CN111731377A - Electric power steering system for unmanned vehicle - Google Patents
Electric power steering system for unmanned vehicle Download PDFInfo
- Publication number
- CN111731377A CN111731377A CN202010636088.1A CN202010636088A CN111731377A CN 111731377 A CN111731377 A CN 111731377A CN 202010636088 A CN202010636088 A CN 202010636088A CN 111731377 A CN111731377 A CN 111731377A
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- unmanned vehicle
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- 238000007789 sealing Methods 0.000 claims description 105
- 230000009467 reduction Effects 0.000 claims description 33
- 238000003825 pressing Methods 0.000 claims description 21
- 230000007246 mechanism Effects 0.000 claims description 8
- 238000003466 welding Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 239000000428 dust Substances 0.000 description 5
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- HQQADJVZYDDRJT-UHFFFAOYSA-N ethene;prop-1-ene Chemical group C=C.CC=C HQQADJVZYDDRJT-UHFFFAOYSA-N 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000000178 monomer Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Classifications
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- 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
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- 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
- B62D3/06—Steering gears mechanical of worm type with screw and nut
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- 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
- B62D3/12—Steering gears mechanical of rack-and-pinion type
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention discloses an electric power steering system for an unmanned vehicle, which comprises a power-assisted motor, a steering engine shell, a steering controller, a torque angle sensor, a power-assisted gear shaft and a rack, wherein the steering controller is electrically connected with the power-assisted motor and the torque angle sensor, the power-assisted gear shaft comprises a gear shaft body and a gear body which is arranged on the gear shaft body and is meshed with the rack, the gear body and the gear shaft body are integrally processed and molded, the torque angle sensor is positioned in the steering engine shell, and the torque angle sensor is fixedly arranged on the gear shaft body. The electric power steering system for the unmanned vehicle integrates the gear body and the gear shaft body into a whole, and has a simple and compact structure, so that the compactness of the structure can be improved.
Description
Technical Field
The invention belongs to the technical field of vehicle steering systems, and particularly relates to an electric power steering system for an unmanned vehicle.
Background
In the existing electric power steering system for the unmanned vehicle, a gear body meshed with a rack is arranged on a gear shaft, the gear body and the gear shaft are two parts which are processed separately, and the two parts are assembled together after being processed to form a power-assisted gear assembly connected with a power-assisted motor.
And the existing small-sized and miniature logistics transfer vehicle needs to be driven by a manually operated steering wheel, has the defects of high labor cost, complex structure and low intelligent degree, and is not convenient to use.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. The invention provides an electric power steering system for an unmanned vehicle, aiming at improving the structure compactness.
In order to achieve the purpose, the invention adopts the technical scheme that: the electric power-assisted steering system for the unmanned vehicle comprises a power-assisted motor, a steering machine shell, a steering controller, a torque angle sensor, a power-assisted gear shaft and a rack, wherein the steering controller is electrically connected with the power-assisted motor and the torque angle sensor, the power-assisted gear shaft comprises a gear shaft body and a gear body which is arranged on the gear shaft body and is meshed with the rack, the gear body and the gear shaft body are integrally processed and formed, and the torque angle sensor is positioned inside the steering machine shell and is fixedly arranged on the gear shaft body.
The torque angle sensor is fixed on the gear shaft body through laser welding.
The power-assisted motor is connected with the power-assisted gear shaft through the speed reducing mechanism, the speed reducing mechanism comprises a speed reducing box body, a worm arranged in the speed reducing box body and a worm wheel meshed with the worm, the worm is connected with the power-assisted motor, and the worm wheel is arranged on the gear shaft body.
The reduction box body is connected with the steering gear shell and the rack shell, the gear body is positioned in the rack shell, the reduction box body is positioned between the steering gear shell and the rack shell, and sealing rings are arranged between the reduction box body and the steering gear shell as well as between the reduction box body and the rack shell.
The gear shaft body is installed on the reduction box body through a bearing, one end of the gear shaft body is installed on the rack shell through a first shaft sleeve, and the other end of the gear shaft body is installed on the steering gear shell through a second shaft sleeve.
The torque angle sensor is connected with the sensor wire harness, the steering engine shell is provided with a first through hole through which the sensor wire harness passes, a waterproof sealing device is arranged on the steering engine shell, the waterproof sealing device comprises a sealing plug which is in contact with the outer wall surface of the steering engine shell and a wire harness pressing plate which tightly presses the sealing plug on the steering engine shell, and the sealing plug is provided with a second through hole through which the sensor wire harness passes.
The unmanned vehicle is a small or micro logistics transfer vehicle.
The electric power steering system for the unmanned vehicle integrates the gear body and the gear shaft body into a whole, and has a simple and compact structure, so that the compactness of the structure can be improved.
Drawings
The description includes the following figures, the contents shown are respectively:
FIG. 1 is a partial cross-sectional view of an electric power steering system for an unmanned vehicle of the present invention;
FIG. 2 is another partial cross-sectional view of the electric power steering system for an unmanned vehicle of the present invention;
FIG. 3 is a front view of the electric power steering system for an unmanned vehicle of the present invention;
FIG. 4 is a schematic structural view of an electric power steering system for an unmanned vehicle according to the present invention;
FIG. 5 is a schematic structural view of a steering controller;
FIG. 6 is a cross-sectional view of the sealing plug;
fig. 7 is a sectional view of a sealing structure at a wire harness passage hole;
FIG. 8 is a schematic structural view of a wire harness platen;
labeled as: 1. a booster motor; 2. a first bushing; 3. a rack housing; 4. a booster gear shaft; 5. a first seal ring; 6. a worm gear; 7. a first bearing; 8. a torque angle sensor; 9. a second shaft sleeve; 10. a steering housing; 11. a sensor harness; 12. a sealing plug; 1201. a seal cartridge body; 1202. a flange; 1203. an axial seal ring; 1204. a radial seal ring; 1205. a second through hole; 13. a third shaft sleeve; 14. a worm; 15. a second bearing; 16. a baffle plate; 17. a coupling assembly; 18. a third seal ring; 19. a pull rod; 20. a dust cover; 21. a fourth shaft sleeve; 22. a rack; 23. a steering controller; 2301. a steering controller signal input; 2302. a signal detection end of the steering controller; 2303. a power supply output end of the steering controller; 2304. a power supply input end of the steering controller; 24. a second seal ring; 25. a wire harness pressing plate; 2501. a pressing part; 2502. an installation part; 26. a reduction box body; 27. a first through hole; 28. and (4) bolts.
Detailed Description
The following detailed description of the embodiments of the present invention will be given with reference to the accompanying drawings for a purpose of helping those skilled in the art to more fully, accurately and deeply understand the concept and technical solution of the present invention and to facilitate its implementation.
It should be noted that, in the following embodiments, the terms "first", "second" and "third" do not denote absolute differences in structure and/or function, nor do they denote a sequential order of execution, but rather are used for convenience of description.
As shown in fig. 1 to 8, the present invention provides an electric power steering system for an unmanned vehicle, which includes a power motor 1, a steering housing 10, a steering controller, a torque angle sensor 8, a power gear shaft 4 and a rack, wherein the steering controller is electrically connected to the power motor 1 and the torque angle sensor 8. The power-assisted gear shaft 4 comprises a gear shaft body and a gear body which is arranged on the gear shaft body and is meshed with the rack, the gear body and the gear shaft body are integrally processed and formed, and the torque angle sensor 8 is positioned inside the steering gear shell 10 and is fixedly arranged on the gear shaft body.
Specifically, as shown in fig. 1 to 4, the assist motor 1 is connected to the assist gear shaft 4 through a reduction mechanism, the reduction mechanism includes a reduction case 26, a worm 14 provided in the reduction case 26, and a worm wheel meshed with the worm 14, the worm 14 is connected to the assist motor 1, and the worm wheel is provided on the gear shaft body. The assisting motor 1 is fixedly arranged on the reduction box body 26, the worm wheel is positioned in the reduction box body 26, the worm wheel and the gear shaft body are coaxially and fixedly connected, and the worm wheel is positioned between the torque angle sensor 8 and the gear body.
As shown in fig. 1 to 4, the electric power steering system for the unmanned vehicle of the present invention further includes a rack housing 3, a reduction box 26 is fixedly connected to the steering housing 10 and the rack housing 3, a gear body is located in the rack housing 3, the reduction box 26 is located between the steering housing 10 and the rack housing 3, first seal rings 5 are respectively disposed between the reduction box 26 and the rack housing 3, second seal rings 24 are respectively disposed between the reduction box 26 and the steering housing 10, the reduction box 26 is sandwiched between the rack housing 3 and the steering housing 10, the first seal rings 5 are used for sealing between the reduction box 26 and the rack housing 3, the second seal rings 24 are used for sealing between the reduction box 26 and the steering housing 10, and the first seal rings 5 and the second seal rings 24 are both O-rings.
As shown in fig. 1 to 4, the gear shaft body is mounted on the reduction case 26 through a first bearing 77, an outer race of the first bearing 77 is in interference fit with the reduction case 26, and the axial movement of the first bearing 77 is restricted by providing a spin rivet on the gear shaft body. The worm wheel is mounted on the gear shaft body by interference fit, and the end face of the worm wheel is fixed to the end face of the inner race of the first bearing 77.
As shown in fig. 1 to 4, the rack housing 3 is fixedly connected to the reduction gear box 26 and the steering gear box 10 by bolts, the rack is movably disposed in an inner cavity of the rack housing 3, the rack housing 3 has a structure with two open ends and a hollow interior, the inner cavity of the rack housing 3 is a circular cavity, the inner cavity of the rack housing 3 extends from one end of the steering gear box 10 to the other end along the length direction of the steering gear box 10, and the diameter of the rack is smaller than that of the inner cavity. One end of the gear shaft body is installed on the rack shell 3 through the first shaft sleeve 2, the other end of the gear shaft body is installed on the steering gear shell 10 through the second shaft sleeve 9, the first shaft sleeve 2 is sleeved at one end of the gear shaft body, the second shaft sleeve 9 is sleeved at the other end of the gear shaft body, and the first shaft sleeve 2 and the second shaft sleeve 9 support two ends of the power-assisted gear shaft 4 respectively.
As shown in fig. 1 to 3, the worm 14 is connected with a motor shaft of the assist motor 1 through a coupling assembly 17, the worm 14 is mounted on a reduction box 26 through a second bearing 15, an inner ring of the second bearing 15 is in interference fit with the worm 14, the coupling assembly 17 is fixed on an input end of the worm 14 through interference fit, the worm 14 is inserted into the reduction box 26, the second bearing 15 is used for supporting the worm 14, a bearing pressing plate is fixed in the reduction box 26 through bolt connection, the bearing pressing plate is used for limiting axial movement of the worm 14, an output end of the worm 14 is mounted in a third shaft sleeve 13, and the third shaft sleeve 13 is used for supporting an output end of the worm 14.
As shown in fig. 4, the rack is installed in the rack housing 3, the wear-resistant fourth shaft sleeves 21 are installed and fixed at two ends of the rack housing 3, the rack passes through the fourth shaft sleeves 21, and threaded holes matched with the tie rods 19 are formed at two ends of the rack and used for installing and fixing the tie rods 19; the pull rod 19 is provided with a distance adjusting mechanism, and the distance adjusting mechanism can adapt to automobiles of different models.
As shown in fig. 2, the assist motor 1 is fixedly connected to the reduction case 26 by bolts, and the assist motor 1 is connected to a power output terminal 2303 of the steering controller by a wire harness and a connector. The third sealing ring 18 is arranged at the joint of the power-assisted motor 1 and the reduction box body 26, the third sealing ring 18 is an O-shaped ring, and the third sealing ring 18 is used for sealing between the power-assisted motor 1 and the reduction box body 26, so that the protection level of a steering system can be effectively guaranteed.
The torque angle sensor 8 is fixed on the gear shaft body through laser welding, the first bearing 7 is located between the worm wheel and the torque angle sensor 8, the torque angle sensor 8 is located inside the steering housing 10, the steering controller is located outside the steering housing 10, the output end of the torque angle sensor 8 is connected with the signal end of the steering controller, the torque angle sensor 8 can change the angular rotation displacement generated by the gear shaft body into an electric signal to be transmitted to the steering controller, the steering controller can further combine a vehicle speed signal, an engine rotating speed signal and the like, and the power-assisted motor 1 is controlled to output auxiliary steering power-assisted torque corresponding to the steering direction and the power-assisted size according to corresponding instructions. As shown in fig. 4 and 6 to 8, the torque angle sensor 8 is connected to the sensor harness 11, the steering housing 10 has a first through hole 27 through which the sensor harness 11 passes, a waterproof sealing device is provided on the steering housing 10, the waterproof sealing device includes a sealing plug 12 contacting an outer wall surface of the steering housing 10 and a harness holding plate 25 pressing the sealing plug 12 against the steering housing 10, the sealing plug 12 has a second through hole 1205 through which the sensor harness 11 passes, a radial sealing ring 1204 contacting an outer circumferential surface of the sensor harness 11 is provided in the second through hole 1205, the sensor harness 11 passes through the radial sealing ring 1204, and the radial sealing ring 1204 is fixedly connected to an inner circumferential surface of the radial sealing ring 12.
As shown in fig. 4, 6 and 7, the first through hole 27 is a through hole radially penetrating the side wall of the steering gear housing 10, the first through hole 27 is a circular hole, the axis of the first through hole 27 is perpendicular to the axis of the steering gear housing 10, and the axis of the steering gear housing 10 is parallel to the axis of the gear shaft body. The sealing plug 12 is a revolving body structure, the second through hole 1205 is a through hole which is arranged at the center of the sealing plug 12 along the axial direction of the sealing plug 12 in a penetrating manner, the second through hole 1205 is a circular hole, the sealing plug 12 and the first through hole 27 are coaxially arranged, the outer circular surface of the sealing plug 12 is attached to the inner circular surface of the first through hole 27, the sealing plug 12 is made of elastic materials, and the sealing plug 12 is an elastic body with elasticity. The radial sealing ring 1204 is a circular ring structure, the radial sealing ring 1204 and the sealing plug 12 are integrally formed, the radial sealing ring 1204 protrudes from the inner circular surface of the sealing plug 12 towards the second through hole 1205 along the radial direction, the material of the radial sealing ring 1204 is the same as that of the sealing plug 12, the sensor wire harness 11 passes through the central hole of the radial sealing ring 1204, the inner circular surface of the radial sealing ring 1204 is in contact with the outer circular surface of the sensor wire harness 11, the radial sealing ring 1204 and the sensor wire harness 11 are in interference fit, and the radial sealing ring 1204 plays a sealing role after mutual extrusion. Furthermore, the first through hole 27 is aligned with the torque angle sensor 8, the torque angle sensor 8 is located in the axial direction of the first through hole 27, the distance between the radial sealing ring 1204 and the first end of the sealing plug 12 is smaller than the distance between the radial sealing ring 1204 and the second end of the sealing plug 12, the first end and the second end of the sealing plug 12 are opposite ends of the sealing plug 12 in the axial direction, the distance between the first end of the sealing plug 12 and the axis of the steering housing 10 is smaller than the distance between the second end of the sealing plug 12 and the axis of the steering housing 10, that is, the position of the radial sealing ring 1204 is close to the end of the sensor wire harness 11 connected with the torque angle sensor 8, so that even if the sensor wire harness 11 is pulled laterally outside the steering housing 10, the sealing performance of the sealing structure is not affected, the sealing performance is effectively.
Preferably, the sealing plug 12 is made of epdm (ethylene Propylene monomer) material, and the inner circumferential surface of the sealing plug 12 is in contact with the outer circumferential surface of the sensor harness 11.
The number of the radial sealing rings 1204 may be plural, and all the radial sealing rings 1204 are arranged in sequence along the axial direction of the second through hole 1205, so that the sealing effect can be further improved. In the present embodiment, as shown in fig. 6 and 7, the radial seal rings 1204 are provided in total in two.
As shown in fig. 6 and 7, the sealing plug 12 includes a sealing sleeve body 1201 and a flange 1202 which is provided on the sealing sleeve body 1201 and is annular, the flange 1202 is sandwiched between the wire harness pressing plate 25 and the steering housing 10, an axial sealing ring 1203 which is in contact with the steering housing 10 is provided on the flange 1202, and the axial sealing ring 1203 is an annular structure which extends on the flange 1202 along the entire circumference of the flange 1202. The sealing sleeve body 1201 is a cylindrical structure with two open ends and a hollow interior, the second through hole 1205 is a central hole of the sealing sleeve body 1201, and the radial sealing ring 1204 is fixedly connected with the sealing sleeve body 1201. The sealing sleeve body 1201 is inserted into the first through hole 27, the flange 1202 is a circular ring structure, the flange 1202 is sleeved on the sealing sleeve body 1201, the flange 1202 is fixedly connected with the sealing sleeve body 1201, the distance between the flange 1202 and the first end of the sealing sleeve body 1201 (i.e. the first end of the sealing plug 12) is greater than the distance between the flange 1202 and the second end of the sealing sleeve body 1201 (i.e. the second end of the sealing plug 12), the outer diameter of the flange 1202 is greater than the outer diameter of the sealing sleeve body 1201, and the outer diameter of the flange 1202 is greater than the diameter of the first through hole 27. The wire harness pressing plate 25 is located outside the steering engine shell 10, the wire harness pressing plate 25 is provided with a through hole through which the sealing sleeve body 1201 penetrates, the flange 1202 is clamped between the wire harness pressing plate 25 and the steering engine shell 10, the axial sealing ring 1203 is arranged on the surface, in contact with the steering engine shell 10, of the flange 1202, the axial sealing ring 1203 and the flange 1202 are coaxially arranged, the diameter of the axial sealing ring 1203 is larger than that of the sealing sleeve body 1201, the diameter of the axial sealing ring 1203 is larger than that of the first through hole 27, the axial sealing ring 1203 and the sealing plug 12 are integrally formed, and the material of the axial sealing ring 1203 is the same as that of the sealing. The wire harness pressing plate 25 applies pressing force to the sealing plug 12 to enable the sealing plug to be tightly pressed in the first through hole 27, the wire harness pressing plate 25 extrudes the sealing plug 12, meanwhile, the axial sealing ring 1203 and the steering engine shell 10 are extruded to form a sealing belt, axial sealing is achieved, therefore, the sealing effect at the first through hole 27 can be further improved, and the cavity in the steering engine shell 10 is isolated from the external environment.
As shown in fig. 7 and 8, the harness retainer 25 is attached to the steering housing 10 by bolts 28, the harness retainer 25 has bolt holes through which the bolts 28 pass, and the steering housing 10 has internally threaded holes through which the bolts 28 are inserted. The wire harness pressing plate 25 includes a pressing portion 2501 and a mounting portion 2502, the pressing portion 2501 is in contact with the flange 1202 and the steering housing 10, the flange 1202 is sandwiched between the pressing portion 2501 and the steering housing 10, a bolt hole through which the bolt 28 passes is provided in the pressing portion 2501, and a through hole through which the seal cover body 1201 passes is provided in the center of the pressing portion 2501. The mounting portion 2502 is fixedly connected with the pressing portion 2501, the mounting portion 2502 extends towards the outer side of the steering housing 10, the mounting portion 2502 is used for providing a mounting point for mounting the sensor wiring harness 11, and the sensor wiring harness 11 is mounted on the mounting portion 2502 through a buckle, so that the sensor wiring harness 11 is arranged according to a set path, and random bending deformation of the sensor wiring harness 11 is avoided.
The sealing structure is arranged at the first through hole 27, so that the sealing structure is simplified, the requirement of axial and radial sealing is met by one part, and the sealing performance is reliable; and the part cost is saved, and the assembly manufacturability is better.
As shown in fig. 3 and 4, the dust cover 20 is mounted on the rack housing 3 and the pull rod 19, and the dust cover 20 is fixed by a cable tie, so that dust and liquid can be effectively prevented from entering the rack housing 3 during the working process of the unmanned vehicle, and the steering system is prevented from being damaged; the steering system is sealed by arranging a plurality of O-shaped rings, a waterproof sealing device and the dust cover 20, so that the whole structure part of the steering system can reach the IP67 protection grade, and the steering system is suitable for working under different working conditions of vehicles.
A signal input end 2301 of the steering controller is connected with a signal unit of the unmanned vehicle through a CAN bus, a power input end 2304 of the steering controller is connected with a storage battery of the unmanned vehicle through a wiring harness, and the storage battery is a 9-16V direct-current power supply.
The electric power steering system for the unmanned vehicle adopts a pure wire control mode to realize accurate power steering; the steering controller receives an automobile steering control signal, integrates the steering related boundary conditions of the unmanned vehicle, calculates the driving angle and driving torque required by the actual unmanned vehicle to steer, drives the power-assisted motor 1 to push the gear rack to realize the active steering of the unmanned vehicle by proper current and voltage, and realizes the accurate control of the steering angle of the unmanned vehicle by the closed-loop PI regulation of a steering angle signal fed back by the torque angle sensor 8 in real time.
In this embodiment, the unmanned vehicle is a small or micro-sized logistics transfer vehicle.
The invention is described above with reference to the accompanying drawings. It is to be understood that the specific implementations of the invention are not limited in this respect. Various insubstantial improvements are made by adopting the method conception and the technical scheme of the invention; the present invention is not limited to the above embodiments, and can be modified in various ways.
Claims (7)
1. Electric power steering system for unmanned vehicle, including helping hand motor, steering wheel casing, steering controller, moment of torsion angle sensor, helping hand gear shaft and rack, steering controller is connected its characterized in that for helping hand motor and moment of torsion angle sensor is the electricity: the power-assisted gear shaft comprises a gear shaft body and a gear body which is arranged on the gear shaft body and is meshed with the rack, the gear body and the gear shaft body are integrally processed and formed, and the torque angle sensor is located inside the steering engine shell and fixedly arranged on the gear shaft body.
2. The electric power steering system for the unmanned vehicle according to claim 1, characterized in that: the torque angle sensor is fixed on the gear shaft body through laser welding.
3. The electric power steering system for the unmanned vehicle according to claim 1 or 2, characterized in that: the power-assisted motor is connected with the power-assisted gear shaft through the speed reducing mechanism, the speed reducing mechanism comprises a speed reducing box body, a worm arranged in the speed reducing box body and a worm wheel meshed with the worm, the worm is connected with the power-assisted motor, and the worm wheel is arranged on the gear shaft body.
4. The electric power steering system for the unmanned vehicle according to claim 3, characterized in that: the reduction box body is connected with the steering gear shell and the rack shell, the gear body is positioned in the rack shell, the reduction box body is positioned between the steering gear shell and the rack shell, and sealing rings are arranged between the reduction box body and the steering gear shell as well as between the reduction box body and the rack shell.
5. The electric power steering system for the unmanned vehicle according to claim 4, characterized in that: the gear shaft body is installed on the reduction box body through a bearing, one end of the gear shaft body is installed on the rack shell through a first shaft sleeve, and the other end of the gear shaft body is installed on the steering gear shell through a second shaft sleeve.
6. The electric power steering system for an unmanned vehicle according to any one of claims 1 to 5, characterized in that: the torque angle sensor is connected with the sensor wire harness, the steering engine shell is provided with a first through hole through which the sensor wire harness passes, a waterproof sealing device is arranged on the steering engine shell, the waterproof sealing device comprises a sealing plug which is in contact with the outer wall surface of the steering engine shell and a wire harness pressing plate which tightly presses the sealing plug on the steering engine shell, and the sealing plug is provided with a second through hole through which the sensor wire harness passes.
7. The electric power steering system for an unmanned vehicle according to any one of claims 1 to 6, characterized in that: the unmanned vehicle is a small or micro logistics transfer vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010636088.1A CN111731377A (en) | 2020-07-03 | 2020-07-03 | Electric power steering system for unmanned vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010636088.1A CN111731377A (en) | 2020-07-03 | 2020-07-03 | Electric power steering system for unmanned vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN111731377A true CN111731377A (en) | 2020-10-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010636088.1A Pending CN111731377A (en) | 2020-07-03 | 2020-07-03 | Electric power steering system for unmanned vehicle |
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| Country | Link |
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| CN (1) | CN111731377A (en) |
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| CN112776881A (en) * | 2021-03-05 | 2021-05-11 | 南京经纬达汽车科技有限公司 | Rack-assisted steer-by-wire system and control method thereof |
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| CN112776881A (en) * | 2021-03-05 | 2021-05-11 | 南京经纬达汽车科技有限公司 | Rack-assisted steer-by-wire system and control method thereof |
| CN112776881B (en) * | 2021-03-05 | 2024-06-04 | 南京经纬达汽车科技有限公司 | Rack-assisted steering-by-wire system and control method thereof |
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