CN109591881A - Rear-axle steering device, vehicle and its rear-wheel steering system - Google Patents

Rear-axle steering device, vehicle and its rear-wheel steering system Download PDF

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Publication number
CN109591881A
CN109591881A CN201710938270.0A CN201710938270A CN109591881A CN 109591881 A CN109591881 A CN 109591881A CN 201710938270 A CN201710938270 A CN 201710938270A CN 109591881 A CN109591881 A CN 109591881A
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CN
China
Prior art keywords
axle steering
steering device
lead screw
driving
nut
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Granted
Application number
CN201710938270.0A
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Chinese (zh)
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CN109591881B (en
Inventor
董大伟
蔡昭华
刘先华
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BYD Co Ltd
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BYD Co Ltd
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Priority to CN201710938270.0A priority Critical patent/CN109591881B/en
Publication of CN109591881A publication Critical patent/CN109591881A/en
Application granted granted Critical
Publication of CN109591881B publication Critical patent/CN109591881B/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0421—Electric motor acting on or near steering gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D3/00—Steering gears
    • B62D3/02—Steering gears mechanical
    • B62D3/04—Steering gears mechanical of worm type
    • B62D3/06—Steering gears mechanical of worm type with screw and nut
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0442—Conversion of rotational into longitudinal movement
    • B62D5/0445—Screw drives

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Steering Mechanism (AREA)

Abstract

This disclosure relates to a kind of rear-axle steering device, rear-wheel steering system and vehicle, the rear-axle steering device includes: motor, it turns to executing agency and is driven the transmission mechanism being connected with motor and steering executing agency, turning to executing agency includes for connecting the feed screw nut matching mechanism can drive rear-axle steering with rear-axle steering section, the driving nut of feed screw nut matching mechanism is rotatably supported in rear-axle steering device shell, transmission mechanism is connected with the transmission of the driving nut of feed screw nut matching mechanism, for converting the driving lead screw of feed screw nut matching mechanism along axial linear motion via driving nut for the rotary motion of motor.Thus, drive rear-wheel relative to front-wheel steer respective angles by rear-axle steering section, to improve understeer or ovdersteering problem, torque can be increased by the cooperation of transmission mechanism and feed screw nut matching mechanism, reduce the requirement to Rated motor torque, and make the reasonable integral structure of rear-axle steering device, reduce design difficulty.

Description

Rear-axle steering device, vehicle and its rear-wheel steering system
Technical field
This disclosure relates to wheel steering system technical field, and in particular, to a kind of rear-axle steering device, rear-wheel steering system And vehicle.
Background technique
Comfort, handling and peace with the development of Hyundai Motor technology and the improvement of road conditions, for automobile The requirement of full property is higher and higher, comfortable in order to improve turning flexibility, the stability of straight line traveling and vehicle in existing Property etc., rear-wheel follow-up steering technology is increased in Vehicular turn technology.That is, by the rear-axle steering technology, in vehicle low speed Or there is rear-wheel and front-wheel when understeer and improve the mesh of vehicle flexibility to reach reduction turning radius in reverse phase rotation 's.When vehicle has the ovdersteering especially trend of high speed whipping, rear-wheel rotates with front-wheel in same, to reduce vehicle matter Heart side drift angle reduces the stable state overshoot of vehicle yaw rate, realizes the stable effect of lane change.Existing rear-axle steering device is usually Primary transmission, transmission ratio is small, and the Motor torque needed is big, and has the problem that design difficulty is big, development cost is high.
Summary of the invention
The rear-axle steering device of requirement and design difficulty purpose of this disclosure is to provide a kind of reduction to Rated motor torque.
To achieve the goals above, the disclosure provides a kind of rear-axle steering device, and the rear-axle steering device includes: motor, turns The transmission mechanism being connected, the steering executing agency are driven to executing agency and with the motor and the executing agency that turns to Including for connecting the feed screw nut matching mechanism can drive rear-axle steering with rear-axle steering section, which cooperates machine The driving nut of structure is rotatably supported in rear-axle steering device shell, the transmission mechanism and the feed screw nut matching mechanism Driving nut transmission be connected, for converting the lead screw spiral shell via the driving nut for the rotary motion of the motor The driving lead screw of female matching mechanism is along axial linear motion.
According to another aspect of the present disclosure, a kind of vehicle rear wheel steering system, the vehicle rear wheel steering system are also provided Including rear-wheel, rear-axle steering section and the rear-axle steering device described as described above, the both ends of the driving lead screw and the rear axle Knuckle connection.
According to the another aspect of the disclosure, a kind of vehicle including vehicle rear wheel steering system as described above is also provided.
Through the above technical solutions, i.e. by the way that feed screw nut matching mechanism and driver are arranged on rear-axle steering device Structure, so as to convert driving by the transmission of transmission mechanism and feed screw nut matching mechanism for the rotary motion of motor Lead screw as a result, in the case where rear-axle steering device as described above is suitable for the use state of vehicle, works as vehicle along axial linear motion Turn to when, corresponding control signal is passed to motor according to current whole vehicle state by vehicle so that motor rotation and via transmission Mechanism drives the driving lead screw to be axially moveable with driving nut, and then drives rear-wheel relative to preceding by rear-axle steering section It rotates to respective angles, understeer or ovdersteering problem can be improved, machine is cooperated by transmission mechanism and feed screw nut The cooperation of structure and torque can be increased, reduce requirement to Rated motor torque, and the overall structure of rear-axle steering device is closed Physics and chemistry reduces design difficulty.
Other feature and advantage of the disclosure will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is and to constitute part of specification for providing further understanding of the disclosure, with following tool Body embodiment is used to explain the disclosure together, but does not constitute the limitation to the disclosure.In the accompanying drawings:
Fig. 1 is the working principle diagram according to the rear-wheel steering system of disclosure specific embodiment；
Fig. 2 is the structure chart one according to the rear-axle steering device of disclosure first embodiment；
Fig. 3 is the structure chart two according to the rear-axle steering device of disclosure first embodiment；
Fig. 4 is according to the structure chart three of the rear-axle steering device of disclosure first embodiment, wherein in order to show internal junction Structure eliminates partial shell；
Fig. 5 is the structure chart four according to the rear-axle steering device of disclosure first embodiment；
Fig. 6 is the structure chart five according to the rear-axle steering device of disclosure first embodiment；
Fig. 7 is the structure chart according to the third control arm of the rear-axle steering device of disclosure first embodiment；
Fig. 8 is another structure chart according to the third control arm of the rear-axle steering device of disclosure first embodiment
Fig. 9 is to assemble section view according to the part of the worm and gear fit clearance regulating mechanism of disclosure first embodiment Figure；
Figure 10 is the exploded perspective view according to the worm and gear fit clearance regulating mechanism of disclosure first embodiment；
Figure 11 is according to the main view for adjusting ring in the worm and gear fit clearance regulating mechanism of disclosure first embodiment Figure；
Figure 12 is to adjusting ring in Figure 11 along perpendicular to the top view after the xy axial plane direction cutting of paper；
Figure 13 is to adjusting ring in Figure 11 along perpendicular to the bottom view after the xy axial plane direction cutting of paper；
Figure 14 is the main view in Figure 11 to adjusting ring after being parallel to the xz axial plane direction cutting of paper；
Figure 15 is to adjusting ring in Figure 11 along perpendicular to the side view after the yz axial plane direction cutting of paper；
Figure 16 is according to spring push rod component in the worm and gear fit clearance regulating mechanism of disclosure first embodiment Cross-sectional view；
Figure 17 is the main view according to the worm and gear fit clearance regulating mechanism bottom bracket of disclosure first embodiment Figure；
Figure 18 is the stereogram exploded view according to the second straight line displacement sensor of disclosure first embodiment；
Figure 19 is according to Portion and back cover portion in the second straight line displacement sensor of disclosure first embodiment Stereogram exploded view；
Figure 20 is the side view of back cover portion in Figure 19；
Figure 21 is the side view of Portion in Figure 19；
Figure 22 is the assembling front view according to the second straight line displacement sensor of disclosure first embodiment；
Figure 23 is the sectional arrangement drawing according to the second straight line displacement sensor of disclosure first embodiment, wherein in order to Convenient for clearly showing that the fit structure of end ring and the second shaft part accommodating chamber, end ring and the second shaft part accommodating chamber are shown Mating part enlarged drawing；
Figure 24 is the decomposition chart according to the second straight line displacement sensor of disclosure first embodiment；
Figure 25 is magnetic strength when being rotated forward according to magnet ring multistage in the second straight line displacement sensor of disclosure first embodiment Answer the signal schematic representation of chip；
Figure 26 is according to magnetic strength when magnet ring reversion multistage in the second straight line displacement sensor of disclosure first embodiment Answer the signal schematic representation of chip；
Figure 27 is the exploded perspective view one according to the rear-axle steering device of disclosure first embodiment；
Figure 28 is the exploded perspective view two according to the rear-axle steering device of disclosure first embodiment；
Figure 29 is according to the motor of disclosure first embodiment and the mated condition figure of turbine and worm decelerator；
Figure 30 is the mated condition figure according to the rear-axle steering device of disclosure first embodiment；
Figure 31 be according to the exploded perspective view of the rear-axle steering device of disclosure first embodiment but；
Figure 32 is the structure chart one according to the rear-axle steering device of disclosure second embodiment；
Figure 33 is the structure chart two according to the rear-axle steering device of disclosure second embodiment；
Figure 34 is the cross-sectional view in Figure 33 along line A-A cutting；
Figure 35 is the enlarged drawing of part B in Figure 33.
Description of symbols
1000- motor, 1001- motor output shaft；
1100- turns to executing agency, and 1101- executes bar, and 1102- rack gear, 1103- cut surface, 1104- compact heap is oriented to convex It rises, the first ball cup of 1105-, the first dust cover of 1106-, the first cushion of 1107-, 1108- executes bar sliding bearing；
1200- transmission gear；
1300- turbine and worm decelerator, 1301- first assemble bolt, the second sealing ring of 1302-, the sealing of 1303- third Circle, the 4th sealing ring of 1304-, the first circlip of 1305-, the second circlip of 1306-, 1307- tension ring, 1308- transmission Spur roller gear bearing, 1309- second assemble bolt, 1- first shell, 11- worm screw accommodating chamber, the adjusting component receiving of 12- first Chamber, 13- second adjust component accommodating chamber, 14- step wall, 15- power input accommodating chamber, the first threaded hole of 16-, 17- spring Push rod component mounting hole, 18- first shell sealing cover, 2- worm gear, 3- worm screw, 31- first end, 32- second end, 4- first are adjusted Component, the first self-aligning bearing of 41-, 42- adjusting ring, the first land portions of 421-, the second land portions of 422-, 423- kidney slot, The first notch of 424-, 5- elastic piece, 51- plate, 52- bending plate, 6- spring spindle component, 61- spring spindle package shell, 611- spring spindle accommodating chamber, 612- opening, 62- spring, 63- mandril, 64- screw thread, 7- second adjust component, and 71- second is adjusted Mandrel is held, 72- bearing block, the second notch of 721-, 8- retaining ring, 9- shaft coupling, 91- first shaft coupling gear, the second shaft coupling of 92- Device gear, 93- sleeve, the first fastening screw of 94-, 95- the second fastening screw the first fastener of 10-；The second fastener of 20-；
1400- rack-and-pinion fit clearance regulating mechanism, 1401- adjusting plug, 1402- compact heap, the limit of 1403- compact heap Slot, 1404- holddown spring, the first sealing ring of 1405-, 1406- venting plug, 1407- holddown spring baffle, the end 1408-；
1500- rear-axle steering device shell, 1501- execute rod shell, 1502- mounting bracket, 1503- internal thread pin；
1600- first straight line displacement sensor, the first induced magnet of 1601-, 1602- first sensor read head, 1603- magnetic Iron mounting blocks, 1604- magnet mounting blocks screw, 1605- first sensor read head screw；
The control arm configuration of 1700- first, the first control arm of 1701-, the second control arm of 1702-, the first bulb of 1703-, The first connector of 1704-, 1705- adjusting nut；
1800- third control arm, 1801- bush structure, 1802- first axle fork-join head, the first spherojoint of 1803-；
1900- angular transducer, 1901- power output shaft, 1902- rotor, 1903- stator, 1904- angular transducer spiral shell Nail, 1905- angular transducer oil sealing；
2000- second straight line displacement sensor, 21- second straight line displacement sensor shell, 211- the second shaft part accommodating chamber, 2111- clamping groove, 212- the first shaft part accommodating chamber, 213- torsional spring accommodating chamber, the first limiting slot of 2131-；2100- front housing, 2110- First front housing portion, the second front housing of 2120- portion, 2130- pilot hole；2200- rear cover, 2210- harness hole；2300- assembly parts；22- Transmission shaft, 221- extension diameter section, the second shaft part of 222-, the first shaft part of 223-, the second limiting slot of 224-, 225- card slot, 226- transmission Axis cut surface；220- printed circuit board, 2201- harness；
23- magnetic induction chip；
24- multistage magnet ring, 241- top plate, 242- side wall, 243- multistage magnet ring installation cavity；
25- rolling bearing；26- end ring, 261- notch, the inclined surface 262-；27- axle sleeve, 271- major diameter section, 272- are small Diameter section；28- torsional spring, the one end 281-, the 282- other end；29- second sensor gear, 291- transmission shaft cut mating surface；210- Expansion loop；220- printed circuit board, 2201- harness；230- plug connector sealing structure, 2301- plug connector sealing block, 2302- are inserted Fitting pressing plate；240- inner ring shape sealing ring；250- retainer ring；260- third fastener；270- outer ring shape sealing ring；280- the 4th is tight Firmware；
3000- motor, 3001- motor output shaft；
3100- drives nut, 3101- the first rotating member interconnecting piece, the first extension of 3102-, the second extension of 3103-；
3200- driving lead screw, the driving lead screw of 3201- first, the driving lead screw of 3202- second, 3203- lead screw external screw thread, The driving of 3204- second lead screw connecting pin, the driving of 3205- first lead screw connecting pin, the second ball cup of 3206-, 3207- second are dust-proof Cover, the second cushion of 3208-, 3209- drive lead screw sliding bearing；
3300- first pulley, the second belt wheel of 3400-, 3500- transmission belt；
3600- first bearing, 3700- second bearing, 3800- third linear displacement transducer, 3801- third incude magnetic Iron, 3802- third inductor read head, 3803- limited block, 3900- rear-axle steering device shell, 3901- rear-axle steering device first shell Body, 3902- rear-axle steering device second shell, 3903- first bearing limiting stand terrace, 3904- second bearing limiting stand terrace；
4000- vehicle frame, 4001- fore sub frame, 4002- Rear secondary frame for vehicle, 4100- second control arm configuration, and 4101- the 4th is controlled Arm processed, the 5th control arm of 4102-, the second bulb of 4103-, the second connector of 4104-, 4200- second bearing limit pressing plate, 4300- Oil sealing；
5001- the near front wheel, 5002- off-front wheel, 5003- left rear wheel, 5004- off hind wheel；
6000- vehicle, 7000- rear-axle steering device, 8000- rear-wheel steering system control unit.
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the disclosure.It should be understood that this place is retouched The specific embodiment stated is only used for describing and explaining the disclosure, is not limited to the disclosure.
It is described in detail below in conjunction with specific embodiment of the attached drawing to the disclosure.It should be understood that this place is retouched The specific embodiment stated is only used for describing and explaining the disclosure, is not limited to the disclosure.
In the disclosure, in the absence of explanation to the contrary, the noun of locality used such as " inside and outside " refers to for corresponding portion " inside and outside " of part profile, " upper and lower " generally correspond to " upper and lower " of vehicle, it should be noted that above-mentioned term position is only used In the explanation and illustration disclosure, it is not limited to.
Rear-axle steering device, rear-wheel steering system and vehicle including rear-axle steering device are disclosed in the disclosure, wherein this Disclosed rear-axle steering device include: motor 1000, turn to executing agency and with the motor 1000 and the steering execution machine The connected Multi-stage transmission mechanism of structure transmission, the steering executing agency 1100 includes for connecting with rear-axle steering section can drive The execution bar 1101 of dynamic rear-axle steering, the Multi-stage transmission mechanism are connected with the executions bar 1101 transmission, be used for will described in The rotary motion of motor 1000 is converted into the execution bar 1101 along axial linear motion.That is, i.e. by rear-axle steering device Motor 1000 and turn to executing agency between be arranged Multi-stage transmission mechanism, so that the rotary motion of motor 1000 is passed through multistage What the transmission of transmission mechanism and being converted into turned to executing agency executes bar 1101 along axial linear motion, is using shape as a result, Under state, when Vehicular turn, corresponding control signal is passed to motor according to current whole vehicle state by vehicle, so that motor rotation is simultaneously It drives the execution bar for turning to executing agency to be axially moveable via Multi-stage transmission mechanism, and then rear-wheel is driven by rear-axle steering section Relative to front-wheel steer respective angles, can improve understeer or ovdersteering problem, by Multi-stage transmission, mechanism can Increase torque, reduces the requirement to 1000 nominal torque of motor, and make the reasonable integral structure of rear-axle steering device, reduce Design difficulty.
Here, as shown in Figure 1, rear-wheel steering system may include rear-axle steering device 7000 and control unit (ECU) 8000. Rear-wheel steering system control unit 8000 can be integrated on the motor 1000 of rear-axle steering device 7000 according to space layout situation, Rear-wheel steering system control unit 8000 and its connector need to be designed to dustproof and waterproof (IP67 or more), rear-wheel steering system at this time Control unit 8000 independent can also be placed under boot or back seat, not need to be designed to dustproof and waterproof at this time, But since harness is longer, influence to control precision.Nose wheel steering in wheel steering system, on arrangement fore sub frame 4001 When with rear-wheel steering system on Rear secondary frame for vehicle 4002, pass through the design of steering trapezium, it is ensured that the near front wheel in automobile turning 5001, off-front wheel 5002, left rear wheel 5003 and off hind wheel 5004 make pure rolling around the same instantaneous centre, need to meet Acker Graceful theory.When vehicle is turned to, rear-wheel steering system control unit 8000 receives the control signal from vehicle 6000 6001 (including power supply, steering wheel angle, speed, yaw velocity, transverse acceleration, longitudinal acceleration, four-wheel wheel speed, braking The signals such as state), by logic calculation, the motor 1000 into rear-axle steering device 7000 issues corresponding control instruction 6002, electricity Machine 1000 exports corresponding torque according to instruction and converts steering for the rotary motion of motor 1000 via Multi-stage transmission mechanism Executing agency executes bar 1101 along axial linear motion, and then the left back knuckle by connecting with execution bar 1101 and the right side Rear steering section pushes left rear wheel 5003, off hind wheel 5004 to deflect certain angle.And rear-axle steering device 7000 is by the angle of motor 1000 It spends information A and executes bar location information B and fed back in real time to rear-axle steering control unit 8000, rear-wheel steering system control unit 8000 feed back the status information of rear-axle steering device 7000 to vehicle 6000, and left rear wheel 5003, off hind wheel 5004 deflect certain angle Whole vehicle state such as yaw velocity, side acceleration, side slip angle etc. feeds back to rear-wheel steering system control unit again afterwards 8000, to form the control ring of several closed circulations.In this way, rear-axle steering device 7000 can be adjusted according to whole vehicle state Rear-wheel corner, in low speed or rear-wheel and front-wheel are rotated in reverse phase when there is understeer, reduce turning radius, it is clever to improve vehicle Activity.In the ovdersteering especially trend of high speed whipping, rear-wheel is in reduce vehicle centroid side drift angle with rotating with front-wheel, The stable state overshoot of vehicle yaw rate is reduced, realizes that lane change is steady, improves the stability of straight line traveling, while can improve Vehicle comfort.
In addition, the Multi-stage transmission mechanism referred in above content can use the structure of various reasonable, for example, gear drive Mechanism, Worm and worm-wheel gearing, tape handler, feed screw nut matching mechanism, rack-and-pinion matching mechanism or above-mentioned machine Multiple mutually matched transmission mechanisms in structure etc., as long as the output torque of reliable delivery motor can be played to executing bar On 1101, enables and execute the function that bar 1101 is axially moveable, and pass through the kind of drive of Multi-stage transmission mechanism Have the characteristics that transmission is laborsaving, of less demanding to the nominal torque of motor.Below using two different Multi-stage transmission mechanisms Embodiment illustrates the disclosure, but both embodiments are served only for illustrating the disclosure, are not limited to the disclosure.
Referring to the drawings 1 to Figure 31, Multi-stage transmission mechanism is carried out using the embodiment of worm and gear matching mechanism Explanation.
As shown in Figures 1 to 6, the Multi-stage transmission mechanism includes being driven with the motor output shaft 1001 of the motor 1000 The first connected transmission mechanism and the transmission gear 1200 connecting with first transmission mechanism are arranged on the execution bar 1101 There is the rack gear 1102 for engaging with the transmission gear 1200.Pass through the tooth of transmission gear 1200 and execution bar 1101 as a result, Item 1102 engage mode and can be stably driven with execute bar 1101 be axially moveable.Wherein, first transmission mechanism can To use a variety of arrangements, for example, gear transmission mode, Worm Wheel System mode, belt wheel transmission mode etc. can be used, Here, in order to transmit torque appropriate to transmission gear 1200, can effectively ensure that the moving displacement for executing bar 1101 Amount, optionally, first transmission mechanism includes the deceleration mechanism connecting with the motor output shaft 1001 of the motor 1000, institute Transmission gear 1200 is stated to be arranged on the power output shaft of the deceleration mechanism.Here, can be according to the reality needed for rear-axle steering Situation carrys out the line angle transmission ratio of reasonable design transmission gear 1200 Yu rack gear 1102, for example, rack-and-pinion line angle transmission ratio can Be about 40mm/r with design, this this be not limited to the protection scope of the disclosure.It is logical by the output torque of motor 1000 as a result, It is passed on the rack gear 1102 engaged with the transmission gear 1200, is made by transmission gear 1200 after crossing deceleration mechanism deceleration increment Bar 1101 must be executed to move along the axial direction.Here, for example, optionally, the deceleration mechanism is turbine and worm decelerator 1300 and including intermeshing worm screw 3 and with the worm gear 2 of the power output shaft, the worm screw 3 exports with the motor Axis 1001 connects with rotating coaxially.By turbine and worm decelerator enable to rear-axle steering device integral arrangement it is compact, Be conducive to that miniaturized structure, transmission speed ratio and torque are big, bear the advantages of overload capacity is high, run smoothly, good tolerance.Its In, the power output shaft of worm gear 2 can be interference fitted into the central shaft hole of the worm gear 2 and described dynamic by tension ring 1307 The both ends of power output shaft pass through the first circlip 1305 respectively and the second circlip 1306 realizes axial limiting.Here, being Guarantee motor 1000 and turns to the reliability of the power transmitting between executing agency, optionally, the motor 1000 and the snail The pivot center of bar 3 is parallel to the central axis for executing bar 1101.In addition, considering in the arrangement of motor 1000 so that the Installation space smallizationer shared by one transmission mechanism, arrange it is more compact, it is alternatively possible to make worm gear 2 and the crossed axis angle of worm screw 3 small In 90 °, such as 75 ° etc., it can be adapted by the helical angle of design adjustment worm gear 2, the transmission ratio of worm gear 2 and worm screw 3 About 30 can be designed.In addition, for rear-axle steering under circulation positive status after the guarantee in the case where vehicle parking leads to failure Device realizes automatic locking, so that the reverse transmission efficiency of Multi-stage transmission mechanism remains 0, optionally, the worm screw 3 is single head snail Bar and the lead angle of the worm screw 3 are less than the equivalent friction angle of the worm gear 2 and the engagement wheel between cog of worm screw 3.
Further optionally, the turbine and worm decelerator 1300 includes first shell 1 and is arranged in the first shell Worm and gear fit clearance regulating mechanism in 1 and for adjusting the worm screw 3 and the worm gear 2.It was for example using as a result, Worm gear 2 and worm screw 3 can pass through worm and gear fit clearance in the case that fit clearance is excessive both due to abrasion occurs in journey Regulating mechanism adjusts the back lash between worm screw 3 and worm gear 2, so that worm screw 3 and worm gear 2 are in suitable engagement shape State and the cooperation precision that worm gear 2 and worm screw 3 is effectively ensured, so that impact and wear rate between the two minimizes.Wherein, Worm and gear fit clearance regulating mechanism can use the arragement construction of various reasonable, as long as can be realized adjustment worm gear 2 and snail The function of fit clearance between bar 3.
For example, optionally, as shown in Fig. 9 to 17, the worm and gear fit clearance regulating mechanism can use as follows Structure, that is, the worm and gear fit clearance regulating mechanism includes being provided with mutually to nibble in first shell 1 and the first shell 1 Worm gear 2, worm screw 3 and the bearing adjustment structure for being supported on 3 both ends of worm screw of conjunction, the bearing adjustment structure is for driving The worm screw 3 moves along the first adjusting direction perpendicular to the worm gear 2 and the axis of the worm screw 3 so that the worm screw 3 The back lash in the state that crossed axis angle with the worm gear 2 remains unchanged, between adjustment and the worm gear 2.Wherein, for The specific arragement construction of bearing adjustment structure can be designed reasonably according to actual needs, as long as can guarantee secure support snail It, can be to drive snail under the premise of the crossed axis angle of worm screw 3 and worm gear 2 does not change on the basis of the function at the both ends of bar 3 Bar 3 moves and adjusts the function of the back lash between worm gear 2 along first adjusting direction.As described above, passing through Setting is supported on the bearing adjustment structure at 3 both ends of worm screw in first shell 1, wears in worm gear 2 and worm screw 3 because of long-time service In the case where causing the two back lash excessive or causing worm gear 2 and 3 back lash of worm screw too small because assembly is improper, pass through the axis Holding adjustment structure can drive worm screw 3 to move along first adjusting direction, so that the worm screw 3 protects with the crossed axis angle of worm gear 2 Hold it is constant in the state of adjust back lash between worm gear 2 so that worm screw 3 and worm gear 2 be in suitable meshing state and The cooperation precision of worm gear 2 and worm screw 3 is effectively ensured, so that impact and wear rate between the two minimizes, has and improves Use reliability and the effect for reducing noise.
Optionally, the bearing adjustment structure include be arranged in the worm screw 3 first end 31 and/or second end 32 One adjusts component 4, which includes the first self-aligning bearing 41, is set in mating spherical surfaces the first aligning axis The adjusting ring 42 on 41 outer peripheral surfaces is held, and the actuator being arranged on the adjusting ring 42, the actuator is for driving described first Self-aligning bearing 41 drives the worm screw 3 to move along first adjusting direction can adjust described nibble in the adjusting ring 42 Close gap.Here, the first adjusting component 4 of structure can be separately positioned on the first end 31 and first end of worm screw 3 as described above 32 can more reliably guarantee the degree of regulation or the first regulating part component 4 of 3 fit clearance of worm gear 2 and worm screw It can be set in one of the first end 31 of worm screw 3 and first end 32, and at this point, the first end 31 and first end of worm screw 3 It needs that the other bearing assembly that can adapt to the change in displacement of the worm screw 3 is accordingly arranged on the other of 32, with can So that position adjustment is neatly realized without movement interference occurs in worm screw 3.In addition, by by the first self-aligning bearing 41 and adjust Ring 42 is arranged as mating spherical surfaces, so that the first self-aligning bearing 41 can be around the first self-aligning bearing in adjusting ring 42 41 itself centre of sphere and rotate so that adjustment position after the first self-aligning bearing 41 adjust ring 42 in be adjusted to suitable Angle is answered, the normal rotation of worm screw 3 is effectively ensured.Adjust relative to adjust ring 42 in addition, actuator can use it is a variety of Structure appropriate, as long as can play what the first self-aligning bearing 41 of driving moved in adjusting ring 42 along first adjusting direction Function for example, the actuator can be single rod structure, or may be the bar group being made of multiple components Part etc., for example, can be the extensible members such as driving cylinder.The overall structure cloth of regulating mechanism is enabled to by structure as described above It sets and more rationalizes.
In order to move the first self-aligning bearing 41 steadily in adjusting ring 42 along first adjusting direction, with It avoids along the first adjusting direction motion process worm screw 3 and the crossed axis angle of worm gear 2 being become in the first self-aligning bearing 41 Change, optionally, as shown in Figure 11 to Figure 15, is formed as kidney-shaped spherical surface in the inner peripheral surface for adjusting ring 42, the adjusting ring 42 include along corresponding two the first land portions 421 in long axis direction with along corresponding two the second balls in minor axis direction The outer peripheral surface of face part 422, first self-aligning bearing 41 is formed as annular sphere, and the diameter of first self-aligning bearing 41 is equal to Distance and diameter of second land portions 422 on the minor axis direction the first land portions 421 described less than two Distance on the long axis direction, the long axis direction adjust direction as described first, and the minor axis direction is hung down Direction directly is adjusted in described first, the actuator is arranged in first land portions 421.As a result, in 2 He of worm gear Under 3 mated condition of worm screw, between the first self-aligning bearing 41 has with two the first land portions 421 respectively on long axis direction Gap, so that the first self-aligning bearing 41 can be along long axis direction towards two the first balls of two sides in aligning ring 42 Face part 421 moves.Wherein, ring 42 is adjusted for the ease of processing, so that two the first land portions 421 are about minor axis phase It is mutually arranged symmetrically, and two the second land portions 422 is symmetrically arranged about long axis, but the disclosure is not limited to This, the structure for adjusting ring 42 can also use other arrangements.
Optionally, the actuator is formed as one or two be arranged on the inner peripheral surface of first land portions 421 A elastic piece 5, the central axis of the elastic piece 5 are arranged as adjusting with the long axis line overlap, the elastic piece 5 with described first Mandrel hold 41 compression fits and have pretightning force with can drive first self-aligning bearing 41 along the long axis direction always With the trend moved towards first land portions 421 close to the worm gear 2, the feelings for being one in the elastic piece 5 Under condition, which is located remotely from first land portions 421 of the worm gear 2, is two in the elastic piece 5 In the case of, two elastic pieces 5 symmetrically are separately positioned on two first spherical surfaces for the minor axis direction On part 421.Specifically, in the case where the elastic piece 5 is one, due to being leaned in the first self-aligning bearing 41 and adjusting ring 42 First land portions 421 of nearly worm gear 2 have gap, even if therefore when the auxiliary section of worm gear 2 and worm screw 3 in long-term use process The raw abrasion of distribution, also can be by the elastic piece 5 that is arranged far from the first land portions 421 of worm gear 2, so that the first aligning Bearing 41 drives worm screw 3 to adjust automatically towards the first land portions 421 close to worm gear 2 in real time and in time on long axis direction Whole position, thereby guaranteeing that has suitable fit clearance between worm gear 2 and worm screw 3.And when the elastic piece 5 is two situations Under, worm gear is automatically realized by the common cooperation for two elastic pieces 5 being separately positioned in each first land portions 421 2 and worm screw 3 fit clearance adjustment.
But it's not limited to that for the disclosure, and the actuator can use other structures appropriate.For example, optionally, such as Shown in Figure 10, the actuator includes elastic piece 5 and spring spindle component 6, and the elastic piece 5 is arranged in first ball face Divide in 421 on the inner peripheral surface of one of 2 side of worm gear, the spring spindle component 6 can be along the long axis direction It is arranged in the first shell 1 to adjustment position and radially penetrates through in first land portions 421 far from the worm gear 2 The another one of side, the end of the spring spindle component 6 and the elastic piece 5 respectively with corresponding first ball face Divide 421 compression fits, and the central axis of the central axis of the elastic piece 5 and the spring spindle component 6 is overlapped.Wherein, Due to the central axis of elastic piece 5 be arranged as it is Chong Die with the central axis of spring spindle component 6, pass through elastic piece 5 and bullet The mutual cooperation of spring push rod component 6 and can effectively ensure that the first self-aligning bearing 41 and adjusting more stable realization edge in ring 42 Automatic adjusting position on long axis direction, so as to by the adjust automatically for realizing worm screw 3 and 2 fit clearance of worm gear.In addition, passing through Spring spindle component 6 is arranged to adjust position along long axis direction in first shell 1, for example, can be by with the The thread connecting mode of one shell 1 realizes the adjustment on long axis direction, to screw in first according to spring spindle component 6 The depth difference of shell 1 changes spring spindle component 6 and elastic piece 5 for the pretightning force of the first self-aligning bearing 41, thus exists It can satisfy client for the difference of the first self-aligning bearing 41 in the case that the regulating mechanism of the disclosure is suitable for different device The demand of pretightning force.
For the ease of processing and assembling spring spindle component 6, optionally, as shown in figure 16, the spring spindle component 6 is wrapped It includes the spring spindle package shell 61 being threaded in the spring spindle component mounting hole 17 of first shell 1, be separately mounted to Spring 62 and mandril 63 in the spring spindle package shell 61, on the portion perimeter face of the spring spindle package shell 61 It is formed in screw thread 64 and the spring spindle package shell 61 and is formed with spring spindle accommodating chamber 611, which accommodates Chamber 611 has opening 612 towards one end of the spring spindle package shell 61, and the mandril 63 is formed as step structure, institute The stub end for stating mandril 63 is located in the spring spindle accommodating chamber 611, and the small head end of the mandril 63 is stretched from the opening 612 It out and penetrates through first land portions 421 and abuts first self-aligning bearing 41, the spring 62 has initial pretightening force And both ends are pressed on the bottom end of the spring spindle accommodating chamber 611 and the stub end of the mandril 63 respectively.Here, spring spindle Outer-hexagonal face 65 can be set on the side outer peripheral surface of package shell 61 and adjusted spring spindle in order to operator's operation Position of the component 6 relative to first shell 1 on long axis direction, the spring spindle package shell of the spring spindle component 6 61 can be by extrusion forming, in order to form the screw thread 64 and the outer-hexagonal face 65, in assembly spring spindle component 6 When, first the stub end of spring 62 and mandril 63 can be inserted into the spring spindle accommodating chamber 611 and make mandril 63 Small head end is exposed to after the opening 612, carries out upsetting by the end of the opening 612 to the spring spindle package shell 61 Bulk processing and spring 62 and mandril 63 are limited into the spring spindle accommodating chamber 611.From there through simple as described above The spring spindle component 6 of structure has the effect of that manufacture and processing cost are low.But it's not limited to that for the disclosure, the spring top Bar assembly 6 may be formed as other structures, for example, spring spindle package shell 61 can be arranged to removably two parts Shell, in order to spring spindle component 6 described in fast assembling-disassembling.
Optionally, as shown in figure 14, the elastic piece 5 includes plate 51 and from the both ends of the plate 51 towards close to each other Direction bending made of bending plate 52, the bending plate 52 is embedded into first land portions 421, and the plate 51 exists There is gap for straightened condition under non-stress and between the inner peripheral surface of first land portions 421.Wherein, in order to just In processing, the elastic piece 5 be may be integrally formed, herein for example, folder between two bending plates 52 and the plate 51 Angle can be 30 °, in addition to be convenient for the first self-aligning bearing 41 installation, the plate 51 towards the first self-aligning bearing 41 two Side surface can be suitably formed chamfering, rounded corner etc..But the disclosure is not limited to the shape of above-mentioned elastic piece 5, the bullet Property piece 5 can also be formed as arcuate structure.
Optionally, as shown in Figure 9 and Figure 10, the first end of the worm screw 3 is arranged in the first adjusting component 4 31, the bearing adjustment structure includes the second adjusting component 7 that the first end 32 of the worm screw 3 is arranged in, the second adjusting group Part 7 is set in the bearing block 72 on 71 outer peripheral surface of the second self-aligning bearing including the second self-aligning bearing 71 and mating spherical surfaces, The bearing block 72 is mounted in the second adjusting component accommodating chamber 13 of the first shell 1.Component is adjusted by first as a result, 4 and second adjusting component 7 common cooperation and enable to the mistake of fit clearance of the worm screw 3 between automatic adjustment and worm gear 2 It is effectively ensured in journey under the premise of not changing the crossed axis angle of worm screw 3 and worm gear 2 and realizes reliable adjustment fit clearance.Here, can Selection of land, first self-aligning bearing 41 can be mounted on the first shell by the adjusting ring 42 along axially adjustable position The first of 1 is adjusted in component accommodating chamber 12, in adjusting first land portions 421 of the ring 42 far from 2 side of worm gear It is formed with and axially extends and for the kidney slot 423 for the spring spindle component 6 insertion, the inner peripheral surface of the kidney slot 423 Cooperate with the outer peripheral surface of the mandril 63 of the spring spindle component 6.Wherein it is possible to guarantee elastic piece 5, kidney slot 423 and two The line of centres of a first land portions 421 can arrange the axis and the straight line for point-blank thereby guaranteeing that mandril 63 In parallel.That is, making the first self-aligning bearing 41 exist along long axis direction in the cooperation by spring spindle component 6 and elastic piece 5 When moving between two the first land portions 421 of adjusting ring 42, the actual motion state of the worm screw 3 is with the worm screw 3 First end 32 be rotation point and carry out minor rotation, at this point, it is described second adjusting component 7 small position can occur in the axial direction The problem of moving variation, and axis slight inclination occurs by the rotation lower than worm screw 3, can be existed by the first self-aligning bearing 41 It adjusts the mating spherical surfaces mode in bearing block 72 of mating spherical surfaces and the second self-aligning bearing 71 in ring 42 and makes the first tune Mandrel hold 41 and second self-aligning bearing 71 adapt to worm screw 3 because rotation occur axis slight inclination change in location.It in addition can be with By the way that the first self-aligning bearing 41 of the first adjusting component 4 is set as to be arranged along axially adjustable position using adjusting ring 42 It is adjusted in component accommodating chamber 12 first, enables adaptation to the change in location of the first end 31 of above-mentioned worm screw 3.In addition, By the kidney slot 423 formed in the first land portions 421, the kidney slot 423 is inserted into the mandril 63 of spring spindle component 6 Can allow for adjusting ring 42 in the case where interior can be axially moveable relative to mandril 63, at this point, the mandril 63 is by with the The cooperation of one land portions 421 and make the spring spindle component 6 can also play guiding adjust ring 42 axial movement.
Optionally, in order to primarily serve the reliable radial support and reduction rotation friction guaranteed for worm screw 3, First self-aligning bearing 41 and second self-aligning bearing 71 are respectively formed as the deep groove ball bearing with spherical outside surface.
Optionally, as shown in figure 11, it is formed on one end inner peripheral surface for adjusting ring 42 for the adjusting ring 42 The first symmetrical notch 424 of central axis, in order to which first self-aligning bearing 41 is radially inserted into and is assembled to described It adjusts in ring 42.Correspondingly, optionally, it is formed on one end inner peripheral surface of the bearing block 72 for the bearing block 72 Symmetrical the second notch 721 of central axis, in order to which second self-aligning bearing 71 is radially inserted into and is assembled to institute It states in bearing block 72.But it's not limited to that for the disclosure, the adjusting ring 42 and the first self-aligning bearing 41,72 and of the bearing block Second self-aligning bearing 71 can respectively assemble into a single integrated structure during fabrication.
Optionally, as shown in figure 9, the first shell 1 includes for accommodating the worm gear 2 and closing for first shell 1 The worm gear accommodating chamber at end, the worm screw accommodating chamber 11 for accommodating the worm screw 3, for accommodate described first adjust component 4 the One adjusting component accommodating chamber 12, for accommodate it is described second adjust component 7 and for 1 open end of first shell second adjust component Accommodating chamber 13, and the power input accommodating chamber that step wall 14 is formed between component accommodating chamber 13 is adjusted described second 15, the second adjusting component accommodating chamber 13 is formed with the first threaded hole 16 on the end inner peripheral surface of the step wall 14, The second adjusting component 7 is positioned and being formed with externally threaded retaining ring 8 and the cooperation of first threaded hole 16, described The first end 32 of worm screw 3 penetrates through the retaining ring 8 and is installed with shaft coupling 9 by the first fastener 10.Here, first shell Body 1 seals the worm gear accommodating chamber using the closed end as first shell 1, the first shell by first shell sealing cover 18 1 and the junction of the first shell sealing cover 18 can be set third sealing ring 1303, the worm gear of the first shell 1 holds The open end that chamber of receiving corresponds to the closed end is connect by the second assembly bolt 1309 with rod shell 1501 is executed, and in the two The 4th sealing ring 1304 has can be set in junction.In this case, the transmission gear being mounted on the power output shaft of worm gear 2 1200 in execution rod shell 1501 and the end of the power output shaft of the worm gear 2 passes through transmission gear rolling bearing 1308 It is rotatably supported in the execution rod shell 1501.As a result, the worm and gear fit clearance regulating mechanism of the disclosure Integral arrangement it is compact and more rationalize.
Optionally, as shown in figure 28,1001 end of motor output shaft of the motor 1000 and the second end 32 of the worm screw 3 It is connected by shaft coupling 9, the shaft coupling 9 includes the first shaft coupling gear with 32 positive of second end of the worm screw 3 91, described with the second shaft coupling gear 92 of the motor output shaft end profiles of the motor 1000 cooperation and for connecting The sleeve 93 of first shaft coupling gear 91 and the second shaft coupling gear 92.Here, first shell 1 can pass through the first assembly Bolt 1301 is connect with the shell of the motor 1000 of motor 1000, and second for waterproof can be set in the junction of the two Sealing ring 1302.First shaft coupling gear 91 can use the first fastening screw 94 and be fixed in the second end 32 of worm screw 3, and second Shaft coupling gear 92 also can use 1001 end of motor output shaft that the second fastening screw 95 is fixed to motor 1000, cover herein Cylinder 93 can be made of ethylene propylene diene monomer (EPDM) material, by the tooth-shape structure in sleeve 93 by first shaft coupling gear 91 and the Two shaft coupling gears 92 are connected as one and can also allow the axis and second shaft coupling gear 92 of first shaft coupling gear 91 Axis between have the angle of cut, shaft coupling 9 as described above play buffering, vibration damping and improve shafting dynamic property effect.
Optionally, in addition, as shown in figure 27, the rear-axle steering device includes for adjusting the transmission gear 1200 and institute State the rack-and-pinion fit clearance regulating mechanism 1400 of the back lash between rack gear 1102.Cooperated as a result, by rack-and-pinion Gap adjusting mechanism 1400 adjusts the back lash between transmission gear 1200 and rack gear 1102, both to guarantee to be maintained at conjunction It is operated under suitable fit clearance state, guarantees the precision for the axial movement displacement for executing bar 1101.Wherein, the rack-and-pinion is matched A variety of structures appropriate can be formed as by closing gap adjusting mechanism 1400, as long as can be realized adjustment transmission gear 1200 and rack gear The function of back lash between 1102.
Here, the worm gear for the turbine and worm decelerator that structure as described above is arranged in the transmission gear 1200 is coaxial In the state of connection, in order to guarantee to adjust transmission gear 1200 under the immovable state of fit clearance between worm gear 2 and worm screw 3 Back lash between rack gear 1102, to reach so that the rack-and-pinion fit clearance adjustment structure 1400 and worm and gear Fit clearance regulating mechanism respectively independently realizes the purpose that gap is adjusted without being influenced by adjustment change in location.Optionally, institute State the compact heap that rack-and-pinion fit clearance regulating mechanism 1400 includes adjusting plug 1401 and is mounted on the adjusting plug 1401 1402, the adjusting plug 1401 can be mounted on along the second adjusting direction adjustment position and execute on rod shell 1501, described to hold Row bar 1101 is mounted in the execution rod shell 1501 and the execution bar 1101 is formed back in the part of the rack gear 1102 Have along the axially extending cut surface 1103 for executing bar 1101, for matching with the end 1408 of the compact heap 1402 It closes, the execution bar 1101 can be axially moveable by the cut surface 1103 relative to the compact heap 1402.Wherein institute Stating the second adjusting direction can be the direction of the axis perpendicular to the axis and transmission gear 1200 for executing bar 1101.Here, being Rack-and-pinion fit clearance regulating mechanism easy to disassemble be could be formed with and be held on the portion perimeter face of the adjusting plug 1401 The external thread structure that the mounting hole of row rod shell 1501 is threadedly engaged, and the adjusting plug 1401 but be formed without convenient to use The hexagonal boss of sleeve barrel tool dismounting.
Wherein, in order to which during execution bar 1101 is axially moveable, compact heap 1402 can be played to bar 1101 is executed While the effect of guiding, avoid optionally being formed with edge on the cut surface 1103 with the execution generation movement interference of bar 1101 The prominent or recessed compact heap guide protrusions 1104 axially extendingly for executing bar 1101 or compact heap are oriented to groove, described The end 1408 of compact heap 1402 is formed as and the compact heap guide protrusions 1104 or compact heap guiding groove phase The shape of cooperation.For example, could be formed with compact heap guide protrusions 1104 outstanding, the compact heap on the cut surface 1103 1402 end 1408 is formed as the guiding groove cooperated with compact heap guide protrusions 1104.In order to guarantee the compact heap 1402 end 1408, which is remained, keeps the state compressed with the cut surface 1103 for executing bar 1101, so that executing bar 1101 Rack gear 1102 maintain and transmission gear 1200 between prepsetting gap be optionally formed with and be used on the adjusting plug 1401 Limit the compact heap limiting slot 1403 of the compact heap 1402, the bottom end of the compact heap limiting slot 1403 and the compact heap It is provided with holddown spring 1404 between 1402, is pressed on institute to enable to the end 1408 of the compact heap 1402 to remain State the state on cut surface 1103.Wherein, holddown spring baffle 1407, institute can be set in the compact heap limiting slot 1403 The receiving of 1408 junction of end of the compact heap limiting slot 1403 and compact heap 1402 can be located at by stating holddown spring 1404 It is intracavitary and can be connected on the holddown spring baffle 1407 and compact heap 1402 arranged on adjusting plug 1401.Optionally, described Adjusting plug 1401 is cooperated by the first sealing ring 1405 and the compact heap 1402 sealing, on the outer peripheral surface of the adjusting plug 1401 Be formed with screw thread with for it is described execute rod shell 1501 rack-and-pinion fit clearance regulating mechanism accommodating chamber be threadedly engaged, The top of the adjusting plug 1401 is provided with venting plug 1406.Air pressure as a result, inside execution rod shell 1051 is logical when excessively high It crosses the venting plug 1406 being arranged on adjusting plug 1401 and is vented outwards, and the dirts such as muddy water can not be externally entering.In above-mentioned Although disclosing the rack-and-pinion fit clearance regulating mechanism of structure as described above in appearance, it's not limited to that for the disclosure, institute The structure of other arrangements can also be used by stating rack-and-pinion fit clearance regulating mechanism, as long as can be realized adjusting driving cog The function of the back lash of wheel 1200 and rack gear 1102.For example, can be realized using simple single structure, for example, It can be adjusted by the way that the adjusting screw rod executed on rod shell 1501 can be movably disposed at along the second adjusting direction to realize The function of the back lash of transmission gear 1200 and rack gear 1102, here, being formed on the execution rod shell 1501 along axial direction The development length of the adjustment hole of extension, the adjustment hole should be not less than the maximum shift motion for executing bar 1101, to avoid influencing to hold Row bar 1101 is moved along axial.
Optionally, the rear-axle steering device includes the displacement sensing for detecting the axial displacement for executing bar 1101 Device.Here, institute's displacement sensors can be designed to directly detect the axial displacement for executing bar 1101, can also be designed to pass through Other component is detected for example by way of detecting Multi-stage transmission mechanism (rotation of transmission gear, worm gear, worm screw) come indirectly Detection executes the axial displacement of bar 1101.Wherein, institute's displacement sensors can use a variety of modes appropriate, for example, optional Ground, institute's displacement sensors are the contactless linear displacement transducer of permanent magnetism, to pass through the magnetic being mounted on relatively fixed component Sense read head detects that the mode of the changes of magnetic field of magnetic strength chip on relative moving part realizes that detection executes bar 1101 Axial displacement, this its antivibration strong anti-interference performance of the contactless linear displacement transducer of permanent magnetism, and have detection accuracy high Effect.
Specifically optionally, as shown in Fig. 3, Figure 27, institute's displacement sensors are first straight line displacement sensor 1600, this One linear displacement transducer 1600 includes the first induced magnet 1601 and first sensor read head 1602, first induced magnet 1601 are mounted on the execution bar 1101 executed in rod shell 1501 by magnet mounting blocks 1603, and can be with this It executes bar 1101 to be axially moveable together, the correspondence for executing rod shell 1501 is arranged in the first sensor read head 1602 In on the part of first induced magnet 1601, with can by detect the changes of magnetic field of first induced magnet 1601 come Obtain the axial displacement for executing bar 1101.First induced magnet 1601 is installed to magnet here, can first pass through On mounting blocks 1603, then magnet mounting blocks screw 1604 by magnet mounting blocks 1603 be fixed to execute bar 1101 by way of make It obtains the first induced magnet 1601 to be securely fixed on execution bar 1101, hereby it is achieved that guarantor can also be played while assembling secured The first induced magnet 1601 is protected to avoid influencing magnet performance generation there is a phenomenon where abrasion with execution bar 1101.Described first passes Sensor read head 1602 can be firmly secured to by first sensor read head screw 1605 execute rod shell 1501 with it is described On the corresponding position of first induced magnet 1601.But it's not limited to that for the disclosure, and institute's displacement sensors can also use it His structure.
For example, optionally, as shown in Figure 18 to Figure 26, institute's displacement sensors are second straight line displacement sensor 2000, The second straight line displacement sensor 2000 includes second straight line displacement sensor shell 21, transmission shaft 22, revolving part, magnetic induction core Piece 23 and radial oriented multistage magnet ring 24, the transmission shaft 22 are installed in rotation on the second straight line displacement sensor shell In 21 and transmission shaft first end is exposed to the second straight line displacement sensor shell 21, and the revolving part is mounted on the transmission Cooperate in axis first end and with the execution bar 1101 with the transform linear motion for bar 1101 will to be executed for the transmission shaft 22 rotary motion, the multistage magnet ring 24 are set on the transmission shaft 22, and the magnetic induction chip 23 is mounted on described the In two linear displacement transducer shells 21 and with the multistage magnet ring 24 correspondingly arranged for interval, to pass through the revolving part When so that the transmission shaft 22 driving the multistage magnet ring 24 to rotate in a circle range, the magnetic induction chip 23 being capable of basis Changes of magnetic field caused by the rotation of the multistage magnet ring 24 obtains the rotational angle of the transmission shaft 22.
The revolving part may be any suitable structure, if can by with execute bar 1101 cooperation and can It is the rotary motion of transmission shaft 22 by the transform linear motion for executing bar 1101, matches in this revolving part and execution bar 1101 Closing to be the fit systems such as rack-and-pinion cooperation, here, the revolving part can be the structures such as gear, turbine, sprocket wheel, and hold It could be formed with the fit structure with revolving part cooperation on row bar 1101, in the disclosure for the ease of clearly saying It is bright, it is described in detail using gear as revolving part, but it's not limited to that for the protection scope of the disclosure.As described above, logical It crosses in the transmission shaft first end of transmission shaft 22 and revolving part is set, and being arranged on the transmission shaft 22 can be with transmission shaft 22 together The multistage magnet ring 24 of rotation, setting and multistage magnet ring 24 correspondingly arranged for interval in second straight line displacement sensor shell 21 Magnetic induction chip 23, as a result, execute bar 1101 it is mobile when, rotated with the revolving part of the execution bar 1101 cooperation and drive biography Moving axis 22 and multistage magnet ring 24 rotate in a circle range, at this point, magnetic induction chip 23 is produced according to the rotation of multistage magnet ring 24 Raw changes of magnetic field obtains the rotational angle of transmission shaft 22, i.e., magnetic induction chip 23 according to changes of magnetic field amount by being held Thus the actual displacement amount of row bar 1101 is measured in real time the actual displacement amount for executing bar 1101, from there through institute as above It states simple structure and can be realized the high effect of detection accuracy.
As shown in Figure 19 and Figure 23, optionally, the multistage magnet ring 24 is set in the transmission shaft second of the transmission shaft 22 End, the magnetic induction chip 23 are disposed adjacent to the position of 24 end of the multistage magnet ring.Here, executing the movement of bar 1101 and sending out When raw change in displacement, revolving part, which will execute the displacement that bar 1101 occurs and pass to transmission shaft 22, makes it that multistage magnet ring 24 be driven to send out Raw rotation, and the rotation of multistage magnet ring 24 is so that magnetic field changes, positioned at the magnetic strength for being disposed adjacent to multistage 24 end of magnet ring It answers chip 23 then and will detect that the variable quantity in magnetic field and the variable quantity in magnetic field of further following up obtains the reality for executing bar 1101 Displacement, to realize that the rotational angle of multistage magnet ring 24 extremely executes the conversion between the actual displacement amount of bar 1101.Wherein, right Spacing between multistage magnet ring 24 and magnetic induction chip 23 can according to the size of second straight line displacement sensor, sensitivity, Magnetic field strength etc. is reasonably arranged.For example, the axis of the middle line of magnetic induction chip 23 and multistage magnet ring 24 can be maintained at Make a reservation in the coaxial margin of tolerance, and the spacing between the multistage magnet ring 24 and magnetic induction chip 23 can be 1mm~5mm, But it's not limited to that for the disclosure.
Hereinafter, can be by following according to the mode that the variable quantity in magnetic field obtains the actual displacement amount for executing bar 1101 CORDIC (English: Coordinate Rotation Digital Computer, Chinese: Coordinate Rotation Digital calculation method) is calculated Method is realized, here, the disclosure for ease of description, for the way of example of multistage magnet ring 24 using round the two poles of the earth magnet ring It is bright.
The relationship executed between the actual displacement amount Δ s of bar 1101 and the rotational angle Δ θ of multistage magnet ring 24 corresponds: Δ s=k* Δ θ, wherein k is constant.In the present embodiment, the execution maximum lateral displacement of bar 1101 can be set (to be properly termed as Absolute displacement range-s~+s) rotational angle of multistage magnet ring 24 is corresponded to less than a circle.When multistage magnet ring 24 is rotated, magnetic The two-way phase difference that induction chip 23 exports is the sinusoidal signal of pi/2: for sin signal and cos signal, multistage magnet ring 24 just When turning, the advanced cos signal pi/2 of sin signal, when reversion, the advanced sin signal pi/2 of cos signal.As illustrated in figs. 25 and 26, coordinate Zero point indicates to execute the midpoint 0 of bar 1101, executes the lateral displacement of bar 1101 apart from each s distance in midpoint 0 or so, respectively correspond For in+the s and-s for executing 1101 displacement coordinate of bar.Bar 1101 is executed in the displacement at initial position (i.e. midpoint 0), corresponding multistage The rotational angle of magnet ring 24 is θ 0, when multistage magnet ring 24 rotates forward, as illustrated in fig. 25, in the lateral displacement for executing bar 1101 In the case where-s, the rotational angle of corresponding multistage magnet ring 24 is θ 1, in the case where executing the lateral displacement of bar 1101 is+s, The rotational angle of corresponding multistage magnet ring 24 is θ 2.When the reversion of multistage magnet ring 24, as shown in figure 26, in the cross for executing bar 1101 In the case where being-s to displacement, the rotational angle of corresponding multistage magnet ring 24 is θ 3, is+s's in the lateral displacement for executing bar 1101 In the case of, the rotational angle of corresponding multistage magnet ring 24 is θ 3.That is:
θ 1+ θ 3=2 π
θ 2+ θ 4=2 π
Rotational angle due to executing the corresponding multistage magnet ring 24 of the maximum lateral displacement of bar 1101 can be obtained less than a circle:
1 < of θ 2- θ, 2 π
4 < of θ 3- θ, 2 π
It therefore, can be according to Δ s after second straight line displacement sensor detects to obtain the rotational angle Δ θ of multistage magnet ring 24 =k* Δ θ obtains the actual displacement amount Δ s for executing bar 1101.Execution bar is accurately obtained by calculation as described above 1101 actual displacement amount is effectively ensured the detection rate of precision of second straight line displacement sensor, improves operational reliability.Separately Outside, by the second straight line displacement sensor of structure as described above in addition to any point that is able to detect in absolute displacement range ability Position, speed, acceleration etc. is detected by further calculating mode, can also be by second straight line displacement sensor as angle Angle Position, angular speed and the angular acceleration of arbitrary point etc. in sensor detection rotational angle range ability are spent, is thus had wide General applicability.
Here, the arragement construction between multistage magnet ring 24 and magnetic induction chip 23 is not limited to the above embodiment, example Such as, the magnetic induction chip 23 can be arranged in second straight line displacement sensor with the outer peripheral surface compartment of terrain of the multistage magnet ring 24 On shell 21.
As shown in figure 18, optionally, the multistage magnet ring 24 includes circular top plate 241 and from the outer peripheral edge of the top plate 241 The side wall 242 extended towards side is formed with the inside in the multistage magnet ring 24 for being inserted into and connecting the transmission shaft Multistage magnet ring installation cavity 243 in second end.The transmission shaft second end of transmission shaft 22 is inserted into the multistage of multistage magnet ring 24 as a result, It is fitted close in magnet ring installation cavity 243 and with the side wall 242, so as to which multistage magnet ring 24 is reliably mounted to transmission shaft In 22 transmission shaft second end.Here, optionally, the multistage magnet ring 24 passes through the institute of expansion loop 210 and the transmission shaft 22 State transmission shaft second end interference fit.Wherein, expansion loop 210 can be formed as annular solid and along circumferential direction it is arranged in a crossed manner have it is recessed Convex fit structure, can guarantee the interference fit of multistage magnet ring 24 and 22 transmission shaft second end of transmission shaft.But the disclosure is not It is defined in this, the multistage magnet ring 24 may be formed as other reasonable structures, such as can be formed as the structures such as annular solid.
In order to enable the relatively simple actual displacement can easy to quickly detect execution bar 1101 of changes of magnetic field Amount, optionally, the multistage magnet ring 24 are formed as the two poles of the earth magnet ring and are fifty-fifty divided into the pole N part and the pole S part radially.But It's not limited to that for the disclosure, and the multistage magnet ring 24 can be with radial oriented level Four magnet ring, six grades of magnet rings, eight grades of magnet rings Deng the pole the N part and the pole S part of multistage magnet ring 24 are alternately arranged radially at this time.
Optionally, as shown in Figure 18 and Figure 22, the transmission shaft 22 is formed as multisection type step structure, the transmission shaft 22 The second shaft part 222 for extending and having the transmission shaft second end including extension diameter section 221 and from one end of the extension diameter section 221, should Second shaft part 222 is supported on the second shaft part accommodating chamber of the second straight line displacement sensor shell 21 by rolling bearing 25 In 211, the rolling bearing 25 is arranged between the multistage magnet ring 24 of second shaft part 222 and the extension diameter section 221 Outer peripheral surface on.Radially secure support transmission shaft 22 is played the role of by rolling bearing 25 as a result,.Here, in order to reliable Guarantee rolling bearing 25 for transmission shaft 22 radial support function, to avoid in 22 rotation process of transmission shaft because movement interference produce Phenomena such as raw noise, is optionally provided between the multistage magnet ring 24 and the rolling bearing 25 for snapping fit onto described the On two shaft part accommodating chambers, 211 inner peripheral surface and the end ring 26 with notch 261, the end ring 26 and the can be passed through The inner face of two shaft part accommodating chambers 211 it is common cooperation and axial limiting described in rolling bearing 25.Wherein, the notch 261 is For the ease of end ring 26 flexible deformation and design.Herein optionally, the second shaft part accommodating chamber 211 corresponds to institute The clamping groove 2111 that annular is formed on the inner peripheral surface of end ring 26 is stated, a side surface of the end ring 26, which is formed with, inclines Inclined-plane 262, which is formed so that the axial width of the end ring 26 is radially gradually thinning, described Inclined surface 262 faces the multistage magnet ring 24 and the side top compression fit with the clamping groove 2111, the end ring The other side top arranged for interval of 26 another side surface and the clamping groove 2111, the end ring 26 and the clamping groove 11 with being combined into the pretightning force with radial outward dilations to be capable of the axial position of rolling bearing 25 described in adjust automatically.By such as The upper structure, in the long-term use because the revolving part being mounted in the transmission shaft first end of transmission shaft 22 remains Cooperation occurs by the reaction force provided by execution bar 1101 with bar 1101 is executed, this reaction force is transferred to transmission shaft 22 transmission shaft second end, so that rolling bearing 25 compresses the second shaft part accommodating chamber of second straight line displacement sensor shell 21 211 correspond to a side end face of rolling bearing 25, lead to the institute of the second accommodating chamber 11 of second straight line displacement sensor shell 21 When stating a side end face and wearing, end ring 26 is because of radially outer natural resiliency restoring force, so that end ring 26 inclines Inclined-plane 262 is further radially outward deep into clamping groove 2111 and with the side top of the clamping groove 2111 (i.e. towards more The top of grade magnet ring side) it abuts, so as to integrated pushing rolling bearing 25 towards the side of the second shaft part accommodating chamber 211 End face adjust automatically axial direction position guarantees rolling bearing 25 for the radial support function of transmission shaft 22 so as to further reliable Energy.But it's not limited to that for the disclosure, can for axial limiting of the transmission shaft 22 in second straight line displacement sensor shell 21 To be realized by using other structures appropriate.
Optionally, the transmission shaft 22 includes axially extending from the other end of the extension diameter section 221 and having the biography First shaft part 223 of moving axis first end, first shaft part 223 are supported on the second straight line displacement sensor shell by axle sleeve 27 In first shaft part accommodating chamber 212 of body 21, the axle sleeve 27 has major diameter section 271 and path section 272, and the major diameter section 271 is leaned on It the nearly extension diameter section 221 and is connected on the mesa sidewall face of the first shaft part accommodating chamber 212.Pass through rolling bearing as a result, 25 and axle sleeve 27 common cooperation and be capable of the rotation of more steadily radial support transmission shaft 22.
Optionally, the second straight line displacement sensor further includes for cooperating in the revolving part and execution bar 1101 The torsional spring 28 of pretightning force is provided for the revolving part under state, which is set in the transmission shaft 22 close to the revolving part Outer peripheral surface on, one end 281 of the torsional spring 28 limits the other end 282 on the second straight line displacement sensor shell 21 Limit is on the transmission shaft 22.Herein it should be noted that torsional spring 28 provide pretightning force be not enough to push match with revolving part The execution bar 1101 of conjunction is moved along axial.Torsional spring 28 be arranged as execute bar 1101 absolute displacement range ability in always to Revolving part provides the pretightning force of a side direction, closely matches so as to which revolving part is effectively ensured and executes bar 1101 and remains at The state of conjunction achievees the purpose that eliminate revolving part and measured axis fit clearance.
As shown in figure 23, optionally, the end face close to the revolving part of the second straight line displacement sensor shell 21 On be formed with torsional spring accommodating chamber 213, a part of the torsional spring 28 is located in the torsional spring accommodating chamber 213, the torsional spring accommodating chamber 213 are formed with first limiting slot 2131 of one end 281 for limiting the torsional spring 28, open on the outer peripheral surface of the transmission shaft 22 Equipped with the second limiting slot 224 axially extended with the other end 282 for limiting the torsional spring 28.As a result, by by torsional spring 28 one end 281 is inserted into and is limited into the first limiting slot 2131, and the other end 282 is inserted into and limits into the second limiting slot 224, So that torsional spring accommodating chamber 213 and transmission shaft 22 of 28 reliable assembling of torsional spring to second straight line displacement sensor shell 21 On.After the assembly is completed can by way of rotating predetermined amount such as two ring drive shafts 22 come so that torsional spring 28 generate to rotation Turn the pretightning force of part.But it's not limited to that for the disclosure, and the torsional spring 28 can be substituted for other elastic constructions, such as V-type bullet The structures such as property piece.
Optionally, the revolving part is second sensor gear 29, the second sensor gear 29 and the transmission shaft 22 Transmission shaft second end be positive.In the case, it can be accordingly formed on the execution bar 1101 specially and institute The cooperation tooth-strip part of the engagement of second sensor gear 29 is stated, or can also directly be nibbled with the rack gear 1102 for executing bar 1101 It closes.Here, positive refers to so that the cooperation side not relatively rotated between second sensor gear 29 and transmission shaft 22 Formula, for example, the cooperation section of second sensor gear 29 and transmission shaft 22 can be the rounded face with cutting section, spline type Face, gore, quadrilateral surface, irregular shape face etc., in the present embodiment, as shown in figure 23, in the biography of transmission shaft 22 Transmission shaft cut surface 226 is formed on the outer peripheral surface of moving axis second end, in the central shaft hole of the second sensor gear 29 It is formed with and cuts mating surface 291 with the transmission shaft of 226 corresponding matching of transmission shaft cut surface, to reach the transmission of transmission shaft 22 Axis second end and second sensor gear 29 avoid the relative rotation of the two generation circumferentially after cooperating.It is not special to this disclosure It does not limit, as long as the function to the effectively transmitting rotating torque of transmission shaft 22 can be realized by second sensor gear 29. It is optional in order to make second sensor gear 29 along the axial reliable transmission shaft second end limited in transmission shaft 22 Ground, the second straight line displacement sensor further include being mounted on the transmission shaft second end of the transmission shaft 22 for backstop The retainer ring 250 of the second sensor gear 29, circumferentially shape on the transmission shaft second end outer peripheral surface of the transmission shaft 22 At the card slot 225 having for installing the retainer ring 250.
For the ease of assembly, as shown in Figure 18 to Figure 23, optionally, the second straight line displacement sensor second straight line position Displacement sensor shell 21 includes the front housing 2100 and rear cover 2200 being detachably connected, the multistage magnet ring 24 and the transmission shaft 22 It is mounted in the accommodating chamber of the front housing 2100, and the transmission shaft first end of the transmission shaft 22 is exposed to the front housing 2100, The transmission shaft second end of the transmission shaft 22 is sealed in the appearance by the cooperation of the rear cover 2200 and the front housing 2100 It receives intracavitary.Here, front housing 2100 and rear cover 2200 can be connected by multiple third fasteners 260.Optionally, the front housing 2100 and the junction of rear cover 2200 be provided with inner ring shape sealing ring 240, be formed on the front housing 2100 for installation into holding The pilot hole 2130 of row rod shell 1501 is sequentially inserted by assembly parts 2300 such as bolt, screws and is fixed to pilot hole 2130 and execute rod shell 1501 mounting hole, thus connect second straight line displacement sensor shell 1 and execute rod shell 1501, Here, the part-structure of front housing 2100 can be inserted into the shell installation cavity for executing rod shell 1501 in order to the second sensing Device gear 29 and the cooperation for executing bar 1101.The front housing 2100 includes the first front housing portion being detachably connected with rear cover 2200 2110 and for be inserted into and be connected to execute rod shell 1501 shell installation cavity in the second front housing portion 2120, the pilot hole 2130 are formed in the edge part in the first front housing portion 2110, can be set on the outer peripheral surface in the second front housing portion 2120 for execution The outer ring shape sealing ring 270 of the sealing cooperation of rod shell 1501.
Optionally, as shown in Figure 18 to Figure 23, the multistage magnet ring 24 is set in the transmission shaft second of the transmission shaft 22 End, the magnetic induction chip 23 is installed in the rear cover 2200 by printed circuit board 220, and the magnetic induction chip 23 is just To the end of the multistage magnet ring 24.Specifically printed circuit board 220 can be installed to rear cover 2200 by the 4th fastener 280 On inner surface, the side central part that printed circuit board 220 corresponds to multistage magnet ring 24, printing electricity is arranged in magnetic induction chip 23 The other side that road plate 220 corresponds to rear cover 2200 is provided with harness 2201, which penetrates through the rear cover 2200 and be exposed to The outside of rear cover 2200.Specifically optionally, it is formed on the rear cover 2200 for the harness for the printed circuit board 220 2201 draw harness holes 2210, the harness 2201 penetrate through the harness hole 2210 and by plug connector sealing structure 230 it is close Envelope.Wherein, the plug connector sealing structure 230 may include plug connector sealing block 2301 and plug connector pressing plate 2302, plug connector Sealing block 2301 is set on the harness 2201 for being exposed to rear cover 2200, and plug connector pressing plate 2302 is close by plug connector sealing block 2301 Feud compression fit corresponds to rear cover 2200 on the outer surface in harness hole 2210, wherein harness 2201 is exposed to plug connector The outside of pressing plate 2302, plug connector pressing plate 2302 are connected on front housing 2100 together by third fastener 260 and rear cover 2200. Thereby, it is possible to rationalize the overall structure of second straight line displacement sensor more, it is compact and have structure is simple, manufacture at This low effect.
Optionally, the rear-axle steering device include on the power output shaft 1901 for be arranged in the transmission gear 1200 with In the angular transducer 1900 for the rotational angle for detecting the transmission gear 1200.For example, using worm gear in the first transmission mechanism In the case where worm gear box 1300, the angular transducer be can be set on the power output shaft of the worm gear 2, described Angular transducer 1900 can be Hall angle degree sensor, rotary transformer or magnetic coder etc., for example, working as the angle sensor Using in the case where rotary transformer, rotor 1902 is mounted on the power output shaft 1901 of the transmission gear 1200 device 1900 And rotated together with transmission gear 1200, it needs to install angle additional in this case between transmission gear 1200 and angular transducer 1900 Sensor oil sealing 1905 is spent to separate angular transducer 1900 with oil, and stator 1903 is installed by angular transducer screw 1904 On executing rod shell 1501, this equally also be can be realized the inspection for 1200 rotational angle of transmission gear through control unit Survey signal according to rack-and-pinion line angle transmission ratio by weight of mode come obtain execution bar 1101 axial displacement.
Optionally, as shown in Figures 2 to 6, the steering executing agency 1100 includes for installation on vehicle frame 4000 Rod shell 1501 is executed, the execution bar 1101 can be axially movably mounted in execution rod shell 1501 and both ends are distinguished The two sides for executing rod shell 1501 are exposed to, the executing agency 1100 that turns to further includes executing the two of bar 1101 with described End connection is to control arm configuration 1700 for installation into the first of rear-axle steering section.It wherein, can on the execution rod shell 1501 To be provided with mounting bracket 1502, it is assembled on vehicle frame 4000 by internal thread pin 1503.Here, for the ease of assembly, rear-wheel Diverter includes rear-axle steering device shell 1500, which may include the motor being mutually detachably connected The first shell 1 of 1000 shell, turbine and worm decelerator 1300.The first control arm configuration 1700 can be formed as suitable When structure to be connected with the knuckle control arm of rear-axle steering section, or the knuckle with rear-axle steering section can be formed as The identical structure of control arm, using can come as the correspondence control arm of rear-axle steering section using.Here, the rear-wheel of the disclosure Diverter can be adapted for the multi-link lever suspension forks such as a plurality of types of suspension McPhersons, three-link, double leval jib, five connecting rods, double yokes, The independent rear suspensions such as knife edge arm, double transverse arms, only need to be by certain suitable connecting rod of root movement relation therein or the control arm disclosure The first control arm configuration 1700 replace arrangement, or be readily applicable to rigid axle suspension, but this is needed to the disclosure Rear-axle steering device first control arm configuration 1700 carry out suitably deform with correspond to rigid axle suspension knuckle.It is optional Ground, the both ends for executing bar 1101 are respectively arranged with the first ball cup 1105, and the first control arm configuration 1700 includes phase The first control arm 1701 and the second control arm 1702 being mutually threadedly coupled, one end of first control arm 1701 is provided with installation To the first bulb 1703 in first ball cup 1105, the other end of first control arm 1701 and second control The threaded one end connection of arm 1702 is with for adjusting real wheel toe angle, the other end of second control arm 1702, which is provided with, to be used for The first connector 1704 being connect with rear-axle steering section.It is turned to here, the first control arm configuration 1700 of rear-axle steering device is used as In the case where saving prenex control arm, spiral shell is realized by adjusting nut 1705 by the first control arm 1701 and the second control arm 1702 Line connection type can adjust the two along axial entire length, so as to play the effect of adjustment real wheel toe angle.But this Open it's not limited to that, the first control arm configuration 1700 can be used as the connecting rod of knuckle according to actual needs or movement is closed It is suitable control arm.
Optionally, as shown in figure 5, each first ball cup 1105 be located at it is described execute rod shell 1501 two sides and Accordingly respectively there is prepsetting gap with the both ends of the execution rod shell 1501 under rear circulation positive status, in the execution bar 1101 be axially moveable during each first ball cup 1105 can backstop it is described execute rod shell 1501 end, For limiting the shift motion for executing bar 1101.I.e., it is possible to by executing bar 1101 in the initial position of Hui Zhenghou Under state, the gap between the first ball cup 1105 and the end for executing rod shell 1501 is designed to determine and executes bar 1101 most Big shift motion amount, for example, being all provided with by the gap between each first ball cup 1105 and the end of execution rod shell 1501 In the case where being calculated as 10mm, executing the range amount that bar 1101 is moved left and right along axial direction is 20mm, i.e. execution bar 1101 is from returning It is 10mm that range can be respectively moved under positive initial position along left and right, and corresponding rear wheel steering angle is about each 3.5°.But it's not limited to that for the disclosure, and corresponding shift motion and corresponding rear-wheel can be designed according to specific vehicle Steering angle.In addition, the first ball cup 1105 and generation noise and deformation when executing the collision of rod shell 1501 in order to prevent, The first cushion 1107 can be set between first ball cup 1105 and execution rod shell 1501.In addition, dust in order to prevent Equal foreign matters enter the normal work for executing in rod shell 1501 and influence to execute bar 1101, in the end for executing rod shell 1501 It is provided with the first dust cover 1106 of the coupling part of the first ball cup 1105 of covering and the first control arm 1701.In addition, being It can will execute bar 1101 secure support executing in rod shell 1501, in the end inner peripheral surface for executing rod shell 1501 On be provided with and execute bar sliding bearing 1108, executing bar 1101 and passing through to execute bar sliding bearing 1108 and can axially move.
Optionally, in addition, as shown in Figure 7 and Figure 8, the both ends for executing bar 1101 are respectively arranged with U-shaped yoke seat, institute Stating the first control arm configuration includes third control arm 1800, and one end of the third control arm 1800 is provided with and first U-shaped The hinged bush structure 1801 of yoke seat, the other end be provided with first axle fork-join head 1802 for being connect with rear-axle steering section or First spherojoint 1803.The both ends for executing bar 1101 are connected to by the third control arm 1800 of structure as described above as a result, It can adapt to select to connect according to actual needs in controlling the different types of knuckle of arm configuration 1700 with above-mentioned first In the structure of the control arm for executing 1101 both ends of bar.
According to another aspect of the present disclosure, a kind of vehicle rear wheel steering system, the vehicle rear wheel steering system are also provided Including rear-wheel, rear-axle steering section and rear-axle steering device as described above, the both ends for executing bar 1101 and the rear axle turn It is connected to section.
Optionally, the steering executing agency 1100 include for installation into the execution rod shell 1501 on vehicle frame 4000, The execution bar 1101 can be axially movably mounted in execution rod shell 1501 and both ends are exposed to the execution respectively The two sides of rod shell 1501, the executing agency 1100 that turns to further includes connecting with the both ends for executing bar 1101 for pacifying It is attached to the first control arm configuration 1700 of the rear-axle steering section, which is used as the rear-axle steering section Knuckle lower control arm.As described above, more by being arranged between the motor 1000 of rear-axle steering device and steering executing agency Grade transmission mechanism turns to executing agency to convert the rotary motion of motor 1000 to by the transmission of Multi-stage transmission mechanism Execute bar 1101 along axial linear motion, and then drive the first control arm configuration 1700 that corresponding sports variation occurs and realizes The steering of rear-wheel.Specifically, when Vehicular turn, corresponding control signal is passed to motor according to current whole vehicle state by vehicle 1000, so that motor 1000 is rotated and is driven via Multi-stage transmissions mechanisms such as turbine and worm decelerator 1300 and transmission gears 1200 Turn is axially moveable to the execution bar 1101 of executing agency, and then passes sequentially through the first control arm configuration 1700 and rear-axle steering Section driving rear-wheel improves turning relative to front-wheel steer respective angles can improve understeer or ovdersteering problem The stability and vehicle comfort that flexibility, straight line travel, and torque can be increased by Multi-stage transmission mechanism, it reduces Requirement to Rated motor torque, and make the reasonable integral structure of rear-wheel steering system, reduce design difficulty.
Above in relation to the embodiment party using transmission gear 1200 and the Multi-stage transmission mechanism of turbine and worm decelerator 1300 Formula is described in detail, below with reference to shown in Figure 32 to Figure 35, for the implementation using another transmission mechanisms such as lead screws Mode is illustrated.
As shown in Figure 32 to 35, according to the another embodiment of the disclosure, a kind of following rear-axle steering device, institute are provided Rear-axle steering device is stated to include: motor 3000, turn to executing agency and pass with the motor 3000 and the steering executing agency Connected transmission mechanism is moved, the steering executing agency includes for connecting with rear-axle steering section can drive rear-axle steering Feed screw nut matching mechanism, the driving nut 3100 of the feed screw nut matching mechanism are rotatably supported at rear-axle steering device shell In 3900, the transmission of driving nut 3100 of the transmission mechanism and the feed screw nut matching mechanism is connected, with for will described in The rotary motion of motor 3000 is converted into the driving lead screw of the feed screw nut matching mechanism via the driving nut 3100 3200 along axial linear motion.Here, the transmission mechanism is to use a variety of structures appropriate, such as gear drive cooperates machine Structure, belt wheel transmission matching mechanism, worm and gear matching mechanism etc., as long as can be realized the rotary motion by motor 3000 via biography Motivation structure and driving nut 3100 are converted into driving lead screw 3200 along the function of axial linear motion.By using such as Upper the feed screw nut matching mechanism and transmission mechanism, in the case where rear-axle steering device is suitable for rear-wheel steering system, As described above, when vehicle is turned to, by the rear-wheel steering system control unit 8000 of rear-wheel steering system receive come From the control signal 6001 of vehicle 6000 (including power supply, steering wheel angle, speed, yaw velocity, transverse acceleration, longitudinal direction The signals such as acceleration, four-wheel wheel speed, on-position), by logic calculation, the motor 3000 into rear-axle steering device 7000 is issued Corresponding control instruction 6002, motor 3000 export corresponding torque according to instruction and will via transmission mechanism and driving nut 3100 The rotary motion of motor 3000 is converted into driving lead screw 3200 along axial linear motion, and then by connecting with driving lead screw 3200 The left back knuckle connect and right rear steering section push left rear wheel 5003, off hind wheel 5004 to deflect certain angle.And rear-axle steering device 7000 feed back the angle information A of motor 3000 and execution bar location information B to rear-axle steering control unit 8000 in real time, rear-wheel Steering system control unit 8000 feeds back the status information of rear-axle steering device 7000, left rear wheel 5003, off hind wheel to vehicle 6000 Whole vehicle state such as rotates yaw velocity, side acceleration, side slip angle are fed back to again after after 5004 deflection certain angles To system control unit 8000, to form the control ring of several closed circulations.In this way, rear-axle steering device 7000 can basis Whole vehicle state adjusts rear-wheel corner, and in low speed or rear-wheel and front-wheel are rotated in reverse phase when there is understeer, reduces and turns Radius improves vehicle flexibility.In the ovdersteering especially trend of high speed whipping, rear-wheel is in reduce with rotating with front-wheel Vehicle centroid side drift angle reduces the stable state overshoot of vehicle yaw rate, realizes that lane change is steady, improves the stabilization of straight line traveling Property, while vehicle comfort can be improved.Understeer or ovdersteering problem can be improved by structure as described above, changed Control stability when turning flexibility and high speed when kind low speed.Pass through the more of transmission mechanism and feed screw nut matching mechanism The grade kind of drive and can be realized increase torque, reduce requirement to 3000 nominal torque of motor, and make rear-axle steering device Reasonable integral structure reduces design difficulty, in addition, enabling to transmission more flat by using feed screw nut matching mechanism Steady and transmission efficiency is high, and has the effect of reducing abrasion and improve service life.In addition, the feed screw nut matching mechanism can To use Sliding leadscrew nut matching mechanism, thus have simple structure and convenient processing, manufacturing cost low, and there is self-locking function Can and rear-axle steering device realizes automatic locking under circulation positive status after capable of guaranteeing in the case where vehicle parking leads to failure.But It's not limited to that for the disclosure, and the feed screw nut matching mechanism can also use ball-screw nut matching mechanism, but adopt In the case where with ball-screw nut matching mechanism, need individually designed to make feed screw nut under special states in parking etc. Matching mechanism realizes that the locking structure of locking, this locking structure can be arranged in the power output of motor 3000, transmission mechanism It on the components such as axis, or also can be arranged directly on the driving lead screw of feed screw nut matching mechanism, to realize latch functions.
Here, in order to after guaranteeing in the case where vehicle parking leads to failure under circulation positive status rear-axle steering device realize from Dynamic locking, so that the reverse transmission efficiency of Multi-stage transmission mechanism remains 0, optionally, the screw thread liter of the driving lead screw 3200 Angle is less than the equivalent friction angle between the driving nut 3100 and the driving lead screw 3200.Optionally, the transmission mechanism Including the with first rotating member that connect with rotating coaxially of driving nut 3100 and with first rotating member transmission cooperation Two rotating members, second rotating member are connect with rotating coaxially with the motor output shaft 3001 of the motor 3000, with can be by institute The output torque for stating motor 3000 passes to the driving nut 3100 via second rotating member, so that the driving nut The 3100 driving driving lead screws 3200 are axially moveable.Here, for the specific structure of the first rotating member and the second rotating member It can carry out reasonable design according to actual needs.For example, optionally, the transmission mechanism is V belt translation matching mechanism, described the One rotating member is first pulley 3300, and second rotating member is the second belt wheel 3400, and the diameter of the first pulley 3300 is big In the diameter of second belt wheel 3400, and the first pulley 3300 and second belt wheel 3400 are connected by transmission belt 3500 It connects.As a result, by using secondary transmission, so that transmission is bigger, it is smaller to the output torque demand of motor 3000, and use The mode of V belt translation and reduce friction noise, improve vehicle comfort.Wherein optionally, the periphery of the first pulley 3300 Multiple wedge-shaped troughs of belt are circumferentially each formed on the outer peripheral surface of face and second belt wheel 3400, the transmission belt is mostly wedge-shaped The wedge-shaped trough of belt of band, the wedge-shaped trough of belt of the first pulley 3300 and second belt wheel 3400 respectively with more triangular belts Mesiodens cooperation.It thereby guarantees that the stable drive between first pulley 3300, the second belt wheel and transmission belt 3500, reduce noise, And there is transmission efficiency height, shock absorbing load-transfer mechanism fruit.But it's not limited to that for the disclosure, first rotating member and second Rotating member can use other arragement constructions, for example, optionally, the transmission mechanism is gear drive matching mechanism, and described the One rotating member is the first transmission gear, and second rotating member is the second driving cog engaged with the first transmission gear described in this Wheel, the diameter of first transmission gear are greater than the diameter of second transmission gear.Here, passing through the first transmission gear of design Diameter be greater than the diameter of the second transmission gear and pass to driving silk after playing the output torque deceleration increment to motor 3000 Thick stick 3200, to improve the robust motion of driving lead screw 3200.By using the straight of the first transmission gear and the second transmission gear It connects fit structure similarly and can be realized the function of driving the driving lead screw 3200 to be axially moveable.
Optionally, first for the outer peripheral surface cooperation with the driving nut 3100 is formed on first rotating member Axis hole, and first rotating member is connected with the driving nut 3100 transmission.Here, optionally, the driving nut 3100 It is connected with first rotating member by connector transmission, such as nut can be driven using by the way that the fasteners such as screw are fixed 3100 and first rotating member mode, or optionally, the inner peripheral surface of the first shaft hole and the driving nut 3100 it is outer Circumferential surface positive.Here, positive refers to so that not occurring between the driving nut 3100 and the first rotating member opposite The fit system for rotating and being rotated together, for example, the first shaft hole of the outer peripheral surface of driving nut 3100 and the first rotating member Between cooperation section can for cutting section rounded face, spline type face, gore, quadrilateral surface, irregular shape The shapes such as shape face, the disclosure are not particularly limited this, as long as it is synchronous with the first rotating member to can be realized driving nut 3100 The function of rotation.
In addition, optionally, the driving lead screw 3200 includes the first driving lead screw being detachably connected for the ease of assembly 3201 and second drive lead screw 3202, one of the first driving lead screw 3201 and the second driving lead screw 3202 periphery The lead screw external screw thread 3203 being threadedly engaged with the driving nut 3100 is formed on face.For example, optionally, the outer spiral shell of the lead screw Line 3203 is formed on the portion perimeter face of the first driving lead screw 3201, and the second of the first driving lead screw 3201 drives Dynamic lead screw connecting pin 3204 is inserted into and is threadedly connected to the first driving lead screw connecting pin 3205 of the second driving lead screw 3202 It is interior, thus improve assembly efficiency.Herein it should be noted that driving lead screw 3201 and the second driving lead screw 3202 in assembly first When, guarantee that the first driving lead screw 3201 and the second driving lead screw 3202 are coaxially arranged, to realize the first driving lead screw 3201 and the Two driving lead screws 3202 are in the intracorporal steady movement of rear-axle steering device shell, to effectively avoid driving lead screw 3201 and the because of first The movement interference between rear-axle steering device shell is generated between the axis of two driving lead screws 3202 due to angle, is thus led Phenomena such as noise vibration of cause is big.
In order to guarantee that the first driving lead screw 3201 and the axis of the second driving lead screw 3202 are consistent, and with driving Nut 3100 realizes the operation being steadily driven, and as shown in FIG. 34 and 35, optionally, the driving nut 3100 is formed as Step-edge Junction Structure and have for accommodate it is described driving lead screw 3200 lead screw receiving hole, the driving nut 3100 include the first rotating member company Socket part 3101, the first extension 3102 and the second extension 3103, the first shaft hole of first rotating member and described the The outer peripheral surface of one rotating member interconnecting piece 3101 cooperates, be formed on the inner peripheral surface of the first rotating member interconnecting piece 3101 with it is described The nut inner thread of lead screw external screw thread 3203, first extension 3102 prolong from one end of the first rotating member interconnecting piece 3101 It stretches and cooperates with the outer peripheral surface of the first driving lead screw 3201, second extension 3103 is connected from first rotating member The other end in portion 3101 extends and cooperates with the outer peripheral surface of the second driving lead screw 3202.Here, in order to reach feed screw nut Matching mechanism can secure support in rear-axle steering device shell 3900, optionally, the end of first extension 3102 is logical It crosses first bearing 3600 to be supported in rear-axle steering device shell 3900, the end of second extension 3103 passes through second bearing 3700 are supported in the rear-axle steering device shell 3900, pass through the first bearing 3600 and the second bearing 3700 and institute The cooperation of rear-axle steering device shell 3900 is stated so that nut 3100 can be driven described in axial limiting.Optionally, the first bearing 3600 be deep groove ball bearing, and the second bearing 3700 is double-row angular contact bal bearing.Here, the second bearing 3700 can be with Position between the motor 3000 and the first rotating member and the second rotating member so that overall structure it is more compact and Space Rationalization arrangement, here, the rear-axle steering device shell 3900 is for the ease of assembly feed screw nut matching mechanism and biography Motivation structure and overall structure is made more to rationalize arrangement, may include the rear-axle steering device first shell being detachably connected 3901 and rear-axle steering device second shell 3902, the first driving lead screw can be accommodated in rear-axle steering device first shell 3901 3201 and transmission mechanism for example first pulley 3300, the second belt wheel 3400, transmission belt 3500, drive nut 3100 first rotation Part interconnecting piece 3101 and the first extension 3102, and the ruler of the driving nut accommodating chamber of the rear-axle steering device first shell 3901 The very little size for being greater than the first driving lead screw accommodating chamber is to form first bearing limiting stand terrace 3903.Rear-axle steering device second shell The second extension 3103 of the second driving lead screw 3202 and driving nut 3100 can be accommodated in 3902, and rear-axle steering device the The size of the driving nut accommodating chamber of two shells 3902 is greater than the size of the second driving lead screw accommodating chamber to form second bearing limit Position boss face 3904.First bearing 3600 is arranged close to the position of first bearing limiting stand terrace 3903 and mainly uses as a result, To share the partially radially power of driving nut 3100, so that driving 3100 uniform force of nut.The both ends of second bearing 3700 are logical Second bearing limit convex table top 3904 and the second bearing limit limit of pressing plate 4200 are crossed in rear-axle steering device second shell 3902 It drives in nut accommodating chamber, to primarily serve the effect for bearing radial and axial load, and second bearing 3700 uses biserial Angular contact ball bearing and have the advantages that bearing friction is small, running accuracy is high, high speed performance is good.But the disclosure is not limited to This, can come reasonable design first bearing 3600, second bearing 3700 and rear-axle steering device shell according to actual needs 3900 specific arragement construction.For example, the position of the first bearing 3600 and second bearing 3700 can be interchanged, such case Under equally also can be realized stablize support feed screw nut matching mechanism function.In addition, in order to prevent for feed screw nut Lubricating oil on matching mechanism is exposed to outside, and lead screw is realized by oil sealing 4300 and driven at the both ends of driving nut 3100 3200 sealing cooperation.
Optionally, the rear-axle steering device includes the displacement sensing for detecting the axial displacement of the driving lead screw 3200 Device.Here, institute's displacement sensors can be designed to directly detect the axial displacement of driving lead screw 3200, can also be designed to lead to Detection other component is crossed for example by way of the first rotating member of detection transmission mechanism, second rotating member etc. to detect indirectly Drive the axial displacement of lead screw 3200.Wherein, institute's displacement sensors can use a variety of modes appropriate, for example, optionally, Institute's displacement sensors are the contactless linear displacement transducer of permanent magnetism, to be read by the magnetic strength being mounted on relatively fixed component Head come detect the magnetic strength chip on relative moving part changes of magnetic field mode come realize detection driving lead screw 3200 axis To displacement, this its antivibration strong anti-interference performance of the contactless linear displacement transducer of permanent magnetism, and the effect high with detection accuracy Fruit.
Such as optionally, as shown in figs. 34 and 35, institute's displacement sensors are third linear displacement transducer 3800, should Third linear displacement transducer 3800 includes third induced magnet 3801 and 3rd sensor read head 3802, and the third incudes magnetic Iron 3801, and can be with the driving silk by being mounted on the driving lead screw 3200 in the third induced magnet limiting slot that is formed Thick stick 3200 is axially moveable together, and the correspondence of the rear-axle steering device shell 3900 is arranged in the 3rd sensor read head 3802 In on the part of the third induced magnet 3801, with can by detect the changes of magnetic field of the third induced magnet 3801 come Obtain the axial displacement of the driving lead screw 3200.Here, could be formed with annular on the portion perimeter face of driving lead screw 3200 Groove, the third induced magnet 3801 can limit in the annular groove, and the third induced magnet can also pass through The limited block 3803 limited in annular groove realizes rotary spacing to the third induced magnet 3801.Thereby, it is possible to pass through The 3rd sensor read head 3802 on rear-axle steering device shell 3900 is mounted on to detect and drive lead screw 3200 together along axis The axial displacement of detection driving lead screw 3200 is realized to the mode of the changes of magnetic field of mobile third induced magnet 3801.But this Open it's not limited to that, and institute's displacement sensors can also use other modes, such as can be using such as first embodiment In the second straight line displacement sensor 2000 that refers to, be used at this time, it may be necessary to be formed on the portion of driving lead screw 3200 The fit structure cooperated with the revolving part of second straight line displacement sensor 2000, for example, when the revolving part is formed as the second biography In the case where sensor gear 29, needs to form on the corresponding position of the driving lead screw 3200 and engaged with second sensor gear 29 Rack gear, to the transform linear motion of lead screw 3200 will be driven for multistage magnetic by engaging for rack gear and second sensor 29 The rotation of ring 24, so that magnetic induction chip 23 detects the changes of magnetic field of multistage magnet ring 24 and obtains driving lead screw indirectly 3200 displacement.For another example, institute's displacement sensors can also be using the angular transducer referred in above-mentioned first embodiment, example It such as can be Hall angle degree sensor, rotary transformer or magnetic coder.
Optionally, the driving lead screw 3200 can be axially movably mounted in rear-axle steering device shell 3900 and two End is exposed to the two sides of the rear-axle steering device shell 3900 respectively, and the steering executing agency includes and the driving lead screw 3200 both ends connection is to control arm configuration 4100 for installation into the second of rear-axle steering section.The second control arm configuration 4100 can be formed as structure appropriate to be connected with the knuckle control arm of rear-axle steering section, or can be formed as with after The identical structure of knuckle control arm of bridge knuckle, using can come as the correspondence control arm of rear-axle steering section using.Here, It is more that the rear-axle steering device of the disclosure can be adapted for a plurality of types of suspension McPhersons, three-link, double leval jib, five connecting rods etc. The independent rear suspensions such as link lever suspension fork, double yokes, knife edge arm, double transverse arms, only need to be by certain suitable connecting rod of root movement relation therein Or the second control arm configuration 4100 of the control arm disclosure replaces arrangement, or is readily applicable to rigid axle suspension, But this needs suitably deform with outstanding corresponding to dependent to the second control arm configuration 4100 of the rear-axle steering device of the disclosure The knuckle of frame.
Optionally, the both ends of the driving lead screw 3200 are respectively arranged with the second ball cup 3206, second control arm Structure 4100 includes the 4th control arm 4101 and the 5th control arm 4102 being mutually threadedly coupled, the 4th control arm 4101 One end is provided with the second bulb 4103 being installed in second ball cup 3206, the other end of the 4th control arm 4101 Connect with the threaded one end of the 5th control arm 4102 with for adjusting real wheel toe angle, the 5th control arm 4102 it is another One end is provided with the second connector 4104 for connecting with rear-axle steering section.Here, by the second control arm knot of rear-axle steering device In the case that structure 4100 is used as knuckle toe-in control arm, connected by the screw thread of the 4th control arm 4101 and the 5th control arm 4102 The mode of connecing can adjust the two along axial entire length, so as to play the effect of adjustment real wheel toe angle.But the disclosure It's not limited to that, the second control arm configuration 4100 can be used as the connecting rod of knuckle according to actual needs or movement relation is closed Suitable control arm.
Optionally, each second ball cup 3206 is located at the two sides of the rear-axle steering device shell 3900 and in rear-wheel Returning under positive status respectively accordingly has prepsetting gap with the both ends of the rear-axle steering device shell 3900, in the driving lead screw 3200 be axially moveable during each second ball cup 3206 can backstop in the rear-axle steering device shell 3900 End, with the shift motion for limiting the driving lead screw 3200.I.e., it is possible to by driving lead screw 3200 Hui Zhenghou's Under initial position, designs the gap between the second ball cup 3206 and the end of rear-axle steering device shell 3900 and driven to determine The maximum shift motion amount of dynamic lead screw 3200, for example, by each second ball cup 3206 and rear-axle steering device shell 3900 (i.e. Corresponding rear-axle steering device first shell 3901 and rear-axle steering device second shell 3902, below for ease of description, system The referred to as mode of rear-axle steering device shell 3900 illustrates) end between gap the case where being both designed as 11.5mm Under, the range amount that driving lead screw 3200 is moved left and right along axial direction is 23mm, i.e. driving lead screw 3200 is from returning positive initial bit Range can be respectively moved to along left and right by setting under state be 11.5mm, and corresponding rear wheel steering angle is about each 2.8 °.But this public affairs It opens that it's not limited to that, corresponding shift motion and corresponding rear wheel steering angle can be designed according to specific vehicle.Separately Outside, noise and deformation are generated when the second ball cup 3206 is collided with rear-axle steering device shell 3900 in order to prevent, in the second ball The second cushion 3208 can be set between headstock 3602 and rear-axle steering device shell 3900.In addition, dust etc. in order to prevent Foreign matter enters the normal work in rear-axle steering device shell 3900 and influencing driving lead screw 3200, in rear-axle steering device shell 3900 end is provided with the second dust cover of the coupling part of the second ball cup 3206 of covering and the 4th control arm 4101 3207.In addition, in order to drive 3200 secure support of lead screw in rear-axle steering device shell 3900, in the rear-axle steering Driving lead screw sliding bearing 3209 is provided on the end inner peripheral surface of device shell 3900, it is sliding that driving lead screw 3200 passes through driving lead screw It dynamic bearing 3209 and can axially move.In addition, according to the replacement embodiment of the disclosure, such as institute in above-mentioned first embodiment Show that ground, the both ends of the driving lead screw 3200 are respectively arranged with U-shaped yoke seat, the second control arm configuration includes third control Arm 1800, one end of the third control arm 1800 is provided with the bush structure 1801 hinged with the first U-shaped yoke seat, another End is provided with first axle fork-join head 1802 or the first spherojoint 1803 for connecting with rear-axle steering section.As a result, by as above The third control arm 1800 of the structure be connected to driving lead screw 3200 both ends and can adapt in above-mentioned second control arm The different types of knuckle of structure 4100 can select the control for being connected to driving 3200 both ends of lead screw according to actual needs The structure of arm processed.
Rear-axle steering device based on above structure, also provides a kind of vehicle rear wheel steering system, and the vehicle rear wheel turns to System includes rear-wheel, rear-axle steering section and rear-axle steering device as described above, the both ends of the driving lead screw 3200 with it is described The connection of rear-axle steering section.
Optionally, the driving lead screw 3200 can be axially movably mounted in rear-axle steering device shell 3900 and two End is exposed to the two sides of the rear-axle steering device shell 3900 respectively, and the steering executing agency includes and the driving lead screw 3200 both ends connection is to control arm configuration 4100 for installation into the second of the rear-axle steering section, the second control arm configuration 4100 are used as the knuckle lower control arm of the rear-axle steering section.As described above, passing through 3000 He of motor in rear-axle steering device Transmission mechanism is set between feed screw nut matching mechanism, thus the transmission that the rotary motion of motor 3000 is passed through transmission mechanism The driving lead screw 3200 of feed screw nut matching mechanism is converted into along axial linear motion, and then drives the second control arm configuration 4100 generation corresponding sports change and realize the steering of rear-wheel.Specifically, when Vehicular turn, vehicle is according to current whole vehicle state Corresponding control signal is passed into motor 3000, so that motor 3000 rotates and via first pulley 3300,3500 and of transmission belt Second belt wheel 3400 drives the Multi-stage transmissions modes such as nut 3100 to drive 3200 edge of driving lead screw of feed screw nut matching mechanism Axial movement, so pass sequentially through the second control arm configuration 4100 and rear-axle steering section driving rear-wheel it is corresponding relative to front-wheel steer Angle, understeer or ovdersteering problem can be improved, improve turning flexibility, straight line traveling stability with And vehicle comfort, and torque can be increased by the Multi-stage transmission mode of transmission mechanism and feed screw nut matching mechanism, it reduces Requirement to Rated motor torque, and make the reasonable integral structure of rear-wheel steering system, reduce design difficulty.
A kind of vehicle is provided according to the another aspect of the disclosure based on above two embodiment, the vehicle includes such as The upper rear-wheel steering system.By rear-axle steering device as described above and rear-wheel steering system, in low speed or turn Rear-wheel and front-wheel are rotated in reverse phase when to deficiency, reduce turning radius, raising vehicle flexibility.In ovdersteering especially high speed Rear-wheel is in reduce vehicle centroid side drift angle with rotating, reduce the stable state overshoot of vehicle yaw rate with front-wheel when the trend of whipping Amount realizes that lane change is steady, improves the stability of straight line traveling, while can improve vehicle comfort.
The preferred embodiment of the disclosure is described in detail in conjunction with attached drawing above, still, the disclosure is not limited to above-mentioned reality The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical solution of the disclosure Monotropic type, these simple variants belong to the protection scope of the disclosure.
It is further to note that specific technical features described in the above specific embodiments, in not lance In the case where shield, can be combined in any appropriate way, in order to avoid unnecessary repetition, the disclosure to it is various can No further explanation will be given for the combination of energy.
In addition, any combination can also be carried out between a variety of different embodiments of the disclosure, as long as it is without prejudice to originally Disclosed thought equally should be considered as disclosure disclosure of that.

Claims (17)

1. a kind of rear-axle steering device, which is characterized in that the rear-axle steering device include: motor (3000), turn to executing agency with And it is driven the transmission mechanism being connected with the motor (3000) and the executing agency that turns to, the steering executing agency includes using In connecting the feed screw nut matching mechanism rear-axle steering can be driven, the drive of the feed screw nut matching mechanism with rear-axle steering section Dynamic nut (3100) are rotatably supported in rear-axle steering device shell (3900), and the transmission mechanism is matched with the feed screw nut Driving nut (3100) transmission for closing mechanism is connected, to be used for the rotary motion of the motor (3000) via the driving spiral shell Female (3100) are converted into the driving lead screw (3200) of the feed screw nut matching mechanism along axial linear motion.
2. rear-axle steering device according to claim 1, which is characterized in that the lead angle of driving lead screw (3200) is small Equivalent friction angle between driving nut (3100) and driving lead screw (3200).
3. rear-axle steering device according to claim 1, which is characterized in that the transmission mechanism includes and the driving nut (3100) the first rotating member connected with rotating coaxially and the second rotating member with first rotating member transmission cooperation, this second turn Moving part is connect with rotating coaxially with the motor output shaft (3001) of the motor (3000), with can be by the motor (3000) Output torque passes to the driving nut (3100) via second rotating member, so that the driving nut (3100) drives The driving lead screw (3200) is axially moveable.
4. rear-axle steering device according to claim 3, which is characterized in that the transmission mechanism is V belt translation matching mechanism, First rotating member is first pulley (3300), and second rotating member is the second belt wheel (3400), the first pulley (3300) diameter is greater than the diameter of second belt wheel (3400), and the first pulley (3300) and second belt wheel (3400) it is connected by transmission belt (3500)；Alternatively,
The transmission mechanism is gear drive matching mechanism, and first rotating member is the first transmission gear, second rotation Part is the second transmission gear engaged with the first transmission gear described in this, and the diameter of first transmission gear is greater than described second The diameter of transmission gear.
5. rear-axle steering device according to claim 3 or 4, which is characterized in that be formed with and be used on first rotating member The first shaft hole cooperated with the outer peripheral surface of driving nut (3100), and first rotating member and the driving nut (3100) transmission is connected.
6. rear-axle steering device according to claim 5, which is characterized in that the inner peripheral surface of the first shaft hole and the driving The outer peripheral surface positive of nut (3100).
7. rear-axle steering device according to claim 4, which is characterized in that the driving lead screw (3200) includes detachably connecting The first driving lead screw (3201) and the second driving lead screw (3202) connect, first driving lead screw (3201) and described second are driven The lead screw external screw thread being threadedly engaged with driving nut (3100) is formed on the outer peripheral surface of one of dynamic lead screw (3202) (3203)。
8. rear-axle steering device according to claim 7, which is characterized in that the driving nut (3100) is formed as Step-edge Junction Structure and have for accommodate it is described driving lead screw (3200) lead screw receiving hole, the driving nut (3100) include first rotate Part interconnecting piece (3101), the first extension (3102) and the second extension (3103), the first axle of first rotating member The outer peripheral surface of hole and the first rotating member interconnecting piece (3101) cooperates, the inner peripheral surface of the first rotating member interconnecting piece (3101) On be formed with nut inner thread with the lead screw external screw thread (3203), first extension (3102) is from first rotating member One end of interconnecting piece (3101) extends and cooperates with the outer peripheral surface of first driving lead screw (3201), second extension (3103) extend from the other end of the first rotating member interconnecting piece (3101) and drive the outer of lead screw (3202) with described second Circumferential surface cooperation.
9. rear-axle steering device according to claim 8, which is characterized in that the end of first extension (3102) passes through First bearing (3600) is supported in rear-axle steering device shell (3900), and the end of second extension (3103) passes through second Bearing (3700) is supported in the rear-axle steering device shell (3900), passes through the first bearing (3600) and second axis The cooperation of (3700) and the rear-axle steering device shell (3900) is held so that nut (3100) can be driven described in axial limiting.
10. rear-axle steering device according to claim 1, which is characterized in that the rear-axle steering device includes for detecting State the displacement sensor of the axial displacement of driving lead screw (3200).
11. rear-axle steering device according to claim 10, which is characterized in that institute's displacement sensors are third straight-line displacement Sensor (3800), the third linear displacement transducer (3800) include third induced magnet (3801) and 3rd sensor read head (3802), the third induced magnet (3801) is by being mounted on the third induced magnet formed on driving lead screw (3200) It in limiting slot, and can be axially moveable together with the driving lead screw (3200), 3rd sensor read head (3802) setting On the part corresponding to the third induced magnet (3801) of the rear-axle steering device shell (3900), inspection can be passed through The changes of magnetic field of the third induced magnet (3801) is surveyed to obtain the axial displacement of driving lead screw (3200).
12. rear-axle steering device according to claim 1, which is characterized in that the driving lead screw (3200) can be along axial direction It removably mounts in rear-axle steering device shell (3900) and both ends is exposed to the rear-axle steering device shell (3900) respectively Two sides, the executing agency that turns to includes connecting with the both ends of driving lead screw (3200) for installation into rear-axle steering section Second control arm configuration (4100).
13. rear-axle steering device according to claim 12, which is characterized in that the both ends difference of driving lead screw (3200) It is provided with the second ball cup (3206), second control arm configuration (4100) includes the 4th control arm being mutually threadedly coupled (4101) and the 5th control arm (4102), one end of the 4th control arm (4101), which is provided with, is installed to second ball cup (3206) the second bulb (4103) in, the other end and the 5th control arm (4102) of the 4th control arm (4101) With for adjusting real wheel toe angle, the other end of the 5th control arm (4102), which is provided with, to be used for and rear axle for threaded one end connection The second connector (4104) of knuckle connection.
14. rear-axle steering device according to claim 13, which is characterized in that each second ball cup (3206) is located at The two sides of the rear-axle steering device shell (3900) and under rear circulation positive status respectively accordingly with the rear-axle steering device shell (3900) both ends have prepsetting gap, with each second ball during the driving lead screw (3200) is axially moveable Headstock (3206) can backstop in the end of the rear-axle steering device shell (3900), for limiting the driving lead screw (3200) shift motion.
15. a kind of vehicle rear wheel steering system, which is characterized in that the vehicle rear wheel steering system includes rear-wheel, rear-axle steering Section and rear-axle steering device described in any one of -14 according to claim 1, the both ends of driving lead screw (3200) with it is described The connection of rear-axle steering section.
16. vehicle rear wheel steering system according to claim 15, which is characterized in that the driving lead screw (3200) can It is axially movably mounted in rear-axle steering device shell (3900) and both ends is exposed to the rear-axle steering device shell respectively (3900) two sides, the executing agency that turns to includes connecting with the both ends of driving lead screw (3200) for installation into institute The second control arm configuration (4100) of rear-axle steering section is stated, which is used as the rear-axle steering section Knuckle lower control arm.
17. a kind of vehicle, which is characterized in that the vehicle includes rear-wheel steering system according to claim 15 or 16.
CN201710938270.0A 2017-09-30 2017-09-30 Rear wheel steering gear, vehicle and rear wheel steering system thereof Active CN109591881B (en)

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CN106672067A (en) * 2016-09-18 2017-05-17 重庆乔麦科技有限公司 Electronic steering device
CN206520647U (en) * 2017-03-14 2017-09-26 辽宁工业大学 Electric automobile electric power-assisted steering apparatus

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112141205A (en) * 2019-06-27 2020-12-29 采埃孚股份公司 Steering axle of ground transport vehicle and ground transport vehicle with steering axle
CN110901753A (en) * 2019-12-16 2020-03-24 北京理工大学 Rear wheel linear control steering gear with middle position self-locking function and control method thereof
US20220389972A1 (en) * 2021-06-04 2022-12-08 Hyundai Motor Company Anti-reverse clutch
US11767887B2 (en) * 2021-06-04 2023-09-26 Hyundai Motor Company Anti-reverse clutch
CN115593504A (en) * 2022-10-31 2023-01-13 斯沃博达汽车电子（昆山）有限公司（Cn） Automobile steering power assisting device
CN115593504B (en) * 2022-10-31 2024-02-23 斯沃博达汽车电子（昆山）有限公司 Automobile steering power assisting device

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