CN113442999A

CN113442999A - Vehicle steering device

Info

Publication number: CN113442999A
Application number: CN202011547003.9A
Authority: CN
Inventors: 吴震洋
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-03-27
Filing date: 2020-12-23
Publication date: 2021-09-28
Also published as: TW202136097A; TWI803796B; TW202333982A

Abstract

A vehicle steering device is provided between a vehicle body and wheels for steering the wheels. The vehicle steering device includes a wheel motor, an axle unit, and a steering unit. The wheel shaft unit is connected with the wheel motor and the wheel, and the wheel motor drives the wheel to rotate through the wheel shaft unit. The steering unit comprises a suspension component arranged on the vehicle body and connected with the wheels, a worm gear piece arranged on the inner side surface of the wheels, a worm engaged with the worm gear piece and a steering motor arranged on the vehicle body and used for driving the worm to rotate, and when the worm rotates, the worm gear piece drives the wheels to rotate around relative to the suspension component, so that any wheel can be steered independently.

Description

Vehicle steering device

Technical Field

The present invention relates to a steering device, and more particularly to a vehicle steering device.

Background

With the rising price of fuel and the environmental pollution caused by the conventional fuel vehicles, the electric vehicles are more and more emphasized. The electric vehicle takes the power battery as a power source and is driven by the driving motor, so that the limitation caused by an engine is eliminated, and the pollution to the environment is reduced.

However, the existing steering system of the vehicle generally adopts a front wheel four-bar linkage mechanism, transmits torque through a steering control mechanism to enable two front wheels to deflect in the same direction, and then enables two rear wheels to deflect in cooperation with the front wheels through differential speed of a differential mechanism to achieve passive steering. The steering system has simple and mature principle, but the lateral steering mechanism is easy to damage under the condition of high-speed driving, the steering radius of the rear wheel is larger due to the fact that the rear wheel does not actively deflect, the steering flexibility and safety are lower, and the improvement space is provided.

Disclosure of Invention

The invention aims to provide a vehicle steering device which can enable any wheel to be steered independently.

The invention provides a vehicle steering device which is arranged between a vehicle body and wheels and is used for steering the wheels. The vehicle steering device includes a wheel motor; the wheel shaft unit is connected with the wheel motor and the wheel, and the wheel motor drives the wheel to rotate through the wheel shaft unit; and the steering unit comprises a suspension component arranged on the vehicle body and connected with the wheels, a worm gear piece arranged on the inner side surface of the wheels, a worm engaged with the worm gear piece and a steering motor arranged on the vehicle body and used for driving the worm to rotate, and when the worm rotates, the worm drives the worm gear piece to rotate so as to drive the wheels to rotate around relative to the suspension component.

The vehicle steering device of the present invention further includes a first transmission mechanism that connects the wheel motor and the axle unit.

According to the vehicle steering device, the first speed change mechanism comprises a planetary gear assembly and a switching mechanism which is movably arranged on the vehicle body and connected with the planetary gear assembly, and the switching mechanism is used for controlling whether a ring gear of the planetary gear assembly is fixed or not.

The vehicle steering device further includes a second speed reduction mechanism that connects the wheel and the axle unit.

In the vehicle steering device according to the present invention, the second reduction mechanism is provided in the wheel.

In the vehicle steering device according to the present invention, the second reduction mechanism is a planetary gear assembly.

The vehicle steering device further comprises a third speed reduction mechanism, and the third speed reduction mechanism is connected with the steering motor and the worm.

In the vehicle steering device according to the present invention, the first reduction gear and the third reduction gear are planetary gear assemblies.

The vehicle steering device comprises a wheel shaft unit, a suspension assembly and a wheel motor, wherein the wheel shaft unit comprises a first shaft section connected with the wheel motor, a second shaft section connected with the wheel and penetrating through the suspension assembly, and at least one universal joint, and two ends of the universal joint are respectively connected with the first shaft section and the second shaft section.

The invention provides a vehicle steering device which is arranged between a vehicle body and wheels and is used for steering the wheels, wherein the vehicle body is provided with an upper connecting part and a lower connecting part. The vehicle steering device comprises a mounting box which is respectively connected with the upper connecting part and the lower connecting part in a pivoting manner; the wheel motor is arranged in the mounting box; the wheel shaft unit penetrates through the mounting box and is connected with the wheel motor and the wheel, and the wheel motor drives the wheel to rotate through the wheel shaft unit; the steering unit is arranged on the vehicle body and the mounting box and comprises a worm gear piece vertically arranged on the mounting box, a worm engaged with the worm gear piece and a steering motor arranged on the vehicle body and used for driving the worm to rotate.

According to the vehicle steering device, the wheel shaft unit comprises a first shaft section, a second shaft section and at least one universal joint, wherein the first shaft section is connected with the wheel motor and penetrates through the mounting box, the second shaft section is connected with the wheels, and the two ends of the universal joint are respectively connected with the first shaft section and the second shaft section.

In the vehicle steering device according to the present invention, the mounting box includes a top wall connected to the upper connecting portion of the vehicle body, a bottom wall connected to the lower connecting portion of the vehicle body, an upper joint member provided to the top wall and penetrating the upper connecting portion, and a lower joint member provided to the bottom wall and penetrating the lower connecting portion.

The vehicle steering device comprises an upper joint assembly, an upper connecting pin, an upper shaft sleeve and a rotary buffer piece, wherein the upper connecting pin is arranged on the top wall and penetrates through the upper connecting part, the rotary buffer piece is sleeved on the upper shaft sleeve, the rotary buffer piece is provided with an inner ring layer sleeved on the shaft sleeve, a buffer layer sleeved on the inner ring layer and an outer ring layer sleeved on the buffer layer and tightly matched with the top wall, the inner ring layer and the outer ring layer are made of metal materials, and the buffer layer is made of elastic materials.

The vehicle steering device of the invention is characterized in that the upper joint component is provided with a rotary buffer piece which is embedded in the top wall and connected with the upper connecting part, the rotary buffer piece comprises a pair of clamping jaw blocks which are clamped up and down and a buffer block which is arranged between the clamping jaw blocks, each clamping jaw block is made of metal and is provided with a flat plate part and a plurality of claw parts which are formed on the surface of the flat plate part and extend towards the other clamping jaw block, the clamping jaw blocks are respectively connected with the top wall and the upper connecting part through a plurality of joint pins, and the buffer block is made of elastic material.

According to the vehicle steering device, the lower joint component is provided with the lower connecting pin which is arranged on the bottom wall and penetrates through the lower connecting part, the lower shaft sleeve which is sleeved with the lower connecting pin and the bearing piece which is sleeved on the lower shaft sleeve and is tightly matched with the bottom wall.

In the vehicle steering device according to the present invention, the upper joint assembly and the lower joint assembly have the same elements.

According to the vehicle steering device, the lower joint component is provided with the lower connecting pin which is arranged on the bottom wall and penetrates through the lower connecting part, the lower shaft sleeve which is sleeved with the lower connecting pin, the lower clamping strip which is embedded and clamped between the lower connecting pin and the lower shaft sleeve and the bearing piece which is sleeved on the lower shaft sleeve and is tightly matched with the bottom wall, and the upper joint component and the lower joint component are provided with the same elements.

According to the vehicle steering device, the top wall is sunken to form at least one positioning hole, the vehicle steering device further comprises a positioning unit arranged on the vehicle body, the positioning unit comprises at least one positioning column, and the positioning column can extend into the positioning hole to prevent the mounting box from rotating around.

In the vehicle steering device, the positioning unit further comprises a positioning sensor for detecting whether the mounting box is parallel to the worm, and when the mounting box is parallel to the worm, the positioning column can extend into the positioning hole.

The vehicle steering device further comprises a wheel steering unit, a worm gear piece arranged on the inner side surface of the wheel, a worm connected with the worm gear piece and a steering motor arranged on the vehicle body and used for driving the worm to rotate, wherein the wheel steering unit comprises a suspension component arranged on the vehicle body and connected with the wheel, and when the worm rotates, the worm gear piece is driven to rotate so as to drive the wheel to rotate around relative to the suspension component.

A vehicle steering apparatus according to the present invention is provided between a vehicle body and wheels, for steering the wheels, the vehicle steering apparatus including: a wheel motor; the wheel shaft unit is connected with the wheel motor and the wheel, and the wheel motor drives the wheel to rotate through the wheel shaft unit; and the first steering unit comprises a suspension component which is arranged on the vehicle body and connected with the wheels, at least one driving gear connected with the suspension component and at least one steering motor which is arranged on the vehicle body and used for driving the driving gear to rotate, the suspension component comprises a steering knuckle for the wheel shaft unit to penetrate and be connected with the wheels, at least two supporting arms connected with the upper end and the lower end of the steering knuckle, a bearing frame which can be movably arranged on the vehicle body up and down, a rotating shaft which can rotatably penetrate the bearing frame and be connected with the supporting arms, and at least one steering gear which is fixedly connected with the rotating shaft and is meshed with the driving gear, and when the driving gear rotates, the steering gear is driven to rotate so as to drive the rotating shaft, the supporting arms, the steering knuckle and the wheels to rotate and steer.

The vehicle steering device comprises a first steering unit, a second steering unit, a suspension assembly, a support arm, a rotating shaft, a connecting piece and two linkage clamping strips, wherein the first steering unit comprises two drive gears and two steering motors, the suspension assembly comprises two steering gears, the rotating shaft is provided with two linkage sections which are respectively connected with the support arm and the steering gears, the suspension assembly further comprises two connecting pieces which are respectively sleeved on the linkage sections and connected with the support arm, and the two linkage clamping strips are respectively clamped between the linkage sections and the connecting pieces in an embedded mode.

In the vehicle steering device according to the present invention, each of the joint members has a sleeve portion that is sleeved on the linkage section, two extension arm portions that extend from the sleeve portion away from the linkage section at intervals and are engaged with the support arm, and a pivot portion that penetrates through the extension arm portions and the support arm, so that the support arm can pivot with respect to the extension arm portions.

In the vehicle steering device, the suspension assembly further comprises two pairs of bearing pieces respectively sleeved on the linkage section and two pairs of bearing clamping strips respectively embedded and clamped between the linkage section and the bearing pieces, and each pair of bearing pieces is respectively positioned at the upper side and the lower side of the joint piece.

The vehicle steering device comprises a suspension assembly, a joint piece, a linkage section, a bearing piece and a connecting piece, wherein the suspension assembly comprises two pairs of buffer shaft sleeves respectively sleeved on the linkage section, two pairs of rotary buffering pieces respectively sleeved on the buffer shaft sleeves, and two pairs of buffer clamping strips respectively embedded between the linkage section and the bearing piece, each pair of buffer shaft sleeves and rotary buffering pieces are respectively positioned at the upper side and the lower side of the joint piece, each rotary buffering piece is provided with an inner ring layer sleeved on the buffer shaft sleeve, a buffer layer sleeved on the inner ring layer, and an outer ring layer sleeved on the buffer layer and tightly matched with the top wall, the inner ring layer and the outer ring layer are made of metal materials, and the buffer layer is made of elastic materials.

The vehicle steering device comprises a rotating shaft, a bearing piece, four pairs of linkage sections and four pairs of claw blocks, wherein the four pairs of claw blocks are vertically clamped, the four pairs of claw blocks are arranged between the four pairs of claw blocks, each pair of claw blocks are respectively connected with the upper end and the lower end of the linkage section and are positioned above the bearing piece, the two pairs of claw blocks positioned at the top and the bottom are respectively fixedly connected with a steering gear, each claw block is made of metal and is provided with a flat plate part and a plurality of claw parts formed on the surface of the flat plate part and extending towards the other claw block, and the four pairs of claw blocks are made of elastic materials.

The vehicle steering device comprises a vehicle body, a suspension assembly, a track piece, a bearing frame and a lifting unit, wherein the suspension assembly is arranged on the vehicle body and extends up and down, the track piece forms a sliding groove, the bearing frame is movably contained in the sliding groove and is provided with a first surface facing the track piece, a second surface opposite to the first surface and positioned outside the sliding groove, and a rack which is arranged on the second surface and extends up and down, the lifting unit is used for driving the bearing frame to move up and down, and the lifting unit comprises a lifting gear which is meshed with the rack, and a lifting motor which is arranged on the vehicle body and is used for driving the lifting gear to rotate.

The vehicle steering device is characterized in that the bearing frame is also provided with two side surfaces connected with the second surface and a plurality of clamping blocks arranged on at least one of the side surfaces, the lifting unit also comprises at least one positioning block which is arranged on the vehicle body and can be movably clamped with the clamping blocks, and the positioning block can block the bearing frame from moving up and down when being clamped with the clamping blocks.

The vehicle steering device comprises a vehicle body, a vehicle suspension assembly, a support arm, a sliding rod, a sliding rail rod and a cross sliding sleeve piece, wherein the vehicle suspension assembly is arranged on the vehicle body, the sliding rod is connected with the support arm positioned above the vehicle suspension assembly, the sliding rail rod is movably sleeved on the vehicle body, the cross sliding sleeve piece is movably sleeved on the sliding rod, the sliding rod is bent on the horizontal plane and extends towards the direction far away from wheels to form an arc shape, the sliding rail rod is bent on the vertical plane and extends to form an arc shape, and the cross sliding sleeve piece is provided with a horizontal part movably sleeved on the sliding rod and a vertical part connected with the horizontal part and movably sleeved on the sliding rail rod.

The vehicle steering device further comprises a wheel steering unit, a worm connected with the worm gear piece and a steering motor arranged on the vehicle body and used for driving the worm to rotate, wherein the wheel steering unit comprises the worm gear piece arranged on the inner side surface of the wheel, and when the worm rotates, the worm gear piece is driven to rotate so as to drive the wheel to rotate around relative to the suspension assembly.

The vehicle steering device according to the present invention further includes a plurality of third reduction gears provided between the steering motor and the drive gear of the wheel steering unit and between the steering motor and the drive gear of the first steering unit, respectively.

In the vehicle steering device according to the present invention, the third reduction gear is a planetary gear assembly.

In the vehicle steering device according to the present invention, the first speed change mechanism and the third speed reduction mechanism are planetary gear assemblies.

A vehicle steering apparatus according to the present invention is provided between a vehicle body and wheels, for steering the wheels, the vehicle steering apparatus including: a wheel motor; the wheel shaft unit is connected with the wheel motor and the wheel, and the wheel motor drives the wheel to rotate through the wheel shaft unit; and the pushing and steering unit comprises a rotating shaft which is spaced from the wheel axle unit, a steering motor which is arranged on the vehicle body and used for driving the rotating shaft to rotate, a telescopic piece group which is movably arranged on the rotating shaft and a pushing arm piece group which is movably arranged on the telescopic piece group and connected with the wheel, and when the rotating shaft rotates, the telescopic piece group can be driven to move along the rotating shaft and drive the pushing arm piece group to push the wheel to steer.

The vehicle steering device comprises a telescopic assembly and a steering wheel, wherein the telescopic assembly is provided with a collar piece movably sleeved on the rotating shaft.

The vehicle steering device comprises a pushing arm group, a connecting piece, a pushing rod and a steering ball joint, wherein the pushing arm group comprises a connecting piece arranged on the collar piece, a connecting rod connected with the connecting piece, a pushing rod in threaded connection with the connecting rod and the steering ball joint is arranged at one end of the pushing rod and is connected with the wheel, the connecting rod can rotate relative to the collar piece through the connecting piece, and the pushing rod can axially move relative to the connecting rod.

In the vehicle steering device, the pushing steering unit further comprises a pair of guide rods which are arranged on the vehicle body and penetrate through the collar piece, and the collar piece can move relative to the rotating shaft along the guide rods.

The vehicle steering device further includes a third reduction gear mechanism, and the third reduction gear mechanism is connected to the steering motor and the rotating shaft.

The invention has the beneficial effects that: the worm is driven to rotate by a steering motor of the wheel steering unit, so that the worm gear rotates to drive the wheels to rotate around, namely, the purpose of steering the vehicle is achieved. In addition, the worm can be driven to rotate by a steering motor of the axle steering unit, so that the worm gear piece rotates to drive the mounting box, the axle unit and the wheels to rotate around, the axle generates large-angle steering to steer the vehicle, and the aim of steering the vehicle can be fulfilled. Furthermore, the driving gear can be driven to rotate by a steering motor of the first steering unit, so that the steering gear rotates to drive the rotating shaft, the supporting arm, the steering knuckle and the wheels to rotate, and the aim of independent steering of each wheel can be achieved. Furthermore, the rotating shaft can be driven to rotate by a steering motor of the pushing steering unit, the telescopic piece group is driven to move along the rotating shaft and drive the pushing arm group to push the wheels to steer, and the aim of independently steering each wheel can be achieved.

Drawings

Fig. 1 is a block diagram of a first embodiment of a wheel turning device of the present invention;

FIG. 2 is a schematic front view illustrating the first embodiment;

FIG. 3 is a schematic front view illustrating a variation of the first embodiment;

FIG. 4 is a side elevational schematic view illustrating a first shifting mechanism of the first embodiment;

FIG. 5 is a schematic side view illustrating a steering unit of the first embodiment;

fig. 6 is a fragmentary top schematic view illustrating the wheel steering unit of the first embodiment;

FIG. 7 is a fragmentary top schematic view illustrating the wheel steering unit of the first embodiment rotating the wheel about;

fig. 8 is a block diagram of a second embodiment of the wheel turning device of the present invention;

FIG. 9 is a schematic side view illustrating the second embodiment;

FIG. 10 is a fragmentary, partial, side elevational, schematic view illustrating a mounting box of the second embodiment;

FIG. 11 is a fragmentary, top schematic view illustrating the mounting box of the second embodiment;

FIG. 12 is a fragmentary, top plan view schematically illustrating the second embodiment of a vehicle axle steering unit for rotating the mounting box and the vehicle wheel about;

FIG. 13 is a fragmentary, partial, side elevational view illustrating a first variation of the second embodiment;

FIG. 14 is a fragmentary, partial, side elevational view illustrating a second variation of the second embodiment;

FIG. 15 is a fragmentary, partial, side elevational view illustrating a third variation of the second embodiment;

FIG. 16 is a fragmentary, partial, side elevational view illustrating a fourth variation of the second embodiment;

fig. 17 is a block diagram of a third embodiment of the wheel turning device of the present invention;

FIG. 18 is a schematic front view illustrating the third embodiment;

fig. 19 is a schematic front view illustrating the suspension assembly of the third embodiment;

FIG. 20 is a schematic cross-sectional view taken through line XX-XX of FIG. 19;

FIG. 21 is a schematic cross-sectional view taken along section lines XXI-XXI of FIG. 19;

fig. 22 is a schematic side view illustrating the suspension assembly and the lifting unit of the third embodiment, wherein four positioning blocks of the lifting unit are engaged with a plurality of blocks;

fig. 23 is a schematic side view illustrating the suspension assembly and the lifting unit of the third embodiment, wherein four positioning blocks of the lifting unit are away from the latch to release the engagement relationship;

FIG. 24 is a schematic sectional view illustrating the connection of the loading ledges of the third embodiment at the upper end;

FIG. 25 is a cross-sectional view similar to FIG. 20, illustrating the first steering unit of the third embodiment rotating the support arm, the rotating shaft, the joint and the slide bar;

FIG. 26 is a cross-sectional view similar to FIG. 24, illustrating a first variation of the third embodiment;

FIG. 27 is a cross-sectional view similar to FIG. 24, illustrating a second variation of the third embodiment;

FIG. 28 is a schematic front view illustrating a third variation of the third embodiment;

FIG. 29 is a schematic cross-sectional view similar to FIG. 20 illustrating the third variation;

fig. 30 is a block diagram of a fourth embodiment of the wheel turning device of the present invention;

FIG. 31 is a schematic front view illustrating the fourth embodiment;

fig. 32 is a block diagram of a fifth embodiment of the wheel turning device of the present invention;

FIG. 33 is a schematic front view illustrating the fifth embodiment;

fig. 34 is a block diagram of a sixth embodiment of the wheel turning device of the present invention;

FIG. 35 is a schematic top view illustrating the sixth embodiment;

FIG. 36 is a schematic front view illustrating the jack steering unit of the sixth embodiment;

fig. 37 to 40 are schematic top views illustrating the pushing steering unit of the sixth embodiment driving the wheel to rotate; and

fig. 41 to 44 are schematic top views illustrating a pushing steering unit of a first variation of the sixth embodiment driving the wheels to rotate.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and examples.

Referring to fig. 1 to 3, a first embodiment of a vehicle steering apparatus according to the present invention is illustrated, which is suitable for a vehicle, such as an electric vehicle, but not limited thereto. The vehicle steering apparatus is disposed between a body of an electric vehicle and one of the wheels 100, and is configured to steer the wheel 100. The wheel 100 may be a front wheel of the electric vehicle, or the wheel 100 may be a rear wheel of the electric vehicle, and the right front wheel is exemplified in the present embodiment. Wheel 100 has a steel ring 100a, steel ring 100a having an inner side surface 100 b. The vehicle steering device includes a wheel motor M, a first speed change mechanism P1, an axle unit 1, a second speed reduction mechanism P2, a third speed reduction mechanism P3 (see fig. 5), and a wheel steering unit 2. The first speed reducing mechanism P1, the second speed reducing mechanism P2 and the third speed reducing mechanism P3 may be, for example, a planetary gear assembly, but not limited thereto.

The wheel motor M is connected to the corresponding planetary gear assembly for driving the planetary gear assembly and one wheel 100 of the plurality of wheels 100 of the electric vehicle to which the planetary gear assembly is connected, and the wheel motor M is further connected to a main battery 200 of the electric vehicle for charging the main battery 200 when the wheel motor M generates electricity reversely. The electric vehicle further has a fuel cell 300, which can also charge the main battery 200, and the electric vehicle uses the main battery 200 and the fuel cell 300 to supply power to drive the wheels 100, and can also use only the main battery 200 or only the fuel cell 300 to supply power. When the wheel motor M is connected and drives the planetary gear assembly, the wheel motor M applies work to the planetary gear assembly in a forward direction, and then the planetary gear assembly drives the wheel 100 to rotate; when the wheel motor M is connected but does not drive the planetary gear assembly, the planetary gear assembly is reversely driven by the spinning wheel 100, and then the wheel motor M is reversely driven by the planetary gear assembly to reversely generate electricity to charge the main battery 200.

The wheel motor M may be, for example: an In-Wheel Motor (In-Wheel Motor), a Hub Motor (Hub Motor), an induction Motor, a permanent magnet reluctance Motor (permanent magnet reluctance motors), a brushless Motor (brushless motors), a direct current Motor (DC motors), or an alternating current Motor (AC motors), or by using at least one of the foregoing; the present invention is not so limited and any other suitable motor may be used in practice in accordance with the present invention.

The first speed change mechanism P1 is provided between the wheel motor M and the axle unit 1, and the second speed reduction mechanism P2 is provided between the axle unit 1 and the wheel 100. The first speed changing mechanism P1 and the second speed reducing mechanism P2 can be selected from any type of planetary gear assembly as required, and a typical planetary gear assembly includes a sun gear, a sun gear shaft connected to the sun gear, a plurality of planetary gears surrounding the sun gear, a carrier on which the planetary gears are disposed, a carrier shaft connected to the carrier, and a ring gear located at the outermost ring. In the present embodiment, the second reduction mechanism P2 is a bell hub (bell hub) planetary gear assembly, but not limited thereto. In other embodiments, the first speed change mechanism P1 and the second speed reduction mechanism P2 can be alternatively selected, that is, only the first speed change mechanism P1 or only the second speed reduction mechanism P2 can be provided, or even both the first speed change mechanism P1 and the second speed reduction mechanism P2 can be omitted. The number of the first speed change mechanisms P1 is not limited to one, and may be plural in other embodiments as long as there is at least one.

The wheel motor M is connected to a planetary gear assembly to further drive the wheel 100. When the wheel motor M drives the planetary gear assembly, the wheel motor M applies work to the planetary gear assembly in the forward direction, and then the planetary gear assembly drives the wheel 100 to rotate, at this time, the following options can be selected: (1) when the wheel motor M is connected with and drives the sun gear shaft, then is converted into a sun gear to be connected with and drive the planet carrier, and then is converted into a planet carrier shaft to be connected with and drive the wheel 100, the sun gear driving shaft, the planet carrier driven shaft and the ring gear are fixed, so that the wheel 100 is greatly decelerated in the same direction to improve the torsion; (2) when the wheel motor M is connected to drive the planet carrier shaft, then converted into a planet carrier connected to drive the sun gear, and then converted into a sun gear shaft connected to drive the wheel 100, the planet carrier driving, the sun gear driven, and the ring gear are fixed, so that the wheel 100 is accelerated in the same direction to increase the rotation speed.

When the wheel motor M is connected but does not drive the planetary gear assembly, the idle wheel 100 reversely drives the planetary gear assembly, and then the planetary gear assembly reversely drives the wheel motor M to reversely generate electricity, thereby charging the main battery 200, and at this time, the operation mode of the planetary gear assembly can be divided into: (1) when the wheel 100 idles and the wheel is connected with a driving sun gear shaft, then is converted into a sun gear which is connected with a driving planet carrier, and then is converted into a planet carrier shaft which is connected with a driving planet carrier shaft and then is converted into a wheel motor M to generate electricity, the ring gear is fixed, the sun gear is driven, the planet carrier is driven, and the planetary gear assembly is greatly decelerated in the same direction to charge the main battery 200; (2) when the wheel 100 idles and the wheel is connected with the driving planet carrier shaft, then the wheel is converted into the planet carrier connected with the driving sun gear, and then the wheel is converted into the sun gear shaft connected with the driving wheel motor M to generate electricity, the ring gear is fixed, the planet carrier is driven, the sun gear is driven, and the planetary gear assembly is accelerated in the same direction to charge the main battery 200.

Referring to fig. 4, in the present embodiment, the first speed changing mechanism P1 further has a switching mechanism P14 movably disposed on the vehicle body and connected to the ring gear of the planetary gear assembly. In order to illustrate the relative relationship between the switching mechanism and the planetary gear assembly, only the detailed structural reference numbers of the planetary gear assembly are illustrated in fig. 4. The planetary gear assembly has a sun gear P11, the planetary gears P12 surrounding the sun gear P11, a ring gear P13 at the outermost ring, and a planet carrier P15 connecting the planetary gears P12. The switching mechanism P14 movably holds the ring gear, and has a switching ring P141, an engaging ring P142 disposed on the surface of the switching ring P141 facing the ring gear P13, two fixing pins P144 fixedly connected to the vehicle body and passing through the switching ring P141, and two driving members P143 driving the switching ring P141 to move toward or away from the ring gear P13 along the fixing pins P144. The engaging ring P142 can mesh with the ring gear P13 thereby securing the ring gear P13, and once the ring gear P13 is secured, the planetary gear assembly can provide a large retarding effect on the wheels 100. When the shift ring P141 moves the engaging ring P142 away from the ring gear and disengages from the ring gear, the ring gear P13 is not fixed. The switching mechanism P14 is used to control whether the ring gear P13 is fixed, and when the ring gear P13 is not fixed, the planetary gear assembly cannot provide acceleration or deceleration effect to the wheels 100.

Referring to fig. 2 and 3, an axle unit 1 is connected to the wheel motor M and the wheel 100, and the wheel motor M drives the wheel 100 to rotate through the axle unit 1. The axle unit 1 includes a first shaft section 11 connected to the wheel motor M, a second shaft section 12 passing through the wheel steering unit 2, two universal joints 13, and a third shaft section 14 connected to the wheel 100. Two ends of one universal joint 13 are respectively connected with the first shaft section 11 and the second shaft section 12, and two ends of the other universal joint 13 are respectively connected with the second shaft section 12 and the third shaft section 14. With the arrangement of the universal joint 13, when the wheel 100 is subjected to a collision and is displaced up and down or back and forth, the wheel 100 can rock up and down or back and forth relative to the first transmission mechanism P1 through the universal joint 13, thereby preventing the first transmission mechanism P1, the second reduction mechanism P2 and the wheel motor M from being affected during the displacement of the wheel 100. The second reduction mechanism P2 is provided in the third shaft section 14, but in other embodiments, it can be provided in the wheel 100, as shown in fig. 3. It should be noted that in other embodiments, the number of the universal joints 13 may be one, so that the third shaft segment 14 can be omitted and incorporated into the second shaft segment 12.

Referring to fig. 2, 5 to 7, the wheel steering unit 2 includes a suspension assembly 21 disposed on the vehicle body and connected to the wheel 100, a worm gear 22 disposed vertically on an inner side surface 100b of a rim 100a of the wheel 100 and having a substantially circular arc shape, a worm 23 engaged with the worm gear 22, and a steering motor 24 disposed on the vehicle body for driving the worm 23 to rotate. The suspension assembly 21 includes a knuckle 211 for the second shaft section 12 to penetrate and connect with the wheel 100, two support arms 212 connected to upper and lower ends of the knuckle 211, and a shock absorber (not shown) disposed on the support arms 212, wherein the knuckle 211 can pivot relative to the support arms 212, and the suspension assembly 21 of the present embodiment is a double-a-arm suspension system, but not limited thereto. The worm gear 22 may be a solid plate or a hollow ring, as long as the outer periphery has a screw thread to engage with the worm 23. When the worm 23 rotates, the worm gear 22 will drive the wheel 100 to rotate around relative to the suspension assembly 21, as shown in fig. 5, so as to achieve the purpose of turning the wheel 100, and when the wheel turns 90 degrees or more, the first shaft section 11 and the second shaft section 12 will not be broken by the arrangement of the universal joint 13. The third speed reducing mechanism P3 is connected to the worm 23 and the steering motor 24 for reducing the rotation speed of the worm 23 and preventing the wheel 100 from rotating by an excessive angle to increase the difficulty of adjusting the steering angle. That is, in the above manner, it is possible to steer the tires independently of each other, increasing the steering flexibility of the electric vehicle, especially in the case of high-speed driving. The steering motor 24 may be, for example, a servo motor (servo) or a Step motor (Step motor), but is not limited thereto.

Referring to fig. 8 and 9, a second embodiment of a vehicle steering apparatus according to the present invention is illustrated, which is adapted to an electric vehicle, and is disposed between a vehicle body of the electric vehicle and one of wheels 100 for steering the wheel 100. The vehicle body has an upper connecting portion 110 and a lower connecting portion 120. The wheel 100 may be a front wheel of the electric vehicle or the wheel 100 may be a rear wheel of the electric vehicle, and the right front wheel is exemplified in the present embodiment. The vehicle steering device includes a mounting box 3, a wheel motor M, a first transmission mechanism P1, an axle unit 1, a second reduction mechanism P2, an axle steering unit 2', a third reduction mechanism P3 (see fig. 11), and a positioning unit 4.

Referring to fig. 9 to 11, a mounting box 3 is pivotally connected to the upper connecting portion 110 and the lower connecting portion 120, respectively, and the mounting box 3 includes a top wall 31 connected to the upper connecting portion 110 of the vehicle body, a side wall 32 connected to the top wall 31, a bottom wall 33 connected to the side wall 32 and the lower connecting portion 120 of the vehicle body, an upper engaging member 34 disposed on the top wall 31 and penetrating through the upper connecting portion 110, and a lower engaging member 35 disposed on the bottom wall 33 and penetrating through the lower connecting portion 120. The space inside the mounting case 3 is used for placing the wheel motor M and the first transmission mechanism P1, and the top wall 31 is formed with four positioning holes 311, the operation of which will be described later. The side wall 32 is provided for the axle steering unit 2'.

The upper connecting assembly 34 has an upper connecting pin 341 disposed on the top wall 31 and penetrating through the upper connecting portion 110, an upper shaft sleeve 342 sleeved on the upper connecting pin 341, an upper clamping bar 344 embedded between the upper connecting pin 341 and the upper shaft sleeve 342, and a rotary buffer member 343 sleeved on the upper shaft sleeve 342, wherein the rotary buffer member 343 has an inner ring layer 343a sleeved on the upper shaft sleeve 342, a buffer layer 343b sleeved on the inner ring layer 343a, and an outer ring layer 343c sleeved on the buffer layer 343b and tightly fitted on the top wall 31. The inner ring layer 343a and the outer ring layer 343c are made of metal, and the buffer layer 343b is made of elastic material, such as rubber. The lower engaging assembly 35 includes a lower connecting pin 351 disposed on the bottom wall 33 and penetrating through the lower connecting portion 120, a lower bushing 352 sleeved on the lower connecting pin 351, a lower engaging strip 354 embedded between the lower connecting pin 351 and the lower bushing 352, and a bearing 353 tightly fitted on the bottom bushing and tightly fitted to the bottom wall 33. The bearing member 353 can be selected from one of roller bearings, ball bearings, thrust bearings, etc., and is used to receive the weight of the mounting box 3, the wheel motor M and the first speed change mechanism P1 in the mounting box, and has a good load.

The axle unit 1 is substantially the same as the first embodiment, except that the first shaft segment 11 is disposed through the sidewall 32 of the mounting box 3 and connected to the universal joint 13, and the function of the universal joint 13 is described in the previous paragraphs, which are not repeated herein. The first speed change mechanism P1 and the second speed reduction mechanism P2 also function in the same way as the first embodiment, and the first speed change mechanism P1 also has a switching mechanism P14, which is not described again.

Referring to fig. 10 to 12, the axle steering unit 2 'includes a semicircular worm gear 22' vertically disposed on the sidewall 32 of the mounting box 3, a worm 23 'engaged with the worm gear 22', and a steering motor 24 'disposed on the vehicle body for driving the worm 23' to rotate, wherein when the worm 23 'rotates, the worm gear 22' rotates to drive the mounting box 3, the axle unit 1, the second speed reduction mechanism P2 and the wheel 100 to rotate, as shown in fig. 10, so as to achieve the purpose of steering the wheel 100. The third speed reduction mechanism P3 is connected to the worm 23' and the steering motor 24' for reducing the rotation speed of the worm 23' and preventing the mounting box 3, the axle unit 1 and the wheel 100 from rotating by an excessive angle to increase the ease of adjusting the steering angle. That is, in the above manner, it is possible to steer the tires independently of each other, increasing the steering flexibility of the electric vehicle, especially in the case of high-speed driving. When the electric vehicle is intended to travel straight without turning the wheels 100, the mounting box 3 can be positioned by the positioning unit 4 provided to the vehicle body. The positioning unit 4 includes four positioning posts 41 and a plurality of positioning sensors 42, which are disposed on the vehicle body in a vertically movable manner. The positioning sensor 42 is used for detecting whether the mounting box 3 is parallel to the worm 23', and when the mounting box 3 is parallel to the worm 23', the positioning column 41 can extend into the positioning hole 311, so as to prevent the mounting box 3 from rotating around to achieve the positioning function. To illustrate by taking actual operation as an example, when the electric vehicle needs to travel in a straight line after completing steering, the steering motor 24' drives the worm 23' to rotate so as to rotate the worm wheel member 22' to drive the mounting box 3 to rotate around, so that the mounting box 3 rotates to a position parallel to the worm 23', the positioning sensor 42 detects that the mounting box 3 is parallel to the worm 23', and the positioning column 41 can be driven to move downwards to extend into the positioning hole 311, so as to prevent the mounting box 3 from rotating around due to an external force applied to the wheel 100. When the electric vehicle needs to turn, the positioning post 41 is driven to move upward away from the positioning hole 311, and the turning motor 24' can drive the worm 23' to rotate so as to rotate the worm gear 22', so as to drive the mounting box 3, the axle unit 1, the second speed reduction mechanism P2 and the wheel 100 to rotate around. The number of the positioning posts 41 and the positioning holes 311 is not limited to four, and other numbers may be used in other embodiments as long as at least one of the positioning posts and the positioning holes is used. In another embodiment, the positioning posts 41 and the positioning holes 311 can be omitted. In other embodiments, the worm gear 22 'and the worm 23' may be two bevel gears that are engaged with each other, as long as the axial direction of rotation can be switched.

It should be noted that, in the mounting box 3, except that the upper engaging member 34 and the lower engaging member 35 are respectively abutted against the upper connecting portion 110 and the lower connecting portion 120, gaps are formed between the rest of the mounting box 3 and the upper connecting portion 110 and the lower connecting portion 120, respectively, so that the frictional resistance between the mounting box 3 and the upper connecting portion 110 and the lower connecting portion 120 during rotation is reduced, and the mounting box 3 can be smoothly rotated. The buffer layer 343b of the upper joint component 34 is made of an elastic material, so as to provide a buffer when the mounting box 3 rotates, reduce the rotation speed and amplitude of the mounting box 3, and reduce unnecessary wear damage between the upper joint component 34 and the upper connecting portion 110 and between the lower joint component 35 and the lower connecting portion 120.

Referring to fig. 13 and 14, in other embodiments, the upper bonding element 34 and the lower bonding element 35 can be replaced with each other, such that the upper bonding element 35 is disposed on both the top wall 31 and the bottom wall 33, or the upper bonding element 34 is disposed on both the top wall 31 and the bottom wall 33, which is not limited by the aspect of the present embodiment. In a first variation of the second embodiment of the vehicle steering apparatus of the present invention, the top wall 31 and the bottom wall 33 are provided with the lower engaging members 35 correspondingly, as shown in fig. 12. In a second modification of the second embodiment of the vehicle steering apparatus of the present invention, the top wall 31 and the bottom wall 33 are provided with upper joint members 34, respectively, as shown in fig. 13.

Referring to fig. 15, a third variation of the second embodiment of the vehicle steering apparatus of the present invention is described, which differs from the second embodiment in the manner of the upper joint assembly 34 of the mounting box 3. The upper connecting component 34 has a rotary buffer member 343 'embedded in the top wall 31 and connected to the upper connecting portion 110', the rotary buffer member 343 'includes a pair of vertically engaging pawl blocks 345 and a buffer block 346 disposed between the pawl blocks 345, each pawl block 345 is made of metal and has a flat plate portion 345a and two pawl portions 345b formed on the surface of the flat plate portion 345a and extending toward the other pawl block 345, and the pawl blocks 345 are connected to the top wall 31 and the upper connecting portion 110' by a plurality of connecting pins 347, respectively. The buffer block 346 is made of an elastic material, such as rubber, and can provide a buffer when the mounting box 3 rotates, so as to reduce the rotation speed and amplitude of the mounting box 3. Referring to fig. 16, a fourth variation of the second embodiment of the vehicle steering apparatus of the present invention is described, in which the lower joint element 35 and the upper joint element 34 have the same elements, and the pair of lower connecting portions 120 'is deformed in the same manner as the upper connecting portion 110'. The number of the claw portions 345b is not limited to two, and may be other numbers in other embodiments, as long as there is one or more.

Referring to fig. 17 and 18, a third embodiment of a vehicle steering apparatus according to the present invention is described, which is applied to an electric vehicle, and is disposed between a vehicle body of the electric vehicle and one of wheels 100 for steering the wheel 100. The wheel 100 may be a front wheel of the electric vehicle or the wheel 100 may be a rear wheel of the electric vehicle, and the right front wheel is exemplified in the present embodiment. The vehicle steering device includes a wheel motor M, a first speed change mechanism P1, a wheel axle unit 1, a second speed reduction mechanism P2, a first steering unit 5, three third speed reduction mechanisms P3, and a lifting unit 6. The first speed reducing mechanism P1, the second speed reducing mechanism P2 and the three third speed reducing mechanisms P3 may be, for example, a planetary gear assembly, but are not limited thereto. Among them, the first speed change mechanism P1 has the same switching mechanism P14 as the first embodiment.

Referring to fig. 19 to 21, the first steering unit 5 includes a suspension member 51 disposed on the vehicle body and connected to the wheels 100, two driving gears 53 connected to the suspension member 51, and two steering motors 54 disposed on the vehicle body for driving the driving gears 53 to rotate. The suspension assembly 51 includes a knuckle 511 for the axle unit 1 to pass through and connect with the wheel 100, two supporting arms 512 connecting the upper and lower ends of the knuckle 511, a bearing frame 513 capable of being movably disposed on the vehicle body up and down, a rotating shaft 514 rotatably passing through the bearing frame 513, two steering gears 515 fixedly connected to the rotating shaft 514 and engaged with the driving gear 53, two joints 516 respectively sleeved on the rotating shaft 514 and connected with the supporting arms 512, two interlocking clamping strips 516d, two pairs of bearing pieces 517, two pairs of bearing clamping strips 517a, a track piece 519 arranged on the vehicle body and extending up and down, a sliding rod 520 connected with the supporting arm 512 positioned above, a sliding rail rod 521 arranged on the vehicle body, and a cross sliding sleeve piece 522 movably sleeved on the sliding rod 520 and the sliding rail rod 521. Two third speed reduction mechanisms P3 are provided between the drive gear 53 and the steering motor 54, respectively.

Referring to fig. 22 to 24, the rotating shaft 514 has two linking sections 514a respectively connected to the steering gear 515 and passing through the upper and lower ends of the supporting frame 513. Each joint 516 has a socket portion 516a sleeved on the linking section 514a, and two extending arm portions 516b extending from the socket portion 516a away from the linking section 514a and engaged with the supporting arm 512 at intervals, and a pivot portion 516c penetrating through the extending arm portions 516b and the supporting arm 512, so that the supporting arm 512 can pivot relative to the extending arm portions 516 b. The interlocking engaging bar 516d is embedded between the interlocking section 514a and the connecting portion 516a, so that the interlocking section 514a can drive the joint 516 and the supporting arm 512 to rotate when rotating. The track member 519 forms a sliding slot 519a, the carriage 513 is movably received in the sliding slot 519a and has a first surface 513a facing the track member 519, a second surface 513b opposite to the first surface 513a and located outside the sliding slot 519a, two side surfaces 513c connected to the second surface 513b and located outside the sliding slot 519a, a rack 513d disposed on the second surface 513b and extending up and down, and a plurality of latches 513e respectively disposed on the side surfaces 513 c. The latch 513e has a fixed point 513e1 at the middle in the vertical direction, and the operation thereof will be described later. The pair of bearing pieces 353 are respectively sleeved on the linkage section 514a and located on the upper side and the lower side of the joint 516, and the pair of bearing clamping strips 517a are respectively clamped between the linkage section 514a and the bearing pieces 517. The slide rod 520 is curved in a horizontal plane and extends in an arc shape in a direction away from the wheel 100, and the slide rail rod 521 is curved in a vertical plane and extends in an arc shape. The cross sliding sleeve 522 has a horizontal portion 522a movably sleeved on the sliding rod 520 and a vertical portion 522b connected to the horizontal portion and movably sleeved on the sliding rail 521, and the horizontal portion 522a can allow the sliding rod 520 to move relative to the cross sliding sleeve 522. Referring to fig. 25, when the driving gear 53 rotates, the steering gear 515 is driven to rotate to drive the rotating shaft 514, the supporting arm 512, the knuckle 511 and the wheel 100 to rotate, so as to steer the wheel 100. In the present embodiment, the cross sliding sleeve 522 employs a ball bush bearing, but is not limited thereto.

The support arm 512 is not limited to the long plate shape of the present embodiment, and may be in the form of a Y-plate or a Y-rod, as long as the support arm 512 can be pivoted with respect to the extension arm 516b by the pivot portion 516 c. The latch 513e may be disposed on only one of the side surfaces 513c in other embodiments, and the shape of the latch 513e is not limited to the aspect of the embodiment, and may be a square block in other embodiments. The slide rod 520, the slide rail 521 and the cross sliding member 522 are not necessary components, and the components are disposed on the vehicle body through the slide rail 521 to increase the structural strength of the suspension assembly 51, which may be omitted in other embodiments. The bearing member 517 can be selected from one of roller bearings, ball bearings, thrust bearings, and the like, and the roller bearings are used in this embodiment, but not limited thereto.

Referring to fig. 22 to 24, the lifting unit 6 includes a lifting gear 61 engaged with the rack 513d, a lifting motor 62 disposed on the vehicle body for driving the lifting gear 61 to rotate, two pairs of positioning blocks 63 disposed on the vehicle body and movably engaged with the locking blocks 513e, and a reset sensor 64 disposed on the vehicle body. The last third speed reduction mechanism P3 is provided between the lifting gear 61 and the lifting motor 62. When the positioning block 63 is away from the fixture block 513e, the lifting motor 62 can drive the lifting gear 61 to rotate so as to drive the carriage 513 to move up and down relative to the rail member 519, and since the carriage 513 is connected to the supporting arm 512, the knuckle 511 and the wheel 100, the carriage 513 can move up and down to adjust the horizontal height of the wheel 100 relative to the vehicle body. Taking the case of the vehicle about turning to the right as an example, the height of the ground contacted by the left front wheel and the left rear wheel is higher than the height of the ground contacted by the right front wheel and the right rear wheel, the vehicle body is more stable and is not easy to overturn when the vehicle turns to the right, however, if the heights of the ground at the two sides are the same, the right half of the vehicle body will slightly tilt when the vehicle turns at the right side, so that the vehicle body is unstable, especially when the vehicle turns at a high speed, the vehicle is more likely to turn left, at this time, the positioning block 63 is separated from the block 513e only by the operation of the lifting unit 6, so that the carriage 513 at the left front wheel and the left rear wheel moves downwards, the positioning block 63 is finally reset to be clamped with the clamping block 513e, so that the distance between the wheel 100 and the vehicle body is increased to play a role of jacking the vehicle body upwards, the moment can prevent the vehicle body from turning left, and the effect of keeping the vehicle body stable when the vehicle is over-bent is achieved. After the turning is completed, the lifting unit 6 returns the carriage 513 to the positioning position by detecting whether a positioning point 513e1 in the latch 513e returns to the level of the reset baseline L by the reset sensor 64, because the initial position of the carriage 513 is the positioning point 513e1 located at the level of the reset baseline L. In addition, when one wheel 100 of the vehicle is flat, the bearing frame 513 corresponding to the flat wheel 100 can be lifted, so that the flat wheel 100 leaves the ground, and the vehicle can continue to run by using the remaining three wheels 100 to get out of danger. In addition, the supporting frame 513 corresponding to the four wheels 100 can be lifted simultaneously to be used as a recreational vehicle for wading off-road, and the supporting frame 513 corresponding to the four wheels 100 can be lowered simultaneously, so that the smaller the cross-sectional area is, the higher the air flow rate between the vehicle and the ground and the lower the pressure are, the lower the pressure is generated by the vehicle, the stability of linear acceleration can be increased, and the racing car can be used. The height of any wheel 100 can be adjusted, and the rotation speed can be adjusted by matching with a wheel motor M to cross an obstacle, so that the off-road capability is improved. And when the vehicle encounters a side impact, the carrier 513 corresponding to the impacted opposing wheel can rise, thereby raising the height of the side of the vehicle that is not impacted and preventing the vehicle from rolling. The number of the positioning blocks 63 is not limited to two pairs in this embodiment, and may be other numbers in other embodiments, as long as at least one pair is provided.

Referring to fig. 26, a first variation of the third embodiment of the vehicle steering apparatus according to the present invention is described, in which the bearing element 517 and the bearing engaging bar 517a are replaced by two pairs of buffer shaft sleeves 518a respectively sleeved on the linking sections 514a, two pairs of rotary buffers 518 respectively sleeved on the buffer shaft sleeves 518a, and two pairs of buffer engaging bars 518e respectively embedded between the linking sections 514a and the bearing element 353. Each pair of the buffer shaft sleeve 518a and the rotary buffer member 343 is located on the upper and lower sides of the engaging member 516, each rotary buffer member 518 has an inner ring layer 518b sleeved on the buffer shaft sleeve 518a, a buffer layer 518c sleeved on the inner ring layer 518b, and an outer ring layer 518d sleeved on the buffer layer 518c and tightly fitted to the top wall 31, the inner ring layer 518b and the outer ring layer 518d are made of metal, the buffer layer 518c is made of elastic material, such as rubber, and can provide buffering when the linking section 514a rotates, so as to reduce the rotation speed and amplitude of the linking section 514 a.

Referring to fig. 27, a second variation of the third embodiment of the vehicle steering apparatus according to the present invention is described, which is different from the third embodiment in that the rotating shaft 514 further includes four pairs of vertically engaging claw blocks 523 and a buffer block 524 disposed between the claw blocks, each pair of claw blocks 523 is connected to the upper and lower ends of the linking section 514a and is disposed above the bearing member 517, the two pairs of claw blocks 523 disposed at the top and bottom are respectively fixed to the steering gear 515, each claw block 523 is made of metal and has a flat plate portion 523a and a plurality of claw portions 523b formed on the surface of the flat plate portion 523a and extending toward the other claw block 523. The buffer block 524 is made of an elastic material, such as rubber, and can provide a buffer when the linkage section 514a rotates, so as to reduce the rotation speed and amplitude of the linkage section 514 a. The number of the claw portions 523b is not limited to two, and may be other numbers in other embodiments, as long as it is one or more.

Referring to fig. 28 and 29, a third variation of the third embodiment of the steering apparatus of a vehicle according to the present invention is illustrated, which is different from the third embodiment in that the number of the supporting arms 512 is two, and the length of the pivot portion 516c is synchronously extended to form a tripod structure, so that the overall structure is more stable. And the slide lever 520, the slide rail lever 521 and the cross slide kit 522 are omitted. The number of the supporting arms 512 is not limited to two pairs, and it can be configured such that a single supporting arm 512 is above, a pair of supporting arms 512 is below, or a single supporting arm 512 is below and a pair of supporting arms 512 is above.

Referring to fig. 30 and 31, a fourth embodiment of the vehicle steering apparatus of the present invention is described, which is substantially the same as the third embodiment, except that the fourth embodiment further includes a worm gear 22, a worm 23 engaged with the worm gear 22, and a steering motor 24 disposed on the vehicle body for driving the worm 23 to rotate, when the vehicle turns over a curve, the first steering unit 5 can rotate the wheel by a large angle in advance, and the wheel steering unit 2 is used for fine-tuning the rotation angle of the wheel 100, so that the turning over process is smooth.

Referring to fig. 32 and 33, a fifth embodiment of the vehicle steering apparatus of the present invention is described, which is substantially the same as the second embodiment, except that the fifth embodiment further includes a wheel steering unit 2 as described in the first embodiment, when the vehicle turns over a curve, the axle steering unit 2' can rotate the wheels by a large angle in advance, and the wheel steering unit 2 is used to continuously fine-adjust the rotation angle of the wheels 100, so that the turning over process is smooth.

Referring to fig. 34 and 35, a sixth embodiment of a vehicle steering apparatus according to the present invention is described, which is applied to an electric vehicle, and is disposed between a vehicle body of the electric vehicle and one of wheels 100 for steering the wheel 100. The wheel 100 may be a front wheel of the electric vehicle or the wheel 100 may be a rear wheel of the electric vehicle, and the right front wheel is exemplified in the present embodiment. The vehicle steering device includes a wheel motor M, a first speed change mechanism P1, an axle unit 1, a second speed reduction mechanism P2, a jack steering unit 7, and a third speed reduction mechanism P3. The first speed reducing mechanism P1, the second speed reducing mechanism P2 and the third speed reducing mechanism P3 may be, for example, a planetary gear assembly, but not limited thereto. Among them, the first speed change mechanism P1 has the same switching mechanism P14 as the first embodiment.

Referring to fig. 34 to 36, the pushing and steering unit 7 includes a rotating shaft 71 spaced from the axle unit, a steering motor 72 disposed on the vehicle body for driving the rotating shaft 71 to rotate, a telescopic assembly 70 movably sleeved on the rotating shaft 71, a pushing arm assembly 74 movably disposed on the telescopic assembly 70 and connected to the wheel 100, and a pair of guide rods 75 disposed on the vehicle body and penetrating through the telescopic assembly 70. The steering motor 72 is disposed at a position offset to the front side with respect to the wheel 100 (i.e., above the imaginary line L1 in the drawing) in the present embodiment, but not limited thereto. The telescoping assembly 70 may be a collar member 73, and the collar member 73 may be movable along the guide rods 75 relative to the rotating shaft 71. The rotating shaft 71 may be, for example, a screw or a worm, but is not limited thereto, as long as the collar member 73 will move axially along the rotating shaft 71 when the rotating shaft 71 rotates. The pushing arm assembly 74 includes a joint 741 disposed on the ring-shaped member 73, a link 742 connected to the joint 741, a pushing rod 743 screwed to the link 742, and a steering ball joint 744 disposed at an end of the pushing rod 742 and engaging with the wheel 100. The engagement member 741 may be, for example, a universal joint, such that the link 742 is freely rotatable relative to the collar member 73 via the engagement member 741. One end of the link 742 is engaged with the engagement member 741, and the other end thereof is threaded to the ejector rod 743. The ejector 743 is axially movable relative to the link 742 by a threaded connection to adjust the overall length of the ejector arm 74, and a locking nut 745 secures the link 742 and the ejector 743 to prevent relative axial movement therebetween. The ball joint 744 is connected to a lower end of a king pin (not shown) or a knuckle arm (not shown) fixed to the rim 100a of the wheel 100, and the king pin or the knuckle arm is in a backward tilting mode in this embodiment, so the connection point with the ball joint 744 is located at the front end of the rim 100a, but is not limited to this mode. The third speed reduction mechanism P3 is provided between the rotating shaft 71 and the steering motor 72. Wherein the guide rail 75 may be omitted in other embodiments, the collar member 73 may likewise be axially movable along the rotational axis 71.

Referring to fig. 37 to 40, when the rotating shaft 71 rotates, the ring-shaped member 73 can be driven to move along the rotating shaft 71 and drive the pushing arm assembly 74 to push the wheel 100 to rotate, so as to achieve the purpose of turning the wheel 100. It should be noted that, in the present embodiment, the rotating shaft 71 is connected to the front end of the steering motor 72, the steering motor 72 is disposed at a position offset to the rear side with respect to the wheel 100 (i.e., below the imaginary line L1 in the drawing), and the steering ball joint 744 is connected to the front end of the wheel 100, i.e., the queen pin or the knuckle arm is in a backward tilting state, but not limited thereto. Fig. 38 shows the case where the wheel 100 is turned by about 45 degrees to the left, fig. 39 shows the case where the wheel 100 is turned by 90 degrees to the left, and fig. 40 shows the case where the wheel 100 is turned by about 45 degrees to the right.

Referring to fig. 41 to 44, a first variation of the sixth embodiment of the vehicle steering apparatus of the present invention is described, in which a steering motor 72 is disposed at a position offset to the rear side with respect to the wheel 100 (i.e., below an imaginary line L1 in the drawing), a rotating shaft 71 is connected to the front end of the steering motor 72, and a steering ball joint 744 is connected to the rear end of the wheel 100, i.e., the king pin or the knuckle arm is in a forward tilting state. Fig. 42 shows the case where the wheel 100 is turned by about 45 degrees to the left, fig. 43 shows the case where the wheel 100 is turned by 90 degrees to the left, and fig. 44 shows the case where the wheel 100 is turned by about 45 degrees to the right.

The embodiments of the vehicle steering device of the invention all have the following advantages: the four wheels 100 of the vehicle can be steered independently, and when the vehicle is over-bent at a high speed, the steering of the front wheels and the steering of the rear wheels can be the same, so that the over-bending stability is improved; when the vehicle is over-bent at a low speed, the steering directions of the front and rear wheels are reversed to reduce the over-bending angle. And the wheels can turn by 90 degrees, so that the parking is convenient, and the wheels can also turn by more than 90 degrees under certain conditions. When the vehicle is in straight line running, if the right side of the vehicle is impacted to cause the right front wheel or the right rear wheel or both to leave the ground, the wheels can rotate by 90 degrees or more when the vehicle turns left, and angular momentum can be generated under the condition that the wheels continue to rotate, so that the vehicle can resist the side turning of the vehicle according to the conservation principle of the angular momentum, and the vehicle can be kept stable. In a similar manner, the vehicle can be kept stationary even if the left side of the vehicle is hit.

In summary, the steering motor 24 of the wheel steering unit 2 drives the worm 23 to rotate, so that the worm wheel member 22 rotates to drive the wheels 100 to rotate around, that is, the purpose of steering each wheel 100 independently is achieved, and the steering flexibility of the electric vehicle is increased. Furthermore, the worm 23 'can be driven to rotate by the steering motor 24' of the axle steering unit 2', so that the worm gear 22' rotates to drive the mounting box 3, the axle unit 1 and the wheels 100 to rotate around, and the purpose of steering each wheel 100 independently can also be achieved. Furthermore, the driving gear 53 can be driven by the steering motor 54 of the first steering unit 5, so that the steering gear 53 drives the rotating shaft 514, the supporting arm 512, the knuckle 511 and the wheels 100 to rotate, and the purpose of steering each wheel 100 independently can also be achieved. Furthermore, the rotating shaft 71 can be driven to rotate by the steering motor 72 of the pushing steering unit 7, the collar member 73 is driven to move along the rotating shaft 71 and drive the pushing arm group 74 to push the wheels 100 to rotate, and the purpose of independent steering of each wheel 100 can also be achieved.

It should be understood that the above description is only exemplary of the present invention, and should not be taken as limiting the scope of the invention, which is intended to cover all the modifications and equivalents of the claims and the specification.

Claims

1. A vehicle steering device is arranged between a vehicle body and wheels and used for steering the wheels; characterized in that the vehicle steering device comprises:

a wheel motor;

the wheel shaft unit is connected with the wheel motor and the wheel, and the wheel motor drives the wheel to rotate through the wheel shaft unit;

and the wheel steering unit comprises a suspension component which is arranged on the vehicle body and connected with the wheels, a worm gear piece arranged on the inner side surface of the wheels, a worm which is connected with the worm gear piece and a steering motor which is arranged on the vehicle body and used for driving the worm to rotate, and when the worm rotates, the worm drives the worm gear piece to rotate so as to drive the wheels to rotate around relative to the suspension component.

2. The vehicle steering device according to claim 1, characterized in that: the vehicle further comprises a first speed change mechanism, and the first speed change mechanism is connected with the wheel motor and the wheel axle unit.

3. The vehicle steering device according to claim 2, characterized in that: the first speed change mechanism comprises a planetary gear assembly and a switching mechanism which is movably arranged on the vehicle body and connected with the planetary gear assembly, and the switching mechanism is used for controlling whether the ring gear of the planetary gear assembly is fixed or not.

4. The vehicle steering device according to claim 1 or 2, characterized in that: the vehicle wheel speed reduction device further comprises a second speed reduction mechanism, and the second speed reduction mechanism is connected with the wheel and the wheel axle unit.

5. The vehicle steering device according to claim 4, characterized in that: the second reduction mechanism is provided in the wheel.

6. The vehicle steering device according to claim 4, characterized in that: the second reduction mechanism is a planetary gear assembly.

7. The vehicle steering device according to claim 1 or 2, characterized in that: the steering mechanism further comprises a third speed reducing mechanism, and the third speed reducing mechanism is connected with the steering motor and the worm.

8. The vehicle steering device according to claim 4, characterized in that: the steering mechanism further comprises a third speed reducing mechanism, and the third speed reducing mechanism is connected with the steering motor and the worm.

9. The vehicle steering device according to claim 7, characterized in that: the first speed change mechanism and the third speed reduction mechanism are both planetary gear assemblies.

10. The vehicle steering device according to claim 8, characterized in that: the first speed change mechanism and the third speed reduction mechanism are both planetary gear assemblies.

11. The vehicle steering device according to claim 1, characterized in that: the wheel axle unit comprises a first shaft section connected with the wheel motor, a second shaft section connected with the wheel and penetrating through the suspension assembly, and at least one universal joint, wherein two ends of the universal joint are respectively connected with the first shaft section and the second shaft section.

12. A vehicle steering device is arranged between a vehicle body and wheels and used for steering the wheels, wherein the vehicle body is provided with an upper connecting part and a lower connecting part; characterized in that the vehicle steering device comprises:

the mounting boxes are respectively connected with the upper connecting part and the lower connecting part in a pivoting manner;

the wheel motor is arranged in the mounting box;

the wheel shaft unit penetrates through the mounting box and is connected with the wheel motor and the wheel, and the wheel motor drives the wheel to rotate through the wheel shaft unit;

and the axle steering unit is arranged on the vehicle body and the mounting box and comprises a worm gear piece vertically arranged on the mounting box, a worm engaged with the worm gear piece and a steering motor arranged on the vehicle body and used for driving the worm to rotate, and when the worm rotates, the worm gear piece is driven to rotate so as to drive the mounting box, the axle unit and the wheels to rotate around.

13. The vehicle steering device according to claim 12, characterized in that: the vehicle further comprises a first speed change mechanism, and the first speed change mechanism is connected with the wheel motor and the wheel axle unit.

14. The vehicle steering device according to claim 13, characterized in that: the first speed change mechanism comprises a planetary gear assembly and a switching mechanism which is movably arranged on the vehicle body and connected with the planetary gear assembly, and the switching mechanism is used for controlling whether the ring gear of the planetary gear assembly is fixed or not.

15. The vehicle steering device according to claim 12, characterized in that: the vehicle wheel speed reduction device further comprises a second speed reduction mechanism, and the second speed reduction mechanism is connected with the wheel and the wheel axle unit.

16. The vehicle steering device according to claim 13, characterized in that: the vehicle wheel speed reduction device further comprises a second speed reduction mechanism, and the second speed reduction mechanism is connected with the wheel and the wheel axle unit.

17. The vehicle steering device according to claim 15, characterized in that: the second reduction mechanism is provided in the wheel.

18. The vehicle steering device according to claim 15, characterized in that: the second reduction mechanism is a planetary gear assembly.

19. The vehicle steering device according to claim 12, characterized in that: the steering mechanism further comprises a third speed reducing mechanism, and the third speed reducing mechanism is connected with the steering motor and the worm.

20. The vehicle steering device according to claim 13, characterized in that: the steering mechanism further comprises a third speed reducing mechanism, and the third speed reducing mechanism is connected with the steering motor and the worm.

21. The vehicle steering device according to claim 15, characterized in that: the steering mechanism further comprises a third speed reducing mechanism, and the third speed reducing mechanism is connected with the steering motor and the worm.

22. The vehicle steering device according to claim 16, characterized in that: the steering mechanism further comprises a third speed reducing mechanism, and the third speed reducing mechanism is connected with the steering motor and the worm.

23. The vehicle steering device according to claim 20, characterized in that: the first speed change mechanism and the third speed reduction mechanism are both planetary gear assemblies.

24. The vehicle steering device according to claim 12, characterized in that: the wheel shaft unit comprises a first shaft section connected with the wheel motor, a second shaft section connected with the wheel and at least one universal joint, wherein two ends of the universal joint are respectively connected with the first shaft section and the second shaft section.

25. The vehicle steering device according to claim 13, characterized in that: the mounting box is including connecting the automobile body the roof of last connecting portion, connect the automobile body the diapire of lower connecting portion, set up in the roof runs through last joint Assembly of last connecting portion and set up in the diapire runs through the lower joint Assembly of lower connecting portion.

26. The vehicle steering device according to claim 25, characterized in that: go up the joint Assembly have set up in the roof runs through go up the connecting pin of connecting portion, cup joint go up the last axle sleeve of connecting pin, inlay card in go up the connecting pin with last block strip between the last axle sleeve and cover are located go up the rotatory bolster of axle sleeve, rotatory bolster has the cover and establishes go up the inner ring layer of axle sleeve, the cover is established buffer layer and the cover on interior still layer are established the buffer layer and with the outer loop layer of roof tight fit, inner ring layer reaches the outer loop layer is the metal material, the buffer layer is the elasticity material.

27. The vehicle steering device according to claim 25, characterized in that: the upper joint component is provided with a rotary buffer member which is embedded in the top wall and connected with the upper connecting part, the rotary buffer member comprises a pair of clamping jaw blocks which are clamped up and down and a buffer block which is arranged between the clamping jaw blocks, each clamping jaw block is made of metal materials and is provided with a flat plate part and a plurality of claw parts which are formed on the surface of the flat plate part and extend towards the other clamping jaw block, the clamping jaw blocks are respectively connected with the top wall and the upper connecting part through a plurality of joint pins, and the buffer block is made of elastic materials.

28. The vehicle steering device according to claim 26, wherein: lower joint Assembly have set up in the diapire and run through the lower connecting pin of lower connecting portion, cup joint the lower axle sleeve of lower connecting pin, inlay card in lower connecting pin with lower block strip and the cover between the axle sleeve are located down the axle sleeve and with the bearing part of diapire tight fit.

29. The vehicle steering device according to claim 27, wherein: lower joint Assembly have set up in the diapire and run through the lower connecting pin of lower connecting portion, cup joint the lower axle sleeve of lower connecting pin, inlay card in lower connecting pin with lower block strip and the cover between the axle sleeve are located down the axle sleeve and with the bearing part of diapire tight fit.

30. The vehicle steering device according to claim 26, wherein: the upper splice assembly has the same elements as the lower splice assembly.

31. The vehicle steering device according to claim 27, wherein: the upper splice assembly has the same elements as the lower splice assembly.

32. The vehicle steering device according to claim 25, characterized in that: lower joint Assembly have set up in the diapire and run through the lower connecting pin of lower connecting portion, cup joint the lower axle sleeve of lower connecting pin, inlay card in lower connecting pin with lower block strip and the cover between the axle sleeve down locate the axle sleeve and with the bearing part of diapire tight fit, go up joint Assembly with lower joint Assembly has the same component.

33. The vehicle steering device according to claim 25, characterized in that: the roof is sunken to be formed with at least one locating hole, and vehicle steering device still includes set up in the positioning unit of automobile body, positioning unit includes at least one reference column, the reference column can stretch into the locating hole prevents the mounting box is around rotating.

34. The vehicle steering device according to claim 33, wherein: the positioning unit further comprises a positioning sensor used for detecting whether the mounting box is parallel to the worm, and when the mounting box is parallel to the worm, the positioning column can extend into the positioning hole.

35. The vehicle steering device according to any one of claims 12 to 34, wherein: the vehicle steering device further comprises a wheel steering unit, a worm gear piece arranged on the inner side surface of the wheel, a worm engaged with the worm gear piece and a steering motor arranged on the vehicle body and used for driving the worm to rotate, wherein the wheel steering unit comprises a suspension assembly arranged on the vehicle body and connected with the wheel, and when the worm rotates, the worm gear piece is driven to rotate so as to drive the wheel to rotate around relative to the suspension assembly.

36. A vehicle steering device is arranged between a vehicle body and wheels and used for steering the wheels; characterized in that the vehicle steering device comprises:

a wheel motor;

the wheel shaft unit is connected with the wheel motor and the wheel, and the wheel motor drives the wheel to rotate through the wheel shaft unit; and

the first steering unit comprises a suspension component arranged on the vehicle body and connected with the wheels, at least one driving gear connected with the suspension component and at least one steering motor arranged on the vehicle body and used for driving the driving gear to rotate, the suspension component comprises a steering knuckle for the wheel shaft unit to penetrate and be connected with the wheels, at least two supporting arms connected with the upper end and the lower end of the steering knuckle, a bearing frame capable of being movably arranged on the vehicle body up and down, a rotating shaft rotatably penetrating the bearing frame and connected with the supporting arms, and at least one steering gear fixedly connected with the rotating shaft and meshed with the driving gear, and when the driving gear rotates, the steering gear is driven to rotate so as to drive the rotating shaft, the supporting arms, the steering knuckle and the wheels to steer.

37. The vehicle steering device according to claim 36, wherein: the first steering unit comprises two driving gears and two steering motors, the suspension assembly comprises two steering gears, the rotating shaft is provided with two linkage sections which are respectively connected with the supporting arm and the steering gears, the suspension assembly further comprises two connecting pieces which are respectively sleeved on the linkage sections and connected with the supporting arm, and two linkage clamping strips which are respectively clamped between the linkage sections and the connecting pieces in an embedded mode.

38. The vehicle steering device according to claim 37, wherein: each joint part is provided with a sleeve joint part sleeved on the linkage section, two extension arm parts which are arranged at intervals and extend from the sleeve joint part away from the linkage section and are clamped on the support arm, and a pivot part which penetrates through the extension arm parts and the support arm, so that the support arm can pivot relative to the extension arm parts.

39. The vehicle steering device according to claim 37, wherein: the suspension assembly further comprises two pairs of bearing pieces respectively sleeved on the linkage section and two pairs of bearing clamping strips respectively embedded and clamped between the linkage section and the bearing pieces, and each pair of bearing pieces are respectively positioned on the upper side and the lower side of the joint.

40. The vehicle steering device according to claim 37, wherein: the suspension assembly further comprises two pairs of buffer shaft sleeves respectively sleeved on the linkage sections, two pairs of rotary buffering pieces respectively sleeved on the buffer shaft sleeves and two pairs of buffer clamping strips respectively clamped between the linkage sections and the bearing pieces, wherein each pair of buffer shaft sleeves and rotary buffering pieces are respectively positioned on the upper side and the lower side of each joint piece, each rotary buffering piece is provided with an inner ring layer and a sleeve layer, which are sleeved on the buffer shaft sleeves, the buffer layer and the sleeve layer are arranged on the inner ring layer and the outer ring layer, which are tightly matched with the top wall, of the buffer layer, the inner ring layer and the outer ring layer are made of metal materials, and the buffer layer is made of elastic materials.

41. The vehicle steering device according to claim 39, wherein: the rotating shaft further comprises four pairs of clamping jaw blocks which are clamped up and down and buffer blocks arranged between the clamping jaw blocks, every two pairs of clamping jaw blocks are respectively connected with the upper end and the lower end of the linkage section and are both positioned above the bearing part, the two pairs of clamping jaw blocks positioned at the top and the bottom are respectively fixedly connected with the steering gear, each clamping jaw block is made of metal materials and is provided with a flat plate part and a plurality of claw parts formed on the surface of the flat plate part and extending towards the other clamping jaw block, and the buffer blocks are made of elastic materials.

42. The vehicle steering device according to claim 36, wherein: the suspension assembly further comprises a rail piece arranged on the vehicle body and extending up and down, the rail piece forms a sliding chute, the bearing frame is movably contained in the sliding chute and provided with a first surface facing the rail piece, a second surface opposite to the first surface and located outside the sliding chute, and a rack arranged on the second surface and extending up and down, the vehicle steering device further comprises a lifting unit used for driving the bearing frame to move up and down, and the lifting unit comprises a lifting gear meshed with the rack and a lifting motor arranged on the vehicle body and used for driving the lifting gear to rotate.

43. The vehicle steering device according to claim 42, wherein: the bearing frame is further provided with two side surfaces connected with the second surface and a plurality of clamping blocks arranged on at least one of the side surfaces, the lifting unit further comprises at least one positioning block arranged on the vehicle body and movably clamped with the clamping blocks, and the positioning block can block the bearing frame from moving up and down when clamped with the clamping blocks.

44. The vehicle steering device according to claim 36, wherein: the subassembly that suspends in midair still is located the top including the connection the slide bar of support arm, set up in the slide rail pole and the movably cover of automobile body are located the slide bar reaches the cross slide kit of slide rail pole, the slide bar is crooked on the horizontal plane towards keeping away from the direction of wheel extends and is the arc, the slide rail pole extends and is the arc on the perpendicular crookedly, the cross slide kit has movably cover to be located the horizontal part of slide bar and connection horizontal part and movably cover are located the vertical part of slide rail pole.

45. The vehicle steering device according to any one of claims 36 to 44, wherein: the vehicle steering device further comprises a wheel steering unit, a worm connected with the worm gear piece and a steering motor arranged on the vehicle body and used for driving the worm to rotate, wherein the wheel steering unit comprises a worm gear piece arranged on the inner side surface of the wheel, and when the worm rotates, the worm gear piece is driven to rotate so as to drive the wheel to rotate around relative to the suspension assembly.

46. The vehicle steering device according to claim 45, wherein: the vehicle further comprises a first speed change mechanism, and the first speed change mechanism is connected with the wheel motor and the wheel axle unit.

47. The vehicle steering device according to claim 46, wherein: the first speed change mechanism comprises a planetary gear assembly and a switching mechanism which is movably arranged on the vehicle body and connected with the planetary gear assembly, and the switching mechanism is used for controlling whether the ring gear of the planetary gear assembly is fixed or not.

48. The vehicle steering device according to claim 45, wherein: the vehicle wheel speed reduction device further comprises a second speed reduction mechanism, and the second speed reduction mechanism is connected with the wheel and the wheel axle unit.

49. The vehicle steering device according to claim 46, wherein: the vehicle wheel speed reduction device further comprises a second speed reduction mechanism, and the second speed reduction mechanism is connected with the wheel and the wheel axle unit.

50. The vehicle steering device according to claim 48, wherein: the second reduction mechanism is provided in the wheel.

51. The vehicle steering device according to claim 48, wherein: the second reduction mechanism is a planetary gear assembly.

52. The vehicle steering device according to claim 45, wherein: the steering gear mechanism further comprises a plurality of third speed reduction mechanisms respectively arranged between the steering motor and the drive gear of the wheel steering unit and between the steering motor and the drive gear of the first steering unit.

53. The vehicle steering device according to claim 46, wherein: the steering gear mechanism further comprises a plurality of third speed reduction mechanisms respectively arranged between the steering motor and the drive gear of the wheel steering unit and between the steering motor and the drive gear of the first steering unit.

54. The vehicle steering device according to claim 48, wherein: the steering gear mechanism further comprises a plurality of third speed reduction mechanisms respectively arranged between the steering motor and the drive gear of the wheel steering unit and between the steering motor and the drive gear of the first steering unit.

55. The vehicle steering device according to claim 49, wherein: the steering gear mechanism further comprises a plurality of third speed reduction mechanisms respectively arranged between the steering motor and the drive gear of the wheel steering unit and between the steering motor and the drive gear of the first steering unit.

56. The vehicle steering device according to claim 52, wherein: the third reduction mechanism is a planetary gear assembly.

57. The vehicle steering device according to claim 53, wherein: the first speed change mechanism and the third speed reduction mechanism are both planetary gear assemblies.

58. The vehicle steering device according to claim 45, wherein: the wheel axle unit comprises a first shaft section connected with the wheel motor, a second shaft section connected with the wheel and penetrating through the suspension assembly, and at least one universal joint, wherein two ends of the universal joint are respectively connected with the first shaft section and the second shaft section.

59. A vehicle steering device is arranged between a vehicle body and wheels and used for steering the wheels; characterized in that the vehicle steering device comprises:

a wheel motor;

the pushing steering unit comprises a rotating shaft, a steering motor, a telescopic piece group and a pushing arm piece group, wherein the rotating shaft is arranged at intervals with the wheel axle unit, the steering motor is arranged on the vehicle body and used for driving the rotating shaft to rotate, the telescopic piece group is movably arranged on the rotating shaft, and the pushing arm piece group is movably arranged on the telescopic piece group and connected with the wheel.

60. The vehicle steering device according to claim 59, wherein: the telescopic component is provided with a collar piece which is movably sleeved on the rotating shaft.

61. The vehicle steering device according to claim 60, wherein: the pushing arm assembly comprises a joint piece arranged on the collar piece, a connecting rod connected with the joint piece, a pushing rod in threaded connection with the connecting rod and a steering ball joint arranged at one end of the pushing rod and connected with the wheel, the connecting rod can rotate relative to the collar piece through the joint piece, and the pushing rod can axially move relative to the connecting rod.

62. The vehicle steering device according to claim 61, wherein: the pushing steering unit further comprises a pair of guide rods which are arranged on the vehicle body and penetrate through the collar piece, and the collar piece can move relative to the rotating shaft along the guide rods.

63. The vehicle steering device according to claim 59, wherein: the vehicle further comprises a first speed change mechanism, and the first speed change mechanism is connected with the wheel motor and the wheel axle unit.

64. The vehicle steering device according to claim 63, wherein: the first speed change mechanism comprises a planetary gear assembly and a switching mechanism which is movably arranged on the vehicle body and connected with the planetary gear assembly, and the switching mechanism is used for controlling whether the ring gear of the planetary gear assembly is fixed or not.

65. The vehicle steering device according to claim 59 or 63, wherein: the vehicle wheel speed reduction device further comprises a second speed reduction mechanism, and the second speed reduction mechanism is connected with the wheel and the wheel axle unit.

66. The vehicle steering device according to claim 65, wherein: the second reduction mechanism is provided in the wheel.

67. The vehicle steering device according to claim 65, wherein: the second reduction mechanism is a planetary gear assembly.

68. The vehicle steering device according to claim 59 or 63, wherein: the steering mechanism further comprises a third speed reducing mechanism, and the third speed reducing mechanism is connected with the steering motor and the rotating shaft.

69. The vehicle steering device according to claim 65, wherein: the steering mechanism further comprises a third speed reducing mechanism, and the third speed reducing mechanism is connected with the steering motor and the rotating shaft.

70. The vehicle steering device according to claim 68, wherein: the first speed change mechanism and the third speed reduction mechanism are both planetary gear assemblies.

71. The vehicle steering device according to claim 69, wherein: the first speed change mechanism and the third speed reduction mechanism are both planetary gear assemblies.