Steering structure, steering device and vehicle

Abstract

A steering structure, a steering device and a vehicle. The steering structure comprises: an electric motor (1), a connecting member, a speed reduction mechanism (4) and a transmission mechanism (5). The connecting member is configured to be connected to wheels. An input end of the speed reduction mechanism (4) is connected to an output shaft of the electric motor (1), an output end of the speed reduction mechanism (4) is connected to an input end of the transmission mechanism (5), and an output end of the transmission mechanism (5) is connected to the connecting member. A housing of the electric motor (1) and the connecting member are arranged on the same side of the speed reduction mechanism; and the speed reduction mechanism (4) and the transmission mechanism (5) are configured to convert the rotational motion of the electric motor (1) into the linear motion of the connecting member so as to steer the wheels.

Description

Steering structure, steering device and vehicle

[0001] This application claims priority to Chinese patent application No. 202410266415.7, filed on March 8, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present disclosure belongs to the technical field of vehicle steering, and in particular relates to a steering structure, a steering device and a vehicle. Background Art

[0003] The rear wheel steering gear assembly is divided into an integrated rear wheel steering gear assembly and a split rear wheel steering gear assembly.

[0004] The motor of the integrated rear wheel steering gear assembly is arranged between the left and right mounting forks. The motor drives the two mounting forks to perform linear reciprocating motion at the same time through the transmission component, thereby driving the two rear wheels of the vehicle to rotate a certain angle.

[0005] The split rear wheel steering gear assembly can enable the two rear wheels to deflect to different angles. Summary of the Invention

[0006] The technical problem to be solved by the present disclosure is: to provide a steering structure, a steering device and a vehicle in view of the problem that the steering angle of the rear wheels of the split rear wheel steering gear assembly in the related art is small.

[0007] To address the above technical issues, the present disclosure provides a steering structure comprising: a motor, a connector, a reduction mechanism, and a transmission mechanism. The connector is configured to connect to a wheel. The input end of the reduction mechanism is connected to the output shaft of the motor, the output end of the reduction mechanism is connected to the input end of the transmission mechanism, and the output end of the transmission mechanism is connected to the connector.

[0008] The housing of the motor and the connecting member are arranged on the same side of the reduction mechanism; the reduction mechanism and the transmission mechanism are configured to convert the rotational motion of the motor into the linear motion of the connecting member to drive the wheel to turn.

[0009] In some embodiments, the transmission mechanism is configured to convert the rotational motion of the output end of the reduction mechanism into linear motion of the output end of the transmission mechanism, so as to drive the connecting member to move linearly toward or away from the reduction mechanism.

[0010] In some embodiments, the axial direction of the motor is parallel to the movement direction of the output end of the transmission mechanism.

[0011] In some embodiments, the transmission mechanism is configured to self-lock when the motor stops working, so that the wheel does not deflect when the motor stops working.

[0012] In some embodiments, an end of the connecting member away from the reduction mechanism protrudes from an end surface of the motor away from the reduction mechanism.

[0013] In some embodiments, the steering structure further comprises a housing, wherein the housing comprises a speed reduction mechanism housing and a transmission mechanism housing, wherein the speed reduction mechanism is disposed in the speed reduction mechanism housing and the transmission mechanism is disposed in the transmission mechanism housing.

[0014] In some embodiments, the reduction mechanism housing has a first opening facing the motor housing and a second opening facing the connector. One end surface of the motor housing abuts the first opening, the motor output shaft passes through the first opening, and an end of the transmission mechanism housing away from the connector is connected to the second opening.

[0015] In some embodiments, the housing further comprises an end cover. A side of the reduction mechanism housing away from the housing of the motor further comprises a third opening, and the end cover and the reduction mechanism housing are connected at the third opening via a first fixing member.

[0016] In some embodiments, the housing of the motor is connected to the reduction mechanism housing at the first opening via a second fixing member, and the connecting member is exposed from the housing.

[0017] In some embodiments, the housing of the motor and the transmission mechanism housing are located on the same side of the end cover.

[0018] In some embodiments, the reduction mechanism housing and the transmission mechanism housing are integrally formed.

[0019] In some embodiments, an extension direction of the transmission mechanism housing is consistent with an extension direction of the motor housing.

[0020] In some embodiments, the reduction mechanism housing has a protruding portion protruding from the transmission mechanism housing, and the protruding portion and the transmission mechanism housing enclose a motor installation space for accommodating the motor.

[0021] In some embodiments, the transmission mechanism includes a screw and a screw nut threadedly connected to the screw, wherein the screw nut is fixedly connected to the output end of the reduction mechanism, and the end of the screw away from the reduction mechanism is fixedly connected to the connecting member.

[0022] In some embodiments, the threads of the lead screw and the lead screw nut are trapezoidal, so that when the motor stops working, the lead screw and the lead screw nut are interlocked.

[0023] In some embodiments, the steering structure further includes a stopper. A chute extending along the length of the screw rod is provided in the housing, the stopper is slidably disposed in the chute, and the rotation of the stopper relative to the housing is limited by the sidewall of the chute, thereby limiting the rotation of the screw rod relative to the housing.

[0024] In some embodiments, the steering structure further comprises a displacement sensor mounted on the housing. One end of the stopper is fixedly connected to the screw rod, and the other end is slidably connected to the displacement sensor.

[0025] The displacement sensor is used to detect the displacement of the screw rod by measuring the relative displacement between the displacement sensor and the stopper.

[0026] In some embodiments, the steering structure further comprises a rolling bearing, wherein the inner ring of the rolling bearing is interference-fitted on the outside of the screw nut, and the outer ring of the rolling bearing remains stationary relative to the inner wall of the housing.

[0027] In some embodiments, the steering structure further includes a locking screw. The locking screw is loosely mounted on the exterior of the lead screw nut, and a threaded hole and a first limiting surface are provided on the inner wall of the housing. The locking screw is threadedly connected within the threaded hole and abuts against the end face of the outer ring of the rolling bearing facing away from the connector, thereby tightening the end face of the outer ring of the rolling bearing facing the connector against the first limiting surface.

[0028] In some embodiments, the locking screw plug is deformed and expanded by riveting to limit the locking screw plug from rotating and loosening.

[0029] In some embodiments, the screw nut protrudes from the rolling bearing toward the connecting member to form a protruding section, and an external thread is provided on the outside of the protruding section.

[0030] The steering structure also includes a locknut. A second radially extending stop surface is provided on the outer periphery of the lead screw nut. The locknut is threaded outside the protruding section and abuts against the end surface of the inner ring of the rolling bearing, which is closer to the connector, to abut the end surface of the inner ring of the rolling bearing, which is farther from the connector, against the second stop surface.

[0031] In some embodiments, a through hole is provided on the housing, and an end of the screw rod away from the speed reduction mechanism passes through the through hole.

[0032] In some embodiments, a section of the screw rod away from the speed reduction mechanism is an optical axis connected to the connector. A sliding bearing is provided between the inner wall of the through hole and the outer periphery of the optical axis, and the optical axis and the sliding bearing are in sliding engagement.

[0033] In some embodiments, the transmission mechanism includes a gear and a rack that mesh with each other. The gear is fixedly connected to the output end of the reduction mechanism, and the end of the rack away from the reduction mechanism is fixedly connected to the connecting member.

[0034] The steering structure further includes a locking mechanism configured to interlock the gear and the rack when the motor stops working.

[0035] In some embodiments, the transmission mechanism includes a worm wheel and a worm that mesh with each other, the worm wheel is fixedly connected to the output end of the reduction mechanism, and the end of the worm away from the reduction mechanism is fixedly connected to the connecting member.

[0036] The worm gear and the worm are configured to interlock when the motor stops operating.

[0037] In some embodiments, the reduction mechanism includes an input pulley, an output pulley and a belt wound around the input pulley and the output pulley, the input pulley is connected to the output shaft of the motor, and the output pulley is connected to the input end of the transmission mechanism; or, the reduction mechanism includes an input gear, an output gear and an idler gear meshed between the input gear and the output gear, the input gear is connected to the output shaft of the motor, and the output gear is connected to the input end of the transmission mechanism; or, the reduction mechanism includes an input sprocket, an output sprocket and a chain wound around the input sprocket and the output sprocket, the input sprocket is connected to the output shaft of the motor, and the output sprocket is connected to the input end of the transmission mechanism; or, the reduction mechanism includes a planetary gear reduction mechanism, the input shaft and output shaft of the planetary gear reduction mechanism are parallel and spaced apart, the input shaft of the planetary gear reduction mechanism is connected to the output shaft of the motor, and the output shaft of the planetary gear reduction mechanism is connected to the input end of the transmission mechanism.

[0038] In some embodiments, the connecting member is a mounting fork or a steering rod.

[0039] In the steering structure of some embodiments of the present disclosure, the motor housing and the connecting part are arranged on the same side of the reduction mechanism, which can reduce the size of the steering structure in the left-right direction of the vehicle and reduce the spatial layout requirements of the steering structure in the left-right direction of the vehicle. The straight-line moving distance of the connecting part in the left-right direction of the vehicle is longer, so that the wheels can have a larger steering angle.

[0040] On the other hand, some embodiments of the present disclosure provide a steering device comprising two of the above-mentioned steering structures, wherein the two steering structures are configured to be spaced apart in the left-right direction of a vehicle.

[0041] On the other hand, some embodiments of the present disclosure further provide a vehicle, comprising the above-mentioned steering structure or the above-mentioned steering device.

[0042] In some embodiments, the two steering structures are symmetrically arranged along the left-right direction of the vehicle.

[0043] In some embodiments, the two steering structures are arranged side by side in the left and right directions of the vehicle at a middle position between the left wheel and the right wheel; or, the steering structure on the left is arranged close to the left wheel, and the steering structure on the right is arranged close to the right wheel.

[0044] In some embodiments, the connecting members of the two steering structures are respectively connected to the left rear wheel and the right rear wheel. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] FIG1 is a perspective view of a steering structure according to some embodiments of the present disclosure;

[0046] FIG2 is an internal structural diagram of a steering structure according to some embodiments of the present disclosure;

[0047] FIG3 is a partial enlarged view of a transmission mechanism of a steering structure according to some embodiments of the present disclosure;

[0048] FIG4 is a diagram of the internal structure of a steering structure according to some embodiments of the present disclosure.

[0049] : Illustrations: 1. Motor; 2. Mounting fork; 2A. Steering rod; 21A. Stud; 3. Housing; 31. Mounting frame; 311. Mounting hole; 32. First limiting surface; 33. Through hole; 34. Speed ​​reduction mechanism housing; 341. Protrusion; 35. Transmission mechanism housing; 36. End cover; 4. Speed ​​reduction mechanism; 41. Input pulley; 42. Output pulley; 43. Belt; 5. Transmission mechanism; 51. Screw; 511. Internal threaded hole; 512. Pin hole; 513. Optical axis; 52. Screw nut; 521. Protruding section; 522. Second limiting surface; 6. Stop member; 61. Stop pin; 62. Sleeve; 63. Buffer; 7. Displacement sensor; 8. Second sealing ring; 9. Rolling bearing; 10. Locking screw plug; 20. Bolt; 30. Anti-loosening nut; 40. Sliding bearing; 50. Dust cover. DETAILED DESCRIPTION

[0050] In order to make the technical problems, technical solutions and beneficial effects solved by the present disclosure more clearly understood, the present disclosure is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present disclosure and are not intended to limit the present disclosure.

[0051] In the related art, an integrated rear-wheel steering gear assembly allows the vehicle's two rear wheels to be coordinated, but both rear wheels can only deflect simultaneously and in the same direction; the left and right rear wheels cannot deflect independently. While a split rear-wheel steering gear assembly can deflect the two rear wheels to different angles, the split rear-wheel steering gear assembly in the related art is relatively long in the left-right direction of the vehicle. This split rear-wheel steering gear assembly occupies a large amount of space in the left-right direction of the vehicle, resulting in a shorter left-right travel distance for the mounting fork, and thus a smaller steering angle for the rear wheels.

[0052] To this end, some embodiments of the present disclosure provide a steering structure.

[0053] 1 to 4 , a steering structure 100 provided in some embodiments of the present disclosure includes a motor 1 , a mounting fork 2 constituting a connecting member, a speed reduction mechanism, and a transmission mechanism.

[0054] The mounting fork 2 is suitable for connecting to a wheel, the input end of the reduction mechanism 4 is connected to the output shaft of the motor 1, the output end of the reduction mechanism 4 is connected to the input end of the transmission mechanism 5, and the output end of the transmission mechanism 5 is connected to only one mounting fork 2. The housing of the motor 1 and the mounting fork 2 are arranged on the same side of the reduction mechanism 4; the reduction mechanism 4 and the transmission mechanism 5 can convert the rotational motion of the motor 1 into the linear motion of the mounting fork 2 (that is, the motor 1 only drives a single mounting fork 2 to move linearly) to drive the wheel to turn. The linear motion of the mounting fork 2 is a reciprocating linear motion in the direction of approaching or moving away from the reduction mechanism 4. The wheel is a rear wheel. That is, the steering structure 100 of some embodiments of the present disclosure can be a rear-wheel steering structure.

[0055] In some embodiments of the steering structure disclosed herein, by arranging the motor 1 housing and the mounting fork 2 on the same side of the reduction mechanism 4, the steering structure's dimensions in the left-right direction of the vehicle can be reduced, thereby reducing the required space for the steering structure in this direction. This allows the mounting fork 2 to travel a greater distance in the left-right direction, allowing the wheels to achieve a greater steering angle.

[0056] In addition, a motor 1 with greater power may be arranged to increase the output force of the entire steering structure, thereby being able to meet greater wheel turning angle requirements even on vehicles with greater loads.

[0057] The mounting fork 2 is connected to the wheel via a ball pin. That is, the steering structure of some embodiments of the present disclosure can be applied to vehicles with ball pins arranged on the wheels.

[0058] The steering structure 100 further includes a housing 3, the housing of the motor 1 is mounted on the housing 3, the reduction mechanism 4 and the transmission mechanism 5 are disposed within the housing 3, and the mounting fork 2 is exposed from the housing 3. For example, the housing of the motor 1 is fixed to the housing 3 by a plurality of bolts.

[0059] The housing 3 includes a reduction mechanism housing 34 and a transmission mechanism housing 35. The reduction mechanism 4 is disposed within the reduction mechanism housing 34, and the transmission mechanism 5 is disposed within the transmission mechanism housing 35. The transmission mechanism housing 35 extends in the same direction as the outer casing of the motor 1. This allows the transmission mechanism housing 35 to overlap with the outer casing of the motor 1 in length, further shortening the length of the housing 3 in the left-right direction of the vehicle.

[0060] In some embodiments, the reduction mechanism housing 34 has a first opening facing the housing of the motor 1 and a second opening facing the mounting fork 2. One end surface of the housing of the motor 1 abuts the first opening, and the output shaft of the motor 1 passes through the first opening. For example, the housing of the motor 1 and the reduction mechanism housing 34 are connected at the first opening via a second fixing member. The end of the transmission mechanism housing 35, away from the mounting fork 2, is connected to the second opening.

[0061] In some embodiments, the housing 3 further includes an end cover 36 . The end cover 36 is fixed to a side of the reduction mechanism housing 34 away from the motor 1 , and the outer shell of the motor 1 and the transmission mechanism housing 35 are located on the same side of the end cover 36 .

[0062] For example, the side of the reduction mechanism housing 34 away from the housing of the motor 1 further has a third opening, and the end cover 36 and the reduction mechanism housing 34 are connected at the third opening via a first fixing member.

[0063] In some embodiments, the speed reduction mechanism housing 34 and the transmission mechanism housing 35 are integrally formed. Alternatively, the speed reduction mechanism housing 34 and the transmission mechanism housing 35 are separately formed and fixedly connected.

[0064] In some embodiments, the reduction mechanism housing 34 has a protrusion 341 that protrudes from the transmission mechanism housing 35. The protrusion 341 and the transmission mechanism housing 35 enclose a motor mounting space for accommodating the motor 1. That is, the reduction mechanism housing 34 and the transmission mechanism housing 35 form a generally L-shaped structure. The inner side of the L-shaped structure forms the motor mounting space, which is generally rectangular.

[0065] In some embodiments, referring to FIG1 , the exterior of the housing 3 is provided with a mounting bracket 31 suitable for connection to a vehicle's subframe. Multiple mounting brackets 31 may be provided, each of which is provided with mounting holes 311 for bolt connection to the subframe. For example, in FIG1 , three mounting brackets 31 are provided on the exterior of the housing 3 , arranged in a triangular pattern. This ensures a secure and stable connection between the housing 3 and the subframe.

[0066] In some embodiments, the transmission mechanism 5 is configured to convert the rotational motion of the output end of the reduction mechanism 4 into linear motion of the output end of the transmission mechanism 5 to drive the mounting fork 2 to move linearly toward or away from the reduction mechanism 4.

[0067] In some embodiments, the axial direction of the motor 1 is parallel to the movement direction of the output end of the transmission mechanism 5, so that the steering structure is arranged more compactly.

[0068] In some embodiments, the transmission mechanism 5 self-locks when the motor 1 stops working to prevent the wheel from deflecting when the motor 1 stops working. In this way, the steering of the wheel can be locked when the motor 1 is not working, preventing the wheel from deflecting arbitrarily and ensuring the steering accuracy of the wheel.

[0069] In some embodiments, the end of the mounting fork 2 away from the reduction mechanism 4 protrudes from the end surface of the motor 1 away from the reduction mechanism 4 to reserve a distance between the vehicle and the motor 1 to avoid interference with the motor 1 when the wheel turns.

[0070] In some embodiments, referring to Figures 2 and 3 , the deceleration mechanism 4 includes an input pulley 41, an output pulley 42, and a belt 43 wound around the input pulley 41 and the output pulley 42. The input pulley 41 is connected to the output shaft of the motor 1, and the output pulley 42 is connected to the input end of the transmission mechanism 5. The diameter of the output pulley 42 is larger than that of the input pulley 41 to achieve deceleration and torque increase.

[0071] In some embodiments, referring to Figures 2 and 3, the transmission mechanism 5 includes a screw 51 and a screw nut 52 threadedly connected to the screw 51. The screw nut 52 is fixedly connected to the output end (output pulley 42) of the reduction mechanism 4, and the end of the screw 51 away from the reduction mechanism 4 is fixedly connected to the mounting fork 2.

[0072] The output pulley 42 is interference-pressed onto the outer periphery of the screw nut 52 .

[0073] In some embodiments, the threads of the screw rod 51 and the screw nut 52 are trapezoidal (i.e., the screw rod 51 is a trapezoidal screw rod), so that when the motor 1 stops working, the screw rod 51 and the screw nut 52 interlock (self-lock). The screw rod 51 and the screw nut 52 with trapezoidal threads have good self-locking performance.

[0074] However, the screw rod 51 and the screw nut 52 may also be triangular threads. At this time, it is necessary to add a locking mechanism to achieve the interlocking of the screw rod 51 and the screw nut 52 when the motor 1 stops working.

[0075] However, the screw rod 51 and the screw nut 52 may also be ball screws. In this case, a locking mechanism is required to interlock the screw rod 51 and the screw nut 52 when the motor 1 stops working. This helps improve transmission efficiency and wear resistance, thereby extending the service life of the transmission mechanism 5.

[0076] In some embodiments, referring to FIG. 2 , an internal threaded hole 511 is provided at one end of the screw rod 51 away from the reduction mechanism 4 , and the mounting fork 2 is fixed to the one end of the screw rod 51 away from the reduction mechanism 4 by a bolt 20 threadedly connected to the internal threaded hole 511 .

[0077] However, the mounting fork 2 may also be riveted or welded to the end of the screw rod 51 away from the speed reduction mechanism 4. However, riveting or welding may affect the assembly tolerance and coaxiality due to deformation, and thus may require secondary processing.

[0078] In some embodiments, referring to FIG3 , the steering structure 100 further includes a stopper 6. A slot extending along the length of the screw rod 51 is provided within the housing 3. The stopper 6 is slidably disposed within the slot, and rotation of the stopper 6 relative to the housing 3 is limited by the sidewalls of the slot, thereby restricting rotation of the screw rod 51 relative to the housing 3. That is, when the screw nut 52 rotates, the screw rod 51 can only reciprocate in a straight line.

[0079] In some embodiments, referring to FIG3 , the steering structure 100 further includes a displacement sensor 7. The displacement sensor 7 is mounted on the housing 3, one end of the stopper 6 is fixedly connected to the screw 51, and the other end of the stopper 6 is slidably connected to the displacement sensor 7. The displacement sensor 7 is configured to detect the displacement of the screw 51 by measuring the relative displacement between the displacement sensor 7 and the stopper 6. The displacement information detected by the circuit board in the displacement sensor 7 is transmitted to the electronic control unit via an electrical signal. The electronic control unit controls the rotation of the motor 1 to achieve precise displacement of the screw 51, thereby achieving precise steering of the wheel.

[0080] A slide rail is provided on one side of the displacement sensor 7 facing the stopper 6 . The length direction of the slide rail is parallel to the axial direction of the screw rod 51 . The stopper 6 is slidably connected to the slide rail.

[0081] In some embodiments, as shown in Figure 3 , the stopper 6 includes a stopper pin 61 and a sliding sleeve 62. The screw rod 51 is radially provided with a pin hole 512, into which the stopper pin 61 is inserted. The sliding sleeve 62 is sleeved over the end of the stopper pin 61 that is exposed from the pin hole. The sliding sleeve 62 is slidably connected to the slide rail of the displacement sensor 7. Thus, the displacement of the screw rod 51 can be transmitted to the displacement sensor 7 via the stopper pin 61 and the sliding sleeve 62.

[0082] For example, the stop pin 61 may be threadedly connected to the pin hole 512 or may be interference fitted in the pin hole 512 .

[0083] In some embodiments, as shown in FIG3 , a buffer member 63 is provided on the outer periphery of the end of the stopper pin 61 that is exposed from the pin hole. The buffer member 63 elastically contacts the inner wall of the sliding sleeve 62. When the stopper pin 61 moves with the screw rod 51, the buffer member 63 elastically collides with the sliding sleeve 62, thereby buffering the impact force and preventing abnormal noise caused by the collision between the stopper pin 61 and the sliding sleeve 62. The sliding sleeve 62 can be made of nylon.

[0084] At least one annular groove is provided on the outer periphery of the end of the stop pin 61 exposed from the pin hole, and the buffer member 63 is a first sealing ring press-fitted into the annular groove.

[0085] In some embodiments, referring to FIG3 , a second sealing ring 8 is provided between the housing 3 and the displacement sensor 7 to seal the gap between the housing 3 and the displacement sensor 7. This prevents dust, water, and the like from entering the housing 3 through the gap between the displacement sensor 7 and the housing 3, thereby providing a waterproof and dustproof function. The axis of the second sealing ring 8 is perpendicular to the screw rod 51.

[0086] In some embodiments, referring to FIG2 , the steering structure 100 further includes a rolling bearing 9. The inner ring of the rolling bearing 9 is interference-fitted onto the exterior of the lead screw nut 52, and the outer ring of the rolling bearing 9 remains stationary relative to the inner wall of the housing 3. For example, the rolling bearing 9 may be a deep groove ball bearing.

[0087] In some embodiments, referring to FIG2 , the steering structure 100 further includes a locking screw plug 10. The locking screw plug 10 is loosely sleeved on the outside of the screw nut 52, and a threaded hole and a first limiting surface 32 are provided on the inner wall of the housing 3. The locking screw plug 10 is threadedly connected in the threaded hole and abuts against the end face of the outer ring of the rolling bearing 9 away from the mounting fork 2, and is used to tighten the end face of the outer ring of the rolling bearing 9 close to the mounting fork 2 against the first limiting surface 32 to lock the rolling bearing 9 on the housing 3. Here, the locking screw plug 10 is loosely sleeved on the outside of the screw nut 52, which can be understood as the locking screw plug 10 being sleeved on the screw nut 52, but not in contact with the screw nut 52. In other words, the locking screw plug 10 is not rigidly connected to the screw nut 52 and is not directly driven by the screw nut 52.

[0088] In some embodiments, after the locking screw 10 is locked, the locking screw 10 can be deformed and expanded by pressure riveting to prevent the locking screw 10 from rotating and loosening. In this way, the rolling bearing 9 is stably locked to the housing 3 and is not easy to move.

[0089] Referring to Figure 2, the screw nut 52 protrudes from the rolling bearing 9 toward the mounting fork 2 to form a protruding section 521. The protruding section 521 is provided with an external thread on its exterior. The steering structure 100 also includes a locking nut 30. The outer periphery of the screw nut 52 is provided with a second limiting surface 522 extending radially thereof. The locking nut 30 is threaded onto the exterior of the protruding section 521 and abuts against the end face of the inner ring of the rolling bearing 9 near the mounting fork 2, thereby tightening the inner ring of the rolling bearing 9 away from the end face of the mounting fork 2 against the second limiting surface 522. In this way, the inner ring of the rolling bearing 9 is limited, preventing axial movement of the rolling bearing 9.

[0090] In some embodiments, referring to FIG2 and FIG3 , the housing 3 is provided with a through hole 33 . An end of the screw rod 51 away from the speed reduction mechanism 4 passes through the through hole 33 .

[0091] As shown in Figure 3 , the section of the lead screw 51 away from the reduction mechanism 4 forms an optical axis 513. The optical axis 513 is connected to the mounting fork 2. A sliding bearing 40 is provided between the inner wall of the through-hole 33 and the outer periphery of the optical axis 513. The optical axis 513 and the sliding bearing 40 slide together to prevent significant wear and noise from direct contact between the lead screw 51 and the housing 3. A dust cover 50 is provided outside the connection between the lead screw 51 and the mounting fork 2 to prevent foreign matter such as dust and water from entering the housing 3 and damaging the lead screw 51 and the lead screw nut 52.

[0092] In some embodiments of the steering structure disclosed herein, the housing of the motor 1 and the mounting fork 2 are located on the same side of the reduction mechanism 4. This reduces the steering structure's footprint, leaving more room for a more powerful motor 1 and a larger-diameter lead screw 51. This improves the overall steering structure's output, enabling greater wheel turning angles even on heavily loaded vehicles.

[0093] The working principle of the steering structure is as follows:

[0094] When the electronic control unit receives the steering instruction of the vehicle, the motor 1 rotates to drive the input pulley 41 to rotate, and drives the output pulley 42 to rotate through the belt 43, and the output pulley 42 drives the screw nut 52 to rotate. In this force transmission process, the reduction mechanism 4 completes the function of reducing the rotation speed and increasing the torque. Since the rotation of the stopper 6 relative to the housing 3 is limited by the side wall of the slide groove, the rotation of the screw 51 relative to the housing 3 is limited. That is, when the screw nut 52 rotates, the screw 51 can only reciprocate in a straight line (telescope). In this force transmission, a process of converting rotational motion into linear motion is completed, thereby providing a larger push-pull force to the screw 51. The reciprocating linear motion of the screw 51 drives the mounting fork 2 to move linearly in the direction close to or away from the reduction mechanism 4, so as to drive the wheel connected to the mounting fork 2 by the ball pin to turn.

[0095] In some embodiments, the reduction mechanism may also have other structures, such as a gear reduction mechanism. For example, the reduction mechanism includes an input gear, an output gear, and an idler gear meshing between the input gear and the output gear, wherein the input gear is connected to the output shaft of the motor, and the output gear is connected to the input end (screw nut) of the transmission mechanism.

[0096] In some embodiments, the reduction mechanism may also have other structures, such as a sprocket reduction mechanism. For example, the reduction mechanism includes an input sprocket, an output sprocket, and a chain wound around the input sprocket and the output sprocket, wherein the input sprocket is connected to the output shaft of the motor, and the output sprocket is connected to the input end (screw nut) of the transmission mechanism.

[0097] In some embodiments, the reduction mechanism may also have other structures, such as a planetary gear reduction mechanism. For example, the input shaft and output shaft of the planetary gear reduction mechanism are parallel and spaced apart, the input shaft of the planetary gear reduction mechanism is connected to the output shaft of the motor, and the output shaft of the planetary gear reduction mechanism is connected to the input end (screw nut) of the transmission mechanism.

[0098] In some embodiments, the transmission mechanism may also be of other structures, such as a rack and pinion mechanism. For example, the transmission mechanism includes a gear and a rack that mesh with each other, the gear being fixedly connected to the output end (output pulley) of the reduction mechanism, and the end of the rack away from the reduction mechanism being fixedly connected to the mounting fork.

[0099] Since the gear rack does not have a self-locking function, in this embodiment, the steering structure also includes a locking mechanism. When the motor stops working, the locking mechanism can achieve interlocking of the gear and rack (screw nut). The locking mechanism can be a clutch, brake, or synchronizer.

[0100] In some embodiments, the transmission mechanism may also be of other structures, such as a worm gear mechanism. For example, the transmission mechanism includes a worm gear and a worm gear that mesh with each other, wherein the worm gear is fixedly connected to the output end of the reduction mechanism, and the end of the worm gear that is away from the reduction mechanism is fixedly connected to the connecting member.

[0101] The worm wheel and the worm have a self-locking property. When the motor stops working, the worm wheel and the worm are interlocked.

[0102] In some embodiments, the connecting member may also be of other structures. Referring to FIG4 , the connecting member is a steering rod 2A, which is fixedly connected to the wheel.

[0103] That is, the steering structure of this embodiment can be applied to a vehicle in which no ball pin is provided on the wheel.

[0104] 4 , the end of the screw rod 51 away from the reduction mechanism 4 is provided with an internal threaded hole 511, and one end of the steering tie rod 2A is provided with a stud 21A. The stud 21A is threadedly connected to the internal threaded hole 511 to securely connect the end of the screw rod 51 away from the reduction mechanism 4 to the steering tie rod 2A.

[0105] In addition, some embodiments of the present disclosure further provide a steering device, comprising two steering structures of the above embodiments, wherein the two steering structures are spaced apart along the left-right direction of the vehicle.

[0106] The steering structure on the left side is arranged on the right side of the left wheel, and the connecting member of the steering structure on the left side is suitable for connecting to the left wheel to drive the left wheel to steer; the steering structure on the right side is arranged on the left side of the right wheel, and the connecting member of the steering structure on the right side is suitable for connecting to the right wheel to drive the right wheel to steer.

[0107] In addition, some embodiments of the present disclosure also provide a vehicle, comprising the steering device of the above embodiment.

[0108] In some embodiments, the two steering structures in the steering device are symmetrically arranged along the left-right direction of the vehicle.

[0109] Of course, according to different space requirements, the two steering structures can also be staggered in front and back.

[0110] The two steering structures are arranged side by side in the middle position between the left wheel and the right wheel along the left-right direction of the vehicle. That is, the two steering structures are arranged closely.

[0111] Alternatively, one of the two steering structures located on the left side is arranged close to the left wheel, and the other of the two steering structures located on the right side is arranged close to the right wheel. That is, both steering structures are close to their respective wheel sides and are relatively far apart from each other.

[0112] In this way, the arrangement of the entire steering structure on the rear subframe is more flexible and has a wider application range.

[0113] In some embodiments, two steering structures are arranged on the rear axle of the vehicle, and the connecting members of the two steering structures are respectively connected to the left rear wheel and the right rear wheel. In this way, the steering device is a rear-wheel steering device.

[0114] Alternatively, two steering structures may be arranged on the front axle of the vehicle, and the connecting members of the two steering structures connect the left front wheel and the right front wheel respectively. In this way, the steering device is a front-wheel steering device.

[0115] Alternatively, two steering structures may be arranged on the front axle of the vehicle, and two steering structures may be arranged on the rear axle of the vehicle. The connectors of the two steering structures on the front axle are respectively connected to the left front wheel and the right front wheel, while the connectors of the two steering structures on the rear axle are respectively connected to the left rear wheel and the right rear wheel. In this way, the steering system is a four-wheel independent steering system.

[0116] The above are merely exemplary embodiments of the present disclosure and are not intended to limit the present disclosure. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A steering structure comprising: Motor (1); a connector configured to connect to a wheel; a speed reduction mechanism (4), wherein an input end of the speed reduction mechanism (4) is connected to an output shaft of the motor (1); as well as A transmission mechanism (5), wherein the output end of the speed reduction mechanism (4) is connected to the input end of the transmission mechanism (5), and the output end of the transmission mechanism (5) is connected to the connecting member; The housing of the motor (1) and the connecting member are arranged on the same side of the reduction mechanism (4); the reduction mechanism (4) and the transmission mechanism (5) are capable of converting the rotational motion of the motor (1) into the linear motion of the connecting member to drive the wheel to turn.

2. The steering structure according to claim 1, wherein: The transmission mechanism (5) is configured to convert the rotational motion of the output end of the reduction mechanism (4) into linear motion of the output end of the transmission mechanism (5), so as to drive the connecting member to move linearly in a direction close to or away from the reduction mechanism (4).

3. The steering structure according to claim 2, wherein: The axial direction of the motor (1) is parallel to the movement direction of the output end of the transmission mechanism (5).

4. The steering structure according to claim 2 or 3, wherein: The transmission mechanism (5) is configured to self-lock when the motor (1) stops working, so as to prevent the wheel from deflecting when the motor (1) stops working.

5. The steering structure according to any one of claims 2 to 4, wherein: One end of the connecting member that is away from the speed reduction mechanism (4) protrudes from an end surface of the motor (1) that is away from the speed reduction mechanism (4).

6. The steering structure according to any one of claims 1 to 5, further comprising a housing (3), wherein the housing (3) comprises a reduction mechanism housing (34) and a transmission mechanism housing (35), the reduction mechanism (4) being arranged in the reduction mechanism housing (34), and the transmission mechanism (5) being arranged in the transmission mechanism housing (35).

7. The steering structure according to claim 6, wherein: The reduction mechanism housing (34) has a first opening toward the housing of the motor (1) and a second opening toward the connecting member. One end face of the housing of the motor (1) abuts against the first opening, the output shaft of the motor (1) passes through the first opening, and one end of the transmission mechanism housing (35) away from the connecting member is connected to the second opening.

8. The steering structure according to claim 7, wherein: The housing (3) further comprises an end cover (36), and a side of the reduction mechanism housing (34) away from the outer shell of the motor (1) further comprises a third opening, and the end cover (36) and the reduction mechanism housing (34) are connected at the third opening via a first fixing member.

9. The steering structure according to claim 7 or 8, wherein: The housing of the motor (1) and the speed reduction mechanism housing (34) are connected at the first opening via a second fixing member, and the connecting member is exposed from the housing (3).

10. The steering structure according to claim 8, wherein: The housing of the motor (1) and the transmission mechanism housing (35) are located on the same side of the end cover (36).

11. The steering structure according to any one of claims 6 to 10, wherein: The speed reduction mechanism housing (34) and the transmission mechanism housing (35) are integrally formed.

12. The steering structure according to any one of claims 6 to 11, wherein: The extension direction of the transmission mechanism housing (35) is consistent with the extension direction of the outer shell of the motor (1).

13. The steering structure according to any one of claims 6 to 12, wherein: The speed reduction mechanism housing (34) has a protruding portion (341) protruding from the transmission mechanism housing (35); the protruding portion (341) and the transmission mechanism housing (35) enclose a motor installation space for accommodating the motor (1).

14. The steering structure according to any one of claims 6 to 13, wherein: The transmission mechanism (5) comprises a screw rod (51) and a screw rod nut (52) threadedly connected to the screw rod (51); the screw rod nut (52) is fixedly connected to the output end of the speed reduction mechanism (4); and the end of the screw rod (51) away from the speed reduction mechanism (4) is fixedly connected to the connecting piece.

15. The steering structure according to claim 14, wherein: The threads of the screw rod (51) and the screw rod nut (52) are trapezoidal, so that when the motor (1) stops working, the screw rod (51) and the screw rod nut (52) are interlocked.

16. The steering structure according to claim 14 or 15 further includes a stopper (6), a slide groove extending along the length direction of the screw rod (51) is provided in the housing (3), the stopper (6) is slidably arranged in the slide groove, and the rotation of the stopper (6) relative to the housing (3) is limited by the side wall of the slide groove, so that the rotation of the screw rod (51) relative to the housing (3) is limited.

17. The steering structure according to claim 16, further comprising a displacement sensor (7), wherein the displacement sensor (7) is mounted on the housing (3), one end of the stopper (6) is fixedly connected to the screw rod (51), and the other end of the stopper (6) is slidably connected to the displacement sensor (7); The displacement sensor (7) is configured to detect the displacement of the screw rod (51) by measuring the relative displacement between the displacement sensor (7) and the stopper (6).

18. The steering structure according to any one of claims 14 to 17 further comprises a rolling bearing (9), the inner ring of the rolling bearing (9) being interference fitted on the outside of the screw nut (52), and the outer ring of the rolling bearing (9) remaining stationary relative to the inner wall of the housing (3).

19. The steering structure according to claim 18 further includes a locking screw plug (10), which is loosely mounted on the outside of the screw nut (52), and a threaded hole and a first limiting surface (32) are provided on the inner wall of the housing (3). The locking screw plug (10) is threadedly connected in the threaded hole and abuts against the end surface of the outer ring of the rolling bearing (9) away from the connecting member to tighten the end surface of the outer ring of the rolling bearing (9) close to the connecting member against the first limiting surface (32).

20. The steering structure according to claim 19, wherein: The locking screw plug (10) is deformed and expanded by pressure riveting to limit the locking screw plug (10) from rotating and loosening.

21. The steering structure according to any one of claims 18 to 20, wherein: The screw nut (52) protrudes from the rolling bearing (9) in the direction of the connecting member to form a protruding section (521), and the exterior of the protruding section (521) is provided with an external thread; The steering structure also includes a locking nut (30), and a second limiting surface (522) extending radially thereof is provided on the outer periphery of the screw nut (52), and the locking nut (30) is threaded on the outside of the protruding section (521) and abuts against the end surface of the inner ring of the rolling bearing (9) close to the connecting member, so as to abut the end surface of the inner ring of the rolling bearing (9) away from the connecting member against the second limiting surface (522).

22. The steering structure according to any one of claims 14 to 21, wherein: The housing (3) is provided with a through hole (33), and the end of the screw rod (51) away from the speed reduction mechanism (4) passes through the through hole (33).

23. The steering structure according to claim 22, wherein: A section of the screw rod (51) away from the speed reduction mechanism (4) is an optical axis (513), the optical axis (513) is connected to the connecting piece, a sliding bearing (40) is provided between the inner wall of the through hole (33) and the outer periphery of the optical axis (513), and the optical axis (513) and the sliding bearing (40) are in sliding fit.

24. The steering structure according to any one of claims 1 to 13, wherein: The transmission mechanism (5) comprises a gear and a rack that mesh with each other, the gear is fixedly connected to the output end of the reduction mechanism (4), and the end of the rack away from the reduction mechanism (4) is fixedly connected to the connecting member; The steering structure further comprises a locking mechanism, which is configured to interlock the gear and the rack when the motor (1) stops working.

25. The steering structure according to any one of claims 1 to 13, wherein: The transmission mechanism (5) comprises a worm wheel and a worm that mesh with each other, the worm wheel is fixedly connected to the output end of the reduction mechanism (4), and the end of the worm that is away from the reduction mechanism (4) is fixedly connected to the connecting member; The worm wheel and the worm are configured to interlock when the motor (1) stops working.

26. The steering structure according to any one of claims 1 to 25, wherein: The speed reduction mechanism (4) satisfies one of the following conditions: The speed reduction mechanism (4) includes an input pulley (41), an output pulley (42), and a belt (43) wound around the input pulley (41) and the output pulley (42), wherein the input pulley (41) is connected to the output shaft of the motor (1), and the output pulley (42) is connected to the input end of the transmission mechanism (5); or, The speed reduction mechanism (4) comprises an input gear, an output gear, and an idler gear meshed between the input gear and the output gear, the input gear being connected to the output shaft of the motor (1), and the output gear being connected to the input end of the transmission mechanism (5); or, The speed reduction mechanism (4) comprises an input sprocket, an output sprocket, and a chain wound around the input sprocket and the output sprocket, the input sprocket being connected to the output shaft of the motor (1), and the output sprocket being connected to the input end of the transmission mechanism (5); or, The reduction mechanism (4) includes a planetary gear reduction mechanism, wherein the input shaft and the output shaft of the planetary gear reduction mechanism are parallel and spaced apart, the input shaft of the planetary gear reduction mechanism is connected to the output shaft of the motor (1), and the output shaft of the planetary gear reduction mechanism is connected to the input end of the transmission mechanism (5).

27. The steering structure according to any one of claims 1 to 26, wherein: The connecting member is a mounting fork (2) or a steering rod (2A).

28. A steering device comprising two steering structures according to any one of claims 1 to 27, wherein the two steering structures are arranged to be spaced apart in the left-right direction of a vehicle.

29. A vehicle comprising the steering device according to claim 28.

30. The vehicle of claim 29, wherein: The two steering structures are symmetrically arranged along the left-right direction of the vehicle.

31. The vehicle according to claim 29 or 30, wherein one of the following conditions is satisfied: The two steering structures are arranged side by side in the left and right directions of the vehicle at a middle position between the left wheel and the right wheel; or, One of the two steering structures located on the left is arranged close to the wheel on the left, and the other of the two steering structures located on the right is arranged close to the wheel on the right.

32. A vehicle according to any one of claims 29 to 31, wherein The connecting members of the two steering structures are respectively connected to the left rear wheel and the right rear wheel.

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