CN117401028A - Electric drive-by-wire steering system based on turbine worm and planetary reducer - Google Patents
Electric drive-by-wire steering system based on turbine worm and planetary reducer Download PDFInfo
- Publication number
- CN117401028A CN117401028A CN202311702432.2A CN202311702432A CN117401028A CN 117401028 A CN117401028 A CN 117401028A CN 202311702432 A CN202311702432 A CN 202311702432A CN 117401028 A CN117401028 A CN 117401028A
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- steering
- planetary reducer
- worm
- turbine
- knuckle arm
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 44
- 230000007246 mechanism Effects 0.000 claims abstract description 34
- 230000000670 limiting effect Effects 0.000 claims description 62
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 3
- 230000000875 corresponding effect Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
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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
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0421—Electric motor acting on or near steering gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
- B62D3/04—Steering gears mechanical of worm type
- B62D3/06—Steering gears mechanical of worm type with screw and nut
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
- B62D3/12—Steering gears mechanical of rack-and-pinion type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/18—Steering knuckles; King pins
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/20—Links, e.g. track rods
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The utility model provides an electric drive-by-wire steering system based on worm and planetary reducer, including turning to drive arrangement, the knuckle arm, steering pull rod and wheel limit assembly, the knuckle arm includes two connecting portions, every connecting portion is respectively through steering pull rod connection wheel limit assembly, turn to drive arrangement and including turning to driving motor, worm gear mechanism and planetary reducer, worm gear mechanism includes worm and turbine, the output shaft worm of turning to driving motor, the side meshing of worm is connected the turbine, the sun gear of planetary reducer is installed to the center fixed mounting of turbine, the planet carrier output shaft of planetary reducer is in the crossing position of the perpendicular face of two connecting portion place and knuckle arm, in order to promote the swing of knuckle arm. The invention not only can provide larger steering driving power, but also is suitable for larger tonnage vehicle types; but also can save the arrangement space of the chassis, reduce the quality of the whole vehicle and reduce the cost. Meanwhile, the product platformization is easy to realize, and the method can be applied to various vehicle types.
Description
Technical Field
The invention relates to the technical field of new energy automobile drive-by-wire electric drive steering systems, in particular to an electric drive-by-wire steering system based on a turbine worm and a planetary reducer.
Background
In recent years, new energy scooter wire control intelligent chassis is gradually gaining attention in industry. The steering system is used as a key module of the whole chassis, and the structure and the function of the steering system are directly related to the reliability of the whole chassis. Currently, steering systems mainly include conventional hydraulic steering mechanisms and rack and pinion steering mechanisms. The hydraulic steering mechanism has large volume and high cost and is abandoned by a plurality of new energy vehicle enterprises; the rack-and-pinion steering mechanism has low bearing tonnage, cannot be applied to large tonnage vehicle types, has extremely high development cost, and is not suitable for commercial vehicles.
In addition, the existing steer-by-wire mechanism cannot lock the steering mechanism when no steering requirement exists, so that the steering mechanism is easily affected by the impact of the ground on wheels to cause mechanical failure; and the steering angle of the wheels cannot be limited, and the occurrence of vehicle faults and accidents caused by over steering is easy to occur.
Disclosure of Invention
The invention provides an electric drive-by-wire steering system based on a turbine worm and a planetary reducer, and mainly aims to overcome the defects that the existing drive-by-wire steering system is low in bearing tonnage and cannot be suitable for large-tonnage vehicle types.
The invention adopts the following technical scheme:
the utility model provides an electric drive-by-wire steering system based on turbine worm and planetary reducer, includes steering drive arrangement, knuckle arm, steering pull rod and wheel limit assembly, the knuckle arm includes two connecting portions, and every connecting portion is respectively through a steering pull rod connection one wheel limit assembly, steering drive arrangement includes steering drive motor, turbine worm mechanism and planetary reducer, turbine worm mechanism includes worm and turbine, steering drive motor's output shaft connection the worm, the side meshing of worm is connected the turbine, the center fixed mounting of turbine has planetary reducer's sun gear, planetary reducer's planet carrier output shaft is at the perpendicular face of the center line place of two connecting portions with the crossing position of knuckle arm is in order to promote the knuckle arm swing, makes two steering pull rods pulling corresponding wheel limit assembly rotate.
Further, the steering knuckle arm further comprises a rotation limiting portion, and a steering mechanical limiting mechanism is correspondingly arranged on the side face of the rotation limiting portion.
In a preferred embodiment, the rotation limiting portion is located on a vertical plane where symmetry axes of the two connecting portions are located.
In a preferred embodiment, the above-mentioned steering machinery stop mechanism includes cylinder, cylinder block, steering limiting block, direction locating pin and spring, the cylinder block is installed on whole car frame, the cylinder is fixed in on the cylinder block, the piston rod of cylinder with steering limiting block connects, steering limiting block is located the both sides of cylinder and has seted up a locating pin mounting groove respectively, and one is equipped with in every locating pin mounting groove the direction locating pin, and every direction locating pin cover is equipped with a spring, correspond on the cylinder block and be equipped with two guide slots, the end of every direction locating pin corresponds wears to establish in the guide slot.
In a preferred embodiment, a middle position locking groove is formed in the middle of one side, away from the cylinder, of the steering limiting block, a left steering limiting groove and a right steering limiting groove are respectively formed in two sides of the middle position locking groove, a left connecting channel is formed between the middle position locking groove and the left steering limiting groove, and a right connecting channel is formed between the middle position locking groove and the right steering limiting groove.
In a preferred embodiment, the planetary reducer comprises a planetary reducer casing, an upper end cover, a lower end cover, a sun gear, a planet gear, a gear ring and a planet carrier output shaft, wherein the sun gear, the planet gear and the gear ring are arranged in the planetary reducer casing, a plurality of planet gears are connected to the outer side of the sun gear in a meshed mode, a plurality of planet gears are meshed with the inner side of the gear ring, the upper end cover is fixed to the top of the planetary reducer casing, the turbine and the worm are arranged in the upper end cover, the lower end cover is fixed to the bottom of the planetary reducer casing, the planet carrier output shaft is arranged in the lower end cover, and the planet carrier output shaft is fixedly connected with the central shaft of the planet gears.
In a preferred embodiment, an angular position sensor is further mounted on the output shaft of the planet carrier.
As can be seen from the above description of the structure of the present invention, compared with the prior art, the present invention has the following advantages:
1. the steering driving motor is provided with the turbine worm mechanism and the planetary reducer as steering driving power, and the planet carrier output shaft of the planetary reducer is connected with the steering knuckle arm to push the steering knuckle arm to swing, so that the two steering pull rods pull the corresponding wheel edge assemblies to rotate. The invention not only can provide larger steering driving power, but also is suitable for larger tonnage vehicle types; and the arrangement space of the chassis can be saved, the quality of the whole vehicle is reduced, and the cost is reduced. Meanwhile, the electric drive steering configuration is easy to realize product platformization, and can be applied to various vehicle types.
2. The steering knuckle arm further comprises a rotation limiting part, the side surface of the rotation limiting part is correspondingly provided with a steering mechanical limiting mechanism, when no steering is required, the steering mechanical limiting mechanism can lock the steering driving device by limiting the rotation of the rotation limiting part so as to solve the problem of impact on wheels from the ground, the mechanical failure rate in a wire control mode is reduced, and the reliability is ensured.
3. The steering mechanical limiting mechanism provided by the invention has the functions of limiting left and right limiting corners and locking middle positions by utilizing the mechanical structure and the cylinder to work in a matched manner, and the steering mechanical limiting mechanism mainly has the limiting effect by the mechanical structure, so that the reliability of a product is further improved.
4. The invention has the safety redundancy design of software control and mechanical limit on steering function.
Drawings
Fig. 1 is a front view of the present invention.
Fig. 2 is a top view of the present invention.
Fig. 3 is a cross-sectional view of the steering drive of the present invention.
Fig. 4 is a cross-sectional view taken along the direction A-A in fig. 3.
Fig. 5 is a schematic structural view of the steering mechanical limiting mechanism of the present invention.
Fig. 6 is a schematic view of the steering system of the present invention reaching the left turn limit.
Fig. 7 is a schematic view of the steering system of the present invention reaching the right turn limit.
Detailed Description
Specific embodiments of the present invention will be described below with reference to the accompanying drawings. Numerous details are set forth in the following description in order to provide a thorough understanding of the present invention, but it will be apparent to one skilled in the art that the present invention may be practiced without these details. Well-known components, methods and procedures are not described in detail.
An electrically driven steer-by-wire system based on a worm gear and a planetary reducer, referring to fig. 1 and 2, includes a steering drive 10, a knuckle arm 20, a tie rod 30, and a wheel rim assembly 40. The knuckle arm 20 preferably has an isosceles triangle or isosceles triangle-like structure, the knuckle arm 20 includes two connection portions 21 and a rotation limiting portion 22, the two connection portions 21 are symmetrically disposed at two ends, and the rotation limiting portion 22 is located on a vertical plane where symmetry axes of the two connection portions 21 are located. Each connecting portion 21 is connected with one wheel assembly 40 through one steering pull rod 30, one end of the steering pull rod 30 is hinged with the connecting portion 21, and the other end is hinged with a steering bracket of the wheel assembly 40.
Referring to fig. 2 and 3, the steering drive device 10 includes a steering drive motor 11, a worm gear mechanism 12, and a planetary reducer 13, the worm gear mechanism 12 includes a worm 121 and a worm wheel 122, an output shaft of the steering drive motor 11 is connected to the worm 121 by a spline (coupling), and a side surface of the worm 121 is engaged with the worm wheel 122.
Referring to fig. 3 and 4, the planetary reducer 13 includes a planetary reducer housing 131, an upper end cover 132, a lower end cover 133, a sun gear 134, a planet gear 135, a ring gear 136, and a planet carrier output shaft 137, and the planetary reducer housing 131 is fixedly mounted on the whole vehicle frame 1 by bolts, so that power source assembly and fixation are realized. The planetary reducer casing 131 is internally provided with a sun gear 134, planetary gears 135 and a gear ring 136, wherein a plurality of planetary gears 135 are connected to the outer side of the sun gear 134 in a meshed manner, and the plurality of planetary gears 135 are meshed with the inner side of the gear ring 136. An upper end cover 132 is fixed on the top of the planetary reducer casing 131, the turbine 122 and the worm 121 are arranged in the upper end cover 132, and a sun gear 134 is fixedly arranged in the center of the turbine 122; the lower end cap 133 is fixed to the bottom of the planetary reducer casing 131, and a planet carrier output shaft 137 is installed in the lower end cap 133, the planet carrier output shaft 137 is fixedly connected with the central shafts of the plurality of planet gears 135, and the planet carrier output shaft 137 of the planetary reducer is connected to the knuckle arm 20. Preferably, the carrier output shaft 137 of the planetary reducer is connected at the intersection of the vertical plane where the center lines of the two connecting portions 21 are located and the knuckle arm 20 to push the knuckle arm 20 to swing.
Referring to fig. 5, a steering mechanism 50 is provided on the side of the rotation limiter 22. The steering mechanism 50 includes a cylinder 51, a cylinder block 52, a steering stopper 53, a guide positioning pin 54, and a spring 55. The cylinder seat 52 is installed on the whole vehicle frame 1, the cylinder 51 is fixed on the cylinder seat 52, a piston rod of the cylinder 51 is connected with the steering limiting block 53, two sides of the steering limiting block 53, which are located on the cylinder 51, are respectively provided with a positioning pin installation groove 530, each positioning pin installation groove 530 is internally provided with a guiding positioning pin 54, each guiding positioning pin 54 is sleeved with a spring 55, two guiding grooves 520 are correspondingly arranged on the cylinder seat 52, and the tail end of each guiding positioning pin 54 correspondingly penetrates through the guiding groove 520. The steering limiting block 53 is dynamically matched with the cylinder seat 52 through the guide positioning pin 54, and the spring 55 on the guide positioning pin 54 provides thrust to push the steering limiting block 53 outwards, so that a certain thrust is kept between the steering limiting block 53 and the knuckle arm 20.
Referring to fig. 5, a middle portion of a side of the steering limiting block 53 facing away from the cylinder 51 is provided with a middle position locking groove 531, two sides of the middle position locking groove 531 are respectively provided with a left steering limiting groove 532 and a right steering limiting groove 533, a left connecting channel 534 is provided between the middle position locking groove 531 and the left steering limiting groove 532, and a right connecting channel 535 is provided between the middle position locking groove 531 and the right steering limiting groove 533. The left and right connecting channels 534, 535 are preferably smooth surfaces to ensure that the turn limiter 22 can be smoothly snapped into the middle locking groove 531 from the left turn limiter 532 (or right turn limiter) or disengaged from the middle locking groove 531 to be snapped into the left turn limiter 532 (or right turn limiter).
Referring to fig. 5, when the rotation limiting portion 22 of the knuckle arm 20 rotates to be parallel to the symmetry axis of the two connection portions 21, the rotation limiting portion 22 is caught in the middle position locking groove 531 of the steering limiting block 53 due to the urging force of the spring 55, realizing the function of steering middle position locking. When the steering is required to be separated from the middle position locking, the steering limiting block 53 is pulled upwards under the action of the air cylinder 51, so that the rotation limiting part 22 is separated from the middle position locking groove 531 of the steering limiting block, and the middle position locking is released.
Referring to fig. 6, when the steering driving device pushes the knuckle arm 20 to rotate counterclockwise, the rotation limiting portion 22 slides along the left connecting channel 534, and after the rotation limiting portion 22 is locked into the left steering limiting groove 532, a mechanical limitation is formed, and the steering cannot continue to rotate in the left steering direction, i.e. the left steering reaches the maximum rotation angle state.
Referring to fig. 7, when the steering driving device pushes the knuckle arm 20 to rotate clockwise, the rotation limiting portion 22 slides along the right connection channel 535, and after the rotation limiting portion 22 is clamped into the right steering limiting groove 533, a mechanical limitation is formed, and the steering cannot continue to rotate in the right direction, i.e. the right steering reaches the maximum rotation angle state.
Referring to fig. 4, a rotational angle position sensor 14 is also provided on the carrier output shaft 137. The steering angle position sensor 14 is arranged on the output shaft of the planetary reduction mechanism, so that the problem that the transmission clearance of the reduction mechanism can cause a steering angle error is avoided, the actual steering angle position of the steering mechanism can be accurately identified, and the steering intention of a driver is identified by processing the steering angle position sensor 14 signal of the steering mechanism and the sensor signal of the steering wheel, so that the steering mechanism is controlled to execute corresponding actions.
When the electric drive steer-by-wire system is assembled on a non-main steering axle, the electric drive steer-by-wire system can be in a steering middle position locking state for a long time, and the locking is realized through a mechanical structure and a spring, so that the reliability of long-time work is ensured; when the device is used for a main steering axle, the contact middle position locking is realized only by short-time work of the air cylinder, the other states are realized through a mechanical structure, and the steering driving motor is provided with a turbine worm speed reducing mechanism, so that the device has a self-locking function, can cope with the problem of impact of the ground on wheels, and ensures the reliability.
The foregoing is merely illustrative of specific embodiments of the present invention, but the design concept of the present invention is not limited thereto, and any insubstantial modification of the present invention by using the design concept shall fall within the scope of the present invention.
Claims (7)
1. An electrically driven steer-by-wire system based on a worm gear and a planetary reducer is characterized in that: the steering mechanism comprises a steering driving device, a steering knuckle arm, steering pull rods and wheel edge assemblies, wherein the steering knuckle arm comprises two connecting parts, each connecting part is connected with one wheel edge assembly through one steering pull rod, the steering driving device comprises a steering driving motor, a turbine worm mechanism and a planetary reducer, the turbine worm mechanism comprises a worm and a turbine, an output shaft of the steering driving motor is connected with the worm, the side face of the worm is meshed and connected with the turbine, a sun wheel of the planetary reducer is fixedly arranged at the center of the turbine, and a planet carrier output shaft of the planetary reducer is connected with the intersection position of the steering knuckle arm at the vertical plane where the center connecting lines of the two connecting parts are so as to push the steering knuckle arm to swing, so that the two steering pull rods pull the corresponding wheel edge assemblies to rotate.
2. An electrically driven steer-by-wire system based on a worm gear and a planetary reducer as claimed in claim 1, wherein: the steering knuckle arm further comprises a rotation limiting part, and a steering mechanical limiting mechanism is correspondingly arranged on the side face of the rotation limiting part.
3. An electrically driven steer-by-wire system based on a worm gear and a planetary reducer as claimed in claim 2, wherein: the rotation limiting part is positioned on the vertical plane where the symmetry axes of the two connecting parts are positioned.
4. An electrically driven steer-by-wire system based on a worm gear and a planetary reducer as claimed in claim 2, wherein: the steering mechanical limiting mechanism comprises a cylinder, a cylinder seat, steering limiting blocks, guide locating pins and springs, wherein the cylinder seat is arranged on a frame of the whole vehicle, the cylinder is fixed on the cylinder seat, a piston rod of the cylinder is connected with the steering limiting blocks, the steering limiting blocks are located at two sides of the cylinder and are respectively provided with a locating pin mounting groove, each locating pin mounting groove is internally provided with one guide locating pin, each guide locating pin is sleeved with one spring, two guide grooves are correspondingly arranged on the cylinder seat, and the tail end of each guide locating pin is correspondingly arranged in each guide groove in a penetrating mode.
5. An electrically driven steer-by-wire system based on a worm gear and a planetary reducer as claimed in claim 4, wherein: the steering limiting block is provided with a middle position locking groove in the middle of one side, which is away from the air cylinder, of the steering limiting block, the two sides of the middle position locking groove are respectively provided with a left steering limiting groove and a right steering limiting groove, a left connecting channel is arranged between the middle position locking groove and the left steering limiting groove, and a right connecting channel is arranged between the middle position locking groove and the right steering limiting groove.
6. An electrically driven steer-by-wire system based on a worm gear and a planetary reducer as claimed in claim 1, wherein: the planetary reducer comprises a planetary reducer shell, an upper end cover, a lower end cover, a sun gear, a planet gear, a gear ring and a planet carrier output shaft, wherein the sun gear, the planet gear and the gear ring are arranged in the planetary reducer shell, a plurality of planet gears are connected to the outer side of the sun gear in a meshed mode, a plurality of planet gears are meshed with the inner side of the gear ring, the upper end cover is fixed to the top of the planetary reducer shell, the turbine and the worm are arranged in the upper end cover, the lower end cover is fixed to the bottom of the planetary reducer shell, the planet carrier output shaft is arranged in the lower end cover, and the planet carrier output shaft is fixedly connected with the central shaft of the planet gears.
7. An electrically driven steer-by-wire system based on a worm gear and a planetary reducer as claimed in claim 6, wherein: and the planet carrier output shaft is also provided with a corner position sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311702432.2A CN117401028A (en) | 2023-12-12 | 2023-12-12 | Electric drive-by-wire steering system based on turbine worm and planetary reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311702432.2A CN117401028A (en) | 2023-12-12 | 2023-12-12 | Electric drive-by-wire steering system based on turbine worm and planetary reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117401028A true CN117401028A (en) | 2024-01-16 |
Family
ID=89487417
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311702432.2A Pending CN117401028A (en) | 2023-12-12 | 2023-12-12 | Electric drive-by-wire steering system based on turbine worm and planetary reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117401028A (en) |
-
2023
- 2023-12-12 CN CN202311702432.2A patent/CN117401028A/en active Pending
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