Hand feeling simulation unit and steer-by-wire system

Abstract

The utility model relates to the technical field of steer-by-wire, and provides a hand feeling simulation unit and a steer-by-wire system. The hand feeling simulation unit comprises an electric control unit, a motor half assembly, a planetary gear half assembly and a sensor torsion bar shaft half assembly which are sequentially arranged in the axial direction. The sensor torsion bar shaft half assembly comprises an input shaft and an output shaft which are connected through a torsion bar; the electric control unit is in communication connection with the sensor torsion bar shaft semi-assembly through the sensor wire harness; the motor half assembly is electrically connected with the electric control unit; the planetary gear half assembly is connected between a motor shaft and an output shaft of the motor half assembly and used for reducing the speed and increasing the torque transmitted by the motor shaft and transmitting the torque to the output shaft. According to the hand feeling simulation unit, speed reduction and torque increase are achieved through the planetary gear half assembly, more sensitive and efficient response is achieved, and the hand feeling simulation unit is smaller in size. And main components of the hand feeling simulation unit are sequentially arranged in the axial direction to form a cylindrical integral integrated structure, so that the miniaturization design is realized, the arrangement of the whole vehicle is easy, and the universality is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of steer -by -wire, specifically, relate to hand feeling simulation unit and steer -by -wire system. BACKGROUND

[0002] Hand feeling simulation unit is an important component of steer -by -wire system. The steering wheel and the steering wheel of traditional power -assisted steering system are mechanically connected, and the hand feeling of the steering wheel is controlled by the size of the power torque and the direct feedback of the road feeling. The decoupling of the steering wheel and the steering wheel is realized in the steer -by -wire system, so the hand feeling simulation unit is needed to simulate the hand feeling and the road feeling feedback of steering.

[0003] At present, the hand feeling simulation unit for steer -by -wire system is mostly derived from traditional electronic power -assisted steering system, relies on worm gear deceleration mechanism to realize deceleration and torque increase, and the structure is large and complex, which is not conducive to the vehicle layout, and the worm and motor position often need to be adjusted based on the vehicle layout, and the response characteristics of the worm gear deceleration mechanism are difficult to meet the increasing hand feeling debugging requirements.

[0004] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the utility model, and therefore can include information that does not constitute prior art known to those skilled in the art. UTILITY MODEL CONTENT

[0005] Therefore, the utility model provides a kind of hand feeling simulation unit and steer -by -wire system, solve the problems of large and complex structure, not conducive to vehicle layout and response difficult to meet the demand caused by traditional configuration worm gear deceleration mechanism.

[0006] One aspect of the utility model provides a kind of hand feeling simulation unit, including electric control unit, motor half assembly, planetary gear half assembly and sensor torsion bar shaft half assembly arranged in sequence along the axial direction;The sensor torsion bar shaft half assembly includes input shaft and output shaft connected by torsion bar;The electric control unit is connected with the sensor torsion bar shaft half assembly by sensor wire harness;The motor half assembly is electrically connected with the electric control unit;The planetary gear half assembly is connected between the motor shaft of the motor half assembly and the output shaft, for the torque transmitted by the motor shaft is decelerated and increased in torque and is transmitted to the output shaft.

[0007] This invention's tactile simulation unit uses a planetary gear semi-assembly to achieve speed reduction and torque amplification. Compared to worm gear reduction mechanisms, it achieves a more sensitive and efficient response while having a smaller size. Furthermore, in this invention's tactile simulation unit, the electronic control unit, motor semi-assembly, planetary gear semi-assembly, and sensor torsion bar shaft semi-assembly are arranged sequentially along the axial direction, forming a cylindrical (i.e., linear) integrated structure. This achieves miniaturization, and the cylindrical integrated structure can rotate arbitrarily around its axis, facilitating vehicle-wide placement and improving versatility.

[0008] In some embodiments, the motor shaft is connected to the sun gear of the planetary gear semi-assembly, or the end of the motor shaft is used as the sun gear; the output shaft is connected to the planet carrier of the planetary gear semi-assembly, and the ring gear of the planetary gear semi-assembly is fixed.

[0009] By inputting through the sun gear and outputting through the planetary carrier, the planetary gear semi-assembly reduces and increases the torque transmitted from the motor semi-assembly to the sensor torsion bar shaft semi-assembly.

[0010] In some embodiments, the gear ring is integrally disposed on the inner wall of the motor housing of the motor semi-assembly.

[0011] Thus, the integrated design between the planetary gear semi-assembly and the motor semi-assembly helps to simplify the overall structure and assembly difficulty of the tactile simulation unit.

[0012] In some embodiments, the motor housing is connected to the support housing of the sensor torsion bar shaft assembly; the planetary gears are rotatably mounted on the support shaft of the planetary gear support, the planetary carrier is fixedly connected to the support shaft, and the planetary gear support is connected to the output shaft; the outer peripheral surface of the planetary gear support is connected to the inner wall engagement area of ​​the motor housing and the support housing through a rolling bearing, wherein the outer peripheral surface of the planetary gear support serves as the inner ring of the rolling bearing, and the inner wall engagement area serves as the outer ring of the rolling bearing.

[0013] The planetary gears are rotatably mounted on a support shaft. The planetary carrier is fixedly connected to the planetary gear support via the support shaft, and the planetary gear support can be connected to the output shaft via a spline hole. A rolling bearing provides rotational support between the planetary gear support and the inner wall mating area. The outer circumferential surface of the planetary gear support serves as the inner ring of the rolling bearing, and the inner wall mating area serves as the outer ring, eliminating the need for traditional inner and outer rings in bearings, thus simplifying the structure and assembly.

[0014] In some embodiments, the inner wall engagement area is formed as a V-shaped groove, and the outer peripheral surface of the planetary gear support is formed as a double conical surface. The double conical surface and the V-shaped groove are rotatably engaged by two rings of needle roller bearings, wherein each ring of needle roller bearings connects one conical surface of the double conical surface and one groove surface of the V-shaped groove.

[0015] The V-groove is formed by the mating of the inclined inner wall of the motor housing and the inclined inner wall of the support housing. Each conical surface of the double cone is rotatably engaged with one groove surface of the V-groove through a ring of needle roller bearings, thereby achieving rotational support for the planetary gear support seat.

[0016] In some embodiments, the conical surface is provided with a first limiting shoulder for axially limiting the needle roller bearing, the first limiting shoulder and the conical surface together serving as the inner ring of the needle roller bearing; the groove surface is provided with a second limiting shoulder for axially limiting the needle roller bearing, the second limiting shoulder and the groove surface together serving as the outer ring of the needle roller bearing.

[0017] The first and second limiting shoulders are used to axially limit the movement of the needle roller bearing. An appropriate distance is maintained between the first and second limiting shoulders to avoid interference.

[0018] In some embodiments, the end face of the motor housing is in contact with the end face of the support housing, and a shim is provided between the end face of the motor housing and the end face of the support housing, the thickness of the shim being configured to adjust the axial clearance and radial clearance of the rolling bearing.

[0019] Shims, as optional accessories, are used to adjust the axial and radial clearance of rolling bearings to ensure good friction and NVH performance during the rotation of the planetary gear support.

[0020] In some embodiments, one end of the motor shaft is supported by a bearing, and the other end is supported by the planetary gear semi-assembly.

[0021] The single-bearing support design of the motor shaft simplifies the structure and assembly of the tactile simulation unit.

[0022] In some embodiments, the electronic control unit is provided with two circuit boards, which are electrically connected to each other, and each circuit board is electrically connected to the motor winding of the motor semi-assembly.

[0023] The electronic components of the electronic control unit are distributed on two circuit boards. The size of the electronic control unit can be reduced by reducing the cross-sectional area, which reduces the difficulty of space layout in different vehicle models and achieves miniaturization while improving versatility and layout flexibility.

[0024] In some embodiments, the motor winding leads out N first wires and M second wires. The first circuit board closer to the motor semi-assembly has N+M through holes, and the second circuit board farther from the motor semi-assembly has N through holes, where N and M are both integers greater than 1. The M second wires pass through the M through holes of the first circuit board and are electrically connected to the first circuit board. The N second wires pass through the N through holes of the first circuit board and the N through holes of the second circuit board and are electrically connected to the second circuit board.

[0025] The electrical connection between the motor semi-assembly and the electronic control unit is achieved by leading N long wires (first wires) from the motor windings to the second circuit board farther away from the motor semi-assembly, and by connecting M short wires (second wires) to the first circuit board closer to the motor semi-assembly. Compared with the structure where N+M wires are arranged on the same circuit board, the design of this embodiment allows for a more uniform distribution of electronic components on the first and second circuit boards, improving redundancy.

[0026] Another aspect of this utility model provides a steer-by-wire system, the steer-by-wire system being configured with a feel simulation unit as described in any of the above embodiments.

[0027] The steer-by-wire system equipped with the feel simulation unit of this invention uses a planetary gear semi-assembly to achieve speed reduction and torque increase, resulting in a more sensitive and efficient response with a smaller size. In the feel simulation unit, the electronic control unit, motor semi-assembly, planetary gear semi-assembly, and sensor torsion bar shaft semi-assembly are arranged sequentially along the axial direction, forming a cylindrical (i.e., linear) integrated structure. This achieves miniaturization, and the cylindrical integrated structure can rotate arbitrarily around the axis, facilitating the placement of the feel simulation unit and steer-by-wire system in the vehicle and improving their versatility.

[0028] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit the present invention. Attached Figure Description

[0029] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments conforming to the present invention and, together with the description, serve to explain the principles of the present invention. It is obvious that the drawings described below are merely some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0030] Figure 1 This diagram shows the overall structure of the tactile simulation unit in an embodiment of the present invention.

[0031] Figure 2This diagram shows an exploded view of the main components of the tactile simulation unit in an embodiment of the present invention.

[0032] Figure 3 This diagram shows an axial cross-sectional view of the planetary gear semi-assembly of the tactile simulation unit in an embodiment of the present invention.

[0033] Figure 4 This diagram shows a radial cross-sectional view of the planetary gear semi-assembly of the tactile simulation unit in an embodiment of the present invention.

[0034] Figure 5 An exploded view of the planetary gear semi-assembly and its mating components of the tactile simulation unit in an embodiment of this utility model is shown.

[0035] Figure 6 An exploded structural diagram showing the connection relationship between the motor semi-assembly and the electronic control unit of the tactile simulation unit in an embodiment of this utility model. Detailed Implementation

[0036] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to make the present invention more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art.

[0037] The accompanying drawings are merely illustrative of the present invention and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar structures, and therefore, repeated descriptions of them will be omitted.

[0038] The use of terms such as "first," "second," and similar words in the specific description does not indicate any order, quantity, or importance, but is merely used to distinguish different components. The term "multiple" means two or more, unless otherwise explicitly specified. Furthermore, in the description of this utility model, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be a connection within two components.

[0039] It should be noted that, unless otherwise specified, the embodiments of this utility model and the features in different embodiments can be combined with each other.

[0040] Figure 1 The diagram illustrates the overall structure of the tactile simulation unit. Figure 2 The diagram illustrates the exploded structure of the main components of the tactile simulation unit. Figure 3The diagram illustrates the axial cross-sectional structure of the planetary gear semi-assembly of the tactile simulation unit, combined with... Figures 1 to 3 As shown, the tactile simulation unit provided in this embodiment of the present invention includes:

[0041] The electronic control unit 100, the motor semi-assembly 200, the planetary gear semi-assembly 300 and the sensor torsion bar shaft semi-assembly 400 are arranged sequentially along axis Z.

[0042] The sensor torsion bar shaft semi-assembly 400 includes an input shaft 410 and an output shaft 420 connected by a torsion bar 440; the electronic control unit 100 is communicatively connected to the sensor torsion bar shaft semi-assembly 400 via a sensor wiring harness 500; the motor semi-assembly 200 is electrically connected to the electronic control unit 100; the planetary gear semi-assembly 300 is connected between the motor shaft 210 and the output shaft 420 of the motor semi-assembly 200, and is used to reduce and increase the torque transmitted by the motor shaft 210 and transmit it to the output shaft 420.

[0043] Torque is transmitted between the input shaft 410 and output shaft 420 of the sensor torsion bar shaft semi-assembly 400 via a torsion bar 440. The input shaft 410 is connected to the steering wheel to receive the steering wheel's hand force torque input and realize the simulated torque output of the hand feel simulation unit. The sensor torsion bar shaft semi-assembly 400 transmits the relative angle signal between the input shaft 410 and output shaft 420 to the electronic control unit 100 through the sensor wiring harness 500. The sensor torsion bar shaft semi-assembly 400 also synchronously receives torque from the planetary gear semi-assembly 300. The electronic control unit 100 collects the signals detected by the sensor torsion bar shaft semi-assembly 400, calculates the assist current by combining it with the vehicle signals, and transmits it to the motor semi-assembly 200. The motor semi-assembly 200 generates the corresponding torque based on the current signal from the electronic control unit 100 and transmits it to the planetary gear semi-assembly 300 through the motor shaft 210. The planetary gear semi-assembly 300 reduces and increases the torque transmitted from the motor shaft 210 before transmitting it to the output shaft 420 of the sensor torsion bar shaft semi-assembly 400. The planetary gear semi-assembly 300 can be implemented using one planetary gear set (first-stage reduction), two planetary gear sets (second-stage reduction), or more planetary gear sets. The number of planetary gears in each planetary gear set can be configured as needed, for example, three to five.

[0044] The tactile simulation unit is installed in the vehicle by connecting to the steering column via the support housing 430 of the sensor torsion bar shaft assembly 400, and interacting with the vehicle via the CAN (Controller Area Network) communication interface, power interface, and other interfaces 110.

[0045] This utility model's tactile simulation unit uses a planetary gear semi-assembly 300 to achieve speed reduction and torque increase. Compared to a worm gear reduction mechanism, it can achieve a more sensitive and efficient response, which is beneficial for tactile feel adjustment and NVH (Noise, Vibration, Harshness) adjustment, and has a smaller size. Furthermore, in this utility model's tactile simulation unit, the electronic control unit 100, motor semi-assembly 200, planetary gear semi-assembly 300, and sensor torsion bar shaft semi-assembly 400 are arranged sequentially along axis Z, forming a cylindrical (i.e., linear) integrated structure, achieving miniaturization. The cylindrical integrated structure can rotate arbitrarily around axis Z, facilitating vehicle layout and improving versatility.

[0046] Figure 4 The diagram illustrates the radial cross-sectional structure of the planetary gear semi-assembly of the tactile simulation unit, combined with... Figures 2 to 4 As shown, in some embodiments, the motor shaft 210 is connected to the sun gear of the planetary gear semi-assembly 300, or the end of the motor shaft 210 is used as the sun gear; the output shaft 420 is connected to the planet carrier 321 of the planetary gear semi-assembly 300, and the gear ring 330 of the planetary gear semi-assembly 300 is fixed.

[0047] Through the sun wheel ( Figure 4 The diagram illustrates the end teeth of the motor shaft 210 as a sun gear (but this is not a limitation). The input is the planetary carrier 321, and the output is the planetary gear assembly 300. This allows the planetary gear assembly 300 to reduce and increase the torque transmitted from the motor semi-assembly 200 before transmitting it to the sensor torsion bar shaft semi-assembly 400. In other embodiments, the transmission relationship between the planetary gear assembly 300 and the motor semi-assembly 200 and the sensor torsion bar shaft semi-assembly 400 can be adjusted as needed, as long as reduction and torque increase are achieved and efficient and stable transmission is ensured.

[0048] In the planetary gear semi-assembly 300, the connection relationship between the sun gear, planet gears 340, planet carrier 321, and ring gear 330 follows a conventional configuration: the sun gear meshes with the planet gears 340, the planet gears 340 mesh with the ring gear 330, and the planet gears 340 are rotatably mounted on the support shaft 322 of the planet carrier 321. The process by which the planetary gear semi-assembly 300 achieves speed reduction and torque increase includes: the motor shaft 210 (sun gear) drives the planet gears 340 to rotate; while rotating, the planet gears 340 mesh with the ring gear 330 and revolve around the motor shaft 210, thereby achieving speed reduction and torque increase; the power after speed reduction and torque increase is output through the planet carrier 321.

[0049] In some embodiments, the gear ring 330 is integrally disposed on the inner wall of the motor housing 220 of the motor semi-assembly 200. In this way, the integrated design between the planetary gear semi-assembly 300 and the motor semi-assembly 200 helps to simplify the overall structure and assembly difficulty of the tactile simulation unit.

[0050] Figure 5 The diagram illustrates the exploded structure of the planetary gear semi-assembly and its mating components of the tactile simulation unit, combined with... Figures 2 to 5 As shown, in some embodiments, the motor housing 220 is connected to the support housing 430 of the sensor torsion bar shaft semi-assembly 400; the planetary gear 340 (via planetary gear bearing 341) is rotatably mounted on the support shaft 322 of the planetary gear support 323, the planetary carrier 321 is fixedly connected to the support shaft 322, and the planetary gear support 323 is connected to the output shaft 420; the outer peripheral surface of the planetary gear support 323 is connected to the inner wall engagement area A of the motor housing 220 and the support housing 430 via the rolling bearing 350, wherein the outer peripheral surface of the planetary gear support 323 serves as the inner ring of the rolling bearing 350, and the inner wall engagement area A serves as the outer ring of the rolling bearing 350.

[0051] The motor housing 220 and the support housing 430 can be connected by end-to-end contact, interlocking, or other methods. The inner wall mating area A of the motor housing 220 and the support housing 430 refers to the area where the inner wall of the motor housing 220 and the inner wall of the support housing 430 meet, for example... Figure 3 The diagram illustrates the inner wall mating area A, which is the area where the inner wall of the motor housing 220 meets the inner wall of the support housing 430. The planetary gear 340 is rotatably mounted on the support shaft 322. The planetary carrier 321 is fixedly connected to the planetary gear support seat 323 via the support shaft 322. The planetary gear support seat 323 can be connected to the output shaft 420 via a spline hole 324. A rolling bearing 350 provides rotational support between the planetary gear support seat 323 and the inner wall mating area A. The outer circumferential surface of the planetary gear support seat 323 serves as the inner ring of the rolling bearing 350, and the inner wall mating area A serves as the outer ring of the rolling bearing 350, eliminating the need for traditional inner and outer bearing rings and simplifying the structure and assembly. The structure of the rolling bearing 350 can be adjusted according to the outer peripheral surface and inner wall mating area A of the planetary gear support 323. For example, it can be formed into a split structure, including a part that fits between the outer peripheral surface of the planetary gear support 323 and the inner wall of the motor housing 220 and a part that fits between the outer peripheral surface of the planetary gear support 323 and the inner wall of the support housing 430.

[0052] In some embodiments, the inner wall engagement area A is formed as a V-shaped groove, and the outer peripheral surface of the planetary gear support 323 is formed as a double conical surface. The double conical surface and the V-shaped groove are rotatably engaged by two rings of needle roller bearings 350', wherein each ring of needle roller bearings 350' connects one conical surface S1 of the double conical surface and one groove surface S2 of the V-shaped groove.

[0053] The V-groove is formed by the mating of the inclined inner wall of the motor housing 220 and the inclined inner wall of the support housing 430. Each cone surface S1 of the double cone surface is rotatably engaged with one groove surface S2 of the V-groove through a ring of needle roller bearings 350', thereby realizing the rotational support of the planetary gear support seat 323.

[0054] In some embodiments, the conical surface S1 is provided with a first limiting shoulder S11 for axially limiting the needle roller bearing 350', and the first limiting shoulder S11 and the conical surface S1 together serve as the inner ring of the needle roller bearing 350'; the groove surface S2 is provided with a second limiting shoulder S21 for axially limiting the needle roller bearing 350', and the second limiting shoulder S21 and the groove surface S2 together serve as the outer ring of the needle roller bearing 350'.

[0055] The first limiting shoulder S11 and the second limiting shoulder S21 are used to achieve axial positioning of the needle roller bearing 350'. The first limiting shoulder S11 and the second limiting shoulder S21 are spaced at an appropriate distance to avoid interference.

[0056] In some embodiments, the end face of the motor housing 220 is in contact with the end face of the support housing 430, and a shim 600 is provided between the end face of the motor housing 220 and the end face of the support housing 430. The thickness of the shim 600 is configured to adjust the axial clearance and radial clearance of the rolling bearing 350.

[0057] Shim 600, as an optional accessory (which can be made of metal, rubber, or plastic, etc.), is used to adjust the axial and radial clearance of the rolling bearing 350 to ensure good friction and NVH performance during the rotation of the planetary gear support 323. When selecting shim 600, the dimensions of the rolling bearing 350, motor housing 220, and support housing 430 are measured in advance. Then, the required shim thickness is calculated based on the required bearing clearance (axial and radial clearance), and a suitable shim 600 is selected accordingly. Alternatively, when selecting shim 600, a suitable rolling bearing 350 and shim 600 can be selected based on the dimensions of the rolling bearing 350, motor housing 220, and support housing 430 to ensure that the rolling bearing 350 has appropriate axial and radial clearance.

[0058] In some embodiments, one end of the motor shaft 210 is supported by a bearing, and the other end is supported by a planetary gear semi-assembly 300. This single-bearing support design of the motor shaft 210 simplifies the structure and assembly of the tactile simulation unit. Specifically, one end of the motor shaft 210 is provided with a spline, which meshes with the three planetary gears 340 of the planetary gear semi-assembly 300 as a sun gear. The three planetary gears 340 collectively support this end of the motor shaft 210.

[0059] Figure 6 An exploded view illustrating the connection between the motor semi-assembly and the electronic control unit of the tactile simulation unit, combined with...Figure 2 , Figure 3 and Figure 6 As shown, in some embodiments, the electronic control unit 100 is provided with two circuit boards (121, 122), which are electrically connected to each other, and each circuit board is electrically connected to the motor winding 230 of the motor semi-assembly 200.

[0060] The electronic components of the electronic control unit 100 are distributed on two circuit boards (121, 122). The size of the electronic control unit 100 can be reduced by decreasing the cross-sectional area, simplifying space layout in different vehicle models and achieving miniaturization while improving versatility and layout flexibility. Electrical signals are transmitted between the two circuit boards (121, 122) via a wire group 123. Each circuit board is electrically connected to the motor winding 230 of the motor semi-assembly 200 via lead wires from the motor winding 230. Mechanical connections are established between the two circuit boards (121, 122) and the motor semi-assembly 200 using fasteners such as screws 126 and studs 127. During operation, the electronic control unit 100 calculates the required motor current and transmits it to the motor winding 230 through the circuitry of the two circuit boards (121, 122), thereby driving the motor to rotate the motor shaft 210 with the desired torque.

[0061] In some embodiments, the motor winding 230 leads out N first wires 231 and M second wires 232. The first circuit board 121, which is closer to the motor semi-assembly 200, is provided with N+M through holes, and the second circuit board 122, which is farther away from the motor semi-assembly 200, is provided with N through holes, where N and M are both integers greater than 1. The M second wires 232 pass through the M through holes of the first circuit board 121 and are electrically connected to the first circuit board 121. The N first wires 231 pass through the N through holes of the first circuit board 121 and the N through holes of the second circuit board 122 and are electrically connected to the second circuit board 122.

[0062] The motor semi-assembly 200 and the electronic control unit 100 are electrically connected by N long wires (first wires 231) leading from the motor winding 230 to the second circuit board 122 located away from the motor semi-assembly 200, and by M short wires (second wires 232) connecting to the first circuit board 121 located near the motor semi-assembly 200. M and N are, for example, three each, but are not limited to this. Compared to a structure where N+M wires are arranged simultaneously on the same circuit board, this embodiment allows for a more uniform distribution of electronic components on the first circuit board 121 and the second circuit board 122, improving redundancy.

[0063] The motor winding 230 can adopt a dual-winding design, with the first wire 231 and the second wire 232 respectively leading out from the dual windings, and then electrically connected to the first circuit board 121 and the second circuit board 122 respectively. In the event of a single circuit board / winding failure, it can provide a portion of the simulated torque based on functional safety requirements.

[0064] This utility model embodiment also provides a steer-by-wire system, which is equipped with a feel simulation unit as described in any of the above embodiments. A planetary gear semi-assembly 300 is used to achieve deceleration and torque amplification, enabling a more sensitive and efficient response, and resulting in a smaller size. Furthermore, in the feel simulation unit, the electronic control unit 100, motor semi-assembly 200, planetary gear semi-assembly 300, and sensor torsion bar shaft semi-assembly 400 are arranged sequentially along axis Z, forming a cylindrical (i.e., linear) integrated structure. This achieves miniaturization, and the cylindrical integrated structure can rotate arbitrarily around axis Z, facilitating the placement of the feel simulation unit and the steer-by-wire system in the vehicle and improving their versatility.

[0065] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the protection scope of the present invention.

Claims

1. A tactile simulation unit, characterized in that, It includes an electronic control unit, a motor semi-assembly, a planetary gear semi-assembly, and a sensor torsion bar shaft semi-assembly arranged sequentially along the axial direction; The sensor torsion bar shaft semi-assembly includes an input shaft and an output shaft connected by a torsion bar; The electronic control unit is communicatively connected to the sensor torsion bar shaft assembly via a sensor wiring harness; The motor semi-assembly is electrically connected to the electronic control unit; The planetary gear semi-assembly is connected between the motor shaft and the output shaft of the motor semi-assembly, and is used to reduce and increase the torque transmitted by the motor shaft and transmit it to the output shaft.

2. The tactile simulation unit as described in claim 1, characterized in that, The motor shaft is connected to the sun gear of the planetary gear semi-assembly, or the end of the motor shaft is used as the sun gear; The output shaft is connected to the planet carrier of the planetary gear semi-assembly, and the gear ring of the planetary gear semi-assembly is fixed.

3. The tactile simulation unit as described in claim 2, characterized in that, The gear ring is integrally disposed on the inner wall of the motor housing of the motor semi-assembly.

4. The tactile simulation unit as described in claim 2, characterized in that, The motor housing of the motor semi-assembly is connected to the support housing of the sensor torsion bar shaft semi-assembly; The planetary gears of the planetary gear semi-assembly are rotatably mounted on the support shaft of the planetary gear support, the planet carrier is fixedly connected to the support shaft, and the planetary gear support is connected to the output shaft; The outer peripheral surface of the planetary gear support is connected to the inner wall engagement area of ​​the motor housing and the support housing via a rolling bearing, wherein the outer peripheral surface of the planetary gear support serves as the inner ring of the rolling bearing, and the inner wall engagement area serves as the outer ring of the rolling bearing.

5. The tactile simulation unit as described in claim 4, characterized in that, The inner wall joint area is formed into a V-shaped groove, and the outer peripheral surface of the planetary gear support is formed into a double conical surface. The double conical surface and the V-shaped groove are rotatably engaged by two rings of needle roller bearings, wherein each ring of needle roller bearings connects one conical surface of the double conical surface and one groove surface of the V-shaped groove.

6. The tactile simulation unit as described in claim 5, characterized in that, The conical surface is provided with a first limiting shoulder for axially limiting the needle roller bearing, and the first limiting shoulder and the conical surface together serve as the inner ring of the needle roller bearing; The groove surface is provided with a second limiting shoulder for axially limiting the needle roller bearing. The second limiting shoulder and the groove surface together serve as the outer ring of the needle roller bearing.

7. The tactile simulation unit as described in claim 4, characterized in that, The end face of the motor housing is in contact with the end face of the support housing, and a shim is provided between the end face of the motor housing and the end face of the support housing. The thickness of the shim is configured to adjust the axial clearance and radial clearance of the rolling bearing.

8. The tactile simulation unit as described in claim 1, characterized in that, One end of the motor shaft is supported by a bearing, and the other end is supported by the planetary gear semi-assembly.

9. The tactile simulation unit as described in claim 1, characterized in that, The electronic control unit has two circuit boards that are electrically connected to each other, and each circuit board is electrically connected to the motor windings of the motor semi-assembly.

10. The tactile simulation unit as described in claim 9, characterized in that, The motor winding leads out N first wires and M second wires. The first circuit board closer to the motor semi-assembly has N+M through holes, and the second circuit board farther away from the motor semi-assembly has N through holes, where N and M are both integers greater than 1. The M second wires pass through the M through holes of the first circuit board and are electrically connected to the first circuit board. The N first wires pass through the N through holes of the first circuit board and the N through holes of the second circuit board and are electrically connected to the second circuit board.

11. A steer-by-wire system, characterized in that, The steer-by-wire system is equipped with a feel simulation unit as described in any one of claims 1-10.

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