CN218594421U - Dual-redundancy steer-by-wire system - Google Patents
Dual-redundancy steer-by-wire system Download PDFInfo
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- CN218594421U CN218594421U CN202222503034.5U CN202222503034U CN218594421U CN 218594421 U CN218594421 U CN 218594421U CN 202222503034 U CN202222503034 U CN 202222503034U CN 218594421 U CN218594421 U CN 218594421U
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Abstract
The utility model discloses a dual-redundancy steer-by-wire system, which comprises a rack and pinion transmission case extending along the left and right directions, wherein the left and right sides of the rack and pinion transmission case are respectively provided with an output end and correspondingly connected with a left pull rod and a right pull rod, the rack and pinion transmission case is provided with two input ends, and the two input ends are respectively connected with an input end electronic control mechanism and a power assisting end electronic control mechanism; the power input end electronic control mechanism extends along the extending direction of the gear rack transmission case, and an included angle is formed between the power input end electronic control mechanism and the extending direction of the gear rack transmission case. The utility model discloses set up two sets of redundant electronic systems, wherein any part in one set damages, and other systems participate in continuing normal work, and the function is more powerful than prior art, and the security level is higher than current grade.
Description
[ technical field ] A method for producing a semiconductor device
The utility model belongs to the technical field of automobile parts, concretely relates to steering system.
[ background of the invention ]
As shown in fig. 1, the structure diagram of the existing steering system includes a rack and pinion transmission box 6 extending along the left and right directions, the left and right sides of the rack and pinion transmission box are respectively provided with an output end and correspondingly connected with a pull rod 7, the rack and pinion transmission box is provided with two input ends, one of the input ends is connected with a steering wheel through a mechanical transmission structure, the input end of the mechanical transmission structure is provided with a steering wheel mechanical connection spline 1, and the output end is provided with a torque angle sensor 2; and the other end of the power-assisted end electronic control mechanism is connected with a power-assisted end electronic control mechanism, the power-assisted end electronic control mechanism comprises a power-assisted end controller 3, a power-assisted end motor 4 and a power-assisted end speed reduction transmission mechanism 5, the power-assisted end controller outputs an electric signal to the power-assisted end motor, the power-assisted end motor outputs corresponding torque and rotating speed to the power-assisted end speed reduction transmission mechanism, the torque is amplified through the power-assisted end speed reduction transmission mechanism, corresponding steering force is output through a rack-and-pinion transmission case 6, and the left pull rod 7 and the right pull rod 7 are connected with wheels to realize a steering driving function.
The existing steering system needs a steering wheel and a mechanical connection structure, and only comprises a torque angle sensor, a product controller, a motor and a speed reduction transmission mechanism (the torque angle sensor, the product controller and the motor are a set of electronic system).
When one of the components is damaged, the vehicle cannot work normally, and personal safety of passengers (the functional safety level is low) may be caused.
[ Utility model ] content
Not enough to prior art, the utility model aims to solve the technical problem that a dual-redundancy steer-by-wire system is provided, realizes redundant setting, has avoided a part to damage just can not normally work.
In order to solve the technical problem, the utility model adopts the following technical scheme:
a dual-redundancy steer-by-wire system comprises a rack-and-pinion transmission case extending along the left and right directions, wherein the left and right sides of the rack-and-pinion transmission case are respectively provided with an output end and correspondingly connected with a left pull rod and a right pull rod, the rack-and-pinion transmission case is provided with two input ends, the two input ends are respectively connected with an input end electronic control mechanism and a power assisting end electronic control mechanism,
the input end electronic control mechanism comprises an input end motor, an input end controller and an input end speed reduction transmission mechanism, wherein the input end controller is arranged at the first end of the input end motor, the input end speed reduction transmission mechanism is arranged at the second end of the input end motor, the input end controller outputs an electric signal to the input end motor, the input end motor outputs corresponding torque and rotating speed to the input end speed reduction transmission mechanism, the torque is reduced and amplified through the input end speed reduction transmission mechanism, and the output end of the input end speed reduction transmission mechanism is connected with the first input end of the rack-and-pinion transmission case;
the power assisting end electronic control mechanism comprises a power assisting end motor, a power assisting end controller and a power assisting end speed reduction transmission mechanism, wherein the power assisting end controller is arranged at the first end of the power assisting end motor, the power assisting end speed reduction transmission mechanism is arranged at the second end of the power assisting end motor, the power assisting end controller outputs electric signals to the power assisting end motor, the power assisting end motor outputs corresponding torque and rotating speed to the power assisting end speed reduction transmission mechanism, the torque is reduced and amplified through the power assisting end speed reduction transmission mechanism, and the output end of the power assisting end speed reduction transmission mechanism is connected with the second input end of the rack-and-pinion transmission box;
the power input end electronic control mechanism extends along the extending direction of the gear rack transmission case, and an included angle is formed between the extending direction of the power input end electronic control mechanism and the extending direction of the gear rack transmission case.
Preferably, the first ends of the power input end electronic control mechanism and the power assisting end electronic control mechanism are distributed at intervals in the circumferential direction of the rack-and-pinion transmission case.
Preferably, the input end electronic control mechanism is further provided with a torque angle sensor for detecting the output torque of the input end speed reduction transmission mechanism.
Preferably, the electronic control mechanism at the power input end and the electronic control mechanism at the power assisting end are redundant with each other.
Preferably, the reduction transmission mechanism is a worm and gear reduction mechanism.
The utility model adopts the above technical scheme, following beneficial effect has:
the utility model discloses set up two sets of redundant electronic systems (two sets of electronic systems promptly, the income power end electronic control mechanism is for redundant each other with helping hand end electronic control mechanism), wherein any one part in one set damages, and other systems participate in continuation normal work, and function comparison prior art is more powerful, and the security level is higher than current grade.
The utility model discloses input end cancellation mechanical connection changes redundant automatically controlled drive into, has reduced driver and crew's operation.
These features and advantages of the present invention will be disclosed in more detail in the following detailed description and the accompanying drawings.
[ description of the drawings ]
The utility model is further described with the following drawings:
FIG. 1 is a schematic diagram of a steering system according to the prior art;
in the figure: the steering wheel mechanical connection spline comprises a steering wheel mechanical connection spline 1, a torque angle sensor 2, a power-assisted end controller 3, a power-assisted end motor 4, a power-assisted end speed reduction transmission mechanism 5, a gear rack transmission case 6 and a pull rod 7;
fig. 2 is a schematic structural diagram of the dual-redundancy steer-by-wire system of the present invention;
in the figure: the device comprises a gear rack transmission case 6, a pull rod 7, a torque angle sensor 8, an input end speed reduction transmission mechanism 9, an input end motor 10, an input end controller 11, an assistance end controller 12, an assistance end motor 13 and an assistance end speed reduction transmission mechanism 14;
FIG. 3 is a first schematic structural diagram of the input end speed reduction transmission mechanism and the power end speed reduction transmission mechanism;
FIG. 4 is a second schematic structural diagram of the input end reduction transmission mechanism and the power end reduction transmission mechanism;
FIG. 5 is a schematic diagram of an entry end motor/assist end motor and an entry end controller/assist end controller;
FIG. 6 is a schematic view of the connection between the input end electronic control mechanism and the rack and pinion transmission case;
fig. 7 is a schematic view of the connection between the power-assisted electronic control mechanism and the gear-rack transmission case.
[ detailed description ] embodiments
The technical solutions of the embodiments of the present invention are explained and explained below with reference to the drawings of the embodiments of the present invention, but the embodiments described below are only preferred embodiments of the present invention, and not all embodiments. Based on the embodiments in the embodiment, other embodiments obtained by those skilled in the art without any creative work belong to the protection scope of the present invention.
It will be appreciated by those skilled in the art that features from the examples and embodiments described below may be combined with each other without conflict.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Words such as "upper," "lower," "left," "right," and the like, which indicate orientation or positional relationship, are used solely to facilitate description of the invention and to simplify description, and do not indicate or imply that the referenced devices/elements must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
In the present application, unless expressly stated or limited otherwise, the recitation of a first feature "on" or "under" a second feature may include the recitation of the first and second features being in direct contact, and may also include the recitation of the first and second features not being in direct contact, but being in contact with another feature between them. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. "beneath," "under" and "beneath" a first feature includes the first feature being directly beneath and obliquely beneath the second feature, or simply indicating that the first feature is at a lesser elevation than the second feature.
Referring to fig. 2, the dual-redundancy steer-by-wire system comprises a rack-and-pinion transmission case 6 extending in the left-right direction, wherein the left side and the right side of the rack-and-pinion transmission case 6 are respectively provided with an output end and correspondingly connected with a connecting rod 7, namely a left pull rod and a right pull rod, the rack-and-pinion transmission case 6 is provided with two input ends, and the two input ends are respectively connected with an input end electronic control mechanism and a power assisting end electronic control mechanism.
Referring to fig. 6 again, the input end electronic control mechanism includes an input end motor 10, an input end controller 11 disposed at a first end of the input end motor, and an input end speed reduction transmission mechanism 9 disposed at a second end of the input end motor, wherein the input end controller outputs an electrical signal to the input end motor, the input end motor outputs a corresponding torque and a corresponding rotation speed to the input end speed reduction transmission mechanism, the input end speed reduction transmission mechanism reduces the speed and amplifies the torque, and an output end of the input end speed reduction transmission mechanism is connected with a first input end of the rack-and-pinion transmission case.
Referring to fig. 7 again, the power-assisted end electronic control mechanism includes a power-assisted end motor 13, a power-assisted end controller 12 disposed at a first end of the power-assisted end motor, and a power-assisted end reduction transmission mechanism 14 disposed at a second end of the power-assisted end motor, wherein the power-assisted end controller outputs an electric signal to the power-assisted end motor, the power-assisted end motor outputs a corresponding torque and a corresponding rotation speed to the power-assisted end reduction transmission mechanism, the power-assisted end reduction transmission mechanism reduces the speed and amplifies the torque, and an output end of the power-assisted end reduction transmission mechanism is connected to a second input end of the rack-and-pinion transmission box.
Due to space constraints, the conventional arrangement of the power input end electronic control mechanism and the power assisting end electronic control mechanism may cause interference. Therefore, the power input end electronic control mechanism extends along the extending direction of the gear rack transmission case, and an included angle is formed between the extending direction of the power input end electronic control mechanism and the extending direction of the gear rack transmission case. And the first ends of the power input end electronic control mechanism and the power assisting end electronic control mechanism are distributed at intervals in the circumferential direction of the gear rack transmission case. Therefore, the power input end electronic control mechanism and the power assisting end electronic control mechanism are partially overlapped in the left-right direction, the length in the left-right direction can be reduced, and meanwhile, the first ends of the power input end electronic control mechanism and the power assisting end electronic control mechanism are distributed at intervals in the circumferential direction of the gear rack transmission case and cannot interfere.
In addition, referring to the existing steering system, the input end electronic control mechanism is further provided with a torque angle sensor 2 for detecting the output torque of the input end speed reduction transmission mechanism.
It can be understood that the power input end electronic control mechanism and the power assisting end electronic control mechanism are redundant, that is, the power input end motor, the power input end controller, the power assisting end motor and the power assisting end controller are redundant.
The utility model discloses set up two sets of redundant motors, two sets of redundant controllers, two sets of speed reduction drive mechanism, one set of moment of torsion angle sensor has cancelled steering wheel mechanical connection mechanism. Referring to the existing control principle, according to external input information, the input end controller 11 and the power end controller 12 (the external information can be visual information, road surface feedback information, vehicle starting running information, vehicle speed information, other domain controller information of the vehicle and the like), the input end controller 11 and the power end controller 12 calculate and convert output electric signals to the input end motor 10 and the power end motor 13, the motors rotate due to voltage and current to output corresponding torque and rotating speed, the torque is amplified through the input end speed reduction transmission mechanism 9 and the power end speed reduction transmission mechanism 14, corresponding steering force is output through the rack and pinion transmission case 6, and the left pull rod 7 and the right pull rod 7 are connected with wheels to realize the steering running function.
The utility model discloses redundant motor, redundant controller, the moment of torsion angle sensor of configuration all are ripe products, the common technique of redundant technical term present electronic system, redundancy itself is with two sets of systems, and any part in one of them set damages, and other systems participate in continuation normal work, and function safety level is higher than current grade. The utility model discloses input end cancellation mechanical connection changes redundant automatically controlled drive into, has reduced driver and crew's operation, realizes that unmanned driving turns to and goes.
The force input end and the force assisting end can work separately and simultaneously, and any one of the two ends fails and the other end replaces the other end to work continuously.
The redundant motor and the redundant controller are double combined systems, one of the systems is damaged, and the other system is used for replacing work, and the highest level of functional safety is realized by combining the input end and the output of the power assisting end.
Assuming that the power assisting end fails, the input end can act as a larger power assisting output, and vice versa.
If one part of one set of the redundant motors at the power assisting end fails, the other set of the redundant motors start to work, and vice versa.
Assuming that one component of one set of the redundant controllers at the power assisting end fails, the other set of the redundant controllers start to work, and vice versa.
The redundancy control principle described above belongs to the prior art and is not described herein again.
As shown in fig. 3 and 4, the input-end reduction gear mechanism 9 and the booster-end reduction gear mechanism 14 have the same structure, and both adopt worm and gear reduction mechanisms. The motor inputs torque to the speed reduction transmission mechanism, and the corresponding sufficient torque can be provided by the product through conversion to realize driving and steering.
As shown in fig. 5, the input end motor 10 and the booster end motor 13 have the same structure, and the input end controller 11 and the booster end controller 12 have the same structure. The motor and the controller are provided with two groups of working systems, and each group of working systems can work independently and simultaneously.
The utility model discloses input end cancellation mechanical connection mechanism input changes into redundant automatically controlled drive, can realize the drive-by-wire intelligent operation, has reduced driver and crew's operation, the utility model discloses functional safety level is high to can realize that unmanned driving turns to and goes in the future.
The utility model discloses use two redundant motors, two redundant controllers, two sets of reduction gears integrated design are made, guarantee the output that closes more.
The above description is only for the embodiments of the present invention, but the scope of the present invention is not limited thereto, and those skilled in the art should understand that the present invention includes but is not limited to the description in the above embodiments and the accompanying drawings. Any modification that does not depart from the functional and structural principles of the invention is intended to be included within the scope of the claims.
Claims (5)
1. A dual-redundancy steer-by-wire system comprises a gear rack transmission case extending along the left and right directions, the left and right sides of the gear rack transmission case are respectively provided with an output end and correspondingly connected with a left pull rod and a right pull rod, the gear rack transmission case is provided with two input ends, the dual-redundancy steer-by-wire system is characterized in that the two input ends are respectively connected with an input end electronic control mechanism and a power end electronic control mechanism,
the input end electronic control mechanism comprises an input end motor, an input end controller and an input end speed reduction transmission mechanism, wherein the input end controller is arranged at the first end of the input end motor, the input end speed reduction transmission mechanism is arranged at the second end of the input end motor, the input end controller outputs an electric signal to the input end motor, the input end motor outputs corresponding torque and rotating speed to the input end speed reduction transmission mechanism, the torque is reduced and amplified through the input end speed reduction transmission mechanism, and the output end of the input end speed reduction transmission mechanism is connected with the first input end of the rack-and-pinion transmission case;
the power assisting end electronic control mechanism comprises a power assisting end motor, a power assisting end controller arranged at the first end of the power assisting end motor and a power assisting end speed reducing transmission mechanism arranged at the second end of the power assisting end motor, wherein the power assisting end controller outputs an electric signal to the power assisting end motor, the power assisting end motor outputs corresponding torque and rotating speed to the power assisting end speed reducing transmission mechanism, the torque is reduced and amplified through the power assisting end speed reducing transmission mechanism, and the output end of the power assisting end speed reducing transmission mechanism is connected with the second input end of the rack-and-pinion transmission box;
the power input end electronic control mechanism extends along the extending direction of the gear rack transmission case, and an included angle is formed between the extending direction of the power input end electronic control mechanism and the extending direction of the gear rack transmission case.
2. A dual redundant steer-by-wire system of claim 1, wherein said first ends of said power-in end electronic control mechanism and said power-assist end electronic control mechanism are spaced circumferentially of said rack and pinion gear box.
3. The dual-redundancy steer-by-wire system of claim 1, wherein said input-end electronic control mechanism is further provided with a torque angle sensor for detecting the output torque of said input-end reduction transmission mechanism.
4. The dual-redundancy steer-by-wire system of claim 1, wherein said input-side electronic control mechanism and said power-side electronic control mechanism are redundant.
5. A dual redundant steer-by-wire system of claim 1, wherein said reduction gearing is a worm gear reduction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222503034.5U CN218594421U (en) | 2022-09-20 | 2022-09-20 | Dual-redundancy steer-by-wire system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222503034.5U CN218594421U (en) | 2022-09-20 | 2022-09-20 | Dual-redundancy steer-by-wire system |
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| CN218594421U true CN218594421U (en) | 2023-03-10 |
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| CN202222503034.5U Active CN218594421U (en) | 2022-09-20 | 2022-09-20 | Dual-redundancy steer-by-wire system |
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| CN (1) | CN218594421U (en) |
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