Drive-by-wire steering wheel device with mechanical limiting function

Abstract

The utility model discloses a drive-by-wire steering wheel device with a mechanical limiting function. The drive-by-wire steering wheel device comprises a road feeling simulation feedback device, a steering mechanical limiting device and an installation connecting mechanism. The road feeling simulation feedback device comprises a steering wheel, a lead screw, a speed reducer output shaft, a worm and gear speed reducer, a road feeling simulation motor, a coupler and an absolute value encoder. The steering mechanical limiting device comprises a limiting block, a lead screw nut and a limiting bolt. The installation connecting mechanism comprises a steering wheel tubular column and a steering wheel installation frame. The device collects the steering state of the vehicle through the controller, dynamically simulates the real-time road condition and the steering wheel aligning torque through the road sensing motor, and feeds back the position of the steering wheel in real time through the steering angle position of the steering wheel; the mechanical limiting device limits the number of turns of rotation of the steering wheel through the limiting device, prevents the steering wheel from exceeding the coding detection range, and guarantees safety.

Description

TECHNICAL FIELD

[0001] The utility model relates to a drive -by -wire steering wheel device technical field especially a drive -by -wire steering wheel device with mechanical limit. BACKGROUND

[0002] Drive -by -wire steering wheel cancels the mechanical connection between steering wheel and steering wheel, through sensor perception driver steering intention and converts it into electric signal, after electronic control unit processing, by actuator drive steering wheel rotation, realizes accurate steering control, simultaneously through road feeling feedback device simulation road surface feedback, enhances driving experience and control feeling.

[0003] Such as CN116080741A proposes a kind of drive -by -wire steering wheel steering device and steering mechanical limit device, is provided on the steering column steering mechanical limit device, and this mechanism includes base, driving piece and driven piece.When driving piece rotates, driven piece displaces in track, reaches track head end or tail end and stops driving piece rotation, to limit the rotation angle of steering wheel, ensure that it is in sensor range and assist driver to find mid-position.But it lacks real mechanical feedback, can reduce the perception of driver to road condition.

[0004] Such as CN221418384U, steering and return torque are generated by extruding pre-press spring, steering and return torque can be adjusted by adjusting pre-press adjusting washer position to adjust the size of steering and return torque.The lower end of screw rod is connected with absolute value encoder, steering wheel rotation angle signal can be converted into CAN signal in real time and communicated with vehicle VCU, to control vehicle steering.But steering wheel return torque is provided by spring, and return angle is not accurate, which can increase driving risk. UTILITY MODEL CONTENT

[0005] The utility model relates to a drive -by -wire steering wheel device technical field especially a drive -by -wire steering wheel device with mechanical limit.

[0006] A kind of mechanical limit's drive-by-wire steering wheel device, including road feeling simulation feedback device, steering mechanical limiting device and installation connecting mechanism;The road feeling simulation feedback device includes steering wheel, screw rod, reducer output shaft, worm gear reducer, road feeling simulation motor, shaft coupling, absolute value encoder;Steering wheel is connected with the top of screw rod, the bottom of screw rod is connected with the top of reducer output shaft of worm gear reducer, road feeling simulation motor and worm gear reducer are connected, the bottom of reducer output shaft is connected with the rotating shaft of absolute value encoder;The steering mechanical limiting device includes limiting block, screw nut, limiting bolt, screw nut is installed in the lower part with thread of screw rod;Screw nut is connected with limiting block, limiting block is equipped with limiting bolt;The installation connecting mechanism includes steering wheel column, steering wheel mounting frame;Limiting slot is arranged along the length of sidewall of steering wheel column, the portion of limiting bolt that extends into limiting slot is slidably fitted with limiting slot;Steering wheel column is connected with frame or steering wheel support by steering wheel mounting frame.

[0007] Steering mechanical limiting device adopts screw nut to cooperate with screw rod, in the process of steering wheel rotation, screw nut can move axially along screw rod, while the portion of limiting bolt that extends into limiting slot reciprocates in limiting slot, to play a limiting role.

[0008] Nylon sleeve is installed on the outside of limiting bolt, to reduce the noise of limiting bolt during movement.

[0009] Pre-tightening nut is arranged in steering wheel, to fix steering wheel and spline shaft, steering wheel and spline shaft are connected by spline, to ensure that steering wheel and spline shaft can be firmly connected, to ensure torque transmission.

[0010] Spacer is arranged between reducer output shaft and worm gear reducer, to coaxially connect reducer shaft spacer and worm gear reducer.

[0011] Limiting block is symmetrically provided with limiting bolt on both sides, steering wheel column is provided with limiting slot, limiting bolt can slide up and down in limiting slot, and steering wheel column lower end is welded with reducer connecting flange.

[0012] Steering wheel mounting frame, controller mounting bracket and steering wheel column are directly connected, with compact structure, to improve space utilization.

[0013] The drive-by-wire steering wheel device with mechanical limiting designed in the patent collects vehicle steering state through controller, dynamically simulates real-time road conditions and steering wheel return torque through road feeling motor, and real-time feedback steering wheel position through steering wheel angle position;Mechanical limiting device limits steering wheel rotation number through limiting device, to prevent steering wheel from exceeding coding detection range, to ensure safety.

[0014] As a further improvement of the technical solution:

[0015] The upper end of the lead screw is connected with the steering wheel through a spline shaft, and a deep groove ball bearing is arranged between the spline shaft and the steering wheel column. The deep groove ball bearing is installed to make the steering wheel rotate more flexibly. A thrust spring washer annular groove is arranged at the upper end of the connection between the spline shaft and the deep groove ball bearing, so as to facilitate the connection of the parts.

[0016] The bottom end of the lead screw is connected with the rotating shaft of the absolute value encoder through a shaft coupling.

[0017] The worm gear reducer adopts a non-self-locking worm gear reducer, which effectively ensures that the steering wheel torque can be effectively transmitted to the road feeling motor, and also improves the torque output of the road feeling simulation motor.

[0018] The part where the steering wheel mounting frame is connected with the steering wheel column is provided with a semicircular groove, and the circumferential surface of the steering wheel column is connected with the semicircular groove of the steering wheel mounting frame. A slot-shaped hole is arranged on the steering wheel mounting frame, and the slot-shaped hole is fixedly connected with the frame or the steering wheel support through bolts.

[0019] The connecting flange is divided into an upper piece and a lower piece, the upper piece is connected concentrically with the steering wheel column, the lower piece is connected with the worm gear reducer, and the upper piece and the lower piece of the connecting flange are connected and fixed together with the worm gear reducer through bolts.

[0020] The worm gear reducer is provided with spaced installation connection holes along the circumferential surface, and a bolt tube is arranged below the installation connection holes. The worm gear reducer, the upper piece and the lower piece of the connecting flange, the bolt tube and the encoder mounting flange are connected through bolts.

[0021] The rotating shaft of the absolute value encoder is connected with the lead screw through a flexible shaft coupling. This effectively solves the coaxiality problem caused by mechanical processing, improves the service life of the absolute value encoder, and ensures the feedback accuracy of the absolute value encoder.

[0022] The absolute value encoder adopts an absolute position sensor. This can effectively record multiple absolute positions and ensure driving safety.

[0023] A controller mounting bracket is connected on the steering wheel column, and the controller mounting bracket is provided with a semicircular groove connected with the steering wheel column.

[0024] The utility model provides a line control steering wheel with mechanical limiting, and the road feeling simulation motor can rotate automatically under the condition of unmanned driving, corresponding wheel steering angle, guarantees the driver to be clear about vehicle steering angle all the time, and the manual operation can take over the vehicle steering control right randomly when driving artificially, guarantees the traffic safety, and the mechanical limiting device effectively guarantees that the driver does not exceed the boundary detection range of the steering wheel during driving the vehicle, improves the driving safety.

[0025] To sum up, in the aspect of line control steering wheel, the utility model can provide the road feeling feedback when driving artificially under the control of line control steering wheel controller, guarantees the following of steering wheel steering during unmanned driving, and the limiting slot meets the requirement of steering wheel rotation angle range limitation, has the positive effect of strong practicality and wide application range. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 It is the overall structural drawing in the embodiment of the utility model in assembling road feeling simulation motor driver and line control steering wheel driver;

[0027] Figure 2 It is the structural schematic view of the rotating mechanism of the utility model;

[0028] Figure 3 It is the structural schematic view of the installation connecting mechanism of the utility model;

[0029] Figure 4 It is the structural schematic view of the limiting block mechanism of the utility model;

[0030] Figure 5 It is the local structural schematic view of the rotation angle detection of the utility model;

[0031] Figure 6 It is the sectional structure schematic view of the limiting block and the screw nut connection of the utility model;

[0032] Figure 7 It is the local structural schematic view of the position of the steering mechanical limiting device when playing the limiting function of the utility model.

[0033] BRIEF DESCRIPTION OF DRAWINGS

[0034] 1 - road sense simulation feedback device; 101 - steering wheel; 102 - spline shaft; 103 - deep groove ball bearing; 104 - screw; 105 - reducer output shaft; 106 - worm gear reducer; 107 - road sense simulation motor; 108 - coupling; 109 - absolute value encoder;

[0035] 2 - steering mechanical limiting device; 201 - screw nut; 202 - limiting block; 203 - limiting bolt;

[0036] 3 - steering mechanical limiting device; 301 - steering wheel column; 302 - steering wheel mounting frame; 303 - controller mounting support; 304 - connecting flange; 305 - bolt pipe; 306 - encoder mounting flange. DETAILED DESCRIPTION

[0037] The utility model discloses further illustrate below combining example.

[0038] The utility model discloses a line control steering wheel device with mechanical limiting position, by road sense simulation feedback device 1, steering mechanical limiting device 2 and installation connection mechanism 3 are formed.

[0039] Road sense simulation feedback device 1 includes steering wheel 101, spline shaft 102, deep groove ball bearing 103, screw 104, reducer output shaft 105, worm gear reducer 106, road sense simulation motor 107, coupling 108, absolute value encoder 109.

[0040] Steering mechanical limiting device 2 includes limiting block 201, screw nut 202, limiting bolt 203.

[0041] Installation connection mechanism 3 includes steering wheel column 301, steering wheel mounting frame 302, controller mounting support 303, connecting flange 304, bolt pipe 305, encoder mounting flange 306.

[0042] Specific connection relationship is as follows:

[0043] The steering wheel 101 is connected with the spline shaft 102 through spline connection, the upper end of the spline shaft 102 is a threaded shaft section matched with a nut to press and connect the steering wheel 101. The spline shaft 102 is interference fitted with the deep groove ball bearing 103, the upper surface of the deep groove ball bearing 103 is provided with a thrust spring washer, the spline shaft 102 is provided with a mounting limiting groove, the thrust spring washer is arranged in the mounting limiting groove of the deep groove ball bearing 103 to prevent the deep groove ball bearing from moving. The deep groove ball bearing 103 is mounted in the bearing groove at the upper end of the inner cavity of the steering column 301. The bottom end of the spline shaft 102 is concentrically fitted and welded with the lead screw 104. The lower part of the lead screw 104 is provided with a threaded part, the threaded part is provided with a corresponding lead screw nut 202, the lead screw nut 202 is provided with a limiting block connecting hole, the limiting block 201 is connected with the lead screw nut 202 in the form of a screw. The lead screw nut 202 is provided with a limiting bolt 203 in the threaded hole in the circumference, the steering column (301) is provided with a limiting groove along the length of the side wall, a part of the limiting bolt 203 is matched with the limiting groove of the steering column 301 to limit. The connecting flange 304 is divided into an upper piece and a lower piece, the upper piece is concentrically welded with the steering column 301, the lower piece is connected with the worm and gear reducer 106, the upper piece and the lower piece of the connecting flange 304 are connected and fixed with the worm and gear reducer 106 through bolts to ensure that the steering column 301 and the worm and gear reducer 106 do not move relative to each other. The road feeling simulation motor 107 is connected with the worm and gear reducer 106 in the form of a flat key, the torque generated by the road feeling simulation motor 107 is transmitted to the reducer output shaft 105 through the flat key after being reduced and increased in torque by the reducer, the upper end of the reducer output shaft 105 is concentrically welded with the lead screw 104, the lower end of the reducer output shaft 105 is concentrically connected with the coupling 108, the lower end of the coupling 108 is concentrically connected with the rotating shaft of the absolute value encoder 109, the rotation of the coupling 108 drives the rotating shaft of the absolute value encoder 109 to rotate, the absolute value encoder 109 is connected in communication with the steer-by-wire controller, the road feeling simulation motor 107 is connected in communication with the road feeling simulation motor controller. One side of the steering wheel mounting bracket 302 is provided with a semicircular groove, the circumferential surface of the steering column 301 is welded with the semicircular groove of the steering wheel mounting bracket 302. The steering wheel mounting bracket 302 is provided with a groove-shaped hole, the groove-shaped hole is fixedly connected with the frame or the steering wheel support through bolts. The controller mounting bracket 303 is also provided with a semicircular groove and is welded with the steering column 301. The worm and gear reducer 106 is provided with four mounting connecting holes arranged at intervals along the circumference, the lower surface of the mounting connecting hole is provided with a bolt tube 305, the worm and gear reducer 106, the bolt tube 305 and the encoder mounting flange 306 are connected together through bolts.

[0044] In the preferred embodiment of the utility model, the spline connecting port of steering wheel 101 and spline shaft 102 are same direction and same slope, and the steering wheel 101 can be fixedly connected with spline shaft 102 to the maximum extent under the nut compression of spline shaft 102.

[0045] In the preferred embodiment of the utility model, steering wheel 101, spline shaft 102, screw rod 104, accelerator output shaft 105, shaft coupling 108 and absolute value encoder 109 are all concentrically connected, which ensures that the angle of rotation of steering wheel 101 can be more accurately recognized by absolute value encoder 109, and the torque emitted by road feeling simulation motor 107 can be more accurately controlled to steering wheel and whole vehicle steering system.

[0046] In the preferred embodiment of the utility model, the drive-by-wire steering wheel is communicated and connected with the steering system through can bus technology, has the characteristics of strong anti-interference ability, reduces the direct mechanical connection part with the steering system, saves the space, and more hardware can be designed and arranged under the condition of realizing the same function.

[0047] In the preferred embodiment of the utility model, steering wheel 101 is connected with the lower shaft body in the form of spline, which ensures the effective transmission of the rotation torque of steering wheel 101, and reduces the deviation caused by the transmission torque of the rotating gap caused by the wear of steering wheel 101.

[0048] In the preferred embodiment of the utility model, the mounting hole of steering wheel mounting frame 302 is a slot-shaped hole, which can adapt to various sizes of mounting positions when the drive-by-wire steering wheel is mounted and fixed on the vehicle.

[0049] In the preferred embodiment of the utility model, controller mounting bracket 303 and steering wheel mounting frame 302 are both provided with circular grooves, and the two brackets and steering wheel column 301 can be better matched and welded more firmly.

[0050] In the preferred embodiment of the utility model, the reducer adopts non-self-locking worm gear reducer 106, which effectively ensures that the torque of steering wheel 101 can be effectively transmitted to road feeling motor 107, and also can improve the torque output of road feeling simulation motor 107.

[0051] In the preferred embodiment of the utility model, there are concentric threaded holes penetrating on the circumference of limiting block 201, two limiting screws 203 can be installed, mechanical limiting is carried out when reaching the limit position, nylon sleeve is installed outside the limiting screw, and running noise is reduced.

[0052] In the preferred embodiment of the utility model, the limit position reached by limiting device 3 controlling steering wheel 101 is the same as that of traditional steering wheel, which is about 630 °. The driving experience of the driver is the same as that of traditional steering wheel, and it is better accepted by the public.

[0053] When the device is used, the road feeling simulation motor 107 makes corresponding torque output according to the data fed back by the program inside the steer-by-wire steering wheel controller, and gives a certain reverse resistance in the process of rotating the steering wheel 101, and gives real-time feedback of the road condition to the driver.

[0054] The utility model discloses a steering control and limiting operation can be realized better, below, through the description of the working principle of the utility model, the utility model is further explained.

[0055] Steering control principle: the steering wheel 101 rotates, drives the concentric spline shaft 102, lead screw 104 and motor output shaft 105 below rotation, and the rotating shaft of absolute value encoder 109 rotates synchronously with motor output shaft 105 through the shaft coupling 108, thereby continuously identifying the rotation angle and sending to the steer-by-wire steering wheel driver, and the steer-by-wire steering wheel driver sends the processed rotation angle signal to the steering execution mechanism to realize the steering function of the vehicle. Meanwhile, the steer-by-wire steering wheel controller continuously feeds back torque demand to the road feeling simulation motor 107 in the driving process, and the road feeling simulation motor 107 outputs torque through the worm and gear reducer 106 to change the transmission direction of torque to the lead screw 104 and spline shaft 102, and the spline shaft 102 drives the steering wheel 101 to rotate, realizes the following function of the steering wheel in the automatic driving mode under the condition of no intervention, and provides torque feedback to the driver in the driving process of personnel, and gives the feedback of road condition to the driver.

[0056] Rotation angle limiting function: when the lead screw 104 rotates, the lead screw nut 202 moves up and down on the lead screw 104 due to the limitation of the limiting bolt on the limiting block 201 in the circumferential direction of the steering column 301, when the steering wheel 101 rotates 630 degrees forward, the limiting bolt 203 moves from the middle position of the limiting slot of the steering column 301 to the top of the limiting slot to play the limiting function, on the contrary, if the steering wheel 101 rotates 630 degrees reversely, the limiting bolt 203 moves from the middle position of the limiting slot of the steering column 301 to the bottom of the limiting slot to play the limiting function.

Claims

1. A mechanical limit steering-by-wire device, comprising a road feel simulation feedback device (1), a steering mechanical limit device (2) and a mounting connection mechanism (3), characterized in that: the road feel simulation feedback device (1) comprises a steering wheel (101), a lead screw (104), a reducer output shaft (105), a worm gear reducer (106), a road feel simulation motor (107), a shaft coupling (108) and an absolute value encoder (109); the steering wheel (101) is connected to the top end of the lead screw (104), the bottom end of the lead screw (104) is connected to the top end of the reducer output shaft (105) of the worm gear reducer (106), the road feel simulation motor (107) is connected to the worm gear reducer (106), and the bottom end of the reducer output shaft (105) is connected to the rotating shaft of the absolute value encoder (109); the steering mechanical limit device (2) comprises a limit block (201), a lead screw nut (202) and a limit bolt (203); the lead screw nut (202) is installed on the lower threaded part of the lead screw (104); the lead screw nut (202) is connected to the limit block (201), and the limit block (201) is provided with the limit bolt (203); the mounting connection mechanism (3) comprises a steering wheel column (301) and a steering wheel mounting bracket (302); the sidewall of the steering wheel column (301) is provided with a limit groove arranged along the length thereof, and the part of the limit bolt (203) extending into the limit groove is in sliding fit with the limit groove; the steering wheel column (301) is connected to the vehicle frame or the steering wheel support through the steering wheel mounting bracket (302).

2. The steer-by-wire apparatus with mechanical limit according to claim 1, wherein: The upper end of the lead screw (104) is connected to the steering wheel (101) through a spline shaft (102); a deep groove ball bearing (103) is arranged between the spline shaft (102) and the steering wheel column (301).

3. The mechanically limited steer-by-wire steering wheel apparatus of claim 1, wherein: The bottom end of the lead screw (104) is connected to the rotating shaft of the absolute value encoder (109) through the shaft coupling (108).

4. The mechanically limited steer-by-wire steering wheel apparatus of claim 1, wherein: The worm gear reducer (106) is a non-self-locking worm gear reducer (106).

5. The mechanically limited steer-by-wire steering wheel apparatus of claim 1, wherein: The part of the steering wheel mounting bracket (302) connected to the steering wheel column (301) is provided with a semicircular groove, the circumferential surface of the steering wheel column (301) is connected to the semicircular groove of the steering wheel mounting bracket (302); the steering wheel mounting bracket (302) is provided with a slot-shaped hole, and the slot-shaped hole is fixedly connected to the vehicle frame or the steering wheel support through a bolt.

6. The mechanically limited steer-by-wire steering wheel apparatus of claim 1, wherein: The mounting connection mechanism (3) further comprises a connecting flange (304), the connecting flange (304) is divided into an upper piece and a lower piece, the upper piece is connected concentrically to the steering wheel column (301), the lower piece is connected to the worm gear reducer (106), and the upper piece and the lower piece of the connecting flange (304) are fixed together through bolts.

7. A steer-by-wire steering wheel arrangement with mechanical limits as claimed in claim 6, characterized in that: The worm gear reducer (106) is provided with mounting connection holes arranged at intervals along the circumferential surface, and a bolt tube (305) is arranged below the mounting connection holes; the worm gear reducer (106), the upper piece and the lower piece of the connecting flange (304), the bolt tube (305) and an encoder mounting flange (306) are connected through bolts.

8. The mechanically limited steer-by-wire steering wheel apparatus of claim 1, wherein: The rotating shaft of the absolute value encoder (109) is connected with the lead screw (104) through a flexible coupling.

9. The steer-by-wire steering wheel device with mechanical limit according to claim 8, characterized in that: The absolute value encoder (109) adopts an absolute position sensor. A controller mounting bracket (303) is connected on the steering wheel column (301), and the controller mounting bracket (303) is provided with a semicircular groove connected with the steering wheel column (301).

10. The mechanically limited steer-by-wire steering wheel apparatus of claim 8, wherein: ​

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