Steering device

Abstract

The present application provides a kind of steering device.The steering device of one form of the present application has: input device, it has input shaft and transmission shaft, the input shaft transmission is linked with operation rotation, the transmission shaft is arranged in the direction orthogonal to input shaft, and is rotated in linkage with input shaft, the input device generates rotary drive force using the rotation of transmission shaft;Speed reducer, rotary drive force is input into the speed reducer from input device, and the speed reducer outputs the rotary force around the rotation axis in the state that the rotational speed is reduced compared with rotary drive force, and the torque is enhanced;Motor, it inputs rotary auxiliary force to the speed reducer in the direction of making rotary drive force enhance;And output arm, it is connected with speed reducer, and, using the rotary force output from speed reducer, rotates around the rotation axis in any angular range.Input device is arranged on the side of one face of speed reducer.Motor is arranged adjacent to transmission shaft in the orthogonal direction orthogonal to transmission shaft, and is arranged on the side of one face of speed reducer.

Description

Technical Field

[0001] This invention relates to a steering device that enables the miniaturization of the device structure. Background Technology

[0002] Steering systems installed in vehicles, etc., are input with rotation corresponding to the operation of a handle, etc., and output rotational output via a reducer. Due to the burden on operation, steering systems that use hydraulic devices to apply auxiliary force in the operating direction are commonly used. In recent years, steering systems that apply auxiliary force in the operating direction through electrical control using motors, etc., are increasing (see, for example, Patent Document 1).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2017-128300 Summary of the Invention

[0006] The problem the invention aims to solve

[0007] The desired outcome is that the steering device can handle inputs from operation and inputs of auxiliary rotational forces from motors, etc., while miniaturizing the device structure.

[0008] The present invention aims to provide a steering device that enables the miniaturization of the device structure.

[0009] Solution for solving the problem

[0010] (1) A steering device according to a technical solution of the present invention comprises: an input device having an input shaft and a transmission shaft, the input shaft transmitting rotation linked to operation, the transmission shaft being disposed in a direction orthogonal to the input shaft and rotating in conjunction with the input shaft, the input device generating a rotational driving force by means of the rotation of the transmission shaft; a reducer, the rotational driving force being input from the input device to the reducer, and the reducer outputting a rotational force about a rotation axis in a state where the rotational speed is reduced and the torque is increased compared to the rotational driving force; a motor inputting a rotational auxiliary force to the reducer in a direction that increases the rotational driving force; and an output arm connected to the reducer, and rotating about the rotation axis within an arbitrary angle range by means of the rotational force output from the reducer. The input device is disposed on one side of the reducer. The motor is disposed adjacent to the transmission shaft in an orthogonal direction orthogonal to the transmission shaft, and is disposed on the same side of the reducer.

[0011] According to the present invention, by providing an input device and a motor on one side of the reducer, the device structure can be miniaturized radially within the reducer. Furthermore, by providing an input device and a motor on one side of the reducer, the output arm can rotate within the reducer in a manner unrestricted by its rotational range.

[0012] (2) Alternatively, the reducer may include: an input gear; a plurality of spur gears into which the rotational driving force is input and which mesh with the input gear to rotate; a plurality of eccentric cams formed on a plurality of shafts respectively connected to the plurality of spur gears; an eccentric gear that rotates eccentrically relative to the rotation axis of the input gear; and a housing connected to the output arm. Alternatively, the eccentric gear may rotate eccentrically about the rotation axis along the inner circumferential surface of the housing. Alternatively, the housing may output rotation at a speed reduced by a speed obtained from the rotational speed of the spur gears.

[0013] According to the present invention, by inputting a rotational driving force into the spur gear of the reducer, it is possible to output rotation at a speed obtained by reducing the speed of the reducer to that of the spur gear.

[0014] (3) A steering device according to one embodiment of the present invention comprises: an input device that inputs a rotational driving force corresponding to the operation; a reducer that receives the rotational driving force from the input device and outputs a rotational force about a rotational axis in a state where the rotational speed is reduced and the torque is increased compared to the rotational driving force; and an output unit connected to the reducer, which rotates about the rotational axis using the rotational force output from the reducer. The input device is disposed on one side of the reducer.

[0015] According to the present invention, by providing an input device on one side of the reducer, the device structure can be miniaturized in the radial direction of the reducer.

[0016] (4) Alternatively, the input device may have: an orthogonal input section having an input shaft and a transmission shaft, the input shaft inputting the rotational driving force, the transmission shaft being disposed in a direction orthogonal to the input shaft and rotating in conjunction with the input shaft to input the rotational driving force to the reducer; and a motor disposed adjacent to the transmission shaft in an orthogonal direction orthogonal to the transmission shaft and inputting a rotational auxiliary force to the reducer in a direction that enhances the rotational driving force.

[0017] According to the present invention, by providing an orthogonal input section and a motor on one side of the reducer, the output arm can be rotated in the reducer in a manner that is not limited by the rotation range.

[0018] (5) A steering device according to one embodiment of the present invention comprises: an input device that inputs a rotational driving force corresponding to operation; a reducer that receives the rotational driving force from the input device and outputs a rotational force about a rotational axis in a state where the rotational speed is reduced and the torque is increased compared to the rotational driving force; and an output arm connected to the reducer and rotating about the rotational axis using the rotational force output from the reducer. The input device comprises: an orthogonal input section having an input shaft and a transmission shaft, the input shaft receiving the rotational driving force, the transmission shaft being disposed in a direction orthogonal to the input shaft and rotating in conjunction with the input shaft to input the rotational driving force to the reducer; and a motor disposed adjacent to the transmission shaft in an orthogonal direction orthogonal to the transmission shaft and inputting a rotational auxiliary force to the reducer in a direction that increases the rotational driving force. The input device is disposed on one side of the reducer. The output arm is rotatably connected to the reducer in a manner where the rotational range is unrestricted.

[0019] According to the present invention, by providing an orthogonal input section and a motor on one side of the reducer, the device structure can be miniaturized in the radial direction of the reducer. Furthermore, by providing an orthogonal input section and a motor on one side of the reducer, the output arm can rotate within the reducer in a manner unrestricted by its rotational range.

[0020] The effects of the invention

[0021] According to the present invention, the device structure of the steering device can be miniaturized. Attached Figure Description

[0022] Figure 1 This is a schematic cross-sectional view showing the structure of the steering device according to an embodiment of the present invention.

[0023] Figure 2 yes Figure 1 The diagram shows a sectional view of the reducer along its side, which is equivalent to... Figure 3 The sectional view shown is along the BB line.

[0024] Figure 3 yes Figure 1 The diagram shows a cross-sectional view of the reducer from the front direction, and is equivalent to a view along... Figure 2 The cross-sectional view shown along line AA.

[0025] Explanation of reference numerals in the attached figures

[0026] 1. Reducer; 2. Housing; 2H, Internal gear; 2M, Pin groove; 2P, Pin; 3. Reduction mechanism; 4. Input gear; 4D, End plate; 4G, First gear; 4L, Axis; 4S, First shaft; 5. Spur gear; 5G, Second gear; 5L, Axis; 5M, First eccentric cam; 5N, Second eccentric cam; 5S, Second shaft; 6. First eccentric gear; 6C, External gear; 6D, Through hole; 6H, First through hole; 6K, Second through hole; 6L, Central axis; 6P, Thin-walled section; 7. Second eccentric gear; 7C, External gear; 7D, Through hole; 7H, First through hole; 7K, Second through hole; 7L, Central axis; 10. Input device; 11. Orthogonal input section; 11K, housing; 12, input shaft; 12A, first bevel gear; 12L, axis; 13, transmission shaft; 13A, second bevel gear; 13B, drive gear; 13L, axis; 30, output arm; B1-B4, bearings; B5, B6, needle roller bearings; G1, G2, permanent magnet; M, motor; M1, housing; M2, end cover; M3, cover; MC, coil; ML, rotation axis; MP, pinion; MR, rotor; MS, shaft; R1-R3, bearings; S, connecting shaft; SA, one end of connecting shaft; SB, the other end of connecting shaft; SL, shaft; SP, pin; U1, first circular plate; U2, second circular plate; W, steering device. Detailed Implementation

[0027] like Figure 1 As shown, the steering device W includes: an input device 10, into which a rotational driving force is input during operation; a reducer 1, which amplifies the torque of the input rotational driving force and outputs a rotational force; and an output arm 30 (steering arm), which is connected to the reducer 1 and rotates using the rotational force output by the reducer 1.

[0028] The input device 10 is disposed on one side of the reducer 1. The input device 10 includes: an orthogonal input section 11, which outputs the rotational driving force during operation in a direction orthogonal to the rotational direction; and a motor M, which provides auxiliary force to the operation.

[0029] The orthogonal input unit 11 includes, for example, a housing 11K to be fixed to a fixed object such as a vehicle body. An input shaft 12 for inputting rotational driving force during operation is provided in the housing 11K. The input shaft 12 is, for example, cylindrical. The input shaft 12 is axially supported in the housing 11K by means of a bearing R1, allowing it to rotate freely about an axis 12L. One end of the input shaft 12 is exposed outside the housing 11K, for example, and is connected to a steering shaft (not shown) that rotates in conjunction with the operation of a handle.

[0030] A first bevel gear 12A is formed at the other end of the input shaft 12. The first bevel gear 12A has bevel teeth formed on its conical surface. A transmission shaft 13 is arranged in a direction orthogonal to the input shaft 12. The arrangement direction of the input shaft 12 is not limited to the case shown in the figure, and can be arranged at any position around the axis 13L of the transmission shaft 13, for example, depending on the state of the object being set.

[0031] The transmission shaft 13 rotates in conjunction with the input shaft 12, supplying the reducer 1 with the rotational driving force input from the input shaft 12. The transmission shaft 13 is, for example, cylindrical. One end and the other end of the transmission shaft 13 are respectively supported on the housing 11K by means of bearings R2, allowing it to rotate freely about axis 13L. The other end of the transmission shaft 13 is supported on the reducer 1 side. One end of the transmission shaft 13 is supported separately from the reducer 1.

[0032] A second bevel gear 13A is formed in the central part of the transmission shaft 13. The second bevel gear 13A has bevel teeth formed on its conical surface. The second bevel gear 13A meshes with the first bevel gear 12A. The second bevel gear 13A is disposed between the axis 12L of the input shaft 12 and one side of the reducer 1.

[0033] A drive gear 13B, which is formed in the shape of a circular plate, is formed on the other end of the transmission shaft 13. The drive gear 13B is a spur gear with flat teeth formed on its outer circumference. The second gear 5G, which is provided in the reducer 1 and will be discussed later, meshes with the drive gear 13B.

[0034] Because of this configuration, the orthogonal input unit 11 can input the rotational driving force input to the input shaft 12 as a rotational driving force that converts the direction of rotation of the shaft into an orthogonal direction to the reducer 1. That is, the input device 10 is arranged in a direction orthogonal to the input shaft 12 for rotational transmission that is linked to the operation, and the rotational driving force is generated by the transmission shaft 13 that rotates in conjunction with the input shaft 12.

[0035] A motor M is arranged adjacent to the orthogonal input section 11 in the orthogonal direction of the transmission shaft 13 of the orthogonal input section 11. The orthogonal input section 11 is arranged on the outer side of the outer periphery of the motor M, and in an orthogonal direction orthogonal to the rotation axis ML of the shaft MS.

[0036] Motor M supplies a rotational auxiliary force to reducer 1 in the direction that enhances the rotational driving force input to reducer 1. Motor M is, for example, a DC brushed motor. However, it is not limited to this case; for example, motor M can also be a DC brushless motor. Furthermore, motor M can be any motor as long as it can supply a rotational auxiliary force to reducer 1.

[0037] The motor M has a housing M1 fixed to the housing 11K. The housing M1 is formed as a cylinder with one end sealed and the other end open. One end of the housing M1 is sealed by a cover M3 formed as a circular plate.

[0038] The other end of the outer casing M1 is sealed by an end cap M2 formed in the shape of a circular plate. The end cap M2 is fixed to the housing 11K. Permanent magnets G1 and G2 are fixed along the inner circumferential surface of the outer casing M1. A rotor MR is arranged in the space enclosed by the interior of the outer casing M1 and the end cap M2. The rotor MR has a cylindrical shaft MS and multiple coils MC disposed on the shaft MS. One end of the shaft MS is rotatably supported at the center of the end cap M3 by means of a bearing R3.

[0039] The other end of shaft MS is rotatably supported at the center of end cover M2 by bearing R3.

[0040] Inside the housing M1, a commutator (not shown) in a cylindrical shape, serving as electrical contacts, is provided on the end cover M2 side of the shaft MS. A pair of brushes (not shown) clamping the commutator are provided on the end cover M2. A pair of wires (not shown) are connected to the brushes, each electrically connected to an electrode of a power source (not shown). When energized from the power source to the brushes, the rotor MR rotates. Alternatively, the commutator and the brushes can also be provided on the cover M3 side.

[0041] The other end of shaft MS protrudes from end cover M2 toward reducer 1. A pinion MP is provided on the other end of shaft MS. The pinion MP is a spur gear with flat teeth formed on its outer circumference. The second gear 5G, which will be discussed later, located in reducer 1, meshes with the pinion MP.

[0042] Because of this configuration, the motor M can rotate the rotor MR in the direction that enhances the rotational driving force input to the second gear 5G provided on the reducer 1, thereby inputting a rotational auxiliary force to the reducer 1. One side of the reducer 1 is fixed to the housing 11K.

[0043] A rotary driving force is input to a reducer 1, and the reducer 1 outputs a rotational force about a rotational axis from its output section while reducing the rotational speed compared to the rotary driving force and increasing the torque. An output arm 30 is connected to the reducer 1. The output arm 30 rotates about a rotational axis using the rotational force output by the reducer 1.

[0044] like Figure 2 and Figure 3 As shown, the reducer 1 includes a cylindrical housing 2 and a reduction mechanism 3 disposed within the housing 2. Internal teeth 2H are formed on the inner circumferential surface of the housing 2. The internal teeth 2H are composed of a plurality of cylindrical pins 2P and a plurality of pin grooves 2M that support the plurality of pins 2P respectively.

[0045] The multiple pin slots 2M are roughly semi-circular when viewed in section. The multiple pin slots 2M are arranged along the inner circumferential surface of the housing 2 when viewed from the central axis direction of the housing 2.

[0046] The pin groove 2M extends along the central axis on the inner circumferential surface of the housing 2. Each pin 2P abuts against the pin groove 2M axially. The multiple pins 2P are respectively arranged in the multiple pin grooves 2M when viewed from the central axis direction of the housing 2. According to this structure, internal teeth 2H are formed on the inner circumferential surface of the housing 2 when viewed from the central axis direction using the multiple pins 2P.

[0047] The reduction mechanism 3 has an input gear 4 that rotates at the center of the housing 2.

[0048] The input gear 4 includes, for example, an end plate 4D; a first shaft 4S connected to the end plate 4D; and a first gear 4G connected to the first shaft 4S. The first gear 4G is, for example, a pinion MP. The end plate 4D is, for example, formed in a circular plate shape. The end plate 4D is connected to one end of the first shaft 4S in a manner coaxial with the axis 4L (rotation axis) of the first shaft 4S. Furthermore, the end plate 4D is not necessary, and it is acceptable even if the end plate 4D is not present depending on, for example, the installation state of the reducer 1.

[0049] The first shaft 4S is formed in a cylindrical shape. The first shaft 4S is rotatably supported at the center of the first circular plate U1 and the second circular plate U2, which are formed in a circular plate shape.

[0050] A first circular plate U1 is disposed on one side of the reducer 1. The first circular plate U1 is fixed to the housing 11K. A second circular plate U2 is disposed on the other side of the reducer 1. A first gear 4G, formed in the shape of a circular plate, with a predetermined number of flat teeth, is connected to the other end of the first shaft 4S. For the input gear 4, for example, the first gear 4G side of the first shaft 4S is supported on the first circular plate U1 by means of bearing B1.

[0051] For the input gear 4, for example, the end plate 4D side of the first shaft 4S is supported on the second circular plate U2 by means of bearing B2. As bearings B1 and B2, ball bearings, roller bearings, etc. are used.

[0052] Multiple spur gears 5 mesh with the input gear 4. In this embodiment, three spur gears 5 are evenly arranged around the input gear 4. However, the number of spur gears 5 is not limited to three, and may be more than three.

[0053] If one of the three spur gears 5 is driven to rotate, the input gear 4 rotates. Due to the rotation of the input gear 4, the other two spur gears 5 also rotate in conjunction. The spur gear 5 includes, for example: a second gear 5G that meshes with the first gear 4G; a second shaft 5S that is coaxially connected to the second gear 5G; and a first eccentric cam 5M and a second eccentric cam 5N formed on the second shaft 5S.

[0054] One of the three second gears 5G meshes with the drive gear 13B and the pinion MP (first gear 4G) (see reference). Figure 1 That is, the rotational driving force is input from the orthogonal input unit 11 to one of the three spur gears 5, and a rotational auxiliary force is input from the motor M in the direction that enhances the rotational driving force. As a result, the second shaft 5S rotates.

[0055] The second shaft 5S is cylindrical. One end of the second shaft 5S is rotatably supported on the second circular plate U2 by means of bearing B4. The other end of the second shaft 5S is rotatably supported on the first circular plate U1 by means of bearing B3.

[0056] The second gear 5G is connected to the other end of the second shaft 5S in a manner coaxial with the axis 5L (rotation axis) of the second shaft 5S. The second gear 5G is, for example, formed as a circular plate with flat teeth having a predetermined number of teeth. If the second gear 5G is driven to rotate by the first gear 4G, the second shaft 5S rotates in conjunction. A first eccentric cam 5M and a second eccentric cam 5N are integrally formed on the second shaft 5S. The first eccentric cam 5M and the second eccentric cam 5N are, for example, formed as cylinders. The first eccentric cam 5M is formed eccentrically with its central axis offset from the axis 5L of the second shaft 5S.

[0057] The second eccentric cam 5N is formed eccentrically with its central axis offset from the axis 5L of the second shaft 5S. The eccentric direction of the second eccentric cam 5N is opposite to that of the first eccentric cam 5M. The first eccentric cam 5M and the second eccentric cam 5N rotate in conjunction with the second shaft 5S, which is connected to the second gear 5G. The first eccentric cam 5M drives the first eccentric gear 6, which is disposed within the housing 2.

[0058] The first eccentric gear 6 is formed in the shape of a circular plate. A circular through hole 6D is formed on the central axis 6L of the first eccentric gear 6. The diameter of the through hole 6D is larger than the diameter of the first shaft 4S. The first shaft 4S passes through the through hole 6D. The through hole 6D is formed to a diameter that will not contact the first shaft 4S when the first eccentric gear 6 rotates eccentrically, as will be discussed later.

[0059] An external tooth 6C is formed along the outer periphery of the first eccentric gear 6. A portion of the external tooth 6C meshes with an internal tooth 2H formed along the inner circumferential surface of the housing 2. For example, the number of teeth in the external tooth 6C is more than one less than the number of teeth in the internal tooth 2H. The first eccentric gear 6 rotates eccentrically relative to the axis 4L (axis of rotation) of the input gear 4. The first eccentric gear 6 rotates eccentrically by rolling rather than sliding along the inner circumferential surface of the housing 2 while a portion of the external tooth 6C meshes with the internal tooth 2H.

[0060] The first eccentric gear 6, for example, has three first through holes 6H that support the three first eccentric cams 5M in a rotatable manner.

[0061] The first through hole 6H is formed with a circular opening. The first eccentric cam 5M is supported in the first through hole 6H by means of a needle roller bearing B5 and is rotatable. The first eccentric gear 6 has three second through holes 6K respectively disposed between the three first through holes 6H.

[0062] However, the number of the second through holes 6K is not limited to three, and can be more than three depending on the number of, for example, the number of the first through holes 6H.

[0063] The second through hole 6K is formed, for example, symmetrically when viewed from the central axis 6L of the first eccentric gear 6. The second through hole 6K has a thin-walled portion 6P, which is the thinnest region between the second through hole and the external tooth 6C. The second eccentric cam 5N drives the second eccentric gear 7 disposed within the housing 2. The second eccentric gear 7 is formed in the shape of a circular plate.

[0064] A circular through hole 7D is formed on the central axis 7L of the second eccentric gear 7. The diameter of the through hole 7D is larger than the diameter of the first shaft 4S. The first shaft 4S passes through the through hole 7D. The through hole 7D is formed to a diameter that will not contact the first shaft 4S when the second eccentric gear 7 rotates eccentrically, as will be discussed later.

[0065] External teeth 7C are formed along the outer periphery of the second eccentric gear 7. A portion of the external teeth 7C meshes with internal teeth 2H formed along the inner circumferential surface of the housing 2. For example, the number of teeth of the external teeth 7C is more than one less than the number of teeth of the internal teeth 2H. The second eccentric gear 7 rotates eccentrically relative to the axis 4L (axis of rotation) of the input gear 4.

[0066] The second eccentric gear 7 rotates eccentrically while a portion of its external teeth 7C meshes with its internal teeth 2H, rolling rather than sliding along the inner circumferential surface of the housing 2. The second eccentric gear 7 rotates in conjunction with the first eccentric gear 6, rotating in a direction opposite to the eccentric direction of the first eccentric gear 6. This linkage between the second eccentric gear 7 and the first eccentric gear 6 ensures the balance of the reducer 1.

[0067] The second eccentric gear 7, for example, has three first through holes 7H that support the three second eccentric cams 5N for rotation. The first through holes 7H are formed with circular openings. The second eccentric cams 5N are supported for rotation via needle roller bearings B6 in the first through holes 7H. The second eccentric gear 7 has three second through holes 7K respectively disposed between the three first through holes 7H.

[0068] However, the number of the second through holes 7K is not limited to three, and can be more than three depending on the number of, for example, the number of the first through holes 7H.

[0069] The second through hole 7K is formed, for example, symmetrically when viewed from the direction of the central axis 7L of the second eccentric gear 7. The second through hole 7K is constructed in the same way as the second through hole 6K of the first eccentric gear 6. That is, the second through hole 7K has a thin-walled portion (not shown) in the region where the thickness between it and the external tooth 7C is the thinnest.

[0070] A connecting shaft S passes through the second through hole 6K of the first eccentric gear 6 and the second through hole 7K of the second eccentric gear 7. One end of the connecting shaft S is connected to a second circular plate U2 that rotatably supports one end of each of the three second shafts 5S. The other end of the connecting shaft S is connected to a first circular plate U1 that rotatably supports the other end of each of the three second shafts 5S. Three connecting shafts S are provided correspondingly for the three second through holes 6K and 7K.

[0071] One end of the connecting shaft S, SA side, protrudes from the second circular plate U2 through the second through holes 6K and 7K. Both the SA side and the SB side of the connecting shaft S are cylindrical in cross-sectional view along the SL direction. The SA side of the connecting shaft S is supported by the second circular plate U2. The SB side of the connecting shaft S is supported by the first circular plate U1. The connecting shaft S is, for example, symmetrical in cross-sectional view along the SL direction.

[0072] The connecting shaft S, viewed in the direction of shaft SL, has one end SB positioned on the first circular plate U1 by pin SP. Alternatively, the connecting shaft S can also be positioned on the second circular plate U2 by pin SP on one end SA, viewed in the direction of shaft SL. The connecting shaft S is fixed to the housing 11K, for example, by means of the first circular plate U1.

[0073] With this configuration, the first circular plate U1, the connecting shaft S, and the second circular plate U2 are fixed to the housing 11K. Furthermore, the housing 2 rotates relative to the first circular plate U1, the connecting shaft S, and the second circular plate U2. The housing 2 outputs a rotational force about the axis 4L (rotation axis) in a state where the rotational speed is reduced and the torque is increased compared to the rotational driving force input to the orthogonal input section 11.

[0074] The output arm 30, which is connected to the housing 2, rotates around the axis 4L (rotation axis) in conjunction with the rotation of the housing 2.

[0075] The output arm 30 is formed, for example, in the shape of a rod. The base end of the output arm 30 is connected to the outer periphery of the housing 2, for example. The output arm 30 is connected to the reducer 1 in a manner that allows it to rotate freely about the axis 4L. That is, the output arm 30 is connected to the reducer 1 and can rotate about the axis ML of rotation in any angle range using the rotational force output from the reducer 1.

[0076] A ball joint (not shown) is provided, for example, at the top end of the output arm 30. The top end of the output arm 30 is connected to a steering mechanism (not shown). The connection position of the output arm 30 relative to the housing 2 is not limited to the case shown in the figure. For example, it can be connected at any position around the axis 4L (rotation axis) depending on the position of the connected object connected to the top end of the output arm 30.

[0077] With this configuration, the orthogonal input section 11 constituting the input device 10 and the motor M are not arranged in the outer circumferential direction of the housing 2 of the reducer 1. Therefore, the output arm 30 can rotate freely in the outer circumferential direction of the housing 2 of the reducer 1 without being limited by the rotation range. Consequently, the output arm 30 can be connected to any position in the outer circumferential direction of the housing 2 of the reducer 1.

[0078] Next, the operation of the steering device W will be explained.

[0079] In the orthogonal input section 11, a rotational driving force corresponding to the operation is input to the input shaft 12. Therefore, if the input shaft 12 rotates about axis 12L, the first bevel gear 12A rotates in conjunction. If the first bevel gear 12A rotates, the second bevel gear 13A, which meshes with the first bevel gear 12A, rotates in conjunction. If the second bevel gear 13A rotates, the transmission shaft 13 rotates in conjunction about axis 13L, wherein axis 13L is arranged along an orthogonal direction orthogonal to axis 12L of the input shaft 12.

[0080] If input gear 4 rotates, then first gear 4G rotates about axis 4L in conjunction with first shaft 4S. Consequently, multiple second gears 5G meshing with first gear 4G rotate about axis 5L in conjunction. Furthermore, if second gear 5G rotates, second shaft 5S rotates in conjunction. Additionally, first eccentric cam 5M and second eccentric cam 5N rotate eccentrically about axis 5L in conjunction with the rotation of second shaft 5S.

[0081] The first eccentric gear 6 rotates eccentrically about axis 4L along the inner circumferential surface of housing 2 in conjunction with the rotation of the first eccentric cam 5M. Furthermore, the second eccentric gear 7 rotates eccentrically about axis 4L along the inner circumferential surface of housing 2 in conjunction with the rotation of the second eccentric cam 5N. At this time, the second eccentric gear 7 rotates half a turn off from the rotation of the first eccentric gear 6. Additionally, the first circular plate U1 and the second circular plate U2 rotate simultaneously about axis 4L relative to housing 2 in conjunction with the rotation of the first eccentric gear 6 and the second eccentric gear 7.

[0082] The first circular plate U1 and the second circular plate U2 are fixed to the housing 11K. Therefore, the housing 2 rotates relative to the first circular plate U1 and the second circular plate U2 about the axis 4L. As a result, the housing 2 rotates at a speed lower than that of the end plate 4D.

[0083] Furthermore, if the plurality of spur gears 5 rotate about axis 5L, the first eccentric gear 6 and the second eccentric gear 7 will rotate in conjunction with the plurality of spur gears 5 and move eccentrically about axis 4L. At this time, the connecting shaft S does not contact the inner circumference of the second through hole 6K of the first eccentric gear 6, but moves relative to it along the shape of the inner circumference of the second through hole 6K. Similarly, the connecting shaft S does not contact the inner circumference of the second through hole 7K of the second eccentric gear 7, but moves relative to it along the shape of the inner circumference of the second through hole 7K.

[0084] Furthermore, the housing 2 rotates about axis 4L relative to the first circular plate U1 and the second circular plate U2, in conjunction with the eccentric motion of the first eccentric gear 6 and the second eccentric gear 7. As a result, the housing 2 rotates at a speed lower than that of the input gear 4.

[0085] If the rotating object transmitting the rotational output is connected to the housing 2, a rotational output that is slower and has increased torque compared to the input gear 4 is obtained. Furthermore, the output arm 30 rotates about the axis 4L in conjunction with the rotation of the housing 2. At this time, the output arm 30 rotates in a manner that is not limited by its rotational range.

[0086] As described above, according to the steering device W, the orthogonal input section 11 is disposed on the outer side of the outer periphery of the motor M, and in an orthogonal direction orthogonal to the rotation axis ML of the shaft MS. Therefore, the device structure can be miniaturized in the radial direction of the reducer 1. Furthermore, according to the steering device W, the orthogonal input section 11 and the motor M are disposed in the circumferential direction of the reducer 1 outside the rotation range of the output arm 30. Therefore, the output arm 30 can rotate in a manner that is not limited by the rotation range.

[0087] In the embodiments disclosed in this specification, which are composed of multiple objects, the multiple objects can be integrated into one unit, or conversely, a component composed of a single object can be divided into multiple objects. Regardless of whether they are integrated or not, the configuration is sufficient to achieve the purpose of the invention.

[0088] Furthermore, the present invention is not limited to the embodiments described above, and includes embodiments with various modifications made to the above embodiments without departing from the spirit of the invention. For example, the transmission shaft 13 and the motor M may drive not only the spur gear 5, but also the input gear 4.

[0089] Industrial availability

[0090] According to this disclosure, the device structure of the steering mechanism can be miniaturized. Therefore, it has industrial applicability.

Claims

1. A steering device, wherein, The steering mechanism includes: An input device having an input shaft and a transmission shaft, the input shaft transmitting rotation linked to operation, the transmission shaft being disposed in a direction orthogonal to the input shaft and rotating in conjunction with the input shaft, the input device generating a rotational driving force by means of the rotation of the transmission shaft; A speed reducer, wherein the rotational driving force is input from the input device, and the speed reducer outputs a rotational force about a rotational axis in a state in which the rotational speed is reduced and the torque is increased compared with the rotational driving force; A motor that inputs a rotational auxiliary force to the reducer in a direction that enhances the rotational driving force; as well as An output arm, connected to the reducer, rotates about the rotation axis within an arbitrary angle range using the rotational force output from the reducer. The input device includes a housing that accommodates the input shaft and the transmission shaft. The reducer is configured such that one side of the reducer is fixed to the housing. The reducer has a housing that outputs the rotational force, and the housing rotates about the rotation axis. The motor has a housing fixed to the housing. The housing is disposed adjacent to the transmission shaft in an orthogonal direction orthogonal to the transmission shaft, and is disposed on one side of the reducer. Along the axis of rotation, the housing is positioned between the outer shell and the outer casing. The output arm is connected to the outer periphery of the housing and is configured to rotate together with the housing in a manner that allows for an unrestricted range of rotation.

2. The steering device according to claim 1, wherein, The reducer includes: Input gear; A plurality of spur gears, the rotational driving force is input to the plurality of spur gears, and the plurality of spur gears mesh with the input gear and rotate; Multiple eccentric cams are formed on multiple shafts respectively connected to multiple spur gears; as well as An eccentric gear that rotates eccentrically relative to the axis of rotation of the input gear. The eccentric gear rotates eccentrically about the axis of rotation along the inner circumferential surface of the housing. The housing rotates at a speed that is slower than that of the spur gear.

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