Steering drive and vehicle having the same

Abstract

The utility model discloses a kind of steering driver and vehicle with it, it is related to steering gear technical field.Steering driver includes: driving piece, transmission mechanism, first angle sensor, controller, transmission mechanism is connected with driving piece transmission, first angle sensor is located transmission mechanism, first angle sensor, driving piece are all connected with the communication of controller.Therefore, by being located transmission mechanism with the first angle sensor being connected with wheel, the rotation angle of wheel can be detected, controller can obtain and calculate the difference between the rotation angle of wheel and user demand rotation angle, to adjust the output torque of driving piece, to correct the output torque deviation of driving piece, to improve the accuracy of steering angle control to wheel, it is favorable to improve the use reliability and stability of steering driver, improve driving experience.

Description

Technical Field

[0001] This utility model relates to the field of steering technology, and in particular to a steering drive and a vehicle having the same. Background Technology

[0002] As the automotive industry accelerates its transformation towards electrification and intelligence, steering actuators, as a solution for four-wheel steering systems, are gradually becoming the key to solving four-wheel steering problems. In related technologies, when driving the wheels to steer, the inevitable transmission losses in the mechanical structure can cause a deviation between the actual rotation angle of the wheel and the rotation angle required by the user. This results in poor accuracy in controlling the wheel angle, making it difficult to guarantee the reliability and stability of the steering actuator and affecting the driving experience. Utility Model Content

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one object of the present invention is to provide a steering drive that can correct the output torque deviation of the drive components, thereby improving the accuracy of wheel angle control.

[0004] This invention further proposes a vehicle having the aforementioned steering drive.

[0005] The steering drive according to an embodiment of the present invention includes: a drive component and a transmission mechanism, wherein the transmission mechanism is pulsatorically connected to the drive component; a first angle sensor and a controller, wherein the first angle sensor is disposed on the transmission mechanism, and both the first angle sensor and the drive component are communicatively connected to the controller.

[0006] According to the present invention, the steering drive can detect the rotation angle of the wheel by placing a first angle sensor in the transmission mechanism connected to the wheel. The controller can obtain and calculate the difference between the rotation angle of the wheel and the rotation angle required by the user, so as to adjust the output torque of the drive component, correct the output torque deviation of the drive component, improve the accuracy of the steering angle control of the wheel, improve the reliability and stability of the steering drive, and improve the driving experience.

[0007] According to some embodiments of the present invention, the transmission mechanism includes an output component, and the first angle sensor is disposed on the output component and coaxial with the output component.

[0008] According to some embodiments of the present invention, the steering drive further includes a second angle sensor, which is disposed on the drive unit and communicatively connected to the controller.

[0009] According to some embodiments of the present invention, the steering drive further includes: a housing, a wiring harness, at least a portion of the transmission mechanism and the first angle sensor being housed in the housing, and the wiring harness being electrically connected between the first angle sensor and the controller and snapped into the housing.

[0010] According to some embodiments of the present invention, the inner wall of the housing is formed with a first slot, the outer wall of the housing is formed with a second slot, and the housing is formed with an installation through hole. The wire harness is snapped into the first slot and the second slot and passes through the installation through hole.

[0011] According to some embodiments of the present invention, the steering drive further includes: a fixing member, which is detachably disposed on the housing and defines a mounting cavity, and the wiring harness passes through the mounting cavity.

[0012] According to some embodiments of the present invention, the mounting cavity corresponds to and communicates with the mounting through hole; and / or, the fixing member includes: a first sub-fixing member and a second sub-fixing member, the first sub-fixing member being detachably disposed on the housing, the second sub-fixing member being detachably disposed on the first sub-fixing member, and the first sub-fixing member and the second sub-fixing member jointly defining the mounting cavity.

[0013] According to some embodiments of the present invention, the first angle sensor includes: a rotor and a sensor housing. The rotor is fixedly connected to the transmission mechanism. At least a portion of the rotor is housed in the sensor housing. The sensor housing has a first limiting portion and a second limiting portion inside the housing. The first limiting portion and the second limiting portion cooperate to limit the rotation of the first angle sensor.

[0014] According to some embodiments of the present invention, one of the first limiting part and the second limiting part is configured as a limiting groove, and the other of the first limiting part and the second limiting part is configured as a limiting protrusion, at least a portion of the limiting protrusion being received in the limiting groove; and / or, the first angle sensor further includes: a signal processing unit, at least a portion of the signal processing unit being received in the sensor housing, the signal processing unit being used to output the rotation angle signal of the rotor to the controller.

[0015] A vehicle according to an embodiment of the present invention includes a steering drive and wheel hubs. The steering drive is the aforementioned steering drive, and the number of steering drives is the same as the number of wheel hubs, with each wheel hub corresponding to the previous one. The steering drive is used to drive the corresponding wheel hub to rotate. By placing a first angle sensor in the transmission mechanism connected to the wheel, the rotation angle of the wheel can be detected. The controller can acquire and calculate the difference between the wheel rotation angle and the rotation angle required by the user, so as to adjust the output torque of the drive component, correct the output torque deviation of the drive component, improve the accuracy of the steering angle control of the wheel, and improve the reliability and stability of the steering drive, thereby improving the driving experience.

[0016] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of a steering drive according to an embodiment of the present utility model; Figure 2 This is an exploded view of the steering drive according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the steering drive at another angle according to an embodiment of the present invention; Figure 4 yes Figure 3 An enlarged view at point A; Figure 5 yes Figure 3 An enlarged view at point B; Figure 6 This is an exploded view of the first angle sensor according to an embodiment of the present invention.

[0018] Figure label: Drive component 11; Controller 12; Wiring harness 14; Fixing component 15; First sub-fixing component 151; Second sub-fixing component 152; Transmission mechanism 2; transmission component 21; output component 22; 5. Housing; 55. First slot; 56. Second slot; 57. Mounting through hole; 58. Second limiting part; First angle sensor 6; rotor 61; sensor housing 62; first limiting part 621; sensor body 622; sensor cover 623; mounting space 624; signal processing component 63; coil 631; signal processor 632; Steering drive 10. Detailed Implementation

[0019] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0020] The following is for reference. Figures 1-6 This invention describes a steering drive 10 according to an embodiment of the present invention and a vehicle having the same.

[0021] like Figures 1-3 As shown, the steering drive 10 according to an embodiment of the present utility model includes: a drive component 11, a transmission mechanism 2, a first angle sensor 6, and a controller 12. The transmission mechanism 2 is connected to the drive component 11 in a transmission manner. The first angle sensor 6 is disposed on the transmission mechanism 2. The first angle sensor 6 and the drive component 11 are both connected to the controller 12 in a communication manner.

[0022] The steering actuator 10 can be used to respond to the driver's steering needs. When the driver needs to steer the vehicle, the driver can turn the steering wheel. The steering wheel can be connected to a steering wheel sensor. The steering wheel sensor can sense the rotation angle and direction of the steering wheel and transmit the rotation angle and direction information of the steering wheel to the controller 12 in the form of a steering electrical signal. The controller 12 can receive and parse the steering electrical signal. The controller 12 can convert the rotation angle of the steering wheel into the output angle of the drive unit 11. The controller 12 can control the drive unit 11 to work, so as to drive the steering actuator 10 to move. The steering actuator 10 can drive the wheels to turn, so as to achieve the effect of vehicle steering.

[0023] The drive component 11 can be configured as a motor, and the transmission mechanism 2 can be configured as a multi-stage reduction mechanism. The high-speed, low-torque input from the drive component 11 to the transmission mechanism 2 can be converted into low-speed, high-torque input through the multi-stage reduction mechanism. The transmission mechanism 2 can then transmit the low-speed, high-torque input to the steering knuckle, which is connected to the vehicle's wheels to control wheel steering. The transmission mechanism 2 is drive-connected to the drive component 11, for example, through, but not limited to, direct connection, coupling connection, gear pair connection, etc. The drive component 11 can drive the transmission mechanism 2 to operate, and the transmission mechanism 2 can steer the wheels. The drive component 11 is communicatively connected to the controller 12. As some embodiments of this application, the controller 12 can be electrically connected to the drive component 11 via wires.

[0024] The controller 12 can be used to control whether the drive component 11 is started or not, and thus control whether the transmission mechanism 2 is working, so as to control whether the vehicle is steered. Specifically, the controller 12 can obtain the user's required rotation angle, which can be calculated from the steering wheel rotation angle. The controller 12 can convert the user's required rotation angle into the output rotation angle of the drive component 11. The controller 12 can control the drive component 11 to output a corresponding rotation angle, which is ultimately transmitted to the wheels to make the wheels steer.

[0025] The first angle sensor 6 is disposed on the transmission mechanism 2. In some embodiments of this application, the first angle sensor 6 can be disposed on the output shaft of the transmission mechanism 2. The output shaft can be connected to the vehicle's steering knuckle, which is connected to the vehicle's wheel hub. The output shaft drives the wheel hub to rotate, thereby steering the wheel. The first angle sensor 6 can be used to detect the rotation angle of the output shaft, which is the same as the rotation angle of the wheel. By detecting the rotation angle of the output shaft, the first angle sensor 6 obtains the wheel's rotation angle. This configuration allows the first angle sensor 6 to directly obtain the wheel's rotation angle information without performing reduction ratio conversion or other operations, resulting in high accuracy of the obtained rotation angle information.

[0026] The first angle sensor 6 is communicatively connected to the controller 12. In some embodiments of this application, the controller 12 can be electrically connected to the first angle sensor 6 via a wire. The first angle sensor 6 can transmit the detected wheel rotation angle information to the controller 12 in the form of an electrical signal. The controller 12 can receive and parse this electrical signal, and compare the wheel rotation angle detected by the first angle sensor 6 with the user-required rotation angle to obtain an angle deviation value. The angle deviation value can be defined as the difference between the user-required rotation angle and the wheel rotation angle. The controller 12 can adjust the output angle of the drive unit 11 according to the sign and magnitude of the angle deviation value, so that the wheel rotation angle is the same as or approximately the same as the user-required rotation angle, thereby correcting the output angle deviation of the drive unit 11 and improving the accuracy of wheel angle control, which is beneficial to improving the reliability and stability of the steering drive 10. Furthermore, the above process can be repeated for multiple corrections. After multiple corrections, the output angle deviation of the drive unit 11 can be obtained and calibrated.

[0027] In the above embodiment, by placing the first angle sensor 6 on the transmission mechanism 2 connected to the wheel, the rotation angle of the wheel can be detected. The controller 12 can obtain and calculate the difference between the rotation angle of the wheel and the rotation angle required by the user, so as to adjust the output torque of the drive component 11, correct the output torque deviation of the drive component 11, improve the accuracy of the steering angle control of the wheel, and improve the reliability and stability of the steering drive 10, thereby improving the driving experience.

[0028] In some embodiments of this application, such as Figure 2 As shown, the transmission mechanism 2 includes an output component 22, and a first angle sensor 6 is disposed on the output component 22 and coaxial with the output component 22.

[0029] The transmission mechanism 2 may include an output component 22, which may be located at the output end of the transmission mechanism 2. In some embodiments of this application, the output component 22 may be configured as the aforementioned output shaft. The output component 22 may be connected to a steering knuckle, which may be connected to a wheel. The rotation angle of the output component 22 is the same as the rotation angle of the wheel. A first angle sensor 6 may be disposed on the output component 22. By detecting the rotation angle information of the output component 22, the first angle sensor 6 can obtain the rotation angle information of the wheel. This configuration is reasonable, allowing direct acquisition of the wheel's rotation angle information and reducing errors caused by the rotation angle conversion process. Furthermore, the first angle sensor 6 may be coaxially disposed with the output component 22, which can reduce detection errors caused by detection position factors, improve detection accuracy, enhance the reliability of the steering drive 10, and improve the precision of wheel angle control.

[0030] As some other embodiments of this application, the transmission mechanism 2 can be constructed as a multi-stage reduction mechanism. The transmission mechanism 2 may include multiple transmission components 21. The first angle sensor 6 can be set on other transmission components 21 of the transmission mechanism 2 other than the output component 22, so as to adapt to the spatial arrangement requirements and functional requirements of different steering drive 10 and improve the design flexibility of the steering drive 10.

[0031] In some embodiments of this application, such as Figure 2 As shown, the steering drive 10 also includes a second angle sensor, which is disposed on the drive unit 11 and is communicatively connected to the controller 12.

[0032] The second angle sensor can be disposed on the driving component 11 and can be communicatively connected to the controller 12. In some embodiments of this application, the second angle sensor can be electrically connected to the controller 12 via a wire. In some embodiments of this application, the transmission mechanism 2 can include multiple transmission components 21, which are sequentially connected. Among the multiple transmission components 21, the transmission component 21 corresponding to the power input end of the transmission mechanism 2 can be directly connected to the output end of the driving component 11. The driving component 11 can drive the transmission component 21 corresponding to the power input end to rotate, thereby transmitting the output angle to the transmission mechanism 2.

[0033] Furthermore, a second angle sensor can be located at the output end of the drive unit 11. The second angle sensor can be used to detect the rotation angle of the output end. The rotation angle of the output end is the same as the rotation angle of the transmission unit 21 corresponding to the power input end. The second angle sensor can transmit the detected rotation angle information of the output end to the controller 12 in the form of an electrical signal. The controller 12 can receive and parse the electrical signal, and compare the rotation angle information of the output end with the preset rotation angle information of the output end to obtain the output angle deviation value. The controller 12 can adjust the output angle of the output end according to the sign and magnitude of the output angle deviation value to correct the output angle deviation of the drive unit 11. In this way, the rotation angle information of the output end can be obtained accurately and quickly. The first angle sensor 6 and the second angle sensor can verify each other to further improve the accuracy of the wheel angle control.

[0034] In some embodiments of this application, such as Figure 2 and Figure 3 As shown, the steering drive 10 also includes: a housing 5, a wiring harness 14, at least a portion of the transmission mechanism 2 and the first angle sensor 6 are housed in the housing 5, and the wiring harness 14 is electrically connected between the first angle sensor 6 and the controller 12 and is snapped into the housing 5.

[0035] In this embodiment, at least part of the transmission mechanism 2 and the first angle sensor 6 can be housed in the housing 5. As some embodiments of this application, at least part of the transmission mechanism 2 can be fixed to the housing 5 (e.g., snap-fit, screw-fit, etc.) to improve the positional stability of the transmission mechanism 2 and the housing 5. Furthermore, the housing 5 can be used to protect the components inside it so that the components can operate normally.

[0036] The wiring harness 14 can be electrically connected between the first angle sensor 6 and the controller 12 to enable communication between the first angle sensor 6 and the controller 12, so that the angle information detected by the first angle sensor 6 can be transmitted to the controller 12. The wiring harness 14 can be snapped into the housing 5 to securely fix the wiring harness 14 to the housing 5, thereby reducing the risk of interference between the wiring harness 14 and other components (e.g., the transmission mechanism 2) and improving the reliability of the steering drive 10.

[0037] In some embodiments of this application, such as Figure 3 As shown, the inner wall of the housing 5 has a first slot 55, the outer wall of the housing 5 has a second slot 56, and the housing 5 has a mounting hole 57. The wire harness 14 is snapped into the first slot 55 and the second slot 56 and passes through the mounting hole 57.

[0038] The housing 5 has a first slot 55 formed on its inner wall. The inner diameter of the first slot 55 matches the outer diameter of the wire harness 14, allowing the wire harness 14 to be snapped into the first slot 55 and fixed to the housing 5. The housing 5 also has a second slot 56 formed on its outer wall. The inner diameter of the second slot 56 matches the outer diameter of the wire harness 14, allowing the wire harness 14 to be snapped into the second slot 56 and fixed to the housing 5. The housing 5 also has a mounting through hole 57 connecting the interior and exterior of the housing 5. The wire harness 14 can pass through the mounting through hole 57, which serves to secure the wire harness 14. By setting the first slot 55, the second slot 56, and the mounting hole 57, the wire harness 14 can be stably and reliably fixed to the housing 5, reducing the risk of interference between the wire harness 14 and other components (e.g., the transmission mechanism 2). Furthermore, by setting the mounting hole 57, the first angle sensor 6 located inside the housing 5 can be electrically connected to the controller 12 located outside the housing 5 via the wire harness 14, making the structural layout more reasonable.

[0039] As some embodiments of this application, the number of first slots 55 can be one or more, such as one, two, or three, to improve the stability and reliability of the fixed wire harness 14.

[0040] As some embodiments of this application, the number of second slots 56 can be one or more, such as one, two, or three, to improve the stability and reliability of the fixed wire harness 14.

[0041] In some embodiments of this application, such as Figure 3 As shown, the steering drive 10 also includes: a fixing member 15, which is detachably disposed on the housing 5 and defines a mounting cavity, and a wiring harness 14 passes through the mounting cavity.

[0042] The fastener 15 can be used to fix the wire harness 14. In some embodiments of this application, the fastener 15 can be constructed as a tubular structure, defining a mounting cavity through which the wire harness 14 can pass. The inner wall of the mounting cavity and the wire harness 14 can have a relatively large contact area to improve the fixing effect. The fastener 15 is detachably disposed on the housing 5. In some embodiments of this application, the fastener 15 can be snapped, screwed, or otherwise connected to the housing 5. By making the fastener 15 detachably disposed on the housing 5, different sizes of fasteners 15 can be replaced according to the model of the wire harness 14, so that the inner diameter of the mounting cavity of the fastener 15 matches the outer diameter of the wire harness 14, thereby improving the fixing effect and reducing the installation difficulty.

[0043] In some embodiments of this application, such as Figure 4As shown, the mounting cavity corresponds to and is connected to the mounting through hole 57; and / or, the fastener 15 includes: a first sub-fastener 151 and a second sub-fastener 152, the first sub-fastener 151 is detachably disposed on the housing 5, the second sub-fastener 152 is detachably disposed on the first sub-fastener 151, and the first sub-fastener 151 and the second sub-fastener 152 together define the mounting cavity.

[0044] The fastener 15 can be set at the corresponding position of the housing 5 so that the mounting cavity corresponds to and is connected with the mounting through hole 57. This arrangement is reasonable and facilitates the wire harness 14 to pass through the mounting cavity and the mounting through hole 57, which is conducive to further improving the fixing effect. Moreover, the structure is compact and has a high space utilization rate.

[0045] The fixing member 15 may include a first sub-fixing member 151 and a second sub-fixing member 152. The first sub-fixing member 151 can be detachably connected to the housing 5. As some embodiments of this application, the first sub-fixing member 151 can be snapped or screwed onto the housing 5. The second sub-fixing member 152 is detachably disposed on the first sub-fixing member 151. As some embodiments of this application, the first sub-fixing member 151 can be snapped or screwed onto the second sub-fixing member 152. The first sub-fixing member 151 and the second sub-fixing member 152 can jointly define a mounting cavity, through which the wire harness 14 can pass for fixing the wire harness 14. This arrangement facilitates the replacement of the first sub-fixing member 151 and the second sub-fixing member 152 of different sizes according to the model of the wire harness 14, resulting in good adaptability.

[0046] In some embodiments of this application, such as Figure 5 and Figure 6 As shown, the first angle sensor 6 includes: a rotor 61 and a sensor housing 62. The rotor 61 is fixedly connected to the transmission mechanism 2. At least a portion of the rotor 61 is housed in the sensor housing 62. The sensor housing 62 has a first limiting part 621. The interior of the housing 5 has a second limiting part 58. The first limiting part 621 and the second limiting part 58 cooperate to limit the rotation of the first angle sensor 6.

[0047] The rotor 61 can be fixedly connected to the transmission mechanism 2. In some embodiments of this application, the rotor 61 can be welded, snap-fitted, or screwed to the transmission mechanism 2. In some embodiments of this application, the rotor 61 can be fixedly connected to the output component 22, and the output component 22 is connected to the wheel drive. The rotation angle of the output component 22, the rotation angle of the rotor 61, and the steering angle of the wheel are all the same. The first angle sensor 6 can obtain the wheel rotation angle information based on the rotation angle of the rotor 61. This setup is convenient for detection and has high accuracy. At least a portion of the rotor 61 is housed in the sensor housing 62. That is, a portion of the structure of the rotor 61 is housed in the sensor housing 62, or the entire structure of the rotor 61 is housed in the sensor housing 62. The corresponding structure can be set according to actual needs.

[0048] The sensor housing 62 may have a first limiting part 621, and the interior of the housing 5 may have a second limiting part 58. The first limiting part 621 may cooperate with the second limiting part 58 to limit the rotation of the first angle sensor 6 part structure, so that the position of the first angle sensor 6 part structure is fixed relative to the housing 5, and the rotor 61 is rotatable relative to the housing 5, so that the detection process of the first angle sensor 6 can be carried out normally, and the error caused by the relative position change of the sensor housing 62 can be reduced.

[0049] As some embodiments of this application, the sensor housing 62 includes a sensor body 622 and a sensor cover 623. The sensor body 622 and the sensor cover 623 can be fixedly connected (e.g., snap-fit, screw-fit, etc.) to define an installation space 624. Some components of the first angle sensor 6 can be installed in the installation space 624 so that the components inside the first angle sensor 6 can operate normally.

[0050] As some embodiments of this application, one of the first limiting part 621 and the second limiting part 58 can be constructed as a hook, and the other of the first limiting part 621 and the second limiting part 58 can be constructed as a groove. The hook can engage with the groove so that the first limiting part 621 and the second limiting part 58 engage with each other, so that the position of the first angle sensor 6 part structure is fixed relative to the housing 5, and the rotor 61 can rotate relative to the housing 5, so that the detection process of the first angle sensor 6 can be carried out normally, and the error caused by the relative position change of the sensor housing 62 can be reduced.

[0051] In some embodiments of this application, such as Figure 5As shown, one of the first limiting part 621 and the second limiting part 58 is configured as a limiting groove, and the other of the first limiting part 621 and the second limiting part 58 is configured as a limiting protrusion, at least a portion of the limiting protrusion being received in the limiting groove; and / or, the first angle sensor 6 further includes: a signal processing unit 63, at least a portion of the signal processing unit 63 being received in the sensor housing 62, the signal processing unit 63 being used to output the rotation angle signal of the rotor 61 to the controller 12.

[0052] In this design, one of the first limiting part 621 and the second limiting part 58 can be configured as a limiting groove, and the other of the first limiting part 621 and the second limiting part 58 can be configured as a limiting protrusion. At least a portion of the limiting protrusion can be accommodated in the limiting groove, and the limiting groove can engage with the limiting protrusion to engage the first limiting part 621 and the second limiting part 58 to restrict the rotation of the first angle sensor 6 relative to the housing 5, so that the position of the first angle sensor 6 relative to the housing 5 is fixed, and the rotor 61 can rotate relative to the housing 5, so that the detection process of the first angle sensor 6 can proceed normally, and the error caused by the relative position change of the sensor housing 62 relative to the housing 5 can be reduced, thereby improving the measurement accuracy.

[0053] The first angle sensor 6 may further include a signal processing unit 63, which may include a coil 631 and a signal processor 632. The coil 631 can be used to detect the position change of the rotor 61 relative to the coil 631 and transmit this position change information to the signal processor 632 in the form of an output signal. The signal processor 632 then converts the output signal into a rotation angle signal and transmits it to the controller 12. The controller 12 can interpret the rotation angle signal into the wheel rotation angle. The controller 12 can compare the difference between the user-required rotation angle and the wheel rotation angle to adjust the control strategy accordingly. In addition, the signal processing unit 63 has the advantages of simple structure and convenient testing process.

[0054] The vehicle according to the embodiments of this application includes a steering drive 10 and wheel hubs. The steering drive 10 is the same as the steering drive 10 in the above embodiments. The number of steering drives 10 and wheel hubs are the same and correspond one-to-one. The steering drive 10 is used to drive the corresponding wheel hub to rotate.

[0055] The steering actuator 10 outputs torque to the wheel hub to rotate it, thereby steering the wheel. The number of steering actuators 10 is the same as the number of wheel hubs, and they correspond one-to-one. This arrangement improves the responsiveness of the steering process and enhances the stability and reliability of wheel steering. By placing the first angle sensor 6 on the transmission mechanism 2 connected to the wheel, the rotation angle of the wheel can be detected. The controller 12 can acquire and calculate the difference between the wheel's rotation angle and the user-desired rotation angle to adjust the output torque of the drive component 11, correcting any deviations in the output torque of the drive component 11. This improves the accuracy of wheel steering angle control, enhances the reliability and stability of the steering actuator 10, and improves the driving experience.

[0056] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0057] In the description of this utility model, "first feature" and "second feature" may include one or more of the features.

[0058] In the description of this utility model, "multiple" means two or more.

[0059] In the description of this utility model, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or it may include the first and second features not being in direct contact but being in contact through another feature between them.

[0060] In the description of this utility model, the terms "above", "over" and "on top" for the first feature and the second feature include the first feature being directly above or diagonally above the second feature, or simply indicate that the first feature is at a higher horizontal level than the second feature.

[0061] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0062] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A steering drive (10), characterized in that, include: A driving component (11) and a transmission mechanism (2), wherein the transmission mechanism (2) is connected to the driving component (11) in a transmission manner; The first angle sensor (6) and the controller (12) are located on the transmission mechanism (2). The first angle sensor (6) and the driving component (11) are both connected to the controller (12) in communication.

2. The steering drive (10) according to claim 1, characterized in that, The transmission mechanism (2) includes an output component (22), and the first angle sensor (6) is disposed on the output component (22) and coaxial with the output component (22).

3. The steering drive (10) according to claim 1, characterized in that, Also includes: A second angle sensor is disposed on the drive unit (11) and is communicatively connected to the controller (12).

4. The steering drive (10) according to claim 1, characterized in that, Also includes: The housing (5), the wiring harness (14), at least a portion of the transmission mechanism (2), and the first angle sensor (6) are all housed in the housing (5). The wiring harness (14) is electrically connected between the first angle sensor (6) and the controller (12) and is snapped into the housing (5).

5. The steering drive (10) according to claim 4, characterized in that, The inner wall of the housing (5) is formed with a first slot (55), the outer wall of the housing (5) is formed with a second slot (56), and the housing (5) is formed with an installation through hole (57). The wire harness (14) is snapped into the first slot (55), the second slot (56) and passes through the installation through hole (57).

6. The steering drive (10) according to claim 5, characterized in that, Also includes: A fastener (15) is detachably disposed on the housing (5) and defines a mounting cavity, through which the wire harness (14) passes.

7. The steering drive (10) according to claim 6, characterized in that, The mounting cavity corresponds to and is connected to the mounting through hole (57); And / or, the fastener (15) includes: a first sub-fastener (151) and a second sub-fastener (152), the first sub-fastener (151) being detachably disposed on the housing (5), the second sub-fastener (152) being detachably disposed on the first sub-fastener (151), and the first sub-fastener (151) and the second sub-fastener (152) together defining the mounting cavity.

8. The steering drive (10) according to claim 4, characterized in that, The first angle sensor (6) includes a rotor (61) and a sensor housing (62). The rotor (61) is fixedly connected to the transmission mechanism (2). At least a portion of the rotor (61) is housed in the sensor housing (62). The sensor housing (62) has a first limiting part (621). The interior of the housing (5) has a second limiting part (58). The first limiting part (621) and the second limiting part (58) cooperate to limit the rotation of the first angle sensor (6).

9. The steering drive (10) according to claim 8, characterized in that, One of the first limiting part (621) and the second limiting part (58) is configured as a limiting groove, and the other of the first limiting part (621) and the second limiting part (58) is configured as a limiting protrusion, at least a portion of the limiting protrusion being received in the limiting groove; And / or, the first angle sensor (6) further includes: a signal processing unit (63), at least a portion of which is housed in the sensor housing (62), the signal processing unit (63) being used to output the rotation angle signal of the rotor (61) to the controller (12).

10. A vehicle, characterized in that, Includes a steering drive (10) and a wheel hub. The steering drive (10) is a steering drive (10) according to any one of claims 1-9. The number of steering drives (10) is the same as the number of wheel hubs and they correspond one-to-one. The steering drive (10) is used to drive the corresponding wheel hub to rotate.

Images