Steering device for a vehicle, vehicle and method for operating a steering device

Abstract

Steering device (115) for a vehicle (100), wherein the steering device (115) has the following features: an electric spindle drive (105) comprising a spindle (200) and an electric machine (205); and a lever element (110) coupled to the spindle (200) and designed to transmit a steering movement to at least one wheel (120) of the vehicle (100), characterized in that the lever element (110) has a lever arm (225), wherein the lever arm (225) is fastened to the spindle (200) and has a bearing point (245) at which the lever arm (225) is arranged on an axle (265) or a frame (215) of the vehicle (100).

Description

[0001] The present approach relates to a steering device for a vehicle, a vehicle and a method for operating a steering device.

[0002] Steering devices can be used to control a steering movement of wheels of a vehicle.

[0003] The document DE 10 2009 018 976 A1 discloses a vehicle steering system of the by-wire type.

[0004] The document DE 10 2019 209 351 A1 discloses a steering axle for an industrial truck and an industrial truck with the steering axle.

[0005] The document DE 10 2019 209 949 A1 discloses a lateral force-free steering system.

[0006] The document DE 10 2005 037 973 A1 discloses a device for adjusting the wheel camber or toe-in.

[0007] The document DE 10 2019 216 058 A1 discloses a steering system for a motor vehicle.

[0008] The document DE 10 2019 218 701 A1 discloses a steering position detection system for a steering axle.

[0009] The document DE 10 2009 035 309 A1 discloses a steering gear.

[0010] The document DE 10 2009 002 934 A1 discloses a steerable vehicle axle.

[0011] The document DE 10 2015 219 316 A1 discloses an electromechanical steering system with an end stop.

[0012] The document DE 10 2016 119 595 A1 discloses a steering system with individual wheel actuators and a common housing.

[0013] Against this background, the object of the present approach is to provide an improved steering device for a vehicle, an improved vehicle and an improved method for operating a steering device.

[0014] This object is achieved by a steering device having the features of the independent claims.

[0015] The advantages achievable with the presented approach are that a steering device is created that can enable a reliable transmission of a steering movement to a wheel of a vehicle.

[0016] The approach presented here creates a steering device for a vehicle, wherein the steering device comprises an electric spindle drive and a lever element. The electric spindle drive comprises a spindle and an electric motor. The lever element is coupled to the spindle and configured to transmit a steering movement to at least one wheel of the vehicle.

[0017] The vehicle can be a commercial vehicle. The vehicle can include the steering device, which can be controlled via a steering wheel or, for example, a steer-by-wire system. A steering request from a driver of the vehicle can be implemented using the steering device. The electric motor can transmit a rotational movement to the spindle. The spindle can transmit the movement to the lever element. The lever element can then transmit the movement to the vehicle's wheel, allowing the wheel to assume the wheel position desired by the driver. The approach presented here can therefore also be understood as a lever of an electric power steering system.

[0018] The lever element can have a lever arm. The lever arm can be attached to the spindle and have a bearing point at which the lever arm can be arranged on an axle or frame of the vehicle. The lever arm can be arranged parallel to a longitudinal axis of the vehicle or parallel to the vehicle's axle in a resting state. The lever arm can be designed as a force arm, and the bearing point can be configured as a pivot point, allowing movement from the spindle to be reliably transmitted.

[0019] The bearing point can be located between the joint and a spindle attachment point. Alternatively, the joint can be located between the bearing point and the spindle attachment point. Advantageously, a low force can be required when performing a steering movement.

[0020] The lever element can comprise a tie rod, which can be coupled to the lever arm by means of a joint. The tie rod can be arranged parallel to the vehicle's axle in a resting state. The movement can advantageously be transferred from the lever arm to the tie rod.

[0021] The tie rod and lever arm can be arranged at right angles to each other in a resting state. Advantageously, only a small amount of force is required when a steering movement is performed.

[0022] The lever element can comprise a steering lever, which can be arranged on the tie rod for transmitting the steering movement from the tie rod to a wheel. The steering lever can be arranged parallel to a longitudinal axis of the vehicle in a resting state. The steering lever can reliably and quickly transmit the steering movement to the wheel.

[0023] In a resting state, the steering arm can be positioned essentially at right angles between the tie rod and, additionally or alternatively, on the axle. This advantageously saves installation space.

[0024] The steering arm and the tie rod can be movably coupled by means of a steering arm joint. This allows the movement from the tie rod to be transmitted reliably and quickly to the steering arm.

[0025] The lever element can comprise a component that can have a bend. In particular, the lever arm can have the bend. This advantageously allows the movement to be transferred reliably and quickly to the vehicle's wheel. Furthermore, installation space can be saved.

[0026] The lever element can have a second steering lever for transmitting the steering movement from the lever arm to another wheel. In particular, the second steering lever can be arranged on the tie rod. In a resting state, the second steering lever can be arranged parallel to a longitudinal axis of the vehicle.

[0027] A vehicle has an embodiment of a steering device mentioned herein. The vehicle is configured, for example, as a commercial vehicle. Even with such an embodiment, the advantages of the approach described here can be realized very efficiently.

[0028] A method for operating an embodiment of a steering device mentioned herein includes a step of controlling an electric spindle drive to effect a steering movement. Such an embodiment also allows the advantages of the approach described here to be realized very efficiently.

[0029] This method can be implemented, for example, in software or hardware or in a mixed form of software and hardware, for example in a control unit.

[0030] The approach presented here further provides a device configured to perform, control, or implement the steps of a variant of a method presented here in corresponding devices. This variant of the approach in the form of a device also allows the underlying problem to be solved quickly and efficiently.

[0031] For this purpose, the device can have at least one computing unit for processing signals or data, at least one memory unit for storing signals or data, at least one interface to a sensor or an actuator for reading sensor signals from the sensor or for outputting data or control signals to the actuator, and / or at least one communication interface for reading or outputting data embedded in a communication protocol. The computing unit can be, for example, a signal processor, a microcontroller, or the like, wherein the memory unit can be a flash memory or a magnetic storage unit.The communication interface can be designed to read in or output data wirelessly and / or wired, wherein a communication interface that can read in or output wired data can read this data, for example, electrically or optically from a corresponding data transmission line or output it to a corresponding data transmission line.

[0032] In this case, a device can be understood as an electrical device that processes sensor signals and outputs control and / or data signals depending on them. The device can have an interface, which can be implemented in hardware and / or software. In a hardware implementation, the interfaces can, for example, be part of a so-called system ASIC, which contains a wide variety of functions of the device. However, it is also possible for the interfaces to be separate integrated circuits or to consist at least partially of discrete components. In a software implementation, the interfaces can be software modules that are present, for example, on a microcontroller alongside other software modules.

[0033] Also advantageous is a computer program product or computer program with program code that can be stored on a machine-readable carrier or storage medium such as a semiconductor memory, a hard disk memory, or an optical memory. If the program product or program is executed on a computer or device, the program product or program can be used to carry out, implement, and / or control the steps of the method according to one of the embodiments described above.

[0034] Examples of the approach presented here are explained in more detail in the following description with reference to the figures. They show: Fig. 1 a schematic representation of an embodiment of a vehicle; Fig. 2 is a representation of an embodiment of a steering device for a vehicle, wherein a wheel of the vehicle is shown in the rest position; Fig. 3 is a representation of an embodiment of a steering device for a vehicle, wherein a wheel of the vehicle is shown in a first deflected position; Fig. 4 is a representation of an embodiment of a steering device for a vehicle, wherein a wheel of the vehicle is shown in a further deflection of the first position; Fig. 5 is a view of another embodiment of a steering device for a vehicle, wherein a wheel of the vehicle is shown in the rest position; Fig. 6 is a view of another embodiment of a steering device for a vehicle, wherein a wheel of the vehicle is shown in the rest position; Fig. 7 is a representation of an alternative embodiment of a steering device for a vehicle; Fig. 8 is a flowchart of an embodiment of a method for operating a steering device; and Fig. 9 a block diagram of an embodiment of a device for operating a steering device.

[0035] In the following description of advantageous embodiments of the present approach, the same or similar reference numerals are used for the elements shown in the various figures and having a similar effect, whereby a repeated description of these elements is omitted.

[0036] Fig. Figure 1 shows a schematic representation of a vehicle 100 according to one exemplary embodiment. The vehicle 100 is designed as a commercial vehicle, for example, as a panel van. Alternatively, the vehicle 100 is designed as a truck.

[0037] There are various designs of wheel guidance, although in principle no distinction is made between whether the wheels are steered or not. The design flexibility is limited if the guided wheels are driven. The term "wheel suspension" has only been used in automotive engineering since around the 1930s. Previously, it was referred to as axles. Independent wheel suspension is a type of wheel guidance in which the two opposite wheels of multi-track road vehicles can deflect independently of each other. The approach presented here relates to the field of truck steering systems. Conventional steering systems are operated by means of a permanently maintained oil flow. This flow is generated by a pump driven by the vehicle's combustion engine.

[0038] The steering system 115 presented here reduces CO2 emissions and can be used in driver safety systems ranging from lane keeping to self-steering vehicles. Furthermore, the use of independent wheel suspension has a beneficial effect on driving dynamics.

[0039] The vehicle 100 has the steering device 115, which is configured to execute a steering movement. For this purpose, the steering device 115 has a spindle drive 105 and a lever element 110. The steering movement is transmitted from the lever element 110 to a wheel 120 of the vehicle 100. The steering device 115 is described in more detail in the following figures.

[0040] Fig. Figure 2 shows an illustration of an embodiment of a steering device 115 for a vehicle 100, wherein a wheel of the vehicle is shown in the rest position. The steering device 115 is similar to or corresponds to the steering device of Fig. 1. The steering device 115 has the spindle drive 105 and the lever element 110 and is arranged, for example, in a partial area of ​​the vehicle 100. Only the wheel 120 and part of a chassis 210 of the vehicle 100 are shown. The chassis 210 comprises, for example, a frame 215 and an axle 265, wherein the axle 265 is coupled to the lever element 110 and the wheel 210.

[0041] The spindle drive 105 is arranged, for example, parallel to the axis 265 and has a spindle 200 and an electric machine 205. The electric machine 205 can also be referred to as an electric motor with a gear and is designed, for example, to transmit a rotational movement to the spindle 200. According to one exemplary embodiment, the electric machine 205 is arranged at a first end of the spindle 200. At a second end of the spindle 200, for example, a bearing element 220 for supporting the spindle 200 is arranged. The spindle 200 is thus arranged between the electric machine 200 and the bearing element 220.

[0042] The vehicle 100 is shown, for example, in a rest state, with the wheel 120 arranged parallel to the frame 215. The lever element 110 is, for example, centrally coupled to the spindle 200 in the rest state and configured to transmit a steering movement to a wheel 120 of the vehicle 100.

[0043] According to one embodiment, the lever element 110 has a lever arm 225, a tie rod 230, and a tie lever 235. The lever arm 225 is attached, for example, to the spindle 200, for example via a spindle attachment point 240. Furthermore, the lever arm 225 has, for example, a bearing point 245, wherein the lever arm 225 is arranged at the bearing point 245 on the axle 265 of the vehicle 100.

[0044] The tie rod 230 is movably coupled to the lever arm 225, for example, by means of a joint 250. Thus, the bearing point 245 is arranged between the joint 250 and the spindle attachment point 240. According to one embodiment, the tie rod 230 and the lever arm 225 are arranged substantially perpendicular to each other when the vehicle 100 is in the rest state.

[0045] The steering arm 235 is arranged, for example, on the tie rod 230 in order to transmit the steering movement from the tie rod 230 to the wheel 120. For this purpose, the steering arm 235 and the tie rod 230 are movably coupled by means of a steering arm joint 255. The steering arm 235 is arranged substantially at right angles between the tie rod 230 and / or the axle 265 when the vehicle 100 is in the stationary state. According to one embodiment, the steering arm 235 has a steering arm bearing point 260, wherein the steering arm 235 is arranged at the steering arm bearing point 260 on the axle 265 of the vehicle 100.

[0046] The lever arm 225 and the track lever 235 are arranged, for example, parallel to each other and parallel to a longitudinal axis of the vehicle 100 in the rest state. The spindle drive 105 and the tie rod 230 are arranged, for example, parallel to each other and parallel to the axis 265 of the vehicle 100 in the rest state.

[0047] In an operational state, the electric machine 205 is designed to transmit a rotational movement to the spindle 200. The spindle 200 rotates and transmits a movement to the lever element 110. The lever element 110, in turn, transmits the movement to the wheel 120 in order to execute a steering movement desired by a driver of the vehicle 100. If, for example, the driver executes a desired steering movement using a steering wheel, for example to turn into a street, the lever arm 225 bends in the region of the bearing point 245 toward the wheel 120. The tie rod 230 is then pushed parallel to the axis 265 toward the wheel 120, since the tie rod 230 and the lever arm 225 are movably connected to one another via the joint 250. The movement from the lever arm 225 is thus transmitted to the tie rod 230 via the movable joint 250. The movement is then transferred to the track lever 235 via the track lever joint 255.The steering arm 235 bends away from the wheel 120 in the area of ​​the steering arm bearing point 260, so that the wheel 120 is brought into the desired wheel position. This wheel position is shown as an example in . Fig. 3 and / or Fig. 4 shown.

[0048] The steering device 115 presented here can be used for independent wheel suspension. The electric drive of the steering device 115 is more efficient than hydraulics, thereby reducing the vehicle's CO2 emissions. Energy is only consumed during steering movements, not generally while driving. The assistance force can be controlled specifically via a control unit, independent of driver input, for example, for autonomous driving. The approach presented here is applicable to safety-relevant systems, such as a lane keeping system. In addition, measures such as automatic countersteering in the event of tire blowouts, crosswind compensation, or similar measures can be implemented through the combination of additional systems. The steering can be placed in any position thanks to the lever element, see, for example, the positions described in more detail below. Fig. 5, Fig. 6 or Fig. 7. Furthermore, due to the lever element 110, less force is required to move the wheel 120 or a plurality of wheels. Resource consumption is significantly minimized by the use of the spindle 220 and the bearing element 220.

[0049] Fig. Figure 3 shows an illustration of an embodiment of a steering device 115 for a vehicle 100, wherein a wheel of the vehicle is shown in a first deflected position. The steering device 115 is similar to or corresponds to the steering device from one of the preceding figures, with the difference that in Fig. 3 the wheel 120 is shown partially turned, for example for a turning maneuver or a parking maneuver or a lane change.

[0050] Due to this wheel position, the tie rod 230 and the lever arm 225 are arranged essentially at an obtuse angle to each other. Thus, the spindle attachment point 240 is partially located in the area of ​​the electric motor 205. In this wheel position, the lever element 110 creates a toggle lever effect.

[0051] In the wheel position shown here, the tie rod 230 and the tie lever 235 are arranged essentially at an acute angle to each other.

[0052] Fig. Figure 4 shows an illustration of an embodiment of a steering device 115 for a vehicle 100, wherein a wheel of the vehicle is shown in a further deflection of the first position. The steering device 115 is similar to or corresponds to the steering device from one of the preceding figures, with the difference that in Fig. 4 the wheel 120 is shown fully turned, for example for a turning maneuver or a parking maneuver.

[0053] Due to this wheel position, the tie rod 230 and the lever arm 225 are arranged essentially at an obtuse angle to each other. Thus, the spindle attachment point 240 is located adjacent to the electric motor 205. As a result, the turned wheel 120 represents a fully turned wheel 120; further turning is not possible because the electric motor 205 marks the end of the direction of movement of the lever arm 225. In this wheel position, the lever element 110 creates a toggle lever effect.

[0054] In the wheel position shown here, the tie rod 230 and the tie lever 235 are arranged essentially at an acute angle to each other.

[0055] Fig. 5 shows a representation of another exemplary embodiment of a steering device 115 for a vehicle 100, wherein a wheel of the vehicle is shown in the rest position. The steering device 115 is similar to or corresponds to the steering device from one of the preceding figures, with the difference that the spindle drive 105 is arranged parallel to the longitudinal axis of the vehicle 100. Furthermore, the lever arm 225 is arranged parallel to the longitudinal axis of the vehicle 100 and, for example, has a bending point 500.

[0056] Fig. 6 shows a representation of another embodiment of a steering device 115 for a vehicle 100, wherein a wheel of the vehicle is shown in the rest position. The steering device 115 is similar to or corresponds to the steering device from one of the preceding figures, with the difference that the steering device 115 is arranged in a central region of the vehicle 100. For example, the vehicle 100 has an additional wheel 600. To transmit a steering movement to the additional wheel 600, the lever element 110 has an additional steering lever 605. The tie rod 230 and the additional steering lever 605 are movably connected by means of an additional steering lever joint 615. The additional steering lever 605 is further arranged with an additional steering lever bearing point 610 on the axle 265 of the vehicle 100. Fig. 6, the vehicle 100 is in a rest state, the wheels 120, 600 are arranged parallel to the frame 215, i.e. the wheels 120, 600 are not turned.

[0057] According to the embodiment shown here, the joint 250 is arranged between the bearing point 245 and the spindle attachment point 240.

[0058] Fig. 7 shows an illustration of an alternative embodiment of a steering device 115 for a vehicle 100. The steering device 115 is similar to or corresponds to the steering device from one of the preceding figures.

[0059] The steering device 115 has the spindle drive 105. The electric machine 205 has a motor 700 and a gear 705. The spindle 200 is shaped, for example, as a worm. The lever arm 225 of the lever element 110 is arranged on the spindle 200. According to one exemplary embodiment, a track lever joint 255 is arranged between the lever arm 225 and the track lever 235. The track lever joint 255 is arranged, for example, in the region of the frame 215. A direction of movement 710 of the lever arm 225 is illustrated, for example, by means of arrows.

[0060] Fig. Figure 8 shows a flowchart of an embodiment of a method 800 for operating a steering device. The steering device is similar to or corresponds to the steering device from one of the preceding figures.

[0061] The method 800 includes a step 805 of controlling an electric spindle drive to effect a steering movement.

[0062] Fig. 9 shows a block diagram of an embodiment of a device 900 for operating a steering device. The device 900 is designed to implement the method of Fig. 8 or a similar method. The device 900 has a unit 905 for controlling an electric spindle drive. The unit 905 is designed to effect a steering movement.

[0063] If an embodiment comprises an “and / or” link between a first feature and a second feature, this is to be read as meaning that the embodiment according to one embodiment has both the first feature and the second feature and according to another embodiment has either only the first feature or only the second feature. LIST OF REFERENCE SYMBOLS 100 vehicles 105 Spindle drive 110 Lever element 115 Steering device 120 wheels 200 spindle 205 electric machine 210 chassis 215 frames 220 bearing element 225 lever arm 230 tie rod 235 track lever 240 spindle attachment point 245 bearing point 250 joint 255 Track lever joint 260 Track lever bearing point 265 Axis 500 kink 600 additional wheels 605 additional track lever 610 additional track lever bearing point 615 additional track lever joint 700 engine 705 gearbox 710 Direction of movement 800 Method for operating a steering device 805 Step of control 900 Device for operating a steering device 905 Control unit

Claims

[1] Steering device (115) for a vehicle (100), the steering device (115) having the following features: an electric spindle drive (105) comprising a spindle (200) and an electric machine (205); and a lever element (110) coupled to the spindle (200) and designed to transmit a steering movement to at least one wheel (120) of the vehicle (100), characterized by , that the lever element (110) has a lever arm (225), wherein the lever arm (225) is fastened to the spindle (200) and has a bearing point (245) at which the lever arm (225) is arranged on an axle (265) or a frame (215) of the vehicle (100). [2] Steering device (115) according to claim 1, wherein the bearing point (245) is arranged between the joint (250) and a spindle attachment point (240) or wherein the joint (250) is arranged between the bearing point (245) and the spindle attachment point (240). [3] Steering device (115) according to one of claims 1 or 2, wherein the lever element (110) comprises a tie rod (230) which is coupled to the lever arm (225) by means of a joint (250). [4] Steering device (115) according to claim 3, wherein the tie rod (230) and the lever arm (225) are arranged at right angles to each other in a rest state. [5] Steering device (115) according to one of the preceding claims, wherein the lever element (110) has a track lever (235) arranged on a tie rod (230) for transmitting the steering movement from the tie rod (230) to a wheel (120). [6] Steering device (115) according to claim 5, wherein the steering lever (235) is arranged in a rest state substantially at right angles between the steering rod (230) and / or the axle (265). [7] Steering device (115) according to one of claims 5 to 6, wherein the track lever (235) and the tie rod (230) are movably coupled by means of a track lever joint (255). [8] Steering device (115) according to one of the preceding claims, wherein the lever element (110) comprises a component having a kink (500), in particular wherein the lever arm (225) has the kink (500). [9] Steering device (115) according to one of the preceding claims, wherein the lever element (110) has a further track lever (605) for transmitting the steering movement from the lever arm (225) to a further wheel (600), in particular wherein the further track lever (605) is arranged on the tie rod (230). [10] Vehicle (100) with a steering device (115) according to one of the preceding claims, wherein the vehicle (100) is designed as a commercial vehicle. [11] Method (800) for operating a steering device (115) according to claims 1 to 9, wherein the method (800) comprises the following step: Controlling (805) an electric spindle drive (105) to effect a steering movement. [12] Device (900) which is arranged to carry out and / or control the step of the method (800) according to claim 11 in a corresponding unit (905). [13] Computer program configured to execute and / or control the method (800) according to claim 11. [14] A machine-readable storage medium on which the computer program according to claim 13 is stored.

Images