Automobile steering apparatus

Abstract

Provided is a vehicle steering apparatus including a ball nut that moves a rack bar in an axial direction by being coupled to the rack bar with balls and rotating, a first nut pulley provided on an outer circumferential surface of the ball nut, a second nut pulley provided on the outer circumferential surface of the ball nut, a first motor pulley coupled to a first motor and connected to the first nut pulley by a first belt, a second motor pulley coupled to a second motor and connected to the second nut pulley by a second belt, an angle sensor assembly coupled to at least one of the first nut pulley and the second nut pulley, the angle sensor assembly configured to detect a rotation angle of the ball nut and output an electrical signal, and an electronic control device configured to control an output value output to the first motor and the second motor using the electrical signal received from the angle sensor assembly as an input value.

Description

Technical Field

[0001] This embodiment relates to an automotive steering device. Background Technology

[0002] Power steering has typically been developed and applied in automotive steering systems to assist drivers in maneuvering the steering wheels and to provide greater ease of driving. Power steering systems include hydraulic systems (using hydraulic pressure), electro-hydraulic systems (using both hydraulic and electric motor power), and electric systems (using only electric motor power).

[0003] Recently, a steer-by-wire (SBW) steering device has been developed and applied. This device uses electric motors such as motors to steer the vehicle, rather than mechanical connecting parts such as steering shafts, universal joints, or pinion shafts located between the steering wheel and the road wheel.

[0004] However, in this type of steer-by-wire steering system, since there is no mechanical connection between the steering shaft and the wheels, the following problems exist: when the motor fails, the driver's steering intention cannot be transmitted to the rack bar, and the rotational torque may cause the rack bar to rotate, thereby reducing steering stability.

[0005] Furthermore, since there is no mechanical connection, there is a need for contingency plans in case of failure, as well as control technology for precise control of the motors located at the steering wheel and the wheels respectively.

[0006] Therefore, whether in a steering system with steer-on-wire or a conventional steering system, the technical requirement to stably transmit the driver's steering intention to the rack and pinion and ensure stable execution of steering actions is becoming increasingly prominent. Summary of the Invention

[0007] The problem the invention aims to solve This embodiment aims to provide a stable and effective automotive steering device.

[0008] means for solving problems According to this embodiment, an automotive steering device is provided, comprising: a ball nut, which engages with and rotates a rack rod via balls, causing the rack rod to move axially; a first nut pulley disposed on the outer peripheral surface of the ball nut; a second nut pulley disposed on the outer peripheral surface of the ball nut; a first motor pulley, which is coupled to a first motor and connected to the first nut pulley via a first belt member; a second motor pulley, which is coupled to a second motor and connected to the second nut pulley via a second belt member; an angle sensor assembly, which is coupled to at least one of the first nut pulley and the second nut pulley, the angle sensor assembly being used to detect the rotation angle of the ball nut and output an electrical signal; and an electronic control device, which uses the electrical signal received from the angle sensor assembly as an input value to control the output values ​​of the first motor and the second motor.

[0009] Additionally, according to this embodiment, an automotive steering device can be provided, comprising: a ball nut, which engages with and rotates a rack via balls, causing the rack to move axially; a nut pulley, which is connected to the ball nut; a motor pulley, which is connected to a motor and connected to the nut pulley via a belt; an angle sensor assembly, which is connected to the nut pulley, the angle sensor assembly being used to detect the rotation angle of the ball nut and output an electrical signal; and an electronic control device, which uses the electrical signal received from the angle sensor assembly as an input value to control the output value of the motor.

[0010] Additionally, according to this embodiment, an automotive steering device can be provided, comprising: a ball nut, which engages with and rotates a rack rod via balls, causing the rack rod to move axially; a nut pulley, which is engaged with the ball nut; a motor pulley, which is engaged with a motor and connected to the nut pulley via a belt; a nut connecting member, which has gear teeth on its outer peripheral surface and is engaged with and rotates in conjunction with the ball nut; an angle sensor assembly, which is engaged with the nut connecting member and is used to detect the rotation angle of the ball nut and output an electrical signal; and an electronic control device, which uses the electrical signal received from the angle sensor assembly as an input value to control the output value of the motor.

[0011] Invention Effects This embodiment provides a stable and effective automotive steering device. Attached Figure Description

[0012] Figure 1 This is a schematic diagram illustrating a car steering device according to this embodiment.

[0013] Figures 2 to 7 This is a partial top view showing the automotive steering device according to this embodiment.

[0014] Figure 8 This is a schematic diagram illustrating a car steering device according to this embodiment.

[0015] Figures 9 to 18 This is a diagram showing a portion of the automotive steering device according to this embodiment.

[0016] Figure 19 This is a diagram illustrating the method for estimating the rack rod travel range based on the difference between first rotation information and second rotation information according to this embodiment.

[0017] Figure 20 and Figure 21 This is a schematic diagram illustrating a car steering device according to this embodiment.

[0018] Figures 22 to 25 This is a perspective view showing a car steering device according to this embodiment.

[0019] Figure 26 and Figure 27 This is a front view showing the vehicle steering device according to this embodiment.

[0020] Figure 28 This is a perspective view showing a car steering device according to this embodiment.

[0021] Figure 29 This is a front view showing the vehicle steering device according to this embodiment. Detailed Implementation

[0022] 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.

[0023] 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 only used to distinguish the corresponding element from other elements.

[0024] 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 "overlap" with each other.

[0025] 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.”

[0026] 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".

[0027] Unlike traditional steering systems that physically connect the steering wheels to the steering wheel, steer-by-wire systems use electrical signals from wires to move the vehicle based on the driver's steering input. This method of vehicle behavior control using wires is being applied in various fields, including braking. However, steer-by-wire systems are susceptible to problems due to potential signal interruptions that could lead to loss of vehicle control, thus requiring stable technological support. Furthermore, there is also a need for technological advancements in miniaturization and reducing manufacturing costs.

[0028] This disclosure aims to provide a technology that simultaneously satisfies the requirements of stability, miniaturization, and manufacturing cost for steer-by-wire systems, encompassing various structural and control aspects. For example, in this disclosure, multiple motors can be equipped to drive the rack and pinion movement in order to ensure redundancy and provide appropriate torque. Furthermore, the configuration of the motors and rack and pinion is explained based on various effects.

[0029] On the other hand, when a steering device is constructed using a drive-by-wire method, the pinion can be omitted, thus reducing costs and achieving miniaturization. However, in this case, a problem may arise where the rack and pinion rotates as it moves with the drive of the motor. In this disclosure, various embodiments of the anti-rotation member structure are also proposed to solve this problem.

[0030] Furthermore, in steering systems with steer-by-wire, the absolute position of the rack is crucial for precise vehicle steering. However, if a sensor is used to estimate the absolute position of the rack, this sensor may be quite vulnerable to impacts, dust, and water immersion. Additionally, multiple sensors may be required to ensure redundancy. This disclosure discloses various embodiments regarding estimating the rack position using an absolute angle sensor or using sensors equipped with conventional motors, etc. Furthermore, the operation of a control device for estimating the rack position relative to the estimated position is also disclosed.

[0031] The steering equipment structure, motor, anti-rotation component, sensor, and control actions described in this specification have multiple embodiments. These embodiments can be applied to the steering equipment in any combination.

[0032] Figure 1 This is a schematic diagram illustrating a car steering device according to this embodiment. Figures 2 to 7 This is a partial top view showing the automotive steering device according to this embodiment. Figure 8 This is a schematic diagram illustrating a car steering device according to this embodiment. Figures 9 to 18 This is a diagram showing a portion of the automotive steering system according to this embodiment. Figure 19 This diagram illustrates the method for estimating the rack rod travel range based on the difference between first rotation information and second rotation information according to this embodiment. Figure 20 and Figure 21 This is a schematic diagram illustrating a car steering device according to this embodiment. Figures 22 to 25 This is a perspective view showing the automobile steering device according to this embodiment. Figure 26 and Figure 27 This is a front view showing the automotive steering device according to this embodiment. Figure 28 This is a perspective view showing the automobile steering device according to this embodiment. Figure 29 This is a front view showing the vehicle steering device according to this embodiment.

[0033] exist Figure 1In 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] Furthermore, in a steering system with on-line steering, since the steering wheel 101 is not mechanically connected to the rack 130 and the wheel 131, it may include a device for mechanically constraining or limiting 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.

[0038] 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.

[0039] The first motor 145 and the second motor 147 move or slide the rack 130 via the rack moving device 140 to steer the 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.

[0040] 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 allow 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 circumferential surface of the ball nut 141, while the second nut pulley 143b can be disposed on the other side of the outer circumferential 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.

[0041] Furthermore, the ball 144 is rotatably arranged between the rack helical groove formed on the outer circumferential surface of the rack 130 and the nut helical groove formed on the inner circumferential 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.

[0042] 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.

[0043] In a steering device with in-line steering, since the steering wheel 101 is not mechanically connected to the rack 130 and the 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.

[0044] 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.

[0045] exist Figure 1In 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.

[0046] 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.

[0047] exist Figure 2 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.

[0048] 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.

[0049] Reference Figure 3 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.

[0050] 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.

[0051] exist Figure 3 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 circumferential surface of the ball nut 141. However, as... Figure 4 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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 and the nut helical groove.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] Reference Figure 4The first nut pulley 143a and the second nut pulley 143b can be combined into a single piece with the same outer diameter.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] exist Figure 5 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 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] exist Figure 6 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] exist Figure 7 In an exemplary embodiment, a first motor pulley tooth 142-1 is disposed on the outer circumferential surface of the first motor pulley 142a, and a first nut pulley tooth 143-1 is disposed on the outer circumferential 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 circumferential surface of the first strip 149a.

[0079] 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.

[0080] The second motor pulley tooth 142-2 is disposed on the outer circumferential surface of the second motor pulley 142b, and the second nut pulley tooth 143-2 is disposed on the outer circumferential 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 circumferential surface of the second strip 149b.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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.

[0098] exist Figure 8 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.

[0099] The rotating gear 139 can be configured to rotate while being supported on the rack housing by bearings. 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.

[0100] 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.

[0101] Furthermore, various embodiments of the anti-rotation component or device can be incorporated into the aforementioned steering equipment, as described below.

[0102] The following will refer to Figures 9 to 18 To describe in more detail some embodiments of the anti-rotation component 150.

[0103] like Figure 9 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.

[0104] The anti-rotation member 150 may include: a shaft 230 configured to support a support surface 130-1 formed on the outer circumferential surface of the rack 130; and a support yoke 240 configured to support an outer circumferential surface of the rack 130 that is opposite to or corresponds to the position where the support shaft 230 is supported.

[0105] 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.

[0106] The support surface 130-1 may be recessed from the outer periphery of the rack 130 and formed as a curved surface, a flat surface, or a combination thereof.

[0107] 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.

[0108] 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.

[0109] 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.

[0110] When the rack rod 130 slides, the shaft 230 is supported by the rack housing (e.g., Figure 10 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.

[0111] 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.

[0112] 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 bearing 234 can be connected to the upper support portion 231 to rotatably support it on the rack housing.

[0113] 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.

[0114] 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 bearing 238 can be connected to the lower support portion 235 to rotatably support it on the rack housing.

[0115] The support yoke 240, which supports the outer circumferential 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.

[0116] 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 circumferential surface of the rack 130. The curved surface support portion 241 may have the same curved surface as the outer circumferential surface of the rack 130.

[0117] 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).

[0118] The elastic ring 245 can be connected to the outer peripheral surface of the supporting yoke 240 to prevent rattling noise from the rack housing.

[0119] One or more elastic rings 245 may be connected to the outer peripheral surface of the supporting yoke 240.

[0120] 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.

[0121] 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 fixed to the supporting yoke 240.

[0122] 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.

[0123] 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.

[0124] The anti-rotation member 150 may include: a needle roller bearing 220 configured to support a support surface 130-1 formed on the outer circumferential 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 circumferential surface of the rack 130 opposite to the position where the needle roller bearing 220 is supported.

[0125] The support surface 130-1 can be formed on the outer circumferential surface of the rack 130. For example, the support surface 130-1 can be formed by machining or grinding the outer circumferential surface of the rack 130.

[0126] The support surface 130-1 can be recessed from the outer periphery of the rack 130. The support surface 130-1 can be formed as a curved surface or a flat surface.

[0127] 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.

[0128] 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.

[0129] 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.

[0130] 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.

[0131] 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.

[0132] 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.

[0133] 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).

[0134] The elastic ring 226 can be connected to the outer peripheral surface of the supporting yoke 225 to prevent clicking noise with the rack housing 160.

[0135] One or more elastic rings 226 may be connected to the outer peripheral surface of the supporting yoke 225.

[0136] 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.

[0137] 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.

[0138] 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.

[0139] The rack bushing 229—which supports the outer circumferential surface of the rack rod 130 opposite to the outer circumferential 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 circumferential surface of the rack bushing 229.

[0140] 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.

[0141] The rack bushing 229 may have a curved surface that is the same as or corresponds to the outer circumferential surface of the rack rod 130, so as to be in close contact with and supported on the outer circumferential surface of the rack rod 130.

[0142] 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.

[0143] The rack bushing 229 may have a fixed protrusion 229a formed on or around the end portion of the outer circumferential 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.

[0144] 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.

[0145] 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).

[0146] exist Figure 11 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 circumferential surface of the rack 130 and can be supported on the inner circumferential surface of the rack housing 160.

[0147] 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 circumferential 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 circumferential 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 circumferential surface of the rack housing 160.

[0148] 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.

[0149] The rack support groove 132 can be recessed into the surface from the outer periphery of the rack rod 130. The rack support groove 132 can have a curved surface or a flat surface.

[0150] 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.

[0151] 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.

[0152] 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.

[0153] For example, the housing groove 162 may be formed by machining or grinding the inner circumferential surface of the rack housing 160.

[0154] The housing groove 162 can be recessed into the inner circumference 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.

[0155] 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.

[0156] 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).

[0157] The elastic member 212 is connected to the connecting groove 211 of the support member 210 to support 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. This prevents 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.

[0158] For example, the elastic member 212 can be formed as an arc-shaped thin plate.

[0159] 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 connected to the inner circumferential surface of the rack housing 160. For example, the plug bolt 215 can be press-fitted and connected to the inner circumferential surface of the rack housing 160.

[0160] 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.

[0161] The outer circumferential surface of the fixing part 215b has a threaded portion that is screwed onto the inner circumferential surface of the rack housing 160.

[0162] 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.

[0163] The fixing protrusion 217a, which protrudes radially along the rack housing 160, can protrude from the outer periphery of the fixing member 217 toward the surface.

[0164] 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.

[0165] exist Figure 12 In one embodiment, the anti-rotation member 150 can be supported on the outer circumferential surface of the rack rod 130 and the inner circumferential surface of the rack housing, and prevent the rack rod 130 from rotating about the central axis.

[0166] The anti-rotation member 150 may include: a support bushing 205 configured to support a support surface 130-1 formed on the outer circumferential surface of the rack 130; a bushing retainer 200 coupled to the outer circumferential surface of the rack 130 and having an inner circumferential 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.

[0167] For example, the support surface 130-1 formed on the outer circumferential surface of the rack 130 can be formed by machining or grinding the outer circumferential surface of the rack 130.

[0168] The support surface 130-1 may be recessed from the outer periphery of the rack 130 and may have a curved surface or a flat surface.

[0169] 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.

[0170] 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.

[0171] 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 bar 130.

[0172] For example, the housing groove 162 may be formed by machining or grinding the inner circumferential surface of the rack housing 160.

[0173] 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.

[0174] 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 along the rack rod 130.

[0175] 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.

[0176] 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.

[0177] 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.

[0178] 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.

[0179] For example, the elastic member 207 can be formed in an annular shape and in a conical shape, wherein the inner circumferential surface and the outer circumferential surface of the elastic member 207 are stepped in the axial direction, such that the protruding support portion 205a can be connected to the inner circumferential surface of the elastic member 207.

[0180] 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.

[0181] 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).

[0182] exist Figure 13 In one embodiment, the anti-rotation member 150 can support the outer circumferential 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 circumferential surface of the rack housing 160.

[0183] The anti-rotation component 150 may include: a rack bushing 250 having an inner circumferential support portion 251 and an outer circumferential support portion 253, the inner circumferential support portion 251 being inserted into and supported by a rack support groove 132 formed on the outer circumferential surface of the rack rod 130, and the outer circumferential support portion 253 being inserted into and supported by a housing groove 162 formed on the inner circumferential surface of the rack housing 160; and an elastic member 252 connected to the outer circumferential surface of the rack bushing 250 and configured to elastically support the rack bushing 250.

[0184] For example, the rack support groove 132 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.

[0185] The rack support groove 132 can be recessed into the surface from the outer periphery of the rack bar 130, and can have a curved surface or a flat surface.

[0186] 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.

[0187] 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.

[0188] 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.

[0189] 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.

[0190] For example, the housing groove 162 may be formed by machining or grinding the inner circumferential surface of the rack housing 160.

[0191] 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.

[0192] 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.

[0193] For example, a pair of outer circumferential support portions 253 can be formed on the outer circumferential surface of the rack bushing 250 at positions corresponding to the inner circumferential support portion 251 in the circumferential direction.

[0194] 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).

[0195] The elastic member 252 can be connected to the outer circumferential surface of the rack bushing 250 and has an annular shape.

[0196] 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.

[0197] The connecting groove 252-1 to which the elastic member 252 is connected can be formed on the outer circumferential surface of the rack bushing 250.

[0198] 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.

[0199] It is possible to set two or more circumferentially spaced cut portions 254.

[0200] The cut portion 254 can be formed such that one end or the other end of the rack bushing 250 is cut at the location where the cut portion 254 is formed.

[0201] The cut portion 254 at one end of the rack bushing 250 and the cut portion 254 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.

[0202] 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.

[0203] exist Figure 14 In the embodiment shown, the anti-rotation member 150 can support the outer circumferential surface of the rack 130 to prevent the rack 130 from rotating about its central axis, and the anti-rotation member 150 can be supported by the inner circumferential surface of the rack housing 160.

[0204] The anti-rotation member 150 may include: a rotation member 191 configured to support a support surface 130-1 formed on the outer circumferential surface of the rack bar 130; and a support bushing 190 configured to be connected to a housing groove 162 formed on the inner circumferential surface of the rack housing 160, and configured such that the rotation member 191 is rotatably connected to the support bushing 190.

[0205] For example, the support surface 130-1 formed on the outer circumferential surface of the rack 130 can be formed by machining or grinding the outer circumferential surface of the rack 130.

[0206] The support surface 130-1 may be recessed from the outer periphery of the rack 130 and has a curved surface or a flat surface.

[0207] 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.

[0208] Two or more support surfaces 130-1 may be formed on the outer circumferential surface of the rack 130 and spaced apart from each other along the axial direction of the rack 130.

[0209] 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.

[0210] 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.

[0211] The rotating member 191 is rotatably supported on both the inner and outer surfaces of the support bushing 190.

[0212] 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.

[0213] The housing groove 162 where the support bushing 190 is arranged can 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.

[0214] 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.

[0215] 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).

[0216] For example, the housing groove 162 may be formed by machining or grinding the inner circumferential surface of the rack housing 160.

[0217] 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.

[0218] exist Figure 15 In the embodiment shown, the anti-rotation member 150 can support the outer circumferential 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 circumferential surface of the rack housing.

[0219] The anti-rotation component 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 circumferential surface of the rack rod 130 and a housing groove 162 formed on the inner circumferential surface of the rack housing 160. The elastic support portions 185 are arranged between the rack support groove 132 formed on the outer circumferential surface of the rack rod 130 and the housing groove 162 formed on the inner circumferential 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.

[0220] The rack support groove 132 can be formed on the outer circumferential surface of the rack rod 130. For example, the rack support groove 132 can be formed by machining or grinding the outer circumferential surface of the rack rod 130.

[0221] The rack support groove 132 can be recessed into the outer periphery of the rack bar 130 and includes a curved surface or a flat surface.

[0222] 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.

[0223] The housing groove 162 is formed on the inner circumferential surface of the rack housing 160 at a position that faces or corresponds to the rack support groove 132 in the radial direction.

[0224] For example, the housing groove 162 may be formed by machining or grinding the inner circumferential surface of the rack housing 160.

[0225] 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.

[0226] 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.

[0227] The rack bushing 180 may have two or more rotating support portions 183 and / or two or more resilient support portions 185.

[0228] 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.

[0229] The elastic support portion 185 may have a generally cylindrical shape. The elastic support portion 185 may have an opening on one side.

[0230] 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.

[0231] exist Figure 16 In the embodiment shown, the anti-rotation member 150 can support the outer circumferential 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 circumferential surface of the rack housing 160.

[0232] 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 circumferential 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 circumferential surface of the rack bar 130, and may have an outer circumferential surface provided with a fixing protrusion 173 connected to a housing groove 162 formed on the inner circumferential surface of the rack housing 160.

[0233] For example, the support surface 130-1 formed on a portion of the outer circumferential surface of the rack 130 can be formed by machining or grinding the outer circumferential surface of the rack 130.

[0234] The support surface 130-1 may be recessed from the outer periphery of the rack 130 and may have a curved surface or a flat surface.

[0235] 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.

[0236] The inner circumferential 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 circumferential surface of the first support portion 171 can be spaced apart from the inner circumferential surface of the rack housing 160.

[0237] The coating may be applied to the support surface 130-1 and the outer circumferential 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.

[0238] The second support portion 175 extends from or connects to the first support portion 171 in the circumferential direction and surrounds the outer circumferential surface of the rack 130.

[0239] The fixed protrusion 173 protrudes radially from the outer periphery of the second support portion 175 toward the surface.

[0240] 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.

[0241] For example, the housing groove 162 may be formed by machining or grinding the inner circumferential surface of the rack housing 160.

[0242] 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.

[0243] 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).

[0244] exist Figure 17 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 circumferential surface of the rack rod 130 to prevent the rack rod 130 from rotating about the central axis.

[0245] The anti-rotation member 150 may include: a support member 151 connected to the outer circumferential surface of the rack bar 130; a guide cover 155 connected to the rack housing 160 and having an inner circumferential surface supported by the support member 151; and a fastener 159 configured to secure the guide cover 155 to the rack housing 160.

[0246] 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.

[0247] The connecting groove 134 can be recessed into the surface from the outer periphery of the rack 130 and can have a curved surface or a flat surface.

[0248] 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.

[0249] The inner circumferential surface of the guide cover 155 may have a support groove 155-1, into which the support member 151 is inserted and supported.

[0250] 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.

[0251] 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.

[0252] The support member 151 may have a trapezoidal shape, which has a width that decreases from the outer periphery of the rack 130 toward the support groove 155-1.

[0253] 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.

[0254] 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.

[0255] The support groove 155-1 may contain grease to minimize friction with the support member 151.

[0256] The guide cover 155 can be secured to the rack housing 160 by fasteners 159.

[0257] 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.

[0258] 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.

[0259] 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).

[0260] exist Figure 18 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.

[0261] The anti-rotation member 150 may include: a support member 151 that supports the outer circumferential surface of the rack 130; a housing cover 154 that is fixed to the rack housing 160 and has an inner circumferential surface connected to the support member 151; and a fastener 159 configured to secure the housing cover 154 to the rack housing 160.

[0262] A rack support groove 134 for supporting the support structure 151 is formed on the outer peripheral surface of the rack rod 130.

[0263] 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.

[0264] The rack support groove 134 can be recessed into the surface from the outer periphery of the rack rod 130, and can have a curved surface or a flat surface.

[0265] 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.

[0266] The support groove 156 of the cover where the support member 151 is located can be formed on the inner circumferential surface of the housing cover 154.

[0267] 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.

[0268] 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.

[0269] 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.

[0270] 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.

[0271] The rack support groove 134 may be provided or filled with grease to reduce or minimize friction with the support member 151.

[0272] The housing cover 154 can be secured to the rack housing 160 by fasteners 159.

[0273] 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.

[0274] 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).

[0275] 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.

[0276] 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.

[0277] 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.

[0278] 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.

[0279] 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.

[0280] 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.

[0281] 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).

[0282] 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.

[0283] 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.

[0284] 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.

[0285] 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.

[0286] 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.

[0287] 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.

[0288] 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.

[0289] 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).

[0290] 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.

[0291] 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.

[0292] 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.

[0293] 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.

[0294] 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.

[0295] 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.

[0296] 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.

[0297] 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.

[0298] For example, the difference in rotational speed between two motors can vary depending on the absolute position of the rack.

[0299] 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.

[0300] [Formula 1] 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.

[0301] 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.

[0302] 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.

[0303] 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 rotation information of the first motor and the second rotation information of the second motor do not overlap or correspond to two or more absolute positions of the rack.

[0304] For example, the electronic control device 110 can estimate the absolute position of the rack by using Formula 2.

[0305] [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.

[0306] 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.

[0307] Figure 19 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 19 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 to 75 mm. As described above, the first and second transmission ratios can be set such that the first rotational information of the first motor and the second rotational information of the second motor do not overlap or correspond to multiple positions of the rack.

[0308] Figure 20 This illustrates a steer-by-wire device where two motor pulleys 142a and 142b are connected to two nut pulleys 143a and 143b via belts (first belt 149a and second belt 149b). Figure 21 This illustrates a conventional steering device in which a motor pulley 142 and a nut pulley 143 are connected by a belt 149, i.e., a steering device in which the steering wheel 101 and the wheel 131 are connected by a mechanical structure.

[0309] Since this embodiment is applicable to both steer-by-wire steering systems and conventional steering systems, therefore, the following... Figures 22 to 29 The structure will be described as applicable to both steer-by-wire and conventional steering systems.

[0310] Reference Figure 20 A vehicle steering device may be provided, comprising: a ball nut 141, which engages with and rotates a rack 130 via balls 144, causing the rack 130 to move axially; a first nut pulley 143a, disposed on the outer peripheral surface of the ball nut 141; a second nut pulley 143b, disposed on the outer peripheral surface of the ball nut 141; a first motor pulley 142a, which is engaged with a first motor 145 and connected to the first nut pulley 143a via a first belt 149a; and a second motor pulley 142b, which is engaged with the first motor 145. The second motor 147 is connected to the second nut pulley 143b via the second belt 149b; the angle sensor assembly 310 is combined with at least one of the first nut pulley 143a and the second nut pulley 143b, the angle sensor assembly 310 is used to detect the rotation angle of the ball nut 141 and output it as an electrical signal; and the electronic control device 110 uses the electrical signal received from the angle sensor assembly 310 as an input value to control the output value of the first motor 145 and the second motor 147.

[0311] Among them, in such Figure 20 In the case shown with two nut pulleys, the angle sensor assembly 310 can be integrated into at least one of the first nut pulley 143a and the second nut pulley 143b. Figure 20 In the example, the angle sensor assembly 310 is only attached to the first nut pulley 143a.

[0312] The following will Figure 20 and Figures 22 to 29 Referring to the reference, on one side of at least one of the first nut pulley 143a and the second nut pulley 143b, there is a sensor connection portion 303 that extends axially and has gear teeth formed on its outer peripheral surface, and the sensor connection portion 303 is combined with the angle sensor assembly 310.

[0313] The sensor connection part 303 is integrally formed with the first nut pulley 143a or the second nut pulley 143b, and the gear teeth 303a are engaged with the sensor gear 330 described later.

[0314] The angle sensor assembly 310 may include: a sensor gear 330, which is coupled to the sensor connection part 303 and rotates in conjunction with the first nut pulley 143a or the second nut pulley 143b; and a sensor body 315, which houses the sensor gear 330 and is used to detect the rotation angle of the sensor gear 330.

[0315] The sensor gear 330 has a gear tooth 330a formed on its outer peripheral surface that engages with the gear tooth 303a of the sensor connection part 303, and has a shaft hole for engaging a rotating shaft, which is rotatably supported on the sensor body 315.

[0316] The lower end of the sensor body 315 has a receiving hole 318 to expose and accommodate the sensor gear 330. Therefore, when the sensor gear 330 is engaged with the sensor body 315, it can be engaged with the sensor connection part 303 disposed on the lower side of the sensor gear 330.

[0317] The sensor gear 330 is offset to one side relative to the center of the sensor body 315 and is disposed in the direction below the elastic member 340 described later.

[0318] Additionally, the angle sensor assembly 310 may also include: a sensor housing 320 fixed to a housing 300 for accommodating the ball nut 141 and the angle sensor assembly 310, and a sensor body 315 rotatably coupled to the inside of the sensor housing 320.

[0319] The sensor housing 320 may include: a frame portion 327 having a fastening portion 321 that is fixed to the housing 300 by fasteners, and a cut-out in the edge of the frame portion 327 surrounding the sensor body 315 in the direction toward the sensor connection portion 303; and a frame partition 329 that connects to one axial end of the frame portion 327 and accommodates the sensor body 315.

[0320] The sensor housing 320 is fixed to the inner wall 300-1 of the housing 300 by fasteners. The fasteners are engaged with the fastening holes 323 formed in the fastening part 321. The sensor housing 320 supports the sensor body 315 so that the sensor body 315 can rotate toward the sensor connection part 303.

[0321] In addition, the angle sensor assembly 310 may also include an elastic member 340, which is connected between the sensor body 315 and the sensor housing 320, and provides elastic support to the sensor body 315 in the direction of the sensor connection portion 303.

[0322] The elastic member 340 supports and is attached to the inner corner of the sensor housing 320, and supports the sensor gear 330 provided in the sensor body 315 in the downward direction where the sensor connection part 303 is provided.

[0323] A hinge portion 325 is formed on the frame partition 329, protruding from the inner side of the frame partition 329. The hinge portion 325 is connected to the sensor body 315 and serves as the rotation center of the sensor body 315.

[0324] The hinge portion 325 is generally cylindrical and is formed on the lower side diagonally opposite to the position where it engages with the elastic member 340.

[0325] Therefore, when the elastic member 340 supports the sensor body 315 in the direction of the sensor connection part 303, the sensor body 315 can rotate about the hinge part 325 as the axis of rotation.

[0326] Furthermore, the sensor body 315 is provided with a hinge hole 316 for the hinge portion 325 to be inserted and supported. Therefore, when assembling the sensor body 315 to the sensor housing 320, the assembly is completed by fitting the hinge hole 316 onto the hinge portion 325, rotating the sensor body 315 toward the inside where the elastic member 340 is arranged, and elastically compressing the elastic member 340.

[0327] The elastic member 340 is formed by bending a plate-like component into a generally open "V" shape, such as... Figure 26 As shown, it may include: a fixing part 341, which is combined with and fixed in a fixing groove 326, the fixing groove 326 being disposed in the sensor housing 320; and a support part 343, which extends bently from the fixing part 341 and supports the sensor body 315 between the sensor body 315 and the sensor housing 320.

[0328] In addition, such as Figure 27 As shown, the elastic member 340 may have a bent extension 345 at the end of the fixing part 341, and the sensor housing 320 may have an extension groove 328 that is connected to the fixing groove 326 and into which the extension 345 is inserted.

[0329] As described above, when the elastic member 340 is provided with an extension 345, it can prevent it from detaching towards the lower side of the supporting sensor body 315 even when subjected to an impact from the road surface; and, even before the sensor body 315 is assembled to the sensor housing 320, the elastic member 340 can remain in a state of being engaged with the sensor housing 320, thereby improving assemblability.

[0330] Furthermore, the support portion 343 can be formed as a curved surface that protrudes in the direction of supporting the sensor body 315.

[0331] Therefore, the contact area between the support 343 and the sensor body 315 is reduced, and the contact area becomes smooth, thereby minimizing the noise caused by friction and minimizing scratches on the sensor body 315.

[0332] Figure 21 A conventional steering device is shown in which a motor pulley 142 and a nut pulley 143 are connected by a belt 149, that is, a steering device in which the steering wheel 101 and the wheel 131 are connected by a mechanical structure.

[0333] The steering wheel 101 is coupled to the steering shaft 103, and the steering column 100 that houses the steering shaft 103 is fixed to the vehicle body.

[0334] Furthermore, the steering shaft 103 is connected to the pinion shaft 109 via the universal joint 108. The pinion gear 109a and the rack gear 130b generate linear motion of the rack rod 130, thereby driving the two wheels 131 connected to the connecting rod 133 via the steering knuckle arm 135 to achieve steering.

[0335] The device is equipped with: an angle sensor 105 and a torque sensor 107 for detecting the rotation angle and direction of the steering shaft 103, a vehicle speed sensor 102 for sending vehicle steering information to the electronic control unit 110, an ultrasonic sensor 104, and an image sensor 106; these are only examples of various sensors, and various sensors such as radar and lidar can also be equipped, the details of which will be omitted below.

[0336] As mentioned above, since this embodiment is applicable to both steer-by-wire steering systems and conventional steering systems, therefore, the following... Figures 22 to 29 The structure will be described as applicable to both steer-by-wire and conventional steering systems.

[0337] Will Figure 21 and Figures 22 to 29 Referring to the reference, an automotive steering device can be provided, comprising: a ball nut 141, which engages with and rotates a rack 130 via balls, causing the rack 130 to move axially; a nut pulley 143, which is engaged with the ball nut 141; a motor pulley 142, which is engaged with a motor 146 and connected to the nut pulley 143 via a belt 149; an angle sensor assembly 310, which is engaged with the nut pulley 143, and is used to detect the rotation angle of the ball nut 141 and output it as an electrical signal; and an electronic control device 110, which uses the electrical signal received from the angle sensor assembly 310 as an input value to control the output value of the motor 146.

[0338] like Figure 23 and Figure 24 As shown, the angle sensor assembly 310 is integrated with the nut pulley 143 and can measure the rotation angle of the ball nut 141.

[0339] That is, on one side of the nut pulley 143, there is a sensor connection part 303 that extends axially and has gear teeth 303a formed on its outer peripheral surface, and the sensor connection part 303 is combined with the angle sensor assembly 310.

[0340] Between the ball nut 141 and the nut pulley 143, as a structure to prevent free rotation between the ball nut 141 and the nut pulley 143, a tolerance ring 304 is engaged with the stepped groove 304a of the ball nut 141.

[0341] The sensor gear 330, sensor body 315, sensor housing 320 and elastic member 340 that constitute the angle sensor assembly 310 are the same as those described above, so their detailed descriptions are omitted below.

[0342] Will Figure 25 Combination Figure 21 Referring to the present invention, an automotive steering device may be provided, comprising: a ball nut 141, which engages with and rotates a rack 130 via balls, causing the rack 130 to move axially; a nut pulley 143, which is engaged with the ball nut 141; a motor pulley 142, which is engaged with a motor 146 and connected to the nut pulley 143 via a belt; a nut connecting member 350, having gear teeth 350a on its outer peripheral surface, and the nut connecting member 350 being engaged with and rotating in conjunction with the ball nut 141; an angle sensor assembly 310, which is engaged with the nut connecting member 350, and the angle sensor assembly 310 is used to detect the rotation angle of the ball nut 141 and output it as an electrical signal; and an electronic control device 110, which uses the electrical signal received from the angle sensor assembly 310 as an input value to control the output value of the motor 146.

[0343] That is, the nut connecting member 350 is attached to the outer peripheral surface of the ball nut 141 and rotates together with the ball nut 141, and an angle sensor assembly 310 can be attached to the nut connecting member 350.

[0344] The nut connecting member 350 is formed as an annular shape with gear teeth 350a on its outer peripheral surface, and the gear teeth 350a engage with the gear teeth 330a of the sensor gear 330.

[0345] This nut connecting member 350 can be pressed into and assembled to the outer peripheral surface of the ball nut 141 by its inner peripheral surface, or a threaded portion can be formed on its inner peripheral surface and the outer peripheral surface of the ball nut 141 to achieve threaded engagement.

[0346] The sensor gear 330, sensor body 315, sensor housing 320 and elastic member 340 that constitute the angle sensor assembly 310 are the same as those described above, so detailed descriptions will be omitted below.

[0347] If the gap between the gear teeth 330a of the sensor gear 330 and the gear teeth 350a of the nut connecting member 350 or the gear teeth 303a of the sensor connecting part 303 is too large, the accuracy of this angle sensor assembly 310 may decrease.

[0348] That is, such as Figure 29As shown, when the elastic member 340 continuously supports the sensor body 315 to the lower side, the sensor body 315 will rotate about the hinge part 325 as the axis, so that the sensor gear 330 is in close contact with the nut connecting member 350 or the sensor connecting part 303.

[0349] Therefore, the gap between the gear teeth 330a of the sensor gear 330 and the gear teeth 350a of the nut connecting member 350 or the gear teeth 303a of the sensor connecting part 303 is maintained, thereby maintaining the accuracy of the angle sensor assembly 310.

[0350] As described above, according to this embodiment, whether in a steering system with wire steering or a conventional steering system, the movement position of the rack can be accurately detected, and the motor can be precisely controlled by an electronic control device accordingly, thereby improving the steering stability of the vehicle.

[0351] 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 provide examples of the technical concepts of this disclosure for illustrative purposes only. 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 car steering device, characterized in that, include: A ball nut, through the engagement and rotation of balls with a rack, causes the rack to move axially. The first nut pulley is located on the outer circumferential surface of the ball nut. The second nut pulley is located on the outer circumferential surface of the ball nut. The first motor pulley is connected to the first motor and to the first nut pulley via the first belt member. The second motor pulley is connected to the second motor and to the second nut pulley via the second belt. An angle sensor assembly, integrated with at least one of the first nut pulley and the second nut pulley, is used to detect the rotation angle of the ball nut and output it as an electrical signal. The electronic control device uses the electrical signal received from the angle sensor assembly as input value to control the output values ​​of the first motor and the second motor.

2. The automotive steering device according to claim 1, characterized in that, On one side of at least one of the first nut pulley and the second nut pulley, there is a sensor connection portion that extends axially and has gear teeth formed on its outer peripheral surface, and the sensor connection portion is combined with the angle sensor assembly.

3. The automotive steering device according to claim 2, characterized in that, The angle sensor assembly includes: The sensor gear engages with the sensor connection portion and rotates in conjunction with the first nut pulley or the second nut pulley. The sensor body houses the sensor gear and is used to detect the rotation angle of the sensor gear.

4. The automotive steering device according to claim 3, characterized in that, The angle sensor assembly also includes: A sensor housing is fixed to a housing that accommodates the ball nut and the angle sensor assembly, and the sensor body is rotatably attached to the inside of the sensor housing.

5. The automotive steering device according to claim 4, characterized in that, The sensor housing includes: The frame portion has a fastening part that is fixed to the housing by fasteners, and a slit is formed in the edge of the frame portion surrounding the sensor body in the direction toward the sensor connection portion. A frame partition connects to one axial end of the frame portion and accommodates the sensor body.

6. The automotive steering device according to claim 5, characterized in that, The angle sensor assembly also includes: An elastic member is attached between the sensor body and the sensor housing, and the elastic member provides elastic support to the sensor body toward the sensor connection portion.

7. The automotive steering device according to claim 6, characterized in that, The elastic member includes: A fixing part is combined with and fixed in a fixing groove, the fixing groove being disposed in the sensor housing, and A support portion extends bently from the fixing portion, and the support portion supports the sensor body between the sensor body and the sensor housing.

8. A car steering device, characterized in that, include: A ball nut, through the engagement and rotation of balls with a rack, causes the rack to move axially. Nut pulley, coupled to the ball nut, The motor pulley is integrated with the motor and connected to the nut pulley via a belt. An angle sensor assembly, integrated with the nut pulley, is used to detect the rotation angle of the ball nut and output it as an electrical signal. The electronic control device uses the electrical signal received from the angle sensor assembly as input value to control the output value of the motor.

9. The automotive steering device according to claim 8, characterized in that, A sensor connection part is provided on one side of the nut pulley. The sensor connection part extends axially and has gear teeth formed on its outer peripheral surface. The sensor connection part is combined with the angle sensor assembly.

10. The automotive steering device according to claim 9, characterized in that, The angle sensor assembly includes: The sensor gear engages with the sensor connection portion and rotates in conjunction with the nut pulley. The sensor body houses the sensor gear and detects the rotation angle of the sensor gear.

11. The automotive steering device according to claim 10, characterized in that, The angle sensor assembly also includes: A sensor housing is fixed to a housing that houses the ball nut and the angle sensor assembly, and the sensor body is rotatably attached to the inner side of the sensor housing.

12. The automotive steering device according to claim 11, characterized in that, The sensor housing includes: The frame portion has a fastening part that is fixed to the housing by fasteners, and a slit is formed in the edge of the frame portion surrounding the sensor body in the direction toward the sensor connection portion. A frame partition connects to one axial end of the frame portion and accommodates the sensor body.

13. The automotive steering device according to claim 12, characterized in that, The angle sensor assembly also includes: An elastic member is attached between the sensor body and the sensor housing, and the elastic member provides elastic support to the sensor body toward the sensor connection portion.

14. The automotive steering device according to claim 13, characterized in that, The elastic member includes: A fixing part is combined with and fixed in a fixing groove, the fixing groove being disposed in the sensor housing, and A support portion extends bently from the fixing portion, and the support portion supports the sensor body between the sensor body and the sensor housing.

15. A car steering device, characterized in that, include: A ball nut, through the engagement and rotation of balls with a rack, causes the rack to move axially. Nut pulley, coupled to the ball nut, The motor pulley is integrated with the motor and connected to the nut pulley via a belt. The nut connecting member has gear teeth on its outer circumferential surface, and the nut connecting member is engaged with the ball nut and rotates in conjunction with it. An angle sensor assembly, integrated with the nut connecting member, is used to detect the rotation angle of the ball nut and output it as an electrical signal. The electronic control device uses the electrical signal received from the angle sensor assembly as input value to control the output value of the motor.

16. The automotive steering device according to claim 15, characterized in that, The angle sensor assembly includes: The sensor gear is coupled to the nut connecting member and rotates in conjunction with the nut pulley. The sensor body houses the sensor gear and is used to detect the rotation angle of the sensor gear.

17. The automotive steering device according to claim 16, characterized in that, The angle sensor assembly also includes: A sensor housing is fixed to a housing that accommodates the ball nut and the angle sensor assembly, and the sensor body is rotatably attached to the inner side of the sensor housing.

18. The automotive steering device according to claim 17, characterized in that, The sensor housing includes: The frame portion has a fastening part that is fixed to the housing by fasteners, and a slit is formed in the edge of the frame portion surrounding the sensor body in the direction toward the sensor connection portion. A frame partition connects to one axial end of the frame portion and accommodates the sensor body.

19. The automotive steering device according to claim 18, characterized in that, The angle sensor assembly also includes: An elastic member is attached between the sensor body and the sensor housing to provide elastic support for the sensor body toward the sensor connection part.

20. The automotive steering device according to claim 19, characterized in that, The elastic member includes: A fixing part is combined with and fixed in a fixing groove, the fixing groove being disposed in the sensor housing, and A support portion extends bently from the fixing portion and supports the sensor body between the sensor body and the sensor housing.

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