CN107640211A - The steer by wire apparatus and automobile that a kind of steering mechanism integrates with suspension - Google Patents

Abstract

The invention discloses a steer-by-wire steering device integrated with a steering mechanism and a suspension, comprising: a steering motor; a deceleration mechanism connected to the output end of the steering motor; a spool shaft connected to the deceleration mechanism; a spool shaft A sleeve, which is installed in cooperation with the spool shaft through a sliding and rotating bush, so that the spool shaft and the spool sleeve can slide relative to each other in the axial direction and simultaneously rotate in the radial direction; wherein, the spool The outside of the lower end of the shaft sleeve is connected to the hub motor housing of the wheel through a steering knuckle, so that the hub motor and the strut shaft rotate synchronously. The invention discloses an automobile. The design of the present invention can meet the performance requirements of the entire vehicle, especially to provide a better solution for large-scale heavy-duty vehicles using steering by wire. advantage.

Description

Steering-by-wire device integrating steering mechanism and suspension and automobile

technical field

The invention relates to the field of steering-by-wire steering of automobiles, in particular to a steering-by-wire steering device integrated with a steering mechanism and a suspension and an automobile.

Background technique

Steering by wire originated from the fly-by-wire control system applied in aerospace technology in 1972. With the continuous development of electronic technology and computer technology, major automobile companies have launched research on steering by wire technology. In Europe, in 1998, the German ZF company carried out the research and development of the steer-by-wire system, and the "Brite-Eu Ram'X-by-Brite-Eu Ram'X-by- wire' project", dedicated to the research on the realization, reliability and safety of steer-by-wire system.

In Asia, Toyota Corporation of Japan launched the FT-EVⅡ steer-by-wire concept car in 2010, which controls the steering, acceleration and braking of the vehicle through knobs and buttons; in 2015, Infiniti launched the world's first The mass-produced model of steer-by-wire—Q50; currently, all Infiniti Q50 models are equipped with DAS steer-by-wire technology.

In order to prevent the steering wheel from being unable to turn due to the failure of the electronic system, Infiniti reserved a mechanical transmission part for the steering transmission part of the Q50. There is a normally open clutch in the middle, which will be automatically closed when the power is cut off. Therefore, even if the DAS system fails, the driver The vehicle can also be driven normally.

Domestic research on steer-by-wire technology began in the 1990s. In recent years, with the implementation of the national electric vehicle 2025 plan, automobile groups such as Dongfeng, FAW, Changan, Geely, GAC and other powerful research institutions have launched steer-by-wire systems and related research work. Started to cooperate with OEMs to conduct research on automotive intelligent control parts technology.

The steering-by-wire system cancels the traditional mechanical steering device, and there is no mechanical connection between the steering gear and the steering column. The whole system is mainly composed of steering wheel position sensor, road sense simulation motor, steering actuator, steering ECU, wheel angle sensor, automatic fail-safe system, power supply and other auxiliary systems.

The current steer-by-wire mechanism mostly adds a steer-by-wire device on the basis of the traditional steering mechanism. On the one hand, this steer-by-wire method increases the complexity of the steer-by-wire structure; Greater chassis space. It is worth mentioning that the steer-by-wire device derived from the traditional steering device still does not decouple the rotation angles of the left and right steering wheels, and thus cannot achieve independent and free control of the rotation angle of each wheel. This is one reason that limits the vehicle's steering flexibility.

In recent years, the topics of energy saving, environmental protection and safety of automobiles have increasingly attracted the attention of the government and major automobile manufacturers. The gradual popularization and application of new electric vehicles such as hybrid electric vehicles (HEV), fuel cell electric vehicles (FCEV), especially pure electric vehicles driven by in-wheel motors has brought broad application prospects for the application of steer-by-wire systems.

Contents of the invention

Based on the technical problems in the prior art, the present invention has designed and developed a steer-by-wire steering gear integrated with the suspension. The purpose of the invention is to solve the problems that the traditional steering mechanism of heavy-duty vehicles occupies a large space, the sliding friction of the steering shaft is large, and the steering portability and sensitivity cannot be balanced.

The present invention also designs and develops a kind of automobile. The purpose of the invention is to solve the problem that the traditional steering mechanism of heavy-duty vehicles takes up a lot of space.

The technical scheme provided by the invention is:

A steer-by-wire device integrating a steering mechanism and a suspension, comprising:

steering motor; and

a reduction mechanism, which is connected to the output end of the steering motor;

A shock absorber strut shaft, which is connected to the reduction mechanism through a universal joint, and a plurality of first slide grooves are arranged in the axial direction on the shock absorber sliding shaft;

The shock absorber sleeve, an inner ring is arranged in a length of its upper part, and an axial circulation track is arranged between the inner ring and the inner wall of the shock absorber sleeve; the inner ring is provided with a plurality of second sliding grooves along the axial direction;

Balls, which are arranged in the circulating track, can roll in the circulating track, and the balls can partially protrude from the second sliding groove;

The shaft of the shock absorber strut passes through the inner ring, the positions of the first sliding groove and the second sliding groove correspond to each other to form an accommodation space, and the part of the ball protruding from the second sliding groove located in the first sliding groove;

The lower end of the shock absorber sleeve is connected to the steering knuckle;

Wherein, by rolling the balls in the accommodation space, the shock absorber strut shaft can slide axially relative to the shock absorber sleeve, and when the shock absorber strut shaft rotates, it can drive The damper sleeve rotates.

Preferably, the deceleration mechanism includes:

a worm, which is connected to the output end of the steering motor;

a turbine, which cooperates with the worm;

The drive shaft is connected with the worm gear, and the worm is connected with the strut shaft through a universal joint.

Preferably, it also includes;

The connecting plate assembly is fixedly connected with the vehicle body;

The upper end of the coil spring is supported on the connecting plate assembly through the upper tray of the coil spring, and the lower end is supported on the shock absorber sleeve through the lower tray of the coil spring.

Preferably said helical spring lower tray is supported on said damper sleeve by a shoulder on the outside of said damper sleeve.

Preferably, it further includes: sealing plugs, which are respectively arranged at both ends of the shock absorber sleeve.

Preferably, it also includes: a buffer block installed inside the upper tray of the coil spring; and

A dust cover is installed between the buffer block and the sealing plug.

Preferably, it also includes:

A ball cage, which is installed between the inner ring and the inner wall of the shock absorber sleeve, and is connected with the shock absorber sleeve through a locking ring, and has a ball through groove on the ball cage;

A sliding limit block is detachably fixed on the lower end of the spool shaft.

Preferably, the lower part of the steering knuckle is provided with an end cover, which is connected with the sealing plug at the lower part of the strut shaft sleeve through screws.

Preferably, it also includes: the suspension lower swing arm, which is connected with the ball stud bearing on the motor housing of the hub motor through a ball stud.

An automobile, including a steer-by-wire device integrated with a suspension using the steering mechanism.

Compared with the prior art, the present invention has the beneficial effects:

1. The steering-by-wire steering device integrated with the steering mechanism and the suspension of the present invention realizes the steering-by-wire technology of the automobile through the integration of the steering mechanism and the suspension, and solves the integration problem of the steering mechanism and the suspension of the automobile ;

2. The steer-by-wire steering device integrated with the steering mechanism and the suspension described in the present invention realizes the individual control of the steering of the steering wheel through the integration of the steering mechanism and the suspension, and decouples the steering between the wheels, making the steering easy better realization of sex and flexibility;

3. The steer-by-wire steering device integrated with the steering mechanism and suspension of the present invention realizes the steer-by-wire steering of heavy-duty vehicles by using the worm gear reducer to increase the output torque of the steering motor, and fully meets the needs of vehicle driving and in-situ driving. Steering force requirement when turning.

Description of drawings

Fig. 1 is a front view of the steer-by-wire device in which the steering mechanism and the suspension are integrated according to the present invention.

Fig. 2 is a front view of the strut shaft of the steer-by-wire device integrating the steering mechanism and the suspension according to the present invention.

Fig. 3 is a left side view of the strut shaft of the steer-by-wire device integrating the steering mechanism and the suspension according to the present invention.

Fig. 4 is a front view of the strut shaft sleeve of the steer-by-wire device integrating the steering mechanism and the suspension according to the present invention.

Fig. 5 is a left side view of the strut shaft sleeve of the steer-by-wire steering mechanism integrated with the suspension according to the present invention.

Fig. 6 is a front view of the sliding rotary bushing of the steer-by-wire device integrating the steering mechanism and the suspension according to the present invention.

Fig. 7 is a cross-sectional view of the sliding rotary bushing of the steer-by-wire device in which the steering mechanism and the suspension are integrated according to the present invention.

Fig. 8 is an axial view of the sliding swivel bushing of the steer-by-wire steering mechanism integrated with the suspension according to the present invention.

Fig. 9 is a sectional view of the connection plate assembly and the vibration isolation block assembly of the steer-by-wire steering device integrated with the steering mechanism and suspension according to the present invention.

detailed description

The present invention will be described in further detail below in conjunction with the accompanying drawings, so that those skilled in the art can implement it with reference to the description.

Compared with the electric power steering, the device of the present invention saves the complicated power steering mechanism or hydraulic control unit, and the structure is simpler. Finally, the worm gear drives the sliding column assembly to rotate through the universal joint, thereby driving the steering knuckle to rotate, realizing independent steering control of the wheels. It solves the problem that the traditional steering mechanism takes up a lot of space and requires steering assistance. The design of the present invention can meet the performance requirements of the entire vehicle, especially to provide a better solution for large-scale heavy-duty vehicles using steering by wire. advantage.

The device of the present invention comprises: wheel 20, steering motor 1, worm gear reduction mechanism, universal joint 27, coil spring 7, sliding column assembly, steering knuckle 15, ball stud 18 and lower cross arm 16; The mechanism includes a worm 31 and a worm wheel 30;

The present invention also includes an automobile, which is steered using the integrated device of the steering mechanism and the suspension of the present invention.

As shown in Fig. 1, in order to realize above-mentioned function, the present invention provides a kind of automobile steer-by-wire integrated device. The integrated device in the present invention refers to a device that integrates the suspension and the steering mechanism. The device adopts a MacPherson suspension structure, and the strut shaft sleeve 12 and the lower swing arm 16 are respectively connected to the mounting points on the hub motor stator, replacing the steering knuckle in the traditional steering system. Steering by wire motor 1 is connected with worm gear reducer 30,31, and worm gear 30 is connected with the strut shaft 25 of strut structure by universal joint 27. The strut shaft 25 and the strut shaft sleeve 12 adopt a sliding and rotating bush structure to cooperate, so that the strut shaft 25 and the strut shaft sleeve 12 can rotate together in the radial direction while sliding relative to each other in the axial direction, thereby driving the wheels 20 turns.

The output end of the steering motor 1 is a worm 31, and the worm gear 30 is connected with the universal joint 27 through the transmission shaft 28 and transmits the torque to the universal joint 27; the universal joint 27 is connected with the top of the strut shaft 25 through a flat key to transmit The torque from the worm wheel 30 to the strut shaft 25; the upper part of the coil spring 7 is supported on the connecting plate assembly 2 through the coil spring upper tray 4, and the connecting plate assembly 2 is fixedly connected with the vehicle body. There is a front buffer block 5 inside the coil spring upper tray 4, and there is a dust cover 6 between the buffer block 5 and the upper sealing plug 8 of the sliding column shaft sleeve; the coil spring 7 is supported on the sliding column shaft sleeve by the coil spring lower tray 11 12 above, the helical spring lower tray 11 is supported on the strut shaft sleeve 12 by the shoulder on the outside of the strut shaft sleeve.

Strut assembly mechanism is made up of swipe shaft 25, swipe shaft sleeve 12, limit block 13 and sliding rotation bushing. Wherein, the outer cylinder of the sliding rotating bush and the upper part of the strutting shaft sleeve 12 are integrated; there is a ball cage 10 between the strutting shaft sleeve 12 and the strutting shaft 25, and there is a ball groove on it. ; The inner wall of the spool shaft sleeve 12 has a ball circulation track to guide the rolling of the balls; the swipe shaft 25 has a ball sliding groove along the axial direction to ensure the normal rolling of the steel balls when the swipe shaft 25 slides and rolls; The cooperation between the ball sliding groove and the ball circulation track is used as the focal point, so that the swipe shaft 25 rotates and at the same time drives the swipe shaft sleeve 12 to rotate together, and the ball 9 moves through the ball 9 on the swipe shaft 25 in the axial direction. The rolling in the ball circulation track of the column shaft sleeve 12 enables the relative sliding between the spool shaft 25 and the spool shaft sleeve 12, and effectively reduces the friction between the spool shaft 25 and the spool shaft sleeve 12, The service life of the strut shaft 25 and the strut shaft sleeve 12 is improved. Simultaneously, the lower end of the spool shaft 25 has a sliding limit block 13, and the limit block 13 is connected with the spool shaft 25 through the limit block nut 14, so as to prevent the swipe shaft 25 from being separated from the sliding rotating bushing when the stroke is too large. ; Wherein the cage 10 is connected with the spool shaft sleeve 12 through a locking ring 24 up and down to avoid the axial sliding of the cage 10; the outer surface of the spool shaft sleeve 12 has a spline on the outer surface, and the It is connected with the steering knuckle 15 outside the motor housing and rotates together.

The bottom of the spool shaft sleeve 12 is a sealing plug 23 , which is connected with the spool shaft sleeve 12 through an external thread and used to seal the lower part of the spool shaft sleeve 12 . There is an end cover 21 at the bottom of the steering knuckle 15, which is connected with the sealing plug 23 at the bottom of the spool shaft sleeve by a screw 22, so as to limit the axial movement between the spool shaft sleeve 12 and the steering knuckle 15. There is also a sealing plug 8 threaded on the top of the strut shaft sleeve 12, which is used for the sealing of the strut shaft 25 and the top of the strut shaft sleeve 12.

The lower swing arm 16 of the suspension is connected with the ball stud bearing 19 on the motor housing by the ball stud 18, and realizes that the wheel 20 jumps up and down and rotates along the kingpin.

The present invention also provides an automobile, which uses the steer-by-wire device described in the present invention to steer the automobile.

Example

The present invention will be described in further detail below in conjunction with accompanying drawings 1 to 9, so that those skilled in the art can implement it with reference to the description.

As shown in accompanying drawing 1, the steer-by-wire device integrated with the steering mechanism and suspension of the present invention adopts a McPherson suspension structure, the steer-by-wire motor 1 is connected with the worm gear reducers 30, 31, and the worm gear 30 The transmission shaft 28 is connected with the universal joint 27 and the torque is transmitted to the universal joint 27; the universal joint 27 is connected with the top of the strut shaft 25 through a flat key, so as to transmit the torque from the worm wheel 30 to the strut shaft 25; the coil spring The top of 7 is supported on the connecting plate assembly 2 by the upper tray 4 of the coil spring, and the connecting plate assembly 2 is fixedly connected with the car body by bolts. There is a front buffer block 5 inside the coil spring upper tray 4, and there is a dust cover 6 between the front buffer block 5 and the upper sealing plug 8 of the sliding column shaft sleeve; the coil spring 7 is supported on the sliding column sleeve by the coil spring lower tray 11 Above the barrel 12, the helical spring lower tray 11 is supported on the strut shaft sleeve 12 by a shoulder on the outside of the strut shaft sleeve. Strut assembly mechanism is made up of swipe shaft 25, swipe shaft sleeve 12 and sliding rotation bushing; Wherein the upper part of described sliding rotation bush outer cylinder and described swipe shaft sleeve 12 is made into one; There is a ball cage 10 between the shaft sleeve 12 and the spool shaft 25, and there is a ball groove on it; the inner wall of the spool shaft sleeve 12 has a circulating track for guiding the rolling of the balls; the spool shaft 25 has a The ball slide groove ensures the normal rolling of the steel ball when the spool shaft 25 slides and rolls. Through the cooperation of the ball 9 in the ball sliding groove and the ball circulation track as the focus point, the spool shaft 25 is rotated while driving the spool shaft sleeve 12 to rotate together, and the ball 9 is in the axial direction of the spool shaft 25. The rolling in the sliding groove and the ball circulation track of the strut shaft sleeve 12 enables the relative sliding between the strut shaft 25 and the strut shaft sleeve 12, and effectively reduces The frictional force improves the service life of the spool shaft 25 and the spool shaft sleeve 12. At the same time, the lower end of the spool shaft 25 has a sliding limit block 13, and the limit block 13 is connected with the spool shaft 25 through the limit block nut 14, so as to prevent the spool shaft 25 from breaking away from the sliding rotating bushing when the stroke is too large. ; Wherein the cage 10 is connected with the spool shaft sleeve 12 through a locking ring 24 at the upper and lower sides, so as to avoid the axial sliding of the cage 10; the outer surface of the lower end of the spool shaft sleeve 12 has a spline, through which the spline It is connected with the steering knuckle 15 outside the motor housing and rotates together. The lower suspension arm 16 is connected with the ball stud support 19 on the motor housing through the ball stud 18 .

Shown in accompanying drawing 2, Fig. 3 is the structural part of swipe column shaft 25 of the present invention, the right end of swipe post shaft 25 is a keyway structure, is connected with the keyway of universal joint 27; The matching thread of the connecting nut of the car body connection assembly 2 is used for the axial fixation of the strut shaft 25 and the car body; the shoulder in the middle of the strut shaft is used for positioning during axial fixation; the left end of the shoulder is provided with a ball groove throughout , the number of grooves is the same as the number of roller grooves on the sliding and rotating bushing; the leftmost end is the connecting thread of the strut shaft limit block nut 14.

Shown in accompanying drawing 4, Fig. 5 is the structural part of the spool shaft sleeve 12 of the present invention, the right end of the spool shaft sleeve is integrated with the outer cylinder part of the sliding and rotating bushing, and there are ball slides and retaining shafts on the inner wall. The locking ring 24 of the frame 10 is slotted; the right port of the sliding column shaft sleeve 12 is the upper sealing plug 8 connecting thread, and the first shoulder on the right is the support shoulder of the lower pallet 11 of the coil spring; the leftmost shoulder is The supporting shoulder of the strut shaft sleeve 12 and the steering knuckle 15; the left port of the strut shaft sleeve 12 is also a threaded hole structure, which is connected with the external thread on the lower seal 23 of the strut shaft sleeve through threads. The specific structure diagram of the sliding rotary bushing A is shown in Figure 6.

As shown in Figure 6, the track of the ball at the end of the spool shaft sleeve 12 is arc-shaped along the circumferential direction of the sleeve, so that the balls circulate in the groove without affecting the axial movement of the spool shaft.

As shown in accompanying drawing 6, Fig. 7, Fig. 8 is the structural part of the sliding rotary bushing on the upper part of the spool shaft sleeve 12, the outer cylinder structure 12a of the sliding rotary bushing device is integrated with the strutting shaft sleeve; the ball 9 Rolling along the ball groove; the ball cage 10 has a ball retaining through groove; the cage locking ring 24 is used for axial fixing and locking of the cage 10 and the ball 9 . Through the cooperation of the ball 9 in the ball sliding groove and the ball circulation track as the focus point, the spool shaft 25 is rotated while driving the swipe shaft sleeve 12 to rotate together, and the ball 9 is on the spool shaft 25 in the axial direction. The rolling in the sliding groove and the ball circulation track of the strut shaft sleeve 12 enables the relative sliding between the strut shaft 25 and the strut shaft sleeve 12, and effectively reduces The frictional force improves the service life of the spool shaft 25 and the spool shaft sleeve 12.

As shown in accompanying drawing 9, it is the sectional view structure of the connecting plate assembly 2 and the vibration isolation block assembly 3, the upper strut shaft nut 26 is used for the axial fixing of the strut shaft 25 relative to the connecting plate assembly 2, and the connection The plate assembly 2 and the car body are fixed by bolts, and the vibration isolation block assembly 3 has a plane bearing, so that the spool shaft 25 and the tray 4 on the spool shaft can rotate relative to the vibration isolation block assembly 3 .

Specific working methods

Below in conjunction with accompanying drawing 1, the working process of the present invention is described in detail:

As shown in FIG. 1 , the steering mechanism and suspension integrated steering-by-wire device of the present invention integrates the steering mechanism and suspension as a whole, and is connected with wheels 20 through a deformed steering knuckle 15 . After the steering motor 1 rotates, the worm wheel 30 is driven by the worm 31 to rotate, the worm wheel 30 drives the universal joint 27 to rotate through the transmission shaft 28, the universal joint 27 drives the sliding column shaft 25 to rotate through the flat key, and the sliding column shaft 25 rotates the bush through sliding The spool shaft sleeve 12 is driven to rotate, and the spool shaft sleeve 12 is connected with the steering knuckle 15 through the external spline at the lower part, and the torque is transmitted to the knuckle arm, thereby driving the wheel 20 to rotate. When the wheel 20 jumps up and down, the wheel 20 can rotate relative to the lower swing arm 16 through the ball stud 18; the wheel 20 jumps up, the coil spring 7 is compressed, and the strut shaft 25 slides downward relative to the strut shaft sleeve 12, and vice versa. then swipe up.

Although the embodiment of the present invention has been disclosed as above, it is not limited to the use listed in the specification and implementation, it can be applied to various fields suitable for the present invention, and it can be easily understood by those skilled in the art Therefore, the invention is not limited to the specific details and examples shown and described herein without departing from the general concept defined by the claims and their equivalents.

Claims (10)

1. A kind of 1. steer by wire apparatus that steering mechanism integrates with suspension, it is characterised in that including：

   Steering motor；And

   Reducing gear, it connects the output end of the steering motor；

   Shock absorber traveller axle, it connects the reducing gear, and side vertically on the shock absorber sliding axle by universal joint To multiple first sliding grooves of setting；

   Damper sleeve, its segment length of top one is interior to set inner ring, is set axially between the inner ring and damper sleeve inwall Cyclic track；The inner ring axially sets multiple second sliding grooves；

   Ball, it is arranged in the cyclic track, can be rolled in the cyclic track, and the ball being capable of part Protrude second sliding groove；

   The shock absorber traveller axle slides groove location and corresponded through the inner ring, first sliding groove and described second is arrived Receiving space is formed, the part that the ball protrudes second sliding groove is located in first sliding groove；

   The lower end of the damper sleeve is connected with knuckle；

   Wherein, the shock absorber traveller axle is enable relative to the shock absorber set in the rolling of the receiving space by ball Cylinder slides axially, and when the shock absorber traveller axle rotates, the damper sleeve can be driven to rotate.
2. 2. the steer by wire apparatus that steering mechanism as claimed in claim 1 integrates with suspension, it is characterised in that the reductor Structure includes：

   Worm screw, it is connected with the output end of the steering motor；

   Turbine, it is engaged with the worm screw；

   Power transmission shaft, it is connected with the turbine, and the worm screw is connected with the traveller axle by universal joint.
3. 3. the steer by wire apparatus that steering mechanism as claimed in claim 1 or 2 integrates with suspension, it is characterised in that also include；

   Connecting plate assembly, it is fixedly connected with the vehicle body；

   Helical spring, its upper end are supported on the connecting plate assembly by helical spring top tray, and lower end passes through helical spring Lower tray is supported on the damper sleeve.
4. 4. the steer by wire apparatus that steering mechanism as claimed in claim 3 integrates with suspension, it is characterised in that the spiral bullet Spring lower tray is supported on the damper sleeve by the shaft shoulder outside the damper sleeve.
5. 5. the steer by wire apparatus that steering mechanism as claimed in claim 4 integrates with suspension, it is characterised in that also include：It is close Blocking, it is separately positioned on the both ends of the damper sleeve.
6. 6. the steer by wire apparatus that steering mechanism as claimed in claim 5 integrates with suspension, it is characterised in that also include：It is slow Block is rushed, it is arranged on inside the helical spring top tray；And

   Dust cover, it is arranged between the buffer stopper and the sealing-plug.
7. 7. the steer by wire apparatus that steering mechanism as claimed in claim 6 integrates with suspension, it is characterised in that also include：

   Ball retainer, its be arranged between the inner ring and the damper sleeve inwall, and by lock ring with it is described Damper sleeve connects, and has ball groove on the ball retainer；

   Limited block is slided, it is detachably mounted to the traveller axle lower end.
8. 8. the steer by wire apparatus that steering mechanism as claimed in claim 7 integrates with suspension, it is characterised in that the knuckle Bottom sets end cap, and it is connected by screw with the sealing-plug of the traveller shaft sleeve bottom.
9. 9. the steer by wire apparatus that the steering mechanism as any one of claim 1,2,4-8 integrates with suspension, its feature It is, in addition to：Suspension lower swing arm, it is connected by the bulb pin bearing on the motor casing of ball stud and wheel hub motor.
10. A kind of 10. automobile, it is characterised in that the line integrated including the use of the steering mechanism as described in claim 1-9 and suspension Control transfer.