Redundant automobile angle module steering device with large upsetting moment bearing capacity

Abstract

The invention belongs to the technical field of intelligent chassis of vehicle engineering, and discloses a redundant automobile angle module steering device with large upsetting moment bearing capacity. The device is mainly composed of a double-winding driving motor, a large overturning moment bearing speed reducing mechanism and a redundancy type angle sensing device, the motor and the sensing device are provided with two sets of parts capable of working independently, and the large overturning moment bearing speed reducing mechanism is a two-stage speed reducing mechanism composed of a cylindrical gear speed reducing mechanism and a cycloidal pin wheel speed reducing mechanism. The output torque of the driving motor drives the angle module to rotate after being gained by the large upsetting torque bearing speed reducing mechanism, and the angle sensing device is connected with the output part to detect the steering angle and feed the steering angle back to the control module to achieve closed-loop control. The device is used as a bearing component for connecting the corner module with the vehicle body. The angle module vehicle has the large overturning moment bearing capacity, safety and steering angle control precision are improved through multi-component redundancy, and meanwhile the unsprung mass of the angle module vehicle can be reduced.

Description

Technical Field

[0001] The invention relates to the technical field of intelligent chassis in vehicle engineering, and in particular to a redundant automobile corner module steering device with large overturning moment bearing capacity. Background Art

[0002] The corner module structure refers to an integrated module assembly that integrates the driving function, suspension function, steering function, and braking function. The corner module assembly is conducive to the vehicle's wire control and intelligence, and transforms the original mechanical transmission structure into electronic control. The highly integrated design greatly simplifies the traditional steering system, and the steering torque is directly provided by the steering device arranged in the corner module, saving the layout space of the traditional steering transmission line. However, in the existing corner module steering device, there are technical problems such as excessive size, easy mechanical failure under extreme working conditions, failure of electronic equipment, and excessive unsprung mass due to the installation position. Therefore, the structure of the present invention is proposed to solve the above problems. Summary of the invention

[0003] One object of the present invention is to provide a steering device suitable for an angle module, which provides steering torque for the angle module steering system by driving the input torque of the motor and the large overturning torque bearing reduction mechanism based on cylindrical gear reduction and cycloidal pinwheel reduction to increase torque, and improves the accuracy of steering angle control through the high-precision characteristics of the cycloidal pinwheel reduction mechanism.

[0004] Another object of the present invention is to provide a structure combining a tapered roller bearing and a cycloidal pinwheel reduction mechanism to ensure that the steering device can still work stably and have a sufficient service life when subjected to a large overturning moment under extreme working conditions.

[0005] The third object of the present invention is to provide a redundant angle sensor containing two sets of independently working and redundant sensing components to detect and feedback the steering angle to achieve precise control, and a dual-winding drive motor with two sets of coil windings that are redundant to each other so that when one set of coils in the motor fails, it can still maintain stable operation, thereby improving the robustness of the steering device.

[0006] A fourth object of the present invention is to provide a steering device installed above the corner module and directly connected to the vehicle body, thereby reducing the unsprung mass of the corner module vehicle and improving its dynamic performance.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] Provided is a redundant automobile corner module steering device with large overturning moment bearing capacity, comprising:

[0009] The driving motor is configured as a double-winding motor.

[0010] The large overturning moment bearing reduction mechanism is mainly composed of a cylindrical gear reduction mechanism and a cycloidal pinwheel reduction mechanism. The motor output shaft is connected to the small cylindrical gear. A first ball bearing is installed on the upper and lower sides of the small cylindrical gear. The small cylindrical gear is meshed with the large cylindrical gear for transmission. A second ball bearing is installed on the upper and lower sides of the large cylindrical gear. The large cylindrical gear is connected to the main shaft of the cycloidal pinwheel reduction mechanism. The main shaft is connected to two eccentric wheels. The two eccentric wheels are respectively connected to a cycloidal wheel. The two cycloidal wheels are connected to the upper and lower output wheels at the same time. The upper output flange is connected to the upper output wheel by a stud connection. The lower output flange is connected to the lower output wheel together with the torque output stud. The reducer housing includes a reducer cover, a housing flange and a roller housing.

[0011] The angle sensor device comprises a redundant angle sensor and an angle sensor connector. The redundant angle sensor is connected to a shaft column of a speed reduction mechanism output flange via the angle sensor connector.

[0012] As a preferred technical solution, the drive motor is configured as a dual-winding motor, which includes two groups of coil windings that can work independently or collaboratively.

[0013] As a preferred technical solution, the output shaft of the driving motor is connected to the small cylindrical gear by a key connection, and a first ball bearing is installed on each of the upper and lower parts of the small cylindrical gear.

[0014] As a preferred technical solution, the small cylindrical gear and the large cylindrical gear are meshed and driven as a first-stage reduction mechanism.

[0015] As a preferred technical solution, the large cylindrical gear is connected to the cycloid pinwheel main shaft by a spline connection, and a second ball bearing is installed on each of the upper and lower parts of the large cylindrical gear.

[0016] As a preferred technical solution, the cycloid pinwheel main shaft is connected to the two eccentric wheels by a key connection, and the eccentric wheel is connected to the cycloid wheel to drive the cycloid wheel to perform eccentric motion.

[0017] As a preferred technical solution, the cycloid wheel and the needle roller meshing transmission serve as a second-stage reduction mechanism, the needle roller is installed in a groove on the inner wall of the needle roller housing, and needle roller fixing sleeves are installed at the upper and lower ends to fix the position of the needle roller.

[0018] As a preferred technical solution, the output wheel is connected to the cycloid wheel by studs and straight columns in an alternating manner, with two output wheels in total, and a tapered roller bearing is installed at each corresponding end of the output wheel.

[0019] As a preferred technical solution, the upper output flange is connected to the upper output wheel by means of stud connection, the torque output stud is connected to the lower output wheel, and at the same time, the lower output wheel is connected to the lower output flange through the torque output stud.

[0020] As a preferred technical solution, the central axis of the lower output flange passes through the cycloid pinwheel main shaft and is connected to the redundant angle sensor through an angle sensor connector to detect the steering angle.

[0021] As a preferred technical solution, the redundant angle sensor has two groups of sensing components that can work independently or collaboratively.

[0022] As a preferred technical solution, the drive motor is connected to one side of the housing flange, the needle housing is connected to the same side as the motor, and the reducer cover is connected to the other side of the housing flange.

[0023] As a preferred technical solution, the torque output stud is connected to the relevant parts of the angle module.

[0024] The beneficial effects of the present invention are:

[0025] The present invention provides a redundant automobile angle module steering device with large overturning moment bearing capacity, which includes a driving motor, a large overturning moment bearing reduction mechanism and an angle sensing device. The driving motor is set as a double-winding motor, and the two sets of coil windings are redundant and can work independently or collaboratively, and the steering function can still be kept stable when one set of coils fails. The large overturning moment bearing reduction mechanism includes cylindrical gear reduction and cycloidal pinwheel reduction, which can achieve a larger reduction ratio, reduce the requirements for the motor, and the motor with lower power and torque can also achieve the steering function. The tapered roller bearing installed on the output wheel in the cycloidal pinwheel reduction mechanism has a good load-bearing effect, which can enable the device to maintain stable operation under extreme conditions of large overturning moments and have a long service life. At the same time, the cycloidal pinwheel reduction mechanism, as a high-precision mechanism, can effectively improve the accuracy of steering angle control. The eccentric shaft in the original cycloidal pinwheel reduction mechanism is optimized to be a main shaft plus an eccentric wheel, so that the processing difficulty is reduced. A redundant angle sensor is installed above the device to detect the steering angle to achieve precise control and automatic self-centering. The redundant sensor has two sets of independently working sensor components, which can still work stably when one set fails. This device is suitable for steering arm-type corner module assemblies. The steering device is installed above the corner module assembly and is directly connected to the body instead of the wheel, which reduces the unsprung mass of the corner module vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 The structure of the steering device in the embodiment of the present invention is shown in FIG. Figure 1 ;

[0027] Figure 2 The structure of the steering device in the embodiment of the present invention is shown in FIG. Figure 2 .

[0028] Reference numerals

[0029] 1. Drive motor;

[0030] 2. Large overturning moment bearing reduction mechanism, 21. Cylindrical gear reduction mechanism; 211. Small cylindrical gear; 212. Large cylindrical gear; 213. First ball bearing; 214. Second ball bearing; 22. Cycloidal pinwheel reduction mechanism; 221. Cycloidal pinwheel main shaft; 222. Eccentric wheel; 223. Cycloidal wheel; 224. Output wheel; 225. Needle roller; 226. Needle roller fixing sleeve; 227. Tapered roller bearing; 228. Upper output flange; 229. Lower output flange; 23. Torque output stud; 24. Reducer housing; 241. Reducer cover; 242. Housing flange; 243. Needle roller housing;

[0031] 3. Angle sensor device; 31. Redundant angle sensor; 32. Angle sensor connector. DETAILED DESCRIPTION

[0032] In order to make the technical problems solved by the present invention, the technical solutions adopted and the effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings. It is understood that the specific embodiments described herein are only used as explanations of the present invention, and the embodiments described are only part of the embodiments of the present invention, rather than all of the embodiments. It is also noted that, for the convenience of description and explanation, only the parts related to the present invention, rather than all of the structures, are shown in the accompanying drawings.

[0033] In the description of the present invention, unless otherwise clearly stated and limited, the terms "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, "connected" can refer to fixed connection, detachable connection, or integration; it can be electrical connection or mechanical connection; it can be direct connection or indirect connection through an intermediate medium; it can be rotational connection or translational connection; it can be internal communication between two elements or interaction between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0035] In the description of this article, it should be understood that the terms "upper", "lower", "left", "right", etc., directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplified operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0036] In the description of this specification, the description with reference to the terms "embodiment", "example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic description of providing a redundant automotive corner module steering device with a large overturning moment bearing capacity for the above terms does not necessarily refer to the same embodiment or example.

[0037] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0038] The steering device of the present invention includes a driving motor, a large overturning moment bearing reduction mechanism, and an angle sensing device. After the motor outputs the torque, it is decelerated and twisted by the large overturning moment bearing reduction mechanism to provide a steering torque. The large overturning moment bearing reduction mechanism composed of a cylindrical gear reduction mechanism and a cycloidal pinwheel reduction mechanism has a large reduction ratio, so that the power output torque requirement of the motor is not high and can be applied to the vehicle power supply of most models. The tapered roller bearing is installed on the output wheel, so that the device's ability to withstand lateral torque is greatly enhanced, and it can ensure stable operation and sufficient service life under extreme conditions of large overturning torque. At the same time, the redundant angle sensor installed on the lower output flange can realize the detection of the steering angle to achieve precise control.

[0039] like Figure 1 and Figure 2As shown, the present invention provides a redundant automobile angle module steering device with large overturning moment bearing capacity, the steering device includes a driving motor 1, a large overturning moment bearing reduction mechanism 2, and an angle sensor 3. The driving motor 1 is set as a double-winding motor, which includes two groups of coil windings that can work independently or collaboratively to ensure that the steering device can still work when one group of coils fails. The large overturning moment bearing reduction mechanism 2 includes a cylindrical gear reduction mechanism 21, a cycloidal pinwheel reduction mechanism 22, a torque output stud 23, and a reducer housing 24. The driving motor 1 is connected to the small cylindrical gear 211 in the cylindrical gear reduction mechanism 21, the large cylindrical gear is connected to the cycloidal pinwheel main shaft 221 in the cycloidal pinwheel reduction mechanism 22, and the torque output stud 23 is connected to the output wheel 224 on the lower side of the cycloidal pinwheel reduction mechanism 22. The angle sensing device 3 includes a redundant angle sensor 31 and an angle sensor connector 32. The redundant angle sensor 31 is connected to the center axis column of the lower output flange 229 of the cycloid pinwheel reduction mechanism 22 through the angle sensor connector 32. The redundant sensor contains two groups of sensing components, which are independent and redundant to each other. They can work independently or in coordination to ensure that the operation remains stable when one group of components fails.

[0040] Specifically, Figure 1 The cross-sectional view of Figure 2 As shown in the exploded diagram, the cylindrical gear reduction mechanism 21 includes a small cylindrical gear 211, a large cylindrical gear 212, a first ball bearing 213 and a second ball bearing 214. The output shaft of the drive motor 1 is connected to the small cylindrical gear 211, and a first ball bearing 213 is installed at each of the upper and lower ends of the small cylindrical gear 211. The small cylindrical gear 211 and the large cylindrical gear 212 are meshed and transmitted to form the first stage of reduction, and a second ball bearing 214 is installed at each of the upper and lower ends of the large cylindrical gear 212.

[0041] Specifically, Figure 1 The cross-sectional view of Figure 2 As shown in the exploded diagram, the cycloid pinwheel reduction mechanism 22 includes a cycloid pinwheel main shaft 221, an eccentric wheel 222, a cycloid wheel 223, an output wheel 224, a needle roller 225, a needle roller fixing sleeve 226, a tapered roller bearing 227, an upper output flange 228 and a lower output flange 229. The large cylindrical gear 212 is connected to the cycloid pinwheel main shaft 221 for transmission. Two eccentric wheels 222 are installed on the cycloid pinwheel main shaft 221 to drive the cycloid wheel 223 to do eccentric motion. The cycloid wheel 223 meshes and rotates with the needle roller 225 to form a second stage reduction. The output wheel 224 is connected to the cycloid wheel 223 and is equipped with a tapered roller bearing 227 to withstand a large overturning moment. The upper output flange 228 is connected to the upper output wheel 224 through a stud. The torque output stud 23 is connected to the lower output wheel 24, and a lower output flange 229 is installed in the middle.

[0042] Specifically, Figure 1 The cross-sectional view of Figure 2 As shown in the exploded view, the reducer housing 24 includes a reducer cover 241, a housing flange 242 and a needle housing 243. The reducer cover 241 covers the cylindrical gear reduction mechanism, the drive motor 1 is mounted on the housing flange 242, the needle housing 243 and the housing flange 242 are on the same side of the drive motor 1, and cover the cycloid pinwheel reduction mechanism. At the same time, the inner wall of the needle housing 243 is provided with a groove for placing the needle roller 225, and the needle roller fixing sleeves 226 are installed at both ends of the needle roller 225 to fix the position of the needle roller.

[0043] Specifically, Figure 1 The cross-sectional view of Figure 2 As shown in the exploded diagram, the angle sensing device 3 includes a redundant angle sensor 31 and an angle sensor connector 32. The redundant angle sensor 31 is connected to the center axis column of the lower output flange 229 of the cycloid pinwheel reduction mechanism 22 through the angle sensor connector 32 to detect the steering angle for precise control.

[0044] Specifically, a steering device is formed according to the above description, and its working method is partially described below. After the drive motor 1 outputs the torque, it is first decelerated by the cylindrical gear reduction mechanism 21 for the first time and then transmitted to the cycloid pinwheel reduction mechanism 22, and then decelerated by the cycloid pinwheel reduction mechanism 22 for the second time and then outputs the steering torque through the torque output stud 23. The redundant angle sensor 31 connected to the lower output flange 229 detects the steering angle and feeds it back to the control module to achieve closed-loop precise control. The redundant angle sensor 31 contains two sets of sensor components that are redundant to each other. At the same time, the drive motor is set as a dual-winding motor, and the two sets of coil windings are redundant to each other, ensuring that the stable operation of the steering device can still be guaranteed when one set of coils fails, which jointly improves the robustness of the device.

[0045] Specifically, under extreme working conditions subjected to a large overturning moment, the first ball bearing 213, the second ball bearing 214, the tapered roller bearing 227 and the reducer housing 24 work together to ensure that the steering device operates stably and has a sufficiently long service life.

[0046] Optionally, the output shaft of the driving motor 1 and the small cylindrical gear 211 are connected by a key connection.

[0047] Optionally, the large cylindrical gear 212 and the cycloid pinwheel main shaft 221 are connected by a spline connection.

[0048] Optionally, the cycloid pinwheel main shaft 221 and the eccentric wheel 222 are connected by a key connection.

[0049] In addition, the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described here, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention is described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the attached claims.

Claims

1. A redundant automobile corner module steering device with large overturning moment bearing capacity, characterized in that: include: A driving motor (1); The two-stage reduction mechanism (2) comprises a cylindrical gear reduction mechanism (21); a small cylindrical gear (211); Large cylindrical gear (212); first ball bearing (213); second ball bearing (214); cycloidal pinwheel speed reduction mechanism (22); cycloidal pinwheel main shaft (221); eccentric wheel (222); cycloidal wheel (223); output wheel (224); needle roller (225); needle roller fixing sleeve (226); tapered roller bearing (227); upper output flange (228); lower output flange (229); torque output stud (23); reducer housing (24); reducer cover (241); housing flange (242); needle roller housing (243); An angle sensor device (3) comprises a redundant angle sensor (31) and an angle sensor connecting piece (32).

2. A redundant automobile corner module steering device with large overturning moment bearing capacity according to claim 1, characterized in that: The drive motor (1) is configured as a dual-winding motor, wherein one motor has two groups of coil windings that can work independently or in coordination and are mutually redundant. The output shaft of the drive motor (1) is connected to the small cylindrical gear (211), and one of the first ball bearings (213) is installed on each of the upper and lower sides of the small cylindrical gear (211).

3. The redundant automobile corner module steering device with large overturning moment bearing capacity according to claim 1, characterized in that: The small cylindrical gear (211) is meshed with the large cylindrical gear (212) for transmission, and one of the second ball bearings (214) is respectively installed on the upper and lower sides of the large cylindrical gear (212).

4. The redundant automobile corner module steering device with large overturning moment bearing capacity according to claim 1, characterized in that: The large cylindrical gear (212) is connected to the cycloid pinwheel main shaft (221), the cycloid pinwheel main shaft (221) is connected to the two eccentric wheels (222) by means of a key connection, and the eccentric wheels (222) are connected to the corresponding cycloid wheels (223) and perform eccentric motion together.

5. A redundant automobile corner module steering device with large overturning moment bearing capacity according to claim 4, characterized in that: A total of two upper and lower output wheels (224) are connected to the cycloid wheel (223), and each of the output wheels (224) is connected to one of the tapered roller bearings (227).

6. A redundant automobile corner module steering device with large overturning moment bearing capacity according to claim 4, characterized in that: The cycloid wheel (223) is meshed with the needle roller (225).

7. A redundant automobile corner module steering device with large overturning moment bearing capacity according to claim 6, characterized in that: The inner wall of the needle roller shell (243) is provided with a groove for accommodating the needle roller (225), and the needle roller fixing sleeves (226) are installed at the upper and lower ends of the needle roller (225) to fix the relative position of the needle roller (225) and the needle roller shell (243) to remain unchanged, and ensure that the meshing function of the cycloid wheel (223) and the needle roller (225) is normal.

8. The redundant automobile corner module steering device with large overturning moment bearing capacity according to claim 5, characterized in that: The upper output flange (228) is connected to the upper output wheel (224) by means of a stud connection, the torque output stud (23) is connected to the lower output wheel (224), and at the same time, the lower output wheel (224) is connected to the lower output flange (229) by means of the torque output stud (23).

9. A redundant automobile corner module steering device with large overturning moment bearing capacity according to claim 8, characterized in that: The central axis of the lower output flange (229) passes through the main axis of the cycloid pinwheel reduction mechanism (22); the redundant angle sensor (31) is connected to the central axis of the lower output flange (229) via an angle sensor connector (32) to detect the steering angle; the redundant angle sensor (31) includes two sets of mutually redundant sensor components that can work in coordination or independently.

10. According to claim 1, a redundant automobile corner module steering device with a large overturning moment bearing capacity, the drive motor (1) is connected to one side of the housing flange (242), the needle housing (243) is connected to the same side as the motor, and the reducer cover (241) is connected to the other side of the housing flange (242).

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