Vehicle steering apparatus and vehicle including the same

Abstract

Disclosed are a vehicle steering apparatus and a vehicle including the same, the vehicle steering apparatus including: a ball nut coupled to a rack bar by means of balls and configured to slide the rack bar in an axial direction upon rotation; a first nut pulley provided on an outer circumferential surface of the ball nut and having a first nut pulley tooth portion formed on an outer circumferential surface thereof; a second nut pulley provided on the outer circumferential surface of the ball nut and having a second nut pulley tooth portion formed on an outer circumferential surface thereof and formed to have a helix angle changed by a predetermined angle with respect to the first nut pulley tooth portion; a first motor pulley provided on a first motor and having a first motor pulley tooth portion formed on an outer circumferential surface thereof and identical to the first nut pulley tooth portion; and a second motor pulley provided on a second motor and having a second motor pulley tooth portion formed on an outer circumferential surface thereof and identical to the second nut pulley tooth portion.

Description

Cross-references to related applications

[0001] This application claims priority to Korean Patent Application No. 10-2024-0184697, filed with the Korean Intellectual Property Office on December 12, 2024; Korean Patent Application No. 10-2025-0026967, filed with the Korean Intellectual Property Office on February 28, 2025; Korean Patent Application No. 10-2025-0026974, filed with the Korean Intellectual Property Office on February 28, 2025; and Korean Patent Application No. 10-2025-0134620, filed with the Korean Intellectual Property Office on September 18, 2025, the disclosures of which are incorporated herein by reference. Technical Field

[0002] This embodiment relates to a vehicle steering device and a vehicle including the vehicle steering device. Background Technology

[0003] Generally speaking, power steering has been developed and applied to vehicle steering systems to facilitate driving by assisting the driver in applying the operating force to the steering wheels. Hydraulic power steering utilizing hydraulic pressure, electro-hydraulic power steering utilizing both hydraulic pressure and motor power, and electric power steering utilizing only motor power have been developed and applied.

[0004] Recently, steer-by-wire (SBW) steering systems have been developed and applied. SBW systems do not include mechanical connections such as steering shafts, universal joints, or pinion shafts between the steering wheels and road wheels, and instead use electric motors such as motors to steer the vehicle.

[0005] However, when ball nuts, pulleys, and belts are used in power steering or steer-by-wire systems, there is a problem of generating a lot of noise due to the operation of the belts, and in particular, when high output is required, pulleys and belts need to be increased in size and stiffness.

[0006] Furthermore, since steer-by-wire steering systems do not have a mechanical connection between the steering shaft and the road wheels, countermeasures are needed to address motor failures, and control technologies are required to precisely control the motor.

[0007] Therefore, for vehicle steering equipment and vehicles including such steering equipment, there is a need for a technology that can reduce noise and vibration caused by belt operation, deliver high output, and stably perform steer-by-wire (SBW) control operations. Summary of the Invention

[0008] This embodiment aims to provide a vehicle steering device that is stable and effectively reduces noise and vibration, as well as a vehicle including the vehicle steering device.

[0009] This embodiment provides a vehicle steering device, comprising: a ball nut connected to a rack by means of balls and configured to allow the rack to slide axially during rotation; a first nut pulley disposed on the outer peripheral surface of the ball nut and having first nut pulley teeth formed on the outer peripheral surface of the first nut pulley; and a second nut pulley disposed on the outer peripheral surface of the ball nut and having second nut pulley teeth formed on the outer peripheral surface of the second nut pulley. The outer peripheral surface of the female pulley is formed with a helical angle shifted (shifted) by a predetermined angle relative to the teeth of the first nut pulley; a first motor pulley is disposed on a first motor and has first motor pulley teeth formed on the outer peripheral surface of the first motor pulley and is the same as the teeth of the first nut pulley; and a second motor pulley is disposed on a second motor and has second motor pulley teeth formed on the outer peripheral surface of the second motor pulley and is the same as the teeth of the second nut pulley.

[0010] Furthermore, in this embodiment, the first nut pulley and the second nut pulley can be engaged with the outer peripheral surface of the ball nut.

[0011] Furthermore, in this embodiment, the first nut pulley and the second nut pulley can be combined and connected to the outer peripheral surface of the ball nut.

[0012] Furthermore, in this embodiment, the first nut pulley and the second nut pulley can be connected to the outer peripheral surface of the ball nut.

[0013] Furthermore, in this embodiment, the helix angle of the first nut pulley teeth and the helix angle of the second nut pulley teeth can be formed as a positive clockwise value based on the central axis of the ball nut.

[0014] Furthermore, in this embodiment, the helix angle of the first nut pulley teeth and the helix angle of the second nut pulley teeth can be formed as a counterclockwise negative value based on the central axis of the ball nut.

[0015] Furthermore, in this embodiment, the helix angle of the first nut pulley teeth can be formed as a positive clockwise value based on the central axis of the ball nut, while the helix angle of the second nut pulley teeth can be formed as a negative counterclockwise value based on the central axis of the ball nut.

[0016] Furthermore, in this embodiment, the helix angle of the first nut pulley teeth can be formed as a counterclockwise negative value based on the central axis of the ball nut, while the helix angle of the second nut pulley teeth can be formed as a clockwise positive value based on the central axis of the ball nut.

[0017] Furthermore, in this embodiment, the teeth of the first nut pulley and the teeth of the second nut pulley can be arranged to be spaced apart from each other in the circumferential direction at the portions of the first nut pulley and the second nut pulley that are adjacent to each other.

[0018] Furthermore, in this embodiment, the first motor pulley teeth and the second motor pulley teeth can be formed in different numbers, while the first nut pulley teeth and the second nut pulley teeth can be formed in equal numbers.

[0019] Furthermore, in this embodiment, the number of the first motor pulley teeth and the second motor pulley teeth can be equal, while the number of the first nut pulley teeth and the second nut pulley teeth can be different.

[0020] Furthermore, in this embodiment, the first motor pulley teeth and the second motor pulley teeth can be formed in different numbers, and the first nut pulley teeth and the second nut pulley teeth can be formed in different numbers.

[0021] Furthermore, in this embodiment, a gap may be provided axially between the first nut pulley and the second nut pulley.

[0022] Furthermore, in this embodiment, an anti-rotation component may be connected between the ball nut and the first nut pulley and between the ball nut and the second nut pulley.

[0023] Furthermore, in this embodiment, the anti-rotation component can be molded to be combined with the first nut pulley.

[0024] Furthermore, in this embodiment, the anti-rotation component can be molded to be combined with the second nut pulley.

[0025] Furthermore, in this embodiment, the anti-rotation member may include: a cylindrical portion connected to the outer peripheral surface of the end of the ball nut; and a pulley support portion bent from the end of the cylindrical portion, the pulley support portion extending in a radial direction and having protruding portions disposed on the outer peripheral surface of the pulley support portion and spaced apart from each other in a circumferential direction.

[0026] Furthermore, in this embodiment, a large-diameter portion may be provided at one end of the ball nut, the large-diameter portion having an increased diameter on the outer peripheral surface of the large-diameter portion, and the cylindrical portion connected to the first nut pulley may be press-fitted with the outer peripheral surface of the large-diameter portion.

[0027] Furthermore, in this embodiment, a small-diameter portion may be provided at the other end of the ball nut, the small-diameter portion having a reduced diameter on the outer peripheral surface of the small-diameter portion, and the cylindrical portion connected to the second nut pulley may be press-fitted with the outer peripheral surface of the small-diameter portion.

[0028] Furthermore, this embodiment can provide a vehicle comprising: a ball nut connected to a rack by means of balls and configured to allow the rack to slide axially during rotation; a first nut pulley disposed on the outer peripheral surface of the ball nut and having first nut pulley teeth formed on the outer peripheral surface of the first nut pulley; a second nut pulley disposed on the outer peripheral surface of the ball nut and having second nut pulley teeth formed on the outer peripheral surface of the second nut pulley and configured to change the helix angle relative to the first nut pulley teeth by a predetermined angle; and a first motor pulley disposed on a first motor and having first motor pulley teeth formed on the first motor pulley. The components include: an outer peripheral surface and teeth identical to those of the first nut pulley; a second motor pulley disposed on the second motor and having second motor pulley teeth formed on its outer peripheral surface and identical to those of the second nut pulley; a first belt connecting the first nut pulley and the first motor pulley; a second belt connecting the second nut pulley and the second motor pulley; a first motor sensor configured to detect the rotational position of the shaft of the first motor; a second motor sensor configured to detect the rotational position of the shaft of the second motor; and an electronic control device configured to control the output values ​​to be transmitted to the first and second motors using electrical signals as input values.

[0029] This embodiment can provide a steering device that stably and effectively reduces noise and vibration.

[0030] The effects of this disclosure are not limited to those described above, and those skilled in the art will clearly understand other effects not mentioned above based on the following description.

[0031] The objectives to be achieved by this disclosure, the means for achieving these objectives, and the effects of this disclosure described above do not detail the essential features of the claims, and therefore the scope of the claims is not limited to the content of this disclosure. Attached Figure Description

[0032] The above and other aspects, features and advantages of this disclosure will become clearer from the following detailed description taken in conjunction with the accompanying drawings, in which: Figure 1 and Figure 2 This is a schematic diagram of a vehicle according to this embodiment; Figures 3 to 8 This is a top plan view showing a portion of the vehicle steering device according to this embodiment; Figure 9 This is a schematic diagram illustrating a vehicle steering device according to this embodiment; Figures 10 to 19 This is a view showing a portion of the vehicle steering device according to this embodiment; Figure 20 This is a view used to illustrate the method according to this embodiment, which estimates the rack travel range based on the difference between first rotation information and second rotation information; Figure 21 and Figure 22 This is a perspective view showing a portion of a vehicle steering device according to this embodiment; Figures 23 to 25 This is a cross-sectional view showing a portion of the vehicle steering device according to this embodiment; Figures 26 to 28 This is a front view showing a portion of the vehicle steering device according to this embodiment; Figure 29 This is an exploded perspective view showing a portion of the vehicle steering device according to this embodiment; Figure 30 This is a perspective view showing a portion of a vehicle steering device according to this embodiment. Detailed Implementation

[0033] In the following description of examples or embodiments of this disclosure, reference will be made to the accompanying drawings, in which specific examples or embodiments that may be implemented are illustrated by way of example, and in the drawings, the same numerals and symbols may be used to label the same or similar components, even if these components are shown in different drawings. Furthermore, in the following description of examples or embodiments of this disclosure, detailed descriptions of well-known functions and components incorporated herein will be omitted where it is determined that such detailed descriptions might obscure the subject matter of some embodiments of this disclosure. Terms such as “comprising,” “having,” “including,” “constituting,” “made of,” and “formed from” as used herein are generally intended to allow for the addition of additional components, unless these terms are used in conjunction with the term “only.” As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise.

[0034] Terms such as “first,” “second,” “A,” “B,” “(A),” or “(B)” may be used herein to describe the elements of this disclosure. Each of these terms is not intended to define the nature, order, sequence, or number of elements, but is merely used to distinguish the corresponding element from other elements.

[0035] When referring to a first element being "connected or coupled to" a second element, or "in contact with or overlapping" a second element, it should be understood that the first element can not only be "directly connected or coupled to" the second element or "directly in contact with or overlapping" a second element, but a third element can also be "placed" between the first and second elements, or the first and second elements can be "connected or coupled," "in contact with or overlapping," etc., via a fourth element. Here, the second element can be included in at least one of two or more elements that are "connected or coupled," "in contact with or overlapping," etc., to each other.

[0036] When time-relative terms (such as “after,” “following,” “next,” “before,” etc.) are used to describe a process or operation of an element or configuration, or a flow or step in an operation, processing, or manufacturing method, these terms may be used to describe discontinuous or non-sequential processes or operations unless used with the terms “directly” or “immediately following.”

[0037] Furthermore, when referring to any size, relative dimensions, etc., it should be taken into account that the numerical values ​​or corresponding information of a component or feature (e.g., grade, range, etc.) include tolerances or error ranges that may be caused by various factors (e.g., process factors, internal or external shocks, noise, etc.), even if no detailed description is provided. Additionally, the term "may" fully encompasses all the meanings of the term "able to".

[0038] Figure 1 and Figure 2 This is a schematic diagram of a vehicle according to this embodiment; Figures 3 to 8 This is a top plan view showing a portion of the vehicle steering device according to this embodiment. Figure 9 This is a schematic diagram illustrating a vehicle steering device according to this embodiment. Figures 10 to 19 This is a view showing a portion of the vehicle steering device according to this embodiment. Figure 20 This is a view used to illustrate the method according to this embodiment, which estimates the rack travel range based on the difference between first rotation information and second rotation information. Figure 21 and Figure 22 This is a perspective view showing a portion of the vehicle steering device according to this embodiment. Figures 23 to 25 This is a cross-sectional view showing a portion of the vehicle steering device according to this embodiment. Figures 26 to 28 This is a front view showing a portion of the vehicle steering device according to this embodiment. Figure 29 This is an exploded perspective view showing a portion of the vehicle steering device according to this embodiment, and Figure 30 This is a perspective view showing a portion of a vehicle steering device according to this embodiment.

[0039] in this case, Figure 1 A vehicle equipped with a steer-by-wire system is shown, and Figure 2 A vehicle equipped with a general steering system is shown, wherein the steering shaft 103 and the rack and pinion 130 are mechanically connected. This embodiment is applicable to... Figure 1 and Figure 2 The implementation methods of both. In the following text, vehicles equipped with steer-by-wire steering systems will be described in detail.

[0040] The vehicle according to this embodiment may include: a ball nut 141, which is connected to a rack 130 by means of balls 144 and is configured to allow the rack 130 to slide in the axial direction during rotation; a first nut pulley 143a, which is disposed on the outer peripheral surface of the ball nut 141 and has a first nut pulley tooth 143-1 formed on the outer peripheral surface of the first nut pulley 143a; and a second nut pulley 143b, which is disposed on... On the outer peripheral surface of the ball nut 141, there is a second nut pulley tooth 143-2. ​​The second nut pulley tooth 143-2 is formed on the outer peripheral surface of the second nut pulley 143b and is formed such that the helix angle B relative to the first nut pulley tooth 143-1 is changed by a predetermined angle; a first motor pulley 142a is disposed on the first motor 145 and has a first motor pulley tooth 142-1. The first motor pulley tooth 142-1 is formed on the outer peripheral surface of the first motor pulley 142a and is connected to the first motor pulley 145. The nut pulley teeth 143-1 are identical; and the second motor pulley 142b is disposed on the second motor 147 and has second motor pulley teeth 142-2, which are formed on the outer peripheral surface of the second motor pulley 142b and are identical to the second nut pulley teeth 143-2; a first belt 149a is connected to the first nut pulley 143a and the first motor pulley 142a; the second belt 149b is connected to the second motor pulley 147. Nut pulley 143b and second motor pulley 142b; first motor sensor 145s configured to detect the rotational position of shaft 145a of first motor 145; second motor sensor 147s configured to detect the rotational position of shaft 147a of second motor 147; electronic control device 110 configured to control using electrical signals as input values ​​and output values ​​to be transmitted to first motor 145 and second motor 147.

[0041] The steering device according to this embodiment may include: a ball nut 141, which is connected to a rack 130 by means of balls 144 and is configured to allow the rack 130 to slide in the axial direction during rotation; a first nut pulley 143a, which is disposed on the outer peripheral surface of the ball nut 141 and has a first nut pulley tooth 143-1 formed on the outer peripheral surface of the first nut pulley 143a; and a second nut pulley 143b, which is disposed on the outer peripheral surface of the ball nut 141 and has a second nut pulley tooth 143-2 formed on the second nut pulley 143a. b has a predetermined angle formed on its outer peripheral surface relative to the helical angle B of the first nut pulley tooth 143-1; a first motor pulley 142a, which is disposed on the first motor 145 and has a first motor pulley tooth 142-1, which is formed on the outer peripheral surface of the first motor pulley 142a and is the same as the first nut pulley tooth 143-1; and a second motor pulley 142b, which is disposed on the second motor 147 and has a second motor pulley tooth 142-2, which is formed on the outer peripheral surface of the second motor pulley 142b and is the same as the second nut pulley tooth 143-2.

[0042] Reference Figure 1 In the steering device according to the present disclosure, the angle sensor 105 and the torque sensor 107 may be coupled to one side of the steering shaft 103 connected to the steering wheel 101 or located around the steering shaft 103.

[0043] In the autonomous driving mode where the autonomous driving system drives the vehicle, or in the driver assistance mode where a driver assistance system such as an advanced driver assistance system (ADAS) assists the driver in operating the vehicle, the electronic control unit 110 controls the steering shaft motor 120, the first motor 145, and the second motor 147 by transmitting one or more control signals to the steering shaft motor 120, the first motor 145, and the second motor 147 in response to electrical signals transmitted from various sensors installed in or associated with the vehicle.

[0044] In driver-driven mode, the electronic control unit 110 controls the steering shaft motor 120, the first motor 145, and the second motor 147 by outputting one or more control signals to the steering shaft motor 120, the first motor 145, and the second motor 147 in response to the following electrical signals: an electrical signal transmitted from the angle sensor 105, which detects the driver's manipulation or rotation angle of the steering wheel 101; an electrical signal transmitted from the torque sensor 107; and electrical signals transmitted from various other sensors installed in or associated with the vehicle.

[0045] exist Figure 1 In the embodiment shown, the angle sensor 105 and the torque sensor 107 are configured as two separate and independent sensors. Alternatively, the angle sensor 105 and the torque sensor 107 may also be combined into a single sensor, such as a torque-angle sensor.

[0046] The steering shaft motor 120 may be connected to or associated with a reducer configured to reduce the rotational speed of the steering shaft motor 120, the reducer including, but not limited to, one or more gears, one or more pulleys, and / or one or more belts.

[0047] During normal driving, the steering shaft motor 120 provides appropriate steering feedback to the driver by supplying a reaction force to the steering shaft 103, allowing the driver to feel a steering reaction force resisting the driver's manipulation of the steering wheel 101. The steering shaft motor 120 may also be referred to as a reaction force motor. However, as described below, when the steering shaft motor 120 operates in automatic driving mode, it can not only provide a reaction force but also operate according to autonomous steering.

[0048] In addition, the steering shaft motor 120 rotates the steering shaft 103 so that when the steering shaft motor 120 is operating in automatic driving mode, it can steer autonomously under the control of the electronic control unit 110 without the driver's driving or intention.

[0049] Furthermore, in a steering system with on-line steering, since the steering wheel 101 is not mechanically connected to the rack 130 and the road wheel 131, a device may be included to mechanically constrain or limit the rotatable range of the steering wheel 101 to prevent the steering shaft 103 from rotating indefinitely when the driver operates the steering wheel 101.

[0050] For example, a rotation angle constraint device 125 can be provided to constrain or limit the rotation range of the steering wheel 101, thereby preventing the steering shaft 103 from rotating indefinitely.

[0051] The first motor 145 and the second motor 147 move or slide the rack 130 via the rack moving device 140 to steer the road wheel 131, which is located on opposite sides of the rack 130 or connected to opposite sides of the rack 130 via the connecting rod 133 and the steering knuckle arm 135.

[0052] The rack and pinion moving device 140 includes a ball nut 141, a first nut pulley 143a, a second nut pulley 143b, a first motor pulley 142a, and a second motor pulley 142b. The ball nut 141 is rotatably connected to the rack 130 by means of balls 144, and the ball nut 141 is configured to cause the rack 130 to slide along the axial direction of the rack and pinion moving device 140 by rotation of the ball nut 141. The first nut pulley 143a can be disposed on one side of the outer peripheral surface of the ball nut 141, and the second nut pulley 143b can be disposed on the other side of the outer peripheral surface of the ball nut 141. The first motor pulley 142a can be connected to a first motor 145 (e.g., fixed to the shaft of the first motor 145) or directly formed on a rotatable portion of the first motor 145, and the first motor pulley 142a can be connected to the first nut pulley 143a via a first belt 149a. The second motor pulley 142b can be connected to the second motor 147 (e.g., fixed to the shaft of the second motor 147) or formed directly on the rotatable part of the second motor 147, and the second motor pulley 142b can be connected to the second nut pulley 143b via the second belt 149a.

[0053] Furthermore, the ball 144 is rotatably arranged between the rack helical groove formed on the outer peripheral surface of the rack 130 and the nut helical groove formed on the inner peripheral surface of the ball nut 141, so that the rack 130 can slide along the axial direction of the rack moving device 140 by rotating the ball nut 141.

[0054] However, in the embodiments described above in this disclosure, the angle sensor 105 and the torque sensor 107 are disposed on the steering shaft 103 or around the steering shaft 130, and the steering device according to the embodiments of this disclosure may include a vehicle speed sensor 102, an ultrasonic sensor 104, and an image sensor 106 for transmitting steering information to the electronic control unit 110. However, various types of sensors, such as radar and lidar, may be added to the embodiments of this disclosure.

[0055] In a steering system with in-line steering, since the steering wheel 101 is not mechanically connected to the rack 130 and the road wheel 131, a device may be included to mechanically constrain the rack 130 to prevent it from rotating due to the rotational torque of the ball nut 141 rotated by the rack moving device 140.

[0056] For example, the anti-rotation member 150 is configured to support the axial sliding of the rack 130 and prevent the rack 130 from rotating.

[0057] exist Figure 1 In the embodiment shown, a single anti-rotation member 150 is provided on one side of the rack 130. Alternatively, multiple anti-rotation members 150 may be provided to support the rack 130. The number of anti-rotation members 150, the axial position of the anti-rotation members 150, etc., may vary depending on the configuration of the first motor 145 and the second motor 147, the required operation, and the rotational force required by the ball nut 141 of the rack moving device 140.

[0058] In one embodiment, the first motor 145 and the second motor 147 are arranged to face each other such that the shaft 145a of the first motor 145 and the shaft 147a of the second motor 147 are aligned coaxially and arranged parallel to the central axis of the rack 130.

[0059] exist Figure 3 In another embodiment shown, a first motor 145 is arranged on one side of the rack 130, and a second motor 147 is arranged on the other side of the rack 130, such that the rack 130 is positioned between the shaft 145a of the first motor 145 and the shaft 147a of the second motor 147, and the shaft 145a of the first motor 145 and the shaft 147a of the second motor 147 are arranged parallel to the central axis of the rack 130 and are arranged on opposite sides of the central axis of the rack 130.

[0060] As mentioned above, Figure 1 and Figure 2 The exemplary arrangement of the first motor 145, the second motor 147, and the rack and pinion 130 shown can reduce the packaging size of the steering device, making the steering device more compact, and can simplify the assembly process of the first motor 145, the first strip 149a, the second motor 147, and the second strip 149b of the steering device.

[0061] Reference Figure 4 The outer diameter mD1 of the first motor pulley 142a and the outer diameter mD2 of the second motor pulley 142b can be different from each other, and the outer diameter nD1 of the first nut pulley 143a and the outer diameter nD2 of the second nut pulley 143b can be equal to each other.

[0062] In other words, when the first motor 145 and the second motor 147 are operating, the first nut pulley 143a and the second nut pulley 143b rotate while maintaining the same phase angle, and there is no phase difference between the first nut pulley 143a and the second nut pulley 143b. When the first motor 145 and the second motor 147 are operating, the first motor pulley 142a and the second motor pulley 142b rotate while gradually changing the phase difference between the first motor pulley 142a and the second motor pulley 142b.

[0063] exist Figure 4 In the illustrated embodiment, the first nut pulley 143a and the second nut pulley 143b are respectively provided and connected to a portion and another portion of the outer peripheral surface of the ball nut 141. However, as Figure 5 As shown, the first nut pulley 143a and the second nut pulley 143b can also be combined into a single piece with the same outer diameter. This will be described below.

[0064] The first motor 145 may have a first motor sensor 145s configured to detect the rotational position of the shaft 145a of the first motor 145, and the second motor 147 may have a second motor sensor 147s configured to detect the rotational position of the shaft 147a of the second motor 147.

[0065] When the first motor 145 is operating, the first motor sensor 145s detects the rotation direction and angle of the shaft 145a of the first motor 145, and the first motor sensor 145s outputs a signal indicating the direction and angle to the electronic control device 110.

[0066] When the second motor 147 operates, the second motor sensor 147s detects the rotation direction and angle of the shaft 147a of the second motor 147, and outputs a signal indicating the rotation direction and angle of the shaft 147a of the second motor 147 to the electronic control device 110.

[0067] Therefore, the electronic control device 110 can determine the linear position of the rack 130 based on the first position of the shaft 145a of the first motor 145 detected by the first motor sensor 145s and the second position of the shaft 147a of the second motor 147 detected by the second motor sensor 147s, and output control signals to the first motor 145 and the second motor 147.

[0068] In other words, the electronic control device 110 sets the angle between the reference point of the shaft 145a of the first motor 145 when the first motor 145 is stopped and the reference point of the shaft 147a of the second motor 147 when the second motor 147 is stopped as a reference position value. After the first motor 145 and the second motor 147 operate, the electronic control device 10 sets the angle between the reference point of the shaft 145a of the first motor 145 and the reference point of the shaft 147a of the second motor 147 as an operating position value. The electronic control device 10 determines the linear position of the rack 130 based on the difference between the reference position value and the operating position value.

[0069] For example, the difference between the reference position value and the operating position value can be set from 0° to 360°. The maximum sliding range of the rack 130 is set within this range. The electronic control device 110 determines the sliding position of the rack 130 based on at least one of the following: the rotation ratio between the first motor pulley 142a and the first nut pulley 143a, the rotation ratio between the second motor pulley 142b and the second nut pulley 143b, the outer and inner diameters of the ball nut 141, the outer diameter of the rack 130, or the lead angle between the rack helical groove 130a and the nut helical groove 141a.

[0070] Furthermore, by setting the difference between the reference position value and the operating position value as a movement value and comparing this movement value with preset data, the electronic control device 110 can determine the linear position of the rack 130. For example, this movement value can be set from 0° to 360°, and the maximum sliding amount of the rack 130 can be set within this range.

[0071] The preset data may include the sliding amount of the rack 130, which corresponds to a movement value determined based on at least one of the following: the outer diameter of the first motor pulley 142a and the second motor pulley 142b, the outer diameter of the first nut pulley 143a and the second nut pulley 143b, the outer and inner diameters of the ball nut 141, and / or the outer diameter of the rack 130.

[0072] For example, the first motor pulley 142a and the second motor pulley 142b have different outer diameters, while the first nut pulley 143a and the second nut pulley 143b have the same outer diameter. This allows the electronic control device 110 to determine the sliding position of the rack rod 130 based on the first position detected by the first motor sensor 145s through the shaft 145a of the first motor 145 and the second position detected by the second motor sensor 147s through the shaft 147a of the second motor 147, and to output signals for controlling the first motor 145 and the second motor 147.

[0073] Reference Figure 5 The first nut pulley 143a and the second nut pulley 143b can be combined into a single piece with the same outer diameter.

[0074] In the example where the first nut pulley 143a and the second nut pulley 143b are combined into a single piece with the same outer diameter, the first strip 149a is connected to one part of the integral pulley, while the second strip 149b is connected to the other part of the integral pulley, such that the first strip 149a and the second strip 149b can be connected to the first motor pulley 142a and the second motor pulley 142b, respectively.

[0075] Furthermore, the first motor 145 may have a first motor sensor 145s configured to detect the rotational position of the shaft 145a of the first motor 145, and the second motor 147 may have a second motor sensor 147s configured to detect the rotational position of the shaft 147a of the second motor 147.

[0076] When the first motor 145 is operating, the first motor sensor 145s detects the rotation direction and angle of the shaft 145a of the first motor 145, and transmits the direction and angle to the electronic control device 110.

[0077] When the second motor 147 is in operation, the second motor sensor 147s detects the rotation direction and angle of the shaft 147a of the second motor 147, and the second motor sensor 147s transmits the signals indicating the direction and angle to the electronic control device 110.

[0078] Therefore, the electronic control device 110 can determine the linear position of the rack 130 based on the first position of the shaft 145a of the first motor 145 detected by the first motor sensor 145s and the second position of the shaft 147a of the second motor 147 detected by the second motor sensor 147s, and output a signal for controlling the first motor 145 and the second motor 147.

[0079] exist Figure 6In the exemplary embodiment shown, the outer diameter mD1 of the first motor pulley 142a and the outer diameter mD2 of the second motor pulley 142b can be equal to each other, and the outer diameter nD1 of the first nut pulley 143a and the outer diameter nD2 of the second nut pulley 143b can be different from each other.

[0080] The first nut pulley 143a, the second nut pulley 143b, and the ball nut 141 rotate at the same speed. Therefore, when the first motor 145 and the second motor 147 are operating, the first nut pulley 143a and the second nut pulley 143b maintain the same phase angle and rotate in a manner with no phase difference. However, the first motor pulley 142a and the second motor pulley 142b rotate while gradually changing their phase difference.

[0081] Furthermore, the first motor 145 may have a first motor sensor 145s configured to detect the rotational position of the shaft 145a of the first motor 145, and the second motor 147 may have a second motor sensor 147s configured to detect the rotational position of the shaft 147a of the second motor 147.

[0082] When the first motor 145 is operating, the first motor sensor 145s detects the rotation direction and angle of the shaft 145a of the first motor 145, and the first motor sensor 145s outputs a signal indicating the rotation direction and angle of the shaft 145a of the first motor 145 to the electronic control device 110.

[0083] Furthermore, when the second motor 147 is operating, the second motor sensor 147s detects the rotation direction and angle of the shaft 147a of the second motor 147, and the second motor sensor 147s transmits the rotation direction and angle of the shaft 147a of the second motor 147 to the electronic control device 110.

[0084] Therefore, the electronic control device 110 can output signals for controlling the first motor 145 and the second motor 147 through the following process: the linear position of the rack 130 is determined by the above determination process based on the first position of the shaft 145a of the first motor 145 detected by the first motor sensor 145s and the second position of the shaft 147a of the second motor 147 detected by the second motor sensor 147s.

[0085] exist Figure 7 In the exemplary embodiment shown, the outer diameter mD1 of the first motor pulley 142a and the outer diameter mD2 of the second motor pulley 142b may be different from each other, and the outer diameter nD1 of the first nut pulley 143a and the outer diameter nD2 of the second nut pulley 143b may also be different from each other.

[0086] Even under these conditions, the first nut pulley 143a, the second nut pulley 143b, and the ball nut 141 rotate at the same speed. Therefore, when the first motor 145 and the second motor 147 are operating, the first nut pulley 143a and the second nut pulley 143b maintain the same phase angle and rotate without any phase difference.

[0087] Furthermore, when the first motor 145 and the second motor 147 are operating, the first motor pulley 142a and the second motor pulley 142b rotate while gradually changing their phase difference.

[0088] The first motor 145 may have a first motor sensor 145s configured to detect the rotational position of the shaft 145a of the first motor 145, and the second motor 147 may have a second motor sensor 147s configured to detect the rotational position of the shaft 147a of the second motor 147.

[0089] Therefore, the electronic control device 110 can output signals for controlling the first motor 145 and the second motor 147 in the following manner: the linear position of the rack 130 is determined by the above determination process based on the first position of the shaft 145a of the first motor 145 detected by the first motor sensor 145s and the second position of the shaft 147a of the second motor 147 detected by the second motor sensor 147s.

[0090] exist Figure 8 In an exemplary embodiment, a first motor pulley tooth 142-1 is disposed on the outer peripheral surface of the first motor pulley 142a, and a first nut pulley tooth 143-1 is disposed on the outer peripheral surface of the first nut pulley 143a. The first motor pulley tooth 142-1 and the first nut pulley tooth 143-1 can be connected to engage with a first strip tooth 149-1 disposed on the inner peripheral surface of the first strip 149a.

[0091] Since the first motor pulley tooth 142-1 and the first nut pulley tooth 143-1 are connected to the first belt tooth 149-1 to transmit power, the first motor pulley tooth 142-1 and the first nut pulley tooth 143-1 have the same dimensions as the first belt tooth 149-1.

[0092] The second motor pulley tooth 142-2 is disposed on the outer peripheral surface of the second motor pulley 142b, and the second nut pulley tooth 143-2 is disposed on the outer peripheral surface of the second nut pulley 143b. The second motor pulley tooth 142-2 and the second nut pulley tooth 143-2 can be connected to the second strip tooth 149-2 disposed on the inner peripheral surface of the second strip 149b.

[0093] Since the second motor pulley tooth 142-2 and the second nut pulley tooth 143-2 are connected to the second belt tooth 149-2 to transmit power, the second motor pulley tooth 142-2 and the second nut pulley tooth 143-2 can have the same dimensions as the second belt tooth 149-2.

[0094] Furthermore, the number of teeth 142-1 of the first motor pulley and the number of teeth 142-2 of the second motor pulley can be different from each other, and the number of teeth 143-1 of the first nut pulley and the number of teeth 143-2 of the second nut pulley can be equal to each other.

[0095] The first motor pulley tooth section 142-1 and the second motor pulley tooth section 142-2 have equal circumferential pitches, different pitch circle diameters, and different numbers of teeth. The first nut pulley tooth section 143-1 and the second nut pulley tooth section 143-2 have equal circumferential pitches, equal pitch circle diameters, and different numbers of teeth.

[0096] The first motor 145 may have a first motor sensor 145s configured to detect the rotational position of the shaft 145a of the first motor 145, and the second motor 147 may have a second motor sensor 147s configured to detect the rotational position of the shaft 147a of the second motor 147.

[0097] Therefore, the electronic control device 110 can determine the linear position of the rack 130 based on the first position of the shaft 145a of the first motor 145 detected by the first motor sensor 145s and the second position of the shaft 147a of the second motor 147 detected by the second motor sensor 147s, and output a signal for controlling the first motor 145 and the second motor 147.

[0098] In other words, similar to the determination method described above, the difference between the reference position value and the operating position value can be set from 0° to 360°, and the maximum sliding amount of the rack 130 is set within this range. The electronic control device 110 determines the sliding position of the rack 130 based on at least one of the following: the pitch circle diameter ratio or tooth number ratio between the first motor pulley 142a and the first nut pulley 143a, the pitch circle diameter ratio or tooth number ratio between the second motor pulley 142b and the second nut pulley 143b, the inner and outer diameters of the ball nut 141, or the outer diameter of the rack 130.

[0099] Alternatively, similar to the method described above, the electronic control device 110 can determine the sliding position of the rack 130 by setting the difference between the reference position value and the operating position value as a movement value and comparing this movement value with preset data. In this case, the movement value can be set from 0° to 360°, and the maximum sliding amount of the rack 130 is set within this range.

[0100] In this case, the preset data may include the sliding amount of the rack 130, which corresponds to a movement value determined according to at least one of the following: the pitch circle diameter and number of teeth of the first motor pulley 142a and the second motor pulley 142b, the pitch circle diameter and number of teeth of the first nut pulley 143a and the second nut pulley 143b, the outer diameter and inner diameter of the ball nut 141, and / or the outer diameter of the rack 130.

[0101] As described above, the number of teeth 142-1 on the first motor pulley is different from the number of teeth 142-2 on the second motor pulley, while the number of teeth 143-1 on the first nut pulley is equal to the number of teeth 143-2 on the second nut pulley. The electronic control device 110 can output signals for controlling the first motor 145 and the second motor 147 in the following manner: the sliding position of the rack rod 130 is determined based on the first position of the shaft 145a of the first motor 145 sensed by the first motor sensor 145s and the second position of the shaft 147a of the second motor 147 sensed by the second motor sensor 147s.

[0102] In addition, the number of teeth 142-1 of the first motor pulley and the number of teeth 142-2 of the second motor pulley can be equal, while the number of teeth 143-1 of the first nut pulley and the number of teeth 143-2 of the second nut pulley can be different.

[0103] The first motor pulley tooth section 142-1 and the second motor pulley tooth section 142-2 may have equal circumferential pitch, equal pitch circle diameter, and the same number of teeth. The first nut pulley tooth section 143-1 and the second nut pulley tooth section 143-2 may have the same circumferential pitch, different pitch circle diameters, and different numbers of teeth.

[0104] Furthermore, the first motor 145 may have a first motor sensor 145s configured to detect the rotational position of the shaft 145a of the first motor 145, and the second motor 147 may have a second motor sensor 147s configured to detect the rotational position of the shaft 147a of the second motor 147.

[0105] Therefore, the electronic control device 110 can output signals for controlling the first motor 145 and the second motor 147 in the following manner: the sliding position of the rack rod 130 is determined by the above determination process based on the first position of the shaft 145a of the first motor 145 detected by the first motor sensor 145s and the second position of the shaft 147a of the second motor 147 detected by the second motor sensor 147s.

[0106] In addition, the number of teeth 142-1 of the first motor pulley and the number of teeth 142-2 of the second motor pulley can be different, and the number of teeth 143-1 of the first nut pulley and the number of teeth 143-2 of the second nut pulley can also be different.

[0107] In other words, the first motor pulley tooth 142-1 and the second motor pulley tooth 142-2 can have equal circumferential pitch, different pitch circle diameters, and different numbers of teeth. The first nut pulley tooth 143-1 and the second nut pulley tooth 143-2 can have equal circumferential pitch, different pitch circle diameters, and different numbers of teeth.

[0108] Furthermore, the first motor 145 may have a first motor sensor 145s configured to detect the rotational position of the shaft 145a of the first motor 145, and the second motor 147 may have a second motor sensor 147s configured to detect the rotational position of the shaft 147a of the second motor 147.

[0109] Therefore, the electronic control device 110 can output signals for controlling the first motor 145 and the second motor 147 in the following manner: the sliding position of the rack rod 130 is determined by the above determination process based on the first position of the shaft 145a of the first motor 145 detected by the first motor sensor 145s and the second position of the shaft 147a of the second motor 147 detected by the second motor sensor 147s.

[0110] exist Figure 9 In an exemplary embodiment, in order to address the situation where either the first motor sensor 145s or the second motor sensor 147s is inoperable, a rotating gear 139, which is rotatably engaged with the rack gear 130b disposed on the rack 130, can be rotatably connected to the rack 130, and the rotation angle sensor 137s can be configured to detect the rotation angle of the rotating gear 139.

[0111] The rotating gear 139 can be configured to rotate while being supported on the rack housing by a support member. The rotation angle sensor 137s can be mounted on or around the shaft 137 of the rotating gear 139, and the rotation angle sensor 137s is configured to detect the rotation angle of the rotating gear 139 and transmit the rotation angle of the rotating gear 139 to the electronic control device 110.

[0112] Therefore, even if either the first motor sensor 145s or the second motor sensor 147s is inoperable, the electronic control device 110 can output a signal for controlling the first motor 145s and the second motor 147s in the following manner: determining the sliding position of the rack rod 130 based on the transmission ratio between the rack gear 130b and the rotary gear 139 stored in advance and the rotation angle of the rotary gear 139 received from the rotation angle sensor 137s.

[0113] Furthermore, various embodiments of the anti-rotation component or device can be incorporated into the aforementioned steering equipment, as described below.

[0114] The following will refer to Figures 10 to 19 To describe in more detail some embodiments of the anti-rotation component 150.

[0115] like Figure 10 As shown, the anti-rotation member 150 can be connected to one radial side and the other radial side of the rack 130 and supports the opposite sides of the rack 130 to prevent the rack 130 from rotating.

[0116] The anti-rotation member 150 may include: a shaft 230 configured to support a support surface 130-1 formed on the outer peripheral surface of the rack 130; and a support yoke 240 configured to support an outer peripheral surface of the rack 130 that is opposite to or corresponds to the position where the support shaft 230 is supported.

[0117] The support surface 130-1 formed on the outer peripheral surface of the rack 130 can be formed by machining or grinding the outer peripheral surface of the rack 130.

[0118] The support surface 130-1 may be recessed from the outer peripheral surface of the rack 130 and formed as a curved surface, a flat surface, or a combination thereof.

[0119] The support surface 130-1 extends along the axial direction of the rack 130 so as to be supported by the shaft 230 when the rack 130 slides along the axial direction of the rack 130.

[0120] Optionally, the coating layer may be applied to the support surface 130-1 and made of a low-friction material with a low coefficient of friction, such as fluoropolymer or ceramic, to minimize or reduce friction with the shaft 230.

[0121] The shaft 230 that supports the support surface 130-1 of the rack 130 may include an upper support portion 231, a body portion 233, and a lower support portion 235.

[0122] When the rack rod 130 slides, the shaft 230 is supported by the rack housing (e.g., Figure 11 The 160) is supported, and the shaft 230 is configured to rotate, such that the body part 233 supports the support surface 130-1 of the rack 130, thereby preventing the rack 130 from rotating.

[0123] The needle roller bearing 236 can be connected to the body portion 233 to minimize or reduce friction with the support surface 130-1 of the rack 130.

[0124] An upper support portion 231 having a diameter larger than that of the main body portion 233 can be disposed above the main body portion 233, and an upper support member 234 can be connected to the upper support portion 231 to be rotatably supported on the rack housing.

[0125] The top plug 232 can be connected to the upper side of the upper support portion 231 to prevent foreign objects from being introduced into the rack housing.

[0126] A lower support portion 235 having a diameter smaller than that of the main body portion 233 can be disposed below the main body portion 233, and a lower support member 238 can be connected to the lower support portion 235 to be rotatably supported on the rack housing.

[0127] The support yoke 240, which supports the outer peripheral surface of the rack 130 opposite to the position where the shaft 230 is supported, supports the rack 130 toward the shaft 230 when the rack 130 slides, thereby preventing the rack 130 from rotating.

[0128] The curved surface support portion 241 may be formed at the end portion of the support yoke 240 and may be supported on and in close contact with the outer peripheral surface of the rack 130. The curved surface support portion 241 may have the same curved surface as the outer peripheral surface of the rack 130.

[0129] The supporting yoke 240 may have a predetermined stiffness and elasticity, and may be made of one or more materials selected from the following: polyoxymethylene (POM), polyamide (PA), polycarbonate (PC), polyimide (PI), polybutylene terephthalate (PBT), polyphenylene sulfide (PPS), and phenolic formaldehyde (PF).

[0130] The elastic ring 245 can be attached to the outer peripheral surface of the supporting yoke 240 to prevent rattling noise from the rack housing.

[0131] One or more elastic rings 245 may be attached to the outer peripheral surface of the supporting yoke 240.

[0132] The elastic ring 245 can be made of a material capable of absorbing vibration and noise and having predetermined elasticity and stiffness. For example, the elastic ring 245 can be made of one or more materials selected from the following: natural rubber (NR), nitrile rubber (NBR), chloroprene rubber (CR), ethylene propylene diene monomer (EPDM), fluororubber (FPM), styrene-butadiene rubber (SBR), chlorosulfonated polyethylene (CSM), polyurethane, and silicone resin, which have the above-mentioned properties.

[0133] The plug-like portion 243 of the yoke can be connected to the end portion of the supporting yoke 240, press-fitted or threaded to the rack housing, and to fix the supporting yoke 240.

[0134] Furthermore, an elastomer can be connected between the support yoke 240 and the yoke plug 243, and elastically support the support yoke 240 toward the rack 130.

[0135] like Figure 11 As shown, the anti-rotation member 150 can be connected to one radial side and the other radial side of the rack 130 and supports the opposite sides of the rack 130 to prevent the rack 130 from rotating.

[0136] The anti-rotation member 150 may include: a needle roller bearing 220 configured to support a support surface 130-1 formed on the outer peripheral surface of the rack 130; a support yoke 225 rotatably connected to the needle roller bearing 220; and a rack bushing 229 configured to support the outer peripheral surface of the rack 130 opposite to the position where the needle roller bearing 220 is supported.

[0137] The support surface 130-1 can be formed on the outer peripheral surface of the rack 130. For example, the support surface 130-1 can be formed by machining or grinding the outer peripheral surface of the rack 130.

[0138] The support surface 130-1 can be recessed from the outer peripheral surface of the rack 130. The support surface 130-1 can be formed as a curved surface or a flat surface.

[0139] The support surface 130-1 extends along the axial direction of the rack 130. Furthermore, when the rack 130 slides along the axial direction of the rack 130, the support surface 130-1 can be supported by the needle roller bearing 220.

[0140] The coating may be applied to the support surface 130-1 and made of a low-friction material, such as fluoropolymer or ceramic, to minimize or reduce friction with the needle roller bearing 220.

[0141] The needle roller bearing 220 can be configured to support the support surface 130-1 of the rack 130. The needle roller bearing 220 can have a support shaft 221 disposed at the central portion of the needle roller bearing, and the support shaft 221 is fixed to the support yoke 225, so that the needle roller bearing 220 can be rotatably supported by the support yoke 225.

[0142] The outer ring 222 of the needle roller bearing 220 is supported on the support surface 130-1 and is configured to rotate when the rack 130 slides to prevent the rack 130 from rotating.

[0143] The outer ring 222 of the needle roller bearing 220 can be positioned at a point protruding from the end portion of the support yoke 225, such that the outer ring 222 can be supported on the support surface 130-1.

[0144] When the rack rod 130 slides, the support yoke 225 supports the needle roller bearing 220 toward the support surface 130-1 to prevent the rack rod 130 from rotating.

[0145] The supporting yoke 225 may have a predetermined stiffness and elasticity, and is made of one or more materials selected from the following: polyoxymethylene (POM), polyamide (PA), polycarbonate (PC), polyimide (PI), polybutylene terephthalate (PBT), polyphenylene sulfide (PPS), and phenolic formaldehyde (PF).

[0146] The elastic ring 226 can be attached to the outer peripheral surface of the supporting yoke 225 to prevent clicking noise with the rack housing 160.

[0147] One or more elastic rings 226 may be attached to the outer peripheral surface of the supporting yoke 225.

[0148] The elastic ring 226 can be made of a material capable of absorbing vibration and noise and having predetermined elasticity and stiffness. Therefore, the elastic ring 226 can be made of one or more materials selected from the following: natural rubber (NR), nitrile rubber (NBR), chloroprene rubber (CR), ethylene propylene diene monomer (EPDM), fluororubber (FPM), styrene-butadiene rubber (SBR), chlorosulfonated polyethylene (CSM), polyurethane, and silicone resin, which have the above-mentioned properties.

[0149] The yoke plug 227 can be connected to the end of the supporting yoke 225, press-fitted or threaded to the rack housing 160, and is configured to fix the position of the supporting yoke 225.

[0150] Furthermore, the elastomer 228 can be connected between the support yoke 225 and the yoke plug 227, and elastically supports the support yoke 225 by applying an elastic force toward the rack 130.

[0151] The rack bushing 229—which supports the outer peripheral surface of the rack rod 130 opposite to the outer peripheral surface supported by the needle roller bearing 220 of the rack rod 130—can be formed in a semi-cylindrical shape, which is made by cutting a portion of the outer peripheral surface of the rack bushing 229.

[0152] When the rack rod 130 slides, the rack bushing 229 supports the rack rod 130 toward the needle roller bearing 220 in the radial direction of the rack bushing 229.

[0153] The rack bushing 229 may have a curved surface that is the same as or corresponds to the outer peripheral surface of the rack rod 130, so as to be in close contact with and supported on the outer peripheral surface of the rack rod 130.

[0154] A bushing connection groove 166-1 that connects with the rack bushing 229 can be formed on the inner circumferential surface of the rack housing 160.

[0155] The rack bushing 229 may have a fixed protrusion 229a formed on or around the end portion of the outer peripheral surface of the rack bushing 229 to prevent the axial position of the rack bushing 229 from separating or rotating when the rack bar 130 slides.

[0156] The fixing groove 166-2 can be formed on the inner circumferential surface of the rack housing 160, and the fixing protrusion 229a of the rack bushing 229 can be connected to the fixing groove 166-2 of the rack housing 160.

[0157] The rack bushing 229 may have a predetermined stiffness and elasticity and is made of one or more materials selected from the following: polyoxymethylene (POM), polyamide (PA), polycarbonate (PC), polyimide (PI), polybutylene terephthalate (PBT), polyphenylene sulfide (PPS), and phenolic formaldehyde (PF).

[0158] exist Figure 12 In the illustrated embodiment, the anti-rotation member 150 can be configured to prevent the rack 130 from rotating about its central axis. The anti-rotation member 150 supports the outer peripheral surface of the rack 130 and can be supported on the inner peripheral surface of the rack housing 160.

[0159] The anti-rotation member 150 may include a support member 210 and an elastic member 212. One end portion of the support member 210 is disposed or supported in a rack support groove 132 formed on the outer peripheral surface of the rack bar 130, and the other end portion of the support member 210 is disposed or supported in a housing groove 162 formed on the inner peripheral surface of the rack housing 160. The elastic member 212 is connected to the support member 210 and is configured to elastically support the inner peripheral surface of the rack housing 160.

[0160] The rack support groove 132 formed on the outer peripheral surface of the rack rod 130 can be formed by machining or grinding the outer peripheral surface of the rack rod 130.

[0161] The rack support groove 132 can be recessed into the outer peripheral surface of the rack rod 130. The rack support groove 132 can have a curved surface or a flat surface.

[0162] The rack support groove 132 may be elongated along the axial direction of the rack rod 130, and when the rack rod 130 slides along the axial direction of the rack rod 130, the rack support groove 132 is supported by the support member 210.

[0163] The coating can be applied to the rack support groove 132 and is made of a low-friction material, such as fluoropolymer or ceramic, to minimize or reduce friction with the support member 210.

[0164] The housing groove 162 supported by the other end portion of the support member 210 may be formed at a position facing the rack support groove 132 in the radial direction of the rack rod 130.

[0165] For example, the housing groove 162 may be formed by machining or grinding the inner circumferential surface of the rack housing 160.

[0166] The housing groove 162 can be recessed into the inner peripheral surface of the rack housing 160 and has a curved or flat surface, such that when the rack rod 130 slides in the axial direction of the rack rod 130, the support member 210 can prevent the rack rod 130 from rotating.

[0167] One end portion and the other end portion of the support member 210 are respectively connected to the rack support groove 132 and the housing groove 162, and a connecting groove 211 connected to the elastic member 212 is formed at the other end portion of the support member 210.

[0168] The support member 210 may have a predetermined stiffness and elasticity, and is made of one or more materials selected from the following: polyoxymethylene (POM), polyamide (PA), polycarbonate (PC), polyimide (PI), polybutylene terephthalate (PBT), polyphenylene sulfide (PPS), and phenolic formaldehyde (PF).

[0169] The elastic member 212 is connected to the connecting groove 211 of the support member 210, supporting the support member 210. It is configured to apply a spring force toward the rack rod 130 while being elastically supported on the inner circumferential surface of the rack housing 160, thus maintaining a predetermined interval between the support member 210 and the rack rod 130, preventing collision with the inner circumferential surface of the rack housing 160 when the rack rod 130 slides along its axial direction. Therefore, clicking noise between the support member 210 and the rack housing 160 can be prevented.

[0170] For example, the elastic member 212 can be formed as an arc-shaped thin plate.

[0171] The plug bolt 215 can be arranged at the axial end of the support member 210, can be configured to prevent the support member 210 from separating, and can be coupled to the inner circumferential surface of the rack housing 160. For example, the plug bolt 215 can be press-fitted and coupled to the inner circumferential surface of the rack housing 160.

[0172] The plug bolt 215 includes: a support portion 215a configured to support the support member 210 in the axial direction of the rack rod 130; and a fixing portion 215b extending from the support portion 215a and fixed to the inner circumferential surface of the rack housing 160.

[0173] The outer peripheral surface of the fixing part 215b has a threaded portion that is screwed onto the inner peripheral surface of the rack housing 160.

[0174] In addition, the fixing member 217 can be connected to the axial end of the plug bolt 215 to prevent the plug bolt 215 from loosening and separating.

[0175] A fixing protrusion 217a protruding in the radial direction of the rack housing 160 can protrude from the outer peripheral surface of the fixing member 217.

[0176] The fixing groove 164 can be formed on the inner circumferential surface of the rack housing 160, and the fixing protrusion 217a of the fixing member 217 is inserted into the fixing groove 164 and supported by the fixing groove 164.

[0177] exist Figure 13 In one embodiment, the anti-rotation member 150 can be supported on the outer peripheral surface of the rack rod 130 and the inner peripheral surface of the rack housing, and prevent the rack rod 130 from rotating about the central axis.

[0178] The anti-rotation member 150 may include: a support bushing 205 configured to support a support surface 130-1 formed on the outer peripheral surface of the rack 130; a bushing retainer 200 coupled to the outer peripheral surface of the rack 130 and having an inner peripheral surface that supports the support bushing 205; and an elastic member 207 coupled between the bushing retainer 200 and the support bushing 205 and configured to elastically support the support bushing 205 by applying an elastic force toward the rack 130.

[0179] For example, the support surface 130-1 formed on the outer peripheral surface of the rack 130 can be formed by machining or grinding the outer peripheral surface of the rack 130.

[0180] The support surface 130-1 may be recessed from the outer peripheral surface of the rack 130 and may have a curved surface or a flat surface.

[0181] The support surface 130-1 is elongated along the axial direction of the rack 130, and the support surface 130-1 is supported by the support bushing 205 when the rack 130 slides in the axial direction.

[0182] The coating may be applied to the support surface 130-1 and made of a low-friction material, such as fluoropolymer or ceramic, to minimize or reduce friction with the support bushing 205.

[0183] The housing groove 162 connected to and supported by the bushing retainer 200 is formed on the inner circumferential surface of the rack housing 160 and is positioned to face the support surface 130-1 in the radial direction of the rack rod 130.

[0184] For example, the housing groove 162 may be formed by machining or grinding the inner circumferential surface of the rack housing 160.

[0185] The housing groove 162 can be recessed into the inner circumferential surface of the rack housing 160 and can have a curved surface or a flat surface.

[0186] Additionally, a stepped protrusion 163 with a larger diameter at the end portion of the housing groove 162 may be formed on the inner circumferential surface of the rack housing 160, and the end portion of the stepped protrusion 163 may have an opening in the axial direction of the rack rod 130.

[0187] The bushing retainer 200 has a cylindrical shape. For example, the bushing retainer 200 may have a cut-out portion formed by cutting a radial side of the bushing retainer 200 and an inner circumferential protruding surface 201 that protrudes radially inward.

[0188] Furthermore, a bushing connection groove 203 for supporting the bushing 205 may be formed on the inner circumferential protruding surface 201. The flange portion 206 protrudes in the radial direction and is supported by or on the stepped protruding portion 163 of the rack housing 160, and may be formed at the axial end of the bushing retainer 200.

[0189] The flange portion 206 is supported by or rests on the stepped protrusion 163 to prevent the bushing retainer 200 from separating when the rack 130 slides in the axial direction.

[0190] The support bushing 205, which is connected to the bushing connection groove 203 of the bushing retainer 200, includes a protruding support portion 205a that protrudes from the central portion of the support bushing 205, and an elastic member 207 is connected to the protruding support portion 205a.

[0191] For example, the elastic member 207 can be formed in an annular shape and in a conical shape, wherein the inner and outer peripheral surfaces of the elastic member 207 are stepped in the axial direction, such that the protruding support portion 205a can be connected to the inner peripheral surface of the elastic member 207.

[0192] The elastic member 207 elastically supports the support bushing 205 to apply a spring force toward the rack 130, and the elastic member 207 can be positioned between the bushing retainer 200 and the support bushing 205 to form a gap or space 202, so that when the rack 130 slides in the axial direction, the support bushing 205 will not collide with the bushing retainer 200, thereby preventing or reducing the clicking noise between the support bushing 205 and the bushing retainer 200.

[0193] The bushing retainer 200 and the support bushing 205 may have a predetermined stiffness and elasticity, and are made of one or more materials selected from the following: polyoxymethylene (POM), polyamide (PA), polycarbonate (PC), polyimide (PI), polybutylene terephthalate (PBT), polyphenylene sulfide (PPS), and phenolic formaldehyde (PF).

[0194] exist Figure 14 In one embodiment, the anti-rotation member 150 can support the outer peripheral surface of the rack rod 130 to prevent the rack rod 130 from rotating around the central axis of the anti-rotation member 150, and can be supported by the inner peripheral surface of the rack housing 160.

[0195] The anti-rotation member 150 may include: a rack bushing 250 having an inner peripheral support portion 251 and an outer peripheral support portion 253, the inner peripheral support portion 251 being inserted into and supported by a rack support groove 132 formed on the outer peripheral surface of the rack rod 130, and the outer peripheral support portion 253 being inserted into and supported by a housing groove 162 formed on the inner peripheral surface of the rack housing 160; and an elastic member 252 connected to the outer peripheral surface of the rack bushing 250 and configured to elastically support the rack bushing 250.

[0196] For example, the rack support groove 132 formed on the outer peripheral surface of the rack bar 130 can be formed by machining or grinding the outer peripheral surface of the rack bar 130.

[0197] The rack support groove 132 can be recessed from the outer peripheral surface of the rack bar 130 and can have a curved surface or a flat surface.

[0198] The rack support groove 132 is elongated along the axial direction of the rack rod 130 so that the rack support groove 132 is supported by the rack bushing 250 when the rack rod 130 slides in the axial direction.

[0199] The coating can be applied to the rack support groove 132 and is made of a low-friction material, such as fluoropolymer or ceramic, to minimize or reduce friction with the rack bushing 250.

[0200] The inner circumferential support portion 251 protrudes radially inward from the inner circumferential surface of the rack bushing 250 at a position facing the rack support groove 132.

[0201] The outer peripheral support portion 253 protrudes radially outward from the outer peripheral surface of the rack bushing 250 and is connected to the housing groove 162.

[0202] For example, the housing groove 162 may be formed by machining or grinding the inner circumferential surface of the rack housing 160.

[0203] The housing groove 162 can be recessed into the inner circumferential surface of the rack housing 160 and can have a curved surface or a flat surface.

[0204] Two or more peripheral support portions 253 may be formed on the peripheral surface of the rack bushing 250 and spaced apart from each other in the circumferential direction.

[0205] For example, a pair of outer peripheral support portions 253 can be formed on the outer peripheral surface of the rack bushing 250 in the circumferential direction at positions corresponding to the inner peripheral support portion 251.

[0206] The rack bushing 250 may have a predetermined stiffness and elasticity and is made of one or more materials selected from the following: polyoxymethylene (POM), polyamide (PA), polycarbonate (PC), polyimide (PI), polybutylene terephthalate (PBT), polyphenylene sulfide (PPS), and phenolic formaldehyde (PF).

[0207] The elastic member 252 can be connected to the outer peripheral surface of the rack bushing 250 and has an annular shape.

[0208] The elastic member 252 may be made of a material capable of absorbing vibration and noise and having a predetermined elasticity and stiffness. Therefore, the elastic member 252 may be made of one or more materials selected from the following: natural rubber (NR), nitrile rubber (NBR), chloroprene rubber (CR), ethylene propylene diene monomer (EPDM), fluororubber (FPM), styrene-butadiene rubber (SBR), chlorosulfonated polyethylene (CSM), polyurethane, and silicone resin, which have the above-mentioned properties.

[0209] The connecting groove 252-1 to which the elastic member 252 is connected can be formed on the outer peripheral surface of the rack bushing 250.

[0210] The rack bushing 250 may have a cutout portion 254 cut in the axial direction, so that the rack bushing 250 can deform in the radial direction.

[0211] It is possible to set two or more circumferentially spaced cut portions 254.

[0212] The cutout portion 254 can be formed such that one end or the other end of the rack bushing 250 is open at the location where the cutout portion 254 is formed.

[0213] The cutout portion 254 open at one end of the rack bushing 250 and the cutout portion 254 open at the other end of the rack bushing 250 may be spaced apart from each other in the circumferential direction and formed in an alternating manner.

[0214] Therefore, the rack bushing 250 is elastically supported in the radial direction by the elastic force of the elastic member 252, so that when the rack rod 130 slides in the axial direction, the rack bushing 250 will not collide with the rack housing 160, thereby preventing or reducing the clicking noise between the rack bushing 250 and the rack housing 160.

[0215] exist Figure 15 In the embodiment shown, the anti-rotation member 150 can support the outer peripheral surface of the rack rod 130 to prevent the rack rod 130 from rotating about the central axis of the rack rod 130, and the anti-rotation member 150 can be supported by the inner peripheral surface of the rack housing 160.

[0216] The anti-rotation member 150 may include: a rotation member 191 configured to support a support surface 130-1 formed on the outer peripheral surface of the rack bar 130; and a support bushing 190 configured to be connected to a housing groove 162 formed on the inner peripheral surface of the rack housing 160, and configured such that the rotation member 191 is rotatably connected to the support bushing 190.

[0217] For example, the support surface 130-1 formed on the outer peripheral surface of the rack 130 can be formed by machining or grinding the outer peripheral surface of the rack 130.

[0218] The support surface 130-1 may be recessed from the outer peripheral surface of the rack 130 and has a curved surface or a flat surface.

[0219] The support surface 130-1 is elongated along the axial direction of the rack 130, so that it is supported by the rotating member 191 when the rack 130 slides in the axial direction.

[0220] Two or more support surfaces 130-1 may be formed on the outer peripheral surface of the rack 130 and spaced apart from each other along the axial direction of the rack 130.

[0221] For example, a pair of support surfaces 130-1 may be formed on opposite sides of the rack 130 relative to the central portion of the rack 130.

[0222] The rotating member 191 may be configured as a rolling or spherical member disposed in the inner surface of the support bushing 190 (e.g., disposed in one or more elongated holes of the support bushing 190), and the rotating member 191 may be configured to rotate or roll when supported on the support surface 130-1 of the rack 130.

[0223] The rotating member 191 is rotatably supported on both the inner and outer surfaces of the support bushing 190.

[0224] The coating may be applied to the support surface 130-1 and made of a low-friction material, such as fluoropolymer or ceramic, to minimize or reduce friction with the rotating component 191.

[0225] The housing groove 162, on which the support bushing 190 is arranged, may be formed on the inner circumferential surface of the rack housing 160 at a position on the support surface 130-1 facing the rotating member 191 in the radial direction.

[0226] The support bushing 190 is connected to the housing recess 162 of the rack housing 160, and the rotating member 191 is rotatably connected to the support bushing 190.

[0227] The support bushing 190 may have a predetermined stiffness and elasticity and is made of one or more materials selected from the following: polyoxymethylene (POM), polyamide (PA), polycarbonate (PC), polyimide (PI), polybutylene terephthalate (PBT), polyphenylene sulfide (PPS), and phenolic formaldehyde (PF).

[0228] For example, the housing groove 162 may be formed by machining or grinding the inner circumferential surface of the rack housing 160.

[0229] The housing groove 162 can be recessed into the inner circumferential surface of the rack housing 160 and can have a curved surface or a flat surface.

[0230] exist Figure 16 In the embodiment shown, the anti-rotation member 150 can support the outer peripheral surface of the rack rod 130 to prevent the rack rod 130 from rotating about the central axis, and the anti-rotation member 150 is supported by the inner peripheral surface of the rack housing.

[0231] The anti-rotation member 150 may include a rack bushing 180 having one or more rotational support portions 183, elastic support portions 185, and connecting portions 181. The rotational support portions 183 are rotatably arranged between a rack support groove 132 formed on the outer peripheral surface of the rack rod 130 and a housing groove 162 formed on the inner peripheral surface of the rack housing 160. The elastic support portions 185 are arranged between the rack support groove 132 formed on the outer peripheral surface of the rack rod 130 and the housing groove 162 formed on the inner peripheral surface of the rack housing 160 and are elastically supported by the rack support groove 132 and the housing groove 162. The connecting portions 181 connect the rotational support portions 183 and the elastic support portions 185.

[0232] The rack support groove 132 can be formed on the outer peripheral surface of the rack rod 130. For example, the rack support groove 132 can be formed by machining or grinding the outer peripheral surface of the rack rod 130.

[0233] The rack support groove 132 can be recessed from the outer peripheral surface of the rack bar 130 and includes a curved surface or a flat surface.

[0234] The rack support groove 132 is elongated along the axial direction of the rack rod 130, and when the rack rod 130 slides in the axial direction, the rack support groove 132 is supported by a rotary support portion 183 and an elastic support portion 185. The rotary support portion 183 and the elastic support portion 185 can be arranged in the rack support groove 132.

[0235] The housing groove 162 is formed on the inner circumferential surface of the rack housing 160 at a position facing or corresponding to the rack support groove 132 in the radial direction.

[0236] For example, the housing groove 162 may be formed by machining or grinding the inner circumferential surface of the rack housing 160.

[0237] The housing groove 162 can be recessed into the inner circumferential surface of the rack housing 160 and can have a curved surface or a flat surface.

[0238] The coating may be applied to the rack support groove 132 and the housing groove 162 and is made of a low-friction material, such as fluoropolymer or ceramic, to minimize or reduce friction with the rack bushing 180.

[0239] The rack bushing 180 may have two or more rotating support portions 183 and / or two or more resilient support portions 185.

[0240] The spherical members can be connected to the rotary support portion 183, and the spherical members can be spaced apart from each other in the axial direction.

[0241] The elastic support portion 185 may have a generally cylindrical shape. The elastic support portion 185 may have an opening on one side.

[0242] The rack bushing 180 is elastically supported by the rack support groove 132 and the housing groove 162 through the elastic deformation force of the elastic support portion 185, thereby maintaining a predetermined gap so that the rack bushing 180 will not collide with the rack housing 160 when the rack rod 130 slides in the axial direction, thus preventing clicking noise between the rack bushing 180 and the rack housing 160.

[0243] exist Figure 17 In the embodiment shown, the anti-rotation member 150 can support the outer peripheral surface of the rack rod 130 to prevent the rack rod 130 from rotating about the central axis, and the anti-rotation member 150 can be supported by the inner peripheral surface of the rack housing 160.

[0244] The anti-rotation member 150 may include a rack bushing 170 having a first support portion 171 and a second support portion 175. The first support portion 171 may be configured to support a support surface 130-1 formed on the outer peripheral surface of the rack bar 130. The second support portion 175 may extend from or be connected to the first support portion 171, may be configured to support the outer peripheral surface of the rack bar 130, and may have an outer peripheral surface provided with a fixing protrusion 173 connected to a housing groove 162 formed on the inner peripheral surface of the rack housing 160.

[0245] For example, the support surface 130-1 formed on a portion of the outer peripheral surface of the rack 130 can be formed by machining or grinding the outer peripheral surface of the rack 130.

[0246] The support surface 130-1 may be recessed from the outer peripheral surface of the rack 130 and may have a curved surface or a flat surface.

[0247] The support surface 130-1 is elongated along the axial direction of the rack 130 so that the support surface 130-1 is supported by the first support portion 171 when the rack 130 slides in the axial direction.

[0248] The inner peripheral surface 171a of the first support portion 171 can be in close contact with the support surface 130-1 of the rack rod 130 and is supported by the support surface 130-1 of the rack rod 130, and the outer peripheral surface of the first support portion 171 can be spaced apart from the inner peripheral surface of the rack housing 160.

[0249] The coating may be applied to the support surface 130-1 and the outer peripheral surface of the rack rod 130 and is made of a low-friction material, such as fluoropolymer or ceramic, to minimize or reduce friction with the rack bushing 170.

[0250] The second support portion 175 extends from or connects to the first support portion 171 in the circumferential direction and surrounds the outer peripheral surface of the rack rod 130.

[0251] The fixed protrusion 173 protrudes radially from the outer peripheral surface of the second support portion 175.

[0252] The housing groove 162 can be formed on the inner circumferential surface of the rack housing 160, and the fixing protrusion 173 of the second support portion 175 can be inserted into or connected to the housing groove 162 to prevent the rack bushing 170 from rotating.

[0253] For example, the housing groove 162 may be formed by machining or grinding the inner circumferential surface of the rack housing 160.

[0254] The housing groove 162 can be recessed into the inner circumferential surface of the rack housing 160 and can have a curved surface or a flat surface.

[0255] The rack bushing 170 may have a predetermined stiffness and elasticity and is made of one or more materials selected from the following: polyoxymethylene (POM), polyamide (PA), polycarbonate (PC), polyimide (PI), polybutylene terephthalate (PBT), polyphenylene sulfide (PPS), and phenolic formaldehyde (PF).

[0256] exist Figure 18 In the embodiment shown, the anti-rotation member 150 can be supported by a guide cover 155 connected to the rack housing 160 and can support the outer peripheral surface of the rack rod 130 to prevent the rack rod 130 from rotating about the central axis.

[0257] The anti-rotation member 150 may include: a support member 151 connected to the outer peripheral surface of the rack bar 130; a guide cover 155 connected to the rack housing 160 and having an inner peripheral surface supported by the support member 151; and a fastener 159 configured to secure the guide cover 155 to the rack housing 160.

[0258] The support member 151 can be connected to the outer peripheral surface of the rack 130. For example, the support member 151 can be connected to the connecting groove 134 formed on the outer peripheral surface of the rack 130 by press fitting, bonding, or the like. The connecting groove 134 can be formed by machining or grinding the outer peripheral surface of the rack 130.

[0259] The connecting groove 134 can be recessed into the outer peripheral surface of the rack 130 and can have a curved surface or a flat surface.

[0260] The rack housing 160 may have an opening at a position opposite or corresponding to the support member 151, and the guide cover 155 is coupled to the opening of the rack housing 160 and covers the opening of the rack housing 160.

[0261] The inner peripheral surface of the guide cover 155 may have a support groove 155-1, into which the support member 151 is inserted and supported.

[0262] The support groove 155-1 of the guide cover 155 is elongated along the axial direction of the rack 130, so that when the rack 130 slides in the axial direction, the support member 151 can be supported by the support groove 155-1.

[0263] The support groove 155-1 may have, for example, but not limited to, a trapezoidal shape, which has a width that increases toward the support member 151.

[0264] The support member 151 may have a trapezoidal shape, which has a width that decreases from the outer peripheral surface of the rack 130 toward the support groove 155-1.

[0265] The two opposite side surfaces of the support groove 155-1 can be in close contact with and supported by the support member 151, and the inner top surface of the support groove 155-1 located between the two opposite side surfaces of the support groove 155-1 can be spaced apart from the end of the support member 151.

[0266] The coating may be applied to the support groove 155-1 or the support member 151 and is made of a low-friction material, such as fluoropolymer or ceramic, to reduce or minimize friction.

[0267] The support groove 155-1 may contain grease to minimize friction with the support member 151.

[0268] The guide cover 155 can be secured to the rack housing 160 by fasteners 159.

[0269] In addition, an elastic member 157 may be arranged between the guide cover 155 and the rack housing 160. The elastic member 157 is passed through by a fastener 159 and is configured to support the guide cover 155 and the rack housing 160 in an elastic manner.

[0270] A sealing member or seal 158 may be applied to the end of the guide cover 155 and the outer peripheral surface of the rack housing 160 to prevent moisture or dust from entering from the outside of the rack housing 160.

[0271] The support member 151 and the guide cover 155 may have a predetermined stiffness and elasticity, and are made of one or more materials selected from the following: polyoxymethylene (POM), polyamide (PA), polycarbonate (PC), polyimide (PI), polybutylene terephthalate (PBT), polyphenylene sulfide (PPS), and phenolic formaldehyde (PF).

[0272] exist Figure 19 In the embodiment shown, the anti-rotation member 150 can be supported by the housing cover 154 connected to the rack housing 160 and the outer peripheral surface of the rack rod 130, thereby preventing the rack rod 130 from rotating about the central axis of the rack rod 130.

[0273] The anti-rotation member 150 may include: a support member 151 that supports the outer peripheral surface of the rack bar 130; a housing cover 154 that is fixed to the rack housing 160 and has an inner peripheral surface connected to the support member 151; and a fastener 159 configured to secure the housing cover 154 to the rack housing 160.

[0274] A rack support groove 134 for supporting the support structure 151 is formed on the outer peripheral surface of the rack rod 130.

[0275] The rack support groove 134 is elongated or extends along the axial direction of the rack rod 130, so that when the rack rod 130 slides in the axial direction, the support member 151 can be supported by the rack support groove 134.

[0276] The rack support groove 134 can be recessed from the outer peripheral surface of the rack rod 130 and can have a curved surface or a flat surface.

[0277] The rack housing 160 has an opening at a position corresponding to or opposite to the rack support groove 134, and the housing cover 154 is connected to the opening of the rack housing 160.

[0278] The support groove 156 of the cover where the support member 151 is located can be formed on the inner peripheral surface of the housing cover 154.

[0279] The rack support groove 134 may have, for example but not limited to, a trapezoidal shape, which has a width that increases toward the housing cover 154.

[0280] The support member 151 may have a trapezoidal shape with a width that decreases from the cover support groove 156 toward the rack support groove 134.

[0281] The two opposite side surfaces of the rack support groove 134 can be in close contact with and supported by the support member 151, and the inner surface of the rack support groove 134 located between the two opposite side surfaces of the rack support groove 134 can be spaced apart from the end of the support member 151.

[0282] The coating can be applied to the rack support groove 134 or the support member 151 and is made of a low-friction material, such as fluoropolymer or ceramic, to reduce or minimize friction.

[0283] The rack support groove 134 may be provided or filled with grease to reduce or minimize friction with the support member 151.

[0284] The housing cover 154 can be secured to the rack housing 160 by fasteners 159.

[0285] A seal or sealing member 158 may be applied to the end of the housing cover 154 and the outer peripheral surface of the rack housing 160 to prevent moisture or dust from entering from the outside of the rack housing 160.

[0286] The support member 151 and the housing cover 154 may have a predetermined stiffness and elasticity, and are made of one or more materials selected from the following: polyoxymethylene (POM), polyamide (PA), polycarbonate (PC), polyimide (PI), polybutylene terephthalate (PBT), polyphenylene sulfide (PPS), and phenolic formaldehyde (PF).

[0287] As described above, the steer-by-wire steering device according to some embodiments of the present disclosure may have multiple motors and provide steering force to the rack. Furthermore, the steer-by-wire steering device according to some embodiments of the present disclosure can prevent unnecessary rotation of the rack, even when a device for preventing rack rotation is provided and the pinion is not included.

[0288] In the following sections, various embodiments relating to the method for determining the position of the rack in a steer-by-wire system will be described. Some embodiments of the method for determining the position of the rack described below can be applied without considering the aforementioned configuration, position, and shape of the motor. However, some embodiments of the method for determining the position of the rack can be applied to the aforementioned configuration, position, and shape of the motor. Furthermore, the method for determining the position of the rack can be applied to exemplary embodiments of steer-by-wire systems that do not include an anti-rotation member, or can be applied to any type of anti-rotation member.

[0289] In a steering system with steer-by-wire, the electronic control unit 110 can control the operation of one or more drive motors (e.g., 145 and 147). For example, the electronic control unit 110 can receive information or signals from one or more sensors associated with the vehicle, and control one or more drive motors based on the information or signals received from one or more sensors.

[0290] One or more sensors include various sensors such as steering angle sensors, steering torque sensors, vehicle speed sensors, rack position sensors, and any type of sensor associated with vehicle steering that is mounted or disposed in the vehicle. However, as described above, according to some embodiments of this disclosure, if the rack is configured to be moved by a first motor and a second motor, a pinion is not included in the steering device by wire. In this case, a rack position sensor configured to detect the absolute position of the rack is not included in the steering device by wire. Alternatively, a rack position sensor configured to detect the absolute position of the rack can be included in a gearbox configured to connect the first motor and / or the second motor to the rack.

[0291] First, various embodiments for confirming the absolute position (or absolute angle) of the rack will be described. Then, an embodiment including an absolute angle sensor configured to detect the absolute position (or absolute angle) of the rack will be described.

[0292] The electronic control unit 110 can control the operation of the steering shaft motor 120. The electronic control unit 110 can be configured as a single, physically integrated chip. Alternatively, the electronic control unit 110 can also be configured from multiple chips. For example, each of the reaction force motor, drive motor, main control unit, and any component of a steer-by-wire system includes one or more chips to perform its necessary operations.

[0293] Meanwhile, the electronic control unit 110 can control the vehicle's direction of travel according to the driver's steering intention by controlling the operation of multiple drive motors (e.g., 145 and 147).

[0294] Multiple electronic control units 110 can be configured in the steer-by-wire device to ensure redundant and continuous or stable execution of the same operation, even if any one of the multiple electronic control units 110 malfunctions or becomes inoperable. Alternatively, the multiple electronic control units 110 include a main electronic control unit and sub-electronic control units. When the main electronic control unit is functioning normally, it can control the operation of the steer-by-wire device; if the main electronic control unit malfunctions or becomes inoperable, the sub-electronic control units can control the operation of the steer-by-wire device.

[0295] The electronic control unit 110 can control the steering of the vehicle in response to various information. Steer-by-wire (SBW) systems may require precise information about the position of the rack and pinion to accurately control the steering of the vehicle, especially when multiple motors are used to control the rack and pinion.

[0296] For this purpose, the electronic control unit 110 can receive the position information of the rack lever from the rack position sensor. Alternatively, the electronic control unit 110 can estimate the position of the rack lever by using the positions of multiple motors when a rack position sensor is not available.

[0297] For example, the electronic control device 110 can receive rotation information of each of the motors from a plurality of motor position sensors. In an exemplary embodiment of this disclosure, the motor rotation information may include rotation information of a first motor and rotation information of a second motor. The rotation information of the first motor can be received from a first motor position sensor included in or associated with the first motor. The rotation information of the second motor can be received from a second motor position sensor included in or associated with the second motor.

[0298] Motor position sensors can detect the rotational information of each motor within a motor system. Motor position sensors can detect the rotation of the motor shaft. Alternatively, motor position sensors can detect the rotation of any rotatable component or structure connected to or associated with the motor shaft. Motor position sensors can detect rotational positions between 0 and 360 degrees related to the motor's rotation. For example, motor position sensors can measure the motor's rotational angle and / or position.

[0299] For example, the motor position sensor may be an optical sensor or encoder configured to detect position by emitting light toward a rotating plate or disk. Alternatively, the motor position sensor may be a magnetic sensor or encoder configured to measure the rotor position by detecting a magnetic field. Alternatively, the motor position sensor may be an incremental sensor or encoder configured to measure changes in the relative position of the rotor by outputting predetermined pulses. Alternatively, the motor position sensor may be an absolute sensor or encoder configured to measure the absolute position of the rotor by outputting a unique value associated with a specific position. Motor position sensors according to certain embodiments of this disclosure can provide precise position and / or speed of the motor.

[0300] For example, a Hall sensor can be used as a motor position sensor, which measures the motor position by detecting changes in the magnetic flux of a rotor attached to or mounted with a permanent magnet or magnetic material. The motor in a steer-by-wire steering device can be a brushless direct current (BLDC) motor, and three Hall sensors with a phase difference of 120 degrees or 60 degrees can be arranged or configured to detect the motor position. Alternatively, the motor position sensor can be a resolver configured to measure position analogously using voltage changes, or an inductive position sensor configured to detect position using the principle of electromagnetic induction. In this disclosure, any type of sensor can be used as a motor position sensor.

[0301] Motor position sensors can measure absolute position or absolute angle values ​​based on a specific position of the motor. Alternatively, motor position sensors can detect relative position with respect to a reference position. Alternatively, motor position sensors can measure the electrical position of the rotor in a BLDC motor or a permanent magnet synchronous motor (PMSM).

[0302] A single rotation angle is between 0 and 360 degrees, and therefore, the rotation angle can only be represented in a single rotation. Since the rotor angle of the motor is reset after one complete rotation, the absolute position of the motor beyond 360 degrees may not be verifiable. However, absolute motor position sensors exist that can measure the motor's position over multiple rotations, but these sensors are complex in configuration and structure and are expensive.

[0303] In the absence of the use of absolute motor position sensors, some embodiments of this disclosure obtain the absolute position of the rack by using at least two motor position sensors that measure relative position.

[0304] For example, when two motors move the same rack and pinion at different rotational speeds, the rotation angles measured by the two motor position sensors of the two motors can be between 0 and 360 degrees. If the motor position sensor is not an absolute angle sensor, the angle measured by that motor position sensor is not recorded or stored, and the rotation angle detected by the motor position sensor of the first motor can be between 0 and 360 degrees, while the rotation angle detected by the motor position sensor of the second motor can be between 0 and 360 degrees.

[0305] The electronic control unit 110 can receive rotation angles detected by the motor position sensor of the first motor and rotation angles detected by the motor position sensor of the second motor. The electronic control unit 110 estimates the absolute position of the rack lever by using the two rotation angles (i.e., motor positions) detected by each of the two motor position sensors of the two motors.

[0306] As described above, in some embodiments of this disclosure, the first motor and the second motor are operably connected to a single ball nut (which is operably coupled to a rack) and move the rack at different rotational speeds. Therefore, even though the first motor and the second motor rotate at different speeds, they need to rotate the ball nut at the same speed. Thus, the motor pulleys of the first motor and the second motor can be constructed with different gear ratios.

[0307] The transmission ratio can refer to, for example, but not limited to, the ratio of the number of threads or diameter of pulleys. For instance, the transmission ratio could be the ratio of the number of threads or diameter of the motor pulley connected to the motor shaft of the first motor to the number of threads or diameter of the motor pulley connected to the motor shaft of the second motor. If the diameters of the motor pulleys are different, the transmission ratio may be significantly different.

[0308] The first motor and the second motor can rotate at different rotational speeds, and the electronic control device 110 can receive different motor rotation information from the motor position sensors of the first motor and the second motor.

[0309] The electronic control device 110 can determine the absolute position of the rack lever by using predetermined information and the motor rotation information of the first motor and the second motor.

[0310] For example, the difference in rotational speed between two motors can vary depending on the absolute position of the rack.

[0311] For example, the electronic control device 110 can determine the absolute position of the rack by detecting changes in the rotation information of the two motors. For example, the electronic control device 110 can determine the position of the rack by using Formula 1.

[0312] [Formula 1]

[0313] R represents the linear position of the rack; θ represents the phase difference between the first rotation information of the first motor and the second rotation information of the second motor; K represents the distance the rack is moved when the phase difference between the first and second rotation information changes from 0 and the next phase difference becomes 0 when the rack moves in one direction; and n represents the number of times the phase difference becomes 0 when the rack moves in one direction.

[0314] In other words, the electronic control device 110 can confirm the position of the rack rod by continuously monitoring the phase difference between the first rotation information of the first motor and the second rotation information of the second motor and recording the number of times the phase difference becomes 0.

[0315] In another example, the electronic control device 110 can determine the position of the rack based on preset reference values. The range of motion of the rack is structurally limited. Therefore, multiple positions of the rack corresponding to the first rotation information of the first motor and the second rotation information of the second motor can be pre-calculated, and the calculated multiple positions of the rack can be stored in the memory of the electronic control device 110 in tabular form or other data format.

[0316] Upon receiving first rotation information from the first motor and second rotation information from the second motor, the electronic control device 110 can estimate the absolute position of the rack by comparing the first and second rotation information with pre-stored data. However, in this case, the first and second rotation information need to be designed to have different values ​​within the linear movement range of the rack. Therefore, the transmission ratio difference between the first and second motors needs to be set such that the first and second rotation information do not overlap or correspond to two or more absolute positions of the rack.

[0317] For example, the electronic control device 110 can estimate the absolute position of the rack by using Formula 2.

[0318] [Formula 2] A = {(First rotational information + m) × First transmission ratio} B = {(Second rotation information + m) × Second transmission ratio} The rack rod is located at the intersection of points A and B.

[0319] Here, m is a natural number greater than or equal to 1 and less than or equal to the maximum movable distance of the rack.

[0320] Figure 20 It is a graph used to illustrate a method for estimating the position of a rack and pinion using the difference between the first rotation information of the first motor and the second rotation information of the second motor. Figure 20 The diagram illustrates the relationship between the first rotational information of the first motor, the second rotational information of the second motor, and the linear position of the rack within a movable range of 0 mm to 75 mm. As described above, the first and second transmission ratios can be set such that the first and second rotational information of the first motor do not overlap or correspond to multiple positions of the rack.

[0321] Reference Figures 21 to 30 The first nut pulley 143a has a first nut pulley tooth 143-1 formed on its outer peripheral surface, and the second nut pulley 143b has a second nut pulley tooth 143-2 formed on its outer peripheral surface and formed such that the helix angle B relative to the first nut pulley tooth 143-1 is changed by a predetermined angle.

[0322] The helix angle B of the first nut pulley tooth 143-1 and the helix angle B of the second nut pulley tooth 143-2 are inclined at a predetermined angle based on the central axis of the ball nut 141. (Refer to the description below.) Figures 26 to 28 This configuration is described in detail.

[0323] A first motor pulley tooth 142-1, identical to the first nut pulley tooth 143-1, is formed on the outer peripheral surface of the first motor pulley 142a on the first motor 145, and a second motor pulley tooth 142-2, identical to the second nut pulley tooth 143-2, is formed on the outer peripheral surface of the second motor pulley 142b on the second motor 147.

[0324] Furthermore, the first strip tooth 149-1 formed on the inner circumferential surface of the first strip 149a is formed to be the same as the first nut pulley tooth 143-1 and the first motor pulley tooth 142-1, and the second strip tooth 149-2 formed on the inner circumferential surface of the second strip 149b is formed to be the same as the second nut pulley tooth 143-2 and the second motor pulley tooth 142-2.

[0325] In this case, the helix angle B of the first strip tooth 149-1 and the helix angle B of the second strip tooth 149-2 are... Figures 26 to 28 The helix angle B of the first nut pulley tooth 143-1 and the helix angle B of the second nut pulley tooth 143-2 shown are the same. Detailed descriptions will be omitted below.

[0326] like Figure 23 As shown, the first nut pulley 143a and the second nut pulley 143b can engage with the outer peripheral surface of the ball nut 141.

[0327] In other words, the configuration of the first nut pulley tooth 143-1 and the second nut pulley tooth 143-2 formed on the outer peripheral surface of the ball nut 141 can perform the same function as the configuration of the first nut pulley 143a and the second nut pulley 143b connected to the ball nut 141.

[0328] In addition, such as Figure 24 As shown, the first nut pulley 143a and the second nut pulley 143b can be combined and connected to the outer peripheral surface of the ball nut 141.

[0329] In other words, the configuration of the first nut pulley tooth 143-1 and the second nut pulley tooth 143-2 formed on the outer peripheral surface of the combined first nut pulley 143a and second nut pulley 143b can perform the same function as the configuration of the first nut pulley 143a and the second nut pulley 143b connected to the ball nut 141.

[0330] In addition, such as Figure 25 As shown, the first nut pulley 143a and the second nut pulley 143b can be connected to the outer peripheral surface of the ball nut 141.

[0331] Reference Figures 26 to 28 The helix angle B of the first nut pulley tooth 143-1 and the helix angle B of the second nut pulley tooth 143-2 will be described based on the case where the first nut pulley 143a and the second nut pulley 143b are connected to the outer peripheral surface of the ball nut 141.

[0332] like Figure 26 As shown, the helix angle B of the first nut pulley tooth 143-1 and the helix angle B of the second nut pulley tooth 143-2 can be formed in a clockwise positive value based on the central axis S1 of the ball nut 141.

[0333] That is, the direction P1 in which the first nut pulley tooth portion 143-1 and the second nut pulley tooth portion 143-2 are formed based on one direction of the central axis S1 of the ball nut 141 or the central axis of the rack bar 130 (the leftward direction according to the drawing) can be formed at a spiral angle B corresponding to a positive clockwise value.

[0334] In this case, the spiral angle B of the first nut pulley tooth portion 143-1 and the spiral angle B of the second nut pulley tooth portion 143-2 can be formed within the range of 0° < B < 90°, and the spiral angle B of the first nut pulley tooth portion 143-1 and the spiral angle B of the second nut pulley tooth portion 143-2 can be formed to be changed by a predetermined angle so that the spiral angle B of the first nut pulley tooth portion 143-1 and the spiral angle B of the second nut pulley tooth portion 143-2 are not equal to each other.

[0335] In addition, as Figure 27 shown, the spiral angle B of the first nut pulley tooth portion 143-1 and the spiral angle B of the second nut pulley tooth portion 143-2 can be formed as a negative counterclockwise value based on the central axis S1 of the ball nut 141.

[0336] That is, the direction P1 in which the first nut pulley tooth portion 143-1 and the second nut pulley tooth portion 143-2 are formed based on one direction of the central axis S1 of the ball nut 141 or the central axis of the rack bar 130 (the leftward direction according to the drawing) can be formed at a spiral angle B corresponding to a negative counterclockwise value.

[0337] In this case, the spiral angle B of the first nut pulley tooth portion 143-1 and the spiral angle B of the second nut pulley tooth portion 143-2 can be formed within the range of 0° < B < -90°, and the spiral angle B of the first nut pulley tooth portion 143-1 and the spiral angle B of the second nut pulley tooth portion 143-2 can be formed to be changed by a predetermined angle so that the spiral angle B of the first nut pulley tooth portion 143-1 and the spiral angle B of the second nut pulley tooth portion 143-2 are not equal to each other.

[0338] In addition, as Figure 28 shown, the spiral angle B of the first nut pulley tooth portion 143-1 can be formed as a positive clockwise value based on the central axis of the ball nut 141, and the spiral angle B of the second nut pulley tooth portion 143-2 can be formed as a negative counterclockwise value based on the central axis of the ball nut 141.

[0339] That is, the direction P1 in which the first nut pulley tooth portion 143-1 is formed based on the central axis S1 of the ball nut 141 or one direction of the central axis of the rack bar 130 (the left direction in the figure) can be formed at a spiral angle B corresponding to the clockwise positive value, and the direction P1 in which the second nut pulley tooth portion 143-2 is formed can be formed at a spiral angle B corresponding to the counterclockwise negative value.

[0340] In this case, the spiral angle B of the first nut pulley tooth portion 143-1 can be formed within the range of 0° < B < 90°, and the spiral angle B of the second nut pulley tooth portion 143-2 can be formed within the range of 0° < B < -90°. Since the spiral angle B of the first nut pulley tooth portion 143-1 has a positive value while the spiral angle B of the second nut pulley tooth portion 143-2 has a negative value, the spiral angle B is always formed to be changing.

[0341] In addition, although not shown in the figure, the spiral angle B of the first nut pulley tooth portion 143-1 can be formed as a counterclockwise negative value based on the central axis of the ball nut 141, and the spiral angle B of the second nut pulley tooth portion 143-2 can be formed as a clockwise positive value based on the central axis of the ball nut 141. Since this case corresponds to Figure 9 the case where the image in

[0342] is upside down, the detailed description of this case will be omitted.

[0343] Therefore, as described above, the spiral angle B of the first nut pulley tooth portion 143-1 and the spiral angle B of the second nut pulley tooth portion 143-2 are respectively formed to change to positive and negative values, thereby significantly reducing the noise and vibration caused by the gaps between the first nut pulley tooth portion 143-1 and the first belt pulley tooth portion 142-1 and between the second nut pulley tooth portion 143-2 and the second belt pulley tooth portion 142-2, and significantly reducing the occurrence of slipping or tooth skipping, even in the case of transmitting high output.

[0343] In addition, as shown in Figures 26 to 28 the first nut pulley tooth portion 143-1 and the second nut pulley tooth portion 143-2 can be arranged to be circumferentially spaced apart from each other at a portion where the first nut pulley 143a and the second nut pulley 143b are adjacent to each other.

[0344] That is, the end portions of the first nut pulley tooth portion 143-1 and the second nut pulley tooth portion 143-2 arranged in the direction in which the first nut pulley 143a and the second nut pulley 143b face each other are arranged to be circumferentially spaced apart from each other, and this configuration performs the same function as the configuration in which the first nut pulley tooth portion 143-1 and the second nut pulley tooth portion 143-2 are continuously arranged on a single pulley during circumferential rotation.

[0345] Therefore, the operating noise and vibration of the first nut pulley 143a, the second nut pulley 143b, the first belt, and the second belt 149b are significantly reduced.

[0346] Furthermore, the first motor pulley tooth portion 142-1 and the second motor pulley tooth portion 142-2 can be formed to be different in number, while the first nut pulley tooth portion 143-1 and the second nut pulley tooth portion 143-2 can be formed to be equal in number.

[0347] In other words, the first motor pulley tooth 142-1 and the second motor pulley tooth 142-2 can be formed to have the same circumferential pitch as the gear module, but different pitch circle diameter and number of teeth. The first nut pulley tooth 143-1 and the second nut pulley tooth 143-2 can have the same circumferential pitch as the gear module and the same pitch circle diameter and number of teeth as the gear module.

[0348] like Figure 1 and Figure 2 As shown, the first motor 145 may have a first motor sensor 145s configured to detect the rotational position of the shaft 145a of the first motor 145; the second motor 147 may have a second motor sensor 147s configured to detect the rotational position of the shaft 147a of the second motor 147.

[0349] Furthermore, when the first motor 145 is operating, the first motor sensor 145s detects the direction and angle of rotation of the shaft 145a of the first motor 145, and the first motor sensor 145s transmits this direction and angle to the electronic control device 110.

[0350] When the second motor 147 is operating, the second motor sensor 147s detects the direction and angle of rotation of the shaft 147a of the second motor 147, and transmits the direction and angle to the electronic control device 110.

[0351] Therefore, the electronic control device 110 can determine the sliding position of the rack 130 based on the first position value received from the first motor sensor 145s and the second position value received from the second motor sensor 147s, and the electronic control device 110 controls the output values ​​to be transmitted to the first motor 145s and the second motor 147s.

[0352] In other words, the electronic control device 110 sets the angle between the reference point of the shaft 145a of the first motor 145 when the first motor 145 is stopped and the reference point of the shaft 147a of the second motor 147 when the second motor 147 is stopped as a reference position value. After the first motor 145 and the second motor 147 are operated, the electronic control device 10 sets the angle between the reference point of the shaft 145a of the first motor 145 and the reference point of the shaft 147a of the second motor 147 as an operating position value. The electronic control device 10 determines the linear position of the rack 130 based on the difference between the reference position value and the operating position value.

[0353] Therefore, the position of the rack 130 can be calculated using the reference position values ​​and operating position values ​​of the first motor 145 and the second motor 147, without the need for a separate rack position sensor.

[0354] In this case, the difference between the reference position value and the operating position value can be set from 0° to 360°. The maximum sliding amount of the rack 130 is set within this range. The electronic control device 110 determines the sliding position of the rack 130 based on at least one of the following: the rotation ratio between the first motor pulley 142a and the first nut pulley 143a, the rotation ratio between the second motor pulley 142b and the second nut pulley 143b, the outer and inner diameters of the ball nut 141, the outer diameter of the rack 130, or the lead angle between the rack helical groove and the nut helical groove.

[0355] Furthermore, similar to the determination method described above, the electronic control device 110 can determine the sliding position of the rack 130 by setting the difference between the reference position value and the operating position value as the movement value and comparing this movement value with preset data. In this case, the movement value can be set from 0° to 360°, and the maximum sliding amount of the rack 130 can be set within this range.

[0356] In this case, the preset data may be data storing the sliding amount of the rack 130, which corresponds to a movement value determined based on at least one of the following: the outer diameter and number of teeth of the first motor pulley 142a and the second motor pulley 142b, the pitch circle diameter and number of teeth of the first nut pulley 143a and the second nut pulley 143b, the outer diameter and inner diameter of the ball nut 141, or the outer diameter of the rack 130.

[0357] As described above, the first motor pulley teeth 142-1 and the second motor pulley teeth 142-2 are formed in different numbers, while the first nut pulley teeth 143-1 and the second nut pulley teeth 143-2 are formed in equal numbers, so that the electronic control device 110 can control the output values ​​to be transmitted to the first motor 145 and the second motor 147 by determining the sliding position of the rack 130 based on the first position value transmitted from the first motor sensor 145s and the second position value transmitted from the second motor sensor 147s.

[0358] Furthermore, the first motor pulley tooth portion 142-1 and the second motor pulley tooth portion 142-2 can be formed to be equal in number, and the first nut pulley tooth portion 143-1 and the second nut pulley tooth portion 143-2 can be formed to be different in number.

[0359] In other words, the first motor pulley tooth 142-1 and the second motor pulley tooth 142-2 can be configured to have the same circumferential pitch as the gear module, and also to have the same pitch circle diameter and number of teeth as the gear module; and the first nut pulley tooth 143-1 and the second nut pulley tooth 143-2 can have the same circumferential pitch as the gear module, but different pitch circle diameter and number of teeth from the gear module.

[0360] Furthermore, the first motor 145 may have a first motor sensor 145s configured to detect the rotational position of the shaft 145a of the first motor 145; and the second motor 147 may have a second motor sensor 147s configured to detect the rotational position of the shaft 147a of the second motor 147.

[0361] Therefore, the electronic control device 110 can control the output values ​​to be transmitted to the first motor 145 and the second motor 147 in the following manner: based on the first position value transmitted from the first motor sensor 145s and the second position value transmitted from the second motor sensor 147s, the sliding position of the rack 130 is determined by the above determination process.

[0362] Furthermore, the first motor pulley tooth portion 142-1 and the second motor pulley tooth portion 142-2 can be formed in different numbers, and the first nut pulley tooth portion 143-1 and the second nut pulley tooth portion 143-2 can also be formed in different numbers.

[0363] In other words, the first motor pulley tooth 142-1 and the second motor pulley tooth 142-2 can be formed with the same circumferential pitch as the gear module, but different in pitch circle diameter and number of teeth; and the first nut pulley tooth 143-1 and the second nut pulley tooth 143-2 can be formed with the same circumferential pitch as the gear module, but different in pitch circle diameter and number of teeth.

[0364] Furthermore, the first motor 145 may have a first motor sensor 145s configured to detect the rotational position of the shaft 145a of the first motor 145; and the second motor 147 may have a second motor sensor 147s configured to detect the rotational position of the shaft 147a of the second motor 147.

[0365] Therefore, the electronic control device 110 can control the output values ​​to be transmitted to the first motor 145 and the second motor 147 in the following manner: based on the first position value transmitted from the first motor sensor 145s and the second position value transmitted from the second motor sensor 147s, the sliding position of the rack 130 is determined by the above determination process.

[0366] like Figure 26 As shown, a gap t can be provided axially between the first nut pulley 143a and the second nut pulley 143b.

[0367] In other words, since there is a gap t between the first nut pulley 143a and the second nut pulley 143b, there will be no interference between the pulleys, and when the first nut pulley 143a and the second nut pulley 143b are connected to the outer peripheral surface of the ball nut 141 and rotate together with the ball nut 141, the movement of the first belt 149a and the second belt 149b can be stably maintained.

[0368] Reference Figure 29 and Figure 30 as well as Figures 23 to 26 The anti-rotation component 160 can be connected between the ball nut 141 and the first nut pulley 143a and between the ball nut 141 and the second nut pulley 143b.

[0369] The first nut pulley 143a and the second nut pulley 143b may need to have predetermined stiffness and elasticity, and are made of one or more materials selected from the following: polyoxymethylene (POM), polyamide (PA), polycarbonate (PC), polyimide (PI), polybutylene terephthalate (PBT), polyphenylene sulfide (PPS), and phenolic formaldehyde (PF).

[0370] The anti-rotation member 160, made of a metal material such as steel, prevents the first nut pulley 143a and the second nut pulley 143b from spinning freely or separating from the ball nut 141 when they are connected to the outer peripheral surface of the ball nut 141 and rotate together with the ball nut 141.

[0371] The anti-rotation component 160 can be molded to engage with the first nut pulley 143a, and can also be molded to engage with the second nut pulley 143b.

[0372] The anti-rotation member 160 may include: a cylindrical portion 161 connected to the outer peripheral surface of an end of a ball nut 141; and a pulley support portion 163 bent from the end of the cylindrical portion 161, the pulley support portion 163 extending radially and having a protrusion 165 disposed on the outer peripheral surface of the pulley support portion 163 and spaced apart from each other in the circumferential direction.

[0373] The pulley support portion 163 has a protruding portion 165 and a recessed portion 167 continuously formed in the circumferential direction, and the pulley support portion 163 can be molded together when the pulley support portion 163 is inserted into the first support end portion 146 provided in the first nut pulley 143a.

[0374] Furthermore, with the pulley support portion 163 inserted into the second support end portion 148 provided in the second nut pulley 143b, the pulley support portion 163 can be joined by molding.

[0375] Therefore, the anti-rotation member 160 is securely attached to the first nut pulley 143a and the second nut pulley 143b by the molding material provided between the protruding portion 165 and the recessed portion 167.

[0376] In addition, such as Figure 29 As shown, a large-diameter portion 141-1 with an increased diameter on its outer circumferential surface may be provided at one end of the ball nut 141, and a small-diameter portion 141-2 with a decreased diameter on its outer circumferential surface may be provided at the other end of the ball nut 141.

[0377] Furthermore, the cylindrical portion 161 of the anti-rotation member 160 connected to the first nut pulley 143a can be press-fitted with the outer peripheral surface of the large diameter portion 141-1, and the cylindrical portion 161 of the anti-rotation member 160 connected to the second nut pulley 143b can be press-fitted with the outer peripheral surface of the small diameter portion 141-2.

[0378] As described above, the cylindrical portion 161 of the anti-rotation member 160, which is connected to the first nut pulley 143a and the second nut pulley 143b, is press-fitted with the large-diameter portion 141-1 and the small-diameter portion 141-2 respectively, thereby preventing the first nut pulley 143a and the second nut pulley 143b from spinning freely or separating from the ball nut 141 when the ball nut 141 rotates.

[0379] Furthermore, during the process of assembling the first nut pulley 143a and the second nut pulley 143b to the ball nut 141, the first nut pulley 143a and the second nut pulley 143b can pass sequentially through the small diameter portion 141-2 and the large diameter portion 141-1 and be assembled in a precise position.

[0380] As described above, according to this embodiment, a steering device that stably and effectively reduces noise and vibration can be provided.

[0381] The above description is intended to enable those skilled in the art to implement and use the technical concepts of this disclosure, and is provided in the context of a specific application and its requirements. Various modifications, additions, and substitutions to the described embodiments will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other embodiments and applications without departing from the spirit and scope of this disclosure. The above description and accompanying drawings are provided for illustrative purposes only, illustrating the technical concepts of this disclosure. That is, the disclosed embodiments are intended to illustrate the scope of the technical concepts of this disclosure. Therefore, the scope of this disclosure is not limited to the illustrated embodiments, but should be given the widest scope consistent with the claims.

Claims

1. A vehicle steering device, the vehicle steering device comprising: A ball nut, which is connected to a rack by means of balls, and is configured to allow the rack to slide in the axial direction when rotated; A first nut pulley is disposed on the outer peripheral surface of the ball nut and has a first nut pulley tooth portion formed on the outer peripheral surface of the first nut pulley. The second nut pulley is disposed on the outer peripheral surface of the ball nut and has a second nut pulley tooth portion. The second nut pulley tooth portion is formed on the outer peripheral surface of the second nut pulley, and the second nut pulley tooth portion is formed such that the helical angle relative to the first nut pulley tooth portion is changed by a predetermined angle. A first motor pulley, the first motor pulley being disposed on a first motor and having a first motor pulley toothed portion, the first motor pulley toothed portion being formed on the outer peripheral surface of the first motor pulley and being identical to the teethed portion of the first nut pulley; and The second motor pulley is disposed on the second motor and has a second motor pulley toothed portion. The second motor pulley toothed portion is formed on the outer peripheral surface of the second motor pulley and is the same as the second nut pulley toothed portion.

2. The vehicle steering device according to claim 1, wherein, The first nut pulley and the second nut pulley are engaged with the outer peripheral surface of the ball nut.

3. The vehicle steering device according to claim 1, wherein, The first nut pulley and the second nut pulley are combined and connected to the outer peripheral surface of the ball nut.

4. The vehicle steering device according to claim 1, wherein, The first nut pulley and the second nut pulley are connected to the outer peripheral surface of the ball nut.

5. The vehicle steering device according to claim 1, wherein, The helix angles of the first nut pulley teeth and the second nut pulley teeth are formed clockwise positive values ​​based on the central axis of the ball nut.

6. The vehicle steering device according to claim 1, wherein, The helix angles of the first nut pulley teeth and the second nut pulley teeth are formed as negative counterclockwise values ​​based on the central axis of the ball nut.

7. The vehicle steering device according to claim 1, wherein, The helix angle of the first nut pulley teeth is a positive clockwise value based on the central axis of the ball nut, and the helix angle of the second nut pulley teeth is a negative counterclockwise value based on the central axis of the ball nut.

8. The vehicle steering device according to claim 1, wherein, The helix angle of the first nut pulley teeth is formed as a negative counterclockwise value based on the central axis of the ball nut, and the helix angle of the second nut pulley teeth is formed as a positive clockwise value based on the central axis of the ball nut.

9. The vehicle steering device according to claim 1, wherein, The teeth of the first nut pulley and the teeth of the second nut pulley are arranged to be spaced apart from each other in the circumferential direction at the portions of the first nut pulley and the second nut pulley that are adjacent to each other.

10. The vehicle steering device according to claim 1, wherein, The first motor pulley teeth and the second motor pulley teeth are formed in different numbers, while the first nut pulley teeth and the second nut pulley teeth are formed in equal numbers.

11. The vehicle steering device according to claim 1, wherein, The first motor pulley teeth and the second motor pulley teeth are formed in equal numbers, while the first nut pulley teeth and the second nut pulley teeth are formed in different numbers.

12. The vehicle steering device according to claim 1, wherein, The first motor pulley teeth and the second motor pulley teeth are formed in different numbers, and the first nut pulley teeth and the second nut pulley teeth are formed in different numbers.

13. The vehicle steering device according to claim 4, wherein, A gap is provided between the first nut pulley and the second nut pulley in the axial direction.

14. The vehicle steering device according to claim 4, wherein, An anti-rotation component is connected between the ball nut and the first nut pulley and between the ball nut and the second nut pulley.

15. The vehicle steering device according to claim 14, wherein, The anti-rotation component is molded to be combined with the first nut pulley.

16. The vehicle steering device according to claim 14, wherein, The anti-rotation component is molded to be combined with the second nut pulley.

17. The vehicle steering device according to claim 14, wherein, The anti-rotation component includes: A cylindrical portion, said cylindrical portion being connected to the outer peripheral surface of the end of the ball nut; and The pulley support portion bends from the end of the cylindrical portion, extends radially, and has protrusions arranged on the outer peripheral surface of the pulley support portion and spaced apart from each other circumferentially.

18. The vehicle steering device according to claim 17, wherein, A large-diameter portion is provided at one end of the ball nut, the large-diameter portion having an increased diameter on the outer peripheral surface of the large-diameter portion, and the cylindrical portion connected to the first nut pulley is press-fitted with the outer peripheral surface of the large-diameter portion.

19. The vehicle steering device according to claim 17, wherein, A small-diameter portion is provided at the other end of the ball nut, the small-diameter portion having a reduced diameter on the outer peripheral surface of the small-diameter portion, and the cylindrical portion connected to the second nut pulley is press-fitted with the outer peripheral surface of the small-diameter portion.

20. A vehicle, the vehicle comprising: A ball nut, which is connected to a rack by means of balls, and is configured to allow the rack to slide in the axial direction when rotated; A first nut pulley is disposed on the outer peripheral surface of the ball nut and has a first nut pulley tooth portion formed on the outer peripheral surface of the first nut pulley. The second nut pulley is disposed on the outer peripheral surface of the ball nut and has a second nut pulley tooth portion. The second nut pulley tooth portion is formed on the outer peripheral surface of the second nut pulley, and the second nut pulley tooth portion is formed such that the helical angle relative to the first nut pulley tooth portion is changed by a predetermined angle. A first motor pulley is disposed on a first motor and has a first motor pulley toothed portion. The first motor pulley toothed portion is formed on the outer peripheral surface of the first motor pulley and is the same as the first nut pulley toothed portion. The second motor pulley is disposed on the second motor and has a second motor pulley tooth portion. The second motor pulley tooth portion is formed on the outer peripheral surface of the second motor pulley and is the same as the second nut pulley tooth portion. A first strip, the first strip being connected to the first nut pulley and the first motor pulley; The second strip is connected to the second nut pulley and the second motor pulley; A first motor sensor is configured to detect the rotational position of the shaft of the first motor. A second motor sensor is configured to detect the rotational position of the shaft of the second motor. as well as An electronic control device configured to use an electrical signal as an input value; And control the output values ​​to be transmitted to the first motor and the second motor.

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