A steering axle for a steerable vehicle includes an axle housing, a steering motor, a steering gear, a first steering knuckle with a first steering arm, a second steering knuckle with a second steering arm, a coupling rod, a first tie rod, and a second tie rod. The first and second steering arms are each rigidly arranged on a respective steering knuckle that is hinged in the axle housing. The first and second tie rods are each hinged at a first end to a respective steering arm and hinged at a second end to the coupling rod. The steering axle is configured so that the steering motor can set a steering angle of the steering axle via the steering gear. The steering axle has first and second intermediate steering levers, each hinged at its first end to the axle body and hinged at its second end to the coupling rod.

A rack assist type power steering apparatus according to the embodiments of the present disclosure comprises a rack bar provided with an outer screw groove on an outer circumferential surface, a ball nut having an inner screw groove corresponding to the outer screw groove on an inner circumferential surface, and a bearing coupled to an outer circumferential surface, and a nut pulley provided with a belt coupling portion on an outer peripheral surface, and one end of an inner circumferential surface is provided with a support end coupled to an outer circumferential surface of the ball nut to support the bearing, and an other end of an inner circumferential surface is provided with an enlarged diameter portion which is stepped from the support end and increases in inner diameter.

A method for estimating a value for friction exerted on a power steering system of a vehicle, during turning resulting in the crossing of a straight line angle, the turning being achieved at a substantially uniform speed included within a predefined range, and an angle of a steering wheel included within a predefined range, including: a step (1) of acquiring a plurality of vehicle-related data items, including at least one value of a force of a power steering motor on a rack and pinion, and a value of a force of the steering wheel on the rack and pinion; a step (4) of estimating the value for friction by averaging the sum of the forces of the steering wheel and the forces of the power steering motor on the rack and pinion.

A vehicle steering assembly comprising an input shaft to be connected to a steering device, a first electric motor connected to the input shaft and arranged to provide a steering device torque and/or a steering device angle, an output shaft connected via a steering linkage to a number of ground engaging members, a rod placed between the input shaft and the output shaft, a first arm rotatably connected to the input shaft and rotatably connected to the rod, and a second arm rotatably connected to the rod and rotatably connected to the output shaft, a second electric motor connected to the output shaft and arranged to provide a steering control torque and/or a steering control angle, wherein the rod comprises a flexible drag link, which in combination with the first and second arm provide for forces in longitudinal direction to be absorbed.

A steering apparatus includes: a steering mechanism including a turning shaft; a motor configured to give a drive force to the steering mechanism; and a controller configured to control the motor based on a command value. The controller includes a first computation circuit, a second computation circuit and a third computation circuit. The first computation circuit is configured to compute a shaft force that acts on the turning shaft. The second computation circuit is configured to compute a value indicating the degree of intervention in a steering control by a host controller, such that the value gradually changes with respect to time. The third computation circuit is configured to compute a final shaft force, by reflecting the value indicating the degree of the intervention, in the shaft force.

A power assisted steering system provides a gear reduction between a steering wheel and a steering mechanism and a much larger gear reduction between an electric motor and a steering mechanism. The system is back-driveable from the steering mechanism. The system utilizes a ball-screw, several helical gears, and two bevel gears. A rack fixed to the ball-screw nut drives a sector gear.

A steering control device has an electromagnetic clutch built into an electric motor. The electromagnetic clutch is provided with: an armature connected to a first closing member via a guide member, a coil holding part, and a bolt; a clutch plate connected to a rotor via a clutch plate attachment member, a key, and a motor shaft; and an excitation coil held by the coil holding part. The armature is fastened with the clutch plate when not attracted to the excitation coil during a power supply failure of the electric motor, and regulates relative rotation of the rotor with respect to a motor housing. Steering of a rack bar is thereby restricted at an optional steering position via the motor shaft, a worm shaft, and a steering shaft.

Provided are a vehicle chassis and a vehicle, which are related to a field of vehicle technology, in particular to fields of automatic driving technology and driving test technology. The vehicle chassis includes: a chassis support, a steering system, an electrical system, a driving system, and two brake systems. The chassis support is provided with a steering system mounting site, an electrical system mounting site, a driving system mounting site, and two brake system mounting sites; which are arranged in sequence along a length direction of the vehicle chassis. A first brake system mounting site is disposed between the steering system mounting site and the electrical system mounting site; and a second brake system mounting site is disposed between the driving system mounting site and the electrical system mounting site. The two brake systems, the driving system and the steering system are communicatively connected to the electrical system.

A dual-mode active rear-wheel steering device, including: a steering angle control motor, a speed-reduction mechanism, a differential mechanism assembly, two steering motion conversion mechanisms, a first electromagnetic clutch and a second electromagnetic clutch. An output end of the steering angle control motor is connected to the speed-reduction mechanism. The differential mechanism assembly is a bevel gear differential, in which center holes at outer ends a two half shafts are respectively provided with a raceway to form an inner cyclical ball-lead screw-nut pair with a first lead screw and a second lead screw of the steering motion conversion mechanisms. The first lead screw and the second lead screw are the same in parameters but with opposite rotation direction. The first electromagnetic clutch controls connection between a differential housing and a frame. The second electromagnetic clutch controls connection between the differential housing and the second half shaft.

One embodiment of the present invention relates to a steering apparatus, in which not only a middle tube but also an inner tube can be moved along a longitudinal direction of an outer tube, and thus, stroke control of the steering apparatus can be effectively performed. Specifically, in the steering apparatus, the speed reducer is supported by a first transport guide and a second transport guide, moves along the first transport guide according to power of a motor, and can effectively rotate the second transport guide.