JP2002120738A - Rotation angle sensing device, torque sensing device, and steering device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To shorten relatively the distance from the rotational center of a rotor to the outside of a sensing means and widen the degree of freedom in the layout to be mounted on a car body. SOLUTION: A rotation angle sensing device according to the invention includes a target 20 of such an arrangement that the part sensed changes periodically and continuously in association with the rotation of the rotor and magnetic sensors 1A, 1B, 2A, 2B installed oppositely to the target 20 and sensing the target 20 when it is passing in association with the rotation of a target plate 2 and determines the rotation angle of the target plate 2 on the basis of the sensing values of the sensors 1A, 1B, 2A, 2B. The target 20 is installed on that surface 2a of the target plate 2 extending in the radial direction, and it is possible to relatively shorten the distance from the rotational center of the target plate 2 to the outside of the sensors 1A, 1B, 2A, 2B.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rotation angle detection device for detecting a rotation angle, a torque detection device for detecting a torque applied to an input shaft by a torsion angle generated in a connecting shaft connecting an input shaft and an output shaft, and The present invention relates to a steering device for an automobile provided with the torque detecting device.

[0002]

2. Description of the Related Art A steering assist motor is driven based on a detection result of a steering torque applied to a steering wheel (steering wheel) for steering, and the torque of the motor is transmitted to a steering device to assist the steering. Compared with a hydraulic power steering device that uses a hydraulic actuator as a source of steering assist force, the electric power steering device that is configured makes it easier to control the assist force characteristics according to the traveling state, such as the vehicle speed, the steering frequency, and the like. In recent years, the range of application has tended to expand.

[0003] In the electric power steering apparatus as described above, a torque detecting device for detecting the steering torque is required, and a steering shaft for connecting the steering wheel and the steering mechanism is provided.
The input shaft on the steering wheel side and the output shaft on the steering mechanism side are connected via a small-diameter torsion bar, and the connection between these two shafts is accompanied by torsion of the torsion bar due to the action of steering torque. A torque detecting device configured to detect the generated relative angular displacement and calculate the steering torque (rotation torque) based on the detection result is used.

On the other hand, in an electric power steering apparatus, it is necessary to detect a rotation angle of a steering shaft from a steering angle midpoint, that is, a steering angle in order to use the drive control of a steering assist motor. A rotation angle detecting device for detecting such a steering angle is used.

[0005] The above-described torque detecting device and rotation angle detecting device are generally configured as separate devices, and there is a problem that assembling of each device including adjustment work requires a great deal of labor and time. there were. In addition, many of these detection devices are configured to include a contact sliding portion such as a potentiometer, and there has been a problem that the output changes over time due to wear of the sliding contact portion, resulting in poor durability. . Further, as the torque detecting device, the relative angular displacement between the input shaft and the output shaft caused by the twisting of the torsion bar due to the action of the steering torque is used to detect the change in impedance of the magnetic circuit formed at the connecting portion between the two shafts. A device configured to detect as an intermediary has also been put to practical use, but this device is
There is a problem that the configuration is complicated and the manufacturing cost is high.

In order to solve such a problem, the applicant of the present application has disclosed in Japanese Patent Application No. 11-100665 or the like a torque and a rotation which can collectively detect a rotation torque applied to a rotation shaft together with a rotation angle in a non-contact manner. An angle detection device has been proposed. This device is provided in parallel with a plurality of circumferential positions of a target rotating shaft, and a target made of a magnetic material, each of which is inclined at substantially the same angle with respect to the axial direction, and a radial direction of the rotating shaft with respect to the target. A rotation angle detection device including a magnetic sensor (MR sensor) that is arranged to face the outside and emits an output that changes according to the passage of each target is provided at a connection portion between the input shaft and the output shaft. .

According to this configuration, two sets of magnetic sensors are
For each rotation of the input shaft or the output shaft, a voltage output that changes linearly with a period corresponding to the circumferential length of the opposing target is generated. Therefore, the rotation angles of the input shaft and the output shaft can be individually calculated based on the outputs of the corresponding magnetic sensors, and the rotation torque (steering torque) applied to the input shaft by operating the steering wheel is: It can be calculated based on the difference between the rotation angles of the two shafts given as the output difference of the magnetic sensors corresponding to the input shaft and the output shaft, respectively.

[0008] As described above, the rotation angle detection device and the torque detection device proposed in Japanese Patent Application No. 11-100665 and the like detect the rotation angle and the rotation torque of the target rotation shaft collectively without contact. In the above-described electric power steering device, it can be conveniently used for various controls including drive control of a steering assist motor.

[0009]

In the rotation angle and torque detecting device constructed as described above, the target provided on the rotation shaft is formed as a ridge projecting outward on the outer peripheral surface of the rotation shaft. In addition, since the magnetic sensor is disposed radially outward of the rotation axis with respect to the target, the distance from the rotation center of the rotating body to the outside of the magnetic sensor is relatively long. Therefore, depending on the vehicle body structure of the vehicle on which the rotation angle and torque detecting device is mounted, it may be a factor that hinders mounting on the vehicle.

[0010] The present invention has been made in view of the above-mentioned circumstances, and has a structure in which a target is provided on a surface along a radial direction of a rotating body. Provide a rotation angle detection device and a torque detection device that can be arranged in a layout that can be mounted even with a structure, and further use this device to detect a steering angle and a steering torque, and perform various controls based on the detected steering angle and the detected torque. It is an object of the present invention to provide a steering device that can be operated.

[0011]

According to a first aspect of the present invention, there is provided a rotation angle detecting device, comprising: a rotating body;
A target provided on the rotating body so that a part to be detected changes periodically and continuously; and a detecting means arranged to face the target and detecting a part of the target facing the target. A rotation angle detection device configured to obtain a rotation angle of the rotating body based on the detected value, wherein the target is provided on a surface of the rotating body along a radial direction.

In the first aspect of the present invention, the target sequentially passes through the detection area of the detecting means by rotating the rotating body with respect to the detecting means fixed to the stationary member, and the detecting means detects the target. I do. The displacement angle of the rotating body in the rotation direction is detected based on the detection value detected by the detection means. Since the target is provided on the surface along the radial direction of the rotator, the detection means facing the target can be arranged on the rotation center side of the rotator with respect to the target, and the detection means is located outside the detection means from the rotation center of the rotator. The distance to the section can be made relatively short. Therefore, in the above-described prior application, a layout can be provided that can be mounted on a vehicle even if the vehicle body structure prevents the vehicle from being mounted on the vehicle.

[0013] A rotation angle detecting device according to a second aspect of the present invention is characterized in that the distance of the target from the center of rotation changes with respect to the rotation angle of the rotating body.

According to a third aspect of the present invention, in the rotation angle detecting device, when the target passes through a detection area detected by the detection means, a distance between the target and the detection means changes with respect to a rotation angle of the rotating body. It is characterized by having.

According to the second and third aspects of the present invention, since the target can be provided on one surface between the rotation center and the peripheral surface of the disk-shaped or cup-shaped rotating body, the target can be easily provided by molding. Is possible, and cost can be reduced.

According to a fourth aspect of the present invention, in the rotation angle detecting device, the target is a magnetic material, and the detecting means is a magnetic sensor.

In the fourth aspect, the target can be provided by using an inexpensive material such as SPCC (JIS carbon steel for machine structural use), and the cost can be reduced.

According to a fifth aspect of the present invention, there is provided a torque detecting device for detecting a torque applied to an input shaft by a torsion angle generated in a torsion bar coaxially connecting the input shaft and the output shaft. A rotation angle detection device according to any one of claims 1 to 3, which detects a rotation angle of the output shaft, and means for detecting a difference between displacement angles detected by the rotation angle detection device. The difference between the displacement angles detected by the means is set as the torsion angle.

According to the fifth invention, the torque applied to the input shaft is detected by the torsion angle generated in the torsion bar that connects the input shaft and the output shaft coaxially. Claims 1-4
Wherein the rotating body of the rotation angle detecting device described in any one of the above is attached to the input shaft and the output shaft respectively, and the detecting means detects and detects a difference between the displacement angles detected by the rotation angle detecting device. The difference between the detected displacement angles is defined as the twist angle. As a result, in the above-described invention of the prior application, a layout can be provided that can be mounted on a vehicle while reducing the cost even if the vehicle body structure hinders mounting on the vehicle.

According to a sixth aspect of the present invention, there is provided a steering apparatus comprising: an input shaft connected to a steering wheel; an output shaft connected to a steering mechanism; a torsion bar connecting the input shaft and the output shaft; A torque detecting device according to claim 5, wherein a steering torque applied to the torsion bar is detected by a twist angle generated in the torsion bar.

In the sixth aspect, the input shaft is connected to the steering wheel, the output shaft is connected to the steering mechanism, and the torsion bar connects the input shaft and the output shaft. A torque detecting device according to a fifth aspect of the present invention detects a steering torque applied to an input shaft based on a torsion angle generated in a torsion bar. As a result, in the above-described invention of the prior application, a layout can be provided that can be mounted on a vehicle while reducing the cost even if the vehicle body structure hinders mounting on the vehicle.

[0022]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings showing the embodiments. Embodiment 1 FIG. FIG. 1 is a schematic diagram schematically showing a configuration of a first embodiment in which a rotation angle detection device and a torque detection device according to the present invention are applied to a steering device of an automobile. The rotation angle detection device and the torque detection device form an input shaft 31 having an upper end connected to a steering wheel (steering wheel) 30 and an output shaft 32 having a lower end connected to a pinion 33 of a steering mechanism. A steering shaft 3 is connected coaxially via a bar 34 and communicates the steering wheel 30 with a steering mechanism. The torque detecting device is provided in the vicinity of a connection portion between the input shaft 31 and the output shaft 32 as follows. It is configured as follows.

A target plate 2 (rotary body) having a disc shape is externally fixed to the input shaft 31 on the outer peripheral surface of the connection side with the output shaft 32 coaxially. One surface 2a along the direction has a first inclined portion 20a inclined in one direction along the peripheral surface, a second inclined portion 20b inclined in the other direction, and the first inclined portion 20a and the second inclined portion. 20
A target 20 having a connection point 20c for connecting b is formed, and as the input shaft 31 and the output shaft 32 rotate, the detected portion of the target 20 changes periodically and continuously. .

FIG. 2 shows the target plate 2 and the target 20.
It is a top view which shows the structure of. The target plate 2 is provided with a fitting hole 21 at the center of rotation, and the fitting hole 21 is externally fitted and fixed to the outer peripheral surface of the input shaft 31. The target 20 is provided on the outer peripheral side of the surface 2 a of the target plate 2.
These are continuous ridges protruding from the “a” with substantially the same thickness, and the distance H from the rotation center O changes with respect to the rotation angle of the target plate 2. Furthermore, the adjacent first inclined portion 20a and second inclined portion 20b are continuous and substantially squarely symmetric with respect to a radial straight line of the target plate 2 that passes through the connection point 20c, and have a rectangular annular shape. .

The target plate 2 having the same target 20 as described above is externally fitted and fixed to the outer peripheral surface of the output shaft 32 at the end on the connection side with the input shaft 31 so that the position of the target 20 is reversed. The first inclined portion 20a and the second inclined portion 20b of the target plate 2 on the output shaft 32 side and the first inclined portion 20a and the second inclined portion 20b of the target plate 2 on the input shaft 31 side are circumferentially aligned. They are aligned and juxtaposed.

The surfaces 2a, 2a of both target plates 2, 2
The target 20 on the input shaft 31 side
A sensor box 1a having magnetic sensors 1A and 1B facing the sensor 20 and a sensor box 1b having magnetic sensors 2A and 2B facing the target 20 on the output shaft 32 side are provided. The sensor boxes 1a and 1b are integrally connected by a connecting portion 1c and fixedly supported by a stationary member such as a housing that supports the input shaft 31 and the output shaft 32. Inside the sensor boxes 1a and 1b, magnetic sensors 1A and 1B facing different circumferential portions of the target 20 on the input shaft 31 side, and magnetic sensors 2A facing different circumferential portions of the target 20 on the output shaft 32 side. ,
2B is stored with the circumferential position correctly adjusted.

The magnetic sensors 1A, 1B, 2A, and 2B use an element such as a magnetoresistive effect element (MR element) having a characteristic in which an electric characteristic (resistance) changes by the action of a magnetic field. The detection value (detection signal) V1A, V1B, V2A, V2B is a sensor configured to change according to the distance between the target 20 and the target 20 on the output shaft 32 side. , 1b to an arithmetic processing unit 4 using an external or internal microprocessor.

Hereinafter, the operation of the rotation angle detecting device and the torque detecting device having such a configuration will be described. Magnetic sensor 1
Targets 20, 20 facing A, 1B, 2A, 2B
Is a continuous ridge projecting from the surfaces 2a, 2a along the radial direction of the target plates 2, 2 coaxially fitted and fixed to the input shaft 31 and the output shaft 32, as described above. Rotation center O with respect to rotation angle of target plates 2
Are magnetic materials arranged in a line in the circumferential direction so as to change the distance H from the magnetic material.

FIG. 3 shows the magnetic sensors 1A, 1B, 2A and 2B.
FIG. 4 is an explanatory diagram showing an example of a change mode of the output voltage of FIG. FIG.
The horizontal axis indicates the rotation angle of the input shaft 31 or the output shaft 32, and the solid line in the figure indicates the magnetic sensors 1A, 1A on the input shaft 31 side.
B indicates the output voltage, and the broken lines indicate the output voltages of the magnetic sensors 2A and 2B on the output shaft 32 side, respectively.

Magnetic sensors 1A, 1B as detecting means,
As described above, the targets 20 and 20 facing each other 2A and 2B are the surfaces 2 along the radial direction of the target plates 2 and 2.
a and 2a, the first inclined portion 20a and the second inclined portion 2
Reference numeral 0b denotes a projection made of a magnetic material that is continuous via the connection point 20c. Therefore, when the input shaft 31 and the output shaft 32 rotate around the rotation center O, the magnetic sensors 1A, 1B, 2
A and 2B are shown in FIG. 3 while the first and second inclined portions 20a and 20b of the corresponding targets 20 and 20 pass.
As shown in (1), a signal of a detection value that rises and falls proportionally according to a change in the rotation angle of the input shaft 31 or the output shaft 32 is periodically and continuously output.

The signal of the detected value changes non-linearly near the transition from rising to falling or from falling to rising, that is, near the connection point 20c between the first inclined portion 20a and the second inclined portion 20b. In the variable region, since the mutual influence of the magnetic field between the first inclined portion 20a and the second inclined portion 20b near the connection point 20c is small, the detection signal of the nonlinear variable region can be reduced.

As a result, the magnetic sensors 1A, 1B, 2A,
As shown in FIG. 3, the output voltage of each target 2B
The linearly changing area (linear change area) while the first and second inclined portions 20a and 20b of 0, 20 pass, and the non-linearly changing area while the connection points 20c, 20c of the targets 20, 20 pass. A changing mode in which a changing area (non-linear changing area) is periodically repeated is shown. The cycle of this repetition corresponds to the number of the first inclined portions 20a and the second inclined portions 20b of the target plates 2, 2, and as described above, the six first inclined portions 2a, 2a of the target plates 2, 2 are provided. Parts 20a and 6
When the second inclined portions 20b are arranged side by side, repetition occurs in which one cycle is a period during which the input shaft 31 or the output shaft 32 rotates by 30 ° (= 360 ° / 12).

At this time, the output voltages V1A and V1B of the magnetic sensors 1A and 1B correspond to the rotation angles of the input shaft 31 provided with the corresponding targets 20, and the output voltages V2A and V2B of the magnetic sensors 2A and 2B. Corresponds to the rotation angle of the output shaft 32 provided with the first inclined portion 20a and the second inclined portion 20b facing each other. Therefore, the arithmetic processing unit 4 outputs the output voltages V1A, 1A of the magnetic sensors 1A, 1B.
The rotation angle of the input shaft 31 can be calculated based on V1B, and the rotation angle of the output shaft 32 can be calculated based on the output voltages V2A and V2B of the magnetic sensors 2A and 2B. As described above, the arithmetic processing unit 4 and the magnetic sensors 1A and 1B operate as a rotation angle detection device for the input shaft 31, and the arithmetic processing unit 4 and the magnetic sensors 2A and 2B operate as a rotation angle detection device for the output shaft 32.

On the other hand, the difference ΔVA (= V1) between the output voltage V1A of the magnetic sensor 1A and the output voltage V2A of the magnetic sensor 2A.
A−V2A) or the difference ΔVB (= V1) between the output voltage V1B of the magnetic sensor 1B and the output voltage V2B of the magnetic sensor 2B.
B-V2B) is an amount of circumferential displacement generated between the target 20 on the input shaft 31 side and the target 20 on the output shaft 32, that is, a difference in rotation angle between the input shaft 31 and the output shaft 32. (Relative angular displacement), and the relative angular displacement corresponds to the input shaft 3 under the action of the rotational torque applied to the input shaft 31.
This corresponds to the amount of torsion generated in the torsion bar 34 connecting the output shaft 1 and the output shaft 32. Therefore, the arithmetic processing unit 4 determines the input shaft 31 based on the above-described output voltage difference ΔVA or ΔVB.
Can be calculated.

Embodiment 2 FIG. 4 is a schematic diagram schematically showing a configuration of a second embodiment in which the rotation angle detection device and the torque detection device according to the present invention are applied to a steering device of an automobile.
FIG. 6 is a sectional view showing a configuration of a second embodiment in which the rotation angle detection device and the torque detection device are applied to a steering device of an automobile,
FIG. 3 is a plan view showing a configuration of target bodies 5 and 6 and a target 20.

The rotation angle detecting device and the torque detecting device according to the second embodiment include a pair of disk-shaped target plates 2 and 2.
Instead of providing the target 20 on one surface 2a along the radial direction of the (rotating body), the cup-shaped large-diameter target body 5 (rotating body) and the small-diameter target body 6 (rotating body) extend along the radial direction. One surface 5a, 6a, in other words, a first inclined portion 20a inclined in one direction along the peripheral surface on one surface on the opening side, a second inclined portion 20b inclined in the other direction,
A target 20 having a connection point 20c connecting the first inclined portion 20a and the second inclined portion 20b is formed;
As the input shaft 31 and the output shaft 32 rotate, the detected part of the target 20 changes periodically and continuously.

The target bodies 5 and 6 are similar to each other in a cylindrical shape having a bottom, and have fitting holes 51 and 6 formed in the center of the bottom.
One portion is externally fitted and fixed to the outer peripheral surfaces of the input shaft 31 and the output shaft 32. The target 20 is a continuous ridge projecting from the opening-side surfaces 5a and 6a of the target bodies 5 and 6 with substantially the same thickness in the direction of the rotation center. Distance H from O
1, H2 is changed. Further, the adjacent first inclined portion 20a and second inclined portion 20b are continuous to be substantially line-symmetric with respect to a radial straight line of the target bodies 5 and 6 passing through the connection point 20c, and have a rectangular annular shape. ing.

The surfaces 5a, 6a of the target bodies 5, 6
A sensor box 10 having the magnetic sensors 1A, 1B, 2A, 2B facing the targets 20 is provided at a position facing the targets 20. This sensor box 10
Is fixedly supported by a stationary member such as a housing that supports the input shaft 31 and the output shaft 32. Sensor box 1
0, the magnetic sensors 1A and 1B facing different circumferential portions of the target 20 on the input shaft 31 side, and the magnetic sensors 2A and 2B facing different circumferential portions of the target 20 on the output shaft 32 side. And are stored with their circumferential positions correctly adjusted.

In the second embodiment, since other structures and operations are the same as those in the first embodiment, the same reference numerals are given to the common parts, and the detailed description of the structure and the operation will be omitted.

In the embodiment described above, the target plate 2 and the target members 5 and 6 are arranged along the radial direction.
The target 20 whose distance from the rotation center changes with respect to the rotation angle of the target plate 2 and the target bodies 5 and 6 is provided on the two surfaces 2a, 5a and 6a. In addition, the targets 20 are magnetic sensors 1A and 1B. , 2A, and 2B, the distance from the magnetic sensors 1A, 1B, 2A, and 2B may be changed with respect to the rotation angle of the rotating body.

Further, in the above-described embodiment, in a steering apparatus of an automobile, a use for detecting a rotation angle (steering angle) and a rotation torque (steering torque) of the steering shaft 3 for communicating the steering wheel 30 and the steering mechanism. However, it is needless to say that the device of the present invention can be widely used in all applications in which one or both of the rotation angle and the rotation torque of the rotating shaft need to be detected.

[0042]

According to the first aspect of the present invention, the target is provided on the surface along the radial direction of the rotating body, and the detecting means facing the target can be arranged on the rotation center side of the rotating body with respect to the target. Therefore, the distance from the center of rotation of the rotating body to the outer portion of the detecting means can be made relatively short, and in the above-described prior invention, the layout can be mounted on the vehicle even if the vehicle body structure prevents mounting on the vehicle. it can.

According to the second invention and the third invention, a disk-shaped,
Since the target can be provided on one surface of the cup-shaped rotating body, the target can be easily provided by molding, and the cost can be reduced.

According to the fourth aspect of the invention, the target can be provided by using an inexpensive material such as carbon steel for machine structure, and the cost can be reduced.

According to the fifth aspect of the present invention, the steering angle can be detected by using the rotation angle detecting device which can make the distance from the rotation center of the rotating body to the outside of the detecting means relatively short. A detection device can be realized.

According to the sixth aspect of the present invention, the distance from the center of rotation of the rotating body to the outside of the detecting means can be made relatively short, and the steering device is provided with the torque detecting device capable of detecting the steering angle. Can be realized.

[Brief description of the drawings]

FIG. 1 is a schematic diagram schematically showing a configuration of a first embodiment in which a rotation angle detection device and a torque detection device according to the present invention are applied to a steering device of an automobile.

FIG. 2 is a plan view showing a configuration of a target plate and a target.

FIG. 3 is an explanatory diagram illustrating an example of a change mode of an output voltage of a magnetic sensor.

FIG. 4 is a schematic diagram schematically showing a configuration of a second embodiment in which the rotation angle detection device and the torque detection device according to the present invention are applied to a steering device of an automobile.

FIG. 5 is a cross-sectional view showing a configuration of a second embodiment in which the rotation angle detection device and the torque detection device according to the present invention are applied to a steering device of an automobile.

FIG. 6 is a plan view showing a configuration of a target body and a target.

[Explanation of symbols]

 1A, 2A, 1B, 2B Magnetic sensor (detection means) 2 Target plate (rotating body) 3 Steering axis (rotating axis) 4 Arithmetic processing unit 5 Target body (rotating body) 6 Target body (rotating body) 20 Target 30 Steering wheel ( Steering wheel) 31 input shaft 32 output shaft 34 torsion bar

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) G01D 5/245 G01D 5/245 B G01L 3/10 G01L 3/10 B 5/22 5/22 F term ( Reference) 2F051 AA01 AB05 BA03 2F063 AA34 AA35 AA36 AA50 BA08 CA34 DA01 DB07 DD03 DD05 GA53 GA54 GA68 GA70 GA79 KA01 KA04 KA05 LA02 LA23 ZA01 2F069 AA86 AA88 AA99 BB40 DD27 GG04 GG03 GG06 GG63 GG63 GG63 GG63 GG63 GG63 GG63 GG65

Claims (6)

[Claims] 1. A rotating body, a target provided on the rotating body such that a portion to be detected changes periodically and continuously as the rotating body rotates, and a target provided on the rotating body, and disposed opposite to the target. A rotation angle detection device configured to determine a rotation angle of the rotator based on a detection value detected by the detection unit, wherein the target is a radial of the rotator. A rotation angle detection device provided on a surface along a direction. 2. The rotation angle detection device according to claim 1, wherein a distance of the target from a rotation center changes with respect to a rotation angle of the rotating body. 3. The rotation angle according to claim 1, wherein when the target passes through a detection area detected by the detection means, a distance between the target and the detection means changes with respect to a rotation angle of the rotator. Detection device. 4. The rotation angle detection device according to claim 1, wherein the target is a magnetic material, and the detection unit is a magnetic sensor. 5. A torque detecting device for detecting a torque applied to an input shaft by a torsion angle generated in a torsion bar coaxially connecting the input shaft and the output shaft, wherein a rotation angle of the input shaft and the output shaft is detected. A rotation angle detection device according to any one of claims 1 to 3,
Means for detecting a difference between the displacement angles detected by the rotation angle detecting device, respectively, wherein the difference between the displacement angles detected by the means is used as the torsion angle. 6. An input shaft connected to a steering wheel, an output shaft connected to a steering mechanism, a torsion bar connecting the input shaft and the output shaft, and a steering torque applied to the input shaft, A steering device, comprising: the torque detection device according to claim 5, wherein the torque detection device detects the torque based on a twist angle generated in the bar.