Limiting device, steering device and carrier

Abstract

The utility model relates to mechanical position limiting field discloses limiting device, steering device and carrier. Limiting device, include: output piece, is used for with drive part transmission connection and includes output part, fixed limiting piece includes stop portion, follow -up limiting piece, is located between output piece and fixed limiting piece, and with output piece coaxial arrangement, follow -up limiting piece is annular structure, and annular structure along the inside and outside of radial direction all are equipped with limiting portion, wherein, when output piece rotates, output part and follow -up limiting piece outside limit portion abut, and drive follow -up limiting piece to rotate, and follow -up limiting piece inside limit portion is used for with fixed limiting piece stop portion abut, to limit the rotation stroke of output piece. By setting follow -up limiting piece, output piece can drive follow -up limiting piece together to rotate a section through output part first, until the first limiting portion of follow -up limiting piece inside and stop portion form limit, even if software limit failure or torque overrun, still can reliably restrain the rotation range.

Description

Technical Field

[0001] This utility model relates to the field of mechanical limit technology, specifically to limit devices, steering devices, and carriers. Background Technology

[0002] The steer-by-wire system eliminates the mechanical connection between the steering control mechanism and the steering actuator, and transmits steering intentions through electrical signals to improve the flexibility of steering control and the overall performance of the vehicle.

[0003] To ensure steering stability and safety, it is usually necessary to limit the range of steering wheel rotation angle. Related technologies employ software limiting functions to restrict the steering wheel angle. However, when the software limiting function fails or the torque applied to the steering wheel exceeds the torque threshold, the steering wheel will lose its angular constraint, leading to oversteering and affecting the reliability of steering operations. Utility Model Content

[0004] In view of this, the present invention provides a limiting device, a steering device and a carrier to solve or improve the problem in the related art that the software limiting function fails or the steering wheel loses its angular constraint when the torque applied to the steering wheel exceeds the torque threshold.

[0005] In a first aspect, this utility model provides a limiting device, comprising:

[0006] An output component, used for transmission connection with a drive component and including an output section;

[0007] A fixed limiting member, used for fixed installation and including a stop portion;

[0008] At least one follower limiting member is provided between the output member and the fixed limiting member and is arranged coaxially with the output member. The follower limiting member is a ring structure and the ring structure is provided with limiting parts on the inner and outer sides along the radial direction.

[0009] When the output component rotates, the output part abuts against the limiting part on the outside of the follower limiting part, and drives the follower limiting part to rotate. The limiting part on the inside of the follower limiting part abuts against the stop part of the fixed limiting part to limit the rotation stroke of the output component.

[0010] In one optional embodiment, the two ends of the follower limiting member are rotatably connected to the output member and the fixed limiting member, respectively.

[0011] In one optional implementation, the follower limiting member includes:

[0012] A ring body, wherein limiting portions are provided on both the inner and outer sides of the ring body;

[0013] The connecting part is a ring-shaped structure. There are two connecting parts, which are respectively located at both ends of the ring body. The two connecting parts are rotatably connected to the fixed limiting member and the output member, respectively. The wall thickness of the connecting part is less than the wall thickness of the ring body.

[0014] In one optional embodiment, the surfaces of the fixed limiting member and the output member opposite each other are respectively provided with a first annular groove and a second annular groove, and the two ends of the follower limiting member are respectively rotatably disposed in the first annular groove and the second annular groove.

[0015] And / or, the number of the follower limiting members is at least two, and the at least two follower limiting members are arranged in a ring from the inside to the outside in a radial direction.

[0016] Secondly, this utility model also provides a steering device, comprising:

[0017] A rotating device, comprising a housing and an output shaft;

[0018] A planetary reduction mechanism includes a housing and a sun gear and a planet carrier disposed within the housing. The housing is connected to the machine housing, the sun gear is connected to the output shaft, and the planet carrier is used to connect to the connecting shaft of the steering wheel.

[0019] As described above, in the limiting device, the planetary structure forms the output component, and the housing or the outer shell constitutes the fixed limiting component.

[0020] In one optional embodiment, where the housing constitutes the fixed limiting member, the follower limiting member is disposed between the planetary carrier and the housing, and the end face of the planetary carrier near the housing is provided with a support portion that is rotatably connected to the housing, the support portion having an annular structure, and the follower limiting member being disposed on the inner side of the support portion.

[0021] In one optional embodiment, where the outer shell constitutes the fixed limiting member, the inner wall of the outer shell is provided with a collar, the collar being disposed on the side of the planetary carrier opposite to the rotating device, and the follower limiting member being disposed between the collar and the planetary carrier.

[0022] In one optional embodiment, the planetary carrier includes a first plate and a second plate arranged and connected along the axial direction, with a rotatable planetary gear between the first plate and the second plate that meshes with the sun gear. The first plate has a clearance opening for the output shaft to pass through, and the second plate is connected to the connecting shaft. The first plate or the second plate constitutes the output component.

[0023] In one alternative embodiment, the housing includes a first cylindrical body and a flange, the flange being provided at one end of the first cylindrical body near the planetary reduction mechanism, the flange being connected to the outer casing, and the output shaft passing through the flange and entering the outer casing;

[0024] And / or, the outer casing includes a second cylindrical body and an end cap, one end of the second cylindrical body is connected to the housing, and the other end is provided with the end cap, the end cap being provided with a through hole through which the connecting shaft can pass;

[0025] And / or, the steering device further includes a detection device disposed between the connecting shaft and the planetary carrier, and used to detect the torque applied to the connecting shaft.

[0026] Thirdly, this utility model also provides a vehicle, including the limiting device or the steering device as described above.

[0027] The limiting device provided by this utility model, by setting a follower limiting component, allows the output component to drive the follower limiting component to rotate together for a period of time through the output part until the first limiting part on the inner side of the follower limiting component and the stop part form a limit. The mechanical structure realizes the hard limitation of the steering wheel angle. Even if the software limit fails or the torque exceeds the limit, it can still reliably constrain the rotation range and improve safety.

[0028] In addition, by designing the relative phase angle of the limiting protrusion, the output component can have a larger rotational stroke, thereby achieving a wider range of steering wheel angle control to adapt to the steering stroke requirements of different vehicles.

[0029] The steering device and vehicle provided by this utility model include the limiting device of this utility model, and therefore also include all the advantages of the limiting device mentioned above. Attached Figure Description

[0030] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0031] Figure 1 A schematic diagram of the steering device provided in an embodiment of this utility model;

[0032] Figure 2 for Figure 1 The diagram shown is an exploded view of the steering mechanism.

[0033] Figure 3A schematic diagram of the limiting device provided in an embodiment of this utility model;

[0034] Figure 4 for Figure 3 BB section view;

[0035] Figure 5 An exploded view of the structure of a limiting device provided in an embodiment of this utility model;

[0036] Figure 6 for Figure 5 Other perspective views of the view shown;

[0037] Figure 7 This is a schematic diagram of another limiting device provided in an embodiment of the present utility model;

[0038] Figure 8 A schematic diagram of the planetary carrier provided in an embodiment of this utility model;

[0039] Figure 9 for Figure 8 The exploded view of the planetary carrier structure shown is shown.

[0040] Figure 10 An exploded view of the rotating device provided in an embodiment of this utility model;

[0041] Figure 11 This is a schematic diagram of the installation state of the detection device provided in an embodiment of the present utility model;

[0042] Figure 12 for Figure 11 The exploded view of the structure shown.

[0043] Explanation of reference numerals in the attached figures:

[0044] 1. Rotating device; 101. Housing; 1011. First cylinder; 1012. Flange; 1013. Mounting shell; 102. Output shaft; 103. Circuit board; 104. Rotor; 105. Stator; 106. Angle detection device; 107. Cover;

[0045] 2. Planetary reduction mechanism; 201. Outer shell; 2011. Second cylinder; 2012. End cap; 202. Planetary carrier; 2021. First support part; 2022. Second support part; 2022a. Through opening; 2023. First plate; 2023a. Clearance opening; 2024. Second plate; 2025. Mounting flange; 203. Planetary gear; 204. Mounting protrusion; 205. Connecting protrusion; 206. Sun gear; 207. Pivot; 208. Support block;

[0046] 3. Connecting shaft; 301. Receiving groove;

[0047] 4. Detection device; 401. Magnetic ring; 402. Main body; 403. Torsion bar;

[0048] 5. First bearing; 6. Second bearing; 7. Collar;

[0049] 8. Limiting device; 801. Fixed limiting component; 8011. First annular groove; 8012. Stopping part; 802. Output component; 8021. Second annular groove; 8022. Output part; 803. Follow-up limiting component; 8031. First limiting part; 8032. Second limiting part; 8033. Ring body; 8034. Connecting part. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0051] To ensure steering stability and safety, it is usually necessary to limit the range of steering wheel rotation angle. Related technologies employ software limiting functions to restrict the steering wheel angle. However, when the software limiting function fails or the torque applied to the steering wheel exceeds the torque threshold, the steering wheel will lose its angular constraint, leading to oversteering and affecting the reliability of steering operations.

[0052] In order to solve or improve the problem that the software limit function fails or the steering wheel loses its angular constraint when the torque applied to the steering wheel exceeds the torque threshold in related technologies, this utility model provides a limit device 8, a steering device and a vehicle.

[0053] The following is combined with Figures 1 to 12 The following describes the limiting device 8 provided in the embodiments of this utility model.

[0054] Specifically, the limiting device 8 is applicable to the steering device and includes a fixed limiting member 801, an output member 802, and a follow-up limiting member 803.

[0055] The output component 802 is used for transmission connection with a drive component, which may be a motor; that is, the output component 802 is used to connect between the drive component and the steering wheel. The output component 802 includes an output section 8022. For example, the output component 802 may be part of the planetary carrier 202, which will be discussed in detail below.

[0056] The fixed limiting member 801 is used for fixed installation, and the fixed limiting member 801 includes a stop portion 8012. For example, the fixed limiting member 801 can be part of the housing 101 of the motor in the steering device, or it can be part of the housing 201 in the planetary reduction mechanism 2.

[0057] Optionally, the stop portion 8012 or the output portion 8022 can be a protrusion or a bump. The stop portion 8012 can be provided on the end face of the fixed limiting member 801 facing the output member 802, and the output portion 8022 can be provided on the end face of the output member 802 facing the fixed limiting member 801.

[0058] There is at least one follower limiting member 803, which is disposed between the output member 802 and the fixed limiting member 801, and is arranged coaxially with the output member 802. The follower limiting member 803 is configured as a ring structure, and the ring structure is provided with limiting portions on both the inner and outer sides in the radial direction.

[0059] Optionally, the limiting portion on the inner periphery of the follower limiting member 803 is a first limiting portion 8031, and the limiting portion on the outer periphery is a second limiting portion 8032. For example, the first limiting portion 8031 ​​is configured as an arc-shaped structure extending circumferentially along the follower limiting member 803. For example, the second limiting portion 8032 is configured as an arc-shaped structure extending circumferentially along the follower limiting member 803.

[0060] When the output member 802 rotates, the output part 8022 abuts against the limiting part on the outside of the follower limiting member 803, and drives the follower limiting member 803 to rotate. The limiting part on the inside of the follower limiting member 803 abuts against the stop part 8012 of the fixed limiting member 801 to limit the rotation stroke of the output member 802.

[0061] In this embodiment, reference is made to Figure 3 and Figure 4 As shown, during the rotation of the output component 802, the output part 8022 rotates synchronously with the output component 802. When the output part 8022 abuts against the second limiting part 8032, a limiting relationship is formed, causing the follower limiting member 803 to rotate synchronously with the output component 802 until the first limiting part 8031 ​​on the inner side of the follower limiting member 803 abuts against the stop part 8012, forming a limiting relationship, causing the output component 802 to stop rotating.

[0062] When the output component 802 rotates in the reverse direction, the output part 8022 first disengages from the second limiting part 8032, and then rotates until it abuts against the other side of the second limiting part 8032, forming a limiting relationship. This causes the follower limiting member 803 to rotate in the reverse direction with the output component 802. The rotation stops when the first limiting part 8031 ​​inside the follower limiting member 803 abuts against the other side of the stop part 8012, forming a limiting relationship.

[0063] With this configuration, by setting up the follower limiter 803, the output unit 802 can drive the follower limiter 803 to rotate together for a period of time through the output part 8022 until the first limiter part 8031 ​​on the inner side of the follower limiter 803 and the stop part 8012 form a limit. This allows for the use of a mechanical structure to achieve a rigid limit on the steering wheel angle. Even if the software limit fails or the torque exceeds the limit, the rotation range can still be reliably constrained, thus improving safety.

[0064] In addition, by designing the relative phase angle of the limiting protrusion, the output component 802 can have a larger rotational stroke, thereby achieving a wider range of steering wheel angle control to adapt to the steering stroke requirements of different vehicles.

[0065] In some embodiments provided by this utility model, the two ends of the follower limiting member 803 are rotatably connected to the fixed limiting member 801 and the output member 802, respectively, so that the fixed limiting member 801 and the output member 802 jointly support the follower limiting member 803. For example, the follower limiting member 803 is axially disposed between the fixed limiting member 801 and the output member 802.

[0066] In this embodiment, by rotatably connecting the two ends of the follower limit member 803 to the fixed limit member 801 and the output member 802 respectively, the radial position of the follower limit member 803 can be restricted, preventing the follower limit member 803 from shifting or swaying radially, so that the follower limit member 803 is always in the designed position, thereby enabling stable transmission with the stop part 8012, the output part 8022 or the adjacent follower limit member 803.

[0067] In addition, both ends of the follower limiter 803 are effectively supported, which can improve the rigidity of the follower limiter 803 compared to the scenario where only one end of the follower limiter 803 is supported, and avoid the problem of deformation of the follower limiter 803.

[0068] In some embodiments provided by this utility model, the surfaces of the fixed limiting member 801 and the output member 802 opposite to each other are respectively provided with a first annular groove 8011 and a second annular groove 8021. For example, the fixed limiting member 801 is provided with a first annular groove 8011 and the output member 802 is provided with a second annular groove 8021.

[0069] Correspondingly, the two ends of the follower limiting member 803 are rotatably disposed in the first annular groove 8011 and the second annular groove 8021, respectively. That is, one end of the follower limiting member 803 is rotatably disposed in the first annular groove 8011 and the other end is rotatably disposed in the second annular groove 8021.

[0070] In this embodiment, by rotatably inserting both ends of the follower limiting member 803 into the corresponding annular groove, the radial position of the follower limiting member 803 can be restricted, preventing the follower limiting member 803 from shifting or wobbling radially, so that the follower limiting member 803 is always in the designed position, thereby enabling stable transmission with the stop part 8012, the output part 8022 or the adjacent follower limiting member 803.

[0071] In addition, both ends of the follower limiter 803 are effectively supported by the annular groove. Compared with the scenario where only one end of the follower limiter 803 is supported, this can improve the rigidity of the follower limiter 803 and avoid the problem of deformation of the follower limiter 803.

[0072] Of course, it is not limited to rotating the follower limiting member 803 through the annular groove. For example, in some embodiments not shown, annular protrusions may be provided on the fixed limiting member 801 or the output member 802. For example, the follower limiting member 803 may be rotatably fitted inside or outside the protrusion, thereby forming a rotatable connection with the fixed limiting member 801 or the output member 802.

[0073] refer to Figure 6 and Figure 8 As shown, in some embodiments provided by this utility model, the follower limiting member 803 includes a ring body 8033 and a connecting part 8034.

[0074] The ring body 8033 has a ring-shaped structure, and limiting portions are provided on both the inner and outer sides of the ring body 8033. Optionally, the first limiting portion 8031 ​​is provided on the inner circumference of the ring body 8033, and the second limiting portion 8032 is provided on the outer circumference of the ring body 8033.

[0075] The connecting portion 8034 has a ring-shaped structure. There are two connecting portions 8034, which are respectively located at both ends of the ring body 8033. The two connecting portions 8034 are rotatably connected to the fixed limiting member 801 and the output member 802, respectively. That is, the two connecting portions 8034 extend into the first annular groove 8011 and the second annular groove 8021, respectively. It can be understood that the two connecting portions 8034 are coaxially arranged. The wall thickness of the connecting portion 8034 is less than the wall thickness of the ring body 8033.

[0076] In this embodiment, the connecting part 8034 has a thinner wall thickness, which can more flexibly adapt to the first annular groove 8011 and the second annular groove 8021, reduce the assembly gap, and improve the stability of the follower limiting member 803 when it rotates.

[0077] In addition, the thicker wall of the ring 8033 can enhance the structural strength of the ring 8033, ensure that the follower limit member 803 can withstand a larger torque when limiting, and extend the service life of the limit device 8.

[0078] In addition, the two connecting parts 8034 extend into the corresponding annular grooves, which can not only form a two-way axial positioning of the follower limit member 803 to prevent the follower limit member 803 from axially shifting during rotation and ensure the positioning accuracy, but also limit the radial position of the follower limit member 803 and ensure that both ends of the follower limit member 803 are effectively supported.

[0079] As described above, the first limiting part 8031 ​​of the follower limiting member 803 can directly contact the stop part 8012 to form a limiting relationship. Of course, the inner side of the follower limiting member 803 can also be fitted with a follower limiting member 803, that is, the first limiting part 8031 ​​of the follower limiting member 803 can indirectly form a limiting relationship with the first support part 2021 through the inner follower limiting member 803.

[0080] Similarly, the second limiting part 8032 of the follower limiting member 803 can directly contact the output part 8022 to form a limiting relationship. Of course, the follower limiting member 803 can also be fitted on the outside of the follower limiting member 803, that is, the second limiting part 8032 of the follower limiting member 803 can indirectly form a limiting relationship with the second support part 2022 through the outer follower limiting member 803.

[0081] Specifically, refer to Figures 4-6 As shown, for example, in some embodiments provided by this utility model, the number of follower limiting members 803 is at least two, and the at least two follower limiting members 803 are arranged in a ring from the inside to the outside in a radial direction. For example, each follower limiting member 803 is provided with a first limiting part 8031 ​​and a second limiting part 8032. Optionally, the stop part 8012 is provided on the inner side of the innermost follower limiting member 803, and the output part 8022 is provided on the outer side of the outermost follower limiting member 803.

[0082] In this embodiment, each stage of the follower limiter 803 contributes a segment of rotational stroke. Through multi-stage linkage accumulation, the total rotation angle of the output component 802 can be significantly increased, thereby meeting the large stroke steering requirements. For example, the output component 802 is part of the planetary carrier 202, which is connected to the steering wheel, thereby enabling the steering wheel to turn with a large stroke, such as turning the steering wheel one or one and a half turns to the left and right.

[0083] For example, refer to Figure 4 The example shown is of two follower limiters 803. Of course, the number of follower limiters 803 can also be three or more.

[0084] Overall, the innermost follower limiting member 803 has a first limiting part 8031 ​​on its inner periphery, which forms a limiting position with the stop part 8012. A second limiting part 8032 is provided on its outer periphery, which forms a limiting position with the follower limiting member 803 of the outermost layer.

[0085] The intermediate layer's follower limiting member 803 has a first limiting portion 8031 ​​on its inner peripheral side, which is used to limit the movement of the follower limiting member 803 in the inner layer. The outer peripheral side has a second limiting portion 8032, which is used to limit the movement of the follower limiting member 803 in the outer layer.

[0086] The outermost follower limiting member 803 has a first limiting part 8031 ​​on its inner circumference side, which is used to form a limit with the second limiting part 8032 of the inner follower limiting member 803. The outer circumference side has a second limiting part 8032, which is used to form a limit with the output part 8022.

[0087] In some embodiments provided by this utility model, at least one of the first limiting part 8031, the second limiting part 8032, the stop part 8012, and the output part 8022 is provided with a weight-reducing groove, and the depth direction of the weight-reducing groove is consistent with the axial direction of the follower limiting member 803. For example, the weight-reducing groove can be provided through the first limiting part 8031 ​​and the second limiting part 8032.

[0088] In this embodiment, the weight-reducing groove can reduce the overall weight of the limiting device 8, which helps to reduce the energy consumption and operational burden of the steering device. In addition, a well-designed weight-reducing groove can reduce the amount of material used without affecting the overall structural strength, thereby reducing production costs.

[0089] In addition, reducing the weight of the limit device 8 can reduce the inertia of the rotating parts, which is conducive to achieving more sensitive and precise steering wheel control, thereby improving the accuracy and response speed of steering operation.

[0090] This utility model also provides a steering device in its embodiments.

[0091] Specifically, the steering device includes a rotating device 1, a planetary reduction mechanism 2, and a limiting device 8 as described above.

[0092] The rotating device 1 includes a housing 101 and an output shaft 102. Optionally, the rotating device 1 is a motor.

[0093] The planetary reduction mechanism 2 includes a housing 201, a sun gear 206, and a planet carrier 202.

[0094] Specifically, the sun gear 206 and the planet carrier 202 are housed within the housing 201. The housing 201 is connected to the casing 101, for example, by screwing. The sun gear 206 is connected to the output shaft 102, for example, by mounting the sun gear 206 onto the output shaft 102 and interlocking, keying, or welding it to the output shaft 102. The planet carrier 202 is used to connect to the steering wheel's connecting shaft 3, allowing the steering wheel to transmit power via the connecting shaft 3 and the planet carrier 202.

[0095] Based on the relevant principles of planetary deceleration, it is known that the inner wall of the outer shell 201 is provided with a gear ring, the planet carrier 202 is provided with a rotatable planet gear 203, and the planet gear 203 meshes between the sun gear 206 and the gear ring.

[0096] Accordingly, the planetary carrier 202 constitutes the output component 802 in the limiting device 8, and the housing 101 or the outer casing 201 constitutes the fixed limiting component 801 in the limiting device 8.

[0097] In this embodiment, the steering device includes the limiting device 8, and thus includes all the advantages of the limiting device 8 mentioned above, so it will not be described in detail here. In addition, the rotating device 1 can output resistance to the steering wheel through the planetary reduction mechanism 2 and the connecting shaft 3 to simulate the real steering feel.

[0098] In some embodiments provided by this utility model, the rotating device 1 includes a motor. The housing 101 includes a first cylindrical body 1011 and a flange 1012. The first cylindrical body 1011 is provided with a flange 1012 at one end near the planetary reduction mechanism 2. The flange 1012 is connected to the outer shell 201, and the output shaft 102 passes through the flange 1012 and enters the outer shell 201.

[0099] Specifically, the first cylinder 1011 has an opening at one end near the planetary reduction mechanism 2. A flange 1012 is connected to the first cylinder 1011 and closes the opening. The flange 1012 is also connected to the outer casing 201 of the planetary reduction mechanism 2. The first cylinder 1011 contains a stator 105 and a rotor 104. One end of the output shaft 102 is connected to the rotor 104, and the other end passes through the flange 1012 and is connected to the sun gear 206.

[0100] Furthermore, the outer wall of the first cylinder 1011 is provided with a mounting shell 1013, for example, the two can be configured as a welded integral structure or a cast integral structure. The end of the first cylinder 1011 away from the planetary carrier 202 is located inside the mounting shell 1013, and the end of the output shaft 102 away from the sun gear 206 extends out of the first cylinder 1011 and enters the mounting shell 1013, and the output shaft 102 is provided with an angle detection device 106, such as an encoder. A circuit board 103 is provided inside the mounting shell 1013, and the circuit board 103 is electrically connected to the angle detection device 106 and the stator 105.

[0101] In this embodiment, the angle detection device 106 can detect the position and speed of the rotor 104 in real time. The circuit board 103 is placed inside the mounting housing 1013 and directly connected to the angle detection device 106 and the stator 105. This can shorten the circuit, reduce interference, improve the system's anti-electromagnetic interference capability, and make the operation more stable.

[0102] Furthermore, the rotating device 1 also includes a cover 107, and the mounting shell 1013 has an opening at one end away from the planetary reduction mechanism 2. The cover 107 is connected to the mounting shell 1013 and closes the opening.

[0103] In some embodiments provided by this utility model, the outer shell 201 includes a second cylindrical body 2011 and an end cap 2012. One end of the second cylindrical body 2011 is connected to the flange 1012, and the other end is provided with the end cap 2012.

[0104] Specifically, one end of the second cylinder 2011 is connected to and closed by the flange 1012 of the housing 101, and the other end of the second cylinder 2011 is connected to and closed by the end cover 2012. The end cover 2012 is provided with a through hole through which the connecting shaft 3 can pass, and the connecting shaft 3 can pass through the end cover 2012 and be connected to the planetary carrier 202.

[0105] In some embodiments provided by this utility model, the planetary carrier 202 includes a first plate 2023 and a second plate 2024. The first plate 2023 and the second plate 2024 are arranged axially and connected, for example, they can be screwed or welded together.

[0106] A rotatable planetary gear 203 is provided between the first plate 2023 and the second plate 2024, which meshes with the sun gear 206. The first plate 2023 is provided with a clearance opening 2023a for the output shaft 102 to pass through. The second plate 2024 is connected to the connecting shaft 3. The first plate 2023 or the second plate 2024 constitutes the output component 802.

[0107] Optionally, a support block 208 is provided on the end face of the first plate 2023 facing the second plate 2024, and the support block 208 abuts against the second plate 2024 to form a gap between the first plate 2023 and the second plate 2024. Of course, the support block 208 can also be provided on the second plate 2024, or both the first plate 2023 and the second plate 2024 can be provided with support blocks 208.

[0108] Optionally, a pivot 207 can be provided on the end face of the first plate 2023 facing the second plate 2024. The second plate 2024 has a insertion hole, into which the pivot 207 is inserted, and the planetary gear 203 is rotatably mounted on the pivot 207. Of course, the reverse is also possible.

[0109] Optionally, the end face of the first plate 2023 facing away from the second plate 2024 is provided with a first support portion 2021, and / or the end face of the second plate 2024 facing away from the first plate 2023 is provided with a second support portion 2022. For example, both the first support portion 2021 and the second support portion 2022 are rotatably connected to the inner wall of the outer casing 201. The first support portion 2021 or the second support portion 2022 is provided with a ring structure.

[0110] In this embodiment, the first support portion 2021 and the second support portion 2022 are respectively disposed on the opposite sides of the first plate 2023 and the second plate 2024, thereby providing support for both ends of the planetary carrier 202, which can effectively suppress deformation and abnormal noise of the planetary carrier 202.

[0111] refer to Figure 8 and Figure 9 As shown, in some embodiments provided by this utility model, the steering device further includes a first bearing 5.

[0112] The first bearing 5 is fitted between the outer side of the first support portion 2021 and the inner wall of the outer casing 201. For example, the inner ring of the first bearing 5 is fitted onto the outer side of the first support portion 2021, and the outer ring of the first bearing 5 is connected to the inner wall of the outer casing 201.

[0113] In this embodiment, the first bearing 5 is located between the first support 2021 and the inner wall of the outer shell 201, realizing rolling friction between the two, which can greatly reduce frictional resistance and wear, improve the smoothness of the planetary carrier 202 rotation, and reduce energy loss.

[0114] refer to Figure 8 and Figure 9 As shown, in some embodiments provided by this utility model, the steering device further includes a second bearing 6.

[0115] The second bearing 6 is fitted between the outer side of the second support portion 2022 and the inner wall of the outer casing 201. For example, the inner ring of the second bearing 6 is fitted onto the outer side of the second support portion 2022, and the outer ring of the second bearing 6 is connected to the inner wall of the outer casing 201.

[0116] In this embodiment, the second bearing 6 is located between the second support 2022 and the inner wall of the outer shell 201, realizing rolling friction between the two, which can greatly reduce frictional resistance and wear, improve the smoothness of the planetary carrier 202 rotation, and reduce energy loss.

[0117] refer to Figure 8 and Figure 9 As shown, in some embodiments provided by this utility model, the steering device further includes a collar 7.

[0118] The collar 7 is connected to the inner wall of the housing 201. For example, the collar 7 can be connected to the housing 201 by a set screw, or the collar 7 can be welded to the inner wall of the housing 201. The collar 7 is rotatably connected to the first support part 2021 or the second support part 2022. Specifically, the collar 7 can be rotatably connected to the corresponding support part through a corresponding bearing.

[0119] In this embodiment, when the distance between the first support portion 2021 or the second support portion 2022 and the inner wall of the outer shell 201 is large, a larger bearing is required, resulting in higher costs. However, by setting the collar 7, the distance between the first support portion 2021 or the second support portion 2022 and the inner wall of the outer shell 201 can be reduced, eliminating the need for a large bearing and reducing costs.

[0120] refer to Figures 4-6 As shown, in some embodiments of this utility model, with the housing 101 constituting a fixed limiting member 801, a follower limiting member 803 is disposed between the planetary carrier 202 and the housing 101. A support portion is provided on the end face of the planetary carrier 202 near the housing 101. The support portion is rotatably connected to the housing 201. The support portion has a ring-shaped structure, and the follower limiting member 803 is disposed on the inner side of the support portion. The support portion is the first support portion 2021 mentioned above.

[0121] In this embodiment, the follower limiting member 803 is provided inside the first support part 2021, which can make full use of the space inside the first support part 2021, making the overall structure more compact.

[0122] Specifically, the support is located on the end face of the first plate 2023 near the rotating device 1. The follower limiting member 803 is located between the first plate 2023 of the planetary carrier 202 and the flange 1012 of the housing 101, that is, the flange 1012 constitutes the fixed limiting member 801. The end face of the flange 1012 is provided with a first annular groove 8011 and a stop portion 8012. The first plate 2023 constitutes the output member 802. The first plate 2023 is provided with a second annular groove 8021. The inner circumferential side of the support is provided with an output portion 8022.

[0123] Of course, the follow-up limiting component 803 is not limited to being located between the planetary carrier 202 and the housing 101.

[0124] For example, refer to Figure 7 As shown, in some embodiments provided by this utility model, when the outer shell 201 constitutes a fixed limiting member 801, the inner wall of the outer shell 201 is provided with a collar 7. The collar 7 is located on the side of the planetary carrier 202 away from the rotating device 1, and the follower limiting member 803 is disposed between the collar 7 and the planetary carrier 202. Specifically, the collar 7 constitutes the fixed limiting member 801, and is provided with a first annular groove 8011 and a stop portion 8012. The planetary carrier 202 constitutes the output member 802, and is provided with a second annular groove 8021 and an output portion 8022.

[0125] In this embodiment, the limiting device 8 can be located away from the rotating device 1 and the transmission center area, with a more open space, which facilitates the assembly, adjustment and replacement of the limiting device 8.

[0126] Optionally, the collar 7 can be welded to the housing 201 or connected by a set screw, or it can be integrated with the housing 201.

[0127] Optionally, the follower limiting member 803 can be disposed between the collar 7 and the second plate 2024 of the planetary carrier 202, that is, the second plate 2024 constitutes the output member 802. Or, as Figure 7 As shown, the planetary carrier 202 has a mounting protrusion 204 at one end away from the rotating device 1, and a mounting flange 2025 is provided on the outer periphery of the mounting protrusion 204. The mounting flange 2025 is located on the side of the collar 7 away from the rotating device 1. A limiting device 8 is located between the mounting flange 2025 and the collar 7, that is, the mounting flange 2025 constitutes the output component 802. For example, the mounting protrusion 204 can be connected to the second plate 2024 or be an integral structure.

[0128] refer to Figure 11 and Figure 12 As shown, in some embodiments provided by this utility model, the steering device further includes a detection device 4.

[0129] The detection device 4 is located between the connecting shaft 3 and the planetary carrier 202 and is used to detect the torque on the connecting shaft 3.

[0130] In this embodiment, by detecting the torque, the controller can dynamically adjust the resistance output by the rotating device 1 to achieve a more realistic and delicate steering feel simulation, enhancing the immersive experience. The detection device 4 is located directly on the power transmission path, and can obtain the actual torque on the steering wheel side in real time and accurately, providing reliable feedback to the control system.

[0131] refer to Figure 11 and Figure 12 As shown, in some embodiments provided by this utility model, the detection device 4 includes a magnetic ring 401, a main body 402, and a torsion bar 403.

[0132] The planetary carrier 202 has a mounting protrusion 204 on its end face away from the housing 101. For example, the mounting protrusion 204 is located on the end face of the second plate 2024 away from the first plate 2023. The magnetic ring 401 is fitted onto the mounting protrusion 204.

[0133] The main body 402 is fitted onto the outside of the connecting shaft 3 and is positioned opposite to the magnetic ring 401. The main body 402 is used to detect the rotation angle of the magnetic ring 401. For example, the main body 402 can be a Hall sensor.

[0134] One end of the torsion bar 403 is connected to the connecting shaft 3, and the other end is connected to the mounting protrusion 204.

[0135] In this embodiment, when the user rotates the steering wheel, the connecting shaft 3 drives the planetary carrier 202 to rotate via the torsion bar 403. The torsion bar 403 twists during torque transmission, causing a slight relative rotation between the connecting shaft 3 and the mounting protrusion 204. The main body 402 can calculate the rotation angle of the connecting shaft 3 relative to the mounting protrusion 204 by detecting the rotation angle of the magnetic ring 401, thereby obtaining the rotation angle of the torsion bar 403.

[0136] Since the rotation angle of the torsion bar 403 is proportional to the torque it receives, the torque value transmitted by the torsion bar 403 can be obtained, and finally the torque received by the connecting shaft 3 can be obtained.

[0137] In this embodiment, relative rotation is generated by the elastic deformation of the torsion bar 403. Combined with the angle detection of the magnetic ring 401 and the main body 402, the torque signal is converted into a measurable angle signal. The torque is accurately calculated by utilizing the proportional relationship between the two. The principle is simple and the measurement is stable.

[0138] refer to Figure 11 and Figure 12 As shown, in some embodiments of this utility model, the second support portion 2022 is an annular structure and is disposed on the end face of the planetary carrier 202 away from the housing 101. For example, the second support portion 2022 is disposed on the end face of the second plate 2024 away from the first plate 2023. The mounting protrusion 204 is disposed on the inner side of the second support portion 2022, and the second support portion 2022 is provided with a radially penetrating through-hole 2022a for the welding head or welding laser to pass through and weld the magnetic ring 401.

[0139] In this embodiment, the mounting protrusion 204 is placed inside the second support portion 2022, improving space utilization and making the layout of the magnetic ring 401 more compact. In addition, the magnetic ring 401 and the mounting protrusion 204 are arranged to coincide in the axial direction, which can save axial space and improve the compactness of the steering device in the axial direction.

[0140] In addition, the magnetic ring 401 can be fixed by welding after being installed on the mounting protrusion 204, without the need for additional fasteners to fix the magnetic ring 401. This reduces the number of parts, lowers assembly complexity, and improves compactness.

[0141] refer to Figure 11 and Figure 12 As shown, in some embodiments of this utility model, the end face of the mounting protrusion 204 facing away from the planetary carrier 202 is provided with a connecting protrusion 205 for connecting to the torsion bar 403. For example, the connecting protrusion 205 is provided with a connecting hole facing away from the mounting protrusion 204, the torsion bar 403 extends into the connecting hole and is pin-connected to the connecting protrusion 205.

[0142] The connecting shaft 3 has a receiving groove 301 at one end near the planetary carrier 202, which can accommodate the connecting protrusion 205. There is a gap between the side wall of the receiving groove 301 and the connecting protrusion 205. The main body 402 is fitted onto the outside of the receiving groove 301. For example, the bottom of the receiving groove 301 has a connecting hole, and the end of the torsion bar 403 facing away from the connecting protrusion 205 extends into the connecting hole and is pinned to the connecting shaft 3.

[0143] In this embodiment, the design of the connecting protrusion 205 being embedded in the receiving groove 301 and the main body 402 being fitted on the outside of the receiving groove 301 allows the torsion bar 403, the connecting shaft 3, and the main body 402 to be arranged radially, thereby significantly reducing the axial space occupied and improving the compactness of the overall structure.

[0144] Optionally, the connecting protrusion 205 is disposed inside the housing 201, that is, the connecting shaft 3 passes through the end cap 2012 of the housing 201 and is inserted into the connecting protrusion 205.

[0145] This utility model also provides a vehicle, such as, but not limited to, vehicles and ships.

[0146] The vehicle includes the limiting device 8 or the steering device as described above. Because the vehicle incorporates the steering device provided by this invention, it also possesses all the advantages of the aforementioned steering device.

[0147] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A limiting device, characterized in that, include: Output component (802), for transmission connection with drive component and including output part (8022); A fixed limiting member (801) is used for fixed installation and includes a stop (8012); At least one follower limiting member (803) is provided between the output member (802) and the fixed limiting member (801) and is arranged coaxially with the output member (802). The follower limiting member (803) is a ring structure and the ring structure is provided with limiting parts on the inner and outer sides along the radial direction. When the output member (802) rotates, the output part (8022) abuts against the limiting part on the outside of the follower limiting member (803) and drives the follower limiting member (803) to rotate. The limiting part on the inside of the follower limiting member (803) abuts against the stop part (8012) of the fixed limiting member (801) to limit the rotation stroke of the output member (802).

2. The limiting device according to claim 1, characterized in that, The two ends of the follower limiting member (803) are rotatably connected to the output member (802) and the fixed limiting member (801), respectively.

3. The limiting device according to claim 1, characterized in that, The follow-up limiting member (803) includes: The ring body (8033) has limiting parts on both its inner and outer sides; The connecting part (8034) is a ring structure. There are two connecting parts (8034), which are respectively provided at both ends of the ring body (8033). The two connecting parts (8034) are rotatably connected to the fixed limiting member (801) and the output member (802), respectively. The wall thickness of the connecting part (8034) is less than the wall thickness of the ring body (8033).

4. The limiting device according to claim 1, characterized in that, The fixed limiting member (801) and the output member (802) have a first annular groove (8011) and a second annular groove (8021) respectively on their opposite surfaces. The two ends of the follower limiting member (803) are rotatably disposed in the first annular groove (8011) and the second annular groove (8021) respectively. And / or, the number of the follower limiting member (803) is at least two, and the at least two follower limiting members (803) are arranged in a ring from the inside to the outside in a radial direction.

5. A steering device, characterized in that, include: The rotating device (1) has a housing (101) and an output shaft (102); The planetary reduction mechanism (2) includes a housing (201) and a sun gear (206) and a planet carrier (202) disposed in the housing (201). The housing (201) is connected to the housing (101), the sun gear (206) is connected to the output shaft (102), and the planet carrier (202) is used to connect to the connecting shaft (3) of the steering wheel. In the limiting device (8) as described in any one of claims 1-4, the planetary carrier (202) constitutes the output member (802), and the housing (101) or the outer shell (201) constitutes the fixed limiting member (801).

6. The steering device according to claim 5, characterized in that, When the housing (101) constitutes the fixed limiting member (801), the follower limiting member (803) is disposed between the planetary carrier (202) and the housing (101). The end face of the planetary carrier (202) near the housing (101) is provided with a support portion that is rotatably connected to the outer shell (201). The support portion is a ring structure, and the follower limiting member (803) is disposed on the inner side of the support portion.

7. The steering device according to claim 5, characterized in that, Under the condition that the outer shell (201) constitutes the fixed limiting member (801), the inner wall of the outer shell (201) is provided with a collar (7), the collar (7) is provided on the side of the planetary carrier (202) away from the rotating device (1), and the follower limiting member (803) is provided between the collar (7) and the planetary carrier (202).

8. The steering device according to claim 5, characterized in that, The planetary carrier (202) includes a first plate (2023) and a second plate (2024) arranged and connected along the axial direction. A rotatable planetary gear (203) is provided between the first plate (2023) and the second plate (2024) and meshes with the sun gear (206). The first plate (2023) is provided with a clearance opening (2023a) for the output shaft (102) to pass through. The second plate (2024) is connected to the connecting shaft (3). The first plate (2023) or the second plate (2024) constitutes the output component (802).

9. The steering device according to claim 5, characterized in that, The housing (101) includes a first cylindrical body (1011) and a flange (1012). The flange (1012) is provided at one end of the first cylindrical body (1011) near the planetary reduction mechanism (2). The flange (1012) is connected to the outer shell (201). The output shaft (102) passes through the flange (1012) and enters the outer shell (201). And / or, the outer casing (201) includes a second cylindrical body (2011) and an end cap (2012), one end of the second cylindrical body (2011) is connected to the housing (101), and the other end is provided with the end cap (2012), the end cap (2012) is provided with a through hole through which the connecting shaft (3) can pass; And / or, the steering device further includes a detection device (4) disposed between the connecting shaft (3) and the planetary carrier (202) and used to detect the torque on the connecting shaft (3).

10. A vehicle, characterized in that, Includes the limiting device (8) as described in any one of claims 1-4 or the steering device as described in any one of claims 5-9.

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