JP2005053416A - Steering apparatus for vehicle - Google Patents

Steering apparatus for vehicle Download PDF

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JP2005053416A
JP2005053416A JP2003288539A JP2003288539A JP2005053416A JP 2005053416 A JP2005053416 A JP 2005053416A JP 2003288539 A JP2003288539 A JP 2003288539A JP 2003288539 A JP2003288539 A JP 2003288539A JP 2005053416 A JP2005053416 A JP 2005053416A
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rotation
electric motor
steering
output shaft
shaft
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JP4304444B2 (en
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Susumu Honaga
進 穂永
Yoshiharu Inaguma
義治 稲熊
Hisashi Kobayashi
恒 小林
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Toyoda Koki KK
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Toyoda Koki KK
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a steering apparatus for a vehicle, which steering apparatus can easily set not only the reduction ratio originally required as a rotation angle sensor for an electric motor, but also the reduction ratio required as a steering angle sensor for the vehicle, when the rotation angle sensor for the electric motor, the rotation angle sensor for the electric motor being provided in a transmission mechanism arranged between the rotary output shaft of the electric motor and a steering transmission shaft, is used also as the steering angle sensor of the vehicle. <P>SOLUTION: A steer-by-wire apparatus has an electric motor 14 in addition to an electric motor 1. The reciprocating rotation of the rotary output shaft of the electric motor 14 is converted into the reciprocating motion of the steering transmission shaft 8 by means of the transmission mechanism 17. The transmission mechanism 17 arranged between the rotary output shaft of the electric motor 14 and the steering transmission shaft 8 has not only a first speed reduction mechanism for transferring the reciprocating rotation of the rotary output shaft of the electric motor 14 to the steering transmission shaft 8, but also a second speed reduction mechanism for transferring the reciprocating rotation of the rotary output shaft of the electric motor 14 to the rotation angle sensing means. The required speed reduction ratio of the second speed reduction mechanism is specified such that the rotary element always performs the reciprocating rotation within one rotation from a neutral position with respect to the reciprocating rotation of the rotary output shaft of the electric motor 14. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

本発明は、ステアバイワイヤ装置や電動パワーステアリング装置などの車両用舵取装置において、駆動力伝達機構の改良に関するものである。   The present invention relates to an improvement in a driving force transmission mechanism in a vehicle steering device such as a steer-by-wire device or an electric power steering device.

従来一般に、ステアバイワイヤ装置では、電動モータの回転出力軸の往復回転が軸線方向の往復運動として変換される舵取用伝動軸によりステアリングリンク装置が駆動され、コントローラが各種センサからの検出信号に基づきステアリングを電気的に制御する。各種センサとしては、ハンドル軸の中立位置に対するハンドル操舵角を検出するハンドル操舵角センサや、電動モータの回転出力軸の回転量を検出するモータ回転角センサや、舵取用伝動軸の往復運動位置を検出する車両操舵角センサなどが設けられている。すなわち、コントローラは、このハンドル操舵角センサやモータ回転角センサや車両操舵角センサなどからの検出信号に基づき、電動モータをハンドル操舵角に応じて駆動制御するとともに、ハンドル軸に連動する反力アクチュエータを駆動制御してハンドル軸に対しハンドル操舵角に応じた操舵反力を与える。このようなステアバイワイヤ装置は周知であり、下記特許文献１及び特許文献２で開示された装置もその一種である。
特開２００２−３７１１２号公報 特開２００１−１９１９３７号公報 Conventionally, in a steer-by-wire device, the steering link device is driven by a steering transmission shaft in which the reciprocating rotation of the rotation output shaft of the electric motor is converted as a reciprocating motion in the axial direction, and the controller is based on detection signals from various sensors. The steering is electrically controlled. Various sensors include a handle steering angle sensor that detects the steering angle of the steering wheel relative to the neutral position of the handle shaft, a motor rotation angle sensor that detects the amount of rotation of the rotation output shaft of the electric motor, and the reciprocating position of the steering transmission shaft. A vehicle steering angle sensor or the like for detecting the above is provided. That is, the controller controls the drive of the electric motor according to the steering angle of the electric motor based on the detection signals from the steering wheel angle sensor, the motor rotation angle sensor, the vehicle steering angle sensor, etc. The steering reaction force corresponding to the steering angle of the steering wheel is applied to the steering wheel shaft. Such steer-by-wire devices are well known, and the devices disclosed in Patent Document 1 and Patent Document 2 below are one type.
JP 2002-37112 A JP 2001-191937 A

かかる従来の車両用舵取装置においては、モータ回転角センサが電動モータの回転出力軸の周辺部に設けられ、また、舵取用伝動軸の位置を直接検出し得るように車両操舵角センサがその舵取用伝動軸の周辺部に設けられるなど、それぞれ専用のセンサを個別に設けていた。そのため、必要なセンサ数が増加してコスト高となり、またセンサ設置スペースの制約を受け、さらにセンサ相互の関連調整も必要となってその設定が難しくなるなどの問題があった。   In such a conventional vehicle steering apparatus, a motor rotation angle sensor is provided in the periphery of the rotation output shaft of the electric motor, and the vehicle steering angle sensor is provided so that the position of the steering transmission shaft can be directly detected. Dedicated sensors were individually provided, such as being provided in the periphery of the steering transmission shaft. As a result, the number of required sensors increases, resulting in high costs, limitations on sensor installation space, and further adjustments related to sensors, which make it difficult to set.

この発明は、車両用舵取装置において、特に電動モータの回転出力軸と舵取用伝動軸との間の伝動機構に減速機構を設けるとともに、その減速機構に改良を加え、一つの回転角検出手段によりモータ回転角と車両操舵角とを検出可能にして、回転角検出手段を低コストで且つ省スペースで簡単に設けることを目的としている。   The present invention provides a vehicle steering apparatus, in particular, a reduction mechanism provided in the transmission mechanism between the rotation output shaft of the electric motor and the transmission shaft for steering, and an improvement to the reduction mechanism to detect one rotation angle. An object of the present invention is to make it possible to detect a motor rotation angle and a vehicle steering angle by means, and to easily provide a rotation angle detection means at low cost and in a small space.

後記実施形態の図面（図１〜３）の符号を援用して本発明を説明する。
請求項１の発明にかかる車両用舵取装置は下記のように構成されている。
この車両用舵取装置においては、一つまたは二つ以上の電動モータ（１，１４）の回転出力軸（４，２１）の往復回転を伝動機構（１３，１７）により舵取用伝動軸（８）の軸線方向の往復運動として変換する。少なくとも一つの特定電動モータ（１４）の回転出力軸（２１）と舵取用伝動軸（８）との間の伝動機構（１７）は、この特定電動モータ（１４）の回転出力軸（２１）の往復回転を舵取用伝動軸（８）に伝達する第一減速機構（２２）のほかに、この特定電動モータ（１４）の回転出力軸（２１）の往復回転を回転角検出手段（３４）に伝達する第二減速機構（２３）を備えている。 The present invention will be described with reference to the reference numerals of the drawings (FIGS. 1 to 3) of the embodiments described later.
The vehicle steering apparatus according to the invention of claim 1 is configured as follows.
In this vehicle steering apparatus, the reciprocating rotation of the rotation output shafts (4, 21) of one or more electric motors (1, 14) is transmitted to the steering transmission shaft (13, 17) by the transmission mechanism (13, 17). It is converted as the reciprocating motion in the axial direction of 8). The transmission mechanism (17) between the rotation output shaft (21) of the at least one specific electric motor (14) and the steering transmission shaft (8) is a rotation output shaft (21) of the specific electric motor (14). In addition to the first speed reduction mechanism (22) for transmitting the reciprocating rotation of the specific electric motor (14) to the steering transmission shaft (8), the reciprocating rotation of the rotation output shaft (21) of the specific electric motor (14) ) Is provided with a second reduction mechanism (23).

請求項１の発明を前提とする請求項２の発明において、前記特定電動モータ（１４）の回転出力軸（２１）と舵取用伝動軸（８）との間の伝動機構（１７）は、前記第一減速機構（２２）と舵取用伝動軸（８）との間で、この第一減速機構（２２）の回転出力軸（２８ａ）の往復回転を舵取用伝動軸（８）の軸線方向の往復運動として変換する運動変換機構（例えばラックアンドピニオン機構１１などの歯車機構）を備えている。   In the invention of claim 2 premised on the invention of claim 1, the transmission mechanism (17) between the rotation output shaft (21) of the specific electric motor (14) and the steering transmission shaft (8), Between the first speed reduction mechanism (22) and the steering transmission shaft (8), the reciprocating rotation of the rotation output shaft (28a) of the first speed reduction mechanism (22) is controlled by the steering transmission shaft (8). A motion conversion mechanism (for example, a gear mechanism such as the rack and pinion mechanism 11) that converts as a reciprocating motion in the axial direction is provided.

請求項１〜２の発明では、第一減速機構（２２）のほかに第二減速機構（２３）を設けたので、第二減速機構（２３）により回転角検出手段（３４）として必要な減速比を容易に設定し且つ所定の回転数まで容易に減速することができる。   In the first and second aspects of the invention, since the second speed reduction mechanism (23) is provided in addition to the first speed reduction mechanism (22), the speed reduction required as the rotation angle detection means (34) by the second speed reduction mechanism (23). The ratio can be easily set and the speed can be easily reduced to a predetermined rotational speed.

請求項１または請求項２の発明を前提とする請求項３の発明において、前記回転角検出手段（３４）は、前記特定電動モータ（１４）の回転出力軸（２１）の往復回転が第二減速機構（２３）により所定減速比で減速されて伝達される回転体（３５）と、この回転体（３５）の回転角を検出するモータ回転角センサ（３６）とを備え、この所定減速比は、前記特定電動モータ（１４）の回転出力軸（２１）の往復回転に対し常に回転体（３５）が中立位置（ハンドル軸１９の中立位置に対応する位置）から一回転以内の往復回転状態になるように減速する値である。請求項３の発明では、モータ回転角センサ（３６）が回転体（３５）を絶対角の範囲で容易に検出できるので、モータ回転角センサ（３６）を両操舵角センサとして機能させることができる。   In the invention of claim 3 premised on the invention of claim 1 or claim 2, the rotation angle detecting means (34) is configured such that the reciprocating rotation of the rotation output shaft (21) of the specific electric motor (14) is second. A rotating body (35) decelerated and transmitted by a reduction mechanism (23) at a predetermined reduction ratio, and a motor rotation angle sensor (36) for detecting the rotation angle of the rotating body (35), the predetermined reduction ratio. Is a reciprocating rotation state in which the rotating body (35) is always within one rotation from the neutral position (position corresponding to the neutral position of the handle shaft 19) with respect to the reciprocating rotation of the rotation output shaft (21) of the specific electric motor (14). It is a value which decelerates to become. In the invention of claim 3, since the motor rotation angle sensor (36) can easily detect the rotating body (35) in the absolute angle range, the motor rotation angle sensor (36) can function as both steering angle sensors. .

請求項１または請求項２または請求項３の発明を前提とする請求項４の発明において、前記第一減速機構（２２）及び第二減速機構（２３）は、それぞれ、差動歯車機構（例えば遊星歯車機構）である。請求項４の発明では、第一減速機構（２２）及び第二減速機構（２３）において必要な減速比の設定を容易に行うことができる。   In the invention of claim 4 based on the invention of claim 1 or claim 2 or claim 3, the first reduction mechanism (22) and the second reduction mechanism (23) are each a differential gear mechanism (for example, Planetary gear mechanism). In the invention of claim 4, the necessary reduction ratio can be easily set in the first reduction mechanism (22) and the second reduction mechanism (23).

本発明は、特定電動モータ（１４）の回転出力軸（２１）と舵取用伝動軸（８）との間の伝動機構（１７）に設けた回転角検出手段（３４）において、モータ回転角センサ（３６）を車両操舵角センサとして兼用することができ、しかも、本来的なモータ回転角センサ（３６）として必要な減速比に加えて、車両操舵角センサとして必要な減速比をも容易に設定することができる。また、一つの回転角検出手段（３４）によりモータ回転角と車両操舵角とを検出可能にして、回転角検出手段（３４）を低コストで且つ省スペースで簡単に設けることができる。   The present invention relates to a motor rotation angle in a rotation angle detection means (34) provided in a transmission mechanism (17) between a rotation output shaft (21) of a specific electric motor (14) and a steering transmission shaft (8). The sensor (36) can also be used as a vehicle steering angle sensor, and in addition to the reduction ratio required for the original motor rotation angle sensor (36), the reduction ratio required for the vehicle steering angle sensor can be easily obtained. Can be set. Further, the motor rotation angle and the vehicle steering angle can be detected by one rotation angle detection means (34), and the rotation angle detection means (34) can be easily provided at low cost and in a small space.

以下、本発明の一実施形態にかかる車両用舵取装置（ステアバイワイヤ装置）について図１〜３を参照して説明する。
電動モータ１においては、ステーター２がモータハウジング３内に設けられ、このステーター２の内側に挿嵌された円筒状の回転出力軸４がモータハウジング３に対し左右両ころがり軸受５により回転可能に支持されている。このモータハウジング３の左右両側には左右両サイドハウジング６，７が取り付けられている。この回転出力軸４内には舵取用伝動軸８（ラックシャフト）が挿嵌され、この舵取用伝動軸８の左右両側が左右両サイドハウジング６，７内に延出されて左右両サイドハウジング６，７に対しラックガイド９（概略的に二点鎖線で図示）とすべり軸受１０とにより支持されている。この舵取用伝動軸８の回転中心線８ａ（軸心）はこの回転出力軸４の回転中心線４ａに一致している。このラックガイド９では、ラックアンドピニオン機構１１（運動変換機構）においてラック１１ａをピニオン１１ｂに対しばねにより圧接する従来周知の構造になっている。この舵取用伝動軸８の左右両端部は、概略的に示す従来周知のステアリングリンク装置１２において、ボールジョイント１２ａを介してタイロッド１２ｂに連結されている。前記回転出力軸４と舵取用伝動軸８との間には、ねじ軸部１３ａとナット部１３ｂとの間に多数の球１３ｃを挿入したボールねじ機構１３（運動変換機構である伝動機構）が設けられている。このボールねじ機構１３により、回転出力軸４の往復回転運動を舵取用伝動軸８の軸線方向（回転中心線８ａの方向）の往復直線運動に変換する。前記サイドハウジング６内には電動モータ１４（特定電動モータ）により減速機構１５を介して往復回転する入力軸１６が挿入され、この入力軸１６には前記ラックアンドピニオン機構１１のピニオン１１ｂが支持されている。このラックアンドピニオン機構１１により、入力軸１６の往復回転運動を舵取用伝動軸８の軸線方向（回転中心線８ａの方向）の往復直線運動に変換する。ちなみに、前記減速機構１５と入力軸１６とラックアンドピニオン機構１１とにより伝動機構１７が構成されている。操舵角センサ１８はハンドル軸１９の中立位置（操舵角が零である直進操舵位置）に対する操舵角を検出する。 A vehicle steering device (steer-by-wire device) according to an embodiment of the present invention will be described below with reference to FIGS.
In the electric motor 1, a stator 2 is provided in a motor housing 3, and a cylindrical rotation output shaft 4 inserted and fitted inside the stator 2 is rotatably supported by left and right roller bearings 5 with respect to the motor housing 3. Has been. Left and right side housings 6 and 7 are attached to the left and right sides of the motor housing 3. A steering transmission shaft 8 (rack shaft) is inserted into the rotation output shaft 4, and the left and right sides of the steering transmission shaft 8 are extended into the left and right side housings 6 and 7, so The housings 6 and 7 are supported by a rack guide 9 (illustrated schematically by a two-dot chain line) and a slide bearing 10. The rotation center line 8 a (axial center) of the steering transmission shaft 8 coincides with the rotation center line 4 a of the rotation output shaft 4. The rack guide 9 has a conventionally well-known structure in which a rack 11a is pressed against a pinion 11b by a spring in a rack and pinion mechanism 11 (motion conversion mechanism). The left and right ends of the steering transmission shaft 8 are connected to a tie rod 12b via a ball joint 12a in a conventionally known steering link device 12 schematically shown. Between the rotation output shaft 4 and the steering transmission shaft 8, a ball screw mechanism 13 (a transmission mechanism which is a motion conversion mechanism) in which a large number of balls 13c are inserted between a screw shaft portion 13a and a nut portion 13b. Is provided. The ball screw mechanism 13 converts the reciprocating rotational motion of the rotary output shaft 4 into a reciprocating linear motion in the axial direction of the steering transmission shaft 8 (direction of the rotation center line 8a). An input shaft 16 that reciprocally rotates via a speed reduction mechanism 15 by an electric motor 14 (specific electric motor) is inserted into the side housing 6, and the pinion 11 b of the rack and pinion mechanism 11 is supported on the input shaft 16. ing. The rack and pinion mechanism 11 converts the reciprocating rotational motion of the input shaft 16 into a reciprocating linear motion in the axial direction of the steering transmission shaft 8 (direction of the rotation center line 8a). Incidentally, the speed reduction mechanism 15, the input shaft 16 and the rack and pinion mechanism 11 constitute a transmission mechanism 17. The steering angle sensor 18 detects the steering angle with respect to the neutral position of the handle shaft 19 (straight-ahead steering position where the steering angle is zero).

前記電動モータ１４と入力軸１６との間の減速機構１５は、電動モータ１４の回転出力軸２１から分岐された遊星歯車機構である差動歯車機構としての第一歯車減速機構２２と第二歯車減速機構２３とからなる。   The speed reduction mechanism 15 between the electric motor 14 and the input shaft 16 is a first gear speed reduction mechanism 22 and a second gear as a differential gear mechanism which is a planetary gear mechanism branched from the rotation output shaft 21 of the electric motor 14. And a speed reduction mechanism 23.

この第一歯車減速機構２２は太陽歯車２４と入力腕２５と一組の遊星歯車２６と一組の遊星歯車２７と出力歯車２８とからなる。太陽歯車２４は回転不能に固定され、入力腕２５はこの太陽歯車２４の中心を通る回転出力軸２１と一体回転する。一組の遊星歯車２６は入力腕２５に対し回転可能に支持されて太陽歯車２４の外周に噛合される。一組の遊星歯車２７は、入力腕２５に対し回転可能に支持されて出力歯車２８の外周に噛合され、一組の遊星歯車２６と一体回転する。出力歯車２８の回転出力軸２８ａは入力軸１６と一体回転する。この第一歯車減速機構２２においては太陽歯車２４に対して出力歯車２８の歯数が多くなるように歯数比が設定されているため、電動モータ１４の回転出力軸２１の往復回転はこの第一歯車減速機構２２により所定減速比で減速されて入力軸１６に伝達される。   The first gear reduction mechanism 22 includes a sun gear 24, an input arm 25, a set of planetary gears 26, a set of planetary gears 27, and an output gear 28. The sun gear 24 is fixed so as not to rotate, and the input arm 25 rotates integrally with the rotation output shaft 21 passing through the center of the sun gear 24. A set of planetary gears 26 is rotatably supported by the input arm 25 and meshed with the outer periphery of the sun gear 24. The set of planetary gears 27 is rotatably supported by the input arm 25 and meshed with the outer periphery of the output gear 28 to rotate integrally with the set of planetary gears 26. The rotation output shaft 28 a of the output gear 28 rotates integrally with the input shaft 16. In the first gear reduction mechanism 22, the gear ratio is set so that the number of teeth of the output gear 28 is larger than that of the sun gear 24. Therefore, the reciprocating rotation of the rotary output shaft 21 of the electric motor 14 is the first. A single gear reduction mechanism 22 decelerates at a predetermined reduction ratio and is transmitted to the input shaft 16.

また、前記第二歯車減速機構２３は、冠歯車２９と入力腕３０と一組の遊星歯車３１と一組の遊星歯車３２と出力歯車３３とからなる。冠歯車２９は回転不能に固定され、入力腕３０はこの冠歯車２９の中心を通る回転出力軸２１と一体回転する。一組の遊星歯車３１は入力腕３０に対し回転可能に支持されて冠歯車２９の内周に噛合される。一組の遊星歯車３２は、入力腕３０に対し回転可能に支持されて出力歯車３３の内周に噛合され、一組の遊星歯車３１と一体回転する。モータ回転角検出手段３４は、この出力歯車３３と一体回転する回転体３５と、この回転体３５の回転角を検出するモータ回転角センサ３６（ロータリーエンコーダ等）とを備えている。この第二歯車減速機構２３においては冠歯車２９に対して出力歯車３３の歯数が多くなるように歯数比が設定されているため、電動モータ１４の回転出力軸２１の往復回転は第二歯車減速機構２３により所定減速比で減速されて回転体３５に伝達される。この第二歯車減速機構２３における所定減速比は、電動モータ１４の回転出力軸２１が往復回転した際、常に回転体３５が中立位置（ハンドル軸１９の中立位置に対応する位置）から一回転以内の往復回転状態になるように減速する値である。   The second gear reduction mechanism 23 includes a crown gear 29, an input arm 30, a set of planetary gears 31, a set of planetary gears 32, and an output gear 33. The crown gear 29 is fixed so as not to rotate, and the input arm 30 rotates integrally with the rotary output shaft 21 passing through the center of the crown gear 29. The set of planetary gears 31 is rotatably supported by the input arm 30 and meshed with the inner periphery of the crown gear 29. The set of planetary gears 32 is rotatably supported with respect to the input arm 30, meshed with the inner periphery of the output gear 33, and rotates integrally with the set of planetary gears 31. The motor rotation angle detector 34 includes a rotating body 35 that rotates integrally with the output gear 33 and a motor rotation angle sensor 36 (such as a rotary encoder) that detects the rotation angle of the rotating body 35. In the second gear reduction mechanism 23, the gear ratio is set so that the number of teeth of the output gear 33 is larger than that of the crown gear 29. Therefore, the reciprocating rotation of the rotary output shaft 21 of the electric motor 14 is second. The gear is decelerated at a predetermined reduction ratio by the gear reduction mechanism 23 and transmitted to the rotating body 35. The predetermined reduction ratio in the second gear reduction mechanism 23 is within one rotation from the neutral position (position corresponding to the neutral position of the handle shaft 19) when the rotation output shaft 21 of the electric motor 14 reciprocally rotates. It is the value which decelerates so that it may be in the reciprocating rotation state.

コントローラＣは、この操舵角センサ１８や、車両操舵角センサを兼用するモータ回転角センサ３６などからの検出信号に基づき、これらの電動モータ１，１４を操舵角に応じて駆動制御するとともに、ハンドル軸１９に連動する反力アクチュエータ２０を駆動制御してハンドル軸１９に対し操舵角に応じた操舵反力を与える。   The controller C controls driving of the electric motors 1 and 14 according to the steering angle based on detection signals from the steering angle sensor 18 and a motor rotation angle sensor 36 that also serves as a vehicle steering angle sensor. The reaction force actuator 20 interlocked with the shaft 19 is driven and controlled, and a steering reaction force corresponding to the steering angle is applied to the handle shaft 19.

なお、前述した実施形態では、駆動源として二つの電動モータ１，１４を採用したが、電動モータ１を省略して、一つの電動モータ１４のみを採用したり、複数の電動モータ１４を採用したりしてもよい。また、駆動手段として複数の電動モータを採用した場合、一部の電動モータを補助動力として利用する電動パワーステアリング装置としてもよい。   In the above-described embodiment, the two electric motors 1 and 14 are employed as the drive source. However, the electric motor 1 is omitted and only one electric motor 14 is employed, or a plurality of electric motors 14 are employed. Or you may. Further, when a plurality of electric motors are employed as the driving means, an electric power steering device that uses some of the electric motors as auxiliary power may be used.

本実施形態にかかる舵取装置を概略的に示すシステム図である。It is a system diagram showing roughly the steering device according to the present embodiment. 図１の部分拡大図である。It is the elements on larger scale of FIG. 図１の減速機構の説明図である。It is explanatory drawing of the deceleration mechanism of FIG.

符号の説明Explanation of symbols

１…電動モータ、４…回転出力軸、８…舵取用伝動軸、１１…ラックアンドピニオン機構（運動変換機構）、１３…ボールねじ機構（伝動機構）、１４…電動モータ（特定電動モータ）、１７…伝動機構、２１…回転出力軸、２２…第一歯車減速機構、２３…第二歯車減速機構、３４…モータ回転角検出手段、３５…回転体、３６…モータ回転角センサ。   DESCRIPTION OF SYMBOLS 1 ... Electric motor, 4 ... Rotation output shaft, 8 ... Steering transmission shaft, 11 ... Rack and pinion mechanism (motion conversion mechanism), 13 ... Ball screw mechanism (transmission mechanism), 14 ... Electric motor (specific electric motor) , 17 ... Transmission mechanism, 21 ... Rotation output shaft, 22 ... First gear reduction mechanism, 23 ... Second gear reduction mechanism, 34 ... Motor rotation angle detection means, 35 ... Rotating body, 36 ... Motor rotation angle sensor.

Claims (4)

一つまたは二つ以上の電動モータの回転出力軸の往復回転を伝動機構により舵取用伝動軸の軸線方向の往復運動として変換する車両用舵取装置において、少なくとも一つの特定電動モータの回転出力軸と舵取用伝動軸との間の伝動機構は、この特定電動モータの回転出力軸の往復回転を舵取用伝動軸に伝達する第一減速機構のほかに、この特定電動モータの回転出力軸の往復回転を回転角検出手段に伝達する第二減速機構を備えていることを特徴とする車両用舵取装置。 Rotation output of at least one specific electric motor in a vehicle steering apparatus that converts reciprocal rotation of a rotation output shaft of one or more electric motors as reciprocating motion in the axial direction of a steering transmission shaft by a transmission mechanism The transmission mechanism between the shaft and the steering transmission shaft is not only the first reduction mechanism that transmits the reciprocating rotation of the rotation output shaft of this specific electric motor to the steering transmission shaft, but also the rotational output of this specific electric motor. A vehicle steering system comprising a second reduction mechanism that transmits reciprocating rotation of a shaft to a rotation angle detection means. 前記特定電動モータの回転出力軸と舵取用伝動軸との間の伝動機構は、前記第一減速機構と舵取用伝動軸との間で、この第一減速機構の回転出力軸の往復回転を舵取用伝動軸の軸線方向の往復運動として変換する運動変換機構を備えていることを特徴とする請求項１に記載の車両用舵取装置。 The transmission mechanism between the rotation output shaft of the specific electric motor and the steering transmission shaft is a reciprocating rotation of the rotation output shaft of the first reduction mechanism between the first reduction mechanism and the steering transmission shaft. The vehicle steering apparatus according to claim 1, further comprising: a motion conversion mechanism that converts the reciprocating motion in the axial direction of the steering transmission shaft. 前記回転角検出手段は、前記特定電動モータの回転出力軸の往復回転が第二減速機構により所定減速比で減速されて伝達される回転体と、この回転体の回転角を検出するモータ回転角センサとを備え、この所定減速比は、前記特定電動モータの回転出力軸の往復回転に対し常に回転体が中立位置から一回転以内の往復回転状態になるように減速する値であることを特徴とする請求項１または請求項２に記載の車両用舵取装置。 The rotation angle detection means includes a rotating body that transmits the reciprocating rotation of the rotation output shaft of the specific electric motor at a predetermined reduction ratio by the second reduction mechanism, and a motor rotation angle that detects the rotation angle of the rotating body. The predetermined reduction ratio is a value that decelerates so that the rotating body is always in a reciprocating rotation state within one rotation from the neutral position with respect to the reciprocating rotation of the rotation output shaft of the specific electric motor. The steering apparatus for vehicles according to claim 1 or 2. 前記第一減速機構及び第二減速機構は、それぞれ、差動歯車機構であることを特徴とする請求項１または請求項２または請求項３に記載の車両用舵取装置。 4. The vehicle steering device according to claim 1, wherein each of the first reduction mechanism and the second reduction mechanism is a differential gear mechanism. 5.
JP2003288539A 2003-08-07 2003-08-07 Steer-by-wire device Expired - Fee Related JP4304444B2 (en)

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JP2006273295A (en) * 2005-03-30 2006-10-12 Jtekt Corp Steering device for vehicle
JP2006347209A (en) * 2005-06-13 2006-12-28 Jtekt Corp Steering device for vehicle
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JP2009530595A (en) * 2006-03-14 2009-08-27 アクチボラゲット エス ケイ エフ Detection device for detecting angular position, electric motor, steering column, and reduction gear
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JP2010023562A (en) * 2008-07-15 2010-02-04 Jtekt Corp Vehicular steering device
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JP2010100104A (en) * 2008-10-21 2010-05-06 Jtekt Corp Steering device for vehicle
JP2010137742A (en) * 2008-12-12 2010-06-24 Jtekt Corp Vehicle steering device
JP2012131487A (en) * 2010-12-21 2012-07-12 Lg Innotek Co Ltd Eps motor with steering angle sensing unit
EP3712038A1 (en) 2019-03-22 2020-09-23 Jtekt Corporation Controller for steering device
US11485404B2 (en) 2019-03-22 2022-11-01 Jtekt Corporation Controller for steering device

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