WO2004000629A2 - Systeme de direction conçu pour un vehicule - Google Patents

Systeme de direction conçu pour un vehicule Download PDF

Info

Publication number
WO2004000629A2
WO2004000629A2 PCT/EP2003/005895 EP0305895W WO2004000629A2 WO 2004000629 A2 WO2004000629 A2 WO 2004000629A2 EP 0305895 W EP0305895 W EP 0305895W WO 2004000629 A2 WO2004000629 A2 WO 2004000629A2
Authority
WO
WIPO (PCT)
Prior art keywords
steering
shaft
steering system
gear
servo motor
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/EP2003/005895
Other languages
German (de)
English (en)
Other versions
WO2004000629A3 (fr
Inventor
Johannes Baur
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch Automotive Steering GmbH
Original Assignee
ZF Lenksysteme 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
Priority claimed from DE10253465A external-priority patent/DE10253465A1/de
Application filed by ZF Lenksysteme GmbH filed Critical ZF Lenksysteme GmbH
Publication of WO2004000629A2 publication Critical patent/WO2004000629A2/fr
Publication of WO2004000629A3 publication Critical patent/WO2004000629A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
    • 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
    • B62D5/0409—Electric motor acting on the steering column
    • B62D5/0412—Electric motor acting on the steering column the axes of motor and steering column being parallel
    • B62D5/0415—Electric motor acting on the steering column the axes of motor and steering column being parallel the axes being coaxial
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions

Definitions

  • the invention relates to a steering system for a vehicle, in particular a power steering or auxiliary power steering system for a motor vehicle according to the preamble of claim 1.
  • Servo or power steering systems with steering tube drive are known from: H. Stoll "Chassis technology: steering systems and power steering systems", Vogel subuch, 1st edition, 1992, p. 222 ff.
  • a steering shaft or steering tube connects a steering handle designed as a steering wheel with one Steering gear consisting approximately of a pinion, which meshes with a rack.
  • a servo motor is arranged on the steering shaft of such servo or power steering systems and provides a torque for a gear connection of the steering shaft to the servo motor. This support steering torque of the servo motor can be controlled depending on the parameters.
  • Such servo or power steering systems are suitable for retrofitting a mechanical steering system, but they require a lot of space in the area of the steering column and are complex to build and expensive due to the gear connection of the servo motor to the steering shaft.
  • DE 198 53 343 A1 describes an electric power steering system for a vehicle, which comprises a steering column, wherein a section of the steering column is designed as a rotor of an electric drive.
  • the electric drive applies a torque that supports the rotary movement of the steering column to the steering column.
  • the steering has a reduced installation space requirement, but the installation space requirement and the energy consumption of the known steering systems are not minimized.
  • EP 1 013 534 A1 describes an electric steering servo transmission with a steering shaft actuated by a steering handle, which forms an input for a reduction gear in the form of a pulsator or wave gear and connects the steering handle to an input shaft or a steering element of a steering gear.
  • a servo motor the stator of which is arranged in a rotationally fixed manner in a radially flexible rolling bush of the wave gear, provides a torque on an eccentric, in particular elliptical, drive core of the wave gear.
  • the drive core rotatably engages axially in the radially flexible roll-off bush, one or more circumferential sections of the outer surface of the roll-off bush engaging in continuous alternation with a support surface of a ring stator or support ring fixed to the vehicle.
  • the rolling bushing encompasses the entire servo motor and represents a mechanical connection from the steering handle to the input shaft of the steering gear.
  • the expensive roll-off bushing which is complex to manufacture, is large and merely represents a torsionally soft mechanical connection between the steering handle and the steering gear.
  • the servo motor is supported on the steering shaft and disadvantageously transmits the counter torque to the steering shaft.
  • the invention has for its object to provide a steering system for a vehicle, the space requirements and energy consumption is minimized with inexpensive construction.
  • the invention provides that the steering shaft engages through the wave gear and preferably also through the servo motor.
  • the steering shaft is preferably formed in one piece in its axial section on the shaft gear and on the servo motor.
  • the drive core also known as a wave generator, engages axially with a radially flexible one
  • Roll-off bushing (flex-spline) and rolls with the help of radially intermediate bearings in the roll-off bushing and deforms it in continuous change.
  • one or more peripheral sections of the outer circumferential surface of the rolling bush come into engagement with an essentially cylindrical support surface of a rigid, stationary or vehicle-fixed support ring.
  • the support ring (circular spline) radially surrounds the rolling bush. Since the circumferential surface or outer circumferential surface is shorter than the circumference of the support surface of the support ring, the outer circumferential surface of the rolling bush rotates by this difference in length.
  • the rolling bushing is axially longer than the support ring and has, for example, a stable, circular output flange on its end face facing away from the support ring.
  • the output flange of the rolling bush is non-rotatably connected to an end of the steering tube designed as an input shaft or pinion of the steering gear.
  • the steering shaft protrudes through the hollow shaft motor and is non-rotatably connected to the output flange.
  • the servo motor can be made slim, easily accessible for maintenance work, which also applies to the wave gear.
  • the steering shaft connects the steering handle to the input shaft or a pinion of the steering gear in a torsionally rigid manner.
  • the servomotor rotates in the opposite direction to the direction of rotation of the steering handle, which results in dynamic stabilization of the steering system.
  • This steering system is also characterized by a cheaper natural frequency and a more favorable vibration behavior.
  • the servomotor is controlled by a control and / or regulating device, the control and / or regulating device being connected on the input side to a sensor for determining the steering torque and / or with a sensor for determining the angle of rotation of the steering handle. It may be expedient to design the sensors as contactless sensors and to design the steering system as parameter-controlled servo or power steering.
  • Parameters such as the driving speed of the vehicle can be used as input variables for a map of the servo motor.
  • the servo motor, the control and / or regulating device, the wave gear and the sensors for determining the angle of rotation and torque are expedient Steering handle combined in one housing.
  • the housing surrounds the steering shaft and is part of the steering column.
  • the steering system can be designed as a pinion or double pinion steering, as described, for example, in EP 0931 714 A1, a pinion being connected in a rotationally fixed manner to a steering handle and serving as an input element for a steering gear, such as a rack and pinion gear.
  • the pinion is connected to a steering torque sensor which specifies a drive torque of a servo drive, the servo drive having a second pinion acting on the steering gear.
  • a preferred embodiment of the steering system provides that the steering shaft is axially interrupted, so that “an input shaft section adjoining the steering handle and an axially connecting output shaft section of the steering shaft result.
  • the input shaft is connected to the output shaft with a torsion bar ,
  • the senor is arranged between the input shaft and the output shaft, it being expedient to determine the magnetic resistance which changes as a function of the respective steering torque in a sensor coil on the output shaft.
  • the magnetic resistance changes here under the influence of the change in position of a magnet arranged on the input shaft.
  • the sensors Due to the local proximity of the sensors to the control and / or regulating device and the servo motor, the sensors can be connected to the control and / or regulating device by means of fixed electrical conductors without the aid of plugs and cables.
  • the shaft gear is preferably made of steel for use in power steering systems, at least the rolling bushing and the drive core are made of this material.
  • the internally toothed support ring has a larger number of teeth than the rolling bushing, which engages with the inner toothing of the fixed support ring with at least two diametrically opposed peripheral sections of its external toothing.
  • the gear ratio i is calculated:
  • any ratio can be selected within certain limit ranges.
  • Fig. 1 shows a schematic longitudinal section through an inventive
  • FIG. 2 shows a schematic cross section through a wave gear
  • FIG. 3 shows a schematic cross section through the wave gear in FIG. 2 after a quarter turn of the drive core
  • Fig. 4 is a schematic cross section through the wave gear in Fig. 2 after half a turn of the drive core.
  • a steering system 1 for a vehicle is partially shown in a schematic longitudinal section in FIG.
  • the steering system 1 is designed in the exemplary embodiment shown as a servo or power steering system with a steering shaft drive.
  • the steering gear 5 can be formed from a pinion which meshes with an axially displaceably mounted rack.
  • the pinion here forms the axial end of the steering shaft 2 or an input shaft 4 of the steering shaft 2 in the steering gear 5.
  • the rack, not shown, is fastened in a known manner to the steerable wheels of the vehicle, not shown, with toggle levers.
  • the steering system can also be constructed as a double-pinion steering system, with a steering gear having two input elements in the form of a pinion that is non-rotatably connected to the steering handle and a second pinion that is connected to a servo motor.
  • an electric motor 14 designed as a hollow shaft motor is provided to provide a torque or auxiliary steering torque to the steering shaft 2.
  • the electric motor 14 serves as a servo motor 6 of the steering system 1 and acts via a wave gear 8 on the steering shaft 2, or its input shaft 4 for the steering gear 5.
  • the wave gear 8 or harmonic-drive has a strongly reducing effect and enables that
  • the wave gear 8 is arranged concentrically with the steering shaft 2, so that the longitudinal axis 28 of the wave gear 8 is aligned with the longitudinal axis 29 of the steering shaft 2.
  • the steering shaft 2 extends through the shaft gear 8 and is fixed in a rotationally fixed manner with an output flange 30 to a rolling bushing 9 of the shaft gear 8.
  • the servo motor 6 is arranged on the steering shaft 2 at an axial distance from the steering wheel 27 and is penetrated by the steering shaft 2.
  • a rotor 15 of the servo motor 6 is firmly connected to a hollow shaft 31.
  • the hollow shaft 31 is rotatably held about the steering shaft 2 by means of bearings 32, 32 'at its axial ends. Since the wave gear 8 causes low axial forces, it is possible to dispense with elaborate measures to avoid play in the bearings 32, 32 '.
  • the hollow shaft 31 is in turn connected at its axial end 33 facing away from the steering wheel 27 to a drive core 7 (wave generator) rotating with the hollow shaft 31 during operation of the electric motor 14.
  • the drive core 7 is part of the wave gear 8.
  • a stator 34 of the electric motor 14 is fixedly connected to a housing 19 which encloses the shaft gear 8, the electric motor 14, its control and / or regulating device 16, and a torque sensor 17 and angle of rotation and speed sensor 18 for the electric motor 14 ,
  • FIGS. 2 to 4 show in a schematic cross section through the wave gear 8, the drive core 7 is elliptical in cross section and a ball bearing is mounted around its circumference.
  • the entire length of the drive core 7 engages in the cup-shaped, radially flexible roll-off bushing 9 (flex-spline) formed from a steel sheet.
  • the rolling bushing 9 has an axial extension that is a multiple of the axial extension of the drive core 7.
  • the outer lateral surface 11 of the rolling bush 9 has an external toothing 25 which is arranged over part of the axial extent of the rolling bush 9 and in the entire axial engagement area of the drive core 7.
  • the external toothing 25 engages, under the effect of the elliptical widening of the rolling bushing 9 with two peripheral sections 10, in an internal toothing 26 on a support surface 12 of a rigid and rigid support ring (circular-spline) 13 surrounding the rolling bushing 9 and the drive core 7.
  • the internally toothed support ring 13 has a larger number of teeth than the radially flexible rolling bush 9, which is constantly in engagement with the inner toothing 26 of the fixed support ring 13 with two diametrically opposed peripheral sections 10. on.
  • the rotation occurs by the difference in the number of teeth with each revolution of the drive core 7. Since a large number of teeth are in mesh at the same time, high torques can be transmitted.
  • the wave gear 8 is essentially made of steel, but can also be used in a superimposition depression only to change the transmission ratio between the change in the adjustment angle of the steering handle and the change in the steering angle of the steerable wheels of the motor vehicle depending on parameters such as the rotational speed of the steering wheel, be made of plastic.
  • the rolling bush 9 is connected to the output flange 30, which in turn is rotatably connected to the input shaft 4 of the steering gear 5.
  • the output flange 30 is also non-rotatably connected to the steering shaft 2, which extends through the shaft gear 8 and the servo motor 6 in one piece. If the shaft gear and / or the servo motor fails, this can be mechanically overridden.
  • any reduction ratios are chosen, the denominator of which is not an integer. Fine tooth pitches, corrugations or knurls can also be provided.
  • the steering shaft 2 is axially divided into an input shaft 20 and an output shaft 21 in the housing 19 which surrounds the servo motor 6, its control and / or regulating device 16 and the shaft gear 8.
  • Input shaft 20 and output shaft 21 are connected via a torsion bar 22 inserted in steering shaft 2.
  • the control and / or regulating device 16 can be connected on the input side to the contactless torque sensor 17 for determining the steering torque. It may be expedient to connect further sensors, such as the angle of rotation sensor 18 for the angle of rotation of the steering handle and / or the steerable vehicle wheels and the like, to the control and / or regulating device 16 on the input side.
  • the torque sensor 17 Due to the spatial proximity of the torque sensor 17 to the control and / or regulating device 16, the latter can be connected directly to the control and / or regulating device 16 without plug connections.
  • the torque sensor 17 is arranged in the housing 19 between its end wall 35 on the steering wheel side and the hollow shaft 31 equipped with the rotor.
  • the torque sensor 17 can consist of a magnet 24 which is connected to the input shaft 20 in a rotationally fixed manner and which changes the magnetic resistance of a sensor coil 23 connected to the output shaft 21 in a rotationally fixed manner.
  • a motor sensor 36 for determining the rotational speed and / or the rotational angle of the rotor 15 can be arranged between the torque sensor 17 and the rotor 15.
  • the motor sensor 36 is designed in a contactless mode of operation.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Power Engineering (AREA)
  • Power Steering Mechanism (AREA)

Abstract

L'invention concerne un système de direction (1) conçu pour un véhicule, ce système se présentant sous la forme d'une direction assistée. Un arbre de direction (2) servant à relier mécaniquement un levier de direction (3) à un mécanisme de direction (5) est relié par engrenage à un servomoteur (6) destiné à appliquer un couple-moteur sur l'arbre de direction (2). L'objectif de cette invention est de réduire au maximum l'encombrement ainsi que la consommation en énergie de ce système de direction (1). A cet effet, ladite liaison par engrenage, qui se présente sous la forme d'un réducteur à planétaire (8), et le servomoteur (6), qui se présente de préférence sous la forme d'un moteur à arbre creux, sont traversés par l'arbre de direction (2). Selon l'invention, une douille de déroulement (9) à flexibilité radiale ainsi que l'arbre de direction (2) agissent sur une bride de sortie (30) dudit réducteur planétaire (8). Cette bride de sortie (30) est reliée à un arbre d'entrée (4) du mécanisme de direction (5) de façon à être solidaire en rotation avec celui-ci.
PCT/EP2003/005895 2002-06-22 2003-06-05 Systeme de direction conçu pour un vehicule Ceased WO2004000629A2 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE10227878 2002-06-22
DE10227878.4 2002-06-22
DE10253465.9 2002-11-16
DE10253465A DE10253465A1 (de) 2002-06-22 2002-11-16 Lenksystem für ein Fahrzeug

Publications (2)

Publication Number Publication Date
WO2004000629A2 true WO2004000629A2 (fr) 2003-12-31
WO2004000629A3 WO2004000629A3 (fr) 2004-03-04

Family

ID=30001464

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2003/005895 Ceased WO2004000629A2 (fr) 2002-06-22 2003-06-05 Systeme de direction conçu pour un vehicule

Country Status (1)

Country Link
WO (1) WO2004000629A2 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005110833A1 (fr) * 2004-05-10 2005-11-24 Harmonic Drive Ag Dispositif servant a superposer des mouvements de braquage pour un systeme d'assistance de direction et procede pour faire fonctionner ce dispositif
WO2006039825A1 (fr) * 2004-10-16 2006-04-20 Thyssenkrupp Presta Ag Dispositif de superposition de vitesses pour un systeme de direction
US7905317B2 (en) 2003-12-06 2011-03-15 Zf Lenksysteme Gmbh Superimposed steering system for a vehicle
DE102015213303A1 (de) * 2015-07-15 2017-01-19 Thyssenkrupp Ag Feedback-Aktuator für eine Lenkeinrichtung
EP3276209A1 (fr) * 2016-07-30 2018-01-31 UBTech Robotics Corp. Servomoteur et son procédé de commande

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998012097A1 (fr) * 1996-09-18 1998-03-26 Krupp Presta Ag Dispositif de direction electriquement assistee
JPH11115779A (ja) * 1997-10-16 1999-04-27 Harmonic Drive Syst Ind Co Ltd 電動パワーステアリングのパワーアシスト装置
DE10027539C2 (de) * 2000-06-02 2003-01-30 Oechsler Ag Wellgetriebe

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7905317B2 (en) 2003-12-06 2011-03-15 Zf Lenksysteme Gmbh Superimposed steering system for a vehicle
WO2005110833A1 (fr) * 2004-05-10 2005-11-24 Harmonic Drive Ag Dispositif servant a superposer des mouvements de braquage pour un systeme d'assistance de direction et procede pour faire fonctionner ce dispositif
WO2006039825A1 (fr) * 2004-10-16 2006-04-20 Thyssenkrupp Presta Ag Dispositif de superposition de vitesses pour un systeme de direction
DE102015213303A1 (de) * 2015-07-15 2017-01-19 Thyssenkrupp Ag Feedback-Aktuator für eine Lenkeinrichtung
EP3276209A1 (fr) * 2016-07-30 2018-01-31 UBTech Robotics Corp. Servomoteur et son procédé de commande

Also Published As

Publication number Publication date
WO2004000629A3 (fr) 2004-03-04

Similar Documents

Publication Publication Date Title
DE602004003081T3 (de) Kraftfahrzeuglenkung
EP1689632B1 (fr) Direction a superposition pour un vehicule
DE102009029532B4 (de) Lenkventil mit Planetengetriebe
EP0180748A1 (fr) Transmission planétaire
DE4201906A1 (de) Lenkvorrichtung mit veraenderbarem lenkwinkelverhaeltnis
EP1836083B1 (fr) Dispositif de superposition de tours-minute comprenant un entrainement d'assistance
DE10253465A1 (de) Lenksystem für ein Fahrzeug
DE10129450A1 (de) Stellglied für eine Fahrzeug-Lenkvorrichtung
DE19723358B4 (de) Motorbetriebenes Servolenksystem
EP2129568B1 (fr) Transmission pour un dispositif de direction de véhicule
EP1237776A1 (fr) Dispositif d'assistance de direction electrique tubulaire a rendement eleve
DE102004052562B3 (de) Kraftfahrzeuglenkung mit Überlagerungsgetriebe
DE102021213063B4 (de) Lenkantrieb für eine Lenkachse eines lenkbaren Fahrzeugs, Lenkachse und Flurförderzeug
WO2020120277A1 (fr) Essieu rigide entraîné par moteur électrique, destiné à des véhicules, en particulier des véhicules utilitaires, et procédé de fonctionnement correspondant, produit programme d'ordinateur, dispositif de commande et/ou de régulation et véhicule automobile
WO2004000629A2 (fr) Systeme de direction conçu pour un vehicule
DE3443625C2 (fr)
DE102005034340B4 (de) Planetengetriebe und Stellantrieb für Armaturen mit einem Planetengetriebe
EP2562058B1 (fr) Dispositif d'appui monté de manière modulaire pour un semi-remorque et semi-remorque doté d'un tel dispositif d'appui
DE102016212818A1 (de) Lenkung für Fahrzeuge mit Hochübersetzungsgetriebe, insbesondere für Nutzkraftfahrzeuge
DE102015120244A1 (de) Getriebestufe für eine Getriebeanordnung, Getriebeanordnung und Antriebsvorrichtung mit einem Elektromotor und einer Getriebeanordnung
EP1431161B1 (fr) Système de direction pour un véhicule
DE102006038192A1 (de) Lenksystem mit Planetengetriebe
DE102019205944B4 (de) Getriebeeinheit für eine Kraftfahrzeuglenkung
WO2023061721A1 (fr) Colonne de direction pour un système de direction à direction par câble
DE102009056356A1 (de) Servolenkung

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A2

Designated state(s): CN JP US

AL Designated countries for regional patents

Kind code of ref document: A2

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LU MC NL PT RO SE SI SK TR

121 Ep: the epo has been informed by wipo that ep was designated in this application
122 Ep: pct application non-entry in european phase
NENP Non-entry into the national phase

Ref country code: JP

WWW Wipo information: withdrawn in national office

Country of ref document: JP