Torque road feel feedback device of steer-by-wire system
By designing the torque path feedback device of the steering column and torque feedback unit in the online control steering system, the problem of lack of torque path feedback in the line control steering system is solved, and simulated driving feel is achieved and driving experience is improved.
Patent Information
- Application Number
- CN202421032010.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-13
- Publication Date
- 2025-02-18
- Estimated Expiration
- 2034-05-13
AI Technical Summary
The lack of torque-track feedback in the line-controlled steering system leads to empty and empty driving experience, affecting the driving experience.
A torque-path feedback device of a line-controlled steering system including a steering column and a torque feedback unit is designed to simulate the driving feel through the torque feedback unit.
It realizes the simulated driving feel in the online steering system, improving the driving experience.
Smart Images
Figure CN222496432U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of wire-controlled steering, in particular to a torque road sense feedback device for a wire-controlled steering system. Background Art
[0002] With the development of intelligent and autonomous driving functions in automobiles, steer-by-wire systems are increasingly widely used in the field of automobile steering. The traditional steering system includes a steering column, a steering intermediate shaft and a steering gear. During the driving process of the vehicle, feedback from the road surface and tires is transmitted to the steering wheel through the steering gear, intermediate shaft and steering column, allowing the driver to understand the driving status of the vehicle.
[0003] The steer-by-wire system eliminates the steering intermediate shaft structure, and there is no mechanical connection between the steering column and the steering actuator, so that the feedback from the road surface, tires and steering gear during vehicle driving cannot be transmitted to the steering wheel, resulting in a hollow and weak driving feel, which affects the driving experience. Therefore, a torque road feel feedback device that can simulate the driving feel has broad market application prospects in the steer-by-wire system. Utility Model Content
[0004] In view of the deficiencies existing in the above problems, the utility model provides a torque road sense feedback device for a wire-controlled steering system.
[0005] To achieve the above object, the utility model provides a torque road sense feedback device for a wire-controlled steering system, comprising a steering column and a torque feedback unit, wherein the steering column comprises a spline shaft connected to a steering wheel and an upper bracket fixedly connected to a tube beam of a whole vehicle;
[0006] Wherein, the torque feedback unit comprises:
[0007] A housing, wherein a motor cavity, a worm gear cavity and a worm cavity are provided in the housing, a motor stator assembly is provided in the motor cavity, a worm gear is provided in the worm gear cavity, a worm gear is provided in the worm gear cavity, a motor rotor assembly and a motor position sensor magnetic seat assembly are provided on the worm gear;
[0008] A gear shaft, on which the worm gear is sleeved and one end of which is rigidly connected to a torsion bar;
[0009] An input shaft, one end of the input shaft is connected to one end of the torsion bar, and the other end is connected to the spline shaft, and an angle sensor is provided on the input shaft;
[0010] An upper end cover, one end of which is fixedly connected to the steering column, and the other end of which is fixedly connected to the housing;
[0011] The controller comprises a base, a circuit board assembly and a connector. The base is fixedly connected to the housing, the connector is connected to the angle sensor via a sensor harness, and the motor stator assembly is connected to the circuit board assembly.
[0012] Preferably, the upper end cover is provided with a threaded hole and a through hole, and the screw is fixedly connected to the steering column through the threaded hole.
[0013] Preferably, the motor housing and the torque feedback unit housing are of integrated design, and two brushless motors are used, and the two motor stator coils are respectively pressed into the motor cavity.
[0014] Preferably, the motor rotor shaft and the worm are designed as an integrated whole, and the rotor silicon steel sheets and magnetic steel are directly pressed into the motor rotor shaft.
[0015] Preferably, two worm cavities are provided in the housing of the torque feedback unit, and the worm cavities are symmetrically arranged on both sides of the worm wheel cavity.
[0016] Preferably, an end face boss and a first bearing inner hole are provided in the motor cavity, a wave spring is placed between the end face boss and the first bearing end face, and the first bearing inner hole cooperates with the first bearing outer ring to support the worm.
[0017] Preferably, a second bearing inner hole, a first retaining ring groove, a third bearing inner hole and a limiting boss are provided in the worm gear cavity, the second bearing inner hole and the second bearing outer ring are cooperatively connected, the first retaining ring and the first retaining ring groove are cooperatively connected, the gear shaft and the second bearing inner ring are cooperatively connected, a second retaining ring groove is provided on the gear shaft, the second retaining ring is cooperatively connected with the second retaining ring groove, and the first retaining ring and the second retaining ring limit the axial position of the gear shaft.
[0018] Preferably, the torque feedback unit also includes an angle limit unit, the outer diameter of the bearing of the angle limit unit is cooperated and connected with the inner hole of the third bearing, the internal gear of the angle limit unit is cooperated and connected with the external gear of the gear shaft, and when the angle limit unit rotates, the limiting boss of the angle limit unit and the limiting boss of the worm gear chamber are in contact and limited.
[0019] Preferably, two worm cavities are provided in the housing, and the worm cavities are symmetrically arranged on both sides of the worm wheel cavity.
[0020] Compared with the prior art, the beneficial effects of the utility model are:
[0021] The utility model is provided with a torque feedback unit and a steering column so as to simulate the driving feeling. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] Figure 1This is a structural diagram of the torque road sense feedback device of the wire-controlled steering system of the utility model;
[0023] Figure 2 This is a structural diagram of the upper end cover of the torque road sense feedback device of the wire-controlled steering system of the utility model;
[0024] Figure 3 This is a structural diagram of the housing in the torque road sense feedback device of the wire-controlled steering system of the utility model;
[0025] Figure 4 It is a structural diagram of the worm in the torque road sense feedback device of the wire control steering system of the utility model;
[0026] Figure 5 This is a diagram of the connection structure of the worm and the housing in the torque road sense feedback device of the wire-controlled steering system of the utility model;
[0027] Figure 6 This is a diagram of the matching connection structure of the gear shaft and the input shaft in the torque road sense feedback device of the wire control steering system of the utility model;
[0028] Figure 7 This is an internal cross-sectional view of the torque road sense feedback device of the wire-controlled steering system of the utility model;
[0029] Figure 8 This is a structural diagram of a controller in a torque road sense feedback device of a wire-controlled steering system of the utility model;
[0030] Fig. 9 This is a diagram of the connection between the worm and the worm wheel in the torque road sense feedback device of the wire-controlled steering system of the utility model;
[0031] Fig.10 This is a diagram of the connection between the corner limit unit and the housing in the torque road sense feedback device of the wire-controlled steering system of the utility model;
[0032] Fig.11 This is a diagram of the matching connection between the rear end cover and the housing in the torque road sense feedback device of the wire-controlled steering system of the utility model. DETAILED DESCRIPTION
[0033] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0034] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.
[0035] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0036] The following is combined with Figure 1-11 The utility model is further described in detail:
[0037] like Figure 1 As shown, the utility model provides a torque road sense feedback device for a wire-controlled steering system, comprising a steering column 1 and a torque feedback unit 2, wherein the steering column 1 comprises a spline shaft 1-1 connected to a steering wheel and an upper bracket 1-2 fixedly connected to a tube beam of a whole vehicle;
[0038] Specifically, the steering column 1 is provided with a spline shaft 1-1 and an upper bracket 1-2. The spline shaft 1-1 is provided with an external spline 1-1-1 and is fastened to the steering wheel. The upper bracket 1-2 is provided with a mounting hole 1-2-1. The screws connect the steering column 1 and the vehicle tube beam through the mounting hole 1-2-1 to fasten the steering gear to the vehicle.
[0039] The torque feedback unit includes:
[0040] An upper end cover, one end of the upper end cover 3 is fixedly connected to the steering column 1, and the other end is fixedly connected to the housing 4;
[0041] Reference Figure 2 The upper end cover 3 is provided with a threaded hole 3-1 and a through hole 3-2. The upper end cover 3 is fastened to the steering column 1 by screws 1-3.
[0042] Specifically, by adjusting the position of the threaded hole 3-1 of the upper end cover 3, the relative position of the torque feedback unit 2 and the steering column 1 can be realized. That is, when the space layout of the whole vehicle is different, the main structure of the torque feedback unit 2 remains unchanged, and only the position of the threaded hole 3-1 of the upper end cover 3 needs to be adjusted to realize the position adjustment of the torque feedback unit 2 to meet the requirements of different space layout of the whole vehicle.
[0043] The housing 4 is provided with a motor cavity 4-1, a worm gear cavity 4-2 and a worm cavity 4-3. The motor cavity 4-1 is provided with a motor stator assembly 12. The worm gear cavity 4-2 is provided with a worm 11. The worm cavity 4-3 is provided with a worm 13 drivingly connected to the worm gear 11. The worm 13 is provided with a motor rotor assembly 16 and a motor position sensor magnetic seat assembly 17.
[0044] Reference Figure 3 The housing 4 is provided with a threaded hole 4-5, and the screw 2-1 passes through the through hole 3-2 of the upper end cover 3 to fasten the housing 4 to the upper end cover 3. The housing 4 is provided with a motor cavity 4-1, a worm wheel cavity 4-2, and a worm cavity 4-3. The inner diameter of the motor cavity 4-1 is rigidly connected to the outer diameter of the motor stator assembly 12. The worm cavity 4-3 is provided with a bearing inner hole 4-3-1, an internal thread 4-3-2, and an inner hole 4-3-3. The bearing inner hole 4-3-1 is matched with the outer ring of the bearing 14, and the internal thread 4-3-2 is fastened to the nut 18.
[0045] Reference Figure 4 , the worm external thread 13-3 and the nut 19 are fastened. The nuts 18 and 19 limit the axial position of the worm 13 on the housing 4. The inner hole 4-3-3 of the worm cavity cooperates with the dust cover 20 to prevent foreign matter from entering the worm cavity 4-3. The motor cavity 4-1 is provided with an end face boss 4-1-1 and a bearing inner hole 4-1-2. The wave spring 21 is placed between the end face boss 4-1-1 and the end face of the bearing 15. The axial load of the wave spring 21 is used to eliminate the abnormal sound caused by the clearance of the bearing 14 during the impact of the worm gear meshing. The inner hole 4-1-2 of the bearing cooperates with the outer ring of the bearing 15 to support the worm 13.
[0046] Reference Figure 5 The worm gear cavity 4-3 is provided with an inner hole 4-3-1, a bearing inner hole 4-3-2, a retaining ring groove 4-3-3, a bearing inner hole 4-3-4 and a limiting boss 4-3-5. The inner hole 4-3-1 cooperates with the outer diameter of the support seat and the O-ring 11-1 to prevent the grease of the worm gear cavity from leaking out and prevent foreign matter from entering the meshing part of the worm gear.
[0047] Reference Figure 6 The inner hole 4-3-2 of the bearing of the worm gear cavity 4-3 cooperates with the outer ring of the bearing 22, and the retaining ring 23 cooperates with the retaining ring groove 4-3-3. The outer diameter 7-4 of the gear shaft cooperates with the inner ring of the bearing 22, and the retaining ring 24 cooperates with the retaining ring groove 7-6 of the gear shaft 7. The retaining rings 23 and 24 limit the axial position of the gear shaft 7.
[0048] Specifically, the bearing 10 and the worm gear 12 are pressed onto the outer diameter 7-3 of the gear shaft 7, and the support seat 11 is installed onto the outer ring of the bearing 10. The sensor target plate 8-2 is tightly connected to the outer diameter 7-2 of the gear shaft 7. One end of the torsion bar 6 is pressed into the inner hole 7-1 of the gear shaft 7 and rigidly connected. The bearing 9 is pressed into the inner hole 5-3 of the input shaft 5, the angle torque sensor 8-1 is tightly connected to the outer diameter 5-4 of the output shaft 5, and one end of the torsion bar 6 passes through the bearing 9 and is pressed into the inner hole 5-2 of the input shaft 5 and rigidly connected. The outer gear 7-5 of the gear shaft 7 partially passes through the inner ring of the bearing 22, the bearing position 7-4 of the gear shaft 7 cooperates with the inner ring of the bearing 22, and the retaining ring 24 is stuck in the groove 7-6 of the gear shaft 7 to limit the axial movement of the gear shaft 7;
[0049] Reference Figure 7-8 The controller 26 is provided with a controller base 26-1, a circuit board assembly 26-2, a connector 26-3, and a cover 26-4. The controller 26 is fastened by a threaded hole 26-1-1 of the controller base 26-1, a threaded through hole 4-4 of the housing 4, and a screw 27.
[0050] Specifically, the circuit board assembly 26-2 is provided with two complete and independent control drive circuits, which receive input power and signals respectively, and control a set of motor operations respectively. When one system fails, the other can still operate normally to provide torque road sense feedback. The two-way control system of the controller improves the safety redundancy of the system. The plug at one end of the sensor harness 28 is plugged in and connected to the angle torque sensor body 8-1, and the two-way connector connector 26-3 of the controller 26 on the other side is plugged in and connected to transmit the angle and torque signals of the angle torque sensor to the controller 26.
[0051] Reference Fig. 9 The two groups of worms 13 are distributed on both sides of the worm wheel 11 in the radial direction and mesh with the teeth of the worm wheel 11, that is, two worm cavities 4-3 are provided in the housing 4, and the worm cavities 4-3 are symmetrically arranged on both sides of the worm wheel cavity 4-2.
[0052] Reference Fig.10 The torque feedback unit 2 also includes a rotation angle limiting unit 25, a bearing outer diameter 25-1 and a housing bearing inner hole 4-3-4 match, and an internal gear 25-2 of the steering limiting unit 25 matches an external gear 7-5 of the gear shaft 7. When the rotation angle limiting unit 25 rotates around the axis, the two side surfaces of the limiting boss 25-3 and the two side surfaces of the housing limiting boss 4-3-5 will contact and limit, limiting the rotation angle range of the rotation angle limiting unit 25, and then limiting the rotation angle range of the steering wheel through the meshing of the internal gear 25-2 and the external gear 7-5.
[0053] Reference Fig.11The screws 29 fasten the rear end cover 30 to the housing 4 through the threaded holes 4-6.
[0054] The device assembly process includes:
[0055] The outer ring of the bearing 22 is pressed into the bearing hole 4-3-2 of the housing 4, the retaining ring 23 is installed in the slot 4-3-3, the outer ring of the bearing 14 is pressed into the bearing hole 4-3-1, and the motor stator assembly 12 is pressed into the motor cavity 4-1 of the housing 4.
[0056] The bearing 15 is pressed into the bearing position 13-2 of the worm 13, and the motor rotor assembly 16 is pressed into the outer spline 13-5 of the worm 13, so that the worm 13 and the rotor assembly 16 are rigidly connected. The motor position sensor magnetic seat assembly 17 is pressed into the outer diameter 13-6 of the worm 13, so that the motor position sensor magnetic seat assembly 17 and the worm 13 are rigidly connected.
[0057] The wave spring 21 is installed in the housing 4, and the end face of the wave spring 21 fits with the end face 4-1-1. The two sets of worms 13 and the motor rotor assembly 16 are installed from the motor cavity 4-1 side of the housing 4, and one end of the bearing position 13-1 of the worm 13 passes through the inner ring hole of the bearing 14, and the bearing position 13-1 fits with the inner ring of the bearing 14. The nut 19 and the external thread 13-3 of the worm 13 are tightly fitted, and the nut 18 and the internal thread 4-3-2 of the housing 4 are tightly fitted. At the same time, the bearing 15 fits with the bearing hole 4-1-2 of the housing. The lower end face of the bearing 15 fits with the end face of the wave spring 21 and compresses the wave spring 21.
[0058] The bearing 10 and the worm gear 12 are pressed onto the outer diameter 7-3 of the gear shaft 7, and the support seat is mounted onto the outer ring of the bearing 10. The sensor target plate 8-2 is tightly connected to the outer diameter 7-2 of the gear shaft 7. One end of the torsion bar 6 is pressed into the inner hole 7-1 of the gear shaft 7 and rigidly connected.
[0059] The bearing 9 is pressed into the inner hole 5-3 of the input shaft 5, the angle torque sensor body 8-1 is fastened to the outer diameter 5-4 of the output shaft 5, and one end of the torsion bar 6 passes through the bearing 9 and is pressed into the inner hole 5-2 of the input shaft 5 and is rigidly connected.
[0060] The outer gear 7-5 of the gear shaft 7 partially passes through the inner ring of the bearing 22, the bearing seat 7-4 of the gear shaft 7 cooperates with the inner ring of the bearing 22, and the retaining ring 24 is stuck in the groove 7-6 of the gear shaft 7 to limit the axial movement of the gear shaft 7.
[0061] The outer ring 25-1 of the bearing of the angle limiting unit 25 is pressed into the inner hole 4-3-4 of the bearing of the housing 4, and at the same time, the outer gear 7-5 of the gear shaft 7 is meshed with the inner gear 25-2 of the angle limiting unit 25. When the gear shaft 7 drives the inner gear 25-2 to rotate, the limiting boss 25-3 of the angle limiting unit 25 rotates synchronously. When the side of the limiting boss 25-3 and the side of the limiting boss 4-3-5 of the housing 4 are in contact, the limiting is achieved. When the two bosses rotate in the opposite direction by a certain angle, the other sides are in contact with each other and the rotation range of the gear shaft 7 is the steering gear angle limiting range.
[0062] The screws 29 fasten the rear end cover 30 to the housing 4 through the threaded holes 4 - 6 .
[0063] The screw 27 passes through the threaded hole 4-4 of the housing 4 and is fastened to the threaded hole 26-1-1 of the controller 26, thereby fastening the controller base 26-1 to the housing 4. The phase line 12-1 of the motor stator 12 passes through the controller 26 and is connected to the circuit board assembly 26-2. One end of the sensor harness 28 is connected to the torque angle sensor 8-1, and the other end is connected to the connector 26-3 of the controller 26.
[0064] The controller cover 26-4 is mounted on the controller base 26-1 by snaps or other means. The dust cover 20 is pressed into the inner hole 4-3-3 of the housing 4. The screw 2-1 passes through the threaded through hole 3-2 of the upper end cover 3 and is fastened to the threaded hole 4-5 of the housing 4.
[0065] The steering column 1 is mounted on the torque feedback device 2, the external spline 5-1 is matched with the internal spline of the spline shaft 1-1, and the screw 1-3 fastens the steering column 1 to the threaded hole 3-1 of the upper end cover 3, and the assembly is completed.
[0066] In this embodiment, the torque angle sensor, the worm gear and the double worm reduction structure, the double motor parallel drive structure, and the parallel dual-channel controller form a dual drive structure. When working normally, each provides 50% output torque. When one drive structure fails, the other can still provide 50% torque output, ensuring basic functional safety and improving the functional safety level. The torque feedback unit is provided with a worm gear and a double worm reduction structure and a double motor parallel drive structure. When working normally, a single motor provides 50% output torque to the system. Compared with a worm gear drive structure, the two sides of the worm gear of the patent are meshed with a worm respectively, and the torque transmitted by the meshing of the worm gear on each side is reduced by 50%, thereby reducing the load at the meshing point of the worm gear and the worm gear, and increasing the wear resistance, life and reliability of the worm gear and the worm gear. Similarly, with the dual motor parallel drive structure, a motor with smaller power can be selected for each motor, thereby reducing the size of the motor, making the overall size of the torque feedback unit smaller, which is conducive to the layout on the whole vehicle.
[0067] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may be subject to various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.
Claims
1. A torque road sense feedback device for a wire-controlled steering system, characterized in that: It includes a steering column and a torque feedback unit, wherein the steering column includes a spline shaft connected to the steering wheel and an upper bracket fixedly connected to the vehicle tube beam; Wherein, the torque feedback unit comprises: A housing, wherein a motor cavity, a worm gear cavity and a worm cavity are provided in the housing, a motor stator assembly is provided in the motor cavity, a worm gear is provided in the worm gear cavity, a worm gear is provided in the worm gear cavity, a motor rotor assembly and a motor position sensor magnetic seat assembly are provided on the worm gear; A gear shaft, on which the worm gear is sleeved and one end of which is rigidly connected to a torsion bar; An input shaft, one end of the input shaft is connected to one end of the torsion bar, and the other end is connected to the spline shaft, and an angle sensor is provided on the input shaft; An upper end cover, one end of which is fixedly connected to the steering column, and the other end of which is fixedly connected to the housing; The controller comprises a base, a circuit board assembly and a connector. The base is fixedly connected to the housing, the connector is connected to the angle sensor via a sensor harness, and the motor stator assembly is connected to the circuit board assembly.
2. The torque road sense feedback device of the steer-by-wire system according to claim 1, characterized in that: The upper end cover is provided with a threaded hole and a through hole, and the screw is fixedly connected with the steering column through the threaded hole.
3. The torque road sense feedback device of the steer-by-wire system as claimed in claim 2, characterized in that: An end face boss and a first bearing inner hole are provided in the motor cavity, a wave spring is placed between the end face boss and the first bearing end face, and the first bearing inner hole cooperates with the first bearing outer ring to support the worm.
4. The torque road sense feedback device of the steer-by-wire system as claimed in claim 3, characterized in that: The worm gear cavity is provided with a second bearing inner hole, a first retaining ring groove, a third bearing inner hole and a limiting boss, the second bearing inner hole and the second bearing outer ring are matched and connected, the first retaining ring and the first retaining ring groove are matched and connected, the gear shaft and the second bearing inner ring are matched and connected, the gear shaft is provided with a second retaining ring groove, the second retaining ring is matched and connected with the second retaining ring groove, and the first retaining ring and the second retaining ring limit the axial position of the gear shaft.
5. The torque road sense feedback device of the steer-by-wire system as claimed in claim 4, characterized in that: The torque feedback unit also includes an angle limiting unit, the outer diameter of the bearing of the angle limiting unit is matched and connected with the inner hole of the third bearing, the internal gear of the angle limiting unit is matched and connected with the external gear of the gear shaft, and when the angle limiting unit rotates, the limiting boss of the angle limiting unit and the limiting boss of the worm gear chamber are contacted and limited.
6. The torque road sense feedback device of the steer-by-wire system as claimed in claim 5, characterized in that: Two worm cavities are arranged in the shell, and the worm cavities are symmetrically arranged on both sides of the worm wheel cavity.