Steering gear

Abstract

To provide a steering device that can provide a downsized device configuration.SOLUTION: A steering device includes: an input device that generates rotation drive power, in a direction orthogonal to an input shaft to which rotation in conjunction with an operation is input, by a transmission shaft rotatable in conjunction with the input shaft; a speed reducer that receives the rotation drive power input by the input device disposed at one side to reduce the number of rotations in proper to the rotation drive power and increases torque to output the torque around a rotation shaft; a motor that is disposed adjacent to the one side in a direction orthogonal to the transmission shaft to input rotation auxiliary force into the speed reducer in a direction in which the rotation drive power is increased; and an output arm that is connected to the speed reducer to rotate by the torque around the rotation shaft in any angular range.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a steering device for miniaturizing the device configuration.

Background Art

[0002] A steering device provided in a vehicle or the like inputs rotation according to an operation of a steering wheel or the like, and outputs a rotational output via a speed reducer. In order to form a burden in the operation, a steering device that applies an auxiliary force to the operation direction using a hydraulic device has been generally used. In recent years, steering devices that are electrically controlled by a motor or the like and apply an auxiliary force to the operation direction are increasing (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The steering device inputs an input by an operation and an input of an auxiliary rotational force by a motor or the like, and it is desirable that the device configuration be miniaturized.

[0005] An object of the present invention is to provide a steering device capable of miniaturizing the device configuration.

Means for Solving the Problems

[0006] The present invention relates to a steering device comprising: an input device that generates a rotational driving force by a transmission shaft that rotates in conjunction with the input shaft in a direction perpendicular to the input shaft to which rotation linked to operation is transmitted; a reduction gear that receives the rotational driving force from the input device located on one side, reduces the rotational speed relative to the rotational driving force, and increases the torque to output a rotational force around the rotation shaft; a motor located adjacent to the transmission shaft in a direction perpendicular to the one side and inputting a rotational assist force to the reduction gear in a direction that increases the rotational driving force; and an output arm connected to the reduction gear that rotates around the rotation shaft within an arbitrary angular range by the rotational force.

[0007] According to the present invention, by providing the input device and motor on one side of the reduction gear, the device configuration can be miniaturized in the radial direction of the reduction gear. Furthermore, according to the present invention, by providing the input device and motor on one side of the reduction gear, the output arm can rotate without restriction on the rotation range within the reduction gear.

[0008] Furthermore, the reduction gear of the present invention may also include an input gear, a plurality of spur gears that receive the rotational driving force and mesh with the input gear to rotate, a plurality of eccentric cams formed on a plurality of shafts connected to the plurality of spur gears, an eccentric gear that rotates eccentrically with respect to the rotation axis of the input gear, and a case to which the output arm is connected, the eccentric gear rotates eccentrically around the rotation axis along its inner circumferential surface and outputs a rotational speed reduced compared to the rotational speed of the spur gears.

[0009] According to the present invention, by inputting rotational driving force to the spur gear of the reduction gear, it is possible to output a rotational speed from the reduction gear at a speed reduced compared to the rotational speed of the spur gear.

[0010] The present invention relates to a steering device comprising: an input device that inputs a rotational driving force corresponding to an operation; a reduction gear that receives the rotational driving force, reduces the rotational speed relative to the rotational driving force, and increases the torque to output a rotational force around a rotating shaft; and an output unit connected to the reduction gear that rotates around the rotating shaft by the rotational force, wherein the input device is arranged on one side of the reduction gear.

[0011] According to the present invention, by providing the input device on one side of the reduction gear, the device configuration can be miniaturized in the radial direction of the reduction gear.

[0012] The input device of the present invention may include an orthogonal input unit comprising an input shaft for inputting the rotational driving force and a transmission shaft that rotates in conjunction with the input shaft in a direction perpendicular to the input shaft and inputs the rotational driving force to the reduction gear, and a motor arranged adjacent to the transmission shaft of the orthogonal input unit in a direction perpendicular to the transmission shaft and inputting a rotational assist force to the reduction gear in a direction that enhances the rotational driving force.

[0013] According to the present invention, since the orthogonal input section and the motor are provided on one side of the reduction gear, the output arm can rotate in the reduction gear without any restriction on its rotational range.

[0014] The present invention relates to a steering device comprising: an input device that inputs a rotational driving force corresponding to an operation; a reduction gear that receives the rotational driving force, reduces the rotational speed relative to the rotational driving force, and increases the torque to output a rotational force around a rotating shaft; and an output arm connected to the reduction gear that rotates around the rotating shaft by the rotational force. The input device is arranged on one side of the reduction gear and comprises an orthogonal input section having an input shaft for inputting the rotational driving force and a transmission shaft that rotates in conjunction with the input shaft in a direction perpendicular to the input shaft and inputs the rotational driving force to the reduction gear; and a motor arranged adjacent to the orthogonal direction of the transmission shaft of the orthogonal input section and inputs a rotational assist force to the reduction gear in a direction that increases the rotational driving force. The output arm is connected to the reduction gear so as to be rotatable without restriction on the rotation range.

[0015] According to the present invention, by providing the orthogonal input section and motor on one side of the reduction gear, the device configuration can be miniaturized in the radial direction of the reduction gear. Furthermore, according to the present invention, by providing the orthogonal input section and motor on one side of the reduction gear, the output arm can rotate without restriction on the rotation range within the reduction gear. [Effects of the Invention]

[0016] According to the present invention, the device configuration in the steering system can be miniaturized. [Brief explanation of the drawing]

[0017] [Figure 1] A cross-sectional view showing a schematic configuration of the steering device in an embodiment of the present invention. [Figure 2] A cross-sectional view of the gearbox in the side direction. [Figure 3] Cross-sectional view of the gearbox from the front. [Modes for carrying out the invention]

[0018] As shown in Figure 1, the steering device W comprises an input device 10 for inputting rotational driving force during operation, a reduction gear 1 that increases the torque of the rotational driving force and outputs rotational force, and an output arm 30 (Pitman arm) connected to the reduction gear 1 and rotated by the rotational force.

[0019] The input device 10 is located on one side of the reduction gear 1. The input device 10 includes an orthogonal input unit 11 that outputs the rotational driving force in operation with the rotational direction perpendicular to it, and a motor M that provides auxiliary force to the operation.

[0020] The orthogonal input unit 11 includes, for example, a housing 11K fixed to an object to be fixed such as a vehicle body. The housing 11K is provided with an input shaft 12 to which a rotational driving force in an operation is input. The input shaft 12 is formed, for example, in a cylindrical shape. The input shaft 12 is pivotally supported by the housing 11K via a bearing R1 so as to be rotatable about an axis 12L. One end side of the input shaft 12 is exposed outside the housing 11K, for example, and is connected to a steering shaft (not shown) that rotates in conjunction with a handle operation.

[0021] A first bevel gear 12A is formed on the other end side of the input shaft 12. The first bevel gear 12A has bevel teeth formed on a conical surface. A transmission shaft 13 is arranged in a direction orthogonal to the input shaft 12. The arrangement direction of the input shaft 12 may be arranged at an arbitrary position around the axis 13L of the transmission shaft 13 according to the state of the installation object, not limited to the illustration. The transmission shaft 13 rotates in conjunction with the input shaft 12 and inputs the rotational driving force input by the input shaft 12 to the speed reducer 1. The transmission shaft 13 is formed, for example, in a cylindrical shape. One end side and the other end side of the transmission shaft 13 are pivotally supported by the housing 11K via a bearing R2 so as to be rotatable about an axis 13L. The other end side of the transmission shaft 13 is pivotally supported on the speed reducer 1 side. One end side of the transmission shaft 13 is pivotally supported at a position spaced apart from the speed reducer 1.

[0022] A second bevel gear 13A is formed at the central portion of the transmission shaft 13. The second bevel gear 13A has bevel teeth formed on a conical surface. The second bevel gear 13A meshes with the first bevel gear 12A. The second bevel gear 13A is arranged between the axis 12L of the input shaft 12 and one surface side of the speed reducer 1.

[0023] On the other end side of the transmission shaft 13, a drive gear 13B formed in a disc shape is formed. The drive gear 13B is a spur gear having spur teeth formed on its outer periphery. The drive gear 13B meshes with a second gear 5G (described later) provided in the speed reducer 1. With the above configuration, the orthogonal input unit 11 can convert the rotational driving force input to the input shaft 12 into a rotational driving force in the orthogonal direction and input it to the speed reducer 1. That is, the input device 10 generates a rotational driving force by the transmission shaft 13 that rotates in conjunction with the input shaft 12 in a direction orthogonal to the input shaft 12 to which the rotation linked to the operation is transmitted.

[0024] In the orthogonal direction of the transmission shaft 13 of the orthogonal input unit 11, a motor M is arranged adjacent to the orthogonal input unit 11. The orthogonal input unit 11 is arranged outside the outer periphery of the motor M and in the orthogonal direction with respect to the rotation axis ML of the shaft MS. The motor M inputs a rotational assist force to the speed reducer 1 in a direction to enhance the rotational driving force input to the speed reducer 1. The motor M is, for example, a DC brush motor. The motor M may be a DC brushless motor. The motor M may be any motor as long as it can input a rotational assist force to the speed reducer 1. The motor M includes a housing M1 fixed to the housing 11K. The housing M1 is formed in a cylindrical shape with one end side closed and the other end side open. One end side of the housing M1 is closed by a lid M3 formed in a disc shape.

[0025] The other end side of the housing M1 is closed by an end bell M2 formed in a disc shape. The end bell M2 is fixed to the housing 11K. Permanent magnets G1, G2 are fixed along the inner peripheral surface of the housing M1. A rotor MR is arranged in the space surrounded by the inside of the housing M1 and the end bell M2. The rotor MR includes a shaft MS formed in a columnar shape and a plurality of coils MC provided on the shaft MS. One end side of the shaft MS is rotatably supported at the center of the lid M3 via a bearing R3.

[0026] The other end of the shaft MS is rotatably supported at the center of the end bell M2 via a bearing R3. Inside the housing M1, a cylindrical commutator (not shown) that serves as an electrical contact is provided on the end bell M2 side of the shaft MS. The end bell M2 is provided with a pair of brushes (not shown) that clamp the commutator. Each of the brushes is connected to a pair of conductors (not shown) that are electrically connected to electrodes of a power supply (not shown). When current is supplied to the pair of brushes from the power supply, the rotor MR rotates. The commutator and the pair of brushes may be provided on the lid M3 side.

[0027] The other end of the shaft MS is exposed to the reducer 1 side from the end bell M2. A pinion gear MP is provided on the other end of the shaft MS. The pinion gear MP is a spur gear with spur teeth formed on its outer circumference. The pinion gear MP meshes with the second gear 5G, described later, which is provided on the reducer 1. With the above configuration, the motor M can rotate the rotor MR in a direction that increases the rotational driving force input to the second gear 5G provided on the reducer 1, thereby inputting a rotational assist force to the reducer 1. One side of the reducer 1 is fixed to the housing 11K. The reducer 1 receives the rotational driving force, reduces the rotational speed relative to the rotational driving force, and increases the torque, outputting rotational force from the output section around the rotating shaft. An output arm 30 is connected to the reducer 1 and rotates around the rotating shaft due to the rotational force output by the reducer 1.

[0028] As shown in Figures 2 and 3, the speed reducer 1 comprises a cylindrical case 2 and a speed reduction mechanism 3 provided inside the case 2. Internal teeth 2H are formed on the inner circumferential surface of the case 2. The internal teeth 2H are formed by a plurality of cylindrical pins 2P and pin grooves 2M with a substantially semicircular cross-section that support the plurality of pins 2P. The plurality of pin grooves 2M are arranged along the inner circumferential surface when viewed from the central axis direction of the case 2.

[0029] The pin grooves 2M extend along the central axis direction on the inner circumferential surface of case 2. Each pin 2P abuts against each pin groove 2M along the axial direction. Multiple pins 2P are arranged in multiple pin grooves 2M along the inner circumferential surface of case 2 as viewed from the central axis direction. With the above configuration, internal teeth 2H are formed on the inner circumferential surface of case 2 by multiple pins 2P as viewed from the central axis direction.

[0030] The reduction gear 3 includes an input gear 4 that rotates at the center of the case 2. The input gear 4 includes, for example, an end plate 4D, a first shaft 4S connected to the end plate 4D, and a first gear 4G connected to the first shaft 4S. The first gear 4G is, for example, a pinion gear MP, which will be described later. The end plate 4D is formed, for example, in the shape of a disc. The end plate 4D and one end of the first shaft 4S are connected concentrically with the axis 4L (rotation axis) of the first shaft 4S. The end plate 4D may be omitted depending on the mounting state of the reduction gear 1.

[0031] The first shaft 4S is formed in a cylindrical shape. The first shaft 4S is rotatably supported at the center of a first disc U1 and a second disc U2, which are formed in a disc shape. The first disc U1 is provided on one side of the reduction gear. The first disc U1 is fixed to the housing 11K. The second disc U2 is provided on the other side of the reduction gear. A first gear 4G, which is formed in a disc shape and has a predetermined number of spur teeth, is connected to the other end of the first shaft 4S. The input gear 4 is, for example, supported on the first shaft 4S on the first gear 4G side by bearing B1 to the first disc U1.

[0032] The input gear 4 is supported, for example, by the end plate 4D side of the first shaft 4S on the second disc U2 via bearing B2. Ball bearings, roller bearings, etc., can be used for bearings B1 and B2. Multiple spur gears 5 mesh around the input gear 4. In this embodiment, three spur gears 5 are evenly arranged around the input gear 4. There may be three or more spur gears 5.

[0033] When one of the three spur gears 5 is rotationally driven, the input gear 4 rotates. The rotation of the input gear 4 causes the other two spur gears 5 to rotate in conjunction. The spur gear 5 includes, for example, a second gear 5G that meshes with the first gear 4G, a second shaft 5S concentrically connected to the second gear 5G, and a first eccentric cam 5M and a second eccentric cam 5N formed on the second shaft 5S.

[0034] One of the three second gears 5G meshes with the drive gear 13B and the pinion gear MP (first gear 4G) (see Figure 1). That is, one of the three spur gears 5 receives rotational driving force from the orthogonal input section 11, and also receives rotational assist force from the motor M in a direction that amplifies the rotational driving force, causing the second shaft 5S to rotate.

[0035] The second shaft 5S is formed in a cylindrical shape. One end of the second shaft 5S is rotatably supported on the second disc U2 via a bearing B4. The other end of the second shaft 5S is rotatably supported on the first disc U1 via a bearing B3.

[0036] The other end of the second shaft 5S and the second gear 5G are connected concentrically with the axis 5L (rotation axis) of the second shaft 5S. The second gear 5G is formed in the shape of a disc with a predetermined number of spur teeth. When the second gear 5G is rotationally driven by the first gear 4G, the second shaft 5S rotates in conjunction with it. The first eccentric cam 5M and the second eccentric cam 5N are integrally formed on the second shaft 5S. The first eccentric cam 5M and the second eccentric cam 5N are formed in the shape of a cylinder, for example. The first eccentric cam 5M is formed eccentrically, with its central axis offset from the axis 5L of the second shaft 5S.

[0037] The second eccentric cam 5N is formed with its central axis offset from the axis 5L of the second shaft 5S. The eccentric direction of the second eccentric cam 5N is opposite to that of the first eccentric cam 5M. The first eccentric cam 5M and the second eccentric cam 5N rotate in conjunction with the second shaft 5S of the spur gear 5, which is connected to the spur gear 5. The first eccentric cam 5M drives the first eccentric gear 6, which is located inside the case 2.

[0038] The first eccentric gear 6 is formed in a disc shape. A circular through hole 6D is formed around the central axis 6L of the first eccentric gear 6. The through hole 6D is formed to be larger than the diameter of the first shaft 4S. The first shaft 4S is inserted through the through hole 6D. The diameter of the through hole 6D is such that the first shaft 4S does not come into contact with the first eccentric gear 6 when it rotates eccentrically, as will be described later.

[0039] External teeth 6C are formed along the outer circumference of the first eccentric gear 6. The external teeth 6C partially mesh with the internal teeth 2H formed along the inner circumferential surface of the case 2. The external teeth 6C are formed with, for example, one or more fewer teeth than the internal teeth 2H. The first eccentric gear 6 rotates eccentrically with respect to the axis 4L (rotation axis) of the input gear 4. The first eccentric gear 6 rotates eccentrically as the external teeth 6C partially mesh with the internal teeth 2H and roll along the inner circumferential surface of the case 2 without slipping.

[0040] The first eccentric gear 6 has, for example, three first through holes 6H that rotatably support three first eccentric cams 5M. The first through holes 6H are formed as circular openings. The first eccentric cams 5M are rotatably supported in the first through holes 6H via needle bearings B5. The first eccentric gear 6 has three second through holes 6K arranged between the three first through holes 6H. There may be three or more second through holes 6K, depending on the number of first through holes 6H.

[0041] The second through-hole 6K is formed symmetrically, for example, when viewed from the direction of the central axis 6L of the first eccentric gear 6. The second through-hole 6K has a thin-walled portion 6P, which is the region where the thickness between it and the external teeth 6C is thinnest. The second eccentric cam 5N drives the second eccentric gear 7, which is provided inside the case 2. The second eccentric gear 7 is formed in a disc shape.

[0042] A circular through-hole 7D is formed around the central axis 7L of the second eccentric gear 7. The through-hole 7D is formed to be larger than the diameter of the first shaft 4S. The first shaft 4S is inserted through the through-hole 7D. The diameter of the through-hole 7D is such that the first shaft 4S does not come into contact with it when the second eccentric gear 7 rotates eccentrically, as will be described later. External teeth 7C are formed along the outer circumference of the second eccentric gear 7. The external teeth 7C partially mesh with the internal teeth 2H formed along the inner circumferential surface of the case 2. The external teeth 7C are formed to have, for example, one or more fewer teeth than the internal teeth 2H. The second eccentric gear 7 rotates eccentrically with respect to the axis 4L (rotation axis) of the input gear 4.

[0043] The second eccentric gear 7 rotates eccentrically as its external teeth 7C partially mesh with the internal teeth 2H, rolling along the inner surface of the case 2 without slipping. The second eccentric gear 7 rotates in conjunction with the first eccentric gear 6, rotating eccentrically in the opposite direction to the eccentricity of the first eccentric gear 6. The synchronized rotation of the second eccentric gear 7 and the first eccentric gear 6 maintains balance in the reduction gear 1.

[0044] The second eccentric gear 7 has, for example, three first through holes 7H that rotatably support three second eccentric cams 5N. The first through holes 7H are formed as circular openings. The second eccentric cams 5N are rotatably supported in the first through holes 7H via needle bearings B6. The second eccentric gear 7 has three second through holes 7K arranged between the three first through holes 7H. There may be three or more second through holes 7K, depending on the number of first through holes 7H.

[0045] The second through-hole 7K is formed symmetrically, for example, when viewed from the direction of the central axis 7L of the second eccentric gear 7. The second through-hole 7K has a thin-walled portion 7P, which is the region where the thickness between it and the external teeth 7C is thinnest.

[0046] A connecting shaft S is inserted through the second through holes 6K and 7K. One end of the connecting shaft S is connected to a second disc U2 that rotatably supports one end of each of the three second shafts 5S. The other end of the connecting shaft S is connected to a first disc U1 that rotatably supports the other ends of each of the three second shafts 5S. Three connecting shafts S are provided, corresponding to the three second through holes 6K and 7K.

[0047] The connecting shaft S has one end, SA, protruding from the second disc U2 through the second through holes 6K and 7K. In the connecting shaft S, the cross-sections viewed in the axial direction SL on both the SA and SB ends are cylindrical. The connecting shaft S is supported by the second disc U2 at one end, SA, and by the first disc U1 at the other end, SB. For example, the cross-section of the connecting shaft S is formed symmetrically in the axial direction SL.

[0048] The connecting shaft S is positioned on the first disc U1 by a pin SP at its other end SB when viewed in the direction of the axis SL. The connecting shaft S may also be positioned on the second disc U2 by a pin SP at its one end SA when viewed in the direction of the axis SL. The connecting shaft S is fixed to the housing 11K, for example, via the first disc U1. With the above configuration, the first disc U1, the connecting shaft S, and the second disc U2 are fixed to the housing 11K, and the case 2 rotates relative to the first disc U1, the connecting shaft S, and the second disc U2. The case 2 outputs a rotational force around the axis 4L (rotation axis) by reducing the rotational speed and increasing the torque compared to the rotational driving force input to the orthogonal input unit 11.

[0049] In conjunction with the rotation of case 2, the output arm 30 connected to case 2 rotates around axis 4L (rotation axis). The output arm 30 is formed, for example, in the shape of a rod. The base end of the output arm 30 is connected, for example, to the outer circumference of case 2. The output arm 30 is rotatably connected to the reduction gear 1 around axis 4L. That is, the output arm 30 is connected to the reduction gear 1 and rotates around rotation axis ML within an arbitrary angular range due to the rotational force output by the reduction gear 1.

[0050] A ball joint (not shown) is provided at the tip of the output arm 30. The tip of the output arm 30 is connected to a steering mechanism (not shown). The connection position of the output arm 30 in the case 2 is not limited to that shown, and may be connected to any position around the axis 4L (rotation axis) depending on the position of the object to which the tip is connected. With the above configuration, the orthogonal input section 11 and motor M of the input device 10 are not arranged in the outer circumferential direction of the case 2 of the reduction gear 1. With the above configuration, the output arm 30 can rotate without restriction on the rotation range in the outer circumferential direction of the case 2 of the reduction gear 1. Therefore, the output arm 30 can be connected to any position in the outer circumferential direction of the case 2 of the reduction gear 1.

[0051] Next, we will explain the operation of the steering device W.

[0052] In the orthogonal input section 11, a rotational driving force corresponding to the operation is input to the input shaft 12. When the input shaft 12 rotates around the axis 12L, the first bevel gear 12A rotates in conjunction. When the first bevel gear 12A rotates, the second bevel gear 13A, which meshes with the first bevel gear 12A, rotates in conjunction. When the second bevel gear 13A rotates, the transmission shaft 13 rotates in conjunction around the axis 13L which is perpendicular to the axis 12L of the input shaft 12.

[0053] When the input gear 4 rotates, the first gear 4G rotates in conjunction with it via the first shaft 4S around axis 4L. Multiple second gears 5G that mesh with the first gear 4G rotate in conjunction with it around axis 5L. When the second gears 5G rotate, the second shaft 5S rotates in conjunction with it. In conjunction with the rotation of the second shaft 5S, the first eccentric cam 5M and the second eccentric cam 5N rotate eccentrically around axis 5L.

[0054] In conjunction with the rotation of the first eccentric cam 5M, the first eccentric gear 6 rotates eccentrically around axis 4L along the inner circumferential surface of case 2. In conjunction with the rotation of the second eccentric cam 5N, the second eccentric gear 7 rotates eccentrically around axis 4L along the inner circumferential surface of case 2. The second eccentric gear 7 rotates with a half-rotation difference from the rotation of the first eccentric gear 6. In conjunction with the rotations of the first eccentric gear 6 and the second eccentric gear 7, the first disc U1 and the second disc U2 rotate simultaneously around axis 4L relative to case 2.

[0055] The first disc U1 and the second disc U2 are fixed to the housing 11K. Therefore, case 2 rotates around axis 4L relative to the first disc U1 and the second disc U2. Case 2 rotates at a lower rotational speed than the rotational speed of the end plate 4D.

[0056] When multiple spur gears 5 rotate around axis 5L, the first eccentric gear 6 and the second eccentric gear 7 move eccentrically around axis 4L in conjunction with the rotation of the multiple spur gears 5. At this time, the connecting shaft S moves relative to the inner circumference of the second through hole 6K of the first eccentric gear 6 without contacting the inner circumference of the second through hole 6K of the first eccentric gear 6. Similarly, the connecting shaft S moves relative to the inner circumference of the second through hole (not shown) of the second eccentric gear 7 without contacting the inner circumference of the second through hole.

[0057] The case 2 rotates around axis 4L relative to the first disc U1 and the second disc U2 in conjunction with the eccentric motion of the first eccentric gear 6 and the second eccentric gear 7. The case 2 rotates at a lower rotational speed than the input gear 4. When a rotating object that transmits rotational output is connected to the case 2, a rotational output with reduced speed and increased torque is obtained compared to the input gear 4. The output arm 30 rotates around axis 4L in conjunction with the rotation of the case 2. The output arm 30 rotates without restriction within its rotational range.

[0058] As described above, with the steering device W, the orthogonal input section 11 is located outside the outer circumference of the motor M and is positioned perpendicular to the rotation axis ML of the MS, thus allowing for miniaturization of the device configuration in the radial direction of the reduction gear 1. With the steering device W, the orthogonal input section 11 and the motor M are not positioned within the rotation range of the output arm 30 in the circumferential direction of the reduction gear 1, and the output arm 30 can rotate without restriction within its rotation range.

[0059] Among the embodiments disclosed herein, those composed of multiple objects may be integrated, and conversely, those composed of a single object may be divided into multiple objects. Whether integrated or not, the configuration should be such that the objective of the invention can be achieved. It should be noted that the present invention is not limited to the embodiments described above, and includes various modifications to the embodiments described above without departing from the spirit of the invention. For example, the transmission shaft 13 and motor M may drive not only the spur gear 5 but also the input gear 4. [Explanation of Symbols]

[0060] 1 Reducer, 2 Case, 2H Internal teeth, 2M Pin groove, 2P Pin, 3 Reduction mechanism, 4 Input gear, 4D End plate, 4G First gear, 4L Axis, 4S First shaft, 5 Spur gear, 5G Second gear, 5L Axis, 5M First eccentric cam, 5N Second eccentric cam, 5S Second shaft, 6 First eccentric gear, 6C External teeth, 6D Through hole, 6H First through hole, 6K Second through hole, 6L Center axis, 6P Thin-walled section, 7 Second eccentric gear, 7C External teeth, 7D Through hole, 7H First through hole, 7K Second through hole, 7L Center axis, 7P Thin-walled section, 10 Input device, 11 Orthogonal input section, 11K Housing, 12 Input shaft, 12A First bevel gear, 12L Axis, 13 Transmission shaft, 13A; Second bevel gear, 13B; Drive gear, 13L; Axle, 30; Output arm, B1-B4; Bearings, B5, B6; Needle bearings, G1, G2; Permanent magnet, M; Motor, M1; Housing, M2; End bell, M3; Cover, MC; Coil, ML; Rotating shaft, MP; Pinion gear, MR; Rotor, MS; Shaft, R1-R3; Bearings, S; Connecting shaft, SA (one end), SB (other end), SL; Axle, SP; Pin, U1 (first disc), U2 (second disc), W; Steering gear

Claims

1. an input device that generates a rotational driving force by a transmission shaft that rotates in conjunction with an input shaft in a direction perpendicular to the input shaft to which rotation linked to an operation is transmitted; a reducer that receives the rotational driving force from the input device disposed on one side, reduces the number of rotations compared to the rotational driving force, and increases torque to output a rotational force around a rotation axis; a motor disposed adjacent to the transmission shaft in a direction perpendicular to the transmission shaft and on the one side thereof, and configured to input a rotation assist force to the reducer in a direction that reinforces the rotational driving force; an output arm connected to the reducer and configured to rotate around the rotation axis within an arbitrary angular range by the rotational force; A steering device comprising:

2. The reducer includes an input gear and a plurality of spur gears that receive the rotational driving force and rotate in mesh with the input gear; a plurality of eccentric cams formed on a plurality of shafts respectively connected to the plurality of spur gears; an eccentric gear that rotates eccentrically with respect to a rotation axis of the input gear; a case to which the output arm is connected, and the eccentric gear rotates eccentrically around the rotation axis along an inner peripheral surface thereof, and outputs rotation at a rotation speed reduced compared to the rotation speed of the spur gear. The steering device according to claim 1 .

3. an input device for inputting a rotational driving force according to an operation; a reducer that receives the rotational driving force, reduces the rotational speed compared to the rotational driving force, and increases torque to output a rotational force about a rotation axis; an output unit connected to the reducer and configured to rotate around the rotation axis by the rotational force, The input device is disposed on one side of the reducer. Steering gear.

4. the input device includes an input shaft for inputting the rotational driving force; an orthogonal input unit including a transmission shaft that rotates in conjunction with the input shaft in a direction orthogonal to the input shaft and inputs the rotational driving force to the reducer; a motor arranged adjacent to the orthogonal input section in a direction orthogonal to the transmission shaft, and inputting a rotation assist force to the reducer in a direction that enhances the rotational driving force, The steering device according to claim 3.

5. an input device for inputting a rotational driving force according to an operation; a reducer that receives the rotational driving force, reduces the rotational speed compared to the rotational driving force, and increases torque to output a rotational force about a rotation axis; an output arm connected to the reducer and configured to rotate around the rotation axis by the rotational force, the input device is disposed on one side of the reducer, an input shaft for inputting the rotational driving force; an orthogonal input unit including a transmission shaft that rotates in conjunction with the input shaft in a direction orthogonal to the input shaft and inputs the rotational driving force to the reducer; a motor arranged adjacent to the orthogonal input section in a direction orthogonal to the transmission shaft, and inputting a rotation assist force to the reducer in a direction that enhances the rotational driving force, The output arm is rotatably connected to the reducer without any restriction on the rotation range. Steering gear.

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