Steering device, steering system and automatic driving vehicle

Abstract

The present invention relates to a steering device, comprising: a bracket; a first input member supported on the bracket in a manner that allows rotation relative to the bracket, comprising a first input shaft extending in a first direction, and a first steering portion that can rotate synchronously with the first input shaft; and a first output member, comprising a second steering portion meshed with the first steering portion, and a first output shaft that can rotate synchronously with the second steering portion; the steering device comprises a second input member supported on the bracket in a manner that allows rotation relative to the bracket, the second input member comprising a second input shaft connected to the first output shaft; the first output shaft is configured to output the rotation of the first input shaft or the second input shaft in a second direction. The present invention further provides a steering system and an autonomous driving vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle automatic driving steering systems, and in particular to a steering device and an automatic driving vehicle including the steering system. Background Art

[0002] In the field of passenger vehicles, the steering of the vehicle is usually controlled by using a steering wheel to control the steering shaft. With the advancement of sensors, electronic devices, computers and their systems, the vehicle can use an automatic driving system to control the steering shaft instead of manually controlling the steering wheel. In the actual use of the automatic driving system, the two modes of manual steering wheel control and automatic driving are switched.

[0003] At present, the existing steering device assembly can only satisfy one input shaft and one output shaft, and cannot simultaneously connect the manned steering input mechanism and the unmanned steering input mechanism. When switching between manned and unmanned driving, it is necessary to switch between the two steering device assemblies. This installation method wastes costs and requires a large space in the vehicle. Summary of the invention

[0004] The object of the present invention is to provide a steering device capable of outputting two steering directions from one output shaft.

[0005] In a first aspect, the present invention provides a steering device, comprising: a bracket; a first input member supported on the bracket so as to be rotatable relative to the bracket, comprising a first input shaft extending along a first direction, and a first steering portion capable of rotating synchronously with the first input shaft; and a first output member comprising a second steering portion meshed with the first steering portion, and a first output shaft capable of rotating synchronously with the second steering portion; the steering device comprises a second input member supported on the bracket so as to be rotatable relative to the bracket, the second input member comprising a second input shaft connected to the first output shaft; the first output shaft is configured to output the rotation of the first input shaft or the second input shaft in a second direction.

[0006] Preferably, the second input member is supported on a bracket through a bearing seat; the steering device includes a first transmission member, and the first transmission member includes: a third steering portion, which can rotate synchronously with the second input shaft; and a fourth steering portion, which is engaged with the third steering portion and can drive the first output shaft to rotate synchronously.

[0007] Preferably, the bracket includes a base and a shell supported on the base in a detachable manner relative to the base, and the shell has a storage cavity for accommodating the first steering portion, the second steering portion and the first transmission member.

[0008] Preferably, the bracket includes a base and a shell supported on the base in a detachable manner relative to the base, and the shell has a storage cavity for accommodating the first turning portion and the second turning portion.

[0009] Preferably, the extending direction of the second input shaft is configured as the second direction.

[0010] In a second aspect, the present invention further provides a steering system, comprising a steering device as described above, a first drive mechanism connected to the first input shaft, a second drive mechanism connected to the second input shaft, and a steering mechanism connected to the first output shaft; the first drive mechanism and the second drive mechanism are configured to be able to operably drive the first input shaft to rotate, and one of the first drive mechanism and the second drive mechanism is an electrical device.

[0011] Preferably, the second driving mechanism is connected to the second input shaft through a second transmission member, and the second transmission member includes: a first transmission member, which is connected to the second driving mechanism so as to be rotatable synchronously with the output end of the second driving mechanism; a second transmission member, which is connected to the second input shaft so as to be rotatable synchronously with the second input shaft; and a third transmission member, which is used to link the first transmission member and the second transmission member; along the extension direction of the second input shaft, there is a preset distance between the first transmission member and the second transmission member; wherein, the second driving mechanism is an electrical device.

[0012] Preferably, the steering mechanism is used to link a rotating bridge on the vehicle and drive the rotating bridge to rotate, and the first output shaft is linked to the steering mechanism through a cross universal joint component, and the cross universal joint component includes: a first shaft fork, connected to the first output shaft; a second shaft fork, connected to the steering mechanism; and a universal shaft fork, used to link the first shaft fork and the second shaft fork; the first shaft fork includes a first connecting portion having a plurality of gear teeth arranged at intervals along the circumferential direction and sleeved on the outer periphery of the first output shaft.

[0013] Preferably, the first connecting portion has a slot extending along the direction of the first output shaft, and the gear teeth are configured to clamp the first output shaft when the spacing of the slots along the circumference of the first output shaft decreases.

[0014] Preferably, the steering mechanism and the second driving mechanism are configured to be longer along the second direction.

[0015] In a third aspect, the present invention further provides an autonomous driving vehicle, comprising a vehicle body and a steering system as described above and arranged on the vehicle body, wherein the steering device, the second driving mechanism and the steering mechanism are respectively fixedly supported on the vehicle body.

[0016] By adopting the above technical solution, the present invention can achieve the following technical effects:

[0017] The present invention provides a steering device, which comprises a first input member, a second input member and a first output member, wherein the second output member can output the rotation of the first input member and the second input member.

[0018] The present invention provides a steering system, in which the second drive mechanism includes a second transmission component for linking a second input component. The second transmission component can buffer the rotation impact of the electrical device when it starts working and the vibration of the electrical device itself, so that the rotation transmitted to the second input shaft is smoother and softer, and no instantaneous overload occurs.

[0019] The present invention provides a steering system, wherein the steering mechanism thereon is linked to a first output shaft via a cross universal joint component, wherein a first shaft fork on the cross universal joint component for fixedly connecting the first output shaft has a first connecting portion, and the inner periphery of the first connecting portion has a plurality of gear teeth arranged at intervals along the circumferential direction, and a slot extending axially along the first output shaft, and under external force, the spacing of the slot along the circumferential direction can be reduced so that the gear teeth on the first connecting portion can clamp the first output shaft, thereby achieving the purpose of high rotation accuracy of the first output shaft output to the steering mechanism, stable steering effect, and easy disassembly and maintenance, and can prevent the first output shaft from slipping when driving the first shaft fork to rotate when other connection methods are used. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic structural diagram of the steering device of the present invention is drawn;

[0021] Figure 2 A schematic structural diagram of a first input component and a first output component of the present invention is drawn;

[0022] Figure 3 The structural schematic diagram of the steering device under other viewing angles of the present invention is drawn;

[0023] Figure 4 A schematic structural diagram of the second input shaft of the present invention is drawn;

[0024] Figure 5 A schematic structural diagram of the steering system of the present invention is drawn;

[0025] Figure 6 A schematic structural diagram of the steering device, the second driving mechanism and the steering mechanism of the present invention is drawn;

[0026] Figure 7 A schematic structural diagram of the second transmission member of the present invention is drawn;

[0027] Figure 8A schematic structural diagram of the second axle fork of the present invention is drawn.

[0028] Figure ID

[0029] 1-steering device; 11-first input member; 111-first input shaft; 112-first steering portion; 12-first output member; 121-first output shaft; 122-second steering portion; 123-fourth steering portion; 13-second input member; 131-second input shaft; 131A-first mounting portion; 131B-first limiting portion; 131C-second mounting portion; 131D-third mounting portion; 131E-fourth mounting portion; 132-third steering portion; 133-bearing seat; 134 -first bearing assembly; 14-bracket; 141-housing; 142-first base; 2-first drive mechanism; 21-steering wheel; 22-steering column; 3-second drive mechanism; 31-second transmission member; 311-first transmission member; 312-second transmission member; 313-third transmission member; 32-electrical device; 4-steering transmission shaft; 5-power steering gear; 6-cross universal joint member; 61-first shaft fork; 611-first connecting portion; 611A-slot; 611B-fixing hole. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention.

[0031] In the description of the present invention, it needs to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "upper end", "lower end", "upper section", "lower section", "upper side", "lower side", "middle", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0032] Now combined Figures 1 to 8The structure and function of the solution of this application are described in detail.

[0033] An embodiment of the present invention provides a steering device 1, referring to Figure 1 , Figure 2 and Figure 3 , which includes a bracket 14, a first input member 11, a first output member 12 and a second input member 13. The first input member 11 is fixedly mounted on the bracket 14, and the first input member 11 can rotate relative to the bracket 14 when driven. The first input mechanism includes a first input shaft 111 extending along a first direction, and a first steering portion 112. The first steering portion 112 can rotate synchronously with the first input shaft 111 when it rotates. The first output member 12 is fixedly mounted on the bracket 14, and the first output member 12 includes a second steering portion 122 engaged with the first steering portion 112, and a first output shaft 121 that can rotate synchronously with the second steering portion 122. Among them, the first steering portion 112 can drive the second steering portion 122 to rotate when rotating, and then drive the first output shaft 121 to rotate relative to the bracket 14. The second input shaft 131 of the second input mechanism on the steering device 1 is connected to the first output shaft 121, and the second input shaft 131 can drive the first output shaft 121 to rotate when driven to rotate. The first output shaft 121 extends along the second direction to output the rotation of the first input shaft 111 from the second direction. In this embodiment, the steering device 1 can output the rotation of the first input mechanism and the rotation of the second input member 13 from the first output shaft 121, that is, the first output shaft 121 can output the rotation of the first input member 11 and the rotation of the second input member 13 from the second direction.

[0034] In one embodiment of the present invention, the first input shaft 111 is rotatably supported on the bracket 14 through a bearing assembly, and the first steering portion 112 is a gear member having gear teeth on the outer periphery, wherein the first steering portion 112 is sleeved on the outer periphery of the first input shaft 111. The first output shaft 121 is rotatably supported on the bracket 14 through a bearing assembly, and the second steering portion 122 is a gear member having gear teeth on the outer periphery, wherein the second steering portion 122 is sleeved on the outer periphery of the first output shaft 121. The angle between the first direction and the second direction can be 0° to 180°, for example, it can be any one of 0°, 30°, 60°, 90°, 120° or 150°. That is, the first transmission portion and the second transmission portion can be a meshing transmission between spur gears, or a meshing transmission between bevel gears. It can be understood that in other embodiments, the first steering portion 112 and the first input shaft 111 can be integrally formed, and the second steering portion 122 and the first output shaft 121 can be integrally formed.

[0035] In one embodiment of the present invention, the second input member 13 is supported on the bracket 14 through a bearing seat 133. The steering device 1 includes a first transmission member for linking the second input member 13 and the first output member 12. The first transmission member includes a third steering portion 132 and a fourth steering portion 123. The third steering portion 132 is sleeved on the outer periphery of the second input shaft 131 and can rotate synchronously therewith, and the fourth steering portion 123 is engaged with the third steering portion 132 to drive the first output shaft 121 to rotate therewith. That is, the first output shaft 121 in the present invention can rotate under the drive of the first input shaft 111 or the second input shaft 131.

[0036] In one embodiment of the present invention, in combination with reference Figure 3 and Figure 4 The bearing seat 133 includes a second base and a first bearing assembly 134. Along the extension direction of the second input shaft 131, the outer ring of the first bearing assembly 134 is clearance-matched with the third steering portion 132, and its inner ring can abut against the third steering portion 132, or, its inner ring can abut against the second input shaft 131. A fastener is disposed on the end of the second input shaft 131 away from the first bearing assembly 134, and the fastener is matched with the second input shaft 131 and the first bearing assembly 134 to fix the third steering portion 132. It can be understood that the third steering portion 132 is detachably disposed on the second input shaft 131. In this embodiment, the second input shaft 131 includes a first mounting portion 131A, a first limiting portion 131B, a second mounting portion 131C, a third mounting portion 131D, and a fourth mounting portion 131E in sequence along its extension direction. The first mounting portion 131A is used to connect the second driving mechanism 3 (described in detail later), the second mounting portion 131C is used to install the first bearing assembly 134 and is supported on the second base through the first bearing assembly 134, the third mounting portion 131D is used to install the third steering portion 132, and the fourth mounting portion 131E is used to install the fastener. Among them, the radial value of the first limiting portion 131B is greater than the radial value of the second mounting portion 131C, so as to cooperate with the third steering portion 132 to axially press or limit the first bearing assembly 134. The radial value of the third mounting portion 131D is smaller than the second mounting portion 131C, so as to axially press and limit the third steering portion 132. The fastener can press the third steering portion 132 to the end edge between the second mounting portion 131C and the third mounting portion 131D.

[0037] In one embodiment of the present invention, in combination with reference Figure 1 , Figure 2 as well as Figure 3The bracket 14 includes a first base 142 and a housing 141 supported on the first base 142 in a detachable manner relative to the first base 142. The housing 141 has a receiving cavity, in which the first steering portion 112, the second steering portion 122, part of the first input shaft 111, and part of the first output shaft 121 are placed. The bearing assembly for supporting the first input shaft 111 and the second input shaft 131 is fixedly supported on the housing 141. Among them, the end of the first input shaft 111 away from the first steering portion 112 passes through the housing 141 and is placed in the external space thereof, and the end of the first output shaft 121 away from the second steering portion 122 passes through the housing 141 and is placed in the external space thereof. Preferably, a pressure injection cup is arranged on the housing 141 at a position corresponding to the meshing of the first steering portion 112 and the second steering portion 122, for injecting lubricant. It can be understood that in other embodiments, the storage cavity can accommodate the first steering portion 112, the second steering portion 122, the third steering portion 132, the fourth steering portion 123, part of the first input shaft 111, part of the second input shaft 131, and part of the second input shaft 131, and the shell 141 is provided with an injection oil cup at a position corresponding to the meshing position of the first steering portion 112 and the second steering portion 122, and the meshing position of the third steering portion 132 and the fourth steering portion 123 for injecting lubricant.

[0038] In an embodiment of the present invention, preferably, the extension direction of the second input shaft 131 is configured as the second direction, that is, the second input shaft 131 is parallel to the first input shaft 111 .

[0039] An embodiment of the present invention provides a steering system, in combination with reference Figure 5 and Figure 6 , which includes the above-mentioned steering device 1, a first drive mechanism 2, a second drive mechanism 3 and a steering mechanism. The first drive mechanism 2 is connected to the first input shaft 111, the second drive mechanism 3 is connected to the second input shaft 131, and the steering mechanism is connected to the first output shaft 121. Among them, the steering mechanism includes a steering transmission shaft 4 and a power steering device 5 for connecting to the steering axle of the car, that is, the steering mechanism can transmit the rotation of the first output end to the steering axle to drive the steering axle to rotate. In this embodiment, the first drive mechanism 2 is a steering column 22 connected to the first input shaft 111, and a steering wheel 21 that can be connected to the first input shaft 111, and the second drive mechanism 3 includes an electrical device 32. For example, the electrical device 32 can be a servo motor. That is, the first input shaft 111 of this embodiment can rotate under artificial operational drive and further drive the steering mechanism to work, or the first input shaft 111 of this embodiment can rotate under the operational drive of the electrical second drive mechanism 3 and further drive the steering mechanism to work.

[0040] In one embodiment of the present invention, in combination with reference Figure 6 and Figure 7 The second driving mechanism 3 includes a second transmission member 31, which is connected to the second input shaft 131. The second transmission member 31 includes a first transmission member 311, a second transmission member 312, and a third transmission member 313. The first transmission member 311 is connected to the second driving mechanism 3, and can rotate synchronously with the output end of the second driving mechanism 3, for example, it is connected to the rotating shaft of the servo motor. The outer periphery of the first transmission member 311 has gear teeth arranged at intervals along the circumference. The second transmission member 312 is connected to an end of the second input shaft 131 away from the third steering portion 132, and can drive the second input shaft 131 to rotate synchronously. The outer periphery of the second transmission member 312 has gear teeth arranged at intervals along the circumference. The third transmission member 313 is sleeved on the outer peripheries of the first transmission member 311 and the second transmission member 312, and the inner periphery of the third transmission member 313 has gear teeth arranged at intervals along the circumference. The gear teeth on the inner periphery of the third transmission member 313 are adapted to the gear teeth on the outer peripheries of the first transmission member 311 and the second transmission member 312 , that is, the third transmission member 313 can transmit the rotation of the output end of the second drive mechanism 3 to the second transmission member 312 connected to the second input shaft 131 .

[0041] In this embodiment, reference Figure 6 Along the axial direction of the second input shaft 131, there is a preset spacing between the first transmission member 311 and the second transmission member 312, and by cooperating with the third transmission member 313 to adopt a structure in which gear teeth are mutually meshed, the second transmission member 31 can buffer the rotation impact when the electrical device is started and the vibration of the electrical device itself, so that the rotation transmitted to the second input shaft 131 is smoother and softer, and there will be no instantaneous overload.

[0042] In one embodiment of the present invention, in combination with reference Figure 5 , Figure 6 as well as Figure 8 , the first output shaft 121 is linked to the steering mechanism through a cross universal joint component 6. The cross universal joint component 6 includes a first shaft fork 61, a second shaft fork and a universal shaft fork. The first shaft fork 61 is connected to the end of the first output shaft 121 away from the second steering portion 122, and the second shaft fork is connected to the steering mechanism. The universal shaft fork is respectively connected to the first shaft fork 61 and the second shaft fork to link them. In this embodiment, the first shaft fork 61 has a first connecting portion 611 for fixing the first output shaft 121, wherein the first connecting portion 611 is sleeved on the outer periphery of the first output shaft 121, and the inner periphery of the first connecting portion 611 has a plurality of gear teeth arranged at intervals along the circumferential direction, and the gear teeth are used to clamp the first output shaft 121 when the first shaft fork 61 is fixedly connected to the first output shaft 121.

[0043] In one embodiment of the present invention, reference Figure 8 The first connection part 611 has a slot 611A extending axially along the first output shaft 121, and is provided with a fixing hole 611B extending along a third direction, and the third direction is configured to be substantially perpendicular to the second direction. A screw or a bolt can pass through the fixing hole 611B. Under the tightening action of the screw or the bolt, the spacing of the slot 611A along the circumferential direction can be reduced, so that the gear teeth on the first connection part 611 can clamp the first output shaft 121, thereby achieving the purpose of high rotation accuracy of the first output shaft 121 output to the steering mechanism, stable steering effect, and easy disassembly and maintenance.

[0044] In one embodiment of the present invention, in combination with reference Figure 5 and Figure 6 , the steering mechanism and the second driving mechanism 3 are configured to be longer along the second direction. Figure 6 As shown, the second drive mechanism 3 is configured to be substantially parallel to the steering transmission shaft 4 of the steering mechanism. In the field of passenger vehicles, the steering device 1 and the power steering gear 5 are linked via the steering transmission shaft 4. In order to allow the steering transmission shaft 4 to work normally without interference, other devices on the vehicle are kept as far away from the steering transmission shaft 4 as possible. Figure 6 It can be seen that by adopting the steering change device 1 of the present application, the second drive mechanism 3 can be set in parallel with the steering transmission shaft 4, and free switching between manual driving and automatic driving can be achieved without wasting space. That is, the arrangement of the present application saves layout space compared to the structure in the prior art that requires the steering mechanism to switch the linkage relationship between the first drive mechanism 2 and the second drive mechanism 3. It is understandable that when laying out the overall structure of the vehicle, it is necessary to consider the center of gravity of the vehicle after the overall assembly. In the steering change device 1 of the present application, the second drive mechanism 3 can be set in parallel with the steering transmission shaft 4, ensuring the concentration of the center of gravity of the steering system of the present application, and there is no possibility of tilting to the side.

[0045] An embodiment of the present invention provides an autonomous driving vehicle, comprising a vehicle body (not shown) and the above-mentioned steering system, wherein the above-mentioned steering device 1, the first driving mechanism 2, the second driving mechanism 3 and the steering mechanism are respectively fixedly supported on the vehicle body.

[0046] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A steering system, characterized in that: A steering device comprising a first driving mechanism connected to a first input shaft, a second driving mechanism connected to a second input shaft, and a steering mechanism connected to a first output shaft; the first driving mechanism and the second driving mechanism are configured to operatively drive the first input shaft to rotate; The steering device comprises a bracket, a first input member, a first output member and a second input member: the first input member is supported on the bracket in a manner that allows it to rotate relative to the bracket, and comprises a first input shaft extending in a first direction, and a first steering portion that can rotate synchronously with the first input shaft; the first output member comprises a second steering portion meshed with the first steering portion, and a first output shaft that can rotate synchronously with the second steering portion; the second input member is supported on the bracket in a manner that allows it to rotate relative to the bracket, and the second input member comprises a second input shaft connected to the first output shaft; the first output shaft is configured to output the rotation of the first input shaft or the second input shaft in a second direction; The angle between the first direction and the second direction is 30°, 60°, 90°, 120° or 150°; The second input member is supported on the bracket through a bearing seat; the steering device includes a first transmission member; the first transmission member includes a third steering part and a fourth steering part; the third steering part and the second input shaft can rotate synchronously; the fourth steering part is engaged with the third steering part and can drive the first output shaft to rotate; The second input shaft includes a first mounting portion, a first limiting portion, a second mounting portion, a third mounting portion and a fourth mounting portion in sequence along its extension direction; the first mounting portion is used to connect the second driving mechanism, the second mounting portion is used to install the first bearing assembly and is supported on the second base through the first bearing assembly, the third mounting portion is used to install the third steering portion, and the fourth mounting portion is used to install a fastener; wherein the radial value of the first limiting portion is greater than the radial value of the second mounting portion, so as to cooperate with the third steering portion to axially press or limit the first bearing assembly; the radial value of the third mounting portion is smaller than the second mounting portion, so as to axially press and limit the third steering portion; the fastener can press the third steering portion to the end edge between the second mounting portion and the third mounting portion; The second driving mechanism has a second transmission member connected to the second input shaft, and the second transmission member includes a first transmission member, a second transmission member and a third transmission member; the first transmission member and the output end of the second driving mechanism can be synchronously rotatably connected to the second driving mechanism; the second transmission member and the second input shaft can be synchronously rotatably connected to the second input shaft; the third transmission member is used to link the first transmission member and the second transmission member; along the extension direction of the second input shaft, there is a preset distance between the first transmission member and the second transmission member; wherein the second driving mechanism includes an electrical device; The steering mechanism is used to link the rotating bridge on the vehicle and drive the rotating bridge to rotate. The first output shaft is linked to the steering mechanism through a cross universal joint component. The cross universal joint component includes a first shaft fork, a second shaft fork and a universal shaft fork. The first shaft fork is connected to the first output shaft. The second shaft fork is connected to the steering mechanism. The universal shaft fork is used to link the first shaft fork and the second shaft fork. The first shaft fork includes a first connecting portion having a plurality of gear teeth arranged at intervals along the circumferential direction and sleeved on the outer periphery of the first output shaft. The first connecting portion has a slot extending along the direction of the first output shaft, and the gear teeth are configured to clamp the first output shaft when the spacing of the slot along the circumference of the first output shaft decreases; The first connecting portion is provided with a fixing hole extending along a third direction, and the third direction is configured to be perpendicular to the second direction.

2. An automatic driving vehicle, characterized in that: The invention comprises a vehicle body and a steering system as claimed in claim 1 which is arranged on the vehicle body, wherein the steering device, the first driving mechanism, the second driving mechanism and the steering mechanism are respectively fixedly supported on the vehicle body.

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