JPH0244614Y2 - - Google Patents
Info
- Publication number
- JPH0244614Y2 JPH0244614Y2 JP1984031649U JP3164984U JPH0244614Y2 JP H0244614 Y2 JPH0244614 Y2 JP H0244614Y2 JP 1984031649 U JP1984031649 U JP 1984031649U JP 3164984 U JP3164984 U JP 3164984U JP H0244614 Y2 JPH0244614 Y2 JP H0244614Y2
- Authority
- JP
- Japan
- Prior art keywords
- steering
- rod member
- output
- torque
- electric motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 238000001514 detection method Methods 0.000 claims description 11
- 238000000605 extraction Methods 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000006866 deterioration Effects 0.000 description 1
- 238000009429 electrical wiring Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000004043 responsiveness Effects 0.000 description 1
Description
【考案の詳細な説明】
本願考案は、産業車両、特にカウンターウエイ
トタイプのフオークリフトなどに好適な、操向伝
動がウオーム式である電動式動力舵取装置のアク
チユエータの構造、およびそれを用いたシステム
に関する。[Detailed description of the invention] The present invention provides a structure of an actuator for an electric power steering device with a worm-type steering transmission, which is suitable for industrial vehicles, especially counterweight type forklifts, and an actuator using the same. Regarding the system.
舵取装置には手動式のものと動力式のものがあ
り、後者は特に据切時など大きな操舵力が必要と
される時にも動力でこれをカバーないし代替して
操舵力を軽減するものである。この後者の動力舵
取装置には、更に、電気式のものと油圧式のもの
がある。 There are two types of steering gear: manual type and power type.The latter uses power to compensate for or replace the steering force when a large amount of steering force is required, such as when the vehicle is stationary. be. The latter type of power steering device further includes an electric type and a hydraulic type.
電気式動力舵取装置は油圧式動力舵取装置と比
較して、常時エンジン直結で駆動する動力源とし
ての油ポンプの如きものが必要ないので、エンジ
ン馬力の損失がないこと、作動原理上当然に油圧
作動油を使用しないから作動油の洩れ、汚れ、劣
化等の心配がなくメンテナンスがやりやすいこ
と、油圧配管の必要がなく代わつて電気配線です
むから組付けが容易であること、油圧制御弁のよ
うな高精度でデリケートな装置が必要でないので
安価なシステムが期待できること等のメリツトが
考えられるが、寸法、動力伝達効率の点で実用化
を困難にしている。 Compared to hydraulic power steering devices, electric power steering devices do not require something like an oil pump as a power source that is constantly connected directly to the engine, so there is no loss of engine horsepower, which is natural due to the operating principle. Since no hydraulic fluid is used in the system, there is no need to worry about hydraulic fluid leakage, dirt, or deterioration, and maintenance is easy; there is no need for hydraulic piping, and only electrical wiring is required, making installation easy; and hydraulic control. Although this method may have the advantage of being a low-cost system because it does not require highly precise and delicate devices such as valves, it is difficult to put it into practical use due to dimensions and power transmission efficiency.
回転運動をリニアな運動に変換する装置として
は、ラツクピニオン式のものやウオーム式（ボー
ルスクリユー式）のものがある。ところで、電動
機の故障等、転舵動力補助を行なえない非常時に
は手動のみで転舵しなければならないことを考慮
する必要がある。ラツクピニオン式の変換装置を
用いた操舵装置において、そのような場合に大き
な操舵負荷を受けることを想定すると、ギヤ比を
大きく（ラツクピニオンにおいてはピニオン１回
転あたりのラツクストロークが小さくなるよう
に）設定しなければならなくなり、そうするとピ
ニオンギヤの有効径が小さくなりすぎるという問
題を生じてしまう。従つて、ラツクピニオン式の
変換装置を用いた操舵装置は、カウンターウエイ
トタイプのフオークリフトなどのような比較的大
きな操舵負荷が加わる操舵装置としては使用でき
ない訳である。また、カウンターウエイトタイプ
のフオークリフトなどに使用するには、操向輪が
後輪であるため、搭載レイアウト上使用できない
という問題もある。 There are rack and pinion type devices and worm type (ball screw type) devices for converting rotational motion into linear motion. By the way, it is necessary to take into account that in an emergency, such as when a motor breaks down, steering power assistance cannot be performed, the steering must be performed only manually. In a steering system that uses a rack and pinion type conversion device, assuming that it will receive a large steering load in such a case, the gear ratio should be increased (for a rack and pinion, so that the rack stroke per pinion rotation is small). If this happens, a problem arises in that the effective diameter of the pinion gear becomes too small. Therefore, a steering system using a rack and pinion conversion device cannot be used as a steering system that is subject to a relatively large steering load, such as a counterweight type forklift. Furthermore, there is also the problem that when used in a counterweight type forklift, etc., the steering wheel is the rear wheel, so it cannot be used due to the mounting layout.
したがつて、本願考案においてはラツクピニオ
ン式ではなくウオーム（ボールスクリユー）式の
操向伝動装置を対象としている。 Therefore, the present invention is directed to a worm (ball screw) type steering transmission device rather than a rack and pinion type.
更に、本願考案は、その動力補助機構におい
て、前記操向伝動装置の転舵装置の一端で連結し
ていて、電動機の出力に応じてリニアな運動を行
なうロツド部材を配し、該ロツド部材に雄ねじ部
分があり、その外周にはラツクが形成されてい
て、該ラツクはピニオンと噛みあつている。その
結果、雄ねじおよび雌ねじのねじ噛合部のラジア
ル方向の剛性は比較的小さくなり、加工精度や摩
耗によりロツド部材と雄ねじの軸心が多少ずれて
もスムーズに回転し得ることとなる。 Further, in the power assisting mechanism of the present invention, a rod member is arranged, which is connected to one end of the steering device of the steering transmission device and performs a linear movement according to the output of the electric motor, and There is a male threaded portion, and a rack is formed on its outer periphery, and the rack meshes with the pinion. As a result, the rigidity in the radial direction of the threaded engagement portion of the male thread and the female thread becomes relatively small, and even if the axes of the rod member and the male thread are slightly misaligned due to machining accuracy or wear, the rod member can rotate smoothly.
また、ラツクと噛みあうピニオンは、雌ねじの
長手軸線を回りの回転を止める（この回転を止め
ることにより、運動リニア変換が達成される。）
と共に、このピニオン軸にポテンシヨメータ等の
検出器を取り付けることにより、アクチユエータ
の作動位置および速度等を検出することができ
る。 The pinion that engages the rack also stops rotation about the longitudinal axis of the internal thread (by stopping this rotation, linear translation of motion is achieved).
In addition, by attaching a detector such as a potentiometer to this pinion shaft, the operating position and speed of the actuator can be detected.
このアクチユエータの作動位置を検出できれ
ば、その検出に基づき車輪の操向位置を運転者に
表示することができたり、基本的なトルクによる
制御のほかに位置や速度の制御を加えて、操舵の
遅れや振動を効果的に防止することができる。 If the operating position of this actuator can be detected, the steering position of the wheels can be displayed to the driver based on that detection, or position and speed control can be added to basic torque control to delay steering. and vibration can be effectively prevented.
以下、図面に拠つて本考案の実施例を説明す
る。第１図及び第２図において、１はハンドル、
２はハンドル１が取付けられたハンドル軸、３は
ハンドル軸２に設けられ例えばトーシヨンバーな
どを含むトルク検出器、３０は回転運動を直線運
動変換するウオーム式のギヤ機構であり、ピツト
マンアーム３１を含んでおり、４はハンドル１の
操舵に応じて操向車輪５を転舵させるための転舵
機構、６は一端において転舵機構４にリンク結合
された転舵ロツド部材であるラツク軸、７は、ラ
ツク軸６の他端部に設けられたボールねじ機構２
１を介して出力をラツク軸６に伝達する電動機、
８はラツク軸６の中間部に形成されたラツク部２
２に噛合いラツク軸６の長手軸を中心とする回転
の防止機能をも担うピニオン２３を含む検出装
置、９はラツク軸６を長手軸方向に可動に支持す
る車両固定の支持部材、１０はラツク軸６の中間
部に連結されて転舵機構４側からトルクを取出し
ハンドル軸２との間に設けられたトルク検出器３
にこのトルクを伝えるトルク取出し機構である。
そして、トルク検出器３からのトルク信号と、検
出装置８からの、ラツク軸６の静的ないし動的状
態を示すラツク軸位置、ラツク軸速度などの信号
とは制御手段１１に出力され、ここで予め定めら
れたようにこれらの信号が処理され電動機制御信
号が制御手段１１から電動機７に出力される。１
２は制御手段１１の電源である。 Embodiments of the present invention will be described below with reference to the drawings. In Figures 1 and 2, 1 is a handle;
2 is a handle shaft to which the handle 1 is attached; 3 is a torque detector provided on the handle shaft 2 and includes, for example, a torsion bar; 30 is a worm-type gear mechanism that converts rotational motion into linear motion; 4 is a steering mechanism for steering the steering wheel 5 in accordance with the steering of the steering wheel 1; 6 is a rack shaft which is a steering rod member linked to the steering mechanism 4 at one end; and 7 is Ball screw mechanism 2 provided at the other end of the rack shaft 6
an electric motor transmitting its output via 1 to a rack shaft 6;
8 is a rack part 2 formed in the middle part of the rack shaft 6.
2 is a detection device including a pinion 23 which also has the function of preventing rotation about the longitudinal axis of the meshing rack shaft 6; 9 is a support member fixed to the vehicle that supports the rack shaft 6 movably in the longitudinal axis direction; A torque detector 3 is connected to the middle part of the rack shaft 6 and extracts torque from the steering mechanism 4 side, and is provided between it and the handle shaft 2.
It is a torque extraction mechanism that transmits this torque to.
Then, the torque signal from the torque detector 3 and the signals such as the rack shaft position and rack shaft speed indicating the static or dynamic state of the rack shaft 6 from the detection device 8 are outputted to the control means 11. These signals are processed in a predetermined manner and a motor control signal is output from the control means 11 to the motor 7. 1
2 is a power source for the control means 11;
上記構成において、ラツク軸６の長手軸方向の
動きにより転舵機構４を構成する伝達板１５が軸
１６の回りに回動され、更にこの回動運動は伝達
板１５に夫々内端をリンク結合されたロツド部材
１７，１８及びナツクルアーム１９，２０を介し
て車輪５に伝えられこれを転舵する。 In the above configuration, the movement of the rack shaft 6 in the longitudinal axis direction causes the transmission plate 15 constituting the steering mechanism 4 to rotate around the shaft 16, and this rotational movement further links the inner ends of the respective transmission plates 15 to each other. It is transmitted to the wheels 5 via the rod members 17, 18 and knuckle arms 19, 20, and steers the wheels.
検出装置８において、ラツク軸６の位置、速度
はこれのラツク部２２と噛合うピニオン２３の回
転位置、回転位置の変化に基づいて検出され、こ
れら検出された信号はハンドル操舵角指示、制御
特性のダンピングや応答性の向上などのために使
用される。 In the detection device 8, the position and speed of the rack shaft 6 are detected based on the rotational position and change in the rotational position of the pinion 23 that meshes with the rack portion 22, and these detected signals are used to indicate the steering angle of the steering wheel and control characteristics. It is used for damping and improving responsiveness.
以上の如き構成に基づいて、動力操舵時に検出
されたトルクや転舵速度などに応じて、適当な出
力が得られるように電動機７を制御手段１１によ
り制御し、これによりラツク軸５、転舵機構４を
介して車輪５を転舵する。 Based on the above configuration, the electric motor 7 is controlled by the control means 11 so as to obtain an appropriate output according to the torque detected during power steering, the steering speed, etc. The wheels 5 are steered via the mechanism 4.
本実施例においては、ハンドル軸２側と転舵機
構４側とがトルク取出し機構１０を介して機械的
に繋がつているので、電動機７からラツク軸６に
動力が出力されない場合にもマニユアル操舵が可
能である。 In this embodiment, since the handle shaft 2 side and the steering mechanism 4 side are mechanically connected via the torque extraction mechanism 10, manual steering is possible even when no power is output from the electric motor 7 to the easy shaft 6. It is possible.
以上の如く、本考案によれば、ハンドル軸側の
系統とは別個に転舵ロツド部材が設けられ、電動
機からの動力がねじ機構、転舵ロツド部材、転舵
ロツド部材の一端が連結された転舵機構を介して
車輪に伝えられてこれを転舵する構造となつてい
るので、本考案の装置は各部の空間配置性に優れ
ハンドル軸の前方に空間的余裕がないような車に
おいても楽に装備が可能で、更に転舵ロツド部材
のところにこれの動的ないし静的状態を検出する
検出装置が容易に配設できて操舵応答性能や制御
特性のダンピングの向上も簡単に図ることができ
る。 As described above, according to the present invention, the steering rod member is provided separately from the system on the handle shaft side, and the power from the electric motor is connected to the screw mechanism, the steering rod member, and one end of the steering rod member. Since the information is transmitted to the wheels via the steering mechanism to steer the wheels, the device of this invention has excellent spatial arrangement of each part and can be used even in cars where there is not enough space in front of the steering wheel shaft. It can be easily installed, and a detection device that detects the dynamic or static state of the steering rod member can be easily installed, making it easy to improve steering response performance and damping of control characteristics. can.
第１図は本考案の実施例を説明するための平面
図、第２図はこの実施例の主要部の断面図であ
る。
主要部分の符号の説明、１……ハンドル、２…
…ハンドル軸、３……トルク検出手段、４……転
舵機構、６……転舵ロツド部材、７……電動機、
１１……制御手段、２１……ボールねじ機構、２
２……ラツク部、２３……ピニオン。
FIG. 1 is a plan view for explaining an embodiment of the present invention, and FIG. 2 is a sectional view of the main parts of this embodiment. Explanation of symbols of main parts, 1...handle, 2...
... Handle shaft, 3 ... Torque detection means, 4 ... Steering mechanism, 6 ... Steering rod member, 7 ... Electric motor,
11...control means, 21...ball screw mechanism, 2
2...Rack section, 23...Pinion.
Claims (1)
該ハンドル軸に設けられたトルク検出手段３と、
該ハンドルの操舵に応じて操向車輪を転舵させる
ためのウオーム式のギヤ機構３０と、該ギヤ機構
に続くトルク取出し機構１０と、該トルク取出し
機構に続く転舵機構４と、一端において前記転舵
機構に連結された転舵ロツド部材６と、出力をね
じ機構２１を介して該転舵ロツド部材に伝達する
電動機７と、該トルク検出手段からのトルク信号
を含む制御信号に基づいて該電動機を制御する制
御手段１１を有する電気式動力舵取装置におい
て、 前記転舵ロツド部材は、ボールねじ機構部２１
を有し、該ボールねじ機構部を介して前記電動機
の出力に応じて移動し、その結果、前記転舵機構
に動力補助し、 更に、前記ロツド部材は、外周にラツク部２２
を有し、該ラツク部と噛み合うピニオン２３と、
該ピニオンの回転位置および速度を検出する検出
器とからなる検出手段が設けられ、該検出手段に
より検出される検出信号が前記制御手段に入力さ
れ、操舵トルクに加えて操舵位置および転舵速度
に応じて、前記電動機の出力が制御されることを
特徴とする電気式動力舵取装置。[Claims for Utility Model Registration] A handle shaft 2 to which a handle 1 is attached;
Torque detection means 3 provided on the handle shaft;
A worm-type gear mechanism 30 for steering the steering wheels in accordance with the steering of the handle, a torque extraction mechanism 10 following the gear mechanism, and a steering mechanism 4 following the torque extraction mechanism; A steering rod member 6 connected to a steering mechanism, an electric motor 7 that transmits an output to the steering rod member via a screw mechanism 21, and a steering rod member 6 that transmits an output to the steering rod member via a screw mechanism 21, and a steering rod member 6 that transmits an output to the steering rod member through a screw mechanism 21. In an electric power steering device having a control means 11 for controlling an electric motor, the steering rod member includes a ball screw mechanism section 21.
The rod member has a rack portion 22 on its outer periphery, and moves according to the output of the electric motor via the ball screw mechanism, thereby providing power assistance to the steering mechanism.
and a pinion 23 that meshes with the rack portion;
Detection means consisting of a detector for detecting the rotational position and speed of the pinion is provided, and a detection signal detected by the detection means is input to the control means, and in addition to the steering torque, the detection signal is inputted to the steering position and turning speed. An electric power steering device characterized in that the output of the electric motor is controlled accordingly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3164984U JPS60144572U (en) | 1984-03-07 | 1984-03-07 | Electric power steering device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3164984U JPS60144572U (en) | 1984-03-07 | 1984-03-07 | Electric power steering device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS60144572U JPS60144572U (en) | 1985-09-25 |
| JPH0244614Y2 true JPH0244614Y2 (en) | 1990-11-27 |
Family
ID=30532437
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3164984U Granted JPS60144572U (en) | 1984-03-07 | 1984-03-07 | Electric power steering device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60144572U (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6634063B2 (en) * | 2017-11-27 | 2020-01-22 | 本田技研工業株式会社 | Wheel steering device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS581426B2 (en) * | 1979-12-06 | 1983-01-11 | 川崎 従道 | Method for preparing working models and equipment used therein |
| US4415054A (en) * | 1982-08-05 | 1983-11-15 | Trw Inc. | Steering gear |
| JPS5931564B2 (en) * | 1977-08-31 | 1984-08-02 | 石川島播磨重工業株式会社 | Distribution chute control device for bellless furnace top charging equipment |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS581426U (en) * | 1981-06-26 | 1983-01-07 | 株式会社今仙電機製作所 | Electric wheelchair power steering control device |
| JPS5931564U (en) * | 1982-08-25 | 1984-02-27 | 株式会社日立製作所 | power steering control device |
-
1984
- 1984-03-07 JP JP3164984U patent/JPS60144572U/en active Granted
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5931564B2 (en) * | 1977-08-31 | 1984-08-02 | 石川島播磨重工業株式会社 | Distribution chute control device for bellless furnace top charging equipment |
| JPS581426B2 (en) * | 1979-12-06 | 1983-01-11 | 川崎 従道 | Method for preparing working models and equipment used therein |
| US4415054A (en) * | 1982-08-05 | 1983-11-15 | Trw Inc. | Steering gear |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS60144572U (en) | 1985-09-25 |
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