Vehicle corner module and vehicle

Abstract

The invention relates to a vehicle corner module (20) for individually steering a vehicle wheel, comprising a vehicle wheel section, a vehicle section and a steering mechanism. The steering mechanism is arranged to rotate the vehicle wheel section relative to the vehicle section about a steering axis (L). In particular in the case of a change in the steering angle not being required, the steering mechanism is to be relieved of load. To this end, a steering stabilizer (10) is connected to the vehicle wheel section and the vehicle section. The steering stabilizer (10) provides a stabilization mode in which the relative steering angle between the vehicle wheel section and the vehicle section is fixed by the steering stabilizer (10). Furthermore, the steering stabilizer (10) provides a steering mode in which the relative steering angle about the steering axis between the vehicle wheel section and the vehicle section can be changed. Furthermore, a vehicle comprising at least one, preferably two or four such vehicle corner modules (20) is provided.

Description

Technical Field

[0001] This invention relates to a vehicle steering module / vehicle angle module for individual wheel steering, the vehicle steering module comprising a wheel section, a vehicle section, and a steering mechanism.

[0002] The steering mechanism includes a steering motor.

[0003] The steering mechanism is configured to allow the wheel section to rotate relative to the vehicle section about a steering axis. The invention also relates to a vehicle including at least one such vehicle steering module. Background Technology

[0004] For example, a vehicle steering module of this type is known from KR20240016627A. In this document, the vehicle steering module is connected to the vehicle body on the upper side of both the steering mechanism and the shock-absorbing suspension system. The steering mechanism can be fixed at the steering angle by a locking device integrated into the transmission of the steering mechanism.

[0005] US2448468A discloses the use of a linear hydraulic steering stabilizer suitable for connection with a steering arm assembly on a steerable wheel of a motor vehicle and with a steering tie rod element connected to the steering arm assembly. Two chambers are separated by a piston with a bypass opening. Here, the steering stabilizer is used to attenuate strong external steering effects, such as those caused by objects on the road surface that cause wheel deflection (e.g., stones). The function of fixing the steering angle via this steering stabilizer is not provided.

[0006] For example, wheel-integrated motors have been widely used to date in electric scooters or aircraft landing gear wheels due to their exceptionally high efficiency and the space-saving design they allow for. However, for passenger cars or other road vehicles, these hub motors with integrated friction brakes also, in principle, allow for significant redesign of the vehicle body and new control and steering concepts with large steering angles, which would be nearly impossible to achieve in a space-saving manner when using a central motor for two-wheel or four-wheel drive. Here, with the integration of individual wheel steering, this is also referred to as a vehicle corner module or electronic corner module. However, to fully utilize these concepts, it is still desirable to improve their fail-safety, as by-wire systems are typically used for steering. In particular, due to the external torque acting on the wheel section around the steering axis, the steering motor may need to be activated or kept active (e.g., at low power) during driving to maintain the set steering angle (e.g., neutral positioning in straight-line driving). A typical cause of this is ruts, potholes, or other road surface damage. This significantly reduces the lifespan of the steering motor. Summary of the Invention

[0007] Therefore, the object of the present invention is to provide a vehicle cornering module of the type described at the beginning, which at least partially solves the above-mentioned problems.

[0008] According to the present invention, this objective is achieved by the vehicle cornering module according to claim 1 and the vehicle according to claim 14. Therefore, the vehicle cornering module according to the present invention is characterized in that it includes a steering stabilization device connected to the wheel section and the vehicle section, wherein the steering stabilization device is designed to provide the following operating modes:

[0009] - Stability Mode: In this mode, the longitudinal extension of the steering stability device remains unchanged, thereby fixing the relative angle of rotation between the wheel section and the vehicle section around the steering axis.

[0010] - Steering mode in which the longitudinal extension of the steering stability device is variable, thereby enabling the change of the relative angle of rotation between the wheel section and the vehicle section around the steering axis.

[0011] This solution allows the steering motor to be deactivated when possible, and the current steering angle to be fixed with the help of a steering stabilization device (especially in neutral steering positioning). This reduces the load on the steering motor. This not only reduces wear on the steering motor, but also lowers power consumption, because the steering motor can be shut down significantly more frequently, especially when driving straight.

[0012] Preferably, the vehicle steering module is designed to provide a relative steering angle of at least ±60°, preferably at least ±75°, and particularly preferably at least ±90° between the wheel section and the vehicle section to achieve a neutral position of the wheel section.

[0013] Preferably, the steering mechanism includes a transmission. The transmission may be a planetary gear transmission, which is particularly arranged coaxially with the steering axis. This design enables a compact design of the steering mechanism and a simple connection between the steering motor and the transmission.

[0014] In one embodiment, the steering stabilization device includes hydraulic fluid, wherein the steering stabilization device is designed to hydraulically switch between a stabilization mode and a steering mode. Preferably, the steering stabilization device is configured without a hydraulic oil tank or storage container.

[0015] Preferably, the steering stability device includes a lever mechanism that is telescopic along the mechanism axis, wherein each telescopic position of the lever mechanism corresponds to a defined steering angle between the wheel segment and the vehicle segment. This allows the steering stability device to be designed and integrated with particular simplicity.

[0016] Preferably, the lever mechanism includes a piston and a piston cylinder connected to the lever, wherein the piston has two pressure chambers separated within the piston cylinder, and these pressure chambers are designed to be hydraulically connected and hydraulically disengaged from each other. This design allows for the offsetting of large steering torques with lower energy consumption, thereby temporarily fixing the steering angle.

[0017] In one embodiment, these pressure chambers can be connected via a hydraulic line with a switchable valve, wherein the valve hydraulically connects or disconnects the pressure chambers depending on the valve position. This is a particularly simple design to provide the functionality of a stability mode and a steering mode according to the invention.

[0018] Preferably, the steering stabilizing device is in a stabilizing mode when the pressure chamber is hydraulically disconnected, and in a steering mode when the pressure chamber is hydraulically connected.

[0019] Preferably, the wheel ends of the steering stabilization device are rotatably fixed to the wheel section, wherein the wheel ends are fixed to the wheel section in a manner spaced apart from the steering axle.

[0020] Preferably, the wheel section includes a steering knuckle, to which the wheel end of the steering stabilization device is rotatably fixed. The steering knuckle allows for a load-bearing connection between the wheel section and the vehicle section.

[0021] Preferably, the steering knuckle includes a steering base at its upper end, on which a steering mechanism is mounted, wherein the steering mechanism is designed to transmit steering torque around the steering axis to the wheel section.

[0022] In a preferred embodiment, the steering knuckle includes a steering base at its upper end, on which the steering mechanism is mounted, and on which torque transmission elements are arranged. This structure allows for stable vehicle support via the steering base, while simultaneously allowing for adaptation of the steering mechanism's output torque through the sizing and positioning of the transmission and torque transmission elements.

[0023] Preferably, the steering stabilization device is connected to the vehicle section via a ball joint, and / or the steering stabilization device is connected to the wheel section via a ball joint. This allows the wheel section and the vehicle section to have relative mobility over a large angular range around the steering axis, and at the same time allows for a certain degree of mobility in the height direction for damping motion.

[0024] Preferably, the steering stabilization device includes a pressure regulating device designed to adjust the hydraulic pressure within the steering stabilization device. Preferably, the pressure regulating device is configured to be purely manual. For example, the pressure regulating device may include a threaded sleeve and a threaded push rod, wherein a pre-pressure (e.g., slightly above ambient pressure to prevent the ingress of external liquids or gases) can be manually adjusted in the steering stabilization device during installation or maintenance by screwing in the threaded push rod. Alternatively, it is also conceivable to equip the pressure regulating device with a controllable motor.

[0025] Preferably, the steering stability device includes a pressure sensor designed to determine the hydraulic pressure within the steering stability device. This allows for the determination of whether a pressure drop in the steering stability device has occurred due to leakage or prolonged fluid loss, which could negatively impact its function.

[0026] In one embodiment, the wheel section includes a wheel-integrated motor and / or a wheel-integrated friction brake. The vehicle steering module according to the invention is particularly advantageous for such designs.

[0027] Preferably, the vehicle steering module includes a wheel-integrated motor configured as a direct drive unit without a transmission, which is preferably configured as a dual-rotor radial flux motor. This design provides exceptionally high drive efficiency.

[0028] Preferably, the vehicle cornering module includes a damping suspension system, particularly a gas spring or air spring.

[0029] In one embodiment, the vehicle cornering module includes at least one crossbeam in addition to the steering stabilization device, wherein the crossbeam is connected to the wheel section by means of a ball joint. Besides the steering stabilization device, the vehicle cornering module may also include an upper crossbeam and a lower crossbeam.

[0030] According to the present invention, a vehicle is also provided, the vehicle including at least one, preferably two or four vehicle steering modules according to one of the foregoing embodiments, the vehicle steering modules being used for individual wheel steering of the vehicle wheels connected to the vehicle steering modules.

[0031] Preferably, the vehicle includes a vehicle control unit designed to activate a stability mode in at least one vehicle cornering module and deactivate the associated steering motor when the vehicle control unit determines that steering intervention is not required for at least the shortest possible time. This extends the lifespan of the steering motor and reduces power consumption. Attached Figure Description

[0032] Further details of the invention will emerge from the description of the illustrated embodiments and the appended claims.

[0033] In the attached diagram:

[0034] Figure 1 An embodiment of the vehicle cornering module according to the present invention is shown.

[0035] Figure 2 A schematic diagram of the steering stabilization device according to the present invention in steering mode is shown.

[0036] Figure 3 A schematic diagram of the steering stabilization device according to the present invention in stable mode is shown, and

[0037] Figure 4 A partial cross-sectional detail of the steering stabilization device according to the present invention is shown. Detailed Implementation

[0038] In the following detailed description of preferred embodiments, the same reference numerals denote components that are substantially the same or identical in these embodiments or in other embodiments. However, for the sake of better illustration of the invention, the preferred embodiments shown in the drawings are not always illustrated to scale.

[0039] Figure 1An embodiment of a vehicle steering module 20 for enabling individual steering of the connected wheels 11 is shown above. The vehicle steering module includes wheel sections, a vehicle section, and a steering mechanism (not shown). The steering mechanism includes a steering motor with a drive connected to a steering base 12 of the steering knuckle 19. The steering mechanism is designed to allow the wheel sections to rotate relative to the vehicle section about the steering axis L.

[0040] The vehicle steering module 20 includes a steering stabilization device 10, which is connected to the wheel section and the vehicle section. The wheel end 15 of the steering stabilization device 10 is rotatably fixed to the wheel section. Here, the wheel end 15 is fixed to the wheel section at a distance from the steering axis L.

[0041] The steering stabilization device 10 is connected to the vehicle section via a hinge (especially a ball joint, not shown) at the wheel end 15. The steering stabilization device 10 is connected to the wheel section via a ball joint 16.

[0042] Here, the vehicle steering module 20 includes a (lower) crossbeam 13 (which may be another crossbeam) and a main support 14. A damping suspension system, particularly a gas spring or air spring, may be integrated into the vehicle steering module 20 (not shown here).

[0043] Figures 2 to 4 The structure and function of the steering stability device 10 are shown in more detail. The steering stability device 10 contains hydraulic fluid. Here, the steering stability device 10 is designed to be hydraulically switchable between a stability mode and a steering mode. A lever mechanism that can extend and retract along the mechanism axis is a component of the steering stability device 10. Each extension and retraction position of the lever mechanism 10 corresponds to a defined steering angle between the wheel section and the vehicle section.

[0044] The lever mechanism includes a piston 9 and a piston cylinder 2 connected to lever 1. Piston 9 separates two pressure chambers 17 and 18 in piston cylinder 2. Pressure chambers 17 and 18 are designed to be hydraulically connected and hydraulically disengaged. For this purpose, as shown in the figure, pressure chambers 17 and 18 are connected via a hydraulic line 3. A digitally switchable valve 4 is arranged along line 3, wherein valve 4 hydraulically connects or disengages pressure chambers 17 and 18 depending on the valve position. When pressure chambers 17 and 18 are hydraulically connected, the steering stabilization device 10 is in steering mode. Figure 2 When pressure chambers 17 and 18 are hydraulically separated, the steering stabilization device 10 is in stable mode. Figure 3 ).

[0045] Figure 8 shows the direction of the force that can act on rod 1 when the steering torque acts on the wheel section around the steering axis L due to steering drive or external influences. Figure 2In this configuration, piston 9 and rod 1 can move in two directions (steering mode). Figure 3 In this mode, piston 9 and rod 1 are immovable in both directions (stable mode).

[0046] The steering stability device 10 includes pressure regulating devices 6 and 7, which are designed to adjust the hydraulic pressure within the steering stability device 10. The pressure regulating devices 6 and 7 are configured to be purely manual. Each pressure regulating device includes a threaded sleeve 6 and a threaded push rod 7. By screwing the threaded push rod 7 into the threaded sleeve 6, a pre-pressure (e.g., slightly above ambient pressure to prevent the ingress of external liquids or gases) can be manually applied to the steering stability device 10 during installation or maintenance. A pressure sensor 5 is configured to determine the hydraulic pressure within the steering stability device 10. This can, for example, determine leakage or maintenance requirements.

[0047] List of reference numerals in the attached diagram:

[0048] 1 stroke

[0049] 2 Piston Cylinder

[0050] 3. Hydraulic circuit

[0051] 4 valves

[0052] 5. Pressure sensor

[0053] 6. Pressure regulating device, threaded sleeve

[0054] 7. Pressure regulating device, threaded push rod

[0055] 8. Direction of force

[0056] 9 Pistons

[0057] 10. Steering Stabilizer

[0058] 11 Vehicle wheels

[0059] 12 Steering base

[0060] 13 Crossbeams

[0061] 14 Main support

[0062] 15. Wheel end

[0063] 16 Ball joint

[0064] 17. Pressure Chamber

[0065] 18 Pressure Chamber

[0066] 19 Steering knuckle

[0067] 20 Vehicle cornering modules

[0068] L - Steering axis.

Claims

1. A vehicle steering module (20) for individual wheel steering, the vehicle steering module comprising a wheel section, a vehicle section, and a steering mechanism, in, The steering mechanism includes a steering motor. The steering mechanism is configured to allow the wheel section to rotate about the steering axis relative to the vehicle section. The vehicle steering module (20) is characterized in that it includes a steering stabilization device (10), which is connected to the wheel section and the vehicle section. The steering stabilization device (10) is configured to provide the following operating modes: - Stable mode, in which the longitudinal extension of the steering stabilizing device (10) cannot be changed, thereby fixing the relative angle of rotation between the wheel section and the vehicle section around the steering axis by the steering stabilizing device (10). - Steering mode, in which the longitudinal extension of the steering stabilization device (10) is variable, thereby enabling the change of the relative angle of rotation between the wheel section and the vehicle section around the steering axis.

2. The vehicle cornering module (20) according to claim 1, characterized in that, The steering stabilization device (10) includes hydraulic fluid, wherein the steering stabilization device (10) is configured to hydraulically switch between the stabilization mode and the steering mode.

3. The vehicle cornering module (20) according to claim 1 or 2, characterized in that, The steering stabilization device (10) includes a lever mechanism that can extend and retract along the mechanism axis, wherein each extension and retraction position of the lever mechanism corresponds to a defined turning angle between the wheel section and the vehicle section.

4. The vehicle cornering module (20) according to claim 3, characterized in that, The lever mechanism includes a piston (9) and a piston cylinder (2) connected to the lever (1), wherein the piston (9) separates two pressure chambers (17, 18) in the piston cylinder (2), wherein the pressure chambers (17, 18) are designed to be hydraulically connected to each other and hydraulically separated from each other.

5. The vehicle cornering module (20) according to claim 4, characterized in that, The pressure chambers (17, 18) can be connected via a hydraulic line (3) with a switchable valve (4), wherein the valve (4) hydraulically connects or disconnects the pressure chambers (17, 18) depending on the valve position.

6. The vehicle cornering module (20) according to claim 4 or 5, characterized in that, When the pressure chambers (17, 18) are hydraulically separated, the steering stabilizing device (10) is in a stabilizing mode, wherein when the pressure chambers (17, 18) are hydraulically connected, the steering stabilizing device (10) is in a steering mode.

7. The vehicle cornering module (20) according to any one of the preceding claims, characterized in that, The wheel end (15) of the steering stabilizing device (10) is fixed to the wheel section in a rotatable manner, wherein the wheel end (15) is fixed to the wheel section in a manner spaced apart from the steering axis (L).

8. The vehicle cornering module (20) according to claim 7, characterized in that, The wheel section includes a steering knuckle (12), and the wheel end (15) of the steering stabilizing device (10) is rotatably fixed to the steering knuckle.

9. The vehicle cornering module (20) according to claim 8, characterized in that, The steering knuckle (6) includes a steering base at its upper end, on which the steering mechanism is mounted, wherein the steering mechanism is configured to transmit steering torque about the steering axis (L) to the wheel section.

10. The vehicle cornering module (20) according to any one of the preceding claims, characterized in that, The steering stabilization device (10) is connected to the vehicle section by means of a ball joint, and / or the steering stabilization device (10) is connected to the wheel section by means of a ball joint.

11. The vehicle cornering module (20) according to any one of claims 2 to 10, characterized in that, The steering stabilization device (10) includes pressure regulating devices (6, 7) configured to adjust hydraulic pressure in the steering stabilization device (10).

12. The vehicle cornering module (20) according to any one of claims 2 to 11, characterized in that, The steering stabilization device (10) includes a pressure sensor (5) configured to determine the hydraulic pressure in the steering stabilization device (10).

13. The vehicle cornering module (20) according to any one of the preceding claims, characterized in that, The vehicle turning module (20) includes a wheel-integrated motor configured as a direct drive device without a transmission, the motor preferably being configured as a dual-rotor radial flux motor.

14. A vehicle comprising at least one, preferably two or four vehicle steering modules (20) according to any one of the preceding claims, the vehicle steering modules being used for individual wheel steering of vehicle wheels (11) connected to the vehicle steering modules (20).

15. The vehicle according to claim 14, characterized in that, The vehicle includes a vehicle control unit configured to activate a stability mode in at least one vehicle steering module (20) and deactivate the associated steering motor when the vehicle control unit determines that steering intervention is not required for at least the shortest time period.

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