TWI803796B - vehicle steering - Google Patents

Abstract

A vehicle steering device is arranged between a vehicle body and a wheel, and is used to steer the wheel. The vehicle steering device includes a wheel motor, a wheel axle unit and a steering unit. The axle unit is connected to the wheel motor and the wheel, and the wheel motor drives the wheel to rotate through the axle unit. The steering unit includes a suspension assembly arranged on the vehicle body and connected to the wheel, a worm gear member arranged on the inner surface of the wheel, a worm engaging the worm gear member and arranged on the vehicle body for driving The worm rotates the steering motor. When the worm rotates, the worm gear will drive the wheels to rotate relative to the suspension assembly, thereby allowing any wheel to steer independently.

Description

vehicle steering

The invention relates to a steering device, in particular to a vehicle steering device.

With the rise of fuel prices and the environmental pollution problems caused by traditional fuel vehicles, electric vehicles are getting more and more attention. Electric vehicles use power batteries as the power source and are driven by drive motors, thus getting rid of the restrictions brought by the engine and reducing the pollution to the environment.

However, the steering system of the existing vehicle generally still adopts the front wheel four-bar linkage mechanism, through the steering mechanism to transmit torque to make the two front wheels deflect in the same direction, and then through the differential to make the two rear wheels cooperate with the front wheels to deflect to realize passive steering. The principle of this steering system is simple and quite mature, but it is easy to damage the lateral steering mechanism when driving at high speeds, and because the rear wheels do not actively deflect, the steering radius of the rear wheels is too large, and the flexibility and safety of steering Low, there is still room for improvement.

Therefore, the object of the present invention is to provide a vehicle steering device which can enable any wheel to steer independently.

The vehicle steering device of the present invention is arranged between a vehicle body and a wheel, and is suitable for steering the wheel. The vehicle steering device includes a wheel motor; a wheel axle unit connected to the vehicle The wheel motor and the wheel, the wheel motor drives the wheel to rotate through the axle unit; a steering unit includes a suspension assembly arranged on the vehicle body and connected to the wheel, and a suspension assembly arranged on the wheel The worm gear on the inner surface, a worm engaging the worm gear, and a steering motor arranged on the vehicle body to drive the worm to rotate, when the worm rotates, it will drive the worm gear to rotate to drive the The wheels rotate about with respect to the suspension assembly.

In some implementation aspects, a first speed change mechanism is further included, and the first speed change mechanism is connected to the wheel motor and the axle unit.

In some embodiments, the first transmission mechanism includes a planetary gear assembly and a switching mechanism movably arranged on the vehicle body and connected to the planetary gear assembly, the switching mechanism is used to control the Whether the ring gear of the gear assembly is fixed.

In some implementation aspects, a second speed reduction mechanism is further included, and the second speed reduction mechanism is connected to the wheel and the axle unit.

In some implementation aspects, the second deceleration mechanism is disposed inside the wheel.

In some implementation aspects, the second reduction mechanism is a planetary gear assembly.

In some embodiments, a third reduction mechanism is further included, and the third reduction mechanism is connected to the steering motor and the worm.

In some implementation aspects, both the first transmission mechanism and the third reduction mechanism are planetary gear assemblies.

In some embodiments, the axle unit includes a first shaft section connected to the wheel motor, a second shaft section connected to the wheel and passing through the suspension assembly, and at least one end section A universal joint connecting the first shaft section and the second shaft section.

The vehicle steering device of the present invention is arranged between a vehicle body and a wheel, and is suitable for steering the wheel. The vehicle body has an upper connecting portion and a lower connecting portion. The vehicle steering device includes a mounting box, which is pivotally connected to the upper connecting portion and the lower connecting portion; a wheel motor, arranged in the mounting box; a wheel axle unit, passing through the mounting box And connect the wheel motor and the wheel, the wheel motor drives the wheel to rotate through the axle unit; a steering unit is arranged on the vehicle body and the installation box, and the steering unit includes a vertically The worm gear set in the installation box, a worm engaging the worm gear and a steering motor set on the vehicle body to drive the worm to rotate, when the worm rotates, it will drive the worm gear to rotate to drive the installation box, the axle unit and the wheels to rotate around.

In some implementation aspects, a first speed change mechanism is further included, and the first speed change mechanism is connected to the wheel motor and the axle unit.

In some embodiments, the first transmission mechanism includes a planetary gear assembly and a switching mechanism movably arranged on the vehicle body and connected to the planetary gear assembly, and the switching mechanism is used to control the planetary gear assembly The ring gear is fixed.

In some implementation aspects, a second speed reduction mechanism is further included, and the second speed reduction mechanism is connected to the wheel and the axle unit.

In some implementation aspects, the second deceleration mechanism is disposed inside the wheel.

In some implementation aspects, the second reduction mechanism is a planetary gear assembly.

In some implementation aspects, it also includes a third deceleration mechanism, and the third deceleration mechanism Connect the steering motor and the worm.

In some implementation aspects, both the first reduction mechanism and the third reduction mechanism are planetary gear assemblies.

In some implementations, the axle unit includes a first shaft section connected to the wheel motor and passing through the installation box, a second shaft section connected to the wheel, and at least one of the two ends respectively connected to the Universal joints of the first shaft section and the second shaft section.

In some implementation aspects, the installation box includes a top wall connected to the upper connection part of the vehicle body, a bottom wall connected to the lower connection part of the vehicle body, a An upper joint assembly that runs through the upper connection portion and a lower joint assembly that is disposed on the bottom wall and passes through the lower connection portion.

In some implementations, the upper joint assembly has an upper connecting pin arranged on the top wall and passing through the upper connecting part, an upper bushing set on the upper connecting pin, and a set on the upper connecting pin. The rotating buffer of the above-mentioned shaft sleeve, the rotating buffer has an inner ring layer sleeved with the shaft sleeve, a buffer layer sleeved with the inner layer, and a buffer layer sleeved with the buffer layer and tightly connected to the top wall. The matching outer ring layer, the inner ring layer and the outer ring layer are made of metal, and the buffer layer is made of elastic material.

In some implementation aspects, the upper joint assembly has a rotating buffer embedded in the top wall and connected to the upper connecting part, and the rotating buffer includes a pair of upper and lower engaging claw blocks and a The buffer blocks arranged between the claw blocks, each claw block is made of metal and has a flat plate portion and a plurality of claw portions formed on the surface of the flat plate portion extending toward the other claw block, the claw The blocks are respectively connected to the top wall and the upper connection part by a plurality of engaging pins, and the buffer blocks are made of elastic material.

In some implementations, the lower joint assembly has a lower connecting pin disposed on the bottom wall and passing through the lower connecting part, a lower bushing set on the lower connecting pin, and a lower bushing set on the lower connecting part. The lower shaft sleeve and the bearing part tightly fit with the bottom wall.

In some aspects, the upper engagement assembly has the same elements as the lower engagement assembly.

In some implementations, the lower joint assembly has a lower connecting pin disposed on the bottom wall and passing through the lower connecting part, a lower bushing fitted with the lower connecting pin, and a The lower engaging strip between the lower connecting pin and the lower bushing and a set of bearings arranged on the lower bushing and tightly fitted with the bottom wall, the upper engaging component and the lower engaging component have the same components.

In some implementation aspects, at least one positioning hole is formed in the top wall depression, and the vehicle steering device further includes a positioning unit arranged on the vehicle body, the positioning unit includes at least one positioning column, and the positioning column can extend into the positioning hole to prevent the installation box from rotating around.

In some implementation aspects, the positioning unit further includes a positioning sensor, adapted to detect whether the installation box is parallel to the worm, and when the installation box is parallel to the worm, the positioning column will Can extend into the positioning hole.

In some implementations, the vehicle steering device further includes a wheel steering unit, a worm wheel disposed on the inner side of the wheel, a worm engaged with the worm gear, and disposed on the vehicle body to drive the worm A rotating steering motor, the wheel steering unit includes a suspension assembly arranged on the vehicle body and connected to the wheel, when the worm rotates, it will drive the worm gear to rotate to drive the wheel relative to the suspension assembly The hanger assembly rotates around.

The vehicle steering device of the present invention is arranged between a vehicle body and a wheel, and is suitable for steering the wheel. The vehicle steering device includes: a wheel motor; a wheel axle unit connected to the wheel motor and the wheel, The wheel motor drives the wheel to rotate through the axle unit; and a first steering unit, including a suspension assembly arranged on the vehicle body and connected to the wheel, and at least one driving gear connected to the suspension assembly and at least one steering motor arranged on the vehicle body to drive the rotation of the driving gear, the suspension assembly includes a steering knuckle for the axle unit to pass through and connect the wheels, at least two steering knuckles connected to the The support arms at the upper and lower ends of the steering knuckle, a carrier that can be moved up and down on the vehicle body, a rotating shaft that rotatably passes through the carrier and connects the supporting arm, and at least one fixed to the rotating shaft and engages The steering gear of the driving gear, when the driving gear rotates, will drive the steering gear to rotate to drive the rotating shaft, the support arm, the steering knuckle and the wheels to turn and steer.

In some implementation aspects, the first steering unit includes two driving gears and two steering motors, the suspension assembly includes two steering gears, and the rotating shaft has two For the linkage section of the steering gear, the suspension assembly also includes two joints respectively sleeved on the linkage section and connected to the support arm, and two joints respectively embedded between the linkage section and the joints The linkage snap bar.

In some implementations, each joint member has a sleeve portion set on the linkage section and two spaced apart from the sleeve portion extending away from the linkage section and engaged with the support arm. An extension arm portion and a pivot portion passing through the extension arm portion and the support arm, so that the support arm can pivot relative to the extension arm portion.

In some implementation aspects, the suspension assembly further includes two pairs of bearing parts sleeved on the interlocking section and two pairs of bearing engaging strips respectively embedded between the interlocking section and the bearing parts. , each pair of bearing parts is respectively located on the upper and lower sides of the joint part.

In some implementation aspects, the suspension assembly further includes two pairs of buffer bushings respectively sleeved on the linkage section, two pairs of rotating buffer members respectively sleeved on the buffer bushings, and two pairs of respectively embedded For the buffer engaging strip between the linkage section and the bearing member, each pair of buffer bushings and rotating buffer parts are respectively located on the upper and lower sides of the joint part, and each rotating buffer part has a sleeve for the buffer The inner ring layer of the shaft sleeve, the buffer layer sleeved with the inner layer and the outer ring layer sleeved with the buffer layer and tightly fitted with the top wall, the inner ring layer and the outer ring layer are made of metal Material, the buffer layer is elastic material.

In some implementation aspects, the rotating shaft further includes four pairs of claw blocks engaged up and down and a buffer block arranged between the claw blocks, and every two pairs of claw blocks are respectively connected to the upper and lower sides of the linkage section. and are located above the bearing parts. The uppermost and lowermost two pairs of claw blocks are respectively fixed to the steering gear. Each claw block is made of metal and has a flat plate part and a plurality of claw blocks formed on the The surface of the flat plate portion extends toward the claw portion of the other claw block, and the buffer block is made of elastic material.

In some implementations, the suspension assembly further includes a track piece extending up and down on the vehicle body, the track piece forms a chute, and the carrier is movably accommodated in the chute and has a Facing the first surface of the rail member, a second surface opposite to the first surface and outside the chute, and a rack extending up and down on the second surface, the vehicle steering device It also includes an elevating unit for driving the carrier to move up and down, the elevating unit includes an elevating gear engaged with the rack and an elevating motor arranged on the vehicle body to drive the elevating gear to rotate.

In some implementations, the carrier frame further has two side surfaces connected to the second surface and a plurality of clamping blocks disposed on at least one of the side surfaces, and the lifting unit further includes at least one The vehicle body is movably engaged with the positioning block of the clamping block, and the positioning block can stop the carrier from moving up and down when engaged with the clamping block.

In some implementations, the suspension assembly further includes a sliding rod connected to the upper support arm, a sliding rail rod arranged on the vehicle body, and a sliding rod movably sleeved on the sliding rod and the cross slide set of the slide rail bar, the slide bar bends on the horizontal plane and extends away from the wheel in an arc shape, and the slide rail bar bends and extends in an arc shape on the vertical plane, so The cross slide set has a horizontal part that is movably sleeved on the slide rod and a vertical part that is connected with the horizontal part and is movably sleeved on the slide rail rod.

In some embodiments, the vehicle steering device further includes a wheel steering unit, a worm engaged with the worm gear, and a steering motor arranged on the vehicle body to drive the worm to rotate. The unit includes a worm wheel set on the inner side of the wheel. When the worm rotates, it will drive the worm wheel to rotate so as to drive the wheel to rotate relative to the suspension assembly.

In some implementation aspects, a first speed change mechanism is further included, and the first speed change mechanism is connected to the wheel motor and the axle unit.

In some embodiments, the first transmission mechanism includes a planetary gear assembly and a switching mechanism movably arranged on the vehicle body and connected to the planetary gear assembly, the switching mechanism is used to control the Whether the ring gear of the gear assembly is fixed.

In some implementation aspects, it also includes a second deceleration mechanism, and the second deceleration mechanism The wheel and the axle unit are connected.

In some implementation aspects, the second deceleration mechanism is disposed inside the wheel.

In some implementation aspects, the second reduction mechanism is a planetary gear assembly.

In some implementation aspects, it also includes a plurality of third reduction mechanisms, and the third reduction mechanisms are respectively arranged between the steering motor and the driving gear of the wheel steering unit and in the first steering unit. between the steering motor and the drive gear.

In some implementation aspects, the third reduction mechanism is a planetary gear assembly.

In some implementation aspects, both the first transmission mechanism and the third reduction mechanism are planetary gear assemblies.

In some embodiments, the axle unit includes a first axle section connected to the wheel motor, a second axle section connected to the wheel and passing through the suspension assembly, and at least one The universal joints of the first shaft section and the second shaft section.

The vehicle steering device of the present invention is arranged between a vehicle body and a wheel, and is suitable for steering the wheel. The vehicle steering device includes: a wheel motor; a wheel axle unit connected to the wheel motor and the wheel, The wheel motor drives the wheel to rotate through the wheel shaft unit; and a push steering unit, including a rotating shaft spaced from the wheel shaft unit, and a steering motor arranged on the vehicle body to drive the rotating shaft to rotate , a set of telescopic elements movably arranged on the rotating shaft and a push arm set movably arranged on the set of telescopic elements and connected to the wheel, when the rotating shaft rotates, the set of telescopic elements can be driven along the The rotating shaft moves and drives the pushing arm assembly to push the wheels to turn.

In some implementation aspects, the telescoping assembly has a collar movably sleeved on the rotating shaft.

In some implementations, the push arm set includes a joint set on the collar, a connecting rod connected to the joint, a push rod screwed on the connecting rod, and a joint set on the ring. One end of the push rod is engaged with the steering ball joint of the wheel, the connecting rod can rotate relative to the collar through the joint, and the push rod can move axially relative to the connecting rod.

In some implementation aspects, the push steering unit further includes a pair of guide rods provided with the vehicle body and passing through the collar, and the collar can be moved along the guide rods relative to the The axis moves.

In some implementation aspects, a first speed change mechanism is further included, and the first speed change mechanism is connected to the wheel motor and the axle unit.

In some embodiments, the first transmission mechanism includes a planetary gear assembly and a switching mechanism movably arranged on the vehicle body and connected to the planetary gear assembly, the switching mechanism is used to control the Whether the ring gear of the gear assembly is fixed.

In some implementation aspects, a second speed reduction mechanism is further included, and the second speed reduction mechanism is connected to the wheel and the axle unit.

In some implementation aspects, the second deceleration mechanism is disposed inside the wheel.

In some implementation aspects, the second reduction mechanism is a planetary gear assembly.

In some implementation aspects, a third reduction mechanism is further included, and the third reduction mechanism is connected to the steering motor and the rotating shaft.

In some implementations, both the first transmission mechanism and the third reduction mechanism are Planetary gear assembly.

The present invention has at least the following effects: the steering motor of the wheel steering unit drives the worm to rotate so that the worm gear rotates to drive the wheels to rotate around, that is, to achieve the purpose of vehicle steering. Moreover, the steering motor of the axle steering unit can also drive the worm to rotate so that the worm gear rotates to drive the installation box, the axle unit and the wheels to rotate around, so that the axle turns to a large angle to Turning the vehicle can also achieve the purpose of turning the vehicle. Moreover, the steering motor of the first steering unit can also be used to drive the driving gear to rotate, so that the steering gear rotates to drive the rotating shaft, the support arm, the steering knuckle and the wheels to rotate. Reach the purpose that each wheel turns independently. Moreover, the steering motor of the push steering unit can also drive the rotating shaft to rotate, drive the telescopic member group to move along the rotating shaft and drive the pushing arm member group to push the wheel to turn, and it is also possible to reach the The purpose of independent steering.

M: wheel motor

P1: The first speed change mechanism

P11: sun gear

P12: Planetary gear

P13: ring gear

P14: Switch mechanism

P141: Toggle Ring

P142: Adapter ring

P143: Driver

P144: Fixed pin

P15: Planet carrier

P2: The second reduction mechanism

P3: The third reduction mechanism

100: wheels

100a: steel ring

100b: inner side

110, 110': upper connection part

120, 120': lower connection part

200: main battery

1: axle unit

11: The first shaft section

12: The second shaft section

13:Universal joint

14: The third shaft section

2: Wheel steering unit

2': Axle Steering Unit

21: Suspension components

211: Steering knuckle

212: support arm

22, 22': worm gear

23, 23': Worm

24, 24': steering motor

3: Installation box

31: top wall

311: positioning hole

32: side wall

33: bottom wall

34: Upper joint assembly

341: Upper connecting pin

342: upper shaft sleeve

343: rotating buffer

343a: inner ring layer

343b: buffer layer

343c: outer ring layer

344: upper snap strip

345: claw block

345a: flat part

345b: claw

346: buffer block

347: joint pin

35: Lower joint assembly

351: Lower connection pin

352: Lower shaft sleeve

353: bearing parts

4: Positioning unit

41:Positioning column

42:Positioning sensor

5: The first steering unit

51: Suspension components

511: Steering knuckle

512: support arm

513: Carrier

513a: first surface

513b: second surface

513c: side surface

513d: Rack

513e: block

513f: stop plate

514: Shaft

514a: linkage section

515: steering gear

516:Joint

516a: Socket

516b: extension arm

516c: Pivot part

516d: Interlocking snap bar

517: Bearing parts

517a: Bearing snap strip

518: rotating buffer

518a: buffer bushing

518b: inner ring layer

518c: buffer layer

518d: outer ring layer

518e: Buffer snap strip

519: track piece

519a: Chute

520: sliding bar

521: slide rail rod

522: Cross slide kit

522a: Horizontal Department

522b: vertical part

523: claw block

523a: flat part

523b: claw

524: buffer block

53: Drive gear

54: Drive motor

6: Lifting unit

61: Lifting gear

62: Lifting motor

63: positioning block

64:Reset sensor

7: Push steering unit

70: telescopic components

71: Shaft

72: Steering motor

73: Collar piece

74: Push arm set

741:Joints

742: Connecting rod

743: push rod

744: Steering Ball Joint

75: guide rod

L: reset baseline

L1: imaginary line

Other features and effects of the present invention will be clearly presented in the embodiments with reference to the drawings, wherein: Fig. 1 is a block diagram of the first embodiment of the wheel steering 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 schematic side view illustrating a first reduction mechanism of the first embodiment; 5 is a schematic side view illustrating a steering unit of the first embodiment; Fig. 6 is an incomplete top view illustrating the wheel steering unit of the first embodiment; Fig. 7 is an incomplete top view illustrating that the wheel steering unit of the first embodiment drives the wheels Rotate around; Fig. 8 is a block diagram of the second embodiment of the wheel steering device of the present invention; Fig. 9 is a schematic side view, illustrating the second embodiment; Fig. 10 is an incomplete partial side view, illustrating the An installation box of the second embodiment; FIG. 11 is an incomplete partial top view, illustrating the installation box of the second embodiment; FIG. 12 is an incomplete partial top view, illustrating the second Embodiment 1 The axle steering unit drives the installation box and the wheels to rotate around; FIG. 13 is an incomplete partial side view diagram illustrating a first variation of the second embodiment; FIG. 14 is an incomplete A schematic partial side view illustrating a second variation of the second embodiment; FIG. 15 is an incomplete partial side schematic diagram illustrating a third variation of the second embodiment; FIG. 16 is a An incomplete partial side view illustrating a fourth variation of the second embodiment; FIG. 17 is a block diagram of a third embodiment of the wheel steering device of the present invention; FIG. 18 is a front schematic view illustrating the The third embodiment; FIG. 19 is a schematic front view illustrating the suspension assembly of the third embodiment; Fig. 20 is a schematic sectional view obtained by the section line XIX-XIX of Fig. 18; Fig. 21 is a schematic sectional view obtained by the section line XX-XX of Fig. 18; Fig. 22 is a schematic side view, illustrating the Referring to the suspension assembly and the lifting unit of the third embodiment, the four positioning blocks of the lifting unit are engaged with multiple clamping blocks; FIG. 23 is a schematic side view illustrating the suspension assembly and the lifting unit of the third embodiment. Lifting unit, the four positioning blocks of the lifting unit are far away from the clamping blocks to release the engagement relationship; Figure 24 is a schematic cross-sectional view illustrating the connection relationship of the carrier frame of the third embodiment at the upper end; Figure 25 A schematic cross-sectional view similar to FIG. 19 , illustrating that the first steering unit of the third embodiment drives the support arm, the rotating shaft, the joint and the sliding rod to rotate; FIG. 26 is a diagram similar to FIG. 23 is a schematic cross-sectional view illustrating a first variant of the third embodiment; FIG. 27 is a schematic cross-sectional view similar to FIG. 23 illustrating a second variant of the third embodiment; FIG. 28 It is a schematic front view illustrating a third variation of the third embodiment; FIG. 29 is a schematic cross-sectional view similar to FIG. 19 illustrating the third variation; FIG. 30 is a first embodiment of the wheel steering device of the present invention The block diagram of the four embodiments; Fig. 31 is a schematic front view illustrating the fourth embodiment; Fig. 32 is a block diagram of the fifth embodiment of the wheel steering device of the present invention; Fig. 33 is a schematic front view illustrating the fourth embodiment Describe the fifth embodiment; Fig. 34 is a block diagram of the sixth embodiment of the wheel steering device of the present invention; Fig. 35 is a schematic plan view illustrating the sixth embodiment; Fig. 36 is a schematic front view illustrating the pushing of the sixth embodiment Steering unit; Figures 37 to 40 are schematic top views, illustrating that the push steering unit of the sixth embodiment drives the wheels to rotate; and Figures 41 to 44 are schematic top views, illustrating a first embodiment of the sixth embodiment A push steering unit in a modified example drives the wheels to rotate.

Before the present invention is described in detail, it should be noted that in the following description, similar elements are denoted by the same numerals.

Referring to FIG. 1 to FIG. 3 , the first embodiment of the vehicle steering device of the present invention is illustrated, which is applicable to a vehicle, such as an electric vehicle, but not limited thereto. The vehicle steering device is arranged between the body of the electric vehicle and one of the wheels 100 for steering the wheel 100 . The wheel 100 may be the front wheel of the electric vehicle, or the wheel 100 may be the rear wheel of the electric vehicle. This embodiment takes the right front wheel as an example. The wheel 100 has a steel rim 100a with an inner side 100b. The vehicle steering device includes a wheel motor M, a first transmission mechanism P1 , an axle unit 1 , a second reduction mechanism P2 , a third reduction mechanism P3 (see FIG. 4 ) and a wheel steering unit 2 . The first speed change mechanism P1 , the second speed reduction mechanism P2 and the third speed reduction mechanism P3 can be, for example, planetary gear assemblies, but not limited thereto.

The wheel motor M is connected to the corresponding planetary gear assembly for driving the planetary A wheel 100 among the plurality of wheels 100 of the electric vehicle connected to the gear assembly and the planetary gear assembly, the wheel motor M is further connected to the main battery 200 of the electric vehicle, for During reverse power generation, the main battery 200 is charged. The electric vehicle also has a fuel cell 300, which can also charge the main battery 200. The electric vehicle uses the main battery 200 and the fuel cell 300 to supply power to drive the wheels 100. It is also possible to use only the main battery 200 or only the fuel cell 300. to power. When the wheel motor M is connected to and drives the planetary gear assembly, the wheel motor M works positively on the planetary gear assembly, and then the planetary gear assembly drives the wheel 100 to rotate; when the When the wheel motor M is connected but not driving the planetary gear assembly, the idling wheel 100 reversely drives the planetary gear assembly, and then the planetary gear assembly reversely drives the wheel motor M to generate electricity in reverse to generate power for the The main battery 200 is charged.

The wheel motor M, for example, the wheel motor M can be: 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 Motors (brushless motors), DC motors (DC motors), or AC motors (AC motors), or by using at least one of them; but the present invention is not limited thereto, any other suitable motors can also be used Applies to implementations in accordance with the present invention.

The first transmission mechanism P1 is disposed between the wheel motor M and the axle unit 1 , and the second reduction mechanism P2 is disposed between the axle unit 1 and the wheel 100 . The first speed change mechanism P1 and the second reduction mechanism P2 can be selected from any type of planetary gear assembly according to the requirements. According to the general planetary gear assembly, it includes a sun gear, a sun gear shaft connected to the sun gear, and a plurality of planetary gears surrounding the sun gear. , supply line The planetary carrier set by the star gear, the planetary carrier shaft connecting the planetary carrier and the ring gear located on the outermost ring. It should be noted that, in this embodiment, the second reduction mechanism P2 adopts a bell hub planetary gear assembly, but it is not limited thereto. And in other embodiments, the first speed change mechanism P1 and the second speed reduction mechanism P2 can be selected, that is, only the first speed change mechanism P1 or the second speed reduction mechanism P2 can be provided, and the first speed change mechanism can even be omitted at the same time. P1 and the second reduction mechanism P2. The number of the first speed change mechanism P1 is not limited to one, and there may be more than one in other embodiments, as long as there is at least one.

The wheel motor M is connected to the planetary gear assembly to further drive the wheel 100 . When the wheel motor M drives the planetary gear assembly, the wheel motor M will perform work on the planetary gear assembly in the forward direction, and then the planetary gear assembly will drive the wheel 100 to rotate. At this time, you can choose: (1) When the wheel motor M is connected and drives the sun gear shaft, then converted into a sun gear to connect to drive the planet carrier, and then converted into a planet carrier shaft connected to drive the wheel 100, then the sun gear is active, the planet carrier is passive, and the ring gear is fixed, so that the wheels 100 are greatly decelerated in the same direction to increase the torque; (2 ) When the wheel motor M is connected and drives the planetary carrier shaft, then converted into a planetary carrier connected to drive the sun gear, and then converted into a sun gear shaft connected to drive the wheel 100, then the planetary carrier is active, the sun gear is passive, and the ring gear is fixed, so that the wheel 100 Accelerate in the same direction to increase the speed.

When the wheel motor M is connected but does not drive the planetary gear assembly, the idling 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. At this time, the planetary gear The way the components operate can be divided into: (1) When the wheel 100 is idling and the wheel is connected to drive the sun gear shaft, then converted to the sun gear to drive the planet carrier, and then converted to the planet carrier shaft to connect and drive the wheel motor M to generate electricity, then the ring The gears are fixed, the sun gear is active, and the planetary carrier is passive, and the planetary gear assembly is greatly decelerated in the same direction to charge the main battery 200; (2) when the vehicle The wheel 100 is idling and the wheels are connected to drive the planetary carrier shaft, and then converted into a planetary carrier connected to drive the sun gear, and then converted into a sun gear shaft connected to drive the wheel motor M to generate power, the ring gear is fixed, the planetary carrier is active, the sun gear is passive, and the planetary gear The components are accelerated in the same direction to charge the main battery 200 .

Referring to FIG. 4 , in this embodiment, the first transmission mechanism P1 also 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 structures of the planetary gear assembly are given reference numerals in FIG. 4 . The planetary gear assembly has a sun gear P11, a planetary gear P12 surrounding the sun gear P11, a ring gear P13 located on the outermost ring, and a planetary carrier P15 connected to the planetary gear P12. The switching mechanism P14 can movably hold the ring gear, and has a switching ring P141, an engagement ring P142 arranged on the surface of the switching ring P141 facing the ring gear P13, two fixed to the vehicle body and passing through the The fixed pin P144 of the switch ring P141 and two driving parts P143 can drive the switch ring P141 to move toward or away from the ring gear P13 along the fixed pin P144 . The engaging ring P142 can engage with the ring gear P13 to thereby fix the ring gear P13. Once the ring gear P13 is fixed, the planetary gear assembly can provide a large deceleration effect on the wheel 100 . When the switching ring P141 drives the engaging ring P142 away from the ring gear and disengages from it, the ring gear P13 is not fixed. The switching mechanism P14 is used to control whether the ring gear P13 is fixed. When the ring gear P13 is not fixed, the planetary gear assembly cannot provide acceleration or deceleration for the wheel 100 .

Referring to FIG. 2 and FIG. 3 , the 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 axle section 11 connected to the wheel motor M, a second axle section 12 passing through the wheel steering unit 2 , two universal joints 13 and a third axle section 14 connected to the wheel 100 . One of the two ends of the universal joint 13 The first shaft segment 11 and the second shaft segment 12 are respectively connected, and the two ends of another universal joint 13 are respectively connected to the second shaft segment 12 and the third shaft segment 14 . With the arrangement of the universal joint 13, when the wheel 100 encounters a collision and produces vertical displacement or forward and backward displacement, the wheel 100 can swing up and down or forward and backward relative to the first speed change mechanism P1 through the universal joint 13, thereby preventing the wheel from The displacement of 100 affects the first speed change mechanism P1, the second speed reduction mechanism P2 and the wheel motor M. The second reduction mechanism P2 is disposed on the third shaft section 14, but in other embodiments, it can also be disposed in the wheel 100, as shown in FIG. 3 . It should be noted that, in other embodiments, the number of the universal joint 13 can also be one, so that the third shaft section 14 can be omitted and merged into the second shaft section 12 .

Referring to Fig. 2, Fig. 5 to Fig. 7, the wheel steering unit 2 includes a suspension assembly 21 arranged on the vehicle body and connected to the wheel 100, obliquely arranged on the inner surface 100b of the steel ring 100a of the wheel 100 and approximately An arc-shaped worm gear 22 , a worm 23 engaged with the worm gear 22 , and a steering motor 24 arranged on the vehicle body to drive the worm 23 to rotate. The suspension assembly 21 includes a steering knuckle 211 through which the second shaft section 12 passes and connects the wheel 100 , two support arms 212 connecting the upper and lower ends of the steering knuckle 211 , and shock absorbers arranged on the support arms 212 (not shown in the figure), the steering knuckle 211 can pivot relative to the support arm 212, and the suspension assembly 21 of the present embodiment is a suspension system (double-wishbone suspension) commonly known as double-A-arm type (double-wishbone suspension). limit. The worm wheel 22 can be in the shape of a solid plate, or in the shape of a hollow ring, as long as there are threads on the periphery to engage with the worm 23 . When the worm 23 rotates, the worm gear 22 will drive the wheel 100 to rotate relative to the suspension assembly 21, as shown in FIG. , through the setting of the universal joint 13, the first shaft section 11 and the second shaft section 12 will not be broken. The third reduction mechanism P3 is connected to the worm 23 And the steering motor 24 is used to reduce the rotating speed of the worm 23 to prevent the wheels 100 from rotating at an excessive angle so as to improve the ease of operation for adjusting the steering angle. That is to say, through the above-mentioned method, it will be possible to realize independent steering of each tire and increase the steering flexibility of the electric vehicle, especially in the case of high-speed driving. The steering motor 24 can be, for example, a servo motor (Servomotor) or a stepping motor (Step motor), but it is not limited thereto.

Referring to Fig. 8 and Fig. 9, the second embodiment of the vehicle steering device of the present invention is illustrated, which is suitable for electric vehicles. 100 turns. The vehicle body has an upper connecting portion 110 and a lower connecting portion 120 . The wheel 100 can also be the front wheel of the electric vehicle, or the wheel 100 can be the rear wheel of the electric vehicle. In this embodiment, the right front wheel is taken as an example. The vehicle steering device includes an installation 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.

9 to 11, the installation box 3 is pivotably connected to the upper connection part 110 and the lower connection part 120, respectively, and the installation box 3 includes a top connected to the upper connection part 110 of the vehicle body. The wall 31 , the side wall 32 connecting the top wall 31 , the bottom wall 33 connecting the side wall 32 and the lower connection portion 120 of the vehicle body, is arranged on the top wall 31 and penetrates through the upper connection portion 110 The upper engaging component 34 and the lower engaging component 35 disposed on the bottom wall 33 and passing through the lower connecting portion 120 . The space inside the installation box 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, and their functions will be described later. The side wall 32 is provided for the axle steering unit 2'.

The upper joint assembly 34 is provided on the top wall 31 and passes through the upper connecting portion 110, the upper connecting pin 341, the upper shaft sleeve 342 sleeved on the upper connecting pin 341, the upper engaging strip 344 embedded between the upper connecting pin 341 and the upper shaft sleeve 342, and the upper engaging strip 344 sleeved on the upper connecting pin 341 The rotation buffer 343 of the upper shaft sleeve 342, the rotation buffer 343 has an inner ring layer 343a sleeved with the upper shaft sleeve 342, a buffer layer 343b sleeved with the inner ring layer 343a, and a buffer layer 343b sleeved with the buffer layer 343a. layer 343b and an outer ring layer 343c tightly fitted with 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 joint assembly 35 has a lower connecting pin 351 disposed on the bottom wall 33 and passing through the lower connecting portion 120 , a lower bushing 352 socketed on the lower connecting pin 351 , embedded in the lower connecting pin 351 and the lower engaging strip 354 between the lower bushing 352 and the bearing 353 sleeved on the lower bushing and tightly fitted with the bottom wall 33 . The bearing member 353 can be selected from one of roller bearings, ball bearings or thrust bearings and other types of bearings, and its function is to accept the installation box 3 and the wheel motor M and the first speed change mechanism located in the installation box The weight of P1 needs to have a good load capacity. In this embodiment, a roller bearing with better performance is used, but it is not limited thereto.

The wheel axle unit 1 is roughly the same as the first embodiment, the difference is that the first shaft section 11 passes through the side wall 32 of the installation box 3 and connects with the universal joint 13. The function of the universal joint 13 has been described in the previous paragraphs, and will not be discussed here. Let me repeat. The functions of the first speed change mechanism P1 and the second speed reduction mechanism P2 are also the same as those in the first embodiment, and the first speed change mechanism P1 also has a switching mechanism P14 , which will not be repeated here.

10 to 12, the axle steering unit 2' includes a semicircular worm wheel 22' vertically arranged on the side wall 32 of the installation box 3, a worm 23' engaging the worm wheel 22', and a worm wheel 23' arranged on the The vehicle body is used to drive the steering motor 24' to rotate the worm 23'. When the worm 23' rotates, the worm gear 22' will rotate to drive the installation box 3, the axle unit 1, the Describe the second reduction mechanism P2 and the The wheel 100 rotates around, as shown in FIG. 10 , to achieve the purpose of turning the wheel 100 . The third deceleration mechanism P3 is connected to the worm 23' and the steering motor 24', and is used to reduce the speed of the worm 23', so as to prevent the installation box 3, the axle unit 1 and the wheels 100 from rotating at an excessive angle to enhance and adjust the steering angle ease of operation. That is to say, through the above-mentioned method, it will be possible to realize independent steering of each tire and increase the steering flexibility of the electric vehicle, especially in the case of high-speed driving. When the electric vehicle wants to run straight without turning the wheels 100 , the installation box 3 can be positioned through the positioning unit 4 arranged on the vehicle body. The positioning unit 4 includes four positioning columns 41 which are movable up and down on the vehicle body and a plurality of positioning sensors 42 . The positioning sensor 42 is used to detect whether the installation box 3 is parallel to the worm 23', and when the installation box 3 is parallel to the worm 23', the positioning column 41 can extend into the positioning hole 311, preventing the installation box 3 from rotating around to achieve positioning. Taking the actual operation as an example, when the electric vehicle needs to run straight after turning, the steering motor 24' will drive the worm 23' to rotate to make the worm gear 22' rotate, so as to drive the installation box 3 to rotate around, so that the installation When the box 3 rotates to a position parallel to the worm 23', the positioning sensor 42 detects that the mounting box 3 has been parallel to the worm 23', and the positioning column 41 can be driven to move downwards and extend into the positioning hole 311 to prevent the The installation box 3 rotates around due to the external force received by the wheel 100 . When the electric vehicle needs to turn, the positioning column 41 is driven upwards to leave the positioning hole 311, and the steering motor 24' can drive the worm 23' to rotate to make the worm gear 22' rotate, so as to drive the mounting box 3, the The axle unit 1 , the second reduction mechanism P2 and the wheels 100 rotate around. Wherein, the number of the positioning posts 41 and the positioning holes 311 is not limited to four, and in other embodiments, there may be other numbers, as long as there is at least one. In yet another embodiment, the positioning post 41 and the positioning hole 311 can also be omitted. Among them, the worm gear 22' and the worm 23' can also be two helical gears that cooperate with each other in other embodiments, as long as the direction of the axis of rotation can be switched. Can.

It should be noted that, except that the upper joint assembly 34 and the lower joint assembly 35 are connected to the upper connection part 110 and the lower connection part 120 respectively, the other parts of the installation box 3 are connected to the upper connection part 110 and the lower connection part respectively. 120 is formed with a gap, such design is to reduce the frictional resistance between the installation box 3 and the upper connection part 110 and the lower connection part 120 when rotating, so that the installation box 3 can rotate smoothly. The buffer layer 343b of the upper joint assembly 34 is made of elastic material, in order to provide a buffer when the installation box 3 rotates, reduce the rotation speed and amplitude of the installation box 3, and reduce the joint between the upper joint assembly 34 and the upper connecting portion 110 and the lower joint. Unnecessary abrasion damage between the assembly 35 and the lower connection portion 120 .

13 and 14, in other embodiments, the upper joint assembly 34 can be replaced with the lower joint assembly 35, so that the top wall 31 and the bottom wall 33 are all correspondingly provided with the lower joint assembly 35, or the top wall 31 and the bottom wall 33 are correspondingly provided with an upper joint component 34 , which is not limited by the aspect of this embodiment. In the first variation of the second embodiment of the vehicle steering device of the present invention, both the top wall 31 and the bottom wall 33 are provided with corresponding lower joint components 35 , as shown in FIG. 12 . In the second modification of the second embodiment of the vehicle steering device of the present invention, both the top wall 31 and the bottom wall 33 are provided with corresponding upper joint components 34 , as shown in FIG. 13 .

Referring to FIG. 15 , a third modification of the second embodiment of the vehicle steering device of the present invention is illustrated. The difference between it and the second embodiment lies in the change in the form of the upper joint assembly 34 of the installation box 3 . The upper joint assembly 34 has a rotating buffer 343 ′ embedded in the top wall 31 and connected to the upper connecting portion 110 ′. The rotating buffer 343 ′ includes a pair of upper and lower locking claw blocks 345 and The buffer block 346 arranged between the claw blocks 345, each claw block 345 is made of metal and has a flat plate portion 345a and two claws formed on the surface of the flat plate portion 345a extending toward the other claw block 345 part 345b, the jaw block 345 are respectively connected to the top wall 31 and the upper connecting portion 110 ′ by a plurality of engaging pins 347 . The buffer block 346 is made of elastic material, such as rubber, which can provide buffer when the installation box 3 rotates, and reduce the rotation speed and amplitude of the installation box 3 . Referring to FIG. 16 again, the fourth variation of the second embodiment of the vehicle steering device of the present invention is illustrated, wherein the lower joint assembly 35 has the same components as the upper joint assembly 34, and the lower connecting portion 120' The corresponding change is the same aspect as that of the upper connection part 110'. Wherein, the number of claws 345b is not limited to two, and may be other numbers in other embodiments, as long as it is more than one.

Referring to Fig. 17 and Fig. 18, the third embodiment of the vehicle steering device of the present invention is illustrated, which is suitable for electric vehicles. 100 turns. The wheel 100 can also be the front wheel of the electric vehicle, or the wheel 100 can be the rear wheel of the electric vehicle. In this embodiment, the right front wheel is taken as an example. The vehicle steering device includes a wheel motor M, a first transmission mechanism P1 , an axle unit 1 , a second reduction mechanism P2 , a first steering unit 5 , three third reduction mechanisms P3 and a lifting unit 6 . The first speed change mechanism P1, the second speed reduction mechanism P2 and the three third speed reduction mechanisms P3 can be, for example, planetary gear assemblies, but not limited thereto. The first transmission mechanism P1 is the same as the first embodiment, and also has a switching mechanism P14.

19 to 21, the first steering unit 5 includes a suspension assembly 51 arranged on the vehicle body and connected to the wheels 100, two driving gears 53 connected to the suspension assembly 21, and two The vehicle body is used to drive the steering motor 54 that drives the drive gear 53 to rotate. The suspension assembly 51 includes a steering knuckle 511 through which the axle unit 1 passes and connects the wheel 100, two support arms 512 connecting the upper and lower ends of the steering knuckle 511, and is movable up and down on the vehicle. Body carrier 513, can The rotating shaft 514 passing through the bearing frame 513 rotatably, two steering gears 515 fixedly connected to the rotating shaft 514 and meshing with the driving gear 53 , two steering gears 515 respectively sleeved on the rotating shaft 514 and connected to the supporting arm 512 Engagement piece 516, two interlocking engagement strips 516d respectively embedded between the rotating shaft 514 and the engagement piece 516, two pairs of bearing pieces 517, two pairs of bearing engagement strips 517a, arranged on the car body extending up and down. The track member 519, the sliding rod 520 connected to the support arm 512 located above, the sliding rail rod 521 arranged on the vehicle body, and the cross movably sleeved on the sliding rod 520 and the sliding rail rod 521 Slide Kit 522. The two third reduction mechanisms P3 are provided between the drive gear 53 and the steering motor 54, respectively.

Referring to FIG. 22 to FIG. 24 , the rotating shaft 514 has two interlocking sections 514 a respectively connected to the steering gear 515 and passing through the upper end and the lower end of the carrier frame 513 . Each joint member 516 has a sleeve portion 516a sleeved on the linkage section 514a and two extensions extending from the sleeve portion 516a away from the linkage section 514a at intervals and engaged with the support arm 512 . The arm portion 516b and the pivot portion 516c passing through the extension arm portion 516b and the support arm 512 enable the support arm 512 to pivot relative to the extension arm portion 516b. The linkage engaging strip 516d is embedded between the linkage section 514a and the sleeve portion 516a, so that the linkage section 514a can drive the joint member 516 and the support arm 512 to rotate when the linkage section 514a rotates. The track member 519 forms a sliding groove 519a, the carrier 513 is movably accommodated in the sliding groove 519a and has a first surface 513a facing the track member 519, and a first surface 513a opposite to the first surface 513a. And the second surface 513b located outside the chute 519a, two side surfaces 513c connected to the second surface 513b and located outside the chute 519a, teeth arranged on the second surface 513b extending up and down The bar 513d and a plurality of blocks 513e are respectively disposed on the side surface 513c. The locking block 513e has a positioning point 513e1 in the middle of the up-down direction, and its function will be described later. The pair of bearings 353 are respectively sleeved on the moving section 514a and is located on the upper and lower sides of the joint part 516, and the pair of bearing engaging strips 517a are embedded between the linkage section 514a and the bearing part 517 respectively. The sliding rod 520 is curved and extends away from the wheel 100 on the horizontal plane to form an arc, and the slide rail rod 521 is curved to extend on the vertical plane to form an arc. The cross slide assembly 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 slide rail rod 521. The horizontal portion 522a can allow the sliding rod 520 to move relative to the cross slide assembly 522 . Referring to Fig. 25, when the driving gear 53 rotates, it will drive the steering gear 515 to rotate to drive the rotating shaft 514, the support arm 512, the steering knuckle 511 and the wheels 100 to rotate, so that the wheels 100 are turned. Purpose. In this embodiment, the cross slide assembly 522 adopts a ball bushing bearing, but it is not limited thereto.

It should be noted that the shape of the support arm 512 is not limited to the shape of a long plate in this embodiment, it can also be in the form of a Y-shaped plate or a Y-shaped bar, as long as it can be passed through by the pivot portion 516c It only needs to enable the support arm 512 to pivot relative to the extension arm portion 516b. The block 513e can also be provided on only one of the side surfaces 513c in other embodiments, and the shape of the block 513e is not limited by the aspect of this embodiment, and it can also be used in other embodiments. Can be square. The slide rod 520, the slide rail rod 521 and the cross slide assembly 522 are not necessary components, and their function is to increase the suspension assembly 51 through the slide rail rod 521 arranged on the vehicle body. The structural strength can also be omitted in other embodiments. The bearing 517 can be selected from one of roller bearings, ball bearings, thrust bearings and other types of bearings. In this embodiment, roller bearings are used, but not limited thereto.

22 to 24, the lifting unit 6 includes a lifting gear 61 engaged with the rack 513d, a lifting motor 62 arranged on the vehicle body to drive the lifting gear 61 to rotate, and two pairs of gears. The vehicle body is movably engaged with the positioning block 63 of the locking block 513e and the reset sensor 64 disposed on the vehicle body. The last third reduction mechanism P3 is disposed between the lift gear 61 and the lift motor 62 . When the positioning block 63 leaves the clamping block 513e, the lifting motor 62 can drive the lifting gear 61 to rotate to drive the bearing frame 513 to move up and down relative to the track member 519, because the bearing frame 513 and the The support arm 512, the steering knuckle 511 and the wheel 100 are connected, and the carrier frame 513 moves up and down to adjust the horizontal height of the wheel 100 relative to the vehicle body. Take the situation where the vehicle is turning right as an example, the height of the ground contacted by the left front wheel and the left rear wheel should be higher than that of the right front wheel and the right rear wheel. , but if the ground heights on both sides are the same, the right half of the car body will be slightly tilted when the vehicle is turning right, making the car body unstable, especially in the case of high-speed turning, it is more likely to roll over to the left. 6 actuate the positioning block 63 to leave the clamping block 513e, so that the carrier 513 located on the left front wheel and the left rear wheel moves downward, and the positioning block 63 finally resets to be engaged with the clamping block 513e, Increase the distance between the wheels 100 and the vehicle body to lift the vehicle body upwards. Such a moment will prevent the vehicle body from overturning to the left and keep the vehicle body stable when the vehicle is cornering. After the turning is completed, the lifting unit 6 returns the carrier frame 513 to its original position, which is achieved by detecting whether a positioning point 513e1 in the block 513e returns to the level of a reset baseline L by the reset sensor 64 , because the initial position of the carrier 513 is that the positioning point 513e1 is located at the level of the reset baseline L. In addition, when one of the wheels 100 of the vehicle has a puncture, the corresponding carrier 513 of the punctured wheel 100 can rise, so that the punctured wheel 100 leaves the ground, and the remaining three wheels 100 are used to continue driving to get out of danger. In addition, the supporting frame 513 corresponding to the four wheels 100 can also be raised at the same time, and can be used as a wading off-road recreational vehicle, and the four wheels 100 can also be The corresponding bearing frame 513 descends at the same time, and according to Bernoulli's principle, the smaller the cross-sectional area, the higher the air flow velocity between the vehicle and the ground, and the lower the pressure, so that the vehicle generates a downward pressure, which can increase the stability of linear acceleration. Used as a racing car. The height of any wheel 100 can also be adjusted, and the rotation speed of the wheel motor M can be adjusted to cross obstacles and improve off-road capability. And when the vehicle encounters a lateral impact, the supporting frame 513 corresponding to the impacted opposite wheel can rise, thereby raising the height of the side of the vehicle that is not impacted and preventing the vehicle from rolling. Wherein, the number of positioning blocks 63 is not limited to two pairs in this embodiment, and may be other numbers in other embodiments, as long as there is at least one pair.

Referring to Fig. 26, the first variation of the third embodiment of the vehicle steering device of the present invention is illustrated, in which the bearing member 517 and the bearing engaging strip 517a are replaced by two pairs respectively sleeved on the linkage section 514a. The buffer bushing 518 a , two pairs of rotating buffer members 518 sleeved on the buffer bushing 518 a , and two pairs of buffer engaging strips 518 e respectively inserted between the linkage section 514 a and the bearing member 353 . Each pair of buffer bushings 518a and the rotating buffer member 343 are respectively located on the upper and lower sides of the joint member 516, and each rotating buffer member 518 has an inner ring layer 518b sleeved with the buffer bushing 518a, sleeved with the inner The buffer layer 518c of the ring layer 518b and the outer ring layer 518d covering the buffer layer 518c and closely fitting with the top wall 31, the inner ring layer 518b and the outer ring layer 518d are made of metal, and the buffer layer The layer 518c is made of elastic material, such as rubber, which can provide buffer when the linkage section 514a rotates, and reduce the rotation speed and amplitude of the linkage section 514a.

Referring to FIG. 27 , the second variation example of the third embodiment of the vehicle steering device of the present invention is illustrated. The difference between it and the third embodiment is that the rotating shaft 514 also includes four pairs of claw blocks 523 that engage up and down and are arranged on The buffer blocks 524 between the claw blocks, every two pairs of claw blocks 523 are respectively connected to the connecting The upper and lower ends of the moving section 514a are located above the bearing member 517, and the uppermost and lowermost two pairs of claw blocks 523 are respectively fixed to the steering gear 515. Each claw block 523 is made of metal and has a The flat plate portion 523 a and a plurality of claw portions 523 b formed on the surface of the flat plate portion 523 a extend toward the other claw block 523 . The buffer block 524 is made of elastic material, such as rubber, which can provide buffer when the linkage section 514a rotates, and reduce the rotation speed and amplitude of the linkage section 514a. Wherein, the number of claws 523b is not limited to two, and may be other numbers in other embodiments, as long as it is more than one.

Referring to Fig. 28 and Fig. 29, the third modification example of the third embodiment of the vehicle steering device of the present invention is illustrated. The difference between it and the third embodiment is that the number of these support arms 512 is two pairs, and the pivot portion 516c The length is correspondingly elongated simultaneously to form a tripod structure, making the overall structure more stable. And the sliding rod 520 , the sliding rail rod 521 and the cross sliding set 522 are omitted. Wherein, the number of these support arms 512 is not limited to two pairs, it can also be set so that a single support arm 512 is above, a pair of support arms 512 are below, or a single support arm 512 is below, a pair of support arms 512 is above.

Referring to Fig. 30 and Fig. 31 , the fourth embodiment of the vehicle steering device of the present invention is illustrated, which is substantially the same as the third embodiment, the difference is that the fourth embodiment also includes the worm gear 22 and the joint as described in the first embodiment. The worm 23 of the worm gear 22 and the steering motor 24 arranged on the vehicle body to drive the worm 23 to rotate, when the vehicle is turning, the first steering unit 5 can make the wheels rotate at a larger angle first, The wheel steering unit 2 is used to continuously fine-tune the rotation angle of the wheels 100, so that the process of steering and cornering is relatively smooth.

Referring to Fig. 32 and Fig. 33, the fifth embodiment of the vehicle steering device of the present invention is illustrated, which is substantially the same as the second embodiment, the difference is that the fifth embodiment also includes the wheels as described in the first embodiment Steering unit 2, when the vehicle is turning and cornering, the axle steering unit 2' can make the wheels rotate at a larger angle first, and the wheel steering unit 2 is used to fine-tune the rotation angle of the wheels 100, so that the process of turning and cornering is smoother.

Referring to Fig. 34 and Fig. 35, the sixth embodiment of the vehicle steering device of the present invention is illustrated, which is suitable for electric vehicles. 100 turns. The wheel 100 can also be the front wheel of the electric vehicle, or the wheel 100 can be the rear wheel of the electric vehicle. In this embodiment, the right front wheel is taken as an example. The vehicle steering device includes a wheel motor M, a first transmission mechanism P1, an axle unit 1, a second reduction mechanism P2, a thrust steering unit 7, and a third reduction mechanism P3. The first speed change mechanism P1 , the second speed reduction mechanism P2 and the third speed reduction mechanism P3 can be, for example, planetary gear assemblies, but not limited thereto. The first transmission mechanism P1 is the same as the first embodiment, and also has a switching mechanism P14.

Referring to Fig. 34 to Fig. 36, the push steering unit 7 includes a rotating shaft 71 spaced apart from the axle unit, a steering motor 72 arranged on the vehicle body to drive the rotating shaft 71 to rotate, a movably sleeved The telescopic assembly 70 on the rotating shaft 71, a push arm assembly 74 movably arranged on the telescopic assembly 70 and connected to the wheel 100, and a pair of guides provided with the vehicle body and passing through the telescopic assembly 70 Rod 75. In this embodiment, the steering motor 72 is arranged on the front side relative to the wheel 100 (ie above the imaginary line L1 in the drawing), but it is not limited thereto. The telescoping component 70 can be a ring member 73 , and the ring member 73 can move relative to the rotating shaft 71 along the guide rod 75 . The rotating shaft 71 can be, for example, a screw or a worm, but it is not limited thereto, as long as the collar member 73 moves axially along the rotating shaft 71 when the rotating shaft 71 rotates. The push arm assembly 74 includes an engaging element 741 disposed on the collar element 73, a connecting portion The connecting rod 742 of the connecting member 741 , a push rod 743 screwed to the connecting rod 742 , and a steering ball joint 744 arranged at one end of the push rod 742 and engaged with the wheel 100 . The joint member 741 can be, for example, a universal joint, so that the connecting rod 742 can freely rotate relative to the collar member 73 through the joint member 741 . One end of the connecting rod 742 is engaged with the joint member 741 , and the other end is threaded and screwed to the push rod 743 . The push rod 743 can move axially relative to the connecting rod 742 by means of screw connection to adjust the total length of the push arm assembly 74, and connect the connecting rod 742 and the connecting rod 742 by a lock nut 745. The push rod 743 is fixed to prevent relative axial movement of the two. The steering ball joint 744 is connected to the lower end of a king shaft (not shown) or a steering knuckle arm (not shown) of a steel ring 100a fixedly connected to the wheel 100. In this embodiment, the king shaft or steering knuckle The arm is tilted backward, so the joint with the steering ball joint 744 is located at the front end of the steel ring 100a, but this is not a limitation. The third reduction mechanism P3 is provided between the rotating shaft 71 and the steering motor 72 . Wherein, the guide rail 75 can be omitted in other embodiments, and the collar member 73 can also move axially along the rotating shaft 71 .

Referring to Fig. 37 to Fig. 40, when the rotating shaft 71 rotates, the collar member 73 can be driven to move along the rotating shaft 71 and drive the pushing arm member group 74 to push the wheel 100 to rotate to reach the wheel 100. purpose of steering. It should be noted that, in this embodiment, the rotating shaft 71 is precisely connected to the front end of the steering motor 72, and the steering motor 72 is arranged on the rear side relative to the wheel 100 (that is, below the imaginary line L1 in the drawing). The steering ball joint 744 is connected to the front end of the wheel 100 , that is, the king shank or the steering knuckle arm is tilted backward, but it is not limited thereto. And shown in Figure 38 is the situation that wheel 100 turns left about 45 degrees, and Figure 39 shows the situation that wheel 100 turns left 90 degrees, and Figure 40 shows the situation that wheel 100 turns right about 45 degrees.

Referring to Fig. 41 to Fig. 44, a first modification example of the sixth embodiment of the vehicle steering device of the present invention is illustrated, the steering motor 72 is arranged at the rear side relative to the wheel 100 (that is, below the imaginary line L1 in the drawing). ), the rotating shaft 71 is connected to the front end of the steering motor 72, and the steering ball joint 744 is connected to the rear end of the wheel 100, that is, the big king or the steering knuckle arm is in a forward tilted state. And shown in Figure 42 is the situation that wheel 100 turns left about 45 degrees, and Figure 43 shows the situation that wheel 100 turns left 90 degrees, and Figure 44 shows the situation that wheel 100 turns right about 45 degrees.

Each embodiment of the vehicle steering device of the present invention has the following advantages: the four wheels 100 of the vehicle can be independently steered, and when the vehicle is cornering at high speed, the steering of the front and rear wheels can be made the same to increase the cornering stability; When the vehicle is cornering at low speed, the steering of the front and rear wheels is reversed to reduce the cornering angle. Moreover, the wheels can be turned at 90 degrees, which makes parking more convenient. In some cases, the wheels can also turn at more than 90 degrees. When driving in a straight line, if the right front wheel or the right rear wheel or both leave the ground when the right side of the vehicle is hit, the vehicle will roll over to the left, and the wheels can turn 90 degrees or more. Angular momentum is generated, and according to the principle of conservation of angular momentum, it can resist the rollover of the vehicle and keep the vehicle stable. In the same way, it can be seen that the vehicle can also be kept stable when the left side of the vehicle is hit.

In summary, through the steering motor 24 of the wheel steering unit 2, the worm 23 is driven to rotate so that the worm gear 22 rotates to drive the wheels 100 to rotate around, that is, to achieve the purpose of independent steering of each wheel 100, and to increase the electric power. The steering flexibility of the car. Moreover, the steering motor 24' of the axle steering unit 2' can also be used to drive the worm 23' to rotate so that the worm gear 22' can rotate to drive the installation box 3, the axle unit 1 and the wheels 100 around the rotation, can also achieve the purpose of each wheel 100 independent steering. Furthermore, it can also be driven by the steering motor 54 of the first steering unit 5. Drive the driving gear to rotate 53, so that the steering gear 53 can drive the rotating shaft 514, the support arm 512, the steering knuckle 511 and the wheels 100 to rotate, and also achieve the purpose of each wheel 100 turning independently. Furthermore, the steering motor 72 of the push steering unit 7 can also drive the rotating shaft 71 to rotate, drive the collar 73 to move along the rotating shaft 71 and drive the pushing arm assembly 74 to push the wheel 100 Rotation can also achieve the purpose of each wheel 100 turning independently.

But what is described above is only an embodiment of the present invention, and should not limit the scope of the present invention. All simple equivalent changes and modifications made according to the patent scope of the present invention and the content of the patent specification are still within the scope of the present invention. Within the scope covered by the patent of the present invention.

M: wheel motor

P1: The first speed change mechanism

P14: Switch mechanism

P2: The second reduction mechanism

100: wheels

100a: steel ring

100b: inner side

1: axle unit

11: The first shaft section

12: The second shaft section

13:Universal joint

14: The third shaft section

2: Wheel steering unit

21: Suspension components

211: Steering knuckle

212: support arm

22: Worm gear

23: Worm

24: Steering motor

Claims (59)

A vehicle steering device, which is arranged between a vehicle body and a wheel, and is suitable for steering the wheel. The vehicle body has an upper connecting portion and a lower connecting portion. The vehicle steering device includes: an installation box, respectively The upper connection part and the lower connection part are pivotally connected; a wheel motor is arranged in the installation box; a wheel axle unit is passed through the installation box and connected to the wheel motor and the wheel, The wheel motor drives the wheel to rotate through the axle unit; an axle steering unit is arranged on the vehicle body and the installation box, and the steering unit includes a worm gear member vertically arranged on the installation box, A worm engaging the worm gear and a steering motor arranged on the vehicle body to drive the worm to rotate. When the worm rotates, it will drive the worm to rotate to drive the installation box and the axle The unit and the wheels rotate around it. The vehicle steering device according to claim 1, further comprising a first speed change mechanism, the first speed change mechanism is connected to the wheel motor and the axle unit. The vehicle steering device according to claim 2, wherein the first transmission mechanism includes a planetary gear assembly and a switching mechanism movably arranged on the vehicle body and connected to the planetary gear assembly, the switching mechanism It is used to control whether the ring gear of the planetary gear assembly is fixed. The vehicle steering device according to claim 1, further comprising a second speed reduction mechanism, the second speed reduction mechanism is connected to the wheel and the axle unit. The vehicle steering device according to claim 2, further comprising a second speed reduction mechanism, the second speed reduction mechanism is connected to the wheel and the axle unit. The vehicle steering device according to claim 4, wherein the second reduction mechanism is provided in the wheel. The vehicle steering device according to claim 4, wherein the second reduction mechanism is a planetary gear assembly. The vehicle steering device according to claim 1, further comprising a third reduction mechanism, the third reduction mechanism is connected to the steering motor and the worm. The vehicle steering device according to claim 2 further includes a third reduction mechanism, the third reduction mechanism is connected to the steering motor and the worm. The vehicle steering device according to claim 4, further comprising a third reduction mechanism, the third reduction mechanism is connected to the steering motor and the worm. The vehicle steering device according to claim 5, further comprising a third reduction mechanism, the third reduction mechanism is connected to the steering motor and the worm. The vehicle steering device according to claim 9, wherein both the first transmission mechanism and the third reduction mechanism are planetary gear assemblies. The vehicle steering device according to claim 1, wherein the axle unit includes a first axle section connected to the wheel motor, a second axle section connected to the wheel, and at least one of both ends respectively connected to the first axle section A universal joint of the first shaft section and the second shaft section. The vehicle steering device according to claim 2, wherein the installation box includes a top wall connected to the upper connection part of the vehicle body, a bottom wall connected to the lower connection part of the vehicle body, An upper joining component arranged on the top wall and passing through the upper connection part and a lower joining part arranged on the bottom wall and passing through the lower connecting part. The vehicle steering device according to claim 14, wherein, the upper joint assembly has an upper connecting pin arranged on the top wall and passing through the upper connecting part, and an upper bushing for fitting the upper connecting pin , one embedded between the upper connecting pin and the upper bushing An engaging strip and a set of rotating buffers set on the upper shaft sleeve, the rotating buffer has an inner ring layer sleeved on the upper shaft sleeve, a buffer layer sleeved on the inner layer and a sleeved The cushioning layer and the outer ring layer tightly fitted with the top wall, the inner ring layer and the outer ring layer are made of metal, and the buffer layer is made of elastic material. The vehicle steering device according to claim 14, wherein the upper joint assembly has a rotating buffer embedded in the top wall and connected to the upper connecting part, and the rotating buffer includes a pair of upper and lower engagement The claw blocks and a buffer block arranged between the claw blocks, each claw block is made of metal and has a flat plate part and a plurality of claws formed on the surface of the flat plate part and extending toward the other claw block part, the claw blocks are respectively connected to the top wall and the upper connection part by a plurality of joint pins, and the buffer block is made of elastic material. The vehicle steering device according to claim 15, wherein, the lower joint assembly has a lower connecting pin arranged on the bottom wall and passing through the lower connecting part, and a lower bushing for fitting the lower connecting pin 1. A lower engaging strip embedded between the lower connecting pin and the lower bushing, and a set of bearing parts arranged on the lower bushing and closely fitting with the bottom wall. The vehicle steering device according to claim 16, wherein the lower joint assembly has a lower connecting pin arranged on the bottom wall and passing through the lower connecting part, and a lower bushing for fitting the lower connecting pin 1. A lower engaging strip embedded between the lower connecting pin and the lower bushing, and a set of bearing parts arranged on the lower bushing and closely fitting with the bottom wall. The vehicle steering device of claim 15, wherein the upper engagement assembly has the same elements as the lower engagement assembly. The vehicle steering device of claim 16, wherein the upper engagement assembly has the same elements as the lower engagement assembly. The vehicle steering device according to claim 14, wherein, the lower joint assembly has a lower connecting pin arranged on the bottom wall and passing through the lower connecting part, and a set of the lower connecting pin The lower bushing of the connecting pin, a lower engaging strip embedded between the lower connecting pin and the lower bushing, and a set of bearings arranged on the lower bushing and closely fitting with the bottom wall , the upper engagement assembly has the same elements as the lower engagement assembly. The vehicle steering device according to claim 14, wherein the top wall is recessed to form at least one positioning hole, and the vehicle steering device further includes a positioning unit arranged on the vehicle body, and the positioning unit includes at least one positioning column , the positioning column can extend into the positioning hole to prevent the installation box from rotating around. The vehicle steering device according to claim 22, wherein the positioning unit further includes a positioning sensor for detecting whether the installation box is parallel to the worm, and when the installation box is parallel to the worm , the positioning post can extend into the positioning hole. The vehicle steering device according to any one of Claims 1-23, wherein the vehicle steering device further comprises a wheel steering unit, a worm gear member disposed on the inner side of the wheel, and a worm gear member engaging the A worm and a steering motor arranged on the vehicle body to drive the worm to rotate. The wheel steering unit includes a suspension assembly arranged on the vehicle body and connected to the wheels. When the worm rotates, it will drive The worm gear rotates to drive the wheel to rotate relative to the suspension assembly. A vehicle steering device, which is arranged between a vehicle body and a wheel, and is suitable for steering the wheel, the vehicle steering device includes: a wheel motor; a wheel shaft unit, connected to the wheel motor and the wheel, the The wheel motor drives the wheel to rotate through the axle unit; and a first steering unit includes a suspension assembly arranged on the vehicle body and connected to the wheel, and at least one driving gear connected to the suspension assembly and at least one steering motor arranged on the vehicle body to drive the drive gear to rotate, the suspension group The components include a steering knuckle for the axle unit to pass through and connect the wheels, at least two support arms connecting the upper and lower ends of the steering knuckle, a carrier that can be moved up and down on the vehicle body, and a Rotately pass through the bearing frame and connect the rotating shaft of the support arm and at least one steering gear fixedly connected to the rotating shaft and meshing with the driving gear, when the driving gear rotates, it will drive the steering gear to rotate to drive the The rotating shaft, the support arm, the steering knuckle and the wheels are turned. The vehicle steering device according to claim 25, wherein, the first steering unit includes two driving gears and two steering motors, the suspension assembly includes two steering gears, and the rotating shaft has two The linkage section of the support arm and the steering gear, the suspension assembly also includes two joints respectively sleeved on the linkage section and connected to the support arm, two joints respectively embedded in the linkage section and Interlocking engaging strips between the engaging parts. The vehicle steering device as claimed in claim 26, wherein each engaging member has a socket part set on the linkage section and two spaced apart from the socket part and extending away from the linkage section. The extension arm part of the support arm and a pivot part pass through the extension arm part and the support arm, so that the support arm can pivot relative to the extension arm part. The vehicle steering device according to claim 26, wherein the suspension assembly further includes two pairs of bearings respectively sleeved on the interlocking section and two pairs of bearings respectively embedded in the interlocking section and the bearings. Each pair of bearing parts is respectively located on the upper and lower sides of the joint part. The vehicle steering device according to claim 26, wherein the suspension assembly further includes two pairs of buffer bushings respectively sleeved on the linkage section, and two pairs of rotating buffer members respectively sleeved on the buffer bushings and two pairs respectively embedded in the linkage section and the bearing Each pair of buffer bushings and rotating buffer parts are respectively located on the upper and lower sides of the joint, and each rotating buffer part has an inner ring layer sleeved with the buffer bushing, sleeved with the The buffer layer of the inner layer and the outer ring layer covering the buffer layer and tightly fitting with the top wall, the inner ring layer and the outer ring layer are made of metal, and the buffer layer is made of elastic material. The vehicle steering device according to claim 28, wherein the rotating shaft further includes four pairs of claw blocks engaged up and down and buffer blocks arranged between the claw blocks, and every two pairs of claw blocks are respectively connected to the The upper and lower ends of the linkage section are both located above the bearing, and the two pairs of claw blocks located at the top and bottom are respectively fixed to the steering gear. Each claw block is made of metal and has a flat plate and multiple a claw portion formed on the surface of the flat plate portion extending toward the other claw block, and the buffer block is made of elastic material. The vehicle steering device according to claim 25, wherein, the suspension assembly further includes a rail member extending up and down on the vehicle body, the rail member forms a chute, and the carrier is movably accommodated in The chute has a first surface facing the rail member, a second surface opposite to the first surface and outside the chute, and a rack extending up and down on the second surface, The vehicle steering device also includes a lifting unit for driving the carrier to move up and down, and the lifting unit includes a lifting gear engaged with the rack and a lifting gear arranged on the vehicle body to drive the lifting gear to rotate. electric motor. The vehicle steering device according to claim 31, wherein, the carrying frame further has two side surfaces connected to the second surface and a plurality of blocks provided on at least one of the side surfaces, and the lifting unit It also includes at least one positioning block arranged on the vehicle body and movably engaged with the clamping block. When the positioning block is engaged with the clamping block, it can stop the carrier from moving up and down. The vehicle steering device according to claim 25, wherein the suspension assembly further includes a sliding rod connected to the upper support arm, a sliding rail rod arranged on the vehicle body, and a movable sleeve The cross-sliding set provided on the sliding rod and the sliding rail rod, the sliding rod is curved and extends away from the wheel on the horizontal plane in an arc shape, and the sliding rail rod is curved and extends on the vertical plane In an arc shape, the cross slide set has a horizontal part movably sleeved on the sliding rod and a vertical part connected to the horizontal part and movably sleeved on the slide rail rod. The vehicle steering device as claimed in any one of claims 25-33, wherein the vehicle steering device further comprises a wheel steering unit, a worm engaging the worm gear and a wheel set on the vehicle body for driving The steering motor that rotates the worm, the wheel steering unit includes a worm gear set on the inner side of the wheel, when the worm rotates, it will drive the worm gear to rotate to drive the wheel relative to the suspension assembly Turn around. The vehicle steering device according to claim 34 further includes a first speed change mechanism, the first speed change mechanism is connected to the wheel motor and the axle unit. The vehicle steering device according to claim 35, wherein the first transmission mechanism includes a planetary gear assembly and a switching mechanism movably arranged on the vehicle body and connected to the planetary gear assembly, the switching mechanism It is used to control whether the ring gear of the planetary gear assembly is fixed. The vehicle steering device according to claim 34 further includes a second speed reduction mechanism, the second speed reduction mechanism is connected to the wheel and the axle unit. The vehicle steering device according to claim 35 further includes a second speed reduction mechanism, the second speed reduction mechanism is connected to the wheel and the axle unit. The vehicle steering device according to claim 37, wherein the second reduction mechanism is provided in the wheel. The vehicle steering device according to claim 37, wherein the second reduction mechanism is a planetary gear assembly. The vehicle steering device according to claim 34, further comprising a plurality of third reduction mechanisms, the third reduction mechanisms are respectively provided between the steering motor and the driving gear of the wheel steering unit and between the first Between the steering motor and the drive gear of a steering unit. The vehicle steering device according to claim 35, further comprising a plurality of third reduction mechanisms, and the third reduction mechanisms are respectively provided between the steering motor and the driving gear of the wheel steering unit and the first Between the steering motor and the drive gear of a steering unit. The vehicle steering device according to claim 37, further comprising a plurality of third reduction mechanisms, and the third reduction mechanisms are respectively provided between the steering motor and the driving gear of the wheel steering unit and between the first Between the steering motor and the drive gear of a steering unit. The vehicle steering device according to claim 38, further comprising a plurality of third reduction mechanisms, the third reduction mechanisms are respectively provided between the steering motor and the driving gear of the wheel steering unit and between the first Between the steering motor and the drive gear of a steering unit. The vehicle steering device according to claim 41, wherein the third reduction mechanism is a planetary gear assembly. The vehicle steering device according to claim 42, wherein both the first transmission mechanism and the third reduction mechanism are planetary gear assemblies. The vehicle steering device according to claim 34, wherein the axle unit includes a first axle section connected to the wheel motor, a second axle section connected to the wheel and passing through the suspension assembly, and at least A universal joint with two ends connected to the first shaft section and a second shaft section respectively. A vehicle steering device, which is arranged between a vehicle body and a wheel, and is used to steer the wheel, the vehicle steering device includes: a wheel motor; a wheel shaft unit, connected to the wheel motor and the wheel, the The wheel motor drives the wheel to rotate through the wheel shaft unit; and a push steering unit includes a rotating shaft spaced from the wheel shaft unit, a steering motor arranged on the vehicle body to drive the rotating shaft to rotate, A telescopic element set movably arranged on the rotating shaft and a push arm set movably arranged on the telescopic element set and connected to the wheel, the telescoping assembly has a movably sleeved on the rotating shaft When the rotating shaft rotates, the ring member can drive the ring member to move along the rotating shaft and drive the pushing arm group to push the wheel to turn. The vehicle steering device according to claim 48, wherein, the push arm set includes a joint set on the collar, a connecting rod connected to the joint, and a push rod screwed to the connecting rod. A push rod and a steering ball joint arranged at one end of the push rod and engaged with the wheel, the connecting rod can rotate relative to the collar through the joint, and the push rod can move axially relative to the connecting rod . The vehicle steering device according to claim 49, wherein the push steering unit further includes a pair of guide rods arranged on the vehicle body and passing through the collar, and the collar can be moved along the The guide rod moves relative to the shaft. The vehicle steering device according to claim 48 further includes a first speed change mechanism, the first speed change mechanism is connected to the wheel motor and the wheel shaft unit. The vehicle steering device according to claim 51, wherein the first transmission mechanism includes a planetary gear assembly and a switching mechanism movably arranged on the vehicle body and connected to the planetary gear assembly, the switching mechanism It is used to control whether the ring gear of the planetary gear assembly is fixed. The vehicle steering device according to claim 48 or 51 further includes a second speed reduction mechanism, the second speed reduction mechanism is connected to the wheel and the axle unit. The vehicle steering device according to claim 53, wherein the second reduction mechanism is arranged in the wheel. The vehicle steering device according to claim 53, wherein the second reduction mechanism is a planetary gear assembly. The vehicle steering device according to claim 48 or 51 further includes a third speed reduction mechanism, the third speed reduction mechanism is connected to the steering motor and the rotating shaft. The vehicle steering device according to claim 53 further includes a third speed reduction mechanism, the third speed reduction mechanism is connected to the steering motor and the rotating shaft. The vehicle steering device as claimed in claim 56, wherein both the first transmission mechanism and the third reduction mechanism are planetary gear assemblies. The vehicle steering device according to claim 57, wherein both the first transmission mechanism and the third reduction mechanism are planetary gear assemblies.

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