JP2015096408A - Vehicular steering device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a steer-by-wire type vehicular steering device that can attain steering with a low-price detection sensor when a steering angle sensor has a failure.SOLUTION: A rotatable element 30 and an unrotatable element 40 have a first detection part 47 that detects a radial movement of an engaging member 21 when a steering component 2 is operated in one direction to keep the engaging member 21 positioned at the stroke end on the outer diameter side of a second groove 43 and a second detection part 48 that detects a movement of the engaging member 21 when the steering component 2 is operated in the other direction to keep a pair of the engaging members positioned at the stroke end on the inner diameter side of the second groove, and have the fail-safe function of controlling the drive of a steering actuator so as to turn a steering wheel in one direction when an abnormality generated in steering angle detection means is detected by the first detection part 47 and turn the steering wheel in the other direction when an abnormality generated in the steering angle detection means is detected by the second detection part 48.

Description

  The present invention relates to a vehicle steering apparatus.

  In a steering device for a cargo handling vehicle such as a forklift, a rear wheel as a steered wheel is steered in accordance with steering of a steering (steering component). The forklift may employ a so-called steer-by-wire vehicle steering device in which the mechanical connection between the steering mechanism operating mechanism and the steered wheel steering mechanism is broken.

  In this vehicle steering apparatus, the operation mechanism includes a steering shaft connected to the steering component, and a rotation limiting mechanism that limits the amount of rotation operation of the steering component to a predetermined angle or less. The steered mechanism includes a steered actuator that is controlled according to the rotational operation amount of the steering component, and a steered shaft that is operated by the steered actuator and transmits the steered wheel to the steered wheels.

  In addition, a steering angle sensor for detecting the steering angle of the rotational operation amount of the steering component and a steering torque sensor for detecting the steering torque applied to the steering component are provided, and the steering angle detected by the steering angle sensor and / or Alternatively, the steering actuator is driven and controlled based on the steering torque detected by the steering torque sensor. In this vehicle steering device, when the steering component is rotated, the rotation controlled by the steering actuator in accordance with the amount of rotation operation is changed in the axial direction of the steering shaft via, for example, a ball screw to change the steering shaft. To steer the steered wheels.

  In the vehicle steering apparatus shown in Patent Document 1, the rotation limiting mechanism includes a rotating disk, a stationary disk, a plurality of plate elements provided between the rotating disk and the stationary disk, and a rotating circle among the plurality of plate elements. Adjacent to a first coupling element comprising a first guide groove provided on one of the plate element and the rotating disk and a first protrusion provided on the other so as to restrict relative rotation between the plate element on the plate side and the rotating disk A plurality of second connecting elements constituted by a second guide groove provided on one of adjacent elements and a second protrusion provided on the other so as to regulate the relative rotation amount between the elements to be rotated, and a rotation circle among the plurality of plate elements A first friction plate that imparts frictional resistance to relative rotation between the plate-side plate element and the rotating disk, a second friction plate that imparts frictional resistance to relative rotation between adjacent elements, and a plurality of plate elements The relative rotation between the plate element on the stationary disk side and the stationary disk is regulated. And a switching mechanism for pressing or releasing the first friction plate and the second friction plate, and a third coupling element comprising a third guide groove provided on one of the plate element and the stationary disk and a third protrusion provided on the other. When the first friction plate and the second friction plate are pressed by the switching mechanism, relative rotation is restricted between the rotating disc and the stationary disc via the third coupling element, and the first is achieved by the switching mechanism. When releasing the friction plate and the second friction plate, relative rotation is restricted between the rotating disc and the stationary disc via the first connecting element, the second connecting element, and the third connecting element. When the steering angle sensor fails, the steering wheel is steered by the steering actuator in the direction detected by the detection sensor by detecting the third protrusions with the detection sensors installed at both ends of the third guide groove. .

Japanese Patent Application No. 202065677

  In Patent Document 1, a plurality of plate elements, a friction plate, a plurality of connecting elements, and the like are required, so that the structure is complicated and the axial length is increased. Conversely, ignoring a plurality of plate elements, friction plates, first connection elements and second connection elements, and focusing only on the rotating disk, stationary disk, and third connection element, the axial length is shortened, It is impossible to rotate more than one rotation between the rotating disk and the stationary disk. Furthermore, since the rotational force of the rotating disk with respect to the stationary disk acts on the detection sensor via the third protrusion, it is necessary to consider that the detection sensor does not break down.

  Accordingly, the present invention has been made to solve the above-described problems, and an object of the present invention is to provide a vehicle steering apparatus having a simple structure and a reduced axial length. By preventing a large force from the engaging member from being applied to the first detection unit and the second detection unit, the first detection unit and the second detection unit are inexpensive and do not require strength.

  The vehicle steering apparatus according to claim 1 is a steering shaft that rotates integrally with a steering component, a rotation limiting mechanism that is connected to the steering shaft and restricts to a predetermined angle or less, and a steering wheel for turning a steered wheel. When operating the actuator, the steering angle detecting means for detecting the steering angle of the steering component, and the steering component in one direction, the steered wheel is turned in one direction, and the steering component is moved in the other direction. A control device that drives and controls the steering actuator based on a signal detected by the steering angle detection means so as to turn the steered wheel in the other direction. In the vehicle steering apparatus in which the mechanical connection between the steering wheel and the steered wheel is broken, the rotation limiting mechanism includes a rotatable element that rotates integrally with the steering shaft, and the steering wheel. A non-rotatable element facing the rotatable element in an axial direction of the shaft, and an engaging member disposed between the rotatable element and the non-rotatable element in the axial direction, the rotatable element and the A first groove having a linear shape in a radial direction is formed on one of the non-rotatable elements, and a second spiral-shaped groove is formed on the other of the rotatable element and the non-rotatable element over the predetermined angle exceeding at least one rotation. A groove is formed, the engaging member is provided at a location where the first groove and the second groove intersect, and the engaging member is at a stroke end portion on the outer diameter side of the second groove. And a second detection unit that detects that the engaging member is at a stroke end portion on the inner diameter side of the second groove, and the control device detects the steering angle. When an abnormality occurs in the means, the first When detected by the exit, the steered wheel is turned in one direction, and when detected by the second detector, the steered actuator is driven and controlled to turn the steered wheel in the other direction. The gist is to have a fail-safe function.

  According to the first aspect, since the first groove is formed in a linear shape in the radial direction and the second groove is formed in a spiral shape, relative rotation of a predetermined angle between the rotatable element and the non-rotatable element is performed. It can be secured, the structure is simplified, and the axial length can be shortened.

  A vehicle steering apparatus according to a second aspect is the vehicle steering apparatus according to the first aspect, wherein the engagement member is a pair of engagement balls, and the first detection unit is a stroke end on an outer diameter side of the pair of engagement balls. The movement of the engagement ball on the side opposite to the portion is detected in the radial direction, and the second detection portion is on the side opposite to the stroke end on the inner diameter side of the pair of engagement balls. The gist is that it detects the movement of the ball in the radial direction.

  According to the second aspect, since the first groove is formed in a linear shape in the radial direction and the second groove is formed in a spiral shape, relative rotation at a predetermined angle between the rotatable element and the non-rotatable element is performed. It can be secured, the structure is simplified, and the axial length can be shortened. Further, when an abnormality occurs in the steering angle detecting means, the engaging member detects the movement in the radial direction of the engaging ball on the opposite side to the stroke end on the outer diameter side and the inner diameter side. Since a large force of the engaging member is not applied to the first detection unit and the second detection unit, the first detection unit and the second detection unit can be inexpensive and do not require strength.

  According to a third aspect of the vehicle steering apparatus of the present invention, the second groove according to the second aspect is connected to a spiral portion formed in a spiral shape and one end on the outer diameter side of the spiral portion. An inclined first inclined portion and a second inclined portion connected to the other end on the inner diameter side of the spiral portion and inclined with respect to a tangent line of the other end, and the first detection portion with respect to the spiral portion The second inclined portion is disposed adjacent to the first inclined portion on the opposite side to the inclined direction of the first inclined portion, and the second detecting portion is opposite to the inclined direction of the second inclined portion with respect to the spiral portion. The gist is that it is disposed adjacent to the inclined portion.

  According to the third aspect, since the first groove is formed in a linear shape in the radial direction and the second groove is formed in a spiral shape, relative rotation at a predetermined angle between the rotatable element and the non-rotatable element is performed. It can be secured, the structure is simplified, and the axial length can be shortened. Further, the first detection unit is disposed adjacent to the first inclined part on a side opposite to the inclination direction of the first inclined part with respect to the spiral part, and the second detection part is provided with the first detection unit with respect to the spiral part. Since the second inclined portion is disposed adjacent to the second inclined portion on the opposite side of the inclined direction of the two inclined portions, a large force of the engaging member is not applied to the first detecting portion and the second detecting portion. As the second detector, an inexpensive one that does not require strength can be used. Further, the first detector can be reliably operated by the first inclined portion, and the second detector can be reliably operated by the second inclined portion.

  Furthermore, in the invention according to claim 4, when the first detection unit has the engagement member at the stroke end portion on the outer diameter side of at least one of the first groove and the second groove, A pair of first conductive portions that are electrically connected to each other via the engaging member, and the second detection portion is connected to the stroke end portion on at least the other inner diameter side of the first groove and the second groove. The gist of the present invention is that the pair of second conductive portions are electrically connected to each other via the engaging member when there is a combined member.

  According to the invention of claim 4, since the first groove is formed in a linear shape in the radial direction and the second groove is formed in a spiral shape, a relative angle of a predetermined angle between the rotatable element and the non-rotatable element is obtained. Rotation can be secured, the structure becomes simple and the axial length can be shortened. Further, the engaging member is a switch that connects the pair of first conductive portions or the pair of second conductive portions, and the pair of first conductive portions and the pair of second conductive portions themselves do not have a movable switch. Even if a large force is applied to the one conductive portion and the pair of second conductive portions, they are not broken, and the structure is simplified, so that it is inexpensive.

  Furthermore, in the invention described in claim 5, one of the pair of first conductive portions is provided at a stroke end portion on the outer diameter side of the second groove, and the other of the pair of first conductive portions is provided in the first groove. The pair of first conductive portions are disposed on both sides in the circumferential direction of the rotatable element with the engagement member interposed therebetween, and the pair of second conductive portions are provided on the outer end side of the outer diameter side of the one groove. One of the conductive portions is provided at a stroke end portion on the inner diameter side of the second groove, the other of the pair of second conductive portions is provided at a stroke end portion on the inner diameter side of the first groove, and The gist is that the pair of first conductive portions are arranged on both sides of the rotatable element with the engaging member interposed therebetween.

  According to the invention of claim 5, since the first groove is formed in a linear shape in the radial direction and the second groove is formed in a spiral shape, a relative angle of a predetermined angle between the rotatable element and the non-rotatable element. Rotation can be secured, the structure becomes simple and the axial length can be shortened. Furthermore, since the pair of first conductive portions and the pair of second conductive portions themselves do not have a movable switch, even if a large force acts on the pair of first conductive portions and the pair of second conductive portions, the pair of first conductive portions and the pair of second conductive portions are not broken. Since the structure is simple, it is inexpensive. Since the pair of first conductive portions or the pair of second conductive portions are disposed on both sides in the circumferential direction of the rotatable element with the engagement member interposed therebetween, the engagement is performed only when a force is acting in the circumferential direction. It can be surely made conductive by holding and holding the joint member.

  Furthermore, in the invention described in claim 6, the pair of first conductive portions is provided at a stroke end portion on the outer diameter side of the second groove, and the pair of first conductive portions is the engagement member. Is disposed on one side in the circumferential direction of the rotatable element and on both sides in the radial direction of the rotatable element across the center line of the second groove, and the pair of second conductive portions are disposed on the second side. Provided at the stroke end of the groove on the inner diameter side, and the pair of second conductive portions are arranged on one side in the circumferential direction of the rotatable element with the engaging member interposed therebetween, and the center line of the second groove The gist is that they are arranged on both sides in the radial direction of the rotatable element.

  According to the invention of claim 6, since the first groove is formed in a linear shape in the radial direction and the second groove is formed in a spiral shape, a relative angle of a predetermined angle between the rotatable element and the non-rotatable element. Rotation can be secured, the structure becomes simple and the axial length can be shortened. Further, the engaging member is a switch that connects the pair of first conductive portions or the pair of second conductive portions, and the pair of first conductive portions and the pair of second conductive portions themselves do not have a movable switch. Even if a large force is applied to the one conductive portion and the pair of second conductive portions, they are not broken, and the structure is simplified, so that it is inexpensive. In addition, the pair of second conductive portions are arranged on one side in the circumferential direction of the rotatable element with the engagement member interposed therebetween and on both radial sides of the rotatable element with the center line of the second groove interposed therebetween. Therefore, the pair of first conductive portions and the pair of second conductive portions can be combined into one rotatable element, and the structure is simplified.

  According to the present invention, it is possible to provide a vehicle steering apparatus that has a simple structure and allows a relative rotation exceeding one rotation between a rotatable element and a non-rotatable element. Even if the rotational force of the rotating disk with respect to the stationary disk acts on the first detector and the second detector, there is no possibility that the first detector and the second detector will fail.

The schematic diagram which shows schematic structure of the steering apparatus for vehicles to which the rotation limiting mechanism which concerns on one Embodiment of this invention was applied. The exploded perspective view of the rotation restricting mechanism concerning a first embodiment of the present invention. The top view of the 2nd plate of the rotation limiting mechanism which concerns on 1st embodiment of this invention. The ZZ sectional view taken on the line of FIG. 3 which concerns on 1st embodiment of this invention. The left turn state figure of the rotation limiting mechanism concerning a first embodiment of the present invention. The non-operation state figure of the detection part in the left turning end which concerns on 1st embodiment of this invention. The operation state figure of the detecting part in the left turning end concerning a first embodiment of the present invention. The right turn state figure of the rotation limiting mechanism concerning a first embodiment of the present invention. The non-operation state figure of the detection part in the right turning end which concerns on 1st embodiment of this invention. The operation state figure of the detection part in the right turn end concerning a first embodiment of the present invention. The flowchart which shows the flow of the steering control which concerns on 1st embodiment of this invention. The disassembled perspective view of the rotation limiting mechanism which concerns on 2nd embodiment of this invention. The top view of the 1st plate of the rotation limiting mechanism which concerns on 2nd embodiment of this invention. The top view of the 2nd plate of the rotation limiting mechanism which concerns on 2nd embodiment of this invention. The TT sectional view taken on the line of FIG. 13 of the left turning state which concerns on 2nd embodiment of this invention. The TT line sectional view of Drawing 13 of the right turn state concerning a second embodiment of the present invention. The top view of the 1st plate of the rotation limiting mechanism concerning a third embodiment of the present invention. The top view of the 2nd plate of the rotation limiting mechanism which concerns on 3rd embodiment of this invention. The FF sectional view taken on the line of FIG. 18 of the left turn state which concerns on 3rd embodiment of this invention. The FF sectional view taken on the line of FIG. 18 of the right turn state which concerns on 3rd embodiment of this invention.

  A first embodiment of the present invention will be described with reference to FIG. FIG. 1 is a schematic diagram showing a schematic configuration of a vehicle steering apparatus to which a rotation limiting mechanism according to a first embodiment of the present invention is applied.

  The vehicle steering apparatus 1 includes an operation mechanism 10 to which a steering component 2 that is rotated by a driver is attached, a steering mechanism 50 having a steering actuator 53 that steers the steered wheels 3, and a steering actuator 53. And a control device 70 for controlling. Further, the vehicle steering apparatus 1 has a configuration as a steer-by-wire in which the mechanical connection between the operation mechanism 10 and the steering mechanism 50 is released.

  The operation mechanism 10 includes a steering shaft 11 having the steering component 2 attached to one end, a reaction force actuator 12 that applies a steering reaction force to the steering shaft 11, a steering angle sensor 13 that detects a steering angle of the steering shaft 11, and a steering. A torque sensor 14 for detecting a steering torque acting on the shaft 11 and a rotation limiting mechanism 20 for limiting the steering angle of the steering component 2 are provided.

  The steering shaft 11 is connected to the steering component 2 at one end thereof, and rotates integrally with the steering component 2.

  The reaction force actuator 12 has an electric motor and is connected to the end of the steering shaft 11 opposite to the steering component 2 side. The reaction force actuator 12 applies the rotational torque of the output shaft of the electric motor to the steering component 2 via the steering shaft 11 as a steering reaction force transmitted from the road surface or the like to the steered wheels 3.

  The steering angle sensor 13 is provided on the steering shaft 11 and has a function of detecting the steering angle of the steering shaft 11 and outputting a signal corresponding to the steering angle (hereinafter referred to as “steering angle signal”) to the control device 70. .

  The torque sensor 14 is provided on the steering shaft 11 and is located on the opposite side of the steering component 2 from the steering angle sensor 13. The torque sensor 14 has a function of detecting steering torque and outputting a signal corresponding to the steering torque (hereinafter referred to as “torque signal”) to the control device 70.

  The rotation limiting mechanism 20 is provided on the steering shaft 11 and is positioned between the torque sensor 14 and the reaction force actuator 12. The rotation limiting mechanism 20 has a function of mechanically limiting the steering angle by the rotation operation of the steering component 2 to be 1620 degrees (4.5 rotations) or less.

  The rotation limiting mechanism 20 includes a first detection unit 47 and a second detection unit that detect a rotation operation direction by a pair of engagement members (hereinafter referred to as a pair of guide balls) 21a and 21b constituting the rotation limitation mechanism 20 described later. 48 is provided, and has a function of detecting the rotational operation direction of the steering component 2 and outputting it to the control device 70.

  The turning mechanism 50 includes a rack shaft 51, two tie rods 52 connected to both ends of the rack shaft 51, a turning actuator 53 for power assisting the rack shaft 51, and a turning angle from the position of the rack shaft 51. And a turning angle sensor 54 to be detected. The steered mechanism 50 has a function of detecting the rotational operation of the steering component 2 by the steering angle sensor 13 and activating the steered actuator 53 to change the steered angle of the steered wheels 3 of the vehicle.

  The steered actuator 53 has a steered motor and a ball screw mechanism (not shown) provided on the outer periphery of the rack shaft 51, and has a function of converting the rotation of the steered motor into a reciprocating motion of the rack shaft 51 by the ball screw mechanism. Have.

  The control device 70 controls the drive of the steering actuator 53 based on a vehicle travel speed signal (hereinafter, “vehicle speed signal”) detected by the vehicle speed sensor 4 and a steering angle signal detected by the steering angle sensor 13. Have

  Further, the control device 70 steers a steering reaction force that is in a direction opposite to the direction in which the steering component 2 is rotated based on the vehicle speed signal detected by the vehicle speed sensor 4 and the turning angle signal detected by the steering angle sensor 13. It has a function of controlling the driving of the reaction force actuator 12 so as to be applied to the component 2.

  A detailed configuration of the rotation limiting mechanism 20 according to the first embodiment of the present invention will be described with reference to FIGS.

  As shown in FIG. 2, the rotation limiting mechanism 20 includes a first plate 30 as a rotatable element, a second plate 40 as a non-rotatable element, a pair of guide balls 21 a and 21 b, and a first detection unit 47. , A second detection unit 48. The first plate 30 and the second plate 40 face each other in the axial direction of the steering shaft 11, and the pair of guide balls 21 a and 21 b are located between the first plate 30 and the second plate 40. The rotation limiting mechanism 20 has a configuration in which the first plate 30 rotates integrally with the steering shaft 11 and the second plate 40 does not rotate with respect to the rotation of the steering shaft 11. The pair of guide balls 21a and 21b is formed in a spherical shape.

  The first plate 30 has a plate body 31. The plate body 31 is formed as a flat disk, and a through hole 32 is formed in the center portion in the thickness direction, and the steering shaft 11 is press-fitted and fixed in the through hole 32. A first groove 33 is formed in the plate body 31 in a linear shape in the radial direction of the steering shaft 11. Further, the first groove 33 has a semicircular shape that is recessed from the facing surface 31 </ b> A facing the second plate 40 as a cross-sectional shape perpendicular to the radial direction of the steering shaft 11.

  As shown in FIG. 3, the second plate 40 has a plate body 41. The plate body 41 is formed as a flat disk that is equal to the outer diameter of the plate body 31 of the first plate 30. A through hole 42 is formed in the center portion of the plate body 41 in the thickness direction. The inner diameter of the through hole 42 is slightly larger than the outer diameter of the steering shaft 11, and the steering shaft 11 is inserted into the through hole 42. .

  A second groove 43 is formed in the plate body 41 in a spiral shape. The second groove 43 has a semicircular shape that is recessed from the facing surface 41 a facing the first plate 30 as a radial cross-sectional shape of the steering shaft 11. (See FIG. 4). The second groove 43 is connected to a spiral portion 43a formed in a spiral shape, one end 45 on the outer diameter side of the spiral portion 43a, a first inclined portion 45a inclined by an angle α with respect to a tangent line of the one end, It is connected to the other end 44 on the inner diameter side of the spiral portion 43a, and includes a second inclined portion 44a inclined by an angle α with respect to the tangent line of the other end. One end 45 of the spiral portion 43 a and the other end of the spiral portion 43 a are formed in a tangential direction of a circle centering on the rotation center of the plate body 41. That is, at one end 45 or the other end 44, the first inclined portion 45a and the second inclined portion 44a are inclined by an angle α with respect to the tangential direction of the circle centered on the rotation center of the plate body 41. Most of the spiral portion 43a is inclined by an angle β with respect to the tangential direction of the circle centered on the center of rotation of the plate body 41, and decreases as the angle goes to the one end 45 or the other end 44. At the end 44, the angle becomes zero. (See Figs. 6 and 9)

  The first inclined portion 45a and the second inclined portion 44a have a length that accommodates 1.7 guide balls 21a and 21b. 0.3 guide balls 21a and 21b protrude into the spiral portion 43a. The spiral portion 43a has a shape wound around the through hole 42 4.5 times. That is, the length from the outer diameter side one end 45 to the inner diameter side other end 44 of the spiral portion 43a corresponds to the steering angle of the steering component 2 of 1620 degrees. Since the two guide balls 21a and 21b are used, the rotation stroke of the second plate 40 at the spiral portion 43a is reduced by two guide balls 21a and 21b with respect to 1620 degrees. However, the length of the first inclined portion 45a and the second inclined portion 44a is set to a length that can accommodate 1.7 guide balls 21a and 21b, whereby the second plate 40 in the second groove 43 is accommodated. , The rotation stroke increases by 0.4 guide balls 21a and 21b with respect to 1620 degrees, that is, increases by about 4 degrees.

  The configuration of the first detection unit 47 and the second detection unit 48 will be described with reference to FIGS. 6 and 9. The first detection unit 47 is disposed adjacent to the first inclination part 45a on the opposite side of the inclination direction of the first inclination part 45a with respect to the spiral part 43a, and the second detection part 48 is a second inclination part with respect to the spiral part 43a. It is arranged adjacent to the second inclined portion 44a on the side opposite to the inclined direction of 44a.

  The first detector 47 includes a fixed contact 47a, a movable contact 47b, an elastic member 47d, and a support member 47c. A guide hole 41b is formed in the plate body 41 in the outer diameter direction (the outer diameter direction centering on the rotation center of the plate body 41) from the first inclined portion 45a. The support member 47c is guided and supported by the guide hole 41b so as to be movable in the outer diameter direction of the plate body 41. The movable contact 47b is fixed to the end surface of the support member 47c opposite to the first inclined portion 45a, and the bottom of the guide hole 41b is fixed. The elastic member 47d is inserted between the support member 47c and the fixed contact 47a is fixed to the bottom of the guide hole 41b. By doing so, the fixed contact 47a is arranged at a distance of m from the movable contact portion 47b in the radial direction. Wired to the control device 70 for transmitting signals from the fixed contact 47a and the movable contact 47b, respectively. Usually, the fixed contact 47a and the movable contact 47b are separated from each other, but the radial movement of a pair of guide balls 21a and 21b to be described later Thus, the support member 47c moves in the radial direction, so that the movable contact 47b comes into contact with the fixed contact 47a and transmits a signal to the control device 70.

  The first detection unit 47 is disposed on the opposite side of the first inclined portion 45a inclined by the angle α with respect to the tangent of the one end 45 on the outer diameter side of the spiral portion 43a. Since the pair of guide balls 21a and 21b that move in this manner are deviated from the moving direction, the force of the steering component 2 is not directly applied.

  Further, when a large force is applied to the steering component 2, the first slope 45 is inclined at an angle α with respect to the tangent to the outer diameter side end 45 of the spiral portion 43 a at the outer diameter side end 45 of the spiral portion 43 a. Because of the portion 45a, the line connecting the contact point A of the guide sphere 21a and the guide sphere 21b and the center C of the guide sphere 21b is an angle α in the inner diameter direction with respect to the tangent of the circle centering on the rotation center of the plate body 41. Just tilted. As a result, there is a force in a tangential direction of a circle centered on the rotation center of the plate body 41 at the contact point B between the first groove 33 and the guide ball 21b, and a component force in the outer diameter direction of this force is generated. The guide ball 21b moves in the outer diameter direction. The amount of movement of the guide ball 21b is adjusted by the angle α of the second inclined portion 45a and the elastic force of the elastic member 47d so as to be equal to or greater than the distance m between the movable contact 47b and the fixed contact 47a. Thereby, the first detection unit 47 has a function of transmitting a signal to the control device 70.

  The second detection unit 48 includes a fixed contact 48a, a movable contact 48b, an elastic member 48d, and a support member 48c. A guide hole 41c is formed in the plate main body 41 in the outer diameter direction (the outer diameter direction centering on the rotation center of the plate main body 41) from the second inclined portion 44a. The support member 48c is guided and supported by the guide hole 41c so as to be movable in the outer diameter direction of the plate body 41. The movable contact 48b is fixed to the end surface of the support member 48c opposite to the second inclined portion 44a, and the bottom of the guide hole 41c is fixed. The elastic member 48d is inserted between the support member 48c and the fixed contact 48a is fixed to the bottom of the guide hole 41c. By doing so, the fixed contact 48a is arranged to be separated from the movable contact 48b by m in the radial direction. Wired to the control device 70 for transmitting signals from the fixed contact 48a and the movable contact 48b, respectively. Normally, the fixed contact 48a and the movable contact 48b are separated from each other, but the radial movement of a pair of guide balls 21a and 21b to be described later Thus, the support member 48c moves in the radial direction, so that the movable contact 48b comes into contact with the fixed contact 48a and transmits a signal to the control device 70.

  The second detector 48 is arranged on the opposite side of the second inclined portion 44a inclined by the angle α with respect to the tangent to the other end 44 on the outer diameter side of the spiral portion 43a, so that the steering component 2 rotates in the rotational direction. Since the pair of guide balls 21a and 21b that move together is displaced from the moving direction, the force of the steering component 2 is not directly loaded.

  Further, when a large force is applied to the steering component 2, the other end 44 on the outer diameter side of the spiral portion 43a is inclined by an angle α with respect to the tangent to the other end 44 on the outer diameter side of the spiral portion 43a. 2 Because of the inclined portion 44a, the line connecting the contact point D of the guide sphere 21a and the guide sphere 21b and the center F of the guide sphere 21b is in the inner diameter direction with respect to the tangent of the circle centering on the rotation center of the plate body 41 It is inclined by an angle α. As a result, there is a force in the tangential direction of the circle centered on the rotation center of the plate body 41 at the contact point E between the first groove 33 and the guide ball 21a, and a component force in the outer diameter direction of this force is generated. The guide ball 21a moves in the inner diameter direction. The amount of movement of the guide ball 21a is adjusted by the angle α of the second inclined portion 44a and the elastic force of the elastic member 48d so as to be equal to or longer than the distance m between the movable contact 48b and the fixed contact 48a. Accordingly, the second detection unit 48 has a function of transmitting a signal to the control device 70.

With reference to FIG. 5, the operation of the normal rotation limiting mechanism 20 will be described.
When the steering component 2 (see FIG. 1) is rotated, the first plate 30 (see FIG. 2) is integrated with the steering shaft 11 and rotates relative to the second plate 40. The pair of guide balls 21 a and 21 b is pushed in the circumferential direction of the steering shaft 11 by the first groove 33 (see FIG. 2) as the first plate 30 rotates. Therefore, the pair of guide balls 21 a and 21 b move along the second groove 43 of the second plate 40 and move in the radial direction of the steering shaft 11 along the first groove 33 of the first plate 30. To do.

  As shown in FIG. 3, when the steering component 2 is in the neutral position, that is, when the rotational operation amount of the steering component 2 is “0”, the pair of guide balls 21 a and 21 b has the second plate as shown by the solid line in the drawing. It is located at an intermediate position in the radial direction of 40. For this reason, the steering component 2 is rotated by 812 degrees (2.26 rotations) or less from the neutral position to the right turning direction and from the neutral position by 812 degrees (2.26 rotations) or less by the rotation limiting mechanism 20. Limited to the amount of operation.

  As shown in FIG. 5, when the steering component 2 is rotated in the counterclockwise direction from the neutral position, that is, when the steering component 2 is rotated counterclockwise, the pair of guide balls 21a, 21b It moves toward the outer diameter side of the plates 30 and 40. As indicated by the broken line in the figure, the guide ball 21a comes into contact with one end 45 on the outer diameter side of the second groove 43, that is, one end of the first inclined portion 45a, so that the pair of guide balls 21a and 21b Movement is restricted (FIG. 6). Accordingly, the first plate 30 is restricted from rotating counterclockwise with respect to the second plate 40, that is, the steering component 2 is restricted from rotating counterclockwise.

  On the other hand, when the steering component 2 is rotated in the clockwise direction from the neutral position, that is, when the steering component 2 is rotated in the clockwise direction, the pair of guide balls 21a, 21b Move toward the inner diameter side. As indicated by the broken line in the figure, the guide ball 21b comes into contact with the other end 44 on the inner diameter side of the second groove 43, that is, one end of the second inclined portion 44a, so that the pair of guide balls 21a, 21b Movement is restricted (FIG. 9). Accordingly, the first plate 30 is restricted from rotating clockwise with respect to the second plate 40, that is, the rotation of the steering component 2 in the clockwise direction is restricted.

  Next, the operations of the rotation limiting mechanism 20, the first detection unit 47, and the second detection unit 48 when the steering angle sensor 13 fails will be described.

  When the steering component 2 is rotated in the left turn direction from the state shown in FIG. 6 in which the guide ball 21a is in contact with one end 45 on the outer diameter side of the second groove 43, that is, one end of the first inclined portion 45a, When the ball 21b moves in the outer diameter direction and the movable contact 47b moves by the distance m, it contacts the fixed contact 47a and transmits a signal to the control device 70 (FIG. 7). The control device 70 detects left steering. Further, the steering component 2 is rotated in the right turning direction from the state shown in FIG. 9 in which the guide ball 21b contacts the other end 44 on the inner diameter side of the second groove 43, that is, one end of the second inclined portion 44a. Then, the guide ball 21a moves in the inner diameter direction, and the movable contact 48b moves by the distance m, thereby contacting the fixed contact 47a and transmitting a signal to the control device 70 (FIG. 10). The control device 70 detects right steering.

  Next, the main control flow of the control device 70 will be described with reference to the flowchart of FIG. 11 showing the flow of the steering control according to the first embodiment of the present invention. When the system operates, first, in step S1, signals from various sensors are input. In step S2, whether or not a failure (abnormality of the steering angle sensor 13) has occurred based on the signal of the steering angle sensor 13 is determined. judge.

If no failure has occurred (NO in step S2), the process proceeds to the normal mode. In the normal mode, the steering actuator 53 is drive-controlled (steering control) based on the steering angle detected by the steering angle sensor 13 in step S3.
If a failure has occurred (YES in step S2), the mode is shifted to the failure mode. In the failure mode, it is detected in step S5 whether the first detection unit 47 is on. When the first detection unit 47 is on, in step S6, based on the steering direction detected by the pair of first detection units 47, the first detection unit 47 is turned on while the first detection unit 47 is on. Drive control (steering control) is performed so as to drive the rudder actuator 53 in the corresponding steered direction.
When the first detection unit 47 is turned off, it is detected in step S7 whether the second detection unit 48 is turned on. When the second detection unit 48 is on, in step S8, based on the steering direction detected by the second detection unit 48, while the second detection unit 48 is on, the turning actuator Drive control (steering control) is performed so that 53 is driven in the corresponding steering direction.
If the 2nd detection part 48 turns off, it will return to step S and will repeat these operation of step S5-S9.

  According to the present embodiment, when a malfunction occurs in the steering angle sensor 13, the steering component 2 is turned in one direction, and when detected by the first detection unit 47, the steered wheel 3 is turned by the steered actuator 53. Is turned in one direction, the steering component 2 is turned in the other direction, and when detected by the second detector 48, the steered wheel 3 is turned in the other direction by the turning actuator 53. Can function reliably.

  In addition, the first detector 47 disposed adjacent to the first inclined portion 45a on the opposite side to the inclined direction of the first inclined portion 45a with respect to the spiral portion, and the opposite side of the inclined direction of the second inclined portion 44a with respect to the spiral portion. The second detector 48 disposed adjacent to the second inclined portion 44a is provided on the spiral extension of the second groove 43 of the rotation limiting mechanism 20 that limits the amount of rotation of the steering component 2 to a predetermined angle or less. Since the end portion is removed from the direction in which the force is applied, the strong force of the pair of guide balls 21a and 21b is not applied to the first detection unit 47 and the second detection unit 48, and the robust first detection unit 47 and the second detection unit. There is no need for 48 and the cost can be reduced.

Further, as the pair of first detection unit 47 and second detection unit 48, for example, an on-off type inexpensive sensor or switch can be used. If the first detector 47 is not turned on, it is detected in step S7 whether the second detector 48 is turned on. The second detection unit 48 detects the left rotation direction of the steering component 2. In that case, in step S8, based on the steering direction detected by the second detection unit 48, the steering actuator 53 is driven in the corresponding steering direction while the second detection unit 48 is on. Drive control (steering control) is performed.
When the 2nd detection part 48 is not ON, it returns to step S by step S9, and repeats these operation of S5-S9.
Then, in step S7, as long as the second detector 48 is on, drive control (steering control) is performed so as to drive the steering actuator 53 in the corresponding right steering direction, and in step S8, the second detection is performed. As long as the part 48 is on, drive control (steering control) is performed so as to drive the steering actuator 53 in the corresponding left steering direction.

  According to this configuration, the vehicle steering apparatus 1 according to the first embodiment has the following effects. Since the first groove 33 of the rotation limiting mechanism 20 is formed in a linear shape in the radial direction and the second groove 43 is formed in a spiral shape, the first plate 30 as a rotatable element and the non-rotatable element as A relative rotation of a predetermined angle of 360 degrees or more between the second plates 40 can be secured, the structure is simplified, and the axial length can be shortened.

  Further, when an abnormality occurs in the steering angle detection means, the pair of guide balls 21a and 21b as the engaging members are arranged in the radial direction of the guide ball 21b on the opposite side to the stroke end portions on the outer diameter side and the inner diameter side. The first detection unit 47 and the second detection unit 48 require strength because the first detection unit 47 and the second detection unit 48 do not receive a large force from the pair of guide balls 21a and 21b. Inexpensive ones can be used.

  The first detector 47 is disposed adjacent to the first inclined portion 45a on the side opposite to the inclined direction of the first inclined portion 45a with respect to the spiral portion, and the second detector 48 is a second inclined portion with respect to the spiral portion. Since it is disposed adjacent to the second inclined portion 44a on the opposite side of the inclined direction of the portion 44a, the first detecting portion 47 and the second detecting portion 48 do not receive a large force from the pair of guide balls 21a and 21b. The first detection unit 47 and the second detection unit 48 can be inexpensive ones that do not require strength. Further, the first detector 47 can be reliably operated by the first inclined portion, and the second detector 48 can be reliably operated by the second inclined portion.

  A second embodiment will be described with reference to FIGS. 1 and 11 to 16. The rotation restricting mechanism 20 includes a first detection unit on the outer diameter portion of the first groove 33 of the first plate 30 as a rotatable element and the outer diameter portion of the second groove 43 of the second plate 40 as a non-rotatable element. A pair of first conductive portions 137 and 147 of 100 is provided, and a pair of the second detection unit 110 is provided on an inner diameter portion of the first groove 33 of the first plate 30 and an inner diameter portion of the second groove 43 of the second plate 40. The second conductive portions 138 and 148 are provided. Other configurations are the same as those in the first embodiment, and the description thereof is omitted.

  As shown in FIG. 12, the rotation limiting mechanism 20 includes a first plate 30 as a rotatable element, a second plate 40 as a non-rotatable element, a guide ball 21, and the same as in the first embodiment. The first detection unit 100 and the second detection unit 110 are included. In the first embodiment, the pair of guide balls 21a and 21b are arranged between the first plate 30 and the second plate 40, but in the second embodiment, one guide ball 21 is arranged.

  As shown in FIG. 13, the first plate 30 has the same basic configuration as the first embodiment. In the first embodiment, the plate body 31 includes a first detection unit 47 and a second detection unit 48. However, in the second embodiment, the first detection unit 100 is provided on the outer diameter side of the first groove 33 formed in the plate body 31, and the second detection unit 110 is provided on the inner diameter side.

  As shown in FIG. 14, the second plate 40 has the same basic configuration as that of the first embodiment. In the first embodiment, a spiral portion 43 a in which a second groove 43 is formed in a spiral shape, Although it comprised from the inclination parts 44a and 45a provided in the both ends of the spiral part 43a, in 2nd embodiment, the 2nd groove | channel 43 was comprised only with the spiral part 43a formed in the spiral shape. In the first embodiment, the first detector 47 and the second detector 48 are provided on the inclined portions 44a and 45a. However, in the second embodiment, one end on the outer diameter side of the spiral portion 43a formed in a spiral shape. The first detection unit 100 is provided at 45, and the second detection unit 110 is provided at the other end 44 on the inner diameter side.

  Configurations of the first detection unit 100 and the second detection unit 110 will be described with reference to FIGS. 13 to 16. The first detection unit 100 is disposed at the outer diameter portion of the first groove 33 of the first plate 30 and the second groove 43 of the second plate 40, and the second detection unit 110 is the first plate 30 of the first plate 30. And the inner diameter portion of the second groove 43 of the second plate 40.

  The first detection unit 100 includes a first conductive portion 137 on the straight side fixed to one end 34 on the outer diameter side of the first groove 33 of the first plate 30, the first conductive portion 137 on the first plate 30 and the straight side. An insulating portion 136 that insulates between the first and second 137; a first conductive portion 147 on the spiral side fixed to one end 45 on the outer diameter side of the second groove 43 of the second plate 40; and a second conductive portion 147 on the second plate 40 and the spiral side. And an insulating portion 146 that insulates the conductive portions 147 from each other.

  The first conductive portion 137 on the straight line side is made of copper having good conductivity, and is exposed and fixed to a part of one end 34 on the outer diameter side of the first groove 33 of the first plate 30. The insulating portion 136 is formed of non-conductive ceramic or plastic, and includes the first conductive portion 137 and is formed on the outer diameter portion of the plate body 31 of the first plate 30 so as to be insulated from the first plate 30. It is mounted in the mounting hole 31b. And it fixes to the attachment hole 31b so that it may not move with the stop member 151, and it press-fits to the plate main body 31 with the fixing member 150 from the outer side.

The first conductive portion 147 on the spiral side is made of copper having good electrical conductivity, and is formed in a part of a quarter of the spherical shape of the other end 44 on the outer diameter side of the second groove 43 of the second plate 40. Exposed and fixed.
The insulating portion 146 is formed of non-conductive ceramic or plastic, and includes the first conductive portion 147 on the spiral side so that the outer diameter portion of the plate body 41 of the second plate 40 is insulated from the second plate 40. It is mounted in the formed mounting hole 41b. And it is fixed to the attachment hole 41b so as not to move by the stop member 171 and is press-fitted and fixed to the plate body 41 by the fixing member 170 from the outside.

  Normally, the first conductive portion 137 on the straight side and the first conductive portion 147 on the spiral side are separated from each other, but the first conductive portion 137 on the straight side and the first conductive portion 137 on the spiral side are moved by the movement of the guide ball 21 radially outward. The first conductive portion 147 has a function of conducting through the guide ball 21 and transmitting a signal to the control device 70.

  The second detection unit 110 includes a second conductive portion 138 on the straight side fixed to the other end 35 on the inner diameter side of the first groove 33 of the first plate 30, and a second conductive portion on the first plate 30 and the straight side. 138, the second conductive portion 148 on the spiral side fixed to the other end 44 on the inner diameter side of the second groove 43 of the second plate 40, the second plate 40 and the second side of the spiral side. And an insulating portion 149 that insulates between the two conductive portions 148.

  The second conductive portion 138 on the straight line side is made of copper having good conductivity, and is exposed and fixed to a part of the other end 35 on the inner diameter side of the first groove 33 of the first plate 30. The insulating part 139 is formed of non-conductive ceramic or plastic, and has a second conductive part 138 built in, and is formed in the inner diameter part of the through hole 32 of the plate body 31 of the first plate 30 so as to be insulated from the first plate 30. It is attached to the formed attachment hole 31c. And it fixes to the attachment hole 31c so that it may not move with the stop member 161, and it press-fits to the plate main body 31 with the fixing member 160 from the outer side.

  The other second conductive portion 148 is made of copper having good electrical conductivity, and is exposed to a part of a quarter of the spherical shape of the other end 44 on the inner diameter side of the second groove 43 of the second plate 40. Is fixed. The insulating part 149 is formed of non-conductive ceramic or plastic, and includes the other second conductive part 148 so that the inner diameter of the through hole 42 of the plate body 41 of the second plate 40 is insulated from the second plate 40. It is mounted in a mounting hole 41c formed in the part. The fixing member 181 is fixed to the mounting hole 41c so as not to move, and the fixing member 180 is press-fitted and fixed from the outside.

Usually, the second conductive portion 138 on the straight side and the second conductive portion 148 on the spiral side are separated from each other, but the second conductive portion 138 on the straight side and the second conductive portion 138 on the spiral side are moved by moving the guide ball 21 radially inward. The second conductive portion 148 conducts through the guide ball 21 and has a function of transmitting a signal to the control device 70.
The first conductive portion 137 on the straight line side and the first conductive portion 147 on the spiral side are conducted through the guide ball 21 and have a function of transmitting a signal to the control device 70.

  Next, the operations of the rotation limiting mechanism 20, the first detection unit 100, and the second detection unit 110 when the steering angle sensor 13 fails will be described with reference to FIGS.

  When the steering component 2 is rotated in the left-turn direction, the guide ball 21 moves in the outer diameter direction, and the guide ball 21 moves to the outer diameter side end 34 of the first groove 33 and the outer diameter of the second groove 43. Move to one end 45 on the side. The first conductive portion 137 on the straight side and the first conductive portion 147 on the spiral side sandwich the guide ball 21. Then, while the steering component 2 is rotated in the left turn direction and a force is applied to the guide ball 21, the first conductive portion 137 on the straight side and the first conductive portion 147 on the spiral side are interposed via the guide ball 21. It conducts and transmits a signal to the control device 70. The control device 70 detects left steering.

  When the steering component 2 is rotated in the clockwise direction, the guide ball 21 moves in the inner diameter direction, and the guide ball 21 moves to the inner diameter side of the second groove 43 and the other end 35 on the inner diameter side of the first groove 33. Move to the other end 45. The straight-side second conductive portion 138 and the spiral-side second conductive portion 148 sandwich the guide ball 21. Then, while the steering component 2 is rotated in the right turn direction and a circumferential force is acting on the guide ball 21, the second conductive portion 138 on the straight side and the second conductive portion 148 on the spiral side are guided. It conducts via the sphere 21 and transmits a signal to the control device 70. The control device 70 detects right steering.

  Next, as described in the first embodiment, the first embodiment also operates according to the flowchart showing the flow of the turning control according to the first embodiment of the present invention in FIG.

  According to the present embodiment, when a malfunction occurs in the steering angle sensor 13, the steering component 2 is turned in one direction, and when detected by the first detection unit 100, the steered wheel 3 is turned by the steered actuator 53. Is turned in one direction, the steering component 2 is turned in the other direction, and when detected by the second detection unit 110, the steered wheel 3 is turned in the other direction by the turning actuator 53. Can function reliably.

  Furthermore, according to the second embodiment, since the pair of first conductive portions 137 and 147 and the pair of second conductive portions 138 and 148 themselves do not have a movable switch, the pair of first conductive portions 137 and 147 and the pair of first conductive portions 137 and 148 themselves. Even if a large force is applied to the second conductive portions 138 and 148, the second conductive portions 138 and 148 are not broken, and the structure is simplified, so that the cost is low. Since the pair of first conductive portions 137 and 147 or the pair of second conductive portions 138 and 148 are arranged on both sides in the circumferential direction of the first plate 30 and the second plate 40 with the guide ball 21 interposed therebetween, Only when the force is applied, the guide ball 21 can be reliably connected with the guide ball 21 interposed therebetween.

  Next, a third embodiment will be described with reference to FIGS. 1, 11, and 17 to 22. The rotation limiting mechanism 20 includes a pair of first conductive portions 247a and 247b of the first detection unit 200 and the other end of the inner diameter portion at one end 45 of the outer diameter portion of the second groove 43 of the second plate 40 as a non-rotatable element. 44, a pair of second conductive portions 248a and 248b of the second detection unit 210 are provided. Other configurations are the same as those in the first embodiment and the second embodiment, and the same reference numerals are given, and description thereof is omitted.

  As shown in FIG. 17, the first plate 30 has the same basic configuration as the first embodiment, and the first detection unit 100 on the outer diameter side of the first groove provided in the second embodiment, The second detection unit 110 on the inner diameter side is not provided.

  As shown in FIG. 18, the second plate 40 has the same basic configuration as the first embodiment and the second embodiment. In the third embodiment, the second plate 40 has a spiral shape as in the second embodiment. A first detection unit 100 is provided at one end 45 on the outer diameter side of the formed spiral portion 43a, and a second detection unit 110 is provided at the other end 44 on the inner diameter side.

  The configurations of the first detection unit 200 and the second detection unit 210 will be described with reference to FIGS. The first detection unit 200 is disposed in the outer diameter portion of the second groove 43 of the second plate 40, and the second detection unit 210 is disposed in the inner diameter portion of the second groove 43 of the second plate 40. .

  As shown in FIG. 18, the first detection unit 200 includes one first conductive unit 247 a fixed to one end 45 on the outer diameter side of the second groove 43 of the second plate 40, and the first plate 40 of the second plate 40. Insulation that insulates the other first conductive portion 247b fixed to the other end 44 on the outer diameter side of the second groove 43, the second plate 40, one first conductive portion 247a, and the other first conductive portion 247b. Part 246.

  One first conductive portion 247 a and the other first conductive portion 247 b are made of copper having good conductivity, and the second groove 43 is formed at one end 45 on the outer diameter side of the second groove 43 of the second plate 40. Are arranged on both sides in the radial direction across the center line of the second groove 43 and are exposed and fixed to a part of a quarter of the spherical shape of the other end 44 on the inner diameter side of the second groove 43. The insulating part 246 is formed of non-conductive ceramic or plastic, and includes one first conductive part 247a and the other first conductive part 247b so that the plate of the second plate 40 is insulated from the second plate 40. The main body 41 is mounted in a mounting hole 41b formed in the outer diameter portion. And it is fixed to the mounting hole 41b so as not to move by the stop member 271 and is press-fitted and fixed to the plate body 41 by the fixing member 270 from the outside.

  Normally, one first conductive portion 247a and the other first conductive portion 247b are separated from each other. However, as the guide ball 21 moves radially outward, one first conductive portion 247a and the other first conductive portion 247b conducts via the guide ball 21 and has a function of transmitting a signal to the control device 70.

  As shown in FIG. 18, the second detection unit 210 includes one second conductive unit 248a fixed to the other end 44 on the inner diameter side of the second groove 43 of the second plate 40, and the other second conductive unit. 248b, the second plate 40 and one second conductive portion 248a, and an insulating portion 249 that insulates the other second conductive portion 248b.

  One first conductive portion 248 a and the other first conductive portion 248 b are made of copper having good conductivity, and the second groove 43 is formed on the other end 44 on the inner diameter side of the second groove 43 of the second plate 40. Are arranged on both sides in the radial direction across the center line of the second groove 43 and are exposed and fixed to a part of a quarter of the spherical shape of the other end 44 on the inner diameter side of the second groove 43. The insulating part 249 is made of non-conductive ceramic or plastic, and includes one first conductive part 248a and the other first conductive part 248b so that the plate of the second plate 40 is insulated from the second plate 40. The mounting hole 41 c is formed in the inner diameter portion of the through hole 42 of the main body 41. The fixing member 281 is fixed to the attachment hole 41c so as not to move, and is fixed to the plate body 41 by press-fitting from the outside by the fixing member 280.

  Normally, one second conductive portion 248a and the other second conductive portion 248b are separated from each other, but one second conductive portion 248a and the other second conductive portion are moved by the movement of the guide ball 21 inward in the radial direction. 248b conducts via the guide ball 21 and has a function of transmitting a signal to the control device 70.

  Next, the operations of the rotation limiting mechanism 20, the first detection unit 200, and the second detection unit 210 when the steering angle sensor 13 fails will be described with reference to FIGS.

  When the steering component 2 is rotated in the left-turn direction, the guide ball 21 moves in the outer diameter direction, and the guide ball 21 moves to the outer diameter side end 34 of the first groove 33 and the outer diameter of the second groove 43. Move to one end 45 on the side. Then, the first conductive portion 247 a and the other first conductive portion 247 b are in contact with the guide ball 21. Then, while the steering component 2 is rotated in the left turn direction and a force is applied to the guide ball 21, one first conductive portion 247 a and the other first conductive portion 247 b are conducted through the guide ball 21. Then, the signal is transmitted to the control device 70. The control device 70 detects left steering.

  When the steering component 2 is rotated in the right turn direction, the guide ball 21 moves in the inner diameter direction, and the guide ball 21 moves to the inner diameter side end of the first groove 33 and the inner diameter side of the second groove 43. Move to one end 45. The one second conductive portion 248a and the other second conductive portion 148b are in contact with the guide ball 21. Then, while the steering component 2 is rotated in the right turn direction and a circumferential force is acting on the guide ball 21, one second conductive portion 248 a and the other second conductive portion 248 b are guided by the guide ball 21. To transmit a signal to the control device 70. The control device 70 detects right steering.

  Next, as described in the first embodiment, the third embodiment also operates according to the flowchart showing the flow of the turning control according to the first embodiment of the present invention in FIG.

  According to the present embodiment, when a malfunction occurs in the steering angle sensor 13, the steering component 2 is turned in one direction and detected by the first detection unit 200, the steered wheel 3 is turned by the steered actuator 53. Is turned in one direction, the steering component 2 is turned in the other direction, and when detected by the second detector 210, the steered wheel 3 is turned in the other direction by the turning actuator 53. Can function reliably.

  In addition, according to the third embodiment, the guide ball 21 as the engaging member has one first conductive portion 248a and the other first conductive portion 248b or one second conductive portion 248a and the other second conductive portion 248b. The first conductive portion 248a and the other first conductive portion 248b, or the one second conductive portion 248a and the other second conductive portion 248b itself do not have a movable switch, so that the first conductive portion Even if a large force is applied to the part 248a and the second conductive part 248b, the part 248a and the second conductive part 248b are not broken. Further, the first conductive part 248a and the other first conductive part 248b, the one second conductive part 248a and the other Since the second conductive portion 248b itself is installed together on the second plate 40, the structure is simplified and the cost becomes lower.

  The present invention is not limited to these embodiments, and can of course be implemented in various modes without departing from the gist of the present invention.

  This time, the 2nd groove | channel 43 of 1st embodiment thru | or 3rd embodiment is formed over 1620 degree | times (4.5 rotations) as the amount of rotation operations of the steering component 2. FIG. However, the length of the 2nd groove | channel 43 is not restricted to the content illustrated by each embodiment. For example, as another embodiment, the second groove 43 may be freely formed over 360 degrees (one rotation) as a rotational operation amount of the steering component 2.

  In the first to third embodiments, the first plate 30 rotates integrally with the steering shaft 11, and the second plate 40 does not rotate with respect to the rotation of the steering shaft 11. As another embodiment, the second plate 40 may rotate integrally with the steering shaft 11, and the first plate 30 may not rotate with respect to the rotation of the steering shaft 11. In the rotation limiting mechanism 20 of the modified example, the first plate 30 may correspond to a “non-rotatable element” and the second plate 40 may correspond to a “rotatable element”.

  In the first to third embodiments, the first groove 33 is formed in the first plate 30, and the second groove 43 is formed in the second plate 40. For example, as another embodiment, a configuration in which the second groove 43 is formed in the first plate 30 and the first groove 33 is formed in the second plate 40 may be employed.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle steering device, 2 ... Steering component, 3 ... Steering wheel, 10 ... Operation mechanism, 11 ... Steering shaft, 12 ... Reaction force actuator, 13 ... Steering angle sensor, 20 ... Rotation limiting mechanism, 21a, 21b ... Pair Engaging member (guide ball), 22 ... coil spring (elastic part, resistance increasing mechanism), 30 ... first plate (rotatable element), 33 ... first groove, 40 ... second plate (non-rotatable element) 43 ... second groove 44 ... other end (stroke end) on the inner diameter side, 45 ... one end (stroke end) on the outer diameter side, 47 ... first detection part, 48 ... second detection part, 50 ... Steering mechanism, 45a ... 1st inclination part, 44a ... 2nd inclination part, 70 ... Control apparatus

Claims (6)

A steering shaft that rotates integrally with the steering component, a rotation limiting mechanism that is connected to the steering shaft and restricts to a predetermined angle or less, a steering actuator for turning the steered wheels, and a steering angle of the steering component When the steering angle detecting means for detecting and the steering component is operated in one direction, the steered wheel is turned in one direction, and when the steering component is operated in the other direction, the turning component is detected. A control device that drives and controls the steering actuator based on a signal detected by the steering angle detection means so as to turn the steered wheel in the other direction, and mechanically between the steering component and the steered wheel. In a vehicle steering system that has been disconnected,
The rotation limiting mechanism includes a rotatable element that rotates integrally with the steering shaft, a non-rotatable element that faces the rotatable element in the axial direction of the steering shaft, the rotatable element, and the shaft of the non-rotatable element. A first groove having a linear shape in a radial direction is formed in one of the rotatable element and the non-rotatable element, and the rotatable element and the non-rotatable element. The second groove having a spiral shape is formed over the predetermined angle exceeding at least one rotation, and the engagement member is provided at a location where the first groove and the second groove intersect, A first detector for detecting that the engaging member is at a stroke end on the outer diameter side of the second groove; and the engagement member is at a stroke end on the inner diameter side of the second groove. Detect And when the abnormality is detected in the steering angle detection means, the control device turns the steered wheel in one direction when detected by the first detection unit, A vehicle steering apparatus having a fail-safe function for driving and controlling the steering actuator so as to turn the steered wheel in another direction when detected by the second detector.   The engagement member is a pair of engagement balls, and the first detection unit moves in a radial direction of the engagement ball on the opposite side of the stroke end on the outer diameter side of the pair of engagement balls. The second detection unit detects a movement in the radial direction of the engagement ball on the side opposite to the stroke end on the inner diameter side of the pair of engagement balls. The vehicle steering apparatus according to claim 1, characterized in that:   The second groove is connected to a spiral portion formed in a spiral shape, one end on the outer diameter side of the spiral portion, a first inclined portion inclined with respect to a tangent line of the one end, and an inner diameter side of the spiral portion A second inclined portion that is connected to the other end of the first inclined portion and is inclined with respect to a tangent line of the other end, wherein the first detecting portion is opposite to the inclined direction of the first inclined portion with respect to the spiral portion. The second detector is disposed adjacent to the first inclined portion, and the second detector is disposed adjacent to the second inclined portion on a side opposite to the inclined direction of the second inclined portion with respect to the spiral portion. The vehicle steering apparatus according to claim 2.   The first detection unit is a pair that conducts to each other via the engagement member when the engagement member is at a stroke end portion on at least one outer diameter side of the first groove and the second groove. And the second detection unit is configured such that the engagement member is located when the engagement member is at a stroke end portion on at least the other inner diameter side of the first groove and the second groove. The vehicle steering apparatus according to claim 1, wherein the vehicle steering apparatus is a pair of second conductive portions that are electrically connected to each other via a gap.   One of the pair of first conductive portions is provided at a stroke end portion on the outer diameter side of the second groove, and the other of the pair of first conductive portions is a stroll end on the outer diameter side of the first groove. And the pair of first conductive portions are disposed on both sides of the rotatable element with the engagement member interposed therebetween, and one of the pair of second conductive portions is disposed on the second groove. Provided at the stroke end portion on the inner diameter side, the other of the pair of second conductive portions is provided at the stroke end portion on the inner diameter side of the first groove, and the pair of first conductive portions is provided on the engagement member. The vehicle steering apparatus according to claim 4, wherein the vehicle steering apparatus is disposed on both sides in a circumferential direction of the rotatable element with a pin interposed therebetween.   The pair of first conductive portions is provided at a stroke end portion on the outer diameter side of the second groove, and the pair of first conductive portions is arranged in the circumferential direction of the rotatable element with the engagement member interposed therebetween. It is arranged on one side and on both radial sides of the rotatable element across the center line of the second groove, and the pair of second conductive portions are provided at the stroke end portion on the inner diameter side of the second groove. In addition, the pair of second conductive portions are disposed on one side in the circumferential direction of the rotatable element with the engagement member interposed therebetween, and on both radial sides of the rotatable element with the center line of the second groove interposed therebetween. The vehicle steering device according to claim 4, wherein the vehicle steering device is arranged.

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