# US 11,305,814 B2 · Automobile and wheel steering system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,305,814 B2 - Document ID: US11305814B2 - Status: Granted - Kind: B2 - Application number: 16/321,835 - Filed: 2017-08-03 - Published: 2019-06-06 - Granted: 2022-04-19 - Earliest claimed: 2016-08-11 - Assignees: Abosi Automobile Hangzhou Co., Ltd. - Applicants: Hangzhou Tianjue Stage Engineering Co., Ltd. - Inventors: Zhenyong Liu - Web page: https://patentgrep.com/patent/US11305814B2 ## CPC - B62D 6/001: {the torque NOT being among the input parameters} - B60K 7/0007: {the motor being electric} - B60K 17/354: having separate mechanical assemblies for transmitting drive to the front or to the rear wheels or set of wheels - B60K 17/356: having fluid or electric motor, for driving one or more wheels - B60K 17/358: {all driven wheels being steerable} - B62D 3/04: of worm type - B62D 5/001: {Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup} - B62D 5/04: electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear - B62D 5/0421: {Electric motor acting on or near steering gear} - B62D 6/00: Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits (means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00) - B62D 7/026: {characterised by comprising more than one bogie, e.g. situated in more than one plane transversal to the longitudinal centre line of the vehicle} - B62D 7/1509: {with different steering modes, e.g. crab-steering, or steering specially adapted for reversing of the vehicle} - B62D 9/00: Steering deflectable wheels not otherwise provided for (steering positon indicators B62D15/02) - B62D 15/021: {Determination of steering angle} - B62D 5/0475: {Controlling other elements} - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES ## Abstract A wheel steering system includes a steering device arranged on a steerable wheel, a signal execution device and a steering angle control device. The steering device includes a wheel support rotatably connected to a chassis by a slewing bearing, a bottom of the wheel support is rotatably connected to two ends of a rotary shaft of the steerable wheel, and the wheel support is configured to drive the steerable wheel to turn by 360 degrees through the slewing bearing. The signal execution device is configured to control an angle of rotation of the steerable wheel driven by the slewing bearing. The steering angle control device includes a plurality of reciprocating switch rotors, and the plurality of switch rotors are configured to send electrical signals of steering angles to the signal execution device. ## Claims ### Claim 1 A wheel steering system, comprising: a steering device arranged on a steerable wheel, wherein the steering device comprises a wheel support rotatably connected to a chassis by a slewing bearing, a bottom of the wheel support is rotatably connected to two ends of a rotary shaft of the steerable wheel, and the wheel support is configured to drive the steerable wheel to turn by 360 degrees through the slewing bearing; a signal execution device, configured to control an angle of rotation of the steerable wheel driven by the slewing bearing; and a steering angle control device comprising a plurality of reciprocating switch rotors, wherein the plurality of switch rotors are configured to send electrical signals of steering angles to the signal execution device; wherein the steering angle control device further comprises a steering wheel and a steering shaft; and the switch rotors are arranged at a bottom of the steering shaft in the shape of a circular arc, the steering shaft is provided with a contact piece, and, in a case that the steering wheel and the steering shaft rotate, the contact piece is configured to reciprocately flip the switch rotors. ### Claim 2 (depends on 1) The wheel steering system according to claim 1, wherein the signal execution device is a PLC programmer; an integrated hub motor is arranged on each of the steerable wheel; and a through hole is provided in a top of the wheel support and a center of the slewing bearing. ### Claim 3 (depends on 2) The wheel steering system according to claim 2, wherein the steering angle control device further comprises a travel direction controller, and the PLC programmer is configured to control each of the steerable wheel to turn to a preset position according to a preset angle. ### Claim 4 (depends on 2) The wheel steering system according to claim 2, wherein the slewing bearing is provided with external teeth, and the slewing bearing is directly driven by a synchronous motor to rotate or is driven by an engagement between a worm driven by the synchronous motor and the external teeth of the slewing bearing to rotate. ### Claim 5 (depends on 4) The wheel steering system according to claim 4, wherein the number of the external teeth of the slewing bearing is 192, the number of teeth of a gear at an output end of the synchronous motor is 16, and the number of the switch rotors in the steering angle control device is 24. ### Claim 6 (depends on 4) The wheel steering system according to claim 4, wherein the steering angle control device further comprises a locking swing arm, and one end of the locking swing arm is provided with locking teeth for engaging the slewing bearing; and the locking swing arm is controlled to swing by an electromagnet. ### Claim 7 (depends on 6) The wheel steering system according to claim 6, wherein the end of the locking swing arm that is provided with the locking teeth is pressed by a spring to engage the slewing bearing; and another end of the locking swing arm is attracted by the electromagnet to cause the locking swing arm to swing around a rotary shaft arranged at a center of the locking swing arm. ### Claim 8 (depends on 6) The wheel steering system according to claim 6, wherein a metal contact piece is arranged on each of the switch rotors, and the contact piece is configured to flip the switch rotor through the metal contact piece; and the electromagnet is energized when the contact piece is in contact with the metal contact piece. ### Claim 9 (depends on 1) The wheel steering system according to claim 1, wherein the slewing bearing is provided with external teeth, and the slewing bearing is directly driven by a synchronous motor to rotate or is driven by an engagement between a worm driven by the synchronous motor and the external teeth of the slewing bearing to rotate. ### Claim 10 (depends on 9) The wheel steering system according to claim 9, wherein the number of the external teeth of the slewing bearing is 192, the number of teeth of a gear at an output end of the synchronous motor is 16, and the number of the switch rotors in the steering angle control device is 24. ### Claim 11 (depends on 9) The wheel steering system according to claim 9, wherein the steering angle control device further comprises a locking swing arm, and one end of the locking swing arm is provided with locking teeth for engaging the slewing bearing; and the locking swing arm is controlled to swing by an electromagnet. ### Claim 12 (depends on 11) The wheel steering system according to claim 11, wherein the end of the locking swing arm that is provided with the locking teeth is pressed by a spring to engage the slewing bearing; and another end of the locking swing arm is attracted by the electromagnet to cause the locking swing arm to swing around a rotary shaft arranged at a center of the locking swing arm. ### Claim 13 (depends on 11) The wheel steering system according to claim 11, wherein a metal contact piece is arranged on each of the switch rotors, and the contact piece is configured to flip the switch rotor through the metal contact piece; and the electromagnet is energized when the contact piece is in contact with the metal contact piece. ### Claim 14 (depends on 1) A vehicle, comprising the wheel steering system according to claim 1, wherein each of wheels is the steerable wheel, and each of the steerable wheels is provided with one set of the steering angle control device; and the slewing bearing is connected to the chassis by a hollow hydraulic shock absorber; wherein the steering angle control device further comprises a steering wheel and a steering shaft and the switch rotors are arranged at a bottom of the steering shaft in the shape of a circular arc, the steering shaft is provided with a contact piece, and, in a case that the steering wheel and the steering shaft rotate, the contact piece is configured to reciprocately flip the switch rotors. ### Claim 15 (depends on 1) The wheel steering system according to claim 1, wherein the slewing bearing is provided with external teeth, and the slewing bearing is directly driven by a synchronous motor to rotate or is driven by an engagement between a worm driven by the synchronous motor and the external teeth of the slewing bearing to rotate. ### Claim 16 (depends on 15) The wheel steering system according to claim 15, wherein the number of the external teeth of the slewing bearing is 192, the number of teeth of a gear at an output end of the synchronous motor is 16, and the number of the switch rotors in the steering angle control device is 24. ### Claim 17 (depends on 15) The wheel steering system according to claim 15, wherein the steering angle control device further comprises a locking swing arm, and one end of the locking swing arm is provided with locking teeth for engaging the slewing bearing; and the locking swing arm is controlled to swing by an electromagnet. ### Claim 18 (depends on 17) The wheel steering system according to claim 17, wherein the end of the locking swing arm that is provided with the locking teeth is pressed by a spring to engage the slewing bearing; and another end of the locking swing arm is attracted by the electromagnet to cause the locking swing arm to swing around a rotary shaft arranged at a center of the locking swing arm. ### Claim 19 (depends on 17) The wheel steering system according to claim 17, wherein a metal contact piece is arranged on each of the switch rotors, and the contact piece is configured to flip the switch rotor through the metal contact piece; and the electromagnet is energized when the contact piece is in contact with the metal contact piece.