阅读说明：本技术 一种双筒式减振器及车辆 (Double-cylinder shock absorber and vehicle ) 是由 吴宗乐 邹衍 张健 赵正江 王坤 于 2021-08-31 设计创作，主要内容包括：本申请涉及一种双筒式减振器,其包括外筒、内筒以及传动块,内筒设于外筒内部,且其外侧壁与外筒的内侧之间形成储油腔,内筒内部活动插接有活塞杆,该活塞杆上连接有活塞,内筒的下侧壁以及活塞均开有至少两个流通反向相反的单向阀；传动块设于内筒的内侧壁,且与活塞杆相贴,当活塞杆活动时,传动块与活塞杆滑动连接；其中传动块与内筒的上侧壁之间的空间为第一空间,传动块与活塞之间的空间为第二空间,第一空间和第二空间连通。本申请中的双筒式减振器在活塞杆受到扭转作用时,活塞杆将扭矩传递给传动块,传动块又将扭矩依次传递给内筒以及外筒,使得整个双筒式减振器抗扭矩效果大大提高。(The application relates to a double-cylinder type shock absorber, which comprises an outer cylinder, an inner cylinder and a transmission block, wherein the inner cylinder is arranged in the outer cylinder, an oil storage cavity is formed between the outer side wall of the inner cylinder and the inner side of the outer cylinder, a piston rod is movably inserted in the inner cylinder, a piston is connected onto the piston rod, and at least two check valves with reverse and opposite circulation directions are arranged on the lower side wall of the inner cylinder and the piston; the transmission block is arranged on the inner side wall of the inner cylinder and is attached to the piston rod, and when the piston rod moves, the transmission block is connected with the piston rod in a sliding manner; the space between the transmission block and the upper side wall of the inner cylinder is a first space, the space between the transmission block and the piston is a second space, and the first space is communicated with the second space. When the piston rod of the double-cylinder type shock absorber is subjected to torsion action, the piston rod transmits torque to the transmission block, and the transmission block transmits the torque to the inner cylinder and the outer cylinder in sequence, so that the anti-torque effect of the whole double-cylinder type shock absorber is greatly improved.)

1. A dual tube shock absorber, comprising:

an outer cylinder (1);

the inner cylinder (2) is arranged in the outer cylinder (1), an oil storage cavity (3) is formed between the outer side wall of the inner cylinder (2) and the inner side of the outer cylinder (1), a piston rod (4) is movably inserted in the inner cylinder (2), the piston rod (4) is connected with a piston (5), and at least two one-way valves with reverse circulation are arranged on the lower side wall of the inner cylinder (2) and the piston (5);

the transmission block (6) is arranged on the inner side wall of the inner cylinder (2) and is attached to the piston rod (4), and when the piston rod (4) moves, the transmission block (6) is connected with the piston rod (4) in a sliding mode;

the space between the transmission block (6) and the upper side wall of the inner barrel (2) is a first space (7), the space between the transmission block (6) and the piston (5) is a second space (8), and the first space (7) is communicated with the second space (8).

2. The dual tube shock absorber according to claim 1, wherein: inner tube (2) are including interior upper cylinder (21) and interior lower cylinder (22), the lateral wall of interior upper cylinder (21) with the interior lateral wall of interior lower cylinder (22) pastes, just interior upper cylinder (21) with interior lower cylinder (22) intercommunication, piston (5) with the interior lateral wall of interior lower cylinder (22) pastes, transmission piece (6) are located on the inside wall of interior upper cylinder (21) open on the lower lateral wall of interior lower cylinder (22) and have two at least circulation reverse opposite check valves.

3. The dual tube shock absorber according to claim 2, wherein: the transmission block (6) is annular, the side wall of the piston rod (4) is provided with a sliding groove (9) along the length direction of the side wall, the sliding groove (9) is communicated with the first space (7) and the second space (8), the peripheral side wall of the transmission block (6) is connected with the inner side wall of the inner upper barrel (21), and the inner side wall of the transmission block is connected with the piston rod (4) in a sliding manner.

4. The dual tube shock absorber according to claim 2, wherein: the transmission block (6) is annular, the transmission block (6) is followed the length direction of piston rod (4) is opened there is a through-hole (20), through-hole (20) intercommunication first space (7) and second space (8), transmission block (6) periphery lateral wall with the inside wall of interior last section of thick bamboo (21) is connected, its inside wall with piston rod (4) sliding connection.

5. The dual tube shock absorber according to claim 2, wherein: the transmission block (6) is annular, transmission block (6) inside wall transversely protrudes and has a lug (10), follow on lug (10) the length direction of piston rod (4) is opened and is had a through-hole (20), through-hole (20) intercommunication first space (7) and second space (8), the lateral wall of piston rod (4) is opened along its length direction has a spout (9), lug (10) with spout (9) sliding fit, so that transmission block (6) with piston rod (4) sliding connection.

6. The dual tube shock absorber according to claim 5, wherein: the spout (9) distribute in proper order from the notch to the tank bottom and lead in section (91) and cooperation section (92), wherein, cooperation section (92) for lead in section (91) is the flaring setting outward, cooperation section (92) with lug (10) sliding fit.

7. The dual tube shock absorber according to claim 5, wherein: the side, close to the groove bottom of the sliding groove (9), of the convex block (10) is sunken towards the direction far away from the groove bottom to form the through hole (20).

8. The dual tube shock absorber according to claim 1, wherein: be provided with spacing jump ring (30) on the lateral wall of piston rod (4), work as lateral wall on inner tube (2) with when spacing jump ring (30) contact, spacing jump ring (30) restriction piston rod (4) are towards keeping away from the direction activity of inner tube (2).

9. A vehicle, characterized in that: the double-tube shock absorber comprises a stepping motor (40), a driving mechanism (50), an in-wheel motor (60), a steering knuckle (70), a wheel (80) and the double-tube shock absorber as claimed in any one of claims 1-8, wherein the stepping motor (40) is in driving connection with the driving mechanism (50), the driving mechanism (50) is connected with the double-tube shock absorber, the upper end of the steering knuckle (70) is fixedly connected with the double-tube shock absorber, the lower end of the steering knuckle (70) is connected with a triangular arm, and the in-wheel motor (60) is connected with the wheel (80) and is used for driving the wheel (80) to rotate around the axis of the wheel (80).

10. The vehicle of claim 9, characterized in that: the steering knuckle (70) is rotatably connected with the triangular arm through a ball pin, and the axis of the ball pin in the vertical direction is on the same straight line with the axis of the double-cylinder type shock absorber.

Technical Field

The application relates to the field of automobiles, in particular to a double-cylinder shock absorber and a vehicle.

Background

The double-cylinder type shock absorber is widely applied to economical vehicles due to the characteristics of simple structure, excellent shock absorption effect and low cost.

In the related technology, only sliding friction exists between a piston rod and a cylinder barrel of the double-cylinder type shock absorber, and a good shock absorption effect can be achieved.

However, the piston rod and the cylinder can not transmit large torque, which restricts the use scenario of the dual-tube shock absorber, for example, in a vehicle steering wheel, a steering tie rod needs to be additionally added to rotate the wheel around the shock absorber (virtual kingpin), and the arrangement of the steering tie rod also limits the steering angle of the wheel, so that the vehicle can not realize large-angle steering of ± 90 °.

Disclosure of Invention

The embodiment of the application provides a dual-cylinder shock absorber and a vehicle, and aims to solve the problem that the dual-cylinder shock absorber cannot transmit large torque in the related art.

In a first aspect, a dual tube shock absorber is provided, comprising:

an outer cylinder;

the inner cylinder is arranged in the outer cylinder, an oil storage cavity is formed between the outer side wall of the inner cylinder and the inner side of the outer cylinder, a piston rod is movably inserted in the inner cylinder, the piston rod is connected with a piston, and the lower side wall of the inner cylinder and the piston are respectively provided with at least two check valves with reverse and opposite circulation directions;

the transmission block is arranged on the inner side wall of the inner cylinder and is attached to the piston rod, and when the piston rod moves, the transmission block is connected with the piston rod in a sliding mode;

the space between the transmission block and the upper side wall of the inner barrel is a first space, the space between the transmission block and the piston is a second space, and the first space is communicated with the second space.

In some embodiments, the inner cylinder includes an inner upper cylinder and an inner lower cylinder, an outer sidewall of the inner upper cylinder is attached to an inner sidewall of the inner lower cylinder, the inner upper cylinder is communicated with the inner lower cylinder, the piston is attached to the inner sidewall of the inner lower cylinder, the transmission block is disposed on the inner sidewall of the inner upper cylinder, and at least two check valves with opposite flow directions are opened on a lower sidewall of the inner lower cylinder.

In some embodiments, the transmission block is annular, a sliding groove is formed in the side wall of the piston rod along the length direction of the piston rod, the sliding groove is communicated with the first space and the second space, the peripheral side wall of the transmission block is connected with the inner side wall of the inner upper barrel, and the inner side wall of the transmission block is connected with the piston rod in a sliding mode.

In some embodiments, the transmission block is annular, a through hole is formed in the transmission block along the length direction of the piston rod, the through hole is communicated with the first space and the second space, the peripheral side wall of the transmission block is connected with the inner side wall of the inner upper cylinder, and the inner side wall of the transmission block is connected with the piston rod in a sliding mode.

In some embodiments, the transmission block is annular, a protruding block protrudes laterally from the inner side wall of the transmission block, a through hole is formed in the protruding block along the length direction of the piston rod, the through hole is communicated with the first space and the second space, a sliding groove is formed in the side wall of the piston rod along the length direction of the piston rod, and the protruding block is in sliding fit with the sliding groove so that the transmission block is in sliding connection with the piston rod.

In some embodiments, the sliding groove is provided with a leading-in section and a matching section in sequence from the groove opening to the groove bottom, wherein the matching section is arranged in a flaring mode relative to the leading-in section, and the matching section is in sliding fit with the protruding block.

In some embodiments, the protrusion is recessed toward a side of the chute bottom away from the chute bottom to form the through hole.

In some embodiments, a limit clamp spring is arranged on the side wall of the piston rod, and when the side wall of the inner cylinder contacts with the limit clamp spring, the limit clamp spring limits the piston rod to move towards the direction far away from the inner cylinder.

In another aspect, a vehicle is provided, which includes a stepping motor, a driving mechanism, an in-wheel motor, a knuckle, a wheel, and the dual-tube damper as described above, wherein the stepping motor is drivingly connected to the driving mechanism, the driving mechanism is connected to the dual-tube damper, an upper end of the knuckle is fixedly connected to the dual-tube damper, a lower end of the knuckle is connected to the triangular arm, and the in-wheel motor is connected to the wheel and is configured to drive the wheel to rotate around an axis of the wheel.

In some embodiments, the steering knuckle and the triangular arm are rotatably connected through a ball pin, and the vertical axis of the ball pin is in the same straight line with the axis of the double-tube type shock absorber.

The beneficial effect that technical scheme that this application provided brought includes:

the embodiment of the application provides a double-cylinder shock absorber, because be equipped with the transmission piece on the inside wall of inner tube and paste and sliding connection mutually with the piston rod, consequently when the piston rod receives torsional action, the piston rod transmits the moment of torsion for the transmission piece, the transmission piece transmits the moment of torsion for inner tube and urceolus again in proper order for whole double-cylinder shock absorber antitorque square effect improves greatly, and through first space of intercommunication region and second space, can make the fluid in first space and second space circulate each other, do not influence the sensitivity of shock absorber.

On the other hand, the embodiment of the application also provides a vehicle, because the stepping motor drives the double-cylinder shock absorber to rotate through the driving mechanism, the double-cylinder shock absorber can drive the rotating joint to rotate, and further drive the wheel to steer, and under the action of the hub motor, the wheel can rotate around the axis of the wheel, so that the vehicle has various large-angle steering angles and can run under the steering angles.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a cross-sectional view of a dual tube shock absorber provided in accordance with an embodiment of the present application;

FIG. 2 is a schematic structural diagram of a piston rod and a transmission block of a dual-tube shock absorber according to an embodiment of the present disclosure;

FIG. 3 is a cross-sectional view of a piston rod of a dual tube shock absorber provided in accordance with an embodiment of the present application;

FIG. 4 is an exploded view of a wheel and dual tube shock absorber provided in accordance with an embodiment of the present application;

FIG. 5 is a schematic view illustrating turning of a wheel of the vehicle in a vehicle inclined driving state according to an embodiment of the present application;

FIG. 6 is a schematic view illustrating turning of vehicle wheels in a vehicle incongruous driving state according to an embodiment of the present application;

FIG. 7 is a schematic view of the rotation of the wheels in the lateral running state of the vehicle according to the embodiment of the present application;

FIG. 8 is a schematic view of a turning of a wheel of the vehicle in a pivot steering state according to an embodiment of the present application;

in the figure: 1. an outer cylinder; 2. an inner barrel; 21. an inner upper barrel; 22. an inner lower cylinder; 3. an oil storage chamber; 4. a piston rod; 5. a piston; 6. a transmission block; 7. a first space; 8. a second space; 9. a chute; 91. a lead-in section; 92. a mating segment; 10. a bump; 20. a through hole; 30. a limiting clamp spring; 40. a stepping motor; 50. a drive mechanism; 60. a hub motor; 70. a knuckle; 80. and (7) wheels.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The double-cylinder type shock absorber is widely applied to economical vehicles due to the characteristics of simple structure, excellent shock absorption effect and low cost.

In the related technology, only sliding friction exists between a piston rod and a cylinder barrel of the double-cylinder type shock absorber, and a good shock absorption effect can be achieved.

However, the piston rod and the cylinder can not transmit large torque, which restricts the use scenario of the dual-tube shock absorber, for example, in a vehicle steering wheel, a steering tie rod needs to be additionally added to rotate the wheel around the shock absorber (virtual kingpin), and the arrangement of the steering tie rod also limits the steering angle of the wheel, so that the vehicle can not realize large-angle steering of ± 90 °.

The embodiment of the application provides a double-cylinder shock absorber and a vehicle, and the double-cylinder shock absorber can solve the problem that the double-cylinder shock absorber cannot transmit large torque in the related art.

Referring to fig. 1-8, in order to solve the above problems, the present application provides a dual-cylinder shock absorber, which includes an outer cylinder 1, an inner cylinder 2 and a transmission block 6, wherein the inner cylinder 2 is disposed inside the outer cylinder 1, an oil storage cavity 3 is formed between an outer side wall of the inner cylinder and an inner side of the outer cylinder 1, a piston rod 4 is movably inserted inside the inner cylinder 2, a sealing gasket is disposed at a joint between the piston rod 4 and the inner cylinder 2 to isolate an environment inside the inner cylinder 2 from an external environment, the piston rod 4 is connected with a piston 5, and both the lower side wall of the inner cylinder 2 and the piston 5 are provided with at least two check valves with opposite flow directions; the transmission block 6 is arranged on the inner side wall of the inner barrel 2 and is attached to the piston rod 4, and when the piston rod 4 moves, the transmission block 6 is connected with the piston rod 4 in a sliding manner;

the space between the transmission block 6 and the upper side wall of the inner barrel 2 is a first space 7, the space between the transmission block 6 and the piston 5 is a second space 8, and the first space 7 is communicated with the second space 8.

When the piston rod 4 is compressed, the oil liquid flows into the second space 8 through the one-way valve of the piston 5 and flows into the oil storage chamber 3 through the one-way valve on the lower side wall of the inner cylinder 2; when the piston rod 4 is stretched, oil flows into the space enclosed by the piston 5 and the lower side wall of the inner tube 2 through the check valve of the piston 5 and the check valve of the lower side wall of the inner tube 2, which is the case in the dual tube shock absorber of the prior art when the shock absorber is pressurized and when the shock absorber is not pressurized, and therefore, the explanation is omitted here.

The transmission block 6 is attached to the piston rod 4, and the transmission block 6 is slidably connected to the piston rod 4, so that the transmission block 6 does not restrict the movement of the piston rod 4 when the piston rod 4 moves up and down, and since the transmission block 6 is fixed to the inner cylinder 2, when a torque is applied to the upper portion of the piston rod 4, the torque is transmitted to the inner cylinder 2 through the piston rod 4 and the transmission block 6, and further transmitted to the outer cylinder 1 and the base bracket on the outer cylinder 1, so that a part of the torque applied to the piston rod 4 is absorbed by another component of the dual-tube shock absorber, thereby improving the torsional rigidity of the dual-tube shock absorber.

And the space between the transmission block 6 and the upper side wall of the inner barrel 2 is a first space 7, the space between the transmission block 6 and the piston 5 is a second space 8, the first space 7 is communicated with the second space 8, when the first space 7 is communicated with the second space 8, liquid can be enabled to quickly fill the space between the sealing washer and the piston, and if the space is not arranged, the function of the shock absorber can be disabled as a slow flow limiting device of the transmission block 6.

Further, referring to fig. 1, the inner cylinder 2 includes an inner upper cylinder 21 and an inner lower cylinder 22, an outer sidewall of the inner upper cylinder 21 is attached to an inner sidewall of the inner lower cylinder 22, and the inner upper cylinder 21 and the inner lower cylinder 22 are relatively fixed by welding or other means in the prior art, the inner upper cylinder 21 is communicated with the inner lower cylinder 22, the piston 5 is attached to the inner sidewall of the inner lower cylinder 22, the transmission block 6 is disposed on the inner sidewall of the inner upper cylinder 21, and at least two check valves with opposite flow directions are opened on the lower sidewall of the inner lower cylinder 22.

The inner diameter of the inner lower cylinder 22 is larger than the outer diameter of the inner upper cylinder 21, the piston 5 is attached to the inner side wall of the inner lower cylinder 22, when the piston rod 4 moves up and down, the piston 5 only moves up and down in the inner lower cylinder 22, the moving range is limited, therefore, the inner diameter of the inner lower cylinder 22 is larger than the outer diameter of the inner upper cylinder 21, and the transmission block 6 is fixed on the inner side wall of the lower end opening edge of the inner upper cylinder 21 in a welding mode. In the present embodiment, the inner cylinder 2 is divided into the inner upper cylinder 21 and the inner lower cylinder 22, so that the transmission block 6 can be easily installed at the lower end opening edge of the inner upper cylinder 211 when assembling, and the transmission of torque is performed by the piston rod 4 → the transmission block 6 → the inner upper cylinder 21 → the inner lower cylinder 22 → the outer cylinder 1.

On the basis of the previous embodiment, referring to fig. 2, the transmission block 6 is annular, a sliding groove 9 is formed in the side wall of the piston rod 4 along the length direction of the piston rod, the sliding groove 9 is communicated with the first space 7 and the second space 8, the peripheral side wall of the transmission block 6 is connected with the inner side wall of the inner upper cylinder 21, and the inner side wall of the transmission block is connected with the piston rod 4 in a sliding manner.

In the embodiment, the first space 7 and the second space 8 are communicated through the sliding chute 9, so that oil can flow back and forth from the first space 7 and the second space 8, the first space 7 and the second space 8 can be quickly filled, and normal use of the dual-cylinder shock absorber is ensured.

In another embodiment, the transmission block 6 is annular, the transmission block 6 is provided with a through hole 20 along the length direction of the piston rod 4, the through hole 20 communicates with the first space 7 and the second space 8, the outer peripheral side wall of the transmission block 6 is connected with the inner side wall of the inner upper barrel 21, and the inner side wall thereof is connected with the piston rod 4 in a sliding manner.

In this embodiment, the through hole 20 is formed in the transmission block 6, and the first space 7 and the second space 8 are communicated through the through hole 20, so that oil can flow back and forth in the first space 7 and the second space 8 through the through hole 20, the first space 7 and the second space 8 can be quickly filled, and normal use of the dual-cylinder shock absorber is ensured.

In the two embodiments, the piston rod 4 and the transmission block 6 are not well embedded together, so that the effect of torque transmission is poor, a user can open the groove on the piston rod 4 along the length of the piston rod, the protrusion is arranged on the transmission block 6, the protrusion is embedded with the groove and is in sliding connection with the groove, the protrusion and the groove do not influence the sliding of the piston rod 4, and when the piston rod 4 is rotated, the torque can be well transmitted to the inner upper barrel 21 through the groove and the protrusion.

On the other hand, the user can open the groove by arranging the protrusion on the piston rod 4 along the length thereof, and the transmission block 6 is provided with the groove, so that the protrusion is embedded with the groove and is in sliding connection, the protrusion and the groove do not influence the sliding of the piston rod 4, and when the piston rod 4 is rotated, the torque can be well transmitted to the inner upper barrel 21 through the groove and the protrusion.

Since the cross sections of the piston rod 4 and the transmission block 6 are both cylindrical, a plurality of grooves or protrusions may be formed in the piston rod 4 along the circumferential direction thereof, and the corresponding protrusions and grooves are formed in the transmission block 6, which will not be explained herein.

In another embodiment, referring to fig. 2, the transmission block 6 is annular, a protrusion 10 protrudes laterally from an inner side wall of the transmission block 6, a through hole 20 is formed on the protrusion 10 along a length direction of the piston rod 4, the through hole 20 communicates with the first space 7 and the second space 8, a sliding groove 9 is formed on a side wall of the piston rod 4 along the length direction, and the protrusion 10 is in sliding fit with the sliding groove 9, so that the transmission block 6 is in sliding connection with the piston rod 4.

In this embodiment, a through hole 20 is formed in the protrusion 10 along the length direction of the piston rod 4, the through hole 20 communicates with the first space 7 and the second space 8, and the oil flows in the first space 7 and the second space 8 through the through hole 20, it can be understood that, during the up-and-down movement of the piston rod 4, the protrusion 10 slides relative to the sliding groove 9, and the oil can also flow in the first space 7 and the second space 8 through the through hole 20 of the protrusion 10, at this time, if the piston rod 4 is twisted, the twisting force is transmitted to the side wall of the upper inner cylinder 21 through the piston rod 4, the side wall of the sliding groove 9, the protrusion 10 and the transmission block 6, and then transmitted to the outer cylinder 1 through the lower inner cylinder 22.

Therefore, in the present embodiment, the protrusion 10 functions to facilitate sliding of the piston rod 4, torque transmission, and oil flowing in the first space 7 and the second space 8, and the protrusion 10 and the sliding groove 9 may be provided in plural, for example, a sliding groove 9 is formed along a side wall of the piston rod 4 along a length direction thereof, and the sliding groove 9 is further provided in plural on a peripheral side wall of the piston rod 4, and correspondingly, the protrusion 10 is also provided in plural and corresponds to the number of the sliding grooves 9, and in the present application, from a process perspective and a cost perspective, only one protrusion 10 and one sliding groove 9 are provided.

On the basis of the previous embodiment, referring to fig. 3, the chute 9 is sequentially provided with an introduction section 91 and a matching section 92 from the notch to the bottom of the chute, wherein the matching section 92 is outwardly expanded relative to the introduction section 91, and the matching section 92 is in sliding fit with the bump 10, so that the design can make the contact area between the bump 10 and the chute 9 larger, make the bump 10 not easily fall off from the chute 9, and simultaneously can bear larger torque.

Compared with the direct drilling of the lug 10, the process that the lug 10 is sunk towards the side of the groove bottom of the sliding groove 9 towards the direction away from the groove bottom is simpler in the forging forming stage, the overall torsional strength is higher, and the lug 10 and the transmission block 6 are integrally forged and formed, so that the lug 10 has good torsional resistance.

In order to limit the rebound distance of the piston rod 4, the side wall of the piston rod 4 is provided with a limit clamp spring 30, when the side wall of the inner cylinder 2 is in contact with the limit clamp spring 30, the limit clamp spring 30 limits the piston rod 4 to move towards the direction far away from the inner cylinder 2, namely, the side wall of the inner cylinder 2 is in contact with the limit clamp spring 30, the piston rod 4 cannot move continuously at the moment, and the reset process of the piston rod 4 is completed.

On the other hand, a vehicle is provided, which comprises a stepping motor 40, a driving mechanism 50, an in-wheel motor 60, a steering knuckle 70, a wheel 80 and the double-tube shock absorber as described above, wherein the stepping motor 40 is in driving connection with the driving mechanism 50, the driving mechanism 50 is connected with the double-tube shock absorber, the upper end of the steering knuckle 70 is fixedly connected with the double-tube shock absorber, the lower end of the steering knuckle 70 is connected with a triangular arm, and the in-wheel motor 60 is connected with the wheel 80 and is used for driving the wheel 80 to rotate around the axis of the wheel 80.

The hub motor 60 and the stepping motor 40 are all purchased from commercial products, so that not much explanation is provided here, referring to fig. 4, the stepping motor 40 drives the driving mechanism 50 to rotate, the driving mechanism 50 drives the dual-cylinder shock absorber to rotate, the dual-cylinder shock absorber can rotate with the rotation of the steering knuckle 70 as the dual-cylinder shock absorber is fixedly connected with the steering knuckle 70, the rotation of the steering knuckle 70 can drive the steering of the wheel, and in the process, the torsional rigidity of the dual-cylinder shock absorber is greatly improved, so that the rotation of the wheel can achieve a large-angle steering of ± 90 °.

In some embodiments, the steering knuckle 70 is rotatably connected to the triangular arm by a ball pin, and the vertical axis of the ball pin is aligned with the axis of the dual tube shock absorber.

The driving mechanism 50 consists of a coupler, a stepping motor, a turbine, a steering shaft, an upper thrust ball bearing, a lower thrust ball bearing, an upper supporting plate, a lower supporting plate, a bolt and a nut, wherein the stepping motor 40 is arranged on the lower supporting plate through the bolt, the middle of the steering shaft is connected through a key, and the turbine is arranged; the both ends of axle are milled there is the terminal surface, terminal surface department respectively with last thrust ball bearing and the shaft collar cooperation of thrust ball bearing down, it has the recess all to go up the backup pad with the bottom suspension fagging, it has the mounting hole to open in the recess, wherein the recess face cooperates with another shaft collar of last thrust ball bearing and bottom suspension thrust ball bearing, the steering spindle is installed to the mounting hole, it passes through the bolt with the bottom suspension fagging to go up the backup pad, the nut fastening, with the steering spindle, turbine and thrust ball bearing compress tightly between two boards, piston rod 4 passes through the shaft coupling and links to each other with the steering spindle.

Further, the rotor end of the in-wheel motor 60 is fixedly connected with the wheel 80, and the stator end is fixedly connected with the steering knuckle 70.

Furthermore, two mounting holes are formed in the upper end of the steering knuckle and fixedly connected with a base support of the double-cylinder type shock absorber capable of transmitting torque; the lower end is provided with a mounting hole which is connected with a ball pin of the triangular arm. The central point of the ball pin is required to be on the axis of the shock absorber, and the ball pin and the axis of the shock absorber together form a virtual kingpin of the wheel.

Further, the step motor 40 transmits the torque to the shock absorber piston rod 4 through the worm gear and the worm, the piston rod transmits the torque to the shock absorber base support and the steering knuckle, the wheel 80 assembly rotates around the virtual kingpin, the triangular arm meets the requirement that the +/-90-degree rotation of the wheel does not generate interference, and after the vehicle comprises the step motor 40, the driving mechanism 50, the in-wheel motor 60, the steering knuckle 70, the wheel 80 and the double-cylinder shock absorber, the independent steering of all wheels 80 of the vehicle can be realized.

Further, by controlling the stepping motors 40 of the four independent wheel assemblies to rotate by different angles, the vehicle can realize various traveling modes such as inclined traveling, different-direction steering, transverse traveling, pivot steering and the like besides straight traveling, and please refer to fig. 5 to 8 specifically:

1. and when the vehicle runs obliquely, the vehicle ECU controls the stepping motors 40 of the four independent wheel-side assemblies to rotate by the same angle, so that the four vehicles are parallel to each other, and the four in-wheel motors 60 rotate in the same direction to drive the vehicles to run obliquely in a certain direction.

2. In the different-direction steering mode, the vehicle ECU controls the stepping motors of the two independent wheel edge assemblies of the front shaft to rotate by the same angle, controls the stepping motors 40 of the two independent wheel edge assemblies of the rear shaft to rotate by the same reverse angle as the front shaft, and drives the vehicle to steer by rotating the four hub motors 60 in the same direction.

3. And when the vehicle runs transversely, the vehicle ECU controls the stepping motors 40 of the two independent wheel edge assemblies of the front axle to rotate 90 degrees towards the outer side of the vehicle, controls the stepping motors 40 of the two independent wheel edge assemblies of the rear axle to rotate 90 degrees towards the outer side of the vehicle, and drives the vehicle to run transversely along a certain direction by rotating the four hub motors 60 in the same direction.

4. In the pivot steering, the vehicle ECU controls the stepping motors 40 of the two independent wheel side assemblies of the front shaft to rotate towards the inner side of the vehicle respectively, the rotating angles are consistent, the stepping motors 40 of the two independent wheel side assemblies of the rear shaft are controlled to rotate towards the outer side of the vehicle respectively, the rotating angles are consistent, the hub motors 60 of the front and rear independent wheel side assemblies on the left side of the vehicle are controlled to rotate towards the same direction, the hub motors 60 of the front and rear independent wheel side assemblies on the right side are controlled to rotate towards the direction opposite to the left side, and then the vehicle is driven to pivot steering.

In the description of the present application, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

It is noted that, in the present application, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.