CN218750980U - Wire-controlled steering lower actuator mechanism, wire-controlled steering system and vehicle - Google Patents
Wire-controlled steering lower actuator mechanism, wire-controlled steering system and vehicle Download PDFInfo
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- CN218750980U CN218750980U CN202222958849.2U CN202222958849U CN218750980U CN 218750980 U CN218750980 U CN 218750980U CN 202222958849 U CN202222958849 U CN 202222958849U CN 218750980 U CN218750980 U CN 218750980U
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Abstract
The disclosure relates to the technical field of vehicles, in particular to a wire-controlled steering lower actuator mechanism, a wire-controlled steering system and a vehicle. The wire-controlled steering lower actuator mechanism provided by the present disclosure comprises a first driving mechanism and a second driving mechanism; the first driving mechanism comprises a first driving piece, a first worm wheel and a first worm assembly, the first worm wheel is meshed with the first worm assembly, and the first driving piece drives the first worm wheel; the second driving mechanism comprises a second driving piece, a second worm wheel and a second worm assembly, the second worm wheel is meshed with the second worm assembly, and the second driving piece drives the second worm wheel; the first worm wheel and the second worm wheel are mutually stacked and coaxially arranged on the driving gear shaft, so that the first worm wheel and the second worm wheel synchronously rotate in the same direction, and the safety performance of the system is improved.
Description
Technical Field
The disclosure relates to the technical field of vehicles, in particular to a wire-controlled steering lower actuator mechanism, a wire-controlled steering system and a vehicle.
Background
A steer-by-wire lower actuator (RWA) is a key component of a steer-by-wire technical scheme, and a steer-by-wire system cancels mechanical connection on a traditional steering system, so that the steering transmission ratio is not limited by the traditional mechanical connection, the steering transmission ratio can be adjusted under working conditions of different driving modes, different vehicle speeds and the like, and the control performance of the whole vehicle can be better.
Since steer-by-wire systems eliminate the mechanical connection of the intermediate shaft on conventional steering systems, higher demands are placed on the functional safety of RWA systems. At present, a controller (ECU) of a redundant system of most RWA systems still adopts a common-cavity structure, a driving unit adopts a double-winding 6-phase motor, the system can still ensure to provide at least 50% of assistance under single-point failure, but once the driving unit is damaged due to external impact and the like, the system completely loses assistance, and the system can cause steering failure and serious accidents.
Disclosure of Invention
In order to solve the technical problem, the present disclosure provides a steer-by-wire lower actuator mechanism, a steer-by-wire system and a vehicle.
A first aspect of the present disclosure provides a line control steering lower actuator mechanism, including: a first drive mechanism and a second drive mechanism;
the first driving mechanisms comprise first driving pieces, first worm wheels and first worm assemblies, the first worm wheels are meshed with the first worm assemblies, and the first driving pieces drive the first worm wheels;
the second driving mechanisms comprise second driving pieces, second worm wheels and second worm assemblies, the second worm wheels are meshed with the second worm assemblies, and the second driving pieces drive the second worm wheels;
the first worm wheel and the second worm wheel are mutually stacked and coaxially arranged on the driving gear shaft, so that the first worm wheel and the second worm wheel synchronously rotate in the same direction.
Furthermore, the first worm assembly and the second worm assembly are respectively arranged on two sides of the driving gear shaft, and the rotating direction of the first worm assembly is opposite to that of the second worm assembly.
Furthermore, the wire control steering lower actuator mechanism further comprises a limiting piece, and the limiting piece is sleeved on the driving gear shaft and is positioned on one side, far away from the second worm gear, of the first worm gear.
Furthermore, the wire-controlled steering lower actuator mechanism further comprises a detection piece for detecting the rotation angle of the driving gear shaft, and the detection piece is arranged at the end part of the driving gear shaft.
Further, the detecting part comprises a shell, a PCB, a driving gear and a driven gear,
the shell is provided with an inner ring sleeve, the inner ring sleeve is sleeved on the driving gear shaft, the driving gear and the inner ring sleeve are of an integrated structure, the driven gear is arranged in the shell and is meshed with the driving gear;
the PCB is provided with a sensor;
the driven gear is provided with a magnet, and the sensor is arranged corresponding to the magnet.
Furthermore, the wire-controlled steering lower actuator mechanism also comprises a connecting wire, and a first connecting part and a second connecting part are respectively arranged at two ends of the connecting wire;
the first connection portion comprises a first joint;
one of the shell and the first connector is provided with a clamping groove, the other of the shell and the first connector is provided with a bulge, and the bulge is clamped with the clamping groove;
the second connecting portion includes a second joint and a third joint, one of the second joint and the third joint is connected with the first driver, and the other of the second joint and the third joint is connected with the second driver.
Furthermore, the wire-controlled steering lower actuator mechanism further comprises a steering controller, and the detection piece, the first driving piece and the second driving piece are respectively connected with the steering controller.
A second aspect of the present disclosure provides a steer-by-wire system including the steer-by-wire lower actuator mechanism of the first aspect.
A third aspect of the present disclosure provides a vehicle including the steer-by-wire lower actuator mechanism of the first aspect, or the steer-by-wire system of the second aspect.
Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:
the lower actuator mechanism for steer-by-wire provided by the embodiment of the disclosure comprises the first driving mechanism and the second driving mechanism, and even if one driving mechanism is damaged due to external impact and the like, the other driving mechanism can still provide certain assistance force, so that the controllability of a system is ensured. The first driving mechanisms comprise first driving pieces, first worm wheels and first worm assemblies, the first worm wheels are meshed with the first worm assemblies, and the first driving pieces drive the first worm wheels; the second driving mechanisms comprise second driving pieces, second worm wheels and second worm assemblies, the second worm wheels are meshed with the second worm assemblies, and the second driving pieces drive the second worm wheels; wherein, first worm wheel and second worm wheel range upon range of each other and coaxial setting in the drive gear axle to make first worm wheel and the synchronous syntropy of second worm wheel rotatory. The wire-controlled steering lower actuator mechanism provided by the embodiment of the disclosure is driven by the first driving mechanism and the second driving mechanism in a dual-drive manner, so that a RWA system can provide larger power assistance, the full redundancy of the system is realized, and the safety performance of the system is improved. The first worm wheel and the second worm wheel are coaxially assembled on the driving gear shaft, the first driving piece and the first worm drive the first worm wheel, and the second driving piece and the second worm drive the second worm wheel, namely the first driving piece and the second driving piece can simultaneously drive the driving gear shaft, namely double assistance force relative to a single worm gear system can be provided. And first worm wheel and the coaxial assembly of second worm wheel are on drive gear shaft, make the structure compacter, and part quantity is less, and weight is lighter, and occupation space is littleer, with low costs, the redundant degree of system is high, the security is better.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
FIG. 1 is an exploded view of a steer-by-wire lower actuator mechanism according to an embodiment of the present disclosure;
FIG. 2 is an exploded view of a portion of a steer-by-wire lower actuator mechanism according to an embodiment of the present disclosure;
FIG. 3 is a schematic view of a portion of a steer-by-wire lower actuator mechanism according to an embodiment of the present disclosure;
fig. 4 is a cross-sectional view of a steer-by-wire lower actuator mechanism according to an embodiment of the disclosure:
FIG. 5 is a schematic view of another angle configuration of a steer-by-wire lower actuator mechanism according to an embodiment of the present disclosure;
fig. 6 is an exploded view of an angle sensor in a steer-by-wire lower actuator mechanism according to an embodiment of the present disclosure.
Reference numerals: 1. a first drive mechanism; 11. a first driving member; 12. a first worm gear; 13. a first worm assembly; 2. a second drive mechanism; 21. a second driving member; 22. a second worm gear; 23. a second worm assembly; 3. a drive gear shaft; 31. a limiting member; 4. a detection member; 41. a housing; 411. a card slot; 42. a driving gear; 43. a driven gear; 44. a PCB board; 45. a cover; 46. a support; 5. a connecting wire; 51. a first joint; 511. a protrusion; 52. a second joint; 53. a third joint; 61. a bolt; 62. a servo cover; 63. a housing; 64. a ball bearing.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.
Steer-by-wire actuator (RWA): receiving a torque and angle signal which is transmitted by an upper actuator (HWA) and acts on a steering Wheel by a driver, and executing corresponding actions to realize the driving intention of the driver; meanwhile, the vibration and the force transmitted from the wheels are converted into signals and transmitted to the upper actuator, and the signals are fed back to a steering actuating mechanism of a driver through the upper actuator.
The steer-by-wire lower actuator is generally composed of an inner and outer tie rod, a dust cover, a steering gear housing 63, a sensor harness, a drive unit, a reduction mechanism, and the like. When a controller of the driving unit receives a torque and a steering angle signal from the upper actuator HWA of the steer-by-wire, a motor of the driving unit provides corresponding driving torque, and the motor torque is amplified by the speed reducing mechanism and then is acted on the rack by the motor assistance through the rack-and-pinion mechanism to push the gear to rotate by a corresponding angle.
As shown in fig. 1, 2, 3, 4, 5 and 6, the steer-by-wire lower actuator mechanism provided by the embodiment of the present disclosure includes a first driving mechanism 1 and a second driving mechanism 2, even if one driving mechanism is damaged due to external impact or the like, the other driving mechanism can still provide a certain assistance force, and the system is ensured to be controllable. The first driving mechanisms 1 respectively comprise a first driving piece 11, a first worm wheel 12 and a first worm assembly 13, the first worm wheel 12 is meshed with the first worm assembly 13, and the first driving piece 11 drives the first worm wheel 12; the second driving mechanisms 2 respectively comprise a second driving piece 21, a second worm wheel 22 and a second worm assembly 23, the second worm wheel 22 is meshed with the second worm assembly 23, and the second driving piece 21 drives the second worm wheel 22; the first worm wheel 12 and the second worm wheel 22 are stacked on each other and coaxially disposed on the drive gear shaft 3, so that the first worm wheel 12 and the second worm wheel 22 synchronously rotate in the same direction. The wire-controlled steering lower actuator mechanism provided by the embodiment of the disclosure can ensure that the RWA system can provide larger power assistance through double drive formed by the first driving mechanism 1 and the second driving mechanism 2, and simultaneously realizes full redundancy of the system and improves the safety performance of the system. The first worm wheel 12 and the second worm wheel 22 are coaxially assembled on the driving gear shaft 3, the first driving member 11 and the first worm drive the first worm wheel 12, and the second driving member 21 and the second worm drive the second worm wheel 22, i.e. the first driving member 11 and the second driving member 21 can drive the driving gear shaft 3 simultaneously, i.e. double assistance force relative to a single worm gear system can be provided. And first worm wheel 12 and second worm wheel 22 coaxial assembly make the structure compacter on drive gear shaft 3, and the part quantity is less, and weight is lighter, and occupation space is littleer, with low costs, the redundant degree of system is high, the security is better.
In some specific embodiments, the first worm assembly 13 and the second worm assembly 23 are respectively disposed on two sides of the driving gear shaft 3, and the rotation direction of the first worm assembly 13 is opposite to that of the second worm assembly 23. Because of the limitation of the torque of a single worm wheel, a single worm wheel system cannot provide larger assistance, the first worm assembly 13 and the second worm assembly 23 of the embodiment of the invention can provide double assistance of the single worm wheel system, and in addition, the first worm wheel 12 and the second worm wheel 22 are designed coaxially, so that the structure is more compact, the number of parts is less, the weight is lighter, and the occupied space is smaller; the double-driving piece and the double-worm and gear assembly really realize the full redundancy of the system, and when certain hardware fails due to external damage, the system can still be controlled.
In some specific embodiments, the steer-by-wire lower actuator mechanism further includes a limiting member 31, and the limiting member 31 is sleeved on the driving gear shaft 3 and located between the first worm wheel 12 and the second worm wheel 22, and can limit the first worm wheel 12 and the second worm wheel 22. Optionally, the limiting member 31 may be a snap spring, or may be a limiting protrusion 511. Preferably, the limiting member 31 is a snap spring. Optionally, the first worm wheel 12 and the second worm wheel 22 are coaxially mounted on the driving gear shaft 3 in a spline connection manner, and the first worm wheel 12 and the second worm wheel 22 are axially limited on the driving gear shaft 3 by using a snap spring.
In some specific embodiments, the steer-by-wire lower actuator mechanism further includes a detecting member 4 for detecting a rotation angle of the drive gear shaft 3, and the detecting member 4 is disposed at an end portion of the drive gear shaft 3. The detection piece 4 is used for detecting the rotating angle of the driving gear shaft 3, and the displacement and the speed of the rack movement can be calculated through the transmission ratio of the gear-rack transmission pair. The detection piece 4 is axially arranged on the driving gear shaft 3, the structure is compact, the occupied space is small, a small gear is not required to be independently adopted to drive the driving wheel of the angle sensor, the number of parts can be reduced, the rack does not need to be additionally processed with tooth shapes, and the cost and the weight of the system can be reduced.
The detecting member 4 may be an angle sensor. The angle sensor is used for measuring the rotation angle of the gear and calculating the position of the rack. Specifically, an angle sensor measures the actual rotating angle of the driving gear, the actual stroke of the rack is calculated and transmitted to an ECU of the driving unit through a wire harness, and the actual stroke of the rack and the target stroke are calibrated to form closed-loop control. The driving unit ECU can send out an angle signal to an upper controller for the related control of the whole vehicle.
When the detecting member 4 is an angle sensor, the inner ring of the angle sensor is made of metal and the shaft of the driving gear 42 is manufactured by injection molding. During assembly, the metal sleeve of the inner ring of the angle sensor is riveted at a reserved concave point at the tail end of the driving gear shaft 3 in a riveting mode.
In some embodiments, the detecting member 4 includes a housing 41, a PCB 44, a driving gear 42 and a driven gear 43 engaged with the driving gear 42, the housing 41 is provided with an inner sleeve, the inner sleeve is sleeved on the driving gear shaft 3, and the driving gear 42 and the inner sleeve are an integrated structure. The driven gear 43 is arranged in the shell 41, the driven gear 43 is meshed with the driving gear 42, and after the driving gear is sleeved on the inner ring sleeve, the driving gear is riveted and fixed at the small hole of the driving gear shaft 3 by a rivet head. Specifically, the upper part of the driving gear shaft 3 is assembled with a first worm gear 12 and a second worm gear 22 in a spline connection mode, and the end faces of the first worm gear 12 and the second worm gear 22 limit axial movement by using snap springs. 3 afterbody axial processing 3 apertures of drive gear axle for installation detects 4, and 4 inner circle metal sleeves of detection piece and action wheel are moulded plastics as an organic wholely, and the inner circle sleeve pipe is sheathe in drive gear axle 3 the back, and it is fixed with the riveting of die in the aperture department of drive gear axle 3.
In some embodiments, the detecting member 4 includes a PCB 44, the PCB 44 is provided with an angle sensor, the driven gear 43 is provided with a magnet, and the angle sensor is disposed corresponding to the magnet. The position of the angle sensor is opposite to the magnet, and the rotation data of the driving gear shaft 3 can be obtained.
In some specific embodiments, the steer-by-wire lower actuator mechanism further comprises a connecting wire 5, and a first connecting part and a second connecting part are respectively arranged at two ends of the connecting wire 5; the detecting member 4 includes a housing 41, and the first connecting portion includes a first joint 51; one of the housing 41 and the first connector 51 is provided with a catching groove 411, and the other of the housing 41 and the first connector 51 is provided with a protrusion 511, and the protrusion 511 is caught in the catching groove 411. Optionally, the outer ring of the housing 41 of the angle sensor is provided with a slot 411, and the protruding structure of the first connecting portion cooperates with the slot 411 to limit the rotation of the angle sensor along the axis. The second connecting portion includes a second joint 52 and a third joint 53, one of the second joint 52 and the third joint 53 is connected to the first driver 11, and the other of the second joint 52 and the third joint 53 is connected to the second driver 21.
The first worm assembly 13 is press fit into the servo housing 63 and then loaded into the first ball bearing 64 and the first worm gear 12 drive gear sub-assembly. And then installing a first driving part 11, wherein the first driving part 11 can be a first motor, a gear ring is respectively arranged on an output shaft of the first motor and the first worm, the first motor and the first worm are connected in a gear sleeve mode to transmit torque, the first motor is connected to a servo housing 63 through two bolts 61, and the bolts 61 can be M8 bolts 61. The second worm assembly 23 is press-fitted into the servo housing 63 and then loaded into the second ball bearing 64 and the second worm gear 22 drive gear sub-assembly. And then a second driving part 21 is installed, the second driving part 21 can be a second motor, a gear ring is respectively installed on an output shaft of the second motor and the second worm, the second motor and the second worm are connected in a gear sleeve mode to transmit torque, the second motor is connected to a servo shell 63 through two bolts 61, and the bolts 61 can be M8 bolts 61. Then, the second connection portion of the connection line 5, i.e., the sensor end of the sensor harness, is inserted into the servo housing 63, and at the same time, the first connection portion of the connection line 5, i.e., the stopper of the protrusion 511 on the harness connector, is inserted into the slot 411 of the angle sensor to restrict the axial rotation of the angle sensor housing 63, and then the second connection portion of the connection line 5, i.e., the plug of the ECU end of the harness, is inserted into the plugs of the first driving member 11 and the second driving member 21, respectively. Finally, the servo cap 62 is installed.
When the first driving piece 11 and the second driving piece 21 receive the torque and the angle signal sent by the CAN assembly, the torque required to be output by the respective motor is calculated, the respective motor is driven to operate, the torque of the first driving piece 11 and the torque of the second driving piece 21 are transmitted to the first worm component 13 and the second worm component 23 through the gear sleeve, and the first worm component 13 and the second worm component 23 are respectively distributed on two sides of the worm wheel. The first and second worm assemblies 13 and 23 each include a worm, a bearing bushing, a ball bearing, a pendulum bearing, a gear hub, and a locking screw. The rotation directions of the two worms in the first worm assembly 13 and the second worm assembly 23 are opposite, and the first worm wheel 12 and the second worm wheel 22 are respectively driven to rotate. The first worm wheel 12 and the second worm wheel 22 generate torque in the same direction and simultaneously drive the driving gear shaft 3 to rotate, the torque on the gear is transmitted to the rack through meshing of the gear and the rack, and the rack drives the steering pull rod to pull the wheel, so that the steering function is realized. Meanwhile, the driving gear shaft 3 can drive the angle sensor driving wheel to rotate when rotating, the driving wheel drives the two driven wheels to rotate, and the magnet on the driven wheels and the sensor on the PCB 44 interact to output angle signals to the ECU of the driving unit through a wiring harness.
In some specific embodiments, the steer-by-wire lower actuator mechanism further comprises a steering controller, and the detecting member 4, the first driving member 11 and the second driving member 21 are respectively connected with the steering controller. The detection piece 4 is used for detecting the rotation angle of the driving gear shaft 3 and transmitting the detected information to the steering controller, and the steering controller drives the driving gear shaft 3 to rotate by driving the first driving piece 11 and the second driving piece.
In summary, the EPS system based on the rack and pinion type in the embodiment of the present disclosure cancels the input shaft and the steering gear, the driving unit adopts the design of the double driving element, the double worm and the double worm wheel, and the angle sensor is integrated in the servo housing 63 of the driving unit. The complete redundancy of the system can be ensured, and even if one driving mechanism is damaged due to external impact and the like, the other driving mechanism can still provide certain assistance to ensure the controllability of the system; the double driving pieces are positioned at the same end of the rack, and the driving pieces and the axis of the rack are arranged in parallel, so that the structure is compact, and the occupied space is small; the speed reducing mechanism adopts a double-worm gear structure, double worm gears are parallelly and coaxially assembled on the driving gear shaft 3, and each worm is independently matched with a corresponding worm gear, so that the defect of insufficient bearing capacity of a single worm gear can be overcome, a driving unit can be ensured to provide larger torque, and larger assistance is provided; the angle sensor is of a planetary gear type structure, the driving gear 42 is fixed on the driving gear shaft 3 in a riveting manner, and the two driven gears 43 rotate along with the driving gear 42. Each driven gear 43 is attached with a magnet, a rotation angle is measured through a Hall sensor on the PCB 44, two paths of angle signals are output, and the two gears output 4 paths of angle signals together, so that the redundancy of the angle signals is realized. The sensor is integrated in the servo shell 63 of the driving unit, so that the structure is compact, and the installation is simple and convenient.
The steer-by-wire system provided by the embodiment of the disclosure comprises the steer-by-wire lower actuator mechanism provided by the embodiment of the disclosure. The vehicle provided by the embodiment of the disclosure comprises the steer-by-wire lower actuator mechanism provided by the embodiment of the disclosure, or comprises the steer-by-wire system provided by the embodiment of the disclosure. Since the vehicle or steer-by-wire system provided by the embodiment of the present disclosure has the same advantages as the steer-by-wire lower actuator mechanism provided by the embodiment of the present disclosure, the details are not repeated herein.
It is noted that, in this document, relational terms such as "first" and "second," and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A line control turns to executor mechanism down, its characterized in that includes: a first drive mechanism and a second drive mechanism;
the first driving mechanism comprises a first driving piece, a first worm wheel and a first worm assembly, the first worm wheel is meshed with the first worm assembly, and the first driving piece drives the first worm wheel;
the second driving mechanism comprises a second driving piece, a second worm wheel and a second worm assembly, the second worm wheel is meshed with the second worm assembly, and the second driving piece drives the second worm wheel;
the first worm wheel and the second worm wheel are mutually stacked and coaxially arranged on the driving gear shaft, so that the first worm wheel and the second worm wheel synchronously rotate in the same direction.
2. The steer-by-wire lower actuator mechanism of claim 1, wherein said first and second worm assemblies are disposed on opposite sides of said drive gear shaft, respectively, said first and second worm assemblies having opposite hand rotations.
3. The steer-by-wire lower actuator mechanism of claim 1, further comprising a limit member sleeved on the drive gear shaft and located on a side of the first worm gear away from the second worm gear.
4. A steer-by-wire lower actuator mechanism according to claim 1, further comprising a detector for detecting a rotational angle of said drive gear shaft, said detector being disposed at an end of said drive gear shaft.
5. The steer-by-wire lower actuator mechanism of claim 4, wherein said detector comprises a housing, a PCB board, a drive gear and a driven gear,
the shell is provided with an inner ring sleeve, the inner ring sleeve is sleeved on the driving gear shaft, the driving gear and the inner ring sleeve are of an integrated structure, the driven gear is arranged in the shell and is meshed with the driving gear;
the PCB is provided with a sensor;
the driven gear is provided with a magnet, and the sensor is arranged corresponding to the magnet.
6. The steer-by-wire lower actuator mechanism according to claim 5, further comprising a connecting wire, wherein a first connecting portion and a second connecting portion are respectively provided at both ends of the connecting wire;
the first connection portion comprises a first joint;
one of the shell and the first connector is provided with a clamping groove, the other of the shell and the first connector is provided with a bulge, and the bulge is clamped with the clamping groove;
the second connecting portion includes a second joint and a third joint, one of the second joint and the third joint is connected with the first driver, and the other of the second joint and the third joint is connected with the second driver.
7. The steer-by-wire lower actuator mechanism of claim 4, further comprising a steering controller, wherein the detector, the first driver and the second driver are each connected to the steering controller.
8. A steer-by-wire system comprising the steer-by-wire lower actuator mechanism of any one of claims 1 to 7.
9. A vehicle comprising a steer-by-wire lower actuator mechanism of any one of claims 1 to 7, or comprising a steer-by-wire system of claim 8.
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CN202222958849.2U CN218750980U (en) | 2022-11-07 | 2022-11-07 | Wire-controlled steering lower actuator mechanism, wire-controlled steering system and vehicle |
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CN202222958849.2U CN218750980U (en) | 2022-11-07 | 2022-11-07 | Wire-controlled steering lower actuator mechanism, wire-controlled steering system and vehicle |
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CN202222958849.2U Active CN218750980U (en) | 2022-11-07 | 2022-11-07 | Wire-controlled steering lower actuator mechanism, wire-controlled steering system and vehicle |
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