CN117416410A - Kingpin steering system and vehicle with kingpin steering system - Google Patents

Abstract

The invention provides a kingpin steering system and a vehicle with the kingpin steering system, wherein the kingpin steering system comprises: a drive motor (2); the worm gear mechanism (41), the input end of the worm gear mechanism (41) is connected with the driving motor (2); the input end of the two-stage gear transmission mechanism is connected with the output of the worm and gear mechanism; and the steering knuckle (8), the steering knuckle (8) is connected with the output end of the two-stage gear transmission mechanism, and the steering knuckle (8) is rotatably arranged around the axis of the kingpin. The problem that the wheel steering angle among the prior art is little has been solved to this application.

Description

Kingpin steering system and vehicle with kingpin steering system

Technical Field

The invention relates to the technical field of vehicle steering system design, in particular to a kingpin steering system and a vehicle with the kingpin steering system.

Background

The current automobile industry develops rapidly, the driving experience of users is also greatly improved compared with the prior art, and the driving experience has an important performance, namely steering performance, and for automobile users, the automobile users hope that the automobile can easily complete turning, namely the turning diameter is reduced. In particular, class B and class C vehicles in the current market are more and more, and a large turning diameter is brought by a large wheelbase. In order to reduce the turning diameter, automotive host factories have developed rear wheel steering systems. Two rear wheels in the rear wheel steering system can also rotate a certain angle, so that the turning diameter of the whole vehicle can be effectively reduced. However, even if the vehicle is equipped with a rear wheel steering system, it is impossible to make the vehicle perform in-situ steering, oblique traveling, and crab traveling. Because the four wheels of a conventional vehicle have a limited steering angle range, the conventional vehicle generally adopts a rocker and steering rod scheme to steer the wheels so that the front wheel steering angle is less than 40 ° and the rear wheel steering angle is less than 20 °. In order to realize modes such as in-situ steering, oblique running, crab running and the like, at least two conditions are required: the four wheels can be independently turned, namely, the turning of the two wheels is not interfered with each other; secondly, the maximum rotation angle of one side of the four wheels reaches more than 90 degrees, so that crab running can be realized.

Aiming at the technical problem of small steering angle of the wheels in the prior art, no effective solution is proposed at present.

Disclosure of Invention

The invention mainly aims to provide a kingpin steering system and a vehicle with the kingpin steering system, so as to solve the problem of small steering angle of wheels in the prior art.

To achieve the above object, according to one aspect of the present invention, there is provided a kingpin steering system including: a driving motor; the input end of the worm gear mechanism is connected with the driving motor; the input end of the two-stage gear transmission mechanism is connected with the output of the worm and gear mechanism; and the knuckle is connected with the output end of the two-stage gear transmission mechanism and is rotatably arranged around the axis of the kingpin.

Further, the kingpin steering system includes: the swing mechanism is movably connected with the output end of the two-stage gear transmission mechanism, and the swing mechanism is connected with the steering knuckle.

Further, the two-stage gear transmission mechanism includes: the primary gear speed reducing assembly is connected with the worm and gear mechanism; the secondary gear speed reducing assembly is connected with the primary gear speed reducing assembly, and the secondary gear speed reducing assembly is connected with the steering knuckle.

Further, the worm and gear mechanism comprises a worm wheel assembly and a worm assembly connected with the worm wheel assembly, the worm wheel assembly is connected with the driving motor, and the worm assembly is connected with the primary gear speed reduction assembly.

Further, the end part of the worm assembly along the axial direction of the worm assembly is provided with a ball bearing, the top of the radial end surface of the ball bearing is provided with a gap adjusting mechanism, and the gap adjusting mechanism is used for compensating a gap generated by the matched abrasion of the ball bearing and the worm assembly.

Further, the axial end of the ball bearing is provided with a locking ring.

Further, the kingpin steering system comprises a shell, the worm and gear mechanism is located in the shell, an end cover is arranged between the shell and the worm assembly, the end cover is connected with the worm assembly, and a sealing ring is arranged on the annular peripheral surface of the end cover.

Further, the primary gear reduction assembly comprises a gear shaft and a first gear arranged on the gear shaft, the first gear is connected with the worm and gear mechanism, and the primary gear reduction assembly is connected with the secondary gear reduction assembly through a second gear in the secondary gear reduction assembly.

Further, the kingpin steering system further comprises a rotation angle sensor, wherein the rotation angle sensor is connected with the gear shaft and is used for measuring the rotation angle of the gear shaft.

Further, the secondary gear reduction assembly comprises an output shaft, a second gear is arranged on the output shaft, and the output shaft is movably connected with the swing mechanism.

Further, the swing mechanism includes: the inner ring is connected with the output shaft; the outer ring is positioned at the outer side of the inner ring, a plurality of steel balls are arranged between the outer ring and the inner ring, a retainer is arranged between the outer ring and the inner ring and is used for fixing the steel balls at a preset position, and the outer ring is connected with the steering knuckle.

According to an aspect of the present invention, there is provided a vehicle including a plurality of wheels and a plurality of kingpin steering systems provided in one-to-one correspondence with the plurality of wheels, the kingpin steering systems being for driving the corresponding wheels to rotate about the corresponding kingpin axes, the kingpin steering systems being the kingpin steering systems described above.

By adopting the technical scheme of the invention, the output torque of the driving motor can be reduced and increased to be large torque for driving the steering knuckle by arranging the worm gear mechanism and the two-stage gear transmission mechanism for intermediate transmission, and meanwhile, the output end of the two-stage gear transmission mechanism is connected with the steering knuckle instead of the existing pull rod, so that the steering knuckle has a larger angle adjusting range. By adopting the technical scheme, the problem of small steering angle of the wheels in the prior art is effectively solved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:

FIG. 1 shows an isometric view of a first embodiment of a kingpin steering system according to the present invention;

FIG. 2 shows a schematic step section of a second embodiment of a kingpin steering system according to the invention;

FIG. 3 shows a schematic structural view of a third embodiment of a kingpin steering system according to the invention;

FIG. 4 shows a schematic structural view of a fourth embodiment of a kingpin steering system according to the invention;

fig. 5 shows a schematic structural view of a fifth embodiment of a kingpin steering system according to the invention.

Wherein the above figures include the following reference numerals:

1. a controller;

2. a driving motor;

3. a rotation angle sensor; 31. a sensor stator; 32. a sensor rotor; 33. a sensor shaft; 34. a sensor dust cap;

4. a speed reducing mechanism; 41. a worm gear mechanism; 411. a worm assembly; 4111. a ball bearing; 4112. a locking ring; 4113. an end cap; 4114. aligning the four-point ball bearing; 4115. a locking ring; 4116. an oil seal; 4117. locking the screw plug; 412. a worm wheel assembly; 413. a gap adjusting mechanism; 4121. a worm wheel; 4122. a worm wheel shaft; 4123. a first worm ball bearing; 4124. a second worm ball bearing; 42. a primary gear reduction assembly; 421. a first gear; 422. a first intermediate shaft ball bearing; 423. a second intermediate shaft ball bearing; 424. a gear shaft; 43. a secondary gear reduction assembly; 431. a second gear; 432. an output shaft; 433. circlips for shafts; 434. a flat key; 435. an oil seal; 436. a first output shaft ball bearing; 437. a second output shaft ball bearing;

5. a swinging mechanism; 51. an inner ring; 52. a retainer; 53. a steel ball; 54. an outer ring; 55. a steel sleeve; 56. a dust seal; 57. a dust cover; 58. a lock nut;

6. a housing; 61. an upper housing; 62. a lower housing;

7. a sensor harness;

8. a knuckle;

9. an upper control arm;

100. a wheel; 110. steering knuckle arm; 120. a kingpin steering system; 130. a kingpin axis.

Detailed Description

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Exemplary embodiments according to the present application will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of these exemplary embodiments to those skilled in the art, that in the drawings, it is possible to enlarge the thicknesses of layers and regions for clarity, and that identical reference numerals are used to designate identical devices, and thus descriptions thereof will be omitted.

Referring to fig. 1 to 5, according to an embodiment of the present application, there is provided a kingpin steering system including: a drive motor 2; the input end of the worm gear mechanism 41 is connected with the driving motor 2; the input end of the two-stage gear transmission mechanism is connected with the output of the worm and gear mechanism; and the knuckle 8 is connected with the output end of the two-stage gear transmission mechanism, and the knuckle 8 is rotatably arranged around the axis of the kingpin.

By adopting the technical scheme of the invention, the output torque of the driving motor 2 can be reduced and increased to be large torque for driving the steering knuckle by arranging the worm gear mechanism 41 and the two-stage gear transmission mechanism for intermediate transmission, and meanwhile, the output end of the two-stage gear transmission mechanism is connected with the steering knuckle 8 instead of the existing pull rod, so that the steering knuckle has a larger angle adjusting range. By adopting the technical scheme, the problem of small steering angle of the wheels in the prior art is effectively solved.

As shown in fig. 5, the knuckle 8 has a knuckle arm 110, the knuckle arm 110 is fixedly connected with the wheel 100, and the output end of the two-stage gear transmission mechanism drives the knuckle arm 110 to rotate around the kingpin axis 130 of the kingpin steering system 120, so that the wheel 100 can be driven to rotate around the kingpin axis 130, a larger range of steering angles is realized, by adopting the arrangement, the limitation of the conventional scheme on steering the wheel in the arrangement space is relieved, and the steering stroke of the wheel is enlarged.

As shown in fig. 1, which is a block diagram of a kingpin steering system, the kingpin steering system mainly includes: the device comprises a controller 1, a driving motor 2, a rotation angle sensor 3, a speed reducing mechanism 4, a swinging mechanism 5, a shell 6, a sensor wire harness 7 and the like. The reduction mechanism 4 includes a worm gear mechanism 41 and a two-stage gear transmission mechanism.

The controller outputs a system rotation angle instruction to the motor, the motor is controlled to rotate according to the required rotation speed and rotation angle, the motor output shaft is connected with the worm gear reduction mechanism, the worm gear is connected with the two-stage gear transmission reduction mechanism, the swing mechanism is driven to rotate through the three-stage reduction torque-increasing mechanism (namely the reduction mechanism 4), and the swing mechanism drives the fixedly connected steering knuckle and the wheel to rotate around the axis of the master pin.

In an alternative embodiment, the controllers and motors are of redundant design, i.e., two sets of controllers and two sets of motors, when one of the power assistance fails, the other power assistance still provides 50% of power assistance, so that the functional safety level reaches ASIL-D; the speed reducing mechanism 4 is a three-stage speed reducing and torque increasing mechanism, and mainly aims to reduce and increase torque, amplify and transmit torque output by a motor to wheels, so that the system can drive the wheels to steer, and the speed reducing mechanism comprises a worm gear mechanism 41, a primary gear speed reducing assembly and a secondary gear speed reducing assembly.

Further, the kingpin steering system includes: the swinging mechanism 5, the swinging mechanism 5 is movably connected with the output end of the two-stage gear transmission mechanism (namely, the end part of the final output shaft of the two-stage gear transmission mechanism), and the swinging mechanism 5 is connected with the knuckle 8. The swinging mechanism is of a ball cage structure and is connected to an output shaft of the secondary gear reduction assembly, and the main purpose of the swinging mechanism is not only to transmit torque output by a motor, but also to eliminate steering jamming and abnormal sound problems caused by machining errors and assembly errors, and the swinging mechanism comprises an inner ring 51, an outer ring 54, a retainer 52, a steel ball 53, a sealing ring and the like.

Further, the two-stage gear transmission mechanism includes: the primary gear reduction assembly 42, the primary gear reduction assembly 42 is connected with the worm gear mechanism 41; the secondary gear reduction assembly 43, the secondary gear reduction assembly 43 is connected with the primary gear reduction assembly 42, and the secondary gear reduction assembly 43 is connected with the knuckle 8.

Further, the worm gear mechanism 41 includes a worm wheel assembly 412 and a worm assembly 411 connected to the worm wheel assembly 412, the worm wheel assembly 412 is connected to the driving motor 2, and the worm assembly 411 is connected to the primary gear reduction assembly 42. The worm gear speed reducing mechanism has the advantages that the mechanism can realize reverse self-locking, so that the impact force is prevented from being applied to the motor after the wheels are impacted by the road surface, and the motor is protected.

As shown in fig. 3, which shows an enlarged schematic view of the kingpin steering system at the end of the worm assembly 411, the end of the worm assembly 411 in the axial direction thereof is provided with a ball bearing 4111, and the top of the radial end face of the ball bearing 4111 is provided with a clearance adjustment mechanism 413, wherein the clearance adjustment mechanism 413 is used for compensating the clearance generated by the wear of the ball bearing 4111 in cooperation with the worm assembly 411. That is, in order to ensure that the worm assembly 411 and the worm gear assembly 412 are engaged in place and the transmission is stable, a clearance adjusting mechanism 413 is designed on the radial end surface (curved surface) of the ball bearing 4111 at the end part of the worm assembly 411, and can compensate the clearance occurring when the worm gear and the worm gear are matched in real time, so that the transmission process is stable and noiseless.

Also shown in fig. 2 are a self-aligning four-point ball bearing 4114, a first worm ball bearing 4123, a second worm ball bearing 4124, a first intermediate shaft ball bearing 422, a second intermediate shaft ball bearing 423, and a first output shaft ball bearing 436, a second output shaft ball bearing 437.

As shown in fig. 3, the axial end of the ball bearing 4111 is provided with a locking ring 4112, the locking ring 4112 ensuring axial locking of the worm mechanism.

Further, the kingpin steering system includes a housing 6, the worm gear mechanism 41 is located in the housing 6, an end cover 4113 is disposed between the housing 6 and the worm assembly 411, the end cover 4113 is connected with the worm assembly 411, and a sealing ring is disposed on an annular outer peripheral surface of the end cover 4113. The sealing ring is an O-shaped ring, the O-shaped ring plays a role in sealing, internal oil is prevented from leaking, the worm wheel and the worm can be unscrewed once the worm wheel and the worm are blocked by reverse impact, then the internal worm assembly 411 can be reversely screwed by using a socket wrench, the blocking problem is solved, and the end cover is fastened again after the problem is solved. The oil seal 4116 and the locking plug 4117 work together to ensure tightness between the inside of the worm and the housing, motor. The end cover 4113 is connected with the housing 6, the end cover 4113 is detachable, and when the worm gear is jammed, the worm gear is manually reset by using tools such as a sleeve after the end cover 4113 is detached.

Further, the primary gear reduction assembly 42 includes a gear shaft 424, a first gear 421 disposed on the gear shaft 424, the first gear 421 is connected with the worm gear mechanism 41, and the primary gear reduction assembly is connected with the secondary gear reduction assembly through a second gear 431 of the secondary gear reduction assembly 43. The second gear 431 is arranged on the output shaft 432

The gear on the worm wheel shaft 4122 in the worm and gear mechanism is meshed with the first gear 421 to form a primary gear reduction mechanism, the gear on the gear shaft 424 is meshed with the second gear 431 to form a secondary gear reduction mechanism, and the transmission ratio of the three-stage reduction mechanism is multiplied to obtain the transmission ratio of the kingpin steering system. Since the drive load can reach over 1100N.m, and the rated maximum output torque of the motor is about 7N.m, the total transmission efficiency of the system is about 45%, and the transmission ratio of the system is over 1100/7/45% ≡350.

Further, the kingpin steering system further includes a rotation angle sensor 3, the rotation angle sensor 3 being connected to the gear shaft 424, the rotation angle sensor 3 being configured to measure a rotation angle of the gear shaft 424. After receiving the rotation angle instruction request of the upper controller, the controller 1 sends an instruction to the motor, the motor rotates by a corresponding angle according to the calculated rotation speed, the rotation angle sensor 3 is arranged above the gear shaft 424, and the rotation angle signal is acquired in real time and sent to the controller 1, so that the rotation angle closed-loop control is achieved.

The rotation angle sensor 3 is arranged above the gear shaft 424 but not above the output shaft 432 because the sensors all have a certain detection error, and if the rotation angle sensor 3 is arranged on the output shaft 432 with a low rotation speed, the system rotation angle error is the rotation angle error of the rotation angle sensor, and the error is not reduced. If the rotation angle sensor 3 is arranged on the gear shaft 424 having a higher rotation speed, the rotation angle error of the system is equal to the rotation angle error/three-stage reduction ratio (denoted as α, α > 1) of the rotation angle sensor 3, which corresponds to a reduction of the error by α times.

Further, the secondary gear reduction assembly 43 includes an output shaft 432, the output shaft 432 is provided with a second gear 431 connected thereto, and the output shaft 432 is movably connected to the swing mechanism 5.

Fig. 4 shows an enlarged schematic view of the swing mechanism 5. The swing mechanism 5 includes: an inner ring 51, the inner ring 51 being connected to the output shaft 432; the outer ring 54, the outer ring 54 is located the outside of inner ring 51, is provided with a plurality of steel balls 53 between outer ring 54 and the inner ring 51, is provided with the holder 52 between outer ring 54 and the inner ring 51, and the holder 52 is used for fixing steel balls 53 in the preset position, and outer ring 54 is connected with knuckle 8.

The swing mechanism 5 is connected to output shaft 432 lower extreme, because there are machining error and assembly error in casing 6, knuckle 8, upper control arm 9, and the error adds up can lead to forming very little contained angle between output shaft 432 and the king pin axis, and this contained angle can lead to appearing blocking, abnormal sound in the steering process, and system output efficiency reduces. Based on this, a swinging mechanism needs to be added between the housing 6 and the knuckle 8, so that not only can the torque output by the motor be transmitted, but also the problems of steering jamming and abnormal sound caused by machining errors and assembly errors can be eliminated.

The swinging mechanism 5 mainly comprises an inner ring 51, a retainer 52, a steel ball 53, an outer ring 54, a steel sleeve 55 and other structures. The lock nut 58 fixes the swing mechanism 5 to the output shaft 432. The output shaft 432 transmits the motor output torque to the inner ring 51 through spline connection, the ball socket of the inner ring 51 transmits the torque to the 6 evenly distributed steel balls 53 through small clearance fit, the steel balls 53 transmit the torque to the ball socket of the outer ring 54 through small clearance fit, the retainer 52 keeps the steel balls 53 at a fixed position, and the shell of the outer ring 54 transmits the torque to the knuckle 8 through bolt connection, so that the wheels are driven to steer.

The relative pivot angle of the inner ring 51 and the outer ring 54 can reach more than 5 degrees, and the problems of steering jamming and abnormal sound caused by machining errors and assembly errors can be eliminated. The retainer 52 is made of high-carbon chromium bearing steel (GCr 15), can bear more than 1500N axial impact force transmitted by the ground, and ensures that the system strength meets the requirement.

In an alternative embodiment, the dust seal 56 is designed at the upper end of the outer ring 54 shell, the dust cover 57 is designed at the lower end, and the dust seal and the dust cover rubber are both vulcanized with steel frameworks inside, so that interference fit with the outer ring shell is ensured, and the sealing performance of the system is ensured to meet the requirements.

According to a specific embodiment of the present invention, there is provided a vehicle including a plurality of wheels and a plurality of kingpin steering systems, the plurality of kingpin steering systems being provided in one-to-one correspondence with the plurality of wheels, the kingpin steering systems being for driving the corresponding wheels to rotate about the corresponding kingpin axes, the kingpin steering systems being the kingpin steering systems in the above embodiments. The four wheel systems of the vehicle are all provided with independent electric steering systems, each steering system drives a steering knuckle fixedly connected with a wheel to rotate around a king pin axis through a motor, and the arrangement of the wheel systems is optimized to realize that each wheel can independently steer in a large angle, so that the in-situ steering, oblique running and crab running are realized.

The electric steering system is a kingpin steering system, solves the problem that vehicles in the current market cannot steer in situ, obliquely run and crab travel, the carried vehicles can finish steering and turning operations on a road section with narrow space, and the crab travel traveling function can enable the vehicles to finish lateral parking on a parking space with compact space, so that the driving convenience of users is greatly improved.

By adopting the technical scheme, the worm and gear speed reducing mechanism is matched with the two-stage gear transmission speed reducing mechanism. The three-stage speed reducing mechanism is small in design occupation space, can realize a self-locking function, ensures the reverse impact resistance of the system, and meanwhile, the gap adjusting mechanism on the worm gear can ensure that the transmission process is stable and abnormal sound free. And compared with other schemes, the transmission device has the advantages of small arrangement space, high transmission stability and good NVH performance.

In an alternative embodiment, the gear shaft is parallel to the output shaft axis, which coincides with the kingpin axis.

In an alternative embodiment, the gear shaft is parallel to the worm axis.

As also shown in fig. 2, the upper housing 61 and the lower housing 62, i.e. the housings are in a split arrangement. Also shown in fig. 1 are a sensor stator 31, a sensor rotor 32, a sensor shaft 33, and a sensor dust cover 34.

Also shown in fig. 2 are circlip 433 for shaft, flat key 434, oil seal 435, locking ring 4115, worm wheel 4121, first worm ball bearing 4123, first intermediate shaft ball bearing 422.

By adopting the technical scheme, the swing mechanism can eliminate steering clamping and abnormal sound problems caused by misalignment of the axis of the output shaft of the steering gear and the axis of the master pin due to machining errors and assembly errors of the steering gear shell, the steering knuckle and the upper control arm. The swing mechanism can also use a constant velocity universal joint scheme, but the arrangement space is increased more

From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

the novel kingpin steering system is provided, and the whole system has the following outstanding advantages:

(1) High torque: the torque output capacity is strong, and the maximum is more than or equal to 1100Nm;

(2) Large rotation angle: breaking through the limit of the rotation angle of the traditional wheel, the maximum rotation angle of a single wheel can reach more than 90 degrees;

(3) High safety: the development of the dual-redundancy steering system ensures that the functional safety level reaches ASIL-D;

(4) High maneuver: the four wheels are mechanically decoupled by 100%, and high-mobility steering operations such as in-situ turning, crab walking, inclined walking, fixed-point rounding and the like can be realized through four-wheel corner state combination, so that riding experience is improved in a crossing manner;

(5) High integration: the motor, the controller, the speed reducing mechanism and the transmission mechanism are highly integrated, and the arrangement space is reduced by more than 30%.

Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In addition to the foregoing, references in the specification to "one embodiment," "another embodiment," "an embodiment," etc., mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment described in general terms in the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with any embodiment, it is intended that such feature, structure, or characteristic be implemented within the scope of the invention.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (12)

1. A kingpin steering system, comprising:

a drive motor (2);

the input end of the worm gear mechanism (41) is connected with the driving motor (2);

the input end of the two-stage gear transmission mechanism is connected with the output of the worm and gear mechanism (41);

and the steering knuckle (8), the steering knuckle (8) is connected with the output end of the two-stage gear transmission mechanism, and the steering knuckle (8) is rotatably arranged around the main pin axis.

2. The kingpin steering system of claim 1, wherein the kingpin steering system comprises:

the swinging mechanism (5) is movably connected with the output end of the two-stage gear transmission mechanism, and the swinging mechanism (5) is connected with the knuckle (8).

3. The kingpin steering system of claim 2, wherein the two-stage gear train comprises:

a primary gear reduction assembly (42), the primary gear reduction assembly (42) being connected with the worm gear mechanism (41);

a secondary gear reduction assembly (43), the secondary gear reduction assembly (43) being connected with the primary gear reduction assembly (42), the secondary gear reduction assembly (43) being connected with the knuckle (8).

4. A kingpin steering system according to claim 3, characterized in that the worm gear mechanism (41) comprises a worm wheel assembly (412) and a worm assembly (411) connected to the worm wheel assembly (412), the worm wheel assembly (412) being connected to the drive motor (2), the worm assembly (411) being connected to the primary gear reduction assembly (42).

5. Kingpin steering system according to claim 4, characterized in that the end of the worm assembly (411) in the axial direction thereof is provided with a ball bearing (4111), the top of the radial end face of the ball bearing (4111) is provided with a clearance adjustment mechanism (413), and the clearance adjustment mechanism (413) is used for compensating the clearance generated by the wear of the ball bearing (4111) in cooperation with the worm assembly (411).

6. Kingpin steering system according to claim 5, characterized in that the axial end of the ball bearing (4111) is provided with a locking ring (4112).

7. Kingpin steering system according to claim 4, characterized in that the kingpin steering system comprises a housing (6), the worm gear mechanism (41) is located in the housing (6), an end cap (4113) is arranged between the housing (6) and the worm assembly (411), the end cap (4113) is connected with the worm assembly (411), and a sealing ring is arranged on the annular outer circumferential surface of the end cap (4113).

8. A kingpin steering system according to claim 3, wherein the primary gear reduction assembly (42) comprises a gear shaft (424), a first gear (421) arranged on the gear shaft (424), the first gear (421) being connected with the worm gear mechanism (41), the primary gear reduction assembly (42) being connected with the secondary gear reduction assembly (43) by a second gear (431) of the secondary gear reduction assembly (43).

9. The kingpin steering system according to claim 8, further comprising a rotation angle sensor (3), the rotation angle sensor (3) being connected with the gear shaft (424), the rotation angle sensor (3) being configured to measure a rotation angle of the gear shaft (424).

10. Kingpin steering system according to claim 8, characterized in that the secondary gear reduction assembly (43) comprises an output shaft (432), the output shaft (432) being provided with the second gear (431), the output shaft (432) being movably connected with the swing mechanism (5).

11. Kingpin steering system according to claim 10, wherein the swinging mechanism (5) comprises:

an inner ring (51), the inner ring (51) being connected to the output shaft (432);

the outer ring (54), outer lane (54) are located the outside of inner circle (51), outer lane (54) with be provided with a plurality of steel balls (53) between inner circle (51), outer lane (54) with be provided with holder (52) between inner circle (51), holder (52) are used for with steel balls (53) are fixed in the position of predetermineeing, outer lane (54) with knuckle (8) are connected.

12. A vehicle comprising a plurality of wheels and a plurality of kingpin steering systems, a plurality of kingpin steering systems being provided in one-to-one correspondence with a plurality of the wheels, the kingpin steering systems being for driving rotation of the corresponding wheels about the corresponding kingpin axes, characterized in that the kingpin steering system is the kingpin steering system according to any one of claims 1 to 11.