Steer-by-wire systems and automobiles

Abstract

The present invention provides a steer-by-wire system and an automobile. The steer-by-wire system comprises a force feedback motor (100) and a rotational angle displacement sensor (510). The force feedback motor (100) includes an inner stator (110) and an outer rotor (120), the inner stator (110) being used to connect to the automobile body and the outer rotor (120) being used to connect to the steering wheel and rotate in accordance with the steering wheel. The rotational angle displacement sensor (510) is fixedly connected to the inner stator (110) and detects the angle of rotation of the outer rotor (120) using the eddy current principle. Because sensors applying the eddy current principle have characteristics such as high reliability during long-term operation, high sensitivity, high interference resistance, non-contact measurement, fast response speed, and immunity to the influence of media such as oil and water, the rotational angle displacement sensor (510) applying the eddy current principle offers more reliable detection accuracy and does not produce detection distortion compared to conventional TMR sensors, ensuring driving safety during user operation.

Description

Technical Field

[0001] This application relates to the field of automotive technology, and more specifically, to a steer-by-wire system and an automobile.

Background Art

[0002] Conventional automotive steering systems mainly include a hydraulic power steering (HPS) system, an electric hydraulic power steering (EHPS) system, an electric power steering (EPS) system, and a steer-by-wire (SBW) system.

[0003] In the above steer-by-wire system, the handle feeling motor generally includes an outer stator fixed to the vehicle body and an inner rotor connected to rotate synchronously with the handle. The steer-by-wire system uses a TMR sensor to detect the rotation angle of the inner rotor with respect to the outer stator, thereby determining the rotation angle of the handle. TMR refers to "Tunneling Magneto resistance", which is a sensor technology using the tunneling magnetic effect.

[0004] Since the change rate of the TMR sensor resistance value is related to the change of the external magnetic field, it is easily affected by external electromagnetic interference. When the conventional steer-by-wire system uses a TMR sensor to detect the rotation angle of the handle feeling motor, it is easily affected by external electromagnetic influence, the detection result becomes inaccurate, and further, it affects the user's steering operation on the automobile.

Summary of the Invention

Problems to be Solved by the Invention

[0005] One object of this application is to solve the problem that the rotation angle sensor in the conventional steer-by-wire system is easily affected by external electromagnetic interference and affects its detection accuracy.

[0006] A further objective of this invention is to determine how to determine the steering angle of the steering wheel when there is a periodic change in the signal output by the rotational angle displacement sensor. [Means for solving the problem]

[0007] To achieve the above objective, a first embodiment of the present invention proposes a steer-by-wire system, the steer-by-wire system being: A force feedback motor comprising an inner stator and an outer rotor, wherein the inner stator is used to connect to the body of the automobile, and the outer rotor is connected to the steering wheel and rotates in accordance with the steering wheel, The system includes a rotational angle displacement sensor that is fixedly connected to the inner stator and detects the angle at which the outer rotor rotates using the eddy current principle.

[0008] In one possible embodiment, the system further comprises a detectable member, which is fixedly connected to or integrated with the outer rotor and arranged to be detectable by the rotational angle displacement sensor, and the rotational angle displacement sensor determines the angle of rotation of the outer rotor by detecting the detectable member.

[0009] In one possible implementation, The member to be detected is provided in an annular shape and has a plurality of inner protruding teeth that project inward. The sensing portion of the rotational angle displacement sensor is provided in an annular shape corresponding to the plurality of inner protruding teeth, and the rotational angle displacement sensor determines the angle at which the outer rotor rotates by sensing the plurality of inner protruding teeth.

[0010] In one possible implementation, The member to be detected is fixed with bolts / screws to the end of the outer rotor closest to the rotational angle displacement sensor, and / or The detected member includes five of the inner protruding teeth.

[0011] In one possible implementation, A screw structure is provided on the outer side of the peripheral wall of the outer rotor. The steer-by-wire system includes a limit sheet, the limit sheet is provided on the outside of the outer rotor and fixedly connected to the inner stator, or manufactured as an integral part of the limit sheet, and the limit sheet is provided with a first sliding structure. The steer-by-wire system comprises a vernier block, the vernier block is provided with a screw-fitting structure that engages with the screw structure and a second sliding structure that is slidably connected to the first sliding structure, and when the outer rotor rotates, the vernier block moves linearly along the extending direction of the first sliding structure. The steer-by-wire system includes a linear displacement sensor, which is used to detect the linear displacement of the vernier block.

[0012] In one possible implementation, a recessed groove for housing the vernier block is provided on the side of the limit sheet facing the outer rotor, and the first sliding structure is provided on each of the two opposing side walls of the recessed groove.

[0013] In one possible implementation, The first sliding structure is a sliding groove formed on the inside of the side wall, and the second sliding structure is a projection provided at the end of the vernier block.

[0014] In one possible implementation, An arrangement groove is provided on the side of the limit sheet facing the outer rotor, the arrangement groove is located at one end of the recessed groove, and the vernier block is inserted into the limit sheet from the arrangement groove and slid into the recessed groove. The aforementioned arrangement groove is located further outside the thread structure in the axial direction of the outer rotor, preventing the vernier block from sliding out of the recessed groove when the steer-by-wire system is assembled.

[0015] In one possible implementation, The limit sheet is provided with a sensor housing groove in the bottom wall of the sinking groove, and the sensor housing groove is used to house the linear displacement sensor, and the linear displacement sensor is fixed to the limit sheet.

[0016] In one possible implementation, The limit sheet is provided with linear fixing holes in its bottom wall, and bolts / screws are provided to pass through the linear fixing holes to fix the linear displacement sensor.

[0017] In one possible implementation, a motor fixing member is further provided. The motor fixing member is manufactured to be fixedly connected to or integrated with the inner stator, and the motor fixing member is used to connect to the vehicle body of the automobile, so as to fix the inner stator to the vehicle body. The motor fixing member is fixedly connected to or manufactured as an integral part of the limit sheet.

[0018] In one possible implementation, The motor fixing member is a tubular column, and an axial fixing portion having an axial hole and a radial fixing portion having a radial hole are provided at the end of the tubular column closest to the inner stator. The axial fixing portion is fixedly connected to the inner stator by bolts / screws through the axial hole, and the radial fixing portion is fixedly connected to the limit seat by bolts / screws through the radial hole.

[0019] In one possible implementation, The extension direction of the first sliding structure is parallel to the rotation axis of the outer rotor, and / or The vernier block is formed in a dumbbell shape with a narrower middle and wider ends in a direction perpendicular to the extension direction of the first sliding structure, and / or The screw structure is a female thread, the screw fitting structure is a male thread, and / or The screw structure has 3 turns around the rotating shaft of the outer rotor, and / or The screw structure is provided on the outer side of the peripheral wall of the outer rotor, and / or Limit bosses are respectively provided at both ends of the outer rotor in the extending direction of the screw structure, limit pins are respectively provided at both ends of the Vernier block corresponding to the extending direction of the screw structure, and the Vernier block is made to abut against the limit bosses via the limit pins.

[0020] In a possible implementation form, the steer-by-wire system further includes a sensor integration module and an insertion connector. The sensor integration module includes a housing for housing the rotation angle displacement sensor and the linear displacement sensor. The housing includes a first mounting portion for mounting the rotation angle displacement sensor and a second mounting portion for mounting the linear displacement sensor. The first mounting portion is fixedly connected to the axial fixing portion of the tubular column, and the second mounting portion is fixedly connected to the limit sheet. The insertion connector is electrically connected to the rotation angle displacement sensor or the linear displacement sensor and outputs signals of the rotation angle displacement sensor and the linear displacement sensor.

[0021] In a possible implementation form, a first mounting groove for mounting the rotation angle displacement sensor is provided in the first mounting portion, and a second mounting groove for mounting the linear displacement sensor is provided in the second mounting portion.

[0022] In a possible implementation form, a relief hole is provided in the bottom wall of the first mounting groove in the first mounting portion, and the insertion connector is electrically connected to the rotation angle displacement sensor and penetrates through the relief hole.

[0023] In a possible implementation form, a first cover plate and a second cover plate are further included. The first cover plate is mounted on the first mounting portion so as to shield the first mounting groove. The second cover plate is attached to the second mounting portion so as to block the second mounting groove.

[0024] In one possible embodiment, the first mounting portion has an overall flattened annular shape, and the second mounting portion has an overall flattened rod shape.

[0025] In one possible embodiment, the first mounting portion is perpendicular to the second mounting portion and / or The second mounting portion is located at one end of the first mounting portion in the radial direction, and / or The second mounting portion includes a first side portion on one side of the first mounting portion and a second side portion on the other side of the first mounting portion, wherein the length of the first side portion is greater than the length of the second side portion.

[0026] In one possible embodiment, at least one recessed hole is provided in the first mounting portion near the second mounting portion, the opening direction of the recessed hole is the same as the depth direction of the first mounting groove, a first fixing column is provided on the side of the first mounting portion away from the opening of the first mounting groove, a screw hole is provided in the first fixing column, and the first mounting portion is fixed via the recessed hole and the first fixing column. The axial fixing portion is provided with the recessed hole and the rotation angle fixing hole corresponding to the first fixing column, and the first mounting portion is fixed to the axial fixing portion via the recessed hole, the first fixing column, and the rotation angle fixing hole, and / or Second fixing posts are provided on both sides of the second mounting portion in the width direction, screw holes are provided in the second fixing posts, and linear fixing holes are provided in the limit sheet, so that the second mounting portion is fixed to the limit sheet via the second fixing posts and the linear fixing holes.

[0027] A second embodiment of the present invention further provides an automobile comprising the steer-by-wire system described in any one of the first embodiments.

[0028] Based on the above description, the aforementioned technical solution of the present invention detects the steering angle of the steering wheel by detecting the angle of rotation of the outer rotor using the eddy current principle, with a rotational angle displacement sensor fixedly connected to the inner stator. At the same time, since sensors applying the eddy current principle have characteristics such as high reliability, high sensitivity, high interference resistance, non-contact measurement, fast response speed, and immunity to the influence of media such as oil and water during long-term operation (which is common knowledge in this field), those skilled in the art will understand that the rotational angle displacement sensor applying the eddy current principle of the present invention has more reliable detection accuracy and does not cause detection distortion, thus ensuring driving safety during user operation, compared to TMR sensors in the conventional technology.

[0029] At the same time, as explained in the background technology, conventional steering feel motors are inner rotor motors, and because the radial dimension of their inner rotor (i.e., the axis of rotation) is small, they are suitable for placing only magnetic sensors (i.e., TMR sensors), but it is not possible to place rotational angular displacement sensors, which require a certain radial dimension and to which the eddy current principle is applied. By creatively using the coupling of an outer rotor motor and a rotational angular displacement sensor, the steer-by-wire system according to the present invention makes the detection of the steering angle of the steering wheel more accurate and reliable compared to conventional technology.

[0030] Furthermore, a screw structure is installed on the outer rotor, a limit sheet is installed which is fixedly connected to or integrated with the inner stator, a first sliding structure is installed on the limit sheet, a vernier block having a screw fitting structure and a second sliding structure is arranged, the vernier block is fitted to the screw structure on the outer rotor via the screw fitting structure, and the second sliding structure is slidably connected to the first sliding structure on the limit sheet, so that when the outer rotor rotates, the vernier block moves linearly along the extension direction of the first sliding structure, thereby converting the rotational displacement of the outer rotor into a linear displacement. By arranging a linear displacement sensor for detecting the linear displacement of the vernier block, the present invention can determine the displacement of the vernier block by the linear displacement sensor even when there is a periodic change in the signal output by the rotational angle displacement sensor, and then, based on the displacement and the signal period to which the signal detected by the rotational angle displacement sensor currently belongs, the absolute value of the handle rotation angle is finally determined according to the signal period and the magnitude of the signal. For this reason, the present invention can also accurately detect the absolute value of the handle rotation angle.

[0031] Alternatively, even if there is a periodic change in the signal output from the rotational angle displacement sensor, the current signal period to which the signal detected by the rotational angle displacement sensor belongs is determined by statistically counting the number of signal periods of the rotational angle displacement sensor. Based on the trend of change in the rotational angle displacement sensor signal, it is determined whether the steering wheel will turn left or right, and thereby the absolute value of the steering wheel's rotation angle is determined.

[0032] Other beneficial effects of the present invention will be described later with reference to the accompanying drawings, so that those skilled in the art may better understand the objectives of improvement, features, and advantages of the present invention. [Brief explanation of the drawing]

[0033] [Figure 1] This is a first structural exploded view of a steer-by-wire system in some embodiments of the present invention. [Figure 2]This is a second structural exploded view of a steer-by-wire system in some embodiments of the present invention. [Figure 3] This is a first axial side view of a steer-by-wire system in some embodiments of the present invention. [Figure 4] This is a second axial side view of a steer-by-wire system in some embodiments of the present invention. [Figure 5] Figures 1 to 4 are axial side views of the outer rotor of the force feedback motor. [Figure 6] Figures 1 and 2 are side views of the vernier block in the first axial direction. [Figure 7] Figures 1 and 2 are side views of the vernier block in the second axial direction. [Figure 8] Figures 1 to 4 are side views of the limit sheet in the first axial direction. [Figure 9] Figures 1 to 4 are side views of the limit sheet in the first axial direction. [Figure 10] This is a top view of the limit sheet in Figure 9, along direction A. [Figure 11] Figures 1 to 4 are side views of the motor fixing member in the first axial direction. [Figure 12] Figures 1 to 4 are side views of the motor fixing member in the second axial direction. [Figure 13] This is a first exploded view of the sensor integration module in some embodiments of the present invention. [Figure 14] This is a second exploded view of the sensor integration module in some embodiments of the present invention. [Figure 15] Figures 13 and 14 are side views in the first axial direction with the rotational angular displacement sensor and linear displacement sensor connected. [Figure 16] Figures 13 and 14 are side views in the second axial direction with the rotational angular displacement sensor and linear displacement sensor connected. [Figure 17] This is a side view in the first axial direction of a sensor integration module in some embodiments of the present application. [Figure 18] This is a second axial side view of a sensor integration module in some embodiments of the present application. [Figure 19] This is a signal data diagram showing the detection of the handle rotation angle using only a linear displacement sensor in some embodiments of the present invention. [Figure 20] This diagram shows signal data for detecting the rotation angle of a handle using both a rotational angle displacement sensor and a linear displacement sensor in several embodiments of the present invention. [Modes for carrying out the invention]

[0034] Those skilled in the art should understand that the embodiments described below represent only a portion of the present invention, not all embodiments, and that these embodiments are intended to illustrate the technical principles of the present invention and not to limit the scope of protection of the present invention. All other embodiments that those skilled in the art may obtain without creative effort based on the embodiments provided by the present invention should still be included within the scope of protection of the present invention.

[0035] It is important to note that in the description of this invention, terms indicating direction or positional relationships, such as "center," "top," "bottom," "summit," "bottom," "left," "right," "vertical," "horizontal," "inside," and "outside," are based on the direction or positional relationships shown in the drawings and are merely for the purpose of facilitating explanation. They do not explicitly or suggest that the device or element has a specific direction, is composed of a specific direction, or needs to operate in a specific direction, and therefore should not be understood as limiting the invention. Furthermore, the terms "first," "second," and "third" are used solely for explanatory purposes and should not be understood as explicitly or implicitly indicating relative importance.

[0036] Furthermore, it should be explained that in the description of this invention, the terms “attachment,” “connection,” and “connection” should be understood broadly unless otherwise specified and limited, for example, they may be fixedly connected, detachably connected, integrated, mechanically connected, electrically connected, directly connected, indirectly connected via an intermediate medium, or internal communication between two elements. Those skilled in the art will understand the specific concepts of the above terms in this invention depending on the specific circumstances. For example, unless otherwise specified, the terms “attachment,” “connection,” “connection,” and “fastening” may specifically refer to any feasible form of connection, such as bolt connection, screw connection, welding, insertion, riveting, heat bonding, or snap connection.

[0037] As shown in Figures 1 to 4, in some embodiments of the present invention, the steer-by-wire system for automobiles comprises a force feedback motor 100 and a rotational angle displacement sensor 510.

[0038] The force feedback motor 100 comprises an inner stator 110 and an outer rotor 120. The inner stator 110 is used to connect to the body of a car, and the outer rotor 120 is used to connect to the steering wheel and rotates in accordance with the steering wheel.

[0039] The rotational angle displacement sensor 510 is fixedly connected to the inner stator 110 and detects the angle of rotation of the outer rotor 120 using the eddy current principle.

[0040] Those skilled in the art should know that sensors applying the eddy current principle possess characteristics such as high reliability, high sensitivity, high interference resistance, non-contact measurement, fast response speed, and immunity to the influence of media such as oil and water during long-term operation (this is common knowledge in the industry). Therefore, in this invention, the rotational angle displacement sensor 510, which is fixedly connected to the inner stator 110, detects the angle at which the outer rotor 120 rotates using the eddy current principle, thereby achieving accurate detection of the steering angle of the handle and providing more reliable detection results. At the same time, the rotational angle displacement sensor 510 of this invention does not require a magnet and is low-cost.

[0041] Furthermore, by creatively employing a force feedback motor 100 equipped with the outer rotor 120 described above, the present invention enables the detection of the rotation angle of the rotor of the force feedback motor 100 using a rotation angle displacement sensor 510. Compared to conventional techniques that use only magnetic sensors, which are limited to the radial dimension of the inner rotor of the steering feel motor and are susceptible to external electromagnetic interference, the present invention, by creatively employing a combination of a force feedback motor 100 equipped with an outer rotor 120 and a rotation angle displacement sensor 510, makes the detection of the steering angle of the steering wheel more accurate and reliable.

[0042] Hereinafter, with reference to the drawings, several embodiments of the steer-by-wire system for automobiles will be described in more detail. In the drawings of the present invention, X indicates direction and is intended to facilitate understanding of the drawings for those skilled in the art.

[0043] Referring to Figures 1 to 4, in some embodiments of the present invention, the steer-by-wire system for automobiles further comprises a motor fixing member 200, a limit sheet 300, a vernier block 400, and a linear displacement sensor 520, wherein the motor fixing member 200 is fixedly connected to or manufactured as an integral part of the inner stator 110, and the motor fixing member 200 is used to connect to the body of the automobile, fixing the inner stator 110 to the body. In addition, a screw structure 121 is provided on the outer rotor 120.

[0044] Furthermore, the limit sheet 300 is fixedly connected to or integrated with the motor fixing member 200. The limit sheet 300 is also provided on the outside of the outer rotor 120 and fixedly connected to or integrated with the inner stator 110, and the limit sheet 300 is provided with a first sliding structure 310. The vernier block 400 is provided with a screw fitting structure 410 that fits with the screw structure 121 and a second sliding structure 420 that is slidably connected to the first sliding structure 310, so that when the outer rotor 120 rotates, the vernier block 400 moves linearly along the extension direction of the first sliding structure 310.

[0045] The linear displacement sensor 520 is used to detect the linear displacement of the vernier block 400.

[0046] The steer-by-wire system having the above structure of the present invention can detect the steering angle of the outer rotor 120 and the steering wheel connected thereto by the linear displacement sensor 520. At the same time, since the present invention determines the steering angle of the outer rotor 120 by detecting the linear displacement of the vernier block 400, the signals of the present invention do not overlap even after the steering wheel has rotated 360 degrees, and the present invention can detect the absolute value of the rotation angle of the outer rotor 120 and the steering wheel.

[0047] In other embodiments of the present invention, those skilled in the art may, if necessary, omit the installation of the motor fixing member 200, fix the inner stator 110 and the limit sheet 300 together or integrally mold them, and fix the inner stator 110 directly to the vehicle body. For example, the inner stator 110 may be fixed with bolts / screws to a structure such as a tubular column, boss, or groove that is fixedly connected to the vehicle body.

[0048] As shown in Figures 1 and 2, in some embodiments of the present invention, the steer-by-wire system further comprises a sensor integration module 500, which is fixedly connected to the limit sheet 300. The sensor integration module 500 comprises the rotational angular displacement sensor 510 and the linear displacement sensor 520 described above. The linear displacement sensor 520 is used to detect the linear displacement of the vernier block 400, and if there is a periodic change (shown in Figure 17) in the signal output by the rotational angular displacement sensor 510, the linear displacement of the vernier block 400 is detected to determine the signal period to which the signal detected by the rotational angular displacement sensor 510 currently belongs. This will be described in detail below.

[0049] In the present invention, the linear displacement sensor 520 can detect the absolute value of the rotation angle of the outer rotor 120 relative to the inner stator 110 as described above. Therefore, in other embodiments of the present invention, those skilled in the art may choose not to install the rotation angle displacement sensor 510 as needed.

[0050] In some embodiments of the present invention, the feedback motor 100 can either provide the handle with torque in the opposite direction of rotation when the user rotates the handle, or provide the handle with feel-information torque. The above applications of the force feedback motor 100 are prior art and will not be described again here.

[0051] As shown in Figures 1 to 4, in some embodiments of the present invention, the force feedback motor 100 comprises an inner stator 110 and an outer rotor 120. As a matter to be understood by those skilled in the art based on common knowledge in the art, the outer rotor 120 is rotatable relative to the inner stator 110, and the outer rotor 120 can be fixedly connected to the inner stator 110 in the axial direction.

[0052] As shown in Figures 1 and 2, in some embodiments of the present invention, the inner stator 110 is provided with an annular outward protrusion 111 and an electric wire 112.

[0053] As shown in Figure 5, in some embodiments of the present invention, an inner protrusion 123 and an engagement groove 124 are provided on the inside of the outer rotor 120.

[0054] As shown in Figures 1 and 2, in some embodiments of the present invention, the force feedback motor 100 further comprises a retaining ring 130 fitted into an engagement groove 124 of the outer rotor 120. As those skilled in the art will understand thereafter, when the force feedback motor 100 is assembled, the inner stator 110 is located inside the outer rotor 120, and the outer protrusion 111 on the inner stator 110 is located axially between the inner protrusion 123 and the engagement groove 124, so that the inner protrusion 123 and the retaining ring 130 restrict the axial displacement of the outer protrusion 111, thereby achieving axial fixation between the outer rotor 120 and the inner stator 110.

[0055] Furthermore, while prioritizing the achievement of the objectives of the present invention, the specific form of the force feedback motor 100 is not limited to the type shown in the drawings and described above, and those skilled in the art may select an appropriate force feedback motor 100 as needed.

[0056] As shown in Figures 5 to 7, in some embodiments of the present invention, the screw structure 121 on the outer rotor 120 is a female thread, and the screw fitting structure 410 on the vernier block 400 is a male thread. Alternatively, those skilled in the art may, if necessary, install the screw fitting structure 410 on the vernier block 400 as a protruding structure such as a cylinder that engages with the female thread.

[0057] In other embodiments of the present invention, those skilled in the art may, if necessary, install the screw structure 121 on the outer rotor 120 as a male screw and the screw fitting structure 410 on the vernier block 400 as a female screw.

[0058] Furthermore, in some embodiments of the present invention, the number of turns that the screw structure 121 makes around the rotating shaft of the outer rotor 120 is any possible number of turns, such as 1 turn, 2 turns, 2.5 turns, 3 turns, etc.

[0059] As can be seen from Figure 5, in some embodiments of the present invention, the threaded structure 121 is provided on the outside of the peripheral wall of the outer rotor 120. Those skilled in the art may, if necessary, make the outer rotor 120 longer than the inner stator 110 and provide the threaded structure 121 on the inside of the peripheral wall of the outer rotor 120, thereby appropriately adjusting the position and structure of the limit sheet 300 and the vernier block 400.

[0060] Furthermore, the screw structure 121 and the screw fitting structure 410 may be fitted with a gap so that they can slide smoothly relative to each other.

[0061] Referring to Figures 5 to 7, in some embodiments of the present invention, limit bosses 122 are provided at both ends of the thread structure 121 of the outer rotor 120 in the extending direction, and limit pins 430 are provided at both ends of the vernier block 400 corresponding to the extending direction of the thread structure 121, so that the vernier block 400 contacts the limit bosses 122 via the limit pins 430, preventing the threaded fitting structure 410 on the vernier block 400 from detaching from the thread structure 121 on the outer rotor 120. The specific structures of the limit bosses 122 and limit pins 430 may be the same as or different from the structures shown in the drawings.

[0062] Furthermore, as can be seen from Figures 6 and 7, the vernier block 400 is formed in a dumbbell shape, being thinner in the middle and thicker at both ends. Those skilled in the art may, if necessary, install the vernier block 400 in any other possible shape, such as a long strip, rectangle, or square.

[0063] As shown in Figures 1 to 4 and Figures 8 to 10, the limit sheet 300 is provided with mounting holes 301 for fixing it to the motor fixing member 200, linear fixing holes 302 for fixing the linear displacement sensor 520, and damping holes 303 for mounting a damping screw. The damping screw contacts the outer rotor 120 and provides rotational resistance (friction) to the outer rotor 120 when the outer rotor 120 rotates.

[0064] As shown in Figures 9 and 10, a recessed groove 304 for housing the vernier block 400 is provided on the side of the limit sheet 300 facing the outer rotor 120, and a first sliding structure 310 is provided on each of the two opposing side walls of the recessed groove 304.

[0065] As can be seen from Figures 6, 7, and 9, the first sliding structure 310 on the limit sheet 300 is a sliding groove formed on the inside of the side wall, and the second sliding structure 420 on the vernier block 400 is a projection provided at the end of the vernier block 400. Those skilled in the art may, if necessary, install the first sliding structure 310 as a rod-shaped projection and the second sliding structure 420 as a sliding groove.

[0066] Furthermore, in some embodiments of the present invention, the extension direction of the first sliding structure 310 is parallel to the rotation axis of the outer rotor 120 of the force feedback motor 100. Alternatively, those skilled in the art may, as necessary, have an angle (e.g., 1°, 3°, 5°, 15°, etc.) between the extension direction of the first sliding structure 310 and the rotation axis of the outer rotor 120 of the force feedback motor 100.

[0067] Referring to Figures 9 and 10, an alignment groove 305 is provided on the side of the limit sheet 300 facing the outer rotor 120, and the alignment groove 305 is located at one end of a recessed groove 304, allowing the vernier block 400 to be inserted into the limit sheet 300 from the alignment groove 305 and slide into the recessed groove 304. The alignment groove 305 is located further outside the threaded structure 121 in the axial direction of the outer rotor 120, preventing the vernier block 400 from sliding out of the recessed groove 304 when the steer-by-wire system is assembled.

[0068] Referring to Figures 9 and 10, the limit sheet 300 is provided with a sensor housing groove 306 in the bottom wall of the recess groove 304. The sensor housing groove 306 is used to house the linear displacement sensor 520, which is fixed to the limit sheet 300 to prevent interference between the linear displacement sensor 520 and the vernier block 400. The linear fixing hole 302 is located within the sensor housing groove 306.

[0069] Referring to Figures 9 and 10, further positioning holes 307 are provided on the side of the limit sheet 300 facing the outer rotor 120, and these positioning holes 307 are used to position the limit sheet 300 on the motor fixing member 200.

[0070] As can be seen from Figures 1 to 4, in some embodiments of the present invention, the motor fixing member 200 is a tubular column. Of course, those skilled in the art may, if necessary, install the motor fixing member 200 on any other possible member, such as a rectangular block, plate, L-shaped, T-shaped, or the like, a fixing base.

[0071] As shown in Figures 11 and 12, in some embodiments of the present invention, an axial fixing portion 210 having an axial hole 211 and a radial fixing portion 220 having a radial hole 221 are provided at the end of the tubular column closest to the inner stator 110. The axial fixing portion 210 is fixedly connected to the inner stator 110 via the axial hole 211 with bolts / screws, and the radial fixing portion 220 is fixedly connected to the limit sheet 300 via the radial hole 221 with bolts / screws.

[0072] Correspondingly, as shown in Figure 2, a plurality of motor fixing holes 113 are provided on the side of the inner stator 110 of the force feedback motor 100 that faces the motor fixing member 200. Selectively, the motor fixing holes 113 are threaded holes, and the axial holes 211 are through holes, so that bolts 800 pass through the axial holes 211 before being tightened into the motor fixing holes 113, thereby fixing the inner stator 110 to the axial fixing part 210.

[0073] Furthermore, the radial holes 221 on the radial fixing portion 220 are threaded holes, and the mounting holes 301 on the limit sheet 300 are through holes, so that the bolts 800 pass through the mounting holes 301 and are then tightened into the radial holes 221, thereby fixing the limit sheet 300 to the radial fixing portion 220. As shown in the figure, there are four radial holes 221 and four mounting holes 301, but there may be any other possible number.

[0074] As shown in Figures 11 and 12, in some embodiments of the present invention, the radial fixing portion 220 is further provided with a positioning column 222 corresponding to the positioning hole 307 on the limit sheet 300. When fixing the limit sheet 300 to the motor fixing member 200, the positioning column 222 is inserted into the positioning hole 307 first, thereby achieving positioning between the limit sheet 300 and the motor fixing member 200. This aligns the mounting hole 301 on the limit sheet 300 with the radial hole 221 on the radial fixing portion 220, making it convenient for the worker to install the bolts.

[0075] Referring to Figures 11 and 12, in some embodiments of the present invention, a rotation angle fixing hole 212 is provided on the side of the axial fixing portion 210 facing the force feedback motor 100, and a hollow column 213 is provided on the side of the axial fixing portion 210 away from the force feedback motor 100, and the sensor integration module 500 is fixed with bolts / screws via the rotation angle fixing hole 212 and the hollow column 213. A positioning ring 230 is provided on the side of the axial fixing portion 210 facing the force feedback motor 100, and the mounting of the sensor integration module 500 is positioned by the positioning ring 230.

[0076] As shown in Figures 13 and 14, in some embodiments of the present invention, the sensor integration module 500 comprises a rotational angular displacement sensor 510 (as described above), a linear displacement sensor 520, a housing 530, and a connection connector 540.

[0077] The rotational angular displacement sensor 510 is electrically connected to the linear displacement sensor 520, and both are eddy current sensors. Those skilled in the art may, if necessary, replace the linear displacement sensor 520 with any other possible sensor, such as a photoelectric sensor or a capacitive sensor.

[0078] The housing 530 includes a first mounting portion 531 for attaching the rotational angular displacement sensor 510 and a second mounting portion 532 for attaching the linear displacement sensor 520. The housing 530 is also a integrally molded component, or an integrally structured component having a certain structural strength formed by fusion bonding, screw connection, riveting, etc.

[0079] The insertion connector 540 is electrically connected to the rotational angular displacement sensor 510 or the linear displacement sensor 520, and outputs signals from the rotational angular displacement sensor 510 and the linear displacement sensor 520.

[0080] As can be seen from Figures 13 and 14, in some embodiments of the present invention, the first mounting portion 531 is generally flattened and annular in shape, and is larger than the positioning ring 230 on the motor fixing member 200. The second mounting portion 532 is generally flattened and rod-shaped, and is formed to align with the sensor housing groove 306 on the limit sheet 300. Those skilled in the art may, if necessary, mount the first mounting portion 531 and the second mounting portion 532 in any other possible structure, for example, the first mounting portion 531 may be mounted in a solid circular shape.

[0081] In this invention, "annular" refers to a shape that is hollow and closed all around, and is not limited to a circular shape; it may also be an elliptical annular, a rectangular annular, a spiral shape, etc.

[0082] Referring to Figures 13 to 16, a first mounting groove 5311 for mounting the rotational angular displacement sensor 510 is provided in the first mounting portion 531, and a second mounting groove 5321 for mounting the rotational angular displacement sensor 510 is provided in the second mounting portion 532. In addition, a relief hole 5312 is provided in the bottom wall of the first mounting groove 5311 of the first mounting portion 531, and the insertion connector 540 is electrically connected to the rotational angular displacement sensor 510 and passes through the relief hole 5312. This ensures that the sensor integration module 500 outputs signals normally, while simultaneously reducing the thickness of the first mounting portion 531.

[0083] Furthermore, the first mounting portion 531 may be perpendicular to the second mounting portion 532, making it convenient for processing, manufacturing, and assembling the housing 530 and related components. At the same time, the rotational angular displacement sensor 510 and the linear displacement sensor 520 are positioned at a 90° angle.

[0084] Furthermore, the second mounting portion 532 may be located at one end of the first mounting portion 531 in the radial direction to facilitate the manufacturing and demolding of the housing 530.

[0085] Furthermore, the second mounting portion 532 includes a first side portion 532a on one side of the first mounting portion 531 and a second side portion 532b on the other side of the first mounting portion 531. The length of the first side portion 532a is greater than the length of the second side portion 532b, allowing for the housing of the linear displacement sensor 520. At the same time, the joint between the second mounting portion 532 and the first mounting portion 531 is T-shaped, thereby increasing the structural strength of this joint.

[0086] Referring to Figures 13 and 14, at least one recessed hole 5313 is provided in the first mounting portion 531 near the second mounting portion 532, and the direction of opening of the recessed hole 5313 is the same as the depth direction of the first mounting groove 5311. A first fixing column 5314 is provided on the side of the first mounting portion 531 away from the opening of the first mounting groove 5311, and a screw hole is provided in the first fixing column 5314, so that the first mounting portion 531 is fixed by the recessed hole 5313 and the first fixing column 5314.

[0087] The recessed hole 5313 corresponds to the rotation angle fixing hole 212 on the motor fixing member 200, and the first fixing column 5314 corresponds to the hollow column 213 on the motor fixing member 200, and the two corresponding structures are connected by bolts 800, thereby fixing the first mounting portion 531 to the motor fixing member 200.

[0088] Referring to Figures 13 and 14, second fixing posts 5322 are provided on both sides of the second mounting portion 532 in the width direction, and screw holes are provided in the second fixing posts 5322 so that the second mounting portion 532 is fixed by the second fixing posts 5322.

[0089] The second fixing column 5322 corresponds to the linear fixing hole 302 on the limit sheet 300, and the two are connected by a bolt 800, thereby fixing the second mounting portion 532 to the limit sheet 300.

[0090] Referring to Figures 13, 14, 17, and 18, the sensor integration module 500 further comprises a first cover plate 551 and a second cover plate 552, the first cover plate 551 being attached to a first mounting portion 531 to shield a first mounting groove 5311, and the second cover plate 552 being attached to a second mounting portion 532 to shield a second mounting groove 5321. The rotational angular displacement sensor 510 and the linear displacement sensor 520 can be enclosed by the housing 530, the first cover plate 551, and the second cover plate 552 without coming into contact with or colliding with the outside, thereby effectively preventing damage to the rotational angular displacement sensor 510 and the linear displacement sensor 520.

[0091] The first cover plate 551 and the second cover plate 552 can each be attached to the housing 530 by any possible method, such as engagement, adhesive, screw connection, or fusion.

[0092] Furthermore, in some embodiments of the present application, at least one of the housing 530, the first cover plate 551, and the second cover plate 552 is made of plastic.

[0093] As shown in Figures 13 to 16, the sensor integration module 500 further includes a plurality of PIN pins 560, which electrically connect the rotational angular displacement sensor 510 and the linear displacement sensor 520. As a result, the linear displacement sensor 520 can transmit the detected signal to the rotational angular displacement sensor 510 via the PIN pins 560 and then output it via the insertion connector 540 which is electrically connected to the rotational angular displacement sensor 510.

[0094] The PIN pin 560 is a metallic material used to complete the conduction (transmission) of electricity (signals) in the connector, and is a conventional component well known to those skilled in the art; therefore, the present invention will not be described further.

[0095] Based on the above description, those skilled in the art will understand that the present invention electrically connects the rotational angular displacement sensor 510 and the linear displacement sensor 520, and by providing an insertion connector 540 electrically connected to either the rotational angular displacement sensor 510 or the linear displacement sensor 520, the signals from both the rotational angular displacement sensor 510 and the linear displacement sensor 520 can be output through the insertion connector 540, thereby facilitating the electrical connection between the sensor integration module 500 and its signal receiver. Compared to the prior art, where each sensor is connected to the signal receiver via a signal line, the present invention reduces the number of signal lines and thus reduces costs.

[0096] Referring back to Figures 1 and 2, in some embodiments of the present invention, the steer-by-wire system may further include a signal line 700 inserted into the insertion connector 540, which transmits the signal output by the insertion connector 540 to a signal processing unit, module, or device via the signal line 700.

[0097] As can be seen from Figures 13 to 16, in some embodiments of the present invention, both the rotational angular displacement sensor 510 and the linear displacement sensor 520 are in the form of a circuit board, on which components such as an excitation coil and a receiving coil are arranged, and detection is performed by the eddy current principle. The principle of detecting an object to be detected by applying the eddy current principle and the corresponding sensors are prior art well known to those skilled in the art, and therefore will not be explained further here.

[0098] Referring back to Figures 2 and 5, in some embodiments of the present invention, the steer-by-wire system further comprises a detectable member 600, which is fixedly connected to the outer rotor 120 and arranged to be detectable by a rotational angle displacement sensor 510, so that the rotational angle displacement sensor 510 determines the angle of rotation of the outer rotor 120 by detecting the detectable member 600.

[0099] Furthermore, a detection-to-detect member 600 is provided with a detection-to-detect through hole 601, and a detection-to-detect fixing hole 1201 (shown in Figures 2 and 5) corresponding to the detection-to-detect through hole 601 is provided at the end of the outer rotor 120 facing the detection-to-detect member 600. The detection-to-detect fixing hole 1201 is a threaded hole, and a bolt 800 is fastened through the detection-to-detect through hole 601 before being fastened into the threaded hole, thereby fixing the detection-to-detect member 600 to the outer rotor 120.

[0100] Furthermore, a storage groove for housing the detected member 600 is provided at the end of the outer rotor 120 facing the detected member 600, protecting the detected member 600 and preventing it from being hit during transport and use.

[0101] Those skilled in the art may, if necessary, manufacture the detected member 600 and the outer rotor 120 as an integrated unit, or omit the installation of the detected member 600 and install the outer rotor 120 in a structure having the inner projection teeth 610.

[0102] As shown in Figures 1 and 2, the detected member 600 is provided in an annular shape and has a plurality of inner protruding teeth 610 that project inward. The sensing portion of the rotational angle displacement sensor 510 (the portion having an excitation coil and a receiving coil) is installed in an annular shape (as described above) corresponding to the plurality of inner protruding teeth 610, and the rotational angle displacement sensor 510 determines the angle at which the outer rotor 120 rotates by sensing the plurality of inner protruding teeth 610.

[0103] Optionally, the detected member 600 includes five internal projection teeth 610 such that the rotational angle displacement sensor 510 outputs five signal cycles when the handle rotates once. Alternatively, those skilled in the art may, as needed, have the detected member 600 include other numbers of internal projection teeth 610, such as three, six, seven, or eight.

[0104] Furthermore, in this invention, both the detected member 600 and the vernier block 400 are manufactured from a metallic material that affects the magnetic field, such as 40Cr or 304.

[0105] Furthermore, although not shown, the present invention further provides an automobile comprising the steer-by-wire system described in any of the above embodiments. In addition, the outer rotor 120 of the force feedback motor 100 is drivably connected to the steering wheel of the automobile so as to rotate synchronously with the outer rotor 120 of the force feedback motor 100 and the steering wheel. For example, the outer rotor 120 of the force feedback motor 100 is fixedly connected to the steering shaft of the steering wheel.

[0106] As shown in Figure 3, a number of connection holes (not shown) are provided at the end of the outer rotor 120 of the force feedback motor 100 that is away from the motor fixing member 200, and the outer rotor 120 is fixedly connected to the steering shaft of the steering wheel by bolts 800 via these connection holes.

[0107] Furthermore, the motor fixing member 200 may be directly fixed to the vehicle body, or it may be fixedly connected to another tubular column fixed to the vehicle body.

[0108] The operating principle of the steer-by-wire system in the present invention will be briefly explained below with reference to Figures 1 to 4.

[0109] As the driver turns the steering wheel, the outer rotor 120 rotates in accordance with the steering wheel. Since the vernier block 400 can only move in the axial direction of the outer rotor 120 under the constraint of the limit sheet 300, the screw structure 121 on the outer rotor 120 moves the vernier block 400 along with its screw fitting structure 410 in the axial direction of the outer rotor 120. When the vernier block 400 comes into contact with the limit boss 122 on the outer rotor 120, the steering wheel can no longer continue to rotate.

[0110] In this process, the rotational angle displacement sensor 510 detects the rotational angle of the outer rotor 120 by detecting the rotational angle displacement of the member to be detected 600, and there may be periodic changes in its output signal. The linear displacement sensor 520 detects the rotational angle of the outer rotor 120 by detecting the linear displacement of the vernier block 400, and there are no periodic changes in its output signal.

[0111] Next, the vehicle controls the operation of the steering motor in accordance with the data detected by the rotational angular displacement sensor 510 and / or the linear displacement sensor 520, thereby changing the steering of the vehicle's front wheels.

[0112] In the present invention, the automobile and its steer-by-wire system may detect the steering wheel rotation angle using only the rotation angle displacement sensor 510, or it may detect the steering wheel rotation angle using both the rotation angle displacement sensor 510 and the linear displacement sensor 520 simultaneously.

[0113] If it is sufficient to detect the rotation angle of the handle using the rotation angle displacement sensor 510, a person skilled in the art may, if necessary, omit the installation of the linear displacement sensor 520 and its associated components (e.g., the limit sheet 300 and the vernier block 400). Alternatively, a person skilled in the art may, if necessary, retain only the rotation angle displacement sensor 510 and necessary components such as the insertion connector 540 in the sensor integration module 500, and directly fix the rotation angle displacement sensor 510 to the inner stator 110 of the force feedback motor 100 or the motor fixing member 200.

[0114] If it is sufficient to detect the rotation angle of the handle using the linear displacement sensor 520, a person skilled in the art may, if necessary, omit the installation of the rotation angle displacement sensor 510 and its associated components (e.g., the component to be detected 600). Alternatively, a person skilled in the art may, if necessary, retain only the linear displacement sensor 520 and necessary components such as the insertion connector 540 in the sensor integration module 500 and fix the linear displacement sensor 520 directly to the limit sheet 300.

[0115] The output signals of the three types of handle rotation angle detection methods in the present invention will be described in detail below with reference to Figures 19 and 20.

[0116] In Figures 19 and 20, the inclined straight line represents the signal output from the linear displacement sensor 520, the periodic wavy line represents the signal output from the rotational angle displacement sensor 510, the horizontal coordinate 0 represents the angle at which the steering wheel is positioned to move the vehicle forward, -360 and 360 represent the angles at which the steering wheel actually rotates left / right, and the vertical coordinate represents the ratio of the actual movement displacement of the vernier block 400 to the actual maximum movement displacement.

[0117] As can be seen from Figure 20, the linear displacement signal of the vernier block 400 output from the linear displacement sensor 520 has a periodic relationship with all signals output from the rotational angle displacement sensor 510. In other words, each signal period output from the rotational angle displacement sensor 510 corresponds to a unique set of signals output from the linear displacement sensor 520. Therefore, the present invention allows those skilled in the art to determine the signal period to which the signal detected by the rotational angle displacement sensor 510 currently belongs, based on the signal output from the linear displacement sensor 520.

[0118] The values ​​of -360 and 360 in the horizontal coordinate system may be determined according to the actual number of rotations the handle makes. For the sake of explanation, this invention only shows the case where the handle makes one rotation to the left / right.

[0119] Type 1 method: As shown in Figure 19, if it is sufficient to detect the rotation angle of the handle using the linear displacement sensor 520, the signal output from the linear displacement sensor 520 is linear and there are no overlapping signals.

[0120] At this time, the angle corresponding to the signal output from the linear displacement sensor 520 is the absolute value of the handle rotation angle.

[0121] As shown in Figure 20, when the rotation angle of the handle is detected by the rotation angle displacement sensor 510, the signal is periodic due to the number of inner protruding teeth 610 on the member to be detected 600 and the number of rotations of the handle. At this time, the linear displacement sensor 520 can determine the signal period to which the signal detected by the rotation angle displacement sensor 510 currently belongs.

[0122] Second type of method: Referring to Figure 20, if the rotation angle of the handle is detected simultaneously by the rotation angle displacement sensor 510 and the linear displacement sensor 520, first, the displacement of the vernier block 400 (for example, the horizontal dashed line in Figure 20) is determined by the linear displacement sensor 520. Next, a range of values ​​corresponding to the rotation angle of the handle (for example, 72° to 144° in Figure 20) is determined based on this displacement. Furthermore, the signal period to which the signal detected by the rotation angle displacement sensor 510 currently belongs (for example, the signal period corresponding to 72° to 144° in Figure 20) is determined based on the determined range of values. Finally, the absolute value of the handle rotation angle is determined based on the signal period and the size of the signal.

[0123] As those skilled in the art will understand, by using the linear displacement sensor 520 to determine the signal period to which the signal detected by the rotational angle displacement sensor 510 currently belongs, and by using the rotational angle displacement sensor 510 to determine the absolute value of the handle rotation angle based on the signal period, the difference between the signal data corresponding to two adjacent angles becomes larger, and the detection result becomes more accurate compared to the case where the rotation angle of the handle is detected by the linear displacement sensor 520 alone (the screw fitting structure 410 of the vernier block 400 and the screw structure 121 of the outer rotor 120 are clearance fittings).

[0124] Third method: Referring to Figure 20, if it is sufficient to simply detect the rotation angle of the handle using the rotation angle displacement sensor 510, the signal period to which the signal detected by the rotation angle displacement sensor 510 currently belongs is determined by statistically counting the number of signal periods of the rotation angle displacement sensor 510, and whether the handle rotates left or right is determined based on the trend of change in the signal of the rotation angle displacement sensor 510.

[0125] As a person skilled in the art will understand, the third type of method requires ensuring the reliability of statistically calculating the number of signal cycles of the rotational angle displacement sensor 510; otherwise, errors in cycle calculation will occur, making it impossible to accurately determine the absolute value of the steering wheel rotation angle.

[0126] Up to this point, the technical solutions of the present invention have been described by combining the above-mentioned multiple embodiments, but as those skilled in the art will readily understand, the scope of protection of the present invention is not limited to these specific embodiments. Without departing from the technical principles of the present invention, those skilled in the art can decompose and combine the technical solutions in each of the above embodiments, and can make equivalent modifications or substitutions to the relevant technical features, and any modifications, equivalent substitutions, improvements, etc. made within the technical concept and / or technical principles of the present invention shall be included within the scope of protection of the present invention.

[0127] This application claims priority to the Chinese patent application filed with the China National Intellectual Property Administration on October 23, 2023, application number 202311374618X, with the title of invention "Steer-by-wire system for automobiles and automobile," all of which are incorporated herein by reference. This application claims priority to the Chinese patent application filed with the China National Intellectual Property Administration on October 23, 2023, application number 202322846407.3, with the title of invention "Sensor Integration Module, Automotive Steer-by-Wire System and Automobile," all of which are incorporated herein by reference. This application claims priority to the Chinese patent application filed with the China National Intellectual Property Administration on October 23, 2023, with application number 202311374619.4, titled "Automotive Steer-by-Wire System and Automobile," all of which are incorporated herein by reference.

Claims

1. A steer-by-wire system applied to an automobile, wherein the steer-by-wire system is A force feedback motor comprising an inner stator and an outer rotor, wherein the inner stator is used to connect to the body of the automobile, and the outer rotor is connected to the steering wheel and rotates in accordance with the steering wheel, A steer-by-wire system characterized by comprising a rotational angle displacement sensor fixedly connected to the inner stator and detecting the angle of rotation of the outer rotor by the eddy current principle.

2. The steer-by-wire system according to claim 1, further comprising a member to be detected, wherein the member to be detected is fixedly connected to or manufactured as an integral part of the outer rotor, the member to be detected is arranged so as to be detectable by the rotational angle displacement sensor, and the rotational angle displacement sensor determines the angle of rotation of the outer rotor by detecting the member to be detected.

3. The member to be detected is provided in an annular shape and has a plurality of inner protruding teeth that project inward. The steer-by-wire system according to claim 2, characterized in that the sensing portion of the rotational angle displacement sensor is provided in an annular shape corresponding to the plurality of inner protruding teeth, and the rotational angle displacement sensor determines the angle at which the outer rotor rotates by sensing the plurality of inner protruding teeth.

4. The member to be detected is fixed with bolts / screws to the end of the outer rotor closest to the rotational angle displacement sensor, and / or The steer-by-wire system according to claim 3, characterized in that the detected member includes five internal protruding teeth.

5. A screw structure is provided on the outer side of the peripheral wall of the outer rotor. The steer-by-wire system includes a limit sheet, the limit sheet is provided on the outside of the outer rotor and fixedly connected to the inner stator, or manufactured as an integral part of the limit sheet, and the limit sheet is provided with a first sliding structure. The steer-by-wire system comprises a vernier block, the vernier block is provided with a screw-fitting structure that engages with the screw structure and a second sliding structure that is slidably connected to the first sliding structure, and when the outer rotor rotates, the vernier block moves linearly along the extension direction of the first sliding structure. The steer-by-wire system according to any one of claims 1 to 4, characterized in that the steer-by-wire system comprises a linear displacement sensor, and the linear displacement sensor is used to detect the linear displacement of the vernier block.

6. The steer-by-wire system according to claim 5, characterized in that a recessed groove for housing the vernier block is provided on the side of the limit sheet facing the outer rotor, and the first sliding structure is provided on each of the two opposing side walls of the recessed groove.

7. The steer-by-wire system according to claim 6, characterized in that the first sliding structure is a sliding groove formed on the inside of the side wall, and the second sliding structure is a projection provided at the end of the vernier block.

8. An arrangement groove is provided on the side of the limit sheet facing the outer rotor, the arrangement groove is located at one end of the recessed groove, and the vernier block is inserted into the limit sheet from the arrangement groove and slid into the recessed groove. The steer-by-wire system according to claim 7, characterized in that the arrangement groove is located further outside the screw structure in the axial direction of the outer rotor, so as to prevent the vernier block from sliding out of the recessed groove when the steer-by-wire system is assembled.

9. The steer-by-wire system according to claim 6, characterized in that the limit sheet is provided with a sensor housing groove in the bottom wall of the sink groove, the sensor housing groove is used to house the linear displacement sensor, and the linear displacement sensor is fixed to the limit sheet.

10. The steer-by-wire system according to claim 9, characterized in that the limit sheet is provided with linear fixing holes in the bottom wall, and bolts / screws pass through the linear fixing holes to fix the linear displacement sensor.

11. Further comprising a motor fixing member, The motor fixing member is fixedly connected to or integrated with the inner stator, and the motor fixing member is used to connect to the vehicle body of the automobile, so as to fix the inner stator to the vehicle body. The steer-by-wire system according to claim 5, characterized in that the motor fixing member is fixedly connected to or manufactured as an integral part of the limit sheet.

12. The steer-by-wire system according to claim 11, characterized in that the motor fixing member is a tubular column, and the end of the tubular column closest to the inner stator is provided with an axial fixing portion having an axial hole and a radial fixing portion having a radial hole, the axial fixing portion is fixedly connected to the inner stator by bolts / screws through the axial hole, and the radial fixing portion is fixedly connected to the limit seat by bolts / screws through the radial hole.

13. The extension direction of the first sliding structure is parallel to the rotation axis of the outer rotor, and / or The vernier block is formed in a dumbbell shape with a narrower middle section and thicker ends in a direction perpendicular to the extension direction of the first sliding structure, and / or The screw structure is a female screw, the screw fitting structure is a male screw, and / or The screw structure has three turns around the rotating shaft of the outer rotor, and / or The screw structure is provided on the outside of the peripheral wall of the outer rotor, and / or The steer-by-wire system according to claim 5, characterized in that the outer rotor is provided with limit bosses at both ends in the extension direction of the screw structure, and the vernier block is provided with limit pins at both ends corresponding to the extension direction of the screw structure, and the vernier block contacts the limit bosses via the limit pins.

14. The steer-by-wire system further comprises a sensor integration module and a plug-in connector. The sensor integration module includes a housing for housing the rotational angular displacement sensor and the linear displacement sensor. The housing includes a first mounting portion for attaching the rotational angular displacement sensor and a second mounting portion for attaching the linear displacement sensor. The first mounting portion is fixedly connected to the axial fixing portion of the tubular column, and the second mounting portion is fixedly connected to the limit sheet. The steer-by-wire system according to claim 12, characterized in that the insertion connector is electrically connected to the rotational angular displacement sensor or the linear displacement sensor and outputs signals from the rotational angular displacement sensor and the linear displacement sensor.

15. The steer-by-wire system according to claim 14, characterized in that a first mounting groove for attaching the rotational angular displacement sensor is provided in the first mounting portion, and a second mounting groove for attaching the linear displacement sensor is provided in the second mounting portion.

16. The steer-by-wire system according to claim 15, characterized in that the first mounting portion has a relief hole in the bottom wall of the first mounting groove, and the insertion connector is electrically connected to the rotational angle displacement sensor and passes through the relief hole.

17. Further comprising a first cover plate and a second cover plate, The first cover plate is attached to the first mounting portion and the first mounting groove is shielded. The steer-by-wire system according to claim 15, characterized in that the second cover plate is attached to the second mounting portion and shields the second mounting groove.

18. The steer-by-wire system according to claim 14, characterized in that the first mounting portion has an overall flattened annular shape, and the second mounting portion has an overall flattened rod shape.

19. The first mounting portion is perpendicular to the second mounting portion, and / or The second mounting portion is located at one end of the first mounting portion in the radial direction, and / or The steer-by-wire system according to claim 18, characterized in that the second mounting portion includes a first side portion on one side of the first mounting portion and a second side portion on the other side of the first mounting portion, wherein the length of the first side portion is greater than the length of the second side portion.

20. At least one recessed hole is provided in the first mounting portion near the second mounting portion, the direction of opening of the recessed hole is the same as the depth direction of the first mounting groove, a first fixing column is provided on the side of the first mounting portion away from the opening of the first mounting groove, a screw hole is provided in the first fixing column, and the first mounting portion is fixed via the recessed hole and the first fixing column. The axial fixing portion is provided with the recessed hole and the rotation angle fixing hole corresponding to the first fixing column, and the first mounting portion is fixed to the axial fixing portion via the recessed hole, the first fixing column, and the rotation angle fixing hole, and / or The steer-by-wire system according to claim 17, characterized in that second fixing columns are provided on both sides of the second mounting portion in the width direction, screw holes are provided in the second fixing columns, linear fixing holes are provided in the limit sheet, and the second mounting portion is fixed to the limit sheet via the second fixing columns and the linear fixing holes.

21. An automobile characterized by comprising a steer-by-wire system as described in any one of claims 1 to 20.

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