JPH0412863Y2 - - Google Patents
Info
- Publication number
- JPH0412863Y2 JPH0412863Y2 JP1984184704U JP18470484U JPH0412863Y2 JP H0412863 Y2 JPH0412863 Y2 JP H0412863Y2 JP 1984184704 U JP1984184704 U JP 1984184704U JP 18470484 U JP18470484 U JP 18470484U JP H0412863 Y2 JPH0412863 Y2 JP H0412863Y2
- Authority
- JP
- Japan
- Prior art keywords
- shaft
- steering
- electric motor
- flexible shaft
- 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
- 230000007423 decrease Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 239000011810 insulating material Substances 0.000 description 1
Description
【考案の詳細な説明】
［産業上の利用分野］
本考案は車両の電動機駆動舵取装置に関するも
のである。[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a motor-driven steering device for a vehicle.
［従来の技術］
ハンドルの操作方向に応じて電動機を正・逆回
転させる舵取装置では、ハンドルの切り返し時、
操舵軸に作用するトルクの正・負に応じて電動機
が正・逆転されるために、電動機の動作速度がハ
ンドルの操作速度に追いつかず、操舵感が重くな
るという欠点がある。[Prior art] In a steering device that rotates an electric motor forward or backward depending on the direction of steering wheel operation, when the steering wheel is turned back,
Since the electric motor is rotated in the positive or reverse direction depending on whether the torque acting on the steering shaft is positive or negative, the operating speed of the electric motor cannot keep up with the operating speed of the steering wheel, resulting in a heavy steering feel.
そこで、ハンドルの切り返し時だけ電動機の回
転速度を速くし、その後はハンドルの操作速度に
応じて減速するチヨツパ回路を電動機の通電回路
に備えたものが、例えば実開昭58−188751号公報
に開示されている。 Therefore, for example, a device is disclosed in Japanese Utility Model Application Publication No. 188751/1983, in which the motor's energizing circuit is equipped with a chopper circuit that increases the rotational speed of the motor only when the steering wheel is turned, and then decelerates it according to the operating speed of the steering wheel. has been done.
しかし、上述の電動機駆動舵取装置は、操舵軸
の回転方向を検出して電動機を正・逆回転させる
が、回路構成がかなり複雑である。特に、回転セ
ンサの検出信号を取り出す回路に電気的接触不良
や断線が生じると、電動機の回転速度が急に速く
なり、操向の安全性が損われるので、そのための
安全回路は不可欠である。 However, although the above-mentioned electric motor-driven steering device detects the direction of rotation of the steering shaft and rotates the electric motor in forward and reverse directions, the circuit configuration is quite complicated. In particular, if a poor electrical connection or disconnection occurs in the circuit that extracts the detection signal of the rotation sensor, the rotational speed of the motor will suddenly increase, impairing the safety of steering, so a safety circuit for this purpose is essential.
［考案が解決しようとする問題点］
本考案の目的は電動機の駆動軸と操舵軸との間
に正・逆転歯車機構と１対の電磁クラツチを設
け、電動機は同一方向に回転したまま、トルクセ
ンサの信号に基づき電磁クラツチを選択的に接続
し、電動機の回転を操舵軸へ伝達する、電動機駆
動舵取装置を提供することにある。[Problems to be solved by the invention] The purpose of the invention is to provide a forward/reverse gear mechanism and a pair of electromagnetic clutches between the drive shaft and the steering shaft of the electric motor, so that the electric motor remains rotated in the same direction while maintaining torque. An object of the present invention is to provide a motor-driven steering device that selectively connects an electromagnetic clutch based on a sensor signal and transmits the rotation of an electric motor to a steering shaft.
［問題点を解決するための手段］
上記目的を達成するために、本考案の構成は電
動機の駆動軸と操舵軸との間に正転歯車機構と逆
転歯車機構とを接続し、電動機の回転を各歯車機
構を経て操舵軸へ伝達する１対の電磁クラツチを
備え、ハンドル軸と操舵軸との間に可撓軸を連結
し、可撓軸に備えたトルクセンサの信号により、
電磁クラツチの一方を接続するようにしたもので
ある。[Means for Solving the Problems] In order to achieve the above object, the configuration of the present invention connects a forward rotation gear mechanism and a reverse rotation gear mechanism between the drive shaft and the steering shaft of the electric motor, so that the rotation of the electric motor A flexible shaft is connected between the handle shaft and the steering shaft, and a signal from a torque sensor provided on the flexible shaft is used to
It is designed to connect one side of an electromagnetic clutch.
［作用］
電動機は常に同一方向へ回転される。トルクセ
ンサの検出トルクの正・負により１対の電磁クラ
ツチの一方を接続し、電動機の回転を歯車機構を
経て操舵軸へ伝達する。電動機の回転は電磁クラ
ツチにより瞬時に操舵軸へ伝達されるので、ハン
ドルの切り返しに対し追随性の優れた操舵特性が
得られる。[Operation] The electric motor is always rotated in the same direction. Depending on whether the torque detected by the torque sensor is positive or negative, one of a pair of electromagnetic clutches is connected, and the rotation of the electric motor is transmitted to the steering shaft via a gear mechanism. Since the rotation of the electric motor is instantaneously transmitted to the steering shaft by the electromagnetic clutch, excellent steering characteristics can be obtained that follow the turning of the steering wheel.
［考案の実施例］
第１図に示すように、車体に固定されるハウジ
ング８に軸受７，１１により、操舵軸１６が回転
可能に支持され、操舵軸１６の下端部に形成した
ピニオン１６ａがラツク杆１０に噛み合され、ラ
ツク杆１０の左右移動により操向車輪の向きが変
更される。操舵軸１６の上端部はシール部材４
（第２図）を経てハウジング８の外部へ突出され
る。操舵軸１６の上端部に可撓軸（トーシヨンバ
ー）１７を介して、ハンドルを結合するハンドル
軸２が連結される。可撓軸１７の捩れを検出する
トルクセンサ３６の信号は制御装置２１へ入力さ
れる。[Embodiment of the invention] As shown in FIG. 1, a steering shaft 16 is rotatably supported by bearings 7 and 11 in a housing 8 fixed to the vehicle body, and a pinion 16a formed at the lower end of the steering shaft 16 is rotatably supported by a housing 8 fixed to the vehicle body. The steering wheel is engaged with the rack rod 10, and the direction of the steering wheel is changed by moving the rack rod 10 from side to side. The upper end of the steering shaft 16 is provided with a seal member 4
(FIG. 2) and is projected to the outside of the housing 8. A handle shaft 2 to which a handle is connected is connected to the upper end of the steering shaft 16 via a flexible shaft (torsion bar) 17. A signal from the torque sensor 36 that detects the twist of the flexible shaft 17 is input to the control device 21 .
ハウジング８の内部に直流電動機１３が収容さ
れ、操舵軸１６と平行をなす電動機１３の駆動軸
の両端部に、電磁クラツチＡ，Ｂが備えられる。
駆動軸と操舵軸１６との間に正転歯車機構と逆転
歯車機構が接続される。すなわち、操舵軸１６に
歯車６と歯車９がそれぞれ結合される。電動機１
３により電磁クラツチＡを介して駆動される歯車
１４は、逆転歯車１５を経て歯車６と噛み合され
る。電動機１３により電磁クラツチＢを介して駆
動される歯車１２は、歯車９と噛み合される。各
電磁クラツチＡ，Ｂは制御装置２１の出力により
接続または遮断される。 A DC motor 13 is housed inside the housing 8, and electromagnetic clutches A and B are provided at both ends of a drive shaft of the motor 13 that is parallel to the steering shaft 16.
A forward gear mechanism and a reverse gear mechanism are connected between the drive shaft and the steering shaft 16. That is, the gear 6 and the gear 9 are respectively coupled to the steering shaft 16. Electric motor 1
The gear 14 driven by the gear 3 through the electromagnetic clutch A is meshed with the gear 6 via the reversing gear 15. A gear 12 driven by an electric motor 13 via an electromagnetic clutch B is meshed with the gear 9. Each electromagnetic clutch A, B is connected or disconnected by the output of the control device 21.
第２図に示すように、可撓軸１７の下端部は操
舵軸１６にスプラインまたはピンにより結合さ
れ、可撓軸１７の上端部は同様にハンドルを軸２
に連結される。可撓軸１７に絶縁材を介して電極
板３が結合される。ハウジング８に絶縁板を介し
て電極板３に接触するブラシ３ａが支持される。
可撓軸１７に固定した歪みゲージ３６ａは、可撓
軸１７の捩れに伴う抵抗変化を電圧として、電極
板３とブラシ３ａを介して制御装置２１へ入力す
る。 As shown in FIG. 2, the lower end of the flexible shaft 17 is connected to the steering shaft 16 by a spline or pin, and the upper end of the flexible shaft 17 similarly connects the steering wheel to the steering shaft 16.
connected to. The electrode plate 3 is coupled to the flexible shaft 17 via an insulating material. A brush 3a that contacts the electrode plate 3 is supported by the housing 8 via an insulating plate.
A strain gauge 36a fixed to the flexible shaft 17 inputs the change in resistance caused by the twisting of the flexible shaft 17 as a voltage to the control device 21 via the electrode plate 3 and the brush 3a.
第３図は電動機１３と電磁クラツチＡ，Ｂを駆
動する電気回路図である。電源バツテリ２３と歪
みゲージ３６ａを含むブリツジ回路によりトルク
センサ３６が構成され、トルクセンサ３６の出力
は、制御増幅器２８と各比較増幅器２６，２７へ
加えられる。制御増幅器２８の出力によりトラン
ジスタ２９が導通されると、電源バツテリ２０か
ら電動機１３へ通電される。各比較増幅器２６，
２７には抵抗からなる基準電圧発生器２４，２５
が接続される。各比較増幅器２６，２７の出力信
号により各トランジスタ１８，１９が導通される
と、電源バツテリ２０から電磁クラツチＡまたは
Ｂへ通電される。好ましくは、制御増幅器２８は
トルクセンサ３６の検出電圧に応じて、電動機１
３の電流を変化させ、電動機１３の回転速度を制
御するよう構成される。 FIG. 3 is an electrical circuit diagram for driving the electric motor 13 and electromagnetic clutches A and B. A torque sensor 36 is constituted by a bridge circuit including a power supply battery 23 and a strain gauge 36a, and the output of the torque sensor 36 is applied to a control amplifier 28 and each comparison amplifier 26, 27. When the transistor 29 is turned on by the output of the control amplifier 28, the electric motor 13 is energized from the power battery 20. each comparison amplifier 26,
27 is a reference voltage generator 24, 25 consisting of a resistor.
is connected. When each transistor 18, 19 is turned on by the output signal of each comparator amplifier 26, 27, power is supplied from the power supply battery 20 to the electromagnetic clutch A or B. Preferably, the control amplifier 28 controls the electric motor 1 according to the detected voltage of the torque sensor 36.
The rotational speed of the electric motor 13 is controlled by changing the current of the electric motor 13.
次に、本考案による電動機駆動舵取装置の作動
について説明する。第４図に示すように、歪みゲ
ージ３６ａは可撓軸１７が左回転されると抵抗値
が減少し、右回転されると抵抗値が増加するよう
に構成される。 Next, the operation of the motor-driven steering device according to the present invention will be explained. As shown in FIG. 4, the strain gauge 36a is configured such that when the flexible shaft 17 is rotated to the left, the resistance value decreases, and when the flexible shaft 17 is rotated to the right, the resistance value increases.
ハンドル軸２を左へ回転すると、操向車輪の抵
抗力を受ける可撓軸１７に捩れが生じる。可撓軸
１７の捩れはトルクセンサ３６としての歪みゲー
ジ３６ａにより電圧に変換され、電極板３、ブラ
シ３ａを経て制御増幅器２８へ加えられる。トル
クセンサ３６の出力電圧がV1よりも低くなると、
比較増幅器２６の出力電圧によりトランジスタ１
８が導通され、電源バツテリ２０から電磁クラツ
チＡへ通電され、電磁クラツチＡが接続される。 When the handle shaft 2 is rotated to the left, the flexible shaft 17 that receives the resistance force of the steering wheel is twisted. The torsion of the flexible shaft 17 is converted into voltage by a strain gauge 36a serving as a torque sensor 36, and is applied to the control amplifier 28 via the electrode plate 3 and the brush 3a. When the output voltage of the torque sensor 36 becomes lower than V 1 ,
Transistor 1 due to the output voltage of comparison amplifier 26
8 is made conductive, power is supplied from the power supply battery 20 to the electromagnetic clutch A, and the electromagnetic clutch A is connected.
トルクセンサ３６の出力電圧に基づく制御増幅
器２８の出力によりトランジスタ２９が導通さ
れ、電源バツテリ２０からトランジスタ２９を経
て電動機１３へ通電される。 The transistor 29 is made conductive by the output of the control amplifier 28 based on the output voltage of the torque sensor 36, and current is passed from the power battery 20 to the motor 13 through the transistor 29.
第１図において電磁クラツチＡが接続される
と、電動機１３は歯車１４，１５，１６を経て操
舵軸１６を左回転させるので、ハンドル軸２に僅
かな操舵力を加えるだけで、電動機１３による舵
取操作が達せられる。 In FIG. 1, when the electromagnetic clutch A is connected, the electric motor 13 rotates the steering shaft 16 to the left via the gears 14, 15, 16, so that by applying only a small steering force to the handle shaft 2, the electric motor 13 can steer the steering shaft 16 to the left. transaction is accomplished.
ハンドル軸２の回転を止めると、可撓軸１７の
捩れが解消するので、トルクセンサ３６の出力電
圧がV1よりも高くなると、比較増幅器２６の出
力電圧が低くなり、トランジスタ１８が不導通に
なり、電磁クラツチＡが遮断され、操向車輪の向
きがその位置に保持される。 When the rotation of the handle shaft 2 is stopped, the twist of the flexible shaft 17 is resolved, so when the output voltage of the torque sensor 36 becomes higher than V1 , the output voltage of the comparison amplifier 26 becomes lower, and the transistor 18 becomes non-conductive. Then, the electromagnetic clutch A is disconnected and the orientation of the steering wheel is maintained at that position.
逆に、ハンドルを右へ回転すると、トルクセン
サ３６の出力電圧が高くなる。トルクセンサ３６
の出力電圧がV2よりも高くなると、比較増幅器
２７の出力によりトランジスタ１９が導通され、
電源バツテリ２０から電磁クラツチＢへ通電さ
れ、電磁クラツチＢが接続される。この時、第１
図において電動機１３は歯車１２，９を経て、操
舵軸１６を右回転させる。 Conversely, when the steering wheel is rotated to the right, the output voltage of the torque sensor 36 increases. Torque sensor 36
When the output voltage of becomes higher than V 2 , the output of the comparator amplifier 27 turns on the transistor 19,
Electricity is supplied from the power battery 20 to the electromagnetic clutch B, and the electromagnetic clutch B is connected. At this time, the first
In the figure, the electric motor 13 rotates the steering shaft 16 to the right via gears 12 and 9.
電動機１３は直流電動機であるから、回転速度
を一定とすれば電圧の増減はトルクの増減とな
る。ハンドルの操作速度が一定の場合は、路面の
抵抗に関連して可撓軸１７に加わるトルクが増大
するにつれて電動機１３のトルクも増大し、軽快
な舵取操作が維持される。 Since the electric motor 13 is a DC motor, if the rotational speed is kept constant, an increase or decrease in voltage will result in an increase or decrease in torque. When the operating speed of the steering wheel is constant, as the torque applied to the flexible shaft 17 increases in relation to the resistance of the road surface, the torque of the electric motor 13 also increases, and a light steering operation is maintained.
第５図に示す実施例では、操舵軸１６に電磁ク
ラツチＡ，Ｂを介して相対向する１対の傘歯車３
２，３３を支持し、両方の傘歯車３２，３３に噛
み合う傘歯車３１を電動機１３の駆動軸３４に結
合したものである。この実施例でも、電動機１３
は常に同一方向に回転するだけで、電磁クラツチ
Ａ，Ｂの一方を接続すると、傘歯車３１の回転は
傘歯車３２または傘歯車３３を経て操舵軸１６へ
伝達される。傘歯車３２と傘歯車３３は互いに反
対方向に回転するから、操舵軸１６も左または右
へ回転される。 In the embodiment shown in FIG.
A bevel gear 31 that supports both bevel gears 32 and 33 and meshes with both bevel gears 32 and 33 is coupled to a drive shaft 34 of an electric motor 13. In this embodiment as well, the electric motor 13
always rotate in the same direction, and when one of the electromagnetic clutches A and B is connected, the rotation of the bevel gear 31 is transmitted to the steering shaft 16 via the bevel gear 32 or 33. Since the bevel gear 32 and the bevel gear 33 rotate in opposite directions, the steering shaft 16 is also rotated to the left or right.
［考案の効果］
本考案は上述のように電動機の駆動軸と操舵軸
との間に正転歯車機構と逆転歯車機構とを接続
し、電動機の回転を各歯車機構を経て操舵軸へ伝
達する１対の電磁クラツチを備え、ハンドル軸と
操舵軸との間に可撓軸を連結し、可撓軸に備えた
トルクセンサの信号により、電磁クラツチの一方
を接続するようにしたから、各電磁クラツチの動
作は操舵軸とハンドル軸との間に連結した可撓軸
の捩れと捩れ方向を検出するトルクセンサの信号
に基づく制御装置の出力信号により制御される。[Effects of the invention] As described above, the invention connects a forward rotation gear mechanism and a reverse rotation gear mechanism between the drive shaft and the steering shaft of the electric motor, and transmits the rotation of the electric motor to the steering shaft through each gear mechanism. It is equipped with a pair of electromagnetic clutches, a flexible shaft is connected between the handle shaft and the steering shaft, and one of the electromagnetic clutches is connected in response to a signal from a torque sensor provided on the flexible shaft. The operation of the clutch is controlled by an output signal from a control device based on a signal from a torque sensor that detects the twist and direction of twist of a flexible shaft connected between a steering shaft and a handle shaft.
したがつて、ハンドルを急に切り返しても、可
撓軸の捩れと捩れ方向に対応して、一方の電磁ラ
ツチが迅速に追随して動作し、電動機の操舵力が
操舵軸へ伝達される。 Therefore, even if the steering wheel is turned suddenly, one of the electromagnetic latches quickly follows and operates in accordance with the twist and twist direction of the flexible shaft, and the steering force of the electric motor is transmitted to the steering shaft.
電気制御装置の回路構成が非常に簡単であり、
トルクセンサが故障し、電動機による舵取機能が
損われても、従来のチヨツパ回路を備えた電動機
駆動舵取装置のように、操舵軸が急に高速回転す
ることはなく、安全性が高い。 The circuit configuration of the electric control device is very simple,
Even if the torque sensor fails and the steering function by the electric motor is impaired, the steering shaft will not suddenly rotate at high speed unlike the conventional motor-driven steering device equipped with a chopper circuit, resulting in high safety.
電磁クラツチにより操舵軸の正・逆回転が切り
換えられるので、ハンドルの切り返し操作に対し
電動機の回転が迅速に操舵軸へ伝達され、円滑な
舵取操作が得られる。 Since the electromagnetic clutch switches between forward and reverse rotation of the steering shaft, the rotation of the electric motor is quickly transmitted to the steering shaft in response to a turning operation of the steering wheel, resulting in smooth steering operation.
第１図は本考案の第１実施例に係る電動機駆動
舵取装置の概略構成を示す平面断面図、第２図は
同要部拡大図、第３図は同電動機駆動舵取装置の
電気回路図、第４図はトルクセンサの出力特性を
説明する線図、第５図は本考案の第２実施例に係
る電動機駆動舵取装置の原理的構成を示す側面断
面図である。
Ａ，Ｂ……電磁クラツチ、６，９，１２，１
４，１５……歯車、１３……電動機、１６……操
舵軸、１７……可撓軸、２０……電源バツテリ、
２１……制御装置、２６，２７……比較増幅器、
２８……制御増幅器、３６……トルクセンサ。
FIG. 1 is a plan sectional view showing a schematic configuration of a motor-driven steering device according to a first embodiment of the present invention, FIG. 2 is an enlarged view of the main parts, and FIG. 3 is an electric circuit of the motor-driven steering device. 4 is a diagram illustrating the output characteristics of the torque sensor, and FIG. 5 is a side cross-sectional view showing the basic structure of a motor-driven steering device according to a second embodiment of the present invention. A, B...Electromagnetic clutch, 6, 9, 12, 1
4, 15... Gear, 13... Electric motor, 16... Steering shaft, 17... Flexible shaft, 20... Power battery,
21...control device, 26, 27...comparison amplifier,
28...Control amplifier, 36...Torque sensor.
Claims (1)
と逆転歯車機構とを接続し、電動機の回転を各歯
車機構を経て操舵軸へ伝達する１対の電磁クラツ
チを備え、ハンドル軸と操舵軸との間に可撓軸を
連結し、可撓軸に備えたトルクセンサの信号によ
り、電磁クラツチの一方を接続するようにしたこ
とを特徴とする電動機駆動舵取装置。 A forward gear mechanism and a reverse gear mechanism are connected between the drive shaft of the electric motor and the steering shaft, and a pair of electromagnetic clutches are provided to transmit the rotation of the electric motor to the steering shaft through each gear mechanism. A motor-driven steering device characterized in that a flexible shaft is connected between the flexible shaft and the flexible shaft, and one side of the electromagnetic clutch is connected in response to a signal from a torque sensor provided on the flexible shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1984184704U JPH0412863Y2 (en) | 1984-12-05 | 1984-12-05 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1984184704U JPH0412863Y2 (en) | 1984-12-05 | 1984-12-05 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6198677U JPS6198677U (en) | 1986-06-24 |
| JPH0412863Y2 true JPH0412863Y2 (en) | 1992-03-26 |
Family
ID=30742188
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1984184704U Expired JPH0412863Y2 (en) | 1984-12-05 | 1984-12-05 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0412863Y2 (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5799467A (en) * | 1980-10-27 | 1982-06-21 | Citroen Sa | Revolution auxiliary mechanism particularly for steering of automobile |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59121281U (en) * | 1983-02-04 | 1984-08-15 | トヨタ自動車株式会社 | Electric power steering device |
-
1984
- 1984-12-05 JP JP1984184704U patent/JPH0412863Y2/ja not_active Expired
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5799467A (en) * | 1980-10-27 | 1982-06-21 | Citroen Sa | Revolution auxiliary mechanism particularly for steering of automobile |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6198677U (en) | 1986-06-24 |
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