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 PDF

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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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worm
gear
wire
driving
steer
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杨兆永
潘乙山
伊永亮
裴旷怡
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Beijing CHJ Automobile Technology Co Ltd
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Beijing CHJ Automobile Technology Co Ltd
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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

线控转向下执行器机构、线控转向系统及车辆Steering-by-wire lower actuator mechanism, steering-by-wire system and vehicle

技术领域technical field

本公开涉及车辆技术领域,尤其涉及一种线控转向下执行器机构、线控转向系统及车辆。The present disclosure relates to the technical field of vehicles, in particular to a steering-by-wire lower actuator mechanism, a steering-by-wire system and a vehicle.

背景技术Background technique

线控转向下执行器(RWA,Road wheel actuator)是线控转向技术方案的关键组成部分,由于线控转向系统取消了传统转向系统上的机械连接,转向传动比不再受限于传统的机械连接,使得转向传动比可以实现在不同驾驶模式和不同车速等工况下可调,可以使整车的操控性能更好。The steering-by-wire lower actuator (RWA, Road wheel actuator) is a key component of the steering-by-wire technical solution. Since the steering-by-wire system cancels the mechanical connection on the traditional steering system, the steering transmission ratio is no longer limited by the traditional mechanical The connection makes the steering transmission ratio adjustable under different driving modes and different vehicle speeds, which can improve the handling performance of the vehicle.

由于线控转向系统取消了传统转向系统上的中间轴机械连接,因此对于RWA系统的功能安全提出了更高的要求。当前大部分RWA系统的冗余系统的控制器(ECU)仍然采用共腔的结构,驱动单元采用双绕组6相电机,可以确保单点失效下系统仍然可以确保提供至少50%的助力,但是一旦出现驱动单元由于外界撞击等原因造成的损坏,系统将完全失去助力,会导致无法转向而产生较严重的事故。Since the steering-by-wire system cancels the mechanical connection of the intermediate shaft on the traditional steering system, higher requirements are put forward for the functional safety of the RWA system. The controller (ECU) of the redundant system of most RWA systems still adopts a common cavity structure, and the drive unit adopts a double-winding 6-phase motor, which can ensure that the system can still provide at least 50% of power assistance under a single point of failure, but once If the drive unit is damaged due to external impact and other reasons, the system will completely lose power, which will lead to inability to steer and cause serious accidents.

发明内容Contents of the invention

为了解决上述技术问题,本公开提供了一种线控转向下执行器机构、线控转向系统及车辆。In order to solve the above technical problems, the present disclosure provides a steer-by-wire lower actuator mechanism, a steer-by-wire system and a vehicle.

本公开第一方面提供了一种线控转向下执行器机构,包括:第一驱动机构和第二驱动机构;The first aspect of the present disclosure provides a steer-by-wire down actuator mechanism, including: a first driving mechanism and a second driving mechanism;

所述第一驱动机构均包括第一驱动件、第一蜗轮和第一蜗杆组件,所述第一蜗轮与所述第一蜗杆组件啮合,所述第一驱动件驱动所述第一蜗轮;Each of the first driving mechanisms includes a first driving member, a first worm gear and a first worm assembly, the first worm gear is engaged with the first worm assembly, and the first driving member drives the first worm gear;

所述第二驱动机构均包括第二驱动件、第二蜗轮和第二蜗杆组件,所述第二蜗轮与所述第二蜗杆组件啮合,所述第二驱动件驱动所述第二蜗轮;Each of the second drive mechanisms includes a second drive member, a second worm gear and a second worm assembly, the second worm gear engages with the second worm assembly, and the second drive member drives the second worm gear;

其中,所述第一蜗轮和所述第二蜗轮相互层叠且同轴设置于驱动齿轮轴,以使所述第一蜗轮和所述第二蜗轮同步同向旋转。Wherein, the first worm wheel and the second worm wheel are stacked on each other and coaxially arranged on the drive gear shaft, so that the first worm wheel and the second worm wheel rotate synchronously and in the same direction.

进一步的,所述第一蜗杆组件和所述第二蜗杆组件分别设置于所述驱动齿轮轴的两侧,所述第一蜗杆组件的旋向和所述第二蜗杆组件的旋向相反。Further, the first worm assembly and the second worm assembly are respectively arranged on both sides of the drive gear shaft, and the rotation direction of the first worm assembly is opposite to that of the second worm assembly.

进一步的,线控转向下执行器机构还包括限位件,所述限位件套设于所述驱动齿轮轴且位于所述第一蜗轮远离所述第二蜗轮的一侧。Further, the steer-by-wire down actuator mechanism further includes a limiter, and the limiter is sleeved on the drive gear shaft and located on a side of the first worm wheel away from the second worm wheel.

进一步的,线控转向下执行器机构还包括用于检测所述驱动齿轮轴转动角度的检测件,所述检测件设置于所述驱动齿轮轴的端部。Further, the steer-by-wire lower actuator mechanism further includes a detection piece for detecting the rotation angle of the drive gear shaft, and the detection piece is arranged at the end of the drive gear shaft.

进一步的,所述检测件包括外壳、PCB板、主动齿轮和从动齿轮,Further, the detection part includes a housing, a PCB board, a driving gear and a driven gear,

所述外壳设有内圈套管,所述内圈套管套设于所述驱动齿轮轴,所述主动齿轮与所述内圈套管为一体式结构,所述从动齿轮设置于所述外壳内,且所述从动齿轮与所述主动齿轮啮合;The housing is provided with an inner ring sleeve, the inner ring sleeve is sleeved on the drive gear shaft, the driving gear and the inner ring sleeve are integrated, the driven gear is arranged in the housing, And the driven gear meshes with the driving gear;

所述PCB板设有传感器;The PCB board is provided with a sensor;

所述从动齿轮设有磁铁,所述传感器与所述磁铁对应设置。The driven gear is provided with a magnet, and the sensor is arranged correspondingly to the magnet.

进一步的,线控转向下执行器机构还包括连接线,所述连接线的两端分别设有第一连接部和第二连接部;Further, the steer-by-wire down actuator mechanism also includes a connection line, and the two ends of the connection line are respectively provided with a first connection part and a second connection part;

所述第一连接部包括第一接头;The first connection part includes a first joint;

所述外壳和所述第一接头中的一个设有卡槽,所述外壳和所述第一接头中的另一个设有凸起,所述凸起与所述卡槽卡接;One of the housing and the first joint is provided with a slot, and the other of the housing and the first joint is provided with a protrusion, and the protrusion is engaged with the slot;

所述第二连接部包括第二接头和第三接头,所述第二接头和所述第三接头中的一个与所述第一驱动件连接,所述第二接头和所述第三接头中的另一个与所述第二驱动件连接。The second connection part includes a second joint and a third joint, one of the second joint and the third joint is connected to the first driving member, and one of the second joint and the third joint The other one is connected to the second driving member.

进一步的,线控转向下执行器机构还包括转向控制器,所述检测件、所述第一驱动件和所述第二驱动件分别与所述转向控制器连接。Further, the steer-by-wire down actuator mechanism further includes a steering controller, and the detection element, the first driving element, and the second driving element are respectively connected to the steering controller.

本公开第二方面提供了一种线控转向系统,包括第一方面所述的线控转向下执行器机构。A second aspect of the present disclosure provides a steer-by-wire system, including the steer-by-wire lower actuator mechanism described in the first aspect.

本公开第三方面提供了一种车辆,包括第一方面所述的线控转向下执行器机构,或,包括第二方面所述的线控转向系统。A third aspect of the present disclosure provides a vehicle, comprising the steer-by-wire lower actuator mechanism described in the first aspect, or comprising the steer-by-wire system described in the second aspect.

本公开实施例提供的技术方案与现有技术相比具有如下优点:Compared with the prior art, the technical solutions provided by the embodiments of the present disclosure have the following advantages:

本公开实施例提供的线控转向下执行器机构包括第一驱动机构和第二驱动机构,即使一个驱动机构由于外界撞击等原因造成的损坏,另一个驱动机构仍然可以提供一定的助力,确保系统可控。第一驱动机构均包括第一驱动件、第一蜗轮和第一蜗杆组件,第一蜗轮与第一蜗杆组件啮合,第一驱动件驱动第一蜗轮;第二驱动机构均包括第二驱动件、第二蜗轮和第二蜗杆组件,第二蜗轮与第二蜗杆组件啮合,第二驱动件驱动第二蜗轮;其中,第一蜗轮和第二蜗轮相互层叠且同轴设置于驱动齿轮轴,以使第一蜗轮和第二蜗轮同步同向旋转。本公开实施例提供的线控转向下执行器机构通过第一驱动机构和第二驱动机构形成的双驱动,可以保证RWA系统可以提供较大的助力,同时实现了系统的全冗余,提升了系统的安全性能。第一蜗轮和第二蜗轮同轴装配在驱动齿轮轴上,第一驱动件和第一蜗杆驱动第一蜗轮,第二驱动件和第二蜗杆驱动第二蜗轮,即第一驱动件和第二驱动件可以同时驱动驱动齿轮轴,即可以提供相对于单蜗轮系统双倍的助力。并且第一蜗轮和第二蜗轮同轴装配在驱动齿轮轴上,使结构更加紧凑,零件数量较少,重量较轻,占用空间更小、成本低、系统的冗余程度高、安全性更好。The steer-by-wire down actuator mechanism provided by the embodiments of the present disclosure includes a first drive mechanism and a second drive mechanism. Even if one drive mechanism is damaged due to external impact and other reasons, the other drive mechanism can still provide a certain amount of power to ensure that the system controllable. The first drive mechanisms each include a first drive member, a first worm wheel, and a first worm assembly, the first worm gear engages with the first worm assembly, and the first drive member drives the first worm wheel; the second drive mechanisms each include a second drive member, The second worm gear and the second worm screw assembly, the second worm gear meshes with the second worm screw assembly, and the second driving member drives the second worm gear; wherein, the first worm gear and the second worm gear are stacked on each other and coaxially arranged on the drive gear shaft, so that The first worm wheel and the second worm wheel rotate synchronously and in the same direction. The steer-by-wire lower actuator mechanism provided by the embodiments of the present disclosure can ensure that the RWA system can provide greater power assistance through the double drive formed by the first drive mechanism and the second drive mechanism, and at the same time realize the full redundancy of the system and improve the System security performance. The first worm gear and the second worm gear are coaxially assembled on the drive gear shaft, the first drive member and the first worm drive the first worm gear, and the second drive member and the second worm drive the second worm gear, that is, the first drive member and the second worm gear. The driving member can drive the drive gear shaft at the same time, that is, it can provide double power assist compared with the single worm gear system. And the first worm gear and the second worm gear are coaxially assembled on the drive gear shaft, which makes the structure more compact, the number of parts is less, the weight is lighter, the space occupied is smaller, the cost is low, the redundancy of the system is high, and the safety is better .

附图说明Description of drawings

此处的附图被并入说明书中并构成本说明书的一部分,示出了符合本公开的实施例,并与说明书一起用于解释本公开的原理。The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description serve to explain the principles of the disclosure.

为了更清楚地说明本公开实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,对于本领域普通技术人员而言,在不付出创造性劳动性的前提下,还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, In other words, other drawings can also be obtained from these drawings without paying creative labor.

图1为本公开实施例所述线控转向下执行器机构的爆炸图;FIG. 1 is an exploded view of the steer-by-wire lower actuator mechanism according to an embodiment of the present disclosure;

图2为本公开实施例所述线控转向下执行器机构中的局部结构爆炸图;FIG. 2 is an exploded view of a partial structure of the steer-by-wire lower actuator mechanism according to an embodiment of the present disclosure;

图3为本公开实施例所述线控转向下执行器机构中的局部结构示意图;3 is a schematic diagram of a partial structure of the steer-by-wire lower actuator mechanism according to an embodiment of the present disclosure;

图4为本公开实施例所述线控转向下执行器机构的剖视图:Fig. 4 is a cross-sectional view of the steer-by-wire lower actuator mechanism according to an embodiment of the present disclosure:

图5为本公开实施例所述线控转向下执行器机构的另一个角度的结构示意图;Fig. 5 is a structural schematic diagram of another angle of the steer-by-wire lower actuator mechanism according to an embodiment of the present disclosure;

图6为本公开实施例所述线控转向下执行器机构中角度传感器的爆炸图。Fig. 6 is an exploded view of the angle sensor in the steer-by-wire lower actuator mechanism according to an embodiment of the present disclosure.

附图标记:1、第一驱动机构;11、第一驱动件;12、第一蜗轮;13、第一蜗杆组件;2、第二驱动机构;21、第二驱动件;22、第二蜗轮;23、第二蜗杆组件;3、驱动齿轮轴;31、限位件;4、检测件;41、外壳;411、卡槽;42、主动齿轮;43、从动齿轮;44、PCB板;45、盖子;46、支架;5、连接线;51、第一接头;511、凸起;52、第二接头;53、第三接头;61、螺栓;62、伺服盖;63、壳体;64、球轴承。Reference signs: 1. First driving mechanism; 11. First driving member; 12. First worm gear; 13. First worm assembly; 2. Second driving mechanism; 21. Second driving member; 22. Second worm gear ;23, the second worm assembly; 3, the drive gear shaft; 31, the limit piece; 4, the detection piece; 41, the shell; 411, the slot; 42, the driving gear; 43, the driven gear; 44, the PCB board; 45. Cover; 46. Bracket; 5. Connecting line; 51. First connector; 511. Protrusion; 52. Second connector; 53. Third connector; 61. Bolt; 62. Servo cover; 63. Shell; 64. Ball bearings.

具体实施方式Detailed ways

为了能够更清楚地理解本公开的上述目的、特征和优点,下面将对本公开的方案进行进一步描述。需要说明的是,在不冲突的情况下,本公开的实施例及实施例中的特征可以相互组合。In order to more clearly understand the above objects, features and advantages of the present disclosure, the solutions of the present disclosure will be further described below. It should be noted that, in the case of no conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other.

在下面的描述中阐述了很多具体细节以便于充分理解本公开,但本公开还可以采用其他不同于在此描述的方式来实施;显然,说明书中的实施例只是本公开的一部分实施例,而不是全部的实施例。In the following description, many specific details are set forth in order to fully understand the present disclosure, but the present disclosure can also be implemented in other ways than described here; obviously, the embodiments in the description are only some of the embodiments of the present disclosure, and Not all examples.

线控转向下执行器(RWA,Road wheel actuator):接收上执行器(HWA,Hand Wheelactuator)传递过来的驾驶员作用在转向盘上的扭矩和角度信号,执行相应的动作来实现驾驶员的驾驶意图;同时把车轮上传递过来的振动和力转换成信号传递到上执行器,通过上执行器反馈给驾驶员的一种转向执行机构。Steering-by-wire lower actuator (RWA, Road wheel actuator): Receives the driver's torque and angle signals on the steering wheel from the upper actuator (HWA, Hand Wheelactuator), and performs corresponding actions to realize the driver's driving Intention; At the same time, the vibration and force transmitted from the wheel are converted into signals and transmitted to the upper actuator, which is a steering actuator that feeds back to the driver through the upper actuator.

线控转向下执行器一般由内外拉杆、防尘罩、转向器壳体63、传感器线束、驱动单元和减速机构等部分组成。当驱动单元的控制器接收到来自线控转向上执行器HWA的扭矩和转向角度信号时,驱动单元电机提供相应的驱动扭矩,减速机构将电机扭矩放大后通过齿轮齿条机构将电机助力作用在齿条上,来推动齿轮转动相应的角度。The steering-by-wire lower actuator is generally composed of inner and outer tie rods, a dust cover, a steering gear housing 63, a sensor harness, a drive unit, and a speed reduction mechanism. When the controller of the drive unit receives the torque and steering angle signals from the steering-by-wire upper actuator HWA, the drive unit motor provides the corresponding drive torque, and the deceleration mechanism amplifies the motor torque and acts on the motor through the rack and pinion mechanism On the rack, to push the gear to rotate the corresponding angle.

结合图1、图2、图3、图4、图5和图6所示,本公开实施例提供的线控转向下执行器机构包括第一驱动机构1和第二驱动机构2,即使一个驱动机构由于外界撞击等原因造成的损坏,另一个驱动机构仍然可以提供一定的助力,确保系统可控。第一驱动机构1均包括第一驱动件11、第一蜗轮12和第一蜗杆组件13,第一蜗轮12与第一蜗杆组件13啮合,第一驱动件11驱动第一蜗轮12;第二驱动机构2均包括第二驱动件21、第二蜗轮22和第二蜗杆组件23,第二蜗轮22与第二蜗杆组件23啮合,第二驱动件21驱动第二蜗轮22;其中,第一蜗轮12和第二蜗轮22相互层叠且同轴设置于驱动齿轮轴3,以使第一蜗轮12和第二蜗轮22同步同向旋转。本公开实施例提供的线控转向下执行器机构通过第一驱动机构1和第二驱动机构2形成的双驱动,可以保证RWA系统可以提供较大的助力,同时实现了系统的全冗余,提升了系统的安全性能。第一蜗轮12和第二蜗轮22同轴装配在驱动齿轮轴3上,第一驱动件11和第一蜗杆驱动第一蜗轮12,第二驱动件21和第二蜗杆驱动第二蜗轮22,即第一驱动件11和第二驱动件21可以同时驱动驱动齿轮轴3,即可以提供相对于单蜗轮系统双倍的助力。并且第一蜗轮12和第二蜗轮22同轴装配在驱动齿轮轴3上,使结构更加紧凑,零件数量较少,重量较轻,占用空间更小、成本低、系统的冗余程度高、安全性更好。As shown in Figure 1, Figure 2, Figure 3, Figure 4, Figure 5 and Figure 6, the steering-by-wire down 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 If the mechanism is damaged due to external impact and other reasons, another driving mechanism can still provide a certain amount of power to ensure that the system is controllable. The first drive mechanism 1 all includes a first drive member 11, a first worm wheel 12 and a first worm assembly 13, the first worm wheel 12 is engaged with the first worm assembly 13, and the first drive member 11 drives the first worm wheel 12; the second drive Mechanisms 2 each include a second drive member 21, a second worm wheel 22 and a second worm assembly 23, the second worm wheel 22 meshes with the second worm assembly 23, and the second drive member 21 drives the second worm wheel 22; wherein, the first worm wheel 12 The first worm wheel 12 and the second worm wheel 22 are stacked on top of each other and coaxially arranged on the drive gear shaft 3 , so that the first worm wheel 12 and the second worm wheel 22 rotate synchronously and in the same direction. The steer-by-wire lower actuator mechanism provided by the embodiment of the present disclosure is dual-driven by the first drive mechanism 1 and the second drive mechanism 2, which can ensure that the RWA system can provide greater power assistance, and at the same time realize full redundancy of the system. Improve the security performance of the system. The first worm gear 12 and the second worm gear 22 are coaxially assembled on the drive gear shaft 3, the first driving member 11 and the first worm drive the first worm gear 12, and the second driving member 21 and the second worm drive the second worm gear 22, that is The first driving member 11 and the second driving member 21 can drive the drive gear shaft 3 at the same time, that is, they can provide double power assistance compared to the single worm gear system. And the first worm gear 12 and the second worm gear 22 are coaxially assembled on the drive gear shaft 3, so that the structure is more compact, the number of parts is less, the weight is lighter, the occupied space is smaller, the cost is low, the redundancy of the system is high, and the safety Sex is better.

在一些具体的实施方式中,第一蜗杆组件13和第二蜗杆组件23分别设置于驱动齿轮轴3的两侧,第一蜗杆组件13的旋向和第二蜗杆组件23的旋向相反。由于单个蜗轮扭矩的限制,单蜗轮系统无法提供更大的助力,本本开实施例的第一蜗杆组件13和第二蜗杆组件23可以提供单蜗轮系统双倍的助力,另外第一蜗轮12和第二蜗轮22同轴式设计,结构更加紧凑,零件数量较少,重量较轻,占用空间更小;双驱动件,双蜗轮蜗杆组件,真正实现了系统的全冗余,当某一硬件由于外界破坏而失效时,仍然可以确保系统可以控制。In some specific embodiments, the first worm assembly 13 and the second worm assembly 23 are respectively arranged on two sides of the drive gear shaft 3 , and the rotation direction of the first worm assembly 13 is opposite to that of the second worm assembly 23 . Due to the limitation of the single worm gear torque, the single worm gear system cannot provide greater power assistance. The first worm assembly 13 and the second worm assembly 23 of the embodiment of the present invention can provide double the power assistance of the single worm gear system. In addition, the first worm gear 12 and the second worm assembly Two worm gear 22 coaxial design, more compact structure, fewer parts, lighter weight, smaller space occupation; double drive parts, double worm gear components, truly realize the full redundancy of the system, when a certain hardware is due to external In the event of failure due to damage, the control of the system can still be ensured.

在一些具体的实施方式中,线控转向下执行器机构还包括限位件31,限位件31套设于驱动齿轮轴3且位于第一蜗轮12与第二蜗轮22之间,可以对第一蜗轮12和第二蜗轮22进行限位。可选的,限位件31可以是卡簧,也可以是限位凸起511。较佳的,限位件31为卡簧。可选的,第一蜗轮12和第二蜗轮22采用花键连接的方式同轴装在驱动齿轮轴3上,在驱动齿轮轴3上用卡簧对第一蜗轮12和第二蜗轮22进行轴向限位。In some specific implementations, the steer-by-wire lower actuator mechanism further includes a limiter 31, which is sleeved on the drive gear shaft 3 and located between the first worm wheel 12 and the second worm wheel 22, which can The first worm wheel 12 and the second worm wheel 22 are used for limiting. Optionally, the limiting member 31 may be a snap spring, or a limiting protrusion 511 . Preferably, the limiting member 31 is a snap spring. Optionally, the first worm gear 12 and the second worm gear 22 are coaxially mounted on the drive gear shaft 3 in a splined connection, and the first worm gear 12 and the second worm gear 22 are pivoted on the drive gear shaft 3 with a snap ring. to the limit.

在一些具体的实施方式中,线控转向下执行器机构还包括用于检测驱动齿轮轴3转动角度的检测件4,检测件4设置于驱动齿轮轴3的端部。检测件4用于检测驱动齿轮轴3转动的角度,再通过齿轮齿条传动副的传动比可计算得到齿条移动的位移和速度。检测件4轴向装在驱动齿轮轴3上,结构比较紧凑,占用空间较小,同时无需单独采用一个小齿轮驱动角度传感器主动轮,可以减少零件数量,齿条无需另外加工齿形,可以降低系统成本和重量。In some specific embodiments, the steer-by-wire lower actuator mechanism further includes a detection piece 4 for detecting the rotation angle of the drive gear shaft 3 , and the detection piece 4 is arranged at the end of the drive gear shaft 3 . The detection part 4 is used to detect the rotation angle of the drive pinion shaft 3, and then the displacement and speed of the rack can be calculated through the transmission ratio of the rack and pinion transmission pair. The detection part 4 is axially installed on the driving gear shaft 3, which has a relatively compact structure and takes up less space. At the same time, it is not necessary to use a pinion to drive the driving wheel of the angle sensor, which can reduce the number of parts. The rack does not need additional processing of the tooth shape, which can reduce the System cost and weight.

检测件4可以是角度传感器。角度传感器用于测量齿轮转动角度,用于计算齿条位置的传感器。具体的,角度传感器测得驱动齿轮转动的实际角度,计算出齿条实际行程,通过线束传递到驱动单元的ECU内,和目标行程对标校验形成闭环控制。驱动单元ECU可以外发角度信号给上层控制器,供整车相关控制使用。The detecting element 4 may be an angle sensor. The angle sensor is used to measure the rotation angle of the gear, and the sensor used to calculate the position of the rack. Specifically, the angle sensor measures the actual angle of rotation of the drive gear, calculates the actual stroke of the rack, transmits it to the ECU of the drive unit through the wiring harness, and forms a closed-loop control with the target stroke calibration. The drive unit ECU can send angle signals to the upper controller for vehicle-related control.

当检测件4为角度传感器时,角度传感器内圈采用金属材质和主动齿轮42轴采用注塑工艺制造。装配时,采用铆接的形式将角度传感器内圈金属套铆在驱动齿轮轴3尾端预留的凹点处。When the detection part 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 to the recessed point reserved at the tail end of the drive gear shaft 3 in the form of riveting.

在一些具体的实施方式中,检测件4包括外壳41、PCB板44、主动齿轮42和与主动齿轮42相啮合的从动齿轮43,外壳41设有内圈套管,内圈套管套设于驱动齿轮轴3,主动齿轮42与内圈套管为一体式结构。从动齿轮43设置于外壳41内,且从动齿轮43与主动齿轮42啮合,内圈套管套上驱动齿轮后,用铆头在驱动齿轮轴3的小孔处铆压固定。具体的,驱动齿轮轴3上部分采用花键连接的形式装配第一蜗轮12和第二蜗轮22,第一蜗轮12和第二蜗轮22端面用卡簧限制轴向运动。驱动齿轮轴3尾部轴向加工3个小孔,用于安装检测件4,检测件4内圈金属套管和主动轮注塑为一体,内圈套管套上驱动齿轮轴3后,用铆头在驱动齿轮轴3的小孔处铆压固定。In some specific embodiments, the detection part 4 includes a housing 41, a PCB board 44, a driving gear 42 and a driven gear 43 meshed with the driving gear 42, the housing 41 is provided with an inner ring sleeve, and the inner ring sleeve is sleeved on the drive The gear shaft 3, the driving gear 42 and the inner ring casing are of an integrated structure. The driven gear 43 is arranged in the housing 41, and the driven gear 43 is meshed with the driving gear 42. After the inner ring casing is covered with the driving gear, the riveting head is riveted and fixed at the small hole of the driving gear shaft 3. Specifically, the upper part of the drive gear shaft 3 is splined to assemble the first worm wheel 12 and the second worm wheel 22 , and the end faces of the first worm wheel 12 and the second worm wheel 22 limit axial movement with snap springs. Three small holes are axially machined at the rear of the drive gear shaft 3 for the installation of the detection part 4. The metal sleeve of the inner ring of the detection part 4 and the driving wheel are injection-molded as one. After the inner ring sleeve is fitted on the drive gear shaft 3, the The small hole of the drive gear shaft 3 is riveted and fixed.

在一些具体的实施方式中,检测件4包括PCB板44,PCB板44设有角度传感器,从动齿轮43设有磁铁,角度传感器与磁铁对应设置。角度传感器的位置正对磁铁,可以获得驱动齿轮轴3的转动数据。In some specific embodiments, the detection part 4 includes a PCB board 44, the PCB board 44 is provided with an angle sensor, the driven gear 43 is provided with a magnet, and the angle sensor and the magnet are arranged correspondingly. The position of the angle sensor is facing the magnet, and the rotation data of the drive gear shaft 3 can be obtained.

在一些具体的实施方式中,线控转向下执行器机构还包括连接线5,连接线5的两端分别设有第一连接部和第二连接部;检测件4包括外壳41,第一连接部包括第一接头51;外壳41和第一接头51中的一个设有卡槽411,外壳41和第一接头51中的另一个设有凸起511,凸起511与卡槽411卡接。可选的,角度传感器的外壳41的外圈带有卡槽411,第一连接部伸出的结构和卡槽411配合,以限制角度传感器沿轴线旋转。第二连接部包括第二接头52和第三接头53,第二接头52和第三接头53中的一个与第一驱动件11连接,第二接头52和第三接头53中的另一个与第二驱动件21连接。In some specific implementations, the steer-by-wire down actuator mechanism further includes a connecting wire 5, and the two ends of the connecting wire 5 are respectively provided with a first connecting part and a second connecting part; the detection part 4 includes a housing 41, and the first connecting The first joint 51 is included; one of the housing 41 and the first joint 51 is provided with a slot 411 , and the other of the housing 41 and the first joint 51 is provided with a protrusion 511 , and the protrusion 511 is engaged with the slot 411 . Optionally, the outer ring of the housing 41 of the angle sensor has a locking groove 411, and the protruding structure of the first connecting part cooperates with the locking groove 411 to limit the rotation of the angle sensor along the axis. The second connection part 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 driving member 11, and the other of the second joint 52 and the third joint 53 is connected to the first The two driving parts 21 are connected.

第一蜗杆组件13压装进伺服壳体63后,再装入第一球轴承64和第一蜗轮12驱动齿轮小总成。再安装第一驱动件11,第一驱动件11可以为第一电机,第一电机输出轴和第一蜗杆上分别装有一个齿圈,两者通过齿套的形式连接来传递扭矩,第一电机用两个螺栓61连接在伺服壳体63上,螺栓61可以为M8螺栓61。第二蜗杆组件23压装进伺服壳体63后,再装入第二球轴承64和第二蜗轮22驱动齿轮小总成。再安装第二驱动件21,第二驱动件21可以为第二电机,第二电机输出轴和第二蜗杆上分别装有一个齿圈,两者通过齿套的形式连接来传递扭矩,第二电机用两个螺栓61连接在伺服壳体63上,螺栓61可以为M8螺栓61。之后,再将连接线5的第二连接部,即传感器线束传感器端插入伺服壳体63内,同时连接线5得第一连接部,即线束接头上凸起511的限位块插入角度传感器的卡槽411内,以限制角度传感器壳体63的轴向转动,再将连接线5的第二连接部即线束ECU端的插头分别插在第一驱动件11和第二驱动件21的插头上。最后装上伺服盖62。After the first worm assembly 13 is press-fitted into the servo housing 63, the first ball bearing 64 and the first worm wheel 12 driving gear small assembly are then installed. Then install the first driver 11, the first driver 11 can be the first motor, the output shaft of the first motor and the first worm are respectively equipped with a ring gear, and the two are connected in the form of gear sleeves to transmit torque, the first The motor is connected to the servo housing 63 with two bolts 61 , and the bolts 61 may be M8 bolts 61 . After the second worm assembly 23 is press-fitted into the servo casing 63, the second ball bearing 64 and the second worm wheel 22 driving gear small assembly are installed. Install the second driver 21 again, the second driver 21 can be a second motor, and a ring gear is respectively housed on the second motor output shaft and the second worm, and the two are connected to transmit torque by the form of the tooth sleeve, the second The motor is connected to the servo housing 63 with two bolts 61 , and the bolts 61 may be M8 bolts 61 . After that, insert the second connecting part of the connecting wire 5, that is, the sensor end of the sensor wire harness into the servo housing 63, and at the same time, insert the first connecting part of the connecting wire 5, that is, the limit block of the protrusion 511 on the wire harness connector into the angle sensor. In the card slot 411 , to limit the axial rotation of the angle sensor housing 63 , the second connecting portion of the connecting wire 5 , that is, the plug at 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 attach the servo cap 62.

第一驱动件11和第二驱动件21接收到CAN总成发来的扭矩和角度信号时,会计算出各自的电机需要输出的扭矩,驱动各自电机运转,第一驱动件11和第二驱动件21的扭矩通过齿套传递到第一蜗杆组件13和第二蜗杆组件23,第一蜗杆组件13和第二蜗杆组件23分别分布于蜗轮的两边。第一蜗杆组件13和第二蜗杆组件23均包括蜗杆、轴承衬套、球轴承、钟摆轴承、齿毂和锁紧螺钉。第一蜗杆组件13和第二蜗杆组件23中两个蜗杆的旋向相反,分别驱动第一蜗轮12和第二蜗轮22转动。第一蜗轮12和第二蜗轮22产生相同方向的扭矩同时带动驱动齿轮轴3转动,通过齿轮齿条的啮合再将齿轮上的扭矩传递到齿条上,齿条带动转向拉杆拉动车轮,实现转向功能。同时,驱动齿轮轴3转动时会带动角度传感器主动轮旋转,主动轮带动两个从动轮转动,从动轮上的磁铁和PCB板44上的传感器相互作用输出角度信号,通过线束输出到驱动单元的ECU。When the first driver 11 and the second driver 21 receive the torque and angle signals from the CAN assembly, they will calculate the torque that the respective motors need to output, and drive the respective motors to run. The first driver 11 and the second driver The torque of 21 is transmitted to the first worm assembly 13 and the second worm assembly 23 through the tooth sleeve, and the first worm assembly 13 and the second worm assembly 23 are respectively distributed on both sides of the worm wheel. Both the first worm assembly 13 and the second worm assembly 23 include a worm, a bearing bush, 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, respectively driving the first worm wheel 12 and the second worm wheel 22 to rotate. The first worm gear 12 and the second worm gear 22 generate torque in the same direction and simultaneously drive the drive pinion shaft 3 to rotate. Through the meshing of the rack and pinion, the torque on the gear is transmitted to the rack, and the rack drives the steering rod to pull the wheels to realize steering. Function. Simultaneously, when the drive gear shaft 3 rotates, it will drive the angle sensor driving wheel to rotate, and the driving wheel will drive the two driven wheels to rotate. The magnet on the driven wheel and the sensor on the PCB board 44 interact to output an angle signal, which is output to the drive unit through the wiring harness. ECU.

在一些具体的实施方式中,线控转向下执行器机构还包括转向控制器,检测件4、第一驱动件11和第二驱动件21分别与转向控制器连接。检测件4用于检测驱动齿轮轴3的转动角度,并将检测到的信息传递给转向控制器,转向控制器通过驱动第一驱动件11和二驱动件驱动驱动齿轮轴3转动。In some specific embodiments, the steer-by-wire lower actuator mechanism further includes a steering controller, and the detection member 4 , the first driving member 11 and the second driving member 21 are respectively connected to the steering controller. The detection part 4 is used to detect the rotation angle of the drive gear shaft 3, and transmit the detected information to the steering controller, and the steering controller drives the drive gear shaft 3 to rotate by driving the first drive part 11 and the second drive part.

综上所述,本公开实施例基于齿轮齿条式的EPS系统,取消了输入轴和转向齿轮等结构,驱动单元采用双驱动件、双蜗杆和双蜗轮的设计,角度传感器集成在驱动单元的伺服壳体63内。可以保证系统的完全冗余,即使一个驱动机构由于外界撞击等原因造成的损坏,另一个驱动机构仍然可以提供一定的助力,确保系统可控;双驱动件位于齿条的同一端,驱动件和齿条轴线保持平行布置,结构较紧凑,占用空间较小;减速机构采用双蜗轮蜗杆的结构,双涡轮平行同轴装配在驱动齿轮轴3上,每个蜗杆单独和对应的蜗轮配合,可以克服单蜗轮承载能力不足的缺陷,可以保证驱动单元可以提供较大的扭矩,提供更大的助力;角度传感器采用行星齿轮式的结构,主动齿轮42通过铆接的方式固定在驱动齿轮轴3上,两个从动齿轮43跟着主动齿轮42转动。每个从动齿轮43上贴上磁铁,通过和PCB板44上的霍尔传感器测出转动角度,输出两路角度信号,两个齿轮共输出4路角度信号,实现角度信号的冗余。传感器集成在驱动单元的伺服壳体63内,结构紧凑,安装简单方便。To sum up, the embodiments of the present disclosure are based on the rack and pinion EPS system, canceling structures such as input shafts and steering gears, the drive unit adopts the design of double drive parts, double worms and double worm gears, and the angle sensor is integrated in the drive unit. Inside the servo housing 63. It can ensure the complete redundancy of the system. Even if one driving mechanism is damaged due to external impact and other reasons, the other driving mechanism can still provide a certain amount of power to ensure that the system is controllable; the double driving parts are located at the same end of the rack, and the driving part and The axes of the racks are arranged in parallel, the structure is relatively compact, and the space occupied is small; the reduction mechanism adopts the structure of double worm gears, and the double worm gears are assembled on the drive gear shaft 3 in parallel and coaxially. The defect of insufficient load-carrying capacity of the single worm gear can ensure that the drive unit can provide greater torque and greater power assistance; the angle sensor adopts a planetary gear structure, and the driving gear 42 is fixed on the drive gear shaft 3 by riveting. A driven gear 43 rotates with the driving gear 42. Each driven gear 43 is pasted with a magnet, and the rotation angle is measured by the Hall sensor on the PCB board 44, and two angle signals are output. The two gears output 4 angle signals in total to realize the redundancy of the angle signals. The sensor is integrated in the servo housing 63 of the drive unit, which has a compact structure and is easy and convenient to install.

本公开实施例提供的线控转向系统包括本公开实施例提供的线控转向下执行器机构。本公开实施例提供的车辆包括本公开实施例提供的线控转向下执行器机构,或,包括本公开实施例提供的线控转向系统。由于本公开实施例提供的车辆或线控转向系统与本公开实施例提供的线控转向下执行器机构具有相同的优势,在此不再赘述。The steer-by-wire system provided by the embodiments of the present disclosure includes the steer-by-wire lower actuator mechanism provided by the embodiments of the present disclosure. The vehicle provided by the embodiments of the present disclosure includes the steer-by-wire lower actuator mechanism provided by the embodiments of the present disclosure, or includes the steer-by-wire system provided by the embodiments of the present disclosure. Since the vehicle or the steer-by-wire system provided by the embodiments of the present disclosure has the same advantages as the steer-by-wire lower actuator mechanism provided by the embodiments of the present disclosure, details are not repeated here.

需要说明的是,在本文中,诸如“第一”和“第二”等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来,而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且,术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含,从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素,而且还包括没有明确列出的其他要素,或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下,由语句“包括一个……”限定的要素,并不排除在包括要素的过程、方法、物品或者设备中还存在另外的相同要素。It should be noted that in this article, relative terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these No such actual relationship or order exists between entities or operations. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

以上仅是本公开的具体实施方式,使本领域技术人员能够理解或实现本公开。对这些实施例的多种修改对本领域的技术人员来说将是显而易见的,本文中所定义的一般原理可以在不脱离本公开的精神或范围的情况下,在其它实施例中实现。因此,本公开将不会被限制于本文的这些实施例,而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。The above are only specific implementation manners of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to these embodiments herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims (9)

1.一种线控转向下执行器机构,其特征在于,包括:第一驱动机构和第二驱动机构;1. A steering-by-wire lower actuator mechanism, characterized in that it comprises: a first drive mechanism and a second drive mechanism; 所述第一驱动机构包括第一驱动件、第一蜗轮和第一蜗杆组件,所述第一蜗轮与所述第一蜗杆组件啮合,所述第一驱动件驱动所述第一蜗轮;The first driving mechanism includes a first driving member, a first worm gear and a first worm assembly, the first worm gear engages with the first worm assembly, and the first driving member drives the first worm gear; 所述第二驱动机构包括第二驱动件、第二蜗轮和第二蜗杆组件,所述第二蜗轮与所述第二蜗杆组件啮合,所述第二驱动件驱动所述第二蜗轮;The second driving mechanism includes a second driving member, a second worm gear, and a second worm assembly, the second worm gear engages with the second worm assembly, and the second driving member drives the second worm gear; 其中,所述第一蜗轮和所述第二蜗轮相互层叠且同轴设置于驱动齿轮轴,以使所述第一蜗轮和所述第二蜗轮同步同向旋转。Wherein, the first worm wheel and the second worm wheel are stacked on each other and coaxially arranged on the drive gear shaft, so that the first worm wheel and the second worm wheel rotate synchronously and in the same direction. 2.根据权利要求1所述的线控转向下执行器机构,其特征在于,所述第一蜗杆组件和所述第二蜗杆组件分别设置于所述驱动齿轮轴的两侧,所述第一蜗杆组件的旋向和所述第二蜗杆组件的旋向相反。2. The steer-by-wire down actuator mechanism according to claim 1, wherein the first worm assembly and the second worm assembly are respectively arranged on both sides of the drive gear shaft, and the first The direction of rotation of the worm assembly is opposite to that of the second worm assembly. 3.根据权利要求1所述的线控转向下执行器机构,其特征在于,还包括限位件,所述限位件套设于所述驱动齿轮轴且位于所述第一蜗轮远离所述第二蜗轮的一侧。3. The steer-by-wire down actuator mechanism according to claim 1, further comprising a limiter, the limiter is sleeved on the drive gear shaft and is located at a distance from the first worm wheel to the side of the second worm gear. 4.根据权利要求1所述的线控转向下执行器机构,其特征在于,还包括用于检测所述驱动齿轮轴转动角度的检测件,所述检测件设置于所述驱动齿轮轴的端部。4. The steer-by-wire lower actuator mechanism according to claim 1, further comprising a detection piece for detecting the rotation angle of the drive gear shaft, and the detection piece is arranged at the end of the drive gear shaft department. 5.根据权利要求4所述的线控转向下执行器机构,其特征在于,所述检测件包括外壳、PCB板、主动齿轮和从动齿轮,5. The steer-by-wire lower actuator mechanism according to claim 4, characterized in that the detection part comprises a housing, a PCB board, a driving gear and a driven gear, 所述外壳设有内圈套管,所述内圈套管套设于所述驱动齿轮轴,所述主动齿轮与所述内圈套管为一体式结构,所述从动齿轮设置于所述外壳内,且所述从动齿轮与所述主动齿轮啮合;The housing is provided with an inner ring sleeve, the inner ring sleeve is sleeved on the drive gear shaft, the driving gear and the inner ring sleeve are integrated, the driven gear is arranged in the housing, And the driven gear meshes with the driving gear; 所述PCB板设有传感器;The PCB board is provided with a sensor; 所述从动齿轮设有磁铁,所述传感器与所述磁铁对应设置。The driven gear is provided with a magnet, and the sensor is arranged correspondingly to the magnet. 6.根据权利要求5所述的线控转向下执行器机构,其特征在于,还包括连接线,所述连接线的两端分别设有第一连接部和第二连接部;6. The steer-by-wire down actuator mechanism according to claim 5, further comprising a connecting line, the two ends of the connecting line are respectively provided with a first connecting portion and a second connecting portion; 所述第一连接部包括第一接头;The first connection part includes a first joint; 所述外壳和所述第一接头中的一个设有卡槽,所述外壳和所述第一接头中的另一个设有凸起,所述凸起与所述卡槽卡接;One of the housing and the first joint is provided with a slot, and the other of the housing and the first joint is provided with a protrusion, and the protrusion is engaged with the slot; 所述第二连接部包括第二接头和第三接头,所述第二接头和所述第三接头中的一个与所述第一驱动件连接,所述第二接头和所述第三接头中的另一个与所述第二驱动件连接。The second connection part includes a second joint and a third joint, one of the second joint and the third joint is connected to the first driving member, and one of the second joint and the third joint The other one is connected to the second driving member. 7.根据权利要求4所述的线控转向下执行器机构,其特征在于,还包括转向控制器,所述检测件、所述第一驱动件和所述第二驱动件分别与所述转向控制器连接。7. The steering-by-wire lower actuator mechanism according to claim 4, further comprising a steering controller, the detection part, the first driving part and the second driving part are respectively connected with the steering Controller connection. 8.一种线控转向系统,其特征在于,包括权利要求1至7任一项所述的线控转向下执行器机构。8. A steer-by-wire system, characterized by comprising the steer-by-wire lower actuator mechanism according to any one of claims 1-7. 9.一种车辆,其特征在于,包括权利要求1至7任一项所述的线控转向下执行器机构,或,包括权利要求8所述的线控转向系统。9. A vehicle, characterized by comprising the steer-by-wire lower actuator mechanism according to any one of claims 1 to 7, or comprising the steer-by-wire system according to claim 8.
CN202222958849.2U 2022-11-07 2022-11-07 Wire-controlled steering lower actuator mechanism, wire-controlled steering system and vehicle Active CN218750980U (en)

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