CN110001771B - Full-decoupling drive-by-wire hydraulic steering system - Google Patents

Full-decoupling drive-by-wire hydraulic steering system Download PDF

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Publication number
CN110001771B
CN110001771B CN201910347928.XA CN201910347928A CN110001771B CN 110001771 B CN110001771 B CN 110001771B CN 201910347928 A CN201910347928 A CN 201910347928A CN 110001771 B CN110001771 B CN 110001771B
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China
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gear
steering
pressure
shell
hole
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CN110001771A (en
Inventor
管欣
张育宁
卢萍萍
雍文亮
詹军
段春光
金号
李彦锋
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Jilin University
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Jilin University
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    • 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
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • 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
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B62D5/10—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by type of power unit
    • 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
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B62D5/30—Safety devices, e.g. alternate emergency power supply or transmission means to ensure steering upon failure of the primary steering means

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention discloses a fully-decoupled drive-by-wire hydraulic steering system, which belongs to the technical field of automobile steering systems and aims to provide a drive-by-wire steering system which has the advantages of low requirements on motor performance, more compact structure, capability of realizing the functions of fully decoupling steering and failure protection, quick active steering and accurate angle adjustment; the system consists of a steering wheel, a steering column, a decoupling steering simulator, a high-pressure oil return mechanism, a gear power assisting mechanism, a gear rack steering machine, a left front wheel, a right front wheel and an electronic control unit; the movable meshing gear arranged in the decoupling steering simulator can be selectively meshed with the steering simulator gear or the steering column, and simultaneously, the mechanical steering and hydraulic steering modes of the gear power assisting mechanism are matched, so that the full decoupling of a driver and a steering system is realized, and meanwhile, when the system is powered off and fails, the steering wheel is mechanically connected with steering wheels, and the driving safety is ensured.

Description

Full-decoupling drive-by-wire hydraulic steering system
Technical Field
The invention relates to a fully-decoupled drive-by-wire hydraulic steering system, and belongs to the technical field of automobile steering systems.
Background
With the development of intelligent automobiles, the traditional EPS (electric power steering) system cannot meet the new requirements of the intelligent automobiles on the steering system, and the traditional EPS is mainly characterized in that the traditional EPS is dominated by people, and the intelligent automobiles hope to comprehensively consider various information such as road surface conditions, running states of the automobiles and the like to finish steering under the premise of considering the intention of drivers. On the other hand, the conventional EPS system cannot achieve full decoupling of the driver and the steering system, so that the steering wheel rotates along with the active steering, which causes panic of the driver. Therefore, there is a strong need to develop a fully decoupled steer-by-wire system suitable for intelligent automobiles.
Summarizing patents of steering manufacturers and students at home and abroad worldwide, the steer-by-wire system can be found to be the latest generation steering system, and has obvious technical advantages and certain problems compared with the traditional steering system. The Chinese patent publication number is CN102085878A, the publication date is 2011, 6 and 8, the name of the invention is a wire control steering device, the application is modern automotive Co, the mechanical connection between a steering wheel and a steering system is canceled, and a motor is adopted to drive a pull rod to complete steering action. However, since the electronic components are not as reliable as the mechanical components, after the electronic components fail, the system cannot complete the most basic steering function, i.e. the stable, reliable and safe operation of the electronic steering system cannot be ensured, which is also the most prominent problem of the electronic steering system at present and is also an important factor for preventing the popularization of the steer-by-wire system; therefore, there is an urgent need to develop a steer-by-wire system with fail-safe function.
The Chinese patent publication number is CN107150718A, the publication date is 2017, 9 and 12, the name of the invention is a multi-mode automobile steer-by-wire system, and the application is Jilin university. But the steering precision of the system is determined by two motors, the performance requirement on the motors is high, so that the cost of the motors is high, meanwhile, the response speed of the motors serving as steering power sources is low, and on the other hand, the hydraulic structure of the system is complex, and the probability of pipeline failure is high.
In conclusion, the drive-by-wire steering system which has the advantages of low requirements on motor performance, more compact structure, capability of realizing full decoupling and failure protection of steering, quick active steering and accurate angle adjustment is developed, and practical significance is realized.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: firstly, the problem that the traditional EPS has large motor noise and cannot realize the function of steering full decoupling required by an intelligent automobile is solved; secondly, the problem that failure steering cannot be completed when the system is powered off and fails due to the fact that mechanical connection between a steering wheel and steering wheels is canceled in a part of steer-by-wire system is solved; thirdly, the problem that when a part of steer-by-wire system adopts a motor as a steer-by-wire power source, the motor is adopted to control the precision of the steering system, the requirement on the performance of the motor is high, and the cost is high is solved; fourth, the problem that the structure of the actuating mechanism is complex when the partial steer-by-wire system adopts liquid or gas as a steering medium is solved. The steering-by-wire system adopts the high-voltage energy accumulator as a steering power source, adopts the high-speed switch solenoid valve to control the precision of the steering system to enable an automobile to rapidly and accurately complete steering action, can realize full decoupling of a driver and the steering system, has a failure protection function, and has the advantages of lower requirements on a motor, lower cost, simple structure and high integration level.
The technical scheme adopted by the invention is as follows:
the fully-decoupled drive-by-wire hydraulic steering system consists of a steering wheel 1, a steering column 2, a decoupled steering simulator 3, a high-pressure oil return mechanism 4, a gear power assisting mechanism 5, a gear rack steering machine 6, a left front wheel 7, a right front wheel 8 and an electronic control unit 9.
The bottom of steering wheel 1 links to each other with the upper end of steering column 2, and the upper end of decoupling zero formula steering simulator 3 links to each other with the lower extreme of steering column 2, and the lower extreme of decoupling zero formula steering simulator 3 and the upper end swing joint of gear assist mechanism 5.
The lower extreme of gear assist drive 5 is connected with the upper end of gear rack steering gear 6, and the left and right ends of gear rack steering gear 6 link to each other with preceding wheel 7 of left and right respectively through the steering linkage, and the upper end of gear rack steering gear 6 is the gear, and the lower extreme is the rack, and gear rack steering gear 6 can change the rotational motion of gear assist drive's 5 driven shaft 42 into the rectilinear motion of rack.
The decoupling steering simulator 3 comprises a steering simulator electromagnetic shell 10, a connecting screw 11, a rubber gasket 12, a wire 13, a wire support 14, a driven friction plate rubber pad 15, a driven friction plate 16, a friction cylinder 17, a buffer rubber pad 18, a movable meshing gear 19, a steering column 20, an active friction plate rubber pad 21, an active friction plate 22, a steering simulator gear 23, a connecting pipe 24, an electromagnetic moving iron 25, a return spring 26 and an electromagnetic static iron 27.
The steering simulator electromagnetic shell 10 is an upward-opening sleeve-like part, the opening end of the sleeve is provided with an internal thread connected with the steering column 2, the bottom surface of the sleeve is provided with a concentric through hole, and a plurality of small through holes which are uniformly distributed along the circumference are arranged between the concentric through hole and the inner cylindrical surface of the steering simulator electromagnetic shell 10;
the wire support 14 is a sleeve-like part with openings at the upper end and the lower end, and a larger annular groove is formed in the outer cylindrical surface of the wire support and is used for winding the wire 13; the upper and lower end surfaces of the wire support 14 are respectively provided with a plurality of small through holes which are uniformly distributed along the circumference and pass through the annular grooves on the outer cylindrical surface of the wire support 14; the inner cylindrical surface of the wire support 14 is provided with inner teeth;
the electromagnetic static iron 27 is a flange-like part, the electromagnetic static iron 27 is in a flat head screw shape, a screw cap is arranged on the upper part, a screw head is arranged under the lower part, a plurality of small holes which are uniformly distributed along the circumference are arranged near the outer cylindrical surface close to the screw cap, and internal threads are arranged in the holes.
The outer cylindrical surface of the electromagnetic moving iron 25 is provided with external teeth matched with the internal teeth of the wire support 14, the electromagnetic moving iron 25 is provided with a concentric through hole, and the inner wall of the through hole is provided with internal threads matched with the external threads of the connecting pipe 24.
The diameter of the outer cylindrical surface of the wire support 14 is equal to that of the inner cylindrical surface of the steering simulator electromagnetic shell 10, the wire support 14 and the electromagnetic static iron 27 are completely arranged in the cylinder of the steering simulator electromagnetic shell 10, the small through holes on the lower end surface of the wire support 14 are aligned with the small through holes on the circumference of the bottom of the steering simulator electromagnetic shell 10, and the wire support 14 and the steering simulator electromagnetic shell 10 are fixed together by being nailed in from the bottom of the steering simulator electromagnetic shell 10 through the connecting screw 11; the lower end face of the screw cap of the electromagnetic static iron 27 is abutted against the upper end face of the wire support 14, a small through hole on the upper end face of the wire support 14 is aligned with a small hole on the screw cap of the electromagnetic static iron 27, and the electromagnetic static iron 27 and the wire support 14 are fixed together by being nailed in from the small hole on the screw cap of the electromagnetic static iron 27 through the connecting screw 11 and fastened through the rubber gasket 12;
The electromagnet 25 is located in the sleeve of the wire support 14, and the internal teeth in the sleeve of the wire support 14 are matched with the external teeth of the electromagnet 25. The return spring 26 is positioned in the sleeve of the wire support 14, the upper end of the return spring 26 is abutted against the lower end face of the electromagnetic static iron 27, and the lower end of the return spring 26 is abutted against the upper end face of the electromagnetic moving iron 25; and fastened by a rubber gasket 12;
the friction cylinder 17 is a cylindrical part with upper and lower openings, and an annular groove is processed on the inner side of the friction cylinder; the driven friction plate 16 and the driving friction plate 22 are rubber ring-shaped parts; the driven friction plate rubber pad 15 is a rubber ring part, two ends of the cross section of the driven friction plate rubber pad are in an arc shape, the outer ring of the driven friction plate rubber pad 15 is embedded into the annular groove at the inner side of the friction cylinder 17, and the driven friction plate 16 is embedded into the inner ring of the driven friction plate rubber pad 15;
the steering simulator gear 23 is an internal gear, and an annular groove is formed in the outer side of the steering simulator gear; the driving friction plate rubber pad 21 is a rubber ring part, two ends of the cross section of the driving friction plate rubber pad are in an arc shape, the inner ring of the driving friction plate rubber pad 21 is embedded into an annular groove at the outer side of the steering simulator gear 23, and the outer ring of the driving friction plate rubber pad 21 is embedded with the driving friction plate 22; the steering simulator gear 23 is arranged in the friction cylinder 17, so that the driven friction plate 16 and the driving friction plate 22 form a pair of friction pairs;
The buffer rubber pad 18 is in a circular ring shape, and the cross section of the buffer rubber pad is in a concave shape which is opened towards the center of a circle; the outer cylindrical surface of the movable meshing gear 19 is provided with external teeth, the inside of the movable meshing gear 19 is provided with a concentric through hole, and an annular groove with a -shaped cross section is arranged between the concentric through hole and the external teeth on the upper end surface of the movable meshing gear 19 and is used for placing the buffer rubber pad 18.
The steering column 20 is a sleeve-like part which is opened upwards, and the inner cylindrical surface of the sleeve is provided with inner teeth; the outer cylindrical surface of the connecting pipe 24 is provided with external threads matched with the movable meshing gear 19 and the electromagnetic movable iron 25.
The gear power-assisted mechanism 5 consists of a fastening bolt 35, a gear power-assisted mechanism upper shell 36, a high-pressure cavity oil inlet hole 37, a driving shaft 38 and a sealing ring39. Compression ring->40. Bearing->41. Driven shaft 42, driven gear 43, low-pressure chamber oil outlet 44, rubber sealing ring +.>45. Lower housing 46 of gear booster mechanism, hydraulic chamber cylinder 47, low-pressure chamber partition plate 48, compression ring ∈>49. Sealing ring->50. Bearing->51. Drive gear 52, bearings->53. Bearing->54. High-pressure cavity partition plate 55 and high-pressure cavity liquid outlet valve>56. Low-pressure cavity liquid inlet valve>57. Low-pressure cavity liquid inlet valve>58. High-pressure cavity liquid outlet valve->59. Rubber sealing ring->60 and rubber sealing ring- >61.
The upper housing 36 of the gear power-assisted mechanism is a disk-like part with a downward opening, the outer contour of the upper housing is formed by connecting a left semicircle with the same radius with a right semicircle with the same radius with a middle rectangle, and the centers of the two semicircles and the outer center of the rectangle are on the same straight line. The disk-shaped inner contour of the upper shell 36 of the gear power-assisted mechanism is consistent with the shape of the outer contour, the circle centers of the two contours are coincident, and the size of the inner contour is slightly smaller; the upper shell 36 of the gear power-assisted mechanism is provided with a plurality of through holes uniformly distributed between the outer contour and the inner contour, and the inner wall of each through hole is provided with internal threads; the center of the semicircle at the left side of the outer contour is provided with a concentric stepped through hole, and the radius of the upper end of the stepped through hole is larger than that of the lower end of the stepped through hole; a concentric blind hole is arranged at the center of the semicircle on the right side of the outer contour, and the inner diameter of the blind hole is the same as the inner diameter of the lower end of the stepped through hole; an annular groove opening downwardly is provided along the disk-shaped inner contour edge of the gear-assisted mechanism upper housing 36; concentric left semicircular grooves and right semicircular grooves which are downwards opened are respectively arranged at the centers of the semicircular centers of the left side and the right side of the outer contour, and straight-line grooves which extend to annular grooves at the edge of the disc-shaped inner contour are respectively arranged at the ends of the two semicircular grooves. A small circular through hole is arranged between the annular groove at the edge of the disc-shaped inner contour and the concentric left semicircular groove, and the through hole is a high-pressure cavity oil inlet hole 37; a small circular through hole is also arranged between the annular groove at the edge of the disc-shaped inner contour and the concentric right semicircular groove, and the through hole is a low-pressure cavity oil outlet hole 44; the centers of the high-pressure cavity oil inlet hole 37, the low-pressure cavity oil outlet hole 44 and the two outer contours are on the same straight line.
The lower gear booster shell 46 is a disc-like part which is opened upwards, and the shape and the size of the lower gear booster shell are consistent with those of the upper gear booster shell 36 after the upper gear booster shell rotates 180 degrees around the center, and the only difference is that the lower gear booster shell 46 is not provided with a small through hole between a circular groove at the edge of the disc-shaped inner contour and concentric left and right semicircular grooves;
the outer contour and the inner contour of the upper gear-assisting mechanism housing 36 and the lower gear-assisting mechanism housing 46 are aligned through holes, and the upper gear-assisting mechanism housing 36 and the lower gear-assisting mechanism housing 46 are fixed together through the fastening bolts 35;
the hydraulic cavity cylinder 47 is a steel cylinder part with openings at the upper end and the lower end, the cross section outline shape of the hydraulic cavity cylinder is consistent with the disc-shaped inner outline in the upper shell 36 of the gear booster mechanism, and four grooves which are vertically distributed along the upper and lower ends of the steel cylinder wall are arranged at the four interfaces of the left semicircle and the right semicircle and the rectangle; the hydraulic chamber cylinder 47 is mounted in annular grooves at the edges of the inner contours of the gear-assisted mechanism upper housing 36 and the gear-assisted mechanism lower housing 46, and passes through rubber seal rings45 seals the contact surface between the hydraulic chamber cylinder 47 and the gear booster upper housing 36 and the gear booster lower housing 46;
rubber sealing ring 60 is a strip-shaped rubber part with a cross section of a 'several' shape, and four rubber sealing rings +.>60 are placed in four vertical grooves on the inner wall of the hydraulic chamber cylinder 47, respectively.
The low-pressure chamber partition plate 48 is a steel cylinder part with openings at the upper and lower ends, the cross section of the low-pressure chamber partition plate is a semicircle with a left opening, the openings at the two sides of the semicircle are respectively provided with an upward and a downward straight arm plates, the centers of the straight arm plates at the upper and lower ends are respectively provided with a round hole, and the round holes are respectively used for placing the steel cylinder partLiquid inlet valve with low pressure cavity57 and a low pressure chamber inlet valve->58；
The low-pressure chamber partition plate 48 is placed in the semicircular grooves of the left openings of the upper gear power-assisted mechanism housing 36 and the lower gear power-assisted mechanism housing 46, and at this time, the upper and lower straight arm plates of the low-pressure chamber partition plate 48 are respectively and exactly placed in the placed rubber sealing rings of the hydraulic chamber cylinder 4760, the area between the inner wall of the hydraulic chamber cylinder 47 and the outer wall of the low-pressure chamber partition plate 48 is the low-pressure chamber of the gear booster mechanism 5; by two rubber sealing rings->61 seal the low pressure chamber diaphragm 48 from the gear assist mechanism upper housing 36 and the gear assist mechanism lower housing 46;
the high-pressure cavity partition plate 55 is a steel cylinder part with openings at the upper end and the lower end, the cross section of the high-pressure cavity partition plate is a semicircle with rightward openings, the openings at the two sides of the semicircle are respectively provided with an upward and a downward straight arm plates, the centers of the straight arm plates at the upper end and the lower end are respectively provided with a round hole, and the round holes are respectively used for placing a high-pressure cavity liquid outlet valve 56 and high-pressure chamber outlet valve->59。
The high-pressure chamber partition plate 55 is placed in the semicircular grooves opened rightward of the upper gear-assisting mechanism housing 36 and the lower gear-assisting mechanism housing 46, and at this time, the upper and lower straight arm plates of the high-pressure chamber partition plate 55 are respectively and exactly placed in the placed rubber sealing rings of the hydraulic chamber cylinder 4760, in the upper and lower vertical groovesThe area between the inner wall of the pressure chamber cylinder 47 and the outer wall of the high pressure chamber partition 55 is the high pressure chamber of the gear booster mechanism 5, through two rubber sealing rings +.>61 seal the high pressure chamber diaphragm 55 from the gear assist mechanism upper housing 36 and the gear assist mechanism lower housing 46;
high-pressure cavity liquid outlet valve56 and high-pressure chamber outlet valve->59 are welded in central round holes on straight arm plates at the upper end and the lower end of the high-pressure cavity partition plate 55;
bearing54 are placed in the left circular blind hole of the lower housing 46 of the gear booster mechanism, bearing +.>54 against the inner cylindrical surface of the blind hole; the driving shaft 38 is a stepped shaft part and is divided into two sections, wherein the diameter of the lower section is larger than that of the upper section; the outer cylindrical surface of the lower section of the driving shaft 38 abuts against the bearing +.>54, the outer cylindrical surface of the driving gear 52 is provided with teeth, and the center is provided with a through hole; the central through hole of the driving gear 52 is sleeved on the driving shaft 38, axially fixed between the upper gear power-assisted mechanism housing 36 and the lower gear power-assisted mechanism housing 46, and is provided with a bearing +. >53 are fitted on the upper end of the slave drive shaft 38, bearing +.>53 through a compression ring->40 axial fixing, bearing->53 and the upper housing 36 of the gear booster mechanism via a sealing ring ∈ ->39 sealing.
Bearing41 are placed in right circular blind holes of the upper housing 36 of the gear booster mechanism, bearings +.>41 is tightly abutted against the inner cylindrical surface of the blind hole, the driven shaft 42 is a stepped shaft part which is divided into two sections, and the diameter of the upper section is larger than that of the lower section; the outer cylindrical surface of the upper section of the driven shaft 42 abuts against the bearing ≡>41, the outer cylindrical surface of the driven gear 43 is provided with teeth, the center of the driven gear 43 is provided with a through hole, the center through hole of the driven gear 43 is sleeved on the driven shaft 42, is axially fixed between the upper gear power assisting mechanism shell 36 and the lower gear power assisting mechanism shell 46, and is meshed with the driving gear 52; bearing->51 is sleeved at the lower end of the driven shaft 42, and a bearing is->51 by means of a pressure ring->49 axial fixing, bearing->51 and the gear booster lower housing 46 are sealed by a sealing ring ∈>50 sealing;
the high-pressure oil return mechanism 4 is composed of a high-pressure accumulator 28, a low-pressure accumulator 29, a high-pressure oil return valve 30, an oil return pipe 31, an oil return pump 32, a motor 33 and a low-pressure oil return valve 34.
The high pressure accumulator 28 and the low pressure accumulator 29 are both ordinary bellows accumulators for storing high pressure and low pressure oil, respectively. The high-pressure oil return valve 30 and the low-pressure oil return valve 34 are two-position two-way normally-closed high-speed switch solenoid valves, the oil return pump 32 is a three-body plunger pump, and the motor 33 is a direct-current motor;
The oil outlet of the high-pressure oil return valve 30 is communicated with the high-pressure accumulator 28 and the oil inlet hole 37 of the high-pressure cavity in the gear booster mechanism 5, and the oil inlet of the high-pressure oil return valve is communicated with the oil outlet of the oil return pump 32 through the oil return pipe 31; the oil inlet of the low-pressure oil return valve 34 is communicated with the low-pressure accumulator 29 and the low-pressure cavity oil outlet 44 in the gear booster mechanism 5, and the oil outlet of the low-pressure oil return valve is communicated with the oil inlet of the oil return pump 32 through the oil return pipe 31; the output shaft of the motor 33 is meshed with the input shaft of the scavenging pump 32 through gears;
the electronic control unit 9 and the wire 13 in the decoupling steering simulator 3, the high-pressure oil return valve 30 and the low-pressure oil return valve 34 in the high-pressure oil return mechanism 4, the oil return pump 32 and the high-pressure cavity liquid outlet valve in the gear booster mechanism 556. Low-pressure cavity liquid inlet valve>57. Low-pressure cavity liquid inlet valve>58. High-pressure cavity liquid outlet valve->59.
The steering column 2 is internally provided with various electronic devices such as a sensor and the like so that the steering column has additional functions such as steering wheel angle adjustment, ignition switch keys, steering anti-theft locks, horn circuits, wipers, steering lamps, key resident alarm switches, cruise control, linear gear shifting mechanisms and the like.
Compared with the prior art, the invention has the beneficial effects that:
1. compared with a motor power-assisted steering system, the full-decoupling drive-by-wire hydraulic steering system provided by the invention has the advantages that the motor is only used for supplementing liquid for a steering pressure source-high-pressure energy accumulator, and the problem of system noise in the steering process is solved by adopting the hydraulic power-assisted steering of the high-pressure energy accumulator.
2. Compared with the traditional EPS steering system, the fully-decoupled steering system provided by the invention has the advantages that the fully-decoupled steering simulator is adopted to realize the full decoupling of a driver and the steering system, so that the steering system can be applied to intelligent automobiles.
3. When the fully-decoupled drive-by-wire hydraulic steering system disclosed by the invention is in power failure, the steering wheel is mechanically connected with the steering wheels, and at the moment, a driver can realize failure steering under an emergency condition by rotating the steering wheel, so that the driving safety is improved.
4. The motor in the fully-decoupled drive-by-wire hydraulic steering system is only used for supplementing liquid for a steering pressure source-high-pressure energy accumulator, so that the motor performance requirement is low, and the cost of the steering system is greatly reduced.
5. The fully-decoupled drive-by-wire hydraulic steering system disclosed by the invention has the advantages that the influence of road impact on a driver is reduced and the driving comfort is improved due to the full decoupling of the driver and the steering system when the fully-decoupled drive-by-wire hydraulic steering system works normally.
6. The full-decoupling drive-by-wire hydraulic steering system adopts the high-pressure energy accumulator as a steering power source and adopts the high-speed switch electromagnetic valve to control the steering precision, and the structure can better improve the active steering response speed and the steering angle control precision.
Drawings
FIG. 1 is a front view of a fully decoupled hydraulic steer-by-wire system according to the present invention;
FIG. 2 is a cross-sectional view of a front view of a decoupling steering simulator in a fully decoupled steer-by-wire system in accordance with the present invention;
FIG. 3 is a cross-sectional view of a front view of a wire support in a fully decoupled hydraulic steer-by-wire system according to the present invention;
FIG. 4 is a top view of a wire support in a fully decoupled hydraulic steer-by-wire system according to the present invention;
fig. 5 is a diagram of a friction plate rubber pad in a fully decoupled steer-by-wire hydraulic steering system according to the present inventionA cross-sectional view of a front view of (a);
FIG. 6 is a schematic illustration of a friction plate rubber pad in a fully decoupled steer-by-wire hydraulic steering system in accordance with the present inventionIs a top view of (2);
FIG. 7 is a cross-sectional view of a front view of a movable engagement gear in a fully decoupled hydraulic steer-by-wire system in accordance with the present invention;
FIG. 8 is a top view of a movable engagement gear in a fully decoupled hydraulic steer-by-wire system according to the present invention;
fig. 9 is a diagram of a friction plate rubber pad in a fully decoupled steer-by-wire hydraulic steering system according to the present inventionA cross-sectional view of a front view of (a);
fig. 10 shows a friction plate rubber pad in a fully decoupled steer-by-wire hydraulic steering system according to the present invention Is a top view of (2);
FIG. 11 is a cross-sectional view of a front view of a steering simulator gear in a fully decoupled hydraulic steer-by-wire system according to the present invention;
FIG. 12 is a top view of a steering simulator gear in a fully decoupled hydraulic steer-by-wire system according to the present invention;
FIG. 13 is a cross-sectional view of a front view of a solenoid operated iron in a fully decoupled steer-by-wire system in accordance with the present invention;
FIG. 14 is a top view of a solenoid operated iron in a fully decoupled steer-by-wire system in accordance with the present invention;
FIG. 15 is a cross-sectional view of a front view of an electromagnetic static iron in a fully decoupled steer-by-wire system according to the present invention;
FIG. 16 is a top view of an electromagnetic static iron in a fully decoupled steer-by-wire system according to the present invention;
FIG. 17 is a front view of a high pressure oil return mechanism in a fully decoupled hydraulic steer-by-wire system according to the present invention;
FIG. 18 is a cross-sectional view of a front view of a gear assist mechanism in a fully decoupled steer-by-wire system in accordance with the present invention;
FIG. 19 is a front view, cross-sectional view at A-A, of a gear assist mechanism in a fully decoupled hydraulic steer-by-wire system in accordance with the present invention;
FIG. 20 is a cross-sectional view of a front view of an upper housing of a gear assist mechanism in a fully decoupled hydraulic steer-by-wire system in accordance with the present invention;
FIG. 21 is a top view of an upper housing of a gear assist mechanism in a fully decoupled steer-by-wire system according to the present invention;
FIG. 22 is a cross-sectional view of a front view of a lower housing of a gear assist mechanism in a fully decoupled hydraulic steer-by-wire system in accordance with the present invention;
FIG. 23 is a top view of a lower housing of a gear assist mechanism in a fully decoupled steer-by-wire system according to the present invention;
reference numerals: 1. steering wheel, steering column, decoupling steering simulator, high pressure oil return mechanism, gear power assisting mechanism, gear rack steering machine, left front wheel, right front wheel, electronic control unit, electromagnetic casing, connecting screw and rubber gasket. 13. A wire; 14. a wire support; 15. driven friction plate rubber pad; 16. a driven friction plate; 17. a friction cylinder 18. A buffer rubber pad; 19. a dynamic engagement gear; 20. a steering column; 21. an active friction plate rubber pad 22; 23. a steering simulator gear; 24. a connecting pipe; 25. an electromagnetic moving iron; 26. a return spring; 27. electromagnetic static iron; 28. high pressure accumulator, 29, low pressure accumulator, 30, high pressure oil return valve, 31, oil return pipe, 32, oil return pump, 33, motor, 34, low pressure oil return valve, 35, fastening bolt, 36, gear booster upper shell, 37, high pressure cavity oil inlet hole, 38, driving shaft, 39, sealing ring 40, press ring->41. Bearing->42, driven shaft, 43, driven gear, 44, low-pressure cavity oil outlet, 45, rubber sealing ring->46, a lower shell of a gear power assisting mechanism, 47, a hydraulic cavity cylinder barrel, 48, a low-pressure cavity baffle plate, 49 and a compression ring->50. Sealing ring->51. Bearing->52. Drive gear, 53. Bearing->54. Bearing->55, a high-pressure cavity baffle plate, 56, a high-pressure cavity liquid outlet valve->57. Low pressure Chamber liquid inlet valve->58 low pressure chamber inlet valve->59 high-pressure chamber outlet valve->60 rubber sealing ring->61 rubber sealing ring->。
Detailed Description
The technical scheme of the invention is further explained and illustrated below by means of specific embodiments in combination with the accompanying drawings.
Referring to fig. 1, the fully decoupled hydraulic steering system of the present invention comprises a steering wheel 1, a steering column 2, a decoupled steering simulator 3, a high-pressure oil return mechanism 4, a gear power-assisted mechanism 5, a rack-and-pinion steering machine 6, a left front wheel 7, a right front wheel 8 and an electronic control unit 9.
The bottom of the steering wheel 1 is connected with the upper end of the steering column 2, and the main function of the steering column 2 is to transmit the torque on the steering wheel 1 to the decoupling steering simulator 3 or the gear booster mechanism 5, and meanwhile, the steering column 2 is internally provided with various electronic devices such as a sensor and the like so that the steering column has additional functions such as steering wheel angle adjustment, ignition switch keys, steering anti-theft locks, horn circuits, wipers, steering lamps, key residence alarm switches, cruise control, linear gear shifting mechanisms and the like.
The upper end of the decoupling steering simulator 3 is connected with the lower end of the steering column 2, and the lower end of the decoupling steering simulator 3 is connected with the upper end of the gear booster mechanism 5 or not. The effect of the decoupling steering simulator 3 is that under the condition that the steer-by-wire system works normally, the operation of a driver and the wheel steering system are completely decoupled in mechanical structure, the decoupling steering simulator 3 enables a steering wheel to be connected with the steering simulator, the steering feel simulation is provided for the driver, the influence of the impact of the road surface on the driver is reduced, and the driving comfort is improved. On the other hand, under the condition that the steer-by-wire system is powered off, the mechanical connection between a driver and the wheel steering system is maintained, so that the steer-by-wire system has a failure protection function. The high-pressure end and the low-pressure end of the high-pressure oil return mechanism 4 are respectively communicated with the high-pressure cavity and the low-pressure cavity of the gear power assisting mechanism 5, and the high-pressure oil return mechanism has the function of pumping oil stored in the low-pressure energy accumulator back into the high-pressure energy accumulator to supplement the high-pressure energy accumulator with liquid, so that the pressure difference between the high-pressure cavity and the low-pressure cavity of the gear power assisting mechanism 5 is kept within a constant range. The lower extreme of gear assist drive 5 is connected with the upper end of gear rack steering gear 6, and the left and right ends of gear rack steering gear 6 link to each other with preceding wheel 7 of left and right respectively through the steering linkage, and the upper end of gear rack steering gear 6 is the gear, and the lower extreme is the rack, and gear rack steering gear 6 can change the rotational motion of gear assist drive's 5 driven shaft 42 into the rectilinear motion of rack.
The electronic control unit 9 is connected with the decoupling steering simulator 3, a high-speed switch electromagnetic valve in the high-pressure oil return mechanism 4, a plunger pump and a high-speed switch electromagnetic valve in the gear booster mechanism 5 through wires. The electronic control unit 9 is used for controlling the actions of all parts and receiving action state signals of all parts to realize closed-loop control by respectively supplying corresponding currents to the high-speed switch electromagnetic valve in the decoupling steering simulator 3 and the high-pressure oil return mechanism 4 and the high-speed switch electromagnetic valve in the plunger pump and the gear booster mechanism 5 through the identification of the intention of a driver, the judgment of the running working condition and the environment and the estimation of the running state of a vehicle body.
Referring to fig. 2, the decoupling steering simulator 3 is composed of a steering simulator electromagnetic housing 10, a connection screw 11, a rubber gasket 12, a wire 13, a wire holder 14, a driven friction plate rubber pad 15, a driven friction plate 16, a friction cylinder 17, a buffer rubber pad 18, a movable engagement gear 19, a steering column 20, a driving friction plate rubber pad 21, a driving friction plate 22, a steering simulator gear 23, a connection pipe 24, an electromagnetic moving iron 25, a return spring 26 and an electromagnetic static iron 27. The effect of the decoupling steering simulator 3 is that under the condition that the steer-by-wire system works normally, the operation of a driver and the wheel steering system are completely decoupled in mechanical structure, the decoupling steering simulator 3 enables a steering wheel to be connected with the steering simulator, the steering feel simulation is provided for the driver, the influence of the impact of the road surface on the driver is reduced, and the driving comfort is improved. On the other hand, under the condition that the steer-by-wire system is powered off, the mechanical connection between a driver and the wheel steering system is maintained, so that the steer-by-wire system has a failure protection function.
The steering simulator electromagnetic shell 10 is an upward-opening sleeve-like part, the open end of the sleeve is provided with an internal thread connected with the steering column 2, the bottom surface of the sleeve is provided with a concentric through hole, and 8 small through holes uniformly distributed along the circumference are arranged between the concentric through hole and the inner cylindrical surface of the steering simulator electromagnetic shell 10. The connecting screw 11 is a national standard common hexagon screw. The rubber gasket 12 is a rubber-like member having concentric through holes, and serves to fasten the connection screw 11. The wire 13 is a copper core wire and has 400 to 600 turns of winding turns. The driven friction plate 16 and the driving friction plate 22 are made of polymer ternary composite materials and are annular parts. The friction cylinder 17 is a cylindrical part made of wear-resistant steel materials and provided with upper and lower openings, and is mainly used for uniformly stressing the driven friction plate 16. The buffer rubber pad 18 is a rubber ring-like part, the cross section of which is concave with an opening to the center of a circle, and the main function of the buffer rubber pad is to prevent the upper end surface of the movable meshing gear 19 from colliding with the lower end surface of the electromagnetic shell 10 of the steering simulator to generate noise. The steering column 20 is an upwardly opening sleeve-like member having internal teeth on an inner cylindrical surface thereof. The connecting pipe 24 is a common steel pipe, and the outer cylindrical surface of the connecting pipe is provided with external threads matched with the movable meshing gear 19 and the electromagnetic movable iron 25. The return spring 26 is a steel coil spring.
Referring to fig. 3 and 4, the wire support 14 is a sleeve-like part with openings at the upper and lower ends, and has a large annular groove on its outer cylindrical surface for winding the wire 13. The upper and lower end surfaces of the wire support 14 are respectively provided with 8 small through holes which are uniformly distributed along the circumference and pass through the annular grooves on the outer cylindrical surface of the wire support 14, wherein the small through holes are close to the outer cylinder. The inner cylindrical surface of the wire support 14 is an inner gear;
referring to fig. 5 and 6, the driven friction plate rubber pad 15 is a rubber ring part, two ends of the cross section of the driven friction plate rubber pad are in an arc shape, an outer ring of the driven friction plate rubber pad 15 is embedded into an annular groove at the inner side of the friction cylinder 17, and a driven friction plate 16 is embedded into an inner ring of the driven friction plate rubber pad 15. The driven friction plate rubber pad 15 functions to fix the driven friction plate 16 and to buffer vibration.
Referring to fig. 7 and 8, the outer cylindrical surface of the movable engagement gear 19 is provided with external teeth, the inside of the movable engagement gear 19 is provided with a concentric through hole, and an annular groove with a section of ' is arranged between the concentric through hole and the external teeth on the upper end surface of the movable engagement gear 19 and is used for placing the buffer rubber pad 18.
Referring to fig. 9 and 10, the driving friction plate rubber pad 21 is similar to the driven friction plate rubber pad 15, both are rubber ring parts, both ends of the cross section of the rubber ring parts are in an arc shape, the inner ring of the driving friction plate rubber pad 21 is embedded into the annular groove at the outer side of the steering simulator gear 23, and the outer ring of the driving friction plate rubber pad 21 is embedded with the driving friction plate 22. The active friction plate rubber pad 21 functions to fix the active friction plate 22 and to buffer vibration.
Referring to fig. 11 and 12, the steering simulator gear 23 has internal teeth on an inner cylinder thereof for engaging with the movable engagement gear 19, and has an annular groove on an outer cylinder thereof for engaging with the driving friction plate rubber pad 21.
Referring to fig. 13 and 14, the electromagnetic moving iron 25 is made of industrial pure iron, the outer cylindrical surface of the electromagnetic moving iron 25 is provided with external teeth matched with the internal teeth of the wire support 14, the electromagnetic moving iron 25 is provided with a concentric through hole, and the inner wall of the through hole is provided with internal threads matched with the external threads of the connecting pipe 24.
Referring to fig. 15 and 16, the electromagnetic static iron 27 is a flange type part, the material of the electromagnetic static iron 27 is industrial pure iron, the electromagnetic static iron 27 is in a flat head screw shape, a screw cap is arranged on the upper side, a screw head is arranged under the lower side, 8 small holes which are uniformly distributed along the circumference are arranged near the outer cylindrical surface close to the screw cap, and internal threads are arranged in the holes.
In assembly relation, referring to fig. 2, the outer ring of the driven friction plate rubber pad 15 is embedded into the annular groove on the inner side of the friction cylinder 17, and the inner ring of the driven friction plate rubber pad 15 is embedded with the driven friction plate 16. The inner ring of the active friction plate rubber pad 21 is embedded into the annular groove on the outer side of the steering simulator gear 23, and the outer ring of the active friction plate rubber pad 21 is embedded with the active friction plate 22. The steering simulator gear 23 is completely arranged in the friction cylinder 17, the driven friction plate 16 and the driving friction plate 22 form a pair of friction pairs, and the friction force between the driven friction plate 16 and the driving friction plate 22 is determined by the friction coefficient and the positive pressure, and the friction force provides steering simulation force for a driver.
The wire 13 is wound into the groove of the outer cylindrical surface of the wire holder 14 with 400 to 600 turns. The diameter of the outer cylindrical surface of the wire support 14 is equal to that of the inner cylindrical surface of the steering simulator electromagnetic shell 10, the wire support 14 and the electromagnetic static iron 27 are completely arranged in the cylinder of the steering simulator electromagnetic shell 10, and 8 circumferential small holes on the end surface of the bottom of the wire support 14 are aligned with 8 circumferential small holes on the bottom of the steering simulator electromagnetic shell 10. 8 connecting screws 11 are driven from the bottom of the steering simulator electromagnetic housing 10 to fix the wire holder 14 and the steering simulator electromagnetic housing 10 together. The electromagnet 25 is located in the sleeve of the wire support 14, and the internal teeth in the sleeve of the wire support 14 are matched with the external teeth of the electromagnet 25. The electromagnetic moving iron 25 is provided with a return spring 26 in the sleeve of the wire support 14, the upper end of the return spring 26 is abutted against the lower end face of the electromagnetic static iron 27, and the lower end of the return spring 26 is abutted against the upper end face of the electromagnetic moving iron 25. The lower end face of the screw cap of the electromagnetic static iron 27 is abutted against the upper end face of the wire support 14, and the lower end face and the upper end face of the screw cap of the electromagnetic static iron are aligned with 8 small holes uniformly distributed along the circumference. 8 connecting screws 11 are nailed from 8 small holes evenly distributed along the circumference at the top of the electromagnetic static iron 27, and the electromagnetic static iron 27, the wire support 14 and the steering simulator electromagnetic shell 10 are fixed together. The buffer rubber pad 18 is placed in an annular groove with a cross section of the upper end surface of the movable meshing gear 19 in a concave shape with the cross section opening to the center of a circle. The upper end of the connecting pipe 24 is in threaded connection with the central through hole of the electromagnetic moving iron 25, and the lower end of the connecting pipe 24 passes through the concentric through hole of the bottom surface of the steering simulator electromagnetic shell 10, passes through the concentric through hole of the steering simulator gear 23 again and is in threaded connection with the central through hole of the moving meshing gear 19. The external teeth of the movable engagement gear 19 are engaged with the internal teeth in the sleeve of the steering column 20.
Referring to fig. 17, the high-pressure oil return mechanism 4 is composed of a high-pressure accumulator 28, a low-pressure accumulator 29, a high-pressure oil return valve 30, an oil return pipe 31, an oil return pump 32, a motor 33, and a low-pressure oil return valve 34. The high-pressure oil return mechanism 4 is used for driving the oil return pump 32 to pump oil stored in the low-pressure accumulator 29 back into the high-pressure accumulator 28 through the motor 33 so as to supplement the high-pressure accumulator 28 with liquid, and the pressure difference between the high-pressure accumulator 28 and the low-pressure accumulator 29 is kept within a constant range.
The high-pressure accumulator 28 and the low-pressure accumulator 29 are both ordinary bellows type accumulators, and the effective working volume and working pressure interval of the two accumulators can be determined according to the model, the displacement and the like of the automobile, and the two accumulators are used for storing high-pressure oil and low-pressure oil respectively. The high-pressure oil return valve 30 and the low-pressure oil return valve 34 are two-position two-way normally-closed high-speed switch solenoid valves which are common in the market, and the two solenoid valves are used for isolating the internal pressure of the high-pressure accumulator 28 and the internal pressure of the low-pressure accumulator 29 from the oil return pump 32, so that unnecessary impact on the oil return pump 32 when the high-pressure accumulator works is avoided. The oil return pipe 31 is a common copper pipe with an inner diameter of 3.2 mm. The scavenge pump 32 is a three-body plunger pump, the displacement of which can be determined according to the model, displacement, etc. of the vehicle, and the scavenge pump 32 functions to pump oil within the low pressure accumulator 29 back into the high pressure accumulator 28 so that the pressure differential between the two is maintained within a constant range. The motor 33 is a dc motor and functions to rotate the scavenge pump 32.
In assembled relation, referring to fig. 17, the oil outlet of the high pressure scavenge valve 30 communicates with the high pressure accumulator 28 and the oil inlet communicates with the oil outlet of the scavenge pump 32 via scavenge pipe 31. The oil outlet of the low pressure return valve 34 is connected to the low pressure accumulator 29 and the oil inlet thereof is connected to the oil inlet of the return pump 32 via the return line 31. The output shaft of the motor 33 is geared with the input shaft of the scavenge pump 32.
Referring to fig. 18 and 19, the gear assist mechanism 5 is composed of a fastening bolt 35, a gear assist mechanism upper housing 36, a high-pressure chamber oil inlet hole 37, a driving shaft 38, and a sealing ring39. Compression ring->40. Bearing->41. Driven shaft 42, driven gear 43, low-pressure chamber oil outlet 44, rubber sealing ring +.>45. Lower housing 46 of gear booster mechanism, hydraulic chamber cylinder 47, low-pressure chamber partition plate 48, compression ring ∈>49. Sealing ring->50. Bearing->51. Drive gear 52, bearings->53. Bearing->54. High-pressure cavity partition plate 55 and high-pressure cavity liquid outlet valve>56. Low-pressure cavity liquid inlet valve>57. Low-pressure cavity liquid inlet valve>58. High-pressure cavity liquid outlet valve->59. Rubber sealing ring->60 and rubber sealing ring->61. On the one hand, the gear power-assisted mechanism 5 has the function that oil passes through a liquid outlet valve of a high-pressure cavity of the gear power-assisted mechanism 5 under the condition that a wire control steering system works normally >56 (or high-pressure cavity liquid outlet valve->59 And a low-pressure chamber inlet valve->57 (or low pressure chamber inlet valve->58 Into the low pressure chamber of the gear assist mechanism 5 and drives the driving gear 52 and the driven gear 43 to rotate, the driven gear 43 completing the steering operation of the front left wheel 7 and the front right wheel 8 through the driven shaft 42, the rack-and-pinion steering machine 6 and the tie rod. The gear booster mechanism 5 on the other hand has the function of keeping the steering wheel 1 and the rack-and-pinion steering machine 6 mechanically connected when the drive-by-wire hydraulic steering system fails, that is, a driver can finish the steering operation of the left front wheel 7 and the right front wheel 8 by operating the steering wheel, so that the fully-decoupled drive-by-wire hydraulic steering system has the function of failure protection.
The fastening bolt 35 is a hexagonal bolt commonly used in national standards. Sealing ring39 and sealing ring->And 50 is a circular rubber part. Compression ring->40 and compression ring->49 is a common circular ring metal part in the market. Bearing->41. Bearing->51. Bearing->53 and bearing->54 are all ball bearings commonly found in the market. The drive shaft 38 is a forged stepped shaft-like part that is divided into two sections, the lower section having a larger diameter than the upper section. The driven shaft 42 is a forged stepped shaft-like part that is divided into two sections, the upper section being larger in diameter than the lower section. Driven gear 43 and driving gear 52 is a gear type part, the outer cylindrical surface of which is provided with teeth, and the center of which is provided with a through hole. Rubber sealing ring->45 is an annular rubber-like part, the outer contour of which conforms to the inner contour of the disk in the upper gear-assist mechanism housing 36 and mates with an annular recess opening downwardly from the edge of the inner contour of the disk in the upper gear-assist mechanism housing 36. The hydraulic chamber cylinder 47 is a steel cylinder part with openings at the upper end and the lower end, the cross section outline shape of the hydraulic chamber cylinder is consistent with the disc-shaped inner outline in the upper shell 36 of the gear booster mechanism, and four grooves which are vertically distributed along the upper end and the lower end of the steel cylinder wall are arranged at the four interfaces of the left semicircle and the right semicircle and the rectangle. The low-pressure cavity partition plate 48 is a steel cylinder part with openings at the upper end and the lower end, the cross section of the low-pressure cavity partition plate is semicircular with openings to the left, the openings at the two sides of the semicircle are respectively provided with an upward straight arm plate and a downward straight arm plate, the centers of the straight arm plates at the upper end and the lower end are respectively provided with a round hole, and the round holes are respectively used for placing a low-pressure cavity liquid inlet valve>57 and a low pressure chamber inlet valve->58. The high-pressure cavity partition plate 55 is a steel cylinder part with openings at the upper end and the lower end, the cross section of the high-pressure cavity partition plate is a semicircle with rightward openings, the openings at the two sides of the semicircle are respectively provided with an upward and a downward straight arm plates, the centers of the straight arm plates at the upper end and the lower end are respectively provided with a round hole, and the round holes are respectively used for placing a high-pressure cavity liquid outlet valve- >56 and high-pressure chamber outlet valve->59. High-pressure cavity liquid outlet valve56. Low-pressure cavity liquid inlet valve>57. Low-pressure cavity liquid inlet valve>58 and high-pressure chamber outlet valve->59 are all two-position two-way normally closed high-speed switch solenoid valves commonly used in the market. Rubber sealing ring->And 60 is a strip-shaped rubber part, and the cross section of the strip-shaped rubber part is in a shape of a Chinese character 'ji'. Rubber sealing ringReference numeral 61 denotes a rubber-like member whose outer contour corresponds to the cross section of the high-pressure chamber partition 55.
Referring to fig. 20 and 21, the upper housing 36 of the gear assist mechanism is a disk-like part that is opened downward, and its outer contour is composed of two semicircles with the same radius on the left and right and a rectangle in the middle, and the centers of the semicircles and the outer centers of the rectangles are on the same straight line. The disk-shaped inner contour of the upper housing 36 of the gear booster mechanism is identical to the outer contour in shape, the centers of the two contours coincide, and the inner contour is slightly smaller. The gear power assisting mechanism upper shell 36 is provided with 12 through holes uniformly distributed between the outer contour and the inner contour, and the inner wall of each through hole is provided with internal threads matched with the fastening bolts 35. The center of the semicircle at the left side of the outer contour is provided with a concentric stepped through hole, and the radius of the upper end of the stepped through hole is larger than that of the lower end. The center of the semicircle on the right side of the outer contour is provided with a concentric blind hole, and the inner diameter of the blind hole is the same as the inner diameter of the lower end of the stepped through hole. Along the disk-shaped inner contour edge of the upper gear-assisting mechanism housing 36 there is a downwardly open annular groove for the placement of the hydraulic chamber cylinder 47. Concentric left semicircular grooves and right semicircular grooves which are downwards opened are respectively arranged at the centers of the semicircular centers of the left side and the right side of the outer contour, and straight-line grooves which extend to annular grooves at the edge of the disc-shaped inner contour are respectively arranged at the ends of the two semicircular grooves. A small circular through hole with an inner diameter of 5mm is arranged between the annular groove at the edge of the disc-shaped inner contour and the concentric left semicircular groove, and the through hole is a high-pressure cavity oil inlet hole 37. A small circular through hole with an inner diameter of 5mm is also arranged between the annular groove at the edge of the disc-shaped inner contour and the concentric right semicircular groove, and the through hole is an oil outlet hole 44 of the low-pressure cavity. The centers of the high-pressure chamber oil inlet hole 37, the low-pressure chamber oil outlet hole 44 and the two outer contours are on the same straight line.
Referring to fig. 22 and 23, the lower gear housing 46 is an upwardly open disc-like part that is identical in shape and size to the upper gear housing 36 after 180 ° rotation about the center, the only difference being that the lower gear housing 46 has no high-pressure chamber oil inlet 37 and low-pressure chamber oil outlet 44 relative to the upper gear housing 36. Therefore, the structure of the gear assist mechanism lower case 46 will not be described in detail here.
Assembly relationship, rubber sealing ring45 and hydraulic chamber cylinders 47 are placed in turn in annular grooves at the inner contour edge of the gear-assisted mechanism lower housing 46. Four rubber sealing rings->60 are placed in four vertical grooves on the inner wall of the hydraulic chamber cylinder 47, respectively. The liquid outlet valve of the high-pressure cavity is respectively>56 and high-pressure chamber outlet valve->59 are welded into the central circular holes in the straight arm plates at the upper and lower ends of the high pressure chamber partition plate 55 and ensure good sealing. The liquid inlet valve of the low pressure cavity is respectively +.>57 and a low pressure chamber inlet valve->58 are welded into the central circular holes in the straight arm plates at the upper and lower ends of the low pressure chamber diaphragm 48 and ensure good sealing. Rubber sealing ring->61 and the high pressure chamber partition 55 are placed in turn in the semicircular recess of the right opening of the gear-assisted mechanism lower case 46 At this time, the upper and lower straight arm plates of the high-pressure chamber partition plate 55 are respectively and exactly placed in the placed rubber seal rings +.>In the upper and lower vertical grooves of 60, the area between the inner wall of the hydraulic chamber cylinder 47 and the outer wall of the high-pressure chamber partition 55 is the high-pressure chamber of the gear assist mechanism 5. The other rubber sealing ring->61 and the low-pressure chamber partition plate 48 are sequentially arranged in a semicircular groove which is opened leftwards of the lower shell 46 of the gear power-assisted mechanism, and at the moment, the upper and lower end straight arm plates of the low-pressure chamber partition plate 48 are respectively and exactly arranged at the left and right sides of the placed rubber sealing rings +.>In the remaining two vertical grooves of 60, the area between the inner wall of the hydraulic chamber cylinder 47 and the outer wall of the low-pressure chamber partition plate 48 is the low-pressure chamber of the gear assist mechanism 5. Bearing->54 and the lower section of the driving shaft 38 are placed in a left round blind hole of the lower housing 46 of the gear booster mechanism, and a bearing is +.>54 is abutted against the inner cylindrical surface of the blind hole, and the outer cylindrical surface of the lower section of the driving shaft 38 is abutted against the bearing +.>54, driving gear 52 and bearing ∈>53 are nested in sequence from the upper end of the drive shaft 38.
Sealing another rubber ring45 are placed in annular grooves at the inner contour edge of the gear-assisted mechanism upper housing 36. The remaining two rubbers are sealed Sealing ring->61 are placed in two semicircular grooves opening rightward and leftward, respectively, of the gear-assisted mechanism upper case 36. Bearing->41 and the upper section of the driven shaft 42 are arranged in a right circular blind hole of the upper shell 36 of the gear power-assisted mechanism, and the bearing is->41 is abutted against the inner cylindrical surface of the blind hole, and the outer cylindrical surface of the upper section of the driven shaft 42 is abutted against the bearing +.>41, the driven gear 43 and the bearing +.>51 are nested in sequence from the lower end of the driven shaft 42.
The assembled gear-assisted mechanism upper housing 36 is put on the assembled gear-assisted mechanism lower housing 46 from the upper end cover, the upper end of the driving shaft 38 is penetrated out from the left through hole of the gear-assisted mechanism upper housing 36, and the lower end of the driven shaft 42 is penetrated out from the right through hole of the gear-assisted mechanism lower housing 46. At this time, the upper end of the hydraulic chamber cylinder 47 is positioned at the rubber sealing ring of the upper housing 36 of the gear booster mechanism45, the upper end of the high-pressure chamber baffle 55 is positioned in the groove of the upper housing 36 of the gear booster mechanism and is provided with a rubber sealing ring +.>61, the upper end of the low-pressure chamber diaphragm 48 is located in a recess opening to the right of the upper housing 36 of the gear booster mechanism, with a rubber sealing ring placed therein>61 open to the left. Sealing ring- >39 and compression ring->40 are sequentially sleeved in from the upper end of the driving shaft 38, the driving shaft 38 is fixed to rotate freely, and the sealing of gears and bearings is good. Sealing ring->50 and compression ring->49 are sleeved from the lower end of the driven shaft 42 in turn, the driven shaft 42 is fixed to enable the driven shaft to freely rotate, and the sealing of gears and bearings is good. The 12 fastening bolts 35 are fitted into the 12 fixing through holes from the upper end face of the gear-assisted mechanism upper case 36 so that the gear-assisted mechanism upper case 36 and the gear-assisted mechanism lower case 46 are integrated. The gear assist mechanism 5 is thus assembled.
Working principle of fully-decoupled drive-by-wire hydraulic steering system
1. Conventional steering conditions: when the driver turns on the turn signal, the electronic control unit 9 of the system judges that the driver is about to turn, the electronic control unit 9 energizes the wire 13, the electromagnetic iron 25 is attracted upward by the electromagnetic iron 27, and at this time, the movable meshing gear 19 also moves upward to engage with the internal teeth of the steering simulator gear 23. At the moment, the operation of the driver and the wheel steering system are completely decoupled in the mechanical structure, so that the influence of the impact of the road surface on the driver is reduced, and the driving comfort is improved. When the operation of the driver and the mechanical structure of the wheel steering system are completely decoupled, the driver rotates the steering wheel, and when the steering simulator electromagnetic shell 10 rotates, the electromagnetic moving iron 25 is driven to rotate by the internal teeth of the wire support 14, the moving meshing gear 19 drives the steering simulator gear 23 to rotate by gear matching, and at the moment, the driving friction plate 22 and the driven friction plate 16 embedded in the steering simulator gear 23 generate relative friction to generate sliding friction force to provide steering feel simulation for the driver.
1) The automobile turns right: liquid outlet valve for high-pressure cavity by electronic control unit 956 and low pressure chamber inlet valve->58 is electrified to open the two electromagnetic valves, and at the moment, high-pressure liquid in the high-pressure cavity of the gear power assisting mechanism 5 passes through the liquid outlet valve of the high-pressure cavity +.>56 and low pressure chamber inlet valve->58 flow into the low pressure chamber of the gear assist mechanism 5, causing the driving gear 52 and the driving shaft 38 to rotate right and the driven gear 43 and the driven shaft 42 to rotate left during the flow of liquid. The driven shaft 42 makes the steering pull rod move rightwards to pull the left front wheel 7 to steer rightwards through a gear-rack mechanism in the gear-rack steering machine 6, and meanwhile the steering pull rod pushes the right front wheel 8 to move rightwards to finish the operation of rightwards steering running of the automobile.
2) The automobile turns left: liquid outlet valve for high-pressure cavity by electronic control unit 959 and low pressure chamber inlet valve->57 are electrified to open the two electromagnetic valves, and at the moment, high-pressure liquid in the high-pressure cavity of the gear power assisting mechanism 5 passes through the high-pressure cavity liquid outlet valve +.>59 and low pressure chamber inlet valve->57 flow into the low pressure chamber of the gear assist mechanism 5, causing the driving gear 52 and the driving shaft 38 to turn left and the driven gear 43 and the driven shaft 42 to turn right during the flow of liquid. The driven shaft 42 moves the steering tie rod leftwards to push the left front wheel 7 to steer leftwards through a rack-and-pinion mechanism in the rack-and-pinion steering gear 6, and simultaneously the steering tie rod pulls The movement of the right front wheel 8 to the left completes the operation of the vehicle for steering to the left.
3) The automobile runs straight: at this time, the automobile does not turn to, and the high-pressure cavity liquid outlet valve56. High-pressure cavity liquid outlet valve->59. Low-pressure cavity liquid inlet valve>57 and a low pressure chamber inlet valve->58 are not energized and the steering tie rod remains in the neutral position.
2. High pressure accumulator fluid infusion condition: when the hydraulic pressure in the high-pressure accumulator 28 is smaller than a preset threshold pressure value or when the hydraulic pressure in the low-pressure accumulator 29 is larger than a preset threshold pressure value, the electronic control unit 9 energizes the motor 33, the high-pressure oil return valve 30 and the low-pressure oil return valve 34, the motor 33 drives the oil return pump 32 to rotate, and liquid in the low-pressure accumulator 29 is pumped back into the high-pressure accumulator 28 through the low-pressure oil return valve 34, the oil return pump 32 and the high-pressure oil return valve 30 in sequence. When the hydraulic pressure inside the high-pressure accumulator 28 is greater than a preset threshold pressure value or when the hydraulic pressure inside the low-pressure accumulator 29 is less than a preset threshold pressure value, the motor 33, the high-pressure oil return valve 30 and the low-pressure oil return valve 34 are powered off, and the high-pressure accumulator fluid-supplementing operation is completed.
3. Failure turning condition: at the moment, the steer-by-wire system is powered off, and all the electric control units are not powered on;
1) The automobile turns left: when the driver turns the steering wheel leftwards, the steering column 2, the steering simulator electromagnetic shell 10 in the decoupling steering simulator 3, the wire support 14, the electromagnetic moving iron 25, the moving meshing gear 19, the steering column 20 and the driving shaft 38 and the driving gear 52 in the gear power assisting mechanism 5 are sequentially driven to rotate leftwards. The driven gear 43 and the driven shaft 42 in the gear assist mechanism 5 are rotated rightward by gear engagement. The rack-and-pinion steering machine 6 makes the steering pull rod move leftwards to push the left front wheel 7 to steer leftwards through a rack-and-pinion structure, and meanwhile the steering pull rod pulls the right front wheel 8 to move leftwards to finish the operation of leftwards steering running of the automobile.
2) The automobile turns right: when the driver turns the steering wheel rightwards, the steering column 2, the steering simulator electromagnetic shell 10 in the decoupling steering simulator 3, the wire support 14, the electromagnetic moving iron 25, the moving meshing gear 19, the steering column 20 and the driving shaft 38 and the driving gear 52 in the gear power assisting mechanism 5 are sequentially driven to rotate rightwards. The driven gear 43 and the driven shaft 42 in the gear assist mechanism 5 are rotated leftward by gear engagement. The rack-and-pinion steering machine 6 makes the steering pull rod move rightwards to pull the left front wheel 7 to steer rightwards through a rack-and-pinion structure, and meanwhile the steering pull rod pushes the right front wheel 8 to move rightwards to finish the operation of rightwards steering running of the automobile.
4. Active steering conditions: when the driver does not turn the steering wheel and the electronic control unit 9 of the automobile judges that the automobile needs to turn according to the road surface state and the running state of the automobile, on one hand, the electronic control unit 9 energizes the lead wire 13, the electromagnetic static iron 27 attracts the electromagnetic moving iron 25 upwards, and at the moment, the moving meshing gear 19 also moves upwards to be engaged with the internal teeth of the steering simulator gear 23. The driver's operation is now completely mechanically decoupled from the wheel steering system. High-pressure cavity liquid outlet valve 56. High-pressure cavity liquid outlet valve->59. Low-pressure cavity liquid inlet valve>57 and a low pressure chamber inlet valve->58 are energized as described in the conventional steering, and the steering wheel does not rotate left or right in response to a steering operation of the vehicle to the left or right. On the other hand, the electronic control unit 9 gives the high-pressure chamber a liquid valve +.>56. High-pressure cavity liquid outlet valve->59. Low-pressure cavity liquid inlet valve>57 and a low pressure chamber inlet valve->58 are energized to push the left front wheel 7 and the right front wheel 8 to complete the steering action required by the vehicle, and the control mode of the steering to the left or right is consistent with the left and right turning in the conventional steering situation, and is not repeated here. />

Claims (5)

1. The full-decoupling drive-by-wire hydraulic steering system is characterized by comprising a steering wheel (1), a steering column (2), a decoupling steering simulator (3), a high-pressure oil return mechanism (4), a gear power-assisted mechanism (5), a gear rack steering machine (6), a left front wheel (7), a right front wheel (8) and an electronic control unit (9);
the bottom of the steering wheel (1) is connected with the upper end of the steering column (2), the upper end of the decoupling steering simulator (3) is connected with the lower end of the steering column (2), and the lower end of the decoupling steering simulator (3) is movably connected with the upper end of the gear power assisting mechanism (5);
The lower end of the gear power-assisted mechanism (5) is connected with the upper end of the gear rack steering machine (6), the left end and the right end of the gear rack steering machine (6) are respectively connected with the left front wheel (7) and the right front wheel (8) through steering pull rods, the upper end of the gear rack steering machine (6) is provided with a gear, the lower end of the gear rack steering machine is provided with a rack, and the gear rack steering machine (6) can convert the rotary motion of a driven shaft (42) of the gear power-assisted mechanism (5) into the linear motion of the rack; the high-pressure oil return mechanism (4) is connected with the gear power assisting mechanism (5) so that the pressure difference between the high-pressure cavity and the low-pressure cavity of the gear power assisting mechanism (5) is kept constant; the electronic control unit (9) is in control connection with the decoupling steering simulator (3), the high-pressure oil return mechanism (4) and the gear booster mechanism (5);
the gear power assisting mechanism (5) consists of a fastening bolt (35), a gear power assisting mechanism upper shell (36), a high-pressure cavity oil inlet hole (37), a driving shaft (38), a sealing ring I (39), a pressing ring I (40), a bearing I (41), a driven shaft (42), a driven gear (43), a low-pressure cavity oil outlet hole (44), a rubber sealing ring I (45), a gear power assisting mechanism lower shell (46), a hydraulic cavity cylinder barrel (47), a low-pressure cavity partition plate (48), a pressing ring II (49), a sealing ring II (50), a bearing II (51), a driving gear (52), a bearing III (53), a bearing IV (54), a high-pressure cavity partition plate (55), a high-pressure cavity liquid outlet valve I (56), a low-pressure cavity liquid inlet valve I (57), a low-pressure cavity liquid inlet valve II (58), a high-pressure cavity liquid outlet valve II (59), a rubber sealing ring III (60) and a rubber sealing ring II (61);
The upper shell (36) of the gear power-assisted mechanism is a disk part with a downward opening, the outer contour of the upper shell is formed by connecting a left semicircle with the same radius with a right semicircle with the same radius with a middle rectangle, and the centers of the two semicircles and the outer center of the rectangle are on the same straight line; the shape of the disk-shaped inner contour of the upper shell (36) of the gear power-assisted mechanism is consistent with that of the outer contour, the circle centers of the two contours are coincident, and the size of the inner contour is slightly smaller; a plurality of through holes are uniformly distributed between the outer contour and the inner contour of the upper shell (36) of the gear power assisting mechanism, and inner threads are arranged on the inner walls of the through holes; the center of the semicircle at the left side of the outer contour is provided with a concentric stepped through hole, and the radius of the upper end of the stepped through hole is larger than that of the lower end of the stepped through hole; a concentric blind hole is arranged at the center of the semicircle on the right side of the outer contour, and the inner diameter of the blind hole is the same as the inner diameter of the lower end of the stepped through hole; an annular groove which is opened downwards is arranged along the edge of the disk-shaped inner contour of the upper shell (36) of the gear power-assisted mechanism; concentric left semicircular grooves and right semicircular grooves which are downwards opened are respectively arranged at the centers of the semicircular centers of the left side and the right side of the outer contour, and straight-line grooves which extend to annular grooves at the edge of the disk-shaped inner contour are respectively arranged at the ends of the two semicircular grooves; a circular small through hole is arranged between the annular groove at the edge of the disc-shaped inner contour and the concentric left semicircular groove, and the through hole is a high-pressure cavity oil inlet hole (37); a small circular through hole is also arranged between the annular groove at the edge of the disc-shaped inner contour and the concentric right semicircular groove, and the through hole is a low-pressure cavity oil outlet hole (44); the centers of the high-pressure cavity oil inlet hole (37), the low-pressure cavity oil outlet hole (44) and the two outer contours are on the same straight line;
The lower gear power-assisted mechanism shell (46) is a disc part with an upward opening, the shape and the size of the lower gear power-assisted mechanism shell are consistent with those of the upper gear power-assisted mechanism shell (36) after rotating 180 degrees around the center, and the only difference is that the lower gear power-assisted mechanism shell (46) is provided with no small through holes between the annular groove at the edge of the disc inner contour and the concentric left and right semicircular grooves;
the through holes between the outer contour and the inner contour of the upper gear booster shell (36) and the lower gear booster shell (46) are aligned, and the upper gear booster shell (36) and the lower gear booster shell (46) are fixed together through fastening bolts (35);
the hydraulic cavity cylinder barrel (47) is a steel cylinder part with openings at the upper end and the lower end, the cross section outline shape of the hydraulic cavity cylinder barrel is consistent with the disc-shaped inner outline of the upper shell (36) of the gear booster mechanism, and four grooves which are vertically distributed along the upper and lower ends of the steel cylinder wall are arranged at the four interfaces of the left semicircle and the right semicircle and the rectangle; the hydraulic cavity cylinder barrel (47) is arranged in annular grooves at the inner contour edges of the gear power-assisted mechanism upper shell (36) and the gear power-assisted mechanism lower shell (46), and the contact surface between the hydraulic cavity cylinder barrel (47) and the gear power-assisted mechanism upper shell (36) and the gear power-assisted mechanism lower shell (46) is sealed through a rubber sealing ring I (45);
The rubber sealing rings III (60) are strip-shaped rubber parts, the cross sections of the rubber sealing rings III are in a shape of a Chinese character 'ji', and the four rubber sealing rings III (60) are respectively placed in four vertical grooves on the inner wall of the hydraulic cavity cylinder barrel (47);
the low-pressure cavity partition plate (48) is a steel cylinder part with openings at the upper end and the lower end, the cross section of the low-pressure cavity partition plate is semicircular with openings to the left, the openings at the two sides of the semicircle are respectively provided with an upward straight arm plate and a downward straight arm plate, the centers of the straight arm plates at the upper end and the lower end are respectively provided with a round hole, and the round holes are respectively used for placing the low-pressure cavity liquid inlet valve I (57) and the low-pressure cavity liquid inlet valve II (58);
the low-pressure cavity partition plate (48) is placed in semicircular grooves which are opened leftwards of the gear power-assisted mechanism upper shell (36) and the gear power-assisted mechanism lower shell (46), at the moment, straight arm plates at the upper end and the lower end of the low-pressure cavity partition plate (48) are respectively and rightly placed in the remaining two vertical grooves of the hydraulic cavity cylinder barrel (47) where the rubber sealing ring III (60) is placed, and a region between the inner wall of the hydraulic cavity cylinder barrel (47) and the outer wall of the low-pressure cavity partition plate (48) is a low-pressure cavity of the gear power-assisted mechanism (5); sealing the low-pressure cavity partition plate (48) with the upper gear power-assisted mechanism shell (36) and the lower gear power-assisted mechanism shell (46) through two rubber sealing rings II (61);
the high-pressure cavity partition plate (55) is a steel cylinder part with openings at the upper end and the lower end, the cross section of the high-pressure cavity partition plate is semicircular with rightward openings, the openings at the two sides of the semicircle are respectively provided with an upward and a downward straight arm plates, the centers of the straight arm plates at the upper end and the lower end are respectively provided with a round hole, and the round holes are respectively used for placing the high-pressure cavity liquid outlet valve I (56) and the high-pressure cavity liquid outlet valve II (59);
The high-pressure cavity partition plate (55) is placed in semicircular grooves which are opened rightward and are formed in the gear power assisting mechanism upper shell (36) and the gear power assisting mechanism lower shell (46), at the moment, straight arm plates at the upper end and the lower end of the high-pressure cavity partition plate (55) are respectively and rightly placed in the upper vertical groove and the lower vertical groove of the placed rubber sealing ring III (60) of the hydraulic cavity cylinder barrel (47), the area between the inner wall of the hydraulic cavity cylinder barrel (47) and the outer wall of the high-pressure cavity partition plate (55) is a high-pressure cavity of the gear power assisting mechanism (5), and the high-pressure cavity partition plate (55) is sealed with the gear power assisting mechanism upper shell (36) and the gear power assisting mechanism lower shell (46) through two rubber sealing rings II (61);
the high-pressure cavity liquid outlet valve I (56) and the high-pressure cavity liquid outlet valve II (59) are welded in central round holes on straight arm plates at the upper end and the lower end of the high-pressure cavity partition plate (55);
the bearing IV (54) is placed in a left circular blind hole of the lower shell (46) of the gear booster mechanism, and the outer cylindrical surface of the bearing IV (54) is abutted against the inner cylindrical surface of the blind hole; the driving shaft (38) is a stepped shaft part and is divided into two sections, and the diameter of the lower section is larger than that of the upper section; the outer cylindrical surface of the lower section of the driving shaft (38) is tightly abutted against the inner cylindrical surface of the bearing IV (54), the outer cylindrical surface of the driving gear (52) is provided with teeth, and the center of the driving gear is provided with a through hole; the central through hole of the driving gear (52) is sleeved on the driving shaft (38), is axially fixed between the gear power-assisted mechanism upper shell (36) and the gear power-assisted mechanism lower shell (46), the bearing III (53) is sleeved at the upper end of the driven shaft (38), the bearing III (53) is axially fixed through the compression ring I (40), and the bearing III (53) is sealed with the gear power-assisted mechanism upper shell (36) through the sealing ring I (39);
The bearing I (41) is placed in a right circular blind hole of the upper shell (36) of the gear booster mechanism, the outer cylindrical surface of the bearing I (41) is close to the inner cylindrical surface of the blind hole, the driven shaft (42) is a stepped shaft part, the stepped shaft part is divided into two sections, and the diameter of the upper section is larger than that of the lower section; the outer cylindrical surface of the upper section of the driven shaft (42) is tightly abutted against the inner cylindrical surface of the bearing I (41), the outer cylindrical surface of the driven gear (43) is provided with teeth, the center of the driven gear is provided with a through hole, the center through hole of the driven gear (43) is sleeved on the driven shaft (42), and the driven gear is axially fixed between the upper shell (36) of the gear power assisting mechanism and the lower shell (46) of the gear power assisting mechanism and meshed with the driving gear (52); the bearing II (51) is sleeved at the lower end of the driven shaft (42), the bearing II (51) is axially fixed through the compression ring II (49), and the bearing II (51) is sealed with the lower shell (46) of the gear booster mechanism through the sealing ring II (50).
2. The fully decoupled hydraulic steering by wire system according to claim 1, characterized in that the high pressure oil return mechanism (4) consists of a high pressure accumulator (28), a low pressure accumulator (29), a high pressure oil return valve (30), an oil return pipe (31), an oil return pump (32), a motor (33) and a low pressure oil return valve (34);
the high-pressure accumulator (28) and the low-pressure accumulator (29) are both common leather bag type accumulators and are respectively used for storing high-pressure oil and low-pressure oil; the high-pressure oil return valve (30) and the low-pressure oil return valve (34) are two-position two-way normally-closed high-speed switch electromagnetic valves, the oil return pump (32) is a three-body plunger pump, and the motor (33) is a direct-current motor;
An oil outlet of the high-pressure oil return valve (30) is communicated with a high-pressure accumulator (28) and a high-pressure cavity oil inlet hole (37) in the gear booster mechanism (5), and an oil inlet of the high-pressure oil return valve is communicated with an oil outlet of the oil return pump (32) through an oil return pipe (31); an oil inlet of the low-pressure oil return valve (34) is communicated with a low-pressure accumulator (29) and a low-pressure cavity oil outlet (44) in the gear booster mechanism (5), and an oil outlet of the low-pressure oil return valve is communicated with an oil inlet of the oil return pump (32) through an oil return pipe (31); an output shaft of the motor (33) is meshed with an input shaft of the scavenging pump (32) through gears.
3. The fully decoupled hydraulic steering by wire system of claim 2, wherein the decoupled steering simulator (3) is composed of a steering simulator electromagnetic housing (10), a connecting screw (11), a rubber gasket (12), a wire (13), a wire support (14), a driven friction plate rubber pad (15), a driven friction plate (16), a friction cylinder (17), a buffer rubber pad (18), a movable meshing gear (19), a steering column (20), an active friction plate rubber pad (21), an active friction plate (22), a steering simulator gear (23), a connecting pipe (24), an electromagnetic moving iron (25), a return spring (26) and an electromagnetic static iron (27);
the steering simulator electromagnetic shell (10) is a sleeve-like part with an upward opening, the opening end of the sleeve is provided with an internal thread connected with the steering column (2), the bottom surface of the sleeve is provided with a concentric through hole, and a plurality of small through holes which are uniformly distributed along the circumference are arranged between the concentric through hole and the inner cylindrical surface of the steering simulator electromagnetic shell (10);
The wire support (14) is a sleeve-like part with openings at the upper end and the lower end, and a larger annular groove is formed in the outer cylindrical surface of the wire support and is used for winding a wire (13); the upper end surface and the lower end surface of the wire support (14) are close to the outer cylinder, and are respectively provided with a plurality of small through holes which are uniformly distributed along the circumference, and the small through holes penetrate through annular grooves on the outer cylinder surface of the wire support (14); the inner cylindrical surface of the wire support (14) is provided with inner teeth;
the electromagnetic static iron (27) is a flange-like part, the electromagnetic static iron (27) is in a flat head screw shape, a screw cap is arranged on the upper part, a screw head is arranged under the lower part, a plurality of small holes which are uniformly distributed along the circumference are arranged near the outer cylindrical surface close to the screw cap, and internal threads are arranged in the holes;
an external tooth matched with the internal tooth of the wire support (14) is arranged on the external cylindrical surface of the electromagnetic moving iron (25), the electromagnetic moving iron (25) is provided with a concentric through hole, and an internal thread matched with the external thread of the connecting pipe (24) is arranged on the inner wall of the through hole;
the diameter of the outer cylindrical surface of the wire support (14) is equal to that of the inner cylindrical surface of the steering simulator electromagnetic shell (10), the wire support (14) and the electromagnetic static iron (27) are completely arranged in a cylinder of the steering simulator electromagnetic shell (10), small through holes on the lower end surface of the wire support (14) are aligned with the circumference small through holes on the bottom of the steering simulator electromagnetic shell (10), and the wire support (14) and the steering simulator electromagnetic shell (10) are fixed together by being nailed in from the bottom of the steering simulator electromagnetic shell (10) through the connecting screw (11); the lower end face of the screw cap of the electromagnetic static iron (27) is abutted against the upper end face of the wire support (14), a small through hole on the upper end face of the wire support (14) is aligned with a small hole on the screw cap of the electromagnetic static iron (27), the electromagnetic static iron (27) and the wire support (14) are fixed together by being nailed in from the small hole on the screw cap of the electromagnetic static iron (27) through the connecting screw (11), and the electromagnetic static iron (27) and the wire support (14) are fastened through the rubber gasket (12);
The electromagnetic moving iron (25) is positioned in a sleeve of the wire support (14), and internal teeth in the sleeve of the wire support (14) are matched with external teeth of the electromagnetic moving iron (25); the return spring (26) is positioned in the sleeve of the wire support (14), the upper end of the return spring (26) is abutted against the lower end face of the electromagnetic static iron (27), and the lower end of the return spring (26) is abutted against the upper end face of the electromagnetic moving iron (25); and is fastened by a rubber gasket (12);
the friction cylinder barrel (17) is a cylindrical part with upper and lower openings, and an annular groove is processed on the inner side of the friction cylinder barrel; the driven friction plate (16) and the driving friction plate (22) are rubber annular parts; the driven friction plate rubber pad (15) is a rubber ring part, two ends of the cross section of the driven friction plate rubber pad are arched, the outer ring of the driven friction plate rubber pad (15) is embedded into an annular groove at the inner side of the friction cylinder barrel (17), and the driven friction plate (16) is embedded into the inner ring of the driven friction plate rubber pad (15);
the steering simulator gear (23) is an internal gear, and an annular groove is formed in the outer side of the steering simulator gear; the driving friction plate rubber pad (21) is a rubber ring part, two ends of the cross section of the driving friction plate rubber pad are in an arc shape, the inner ring of the driving friction plate rubber pad (21) is embedded into an annular groove at the outer side of the steering simulator gear (23), and the outer ring of the driving friction plate rubber pad (21) is embedded with the driving friction plate (22); the steering simulator gear (23) is arranged in the friction cylinder barrel (17) to enable the driven friction plate (16) and the driving friction plate (22) to form a pair of friction pairs;
The buffer rubber pad (18) is in a circular ring shape, and the cross section of the buffer rubber pad is in a concave shape which is opened towards the center of a circle; an external tooth is arranged on the outer cylindrical surface of the movable meshing gear (19), a concentric through hole is arranged in the movable meshing gear (19), an annular groove with a -shaped cross section is arranged between the concentric through hole and the external tooth on the upper end surface of the movable meshing gear (19), and the groove is used for placing a buffer rubber pad (18);
the steering column (20) is a sleeve-like part which is opened upwards, and the inner cylindrical surface of the sleeve is provided with inner teeth; the outer cylindrical surface of the connecting pipe (24) is provided with external threads matched with the movable meshing gear (19) and the electromagnetic movable iron (25).
4. A fully decoupled hydraulic steering-by-wire system according to claim 3, characterized in that the electronic control unit (9) is in control connection with the wires (13) in the decoupled steering simulator (3), the high-pressure return valve (30) and the low-pressure return valve (34) and the return pump (32) in the high-pressure return mechanism (4), the high-pressure chamber outlet valve I (56), the low-pressure chamber inlet valve I (57), the low-pressure chamber inlet valve II (58), the high-pressure chamber outlet valve II (59) in the gear booster mechanism (5).
5. The fully decoupled hydraulic steering-by-wire system according to any one of claims 1 to 4, characterized in that a hall non-contact torque angle sensor is installed inside the steering column (2).
CN201910347928.XA 2019-04-28 2019-04-28 Full-decoupling drive-by-wire hydraulic steering system Active CN110001771B (en)

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CN112744291B (en) * 2019-10-31 2022-05-13 比亚迪股份有限公司 Hydraulic motor and steering column with same
CN114312969A (en) * 2020-09-30 2022-04-12 比亚迪股份有限公司 Steering column assembly, steering column and vehicle

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