CN103465954A - Magnetorheology self-reset line-control steering force feedback device - Google Patents

Abstract

The invention relates to a magneto-rheological self-aligning wire-controlled steering force feedback device, which includes a fixed outer cylinder, an input shaft rotor assembly, a ball guide shaft, a slider and a spring, and the ball guide shaft is driven by the input shaft rotor assembly during operation Rotate, thereby driving the slider to rotate accordingly, causing the slider to move axially relative to the ball guide shaft, compressing the spring at one end, so that the slider is subjected to a force opposite to the direction of motion; when the input shaft rotor assembly is removed When the upper torque is applied, the slider is restored to the equilibrium position by the force of the spring, and the input shaft rotor assembly is driven to rotate to the initial position during the process of the slider returning to the equilibrium position. The invention has low energy consumption, high reliability, can realize large-angle steering and self-aligning functions with adjustable stiffness, works softly, and avoids the disadvantage of large rigidity impact when the traditional motor actuator works.

Description

Magneto-rheological self-aligning control-by-wire steering force feedback device

technical field

The invention relates to a vehicle steer-by-wire system, in particular to a magneto-rheological self-aligning steer-by-wire force feedback device.

Background technique

The function of the vehicle steering system is to follow the driver's input command to steer the steering wheels to obtain the overall directional control of the vehicle. Steering by wire, that is, the steering technology that connects the steering wheel and steering wheels through control signals, is an important part of the future automobile wire control technology. The steer-by-wire system can save limited space in the car and reduce the quality of the vehicle because it cancels the rigid connection between the steering wheel and the steering actuator. Compared with the traditional steering system, it is easier to implement active control to achieve ideal steering characteristics. The best solution for intelligent steering of future cars. At the same time, because it eliminates the mechanical connection, it cannot directly transmit the feedback force/torque generated by the road surface and tire excitation, that is, the "steering wheel road feel" and self-aligning characteristics, but the steer-by-wire system still needs to pass through a specific device. To realize the steering wheel road feel simulation and the steering wheel's automatic return function. At present, most of the various steering wheel force feedback devices developed use stepping motors as actuators and combine them with torsion springs. There are obvious deficiencies such as rigid impact and high energy consumption, and the application of torsion springs also greatly limits the range of steering wheel angles.

Contents of the invention

In view of this, the object of the present invention is to provide a magneto-rheological self-aligning steering-by-wire force feedback device, which has low energy consumption, high reliability, and can realize large-angle steering and self-aligning functions with adjustable stiffness.

The invention discloses a magneto-rheological self-aligning wire-controlled steering force feedback device, which comprises a fixed outer cylinder, an input shaft rotor assembly, a ball guide shaft and an inner cylinder located in the fixed outer cylinder;

One end of the input shaft rotor assembly is located in the fixed outer cylinder, and the other end of the input shaft rotor assembly passes through the fixed outer cylinder and rotates and seals with it, and the input shaft rotor assembly is located in the fixed outer cylinder. The inner cylinder is connected and sealed with it. The input shaft rotor assembly is coaxial with the inner cylinder. The input shaft rotor assembly in the fixed outer cylinder is embedded with an excitation coil along the circumferential direction. The excitation coil is provided with a wire through the input The inside of the shaft rotor assembly protrudes from the fixed outer cylinder;

One end of the ball guide shaft is located in the inner cylinder, the other end of the ball guide shaft passes through the inner cylinder and passes out from the fixed outer cylinder, the ball guide shaft is coaxial with the input shaft rotor assembly, and the ball guide shafts are respectively It rotates and seals with the inner cylinder and the fixed outer cylinder, and the ball guide shaft rotates and cooperates with the input shaft rotor assembly;

The ball guide shaft in the inner cylinder is provided with a slider that slides axially along the ball guide shaft. The two sides of the block are provided with a spring force adjustment device that moves axially along the ball guide shaft, and a spring is provided between the slider and the spring force adjustment device;

Magneto-rheological fluid is filled in the gap between the fixed outer cylinder, the input shaft rotor assembly and the inner cylinder.

The invention also discloses a magneto-rheological self-aligning wire steering force feedback device, which includes a fixed outer cylinder, an input shaft rotor assembly and a ball guide shaft;

The fixed outer cylinder is provided with a partition to divide the interior of the fixed outer cylinder into chamber I and chamber II;

One end of the input shaft rotor assembly is located in the chamber I, the other end of the input shaft rotor assembly passes through the fixed outer cylinder and rotates with it in a sealed fit, and one end of the ball guide shaft is connected to the input shaft rotor in the fixed outer cylinder Assembly connection, the other end of the ball guide shaft passes through the chamber II and extends out of the fixed outer cylinder, the ball guide shaft is coaxial with the input shaft rotor assembly, the ball guide shaft rotates and seals with the partition, The ball guide shaft is rotatably matched with the fixed outer cylinder;

The ball guide shaft in the chamber II is provided with a slider that slides axially along the ball guide shaft, and the slider is spirally matched with the ball guide shaft. A spring force adjusting device for axial movement, a spring is arranged between the slider and the spring force adjusting device;

The chamber I is filled with magnetorheological fluid.

Further, the ball guide shaft is provided with a spiral groove II along the axial direction, and the inner wall of the slider is provided with a sliding device that slides and fits with the spiral groove II; the sliding device includes a spiral groove that matches the spiral groove II Groove I, the spiral groove I is provided with a plurality of balls.

Further, the ball guide shaft is provided with threads along the axial direction, and the slider is threadedly matched with the ball guide shaft.

Further, the inner wall of the inner cylinder is provided with a guide chute I along the extending direction of the ball guide shaft, and the slider is provided with a protrusion that is slidably matched with the guide chute I.

Further, the inner wall of the chamber II is provided with a guide chute II along the extending direction of the ball guide shaft, and the slider is provided with a protrusion that is slidably matched with the guide chute II.

Further, the spring force adjusting device is a self-locking nut, and the self-locking nut is screwed with the ball guide shaft.

Further, spring seats are provided at both ends of the spring.

Further, the inner cylinder includes a detachable end cap I, the end cap I is threadedly connected with the inner cylinder and is in sealing fit with it, and the ball guide shaft passes through the end cap I.

Further, the fixed outer cylinder includes a detachable end cover II, the end cover II is threadedly connected with the fixed outer cylinder and is in sealing fit with it, and the ball guide shaft protrudes from the end cover II.

The beneficial effects of the present invention are: the present invention has the following advantages:

(1) Use the flexible magneto-rheological rotation damping adjustment device to realize the function of steering wheel force feedback, replacing the function of the relatively rigid motor in the traditional steering-by-wire system, and has the characteristics of low energy consumption, high reliability and soft work;

(2) The threaded pair or recirculating ball motion pair and a pair of compressed coil springs are used between the slider and the ball guide shaft, which not only reduces the frictional force of the relative movement between the slider and the ball guide shaft, but also makes it Compared with similar devices that use torsion springs or extension springs to realize the steering wheel self-aligning function, it is easier to realize the steering wheel's large-angle steering and self-aligning functions;

(3) Through the adjustment of the self-locking nut, the compression amount of the springs on both sides of the slider is changed, so as to realize the adjustment of the steering stiffness of the system and the center position of the steering wheel.

Description of drawings

In order to make the purpose of the invention, technical solutions and advantages clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings, wherein:

Fig. 1 is the structural representation of embodiment 1 of the present invention;

Fig. 2 is a schematic structural diagram of a slider in Embodiment 1 of the present invention;

Fig. 3 is the A-A sectional view of Fig. 2 of the present invention;

Fig. 4 is the structural representation of embodiment 2 of the present invention;

FIG. 5 is a schematic structural view of Embodiment 3 of the present invention;

Fig. 6 is a schematic structural diagram of Embodiment 4 of the present invention.

Detailed ways

The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

Example 1

As shown in Figure 1, Figure 2 and Figure 3, the magnetorheological self-aligning steering-by-wire force feedback device of the present invention includes a fixed outer cylinder 1, an input shaft rotor assembly 2, a ball guide shaft 4 and a fixed outer cylinder 1 inner cylinder 3;

One end of the input shaft rotor assembly 2 is located in the fixed outer cylinder 1, and the other end of the input shaft rotor assembly 2 passes through the fixed outer cylinder 1 and rotates and sealingly cooperates with it, further optimized, the input shaft rotor assembly 2. Bearing III25 is provided to rotate and cooperate with the fixed outer cylinder 1. The input shaft rotor assembly 2 is located in the fixed outer cylinder 1 and one end is connected with the inner cylinder 3 and is sealed with it. The input shaft rotor assembly 2 and the inner cylinder 3 Coaxial, the input shaft rotor assembly 2 in the fixed outer cylinder 1 is embedded with an excitation coil 5 along the circumferential direction, and the excitation coil 5 is provided with a wire 6 extending out of the fixed outer cylinder 1 through the input shaft rotor assembly 2;

One end of the ball guide shaft 4 is located in the inner cylinder 3, the other end of the ball guide shaft 4 passes through the inner cylinder 3 and passes through the fixed outer cylinder 1, and the ball guide shaft 4 is coaxial with the input shaft rotor assembly 2 , the ball guide shaft 4 rotates and sealingly cooperates with the inner cylinder 3 and the fixed outer cylinder 1 respectively, and the ball guide shaft 4 cooperates with the input shaft rotor assembly to rotate 2; for further optimization, the ball guide shaft 4 is provided with a bearing II8 rotates with the inner cylinder 3, and the ball guide shaft 4 is provided with a bearing I7 and rotates with the input shaft rotor assembly 2;

The ball guide shaft 4 in the inner cylinder 3 is provided with a slider 9 that slides axially along the ball guide shaft 4, the slider 9 is spirally matched with the ball guide shaft 4, and the slider 9 is rotatably matched with the inner cylinder 3 , the ball guide shaft 4 is located on both sides of the slider 9 and is provided with a spring force adjustment device 10 that moves axially along the ball guide shaft 4, and a spring 11 is provided between the slider 9 and the spring force adjustment device 10;

The gap between the fixed outer cylinder 1 and the input shaft rotor assembly 2 and the inner cylinder 3 is filled with magnetorheological fluid, and an external current is applied to the excitation coil 5 through the wire 6, so that the excitation coil 5 generates a magnetic field and acts on the magnetorheological fluid. Liquid, by changing the applied current, the strength of the magnetic field acting on the magnetorheological fluid can be adjusted, thereby changing the viscosity of the magnetorheological fluid, so that the damping force that needs to be overcome when turning the steering wheel also changes accordingly.

In this embodiment, the ball guide shaft 4 is provided with a helical groove II16 in the axial direction, and the inner wall of the slider 9 is provided with a sliding device slidingly matched with the helical groove II16; A matching helical groove I14, the helical groove I14 is provided with a plurality of balls 15. During the rotation of the slider 9, the ball 15 converts the original sliding friction between the slider 9 and the ball guide shaft 4 into rolling friction, thereby reducing the wear on the equipment.

In this embodiment, the inner wall of the inner cylinder 3 is provided with a guide chute I12 along the extending direction of the ball guide shaft 4 , and the slider 9 is provided with a protrusion 13 that is slidingly matched with the guide chute I12 .

In this embodiment, the spring force adjusting device 10 is a self-locking nut, and the self-locking nut is screwed with the ball guide shaft 4 . Adjust the axial position of the self-locking nut relative to the ball guide shaft 4 by turning the self-locking nut, thereby adjusting the compression amount of the springs 11 on both sides of the slider 9 to realize the steering base value stiffness and the center position of the input shaft rotor assembly 2 adjustment.

In this embodiment, spring seats 18 are provided at both ends of the spring 11 to prevent the spring 11 from directly wearing the slider 9 and the spring force adjusting device 10 during compression and extension. For further optimization, a thrust cylindrical roller bearing 19 is provided between the spring seat 18 and the spring force adjusting device 10 , which can bear a large axial load in one direction and reduce wear on the spring force adjusting device 10 .

In this embodiment, the inner cylinder 3 includes a detachable end cap I20, which is threadedly connected with the inner cylinder 3 and is in sealing fit with it, and the ball guide shaft 4 passes through the end cap I20.

In this embodiment, the fixed outer cylinder 1 includes a detachable end cover II 21 , the end cover II 21 is threadedly connected with the fixed outer cylinder 1 and is in sealing fit with it, and the ball guide shaft 4 protrudes from the end cover II 21 .

Example 2

As shown in FIG. 4 , as another implementation of Embodiment 1 of the present invention, the ball guide shaft 4 is provided with a thread 17 along the axial direction, and the slider 9 is threadedly matched with the ball guide shaft 4 . Slide block 9 and ball guide shaft 4 have used the reciprocating motion form of large lead angle screw thread, have realized the function of steering wheel large-angle steering.

Example 3

As shown in Figure 5, the present invention also discloses another magneto-rheological self-aligning steering force feedback device, which includes a fixed outer cylinder 1, an input shaft rotor assembly 2 and a ball guide shaft 4;

The fixed outer cylinder 1 is provided with a partition 22 to divide the interior of the fixed outer cylinder 1 into a chamber I 23 and a chamber II 24;

One end of the input shaft rotor assembly 2 is located in the chamber I23, and the other end of the input shaft rotor assembly 2 passes through the fixed outer cylinder 1 and rotates and sealingly cooperates with it. Further optimization, the input shaft rotor assembly 2 Bearing III 25 is provided to rotate and cooperate with the fixed outer cylinder 1, one end of the ball guide shaft 4 is connected with the input shaft rotor assembly 2 in the fixed outer cylinder 1, and the other end of the ball guide shaft 4 passes through the chamber II 24 and protrudes out to be fixed. The outer cylinder 1, the ball guide shaft 4 is coaxial with the input shaft rotor assembly 2, the ball guide shaft 4 and the partition plate 22 rotate and seal fit, further optimized, the input shaft rotor assembly 2 is provided with a bearing IV 26 Cooperate with the partition 22 in rotation, and the ball guide shaft 4 is in rotation with the fixed outer cylinder 1;

The ball guide shaft 4 in the chamber II 24 is provided with a slider 9 that slides axially along the ball guide shaft 4, and the slider 9 is spirally matched with the ball guide shaft 4, and the ball guide shaft 4 is located on both sides of the slider 9. A spring force adjustment device 10 that moves axially along the ball guide shaft 4 is provided on the side, and a spring 11 is provided between the slider 9 and the spring force adjustment device 10;

The chamber I23 is filled with magnetorheological fluid.

In this embodiment, the ball guide shaft 4 is provided with a helical groove II16 in the axial direction, and the inner wall of the slider 9 is provided with a sliding device slidingly matched with the helical groove II16; A matching helical groove I14, the helical groove I14 is provided with a plurality of balls 15. During the rotation of the slider 9, the ball 15 converts the original sliding friction between the slider 9 and the ball guide shaft 4 into rolling friction, thereby reducing the wear on the equipment.

In this embodiment, the inner wall of the chamber II 24 is provided with a guide chute II 27 along the extending direction of the ball guide shaft 4 , and the slider 9 is provided with a protrusion 13 that is slidably matched with the guide chute II 27 .

In this embodiment, the spring force adjusting device 10 is a self-locking nut, and the self-locking nut is screwed with the ball guide shaft 4 . Adjust the axial position of the self-locking nut relative to the ball guide shaft 4 by turning the self-locking nut, thereby adjusting the compression amount of the springs 11 on both sides of the slider 9 to realize the steering base value stiffness and the center position of the input shaft rotor assembly 2 adjustment.

In this embodiment, spring seats 18 are provided at both ends of the spring 11 to prevent the spring 11 from directly wearing the slider 9 and the spring force adjusting device 10 during compression and extension. For further optimization, a thrust cylindrical roller bearing 19 is provided between the spring seat 18 and the spring force adjusting device 10 , which can bear a large axial load in one direction and reduce wear on the spring force adjusting device 10 .

In this embodiment, the fixed outer cylinder 1 includes a detachable end cover II 21 , the end cover II 21 is threadedly connected with the fixed outer cylinder 1 and is in sealing fit with it, and the ball guide shaft 4 protrudes from the end cover II 21 .

Example 4

As shown in FIG. 6 , as another implementation of Example 3 of the present invention, the ball guide shaft 4 is provided with a thread 17 along the axial direction, and the slider 9 is threadedly matched with the ball guide shaft 4 . Slide block 9 and ball guide shaft 4 have used the reciprocating motion form of large lead angle screw thread, have realized the function of steering wheel large-angle steering.

During the use of the present invention, a certain torque is input to the steering wheel, and when the steering wheel is rotated, the input shaft rotor assembly 2 will rotate by a certain angle, thereby indirectly driving the ball guide shaft 4 to rotate; the slider 9 and the ball guide shaft 4 Through the form of thread pair or recirculating ball motion pair, make the slider 9 move axially relative to the ball guide shaft 4, thereby compressing the spring 11 at one end, so that the slider 9 is subjected to a force opposite to the direction of motion; When the torque on the steering wheel is removed, the sliding block 9 is returned to the equilibrium position by the active force of the spring 11. When the sliding block 9 returns to the equilibrium position, the input shaft rotor assembly 2 is driven to rotate, so that the steering wheel is returned to normal.

Finally, it is noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described with reference to the preferred embodiments of the present invention, those skilled in the art should understand that it can be described in the form Various changes may be made in matter and details thereof without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (10)

1. A magneto-rheological self-aligning steering force feedback device, characterized in that it includes a fixed outer cylinder, an input shaft rotor assembly, a ball guide shaft, and an inner cylinder located in the fixed outer cylinder; One end of the input shaft rotor assembly is located in the fixed outer cylinder, and the other end of the input shaft rotor assembly passes through the fixed outer cylinder and rotates and seals with it, and the input shaft rotor assembly is located in the fixed outer cylinder. The inner cylinder is connected and sealed with it. The input shaft rotor assembly is coaxial with the inner cylinder. The input shaft rotor assembly in the fixed outer cylinder is embedded with an excitation coil along the circumferential direction. The excitation coil is provided with a wire through the input The inside of the shaft rotor assembly protrudes from the fixed outer cylinder; One end of the ball guide shaft is located in the inner cylinder, the other end of the ball guide shaft passes through the inner cylinder and passes out from the fixed outer cylinder, the ball guide shaft is coaxial with the input shaft rotor assembly, and the ball guide shafts are respectively It rotates and seals with the inner cylinder and the fixed outer cylinder, and the ball guide shaft rotates and cooperates with the input shaft rotor assembly; The ball guide shaft in the inner cylinder is provided with a slider that slides axially along the ball guide shaft. The two sides of the block are provided with a spring force adjustment device that moves axially along the ball guide shaft, and a spring is provided between the slider and the spring force adjustment device; Magneto-rheological fluid is filled in the gap between the fixed outer cylinder, the input shaft rotor assembly and the inner cylinder. 2. A magnetorheological self-alignment steering force feedback device, characterized in that it includes a fixed outer cylinder, an input shaft rotor assembly and a ball guide shaft; The fixed outer cylinder is provided with a partition to divide the interior of the fixed outer cylinder into chamber I and chamber II; One end of the input shaft rotor assembly is located in the chamber I, the other end of the input shaft rotor assembly passes through the fixed outer cylinder and rotates with it in a sealed fit, and one end of the ball guide shaft is connected to the input shaft rotor in the fixed outer cylinder Assembly connection, the other end of the ball guide shaft passes through the chamber II and extends out of the fixed outer cylinder, the ball guide shaft is coaxial with the input shaft rotor assembly, The ball guide shaft rotates and sealingly cooperates with the partition, and the ball guide shaft rotates and cooperates with the fixed outer cylinder; The ball guide shaft in the chamber II is provided with a slider that slides axially along the ball guide shaft, and the slider is spirally matched with the ball guide shaft. Spring force adjustment device for axial movement, A spring is arranged between the slider and the spring force adjusting device; the chamber I is filled with magnetorheological fluid. 3. The magnetorheological self-aligning steering-by-wire force feedback device according to any one of claims 1 or 2, characterized in that: The ball guide shaft is provided with a spiral groove II along the axial direction, and the inner wall of the slider is provided with a sliding device that slides and fits with the spiral groove II; the sliding device includes a spiral groove I that matches the spiral groove II , the spiral groove I is provided with a plurality of balls. 4. The magnetorheological self-aligning steering-by-wire force feedback device according to any one of claims 1 or 2, characterized in that: The ball guide shaft is provided with threads along the axial direction, and the slider is threadedly matched with the ball guide shaft. 5. The magnetorheological self-aligning steering-by-wire force feedback device according to claim 1, characterized in that: the inner wall of the inner cylinder is provided with a guide chute I along the extending direction of the ball guide shaft, and the slider is provided with There is a protrusion that slides with the guide chute I. 6. The magnetorheological self-aligning steering-by-wire force feedback device according to claim 2, characterized in that: the inner wall of the chamber II is provided with a guide chute II along the extending direction of the ball guide shaft, and the slider It is provided with a projection that is slidably matched with the guide chute II. 7. The magnetorheological self-aligning steering-by-wire force feedback device according to any one of claims 1 or 2, characterized in that: The spring force adjusting device is a self-locking nut, and the self-locking nut is screwed with the ball guide shaft. 8. The magnetorheological self-aligning steering-by-wire force feedback device according to any one of claims 1 or 2, characterized in that: Both ends of the spring are provided with spring seats. 9. The magnetorheological self-aligning steering-by-wire force feedback device according to claim 1, characterized in that: the inner cylinder includes a detachable end cap I, and the end cap I is threadedly connected to the inner cylinder and For sealing fit, the ball guide shaft passes through the end cover I. 10. The magnetorheological self-aligning steering-by-wire force feedback device according to claim 1 or 2, characterized in that: the fixed outer cylinder includes a detachable end cover II, and the end cover II is connected to the fixed outer cylinder. The barrel is threaded and fitted with it in a sealed manner, and the ball guide shaft protrudes from the end cover II.

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