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WO2024037856A1 - Dispositif de direction pour un véhicule, véhicule et procédé de fonctionnement d'un dispositif de direction - Google Patents

Dispositif de direction pour un véhicule, véhicule et procédé de fonctionnement d'un dispositif de direction Download PDF

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Publication number
WO2024037856A1
WO2024037856A1 PCT/EP2023/070935 EP2023070935W WO2024037856A1 WO 2024037856 A1 WO2024037856 A1 WO 2024037856A1 EP 2023070935 W EP2023070935 W EP 2023070935W WO 2024037856 A1 WO2024037856 A1 WO 2024037856A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
steering device
steering
lever
wheel
Prior art date
Application number
PCT/EP2023/070935
Other languages
German (de)
English (en)
Inventor
Hüsnü KURTBOZ
Sven NOLTE
Original Assignee
Knorr-Bremse Systeme für Nutzfahrzeuge GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Knorr-Bremse Systeme für Nutzfahrzeuge GmbH filed Critical Knorr-Bremse Systeme für Nutzfahrzeuge GmbH
Publication of WO2024037856A1 publication Critical patent/WO2024037856A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/20—Links, e.g. track rods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D3/00—Steering gears
    • B62D3/02—Steering gears mechanical
    • B62D3/04—Steering gears mechanical of worm type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0421—Electric motor acting on or near steering gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/16—Arrangement of linkage connections

Definitions

  • the present approach relates to a steering device for a vehicle, a vehicle and to a method for operating a steering device.
  • Steering devices that control steering movement of wheels of a vehicle can be used.
  • the object of the present approach is to create an improved steering device for a vehicle, an improved vehicle and an improved method for operating a steering device. This task is solved by a steering device with the features of the independent claims.
  • the advantages that can be achieved with the approach presented are that a steering device is created that can enable a reliable transmission of a steering movement to a wheel of a vehicle.
  • the approach presented here creates a steering device for a vehicle, the steering device having an electric spindle drive and a lever element.
  • the electric spindle drive has a spindle and an electric machine.
  • the lever element is coupled to the spindle and designed to transmit a steering movement to at least one wheel of the vehicle.
  • the vehicle can be a commercial vehicle.
  • the vehicle may include the steering device, which can be controlled via a steering wheel or, for example, a steer-by-wire system.
  • a steering request from a driver of the vehicle can be implemented using the steering device.
  • the electric machine can transmit a rotational movement to the spindle. Of the 2021P01219 EN 2 spindle, the movement can be transferred to the lever element.
  • the lever element can then transmit the movement to the wheel of the vehicle so that the wheel can assume the wheel position desired by the driver.
  • the approach presented here can therefore also be understood as a lever for an electric power steering system.
  • the lever element can have a lever arm.
  • the lever arm can be attached to the spindle and have a bearing point at which the lever arm can be arranged on an axle or a frame of the vehicle. In a resting state, the lever arm can be arranged parallel to a longitudinal axis of the vehicle or parallel to the axis of the vehicle.
  • the lever arm can be designed as a power arm and the bearing point can be designed as a pivot point, whereby a movement from the spindle can be reliably transmitted.
  • the bearing point can be arranged between the joint and a spindle attachment point.
  • the joint can be arranged between the bearing point and the spindle attachment point.
  • a small amount of force may be required when a steering movement is carried out.
  • the lever element can have a tie rod, which can be coupled to the lever arm by means of a joint.
  • the tie rod can be arranged parallel to the axle of the vehicle in a resting state.
  • the movement can advantageously be transmitted from the lever arm to the tie rod.
  • the tie rod and the lever arm can be arranged at right angles to one another in a rest state.
  • only a small amount of force can be required when a steering movement is carried out.
  • the lever element can have a track lever, which can be arranged on the track rod for transmitting the steering movement from the track rod to a wheel.
  • the steering arm can be arranged parallel to a longitudinal axis of the vehicle in a resting state.
  • the track lever can transmit the steering movement to the wheel reliably and quickly.
  • 2021P01219 DE 3 In a resting state, the track arm can be arranged essentially at right angles between the track rod and additionally or alternatively on the axle.
  • installation space can thus be saved.
  • the track arm and the track rod can be movably coupled by means of a track arm joint. This allows the movement from the tie rod to be transmitted reliably and quickly to the tie arm.
  • the lever element can include a component that can have a kink.
  • the lever arm in particular can have the kink.
  • the movement can be transmitted reliably and quickly to the wheel of the vehicle. Furthermore, installation space can be saved.
  • the lever element can have a second track lever for transmitting the steering movement from the lever arm to another wheel.
  • the second steering arm can be arranged on the tie rod.
  • the second steering arm can be arranged parallel to a longitudinal axis of the vehicle in a rest state.
  • a vehicle has an embodiment of a steering device mentioned herein.
  • the vehicle is designed, for example, as a commercial vehicle.
  • the advantages of the approach described here can also be realized very efficiently through such an embodiment.
  • a method of operating an embodiment of a steering device mentioned herein includes a step of controlling an electric spindle drive to effect a steering movement.
  • the advantages of the approach described here can also be realized very efficiently through such an embodiment.
  • This method can be implemented, for example, in software or hardware or in a mixed form of software and hardware, for example in a control device. 2021P01219 DE 4
  • the approach presented here also creates a device that is designed to carry out, control or implement the steps of a variant of a method presented here in corresponding devices.
  • This embodiment variant of the approach in the form of a device can also solve the task on which the approach is based quickly and efficiently.
  • the device can have at least one computing unit for processing signals or data, at least one storage unit for storing signals or data, at least one interface to a sensor or an actuator for reading in sensor signals from the sensor or for outputting data or control signals to the Have an actuator and / or at least one communication interface for reading or outputting data that is embedded in a communication protocol.
  • the computing unit can be, for example, a signal processor, a microcontroller or the like, whereby the storage unit can be a flash memory or a magnetic storage unit.
  • the communication interface can be designed to read or output data wirelessly and/or by wire, wherein a communication interface that can read or output wired data can, for example, read this data electrically or optically from a corresponding data transmission line or output it into a corresponding data transmission line.
  • a device can be understood to mean an electrical device that processes sensor signals and, depending on them, outputs control and/or data signals.
  • the device can have an interface that can be designed in hardware and/or software.
  • the interfaces can, for example, be part of a so-called system ASIC, which contains a wide variety of functions of the device.
  • the interfaces are their own integrated circuits or at least partially consist of discrete components.
  • the interfaces can be software modules that are present, for example, on a microcontroller alongside other software modules.
  • 2021P01219 DE 5 A computer program product or computer program with program code, which can be stored on a machine-readable carrier or storage medium such as a semiconductor memory, a hard drive memory or an optical memory, is also advantageous. If the program product or program is executed on a computer or a device, the program product or program can be used to carry out, implement and/or control the steps of the method according to one of the embodiments described above. Exemplary embodiments of the approach presented here are explained in more detail in the following description with reference to the figures. Shown are: FIG.
  • 1 a schematic representation of an exemplary embodiment of a vehicle
  • 2 is a representation of an exemplary embodiment of a steering device for a vehicle, with a wheel of the vehicle being shown in the rest position
  • 3 is a representation of an exemplary embodiment of a steering device for a vehicle, with a wheel of the vehicle being shown in a first deflected position
  • 4 shows a representation of an exemplary embodiment of a steering device for a vehicle, with a wheel of the vehicle being shown in a further deflection of the first position
  • 5 shows a representation of a further exemplary embodiment of a steering device for a vehicle, with a wheel of the vehicle being shown in the rest position
  • 6 shows a representation of another embodiment of a steering device for a vehicle, with a wheel of the vehicle being shown in the rest position
  • FIG. 7 shows an alternative embodiment of a steering device for a vehicle
  • 8 shows a flowchart of an exemplary embodiment of a method for operating a steering device
  • Fig. 9 is a block diagram of an exemplary embodiment of a device for operating a steering device.
  • Fig.1 shows a schematic representation of a vehicle 100 according to an exemplary embodiment.
  • the vehicle 100 is designed as a commercial vehicle, for example as a panel van. Alternatively, the vehicle 100 is designed as a truck.
  • wheel suspension has only been used in automobile manufacturing since the 1930s. People used to talk about axles. Independent suspension is a type of wheel control in which the two opposite wheels of multi-track road vehicles can deflect independently of each other.
  • the approach presented here concerns the area of truck steering systems. Conventional steering systems are operated using a permanently maintained oil volume flow. This volume flow is generated by a pump that is driven by the vehicle's combustion engine.
  • the steering device 115 presented here reduces CO2 emissions and is in the area of driving safety systems such as lane keeping to self-steering vehicles 2021P01219 DE 7 can be used.
  • the vehicle 100 has the steering device 115, which is designed to carry out a steering movement.
  • the steering device 115 has a spindle drive 105 and a lever element 110.
  • the steering movement is transmitted from the lever element 110 to a wheel 120 of the vehicle 100.
  • the steering device 115 is described in more detail in the following figures.
  • Fig. 2 shows an illustration of an exemplary embodiment of a steering device 115 for a vehicle 100, with a wheel of the vehicle being shown in the rest position.
  • the steering device 115 is similar to or corresponds to the steering device from FIG. 1.
  • the steering device 115 has the spindle drive 105 and the lever element 110 and is, for example, arranged in a partial area of the vehicle 100.
  • the chassis 210 includes, for example, a frame 215 and an axle 265, the axle 265 being coupled to the lever element 110 and the wheel 210.
  • the spindle drive 105 is arranged, for example, parallel to the axis 265 and has a spindle 200 and an electrical machine 205.
  • the electric machine 205 can also be referred to as an electric motor with a gear and is designed, for example, to transmit a rotational movement to the spindle 200.
  • the electrical machine 205 is arranged at a first end of the spindle 200.
  • a bearing element 220 for storing the spindle 200 is arranged.
  • the spindle 200 is thus arranged between the electrical machine 200 and the bearing element 220.
  • the vehicle 100 is shown, for example, in a resting state, the wheel 120 is arranged parallel to the frame 215.
  • the lever element 110 is, for example, centrally coupled to the spindle 200 in the rest state and designed to transmit a steering movement to a wheel 120 of the vehicle 100.
  • 2021P01219 DE 8 According to an exemplary embodiment, the lever element 110 has a lever arm 225, a tie rod 230 and a tie lever 235.
  • the lever arm 225 is, for example, attached to the spindle 200, for example via a spindle attachment point 240.
  • the lever arm 225 has, for example, a bearing point 245, the lever arm 225 being arranged at the bearing point 245 on the axle 265 of the vehicle 100.
  • the tie rod 230 is movably coupled to the lever arm 225, for example by means of a joint 250.
  • the bearing point 245 is thus arranged between the joint 250 and the spindle attachment point 240.
  • the tie rod 230 and the lever arm 225 are arranged substantially perpendicular to each other when the vehicle 100 is in the rest state.
  • the steering arm 235 is arranged, for example, on the tie rod 230 in order to transmit the steering movement from the tie rod 230 to the wheel 120.
  • the track lever 235 and the tie rod 230 are movably coupled by means of a track lever joint 255.
  • the steering arm 235 is arranged essentially at right angles between the tie rod 230 and/or the axle 265 when the vehicle 100 is in the rest state.
  • the steering arm 235 has a steering arm bearing point 260, wherein the steering arm 235 is arranged at the steering arm bearing point 260 on the axle 265 of the vehicle 100.
  • the lever arm 225 and the track lever 235 are, for example, arranged parallel to one another and parallel to a longitudinal axis of the vehicle 100 in the rest state.
  • the spindle drive 105 and the tie rod 230 are, for example, arranged parallel to one another and parallel to the axis 265 of the vehicle 100 in the rest state.
  • the electrical machine 205 is designed to transmit a rotational movement to the spindle 200.
  • the spindle 200 rotates and transmits movement to the lever element 110.
  • the lever element 110 in turn transmits the movement to the wheel 120 to carry out a steering movement desired by a driver of the vehicle 100.
  • a desired steering movement via a steering wheel for example to turn onto a street
  • the lever arm 225 bends in the area of the bearing point 245 in the direction of the wheel 120.
  • the tie rod 230 is then pushed parallel to the axle 265 in the direction of the wheel 120, since the tie rod 230 and the lever arm 225 are movably connected to one another via the joint 250.
  • the movement of the lever arm 225 is therefore transmitted to the tie rod 230 via the movable joint 250.
  • the movement is then transferred to the steering lever 235 via the steering lever joint 255.
  • the track lever 235 bends away from the wheel 120 in the area of the track arm bearing point 260, so that the wheel 120 is brought into the desired wheel position.
  • This wheel position is shown as an example in Fig.3 and/or Fig.4.
  • the steering device 115 presented here can be used for an independent wheel suspension.
  • the electric drive of the steering device 115 is more efficient than hydraulics, thereby reducing the vehicle's CO2 emissions. Energy is only consumed during steering movements, not generally while driving.
  • the support force can be specifically controlled via a control unit, regardless of input from the driver, for example for autonomous driving.
  • the approach presented here can be used for safety-relevant systems, such as a lane keeping system.
  • measures such as automatic counter-steering in the event of a tire burst, compensating for crosswinds or similar can be implemented using a combination of additional systems.
  • the steering can be placed in any position due to the lever element, see for example Fig.5, Fig.6 or Fig.7 described in more detail below.
  • FIG. 3 shows an illustration of an exemplary embodiment of a steering device 115 for a vehicle 100, with a wheel of the vehicle being shown in a first deflected position.
  • the steering device 115 is similar to or corresponds to the steering device from one of the previous figures, with the difference that in Fig. 3 the wheel 120 is shown partially turned, for example for a turning operation or a parking operation or a lane change. 2021P01219 DE 10 Due to this wheel position, the tie rod 230 and the lever arm 225 are essentially arranged at an obtuse angle to one another.
  • the spindle attachment point 240 is therefore partially arranged in the area of the electrical machine 205.
  • the lever element 110 causes a toggle effect in this wheel position.
  • the tie rod 230 and the tie lever 235 are essentially arranged at an acute angle to one another in the wheel position shown here.
  • 4 shows a representation of an exemplary embodiment of a steering device 115 for a vehicle 100, with a wheel of the vehicle being shown in a further deflection of the first position.
  • the steering device 115 is similar to or corresponds to the steering device from one of the previous figures, with the difference that in FIG. 4 the wheel 120 is shown completely turned, for example for a turning operation or a parking operation.
  • the tie rod 230 and the lever arm 225 are essentially arranged at an obtuse angle to one another.
  • the spindle attachment point 240 is arranged adjacent to the electrical machine 205.
  • the turned wheel 120 represents a completely turned wheel 120; further turning is not possible because the electric machine 205 marks an end of the direction of movement of the lever arm 225.
  • the lever element 110 causes a toggle effect in this wheel position.
  • the tie rod 230 and the tie lever 235 are essentially arranged at an acute angle to one another in the wheel position shown here.
  • 5 shows a representation of a further exemplary embodiment of a steering device 115 for a vehicle 100, with a wheel of the vehicle being shown in the rest position.
  • the steering device 115 is similar to or corresponds to the steering device from one of the previous figures, with the difference that the spindle drive 105 is arranged parallel to the longitudinal axis of the vehicle 100. Furthermore, the lever arm is 225 2021P01219 DE 11 arranged parallel to the longitudinal axis of the vehicle 100 and has, for example, a kink 500. 6 shows a representation of another exemplary embodiment of a steering device 115 for a vehicle 100, with a wheel of the vehicle being shown in the rest position.
  • the steering device 115 is similar to or corresponds to the steering device from one of the previous figures, with the difference that the steering device 115 is arranged in a central region of the vehicle 100.
  • the vehicle 100 has, for example, another wheel 600.
  • the lever element 110 has a further track lever 605.
  • the tie rod 230 and the further tie lever 605 are movably connected by means of a further tie lever joint 615.
  • the further track lever 605 is further arranged with a further track arm bearing point 610 on the axle 265 of the vehicle 100.
  • the vehicle 100 is in a resting state, the wheels 120, 600 are arranged parallel to the frame 215, i.e. the wheels 120, 600 are not turned.
  • the joint 250 is arranged between the bearing point 245 and the spindle attachment point 240.
  • 7 shows an illustration of an alternative exemplary embodiment of a steering device 115 for a vehicle 100.
  • the steering device 115 is similar to or corresponds to the steering device from one of the previous figures.
  • the steering device 115 has the spindle drive 105.
  • the electric machine 205 has a motor 700 and a gearbox 705.
  • the spindle 200 is, for example, shaped as a snail.
  • the lever arm 225 of the lever element 110 is arranged on the spindle 200.
  • a steering lever joint 255 is arranged between the lever arm 225 and the steering lever 235.
  • the track lever joint 255 is arranged, for example, in the area of the frame 215.
  • a direction of movement 710 of the lever arm 225 is shown as an example using arrows. 2021P01219 DE 12 Fig.
  • FIG. 8 shows a flowchart of an exemplary embodiment of a method 800 for operating a steering device.
  • the steering device is similar or corresponds to the steering device from one of the previous figures.
  • the method 800 includes a step 805 of controlling an electric spindle drive to cause a steering movement.
  • 9 shows a block diagram of an exemplary embodiment of a device 900 for operating a steering device.
  • the device 900 is designed to carry out the method from FIG. 8 or a similar method.
  • the device 900 has a unit 905 for controlling an electric spindle drive.
  • the unit 905 is designed to effect a steering movement.
  • an exemplary embodiment includes an “and/or” link between a first feature and a second feature, this should be read as meaning that, according to one embodiment, the exemplary embodiment has both the first feature and the second feature and, according to a further embodiment, either only that first feature or only the second feature.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Controls (AREA)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
  • Power Steering Mechanism (AREA)

Abstract

La présente invention concerne un dispositif de direction (115) pour un véhicule, lequel dispositif de direction comprend un élément d'entraînement de broche électrique (105) et un élément de levier (110). L'élément d'entraînement de broche électrique (112) comporte une broche (200) et une machine électrique (205). L'élément de levier est accouplé à la broche et est conçu pour transférer un mouvement de direction à au moins une roue (120) du véhicule.
PCT/EP2023/070935 2022-08-18 2023-07-27 Dispositif de direction pour un véhicule, véhicule et procédé de fonctionnement d'un dispositif de direction WO2024037856A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102022120885.0A DE102022120885A1 (de) 2022-08-18 2022-08-18 Lenkvorrichtung für ein Fahrzeug, Fahrzeug und Verfahren zum Betreiben einer Lenkvorrichtung
DE102022120885.0 2022-08-18

Publications (1)

Publication Number Publication Date
WO2024037856A1 true WO2024037856A1 (fr) 2024-02-22

Family

ID=87551142

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2023/070935 WO2024037856A1 (fr) 2022-08-18 2023-07-27 Dispositif de direction pour un véhicule, véhicule et procédé de fonctionnement d'un dispositif de direction

Country Status (2)

Country Link
DE (1) DE102022120885A1 (fr)
WO (1) WO2024037856A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4796904A (en) * 1987-03-17 1989-01-10 Honda Giken Kogyo Kabuchiki Kaisha Rear wheel steering device for front and rear wheel steering system
DE10019563A1 (de) * 2000-04-20 2001-10-25 Zahnradfabrik Friedrichshafen Hinterachse für Fahrzeuge
EP1538066A1 (fr) * 2003-12-02 2005-06-08 Renault Actionneur pour essieu de véhicule automobile comprenant un moteur électrique à rotor extérieur et essieu de véhicule automobile commandé par un tel actionneur

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Publication number Priority date Publication date Assignee Title
DE102005037973A1 (de) * 2005-08-11 2007-02-15 Schaeffler Kg Einrichtung zur Verstellung des Radsturzes oder der Vorspur
DE102009018976A1 (de) * 2009-04-25 2010-10-28 Bayerische Motoren Werke Aktiengesellschaft Fahrzeug-Lenksystem der by-wire-Bauart
DE102009002934B4 (de) * 2009-05-08 2024-06-06 Zf Friedrichshafen Ag Lenkbare Fahrzeugachse
DE102009035309A1 (de) * 2009-07-30 2011-02-03 Magna Powertrain Ag & Co Kg Lenkgetriebe
DE102015219316A1 (de) * 2015-10-06 2017-04-06 Volkswagen Aktiengesellschaft Elektromechanische Lenkung mit einem Endanschlag
DE102016119595A1 (de) * 2016-10-14 2018-04-19 Robert Bosch Gmbh Lenksystem mit Einzelradaktuatoren und gemeinsamen Gehäuse
DE102019209351A1 (de) * 2019-06-27 2020-12-31 Zf Friedrichshafen Ag Lenkachse für ein Flurförderfahrzeug sowie Flurförderfahrzeug mit der Lenkachse
DE102019209949A1 (de) * 2019-07-05 2021-01-07 Zf Friedrichshafen Ag Querkraftfreie Lenkung
DE102019216058A1 (de) * 2019-10-17 2021-04-22 Robert Bosch Gmbh Lenksystem für ein Kraftfahrzeug
DE102019218701A1 (de) * 2019-12-02 2021-06-02 Zf Friedrichshafen Ag Lenkpositionserfassung einer Lenkachse

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4796904A (en) * 1987-03-17 1989-01-10 Honda Giken Kogyo Kabuchiki Kaisha Rear wheel steering device for front and rear wheel steering system
DE10019563A1 (de) * 2000-04-20 2001-10-25 Zahnradfabrik Friedrichshafen Hinterachse für Fahrzeuge
EP1538066A1 (fr) * 2003-12-02 2005-06-08 Renault Actionneur pour essieu de véhicule automobile comprenant un moteur électrique à rotor extérieur et essieu de véhicule automobile commandé par un tel actionneur

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