Steer-by-wire actuator and engineering vehicle

Abstract

A steer-by-wire actuator is used for outputting steering torque used for driving a steering mechanical structure according to a steering control signal from a vehicle ECU, and comprises a mounting bracket, a steering wheel, a steering wheel and a steering wheel, the at least two electric motors are mounted on the mounting bracket and comprise motor output ends, and the electric motors can be controlled by the steering control signal to output motion by the motor output ends; a transmission mechanism engaged with the motor output of each electric motor to convert the output of the electric motor to a desired steering torque for driving the steering mechanical structure; the output rotating part is connected with the transmission mechanism and used for outputting the steering torque to the steering mechanical structure, and the transmission mechanism is arranged on the side, close to the steering mechanical structure, of the electric motor. The utility model further relates to an engineering vehicle comprising the steering-by-wire actuator. According to the steer-by-wire actuator, the steering wheel column assembly can be conveniently installed, and the structure of the steer-by-wire actuator is compact.

Description

Technical Field

[0001] This utility model relates to the field of vehicle manufacturing design, specifically to the structural design of a vehicle steering system, and more specifically to a steer-by-wire actuator and an engineering vehicle including such a steer-by-wire actuator. Background Technology

[0002] Steer-by-Wire (SBW) system is an advanced vehicle steering technology that is increasingly being used in the steering control of various vehicles today.

[0003] In summary, steer-by-wire systems replace traditional mechanical connections (such as steering column and tie rod) with electronic signals and electric control to achieve vehicle steering. Therefore, steer-by-wire systems are one of the important directions for the development of vehicle electrification and intelligence.

[0004] Among steer-by-wire systems, the most common type is the so-called split-type steer-by-wire system.

[0005] Specifically, a split-type steer-by-wire system generally refers to separating the steering wheel module and the steering execution module, and connecting the two through electronic signals.

[0006] The steer-by-wire actuator is one of the core components of a steer-by-wire system.

[0007] A steer-by-wire actuator is used to translate commands from the ECU (Electronic Control Unit) into actual steering actions, driving the vehicle's steering mechanisms, such as the steering wheels, to achieve steering.

[0008] The steer-by-wire actuator can completely replace the mechanical connections in the traditional steering system (such as steering column, steering tie rod, etc.) and achieve steering control through motors and electronic signals.

[0009] However, in existing split-type steer-by-wire systems, in order to perform steering operations through electric control, such as driving the steering mechanical structure with an electric motor, many components such as motors, sensors, and reduction gears need to be installed in the steer-by-wire system, making it difficult to install various components of the steer-by-wire system in the limited space inside the vehicle, such as inside an engineering vehicle.

[0010] In particular, in order to better, for example, more precisely control the steering mechanism, it is often necessary to redundantly arrange more actuators in the steer-by-wire actuator, making it even more difficult to meet the aforementioned requirement of deploying a steer-by-wire system within the limited interior space of the vehicle. Utility Model Content

[0011] This invention therefore provides a steer-by-wire actuator that facilitates the installation of the steering column assembly and enables a more compact structure for the steer-by-wire actuator.

[0012] The steer-by-wire actuator of this invention is used to output steering torque for driving the steering mechanism based on steering control signals from the vehicle ECU.

[0013] The steer-by-wire actuator includes:

[0014] Mounting bracket;

[0015] At least two electric motors are mounted on the mounting bracket and include motor output terminals, and the electric motors are controllable by the steering control signal to output motion from the motor output terminals;

[0016] A transmission mechanism, which engages with the output terminals of each of the electric motors, to convert the motion output by the electric motors into a desired steering torque for driving the steering mechanism; and

[0017] An output rotating part, which engages with the transmission mechanism, is used to output the steering torque to the steering mechanical structure.

[0018] in,

[0019] The transmission mechanism is arranged on the side of the electric motor near the steering mechanism it drives.

[0020] By arranging transmission mechanisms such as drive gears on the side of the electric motor closer to the steering mechanism, the side of the electric motor away from the steering mechanism can be arranged openly. This allows components such as the column rod of the steering wheel column assembly to extend as far as possible into the mounting space between the electric motors, thus enabling the steer-by-wire actuator to be arranged more compactly in vehicles, especially engineering vehicles.

[0021] According to a preferred embodiment of the steer-by-wire actuator of this utility model, the electric motor is a rotary motor, and the output end of the motor outputs rotational motion; and wherein the transmission mechanism includes a planetary gear mechanism.

[0022] According to a preferred embodiment of the steer-by-wire actuator of the present invention, the planetary gear mechanism includes planetary gears that are rotatably fixed to the output ends of each of the motors and a sun gear located at the center position between each of the planetary gears, wherein the sun gear is rotatably engaged with the output rotating part.

[0023] According to a preferred embodiment of the steer-by-wire actuator of the present invention, it further includes a circuit board, which is arranged on the output end side of the electric motor, and the circuit board is provided with a sensor capable of sensing the output angle position of the electric motor and / or the transmission mechanism.

[0024] According to a preferred embodiment of the steer-by-wire actuator of the present invention, the circuit board is disposed between the electric motor and the planetary gear mechanism.

[0025] According to a preferred embodiment of the steer-by-wire actuator of the present invention, each of the electric motors is a brushless DC motor, and the output rotation axis of each electric motor is parallel to the rotation axis of the output rotation part.

[0026] According to a preferred embodiment of the steer-by-wire actuator of this utility model, the electric motor comprises only two identical electric motors.

[0027] According to a preferred embodiment of the steer-by-wire actuator of this utility model, the mounting bracket is further provided with a connector for mounting and fixing the vehicle's steering column assembly to the mounting bracket.

[0028] According to a preferred embodiment of the steer-by-wire actuator of the present invention, the connector is disposed at an intermediate position between the respective electric motors to allow the steering column assembly to extend between the respective electric motors.

[0029] The present invention also provides a vehicle, the vehicle including a steer-by-wire actuator according to any of the foregoing embodiments.

[0030] According to this utility model, the steer-by-wire actuator and the vehicle including the steer-by-wire actuator can facilitate the installation of the steering column assembly through a split and compact structural design. The compact structure of the steer-by-wire actuator makes the disassembly and maintenance of the steering column easier, which is conducive to meeting the driving needs for safe driving and comfortable handling within a limited installation space and to realizing the autonomous driving of engineering vehicles. Attached Figure Description

[0031] This document includes accompanying drawings to provide a further understanding of various embodiments. The drawings are incorporated in and form part of this specification.

[0032] The accompanying drawings illustrate various embodiments described herein and, together with the textual description, serve to explain the principles and operation of the claimed subject matter.

[0033] With reference to the above objectives, the technical features of this utility model are clearly described below, and its advantages are apparent from the following detailed description with reference to the accompanying drawings, which illustrate preferred embodiments of the utility model by way of example, without limiting the scope of the utility model.

[0034] In the attached image:

[0035] Figure 1 This is a front view schematic diagram of a preferred embodiment of the steer-by-wire actuator according to the present invention, wherein some components are shown in transparent form in order to better show the internal component structure of the steer-by-wire actuator.

[0036] Figure 2 yes Figure 1 The diagram shows a perspective view of a preferred embodiment of the steer-by-wire actuator, in which the optional steering column assembly and a portion of the steering mechanism are schematically shown in their mounting configuration.

[0037] List of reference numerals

[0038] 100 steer-by-wire actuator

[0039] 110 Mounting bracket

[0040] 120 electric motor

[0041] 121 Motor output terminal

[0042] 130 Transmission Mechanism

[0043] 131 Planetary Gears

[0044] 132 Sun Gear

[0045] 140 Output Rotary Unit

[0046] 150 circuit board

[0047] 160 connector

[0048] 200 Steering Column Assembly

[0049] 210 Flange mounting base

[0050] 300 Output Shaft Detailed Implementation

[0051] Embodiments of the present invention will now be described in detail, examples of which are shown in the accompanying drawings and described below.

[0052] Although this invention will be described in conjunction with exemplary embodiments, it should be understood that this specification is not intended to limit the invention to the embodiments illustrated. Rather, the invention is intended to cover not only these exemplary embodiments, but also various alternatives, modifications, equivalents, and other embodiments that may be included within the spirit and scope of the invention.

[0053] To facilitate explanation and precise definition of the technical solution of this utility model, the terms "upper", "lower", "inner" and "outer" are used to describe these features with reference to the positions of the features in the exemplary embodiments shown in the accompanying drawings.

[0054] The preferred embodiment of the steer-by-wire actuator 100 of this utility model will be described in detail below with reference to the accompanying drawings.

[0055] refer to Figure 1 The steer-by-wire actuator 100 is used to output steering torque (not shown) for driving the steering mechanism (not shown) according to the steering control signal from the vehicle ECU (not shown).

[0056] It is understandable that the steer-by-wire actuator 100 can receive steering control signals from the vehicle ECU via wired and / or wireless means using technologies common in the prior art.

[0057] Furthermore, in Figure 1 In the layout, the steering mechanism can be positioned, for example, below the directional steer-by-wire actuator 100 shown in the figure. It is also understood that the specific arrangement and construction of the steering mechanism can adopt various forms common in the art, as long as it can be directly or indirectly driven by torque output.

[0058] It is understood that the steer-by-wire actuator 100 of this utility model can be used in various vehicles such as passenger cars and off-road engineering vehicles, for example, as part of the steering system of engineering vehicles.

[0059] See also Figure 1 The steer-by-wire actuator 100 of this utility model includes: a mounting bracket 110, at least two electric motors 120, a transmission mechanism 130, and an output rotating part 140.

[0060] Mounting bracket 110 can be as follows Figure 1 It is presented in the form of a shell as shown, but it can also be presented in other forms according to actual needs, as long as it can meet the installation and fixing of the following components. Figure 1 The mounting bracket 110 shown is depicted using a transparent drawing method to reveal its internal structural arrangement. Furthermore... Figure 1The mounting bracket 110 is formed by connecting two halves. However, it is understood that the mounting bracket 110 may also include a one-piece mounting bracket or an assembled mounting bracket composed of more parts, which will not be elaborated here.

[0061] The electric motor 120 is mounted on the mounting bracket 110 and includes a motor output terminal 121. The electric motor 120 can be controlled by a steering control signal and output motion from the motor output terminal 121.

[0062] The above motor output terminal 121 is in Figure 1 The preferred embodiment shown is an output shaft. However, those skilled in the art will understand that as long as the motion output by the motor output end 121 can be transmitted downstream to achieve the power transmission effect, other common forms of motion output can also be adopted, including but not limited to translational motion, stepping output, etc., which will not be elaborated here.

[0063] It should also be pointed out that, although Figure 1 Only two electric motors 120 are shown in the figure, but those skilled in the art can also set more, such as three, four or five electric motors 120, according to actual needs to meet the requirements of power transmission and output torque control.

[0064] Finally, it should be noted that the term "electric motor 120" as used in this article is intended to encompass all common motors capable of producing mechanical motion through energy conversion via electrical or electronic input, and is not limited to electric motors in the narrow sense.

[0065] The transmission mechanism 130 engages with the motor output terminals 121 of each electric motor 120 to convert the motion output by the electric motor 120 into a desired steering torque for driving a steering mechanism (not shown in the figure). In other words, if... Figure 1 As shown, if there are only two electric motors 120, then the transmission mechanism 130 takes the motor output terminals 121 of both electric motors 120 as inputs, and converts the output motion of one or both of them into the desired steering torque to be output to the downstream steering mechanism as needed.

[0066] The transmission mechanism 130 can be directly mounted on the mounting bracket 110, or it can be arranged relative to the mounting bracket 110 via the electric motor 120, for example, the fixed housing of the electric motor 120.

[0067] The output rotating part 140 engages with the transmission mechanism 130 to output steering torque to the steering mechanism. In other words, the output rotating part 140 is the connection between the transmission mechanism 130 and the downstream steering mechanism. For example, the output rotating part 140 may be integrally formed with the output component of the transmission mechanism 130 or otherwise fixedly or movably connected. As another example, the output rotating part 140 may be integrally formed with the input component of the downstream steering mechanism or otherwise fixedly or movably connected.

[0068] It is understood that the output rotating part 140 may include a means for engaging such as Figure 2 The connector of the optional output shaft 300 shown may be, for example, a bushing, sleeve, or collar, or, for example, a spline, a pin, etc.

[0069] Exemplary, and may be referenced Figure 2 As shown, the output rotating part 140 can be splined to the output rotating shaft 300 (e.g., part of a steering mechanism).

[0070] According to the concept of this utility model, the transmission mechanism 130 is arranged on the side of the electric motor 120 close to the steering mechanism it drives, that is... Figure 1 The lower side of the 120 electric motor. It is understandable that... Figure 1 In this orientation, the space between the two electric motors 120 and, conceivably, more similarly vertically arranged electric motors 120 on the upper side of the electric motor 120 remains open upward to accommodate other components of the vehicle, especially engineering vehicles, such as part of the steering column assembly.

[0071] Preferably, the electric motor 120 can be a rotary motor, and the motor output terminal 121 outputs rotational motion. In this case, the transmission mechanism 130 may preferably include a planetary gear mechanism.

[0072] More preferably, the planetary gear mechanism includes planetary gears 131 rotatably fixed to each motor output end 121 and a sun gear 132 located at the center between each planetary gear 131, wherein the sun gear 132 is rotatably fixedly engaged with the output rotating part 140. For example, the gear ratio of the planetary gear mechanism can be 35:1. This gear ratio can be the overall transmission ratio of the entire planetary gear structure or the transmission ratio of a single pair of meshing gears. Those skilled in the art can set it according to actual needs, and it will not be elaborated here. Furthermore, other transmission ratios with different values ​​can also be set according to actual needs, and these will also not be elaborated here.

[0073] What is understandable is that Figure 1In the preferred embodiment, the planetary gear mechanism includes only two planetary gears 131 and one sun gear 132 to achieve a single-stage planetary gear transmission. However, it is also conceivable that the planetary gear mechanism may include more planetary gears and a sun gear to achieve a single-stage or more-stage planetary gear transmission. This will not be specifically described here, and those skilled in the art can reasonably design the specific type of the planetary gear mechanism according to actual needs.

[0074] In alternative or additional embodiments, each electric motor 120 may be a brushless DC motor, and the output rotation axis of each electric motor 120 is parallel to the rotation axis of the output rotating part 140. Figure 1 In the preferred embodiment, the output rotation axis of each electric motor 120 and the rotation axis of the output rotating part 140 are both arranged substantially vertically. However, those skilled in the art will understand that this arrangement is only a compact example, and they can adapt the axial directions of the electric motors 120 and the output rotating part 140 to suit the unique internal structure of vehicles, especially engineering vehicles, and these two can have parallel, intersecting, or even orthogonal rotation axes. Since these variations are readily conceived and practiced by those skilled in the art under the guidance of this application, they will not be described in detail here.

[0075] More preferably, the electric motor 120 may include only two identical electric motors 120. For example, the output torque of a single electric motor 120 may be 500 mNm.

[0076] according to Figure 1 In the preferred embodiment shown, the steer-by-wire actuator 100 may further include a circuit board 150, which is arranged on the output end side of the electric motor 120, and the circuit board 150 is provided with a sensor capable of sensing the output angle position of the electric motor 120.

[0077] It is conceivable that, in order to obtain the output angular position of the electric motor 120, a magnetic element can be provided on the rotating part at the output end of the electric motor 120, and a sensor capable of sensing changes in the magnetic field can be arranged at the corresponding position on the circuit board 150, so as to directly sense the output angular position of the electric motor 120, thereby indirectly sensing the output rotation angle.

[0078] More preferably, the relevant magnet can also be alternatively or additionally placed on the transmission mechanism 130, for example on or relative to the output sun gear 132 of the transmission mechanism 130, so that the output angle position of the transmission mechanism 130 can be sensed by placing sensors at the corresponding positions on the circuit board 150, thereby obtaining the output rotation angle more directly.

[0079] Here, as shown in the figure, preferably, the circuit board 150 may be disposed between the electric motor 120 and the planetary gear mechanism.

[0080] Continue to refer to Figure 1 According to the preferred embodiment shown, the mounting bracket 110 may also be provided with a connector 160 for mounting and fixing the vehicle's steering column assembly 200 to the mounting bracket 110, as shown in the reference. Figure 2 As shown in the image.

[0081] The connector 160 can be arranged in a generally vertical cylindrical shape to allow the cylindrical body to be inserted into it. Furthermore, as... Figure 2 As shown more clearly in the diagram, an exemplary steering column assembly may include a flange mounting base 210. It will be readily understood that the cross-sectional shape of this flange mounting base 210 will be larger, or even much larger, than the cross-section of the steering column.

[0082] More preferably, the connector 160 is positioned at the midpoint between the respective electric motors 120 to allow the steering column assembly 200 (see reference) to... Figure 2 (As shown) can extend between each electric motor 120, as referenced Figure 2 As shown in the image.

[0083] pass Figure 1 and Figure 2 The arrangement of the steer-by-wire actuator 100 shown in this invention enables the steering device to achieve a maximum steering wheel speed of approximately 200 revolutions per minute, and a maximum output speed of approximately 7,000 revolutions per minute achievable by the electric motor.

[0084] The preferred embodiments of the present invention have been described in detail above, but it should be understood that, if necessary, aspects of the embodiments can be modified to utilize aspects, features, and concepts from various patents, applications, and publications to provide other embodiments.

[0085] Given the detailed description above, various readily conceivable variations can be made to the embodiments described herein.

[0086] Generally speaking, the terminology used in the claims should not be considered as limited to the specific embodiments disclosed in the specification and claims, but should be understood to include all possible embodiments together with the full scope of equivalents enjoyed by the claims.

Claims

1. A steer-by-wire actuator (100) for outputting a steering torque for driving a steering mechanical structure according to a steering control signal from a vehicle ECU, wherein the steer-by-wire actuator (100) comprising: a mounting bracket (110); at least two electric motors (120) mounted on the mounting bracket (110) and comprising motor output ends (121), and being controllable by the steering control signal to output a motion from the motor output ends (121); a transmission mechanism (130) engaged with the motor output ends (121) of each of the electric motors (120) to convert the motion output by the electric motors (120) into a desired steering torque for driving a steering mechanical structure; and an output rotary part (140) engaged with the transmission mechanism (130) for outputting the steering torque to the steering mechanical structure, characterized in that the transmission mechanism (130) is arranged on a side of the electric motors (120) close to the driven steering mechanical structure.

2. The steer-by-wire actuator (100) according to claim 1, characterized in that the electric motors (120) are rotary motors and the motor output ends (121) output rotary motions; and in that the transmission mechanism (130) comprises a planetary gear mechanism.

3. The steer-by-wire actuator (100) according to claim 2, characterized in that the planetary gear mechanism comprises planetary gears (131) rotationally fixed with each of the motor output ends (121) and a sun gear (132) located at a central position between each of the planetary gears (131), and in that the sun gear (132) is rotationally fixedly engaged with the output rotary part (140).

4. The steer-by-wire actuator (100) according to claim 2, characterized in that further comprising a circuit board (150) arranged on an output end side of the electric motors (120) and provided with sensors capable of sensing an output angular position of the electric motors (120) and / or the transmission mechanism (130).

5. The steer-by-wire actuator (100) according to claim 4, characterized in that the circuit board (150) is provided between the electric motors (120) and the planetary gear mechanism.

6. The steer-by-wire actuator (100) according to claim 1, characterized in that each of the electric motors (120) is a brushless direct current motor and an output rotary axis of each of the electric motors (120) is parallel to a rotary axis of the output rotary part (140).

7. The steer-by-wire actuator (100) according to claim 1, characterized in that the electric motors (120) comprise only two identical electric motors (120).

8. The steer-by-wire actuator (100) according to claim 1, characterized in that a connector (160) is further provided on the mounting bracket (110) for mounting and fixing a steering column assembly (200) of the vehicle to the mounting bracket (110).

9. The steer-by-wire actuator (100) according to claim 8, characterized in that the connector (160) is arranged at a middle position between the electric motors (120) to allow the steering column assembly (200) to extend between the electric motors (120).

10. An engineering vehicle, characterized in that the engineering vehicle comprises a steer-by-wire actuator (100) according to any one of claims 1 to 9.

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