Hand simulation device of steer-by-wire system, steer-by-wire system and vehicle

Abstract

The utility model discloses a hand simulation device of a steer-by-wire system, the steer-by-wire system and a vehicle, and relates to the field of auto spare parts, the hand simulation device comprises a hand feedback motor, a first transmission shaft, a gear reduction mechanism, a second transmission shaft, a torsion bar, a detection member, a steering shaft and a controller, the first transmission shaft is fixedly connected with a motor shaft of the hand feedback motor, the gear reduction mechanism sleeves the first transmission shaft and is in transmission connection between the first transmission shaft and the second transmission shaft, the steering shaft sleeves the torsion bar and is connected with the torsion bar, and the second transmission shaft and the steering shaft are assembled in a matched mode. And the controller is in communication connection with the detection piece and the hand feedback motor. According to the hand force simulation device, the hand force feedback motor is controlled to output the simulation torque to the steering wheel, the hand force simulation device adopts the gear reduction mechanism, the manufacturing cost is low, the occupied space is small, and the transmission efficiency is high.

Description

Technical Field

[0001] The utility model relates to the field of automobile accessories, in particular to a hand force simulation device of a wire-controlled steering system, a wire-controlled steering system and a vehicle. Background Art

[0002] Among the related technologies, linear steering technology is one of the key technologies in the field of intelligent driving, and the hand force simulation device is an important part of wire-controlled steering. At present, most hand force simulation devices arrange adjustment mechanisms, limit mechanisms, collapse mechanisms, etc. on the column axis system. The column is long and occupies a large space. In addition, the reduction mechanism of most hand force simulation devices adopts a worm gear transmission method, which is large in size and has low transmission efficiency. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, one purpose of the utility model is to provide a hand force simulation device for a wire-controlled steering system, so as to control the hand force feedback motor to output a simulated torque to the steering wheel. The hand force simulation device adopts a gear reduction mechanism, has low manufacturing cost, small space occupation and high transmission efficiency.

[0004] The utility model also provides a wire-controlled steering system using the hand force simulation device.

[0005] The utility model also provides a vehicle using the wire-controlled steering system.

[0006] According to the first aspect of the embodiment of the utility model, the hand force simulation device of the wire-controlled steering system includes: a hand force feedback motor, a first transmission shaft, a gear reduction mechanism, a second transmission shaft, a torsion bar, a detection member, a steering shaft and a controller, the first transmission shaft is fixedly connected to the motor shaft of the hand force feedback motor, the gear reduction mechanism is sleeved on the first transmission shaft and is transmission-connected between the first transmission shaft and the second transmission shaft, the steering shaft is sleeved on the torsion bar and is connected to the torsion bar, the second transmission shaft and the steering shaft are assembled in cooperation, the detection member is used to detect the rotation angle and torque of the torsion bar, and the controller is communicatively connected to the detection member and the hand force feedback motor.

[0007] According to the hand force simulation device of the embodiment of the present application, a hand force feedback motor, a first transmission shaft, a gear reduction mechanism, a second transmission shaft, a torsion bar, a detection member, a steering shaft and a controller are provided. The steering shaft is sleeved on the torsion bar and connected to the torsion bar. After the steering shaft receives the force from the steering wheel of the vehicle, the steering shaft rotates to rotate the torsion bar and deform. The detection member detects that the torsion bar rotates and deforms. The detection member sends detection information to the controller. The controller drives the hand force feedback motor to work. The first transmission shaft is fixedly connected to the motor shaft of the hand force feedback motor. The gear reduction mechanism is sleeved on the first transmission shaft and is transmission-connected between the first transmission shaft and the second transmission shaft. The motor shaft rotates to drive the first transmission shaft and the second transmission shaft to rotate. The first transmission shaft, the second transmission shaft and the gear reduction mechanism are assembled in cooperation so that the rotation speed of the second transmission shaft is lower than the rotation speed of the first transmission shaft. The second transmission shaft and the steering shaft are assembled in cooperation to further realize the transmission of feedback force, thereby realizing that the hand force feedback motor outputs a simulated torque to the steering wheel. The hand force simulation device adopts a gear reduction mechanism, the gears are easy to process, the structure is compact, the manufacturing cost is low, the space occupied is small, and the transmission efficiency is high.

[0008] According to some embodiments of the present invention, a central axis of the gear reduction mechanism coincides with a central axis of the motor shaft.

[0009] According to some embodiments of the utility model, the hand force simulation device also includes: a shell, the shell defines an installation space, the hand force feedback motor, the first transmission shaft, the gear reduction mechanism and the second transmission shaft are all arranged in the installation space, the torsion bar, the detection member and at least part of the steering shaft are arranged in the installation space, the detection member is arranged in the installation space, and the controller is arranged in the installation space.

[0010] According to some embodiments of the utility model, the gear reduction mechanism includes: an internal gear, a first external gear and a second external gear, the first transmission shaft includes a first shaft section and a second shaft section that are connected, the central axis of the first transmission shaft, the central axis of the first shaft section and the central axis of the second shaft section are staggered with each other, the first external gear and the second external gear are respectively rotatably sleeved on the first shaft section and the second shaft section, the internal gear is sleeved on the outside of the first external gear and the second external gear and is fixed to the outer casing, the internal gear is suitable for meshing with the first external gear and the second external gear, and the second transmission shaft is fixed with a limit rod, and the limit rod is limitedly matched with the first external gear and the second external gear so that the first external gear and the second external gear drive the second transmission shaft to rotate.

[0011] According to some embodiments of the present invention, the number of teeth of the internal gear is greater than the number of teeth of the first external gear and the number of teeth of the second external gear.

[0012] According to some embodiments of the present invention, the first external gear is formed with a first assembly hole, the second external gear is formed with a second assembly hole, and the limiting rod is assembled in the first assembly hole and the second assembly hole.

[0013] According to some embodiments of the utility model, the hand force simulation device of the wire-controlled steering system also includes: a limit screw and a limit nut, the limit screw is fixed to the housing and is located in the installation space, the motor shaft is a hollow shaft, the limit screw is inserted into the interior of the motor shaft, the limit nut is sleeved on the limit screw and is located in the motor shaft, the limit nut and the motor shaft are limitedly matched and are movable along the axial direction of the motor shaft, and when the motor shaft rotates, the motor shaft drives the limit nut to rotate so that the limit nut moves along the motor shaft.

[0014] According to some embodiments of the utility model, the inner circumferential wall of the motor shaft is formed with a limiting groove extending along the axial direction of the motor shaft, and the outer circumferential wall of the limiting nut is formed with a limiting boss, and the limiting boss is assembled in the limiting groove.

[0015] According to the embodiment of the second aspect of the utility model, the wire-controlled steering system includes: the hand force simulation device of the wire-controlled steering system described in the above embodiment.

[0016] The vehicle according to the embodiment of the third aspect of the utility model includes: the steer-by-wire system described in the above embodiment.

[0017] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0019] Figure 1 is a front cross-sectional view of a hand force simulation device according to an embodiment of the present application;

[0020] Figure 2 is an exploded diagram of a hand force simulation device according to an embodiment of the present application;

[0021] Figure 3 is an exploded view of the gear reduction mechanism, the second transmission shaft, and the steering shaft according to an embodiment of the present application;

[0022] Figure 4 is an angled schematic diagram of a motor installed inside a housing according to an embodiment of the present application;

[0023] Figure 5 This is another angle schematic diagram of the motor assembled inside the housing according to an embodiment of the present application.

[0024] Reference numerals:

[0025] Hand force simulation device 1,

[0026] Shell 11, end cover 111, groove 1111, cover plate 112, first shell 113, second shell 114,

[0027] Installation space 12, first installation space 121, second installation space 122, first subspace 1221, second subspace 1222, isolation cover 123,

[0028] Hand force feedback motor 21, magnet holder 211, motor magnet 212, motor shaft 213, limiting slot 2131,

[0029] The first transmission shaft 31, the first shaft section 311, the second shaft section 312,

[0030] Gear reduction mechanism 32, internal gear 321, first external gear 322, first assembly hole 3221, second external gear 323, second assembly hole 3231,

[0031] The second transmission shaft 33, the limiting rod 331,

[0032] Steering shaft 34, first steering shaft 341, input shaft 342,

[0033] Torsion bar 35,

[0034] Detection element 41, sensor 411, connector 412,

[0035] Controller 51, first control board 511, second control board 512, power pin 513, signal pin 514,

[0036] Column 61,

[0037] Coupling 71,

[0038] Limiting screw 81, first limiting mechanism 811,

[0039] Limiting nut 91, limiting boss 911. DETAILED DESCRIPTION

[0040] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0041] Reference below Figure 1-Figure 5 A hand force simulation device 1 for a steer-by-wire system according to an embodiment of the utility model is described. The hand force simulation device 1 is used in the steer-by-wire system, and the steer-by-wire system is installed on a vehicle.

[0042] According to the hand force simulation device 1 of the first aspect of the embodiment of the utility model, the hand force simulation device 1 may include: a hand force feedback motor 21, a first transmission shaft 31, a gear reduction mechanism 32, a second transmission shaft 33, a torsion bar 35, a detection member 41, a steering shaft 34 and a controller 51. The first transmission shaft 31 is fixedly connected to the motor shaft 213 of the hand force feedback motor 21, the gear reduction mechanism 32 is sleeved on the first transmission shaft 31 and is transmission-connected between the first transmission shaft 31 and the second transmission shaft 33, the steering shaft 34 is sleeved on the torsion bar 35 and is connected to the torsion bar 35, the second transmission shaft 33 and the steering shaft 34 are assembled in cooperation, the detection member 41 is used to detect the rotation angle and torque of the torsion bar 35, and the controller 51 is communicatively connected to the detection member 41 and the hand force feedback motor 21.

[0043] It should be noted that, at present, most manual force simulation devices arrange adjustment mechanisms, limit mechanisms, collapse mechanisms, etc. on the pipe column axis system. The pipe column is long and occupies a large space. In addition, the reduction mechanism of most manual force simulation devices adopts a worm gear transmission method, which is large in size and has low transmission efficiency.

[0044] Based on this, the present application embodiment proposes a hand force simulation device 1, such as Figure 1 and Figure 2 As shown, the hand force simulation device 1 may include a hand force feedback motor 21, a first transmission shaft 31, a gear reduction mechanism 32, a second transmission shaft 33, a torsion bar 35, a detection member 41, a steering shaft 34 and a controller 51. The first transmission shaft 31 is fixedly connected to the motor shaft 213 of the hand force feedback motor 21. The first transmission shaft 31 may be fixedly connected to the motor shaft 213 by means of a snap connection, a coupling connection, etc. The motor shaft 213 may drive the first transmission shaft 31 to rotate. The gear reduction mechanism 32 is sleeved on the first transmission shaft 31. The gear reduction mechanism 32 is transmission-connected between the first transmission shaft 31 and the second transmission shaft 33, so that the first transmission shaft 31 may drive the second transmission shaft 33 to rotate. Figure 1 As shown, the gear reduction mechanism 32 and the motor shaft 213 can be coaxially arranged, which saves space and has high transmission efficiency. The steering shaft 34 may include a first steering shaft 341 and an input shaft 342. The first steering shaft 341 is sleeved on the input shaft 342. The input shaft 342 is sleeved on the torsion bar 35 and connected to the torsion bar 35. The torsion bar 35 may be connected to the input shaft 342 by bolts, clamping, press-fit pins, etc. When the first steering shaft 341 rotates, the first steering shaft 341 drives the input shaft 342 to rotate, and the torsion bar 35 may rotate with the input shaft 342 and the torsion bar 35 is deformed.

[0045] The detection member 41 may include a sensor 411 and a connector 412. The sensor 411 may be arranged at the connection between the second transmission shaft 33 and the input shaft 342. The connector 412 is arranged on the sensor 411. The detection member 41 is used to detect the rotation angle and torque of the torsion bar 35. The connector 412 is connected between the sensor 411 and the controller 51. The controller 51 may include a first control board 511, a second control board 512, a power pin 513 and a signal pin 514. The two control boards are connected through the power pin 513 and the signal pin 514. The first control board 511 is connected to the hand force feedback motor 21, and the second control board 512 is connected to the connector 412, so as to realize the communication connection between the controller 51 and the detection member 41 and the hand force feedback motor 21. The controller 51 is communicatively connected with the detection member 41 and the hand force feedback motor 21 , and the second control board 512 receives the detection information of the detection member 41 , and the second control board 512 transmits the detection information to the first control board 511 through the signal pin 514 , and the first control board 511 drives the hand force feedback motor 21 to work through the motor magnet 212 .

[0046] In the embodiments of the present application, Figure 1 , Figure 2 As shown, the steering shaft 34 receives the force from the vehicle steering wheel, the first steering shaft 341 rotates and drives the input shaft 342 to rotate, the input shaft 342 rotates to rotate the torsion bar 35 and the torsion bar 35 is deformed, the detection member 41 is used to detect the rotation angle and torque of the torsion bar 35, the controller 51 receives the detection information of the detection member 41, the controller 51 drives the hand force feedback motor 21 to work, the first transmission shaft 31 is fixedly connected to the motor shaft 213 of the hand force feedback motor 21, the gear reduction mechanism 32 is sleeved on the first transmission shaft 31 and is transmission-connected between the first transmission shaft 31 and the second transmission shaft 33, The motor shaft 213 rotates to drive the first transmission shaft 31 and the second transmission shaft 33 to rotate. The first transmission shaft 31, the second transmission shaft 33 and the gear reduction mechanism 32 are assembled together so that the rotation speed of the second transmission shaft 33 is lower than the rotation speed of the first transmission shaft 31. The second transmission shaft 33 and the steering shaft 34 are assembled together. The second transmission shaft 33 drives the steering shaft 34 to rotate to realize the transmission of feedback force, thereby realizing the hand force feedback motor 21 outputting simulated torque to the steering wheel. The hand force feedback motor 21 adopts the gear reduction mechanism 32, the gears are easy to process, the structure is compact, the production cost is low, the space occupied is small, and the transmission efficiency is high.

[0047] In some embodiments of the present invention, Figure 1 As shown, the central axis of the gear reduction mechanism 32 coincides with the central axis of the motor shaft 213 .

[0048] The first transmission shaft 31 is fixedly connected to the motor shaft 213 of the hand force feedback motor 21, and the gear reduction mechanism 32 is sleeved on the first transmission shaft 31. The central axis of the gear reduction mechanism 32 coincides with the central axis of the motor shaft 213. The gear reduction mechanism 32 and the motor shaft 213 are coaxially arranged, making the structure more compact, reducing space occupancy, saving space, reducing energy loss, and improving transmission efficiency.

[0049] In some embodiments of the utility model, the hand force simulation device 1 may further include: a shell 11, the shell 11 defines an installation space 12, the hand force feedback motor 21, the first transmission shaft 31, the gear reduction mechanism 32 and the second transmission shaft 33 are all arranged in the installation space 12, the torsion bar 35, the detection member 41 and at least part of the steering shaft 34 are arranged in the installation space 12, the detection member 41 is arranged in the installation space 12, and the controller 51 is arranged in the installation space 12.

[0050] The hand force simulation device 1 may further include a housing 11, the housing 11 defines an installation space 12, the housing 11 may include an end cover 111, a cover plate 112, a first shell 113 and a second shell 114, the end cover 111 may be fixedly connected to the first shell 113 by bolt connection, clamping, etc., the cover plate 112 may be fixedly connected to the first shell 113 by bolt connection, clamping, etc., the second shell 114 may also be fixedly connected to the first shell 113 by bolt connection, clamping, etc., at least part of the first shell 113 is configured as a housing of the hand force feedback motor 21, the second shell 114 is formed with a column 61, the end cover 111, the cover plate 112, the first shell 113 and the second shell 114 are together An installation space 12 is defined, and the installation space 12 may include a first installation space 121 and a second installation space 122. The hand force feedback motor 21 is arranged in the installation space 12. Further, the hand force feedback motor 21 is arranged in the second installation space 122. An isolation cover 123 may be provided in the second installation space 122. The isolation cover 123 separates the second installation space 122 into a first subspace 1221 and a second subspace 1222. At least part of the first shell 113 and the isolation cover 123 define the first subspace 1221. The hand force feedback motor 21 is arranged in the first subspace 1221. A magnet holder 211 may be provided on the hand force feedback motor 21, and the motor magnet 212 is sleeved on the outside of the magnet holder 211.

[0051] The first transmission shaft 31, the gear reduction mechanism 32 and the second transmission shaft 33 are all arranged in the installation space 12. Further, the first transmission shaft 31, the gear reduction mechanism 32 and the second transmission shaft 33 are all arranged in the second subspace 1222, and the gear reduction mechanism 32 is transmission-connected between the first transmission shaft 31 and the second transmission shaft 33. At least part of the torsion bar 35, the detection member 41 and the steering shaft 34 are arranged in the installation space 12. The torsion bar 35, the detection member 41 and the steering shaft 34 can be partially arranged in the installation space 12, or the torsion bar 35, the detection member 41 and the steering shaft 34 can be arranged in the installation space 12. Figure 1 As shown, the embodiment of the present application is described by taking the torsion bar 35 and the detection member 41 as being all arranged in the installation space 12, and the steering shaft 34 as being partially arranged in the installation space 12. The steering shaft 34 may include a first steering shaft 341 and an input shaft 342, wherein the first steering shaft 341 is partially arranged in the installation space 12, and the input shaft 342 is arranged in the installation space 12, and the input shaft 342 is sleeved on the torsion bar 35 and connected to the torsion bar 35, and the torsion bar 35 can rotate with the input shaft 342 and the torsion bar 35 is deformed. The controller 51 is arranged in the installation space 12, and the controller 51 realizes communication connection with the detection member 41 and the hand force feedback motor 21 in the installation space 12.

[0052] In some embodiments of the present invention, Figure 1 , Figure 3 and Figure 5 As shown, the gear reduction mechanism 32 may include: an internal gear 321, a first external gear 322 and a second external gear 323, the first transmission shaft 31 includes a first shaft section 311 and a second shaft section 312 connected to each other, the first transmission shaft 31 also includes a shaft body, the first shaft section 311 can be sleeved on the shaft body, the first shaft section 311 is connected to the shaft body, the second shaft section 312 can be sleeved on the shaft body, the second shaft section 312 is connected to the shaft body, the central axis of the shaft body is constructed as the central axis of the first transmission shaft 31, the central axis of the shaft body, the central axis of the first shaft section 311 and the central axis of the second shaft section 312 The central axes of the first and second external gears 322 and 323 are staggered with each other, the first external gear 322 and the second external gear 323 are rotatably sleeved on the first shaft section 311 and the second shaft section 312 respectively, the internal gear 321 is sleeved on the outside of the first and second external gears 322 and 323 and fixed to the housing 11, the internal gear 321 is suitable for meshing with the first and second external gears 322 and 323, and the second transmission shaft 33 is fixedly provided with a limiting rod 331, and the limiting rod 331 and the first and second external gears 322 and 323 are both limitedly matched, so that the first and second external gears 322 and 323 drive the second transmission shaft 33 to rotate.

[0053] The gear reduction mechanism 32 is arranged in the second subspace 1222. The gear reduction mechanism 32 may include an internal gear 321, a first external gear 322 and a second external gear 323. The first transmission shaft 31 includes a first shaft section 311 and a second shaft section 312 connected to each other. The first transmission shaft 31 also includes a shaft body. The first shaft section 311 can be sleeved on the shaft body. The first shaft section 311 is connected to the shaft body. The second shaft section 312 can be sleeved on the shaft body. The second shaft section 312 is connected to the shaft body. The shaft body, the first shaft section 311 and the second shaft section 312 can be integrally formed. The shaft body, the first shaft section 311 and the second shaft section 312 can also be connected by welding. The central axis of the shaft body can be formed. The center axis of the first transmission shaft 31 is staggered with the center axis of the first shaft section 311, and the center axis of the first transmission shaft 31 is staggered with the center axis of the second shaft section 312. The first shaft section 311 rotates around the center axis of the first shaft section 311 and also rotates around the center axis of the first transmission shaft 31. The second shaft section 312 rotates around the center axis of the second shaft section 312 and also rotates around the center axis of the first transmission shaft 31. The center axis of the first shaft section 311 and the center axis of the second shaft section 312 are staggered. The first transmission shaft 31 is constructed as an eccentric shaft, which has the characteristics of simple structure, small size and high transmission efficiency.

[0054] The first shaft section 311 can be fixedly connected to the motor shaft 213 by means of bolts, couplings 71, etc. Figure 5 As shown, in the embodiment of the present application, the first shaft section 311 and the motor shaft 213 are fixedly connected by the coupling 71 as an example. The first external gear 322 is rotatably sleeved on the first shaft section 311, and the first external gear 322 can be installed on the first shaft section 311 through a bearing, so that the first shaft section 311 can drive the first external gear 322 to rotate around the central axis of the first shaft section 311, and the first shaft section 311 rotates around the central axis of the first transmission shaft 31, thereby driving the first external gear 322 to rotate around the central axis of the first transmission shaft 31, and the second external gear 323 is rotatably sleeved on the second shaft section 312, and the second external gear 323 can be installed on the second shaft section 312 through a bearing, so that the second shaft section 312 can drive the second external gear 323 to rotate around the central axis of the second shaft section 312, and the second shaft section 312 rotates around the central axis of the first transmission shaft, thereby driving the second external gear 323 to rotate around the central axis of the first transmission shaft 31.

[0055] The inner gear 321 is sleeved on the outer sides of the first outer gear 322 and the second outer gear 323. The inner gear 321 can be an annular structure. The inner gear 321 defines an assembly hole. A tooth structure is formed on the inner circumferential wall of the assembly hole. The tooth structure can mesh with the first outer gear 322, and the tooth structure can mesh with the second outer gear 323, so that the inner gear 321 is meshed with the first outer gear 322 and the second outer gear 323. The inner gear 321 is fixed to the outer shell 11. The inner gear 321 can be fixedly connected to the first shell 113 by means of clamping, welding, etc. The inner gear 321 will not rotate, and the inner gear 321 is stationary relative to the outer shell 11. The first outer gear 322 rotates around the central axis of the first shaft segment 311 inside the inner gear 321. The first outer gear 322 also rotates around the central axis of the first transmission shaft 31. The wheel 322 realizes meshing transmission with the internal gear 321, and the second external gear 323 rotates around the central axis of the second shaft segment 312 inside the internal gear 321. The second external gear 323 also rotates around the central axis of the first transmission shaft 31. The second external gear 323 realizes meshing transmission with the internal gear 321. A limiting rod 331 is fixedly provided on the second transmission shaft 33. The second transmission shaft 33 and the limiting rod 331 are rigidly connected. The limiting rod 331 and the first external gear 322 and the second external gear 323 are all limitedly matched to realize the connection between the gear reduction mechanism 32 and the second transmission shaft 33, so that the first external gear 322 and the second external gear 323 drive the second transmission shaft 33 to rotate. The second transmission shaft 33 rotates around the central axis of the second transmission shaft 33, and the central axis of the second transmission shaft 33 coincides with the central axis of the first transmission shaft 31.

[0056] Therefore, the gear reduction mechanism 32 adopts the meshing transmission of the internal gear 321 and the first external gear 322 and the second external gear 323, which can reduce the rotation speed, increase the torque, and further transmit the torque to the steering wheel through the steering shaft 34, thereby achieving an ideal transmission effect and meeting work needs. The first transmission shaft 31 adopts an eccentric shaft structure, and the gear reduction mechanism 32 adopts a gear set structure, which has a simple structure, is easy to process, has a small size, saves space, and has high transmission efficiency.

[0057] In some embodiments of the present invention, the number of teeth of the inner gear 321 is greater than the number of teeth of the first outer gear 322 and the number of teeth of the second outer gear 323 .

[0058] In the embodiment of the present application, the gear reduction mechanism 32 selects a planetary gear transmission with a small tooth difference. The first external gear 322 and the second external gear 323 have the same number of teeth, and the number of teeth of the internal gear 321 is greater than the number of teeth of the first external gear 322 and the number of teeth of the second external gear 323. The planetary gear transmission with a small tooth difference has the characteristics of compact structure and small size, saving space, and the transmission efficiency of the planetary gear transmission with a small tooth difference is high.

[0059] In some embodiments of the present invention, Figure 3 As shown, the first external gear 322 is formed with a first assembly hole 3221 , the second external gear 323 is formed with a second assembly hole 3231 , and the limiting rod 331 is assembled in the first assembly hole 3221 and the second assembly hole 3231 .

[0060] A first assembly hole 3221 is formed at the spoke of the first external gear 322, and there may be multiple first assembly holes 3221. A second assembly hole 3231 is formed at the spoke of the second external gear 323, and there may be multiple second assembly holes 3231. The limiting rod 331 is assembled in the first assembly hole 3221 and the second assembly hole 3231. The first assembly hole 3221, the second assembly hole 3231 and the limiting rod 331 are the same in number to achieve a one-to-one corresponding assembly of the limiting rod 331 with the first assembly hole 3221 and the second assembly hole 3231. The central axes of the first shaft section 311 and the second shaft section 312 are staggered, and the first external gear 322 and the second external gear 323 are rotatably sleeved on the first shaft section 311 and the second shaft section 312 respectively. The first assembly hole 3221 and the second assembly hole 3231 are partially staggered along the radial direction of the first transmission shaft 31. Along the axial direction of the first transmission shaft 31, the orthographic projection of the first assembly hole 3221 and the orthographic projection of the second assembly hole 3231 have an overlapping area in the axial direction of the first transmission shaft 31, and the overlapping area is the installation area of ​​the limiting rod 331. The limiting rod 331 is simultaneously assembled in the first assembly hole 3221 and the second assembly hole 3231. The limiting rod 331 can slide tangentially with the inner walls of the first assembly hole 3221 and the second assembly hole 3231 to realize the connection between the gear reduction mechanism 32 and the second transmission shaft 33, so that the first external gear 322 and the second external gear 323 drive the second transmission shaft 33 to rotate.

[0061] In some embodiments of the present invention, Figure 1 and Figure 4 As shown, the hand force simulation device 1 may further include: a limit screw 81 and a limit nut 91, the limit screw 81 is fixed to the housing 11 and is located in the installation space 12, the motor shaft 213 is a hollow shaft, the limit screw 81 is inserted into the motor shaft 213, the limit nut 91 is sleeved on the limit screw 81 and is located in the motor shaft 213, the limit nut 91 and the motor shaft 213 are limitedly matched and are movable along the axial direction of the motor shaft 213, when the motor shaft 213 rotates, the motor shaft 213 drives the limit nut 91 to rotate so that the limit nut 91 moves along the motor shaft 213.

[0062] The hand force simulation device 1 may further include a limit screw 81 and a limit nut 91. The limit screw 81 is fixed to the housing 11. Further, the limit screw 81 is fixed to the end cover 111. The limit screw 81 may be fixedly connected to the end cover 111 by bolts, snap connections, etc. In the embodiment of the present application, the limit screw 81 is fixedly connected to the end cover 111 by snap connections as an example. Figure 1 As shown, the outer peripheral wall of the limiting screw 81 can be provided with a spline or a first limiting mechanism 811 similar to a spline, the inner side of the end cover 111 is provided with a groove 1111, and the inner peripheral wall of the groove 1111 can be provided with a second limiting mechanism that cooperates with the first limiting mechanism 811. One end of the limiting screw 81 is assembled in the groove 1111, and the first limiting mechanism 811 and the second limiting mechanism cooperate to limit the limiting screw 81 in the circumferential direction of the limiting screw 81 to prevent the limiting screw 81 from rotating. The first limiting mechanism 811 can be one of the boss and the groove body, and the second limiting mechanism can be the other of the boss and the groove body. The limiting screw 81 is arranged in the first installation space 121, the motor shaft 213 is a hollow shaft, the limiting screw 81 is inserted into the motor shaft 213, the motor shaft 213 is spaced apart from the limiting screw 81, and the limiting nut 91 is sleeved on the limiting screw 81. The nut 91 is also located inside the motor shaft 213, and the limit nut 91 is located between the limit screw 81 and the motor shaft 213. The limit nut 91 and the limit screw 81 are threadedly connected, and the limit screw 81 is stationary relative to the housing 11. The limit nut 91 can rotate around the limit screw 81 along the thread of the limit screw 81. The limit nut 91 and the motor shaft 213 are limited and matched, and the limit nut 91 is movable along the axial direction of the motor shaft 213. When the motor shaft 213 rotates, the motor shaft 213 drives the limit nut 91 to rotate so that the limit nut 91 moves along the motor shaft 213, thereby realizing the movement of the limit nut 91 within the length of the motor shaft 213 to limit the number of rotations of the motor shaft 213, and further limit the number of rotations of the steering wheel. In addition, the motor shaft 213 adopts a hollow shaft, and the limit screw 81 and the limit nut 91 are arranged in the hollow shaft to reduce space occupancy and save space.

[0063] It should be noted that, currently, most hand force simulation devices arrange adjustment mechanisms, limit mechanisms, collapse mechanisms, etc. on the pipe column axis system, and the pipe column is long and occupies a large space. In the embodiment of the present application, the hand force simulation device 1 independently designs the adjustment mechanism and collapse mechanism outside the hand force simulation device 1, and integrates the gear reduction mechanism 32, the limit mechanism and the pipe column 61 on the hand force simulation device 1, saving space.

[0064] In some embodiments of the present invention, Figure 1 , Figure 2 and Figure 4As shown, the inner circumferential wall of the motor shaft 213 is formed with a limiting groove 2131 extending along the axial direction of the motor shaft 213, and the outer circumferential wall of the limiting nut 91 is formed with a limiting boss 911, and the limiting boss 911 is assembled in the limiting groove 2131. The limiting nut 91 can be assembled in the limiting groove 2131 through the limiting boss 911 to realize the movement of the limiting nut 91 along the axial direction of the motor shaft 213, and the limiting cooperation between the limiting boss 911 and the limiting groove 2131 realizes the movably connection between the limiting nut 91 and the motor shaft 213.

[0065] In some embodiments of the present invention, Figure 1 , Figure 2 and Figure 4 As shown, there are multiple limit grooves 2131, and the multiple limit grooves 2131 are arranged in sequence along the circumference of the motor shaft 213. There are multiple limit bosses 911, and at least one limit boss 911 is installed in each limit groove 2131. The limit bosses 911 are arranged in sequence along the circumference of the limit nut 91. The limit bosses 911 can be assembled one-to-one with the limit grooves 2131, and multiple limit bosses 911 can also be assembled in each limit groove 2131 to achieve the limiting cooperation between the limit nut 91 and the motor shaft 213, so as to achieve the effect of the motor shaft 213 rotating to drive the limit nut 91 to move along the axial direction of the motor shaft 213.

[0066] The steer-by-wire system according to the second embodiment of the utility model comprises: the hand force simulation device 1 of the steer-by-wire system in the above embodiment.

[0067] According to the wire-controlled steering system of the embodiment of the present application, using the hand force simulation device 1 in the above embodiment, the hand force simulation device 1 can control the hand force simulation motor to output a simulated torque to the steering wheel, with high transmission efficiency and small space occupation.

[0068] A vehicle according to an embodiment of the third aspect of the utility model includes: the steer-by-wire system in the above embodiment.

[0069] According to the vehicle of the embodiment of the present application, the intelligent driving of the vehicle can be achieved by using the wire-controlled steering system in the above embodiment.

[0070] The hand force simulation device 1, the wire-controlled steering system and other structures and operations of the vehicle according to the embodiment of the utility model are well known to those skilled in the art and will not be described in detail here.

[0071] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0072] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A hand force simulation device (1) for a steer-by-wire system, characterized in that: include: Hand force feedback motor (21); A first transmission shaft (31), a gear reduction mechanism (32) and a second transmission shaft (33), wherein the first transmission shaft (31) is fixedly connected to the motor shaft (213) of the hand force feedback motor (21), and the gear reduction mechanism (32) is sleeved on the first transmission shaft (31) and is transmission-connected between the first transmission shaft (31) and the second transmission shaft (33); A torsion bar (35), a detection member (41) and a steering shaft (34), wherein the steering shaft (34) is sleeved on the torsion bar (35) and connected to the torsion bar (35), the second transmission shaft (33) and the steering shaft (34) are assembled in cooperation, and the detection member (41) is used to detect the rotation angle and torque of the torsion bar (35); A controller (51), wherein the controller (51) is communicatively connected with the detection element (41) and the hand force feedback motor (21).

2. The hand force simulation device (1) of the steer-by-wire system according to claim 1, characterized in that: The central axis of the gear reduction mechanism (32) coincides with the central axis of the motor shaft (213).

3. The hand force simulation device (1) for a steer-by-wire system according to claim 1, characterized in that: Also includes: A housing (11), wherein the housing (11) defines an installation space (12), the hand force feedback motor (21), the first transmission shaft (31), the gear reduction mechanism (32) and the second transmission shaft (33) are all arranged in the installation space (12), the torsion bar (35), the detection member (41) and at least part of the steering shaft (34) are arranged in the installation space (12), the detection member (41) is arranged in the installation space (12), and the controller (51) is arranged in the installation space (12).

4. The hand force simulation device (1) for a steer-by-wire system according to claim 3, characterized in that: The gear reduction mechanism (32) comprises: an internal gear (321), a first external gear (322) and a second external gear (323); the first transmission shaft (31) comprises a first shaft section (311) and a second shaft section (312) which are connected; the central axis of the first transmission shaft (31), the central axis of the first shaft section (311) and the central axis of the second shaft section (312) are staggered with each other; the first external gear (322) and the second external gear (323) are rotatably sleeved on the first shaft section (311) and the second shaft section (312) respectively; the internal gear (321) comprises a first external gear (322) and a second external gear (323) which are rotatably sleeved on the first shaft section (311) and the second shaft section (312) respectively; The gear (321) is sleeved on the outside of the first external gear (322) and the second external gear (323) and is fixed to the housing (11); the internal gear (321) is suitable for meshing with the first external gear (322) and the second external gear (323); the second transmission shaft (33) is fixedly provided with a limiting rod (331); the limiting rod (331) is limitedly matched with the first external gear (322) and the second external gear (323), so that the first external gear (322) and the second external gear (323) drive the second transmission shaft (33) to rotate.

5. The hand force simulation device (1) for a steer-by-wire system according to claim 4, characterized in that: The number of teeth of the internal gear (321) is greater than the number of teeth of the first external gear (322) and the number of teeth of the second external gear (323).

6. The hand force simulation device (1) for a steer-by-wire system according to claim 4, characterized in that: The first external gear (322) is formed with a first assembly hole (3221), the second external gear (323) is formed with a second assembly hole (3231), and the limiting rod (331) is assembled in the first assembly hole (3221) and the second assembly hole (3231).

7. The hand force simulation device (1) for a steer-by-wire system according to any one of claims 3 to 6, characterized in that: Also includes: A limiting screw (81) and a limiting nut (91), wherein the limiting screw (81) is fixedly arranged on the housing (11) and is located in the installation space (12); the motor shaft (213) is a hollow shaft; the limiting screw (81) is inserted into the motor shaft (213); the limiting nut (91) is sleeved on the limiting screw (81) and is located in the motor shaft (213); the limiting nut (91) and the motor shaft (213) are limitedly matched and are movable along the axial direction of the motor shaft (213); when the motor shaft (213) rotates, the motor shaft (213) drives the limiting nut (91) to rotate so that the limiting nut (91) moves along the motor shaft (213).

8. The hand force simulation device (1) for a steer-by-wire system according to claim 7, characterized in that: The inner peripheral wall of the motor shaft (213) is formed with a limiting groove (2131) extending along the axial direction of the motor shaft (213), and the outer peripheral wall of the limiting nut (91) is formed with a limiting boss (911), and the limiting boss (911) is assembled in the limiting groove (2131).

9. A steer-by-wire system, characterized in that: The invention comprises a hand force simulation device (1) for a steer-by-wire system according to any one of claims 1 to 8.

10. A vehicle, characterized in that: Comprising a steer-by-wire system according to claim 9.

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