CN111703499A - Steering mechanism, steering system and vehicle - Google Patents

Steering mechanism, steering system and vehicle Download PDF

Info

Publication number
CN111703499A
CN111703499A CN202010566058.8A CN202010566058A CN111703499A CN 111703499 A CN111703499 A CN 111703499A CN 202010566058 A CN202010566058 A CN 202010566058A CN 111703499 A CN111703499 A CN 111703499A
Authority
CN
China
Prior art keywords
steering
torque
wheel
pulley
assembly
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010566058.8A
Other languages
Chinese (zh)
Inventor
邱勇
狄杰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Schaeffler Technologies AG and Co KG
Original Assignee
Schaeffler Technologies AG and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Schaeffler Technologies AG and Co KG filed Critical Schaeffler Technologies AG and Co KG
Priority to CN202010566058.8A priority Critical patent/CN111703499A/en
Publication of CN111703499A publication Critical patent/CN111703499A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
    • B60G13/02—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally
    • B60G13/04—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally mechanically, e.g. having frictionally-engaging springs as damping elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G7/00—Pivoted suspension arms; Accessories thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
    • B60G2202/20—Type of damper

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Power Steering Mechanism (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention provides a steering mechanism, a steering system and a vehicle. Because each steering mechanism in the steering system corresponds to a single wheel, each wheel is provided with an independent steering mechanism, and therefore, the wheels can be steered flexibly and in a larger amplitude. In this way, the steering system according to the present invention can realize more steering modes and the steering ability is improved as compared with the steering system of the related art. Furthermore, a vehicle including the steering system according to the present invention can also realize more steering modes and improve the steering ability. In addition, the steering mechanism according to the present invention is further provided with an angle sensor capable of measuring an actual steering angle of the wheels, so that the steering system can perform closed-loop control of steering of each wheel based on the actual steering angle, thereby enabling more accurate steering control of the vehicle.

Description

Steering mechanism, steering system and vehicle
Technical Field
The invention relates to the field of steering of a running platform running on the basis of wheels, in particular to a steering mechanism, a steering system comprising the steering mechanism and a vehicle comprising the steering system.
Background
In the steering system of the prior art for a running platform of, for example, a four-wheeled vehicle, two front wheels are cooperatively steered by the same steering mechanism, and two rear wheels are cooperatively steered by the same steering mechanism. Although such a conventional steering system can achieve normal steering of the vehicle, there are problems in that the steering mode of the steering system is limited and the steering ability of the wheels is limited.
Disclosure of Invention
The present invention has been made in view of the above problems of the prior art. An object of the present invention is to provide a novel steering mechanism and a steering system including the same, the steering system according to the present invention having more steering modes and capable of improving the steering ability of the wheels than the steering system described in the above-mentioned background art. Another object of the present invention is to provide a vehicle including the steering system described above.
In order to achieve the above object of the present invention, the present invention may adopt the following technical means.
The present invention provides a steering mechanism for steering a single wheel, comprising:
a power source for generating a steering torque;
a transmission mechanism for transmitting the steering torque to the single wheel so that the single wheel can be steered within a predetermined range about a rotational axis; and
an angle sensor for sensing an actual steering angle of the single wheel such that steering of the single wheel can be closed loop controlled using the actual steering angle.
Preferably, the transmission includes a suspension assembly for mounting to the hub of the wheel, the suspension assembly including a king pin bearing module having at least one bearing with which the single wheel and the suspension assembly are enabled to steer together relative to the body of the vehicle.
More preferably, the outer ring of the bearing is fixedly mounted to a vehicle body of the vehicle, the inner ring of the bearing is not rotatable relative to the single wheel, and the actual steering angle is a rotation angle of the outer ring relative to the inner ring.
More preferably, the transmission mechanism includes:
a speed reduction and torque increase assembly drivingly coupled to an output shaft of a multi-phase winding motor as the power source and configured to increase torque generated by the multi-phase winding motor; and
a torque transfer assembly drivingly coupled to the speed reduction and torque increase assembly and configured to transfer the torque to the wheel to thereby steer the wheel.
More preferably, the speed reduction and torque increase assembly includes:
a first pulley provided to an output shaft of the polyphase winding motor in a torque-proof manner;
a second pulley having a diameter greater than the diameter of the first pulley; and
the transmission belt is used for transmitting and connecting the first belt wheel and the second belt wheel.
More preferably, the torque transmission assembly includes the second pulley and a lead screw passing through the second pulley, the second pulley and the lead screw constituting a ball screw structure; or
The torque transmission assembly comprises a ball screw structure consisting of a screw and a nut, and the nut is fixedly connected with the second belt wheel.
More preferably, the torque transmission assembly further comprises a connecting rod and a suspension assembly, one end of the connecting rod is connected with the lead screw, the other end of the connecting rod is connected with the suspension assembly, the suspension assembly is used for being mounted on a hub of the wheel, and the torque is transmitted to the wheel through the lead screw, the connecting rod and the suspension assembly.
The invention also provides a steering system comprising a plurality of wheels and the steering mechanism of any one of the above claims corresponding to each of the wheels.
Preferably, the steering system further comprises a controller in data communication with an angle sensor of each of the steering mechanisms for communicating an actual steering angle of the wheels to the controller, such that the controller is capable of closed loop control of operation of the steering mechanisms based on the actual steering angle.
The invention also provides a vehicle comprising the steering system according to any one of the above claims.
By adopting the technical scheme, the invention provides the novel steering mechanism and the steering system comprising the same, and each steering mechanism in the steering system corresponds to a single wheel, so that each wheel is provided with an independent steering mechanism, and each wheel can realize very flexible steering with larger amplitude. Thus, the steering system according to the present invention can realize more steering modes and the steering ability is improved as compared with the steering system described in the above-described background art. Furthermore, a vehicle including the steering system according to the present invention can also realize more steering modes and improve the steering ability. In addition, the steering mechanism according to the present invention is further provided with an angle sensor capable of measuring an actual steering angle of the wheels, so that the steering system can perform closed-loop control of steering of each wheel based on the actual steering angle, thereby enabling more accurate steering control of the vehicle.
Drawings
Fig. 1a is a schematic structural view showing a steering mechanism and wheels corresponding thereto according to an embodiment of the present invention, in which the wheels are in an initial state in which a steering angle is 0 degrees; FIG. 1b is another schematic structural view showing the steering mechanism of FIG. 1a and wheels corresponding thereto, wherein the wheels are in a steering state at a steering angle of 90 degrees; fig. 1c is a schematic view showing a partial structure of a steering mechanism and wheels corresponding thereto according to an embodiment of the present invention.
Fig. 2a to 2e show schematic views of different operating modes of a four-wheel steering system comprising the steering mechanism of fig. 1a, respectively.
Description of the reference numerals
1. 1a, 1b, 1c, 1d steering mechanism 11 motor 11s output shaft 12 speed reduction torque increasing assembly 121 first pulley 122 second pulley 123 transmission belt 13 torque transmission assembly 131 lead screw 132 connecting rod 133 suspension module 1331 hub bracket 1332 swing arm 1333 king pin bearing module 1334 spring damping vibration damping module 14 angle sensor
2. 2a, 2b, 2c, 2d wheel 21 hub.
Detailed Description
Exemplary embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the detailed description is intended only to teach one skilled in the art how to practice the invention, and is not intended to be exhaustive or to limit the scope of the invention.
In the present invention, "drive coupling" means a coupling between two members capable of transmitting torque, and means, unless otherwise specified, a direct connection or an indirect connection via a transmission mechanism between the two members.
(Structure of steering mechanism according to the invention)
As shown in fig. 1a to 1c, a steering mechanism 1 according to an embodiment of the present invention is used for steering a single wheel 2, and the steering mechanism 1 includes a motor 11, a speed reduction and torque increase assembly 12, and a torque transmission assembly 13 assembled together, so that a steering torque generated by the motor 11 is increased and transmitted to the wheel 2 to achieve steering of the wheel 2.
Specifically, in the present embodiment, the motor 11 as a power source is a multi-phase winding motor for generating torque that can be converted into steering torque. The multi-phase winding motor may be a 6-phase winding motor, a 12-phase winding motor, or an 18-phase winding motor. In this way, a desired torque can be generated even if a partial structure (for example, a partial winding) in the multi-phase winding motor fails, thereby ensuring normal operation of the entire steering mechanism 1.
In the present embodiment, the speed reduction and torque increase assembly 12 and the torque transmission assembly 13 constitute a transmission mechanism for increasing the torque of the motor 11 and then converting the torque into another form of torque and transmitting the torque to the corresponding wheel 2 so that the wheel 2 can be steered within a predetermined range around the rotation axis.
Further, the speed reduction and torque increase assembly 12 is drivingly coupled to the output shaft 11s of the motor 11 and serves to increase the torque generated by the motor 11. In the present embodiment, the speed reduction and torque increase assembly 12 includes a first pulley 121, a second pulley 122, and a transmission belt 123.
The first pulley 121 is provided to the output shaft 11s of the motor 11 in a torque-proof manner, so that the first pulley 121 can rotate with the output shaft 11s of the motor 11. The second pulley 122 is provided to the lead screw 131 of the torque transmission assembly 13 and the diameter of the second pulley 122 is larger than the diameter of the first pulley 121. The transmission belt 123 is fitted over both the first pulley 121 and the second pulley 122, so that the first pulley 121 and the second pulley 122 are drivingly coupled by the transmission belt 123. Thus, the first pulley 121, the second pulley 122 and the transmission belt 123 constitute a one-stage speed reduction and torque increase structure, and the torque from the multi-phase winding motor 11 can be increased by the speed reduction and torque increase assembly 12.
Further, a torque transfer assembly 13 is drivingly coupled to the speed reduction and torque increase assembly 12 and is used to convert torque to another form of torque and transmit it to the wheels 2. In the present embodiment, the torque transmission assembly 13 includes the second pulley 122, the lead screw 131, the link 132, and the suspension assembly 133.
The second pulley 122 may be formed with a central through hole through which the screw 131 passes, and the second pulley 122 and the screw 131 constitute a ball screw structure. In this way, the rotation of the second pulley 122 can be converted into the reciprocating linear motion of the lead screw 131 in the axial direction thereof.
It will be appreciated that in the example given above, the second pulley 122 also functions as the nut of the ball screw structure. However, the present invention is not limited thereto, and for example, the second pulley 122 and the nut of the ball screw structure may be independent of each other, and the nut may be fixedly coupled to the second pulley 122 so that the nut is rotated by the second pulley 122. The second pulley 122 may have a central through hole through which a lead screw 131 (also may be referred to as a screw) of a ball screw structure passes.
One end of the connecting rod 132 is connected to the lead screw 131 and the connecting rod 132 can rotate about the portion connected to the lead screw 131. The other end of the link 132 is connected to the suspension assembly 133 and the link 132 is rotatable about the point of connection to the suspension assembly 133. The link 132 can push or pull the suspension assembly 133 by the lead screw 131, thereby achieving steering of the wheel 2.
The suspension assembly 133 is mounted to the hub 21 of the wheel 2 and includes a hub bracket 1331, a swing arm 1332, a kingpin bearing module 1333, and a spring-damper shock module 1334. The hub bracket 1331 is fixed to the hub 21 of the wheel 2 and connected to the other end of the connecting rod 132. One end of a swing arm 1332 is provided to the hub bracket 1331 so as to be rotatable with respect to the hub bracket 1331, and the other end of the swing arm 1332 is connected to, for example, a vehicle body via a kingpin bearing module 1333 so that the wheel 2 can rotate about the center axis of the kingpin bearing module 1333. Specifically, the king pin shaft module 1333 includes two bearings, with the outer race of each bearing being fixedly mounted to the body of the vehicle such that the outer race of each bearing is stationary relative to the body. The inner race of each bearing is fixedly mounted to the top of the swing arm 1332 so that each bearing cannot rotate relative to the wheel. A spring damping vibration attenuation module 1334 is disposed between the hub bracket 1331 and the swing arm 1332 for attenuating vibration from the wheel 2.
Thus, the transmission path of the torque from the motor 11 is as follows: the output shaft 11s → the first pulley 121 → the transmission belt 123 → the second pulley 122 → the lead screw 131 → the link 132 → the hub bracket 1331 → the hub 21, so that the wheel 2 can be steered as desired.
In addition, the steering mechanism 1 further includes an angle sensor 14, and the angle sensor 14 may be disposed at the kingpin bearing module 1333 of the suspension assembly 133 for sensing a steering angle of the corresponding wheel 2 and capable of transmitting the sensed actual steering angle of the wheel 2 to the controller. The angle sensor 14 may be an angular displacement sensor using magnetic effect for angle sensing, and a sensing portion thereof may be arranged coaxially with the kingpin bearing module 1333 such that an actual steering angle of the wheel 2 is obtained by sensing a relative rotational angle of an inner race and an outer race of a vehicle bearing.
The following describes a steering system including four sets of wheels 2 and a steering mechanism 1.
(example of the structure of the steering System and its operation mode according to the present invention)
As shown in fig. 2a to 2e, the steering system according to an embodiment of the present invention includes four steering mechanisms 1a, 1b, 1c, 1d and four wheels 2a, 2b, 2c, 2 d. One steering mechanism 1a, 1b, 1c, 1d corresponds to each wheel 2a, 2b, 2c, 2d, i.e. the first steering mechanism 1a is used to steer the first wheel 2a, the second steering mechanism 1b is used to steer the second wheel 2b, the third steering mechanism 1c is used to steer the third wheel 2c, and the fourth steering mechanism 1d is used to steer the fourth wheel 2 d. Each of the steering mechanisms 1a, 1b, 1c, and 1d has the configuration of the steering mechanism 1 described above, and each of the wheels 2a, 2b, 2c, and 2d also has the configuration of the wheel 2 described above. Further, of the four wheels 2a, 2b, 2c, 2d, the first wheel 2a and the second wheel 2b are arranged side by side as a front wheel, and the third wheel 2c and the fourth wheel 2d are arranged side by side as a rear wheel. The four wheels 2a, 2b, 2c, 2d can realize a plurality of steering modes by the steering system, which will be described below as an example.
As shown in fig. 2a, the steering system is in the non-steering mode, and the four wheels 2a, 2b, 2c, 2d are all in an initial state of non-steering (steering angle of 0 degrees), so that the vehicle including the steering system can travel straight in the longitudinal direction of the vehicle body.
As shown in fig. 2b, the steering system is in a normal steering mode, and the four wheels 2a, 2b, 2c, 2d are each steered so that the vehicle including the steering system can travel in an arc turn. At this time, in this steering system, not only the first wheel 2a and the second wheel 2b as the front wheels are steered, but also the third wheel 2c and the fourth wheel 2d as the rear wheels can be used for assisting the steering. As shown in fig. 2b, the two front wheels 2a, 2b are steered in the same direction, the two rear wheels 2c, 2d are steered in the same direction, and the front wheels 2a, 2b and the rear wheels 2c, 2d are steered in opposite directions.
As shown in fig. 2c, the steering system is in an O-steering mode, enabling a vehicle including the steering system to make 360 degree rotations in situ. As shown in fig. 2c, the two front wheels 2a, 2b are steered in opposite directions, and the two rear wheels 2c, 2d are steered in opposite directions. The two front wheels 2a, 2b are in a figure of eight, and the two rear wheels 2c, 2d are in an inverted figure of eight.
As shown in fig. 2d, the steering system is in the diagonal mode, so that the vehicle including the steering system can travel diagonally straight in a direction oblique to both the longitudinal and lateral directions of the vehicle body. As shown in fig. 2d, the four wheels 2a, 2b, 2c, 2d have the same steering direction (inclination direction).
As shown in fig. 2e, the steering system is in a 90 lateral mode, so that a vehicle including the steering system can travel straight in the lateral direction of the vehicle body. As shown in fig. 2e, the four wheels 2a, 2b, 2c, 2d are all turned 90 degrees.
As can be seen from the above example, the four wheels 2a, 2b, 2c, 2d can be steered independently of each other, so that the vehicle can implement a variety of steering modes.
In the present embodiment, the steering system further comprises a controller (not shown) in data communication with the angle sensors 14 of the steering mechanisms 1a, 1b, 1c, 1d, each angle sensor 14 being adapted to communicate the actual steering angle of the wheels 2a, 2b, 2c, 2d to the controller, such that the controller is able to perform closed-loop control of the operation of the steering mechanisms 1a, 1b, 1c, 1d based on the actual steering angle.
Further, the present invention also provides a vehicle including the steering system having the above structure, whereby the vehicle is capable of achieving a plurality of steering modes and greatly improving the steering ability.
The above-described details of the embodiments of the present invention are explained, and supplementary descriptions are provided below.
(i) Although the specific structure of the speed reduction torque increasing assembly is described in the above specific embodiment, the present invention is not limited thereto. The specific configuration of the speed reduction and torque increase assembly is not limited to the belt transmission mechanism, and may be, for example, a gear pair or a worm gear mechanism.
The speed reduction and torque increase unit is not limited to the one-stage speed reduction and torque increase mechanism described in the above embodiment, but may be a multi-stage speed reduction and torque increase mechanism, so that the torque generated by the motor can be increased more greatly.
(ii) Although it is explained in the above specific embodiment that the steering system according to the present invention can be applied to a vehicle, the present invention is not limited thereto. The steering system according to the invention can also be applied to other driving platforms with wheels.
Further, the steering system according to the present invention can be applied not only to a traveling platform that performs automatic steering but also to a traveling platform that performs manual steering.
(iii) Although it is described in the above embodiment that the steering system according to the present invention has one controller, the present invention is not limited thereto. Separate controllers may be provided for each steering assembly in the steering system.
(iv) Although not specifically described in the above embodiments, it should be understood that the steering mechanism according to the present invention is relatively simple in structure and thus occupies a small space as compared to the steering mechanism of the related art.

Claims (10)

1. Steering mechanism (1) for steering of a single wheel (2) and comprising:
a power source for generating a steering torque;
a transmission mechanism for transmitting the steering torque to the single wheel (2) so that the single wheel (2) can be steered within a predetermined range about a rotational axis; and
an angle sensor (14) for sensing an actual steering angle of the single wheel (2).
2. Steering mechanism (1) according to claim 1, characterized in that the transmission comprises a suspension assembly (133) for mounting to a hub (21) of the wheel (2), the suspension assembly (133) comprising a king pin bearing module (1333) with at least one bearing with which the single wheel (2) and the suspension assembly (133) can be steered together relative to the bodywork of the vehicle.
3. Steering mechanism (1) according to claim 2, characterized in that the outer ring of the bearing is fixedly mounted to the body of the vehicle, the inner ring of the bearing being non-rotatable with respect to the single wheel (2), the actual steering angle being the angle of rotation of the outer ring with respect to the inner ring.
4. Steering mechanism (1) according to any one of claims 1 to 3, characterized in that the transmission mechanism comprises:
a speed reduction and torque increase assembly (12) which is in transmission coupling with an output shaft (11s) of a multi-phase winding motor (11) as the power source and is used for increasing the torque generated by the multi-phase winding motor (11); and
a torque transmission assembly (13) drivingly coupled to the speed reduction and torque increase assembly (12) and configured to transmit the torque to the wheel (2) to thereby steer the wheel (2).
5. Steering mechanism (1) according to claim 4, characterized in that said speed-reducing torque-increasing assembly (12) comprises:
a first pulley (121) which is provided to an output shaft (11s) of the polyphase winding motor (11) in a torque-proof manner;
a second pulley (122) having a diameter greater than the diameter of the first pulley (121); and
a transmission belt (123), wherein the first pulley (121) and the second pulley (122) are in transmission coupling through the transmission belt (123).
6. Steering mechanism (1) according to claim 5,
the torque transmission assembly (13) comprises the second pulley (122) and a lead screw (131) penetrating through the second pulley (122), and the second pulley (122) and the lead screw (131) form a ball screw structure; or
The torque transmission assembly (13) comprises a ball screw structure consisting of a screw and a nut, and the nut is fixedly connected with the second belt pulley (122).
7. Steering mechanism (1) according to claim 6, wherein the torque transfer assembly (13) further comprises a connecting rod (132) and a suspension assembly (133), one end of the connecting rod (132) being connected to the lead screw (131) and the other end of the connecting rod (132) being connected to the suspension assembly (133), the suspension assembly (133) being intended to be mounted to a hub (21) of the wheel (2), the torque being transferred to the wheel (2) via the lead screw (131), the connecting rod (132) and the suspension assembly (133).
8. A steering system including a plurality of wheels (2a, 2b, 2c, 2d) and a steering mechanism (1a, 1b, 1c, 1d) according to any one of claims 1 to 7 corresponding to each of the wheels (2a, 2b, 2c, 2 d).
9. A steering system according to claim 8, further comprising a controller in data communication with an angle sensor (14) of each steering mechanism (1a, 1b, 1c, 1d), the angle sensor (14) being adapted to communicate an actual steering angle of the wheel (2a, 2b, 2c, 2d) to the controller, such that the controller is able to perform closed loop control of the operation of the steering mechanism (1a, 1b, 1c, 1d) based on the actual steering angle.
10. A vehicle comprising the steering system of claim 8 or 9.
CN202010566058.8A 2020-06-19 2020-06-19 Steering mechanism, steering system and vehicle Pending CN111703499A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010566058.8A CN111703499A (en) 2020-06-19 2020-06-19 Steering mechanism, steering system and vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010566058.8A CN111703499A (en) 2020-06-19 2020-06-19 Steering mechanism, steering system and vehicle

Publications (1)

Publication Number Publication Date
CN111703499A true CN111703499A (en) 2020-09-25

Family

ID=72541193

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010566058.8A Pending CN111703499A (en) 2020-06-19 2020-06-19 Steering mechanism, steering system and vehicle

Country Status (1)

Country Link
CN (1) CN111703499A (en)

Similar Documents

Publication Publication Date Title
US7866434B2 (en) Steering apparatus
EP3305563B1 (en) Vehicle steering system
US5180180A (en) Wheel supporting apparatus
US7644938B2 (en) In-wheel suspension
US8678405B2 (en) Motor vehicle steering system
US8960690B2 (en) Rear wheel toe angle variable vehicle
CN109963768B (en) Wheel suspension having a single-wheel steering device for a motor vehicle with a steered wheel drive
WO2008128379A1 (en) Independent suspension steering systems
CN111699098A (en) Wheel suspension device for a motor vehicle
CN106585306A (en) Integrated drive-by-wire independent steering system based on double wishbone suspension
US20210009199A1 (en) Hub unit with steering function, steering system, and vehicle
US20080001380A1 (en) Vehicle, in particular an all-wheel drive vehicle, with a first steered vehicle axle and a second steered vehicle axle
CN112092539A (en) Movable chassis
KR101806682B1 (en) Adaptive Front Steering system for vehicle
CN111703499A (en) Steering mechanism, steering system and vehicle
JP2010132238A (en) Steering unit for vehicle
CN110497957B (en) Steering device
CN115476921A (en) Double-wheel steering drive axle, steering system, steering method and automobile
CN209795589U (en) Steering transmission system and automobile
WO2019189102A1 (en) Hub unit having steering function and vehicle equipped with same
KR20020019585A (en) Device for improving the steerability of driven axles
KR20000015283A (en) Steering wheel device of forklift truck
JPH04232182A (en) Wheel steering device
JP4941722B2 (en) Vehicle steering system
CN113859351B (en) Vehicle double-king-pin differential independent steering system

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
WD01 Invention patent application deemed withdrawn after publication
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20200925