JP4635754B2 - Steering device - Google Patents

Description

  The present invention belongs to the technical field of steering devices.

In a conventional steering device, an actuator that changes the tie rod length, the distance between the left and right tie rods, or the angle formed by the wheel and the knuckle arm is provided in the steering linkage of the front and rear wheels, thereby enabling normal traveling, parallel movement, and small turning (for example, , See Patent Document 1).
JP-A-4-262971

  However, the above prior art has a configuration in which the characteristics of the steering linkage of the front and rear wheels are varied using four actuators, so that there is a problem that the control of the actuators becomes complicated. In addition, since the link mechanism is used, it is impossible to perform left-right wheel reverse phase steering or complete lateral movement of the wheel by 90 °.

  The present invention has been made paying attention to the above-mentioned problem, and the object thereof is steering that enables various steering modes such as large turning and on-site rotation without using complicated control of an actuator. To provide an apparatus.

In order to achieve the above object, the present invention provides:
A steering shaft that is arranged between the left and right wheels of the front and rear wheels and is rotatable about an axis;
A wheel steering gear provided on the knuckle rotation shaft of the wheel;
A cross shaft gear for transmitting rotation of the steering shaft to the wheel steering gear;
Steering means for rotating the front and rear steering shafts according to the steering of the driver,
Forward / reverse switching means that is interposed between the left and right divided steering shafts and switches the rotation direction of the divided left and right steering shafts in forward and reverse directions;
Equipped with a,
The forward / reverse switching means is a double pinion planetary gear,
A lock mechanism for connecting and disconnecting the ring gear of the planetary gear to the housing, and an integral rotary clutch for connecting and disconnecting the sun gear and the carrier,
The lock mechanism and the integral rotary clutch are each constituted by an electromagnetic two-way clutch,
One of the divided left and right steering shafts is connected to the sun gear, and the other is connected to the carrier .

  In the present invention, the rotation of the steering wheel is converted into the rotation of the steering shaft by the steering means, and the rotation of the steering shaft is transmitted to the knuckle by the cross shaft gear and the wheel steering gear. Therefore, a steering angle of 90 ° is possible, and a steering mode for moving the vehicle laterally can be realized. Further, since the rotation direction of the left and right steering shafts can be switched between forward and reverse by the operation of the forward / reverse switching means, the left / right wheel reverse phase steering becomes possible, and the small turning performance can be greatly improved. That is, various steering modes can be realized by merely switching between the front and rear wheels and the forward / reverse switching means without using complicated control of the actuator.

  Hereinafter, the best mode for carrying out the present invention will be described based on Examples 1 and 2.

First, the configuration will be described.
FIG. 1 is an overall configuration diagram of the steering apparatus according to the first embodiment.
The steering device of the first embodiment includes a front wheel steering device A, a rear wheel steering device B, a steering mode setting switch (steering mode setting means) 20, a control unit (steering control means) 21, an actuator driver 22, It has.

[Front wheel steering device]
FIG. 2 is a configuration diagram of the front wheel steering apparatus A.
On a column shaft to which the handle 1 is connected, a steering angle sensor (steering state detecting means) 2f that is a means for detecting a steering angle and a steering speed is disposed.

  The rotational torque of the steering wheel 1 is amplified by the steering force assist motor 15f and transmitted to the steering shaft 4fR arranged in the vehicle width direction via the first cross shaft gear (steering means) 3 and the rotation of the steering shaft 4fR. This is transmitted to the steering shaft 4fR via a forward / reverse switching mechanism (forward / reverse switching means) 5f that switches the direction in the forward / reverse direction. The steering force assist motor 15f and the first cross shaft gear 3 constitute a turning means.

  The rotational torque transmitted to the left and right steering shafts 4fR, 4fL is transmitted to the second cross shaft gears 7fR, 7fL via the constant velocity joints 6fR, 6fL, respectively, and the wheel steering gears 8fR, 8fL comprising non-circular gear trains are transmitted. , The left and right knuckles 9fR and 9fL rotate, and the wheels 10fR and 10fL are steered.

  The motor shafts of the drive motors 14fR and 14fL are connected to the wheels 10fR and 10fL. The second cross shaft gears 7fR, 7fL are supported on the vehicle body by suspension supports 11fR, 11fL and upper arms 12fR, 12fL. The drive motors 14fR and 14fL are supported on the vehicle body by the lower arms 13fR and 13fL.

[Rear wheel steering device]
FIG. 3 is a configuration diagram of the rear wheel steering device B. This steering device is driven by a steering motor (steering means) 15r. The steered motor 15r is provided with a motor angle sensor 2r that detects the rotation angle of the steered motor 15r.

  Other configurations are the same as those in FIG. 2, except that the symbol suffix f in FIG. 2 is changed to r.

[Steering mode setting switch]
The steering mode setting switch 20 is a switch for the driver to select normal driving, small turn, on-site rotation or lateral movement, and the mode selection signal output from the steering mode setting switch 20 is output to the control unit 21. Is done.

[control unit]
The control unit 21 adjusts the target assist amount, the target steering direction of the left and right wheels, the target rear wheel rotation according to the driving state such as the steering angle sensor 2f, the motor angle sensor 2r, the mode selection signal from the steering mode setting switch 20, and the vehicle speed. The steering amount is calculated and output to the actuator driver 22.

  The actuator driver 22 drives the steering force assist motor 15f according to the target assist amount to assist the driver's steering. Further, the forward / reverse switching mechanisms 5f and 5r are switched according to the target turning direction of the left and right wheels. Further, the steering motor 15r is driven in accordance with the target rear wheel turning amount.

[Forward / reverse switching mechanism]
FIG. 4A is a configuration diagram of the forward / reverse switching mechanism 5f according to the first embodiment. Since the forward / reverse switching mechanism 5r has the same structure, the description thereof is omitted.
In the forward / reverse switching mechanism 5f of the first embodiment, a double pinion planetary gear is used, the sun gear 51 is connected to the right steering shaft 4fR, and the carrier 52 is connected to the left steering shaft 4fL. The gear ratio between the sun gear 51 and the ring gear 53 is set to 0.5. Note that these connections may be interchanged.

  The ring gear 53 is connected to a case (housing) 57 by a lock mechanism 54 formed of an electromagnetic two-way clutch. The sun gear shaft and the carrier shaft, that is, the left and right steering shafts 4fR and 4fL are connected and disconnected by an integral rotary clutch 55 formed of an electromagnetic two-way clutch.

  FIG. 4B shows the configuration of the lock mechanism 54. The outer periphery of the ring gear 53 is an inner ring rolling surface 54a, the outer ring is fixed to the case 57, and the rolling surface 54b is a regular polygon, forming a cam surface. Between the inner ring rolling surface 54a and the outer ring rolling surface 54b, a plurality of rollers 54c are held on each cam surface at equal intervals by a spring 54g and a cage 54d.

  When the electromagnet 56 shown in FIG. 4 (a) is not energized, the cage 54d becomes free, the cage 54d is rotated along with the rotation of the ring gear 53, the gap between the cam surface and the roller 54c disappears, and the ring gear 53 The rotation is locked. The rotation in either direction can be locked. On the other hand, the armature 54e connected to the retainer 54d is attracted to the outer ring plate 54f fixed to the case 57 by the electromagnet 56 when energized, and the retainer 54d is retained at the center position, so that the cam surface and the roller 54c There is a gap between them, and the ring gear 53 can freely rotate in either direction.

  FIG. 4C shows the configuration of the integral rotation clutch 55. An outer ring 55b is attached to the carrier 52. The inner ring is mounted on the steering shaft 4R connected to the sun gear 51, and its rolling surface 55a forms a regular polygonal cam surface, and a roller 55c is held on each cam surface at equal intervals by a cage 55d. Has been.

  When the electromagnet 56 shown in FIG. 4A is not energized, the roller 55c is held at the neutral position by the switch spring 55g with respect to the inner ring cam surface 55a, so that the inner ring rotates idle. On the other hand, when energized, the electromagnet 56 attracts the armature 55e connected to the cage 55d to the rotor 55f fixed to the carrier, and the rotation of the inner ring eliminates the gap between the cam surface and the roller 55c, and the left and right steering shafts 4fR and 4fL rotate together.

Next, the operation will be described.
[Spot rotation, lateral movement mode]
When the driver selects the in-situ rotation shown in FIG. 5 or the lateral movement shown in FIG. 6 by the steering mode setting switch 20, the actuator driver 22 controls the forward / reverse switching mechanisms 5f and 5r for the front and rear wheels according to the command of the control unit 21. Output control of the steering force assist motor 15f for the front wheels and the steering motor 15r for the rear wheels is performed, and the wheels are steered automatically to a predetermined angle. The steering mode setting switch 20 is set to the normal steering mode by default. That is, when the engine is started, the normal steering mode is always set, and when the wheels are turned slightly, rotated on the spot, and left laterally moved, the neutral state is restored.

[Turning mode]
When the driver selects the small turning mode shown in FIG. 7, the output control of the rear wheel steering motor 15r is performed so that the rear wheel turning angle is the same size as the front wheel turning angle and has the opposite phase.

[Normal steering mode]
In the normal steering mode, the front wheel steering force assist motor 15f is optimally controlled from the steering angle, the steering speed, and the vehicle speed detected by the steering angle sensor 2f. In addition, the steering angle of the rear wheels is slightly steered in the same phase direction as the front wheels according to the steering angle, the steering speed, and the vehicle speed, thereby obtaining stable maneuverability or slightly steering in the opposite phase direction. Therefore, understeer can be reduced. FIG. 8 shows an example in which the rear wheel is slightly steered in the same phase as the front wheel.

[Characteristics of wheel running gear]
FIG. 9 shows pitch curves of the wheel travel gears 8fR and 8fL made of a non-circular gear train. The pitch curve of the second cross shaft gears 7fR and 7fL is a circular arc with a constant ratio from the neutral point to the outer ring drive side, and the inner ring drive side is predetermined with respect to the outer ring break angle β determined by the outer ring drive side pitch curve. Up to the cutting angle α ₀ of the following formula (1)
W / L = cotβ-cotα (1)
In other words, the pitch angle curve satisfies the following formula (2) for cutting angles exceeding the Ackerman-Jant formula.
2W / L = cotβ-cotα (2)
Here, L represents the distance between the axles of the front and rear wheels, and W represents the distance between the left and right king pins.

In the figure, r _ii and _roi represent the pitch diameter of the input / output gear on the inner ring drive side , r _io and _roo represent the pitch diameter on the outer ring drive side, and the sum of these represents the inter-axis distance of the wheel steering gear. equal.

On the outer ring drive side from the neutral point, the ratio is a constant arc, and on the inner ring drive side, the Ackermann-Jantt equation (up to a predetermined cut angle α _{0 with} respect to the outer ring cut angle β determined by the outer wheel drive side pitch curve ( It consists of a pitch curve that satisfies formula (2) for angle of cuts that satisfy 1) and beyond.

Here, L represents the distance between the axles of the front and rear wheels, and W represents the distance between the left and right king pins. In the figure, r _ii and _roi represent the pitch diameter of the input / output gear on the inner ring drive side , r _io and _roo represent the pitch diameter on the outer ring drive side, and the sum of these represents the inter-axis distance of the wheel steering gear. equal.

As shown in FIG. 10, the normal steering mode is used up to predetermined angles α ₀ and β ₀ indicating the relationship between the turning angles α and β of the inner and outer wheels, and the area beyond that is used in the small turning mode.

  FIGS. 11 and 12 are principle diagrams of the steering mechanism of the Ackerman-Jant type. In the two-wheel steering mode during normal running, the turning angles α and β of the inner and outer wheels satisfy this relationship, and the turning center is located on the extension line of the rear wheel axle.

The principle of the relational expression (formula (2)) of the turning angle of the inner and outer rings in the small turning mode is as shown in FIG.
OE / CE = cotα
OF / DF = cotβ
∴ 2W / L = cotβ-cotα

[Problems of conventional technology]
The steering device described in Japanese Patent Laid-Open No. 4-262971 requires a link mechanism including an actuator that changes the tie rod length, the distance between the left and right tie rods, or the angle formed by the wheel and the knuckle arm, so that the control of the actuator is complicated. There was a problem. In addition, since a normal link mechanism is used, in-situ rotation and lateral movement that completely steers the front and rear wheels by 90 ° due to the left-right wheel reverse phase steering (front-rear wheel reverse C-shape) shown in the first embodiment are not allowed. Is possible.

  On the other hand, a method of directly steering a wheel according to a steering mode with a motor provided on each wheel is also known, but each wheel requires a wheel steering device, which not only makes the structure complicated, but also There was a problem that complicated control with synchronization was required. Furthermore, since the steering system of each wheel is not mechanically connected, when the system fails, the driver cannot steer the wheel, which is a safety problem. It was.

[Steering Action of Example 1]
In contrast, in the steering apparatus of the first embodiment, the wheel running gear 8fR made of a non-circular gear train until a bending angle alpha ₀ turn angle of the inner outer rings predetermined relationship (a predetermined pitch curve of 8fL formula (1) Since the rear wheels can be steered by setting the angle to be larger than that, the rear wheels can be steered. Therefore, normal two-wheel steering, front-rear wheel in-phase steering (parallel movement) at high speed, Not only can large steering angle front / rear wheel reverse phase steering (small turning) be possible, but also equipped with steering shaft forward / reverse switching mechanism 5f, 5r, allowing left / right wheel reverse phase steering, In-situ rotation and complete lateral movement can also be realized.

  In these various steering modes, the optimum operation amounts of the steering assist motor 15f for the front wheels and the steering motor 15r for the rear wheels are calculated according to the steering angle, steering speed and vehicle speed of the steering wheel 1. It is executed by controlling the motor.

  In the first embodiment, the forward / reverse switching mechanisms 5f and 5r use double pinion planetary gears, connect the steering shaft connected to one wheel and the sun gear 51, and connect the steering shaft connected to the other wheel to the carrier 52. The ring gear 53 is constituted by a lock mechanism 54 for connecting / disconnecting the case 57 to the case 57 and an integral rotary clutch 55 for connecting / disconnecting the sun gear shaft and the carrier shaft.

  Double pinion planetary gears have a gear ratio of 0.5 to 0.5 for the sun gear 51 and the ring gear 53. It can be taken out. In the steering mechanism shown in FIGS. 1 to 3, when the forward / reverse switching mechanisms 5f and 5r are operated in the reverse rotation mode, the left and right wheels are steered in the same phase, and when operated in the integral rotation mode, they are steered in the reverse phase. To do. That is, in normal two-wheel steering, front / rear wheel in-phase steering (parallel movement) at high speed driving, and large steering angle front / rear wheel reverse phase steering (small turning) at low speed, the forward / reverse switching mechanism 5f, 5r is in reverse mode. The forward / reverse switching mechanisms 5f and 5r are operated in the integral rotation mode in the case of in-situ rotation by the front / rear wheel reverse C-shape and complete lateral movement steering.

  In the forward / reverse switching mechanisms 5f and 5r of the first embodiment, the lock mechanism 54 is locked when not energized and can be rotated when energized, while the integral rotary clutch 55 is rotatable when deenergized and transmits torque when energized. As a result, normal two-wheel steering becomes possible when power is not supplied, and the normal steering mode can be operated without being affected by the system abnormality of the forward / reverse switching mechanism 5f, 5r.

  In addition, since the structure is mechanically connected from the steering wheel 1 to the wheel running gears 8fR, 8fL, the driver can directly steer the wheel even when the steering system is abnormal, and it is fail-safe without using complicated mechanisms and controls. Can have a function.

  In addition, since the lock mechanism 54 and the electromagnet 56 of the integral rotary clutch 55 are made common, the system is simplified, and an interlock mechanism is provided that prevents the lock mechanism 54 and the integral rotary clutch 55 from being simultaneously engaged. be able to.

Next, the effect will be described.
In the steering device of the first embodiment, the following effects can be obtained.

  (1) Steering shafts 4f and 4r that are respectively arranged between the left and right wheels of the front and rear wheels and can rotate around the shaft center, wheel steering gears 8f and 8r provided on the knuckle rotating shaft of the wheel, and the steering shaft 4f, Second cross shaft gears 7f, 7r that transmit the rotation of 4r to wheel steering gears 8f, 8r, steering force assist motor 15f that steers front wheel side steering shaft 4f according to the driver's steering, and first cross The left and right steering wheel is divided between the shaft gear 3, the steering motor 15r for turning the steering wheel 4r on the rear wheel side according to the driver's steering, and the steering shafts 4f and 4r divided into left and right parts. Forward / reverse switching mechanisms 5f and 5r that switch the rotational directions of the shafts (4fR, 4fL) and (4rR, 4rL) in forward and reverse directions. Therefore, not only normal two-wheel steering, front / rear wheel in-phase steering at high speed, and large steering angle front / rear wheel reverse phase steering (small turning) at low speeds are possible, but also left / right wheel reverse phase steering (front / rear wheel reverse phase steering). In-situ rotation by () and complete lateral movement with all wheels at 90 ° are possible, and various steering modes can be realized without using complicated actuator control.

  (2) The forward / reverse switching mechanism 5f, 5r is a double pinion planetary gear, a lock mechanism 54 for connecting / disconnecting the ring gear 53 of the planetary gear to / from the case 57, and an integral rotary clutch 55 for connecting / disconnecting the sun gear 51 and the carrier 52. The locking mechanism 54 and the integral rotary clutch 55 are each constituted by an electromagnetic two-way clutch, one of the left and right steering shafts is connected to the sun gear 51, and the other is connected to the carrier 52. Therefore, the forward / reverse switching means can be configured with a simple configuration.

  (3) Since the gear ratio of the sun gear 51 and the ring gear 53 is set to 0.5, it is possible to take out rotation in the opposite direction with the same rotation angle on the left and right, and the same turning angle on the left and right wheels .

  (4) The lock mechanism 54 fixes the ring gear 53 to the case 57 when not energized and unlocks when energized, and the integral rotary clutch 55 releases the fastening of the sun gear 51 and the carrier 52 when deenergized and Conclude. Therefore, normal two-wheel steering becomes possible when the power is not supplied, and the normal steering mode can be operated without being affected by the system abnormality of the forward / reverse switching mechanism 5f, 5r. In addition, since the structure is mechanically connected from the steering wheel 1 to the wheel steering gear (8fR, 8fL), the driver can directly steer the wheel even when the steering system is abnormal, and complicated mechanisms and controls are used. Without fail-safe function.

  (5) Since the lock mechanism 54 and the integral rotation clutch 55 share one electromagnet 56, the system can be simplified and the lock mechanism 54 and the integral rotation clutch 55 can be prevented from being simultaneously engaged. An interlock mechanism can be provided.

(6) the wheel steering gear (8FR, 8FL), satisfies the (8RR, 8RL) is the relationship between the turning angle of the turning inner and outer, until a predetermined cutting angle alpha ₀ of Ackermann Jeantaud formula (1), it In the above, the non-circular gear train is set so as to satisfy the expression (2). Therefore, it is possible to realize Ackermann steering with no side slip on the front and rear wheels at a small steering angle. Further, at the time of a large steering angle, it is possible to obtain the minimum turning radius in which the turning center is located on the middle line between the front wheel axle and the rear wheel axle, and it is possible to greatly improve the small turning performance.

  (7) A steering mode setting switch 20 for setting the steering mode of the vehicle, a steering angle sensor 2f for detecting the steering angle and steering speed of the steering wheel 1, the set steering mode, the detected steering angle, the steering speed, and the vehicle speed. And a control unit 21 that drives and controls the steering force assist motor 15f and the steering motor 15r. Therefore, based on the set steering mode, the optimum front and rear wheel turning amount corresponding to the steering angle, steering angle, and vehicle speed of the handle 1 can be set.

The second embodiment is an example in which the integral rotation clutch of the forward / reverse switching mechanism is a dog clutch (meshing clutch).
FIG. 13 is a configuration diagram of a forward / reverse switching mechanism according to the second embodiment. In addition, the same code | symbol is attached | subjected to the structure same as Example 1 shown in FIG. 4, and description is abbreviate | omitted.

  The forward / reverse switching mechanism 55 of the second embodiment is mounted on the steering shaft 4fR connected to the sun gear 51 so that a clutch gear 55h having a protrusion 55k (FIG. 13 (b)) on the side surface is movable in the axial direction by a spline or the like. Has been. On the other hand, the carrier plate 55i is provided with a groove 55m (FIG. 13C) that fits into the protrusion 55k. The clutch gear 55h is connected to and disconnected from the carrier plate 55i by the actuator 58 and the lever 55j.

  By adjusting the neutral position and toe adjustment of the left and right wheels in the engaged state of the integral rotary clutch 55, there is no shift in the neutral position due to the clutch connection or disconnection, or a toe error occurs. It is possible to prevent uneven wear.

Next, the effect will be described.
In the steering device of the second embodiment, the following effects can be obtained in addition to the effects (1) to (7) of the first embodiment.

  (8) The integral rotation clutch 55 is a dog clutch in which the sun gear side steering shaft (4fR) and the carrier side steering shaft (4fL) mesh with each other at a fixed phase (180 °). Can be removed.

(Other examples)
The best mode for carrying out the present invention has been described based on the embodiments. However, the specific configuration of the present invention is not limited to the first and second embodiments. The steering device can also be applied to vehicles other than electric vehicles.

  In the first and second embodiments, the steering device is shown in which the steering wheel and the steering wheel on the front wheel side are mechanically coupled via the first cross shaft gear. However, in the present invention, the steering wheel and the steering shaft are mechanically connected. It can also be used in a so-called steer-by-wire system that is disconnected in an automatic manner.

1 is an overall configuration diagram of a steering device according to Embodiment 1. FIG. 1 is a configuration diagram of a front wheel steering apparatus A according to Embodiment 1. FIG. 1 is a configuration diagram of a rear wheel steering device B of Embodiment 1. FIG. It is a block diagram of the forward / reverse switching mechanism 5f of the first embodiment. It is a steering state figure of the spot rotation mode by the steering device of Example 1. FIG. 3 is a steering state diagram of a lateral movement mode by the steering device of the first embodiment. FIG. 3 is a steering state diagram in a small turning mode by the steering device according to the first embodiment. It is a steering state figure of the rear-wheel in-phase mode by the steering device of Example 1. It is a figure which shows the pitch curve of the non-circular gear train employ | adopted as the steering apparatus of Example 1. FIG. It is a figure which shows the relationship between the inner ring | wheel cutting angle and outer ring | wheel cutting angle of Example 1. FIG. FIG. 3 is a steering state diagram in a normal mode by the steering device according to the first embodiment. It is a figure which shows the relationship between the inner ring cutting angle which shows the principle of the steering mechanism of an Ackerman-Jant type | formula, and the outer ring cutting angle. It is a block diagram of the integral rotation clutch of the forward / reverse rotation switching mechanism of the second embodiment.

Explanation of symbols

A Front wheel steering device B Rear wheel steering device 1 Handle 3 First cross shaft gear
4fR, 4fL Steering shaft
5f, 5r forward / reverse switching mechanism
7fR, 7fL Second cross shaft gear
8fR, 8fL Wheel running gear
9fR, 9fL knuckle
10fR, 10fL wheel
11fR, 11fL suspension support
12fR, 12fL Upper arm
13fR, 13fL Lower arm
14fR, 14fL drive motor
15f Steering force assist motor
20 Steering mode setting switch
21 Control unit
22 Actuator driver
51 Sungear
52 Career
53 Ring gear
54 Locking mechanism
55 Integrated rotating clutch
56 Electromagnet
57 cases
58 Actuator

Claims (7)

A steering shaft that is arranged between the left and right wheels of the front and rear wheels and is rotatable about an axis;
A wheel steering gear provided on the knuckle rotation shaft of the wheel;
A cross shaft gear for transmitting rotation of the steering shaft to the wheel steering gear;
Steering means for rotating the front and rear steering shafts according to the steering of the driver,
Forward / reverse switching means that is interposed between the left and right divided steering shafts and switches the rotation direction of the divided left and right steering shafts in forward and reverse directions;
Equipped with a,
The forward / reverse switching means is a double pinion planetary gear,
A lock mechanism for connecting and disconnecting the ring gear of the planetary gear to the housing, and an integral rotary clutch for connecting and disconnecting the sun gear and the carrier,
The lock mechanism and the integral rotary clutch are each constituted by an electromagnetic two-way clutch,
One of the divided left and right steering shafts is connected to the sun gear, and the other is connected to the carrier . The steering apparatus according to claim 1, wherein
A steering device, wherein a gear ratio of the sun gear and the ring gear is set to 0.5. The steering apparatus according to claim 1 or 2,
The lock mechanism fixes the ring gear to the housing when not energized, and unlocks when energized,
The integral rotation clutch releases the engagement between the sun gear and the carrier when not energized and is engaged when energized. In claims 1 steering apparatus according to any one of claims 3,
The steering device according to claim 1, wherein the lock mechanism and the integral rotary clutch share one electromagnet. The steering device according to any one of claims 1 to 4,
The steering device according to claim 1, wherein the integral rotation clutch is a dog clutch in which the left and right sides of the steering shaft mesh with each other at a predetermined phase. The steering device according to any one of claims 1 to 5,
The steering apparatus according to claim 1, wherein the wheel steering gear is a non-circular gear train that maintains a predetermined relationship between the turning angles of the turning inner and outer wheels. The steering apparatus according to any one of claims 1 to 6,
Steering mode setting means for setting the steering mode of the vehicle;
Steering state detection means for detecting the steering angle and steering speed of the steering wheel;
Steering control means for driving and controlling the steering means for the front and rear wheels according to the set steering mode, the detected steering angle, the steering speed, and the vehicle speed;
A steering apparatus comprising:

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