CN100572164C - Turning facilities - Google Patents
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- CN100572164C CN100572164C CNB2006800048377A CN200680004837A CN100572164C CN 100572164 C CN100572164 C CN 100572164C CN B2006800048377 A CNB2006800048377 A CN B2006800048377A CN 200680004837 A CN200680004837 A CN 200680004837A CN 100572164 C CN100572164 C CN 100572164C
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- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 claims description 2
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Abstract
In turning facilities (200), first motor (34a) is worked according to the steering operation of steering handle (12), first steering shaft (52) turns in a pair of wheel (58), and first converting unit will be converted to moving axially of first steering shaft (52) as the first rotor (31a) of the rotating element of first motor (31a).Second motor (34b) is worked according to the steering operation of steering handle (12), second steering shaft (53) separates with first steering shaft (52) and makes this turn in the wheel (58) another, and second converting unit will be converted to moving axially of second steering shaft (53) as the rotation of second rotor (31b) of the rotating element of second motor (34b).Coupling unit (60) is coupled the first rotor (31a) and second rotor (31b), and the coupling of cancellation the first rotor (31a) and second rotor (31).
Description
Technical field
Relate generally to turning facilities of the present invention more specifically, relates to the turning facilities that the steering operation of steering handle is made a pair of wheel steering according to chaufeur.
Background technology
The turning facilities of power actuated vehicle generally includes tooth bar, and this tooth bar mechanically is coupled to a pair of left and right wheels by pull bar, spindle arm etc.When chaufeur rotation steering handwheel, tooth bar moves in the axial direction, makes to carry out turning to of left and right wheels with the mobile linkage manner of tooth bar.
In recent years, proposed a kind of method, it is separated by the mechanical couplings with one of tooth bar and left and right wheels and controls and regulate turning to of each wheel in the left and right wheels independently.
For example, Japanese Patent Laid Open Publication patent application No.2003-170849 discloses a kind of turning facilities that is used for power actuated vehicle, and it comprises and be respectively a plurality of steering actuators that a plurality of wheels are arranged, and with the inter-related transom of a plurality of wheels.In this turning facilities, control turning to of each wheel in a plurality of wheels independently by using transom.
In addition, Japanese Patent Laid Open Publication application No.10-324253 discloses a kind of deflection angle that is used for power actuated vehicle and has changed equipment, its middle rack is according to the steering operation of steering handwheel and transversely the moving of vehicle, nut portion and threaded portion are arranged between tooth bar and the wheel.Deflection angle changes equipment according to steering operation and self extends or shrink to change the deflection angle of wheel.By adopting this turning facilities, can carry out control and the adjusting that turns to according to the travel conditions (for example turning speed) of wheel.
For wherein turning to of each in a pair of wheel being carried out the independent turning facilities of controlling, there are such needs, that is, promptly be used in this actuator that one of wheel turns to is broken down, also can carry out turning to of whole wheels safely and reliably.
In this regard, in Japanese Patent Laid Open Publication application No.10-324253, there is not the instruction that when the actuator that is used to make a wheel steering breaks down, how this is all turned to wheel.
In Japanese Patent Laid Open Publication application No.2003-170849, when one of steering actuator broke down, the operation by transom transmits another steering actuator realized turning to of two wheels thus.But bigger to the interrelated load that is applied on the transom of wheel with this in the turning facilities of Japanese Patent Laid Open Publication application No.2003-170849, the volume that do not rise must be provided with bigger transom in order to bear so big load.
Summary of the invention
The turning facilities that the purpose of this invention is to provide a kind of improvement has wherein solved the problems referred to above.
Another object of the present invention provides a kind of turning facilities, and it is compact, and can make a pair of wheel with each the structure that turns to of wherein carrying out a pair of wheel independently reliably each turn to.
To achieve these goals, the invention provides a kind of turning facilities, its steering operation according to steering handle makes a pair of wheel steering, and described turning facilities comprises: first motor, and its described steering operation according to described steering handle is worked; First steering shaft, it makes a wheel steering in the described a pair of wheel; First converting unit, what it will be converted to described first steering shaft as the rotation of the relative low torque of the first rotor of the rotating element of described first motor has moving axially of relative high thrust; Second motor, its described steering operation according to described steering handle is worked; Second steering shaft, it separates with described second steering shaft and makes another wheel steering in the described a pair of wheel; Second converting unit, what it will be converted to described second steering shaft as the rotation of the relative low torque of second rotor of the rotating element of described second motor has moving axially of relative high thrust; And coupling unit, it is coupled described the first rotor and described second rotor, and the coupling of cancelling described the first rotor and described second rotor.
According to above-mentioned turning facilities of the present invention, the first rotor of low torque and second rotor can be coupled, and the coupling of the first rotor and second rotor can be cancelled.For this reason, when first motor or second motor break down, can be with low load with the first rotor and the coupling of second rotor, and first steering shaft and second steering shaft can interlockings.Therefore, can make the coupling unit of the first rotor and second rotor coupling compactly, and can provide the compact turning facilities that can make a pair of wheel steering reliably.
Above-mentioned turning facilities of the present invention can be constructed to make described coupling unit comprise and be provided at the differential unit of the differential operation between described the first rotor and described second rotor, and the locking unit of the described differential unit of locking.According to above-mentioned turning facilities, the differential operation between the first rotor and second rotor is by locking, and the first rotor and second rotor then can be coupled.Can cancel the coupling of the first rotor and second rotor by cancelling differential locking.For this reason, the use of differential unit can enough low loads be carried out the coupling of the first rotor and second rotor.Therefore, employed differential unit can be compact, and can make whole turning facilities miniaturization.
Above-mentioned turning facilities of the present invention can be constructed to make that described differential unit has sun and planet gear, and it comprises: first sun wheel, and it is connected with described the first rotor and is rotatably supported; First gear ring, it is rotatably supported and is coaxial with described first sun wheel; First planetary wheel, itself and described first sun wheel and the engagement of described first gear ring; Second sun wheel, it is connected with described second rotor and is rotatably supported; Second gear ring, itself and the described second sun wheel coaxial arrangement, the rotation of wherein static described second gear ring; With second planetary wheel, itself and described second sun wheel and the engagement of described second gear ring, rotatably be connected with described first planetary wheel and coaxial with described first planetary wheel, and the rotation of described first gear ring of wherein said locking unit locking, make described differential unit by locking.According to above-mentioned turning facilities, can constitute modified roll mechanism simply by using sun and planet gear.
Above-mentioned turning facilities of the present invention can be constructed to make that described differential unit comprises the 3rd motor that drives described first gear ring.According to above-mentioned turning facilities, not only first motor and second motor but also the 3rd motor can be used to realize the control that turns to of left and right sides independence, and can reduce the load on first motor and second motor.
Above-mentioned turning facilities of the present invention can be constructed to make described locking unit have and be arranged on the torque transmission unit between described first gear ring and described the 3rd motor, and described torque transmission unit is configured to when when described the 3rd motor gives input torque, described input torque is delivered to described first gear ring, and be configured to forbid described input torque is delivered to the rotation of described the 3rd motor and described second gear ring of locking when when described second gear ring gives input torque.According to above-mentioned turning facilities,, then can give the differential operation between the first rotor and second rotor if the 3rd motor is driven.If the 3rd motor is not driven, then can be with the first rotor and the coupling of second rotor.For this reason, can prevent from when the coupling the first rotor and second rotor, to break down in the locking unit, and can improve the reliability of turning facilities.
Above-mentioned turning facilities of the present invention can be constructed to so that this turning facilities also comprises the electrical fault detecting unit that detects the fault of any in described first motor and described second motor; And described coupling unit is set to cancel described the first rotor and described bitrochanteric coupling when being detected by described electrical fault detecting unit when not having fault in described first motor and described second motor, and is set to when being detected by described electrical fault detecting unit when having fault at least one of described first motor and described second motor described the first rotor and the coupling of described second rotor. According to above-mentioned turning facilities, when one of two motors break down, can carry out in a pair of wheel one turn to suitably.
Above-mentioned turning facilities of the present invention can be constructed to make that another motor of described first motor and described second motor is worked according to the described steering operation of described steering handle when the fault in the motor that is detected described first motor and described second motor by described electrical fault detecting unit.According to above-mentioned turning facilities,, can assist the steering operation that is undertaken by chaufeur by the motor that operation is judged as normal opposite side even when first motor or second motor break down.
The corner detecting unit of the difference between the corner that above-mentioned turning facilities of the present invention can be constructed to make this turning facilities also comprise and detects described first motor and the corner of described second motor, wherein, before described the first rotor and described second rotor were coupled by described coupling unit, described the 3rd machine operation made the described outer corner difference that is detected by described corner detecting unit be set to zero.According to above-mentioned turning facilities, when breaking down in first motor or second motor, be set at the outer corner difference of the first rotor and second rotor under zero the situation, the first rotor and second rotor can be coupled.Therefore, can carry out each turn to suitable deflection angle to a pair of wheel.
Above-mentioned turning facilities of the present invention can be constructed to make that this turning facilities also comprises: with described steering handle bonded assembly input shaft; By steering gear and described first steering shaft or the described second steering shaft bonded assembly output shaft; Change the unit with the transfer ratio with differential generation mechanism and motor, described transfer ratio changes the unit and operates described differential generation mechanism by driving described motor, and changes the transfer ratio between described input shaft and the described output shaft.According to above-mentioned turning facilities, can give the mechanical couplings of steering handle and one of first steering shaft and second steering shaft by input shaft and output shaft.For this reason, the steering shaft with mechanical couplings can turn to reliably, and, by with the coupling of first steering shaft and second steering shaft, can carry out each turn to reliably to a pair of wheel.
According to the invention described above, a kind of turning facilities of compactness can be provided, its can make a pair of wheel with each the structure that turns to of wherein carrying out a pair of wheel independently reliably each turn to.
Description of drawings
When describing in detail below reading in conjunction with the accompanying drawings, other purposes of the present invention, feature and advantage will become clear.
Fig. 1 is the figure that the structure of the turning facilities in the embodiment of the invention is shown.
Fig. 2 is used for explaining that present embodiment turns to the diagram of circuit of the control process of equipment.
Fig. 3 is the figure that the structure of the turning facilities in the another embodiment of the present invention is shown.
Fig. 4 is the diagram of circuit of control process that is used for explaining the turning facilities of present embodiment.
Fig. 5 is the diagram of circuit that is used for explaining the control process of the turning facilities of present embodiment when the 3rd motor breaks down.
Fig. 6 is the figure that the structure of the turning facilities in the another embodiment of the present invention is shown.
The specific embodiment
Provide explanation referring now to accompanying drawing to the embodiment of the invention.
Fig. 1 shows the structure that turns to equipment 200 in the embodiment of the invention.Turning facilities 200 when the rear of vehicle is forwards observed has been shown among Fig. 1.
One end of pull bar 54 is connected with an end of first rack shaft 52.The other end of pull bar 54 is connected with the spindle arm 56 of the right side of support vehicle wheel 58.Spindle arm 56 can make the steering yoke bolt (not shown) rotation into fulcrum.
When steering handle 12 is operated to steering shaft 14 rotation, the rotation of steering shaft 14 is converted to the straight-line motion of first rack shaft 52 on the left and right directions of vehicle by steering hardware 50.This straight-line motion is converted to the rotation of spindle arm 56 around steering yoke bolt, carries out turning to of right wheel 58 thus.
It is regardless of road shelves (road speed) that transfer ratio changes equipment 20, can both control transport property between steering handle 12 and the wheel 58 turns to operability with raising equipment based on the information that comprises the speed of a motor vehicle, deflection angle and so on.
Transfer ratio changes that equipment 20 comprises speed reduction gearing 20a, motor (not shown) and with input shaft 14a and the direct-coupled lockable mechanism of output shaft 14b.The rotation of steering handle 12 is delivered to the shell that transfer ratio changes the motor of equipment 20 by input shaft 14a.
The speed reduction gearing 20a that transfer ratio changes equipment 20 is configured to differential generation mechanism.Differential generation mechanism's drive motor is so that be fixed to the cam rotation of waveform generator of the rotating shaft of motor, and is poor by the rotation that flexible gear produces between internal gear and the driven gear thus.This rotation difference is removed and adds to from the rotation of the internal gear self of input shaft 14a transmission.Therefore, can produce the deflection angle of the output shaft 14b bigger than the deflection angle of steering handle 12.
ECU 100 judges in the transfer ratio change equipment 20 whether break down based on the testing result of rotation sensor.When breaking down in the transfer ratio change equipment 20, ECU 100 is input to lockable mechanism 20b with actuated signal, makes transfer ratio change equipment 20 and rotates with integral way.This can direction of passage 12 58 turn to constant transmissions and recently carry out of carrying out.Therefore, can minimize the influence that transfer ratio in bad order changes the travel conditions of 20 pairs of vehicles of equipment.
The first motor 34a constitutes by the first rotor 31a that bearing 32 rotatably supports by the first stator 30a that is fixed to tooth bar shell 51 and by tooth bar shell 51.The first rotor 31a forms cylindrical shape and holds an end of first rack shaft 52.Go up in the interior week of the first rotor 31a and form threaded portion, and constitute ball-screw nut.
On the other hand, the thread groove shape first raceway 52a is formed on the part of an end of first rack shaft 52, and a plurality of ball 33 is inserted among the 52a, makes them freely roll.So, be connected via 33 with 51a by threaded portion, and constitute ball screw framework interior week of the first rotor 31a.
When making the first rotor 31a when rotation by driving the first motor 34a, it is the axial thrust of first rack shaft 52 with the torque conversion of the first rotor 31a that above-mentioned ball screw framework is used for by the ball 33 that rolls on the first raceway 52a.Thereby first rack shaft 52 moves in the axial direction.Therefore, ball screw framework is converted to the axially movable converting unit of first rack shaft 52 with relative high thrust as the rotation of the first motor 34a that will have relative low torque.Perhaps, can use other screw mechanisms such as the screw mechanism that does not have ball 33 to replace ball screw framework.
ECU 100 calculates the assist torque that turns to of the right side wheel 58 that is used for vehicle based on the testing result that turns to torque sensor 18 and road speeds sensor 24, and the driving of controlling the first motor 34a is to produce and the corresponding driving torque of assist torque.Like this, 34 are driven and first rack shaft 52 moves in the axial direction, have assisted thus by the steering operation of chaufeur to steering handle 12, with turning to of the right side wheel 58 that is used for vehicle.
The second motor 34b also constitutes by the second rotor 31b that bearing 32 rotatably supports by the second stator 30b that is fixed to tooth bar shell 51 and by tooth bar shell 51.When the driving by the second motor 34b makes second rotor 31b when rotation, it is the axial thrust of second rack shaft 53 with the torque conversion of the second motor 34b that ball screw framework (similar to above-mentioned ball screw framework) is used for by the ball 33 that rolls on the second raceway 53a.Thereby second rack shaft 53 moves in the axial direction.Therefore, ball screw framework is converted to the axially movable converting unit of second rack shaft 53 with relative high thrust as the rotation of the second motor 34b that will have relative low torque.Perhaps, can use other screw mechanisms such as the screw mechanism that does not have ball 33 to replace above-mentioned ball screw framework.
ECU 100 calculates the deflection angle that the revolver 58 that makes vehicle turns to based on the testing result of steering angle sensor 16, and controls the driving of the second motor 34b, makes second rack shaft move and the corresponding length of deflection angle.Like this, the second motor 34b is driven and first rack shaft 52 moves in the axial direction, realized thus to wherein independently the revolver 58 of control vehicle turn to turn to control.
The rotation sensor (not shown) is built in each of the first motor 34a and the second motor 34b.The testing result of rotation sensor is imported into ECU 100.Based on the testing result of rotation sensor, ECU 100 determines each rotating speed of the first motor 34a and the second motor 34b, and judges in each of the first motor 34a and the second motor 34b whether break down.
Modified roll mechanism 40 is arranged between the first motor 34a and the second motor 34b.Modified roll mechanism 40 is made of two sun and planet gears.One of two sun and planet gears are made of the first sun wheel 41a, the first planetary wheel 42a and the first gear ring 43a.Another sun and planet gear is made of the second sun wheel 41b, the second planetary wheel 42b and the second gear ring 43b.Modified roll mechanism 40 comprises supporting disk 46.
The first sun wheel 41a, the second sun wheel 41b and the first gear ring 43a rotatably are supported in tooth bar housing tooth bar shell 51 and coaxial with the first rotor 31a and the second rotor 31b.
The first sun wheel 41a is connected with the end of the first rotor 31a by the first transmission shaft 45a.The first gear ring 43a is arranged on the peripheral part of the first sun wheel 41a, and the internal gearing of the external tooth of the first planetary wheel 42a and the first sun wheel 41a and the first gear ring 43a.The first gear ring 43a rotatably is supported in tooth bar shell 51 by bearing 44.
The second sun wheel 41b is connected with the second rotor 31b by the second transmission shaft 45b.The second gear ring 43b is arranged on the peripheral part of the second sun wheel 41b, and the internal gearing of the external tooth of the second planetary wheel 42b and the second sun wheel 41b and the second gear ring 43b.The peripheral part of the second gear ring 43b is fixed to tooth bar shell 51, and forbids the rotation of the second gear ring 43b with respect to tooth bar shell 51.
The first planetary wheel 42a and the second planetary wheel 42b are connected to each other via the bearing (not shown) by the 3rd transmission shaft 47.These the 3rd transmission shafts 47 insert the through hole of supporting disk 46, and they are supported for mutual the moving by locking that makes between the 3rd transmission shaft 47.
Whole gear set specifications of the first sun wheel 41a and the second sun wheel 41b (for example pitch radius of outer peripheral teeth portion, tooth pitch, the number of teeth) are identical.Similarly, the first planetary wheel 42a is identical with whole gear set specifications of the second planetary wheel 42b, and the first gear ring 43a is identical with the front gear specification of the second gear ring 43b.
When at above-mentioned structure in the locking action of cancelling lockable mechanism 60 down and when allowing the rotation of the first gear ring 43a, first gear ring 43a rotation, and can between the first rotor 31a and the second rotor 31b, produce differential.
When the rotation of the first gear ring 43a during, give the differential of the first rotor 31a and the second rotor 31b by locking by modified roll mechanism 40 by lockable mechanism 60 lockings.In the case, each gear at sun and planet gear on the first rotor 31a side and sun and planet gear on the second rotor 31b side has identical gear set specifications.If the rotation of the rotation of the first sun wheel 41a and the second sun wheel 41b is considered to input and output, then input: the ratio of output was set to 1: 1.Therefore, the first rotor 31a and the second rotor 31b are set to the state that they are coupled by modified roll mechanism 40 in the case.
The structure of the ball-screw nut part in the internal diameter that is formed on the first rotor 31a and interior week is identical with the second rotor 31b.The structure of the first raceway 52a in the external diameter that is formed on first rack shaft 52 and the perimembranous is identical with the second raceway 53a of second rack shaft 53.Owing to this reason, the first rotor 31a and the second rotor 31b are coupled by modified roll mechanism 40 and rotation mutually, and first rack shaft 52 and second rack shaft 53 be the mobile phase same distance in the same direction.
In addition, when breaking down among the ECU 100 judgement first motor 34a or the second motor 34b, ECU 100 makes the differential of lockable mechanism 60 locking modified roll mechanisms 40, and makes that the motor of opposite side of normal operation is effective, carries out the underaction of steering operation thus as mentioned above.Therefore, even when breaking down among the judgement first motor 34a or the second motor 34b, also can assist the steering operation that is undertaken by chaufeur.
Fig. 2 is the diagram of circuit that is used to explain the control process of turning facilities 200 in this embodiment.The execution of processing as shown in Figure 2 repeats with predetermined time interval.
When not having fault ("Yes" of S11) in the first motor 34a, ECU 100 judges whether break down among the second motor 34b (S12) based on the testing result that is arranged on the rotation sensor among the second motor 34b.
When in judging the first motor 34a and the second motor 34b, not having fault ("Yes" among the S12), ECU 100 will be mutually independently actuated signal be input to the first motor 34a and the second motor 34b respectively, make that carrying out this independently turns to control (S13) to wheel.Thus, can improve the rideability of vehicle.At this moment, the differential operation of first rack shaft 52 and second rack shaft 53 is absorbed by modified roll mechanism 40.
Do not exist when having fault ("No" of S12) among the fault 2 second motor 34b in judging the first motor 34a, ECU 100 comes the differential operation (S14) of locking modified roll mechanism 40 by the magnet coil that predetermined actuation signal is input to lockable mechanism 60.Then, ECU 100 stops to be judged as the rotation (S15) of the second motor 34b in bad order, and only carries out by the first motor 34a steering handle 12 turned to non-productive operation (S16).
When breaking down ("No" of S11) among the first motor 34a, ECU 100 comes the differential operation (S17) of locking modified roll mechanism 40 by the magnet coil that predetermined actuation signal is input to lockable mechanism 60.
Then, ECU 100 judges whether break down among the second motor 34b (S18) based on the testing result of the rotation sensor that is provided with among the second motor 34b.
When not having fault ("Yes" of S18) in judging the second motor 34b, ECU 100 stops to be judged as the rotation of the first motor 34a in bad order, and only carries out by the second motor 34b steering handle 12 turned to non-productive operation (S20).
When also having fault ("No" of S18) in judging the second motor 34b, ECU 100 stops to be judged as the rotation (S21) of the first motor 34a in bad order and the second motor 34b.Even, a pair of wheel 58 is turned to when the first motor 34a and the second motor 34b (its each wheel in a pair of wheel is carried out turn to) break down among both.
Then, will provide explanation to an alternative embodiment of the invention.Fig. 3 is illustrated in the figure that turns to the structure of equipment 200 among this embodiment.
The turning facilities 200 of this embodiment is basic identical with the previous embodiment of Fig. 1.For example, similar to previous embodiment, the turning facilities steering hardware 50 of this embodiment comprises modified roll mechanism 40, its have the first motor 34a, the second motor 34b and be arranged on the first motor 34a and the second motor 34b between sun and planet gear.
In this embodiment, be provided with gear 72, the 3rd motor 71 and oppositely input inhibit mechanism 70 replace lockable mechanism 60 among the previous embodiment of Fig. 1.The 3rd motor 71 is fixed to tooth bar shell 51.Gear 72 and the gear parts engagement that is fixed to the first gear ring 43a.The 3rd motor 71 and gear 72 are connected by reverse input inhibit mechanism 70.
When input shaft gives input torque, oppositely input inhibit mechanism 70 is delivered to output shaft with this input torque.But, when when output shaft gives torque, oppositely input inhibit mechanism 70 with this transmission of torque to input shaft, and the rotation of locking output shaft.Adopt locking type mechanism to be used for reverse input inhibit mechanism 70.
In this embodiment, when when the 3rd motor 71 gives input torque, oppositely input inhibit mechanism 70 is delivered to gear 72 with this input torque.But when when gear 72 gives torque, oppositely input inhibit mechanism 70 is with this transmission of torque to the three motors 71, and the rotation of spreadet spreadet wheel 72.
Therefore, when being desirably between the first rotor 31a and the second rotor 31b when producing differential operation, only need to drive the 3rd motor 71.On the other hand, if do not drive the 3rd motor 71, then the first rotor 31a and the second rotor 31b can link together by reverse input inhibit mechanism 70.So, can carry out turning to of a pair of wheel suitably, and can improve reliability.
Whether ECU 100 is based on the testing result that is arranged on the rotation sensor in the first motor 34a, the second motor 34b and the 3rd motor 71, judge in any of the first motor 34a, the second motor 34b and the 3rd motor 71 to break down.
When in judging arbitrary motor, not having fault, ECU 100 will be mutually independently actuated signal be input to the first motor 34a and the second motor 34b respectively, carry out the control that turns to thus independently to each wheel in a pair of wheel.If do not drive the 3rd motor 71 in this embodiment, then between the first rotor 31a and the second rotor 31b differential operation does not take place.So ECU 100 calculates and give differential between the first rotor 31a and the second rotor 31b, and driving the 3rd motor 71, feasible can to produce this calculating differential.Not only the first motor 34a and the second motor 34b but also the 3rd motor 71 also can be used for carrying out independently turning to control, and can be reduced in the load on each motor of motor 34a, 34b and the 3rd motor 71.
Fig. 4 is used to explain the diagram of circuit of the control process of turning facilities 200 in this embodiment.The execution of processing as shown in Figure 4 repeats with predetermined time interval.
When in judging the 3rd motor 71, breaking down ("No" of S31), carry out the processing of the Fig. 5 that will be described hereinafter.
When not having fault ("Yes" of S31) in judging the 3rd motor 71, ECU 100 judges whether break down among the first motor 34a (S32) based on the testing result of the rotation sensor that is provided with among the first motor 34a.When not having fault ("Yes" of S32) among the first motor 34a, ECU 100 judges whether break down among the second motor 34b (S33) based on the testing result of the rotation sensor that is provided with among the second motor 34b.
When in judging the first motor 34a and the second motor 34b, not having fault ("Yes" of S33), ECU 100 incites somebody to action mutually independently, and actuated signal is input to the first motor 34a and the second motor 34b respectively, and the actuated signal of the differential operation of tolerance actuation mechanism 40 is input to the 3rd motor 71, carry out the control that turns to thus independently to a pair of wheel.
When in the second motor 34b, breaking down ("No" of S33) when not having fault among the judgement first motor 34a, ECU 100 stops the rotation of the 3rd motor with the differential operation (S35) between the locking the first rotor 31a and the second rotor 31b, and stops to be judged as the rotation (S36) of the second motor 34b in bad order.Then, ECU 100 is judged as the normal first motor 34a by use and carries out the non-productive operation that turns to steering handle 12.
When breaking down ("No" of S32) in judging the first motor 34a, ECU 100 stops the rotation of the 3rd motor with the differential operation (S38) between the locking the first rotor 31a and the second rotor 31b.Then, ECU 100 judges whether break down among the second motor 34b (S39) based on the testing result that is arranged on the rotation sensor among the second motor 34b.
When in judging the second motor 34b, not having fault ("Yes" of S39), ECU 100 stops to be judged as the rotation (S40) of the first motor 34a in bad order, and is judged as the normal second motor 34b by use and carries out the non-productive operation that turns to steering handle 12.
When also having fault ("No" of S39) in judging the second motor 34b, ECU 100 stops to be judged as the rotation (S42) of the first motor 34a in bad order and the second motor 34b.
Before the differential operation between the locking the first rotor 31a and the second rotor 31b, ECU 100 calculates poor between the corner of the first rotor 31a that detected by the rotation sensor that is arranged among the first motor 34a and the second motor 34b and the second rotor 31b, and operates the 3rd motor 71 and make the difference between the corner of the first rotor 31a and the second rotor 31b can be set to zero.Thus, when among the first motor 34a or the second motor 34b any broke down, the differential operation between the first rotor 31a and the second rotor 31b can be locked in the state of the outer corner difference of having eliminated the first rotor 31a and the second rotor 31b.
Fig. 5 is the diagram of circuit of control process that is used for explaining the turning facilities 200 of this embodiment when the 3rd motor breaks down.The execution of processing shown in Figure 5 repeats with predetermined time interval.
When breaking down ("No" of S31 among Fig. 4) in judging the 3rd motor 71, ECU 100 stops to be judged as the rotation (S51) of the 3rd motor 71 in bad order.Thus, come differential operation between the locking the first rotor 31a and the second rotor 31b by the reverse input inhibit of locking type mechanism 70.
Then, ECU 100 judges whether break down among the first motor 34a (S52) based on the testing result that is arranged on the rotation sensor among the first motor 34a.No matter among the first motor 34a be ("No" among the S52) not ("Yes" among the S52) break down, ECU 100 judges whether break down among the second motor 34b (S53, S57) based on the testing result that is arranged on the rotation sensor among the second motor 34b.
When in judging the first motor 34a and the second motor 34b, not having fault ("Yes" of S53), ECU 100 is input to each of the first motor 34a and the second motor 34b with identical actuated signal, and by using the first motor 34a and the second motor 34b to carry out steering handle 12 is turned to non-productive operation (S54).
When having fault ("No" of S53) among the second motor 34b when not having fault among the judgement first motor 34a, ECU 100 stops to be judged as the rotation (S55) by the second motor 34b of fault.Then, ECU 100 is judged as the normal first motor 34a by use and carries out steering handle 12 turned to non-productive operation (S56).
When not having fault ("Yes" of S57) when having fault among the judgement first motor 34a in the second motor 34b, ECU 100 stops to be judged as the rotation (S58) of the first motor 34a in bad order.Then, ECU 100 is judged as the normal second motor 34b by use and carries out steering handle 12 turned to non-productive operation (S59).
When all breaking down ("No" of S57) in judging the first motor 34a and the second motor 34b, ECU 100 stops to be judged as the rotation (S60) of the first motor 34a in bad order and the second motor 34b.
Then, will provide explanation to an alternative embodiment of the invention.The figure of the structure of the turning facilities 200 among this embodiment is shown during Fig. 6.
In this embodiment, the modified roll mechanism 40 among the previous described embodiment is not set, and is provided with power-transfer clutch 80.
Power-transfer clutch 80 is made of magnetic clutch.When power-transfer clutch 80 was switched on, power-transfer clutch 80 linked together the first rotor 31a and the second rotor 31b.ECU 100 will connect signal and be input to power-transfer clutch 80, make the first rotor 31a and the second rotor 31b link together.On the other hand, ECU100 stops to be input to 80 and to make the cancellation that is connected of the first rotor 31a and the second rotor 31b connecting signal.Thus, the first rotor 31a and the second rotor 31b can link together by simple structure not needing to be provided with under the situation of modified roll mechanism 40.
In the control process of the turning facilities of this embodiment, allow or the control of forbidding the bonded assembly power-transfer clutch 80 of two rotors replaces in the diagram of circuit of Fig. 2 differential operation between two rotors.
The invention is not restricted to the foregoing description, and can under the situation that does not depart from the scope of the invention, change and revise.
For example, transfer ratio change equipment 20 can omit.In the case, the input shaft 14a and the output shaft 14b of steering shaft 14 always are coupled, and can directly move first rack shaft 52 to the steering operation of steering handle 12 by chaufeur.
In addition, the application is based on Japanese patent application No.2005-035861 that submitted on February 14th, 2005 and the Japanese patent application No.2005-238625 that submitted on August 19th, 2005 and require its preceence of enjoyment, and its full content is contained in this specification sheets by reference.
Claims (7)
1. turning facilities, its steering operation according to steering handle makes a pair of wheel steering, and described turning facilities comprises:
First motor, its described steering operation according to described steering handle is worked;
First steering shaft, it makes a wheel steering in the described a pair of wheel;
First converting unit, what it will be converted to described first steering shaft as the rotation of the relatively low torque of the first rotor of the rotating element of described first motor has moving axially of relatively large thrust;
Second motor, its described steering operation according to described steering handle is worked;
Second steering shaft, it separates with described first steering shaft and makes another wheel steering in the described a pair of wheel;
Second converting unit, what it will be converted to described second steering shaft as the rotation of the relatively low torque of second rotor of the rotating element of described second motor has moving axially of relatively large thrust; With
Coupling unit, it is coupled described the first rotor and described second rotor, and removes the coupling of described the first rotor and described second rotor,
Wherein said coupling unit is included in the differential unit that differential operation is provided between described the first rotor and described second rotor, and the locking unit of the described differential unit of locking,
Wherein said differential unit has sun and planet gear, and described sun and planet gear comprises: first sun wheel, and it is connected with described the first rotor and is rotatably supported; First internally toothed annulus, it is rotatably supported and is coaxial with described first sun wheel; First planetary wheel, itself and described first sun wheel and the engagement of described first internally toothed annulus; Second sun wheel, it is connected with described second rotor and is rotatably supported; Second internally toothed annulus, itself and the described second sun wheel coaxial arrangement, the rotation of wherein said second internally toothed annulus is under an embargo; With second planetary wheel, itself and described second sun wheel and the engagement of described second internally toothed annulus rotatably are connected with described first planetary wheel, and coaxial with described first planetary wheel, and
The rotation of described first internally toothed annulus of wherein said locking unit locking makes described differential unit by locking.
2. turning facilities according to claim 1, wherein said differential unit comprise the 3rd motor that drives described first internally toothed annulus.
3. turning facilities according to claim 2, wherein said locking unit has the torque transmission unit that is arranged between described first internally toothed annulus and described the 3rd motor, and described torque transmission unit is configured to when when described the 3rd motor provides input torque, described input torque is delivered to described first internally toothed annulus, and be configured to forbid described input torque is delivered to the rotation of described the 3rd motor and described first internally toothed annulus of locking when when described first internally toothed annulus provides input torque.
4. turning facilities according to claim 1, also comprise the electrical fault detecting unit that detects the fault of any motor in described first motor and described second motor, and described coupling unit is set to remove the coupling of described the first rotor and described second rotor when being detected by described electrical fault detecting unit when all not having fault in described first motor and described second motor, and is set to when being detected by described electrical fault detecting unit when having fault at least one of described first motor and described second motor described the first rotor and the coupling of described second rotor.
5. turning facilities according to claim 4, wherein, when being detected described first motor and described one of them motor of second motor by described electrical fault detecting unit and have fault, another motor is worked according to the described steering operation of described steering handle in described first motor and described second motor.
6. turning facilities according to claim 2, the corner detecting unit that also comprises the difference between the corner of the corner that detects described first motor and described second motor, wherein, before described the first rotor and described second rotor were coupled by described coupling unit, described the 3rd machine operation made the described outer corner difference that is detected by described corner detecting unit be set to zero.
7. turning facilities according to claim 1 also comprises:
With described steering handle bonded assembly input shaft;
By steering gear and described first steering shaft or the described second steering shaft bonded assembly output shaft; With
Transfer ratio with differential generation mechanism and motor changes the unit, and described transfer ratio changes the unit and operates described differential generation mechanism by driving described motor, and changes the transfer ratio between described input shaft and the described output shaft.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2005035861 | 2005-02-14 | ||
| JP035861/2005 | 2005-02-14 | ||
| JP238625/2005 | 2005-08-19 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101119884A CN101119884A (en) | 2008-02-06 |
| CN100572164C true CN100572164C (en) | 2009-12-23 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006800048377A Expired - Fee Related CN100572164C (en) | 2005-02-14 | 2006-02-07 | Turning facilities |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100572164C (en) |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103625544A (en) * | 2013-11-04 | 2014-03-12 | 北京理工大学 | Oil pump dual-motor drive device with electric-hydraulic power steering function |
| CN105313946B (en) * | 2014-06-13 | 2018-04-06 | 蒂森克虏伯普利斯坦汽车零部件（上海）有限公司 | Steering mechanism for motor vehicle |
| JP2017109654A (en) * | 2015-12-17 | 2017-06-22 | 株式会社ジェイテクト | Steering device |
| CN105667586B (en) * | 2016-01-05 | 2017-12-08 | 深圳市蓝希领地科技有限公司 | Delivery vehicle and its steering |
| CN105564496B (en) * | 2016-01-05 | 2018-11-23 | 深圳市蓝希领地科技有限公司 | Ground moving delivery vehicle and its steering system |
| JP6839632B2 (en) * | 2017-08-25 | 2021-03-10 | クノールブレムゼステアリングシステムジャパン株式会社 | Steering device |
| CN107792168B (en) * | 2017-09-26 | 2024-03-01 | 浙江万达汽车方向机有限公司 | Sleeve motor steer-by-wire device and control method |
| US11440580B2 (en) * | 2018-06-01 | 2022-09-13 | Mando Corporation | Electric power steering apparatus and control method for the same, apparatus for synchronization dual steering motor and method i'hereof |
| CN110228520A (en) * | 2018-06-26 | 2019-09-13 | 蔚来汽车有限公司 | Steering system and its control method and vehicle including it |
| SE543719C2 (en) * | 2018-11-28 | 2021-06-29 | Sentient Ip Ab | A power assisted steering system arrangement |
| US11708105B2 (en) * | 2020-02-11 | 2023-07-25 | Robert Bosch Gmbh | Detecting damage to components of an electric power steering system |
| CN113859351B (en) * | 2021-10-15 | 2022-10-28 | 深圳技术大学 | Vehicle double-king-pin differential independent steering system |
| CN113788067B (en) * | 2021-11-16 | 2022-03-11 | 天津所托瑞安汽车科技有限公司 | Dual power steering system and method |
| CN114684255B (en) * | 2022-05-31 | 2022-12-02 | 北京理工大学深圳汽车研究院(电动车辆国家工程实验室深圳研究院) | Steering device, steering system and automobile |
-
2006
- 2006-02-07 CN CNB2006800048377A patent/CN100572164C/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| CN101119884A (en) | 2008-02-06 |
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