Kingpin steering and omni-directional steering dual-mode power-multiplexing electric wheel angle module

A kingpin steering and omni-directional steering dual-mode power-multiplexing electric wheel angle module, comprising:

• a wheel unit (1000), which is connected with a steering knuckle in a suspension system through a hub bearing, and internally integrated with a hub motor at the same time, wherein the wheel unit is configured for supporting a vehicle load, and contacting with a road surface to transmit a driving or braking force and a cornering lateral force;
• the suspension system (2000), which is an unequal-length double wishbone suspension, and mainly used for transmitting a force and a torque acting between wheels and a vehicle body, connecting various system components, and determining wheel positioning parameters;
• a vibration damping system (3000), which is connected with a lower control arm and a lower end of a steering arm housing of the suspension system, and used for actively controlling a suspension attitude and recovering wheel vibration energy through a vibration damping motor, and mitigating an impact on a road surface through a vibration damping spring;
• an electromechanical braking system (4000), which is connected with lugs on a left side of the steering knuckle in the suspension system through bolts, and used for providing a braking torque for vehicle driving;
• a steering system (6000), which is a kingpin steering and omni-directional steering dual-mode steering system, wherein an omni-directional steering mode serves as a redundancy scheme of a kingpin steering mode, and the same set of steering motor and planetary gear reducer is multiplexed in the two steering modes to work;
• when the kingpin steering mode is adopted, in the case of driving through the steering motor, speed reduction and torque multiplication through the planetary gear reducer, and connection with the steering knuckle of the suspension system through a universal transmission device, a steering torque is transmitted;
• when the omni-directional steering mode is adopted, in the case of driving through the steering motor, speed reduction and torque multiplication through the planetary gear reducer, and upward movements of a shift fork and a locking fork driven by a shift motor, a shift gear mechanism is driven to be disconnected from the universal transmission device and meshed with an omni-directional steering input gear, and finally, the steering torque output by the steering motor is output through an angle module output shaft, and meanwhile, an angle module quick interface is connected with the vehicle body to achieve omni-directional steering;
• and in addition, the upward movement of the locking fork drives a locking joint sleeve to be connected with a locking splined hub, and meanwhile, an external spline of the locking joint sleeve is connected with the steering arm housing of the suspension system, so that a locking function of the steering knuckle relative to the steering arm housing is achieved;
• and
• a super capacitor (5000), which is mounted inside the steering arm housing in the suspension system, matched with a vehicle-mounted power battery, and used for providing electric energy for the vibration damping system, the electromechanical braking system and the steering system during working, and storing electric energy recovered from braking and vibration energy, so that self-energy storage and whole vehicle energy redundancy safety design of the kingpin steering and omni-directional steering dual-mode power-multiplexing electric wheel angle module are achieved.