Steering System for a Steerable Vehicle

Abstract

A steering system for a steerable vehicle includes at least two steerable wheels, to each of which an electrically operable steering actuator to enable the steering actuator to adjust the steering angle of the particular steerable wheel by application of a steering torque. The at least two steering actuators can be mechanically coupled to each other so that, in the event of a failure or a malfunction of the one steering actuator, the steering torque provided by the other steering actuator can be transferred to the one steering actuator, to enable the steering angle of the steerable wheel assigned to the failed steering actuator to still be changed via the other steering actuator. The at least two steering actuators can be mechanically coupled to each other via a bendable shaft or via a universal joint shaft which includes at least two rigid shafts hingedly connected via a universal joint.

Claims

1. A steering system for a steerable vehicle, comprising: at least two steerable wheels, to each of which an electrically operable steering actuator is assigned, in order to enable said steering actuator to adjust the steering angle of the particular steerable wheel by application of a steering torque, wherein at least two steering actuators can be mechanically coupled to each other in such a way that, in the event of a failure or a malfunction of the one steering actuator, the steering torque provided by the other steering actuator can be transferred to the one steering actuator, in order to enable the steering angle of the steerable wheel assigned to the failed steering actuator to still be changed via the other steering actuator, wherein the at least two steering actuators can be mechanically coupled to each other for the transfer of a torque from the one steering actuator to the other steering actuator, said steering actuators being coupled via a bendable shaft or via a universal joint shaft which includes at least two rigid shafts which are hingedly connected to each other via a universal joint.

2. The steering system as claimed in claim 1, wherein the bendable shaft or the universal joint shaft has an elasticity of torsion in such a way that a steering angle difference, which occurs during trouble-free operation, between the mechanically intercoupled steering actuators is compensated for, in the absence of transfer, by the bendable shaft or the universal joint shaft, and a steering angle difference exceeding the usual difference effectuates a transfer of the torque between the intercoupled steering actuators.

3. The steering system as claimed in claim 1, wherein at least one coupling is incorporated into the mechanical coupling of the steering actuators, which is open during trouble-free operation of the steering system and is closed in the event of a malfunction.

4. The steering system as claimed in claim 1, wherein at least one positive-fit coupling is incorporated into the mechanical coupling of the steering actuators, wherein the positive-fit coupling is designed for permitting a relative motion between its input side and its output side to the extent that a steering angle difference, which occurs during trouble-free operation of the steering system, between the mechanically intercoupled steering actuators is compensated for, in the absence of transfer, by the coupling, and a steering angle difference exceeding the usual difference brings about a positive fit of the coupling.

5. The steering system as claimed in claim 4, wherein at least one spring element is situated between form-fitting elements of the positive-fit coupling, which allows for an elastic positive fit of the positive-fit coupling in such a way that, in the event of a positive fit of the coupling having an increasing steering-angle difference between its input side and its output side, a higher torque is transferred between the intercoupled steering actuators.

6. The steering system as claimed in claim 1, wherein each steering actuator can be disconnected from or connected to the bendable shaft or universal joint shaft via a coupling assigned thereto.

7. The steering system as claimed in claim 1, comprising at least two steerable front wheels of the vehicle and two steerable rear wheels of the vehicle, to each of which a steering actuator is assigned for adjusting the steering angle, wherein all four steering actuators can be mechanically coupled to each other via the bendable shaft or the universal joint shaft.

8. The steering system as claimed in claim 1, wherein each steering actuator comprises a centering spring element which brings the steering actuator into a defined starting position in the event of a malfunction.

9. A method for steering a vehicle, comprising: providing a steering system as claimed in claim 1; in the event of a failure or a malfunction of the one steering actuator, transferring the steering torque provided by the other steering actuator to the one steering actuator; and enabling the steering angle of the steerable wheel assigned to the failed steering actuator to be changed via the other steering actuator.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0027] FIG. 1 shows a top view of one exemplary embodiment of a steering system according to the invention,

[0028] FIG. 2 shows a side view of one alternative mechanical coupling of two steering actuators, and

[0029] FIGS. 3a and 3b show schematic views of a positive fit mechanical coupling member.

[0030] Parts having an equivalent function are always provided with the same reference numbers in the different figures, and so these are also generally only described once.

DETAILED DESCRIPTION OF INVENTION

[0031] FIG. 1 shows a top view of one exemplary embodiment of a steering system 1 for a steerable vehicle (not shown in greater detail) according to the invention. The steering system 1 includes two steerable wheels 2 and 3. Assigned to each wheel 2 and 3 is an electrically operable steering actuator 4 and 5, respectively. The steering actuators 4 and 5 are used in a manner known per se for adjusting the steering angle of the particular steerable wheel 2 and 3, respectively, by the application of a steering torque. As is apparent in FIG. 1, the two steering actuators 4 and 5 of the steering system shown are mechanically intercoupled in this case via a bendable shaft 6 in such a way that, in the event of a failure or a malfunction of one steering actuator 4 or 5, the steering torque provided by the other steering actuator 5 or 4 can be transferred to the one steering actuator 4 or 5, respectively. In this way, the steering angle of the wheel 2 or 3 assigned to the failed steering actuator 4 or 5, respectively, can still be changed. The bendable shaft 6 is used in this case for transferring a torque from the one steering actuator 4 or 5 to the other steering actuator 5 or 4, respectively, each of which is designed as an electric motor.

[0032] The particular advantage of the use of the bendable shaft 6 is that it can be placed, for example, around a drive engine 7 and/or a transmission 8 of the vehicle in a space-saving manner.

[0033] In the exemplary embodiment of the steering system 1 represented in FIG. 1, the bendable shaft 6 is statically connected to the particular steering actuators 4 and 5. The bendable shaft therefore has an elasticity of torsion in such a way that a usual steering angle difference, which occurs during trouble-free operation, between the mechanically intercoupled steering actuators 4 and 5 is compensated for, essentially in the absence of transfer, by the shaft 6, and a steering angle difference exceeding the usual difference effectuates a transfer of the torque between the intercoupled steering actuators 4 and 5.

[0034] As an alternative way for coupling, instead of bendable shaft 6, a coupling via rigid shafts 16a-c and universal joints 16a,b (in FIG. 1 shown in dashed lines) may be implemented, whereby number and geometry of rigid shafts and universal joints may vary depending on the demands for best placement of the coupling member.

[0035] An optional mechanical coupling member 17, which alternatively may be implemented also in the bendable shaft connection 6, may be controlled by an actuator (not shown) in order to rotationally connect the two steering actuators 4 and 5 only in case of failure or malfunction of one steering actuator.

[0036] FIG. 2 shows a side view of one alternative mechanical coupling of two steering actuators 9 and 10, wherein only the particular output shafts 11 and 12, respectively, thereof are evident. The two steering actuators 9 and 10 are mechanically intercoupled with the aid of two cable pulls 13 and 14 in such a way that only one cable pull 13 or 14 is ever tensioned upon a rotation of the output shaft 11 or 12 in either direction.

[0037] As an alternative to a mechanical coupling to be engaged by an actuator (cf. FIG. 1), FIGS. 3a and 3b illustrate the principle of a mechanical coupling 17′ which rotatively connects the actuators only if a certain angular difference is exceeded. This may be realized by a positive fit coupling 17′ with a pin 18 extending from one member 22 and engaging into an annular sectional groove in another positive fit coupling member 20 which has two stops 19a,b limiting free movement of the pin 18 and thereby rotatively connections the members 20, 22 if a predetermined angular difference is exceeded.

[0038] Further, a torsional spring or a torsional elastic member 21 may be coupled into the connection so, in the event of a positive fit of the coupling, the transfer of torque between the intercoupled steering actuators 4, 5 increases with increasing steering-angle difference between input side and output side of the positive fit coupling 17′.

[0039] The above-described steering system according to the invention is not limited to the embodiment disclosed herein, but rather also comprises further, equally acting embodiments. In particular, instead of the bendable shaft, a universal joint shaft can be provided, which includes at least two rigid shafts which are hingedly connected to each other via a universal joint. The universal joint shaft can also include more than two rigid shafts which are connected to each other in series via a universal joint in each case and, in this way, allows for an even more flexible placement at the vehicle.

[0040] As mentioned above, embodiments are also conceivable which include a rigid, single-piece shaft, a Bowden cable system, a cable pull system, and hydraulics for the mechanical coupling of at least two steering actuators in a way similar to that described herein using the example of a flexible, bendable shaft or a universal joint shaft.

[0041] In one preferred embodiment, the steering system according to the invention is used as a steer-by-wire steering system in a vehicle, in particular a motor vehicle, for the steering thereof.

LIST OF REFERENCE NUMBERS

[0042] 1 Steering system

[0043] 2 Steerable wheel

[0044] 3 Steerable wheel

[0045] 4 Steering actuator

[0046] 5 Steering actuator

[0047] 6 Bendable shaft

[0048] 7 Drive engine

[0049] 8 Transmission

[0050] 9 Steering actuator

[0051] 10 Steering actuator

[0052] 11 Output shaft

[0053] 12 Output shaft

[0054] 13 Cable pull

[0055] 14 Cable pull

[0056] 15a-c Rigid shafts

[0057] 16a,b Universal joints

[0058] 17,17′ Mechanical couplings

[0059] 18 Pin

[0060] 19 Stops

[0061] 20,22 Positive fit coupling members

[0062] 21 Torsion spring/torsional elastic member