WO2021249220A1

WO2021249220A1 - Road feel simulator

Info

Publication number: WO2021249220A1
Application number: PCT/CN2021/097133
Authority: WO
Inventors: 徐飞扬; 高尚; 姜廷龙; 常秀岩
Original assignee: 中国第一汽车股份有限公司
Priority date: 2020-06-10
Filing date: 2021-05-31
Publication date: 2021-12-16
Also published as: CN111661150A

Abstract

Disclosed is a road feel simulator comprising a limiting portion (2) and a steering wheel-side input shaft (3). The limiting portion (2) comprises: a steering shaft (21), a first end of the steering shaft (21) being connected to the steering wheel-side input shaft (3) such that the steering wheel-side input shaft (3) and the steering shaft (21) can rotate simultaneously; a sliding nut (22) threadedly connected to the steering shaft (21) and forming a ball-screw nut pair with the steering shaft (21); a first limiting piece (23) arranged on the steering shaft (21) and positioned on one side of the sliding nut (22); a second limiting piece (24) arranged on the steering shaft (21) and positioned on a second side of the sliding nut (22). When the steering shaft (21) rotates around the axis of the steering shaft, the sliding nut (22) can move linearly along the steering shaft (21) until the sliding nut (22) abuts against the first limiting piece (23) or the second limiting piece (24), such that the rotating angle of the steering shaft (21) is limited.

Description

A road sense simulator

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office with an application number of 202010524431.3 on June 10, 2020, and the entire content of the application is incorporated into this application by reference.

Technical field

This application relates to the field of automobile technology, for example, to a road-sensing simulator.

Background technique

In recent years, with the continuous development of automotive electronic control technology, wire-controlled steering systems, as a new generation of automotive steering systems, have become more and more popular in the market.

In related technologies, the steer-by-wire system cancels the mechanical connection structure between the steering wheel and the wheels, so that the driver cannot feel the reaction torque of the steering wheel when steering, and thus cannot make accurate judgments on road information. Therefore, a road feel simulator is generally provided in the steer-by-wire system to simulate the driver's feeling of force when turning and the road condition information feedback to the driver by the road.

However, in related technologies, the road-sensing simulator cannot limit the steering wheel. When the steer-by-wire system is powered off or fails, the steering wheel may rotate freely, and the range of the steering wheel angle sensor is generally left and right. With three turns each, the steering wheel of the road sensor simulator in the infinite position easily exceeds the range of the angle sensor, causing the angle sensor to fail after the wire-controlled steering system is re-powered. However, the rotation angle sensor cannot be automatically zeroed after the range is exceeded, and it needs to be re-calibrated manually, which is very inconvenient to operate.

Summary of the invention

The following is an overview of the topics detailed in this article. This summary is not intended to limit the scope of protection of the claims.

The present application provides a road-sensing simulator, which can limit the rotation angle of the steering wheel and prevent the rotation of the steering wheel from exceeding the range of the rotation angle sensor.

As conceived as above, the technical solution adopted in this application is:

A road-sensing simulator, including a limit part and an input shaft at the steering wheel end;

The limiting part includes:

A steering shaft, one end of which is connected to the steering wheel end input shaft so that the steering wheel end input shaft and the steering shaft can rotate at the same time;

Sliding nut, threadedly connected to the steering shaft and forming a screw nut pair with the steering shaft;

The first limiting member is provided on the steering shaft and located on one side of the sliding nut;

The second limiting member is arranged on the steering shaft and located on the other side of the sliding nut;

When the steering shaft rotates around the axis of the steering shaft, the sliding nut can move linearly along the steering shaft to abut the first limiting member or abut the second limiting member to Limit the rotation angle of the steering shaft.

In an embodiment, the steering shaft is provided with an external thread section, and the sliding nut is screwed on the external thread section to form a screw nut pair. When the steering shaft rotates around its own axis, the sliding nut It can move linearly along the external thread section.

In an embodiment, the road-sensing simulator further includes an inner sleeve, and the limiting portion is provided in the inner sleeve.

In an embodiment, the limiting portion further includes a sliding nut guide, the sliding nut guide is disposed on the inner sleeve, and the sliding nut is provided with a guide groove that cooperates with the sliding nut guide .

In an embodiment, the limiting portion further includes a first buffering member, the first buffering member is sleeved on the first limiting member to buffer the sliding nut and the first limiting member The collision between.

In an embodiment, the limiting portion further includes a second buffering member, the second buffering member is sleeved on the second limiting member to buffer the sliding nut and the second limiting member The collision between.

In an embodiment, the road feeling simulator further includes a driving part, and the other end of the steering shaft is connected to the output end of the driving part.

In an embodiment, the driving part includes a driving motor and a deceleration mechanism provided at an output end of the driving motor, and the output end of the deceleration mechanism can drive the steering shaft to rotate around its own axis.

In an embodiment, the reduction mechanism is a planetary gear reduction mechanism.

In an embodiment, the drive motor and the steering shaft are coaxially arranged.

After reading and understanding the drawings and detailed description, other aspects can be understood.

Description of the drawings

Fig. 1 is a schematic structural diagram of a road-sensing simulator provided by an embodiment of the present application;

FIG. 2 is a schematic diagram of an exploded structure of a road sensing simulator provided by an embodiment of the present application;

FIG. 3 is a schematic diagram of an exploded structure of a limiting portion provided by an embodiment of the present application;

Fig. 4 is a schematic diagram of an exploded structure of a driving part provided by an embodiment of the present application.

In the picture:

1. Drive part; 11. Drive motor; 12. Deceleration mechanism; 121. Sun gear; 122. Planetary gear; 123. Deceleration mechanism output end; 1231. Mounting section; 1232. Deceleration mechanism output shaft; 1233. Bearing; 124. Outer gear ring; 13. Drive motor controller; 14. Speed reduction mechanism housing;

2. Limiting part; 21. Steering shaft; 211. External thread section; 22. Sliding nut; 221. Guide groove; 23. First limiting member; 231. First buffer member; 24. Second limiting member; 241. Second buffer member; 25. Sliding nut guide member; 26. Connecting shaft;

3. Input shaft at the steering wheel end;

4. Inner casing;

5. Outer tube;

6. Torque angle sensor;

7. Install the bracket;

8. Clamping bracket;

9. Clamping mechanism; 91. Adjusting handle.

detailed description

The technical solutions of the present application will be described below with reference to the drawings and through example implementations. It can be understood that the example embodiments described here are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for ease of description, the drawings only show parts related to the present application, but not all of them.

In the description of this application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the application and simplifying the description, and does not indicate or imply that the pointed device or element must have a specific orientation or a specific orientation. The structure and operation cannot therefore be understood as a limitation of this application. In addition, the terms "first" and "second" are only used for description, and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions.

In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication between two components. For those of ordinary skill in the art, the specific meaning of the above-mentioned terms in this application can be understood under specific circumstances.

Referring to Figures 1 to 4, this embodiment provides a road feel simulator that can simulate the driver's feeling of force when turning and the road condition information feedback of the road surface to the driver, and can limit the rotation range of the steering wheel when it rotates freely.

In one embodiment, the road feel simulator includes a limit portion 2 and an input shaft 3 at the steering wheel end.

Wherein, the limiting part 2 includes a steering shaft 21, a sliding nut 22, a first limiting member 23 and a second limiting member 24: one end of the steering shaft 21 is connected with the steering wheel end input shaft 3 to drive the steering wheel end input shaft 3 Rotate.

The steering wheel is fixedly installed at one end of the input shaft 3 away from the limit part 2 at the steering wheel end.

The sliding nut 22 is threadedly connected to the steering shaft 21 and forms a screw nut pair with the steering shaft 21.

The first limiting member 23 is disposed on the steering shaft 21 and located on one side of the sliding nut 22.

The second limiting member 24 is disposed on the steering shaft 21 and located on the other side of the sliding nut 22.

When the steering shaft 21 rotates around the axis of the steering shaft 21, the sliding nut 22 can move along the steering shaft 21 to abut the first limiting member 23 or the second limiting member 24 to limit the rotation angle of the steering shaft 21 .

In the road feeling simulator provided by this embodiment, the limit part 22 is provided to limit the rotation angle of the steering wheel, and prevent the occurrence of idling of the rotating disk. When the steering wheel rotates, the steering wheel can drive the steering wheel end input shaft 3 to rotate, thereby driving the steering shaft 21 to rotate.

When the steering wheel rotates in the first clockwise direction, the steering shaft 21 also rotates around its axis in the first clockwise direction, and the sliding nut 22 moves linearly on the steering shaft 21 in the first direction until the sliding nut 22 and the first stopper 23 abuts, at this time, the steering shaft 21 cannot continue to rotate in the first hour hand direction, so that the steering wheel cannot continue to rotate in the first hour hand direction, thereby limiting the rotation range of the steering wheel in the first hour hand direction.

When the steering wheel rotates in the second clockwise direction opposite to the first clockwise direction, the steering shaft 21 also rotates around its own axis in the second clockwise direction, and the sliding nut 22 is on the steering shaft 21 in a second direction opposite to the first direction. Perform a linear movement until the sliding nut 22 abuts the second limiting member 24. At this time, the steering shaft 21 cannot continue to rotate in the second clockwise direction, so that the steering wheel cannot continue to rotate in the second clockwise direction, thereby restricting the steering wheel. The range of rotation in the second hour hand direction.

In an embodiment, the steering wheel end input shaft 3 and the steering shaft 21 are connected by a pin shaft to realize the simultaneous rotation of the two in the same direction.

3, in one embodiment, the steering shaft 21 is provided with an external thread section 211, and the sliding nut 22 is screwed to the external thread section 211 to form a screw nut pair. When the steering shaft 21 rotates around its own axis, the sliding nut 22 It can move linearly along the external thread section 211.

In an embodiment, the first limiting member 23 is provided on the steering shaft 21 and located on one side of the external threaded section 211. The second limiting member 24 is disposed on the steering shaft 21 and located on the other side of the external threaded section 211.

In one embodiment, the first limiting member 23 is a lock nut that is locked on the steering shaft 21, and the lock nut can rotate with the steering shaft 21. In one embodiment, the second limiting member 24 is a retaining ring fixedly sleeved on the steering shaft 21, for example, the retaining ring and the steering shaft 21 have an interference fit to ensure that the retaining ring can rotate with the steering shaft 21.

In order to prevent the sliding nut 22 from being too strong when it abuts the first limiting member 23, causing collisions to damage the sliding nut 22 and the first limiting member 23, and to prevent the two from generating noise due to impact, in one embodiment, The limiting portion 2 further includes a first buffering member 231, and the first buffering member 231 is sleeved on the first limiting member 23 to buffer the impact between the sliding nut 22 and the first limiting member 23.

At the same time, the first buffer member 231 is sleeved on the first limiting member 23, so that the first buffer member 231 and the first limiting member 23 can rotate with the steering shaft 21 at the same time, so as to ensure that the first buffer member 231 is along the steering shaft. The position of 21 in the axial direction remains unchanged to ensure the effectiveness of the cushioning.

In order to prevent the sliding nut 22 from being too strong when it abuts against the second limiting member 24, causing collisions to damage the sliding nut 22 and the second limiting member 24, and to prevent the two from generating noise due to impact, in one embodiment, The limiting part 2 further includes a second buffering member 241, and the second buffering member 241 is sleeved on the second limiting member 24 to buffer the impact between the sliding nut 22 and the second limiting member 24.

At the same time, the second buffer member 241 is sleeved on the second limiting member 24, so that the second buffer member 241 and the second limiting member 24 can rotate with the steering shaft 21 at the same time, so as to ensure that the second buffer member 241 is along the steering shaft. The position of 21 in the axial direction remains unchanged to ensure the effectiveness of the cushioning.

In one embodiment, the materials of the first buffer member 231 and the second buffer member 241 are both silica gel. It can be understood that both the first buffer member 231 and the second buffer member 241 are provided with buffer end surfaces. When the sliding nut 22 abuts the first limiting member 23, the buffer end surface of the first buffer member 231 is located between the sliding nut 22 and the first limiting member 23. When the sliding nut 22 abuts against the second limiting member 24, the buffer end surface of the second buffer member 241 is located between the sliding nut 22 and the second limiting member 24.

Of course, in other embodiments, the first buffer member 231 and the second buffer member 241 can also be selected from other materials with buffering properties, such as rubber, which is not too limited here.

In an embodiment, the road-sensing simulator further includes an inner sleeve 4, and the limiting portion 2 is provided in the inner sleeve 4.

In order to ensure the stability of the movement of the screw nut pair, the limit part 2 also includes a sliding nut guide 25. The sliding nut guide 25 is provided on the inner sleeve 4, and the sliding nut 22 is provided with a guide that cooperates with the sliding nut guide 25.槽221. For example, there is a gap between the sliding nut guide 25 and the guide groove 221 to ensure that the guide groove 221 can move relative to the sliding nut guide 25.

In one embodiment, the sliding nut guide 25 is a flat key, and the inner sleeve 4 is provided with a flat key installation hole that cooperates with the flat key, and the flat key is interference installed in the flat key installation hole. When the sliding nut 22 moves linearly along the steering shaft 21, the sliding nut guide 25 and the guide groove 221 cooperate, so that the sliding nut 22 can stably move along the straight line.

In an embodiment, the road feel simulator further includes an outer sleeve 5, and the inner sleeve 4 is sleeved in the outer sleeve 5.

In an embodiment, the limiting portion 2 further includes a connecting shaft 26, and one end of the connecting shaft 26 is connected to the steering shaft 21 by a pin shaft.

In an embodiment, the road feel simulator further includes a driving part 1, and the other end of the steering shaft 21 is connected to the output end of the driving part 1. In an embodiment, the steering shaft 21 is connected to the output end of the driving part 1 through a connecting shaft 26.

In an embodiment, the driving part 1 includes a driving motor 11 and a deceleration mechanism 12 provided at the output end of the driving motor 11, and the output end of the deceleration mechanism 12 can drive the steering shaft 21 to rotate around its own axis.

In an embodiment, the driving part 1 further includes a driving motor controller 13 which is electrically connected to the driving motor 11 to control the driving motor 11 to perform operations according to a set program.

In one embodiment, the reduction mechanism 12 is a planetary gear reduction mechanism.

The speed reduction mechanism of the road feeling simulator in the related art generally adopts a worm and worm structure. The turbine and the worm have different shafts, so that the drive motor and the steering shaft cannot be coaxially arranged, which makes the reduction mechanism occupy a large space, which in turn leads to the road feeling simulator. The occupied space is large, which is not conducive to the layout of the whole vehicle. In addition, the friction loss of worm gear transmission is relatively large, and the transmission efficiency is low. In order to reduce the friction loss, the use of more expensive anti-friction materials increases the manufacturing cost to a certain extent.

In one embodiment, the reduction mechanism 12 is a planetary gear reduction mechanism, and the planetary gear reduction mechanism enables the drive motor 11 and the steering shaft 21 to be coaxially arranged, reducing the space occupied by the road feel simulator.

4, in an embodiment, the deceleration mechanism 12 includes a sun gear 121, a deceleration mechanism output end 123 and three planetary gears 122, and the deceleration mechanism output end 123 includes a mounting portion 1231 and a deceleration mechanism output provided at one end of the mounting portion 1231轴1232.

The sun gear 121 and the three planet gears 122 are all installed in the mounting part 1231. The output shaft of the driving motor 11 is in transmission connection with the sun gear 121 to drive the sun gear 121 to rotate. The wheel 122 and the sun gear 121 rotate in opposite directions, and the planet gear 122 is fixedly installed in the mounting portion 1231 and drives the output end 123 of the speed reduction mechanism to rotate in the opposite direction to the sun gear 121.

The end of the connecting shaft 26 away from the steering shaft 21 is connected to the output end 123 of the reduction mechanism.

In an embodiment, an outer ring gear 124 is sleeved on the mounting portion 1231, and the planetary gear 122 uses a positioning pin to ensure that the relative position between itself and the outer ring gear 124 remains unchanged.

For example, a bearing 1233 is provided on the output shaft 1232 of the reduction mechanism. When the reduction mechanism assembly is installed in the reduction mechanism housing 14, it is ensured that when the reduction mechanism output shaft 1232 extends out of the reduction mechanism housing 14, there is no impact on the reduction mechanism housing 14. Influence. The outer ring gear 124 can also ensure that the planetary gear 122 has no influence on the reduction mechanism housing 14.

In an embodiment, the driving motor 11 and the steering shaft 21 are coaxially arranged. In one embodiment, the three planet wheels 122 are arranged in the circumferential direction of the sun gear 121, and the output shaft of the driving motor 11, the sun gear 121 and the steering shaft 21 are arranged coaxially to reduce the footprint of the road simulator.

In an embodiment, the road sensing simulator further includes a torque rotation angle sensor 6, and the torque rotation angle sensor 6 is provided at the output end of the driving unit 1.

In an embodiment, the road feel simulator further includes a mounting bracket 7, a clamping bracket 8 and a clamping mechanism 9.

In one embodiment, the clamping mechanism 9 includes an arc-shaped part and two clamping parts respectively arranged on both sides of the arc-shaped part, the two clamping parts are arranged oppositely and the included angle between the two is adjustable.

In one embodiment, two clamping brackets 8 are provided on opposite sides of the mounting bracket 7 to clamp the clamping mechanism 9 to the mounting bracket 7.

In order to adjust the clamping force between the two clamping parts, in one embodiment, the road feel simulator further includes an adjustment handle 91, which can adjust the distance between the two clamping parts, thereby realizing two clamping parts. Adjustment of the clamping force between the tight parts.

Exemplarily, the assembly process of the road-sensing simulator provided in this embodiment can be performed as follows:

(1) The drive motor controller 13 is threadedly connected with the drive motor 11;

(2) The output shaft of the drive motor 11 is in transmission connection with the sun gear 121 of the reduction mechanism 12, and the housing of the drive motor 11 is threadedly connected with the reduction mechanism housing 14;

(3) The torque rotation angle sensor 6 is connected with the speed reduction mechanism 12 through the bearing 1233, and the housing of the torque rotation angle sensor drives the housing of the motor 11 in threaded connection;

(4) The limiter assembly is assembled, the steering wheel end input shaft 3 and one end of the steering shaft 21 of the limiter 2 are connected by a pin, and the other end of the steering shaft 21 is connected with the connecting shaft 26 by a pin, and the installation Inner casing 4;

(5) Sleeve the inner sleeve 4 into the outer sleeve 5 through the tolerance ring;

(6) Sleeve the outer sleeve 5 into one end of the clamping mechanism 9;

(7) Set the torque angle sensor 6 into the other end of the clamping mechanism 9;

(8) Assemble the mounting bracket 7 and the clamping bracket 8 into a bracket assembly, and install the clamping mechanism 9 to the bracket assembly;

(9) The adjustment handle 91 is installed to adjust the clamping degree of the clamping mechanism 9.

The above embodiments only illustrate the basic principles and characteristics of the application. This application is not limited by the above embodiments. Without departing from the spirit and scope of the application, there are various changes and changes in the application, and these changes and changes are all It falls within the scope of the claimed application. The scope of protection claimed by this application is defined by the appended claims and their equivalents.

Claims

A road-sensing simulator, comprising a limit part (2) and an input shaft (3) at the steering wheel end;

The limiting part (2) includes:

The steering shaft (21), the first end of the steering shaft (2) is connected with the steering wheel end input shaft (3) so that the steering wheel end input shaft (3) and the steering shaft (21) can Rotate simultaneously

A sliding nut (22) which is threadedly connected to the steering shaft (21) and forms a screw nut pair with the steering shaft (21);

The first limiting member (23) is arranged on the steering shaft (21) and located on the first side of the sliding nut (22);

The second limiting member (24) is arranged on the steering shaft (21) and located on the second side of the sliding nut (22);

When the steering shaft (21) rotates around its own axis, the sliding nut (22) can move linearly along the steering shaft (21) to abut against the first limiting member (23) or to contact the first limiting member (23). The two limit members (24) abut to limit the rotation angle of the steering shaft (21).
The road-sensing simulator according to claim 1, wherein the steering shaft (21) is provided with an external thread section (211), and the sliding nut (22) is screwed to the external thread section (211) to A screw nut pair is formed. When the steering shaft (21) rotates around its own axis, the sliding nut (22) can move linearly along the external thread section (211).
The road-sensing simulator according to claim 2, wherein the road-sensing simulator further comprises an inner sleeve (4), and the limiting portion (2) is provided in the inner sleeve (4).
The road-sensing simulator according to claim 3, the limiting portion (2) further comprises a sliding nut guide (25), and the sliding nut guide (25) is provided on the inner sleeve (4) , The sliding nut (22) is provided with a guide groove (221) matched with the sliding nut guide (25).
The road-sensing simulator according to claim 1, wherein the limiting portion (2) further comprises a first buffer member (231), and the first buffer member (231) is sleeved on the first limiting member ( 23) to buffer the impact between the sliding nut (22) and the first limiting member (23).
The road-sensing simulator according to claim 1, wherein the limiting portion (2) further comprises a second buffer member (241), and the second buffer member (241) is sleeved on the second limiting member ( 24) to buffer the impact between the sliding nut (22) and the second limiting member (24).
The road feeling simulator according to claim 1, further comprising a driving part (1), and the second end of the steering shaft (21) is connected to the output end of the driving part (1).
The road-sensing simulator according to claim 7, wherein the driving part (1) comprises a driving motor (11) and a deceleration mechanism (12) provided at the output end of the driving motor (11), and the deceleration mechanism ( The output end of 12) can drive the steering shaft (21) to rotate around its own axis.
The road feeling simulator according to claim 8, wherein the reduction mechanism (12) is a planetary gear reduction mechanism.
The road feeling simulator according to claim 8, wherein the driving motor (11) and the steering shaft (21) are coaxially arranged.