Single-wheel regulator for steering system of motor vehicle, and steering system

Abstract

The invention relates to a single-wheel actuator (1, 101, 201, 301) for a steering system, in particular a steering-by-wire system, of a motor vehicle, comprising a drive unit (20, 120, 220, 320) which is designed to carry out an axial movement of a tappet (14) from a first position, which is arranged substantially in a housing interior (12), into a second position, which protrudes substantially from the housing (10), according to the invention, the single-wheel actuator (1, 101, 201, 301) has a suspension (24, 124, 224, 324) on a third axial end section (22, 122, 222, 322), which suspension is designed to suspend the single-wheel actuator (1, 101, 201, 301) in an oscillating manner on the vehicle body, the degree of freedom of the oscillating movement is defined by a first pivot axis (A1), which is arranged substantially perpendicular to the longitudinal axis of the tappet (14), and a second pivot axis (A2), which is arranged substantially perpendicular to the longitudinal axis of the tappet (14). The invention also relates to a steering system.

Description

Field of the Invention

[0001] The present invention relates to a single-wheel regulator for a steering system of a motor vehicle.

[0002] Furthermore, the present invention also relates to a steering system for a motor vehicle. Background Art

[0003] In a conventional steering system, the required steering angle is transmitted from the steering wheel to the two front wheels through a mechanical connection. The steering torque is amplified by a servo drive mechanism, thereby enabling easy steering.

[0004] In a future steer-by-wire system, the mechanical connection between the steering wheel and the steering wheels is eliminated. The steering angle set at the steering wheel is detected by a sensor and transmitted electronically to the steering actuator, and then the steering actuator adjusts the front wheels accordingly.

[0005] The steering system can be of a central-acting type, i.e., the steering actuator simultaneously controls both wheels together. Usually, the translational movement of the rack is transmitted to the tie rod, which pivots the wheels. However, the maximum steering angle on the front wheels is kinematically limited.

[0006] For a decentralized-acting steering system, each steering wheel is assigned its own steering actuator, whereby each wheel can be individually controlled. Thereby, the maximum steering angle can be increased. Since the central steering actuator at the vehicle center is eliminated, a structural space advantage can be brought to the vehicle manufacturer. In addition, the decentralized steering system can also implement new functions, such as a parking brake function through the reversely deflected wheels.

[0007] Furthermore, it is known that the rotation of an electric motor can be transmitted through a worm gear drive to pivot the steering wheel. Since the electric motor is fixed to the chassis, a universal joint must be arranged to transmit the rotational movement. Thus, the vertical movement of the wheel carrier caused by elastic shock movement can be compensated.

[0008] DE 102020213664 A1 discloses an electric single-wheel regulator for a motor vehicle, the electric single-wheel regulator having a double-wheel bracket composed of an axle bracket and a pivot bracket, and wherein the pivot bracket is rotatably supported within the axle bracket, the electric single-wheel regulator having an electric motor, the electric motor pivoting the pivot bracket through a transmission mechanism, wherein the electric motor is arranged at the axle bracket.

[0009] The object of the present invention is to provide a compact single-wheel regulator. The single-wheel regulator needs to use a small structural space.

[0010] This object is solved by the subject matter of claim 1. Summary of the Invention

[0011] The present invention provides a single-wheel regulator for a steering system of a motor vehicle, in particular a steer-by-wire system.

[0012] The single-wheel regulator includes a housing and a push rod disposed at least sectionally in the interior space of the housing. The push rod is supported in the housing and is connected at a second axial end section opposite to the first axial end section to a universal joint (19) or a ball joint (18), which can be coupled to a wheel carrier.

[0013] Furthermore, the single-wheel regulator includes a drive unit configured to perform an axial movement of the push rod from a first position substantially disposed in the interior space of the housing to a second position substantially extending from the housing.

[0014] The single-wheel regulator further has a suspension at a third axial end section, which is configured to swingably suspend the single-wheel regulator at the vehicle body, wherein the degrees of freedom of the swinging movement are defined by a first pivot axis substantially perpendicular to the longitudinal axis of the push rod and a second pivot axis substantially perpendicular to the longitudinal axis of the push rod.

[0015] The present invention also provides a steering system for a motor vehicle, in particular a steer-by-wire system, having a plurality of single-wheel regulators according to the present invention, which are configured to steer a wheel connected to the respective single-wheel regulator.

[0016] One idea of the present invention is to provide a single-wheel regulator that enables a compact arrangement.

[0017] In order to shorten the overall length of the single-wheel regulator and to improve the flexibility of vehicle installation, not only the body-suspension of the single-wheel regulator but also the axial positions of the two pivot axes are arranged arbitrarily with respect to the direction of the push rod axis.

[0018] The axial positions can be arranged reasonably not only at the ends of the housing but also in the middle region of the housing - depending on the situation in the vehicle.

[0019] A suspension is provided, which is configured to swingably suspend the single-wheel regulator at the vehicle body, wherein the degrees of freedom of the swinging movement are defined by a first pivot axis substantially perpendicular to the longitudinal axis of the push rod and a second pivot axis substantially perpendicular to the longitudinal axis of the push rod. In an advantageous manner, an articulated suspension of the single-wheel regulator is achieved, wherein the joint is formed by two virtual axes, i.e., pivot axes, which are perpendicular to each other and substantially perpendicular to the axis of the push rod.

[0020] The suspension thus ensures the degrees of freedom of rotation about these two axes. Also, the two axes prevent the entire single-wheel regulator from rotating about the push rod axis.

[0021] Advantageous embodiments and extensions result from the dependent claims and the description with reference to the drawings.

[0022] According to a preferred extension, it is provided that the first pivot axis is arranged substantially perpendicular to the second pivot axis. This advantageously results in an effective pivotability of the single-wheel regulator relative to the pivot axis oriented in the longitudinal axis of the push rod.

[0023] According to a further preferred extension, it is provided that the first pivot axis and / or the second pivot axis intersect the longitudinal axis of the push rod. This results in an optimal orientation of the pivot axis relative to the longitudinal axis of the push rod.

[0024] According to a further preferred extension, a first anti-twist member is arranged at the first axial end section of the push rod, and the first anti-twist member is used to arrange the push rod torsionally resistant in the housing by means of the complementary shape of the first anti-twist member. Therefore, the anti-twist member advantageously enables a torsion-free axial movement of the push rod.

[0025] According to a further preferred extension, the first anti-twist member is configured to radially support the push rod in the interior space of the housing. Therefore, the anti-twist member performs the dual functions of anti-twisting and supporting the push rod. Therefore, a separate radial bearing of the push rod can be advantageously omitted.

[0026] According to a further preferred extension, a second anti-twist member is arranged at the second axial end section of the push rod. This can advantageously achieve anti-twisting of the push rod in the area of the universal joint or the articulating head.

[0027] According to a further preferred extension, the housing has an extension limiting member made of a plate for the push rod, and the extension limiting member is configured to provide a stop for the first anti-twist member constructed at the first axial end section of the push rod. This can advantageously achieve the limitation of the axial movement of the push rod.

[0028] According to a further preferred extension, the housing has an insertion limiting member in the section adjacent to the suspension of the single-wheel regulator, and the insertion limiting member is configured to provide a stop for the first anti-twist member arranged at the first axial end section of the push rod. This can advantageously achieve the limitation of the axial movement of the push rod.

[0029] According to a further preferred extension, the axial position of the insertion limiting member and / or the extension limiting member is adjustable, and the insertion limiting member and / or the extension limiting member has end position damping.

[0030] This enables flexible adjustability, through which the corresponding single-wheel regulator can be adapted to the corresponding installation situation or the corresponding vehicle model.

[0031] According to a further preferred expansion scheme, the first pivot axis and the second pivot axis of the single-wheel regulator are arranged adjacent to the connection part of the electric wire of the drive unit or along the axial length of the motor.

[0032] Thereby, it can be achieved that the connection part of the electric wire of the drive unit can be advantageously kept short. In addition, it can be achieved thereby that the cable movement of the electric wire is less, which results in less wear.

[0033] According to a further preferred expansion scheme, the drive unit has a motor arranged axially parallel to the longitudinal axis of the push rod, and the motor is connected to the ball screw drive mechanism by means of a toothed belt, wherein the ball nut of the ball screw drive mechanism is configured to convert the rotation of the ball nut caused by the toothed belt into a translational movement of the push rod engaged with the ball nut. Thereby, it can be achieved to effectively convert the rotational movement of the motor into the translational movement of the push rod.

[0034] According to a further preferred expansion scheme, the drive unit has a motor arranged axially parallel to the longitudinal axis of the push rod, and the motor is connected to the planetary roller screw drive mechanism by means of a toothed belt, and the planetary roller screw drive mechanism is configured to convert the rotation of the planetary roller screw drive mechanism caused by the toothed belt into a translational movement of the push rod engaged with the planetary roller screw drive mechanism.

[0035] Due to the smaller thread flanks, the planetary roller screw drive mechanism can achieve a much higher transmission ratio than the ball screw drive at low speeds. A ball screw drive mechanism - pitch below 5 mm / rev is not common. For the planetary roller screw drive mechanism, the pitch can be up to 1 mm / rev. Therefore, the transmission ratio of the belt drive stage can be up to 5 times smaller than that of the ball screw drive mechanism, which can achieve significantly smaller pulleys.

[0036] In addition, due to the larger number of thread flanks participating in the force transmission, the load-carrying capacity of the planetary roller screw drive mechanism is significantly higher than that of the ball screw drive mechanism of the same size in the same structural space.

[0037] Due to slightly lower efficiency and the possibility that the threaded planetary gear can be installed together with the selected mounting parts and preloading parts, the basic friction of the planetary roller screw drive mechanism is higher. This can be advantageous for the stamping of toe-in in the case of no electrical power. The reset caused by the external force can be maintained only by the internal friction of the actuator without additional motor power.

[0038] In addition, the planetary roller screw drive mechanism can be synchronous - so there is no slippage between the input and the output - or it can be carried out in an asynchronous manner, which requires additionally monitoring the slippage between the input and the output with the aid of a sensor.

[0039] According to a further preferred expansion scheme, the drive unit has a motor arranged concentrically with the longitudinal axis of the push rod. The motor has a hollow shaft for internally accommodating the push rod. Among them, the motor is coupled with a planetary roller screw drive or a ball screw drive arranged concentrically with the longitudinal axis of the push rod. The planetary roller screw drive or the ball screw drive is configured to convert the rotation caused by the motor of the planetary roller screw drive or the ball screw drive into a translational motion of the push rod engaged with the planetary roller screw drive or the ball screw drive.

[0040] Thereby, a gear drive can be omitted in the concentric system. Due to the omission of the pre-stage drive, both structural space and cost are saved. Due to the high transmission ratio achievable by the planetary roller screw drive, direct drive by the motor can be achieved without an additional transmission stage. If the motor is correspondingly designed for low speed and high torque, a ball screw drive with a higher transmission ratio (such as a 5 mm pitch) can also be used. The motor is configured as a hollow shaft motor, which has a power characteristic curve adapted to the system accordingly.

[0041] The described design schemes and expansion schemes can be combined with each other arbitrarily.

[0042] Other possible design schemes, expansion schemes and implementation schemes of the present invention also include combinations not explicitly mentioned of the features described previously or hereinafter in the embodiments of the present invention. Description of the Drawings

[0043] The drawings are intended to assist in further understanding the embodiments of the present invention. The drawings show the embodiments and are combined with the description to explain the principles and concepts of the present invention.

[0044] Many of the other embodiments and the mentioned advantages are obtained with reference to the drawings. The elements shown in the drawings are not necessarily shown in proportion to each other.

[0045] Figure 1 A schematic diagram of a single-wheel regulator for a steering system according to a first embodiment of the present invention is shown;

[0046] Figure 2 A schematic diagram of a vehicle body suspension of a single-wheel regulator for a steering system according to a first embodiment of the present invention is shown;

[0047] Figure 3 A schematic diagram of a single-wheel regulator for a steering system according to a second embodiment of the present invention is shown;

[0048] Figure 4 A schematic diagram of a single-wheel regulator for a steering system according to a third embodiment of the present invention is shown; and

[0049] Figure 5 Shows a schematic view of a single-wheel regulator for a steering system according to a fourth embodiment of the present invention. Detailed implementation

[0050] In the drawings, unless otherwise specified, the same reference numerals denote the same or functionally identical elements, components or assemblies.

[0051] Figure 1 The single-wheel regulator 1 for a steering system for a motor vehicle, in particular a steer-by-wire system, shown in includes a housing 10 and a push rod 14 arranged at least sectionally in the interior space 12 of the housing.

[0052] The push rod 14 is supported in the housing 10 at a first axial end section 14a and is connected at a second axial end section 14b arranged opposite the first axial end section 14a to a knuckle head 18 which can be coupled to a wheel carrier 16.

[0053] The single-wheel regulator 1 further includes a drive unit which is configured to perform an axial movement of the push rod 14 from a first position arranged substantially in the interior space 12 of the housing to a second position protruding substantially from the housing 10.

[0054] Furthermore, a first anti-twist member 26 is arranged at the first axial end section 14a of the push rod 14, which anti-twist member is configured to arrange the push rod 14 torsion-resistant relative to the housing by means of complementary shapes of the first anti-twist member 26 and the push rod 14. The first anti-twist member 26 is configured here to radially support the push rod 14 in the interior space 12 of the housing and to prevent torsion.

[0055] The housing 10 also has an extension stop 30 constructed of a plate for the push rod 14. The extension stop 30 is configured to provide a stop for the first anti-twist member 26 constructed at the first axial end section 14a of the push rod 14.

[0056] The housing 10 also has an insertion stop 32 in a section arranged adjacent to the suspension 24 of the single-wheel regulator 1. The insertion stop 32 is configured to provide a stop for the first anti-twist member 26 arranged at the first axial end section 14a of the push rod 14.

[0057] The axial position of the insertion stop 32 and / or the extension stop 30 is adjustable. The insertion stop 32 and / or the extension stop 30 also have a terminal position damping.

[0058] The drive unit also has an electric motor arranged with its longitudinal axis axially parallel to the push rod 14, which is connected to the ball screw drive 40 by means of a toothed belt 38. The ball nut 42 of the ball screw drive 40 is configured here to convert the rotation of the ball nut 42 caused by the toothed belt 38 into a translational movement of the push rod 14 in engagement with the ball nut 42.

[0059] The electric motor provides torque and a rotational angle, both of which are transmitted via a belt drive stage to the axially parallel ball nut 42.

[0060] The ball nut 42 is rotatably supported in the housing 10 of the single-wheel regulator 1, but is substantially non-axially movable. The ball nut 42 transmits the rotational movement to the axially movable push rod 14 via balls, and the push rod has a ball screw at its circumferential side, which interacts with the balls.

[0061] The push rod 14 is prevented from twisting relative to the housing 10 by the form-locking complementary shapes of the bushing and the housing guide. The anti-twist member simultaneously serves as a radial bearing. Thus, when the ball nut 42 rotates, the push rod 14 is placed in axial motion. The push rod 14 projects out of and retracts into the housing 10, whereby the single-wheel regulator 1 is telescopic.

[0062] The articulating head 18 is located at the wheel-side end of the push rod 14, which is formed by balls and also permits two rotational movements perpendicular to the axis of the push rod. The pin of the articulating head is mounted in the wheel carrier 16.

[0063] Figure 2 A schematic view of the vehicle suspension 24 of the single-wheel regulator 1 of a steering system according to a first embodiment of the present invention is shown.

[0064] The single-wheel regulator 1 also has a suspension 24 at its third axial end section 22, which is configured to swingably suspend the single-wheel regulator 1 at the vehicle body, wherein the degrees of freedom of the swinging movement are defined by a first pivot axis A1 arranged substantially perpendicular to the longitudinal axis of the push rod 14 and a second pivot axis A2 arranged substantially perpendicular to the longitudinal axis of the push rod 14.

[0065] The first pivot axis A1 is arranged substantially perpendicular to the second pivot axis. Optionally, it can be provided that the first pivot axis and / or the second pivot axis intersect the longitudinal axis of the push rod.

[0066] The first pivot axis A1 and the second pivot axis A2 of the single-wheel regulator 1 are arranged adjacent to the connection part of the electric wire 34 of the drive unit.

[0067] The suspension 24 of the single-wheel regulator 1 ensures the degrees of freedom of rotation about two axes. These two axes also prevent the entire actuator from rotating about the push rod axis or the rotation of the entire actuator about the push rod axis.

[0068] Figure 3 Shows a schematic view of a single-wheel regulator 101 for a steering system according to a second embodiment of the present invention.

[0069] The drive unit has an electric motor arranged with its axis parallel to the longitudinal axis of the push rod 14, which is connected to the planetary roller screw drive 44 by means of a toothed belt 38. The planetary roller screw drive 44 is configured to convert the rotation of the planetary roller screw drive 44 caused by the toothed belt 38 into a translational movement of the push rod 14 in engagement with the planetary roller screw drive 44.

[0070] The single-wheel regulator 101 also has a suspension 124 at a third axial end section 122, which is configured to swingably suspend the single-wheel regulator 1 at the vehicle body, wherein the degrees of freedom of the swinging movement are defined by a first pivot axis A1 arranged substantially perpendicular to the longitudinal axis of the push rod 14 and a second pivot axis A2 arranged substantially perpendicular to the longitudinal axis of the push rod 14.

[0071] Furthermore, a first anti-twist member 126 is arranged at the first axial end section 14a of the push rod 14, which, by virtue of its complementary shape with the push rod 14, is configured to arrange the push rod 14 torsion-resistant relative to the housing. The first anti-twist member 126 is configured here to radially support the push rod 14 in the housing interior 12 and prevent torsion.

[0072] The housing 10 also has an extension stop 130 of the push rod 14, which is formed by a plate. The extension stop 130 is configured to provide a stop for the first anti-twist member 126 arranged at the first axial end section 14a of the push rod 14.

[0073] The housing 10 also has an insertion stop 132 in a section arranged adjacent to the suspension 124 of the single-wheel regulator 1. The insertion stop 132 is configured to provide a stop for the first anti-twist member 126 arranged at the first axial end section 14a of the push rod 14.

[0074] The axial position of the insertion stop 132 and / or the extension stop 130 is adjustable. The insertion stop 132 and / or the extension stop 130 also have end position damping.

[0075] Figure 4 Shows a schematic view of a single-wheel regulator 201 for a steering system according to a third embodiment of the present invention.

[0076] The drive unit also has an electric motor arranged concentrically with the longitudinal axis of the push rod 14, which has a hollow shaft for internally accommodating the push rod 14.

[0077] The single-wheel adjuster 201 also has a suspension 224 at the third axial end section 222, which is configured to swingably suspend the single-wheel adjuster 1 at the vehicle body, wherein the degrees of freedom of the swinging movement are defined by a first pivot axis A1 arranged substantially perpendicular to the longitudinal axis of the push rod 14 and a second pivot axis A2 arranged substantially perpendicular to the longitudinal axis of the push rod 14.

[0078] The first pivot axis A1 and the second pivot axis A2 of the single-wheel adjuster 201 are also arranged along the axial length of the electric motor 236.

[0079] The universal joint 19 is at the wheel-side end of the push rod 14, which allows two rotational movements perpendicular to the push rod axis. The second anti-twist member 228 of the push rod 14 is arranged at the second axial end section 14b of the push rod 14.

[0080] The electric motor is coupled to the planetary roller screw drive 46, which is arranged concentrically with the longitudinal axis of the push rod 14. The planetary roller screw drive is configured to convert the rotation caused by the electric motor of the planetary roller screw drive 46 into a translational movement of the push rod 14 that meshes with the planetary roller screw drive 46. As an alternative to the planetary roller screw drive 46, a ball screw drive can also be provided.

[0081] The electric motor provides torque and a rotational angle, and transfers both to the nut of the planetary roller screw drive 46. The nut is rotatably supported but is substantially axially immovable. The nut transfers the rotational movement to the axially movable threaded rod through the threaded push rod, and the rod has threads in the circumferential direction. The rod is anti-twisted at the interface relative to the wheel carrier 16.

[0082] The torque support torque is provided by the wheel carrier 16. Therefore, when the nut rotates, the push rod 14 is placed in axial motion. The push rod 14 extends out of and into the housing 10, whereby the single-wheel adjuster 201 is telescopic.

[0083] By eliminating the second push rod bearing, a further shortening of the overall length of the single-wheel adjuster 201 is achieved. The support of the push rod 14 is directly taken over by the planetary roller screw drive, and the planetary roller screw drive is hinged through the housing 10 and fixed to the vehicle body in an anti-twist manner in this regard.

[0084] In this regard, it is expedient to place the pivot axis close to the nut, so as to derive as small a bending moment as possible onto the housing 10, especially through the planetary roller screw drive 44, especially in the case of dynamic force excitation perpendicular to the rod axis. The stop position of the wheel is achieved by the holding torque of the electric motor. Additional mechanical stop limitations can be achieved by the stop points fixed to the housing and / or the sleeve between the wheel carrier 16 and the electric motor at the end of the electric motor.

[0085] Figure 5 A schematic view of a single-wheel regulator 301 for a steering system according to a fourth embodiment of the present invention is shown.

[0086] According to this embodiment, the single-wheel regulator 301 has an alternative anti-torsion member, which is implemented by the complementary shape between the inner profile of a push rod 14 configured as a hollow shaft and a rod guided inside the push rod 14.

[0087] The motor is coupled to a ball screw drive mechanism 40, which is concentrically arranged with the longitudinal axis of the push rod 14. The ball screw drive mechanism is configured to convert the rotation of the ball screw drive mechanism 40 caused by the motor into a translational movement of the push rod 14 in engagement with the ball screw drive mechanism 40. As an alternative to the ball screw drive mechanism 40, a planetary roller screw drive mechanism may also be provided.

[0088] The first pivot axis A1 and the second pivot axis A2 of the single-wheel regulator 301 are also arranged along the axial length of the motor 336.

[0089] The articulating head 18 is at the wheel-side end of the push rod 14. The articulating head is formed by balls and also allows two rotational movements perpendicular to the push rod axis. The pin of the articulating head is mounted in the wheel carrier 16.

[0090] At the second axial end section 14b of the push rod 14, in particular adjacent to the articulating head 18, a second anti-torsion member 328 of the push rod 14 is arranged.

Claims

1. A single-wheel regulator (1, 101, 201, 301) for a steering system of a motor vehicle, in particular a steer-by-wire system, having: a housing (10) and a push rod (14) arranged at least in sections in the interior space (12) of the housing, the push rod being supported in the housing (10) and at a second axial end section (14b) opposite to the first axial end section (14a) being connected to a universal joint (19) or a spherical head (18), which universal joint or spherical head can be coupled to a wheel carrier (16); and Drive units (20, 120, 220, 320), which are configured to perform an axial movement of the push rod (14) from a first position substantially arranged within the interior space (12) of the housing to a second position substantially protruding from the housing (10), wherein, the single-wheel regulator (1, 101, 201, 301) having at a third axial end section (22, 122, 222, 322) a suspension (24, 124, 224, 324), which suspension is configured to swingably suspend the single-wheel regulator (1, 101, 201, 301) at the vehicle body, wherein the degrees of freedom of the swinging movement are defined by a first pivot axis (A1) arranged substantially perpendicular to the longitudinal axis of the push rod (14) and a second pivot axis (A2) arranged substantially perpendicular to the longitudinal axis of the push rod (14).

2. The single-wheel adjuster according to claim 1, wherein, The first pivot axis (A1) is arranged substantially perpendicular to the second pivot axis (A2).

3. The single-wheel regulator according to claim 1 or 2, wherein, The first pivot axis (A1) and / or the second pivot axis (A2) intersect the longitudinal axis of the push rod (14).

4. The single-wheel adjuster according to any one of the preceding claims, wherein, A first anti-twist element (26, 126) is arranged at the first axial end section (14a) of the push rod (14), which first anti-twist element, by means of the complementary shapes of the first anti-twist element (26, 126) and the push rod (14), is configured to arrange the push rod (14) in the housing (10) in a torsion-resistant manner.

5. The single-wheel adjuster according to claim 3, wherein, The first anti-twist element (26, 126) is configured to radially support the push rod (14) in the interior space (12) of the housing.

6. The single-wheel regulator according to any one of claims 1 to 3, wherein A second anti-twist element (228) of the push rod (14) is arranged at the second axial end section (14b) of the push rod (14).

7. The single-wheel adjuster according to any one of claims 4 to 6, wherein, The housing (10) has an extension stop (30, 130) of the push rod (14) constructed as a plate, which extension stop is configured to provide a stop for the first anti-twist element (26, 126) arranged at the first axial end section (14a) of the push rod (14).

8. The single-wheel adjuster according to any one of claims 4 to 7, wherein, The housing (10) has an insertion stop (32, 132) in a section arranged adjacent to the suspension (24, 124) of the single-wheel regulator (1, 101), which insertion stop is configured to provide a stop for the first anti-twist element (26, 126) arranged at the first axial end section (14a) of the push rod (14).

9. The single-wheel adjuster according to claim 7 or 8, wherein, The axial position of the insertion stop (32, 132) and / or the extension stop (30, 130) is adjustable, and wherein the insertion stop (32, 132) and / or the extension stop (30, 130) has end position damping.

10. The single-wheel adjuster according to any one of the preceding claims, wherein, The connection portions of the first pivot axis (A1) and the second pivot axis (A2) of the single-wheel regulator (1, 101) to the electric wires (34, 134) of the drive unit (20, 120) are arranged adjacent to or along the axial length of the electric machine (236, 336).

11. The single-wheel adjuster according to any one of the preceding claims, wherein, The drive unit (20) has an electric machine (36) whose axis is arranged parallel to the longitudinal axis of the push rod (14), and the electric machine is connected to a ball screw drive mechanism (40) by means of a toothed belt (38), wherein the ball nut (42) of the ball screw drive mechanism (40) is configured to convert the rotation of the ball nut (42) caused by the toothed belt (38) into a translational movement of the push rod (14) meshing with the ball nut (42).

12. The single-wheel regulator according to any one of claims 1 to 10, wherein The drive unit (120) has an electric machine (136) whose axis is arranged parallel to the longitudinal axis of the push rod (14), and the electric machine is connected to a planetary roller screw drive mechanism (44) by means of a toothed belt (38), and the planetary roller screw drive mechanism is configured to convert the rotation of the planetary roller screw drive mechanism caused by the toothed belt (38) into a translational movement of the push rod (14) meshing with the planetary roller screw drive mechanism (44).

13. The single-wheel regulator according to any one of claims 1 to 10, wherein, The drive units (220, 320) have electric machines (236, 336) arranged concentrically with the longitudinal axis of the push rod (14), the electric machines having a hollow shaft for internally accommodating the push rod (14), wherein the electric machines are coupled to a planetary roller screw drive mechanism (46) or a ball screw drive mechanism (40) arranged concentrically with the longitudinal axis of the push rod (14), and the planetary roller screw drive mechanism or the ball screw drive mechanism is configured to convert the rotation of the planetary roller screw drive mechanism (46) or the ball screw drive mechanism (40) caused by the electric machine into a translational movement of the push rod (14) meshing with the planetary roller screw drive mechanism or the ball screw drive mechanism (46).

14. A steering system for a motor vehicle, in particular a steer-by-wire system, having a plurality of single-wheel regulators (1, 101, 201, 301) according to any one of claims 1 to 13, the single-wheel regulators being configured to steer a wheel connected to the respective single-wheel regulator (1, 101, 201, 301).

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