear wheel module; 100, frame; 1000, in-wheel motor wheel. DETAILED DESCRIPTION

[0043] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0044] In the following description, specific details are set forth in order to provide a thorough understanding of the embodiments of the present application. However, persons skilled in the art will understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted in order not to obscure the description of the present application with unnecessary details.

[0045] In the description of the present application, it should be noted that if the terms indicating the orientation or position relationship such as "upper", "lower", "inner", "outer" appear, they are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as limiting the present application. The device or element indicated must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, if the terms "first", "second", etc. appear, they are also used for description purposes only and cannot be understood as indicating or implying relative importance.

[0046] In addition, in the description of the present application, unless otherwise explicitly limited, the terms "mounting", "connection", "connection", "connector" should be understood broadly. For example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood in conjunction with the specific circumstances.

[0047] In addition, in the description of the present application, it should be noted that the orientation words used in the present embodiment, such as "upper", "lower", "left", "right", "front", "rear", are defined based on the up-down direction, left-right direction and front-rear direction of the automobile. Among them, the up-down direction of the automobile is also the height direction of the automobile, the front-rear direction of the automobile is also the length direction of the automobile, and the left-right direction of the automobile is also the width direction of the automobile.

[0048] The utility model discloses below will refer to the drawings and combine the embodiment to explain in detail.

[0049] Embodiment one

[0050] This embodiment relates to a linkage mechanism, which is suitable for being arranged between two independently steerable wheel modules arranged oppositely, and is beneficial to improving the overall performance of a vehicle adopting independent steering function.

[0051] Overall structure, in combination Figure 1 and Figure 2 As shown, the linkage mechanism of the embodiment comprises a telescopic slide bar assembly 1 and a locking assembly 2 arranged on the slide bar assembly 1.

[0052] Among them, the slide bar assembly 1 comprises a first slide bar 101 and a second slide bar 102, one end of the first slide bar 101 and one end of the second slide bar 102 are assembled together relatively slidably, and the other end of the first slide bar 101 is hingedly connected with one of the side wheel modules, and the other end of the second slide bar 102 is hingedly connected with the other side wheel module. And the locking assembly 2 can be switched between the locking state and the unlocking state, and when the locking assembly 2 is in the locking state, the slide bar assembly 1 can be locked to be not telescopic.

[0053] At this time, as set forth above, by arranging the slide bar assembly 1 with the locking assembly 2 between the two side wheel modules, the slide bar assembly 1 can be used to form a linkage structure between the two side wheel modules, realizing the cooperative control between the two side wheel modules. In this way, the embodiment not only can adjust parameters such as toe as a conventional vehicle, but also can facilitate the adjustment of four-wheel parameters of the two side wheel modules. At the same time, it can also drive steering through the other side wheel module when one side wheel module fails to steer, realizing the mutual redundancy of the steering of the two side wheels, and can realize the synchronous steering control of the two side wheels by using one side wheel, which can reduce the steering energy consumption, so as to improve the overall performance of the vehicle adopting the independent steering function of the wheels.

[0054] Based on the overall introduction as above, specifically, first of all, it is worth mentioning that in the vehicle adopting independently steerable wheels, only two front wheels can be independently steered, only two rear wheels can be independently steered, and of course four wheels can be independently steered. The embodiment will be described in detail taking a four-wheel independently steerable vehicle as an example, as shown in Figure 1 and Figure 2 As shown, the vehicle has oppositely arranged independently steerable left front wheel module 10 and right front wheel module 20, and oppositely arranged independently steerable left rear wheel module 30 and right rear wheel module 40.

[0055] The two independently steerable wheel modules mentioned above in the relative arrangement can be the left front wheel module 10 and the right front wheel module 20 in the vehicle, or can be the left rear wheel module 30 and the right rear wheel module 40 in the vehicle.

[0056] When the two independently steerable wheel modules are the left front wheel module 10 and the right front wheel module 20, the first slide bar 101 and the second slide bar 102 in the slide bar assembly 1 are away from the end connected in relative sliding manner, the other end of the first slide bar 101 is hingedly connected to the left front wheel module 10, and the other end of the second slide bar 102 is hingedly connected to the right front wheel module 20. Of course, it can be understood that the other end of the first slide bar 101 can also be hingedly connected to the right front wheel module 20, and at this time the other end of the second slide bar 102 is hingedly connected to the left front wheel module 10.

[0057] When the two independently steerable wheel modules are the left rear wheel module 30 and the right rear wheel module 40, by analogy, the first slide bar 101 and the second slide bar 102 in the slide bar assembly 1 are away from the end connected in relative sliding manner, the other end of the first slide bar 101 is hingedly connected to the left rear wheel module 30, and the other end of the second slide bar 102 is hingedly connected to the right rear wheel module 40. Of course, it can be understood that the other end of the first slide bar 101 can also be hingedly connected to the right rear wheel module 40, and at this time the other end of the second slide bar 102 is hingedly connected to the left rear wheel module 30.

[0058] Still referring to Figure 1 and Figure 2 , and in combination with Figures 3 to 5 shown, in the embodiment, the left front wheel module 10, the right front wheel module 20, the left rear wheel module 30 and the right rear wheel module 40 are all the same in structure, that is, all include a wheel and a knuckle assembly, and a steering motor 7 connected to the steering assembly. Among them, each wheel is a hub motor wheel 1000, that is, the driving motor for driving the wheel to move forward or backward is integrated on the wheel.

[0059] And the knuckle assembly specifically includes a knuckle 3 connected to the wheel, an upper swing arm 4 rotatably arranged on the upper end of the knuckle 3, a lower swing arm 5 rotatably arranged on the lower end of the knuckle 3, and a steering tie rod 12 rotatably arranged on the knuckle 3. Relative to the end connected to the knuckle 3, the other end of the upper swing arm 4 and the other end of the lower swing arm 5 are both connected to the vehicle frame 100. Moreover, a shock absorber 6 is also arranged between the lower swing arm 5 and the vehicle frame 100, which can play a reverse damping role in the process of the wheel jumping up and down, thereby improving the comfort of the vehicle ride.

[0060] As a preferred implementation form, in combination with Figures 2 to 5As shown, in this embodiment, the first slide rod 101 and the second slide rod 102 are both connected with the same side wheel module through the steering pull rod 12. At this time, the steering pull rod 12 is connected with the wheel module through the hinge, which can facilitate the connection between the slide rod assembly 1 and the wheel module on both sides, and help to reduce the difficulty of the whole vehicle design and assembly.

[0061] Specifically, taking the left front wheel module 10 and the right front wheel module 20 as an example, referring to Figure 3 and Figure 4 , the first slide rod 101 is connected with the left front wheel module 10 through the left steering pull rod 12, and the second slide rod 102 is connected with the right front wheel module 20 through the right steering pull rod 12. Moreover, in the specific implementation, the steering pull rod 12 on each side is usually connected with the same side steering knuckle 3 through the ball pin assembly 13, that is, connected with the same side wheel module through the hinge.

[0062] Referring to Figures 3 to 7 , as a preferred implementation form, in this embodiment, the first slide rod 101 and the second slide rod 102 are both connected with the corresponding steering pull rod 12 through the adjusting rod 14, and the adjusting rod 14 is screwed with the first slide rod 101, the second slide rod 102 and the steering pull rod 12, and the four-wheel parameter adjusting nut 15 is also screwed on the adjusting rod 14.

[0063] At this time, by using the adjusting rod 14 and screwing the connection between each slide rod and the corresponding steering pull rod 12, it can meet the connection requirements, and also facilitate the adjustment of the four-wheel parameters of the linkage mechanism. By screwing the four-wheel parameter adjusting nut 15 on the adjusting rod 14, the linkage mechanism can be kept in the adjusted state after the slide rod assembly is locked and the four-wheel parameters are adjusted, which helps to ensure the steering and driving performance of the vehicle.

[0064] Specifically, the adjusting rod 14, the first slide rod 101, the second slide rod 102 and the steering pull rod 12 are all screwed together, that is, the adjusting rod 14 on one side is screwed with the steering pull rod 12 and the first slide rod 101 on the same side, and the adjusting rod 14 on the other side is also screwed with the steering pull rod 12 and the second slide rod 102 on the same side. In order to screw the adjusting rod 14 with the first slide rod 101, the second slide rod 102 and the steering pull rod 12, for example, as shown in Figures 3 to 5 and Figure 7As shown in FIG. 1, the adjusting rod 14 is provided with a stud structure similar to a double-end stud, and the corresponding threaded holes are provided on the end of the steering pull rod 12 and the first slide rod 101 and the second slide rod 102, so that the adjusting rod 14 on the stud structure and the matching threaded hole are connected with the steering pull rod 12 and the slide rod on the same side.

[0065] When the adjusting rod 14 is provided with a stud structure similar to a double-end stud, the four-wheel parameter adjusting nut 15 can be screwed on the stud structure of the adjusting rod 14. When adjusting the four-wheel parameters of the vehicle, for example, adjusting the toe-in parameter of the left front wheel, first, the locking assembly 2 is in the locked state, at this time, the slide rod assembly 1 is locked, that is, the first slide rod 101 and the second slide rod 102 cannot be extended and retracted. Then, by rotating the adjusting rod 14 on the left front side, the connecting length between the adjusting rod 14 and the corresponding steering pull rod 12 and the first slide rod 101 is adjusted, and after the adjustment is completed, the four-wheel parameter adjusting nut 15 is rotated again, so that the four-wheel parameter adjusting nut 15 is tightly pressed on the first slide rod 101, thereby realizing the adjustment of the toe-in parameter of the left front wheel.

[0066] In addition to the adjustment of the toe-in parameter of the left front wheel, the adjustment of the toe-in parameter of other wheels is similar to the above adjustment process, which will not be described here. It is worth noting that in the specific implementation, in addition to the four-wheel parameter adjusting nut 15 being provided on each adjusting rod 14 as shown in FIG. 1, it is also feasible that the four-wheel parameter adjusting nut 15 is provided on the stud structure at both ends of each adjusting rod 14. When the four-wheel parameter adjusting nut 15 is provided at both ends of the adjusting rod 14, after the adjustment of the toe-in parameter is completed, the four-wheel parameter adjusting nuts 15 at both ends are rotated so that they are tightly pressed on the corresponding slide rod and the steering pull rod 12, respectively. Figures 3 to 7

[0067] In some feasible embodiments, as a preferred implementation form, in the present embodiment, as shown in FIG. 1 and FIG. 2, the first slide rod 101 and the second slide rod 102 are slidably inserted together at one end of the first slide rod 101 and one end of the second slide rod 102. At this time, the first slide rod 101 and the second slide rod 102 are slidably assembled together, which not only realizes the relative sliding assembly of the two, but also has the advantages of simple structure, easy design and assembly, etc. Figure 1 Figure 7 In order to improve the sliding effect between the first slide rod 101 and the second slide rod 102, as a preferred implementation form, in the present embodiment, as shown in FIG. 1 and FIG. 2, the first slide rod 101 and the second slide rod 102 are slidably inserted together at one end of the first slide rod 101 and one end of the second slide rod 102. At this time, the first slide rod 101 and the second slide rod 102 are slidably assembled together, which not only realizes the relative sliding assembly of the two, but also has the advantages of simple structure, easy design and assembly, etc.

[0068] In order to improve the sliding effect between the first slide rod 101 and the second slide rod 102, as a preferred implementation form, in the present embodiment, as shown in FIG. 1 and FIG. 2, the first slide rod 101 and the second slide rod 102 are slidably inserted together at one end of the first slide rod 101 and one end of the second slide rod 102. At this time, the first slide rod 101 and the second slide rod 102 are slidably assembled together, which not only realizes the relative sliding assembly of the two, but also has the advantages of simple structure, easy design and assembly, etc. Figures 7 to 9 ​​As shown in the drawings, the rolling support structure 11 is arranged between the two ends of the first slide rod 101 and the second slide rod 102 relative to the sliding. By arranging the rolling support structure 11 between the first slide rod 101 and the second slide rod 102, the relative sliding between the two slide rods can be smoother, the wear of the slide rod assembly 1 during use can be reduced, and the use performance of the slide rod assembly 1 can be improved.

[0069] Specifically, continuing to refer to Figures 7 to 9 As shown in the drawings, the second slide rod 102 is slidingly inserted into the first slide rod 101, and the rolling support structure 11 described above specifically includes a retainer 1101 nested between the first slide rod 101 and the second slide rod 102, and a plurality of rolling elements 1102 arranged on the retainer 1101. Among them, the rolling elements 1102 are rolling supported between the first slide rod 101 and the second slide rod 102, and the first slide rod 101 and the second slide rod 102 are each provided with a groove 1021 accommodating part of the rolling elements 1102. At this time, the rolling support structure 11 adopts the retainer 1101 and the rolling elements 1102 arranged on the retainer 1101, which has a simple structure and mature technology, and makes the rolling elements 1102 partially located in the groove 1021, which can also avoid relative rotation between the two slide rods while extending and retracting, and helps to ensure the use effect of the slide rod assembly 1.

[0070] Specifically, when assembling, taking the second slide rod 102 slidingly inserted into the first slide rod 101 as an example, the retainer 1101 with a plurality of rolling elements 1102 is sleeved on the second slide rod 102, and then the second slide rod 102 sleeved with the retainer 1101 is inserted into the first slide rod 101, and the rolling elements 1102 are rolling supported in the corresponding grooves 1021.

[0071] It should be pointed out that in addition to the first slide rod 101 slidingly inserted into the second slide rod 102 to achieve the sliding fit of the first slide rod 101 and the second slide rod 102, the second slide rod 102 can also be slidingly inserted into the first slide rod 101, which is also possible. Moreover, the rolling elements 1102 mentioned above can generally adopt rolling balls. Moreover, as a preferred, the rolling elements 1102 on the retainer 1101 can be arranged in multiple rows at intervals, at this time, the grooves 1021 on the first slide rod 101 and the grooves 1021 on the second slide rod 102 are also multiple grooves adapted to each row of rolling elements 1102. In this way, when the first slide rod 101 and the second slide rod 102 are relatively extended and retracted, the relative rotation between the first slide rod 101 and the second slide rod 102 can be effectively avoided, thereby the use effect of the slide rod assembly 1 can be better ensured.

[0072] As a further preferred implementation form, in the embodiment, the plurality of rolling support structures 11 are arranged at intervals along the extension direction of the slide bar assembly 1. At this time, the rolling support structure 11 is arranged as a plurality of intervals, which can obtain better rolling support effect, and also facilitate to reduce the preparation cost and the later maintenance and replacement cost. Specifically, the number of rolling support structures 11 may, for example, be two, three, four or other multiple, which is not limited in the embodiment.

[0073] In the embodiment, as another preferred implementation form, the first slide bar 101 and the second slide bar 102 are provided with a spline pair arranged along the extension direction of the slide bar assembly 1 between the two ends of the relative sliding. In this way, by arranging the spline pair between the first slide bar 101 and the second slide bar 102, the sliding insertion fit of the first slide bar 101 and the second slide bar 102 can also be realized, and the spline pair can play a guiding role when the first slide bar 101 and the second slide bar 102 slide relative to each other, improving the smoothness of sliding, while it can also avoid the relative rotation between the first slide bar 101 and the second slide bar 102, facilitating to ensure the use effect of the slide bar assembly 1.

[0074] It should be noted that the spline pair described above takes the first slide bar 101 penetrating into the second slide bar 102 as an example, and the spline pair can include an external spline provided on the first slide bar 101, and an internal spline adapted to the external spline and provided on the second slide bar 102. When the first slide bar 101 penetrates into the second slide bar 102, the internal spline and the external spline are assembled together.

[0075] In addition, the locking assembly 2 of the embodiment, as a preferred implementation form, comprises an electric control lock provided on the slide bar assembly 1. The electric control lock is connected with an external control module, and the electric control lock is triggered by the external control module to switch between the locked state and the unlocked state. At this time, the locking assembly 2 adopts the electric control lock connected with the external control module, which not only has simple structure, small space occupation and convenient arrangement, but also facilitates to realize accurate control of the extension of the slide bar assembly 1 and improve the application effect of the linkage mechanism.

[0076] It should be noted that the external control module in the above embodiment can generally be a vehicle controller in the vehicle, and the electric control lock is connected with the vehicle controller, and the electric control lock is in the locked state or the unlocked state through the triggering of the vehicle controller.

[0077] And in the specific implementation, for example, the end of the second slide rod 102 is arranged in the first slide rod 101, the electric control lock is fixed on the second slide rod 102, and the second slide rod 102 is provided with a through hole through which the lock pin of the electric control lock passes, and preferably, the first slide rod 101 is provided with a plurality of lock grooves capable of engaging with the lock pin of the electric control lock, so that the electric control lock drives the lock pin to move towards the first slide rod 101 and engage with the lock groove, thereby locking the two slide rods together to prevent the slide rod assembly 1 from being extended or retracted. Of course, in addition to the above-mentioned locking form, other conventional forms can also be used in the specific implementation, as long as they can reliably lock the two slide rods that slide relative to each other together through the lock pin.

[0078] The linkage mechanism of the embodiment adopts the above structure, and through the slide rod assembly 1 provided with the locking assembly 2, the slide rod assembly can be locked to form a linkage structure between the two side wheel modules, thereby realizing cooperative control between the two side wheels. In this way, not only can the four-wheel parameters of the two side wheels be adjusted conveniently, but also when one side wheel fails to steer, the other side wheel can be driven to steer, thereby realizing mutual redundancy of the steering of the two side wheels, and the synchronous steering control of the two side wheels can be realized by using one side wheel, which can reduce the steering energy consumption and improve the overall performance of the vehicle with independent steering function.

[0079] Embodiment two

[0080] The embodiment relates to a vehicle, the front part or the rear part of the vehicle or the front part and the rear part of the vehicle are provided with two independently steerable wheel modules arranged oppositely, and the linkage mechanism in embodiment one is arranged between the two oppositely arranged wheel modules.

[0081] As a preferred implementation form, the vehicle of the embodiment can be provided with two independently steerable wheel modules arranged oppositely at the front part and the rear part, that is, the vehicle of the embodiment is a four-wheel independent steering vehicle. And the linkage mechanism in embodiment one is arranged between the two independently steerable wheel modules at the front part, and the linkage mechanism in embodiment one is also arranged between the two independently steerable wheel modules at the rear part. That is, as shown in Figure 1 and Figure 2 The linkage mechanism in embodiment one is arranged between the left front wheel module 10 and the right front wheel module 20, and the linkage mechanism in embodiment one is also arranged between the left rear wheel module 30 and the right rear wheel module 40.

[0082] The vehicle of the embodiment can realize the following application scenarios through the linkage mechanism in embodiment one:

[0083] a) as Figure 10As shown, when the vehicle is running at high speed and steering at a small angle, the front and rear wheels need to rotate on the same side to improve the stability of the vehicle. At this time, the locking assembly 2, i.e. the electric control lock, needs to be locked, and the single-sided steering motor 7 needs to be driven to rotate in the same direction.

[0084] b) as shown, when the vehicle is running at low speed and steering at a large angle, the front and rear wheels need to rotate in opposite directions to improve the maneuverability of the vehicle. At this time, the locking assembly 2, i.e. the electric control lock, needs to be locked, and the double-sided steering motor 7 needs to be driven to rotate the front and rear wheels in opposite directions. Figure 11

[0085] c) as shown, when the vehicle needs to make a U-turn, the vehicle speed needs to be 0km / h, the locking assembly 2, i.e. the electric control lock, needs to be unlocked, the first slide rod 101 and the second slide rod 102 can slide relative to each other, and the respective steering motors 7 of the four front and rear wheels are simultaneously driven to rotate the inside of the four wheels, thereby realizing the U-turn action of the vehicle. Figure 12

[0086] d) as shown, when the vehicle needs to run laterally, the vehicle speed needs to be 0km / h, the locking assembly 2, i.e. the electric control lock, needs to be unlocked, the first slide rod 101 and the second slide rod 102 can slide relative to each other, and the respective steering motors 7 of the four front and rear wheels are simultaneously driven to rotate the inside of the four wheels to 90°, thereby enabling the vehicle to perform the lateral running action. Figure 13

[0087] The vehicle of the present embodiment, by adopting the linkage mechanism in embodiment one, not only facilitates the adjustment of the four-wheel parameters of the two sides, but also enables the steering of one side to be driven by the other side in the event of a steering failure, realizes the mutual redundancy of the steering of the two sides, and enables the synchronous steering control of the two sides to be realized by one side, thereby reducing the steering energy consumption, improving the overall performance of the vehicle with independent steering function, and having good application effect.

[0088] The above only describes the preferred embodiments of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.​​​

Claims

1. A linkage mechanism suitable for use between two independently steerable wheel modules arranged in opposition, characterized in that: the linkage mechanism comprises a telescopic slide bar assembly (1) and a locking assembly (2) arranged on the slide bar assembly (1); the slide bar assembly (1) comprises a first slide bar (101) and a second slide bar (102), one end of the first slide bar (101) and one end of the second slide bar (102) are slidably assembled together, the other end of the first slide bar (101) is hingedly connected to one of the wheel modules, and the other end of the second slide bar (102) is hingedly connected to the other wheel module; the locking assembly (2) can be switched between a locked state and an unlocked state, and when the locking assembly (2) is in the locked state, the slide bar assembly (1) can be locked to be non-telescopic.

2. The linkage mechanism according to claim 1, characterized in that: one end of the first slide bar (101) and one end of the second slide bar (102) are slidably assembled together.

3. The linkage mechanism according to claim 2, characterized in that: a rolling support structure (11) is arranged between the two ends of the first slide bar (101) and the second slide bar (102) that slide relative to each other.

4. The linkage mechanism according to claim 3, characterized in that: the rolling support structure (11) comprises a retainer (1101) nested between the first slide bar (101) and the second slide bar (102), and a plurality of rolling elements (1102) arranged on the retainer (1101); the rolling elements (1102) are rolling supported between the first slide bar (101) and the second slide bar (102), and the first slide bar (101) and the second slide bar (102) are each provided with a groove (1021) that accommodates part of the rolling elements (1102).

5. The linkage mechanism according to claim 4, characterized in that: the rolling support structure (11) is arranged in multiple along the telescopic direction of the slide bar assembly (1).

6. The linkage mechanism according to claim 2, characterized in that: a spline pair is arranged between the two ends of the first slide bar (101) and the second slide bar (102) that slide relative to each other along the telescopic direction of the slide bar assembly (1).

7. The linkage mechanism according to claim 1, characterized in that: the first slide bar (101) and the second slide bar (102) are each hingedly connected to the wheel module on the same side through a steering pull rod (12).

8. The linkage mechanism according to claim 7, characterized in that: the first slide bar (101) and the second slide bar (102) are each connected to the corresponding steering pull rod (12) through an adjusting rod (14); the adjusting rod (14) is screw-connected to the first slide bar (101), the second slide bar (102), and the steering pull rod (12), and a four-wheel parameter adjusting nut (15) is screw-connected to the adjusting rod (14).

9. The linkage mechanism according to any one of claims 1 to 8, characterized in that: the locking assembly (2) comprises an electrically controlled lock arranged on the slide bar assembly (1); the electrically controlled lock is connected with an external control module, and the electrically controlled lock is triggered by the external control module to switch between the locked state and the unlocked state.

10. A vehicle, characterized in that: the front and / or rear of the vehicle is provided with two oppositely arranged independently steerable wheel modules, and the linkage mechanism according to any one of claims 1 to 9 is arranged between the two oppositely arranged independently steerable wheel modules.

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