Wire-controlled car steering system

Abstract

A wire-controlled vehicle steering system includes a mechanical electric steering device consisting of two drive motors and a mechanical steering mechanism. The two drive motors can provide operating power to the mechanical steering mechanism simultaneously or independently under the control of a main controller in the wire-controlled vehicle steering system. The mechanical steering mechanism can complete its operating action by receiving operating power from at least one drive motor, thereby achieving steering of the autonomous vehicle. The present invention provides a wire-controlled vehicle steering system for autonomous vehicles that ensures controlled, on-demand steering even if one drive motor fails, thus ensuring safe driving of the autonomous vehicle, thereby meeting the autonomous steering needs of autonomous vehicles. Furthermore, the mechanical steering mechanism in the mechanical electric steering device can take various forms, with a simple structure, reliable operation, easy maintenance, and strong reliability and applicability.

Description

Technical Field

[0001] The present invention relates to an automobile steering system, in particular to a wire-controlled automobile steering system, and belongs to the technical field of production and manufacturing of wire-controlled automobile steering systems. Background Art

[0002] A wire control system means that there is no mechanical connection or transmission of mechanical energy between the operating mechanism and the actuator. The operator's operating instructions are sensed by sensors and then transmitted to the actuator, electronic controller and other working systems through the network using telecommunications mechanisms. The actuator uses external energy to complete the corresponding task, while the entire execution process and results are controlled and monitored by the electronic controller.

[0003] A car's wire-controlled chassis refers to a car chassis that uses wires (telecommunication mechanisms) to replace traditional mechanical, hydraulic or pneumatic connections, and no longer relies on the driver's output force or torque. The car's wire-controlled chassis mainly includes five major systems: wire-controlled car steering, wire-controlled car braking, wire-controlled car shifting, wire-controlled car throttle and wire-controlled car suspension. It is a combination point of autonomous driving and new energy vehicles, and a key carrier for realizing unmanned driving of cars.

[0004] At present, the technology of automobile wire-controlled chassis is in the process of continuous development. However, from the perspective of existing technology, the wire-controlled automobile steering technology in the automobile wire-controlled chassis is still in the early stages of development. The current penetration rate is extremely low, and only a small number of car models are equipped with it.

[0005] A wire-controlled car steering system refers to a car driving control system that controls the car's steering device by wire control. The car steering device is used to control the steering of the car's wheels, thereby controlling the direction of the car's travel.

[0006] Traditional automobile steering devices include mechanical hydraulic steering devices and mechanical electric steering devices, among which:

[0007] The power source of the mechanical hydraulic steering device is mainly a hydraulic pump, which usually includes a steering oil pump, a steering control valve, a steering oil cylinder and oil pipes. Its characteristics are easy steering, but its disadvantages are oil leakage and the complex piping of the device makes it difficult to repair and maintain.

[0008] The power source of the mechanical electric steering device is mainly the drive motor. Therefore, many oil pipes can be eliminated, thereby overcoming the oil leakage and related defects of the above-mentioned mechanical hydraulic steering device. The characteristics of this type of device are simple steering mechanism structure, easy processing, reliable operation, and long service life.

[0009] However, in existing wire-controlled automobile steering systems that use a mechanical electric steering device as an actuator, there is only one drive motor as the power source of the actuator, and there is no redundant power source. Once the drive motor serving as the power source of the actuator fails, the wire-controlled automobile steering system will lose control, with disastrous consequences.

[0010] Therefore, the wire-controlled automobile steering system in the existing technology that uses a mechanical electric steering device as an actuator cannot guarantee driving safety, and cannot meet the use requirements of autonomous driving vehicles at level L4, i.e., highly autonomous driving level and above. Summary of the Invention

[0011] To overcome the deficiencies of the prior art, the present invention provides a wire-controlled vehicle steering system, the purpose of which is to:

[0012] A wire-controlled vehicle steering system is provided for autonomous vehicles, which can ensure controlled and on-demand steering and ensure driving safety even if one of the drive motors fails to work. This meets the autonomous driving needs of autonomous vehicles and, at the same time, simplifies the overall structure of the wire-controlled vehicle steering system, improves its reliability and applicability, extends its service life, and facilitates care and maintenance.

[0013] To achieve the above-mentioned object, the present invention provides the following technical solutions.

[0014] A steering-by-wire vehicle steering system for automatically controlling the direction of travel of an autonomous vehicle comprises a sensor, a data bus, a main controller, a mechanical electric steering device, and a tie rod assembly mounted on the autonomous vehicle. The sensor is used to sense steering data of the autonomous vehicle and operating data of the mechanical electric steering device. The data bus is used to interactively transmit the steering data and operating data between the sensor, the main controller, and the mechanical electric steering device. Furthermore:

[0015] The mechanical electric steering device includes two drive motors and a set of mechanical steering mechanisms, wherein the two drive motors are respectively arranged on the mechanical steering mechanisms, the mechanical steering mechanisms are connected to the tie rod assembly, and the two drive motors can provide operating power to the mechanical steering mechanisms simultaneously or individually under the control of the main controller. The mechanical steering mechanism can complete the operating action by receiving the operating power provided by at least one drive motor. The tie rod assembly drives the suspension and wheels of the autonomous driving vehicle through the operating action of the mechanical steering mechanism, thereby realizing the steering of the autonomous driving vehicle.

[0016] Optional:

[0017] The mechanical steering mechanism is a worm gear and rack gear combination mechanism, and the worm gear and rack gear combination mechanism includes a first mechanism worm, a first mechanism worm wheel, a first mechanism gear and a first mechanism rack, wherein:

[0018] The two ends of the first mechanism worm are respectively connected to the two drive motors, and the first mechanism worm is meshed with the first mechanism worm wheel, the first mechanism gear is coaxial with the first mechanism worm wheel, the first mechanism gear is meshed with the first mechanism rack, and the two ends of the first mechanism rack are respectively connected to the two sets of the pull rod assemblies;

[0019] The first mechanism worm can rotate under the drive of at least one of the drive motors. The rotating first mechanism worm drives the first mechanism worm wheel to rotate. The rotating first mechanism worm wheel causes the first mechanism gear to rotate through the coaxial axis. The rotation of the first mechanism gear causes the first mechanism rack meshing with it to move back and forth in a straight line. The first mechanism rack that moves back and forth in a straight line drives the pull rod assembly connected at both ends thereof to move. The moving pull rod assembly realizes the steering of the self-driving car by pulling the suspension and its wheels.

[0020] Further:

[0021] The worm gear and rack combination mechanism further includes a first mechanism housing, a first mechanism rack sleeve, a rack and gear preload adjustment assembly and a first mechanism mounting seat, wherein:

[0022] The first mechanism housing encloses the first mechanism worm, the first mechanism worm wheel, the first mechanism gear, and a portion of the first mechanism rack. The two drive motors are respectively mounted on the outside of the first mechanism housing, and the drive shafts of the drive motors respectively penetrate into the interior of the first mechanism housing and are respectively connected to both ends of the first mechanism worm.

[0023] Two first mechanism rack bushings are respectively connected to both sides of the bottom of the first mechanism housing, the rack bushings are used to sleeve and protect the first mechanism rack, and the bottoms of the two first mechanism rack bushings are each provided with an adjustment assembly mounting hole, the adjustment assembly mounting hole is used to install the gear rack preload adjustment assembly, and the gear rack preload adjustment assembly is used to adjust the gap between the first mechanism rack and the first mechanism gear and the height of the two ends of the first mechanism rack;

[0024] The first mechanism mounting seat is arranged on the outside of the first mechanism rack sleeve. Through the mounting seat, the first mechanism housing covering the first mechanism worm, the first mechanism worm wheel, the first mechanism gear and part of the first mechanism rack, the two drive motors and the two first mechanism rack sleeves can be installed and fixed on the bridge frame of the autonomous driving vehicle.

[0025] Further:

[0026] The gear rack preload force adjustment assembly includes a preload block, a pressure block, a rack gasket, a spring and a locking ring, wherein:

[0027] The pre-tightening block is screwed to the adjustment assembly mounting hole via external teeth, the pressure block is arranged inside the adjustment assembly mounting hole and located on the upper part of the pre-tightening block, the rack gasket is arranged on the top of the pressure block and abuts against the lower part of the rack of the first mechanism, the spring is arranged between the pre-tightening block and the pressure block, and the locking ring is screwed to the external teeth of the pre-tightening block via internal threads and is located outside the adjustment assembly mounting hole;

[0028] Rotating the preload block can adjust the pressure block up and down via the spring, and the clearance between the first mechanism rack and the first mechanism gear and the height of both ends of the first mechanism rack can be adjusted via the rack liner by adjusting the pressure block up and down.

[0029] Rotating the locking ring can lock the position of the pre-tightening block in the mounting hole of the adjustment assembly.

[0030] Optionally, the mechanical steering mechanism is a spur gear ball screw combination mechanism, which includes a second mechanism first gear, a second mechanism second gear, a second mechanism gear shaft, a second mechanism third gear, a second mechanism nut, and a second mechanism screw, wherein:

[0031] The two ends of the first gear of the second mechanism are respectively connected to the two driving motors, the first gear of the second mechanism is meshed with the second gear of the second mechanism, the second gear of the second mechanism is meshed with the gear shaft of the second mechanism, the gear shaft of the second mechanism is meshed with the third gear of the second mechanism, the third gear of the second mechanism is meshed with the nut of the second mechanism, the nut of the second mechanism is meshed with the screw rod of the second mechanism, and the two ends of the screw rod of the second mechanism are respectively connected to the two sets of the pull rod assemblies;

[0032] The first gear of the second mechanism can rotate under the joint or individual drive of two drive motors. The rotating first gear of the second mechanism drives the second tooth of the second mechanism to rotate. The rotating second gear of the second mechanism drives the gear shaft of the second mechanism to rotate. The rotation of the gear shaft of the second mechanism drives the third tooth of the second mechanism to rotate. The rotating third gear of the second mechanism drives the nut of the second mechanism to rotate. The rotation of the nut of the second mechanism causes the second mechanism lead screw engaged with it to move back and forth in a straight line. The linear reciprocating movement of the second mechanism lead screw drives the pull rod assembly connected at both ends to move. The moving pull rod assembly realizes the steering of the self-driving car by pulling the suspension and its wheels.

[0033] Further:

[0034] The spur gear ball screw combination mechanism further includes a second mechanism housing, a second mechanism connecting flange, a second mechanism screw sleeve, a second mechanism bearing or a second mechanism bearing shell, and a second mechanism mounting seat, wherein:

[0035] The second mechanism housing is used to accommodate the second mechanism first gear, the second mechanism second gear, the second mechanism gear shaft, the second mechanism third gear and the second mechanism nut, and part of the second mechanism screw rod;

[0036] The second mechanism connecting flange is provided on both sides of one end of the second mechanism box, and the second mechanism connecting flange is used to connect and fix the driving motor;

[0037] The second mechanism screw rod sleeve is arranged on both sides of the other end of the second mechanism box body, and the second mechanism screw rod sleeve is used to sleeve and protect the second mechanism screw rod;

[0038] The second mechanism bearing or the second mechanism bearing bush is respectively provided at both ends of the wheel shaft of the second mechanism first gear, the second mechanism gear shaft, and the second mechanism third gear, for supporting and stabilizing the wheel shaft of the second mechanism first gear, the second mechanism gear shaft, and the second mechanism third gear;

[0039] The second mechanism mounting seat is arranged on the outside of the second mechanism screw sleeve, and the second mechanism box, the two drive motors, and the two second mechanism screw sleeves can be installed and fixed on the bridge frame of the autonomous driving vehicle through the second mechanism mounting seat.

[0040] Optional:

[0041] The mechanical steering mechanism is a bevel gear ball screw combination mechanism, which includes a third mechanism driving bevel gear, a third mechanism first bevel gear, a third mechanism second bevel gear, a third mechanism nut and a third mechanism screw, wherein:

[0042] The two third mechanism driving bevel gears are respectively connected to the two driving motors, the third mechanism first bevel gear and the third mechanism second bevel gear are respectively engaged with the two third mechanism driving bevel gears, and the third mechanism first bevel gear and the third mechanism second bevel gear are connected to form a bevel gear body by bolts, the third mechanism nut is arranged in the bevel gear body, the third mechanism nut is engaged with the third mechanism screw rod, and the two ends of the third mechanism screw rod are respectively connected to the two sets of the pull rod assemblies;

[0043] At least one of the third mechanism driving bevel gears can rotate under the drive of the drive motor to which it is connected. The rotating one or two third mechanism driving bevel gears drive the bevel gear body to rotate. The rotating bevel gear body drives the third mechanism nut to rotate. The rotating third mechanism nut causes the third mechanism screw rod engaged therewith to move back and forth in a straight line. The linearly reciprocating third mechanism rack drives the pull rod assembly connected at both ends thereof to move. The moving pull rod assembly realizes the steering of the self-driving car by pulling the suspension and its wheels.

[0044] Further:

[0045] The bevel gear ball screw combination mechanism further includes a third mechanism housing, a third mechanism bearing, a double-row bearing, a third mechanism screw sleeve and a third mechanism mounting seat, wherein:

[0046] The third mechanism housing is used to accommodate the third mechanism driving bevel gear, the third mechanism first bevel gear, the third mechanism second bevel gear body, the third mechanism nut and part of the third mechanism screw rod;

[0047] The double-row bearings are arranged on the third mechanism housing and are located at both ends of the upper part of the third mechanism housing. The double-row bearings are used to sleeve and stabilize the shaft of the third mechanism driving bevel gear. The third mechanism bearings are arranged inside the third mechanism housing and are located on both sides of the third mechanism screw rod. The third mechanism bearings are used to sleeve and stabilize the third mechanism screw rod.

[0048] The third mechanism screw rod sleeve is arranged at both ends of the third mechanism box body, and the third mechanism screw rod sleeve is used to sleeve and protect the third mechanism screw rod;

[0049] The third mechanism mounting seat is arranged on the outside of the third mechanism screw sleeve, and the third mechanism box, the two drive motors, and the two third mechanism screw sleeves can be installed and fixed on the bridge frame of the autonomous driving vehicle through the third mechanism mounting seat.

[0050] Optional:

[0051] The mechanical steering mechanism is a worm gear and ball screw combination mechanism, and the worm gear and ball screw combination mechanism includes a fourth mechanism worm, a fourth mechanism worm wheel, a fourth mechanism nut and a fourth mechanism screw, wherein:

[0052] The two fourth mechanism worms are respectively engaged with the two fourth mechanism worm wheels, the two fourth mechanism worm wheels use the fourth mechanism nut as their common rotation axis, the fourth mechanism nut is engaged with the fourth mechanism lead screw, and the two ends of the fourth mechanism lead screw are respectively connected to the two sets of the pull rod assemblies;

[0053] The two fourth mechanism worm gears are arranged side by side and are respectively connected to the two drive motors, wherein at least one of the fourth mechanism worm gears can rotate under the drive of the drive motor to which it is connected, and the rotating fourth mechanism worm gear drives the fourth mechanism nut to rotate, and the rotating fourth mechanism nut drives the fourth mechanism lead screw engaged with it to move back and forth in a straight line, and the fourth mechanism lead screw that moves back and forth in a straight line drives the pull rod assembly connected at both ends thereof to move, and the moving pull rod assembly realizes the steering of the self-driving car by pulling the suspension and its wheels.

[0054] Further:

[0055] The worm gear and ball screw combination mechanism further includes a fourth mechanism housing, a fourth mechanism connecting flange, a fourth mechanism first bearing, a fourth mechanism second bearing, a spacer, a spacer ring, a fourth mechanism screw sleeve and a fourth mechanism mounting seat, wherein:

[0056] The fourth mechanism box is used to accommodate the fourth mechanism worm, the fourth mechanism worm wheel, the fourth mechanism nut, and part of the fourth mechanism lead screw;

[0057] The fourth mechanism connecting flange is provided on an upper portion of one side of the fourth mechanism housing, and the fourth mechanism connecting flange is used to connect and fix the driving motor;

[0058] The first bearing of the fourth mechanism and the second bearing of the fourth mechanism are respectively arranged inside the fourth mechanism housing, the first bearing of the fourth mechanism is used to support and stabilize the worm of the fourth mechanism, and the second bearing of the fourth mechanism is used to support both ends of the nut of the fourth mechanism;

[0059] The spacer is provided between the two worm gears of the fourth mechanism to maintain the distance between the two worm gears of the fourth mechanism;

[0060] The spacer is provided between each of the fourth mechanism worm gears and the fourth mechanism second bearing, and is used to maintain the distance between each of the fourth mechanism worm gears and the fourth mechanism second bearing;

[0061] The fourth mechanism screw rod sleeve is arranged at both ends of the fourth mechanism box body, and the fourth mechanism screw rod sleeve is used to sleeve and protect the fourth mechanism screw rod;

[0062] The fourth mechanism mounting seat is arranged on the outside of the fourth mechanism screw sleeve, and the fourth mechanism box, the two drive motors, and the two fourth mechanism screw sleeves can be installed and fixed on the bridge frame of the automatic driving vehicle through the fourth mechanism mounting seat.

[0063] Optional:

[0064] The mechanical steering mechanism is a combination of a worm gear, a coaxial gear and a rack, and the combination of a worm gear, a coaxial gear and a rack includes a fifth mechanism worm, a fifth mechanism worm wheel, a fifth mechanism first gear, a fifth mechanism large gear, a fifth mechanism small gear and a fifth mechanism rack, wherein:

[0065] The two ends of the fifth mechanism worm are respectively connected to two driving motors, the fifth mechanism worm is meshed with the fifth mechanism worm gear, the fifth mechanism worm gear is coaxially connected with the fifth mechanism first gear, the fifth mechanism first gear is meshed with the fifth mechanism large gear, the fifth mechanism large gear is coaxial with the fifth mechanism small gear, the fifth mechanism small gear is meshed with the fifth mechanism rack, and the two ends of the fifth mechanism rack are respectively connected to the two sets of the pull rod assemblies;

[0066] The fifth mechanism worm can rotate under the drive of at least one of the two driving motors. The rotating fifth mechanism worm drives the fifth mechanism worm gear to rotate. The rotating fifth mechanism worm gear drives the coaxial fifth mechanism first tooth to rotate. The rotating fifth mechanism first gear drives the large tooth of the fifth mechanism meshed with it to rotate. The rotating fifth mechanism large gear drives the coaxial small tooth of the fifth mechanism to rotate. The rotating fifth mechanism small gear drives the fifth mechanism rack to move back and forth in a straight line. The linear reciprocating fifth mechanism rack drives the pull rod assembly connected at both ends to move. The moving pull rod assembly realizes the steering of the self-driving car by pulling the suspension and its wheels.

[0067] Further:

[0068] The worm gear, coaxial gear and rack combination mechanism further includes a fifth mechanism housing, a fifth mechanism rack sleeve and a fifth mechanism mounting seat, wherein:

[0069] The fifth mechanism housing is used to accommodate the fifth mechanism worm, the fifth mechanism worm wheel, the fifth mechanism first gear, the fifth mechanism large gear, the fifth mechanism small gear and part of the fifth mechanism rack, and the upper ends of the fifth mechanism housing are used to connect and fix the two drive motors, and the middle ends of the fifth mechanism housing are used to connect the two fifth mechanism rack sleeves, and the fifth mechanism rack sleeves are used to sleeve and protect the fifth mechanism rack;

[0070] The fifth mechanism mounting seat is arranged on the outside of the fifth mechanism rack sleeve, and the fifth mechanism box, the two drive motors, and the two fifth mechanism rack sleeves can be installed and fixed on the bridge frame of the autonomous driving vehicle through the fifth mechanism mounting seat.

[0071] Compared with the prior art, the present invention has the following advantages and significant progress:

[0072] 1) The steering-by-wire vehicle steering system provided by the present invention is based on a sensor, a data bus, a main controller, a mechanical electric steering device, and a tie rod assembly. The mechanical electric steering device is designed as a component including two drive motors and a mechanical steering mechanism. The two drive motors are respectively installed on the mechanical steering mechanism, which is connected to the tie rod assembly. The two drive motors can provide operating power to the mechanical steering mechanism simultaneously or independently under the control of the main controller. The mechanical steering mechanism can complete its operating action by receiving the operating power provided by at least one drive motor. The tie rod assembly drives the suspension and wheels of the autonomous vehicle through the operating action of the mechanical steering mechanism, thereby achieving steering of the autonomous vehicle.

[0073] 2) The present invention provides a wire-controlled vehicle steering system for autonomous vehicles, using a mechanical electric steering device with a redundant dual-drive motor design. This system ensures controlled, on-demand steering even if one drive motor fails, ensuring safe driving of the autonomous vehicle. This system meets the autonomous steering needs of autonomous vehicles.

[0074] 3) The mechanical steering mechanism in the mechanical electric steering device of the wire-controlled vehicle steering system provided by the present invention can be of various forms. Each of these mechanical steering mechanisms can be connected to two drive motors. As long as one drive motor is functioning properly, the steering operation of the autonomous vehicle can be completed. The various mechanical steering mechanisms provided are simple in structure, reliable in operation, and easy to repair and maintain, thereby simplifying the overall structure of the present invention, improving its reliability and applicability, extending its service life, and facilitating maintenance and repair.

[0075] 4) The wire-controlled automobile steering system provided by the present invention has a unique and novel design, a compact and simple structure, is easy to manufacture and install, and has strong reliability and applicability. It provides new ideas and methods for the development of autonomous vehicles. Compared with existing technologies, it has outstanding substantive features and significant progress. Therefore, it has great promotion and application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for the embodiments of the present invention.

[0077] Obviously:

[0078] The drawings described below are only drawings of some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work, but these other drawings also belong to the drawings required for use in the embodiments of the present invention.

[0079] Figure 1 A schematic structural diagram of a worm gear and rack-and-pinion combination mechanism used in a wire-controlled vehicle steering system provided by an embodiment of the present invention;

[0080] Figure 2 for Figure 1 Part A in the middle shows an enlarged structural diagram of the rack and pinion preload adjustment assembly in the worm gear and rack and pinion combination mechanism;

[0081] Figure 3 A schematic structural diagram of a spur gear and ball screw assembly mechanism used in a steering-by-wire vehicle steering system according to an embodiment of the present invention;

[0082] Figure 4 A schematic cross-sectional structural diagram of a spur gear and ball screw assembly mechanism used in a steering-by-wire vehicle steering system provided by an embodiment of the present invention;

[0083] Figure 5 A schematic diagram of a three-dimensional axial section structure of a bevel gear and ball screw combination mechanism used in a steering-by-wire vehicle steering system provided by an embodiment of the present invention;

[0084] Figure 6 A schematic structural diagram of a bevel gear and ball screw assembly mechanism used in a wire-controlled vehicle steering system according to an embodiment of the present invention;

[0085] Figure 7 A schematic structural diagram of a worm gear and ball screw assembly mechanism used in a steering-by-wire vehicle steering system according to an embodiment of the present invention;

[0086] Figure 8 A schematic cross-sectional structural diagram of a worm gear and ball screw assembly mechanism used in a steering-by-wire vehicle steering system provided by an embodiment of the present invention;

[0087] Figure 9 A schematic diagram of the three-dimensional structure of a worm gear, coaxial gear and rack combination mechanism used in a wire-controlled vehicle steering system provided by an embodiment of the present invention;

[0088] Figure 10 The present invention provides a partial cross-sectional structural diagram of a worm gear, coaxial gear and rack combination mechanism used in a wire-controlled vehicle steering system provided by an embodiment of the present invention.

[0089] In the picture:

[0090] 10-drive motor, 20-pull rod assembly;

[0091] 100 - worm gear and rack-gear combination mechanism, 110 - first mechanism worm, 120 - first mechanism worm gear, 130 - first mechanism gear, 140 - first mechanism rack, 150 - first mechanism housing, 151 - adjustment assembly mounting hole, 160 - first mechanism rack sleeve, 170 - rack-gear preload adjustment assembly, 171 - preload block, 172 - pressure block, 173 - rack gasket, 174 - spring, 175 - locking ring, 180 - first mechanism mounting seat;

[0092] 200 - spur gear and ball screw combination mechanism, 210 - first gear of the second mechanism, 220 - second gear of the second mechanism, 230 - gear shaft of the second mechanism, 240 - third gear of the second mechanism, 251 - nut of the second mechanism, 252 - screw rod of the second mechanism, 260 - housing of the second mechanism, 270 - connecting flange of the second mechanism, 280 - screw rod sleeve of the second mechanism, 290 - bearing of the second mechanism;

[0093] 300-bevel gear and ball screw combination mechanism, 310-driving bevel gear of the third mechanism, 321-first bevel gear of the third mechanism, 322-second bevel gear of the third mechanism, 323-bolt, 330-nut of the third mechanism, 340-screw of the third mechanism, 350-box of the third mechanism, 360-bearing of the third mechanism, 370-double-row bearing, 380-screw sleeve of the third mechanism;

[0094] 400 - worm gear and ball screw combination mechanism, 410 - worm of the fourth mechanism, 420 - worm gear of the fourth mechanism, 430 - nut of the fourth mechanism, 440 - screw rod of the fourth mechanism, 450 - housing of the fourth mechanism, 460 - connecting flange of the fourth mechanism, 471 - first bearing of the fourth mechanism, 472 - second bearing of the fourth mechanism, 481 - spacer, 482 - spacer ring, 490 - screw rod sleeve of the fourth mechanism;

[0095] 500-worm gear, coaxial gear and rack combination mechanism, 510-fifth mechanism worm, 520-fifth mechanism worm wheel, 530-fifth mechanism first gear, 541-fifth mechanism large gear, 542-fifth mechanism small gear, 550-fifth mechanism rack, 560-fifth mechanism housing, 570-fifth mechanism rack sleeve. DETAILED DESCRIPTION

[0096] In order to make the purpose, technical solutions, beneficial effects and significant improvements 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 combination with the drawings provided in the embodiments of the present invention. Obviously, all the described embodiments are only partial embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0097] It should be noted that the terms "first", "second" and "third" (if any) in the description and claims of the present invention and the drawings of the embodiments of the present invention are only used to distinguish different objects, rather than to describe a specific order;

[0098] In addition, the term "comprise" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or apparatus that includes a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or apparatus.

[0099] What needs to be understood is:

[0100] In the description of the embodiments of the present invention, terms such as "upper", "lower", "top", "bottom" and other indicative orientation or position words are only based on the orientation or position relationship shown in the drawings of the embodiments of the present invention. They are for the convenience of describing the embodiments of the present invention and simplifying the explanation, rather than indicating or implying that the device or element must have a specific orientation, specific orientation structure and operation. Therefore, they should not be understood as limiting the present invention.

[0101] In the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, a movable connection, or an integrated connection; it can be a direct connection, or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly specified and limited, ordinary technicians in this field can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0102] It should also be noted that:

[0103] The following specific embodiments may be combined with each other, and the same or similar concepts or processes therein may not be described in detail in some embodiments.

[0104] The technical solution of the present invention is described in detail below with reference to specific embodiments.

[0105] Example

[0106] This embodiment provides a wire-controlled vehicle steering system for automatically controlling the direction of travel of an autonomous vehicle.

[0107] A steering-by-wire vehicle steering system includes a sensor, a data bus, a main controller, a mechanical electric steering device, and a tie rod assembly installed on an autonomous vehicle. The sensor is used to sense steering data of the autonomous vehicle and operating data of the mechanical electric steering device. The data bus is used to interactively transmit the steering data and operating data between the sensor, the main controller, and the mechanical electric steering device. In addition:

[0108] The mechanical electric steering device includes two drive motors and a set of mechanical steering mechanisms, wherein the two drive motors are respectively arranged on the mechanical steering mechanisms, the mechanical steering mechanisms are connected to the tie rod assembly, and the two drive motors can provide operating power to the mechanical steering mechanisms simultaneously or individually under the control of the main controller. The mechanical steering mechanism can complete the operating action by receiving the operating power provided by at least one drive motor. The tie rod assembly drives the suspension and wheels of the autonomous driving vehicle through the operating action of the mechanical steering mechanism, thereby realizing the steering of the autonomous driving vehicle.

[0109] From the above description, we can see that:

[0110] First, the steering-by-wire vehicle steering system provided in this embodiment is based on a sensor, a data bus, a main controller, a mechanical electric steering device, and a tie rod assembly. The mechanical electric steering device is designed as a component including two drive motors and a mechanical steering mechanism. The two drive motors are respectively installed on the mechanical steering mechanism, which is connected to the tie rod assembly. The two drive motors can provide operating power to the mechanical steering mechanism simultaneously or independently under the control of the main controller. The mechanical steering mechanism can complete its operating action by receiving the operating power provided by at least one drive motor. The tie rod assembly drives the suspension and wheels of the autonomous vehicle through the operating action of the mechanical steering mechanism, thereby achieving steering of the autonomous vehicle.

[0111] Secondly, this embodiment uses a mechanical electric steering device with a dual drive motor redundancy design to provide a self-driving car with a wire-controlled vehicle steering system that ensures controlled, on-demand steering even if one drive motor fails, ensuring safe driving of the self-driving car. This system meets the self-driving car's autonomous steering needs.

[0112] In addition, the wire-controlled automobile steering system provided in this embodiment has a unique and novel design, a compact and simple structure, is easy and convenient to manufacture and install, and has strong reliability and applicability. It provides new ideas and methods for the development of autonomous vehicles. Compared with existing technologies, it has outstanding substantive characteristics and significant progress. Therefore, it has great promotion and application value.

[0113] To further explain the mechanical electric power steering device in this embodiment in detail, the mechanical steering mechanism in the mechanical electric power steering device in this embodiment will be described in detail below.

[0114] Case 1

[0115] The mechanical steering mechanism in this case is a combination of a worm gear and a rack and pinion mechanism.

[0116] like Figure 1 The structural diagram of a worm gear and rack-and-pinion combination mechanism used in a wire-controlled vehicle steering system provided by an embodiment of the present invention is shown as follows:

[0117] A worm gear and rack combination mechanism 100 includes a first mechanism worm 110, a first mechanism worm wheel 120, a first mechanism gear 130, and a first mechanism rack 140, wherein:

[0118] The two ends of the first mechanism worm 110 are respectively connected to the two drive motors 10, and the first mechanism worm 110 is meshed with the first mechanism worm wheel 120. The first mechanism gear 130 is coaxial with the first mechanism worm wheel 120. The first mechanism gear 130 is meshed with the first mechanism rack 140. The two ends of the first mechanism rack 140 are respectively connected to the two sets of pull rod assemblies 20;

[0119] The first mechanism worm 110 can rotate under the drive of at least one drive motor 10. The rotating first mechanism worm 110 drives the first mechanism worm wheel 120 to rotate. The rotating first mechanism worm wheel 120 causes the first mechanism gear 130 to rotate through the coaxial axis. The rotation of the first mechanism gear 130 causes the first mechanism rack 140 engaged therewith to move back and forth in a straight line. The linearly reciprocating first mechanism rack 140 drives the pull rod assembly 20 connected at both ends thereof to move. The moving pull rod assembly 20 realizes the steering of the autonomous driving vehicle by pulling the suspension and its wheels.

[0120] Further, from Figure 1 It can also be seen that in this case:

[0121] The worm gear and rack and pinion combination mechanism 100 further includes a first mechanism housing 150 , a first mechanism rack sleeve 160 , a rack and pinion preload force adjustment assembly 170 , and a first mechanism mounting base 180 , wherein:

[0122] The first mechanism housing 150 encloses the first mechanism worm 110, the first mechanism worm wheel 120, the first mechanism gear 130, and a portion of the first mechanism rack 140. The two drive motors 10 are respectively mounted on the outside of the first mechanism housing 150, and the drive shafts of the drive motors 10 respectively penetrate into the interior of the first mechanism housing 150 and are respectively connected to both ends of the first mechanism worm 110.

[0123] Two first mechanism rack sleeves 160 are respectively connected to both sides of the bottom of the first mechanism housing 150. The rack sleeves are used to sleeve and protect the first mechanism rack 140. The bottom of the two first mechanism rack sleeves 160 is also provided with an adjustment assembly mounting hole 151. The adjustment assembly mounting hole 151 is used to install a gear rack preload adjustment assembly 170. The gear rack preload adjustment assembly 170 is used to adjust the gap between the first mechanism rack 140 and the first mechanism gear 130, as well as the height of the two ends of the first mechanism rack 140.

[0124] The first mechanism mounting seat 180 is arranged on the outside of the first mechanism rack sleeve 160. Through the mounting seat 180, the first mechanism housing 150 covering the first mechanism worm 110, the first mechanism worm wheel 120, the first mechanism gear 130 and part of the first mechanism rack 140, the two drive motors 10 and the two first mechanism rack sleeves 160 can be installed and fixed on the bridge frame (not shown in the figure) of the autonomous driving vehicle.

[0125] like Figure 2 for Figure 1 The enlarged structural diagram of the rack and pinion preload adjustment assembly in the worm gear and rack and pinion combination mechanism shown in part A is as follows:

[0126] The gear rack preload force adjustment assembly 170 includes a preload block 171, a pressure block 172, a rack gasket 173, a spring 174 and a locking ring 175, wherein:

[0127] The pre-tightening block 171 is screwed to the adjustment assembly mounting hole 151 via external teeth. The pressure block 172 is disposed inside the adjustment assembly mounting hole 151 and located above the pre-tightening block 171. The rack gasket 173 is disposed on top of the pressure block 172 and abuts against the bottom of the first mechanism rack 140. The spring 174 is disposed between the pre-tightening block 171 and the pressure block 172. The locking ring 175 is screwed to the external teeth of the pre-tightening block 171 via internal threads and is located outside the adjustment assembly mounting hole 151.

[0128] Rotating the preload block 171 allows the pressure block 172 to be moved up and down by the spring 174. The up and down movement of the pressure block 172 can adjust the gap between the first mechanism rack 140 and the first mechanism gear 130 and the height of the two ends of the first mechanism rack 140 through the rack liner 173.

[0129] The locking ring 175 can be rotated to lock the position of the pre-tightening block 171 in the adjustment assembly mounting hole 151 .

[0130] From the above description, we can see that:

[0131] The mechanical steering mechanism provided in this case uses a worm gear and rack-and-pinion combination mechanism with a simple structure, reliable operation, and easy repair and maintenance. It can be connected to two drive motors, and as long as one drive motor is able to work normally, the steering operation of the self-driving car can be completed, thereby simplifying the overall structure of the present invention, improving its reliability and applicability, extending its service life, and facilitating maintenance and upkeep.

[0132] Case 2

[0133] The mechanical steering mechanism in this case is a spur gear and ball screw combination mechanism.

[0134] like Figure 3 A schematic diagram of a spur gear and ball screw assembly mechanism for a wire-controlled vehicle steering system according to an embodiment of the present invention is shown in FIG. Figure 4 The cross-sectional structural diagram of a spur gear and ball screw assembly mechanism used in a wire-controlled vehicle steering system provided by an embodiment of the present invention is shown as follows:

[0135] A spur gear ball screw combination mechanism 200 includes a second mechanism first gear 210, a second mechanism second gear 220, a second mechanism gear shaft 230, a second mechanism third gear 240, a second mechanism nut 251, and a second mechanism screw rod 252, wherein:

[0136] The two ends of the first gear 210 of the second mechanism are respectively connected to the two driving motors 10, the first gear 210 of the second mechanism is meshed with the second gear 220 of the second mechanism, the second gear 220 of the second mechanism is meshed with the second mechanism gear shaft 230, the second mechanism gear shaft 230 is meshed with the third gear 240 of the second mechanism, the third gear 240 of the second mechanism is meshed with the second mechanism nut 251, the second mechanism nut 251 is meshed with the second mechanism screw rod 252, and the two ends of the second mechanism screw rod 252 are respectively connected to two sets of pull rod assemblies (not shown in the figure);

[0137] The first gear 210 of the second mechanism can rotate under the joint or individual drive of the two driving motors 10. The rotating first gear 210 of the second mechanism drives the second gear 220 of the second mechanism to rotate. The rotating second gear 220 of the second mechanism drives the gear shaft 230 of the second mechanism to rotate. The rotation of the gear shaft 230 drives the third gear 240 of the second mechanism to rotate. The rotating third gear 240 of the second mechanism drives the nut 251 of the second mechanism to rotate. The rotation of the nut 251 of the second mechanism causes the second mechanism screw rod 252 engaged therewith to move back and forth in a straight line. The linearly reciprocating second mechanism screw rod 252 drives the pull rod assembly (not shown in the figure) connected at both ends thereof to move. The moving pull rod assembly (not shown in the figure) realizes the steering of the self-driving car by pulling the suspension and its wheels.

[0138] Further, from Figure 3 and Figure 4 It can also be seen that in this case:

[0139] The spur gear ball screw assembly mechanism 200 further includes a second mechanism housing 260, a second mechanism connecting flange 270, a second mechanism screw sleeve 280, a second mechanism bearing 290 or a second mechanism bearing bushing (not shown in the figure), and a second mechanism mounting seat (not shown in the figure), wherein:

[0140] The second mechanism housing 260 is used to accommodate the second mechanism first gear 210 , the second mechanism second gear 220 , the second mechanism gear shaft 230 , the second mechanism third gear 240 , the second mechanism nut 251 , and part of the second mechanism screw rod 252 ;

[0141] The second mechanism connecting flange 270 is provided on both sides of one end of the second mechanism box 260 , and the second mechanism connecting flange 270 is used to connect and fix the driving motor 10 ;

[0142] The second mechanism screw rod sleeve 280 is provided on both sides of the other end of the second mechanism housing 260 , and the second mechanism screw rod sleeve 280 is used to sleeve and protect the second mechanism screw rod 252 ;

[0143] The second mechanism bearing 290 or the second mechanism bearing bush (not shown) is respectively provided at both ends of the axles of the second mechanism first gear 210, the second mechanism gear shaft 230, and the second mechanism third gear 240 to support and stabilize the axles of the second mechanism first gear 210, the second mechanism gear shaft 230, and the second mechanism third gear 240;

[0144] The second mechanism mounting seat (not shown in the figure) is arranged on the outside of the second mechanism screw sleeve 280. The second mechanism housing 260, two drive motors 10, and two second mechanism screw sleeves 280 can be installed and fixed together on the bridge frame (not shown in the figure) of the autonomous driving vehicle through the second mechanism mounting seat (not shown in the figure).

[0145] From the above description, we can see that:

[0146] The spur gear ball screw combination mechanism provided in this case as a mechanical steering mechanism is also simple in structure, reliable in operation, and easy to repair and maintain. It can not only be connected to two drive motors, but as long as one drive motor is able to work normally, the steering operation of the self-driving car can be completed. Therefore, the overall structure of the present invention is simplified, its reliability and applicability are improved, its service life can be extended, and maintenance is convenient.

[0147] Case 3

[0148] The mechanical steering mechanism in this case is a bevel gear and ball screw combination mechanism.

[0149] like Figure 5 A schematic diagram of a three-dimensional axial section structure of a bevel gear and ball screw combination mechanism used in a wire-controlled vehicle steering system provided by an embodiment of the present invention, Figure 6 The structural diagram of a bevel gear ball screw combination mechanism used in a wire-controlled vehicle steering system provided by an embodiment of the present invention is shown as follows:

[0150] A bevel gear and ball screw combination mechanism 300 includes a third mechanism driving bevel gear 310, a third mechanism first bevel gear 321, a third mechanism second bevel gear 322, a third mechanism nut 330, and a third mechanism screw 340, wherein:

[0151] The two third mechanism driving bevel gears 310 are respectively connected to the two driving motors 10, the third mechanism first bevel gear 321 and the third mechanism second bevel gear 322 are respectively engaged with the two third mechanism driving bevel gears 310, and the third mechanism first bevel gear 321 and the third mechanism second bevel gear 322 are connected to form a bevel gear body by bolts 323, and the third mechanism nut 330 is set in the bevel gear body, and the third mechanism nut 330 is engaged with the third mechanism screw rod 340, and the two ends of the third mechanism screw rod 340 are respectively connected to two sets of pull rod assemblies (not shown in the figure);

[0152] At least one third mechanism driving bevel gear 310 can rotate under the drive of the driving motor 10 to which it is connected. The rotating one or two third mechanism driving bevel gears 310 drive the bevel gear body to rotate, and the rotating bevel gear body drives the third mechanism nut 330 to rotate. The rotating third mechanism nut 330 causes the third mechanism screw rod 340 engaged with it to move back and forth in a straight line. The linearly reciprocating third mechanism rack drives the pull rod assembly (not shown in the figure) connected at both ends thereof to move. The moving pull rod assembly (not shown in the figure) realizes the steering of the autonomous driving car by pulling the suspension and its wheels.

[0153] Further:

[0154] from Figure 5 、 Figure 6 It can also be seen that in this case:

[0155] The bevel gear ball screw assembly mechanism 300 further includes a third mechanism housing 350, a third mechanism bearing 360, a double row bearing 370, a third mechanism screw sleeve 380 and a third mechanism mounting seat (not shown in the figure), wherein:

[0156] The third mechanism housing 350 is used to accommodate the third mechanism driving bevel gear 310 , the third mechanism first bevel gear 321 , the third mechanism second bevel gear 322 , the third mechanism nut 330 and part of the third mechanism screw rod 340 ;

[0157] Double-row bearings 370 are provided on the third mechanism housing 350 and are located at both ends of the upper portion of the third mechanism housing 350 . The double-row bearings 370 are used to sleeve and stabilize the shaft of the third mechanism driving bevel gear 310 . The third mechanism bearings 360 are provided inside the third mechanism housing 350 and are located on both sides of the third mechanism lead screw 340 . The third mechanism bearings 360 are used to sleeve and stabilize the third mechanism lead screw 340 .

[0158] The third mechanism screw rod sleeve 380 is provided at both ends of the third mechanism housing 350 , and the third mechanism screw rod sleeve 380 is used to sleeve and protect the third mechanism screw rod 340 ;

[0159] The third mechanism mounting seat (not shown in the figure) is arranged on the outside of the third mechanism screw sleeve 380. The third mechanism box 350, two drive motors 10, and two third mechanism screw sleeves 380 can be installed and fixed together on the bridge frame (not shown in the figure) of the autonomous driving vehicle through the third mechanism mounting seat (not shown in the figure).

[0160] From the above description, we can see that:

[0161] The bevel gear ball screw combination mechanism provided in this case as a mechanical steering mechanism also has the characteristics of simple structure, reliable operation, and easy repair and maintenance. It can be connected to two drive motors, and as long as one drive motor can work normally, the steering operation of the self-driving car can be completed. Therefore, the overall structure of the present invention can be simplified, its reliability and applicability can be improved, its service life can be extended, and it is convenient for maintenance and upkeep.

[0162] Case 4

[0163] The mechanical steering mechanism in this case is a worm gear and ball screw combination mechanism.

[0164] like Figure 7 A schematic diagram of a worm gear and ball screw assembly mechanism for a wire-controlled vehicle steering system according to an embodiment of the present invention is shown in FIG. Figure 8 The cross-sectional structural diagram of a worm gear and ball screw assembly mechanism used in a wire-controlled vehicle steering system provided by an embodiment of the present invention is shown as follows:

[0165] A worm gear and ball screw combination mechanism 400 includes a fourth mechanism worm 410, a fourth mechanism worm wheel 420, a fourth mechanism nut 430 and a fourth mechanism screw 440, wherein:

[0166] The two fourth mechanism worms 410 are respectively engaged with the two fourth mechanism worm wheels 420. The two fourth mechanism worm wheels 420 use the fourth mechanism nut 430 as their common rotation axis. The fourth mechanism nut 430 is engaged with the fourth mechanism lead screw 440. The ends of the fourth mechanism lead screw 440 are respectively connected to two sets of pull rod assemblies (not shown in the figure);

[0167] Two fourth-mechanism worm gears 410 are arranged side by side and are respectively connected to two drive motors 10, wherein at least one fourth-mechanism worm gear 410 can rotate under the drive of the drive motor 10 to which it is connected, and the rotating fourth-mechanism worm gear 410 drives the fourth-mechanism nut 430 to rotate, and the rotating fourth-mechanism nut 430 drives the fourth-mechanism lead screw 440 engaged with it to move back and forth in a straight line, and the fourth-mechanism lead screw 440 that moves back and forth in a straight line drives the pull rod assembly (not shown in the figure) connected at both ends thereof to move, and the moving pull rod assembly (not shown in the figure) realizes the steering of the autonomous driving car by pulling the suspension and its wheels.

[0168] Further, from Figure 7 as well as Figure 8 It can also be seen that in this case:

[0169] The worm gear and ball screw assembly 400 further includes a fourth mechanism housing 450, a fourth mechanism connecting flange 460, a fourth mechanism first bearing 471, a fourth mechanism second bearing 472, a spacer 481, a spacer ring 482, a fourth mechanism screw sleeve 490, and a fourth mechanism mounting seat (not shown), wherein:

[0170] The fourth mechanism housing 450 is used to accommodate the fourth mechanism worm 410 , the fourth mechanism worm wheel 420 , the fourth mechanism nut 430 , and part of the fourth mechanism screw 440 ;

[0171] The fourth mechanism connecting flange 460 is provided on an upper portion of one side of the fourth mechanism housing 450 , and the fourth mechanism connecting flange 460 is used to connect and fix the driving motor 10 ;

[0172] The fourth mechanism first bearing 471 and the fourth mechanism second bearing 472 are respectively disposed inside the fourth mechanism housing 450 . The fourth mechanism first bearing 471 is used to support and stabilize the fourth mechanism worm 410 , and the fourth mechanism second bearing 472 is used to support both ends of the fourth mechanism nut 430 .

[0173] The spacer 481 is provided between the two fourth mechanism worm gears 420 to maintain the distance between the two fourth mechanism worm gears 420;

[0174] The spacer 482 is provided between each fourth mechanism worm gear 420 and the fourth mechanism second bearing 472 to maintain the spacing between each fourth mechanism worm gear 420 and the fourth mechanism second bearing 472;

[0175] The fourth mechanism screw rod sleeves 490 are provided at both ends of the fourth mechanism housing 450 , and the fourth mechanism screw rod sleeves 490 are used to sheath and protect the fourth mechanism screw rod 440 ;

[0176] The fourth mechanism mounting seat (not shown in the figure) is arranged on the outside of the fourth mechanism screw sleeve 490. The fourth mechanism box 450, two drive motors 10, and two fourth mechanism screw sleeves 490 can be installed and fixed together on the bridge frame (not shown in the figure) of the autonomous driving vehicle through the fourth mechanism mounting seat (not shown in the figure).

[0177] From the above description, we can see that:

[0178] The worm gear and ball screw combination mechanism provided in this case is used as a mechanical steering mechanism. It has a simple structure, reliable operation, and easy repair and maintenance. It can be connected to two drive motors, and as long as one drive motor can work normally, the steering operation of the self-driving car can be completed, thereby simplifying the overall structure of the present invention, improving its reliability and applicability, extending its service life, and facilitating maintenance and upkeep.

[0179] Case 5

[0180] The mechanical steering mechanism in this case is a combination of a worm gear, coaxial gears and a rack.

[0181] like Figure 9 A schematic diagram of the three-dimensional structure of a worm gear, coaxial gear and rack combination mechanism used in a wire-controlled vehicle steering system provided by an embodiment of the present invention, Figure 10 A partial cross-sectional structural diagram of a worm gear, coaxial gear, and rack combination mechanism used in a wire-controlled vehicle steering system provided by an embodiment of the present invention is shown below:

[0182] A worm gear, coaxial gear and rack combination mechanism 500 includes a fifth mechanism worm 510, a fifth mechanism worm wheel 520, a fifth mechanism first gear 530, a fifth mechanism large gear 541, a fifth mechanism small gear 542 and a fifth mechanism rack 550, wherein:

[0183] The ends of the fifth mechanism worm 510 are respectively connected to the two drive motors 10. The fifth mechanism worm 510 meshes with the fifth mechanism worm gear 520. The fifth mechanism worm gear 520 is coaxially connected to the fifth mechanism first gear 530. The fifth mechanism first gear 530 meshes with the fifth mechanism large gear 541. The fifth mechanism large gear 541 is coaxial with the fifth mechanism small gear 542. The fifth mechanism small gear 542 meshes with the fifth mechanism rack 550. The ends of the fifth mechanism rack 550 are respectively connected to two sets of pull rod assemblies (not shown in the figure);

[0184] The fifth mechanism worm 510 can rotate under the drive of at least one of the two drive motors 10. The rotating fifth mechanism worm 510 drives the fifth mechanism worm wheel 520 to rotate. The rotating fifth mechanism worm wheel 520 drives the coaxial fifth mechanism first gear 530 to rotate. The rotating fifth mechanism first gear 530 drives the fifth mechanism large gear 541 meshing with it to rotate. The rotating fifth mechanism large gear 541 drives the coaxial fifth mechanism small gear 542 to rotate. The rotating fifth mechanism small gear 542 drives the fifth mechanism rack 550 to move back and forth in a straight line. The linear reciprocating fifth mechanism rack 550 drives the pull rod assembly (not shown in the figure) connected at both ends to move. The moving pull rod assembly (not shown in the figure) realizes the steering of the automatic driving car by pulling the suspension and its wheels.

[0185] Further, from Figure 10 It can also be seen that in this case:

[0186] The worm gear, coaxial gear and rack combination mechanism 500 further includes a fifth mechanism housing 560, a fifth mechanism rack sleeve 570 and a fifth mechanism mounting seat (not shown in the figure), wherein:

[0187] The fifth mechanism housing 560 is used to accommodate the fifth mechanism worm 510, the fifth mechanism worm wheel 520, the fifth mechanism first gear 530, the fifth mechanism large gear 541, the fifth mechanism small gear 542 and part of the fifth mechanism rack 550, and the upper ends of the fifth mechanism housing 560 are used to connect and fix the two drive motors 10, and the middle ends of the fifth mechanism housing 560 are used to connect two fifth mechanism rack sleeves 570; and the fifth mechanism housing 560 is fixed to the bridge of the self-driving car through the outer wall of its shell, and the fifth mechanism rack sleeve 570 is used to sheath and protect the fifth mechanism rack 550.

[0188] The fifth mechanism mounting seat (not shown in the figure) is arranged on the outside of the fifth mechanism rack sleeve 570. The fifth mechanism housing 560, two drive motors 10, and two fifth mechanism rack sleeves 570 can be installed and fixed together on the bridge frame (not shown in the figure) of the autonomous driving vehicle through the fifth mechanism mounting seat (not shown in the figure).

[0189] From the above description, we can see that:

[0190] The mechanical steering mechanism provided in this case, which uses a worm gear, coaxial gear and rack combination mechanism, also has the characteristics of simple structure, reliable operation, and easy repair and maintenance. It can be connected to two drive motors, and as long as one drive motor can work normally, the steering operation of the self-driving car can be completed, thereby simplifying the overall structure of the present invention, improving its reliability and applicability, extending its service life, and facilitating maintenance and upkeep.

[0191] In summary, we can see that:

[0192] The wire-controlled vehicle steering system provided by the present invention includes a mechanical electric steering device consisting of two drive motors and a mechanical steering mechanism. The two drive motors can provide operating power to the mechanical steering mechanism simultaneously or independently under the control of a main controller in the wire-controlled vehicle steering system. The mechanical steering mechanism can complete its operating action by receiving the operating power provided by at least one drive motor, thereby realizing the steering of the autonomous vehicle.

[0193] The present invention uses a mechanical electric steering device with a redundant dual drive motor design to provide a wire-controlled vehicle steering system for autonomous vehicles that can ensure controlled, on-demand steering even if one drive motor fails, ensuring the safety of the autonomous vehicle. This system meets the autonomous steering needs of autonomous vehicles.

[0194] In the wire-controlled vehicle steering system provided by the present invention, the mechanical steering mechanism in the mechanical electric steering device can be of various forms. All of these mechanical steering mechanisms can be connected to two drive motors. As long as one drive motor is functioning properly, the steering operation of the autonomous vehicle can be completed. In addition, the various mechanical steering mechanisms provided have simple structures, reliable operation, and easy maintenance.

[0195] The wire-controlled automobile steering system provided by the present invention has a unique and novel design, a compact and simple structure, is easy and convenient to manufacture and install, and has strong reliability and applicability. It provides new ideas and methods for the development of self-driving cars. Compared with existing technologies, it has outstanding substantive characteristics and significant progress. Therefore, it has great promotion and application value.

[0196] In the description of the above manual:

[0197] The terms "this embodiment", "an embodiment of the present invention", "as shown in", "further", "a further improved technical solution", etc., mean that the specific features, structures, materials or characteristics described in the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined or combined in any appropriate manner in any one or more embodiments or examples.

[0198] In addition, those skilled in the art may combine or combine different embodiments or examples and features of different embodiments or examples described in this specification without causing any contradiction.

[0199] Finally, it should be noted that:

[0200] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents, and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention. Non-essential improvements, adjustments or replacements made by those skilled in the art based on the contents of this specification are all within the scope of protection required by the present invention.

Claims

1. A wire-controlled vehicle steering system for automatically controlling the direction of travel of an autonomous vehicle, comprising a sensor, a data bus, a main controller, a mechanical electric steering device, and a tie rod assembly installed on the autonomous vehicle, wherein: The sensor is used to sense steering data of the autonomous vehicle and operating data of the mechanical electric steering device, and the data bus is used to interactively transmit the steering data and the operating data between the sensor, the main controller, and the mechanical electric steering device, and is characterized by: The mechanical electric steering device includes two drive motors and a mechanical steering mechanism, wherein the two drive motors are respectively provided on the mechanical steering mechanism, the mechanical steering mechanism is connected to the tie rod assembly, and the two drive motors respectively provide operating power to the mechanical steering mechanism simultaneously or individually under the control of the main controller. The mechanical steering mechanism receives the operating power provided by at least one of the drive motors to complete the operating action. The tie rod assembly drives the suspension and wheels of the autonomous vehicle through the operating action of the mechanical steering mechanism, thereby achieving steering of the autonomous vehicle; The mechanical steering mechanism is a spur gear ball screw combination mechanism, which includes a second mechanism first gear, a second mechanism second gear, a second mechanism gear shaft, a second mechanism third gear, a second mechanism nut and a second mechanism screw, wherein: The two ends of the first gear of the second mechanism are respectively connected to the two driving motors, the first gear of the second mechanism is meshed with the second gear of the second mechanism, the second gear of the second mechanism is meshed with the gear shaft of the second mechanism, the gear shaft of the second mechanism is meshed with the third gear of the second mechanism, the third gear of the second mechanism is meshed with the nut of the second mechanism, the nut of the second mechanism is meshed with the screw rod of the second mechanism, and the two ends of the screw rod of the second mechanism are respectively connected to the two sets of the pull rod assemblies; The first gear of the second mechanism can rotate under the joint or individual drive of two driving motors. The rotating first gear of the second mechanism drives the second tooth of the second mechanism to rotate. The rotating second gear of the second mechanism drives the gear shaft of the second mechanism to rotate. The rotation of the gear shaft of the second mechanism drives the third tooth of the second mechanism to rotate. The rotating third gear of the second mechanism drives the nut of the second mechanism to rotate. The rotation of the nut of the second mechanism causes the second mechanism screw rod engaged with it to move back and forth in a straight line. The linear reciprocating movement of the second mechanism screw rod drives the pull rod assembly connected at both ends thereof to move. The moving pull rod assembly realizes the steering of the self-driving car by pulling the suspension and its wheels. The spur gear ball screw combination mechanism also includes a second mechanism housing, a second mechanism connecting flange, a second mechanism screw rod sleeve, and a second mechanism bearing or a second mechanism bearing shell and a second mechanism mounting seat.

2. The steer-by-wire vehicle steering system according to claim 1, wherein: The second mechanism housing is used to accommodate the second mechanism first gear, the second mechanism second gear, the second mechanism gear shaft, the second mechanism third gear, the second mechanism nut, and part of the second mechanism screw rod; The second mechanism connecting flange is provided on both sides of one end of the second mechanism box, and the second mechanism connecting flange is used to connect and fix the driving motor; The second mechanism screw rod sleeve is arranged on both sides of the other end of the second mechanism box body, and the second mechanism screw rod sleeve is used to sleeve and protect the second mechanism screw rod; The second mechanism bearing or the second mechanism bearing bush is respectively provided at both ends of the wheel shaft of the second mechanism first gear, the second mechanism gear shaft, and the second mechanism third gear, for supporting and stabilizing the wheel shaft of the second mechanism first gear, the second mechanism gear shaft, and the second mechanism third gear; The second mechanism mounting seat is arranged on the outside of the second mechanism screw sleeve, and the second mechanism box, the two drive motors, and the two second mechanism screw sleeves can be installed and fixed on the bridge frame of the autonomous driving vehicle through the second mechanism mounting seat.

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