JPH04146873A - Motor-driven power handle device - Google Patents

Abstract

PURPOSE:To nullify a load on a handle to facilitate operation of a car with the same sense as ordinary steering sense by releasing a locking action carried out by means of the lever of a ring gear when a mechanism including an electric motor has been locked. CONSTITUTION:A herical gear 12a is rotated through a torsion bar 4c and a cylinder 12 by operating a handle shaft 4a to move a herical rack gear 13 right and left for driving a steering mechanism B-1, B-2. A gear 17 is fixed to the upper end of the cylinder 12, and meshes with a gear 22 to which the torque of an electric motor M is transmitted through a planetary gears H. Recesses 3a, 3b, etc., are externally provided on the circumferential face outside a ring gear 3 in the planetary gears H, and a lever 47 driven by an electromagnetic plunger G has been disengaged, and the plunger G is excited by turning on a transistor 23 through the output of an operation amplifier 12c during low speed operation quickly press the lever 47 against the recess 3a, etc.

Description

[Detailed description of the invention] [Industrial application field] Used as an electric power handle for small cars.

[Conventional technology]

Some technology has already been put into practical use for electric power steering wheels for small cars.

[Problems to be solved by the present invention] First problem: A reduction gear is used in the DC motor to obtain a large drive torque, and this torque reduces the drive torque of the manual handle. When the machine stops due to an accident, the manual handle becomes impossible to operate. This is because the reduction gear becomes a speed increase gear and the driven DC motor uses a magnet, so there is cogging torque, and a significantly large torque is required to drive the manual handle.

If the steering wheel locks or becomes difficult to operate, it will directly lead to a serious accident, so it is necessary to solve this problem.

Second Problem: For driving safety, it is necessary to make as few changes to the conventional steering wheel ring mechanism as possible.

Third problem: Since it is used in small cars, it must be small, lightweight, and inexpensive to manufacture.

The second problem is that it is necessary to use a small electric motor with a high output torque. In addition, when the electric motor is de-energized, cogging torque is generated and the steering wheel operation is affected by the cogging torque. a helical gear fixed to an end of a rotating shaft driven by a manual handle;
a helical rack gear that meshes with the helical gear and is driven back and forth; wheels that are driven and steered by both ends of the helical rack gear; a planetary gear device that drives a sun gear by an output rotating shaft of a DC motor; The aforementioned helical rack gear driven by the output rotating shaft of the star gear of the planetary gear device via the reduction gear; a semicircular recess provided in the outer circular rotating surface of the ring gear of the planetary gear device; and the recess. When a torque exceeding the set value is applied to the star gear, the rotation of the ring gear is inhibited.
A rotating device having a mating end so as to detach from the recess and rotatably hold the ring gear, and the mating end being elastically pressed against the recess of the ring gear by energization. , an electromagnetic device that holds the mating end apart from the recess by cutting off the current, and an electromagnetic device that is energized when the vehicle is driven at a set low speed, and when the vehicle is driven beyond the set low speed. an energization control circuit that cuts off energization of the electromagnetic device;
When a torque exceeding a set value is applied to the star gear described above by driving the manual handle, and the fitting end of the rotary lenomer device is disengaged from the recess of the ring gear, an electric switch is activated by the disengagement operation. The circuit breaker device, which stops and maintains the energization of the DC motor and electromagnetic device by opening and closing, and the output electric signal of the above-mentioned handle torque detection device control the energization of the DC motor, and correct the manual knob. It is composed of a surge circuit that maintains the required torque at a predetermined value during reverse rotation.

First Means: In a power steering device for an automobile, a steering torque detection device detects the forward/reverse direction of a manual handle and the applied torque, and generates a corresponding forward/reverse electric signal and an electric signal proportional to the applied torque, respectively; A helical gear fixed to an end of a rotating shaft driven by a manual handle, a helical rack gear meshed with the helical gear and driven back and forth, and wheels driven and steered by both ends of the helical rack gear, respectively. , a planetary gear device in which a sun gear is driven by an output rotating shaft of a DC motor;
the above-described helical rack gear driven by the output rotating shaft of the star gear of the planetary gear device via a reduction gear;
A semicircular recess provided in the outer circular rotating surface of the ring gear of the planetary gear device, and a rotating end portion that fits into the recess to inhibit rotation of the ring gear. Torque greater than a set value is applied to the Renomer device, the resilient member provided on the rotary lever device so as to press the fitting end into the recess of the ring gear, and the aforementioned star gear by driving the manual knob. and a mechanical locking device that maintains this state when the fitting end of the S-device is rotated and removed from the recess of the ring gear, and In a state in which the fitted end portions are fitted together, the first and second ends are rotated in response to the forward and reverse rotational torque of the ring gear caused by the rotation of the star gear. The ring gear torque detection device from which the first electric signal is obtained and the output electric signal of the above-mentioned handle torque detection device control the energization of the DC motor to maintain the required torque at a predetermined value when the manual handle is rotated in the forward and reverse directions. and the first. It is comprised of a return handle surge circuit that controls the energization of the DC motor so that the rotating shaft of the helical gear is driven in the direction of the return handle by a first electric signal with a predetermined torque. .

Furthermore, there is a method of using a reluctance type motor instead of a DC motor as a driving source.

[Effect]

When the mechanism including the electric motor is locked, as will be described later with respect to the embodiment of FIG.
I? Since the lock is released, the load on the steering wheel disappears and driving feels the same as a conventional steering wheel.

Therefore, the first problem of preventing accidents due to abnormal steering wheel operation is solved.

At the same time, the circuit breaker stops energization of the electric motor and the electromagnetic device G, thereby preventing burnout accidents.

As shown in FIG. 1, since the main parts of the conventional steering configuration are not changed, there is an effect of solving the second problem.

Moreover, since it can be manufactured in a small size, lightweight, and inexpensively, the third problem is also solved. When a reluctance type electric motor is used as a drive source, it is small and has a large output torque, and no gogging torque is generated even when the power is stopped.

Therefore, it has the effect of solving the qth problem.

As will be described later with reference to FIG. 70, by moving the lever 5g up and down, a torque detection signal is obtained via the pressure sensors 59a and 5qb.

Based on the torque detection signal, a servo circuit that performs forward and reverse rotation of the electric motor and torque control allows the star gear, that is, the manual handle, to be rotated left and right with a required torque.

The rotational torque of the return handle after traveling around a curve is controlled to perform the above-mentioned left and right rotation.

Therefore, there is an effect that the return handle can be operated with the same feeling as before.

〔Example〕

Next, details of an embodiment according to the present invention will be explained with reference to FIG. 1 and subsequent figures. Items with the same symbol in each drawing are the same parts, so
Duplicate explanations will be omitted.

Fig. 1 shows the main parts of the device of the present invention. In Fig. 1, the torsion ``-11c, which also serves as the rotation axis, is driven and rotated by the handle shaft a of the manual handle (for steering) tI. Ru.

The dotted line b indicates a well-known means used in a torque transmission device including a universal joint.

The bearing of the rotating shaft of the above-described mechanism is also omitted and not shown.

The rotating cylinder 12 also serves as a rotation axis. The lower end of the torsion no. z-1Ic and the rotating shaft /2b
is fixed.

The rotating shaft /L2b is supported by a bearing (not shown), and a helical gear /2a is fixed to the lower end thereof.

The helical gear /Ua meshes with the helical rack gear 13, and the forward and reverse rotation of the gears / and la causes the gear /3 to move left and right via a support (not shown). A universal joint /3a is provided at the end of the gear /3, and drives a well-known steering mechanism B-2 including the wheels of an automobile, as shown by the dotted arrow.

The left end of helical rack gear /3 has exactly the same configuration, and as shown by the arrow, it is a well-known steering mechanism B-/ including wheels.
is driven.

Therefore, the configuration is such that the direction of the wheel is changed between forward and reverse directions by forward and reverse rotation of the helical gear /2a.

A gear /7 is fixed to the upper end of the cylinder /2.

The base of Leno ζ-qd is fixed to Torsion No. ζ-1IcK.

A plan view of gear/7 seen from above is shown in FIG. In Figure 2, the torsion ζ-11c is
- The base of the da d is fixed and rotates synchronously.

A sliding resistance R is attached to the upper surface of the gear/7, and stoppers 2a and 2b are fixed to both sides thereof.

The left and right rotation of the lever '+d is at an angle set by contacting the stoppers: la, 2b.

When the handle 'IK rotation torque is not applied, the right end of the lever 4Zd is pressed against the center of the resistor R as shown in the figure.

The terminal 2C serves as a slider and is connected to ζ-Qd by a conducting wire, and the terminals 2d and 2C are connected to both ends of the resistor by conducting wires.

Since the handle q is not rotated by more than two rotations, there is no problem by keeping the leading wires of the terminals 2c, 26, and 2e long.

However, if necessary, the change in resistance R can also be detected by means of a sliding contact.

The electric motor M is a DC motor or a reluctance type electric motor, and its output rotating shaft 5 is equipped with a planetary gear device H.
Sun gear is fixed.

Gear 2 is fixed to the output shaft of the star gear, and gears 22 and 17 are in mesh with each other.

The electric motor M and the planetary gear device described above are provided inside the vehicle. Hereinafter, the above-mentioned data will be referred to as the main body.

Details of the planetary gear set H and associated components added thereto will now be described with reference to FIG.

Ring gear 3. Star gear: L2h, 2.1 b
, 22c.

The sun gear 5a constitutes a planetary gear cover H.

Sun gear 5a is fixed to output rotation shaft S of electric motor M.

The outside of the ring gear 3 is a circumferential surface, and has a recess Ja.

3b, . . . are provided on the outside, and are rotatably supported by a support body (not shown).

The support shaft installed in the main body? d, the rollers 7 and 2 are supported so as to rotate independently.

A spring is applied between the levers R and I to repel the levers qq in the direction of the arrow c, and the electromagnetic plunger G connected to the lever 2 is connected to the positive and negative terminals u3a, 23b of the DC power supply via the transistor 23. It is energized.

Therefore, the actuator 477a rotates the ζ-2 counterclockwise due to the contact between the planting pin 9'7b and the reno 26 against the elastic force of the spring u6a. There is.

Q7 is also rotated in the same direction, but the fitting end q7C
By press-contacting the recess 3a, the stopper (planting bottle) -tI7, the force with which the fitting end Q7c presses the recess 3a is only the elastic force in the direction of arrow C.

Therefore, the braking force that suppresses the rotation of the ring gear 3 is expressed by the arrow C.
It can be freely changed by adjusting the elastic force in the direction.

An electric switch 4'4 is placed on the protrusion of the reno-2b, and its actuator Qa is configured to close when pressed by the reno ζ-q7.

When the electric switcher 6 is closed, the circuit breaker qg is activated by the conductor indicated by the dotted arrow, and the electric motor M
, the power supply to the electromagnetic plunger G is stopped and maintained.

The symbol indicates that when the car is running at low speed, the output electrical signal is low level and the set speed (X/hour)
This is a well-known vehicle speed detection device that changes to a high level when the speed increases from a value between Km to 30 Km. The reference voltage of terminal /9 is inputted to the + terminal of operational amplifier /9c, and the output of the vehicle speed detection device is inputted to one terminal.

Therefore, at low speed, the output of the operational amplifier /2c becomes a positive output, the transistor 3 becomes conductive, the electromagnetic plunger G is energized, and the state shown in the figure is maintained.

When the set speed is exceeded, the output of the operational amplifier/qc becomes low level, and the transistor 23 becomes non-conductive.

Therefore, due to the elastic force of the spring 24b, the actuator tI
7a moves downward, Reno-B, 4'? rotates clockwise, the fitting end 97C separates from the recess 3a,
The ring gear 3 can freely rotate.

Next, details of the surging device when operating the handlebar at low speeds, that is, when rotation of the ring gear 3 is inhibited, will be explained.

FIG. 4 is an electrical circuit including the resistor R of FIG. Resistors R, /ffa, /gb serve as a bridge circuit.

By the rotation of A-tla in FIG. 2, the end of the lever 1I (i), which is a slider, slides on the resistor R.

When the left handle is turned, the handle bar rotates in the forward direction, and at this time the slider tld moves upwards with the arrow, and when the right handle is turned, it rotates in the opposite direction, and the slider d moves downwards opposite to the arrow. Move to.

The bridge circuit is calibrated to balance when there is no untouched applied torque on the handle bow. At this time, operational amplifier/? The outputs of a and /qb are at low level. Terminals 2/a, 2/b.

The output of 2/c also becomes low level.

When y/l/q is rotated in the forward direction, the operational amplifier/9a
The output becomes a positive voltage proportional to the rotation angle. Therefore, the output is obtained from the terminal 2/, and the saturation type amplifier circuit 1a
A high rail electric signal is obtained from the terminal J/a via the terminal J/a, and since this is a command electric signal for the normal rotation mode of the electric motor M, it is converted to the normal rotation mode.

Chopper control of the armature current is performed by well-known means so that the armature current corresponds to the voltage at the terminal /.

Therefore, since the planetary gear device H2 gear 2, /7 in FIG. 1 is driven and rotates the cylinder 12, the slider lld in FIG.
moves downward in the opposite direction of the arrow.

Therefore, the left steering wheel can be turned with the armature current value corresponding to the load for changing the direction of the wheel, and the torque for driving the steering wheel l is small (light steering operation is required).Therefore, the required torque of the steering wheel q is It is a surge device that maintains the set value.

The torque for driving the handle q at this time can be changed depending on the torsional torque characteristics of torsion/''-1c and the constants of the electric circuit shown in FIG. 9, so it is necessary to provide the best steering feel.

The situation is the same when the handle q is rotated in the opposite direction (the output of the operational amplifier/qb becomes a positive voltage, and the saturation amplification circuit 20
Since the output of the terminal 21b of the motor M becomes high level, the motor M is converted to the reverse mode, and the armature current is controlled by the output voltage of the terminal 21.

The objects of the invention are thus achieved.

When the speed of the vehicle becomes high and exceeds the set speed, the electromagnetic plunger G is de-energized as described above, and the electric motor M connected in parallel with the electromagnetic plunger G is also de-energized.

Therefore, the ring gear 3 shown in FIG. 3 is rotatable, and the load on the handle becomes only the gear, so there is an effect that the handle can be operated with the same feeling as the conventional handle operation.

Naturally, this has the effect of reducing power consumption. The electric power handle device has several parts added to the conventional handle device, all of which can cause malfunctions.

It is clear that in the event of a failure, the inability to operate the steering wheel will result in a serious accident. Therefore, countermeasures are essential.

One of the causes of such an accident is that the motor M becomes locked due to abnormal power supply due to a failure in the electric circuit.

The other one is to leave only the electromagnetic plunger G energized,
Or, due to a failure of the equipment, the equipment ζ-q7 cannot be separated from the recessed part, and the accident occurs when the electric motor is driven by operating the handle.

Means for avoiding accidents during driving in the case of the above-mentioned failure or a similar failure will be explained.

In the case described above, when attempting to change direction by rotating the steering wheel left and right, it is a natural action to apply strong force to the steering wheel.

At this time, the lepada d in FIG. 2 comes into contact with the stopper 2a or 2bvc, and the cylinder/2. gear/? , 21, the ring gear 3 in FIG. 3 also receives rotational force. When this rotational force exceeds the set value, the reno ζ-447 is rotated clockwise, the fitting end portion 7c is released from the recess 3a, and at the same time, the actuator 4 (A
Since a is pressed, the aforementioned swing gear 3 can also rotate freely.

Therefore, normal steering operation is restored, which has the effect of preventing accidents during driving.

Although the ring gear 3 has nine recesses, it is sufficient to have at least one recess.

A commutator motor or a brushless motor is used as the electric motor M, but in this case, if the current supply is stopped due to an accident, the electric motor M will be driven in the opposite direction by operating the handle. Due to cogging torque, steering wheel operation becomes difficult (
It becomes difficult.

When a reluctance type electric motor is used as the electric motor M, there is no cogging torque, so the above-mentioned disadvantages are eliminated, and a large output torque can be obtained, so there is an advantage that the size can be reduced.

Reluctance type electric motors are practically used as co-phase or three-phase types, but since they are all driven by the same principle, a co-phase reluctance type electric motor will be explained as an example.

FIG. S is a plan view of the salient poles of the rotor, the magnetic poles of the fixed armature, and the excitation coil of the co-phase reluctance type electric motor used in the present invention. All angles shown below are in electrical angles.

In Fig. S, the symbol / is a rotor whose salient poles /a, /
The rotors b, . . . have a width of 1 gO degree and are arranged at equal pitches with a phase difference of 340 degrees.The rotor l is made by a well-known method of laminating silicon steel plates. Fixed armature/B has magnetic pole/6a.

/Al, /Ac, . . . /Ah have the same width and are arranged at equal angles apart.

The rotation axis of the rotor l is indicated by symbol 5 in FIG.

For magnetic poles /4a, /Ab,..., /A)-1,
Excitation coils /7a, /7b,..., / respectively
7h is wrapped.

The armature/armature is made by known means of laminating silicon steel sheets. The coils ga and ffb in Fig. S are (3AO
+90) degrees apart, salient poles /a, /b, -
facing the side of The coils ga and gb serve as position detection elements that detect the position of the salient pole.

The coil ga1gb is an air-core coil with a diameter of S millimeters and about 100 turns.

FIG. 6(a) shows a device for obtaining position detection signals from coils ga and gb. In Fig. 6(a), coils ga, gb, resistance /4(a, /4b,
/llc and /4'd are bridge circuits. Symbol 7 is an oscillation circuit whose output frequency is about /~S megacycles.

Coils &a and gb are air-core coils fixed to the fixed armature side, and when they face the salient poles /a, /b, etc. in Figure S, their impedance decreases due to eddy current loss,
Resistance/4(a voltage drop increases.

When the coil ga faces the salient pole, an electrical signal smoothed by a low-pass filter consisting of a diode 9a and a capacitor 10a is input to the + terminal of the operational amplifier //b.

The voltage drop across resistor /4'b is also converted into a direct current by a low-pass filter consisting of diode qb and capacitor 10b, and an electrical signal is input to the child terminal of operational amplifier //c. Since the bridge circuit is adjusted to be balanced when the coil grs does not face the salient pole, there is no output from the operational amplifier //'b at this time.

When the coil grs faces the salient pole, the output of the operational amplifier //b becomes a rectangular wave with a width of 110 degrees, and this signal is represented by the curve 30a in the time chart of FIG.

501), . . . This signal is output from terminal 15a.

The output signal of terminal ISB via the inverting circuit is also a square wave.
The width is O degrees, and the curves 5Ja, j, and 2b in Figure 3.

It is shown as... Note that the voltage drop across the resistance /4'd is also input to one terminal of the operational amplifiers //b and //c via a low-pass filter consisting of a diode and a capacitor.

Similarly, when the coil gb faces the salient pole, the voltage drop across the resistor/da b is smoothed to direct current and becomes the input to the child terminal of the operational amplifier //c, so the high level of the operational amplifier //C The output of the terminal /Sc is the curve shown in Figure 3! /a,
5/b, . . . and the terminal /J4 via the inverting circuit.
The output is a curve! ;3e,,! ;3b,...

When the overlapping portion of the output of terminal /3a and the output of terminal 15d is obtained by the amplifier circuit, the curve shown in Fig. 3 is obtained! 9a.

The position detection signals are shown as job, . . . . By similar means, the curves s! ;a, A;! rb+-... and curve j%a+jAb+... and curve 37a, j; 7b,...
... position detection signals can be obtained.

The above-mentioned position detection signal is used to control the energization of the excitation coil, and the details will be described later.

The principle of rotation will be explained using FIG.

When the excitation coils /7b, /7f are energized, the salient poles /b,
/g is attracted and rotates in the direction of arrow A.

-I When rotated by 5 degrees, excitation coils /7b and /7f are de-energized, and excitation coil /? c and 77g are energized, so torque is generated by the salient pole and the magnetic pole.

Magnetic poles /Ot a, /Otb, /Ac, /bd are N poles, magnetic poles /6e.

/iff, /Ag, #, h becomes the south pole. This polarity of magnetization is to reduce the counter torque caused by leakage of magnetic flux.The order of the magnetic poles to be excited is as follows with a rotation of 90 degrees: magnetic poles /Ab, /Af, → magnetic poles /Ac, //yg.
, →Magnetic pole/Ad, /Ah, -)Magnetic pole/6a,
/Ae, -+, resulting in a λ-phase electric motor in which the rotor / is driven in the direction of the arrow.

The energization angle of each exciting coil is 70 degrees.

The excitation coil in this text corresponds to the armature coil of a general DC machine.

It is common knowledge for this type of motor that until the magnetic flux of the magnetic poles is saturated, the output torque is proportional to the second power of the excitation current, but according to actual measurements, after saturation, the output torque is directly proportional to the excitation current. Therefore, even larger output torque can be obtained. The output torque is increased (this causes the rotational speed to drop, but the drop is suppressed by the energization control circuit described later).

Therefore, the electric motor of this embodiment provides effective means as a drive source for an electric power handle.

Although this embodiment uses a co-phase motor, the object can also be achieved by configuring a three-phase roughtance type electric motor using similar means.

Reluctance type electric motors have the following drawbacks.

As shown by the curve tI3 in the time charts of Figures 1K and 7, the torque is extremely thick at the beginning when the salient pole begins to oppose the teeth of the magnetic pole (but becomes smaller at the end. Therefore, the resultant torque is also thick and the pull torque is The following methods are effective in eliminating these drawbacks.

This objective is achieved by making the widths in the direction of rotation different between the opposing surfaces of the salient pole and the magnetic pole.

According to this means, the output torque curve becomes approximately symmetrical, and becomes the curve indicated by the dotted line 4+Ja in FIG.

Second, there is a drawback that efficiency deteriorates.

The excitation current curve is like curve m47.2 in FIG.

At the beginning of energization, the current value is small due to the inductance of the armature coil (in the center it becomes even smaller due to the back electromotive force. At the end of the energization, the back electromotive force is small, so it rises rapidly,
It becomes like the curve q2. This final peak value is equal to the current value at startup. In this section, there is no output torque, so there is only joule loss, which has the disadvantage of greatly reducing efficiency. Since the curved line has a width of 1 gO degree, the magnetic energy is discharged as shown by the dotted line q2a, and this becomes a counter torque, further deteriorating the efficiency.

Third, if the output torque is increased (that is, the number of salient poles and magnetic poles is increased, and the excitation current is increased), there is a drawback that the rotational speed becomes significantly smaller.

Generally, in a reluctance type electric motor, in order to increase the output torque, it is necessary to increase the number of magnetic poles and salient poles as shown in Fig. 5, and to reduce the opposing gap between the two. If we hold them at the required values, the magnetic poles /Aa, /Ab
Due to the magnetic energy accumulated in ,..., the rising slope of the excitation current becomes relatively slow (and even if the current is cut off, the time for the discharge current due to magnetic energy to disappear is relatively extended, so , a large counter torque is generated.

Due to these circumstances, the peak value of the excitation current value becomes small and counter torque is also generated, so the rotational speed becomes a small value.

An energization control means for eliminating the above-mentioned drawbacks will be explained with reference to the energization control circuit shown in FIG. 6(b).

In FIG. 6(b), the excitation coils M are the excitation coils /7a, /7e and /? of FIG. S, respectively. C, /7g, respectively, and the two sets of excitation coils are connected in series or in parallel.

Transistors 211e and 211f are inserted into the excitation coil at both ends of M, respectively. The excitation coils L and N are the excitation coils / in Fig. S, respectively.
7b, /7f and excitation coil /7d, /? h as a series or parallel connection of transistors 9C2 and d
, evaluation g, 24 (h) conducts the energization control.

The terminals 30a, 30b, 30c, and 30d include
Position detection signal curves 54a, 59b, . . . and curve j! in FIG. ; a, 3! ;b, -... and curve 5
Aa +36b! '-'l and curve 57a.

57b, . . . are respectively input.

FIG. 7 shows position detection signal curves 5+a, j5a, 3 input to terminals 30a, 30b, 30c, 30d.
;Aa, j7a are shown with the same symbols as in FIG.

When the output of the operational amplifier 3/a is at the NO level, the inputs to the terminals 30a, 30b, 30c, 30d are the OR circuits 2ga, 2gb, 2gc, 2ffd and the AND circuits 27a, 27b, 27c, 2.
7d, transistor evaluation a, evaluation, ..., 2'
Conducts conduction control of ijh.

When the output of the operational amplifier 7/a becomes low level, the terminals )Oa, 30b, ? The inputs of θc and 3θd are connected to the transistor 21 because the lower inputs of the AND circuits 29e, J9f, 29g, and 29h are at the 71 level.
The phase of conduction control of 1h, 24'b, . . . 2'ah is changed and reversed, and the details will be described later.

Symbols 23a and 23''o are positive and negative terminals of the DC power supply.

Op amp? When the output of /a is at the no-y level, when an electrical signal with a curve r<za is input to the terminal 30a,
Transistor 21! a, 24(b) conduct, and the excitation current in the excitation coil increases as indicated by the dotted line 3'7a in Fig. 2.If the input voltage at the child terminal of the operational amplifier 31b is V, then the resistance proportional to the excitation current increases. :1.6 voltage drop, that is, when the input voltage at one terminal of the operational amplifier 31b exceeds V, the output changes to low level and the lower input of the AND circuit yukua also becomes low level, so the transistor 24'a becomes non-conducting.

The magnetic energy stored in the excitation coil K is discharged through the transistor u4'b, the diode)'na, and the resistor, and the discharge current decreases. This curve is shown by the dotted line 37b.

When the voltage drops to a predetermined value, the output changes to high level again due to the hysteresis characteristic of the operational amplifier 31b, and the transistor 2Qa becomes conductive. Therefore, the excitation current increases again, and when it increases to the set value, the output of the operational amplifier 31b becomes low level again, the transistor 24a becomes non-conductive, and the excitation current decreases.

A chopper circuit that repeats this cycle is configured. When the input signal of the song and wi5daa of the terminal 30a disappears, there is a continuous input signal of the curve SSa from the terminal 30b, so an AND circuit 2qb and an OR circuit 2gb are generated.

Transistor 211c via AND circuit 27b.

The terminal d is made conductive, and energization of the excitation coil L is started.

At this time, the magnetic energy accumulated in the excitation coil K becomes diode-1'j b, l! ; Charge the capacitor via a.

Since the capacitor pot has a small capacity, the charging voltage rises rapidly, and because of the presence of the diode 23, the charging energy of the capacitor is converted into magnetic energy of the excitation coil L without flowing into the power supply side. Therefore, the discharge current of magnetic energy in the exciting coil is the dotted line, ? It descends rapidly as shown in 7c.

At the same time, the rise of the current in the exciting coil L to which a voltage several times higher than the power supply voltage is applied also becomes rapid, and the current increases as shown by the dotted line 3g.

When the value increases to the set value, the chopper action of the operational amplifier 31b is performed in exactly the same way as in the excitation coil. This chopper pulsating current is shown as a dotted line 3g, and the pulsating current is omitted from the illustration.

The diode R23 rapidly converts the magnetic energy stored in the excitation coil into magnetic energy for the excitation coil L.

Capacitors are not always necessary.

Next, when the electric signal of the curve 5Aa is input to the terminal 30c, the current of the exciting coil M becomes as shown by the dotted line 39 under the same circumstances.

Next, connect the terminal 30d with a curve &? When the electric signal a is input, the excitation coil N is energized as indicated by the dotted line qO. A chopper action is also performed by the operational amplifier 31b, and the excitation current becomes the set value. The pulsating flow portion due to the chopper action is omitted from the illustration.

At the boundary between the curves 5Sa and 5Aa and between the curves 3Aa and 57a, the magnetic energy is rapidly transferred from the energized excitation coil to the next excitation coil to be energized because of the presence of the diode coil 3. If the width of the drop portion (for example, dotted line 37C) of the exciting current exceeds 0 degrees, anti-torque will occur, making it impossible to achieve high speed and deteriorating efficiency. The width of the rising part is large (and the output torque decreases).In the device of the present invention, the width of the descending part is small, so the width of the salient poles /a, /b, etc. in Fig. S is small (even if This has the effect of avoiding speed reduction.

Since only the width of the arrow 11/a in FIG. 7 is energized, only the most efficient portion is energized. As mentioned above, 1
If the power is supplied only for a width of 10 degrees, that is, the width of the arrow d/, the efficiency will deteriorate and the motor will run at a low speed.Because of the 3 diodes (23), the power supply voltage is low, and it is also used in cases where the power supply is, for example, a power supply. There are actions that can be taken.

When the output of the operational amplifier 3/a is at a low level, the lower inputs of the amplifier circuits 29e, 29f, 29g, and 29h are at a high level, so that the terminals 30a, 30
The input signals at terminals 30c and 30d control the energization of the excitation coils M and N, respectively, and the input signals at the terminals 30c and 30d control the energization of the excitation coils L, allowing the motor to rotate in reverse.

In FIG. 6(b), symbols '13a, 3b, and 3da are reference voltages and indicate positive and negative terminals.

Resistance 3! ; FL, 33b is a sliding resistance, which is the resistance R in Fig. 2.
becomes. The slider 36 is configured to slide left and right when the slider 36 rotates.

When no torque is applied to handle q in Fig. 1,
Leno z-qd (FIG. 2) is in the illustrated position, and at this time the slider 3A in FIG. 6(b) is at 8 points.

Therefore, when the handle q is rotated left and right, the slider 36 responds with resistance, ? 5b or the resistor 3Sa.

Accordingly, the output of the operational amplifier 7/a is also correspondingly converted to a low level or a low level, so that the motor is rotated forward or reverse.

When the manual torque applied to the manual handler exceeds the set value, the input voltage of the ten terminals of the operational amplifier J/c exceeds the reference voltage 3q of one terminal, so the operational amplifier ? The positive output of /C rises quickly. Therefore, operational amplifier 3/b (becomes an error amplification circuit).
Increase the input voltage at the + terminal of the

Therefore, as mentioned above, the current in the excitation coil due to the chopper circuit increases correspondingly, and the output torque increases, so the three 0 symbols that drive the electric motor M in Figure 1 and change the direction of the wheels are absolute. It is a value circuit (rectifier circuit).

At this time, the driving torque of the handler is as shown in Fig. 6(b).
It can be set to a small value corresponding to the reference voltage of terminal 3q.

In response to the rotation of the handle t, the direction of the wheel is changed,
The required torque of the handler is reduced.

It becomes a power handle that allows for light steering operation.

Terminal? By changing the reference voltage of tl, the required torque of the handle q can be changed.

When the manual handler is rotated rapidly, operational amplifier 3
/c's output voltage rises rapidly, the excitation current also rapidly increases, and the motor R may burn out.

In order to prevent such inconvenience, the Zener diode 33
is provided, and when the output voltage of the operational amplifier 3/c exceeds a predetermined value, the Zener diode 33 becomes conductive and the excitation current is operated at a predetermined value or less.

The above-described energization control surge device performs a similar operation in response to left and right rotation of the handler.

The problem is that when the slider 36 is placed in the position indicated by the dotted arrow 3Aa, the output from the terminal 36 is reversed in polarity. However, the absolute value circuit 3 causes the positive voltage to be input to the + terminal of the operational amplifier 3/c. Also, the output of the operational amplifier 7/a becomes low level, and the motor M reverses.

As can be seen from the above description, the objects of the present invention are achieved.

Furthermore, the disadvantages of the reluctance type electric motor described above are eliminated, and the present invention has the effect of making use of only its advantages.

FIG. 9 is a graph of excitation current (horizontal axis) and output torque (vertical axis) of one example of a prototype reluctance motor.

The curve 6a becomes a quadratic curve, and the curve 6b becomes a straight line.

The curve 6a, that is, the hatched portion indicates the portion where the magnetic pole and the salient pole are magnetically saturated. A general DC motor reaches its maximum torque at the saturation point, and the torque does not increase thereafter. In other words, the output torque is 10 Kji with an excitation current of 2 amperes! cm, this is the maximum torque. In a reluctance type electric motor, even if the excitation current exceeds 2 amperes, the output torque increases and reaches the SOK nominal at io amperes.

This is why an abnormally large output torque can be obtained. The above values are actually measured values.

In the embodiment described in FIG. 3, the electric power steering wheel is used when the vehicle is running at a low speed, and when the speed of the vehicle is high, the steering wheel is operated by a conventional manual torque.

Next, an embodiment will be described in which the electric power handle device is always operated even at low and high speeds, that is, while driving.

In this case, the issues are the countermeasures to be taken in the event of equipment failure and the feel of operating the return knob.

The planetary gear system of FIG. 3 is exactly the same, but the attached Leno ζ-device is changed as shown in FIG. 10.

In FIG. 70, a lever 4q is rotatably supported on a support shaft qa installed in the main body.

The lever /qe is also rotatably supported by a support shaft /9d installed in the main body, and is resiliently repelled in the direction of arrow E by a resilient member (not shown), and the free end is connected to the 4' of Leno ζ-q9. A roller sgb is supported by a support shaft at the free end of portion qb.

For example, piezoelectric elements j9a and 59b, which serve as pressure sensors, are fixed to the inside of the protrusions 9b and 99c of the reno ζ-49, and the opposite surfaces thereof are in contact with both sides of the free end of the ζ-M. ing.

Since the reno-1I9 is resiliently repelled in the direction of the arrow F by the resilient member (not shown) provided on the shield 9, the roller tgb is pressed against the recess 3a and the ring gear 3 is pressed against the roller tgb. It prevents rotation. The steering wheel operation while driving is the same as the previous implementation, and the steering wheel operation is light.

If the electric motor M is locked or stopped due to a failure or an accident while the vehicle is running, steering becomes impossible or a large torque is required. At this time, the roller sgb is ejected from the recess 3a, and the lever 4'9 is also rotated clockwise at the same time, so that the end '1ZqT) also descends downward as indicated by the arrow.

Therefore, the end 1Iqb is locked by the free end of the wheel/9e, and the roller sgb rolls on the outer circumferential surface of the ring gear 3, so although there is a slight feeling of abnormality in steering wheel operation, it does not interfere with driving. There isn't. This sense of abnormality is effective because it tells you what needs to be repaired.

Next, I will explain the return handle.

When you turn the steering wheel while driving to change the route and then return the steering wheel, the steering wheel will automatically return to its original position without having to apply any torque to return the steering wheel.

This is the return handle, but if the return torque feels abnormally different, it will be difficult to drive.

Seven features of this embodiment include the addition of a means for controlling the torque of the return handle, which will be explained next.

When the ring gear 3 tries to rotate forward or reverse, the pressure sensor 5?
a.5? b receives the pressing force, and an output voltage signal proportional to the pressing force, that is, the rotational torque of the ring gear 3 is obtained.

Means for controlling the torque of the return handle by means of such a voltage signal will be explained with reference to FIG.

In Fig. 1/, the pressure sensor jqa shown in Fig. 70;

The output of sqb is amplified by amplifying circuits bOa and AOb, and becomes seven inputs of AND circuits A/a, , A/b.

Terminal 1. ．． The input electrical signals of 3a and 13b are respectively]
- When the handle is rotated forward or reverse, an electric signal is inputted to cause the electric motor M (shown in the first diagram) to rotate forward or reverse accordingly. This electrical signal is transmitted to terminals 2/a and 2/ in FIG.
This is the output signal of b.

Also, this electric signal is inputted to the lower side of AND circuits A/a and A/b via the inverting circuit 6/, so when the bundle is being reversed forward or backward, the AND circuit 6/ The lower input signals of a and A/b are at low level, and their outputs are at low level. That is, the terminal Aua,
The outputs of A and 2b are the same as the input signals of terminals 43a and A3b, respectively. When the steering wheel is turned forward or backward to change the direction of the car, the electric motor M is also being driven, so the terminal B3a or the terminal A is
,? The input signal of b is at the no-y level.

At this time, output terminals A2 of AND circuits 4/a and A/b
Since the output signals of a and 4Jb are low level,
The outputs of terminals Aua and Acob are terminals b and 3FL, respectively.
, A3b becomes the input signal, and the electric motor M becomes the forward rotation or reverse rotation mode accordingly, and as mentioned above, the surge action that lightens the steering wheel operation torque takes the hand away from Le, so the Leno ζ-+a in Fig. The position of the neutral point shown in the diagram is
Therefore, the output signals of terminals 2/a and 2/b in FIG. 9, that is, the input signals of terminals 3a and A3b in FIG. 1, both become low level.

Therefore, the lower input signals of the AND circuits 4/a, 4/b become high level, and the pressure sensors 59a, ! The output of 9b is outputted from terminal 62a and Otsu jb.

For example, when the steering wheel is rotated forward to change the direction of the car, the electric motor M rotates and enters the mode shown in Fig. 70, the star gear converts the rotation torque in the opposite direction.
The ring gear 3 also receives clockwise rotational torque.

Therefore, the pressure sensor sqb is pressed by the lever and generates an output, so the output of the terminal xxb in FIG. driven by

Therefore, when the return handle is turned, there is no need to rotate the electric motor M due to its torque, and the torque load is eliminated, so that the return handle is operated lightly, thus achieving the object of the present invention.

In this case, the armature current of the motor M is the pressure sensor 'Jjs
Thermal control is performed by the output voltages K of qa and sqb (output signals from terminal 60 in Fig. 1).

In FIG. 1, a torque detection means using a torsion A-yc and a resistance R is employed, but a known means using a planetary gear system may be employed.

In this case, the center rotation axis of the handle is used as the rotation axis of the star gear, and the star gear rotates the helical gear/
Drive 2h.

By rotating the ring gear left and right at this time, outputs from the two pressure sensors are obtained. The same purpose is achieved by controlling the left and right rotation of the electric motor M and the armature current using the output thereof.

〔effect〕

1st effect: When the mechanism including the electric motor locks due to an accident, the load on the steering wheel is automatically removed, allowing the driver to return to driving with the same feeling as a conventional steering wheel. Effect of 6th U Implementation of Figure 3 In the case of this example, in addition to the first effect, the energization of the electromagnetic plunger G and the electric motor are automatically stopped, thereby preventing a burnout accident.

Third effect: As shown in FIG. 7, since the main parts of the conventional steering structure are not changed, the steering wheel can be manufactured in a child-friendly, lightweight, and inexpensive manner.

When a reluctance type electric motor is used, a large output can be obtained with a small size, and since there is no cogging torque when the electric motor is de-energized, there is no problem in the throttle operation.

Effect No. S In the case of the embodiment shown in FIG. 70, the return handle can be operated with the same feeling as a conventional steering wheel.

[Brief explanation of drawings]

FIG. 1 is an explanatory diagram of the configuration of the device of the present invention, and FIG.
3 is an explanatory diagram of the planetary gear device and its additional device in FIG. 1, FIG. 9 is an electric circuit diagram of the torque detection device, and FIG. S is a reluctance type electric motor. 6(a) and 6(b) are the electric circuit diagrams of the position detection device and the energization control circuit diagram of the roughtance motor, and FIG. 7 is the position detection signal of the reluctance motor. FIG. 3 is a time chart of the exciting current, FIG. 9 is a time chart of the position detection signal, FIG. 9 is a graph of the output torque and energizing current, and FIG. 10 is a planetary gear device of another embodiment of the device of the present invention. and an explanatory diagram of its additional device,
Figure 7 shows electrical circuit diagrams for controlling the return "j;"':/r-, respectively. 1, /a, /b, - rotor and salient poles,
/6・/rua. /6t), ・=armature and magnetic pole, /7a, /?
b + ”'+ K +L, M, N...excitation coil,
S... Rotation axis, 9a... Handle axis, Da...
・Manual handle, /7, 22. /2a, /3...gear, B-/, Bu...steering mechanism including wheels, /Ja...universal joint,
llc...Torsion no ζ-1IId...Reno-
■...Planetary gear system, M...Electric motor, /2...
・Cylinder, R...Resistance, 5a...Sun gear, 22
a,, L2b, 22c... Star gear, 3,3
a, 3b,...Ring gear and its recess, 2A,
4(?, lI9, /9 e-reno-1G・
...Electromagnetic plunger, 4j7a...actuator, tIg
...Circuit breaker, lIA...Electric switch, D...Vehicle speed detection device, /9a, /9b, /q
c, //b, //c,,,? /a, 31b,
3/c---Obeamphu, 60a, AOb,
2Qa, X)b... amplification circuit, ga, gb
... Coil, 7... Oscillator, 32... Absolute value circuit, 347... Reference voltage, ta, Ab...
Torque curve, go...lever, look a...roller,
59a, 5qb-pressure sensor, /9d, 4'9a,
Q9eL, 5ga-support shaft, Tani, Da, 2a,
,,? ? a, 37b. 37c, 3za, 3de, lθ... excitation current curve, da3,
1I3a...Torque curve, ! rOa,! ;Ob,
=-,! ;/a, 5/b +...! ', 2a,
! ;2b+ ”-,!r5a,!jb, ”・
+544a +! ;'lb+・=,3! ;a, 55
b, ---, 36a +3A'o, -'+57
a, 57b, . . . position detection signal curve. #3 Figure Oina 4 Figure 36bi (・machine f4) Kei 5 Painter Inzu Wakazu

Claims (3)

[Claims] (1) In an automobile power steering device, a steering wheel torque detection device detects the forward/reverse direction of the manual steering wheel and the applied torque, and generates a corresponding forward/reverse electric signal and an electric signal proportional to the applied torque, respectively, and a manual steering wheel. A helical gear fixed to the end of a rotating shaft driven by a helical gear, a helical rack gear meshed with the helical gear and driven reciprocally, a wheel driven and steered by both ends of the helical rack gear, and a direct current A planetary gear device in which a sun gear is driven by the output rotating shaft of the electric motor, the above-described helical rack gear driven by the output rotating shaft of the star gear of the planetary gear device via a reduction gear, and a ring gear of the planetary gear device. The ring gear is fitted into a semicircular recess provided on the outer circular rotating surface to prevent rotation of the ring gear, and when a torque exceeding a set value is applied to the star gear, it is detached from the recess. A rotary lever device has a fitting end that rotatably holds a ring gear, and when energized, the fitting end is elastically pressed against a recess of the ring gear, and when the energization is cut off, the engaging end is pressed against the recess of the ring gear. An electromagnetic device that holds the mating ends apart from each other, and energization control that energizes the electromagnetic device when the car is driving at a set low speed, and cuts off the power to the electromagnetic device when the car is driving at a set low speed. When a torque exceeding a set value is applied to the circuit and the star gear described above by driving the manual handle, and the fitting end of the rotary lever device is disengaged from the recess of the ring gear, it is activated by a disengagement operation. A circuit breaker device that stops and maintains the energization of the DC motor and electromagnetic device by opening and closing an electric switch, and an output electric signal from the steering wheel torque generating device control the energization of the DC motor, thereby controlling the power of the manual handle. An electric power handle device comprising a servo circuit that maintains a required torque at a predetermined value during forward and reverse rotation. (2) In an automobile power steering device, a steering wheel torque detection device detects the forward/reverse direction of the manual steering wheel and the applied torque, and generates a corresponding forward/reverse electric signal and an electric signal proportional to the applied torque, respectively, and a manual steering wheel. A helical gear fixed to the end of a rotating shaft driven by a helical gear, a helical rack gear meshed with the helical gear and driven reciprocally, a wheel driven and steered by both ends of the helical rack gear, and a direct current A planetary gear device in which a sun gear is driven by the output rotating shaft of the electric motor, the above-described helical rack gear driven by the output rotating shaft of the star gear of the planetary gear device via a reduction gear, and a ring gear of the planetary gear device. The ring gear is fitted into a semicircular recess provided on the outer circular rotating surface to prevent rotation of the ring gear, and when a torque exceeding a set value is applied to the star gear, it is detached from the recess. a rotating lever device having a fitting end portion that rotatably holds a ring gear; a resilient member provided on the rotating lever device so as to press the fitting end portion into a recessed portion of the ring gear; A mechanical chain that maintains the state when a torque exceeding a set value is applied to the star gear by driving the manual handle and the fitting end of the rotary lever device is disengaged from the recess of the ring gear. In a state where the locking device and the above-mentioned fitting end portion are fitted into the recess on the outside of the above-mentioned ring gear, the first The ring gear torque detection device from which the second electric signal is obtained and the output electric signal of the above-mentioned handle torque detection device control the energization of the DC motor to maintain the required torque at a predetermined value when the manual handle is rotated in the forward and reverse directions. The helical gear is controlled by a servo circuit that operates the helical gear using the first and second electric signals obtained from the ring gear torque detection device only in the case of a return handle, that is, when the output electric signal of the above-mentioned handle torque detection device disappears. An electric power handle device comprising a return handle servo circuit that controls energization of a DC motor so that the rotation shaft is driven in the direction of the return handle with a predetermined torque. (3) An electric power handle device according to either claim (1) or (2), characterized in that a reluctance type electric motor is used as the DC motor.