Steering-by-wire system for automobile and automobile

Abstract

The invention belongs to the technical field of automobiles, and particularly provides a steer-by-wire system for an automobile and the automobile. The steer-by-wire system comprises a force feedback motor, a limiting seat, a vernier block and a linear displacement sensor. Wherein the force feedback motor comprises an inner stator and an outer rotor, and the inner stator is used for being connected with an automobile body of an automobile; the outer rotor is used for being connected with a steering wheel to rotate along with the steering wheel and is provided with a thread structure. The limiting seat is arranged on the outer side of the outer rotor and is fixedly connected with or integrated with the inner stator, and a first sliding structure is arranged on the limiting seat. And the vernier block is provided with a thread matching structure embedded with the thread structure and a second sliding structure in sliding connection with the first sliding structure, so that the vernier block linearly moves along the extension direction of the first sliding structure when the outer rotor rotates. The linear displacement sensor is used for detecting the linear displacement of the vernier block. The absolute value of the steering angle of the steering wheel can be detected only through one sensor.

Description

Technical Field

[0001] The present invention belongs to the technical field of automobiles, and specifically provides a steer-by-wire system and an automobile for an automobile. Background Art

[0002] Currently, when the steering wheel of an automobile is turned from the position where the automobile goes straight to the leftmost position / rightmost position, most of them need to be turned one and a half circles (about 540°). When determining the steering angle of the steering wheel by measuring the angular position of the steering wheel, only angles within 360° can be measured. When the steering angle of the steering wheel exceeds 360°, the signals of the sensor will repeat. For example, the signals measured when the steering wheel is turned 30° and when it is turned 390° are the same.

[0003] To overcome the above defects, the prior art generally configures a driving gear that rotates synchronously with the steering wheel, two follower gears that mesh with the driving gear at the same time, and a sensor is respectively configured for each follower gear. Then, by performing complex operations on the data detected by the two angle sensors, the absolute angle of the steering wheel is determined.

[0004] Since the above prior art needs to use two sensors to detect the steering angle of the steering wheel and the absolute angle of the steering wheel can only be obtained after complex algorithm operations, it seriously wastes computing power resources. Summary of the Invention

[0005] One object of the present invention is to provide a new steer-by-wire system and an automobile to overcome the above technical problems.

[0006] Another object of the present invention is how to convert the rotational displacement of the steering wheel into a linear displacement and determine the steering angle of the steering wheel by detecting the linear displacement.

[0007] To achieve the above object, in a first aspect, the present invention provides a steer-by-wire system for an automobile, including:

[0008] A force feedback motor, including an inner stator and an outer rotor, the inner stator is used to connect the body of the automobile; the outer rotor is used to connect the steering wheel to rotate with the steering wheel, and a threaded structure is provided on the outer rotor;

[0009] A limit seat, which is arranged outside the outer rotor and fixedly connected or integrally formed with the inner stator, and a first sliding structure is provided on the limit seat;

[0010] A cursor block, which is provided with a threaded mating structure that fits with the threaded structure and a second sliding structure that slidably connects with the first sliding structure, so that the cursor block linearly moves along the extending direction of the first sliding structure when the outer rotor rotates;

[0011] A linear displacement sensor for detecting the linear displacement of the cursor block.

[0012] Optionally, a sinking groove for accommodating the cursor block is provided on one side of the limit seat facing the outer rotor, and the first sliding structures are respectively provided on two opposite side walls of the sinking groove.

[0013] Optionally, the first sliding structure is a sliding groove formed on the inner side of the side wall, and the second sliding structure is a protrusion provided at the end of the cursor block.

[0014] Optionally, a placement groove is provided on one side of the limit seat facing the outer rotor, and the placement groove is located at one end of the sinking groove, so that the cursor block is placed into the limit seat from the placement groove and slides into the sinking groove; the placement groove is also located outside the threaded structure in the axial direction of the outer rotor to prevent the cursor block from sliding out of the sinking groove when the steer-by-wire system is assembled.

[0015] Optionally, a sensor accommodation groove is provided on the bottom wall of the sinking groove of the limit seat, and the sensor accommodation groove is used to accommodate the linear displacement sensor to fix the linear displacement sensor to the limit seat.

[0016] Optionally, linear fixing holes are provided on the bottom wall of the limit seat, so that bolts / screws pass through the linear fixing holes to fix the linear displacement sensor.

[0017] Optionally, the steer-by-wire system further includes a motor fixing member, which is fixedly connected or integrally formed with the inner stator, and the motor fixing member is used to connect to the vehicle body of the automobile to fix the inner stator to the vehicle body; the motor fixing member is fixedly connected or integrally formed with the limit seat.

[0018] Optionally, the motor fixing member is a tube column, and an axial fixing portion with an axial hole and a radial fixing portion with a radial hole are provided at one end of the tube column close to the inner stator. The axial fixing portion is fixedly connected to the inner stator through the axial hole by means of bolts / screws, and the radial fixing portion is fixedly connected to the limit seat through the radial hole by means of bolts / screws.

[0019] Optionally, the extending direction of the first sliding structure is parallel to the rotating shaft of the outer rotor; and / or, the cursor block is generally dumbbell-shaped with a thinner middle and thicker ends in the direction perpendicular to the extending direction of the first sliding structure; and / or, the thread structure is an internal thread, and the thread mating structure is an external thread; and / or, the number of turns of the thread structure around the rotating shaft of the outer rotor is three; the thread structure is arranged on the outer side of the peripheral wall of the outer rotor; and / or, and / or, limiting bosses are respectively arranged at both ends of the outer rotor in the extending direction of the thread structure, and limiting pins are respectively arranged at both ends of the cursor block corresponding to the extending direction of the thread structure, so that the cursor block abuts against the limiting bosses through the limiting pins.

[0020] In a second aspect, the present invention provides a vehicle, including the steer-by-wire system according to any one of the first aspect.

[0021] Based on the foregoing description, those skilled in the art can understand that in the foregoing technical solutions of the present invention, since the inner stator of the force feedback motor is used to connect the vehicle body, and the outer rotor of the force feedback motor is used to connect the steering wheel and rotate with the steering wheel, by arranging a thread structure on the outer rotor, arranging a limiting seat fixedly connected or integrally formed with the inner stator, arranging a first sliding structure on the limiting seat, configuring a cursor block with a thread mating structure and a second sliding structure, and enabling the cursor block to be engaged with the thread structure on the outer rotor through the thread mating structure, and slidingly connecting the cursor block with the first sliding structure on the limiting seat through the second sliding structure, the cursor block can linearly move along the extending direction of the first sliding structure when the outer rotor rotates, thereby converting the rotational displacement of the outer rotor into a linear displacement. By configuring a linear displacement sensor for detecting the linear displacement of the cursor block, the present invention can detect the steering angle of the outer rotor and the steering wheel connected thereto through the linear displacement sensor. At the same time, since the present invention determines the steering angle of the outer rotor by detecting the linear displacement of the cursor block, the signal of the present invention will not repeat after the steering wheel rotates 360°, so that the present invention can detect the absolute values of the rotation angles of the outer rotor and the steering wheel.

[0022] Moreover, compared with the prior art in which the absolute angle of the steering wheel can be obtained only after two sensors and complex algorithm operations, the present invention can detect the absolute value of the steering wheel rotation angle only through one sensor, and the algorithm is simpler, effectively saving computing power resources.

[0023] Furthermore, by fixedly connecting the inner stator and the limiting seat to the motor fixing member respectively, the inner stator and the limiting seat can be fixed together through the motor fixing member, and the steer-by-wire system is installed on the vehicle body through the motor fixing member.

[0024] Other beneficial effects of the present invention will be described in detail in combination with the accompanying drawings hereinafter, so that those skilled in the art can more clearly understand the improvement objectives, features, and advantages of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the present invention, some embodiments of the present invention will be described hereinafter with reference to the accompanying drawings. It should be understood by those skilled in the art that the components or parts denoted by the same reference numeral in different drawings are the same or similar; the accompanying drawings of the present invention are not necessarily drawn to scale. In the accompanying drawings:

[0026] Figure 1 is the first exploded view of the steer-by-wire system in some embodiments of the present invention;

[0027] Figure 2 is the second exploded view of the steer-by-wire system in some embodiments of the present invention;

[0028] Figure 3 is the first axonometric view of the steer-by-wire system in some embodiments of the present invention;

[0029] Figure 4 is the second axonometric view of the steer-by-wire system in some embodiments of the present invention;

[0030] Figure 5 is Figures 1 to 4 the axonometric view of the outer rotor of the force feedback motor in ;

[0031] Figure 6 is Figure 1 and Figure 2 the first axonometric view of the cursor block in ;

[0032] Figure 7 is Figure 1 and Figure 2 the second axonometric view of the cursor block in ;

[0033] Figure 8 is Figures 1 to 4 the first axonometric view of the limit seat in ;

[0034] Figure 9 is Figures 1 to 4 the first axonometric view of the limit seat in ;

[0035] Figure 10 is Figure 9 the plan view of the limit seat in the A direction in ;

[0036] Figure 11 is Figures 1 to 4 the first axonometric view of the motor fixing part in ;

[0037] Figure 12 isFigures 1 to 4 Second isometric view of the middle motor fixing part;

[0038] Figure 13 Is Figure 1 And Figure 2 First structural decomposition diagram of the middle sensor integration module;

[0039] Figure 14 Is Figure 1 And Figure 2 Second structural decomposition diagram of the middle sensor integration module;

[0040] Figure 15 Is Figure 13 And Figure 14 First isometric view of the middle angular displacement sensor and linear displacement sensor in the connected state;

[0041] Figure 16 Is Figure 13 And Figure 14 Second isometric view of the middle angular displacement sensor and linear displacement sensor in the connected state;

[0042] Figure 17 Signal data diagram for detecting the steering wheel angle only by the linear displacement sensor in some embodiments of the present invention;

[0043] Figure 18 Signal data diagram for jointly detecting the steering wheel angle by the angular displacement sensor and the linear displacement sensor in some embodiments of the present invention. Detailed implementation manners

[0044] Those skilled in the art should understand that the embodiments described below are only some embodiments of the present invention, rather than all embodiments of the present invention. These embodiments are intended to explain the technical principles of the present invention, rather than to limit the protection scope of the present invention. Based on the embodiments provided by the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts should still fall within the protection scope of the present invention.

[0045] It should be noted that in the description of the present invention, the terms "center", "upper", "lower", "top", "bottom", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is only for convenience of description, rather than indicating or implying that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0046] Further, it should also be noted that in the description of the present invention, unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can also be the communication inside two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations. For example, without special description, the terms "installation", "connection", "coupling", and "fixing" can specifically be any feasible connection forms such as bolt connection, screw connection, welding, plug connection, riveting, fusion welding, snap connection, etc.

[0047] As Figures 1 to 4 shown, in some embodiments of the present invention, a steer-by-wire system for an automobile includes a force feedback motor 100, a limit seat 300, a cursor block 400, and a linear displacement sensor 520.

[0048] Among them, the force feedback motor 100 includes an inner stator 110 and an outer rotor 120. The inner stator 110 is used to connect to the body of the automobile; the outer rotor 120 is used to connect to the steering wheel to rotate following the steering wheel, and a threaded structure 121 is provided on the outer rotor 120.

[0049] Among them, the limit seat 300 is arranged outside the outer rotor 120 and is fixedly connected to or integrally formed with the inner stator 110, and a first sliding structure 310 is provided on the limit seat 300.

[0050] Among them, the cursor block 400 is provided with a threaded mating structure 410 that engages with the threaded structure 121 and a second sliding structure 420 that slidably connects to the first sliding structure 310, so that the cursor block 400 linearly moves along the extending direction of the first sliding structure 310 when the outer rotor 120 rotates.

[0051] Among them, the linear displacement sensor 520 is used to detect the linear displacement of the cursor block 400.

[0052] The steer-by-wire system of the present invention having the above structure can detect the steering angle of the outer rotor 120 and the steering wheel connected thereto through the linear displacement sensor 520. At the same time, since the present invention determines the steering angle of the outer rotor 120 by detecting the linear displacement of the cursor block 400, the signals of the present invention will not repeat after the steering wheel rotates 360°, so that the present invention can detect the absolute values of the steering angles of the outer rotor 120 and the steering wheel.

[0053] Next, the steer-by-wire system for an automobile in some embodiments of the present invention will be further described in detail with reference to the accompanying drawings. It should be noted that in the drawings of the present invention, X represents the direction, which is intended to facilitate those skilled in the art to understand the drawings.

[0054] Continue to refer to Figures 1 to 4 Figures 1 to 4

[0055] From Figures 1 to 4 it can be seen that in some embodiments of the present invention, the inner stator 110 and the limit seat 300 are respectively fixedly connected to the motor fixing member 200. In this regard, a detailed description will be continued in conjunction with the accompanying drawings later.

[0056] In addition, in other embodiments of the present invention, those skilled in the art can also, according to needs, omit the setting of the motor fixing member 200, and fixedly connect or integrally form the inner stator 110 and the limit seat 300, and directly fix the inner stator 110 to the vehicle body of the automobile. For example, the inner stator 110 is fixed to structures such as a column, a boss, and a groove fixedly connected to the vehicle body of the automobile by bolts / screws.

[0057] Such as Figure 1 and Figure 2 shown, in some embodiments of the present invention, the steer-by-wire system for an automobile further includes a sensor integration module 500, and the sensor integration module 500 includes a rotational displacement sensor 510 and the linear displacement sensor 520 described above. Among them, the rotational displacement sensor 510 is used to detect the angle of rotation of the outer rotor 120 relative to the inner stator 110 (a detailed description will be given later).

[0058] Since the present invention can detect the absolute value of the rotation angle of the outer rotor 120 relative to the inner stator 110 through the linear displacement sensor 520 as described above, in other embodiments of the present invention, those skilled in the art can also, according to needs, omit the setting of the rotational displacement sensor 510.

[0059] In some embodiments of the present invention, the force feedback motor 100 can provide a torque opposite to the rotation direction of the steering wheel when the user rotates the steering wheel; it can also provide a road feel information torque to the steering wheel. Since the above applications of the force feedback motor 100 are prior art, no further description will be given here.

[0060] Such as Figures 1 to 4As shown and described above, in some embodiments of the present invention, the force feedback motor 100 includes an inner stator 110 and an outer rotor 120. According to the common general knowledge in the art, those skilled in the art should understand that the outer rotor 120 can rotate relative to the inner stator 110, and the outer rotor 120 can be fixedly connected to the inner stator 110 axially.

[0061] As Figure 1 and Figure 2 shown, in some embodiments of the present invention, the inner stator 110 is provided with an annular outer shoulder 111 and a wire 112.

[0062] As Figure 5 shown, in some embodiments of the present invention, the inner side of the outer rotor 120 is provided with an inner shoulder 123 and a card slot 124.

[0063] Figure 1 and Figure 2 shown, in some embodiments of the present invention, the force feedback motor 100 further includes a snap ring 130 embedded in the card slot 124 of the outer rotor 120. Based on this, those skilled in the art can understand that in the assembled state of the force feedback motor 100, the inner stator 110 is located inside the outer rotor 120, and the outer shoulder 111 on the inner stator 110 is axially located between the inner shoulder 123 and the card slot 124, so that the inner shoulder 123 and the snap ring 130 limit the axial displacement of the outer shoulder 111, thereby realizing the axial fixation between the outer rotor 120 and the inner stator 110.

[0064] It should be noted that on the premise of achieving the purpose of the present invention, the specific form of the force feedback motor 100 is not limited to the form described in the drawings and above. Those skilled in the art can also select a suitable force feedback motor 100 according to needs.

[0065] As Figures 5 to 7 shown, in some embodiments of the present invention, the thread structure 121 on the outer rotor 120 is an internal thread, and the thread mating structure 410 on the cursor block 400 is an external thread. Alternatively, those skilled in the art can also set the thread mating structure 410 on the cursor block 400 to a convex structure such as a cylinder that fits with the internal thread according to needs.

[0066] In addition, in other embodiments of the present invention, those skilled in the art can also set the thread structure 121 on the outer rotor 120 to an external thread and the thread mating structure 410 on the cursor block 400 to an internal thread according to needs.

[0067] Furthermore, in some embodiments of the present invention, the number of turns of the thread structure 121 around the rotation axis of the outer rotor 120 can be any feasible number of turns, such as one turn, two turns, two and a half turns, three turns, etc.

[0068] It can also be seen from Figure 5 that in some embodiments of the present invention, the thread structure 121 is provided on the outer side of the circumferential wall of the outer rotor 120. In addition, those skilled in the art can also, according to needs, make the outer rotor 120 longer than the inner stator 110, and set the thread structure 121 on the inner side of the circumferential wall of the outer rotor 120; and make appropriate adjustments to the positions and structures of the limit seat 300 and the cursor block 400.

[0069] Furthermore, there may be a clearance fit between the thread structure 121 and the thread mating structure 410 to ensure that the two can slide relative to each other smoothly.

[0070] Continuing to refer to Figures 5 to 7 , in some embodiments of the present invention, limiting bosses 122 are respectively provided at both ends of the outer rotor 120 in the extending direction of the thread structure 121, and limiting pins 430 are respectively provided at both ends of the cursor block 400 corresponding to the extending direction of the thread structure 121, so that the cursor block 400 abuts against the limiting bosses 122 through the limiting pins 430 to prevent the thread mating structure 410 on the cursor block 400 from disengaging from the thread structure 121 on the outer rotor 120. Among them, the specific structures of the limiting bosses 122 and the limiting pins 430 may be the same as or different from the structures shown in the drawings.

[0071] Furthermore, it can be seen from Figure 6 and Figure 7 that the cursor block 400 is generally in the shape of a dumbbell with a thin middle and thick ends. In addition, those skilled in the art can also, according to needs, set the cursor block 400 to any other feasible shape, such as a long strip, a rectangle, a square, etc.

[0072] As Figures 1 to 4 and Figures 8 to 10 shown, the limiting seat 300 is provided with a mounting hole 301 for fixing it to the motor fixing member 200, a linear fixing hole 302 for fixing the linear displacement sensor 520, and a damping hole 303 for installing a damping screw. The damping screw abuts against the outer rotor 120 to provide a rotational resistance (frictional force) to the outer rotor 120 when the outer rotor 120 rotates.

[0073] As Figure 9 and Figure 10 shown, a sinking groove 304 for accommodating the cursor block 400 is provided on one side of the limiting seat 300 facing the outer rotor 120, and first sliding structures 310 are respectively provided on two opposite side walls of the sinking groove 304.

[0074] It can be seen from Figure 6 , Figure 7 and Figure 9As can be seen, the first sliding structure 310 on the limit seat 300 is a chute formed on the inner side of the side wall, and the second sliding structure 420 on the cursor block 400 is a protrusion provided at the end of the cursor block 400. In addition, those skilled in the art can also, according to needs, set the first sliding structure 310 as a strip protrusion and the second sliding structure 420 as a chute.

[0075] Furthermore, in some embodiments of the present invention, the extending direction of the first sliding structure 310 is parallel to the rotating shaft of the outer rotor 120 of the force feedback motor 100. Or, those skilled in the art can also, according to needs, make the extending direction of the first sliding structure 310 have an included angle (such as 1°, 3°, 5°, 15°, etc.) with the rotating shaft of the outer rotor 120 of the force feedback motor 100.

[0076] Continue to refer to Figure 9 and Figure 10 , a placement groove 305 is provided on one side of the limit seat 300 facing the outer rotor 120. The placement groove 305 is located at one end of the sunk groove 304, so that the cursor block 400 can be placed into the limit seat 300 from the placement groove 305 and slide into the sunk groove 304. The placement groove 305 is also located outside the threaded structure 121 in the axial direction of the outer rotor 120 to prevent the cursor block 400 from sliding out of the sunk groove 304 when the steer-by-wire steering system is assembled.

[0077] Continue to refer to Figure 9 and Figure 10 , a sensor accommodation groove 306 is provided on the bottom wall of the sunk groove 304 of the limit seat 300. The sensor accommodation groove 306 is used to accommodate the linear displacement sensor 520 to fix the linear displacement sensor 520 to the limit seat 300 and prevent the linear displacement sensor 520 from interfering with the cursor block 400. And, the linear fixing hole 302 is located in the sensor accommodation groove 306.

[0078] Continue to refer to Figure 9 and Figure 10 , a positioning hole 307 is also provided on one side of the limit seat 300 facing the outer rotor 120 to position the limit seat 300 to the motor fixing member 200 through the positioning hole 307.

[0079] From Figures 1 to 4 As can be seen, in some embodiments of the present invention, the motor fixing member 200 is a pipe column. Of course, those skilled in the art can also, according to needs, set the motor fixing member 200 as any other feasible component, such as fixing seats in the shapes of rectangular blocks, plates, L-shapes, T-shapes, etc.

[0080] Such as Figure 11 and Figure 12As shown, in some embodiments of the present invention, an axial fixing portion 210 having an axial hole 211 and a radial fixing portion 220 having a radial hole 221 are provided at one end of the pipe column close to the inner stator 110. The axial fixing portion 210 is fixedly connected to the inner stator 110 through the axial hole 211 and with the aid of bolts / screws, and the radial fixing portion 220 is fixedly connected to the limit seat 300 through the radial hole 221 and with the aid of bolts / screws.

[0081] Accordingly, if Figure 2 As shown, a plurality of motor fixing holes 113 are provided on the side of the inner stator 110 of the force feedback motor 100 facing the motor fixing member 200. Optionally, the motor fixing hole 113 is a threaded hole, and the axial hole 211 is a through hole, so that the bolt 800 passes through the axial hole 211 and is tightened with the motor fixing hole 113, thereby fixing the inner stator 110 and the axial fixing part 210 together.

[0082] Further, the radial hole 221 on the radial fixing portion 220 is a threaded hole, and the mounting hole 301 on the stop seat 300 is a through hole, so that the bolt 800 passes through the mounting hole 301 and is tightened with the radial hole 221, thereby fastening the stop seat 300 to the radial fixing portion 220. The radial holes 221 and the mounting holes 301 can be four, respectively, as shown in the figure, or any other feasible number.

[0083] like Figure 11 and Figure 12 As shown, in some embodiments of the present invention, a positioning column 222 corresponding to the positioning hole 307 on the limit seat 300 is also provided on the radial fixing portion 220, so that when the limit seat 300 is fixed to the motor fixing part 200, the positioning column 222 is first inserted into the positioning hole 307, thereby realizing the positioning between the limit seat 300 and the motor fixing part 200, and thus aligning the mounting hole 301 on the limit seat 300 with the radial hole 221 on the radial fixing portion 220, thereby facilitating the staff to install the bolts.

[0084] Continue reading Figure 11 and Figure 12 In some embodiments of the present invention, a corner fixing hole 212 is further provided on the side of the axial fixing portion 210 facing the force feedback motor 100, and a hollow column 213 is further provided on the side of the axial fixing portion 210 facing away from the force feedback motor 100, so as to fix the sensor integrated module 500 by means of bolts / screws through the corner fixing hole 212 and the hollow column 213. A positioning ring 230 is further provided on the side of the axial fixing portion 210 facing the force feedback motor 100, so as to position the installation of the sensor integrated module 500 through the positioning ring 230.

[0085] like Figure 13 and Figure 14As shown, in some embodiments of the present invention, the sensor integration module 500 includes a rotational displacement sensor 510, a linear displacement sensor 520, a housing 530, and a connector 540.

[0086] Among them, the rotational displacement sensor 510 and the linear displacement sensor 520 are electrically connected, and both are eddy current sensors. In addition, those skilled in the art can also, according to needs, set the rotational displacement sensor 510 and the linear displacement sensor 520 as any other feasible sensors, such as photoelectric sensors, capacitive sensors, etc.

[0087] Among them, the housing 530 includes a first mounting portion 531 for mounting the rotational displacement sensor 510 and a second mounting portion 532 for mounting the linear displacement sensor 520. And the housing 530 is an integrally formed member, or a whole member with a certain structural strength formed by welding, screw connection, riveting, etc.

[0088] Among them, the connector 540 is electrically connected to the rotational displacement sensor 510 or the linear displacement sensor 520 to output the signals of the rotational displacement sensor 510 and the linear displacement sensor 520.

[0089] From Figure 13 and Figure 14 it can be seen that in some embodiments of the present invention, the first mounting portion 531 is generally in a flat annular shape and is larger than the positioning ring 230 on the motor fixing member 200. The second mounting portion 532 is generally in a flat strip shape and is adapted to the sensor receiving groove 306 on the limit seat 300. In addition, those skilled in the art can also, according to needs, set the first mounting portion 531 and the second mounting portion 532 as any other feasible structures, such as setting the first mounting portion 531 as a solid circle.

[0090] It should be noted that in the present invention, the annular shape refers to a hollow and closed shape around, which is not limited to a circular ring shape, but can also be an elliptical ring shape, a rectangular ring shape, a figure-eight shape, etc.

[0091] Continuing to refer to Figures 13 to 16 , a first mounting groove 5311 for mounting the rotational displacement sensor 510 is provided on the first mounting portion 531, and a second mounting groove 5321 for mounting the rotational displacement sensor 510 is provided on the second mounting portion 532. And the first mounting portion 531 is provided with an avoidance hole 5312 on the bottom wall of the first mounting groove 5311, and the connector 540 is electrically connected to the rotational displacement sensor 510 and penetrates through the avoidance hole 5312.

[0092] Furthermore, the first mounting portion 531 can be perpendicular to the second mounting portion 532 to facilitate the processing, manufacturing, and assembly of the housing 530 and the components related to the housing 530.

[0093] Furthermore, the second mounting portion 532 may be located at one end of the first mounting portion 531 in the radial direction to facilitate the manufacture and demoulding of the housing 530 .

[0094] Furthermore, the second mounting portion 532 may include a first side portion 532a located on one side of the first mounting portion 531 and a second side portion 532b located on the other side of the first mounting portion 531, and the length of the first side portion 532a is greater than the length of the second side portion 532b, so that while accommodating the linear displacement sensor 520, the connection between the second mounting portion 532 and the first mounting portion 531 is T-shaped, thereby increasing the structural strength at this location.

[0095] Continue reading Figure 13 and Figure 14 At least one countersunk hole 5313 is provided at a position of the first mounting portion 531 close to the second mounting portion 532, and the opening direction of the countersunk hole 5313 is the same as the depth direction of the first mounting groove 5311. A first fixing column 5314 is provided on the side of the first mounting portion 531 away from the opening of the first mounting groove 5311, and the first fixing column 5314 is provided with a threaded hole, so that the first mounting portion 531 is fixed through the countersunk hole 5313 and the first fixing column 5314.

[0096] Among them, the countersunk hole 5313 corresponds to the corner fixing hole 212 on the motor fixing part 200, and the first fixing column 5314 corresponds to the hollow column 213 on the motor fixing part 200, so that the two corresponding structures are connected together by bolts 800, thereby fixing the first mounting part 531 to the motor fixing part 200.

[0097] Continue reading Figure 13 and Figure 14 Second fixing columns 5322 are respectively provided on both sides of the second mounting portion 532 in the width direction, and the second fixing columns 5322 are provided with threaded holes so that the second mounting portion 532 can be fixed by the second fixing columns 5322 .

[0098] The second fixing column 5322 corresponds to the linear fixing hole 302 on the limiting seat 300 , and the two are connected together by a bolt 800 , thereby fixing the second mounting portion 532 to the limiting seat 300 .

[0099] Continue reading Figure 13 and Figure 14 The sensor integrated module 500 further includes a first cover plate 551 and a second cover plate 552 . The first cover plate 551 is mounted on the first mounting portion 531 to shield the first mounting groove 5311 ; the second cover plate 552 is mounted on the second mounting portion 532 to shield the second mounting groove 5321 .

[0100] Among them, the first cover plate 551 and the second cover plate 552 can be installed together with the housing 530 in any feasible manner, such as snap connection, bonding, screw connection, welding, etc.

[0101] As Figures 13 to 16 shown, the sensor integration module 500 further includes a plurality of PIN pins 560, so that the angular displacement sensor 510 and the linear displacement sensor 520 are electrically connected together through the plurality of PIN pins 560, so that the linear displacement sensor 520 sends the detected signal to the angular displacement sensor 510 through the PIN pins 560, and then outputs through the connector 540 electrically connected to the angular displacement sensor 510.

[0102] Among them, the PIN pin 560 is a metal substance used in the connector to complete the conduction (transmission) of electricity (signals). It is a well-known existing component in the art, so the present invention will not be described in detail.

[0103] Referring back to Figure 1 and Figure 2 , in some embodiments of the present invention, the steer-by-wire system may further include a signal line 700 plugged into the connector 540 to transmit the signal output by the connector 540 to a signal processing unit, module or device through the signal line 700.

[0104] From Figures 13 to 16 it can be seen that in some embodiments of the present invention, both the angular displacement sensor 510 and the linear displacement sensor 520 are in the form of circuit boards, on which components such as excitation coils and receiving coils are printed to perform detection through the eddy current principle. Since the principle of detecting the object to be detected by using the eddy current principle and the corresponding sensors are well-known prior arts to those skilled in the art, no further description will be given here.

[0105] Referring back to Figure 2 and Figure 5 , in some embodiments of the present invention, the steer-by-wire system further includes a component to be measured 600, the component to be measured 600 is fixedly connected to the outer rotor 120, and the component to be measured 600 is configured to be detectable by the angular displacement sensor 510, so that the angular displacement sensor 510 determines the rotation angle of the outer rotor 120 by detecting the component to be measured 600.

[0106] Further, a through hole 601 to be measured is provided on the component to be measured 600, and a fixed hole 1201 to be measured corresponding to the through hole 601 to be measured is provided at one end of the outer rotor 120 facing the component to be measured 600 (as Figure 2 and Figure 5As shown). The fixed hole 1201 to be measured is a threaded hole, so that the bolt 800 passes through the through hole 601 to be measured and is tightened with the threaded hole, thereby fixing the component 600 to be measured to the outer rotor 120.

[0107] Furthermore, one end of the outer rotor 120 facing the component 600 to be measured is also provided with a receiving groove for receiving the component 600 to be measured, so as to protect the component 600 to be measured and prevent the component 600 to be measured from being knocked during transportation and use.

[0108] In addition, those skilled in the art can also, according to needs, integrally form the component 600 to be measured with the outer rotor 120; or, omit the setting of the component 600 to be measured and provide the structure with the inner convex teeth 610 on the outer rotor 120.

[0109] As Figure 1 and Figure 2 shown, the component 600 to be measured is set to be annular and is provided with a plurality of inner convex teeth 610 protruding towards its inner side. The sensing part (the part with the exciting coil and the receiving coil) of the angular displacement sensor 510 is set to be annular corresponding to the plurality of inner convex teeth 610 (as described above), so that the angular displacement sensor 510 determines the rotation angle of the outer rotor 120 by sensing the plurality of inner convex teeth 610.

[0110] Optionally, the component 600 to be measured includes five inner convex teeth 610, so that the angular displacement sensor 510 outputs five signal cycles when the steering wheel rotates one circle. Or, those skilled in the art can also, according to needs, make the component 600 to be measured include other numbers of inner convex teeth 610, such as three, six, seven, eight, etc.

[0111] Furthermore, in the present invention, both the component 600 to be measured and the cursor block 400 are made of metal materials such as 40Cr and 304 that can affect the magnetic field.

[0112] Furthermore, although not shown in the figure, the present invention also provides an automobile, including the steer-by-wire system described in any of the previous embodiments. And, the outer rotor 120 of the force feedback motor 100 is drivingly connected to the steering wheel of the automobile, so that the outer rotor 120 of the force feedback motor 100 rotates synchronously with the steering wheel. For example, the outer rotor 120 of the force feedback motor 100 is fixedly connected to the steering shaft of the steering wheel.

[0113] As Figure 3 shown, a plurality of connection holes (not marked in the figure) are provided at one end of the outer rotor 120 of the force feedback motor 100 away from the motor fixing member 200, and the outer rotor 120 is fixedly connected to the steering shaft of the steering wheel through the connection holes by means of bolts 800.

[0114] Further, the motor fixing member 200 can be directly fixed to the vehicle body of the car, or can be fixedly connected to other columns fixed on the vehicle body.

[0115] The following will refer to Figures 1 to 4 to briefly describe the working principle of the steer-by-wire system in the present invention.

[0116] When the driver turns the steering wheel, the outer rotor 120 rotates with the steering wheel. Since the cursor block 400 can only move axially along the outer rotor 120 under the restriction of the limit seat 300, the threaded structure 121 on the outer rotor 120 will force the cursor block 400 to move axially along the outer rotor 120 with its threaded mating structure 410. When the cursor block 400 abuts against the limit boss 122 on the outer rotor 120, the steering wheel cannot continue to rotate.

[0117] During this process, the angular displacement sensor 510 detects the rotation angle of the outer rotor 120 by detecting the angular displacement of the measured component 600, and its output signal may have periodic changes. The linear displacement sensor 520 detects the rotation angle of the outer rotor 120 by detecting the linear displacement of the cursor block 400, and its output signal does not have periodic changes.

[0118] Then, the vehicle controls the operation of the steering motor according to the data detected by the angular displacement sensor 510 and / or the linear displacement sensor 520, so as to change the steering of the front wheels of the vehicle.

[0119] In the present invention, the car and its steer-by-wire system can detect the rotation angle of the steering wheel only through the angular displacement sensor 510, or can detect the rotation angle of the steering wheel only through the linear displacement sensor 520, or can also detect the rotation angle of the steering wheel through both the angular displacement sensor 510 and the linear displacement sensor 520 at the same time.

[0120] When only the angular displacement sensor 510 is needed to detect the rotation angle of the steering wheel, those skilled in the art can, according to needs, omit the setting of the linear displacement sensor 520 and its related components (such as the limit seat 300 and the cursor block 400). And, those skilled in the art can also, according to needs, only retain the necessary components such as the angular displacement sensor 510 and the plug-in 540 in the sensor integration module 500, and directly fix the angular displacement sensor 510 to the inner stator 110 of the force feedback motor 100 or the motor fixing member 200.

[0121] When only the linear displacement sensor 520 is needed to detect the steering wheel angle, those skilled in the art can, as needed, omit the setting of the angular displacement sensor 510 and its related components (such as the measured member 600). Moreover, those skilled in the art can also, as needed, only retain necessary components such as the linear displacement sensor 520 and the connector 540 in the sensor integration module 500, and directly fix the linear displacement sensor 520 to the limit seat 300.

[0122] The following will refer to Figure 17 and Figure 18 to elaborate in detail on the output signals of the above three methods for detecting the steering wheel angle in the present invention.

[0123] In Figure 17 and Figure 18 the inclined straight line represents the signal output by the linear displacement sensor 520, and the periodic wavy line is the signal output by the angular displacement sensor 510. The 0 in the abscissa represents the angle when the steering wheel is in the position for the vehicle to move forward. -360 and 360 in the abscissa are the actual angles of the steering wheel turning left / right, and the ordinate represents the percentage of the actual moving displacement of the cursor block 400 to the actual maximum moving displacement.

[0124] It can be seen from Figure 18 that there is a corresponding relationship between the linear displacement signal of the cursor block 400 output by the linear displacement sensor 520 and all the signal periods output by the angular displacement sensor 510. That is to say, each signal period output by the angular displacement sensor 510 respectively corresponds to a unique set of signals output by the linear displacement sensor 520. Therefore, the present invention enables those skilled in the art to determine the signal period where the signal detected by the angular displacement sensor 510 is currently located according to the signal output by the linear displacement sensor 520.

[0125] Among them, -360 and 360 in the abscissa can be determined according to the actual number of turns of the steering wheel. For the convenience of description in the present invention, only the situation when the steering wheel turns one circle left / right is shown.

[0126] The first method: As Figure 17 shown, when only the linear displacement sensor 520 is needed to detect the steering wheel angle, the signal output by the linear displacement sensor 520 is linear and there are no repeated signals.

[0127] At this time, the angle corresponding to the signal output by the linear displacement sensor 520 is the absolute value of the steering wheel angle.

[0128] As Figure 18As shown, when detecting the steering wheel angle through the corner displacement sensor 510, its signal is a periodic signal due to the number of inner convex teeth 610 on the measured component 600 and the number of turns of the steering wheel rotation. At this time, with the help of the linear displacement sensor 520, the signal period where the signal detected by the corner displacement sensor 510 is currently located can be determined.

[0129] The second method: Continuing to refer to Figure 18 , when it is necessary to detect the steering wheel angle through both the corner displacement sensor 510 and the linear displacement sensor 520 at the same time, first determine the displacement of the cursor block 400 moving through the linear displacement sensor 520 (such as Figure 18 the horizontal dotted line in Figure 18 ), then determine the numerical range corresponding to the steering wheel rotation angle according to this displacement (such as Figure 18 between 72° and 144° in

[0130] ), and then determine the signal period where the signal detected by the corner displacement sensor 510 is currently located according to the determined numerical range (such as

[0131] the signal period corresponding to 72° to 144° in Figure 18 ), and finally determine the absolute value of the steering wheel angle according to this signal period and the signal magnitude.

[0132] Those skilled in the art can understand that by determining the signal period where the signal detected by the corner displacement sensor 510 is currently located through the linear displacement sensor 520, and then determining the absolute value of the steering wheel angle through the corner displacement sensor 510 according to this signal period; compared with the above method of only detecting the steering wheel angle through the linear displacement sensor 520 (the threaded fitting structure 410 of the cursor block 400 and the threaded structure 121 of the outer rotor 120 are in clearance fit), the difference between the signal data corresponding to adjacent angles is larger, and the detection result is more accurate.

[0133] So far, the technical solutions of the present invention have been described in combination with multiple embodiments of the foregoing text. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is not limited to these specific embodiments. Without departing from the technical principle of the present invention, those skilled in the art can split and combine the technical solutions in the above-mentioned various embodiments, and can also make equivalent changes or substitutions to the relevant technical features. Any changes, equivalent substitutions, improvements, etc. made within the technical concept and / or technical principle of the present invention will fall within the protection scope of the present invention.

Claims

1. A steer-by-wire system for a vehicle, comprising: A force feedback motor, including an inner stator and an outer rotor, the inner stator being configured to connect to the vehicle body; The outer rotor is configured to connect to the steering wheel to rotate therewith, and a threaded structure is provided on the outer rotor; A limit seat, disposed outside the outer rotor and fixedly connected or integrally formed with the inner stator, and a first sliding structure is provided on the limit seat; A cursor block, provided with a threaded mating structure that engages with the threaded structure and a second sliding structure that slidably connects with the first sliding structure, so that the cursor block linearly moves along the extension direction of the first sliding structure when the outer rotor rotates; A linear displacement sensor, configured to detect the linear displacement of the cursor block.

2. The steer-by-wire system according to claim 1, wherein, A sink groove for accommodating the cursor block is provided on a side of the limit seat facing the outer rotor, and the first sliding structures are respectively provided on two opposite side walls of the sink groove.

3. The steer-by-wire system according to claim 2, wherein, The first sliding structure is a chute formed on the inner side of the side wall, and the second sliding structure is a protrusion provided at an end of the cursor block.

4. The steer-by-wire system according to claim 3, wherein, A placement groove is provided on a side of the limit seat facing the outer rotor, and the placement groove is located at one end of the sink groove, so that the cursor block is placed into the limit seat from the placement groove and slides into the sink groove; The placement groove is also located outside the threaded structure in the axial direction of the outer rotor to prevent the cursor block from sliding out of the sink groove in the assembled state of the steer-by-wire system.

5. The steer-by-wire system according to claim 2, wherein, A sensor accommodation groove is provided on the bottom wall of the sink groove of the limit seat, and the sensor accommodation groove is configured to accommodate the linear displacement sensor to fix the linear displacement sensor to the limit seat.

6. The steer-by-wire system according to claim 5, wherein, A linear fixing hole is provided on the bottom wall of the limit seat, so that a bolt / screw passes through the linear fixing hole to fix the linear displacement sensor.

7. The steer-by-wire system according to claim 1, further comprising a motor fixing member, The motor fixing member is fixedly connected or integrally formed with the inner stator, and the motor fixing member is configured to connect to the vehicle body to fix the inner stator to the vehicle body; The motor fixing member is fixedly connected or integrally formed with the limit seat.

8. The steer-by-wire system according to claim 7, wherein, The motor fixing member is a column, and an axial fixing portion having an axial hole and a radial fixing portion having a radial hole are provided at one end of the column close to the inner stator. The axial fixing portion is fixedly connected to the inner stator through the axial hole by means of a bolt / screw, and the radial fixing portion is fixedly connected to the limit seat through the radial hole by means of a bolt / screw.

9. The steer-by-wire system according to claim 1, wherein, The extension direction of the first sliding structure is parallel to the rotation axis of the outer rotor; and / or, The cursor block is generally dumbbell-shaped with a thinner middle and thicker ends in a direction perpendicular to the extension direction of the first sliding structure; and / or, The threaded structure is an internal thread, and the threaded mating structure is an external thread; and / or, The number of turns of the threaded structure around the axis of the outer rotor is three turns; and / or, The threaded structure is provided on the outer side of the circumferential wall of the outer rotor; and / or, Limit bosses are respectively provided at both ends of the outer rotor in the extension direction of the threaded structure, and limit pins are respectively provided at both ends of the cursor block corresponding to the extension direction of the threaded structure, so that the cursor block abuts against the limit bosses through the limit pins.

10. An automobile, comprising the steer-by-wire system according to any one of claims 1 to 9.

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