JP2011099727A - Rotational angle detector and rotational angle/torque detector using the same - Google Patents

Abstract

The present invention relates to a rotation angle detection device mainly used for detecting a rotation angle and rotation torque of a steering wheel of an automobile, and a rotation angle / torque detection device using the rotation angle detection device. An object is to provide a device capable of detecting torque.
The number of teeth of a second detection gear is set to be equal to or less than ½ of the number of teeth of a first detection gear, and a control means 17 sends a detection signal from the first detection means 5 to a predetermined signal. By calculating by doubling, the rotation angle of one or more rotations of the rotary gear 1 can be detected from the phase difference signal T of the detection signals of the first detection gear 2 and the second detection gear 13, and the tooth By using the second detection gear 13 with a small number, it is possible to obtain a rotation angle detection device capable of detecting a rotation angle with higher resolution and higher accuracy.
[Selection] Figure 1

Description

  The present invention relates to a rotation angle detection device mainly used for detecting a rotation angle or rotation torque of a steering of an automobile, and a rotation angle / torque detection device using the rotation angle detection device.

  In recent years, as the functions of automobiles have advanced, various rotation angle detection devices and rotation torque detection devices are used to detect the rotation angle and rotation torque of a steering wheel. The number that performs various controls is increasing.

  Such a conventional rotation angle detection device will be described with reference to FIGS.

  FIG. 6 is a perspective view of a conventional rotation angle detecting device. In FIG. 6, reference numeral 1 denotes a rotating gear having a spur gear portion 1A formed on the outer periphery of a side, and a shaft of a steering (not shown) inserted through a central portion. An engaging portion 1B that engages with is provided.

  2 is a first detection gear having a spur gear portion 2A formed on the outer periphery of the side surface, and 3 is a second detection gear having a spur gear portion 3A having a different number of teeth from the spur gear portion 2A on the outer periphery of the side surface. The spur gear portion 2A of the first detection gear 2 and the spur gear portion 3A of the second detection gear 3 are meshed with the spur gear portion 1A of the rotary gear 1, respectively.

  In addition, the diameter and the number of teeth of these gears are the largest in the rotating gear 1, and are decreasing in the order of the first detecting gear 2 and the second detecting gear 3, for example, the number of teeth of the rotating gear 1 is 90, The number of teeth of the first detection gear 2 is 42, and the number of teeth of the second detection gear 3 is 40.

  Reference numeral 4 denotes a wiring board disposed substantially in parallel above the first and second detection gears 2 and 3, and a plurality of wiring patterns (not shown) are formed on the upper and lower surfaces, and the first detection Magnetic detecting elements 5B and 6B such as an AMR (anisotropic magnetoresistive) element are provided on the opposing surface of the magnet 5A mounted at the center of the gear 2 and the magnet 6A mounted at the center of the second detecting gear 3. Are installed.

  The first detection means 5 is formed by the magnet 5A and the magnetic detection element 5B opposed to each other, and the second detection means 6 is formed by the magnet 6A and the magnetic detection element 6B. The control means 7 connected to the magnetic detection elements 5B and 6B is formed by electronic components such as a microcomputer.

  Further, the rotation gear 1, the first detection gear 2, the second detection gear 3, the wiring board 4, and the like are covered with an insulating resin case, a cover (not shown), and the like to constitute a rotation angle detection device. Has been.

  In the rotation angle detecting device configured as described above, the control means 7 is connected to an automobile electronic circuit (not shown) via a connector, a lead wire (not shown) or the like, and the rotating gear 1 is also connected. A steering shaft is inserted into the engaging portion 1B and is attached to the automobile.

  In the above configuration, when the steering wheel is rotated, the rotary gear 1 is rotated, and the first detection gear 2 is rotated in conjunction therewith. Therefore, the magnet 5A mounted at the center is also rotated, and this magnet 5A is rotated. The magnetic detection element 5B detects the direction of the change in magnetism, and a substantially sawtooth detection signal L that repeatedly increases and decreases is output from the magnetic detection element 5B to the control means 7 as shown in the waveform diagram of FIG. Is done.

  Further, the second detection gear 3 also rotates in conjunction with the rotation gear 1, the magnet 6A mounted at the center also rotates, and the magnetic detection element 6B detects the changing magnetic field of the magnet 6A. A substantially sawtooth detection signal M as shown in the waveform diagram of (b) is input to the control means 7.

  At this time, since the first detection gear 2 and the second detection gear 3 have different number of teeth, the detection signal L of the first detection gear 2 shown in FIG. 7A and the detection signal L shown in FIG. The detection signal M of the second detection gear 3 shown is a data waveform having a phase difference with different inclination angles and shapes of the substantially sawtooth waveform.

  Then, from these detection signals, the control means 7 determines, for example, the first rotation angle θ2 of the detection signal M of the second detection gear 3 from the first rotation angle θ1 of the detection signal L of the first detection gear 2. 7 is calculated, and a linear phase difference signal N that gradually increases as shown in FIG. 7C is calculated. From this angle θ1-θ2, the approximate rotation angle of the rotating gear 1 is first detected.

  After that, the control means 7 detects the detailed rotation angle of the rotating gear 1 from the angle θ1 of the detection signal L or the angle θ2 of the detection signal M and the number of teeth of each spur gear portion, It is output to the electronic circuit, and various controls of the vehicle such as a power steering device and a brake device are performed.

  At this time, as described above, for example, the rotation gear 1 has 90 teeth, the first detection gear 2 has 42 teeth, the second detection gear 3 has 40 teeth, and the resolution of the control means 7 is high. Is, for example, 2 12 4096, the resolution of the magnetic detection element 6B is a value obtained by dividing 360 degrees of one rotation by 4096.

  When the detailed rotation angle of the rotating gear 1 is detected by the magnetic detection element 6B, the value 2.25 obtained by dividing the number of teeth 90 of the rotating gear 1 by the number of teeth 40 of the second detecting gear 3 is as described above. A resolution of 0.039 degrees is obtained by further dividing the value of.

  That is, as described above, the rough rotation angle of the rotating gear 1 is first detected by the phase difference signal N and then rotated by the magnetic detection element 6B of the second detecting gear 3 having a smaller number of teeth than the rotating gear 1. By detecting the rotation angle of the gear 1, the rotation of the rotary gear 1 can be detected up to 0.039 degrees.

  As prior art document information related to the invention of this application, for example, Patent Document 1 is known.

JP 2007-187500 A

  However, in the conventional rotation angle detection device, the rotation angle of the rotation gear 1 up to 0.039 degrees is detected by the magnetic detection element 6B of the second detection gear 3 having a smaller number of teeth than the rotation gear 1. Although possible, there is a problem that it is difficult to detect the rotation angle with high resolution and high accuracy while detecting the approximate rotation angle of the rotating gear 1 by the phase difference signal N.

  The present invention solves such a conventional problem, and a rotation angle detection device capable of detecting a rotation angle and rotation torque with a simple configuration and high resolution, and rotation angle / torque detection using the rotation angle detection device. An object is to provide an apparatus.

  In order to achieve the above object, the present invention has the following configuration.

  According to the first aspect of the present invention, the number of teeth of the second detection gear is formed to be ½ or less of the number of teeth of the first detection gear, and the control means detects from the first detection means. The rotation angle detection device is configured so that the signal is calculated by a predetermined multiplication, and the approximate rotation angle of the rotation gear is determined from the phase difference signal of the detection signals of the first detection gear and the second detection gear. In addition, the second detection gear having a small number of teeth can provide a rotation angle detection device capable of detecting a rotation angle with higher resolution and higher accuracy.

  According to the second aspect of the present invention, the upper end of the coupling body is fixed to the rotating gear of the rotation angle detecting device according to the first aspect, and the lower end is fixed to the interlocking gear meshed with the detecting gear, and the control means detects the second detection. The rotation angle / torque detection device is configured to detect the rotational torque based on the detection signal from the detection means and the detection means for detecting the rotation of the detection gear. It has the effect that a rotation angle / torque detection device capable of accurately detecting rotation torque can be obtained.

  As described above, according to the present invention, it is advantageous that a rotation angle detection device capable of detecting a rotation angle and rotation torque with a high resolution with a simple configuration, and a rotation angle / torque detection device using the rotation angle detection device can be realized. An effect is obtained.

The perspective view of the rotation angle detection apparatus by the 1st Embodiment of this invention Waveform diagram Waveform diagram Side view of rotation angle / torque detection device according to second embodiment of the present invention Exploded perspective view A perspective view of a conventional rotation angle detection device Waveform diagram

  Hereinafter, an embodiment of the present invention will be described with reference to FIGS.

  In addition, the same code | symbol is attached | subjected to the part of the structure same as the structure demonstrated in the term of background art, and detailed description is simplified.

(Embodiment 1)
The first aspect of the present invention will be described with reference to the first embodiment.

  FIG. 1 is a perspective view of a rotation angle detector according to a first embodiment of the present invention. In FIG. 1, reference numeral 1 denotes a rotating gear made of insulating resin or metal, and a spur gear portion 1A is formed on the outer periphery of the side surface. In addition, an engaging portion 1B that engages with a shaft of a steering (not shown) to be inserted is provided in the center portion.

  In addition, 2 is a first detection gear made of insulating resin or metal, 13 is a second detection gear, and the spur gear portion 2A on the outer periphery of the first detection gear 2 is meshed with the spur gear portion 1A of the rotary gear 1. In addition, a spur gear portion 13A having a different number of teeth from the spur gear portion 2A on the outer periphery of the second detection gear 13 is meshed with the spur gear portion 2A of the first detection gear 2.

  The diameter and the number of teeth of these gears are the largest in the rotating gear 1 and are decreasing in the order of the first detecting gear 2 and the second detecting gear 13, for example, the number of teeth of the rotating gear 1 is 90, The number of teeth of the first detection gear 2 is 42, and the number of teeth of the second detection gear 13 is 20, which is 1/2 or less of the number of teeth of the first detection gear 2.

  Reference numeral 4 denotes a wiring board disposed substantially in parallel above the first and second detection gears 2 and 13, and a plurality of wiring patterns (not shown) are formed on the upper and lower surfaces, and the first detection Magnetic detection of an AMR (anisotropic magnetoresistive) element or the like is provided on the opposing surface of the magnet 5A attached to the center of the gear 2 by insert molding or the like and the magnet 6A attached to the center of the second detection gear 13. Elements 5B and 6B are respectively mounted.

  The first detection means 5 is formed by the magnet 5A and the magnetic detection element 5B opposed to each other, and the second detection means 6 is formed by the magnet 6A and the magnetic detection element 6B. The control means 17 connected to the magnetic detection elements 5B and 6B is formed by electronic components such as a microcomputer.

  Further, the rotation gear 1, the first detection gear 2, the second detection gear 13, the wiring board 4, and the like are covered with an insulating resin case, a cover (not shown), etc. to constitute a rotation angle detection device. Has been.

  In the rotation angle detecting device configured as described above, the control means 17 is connected to an automobile electronic circuit (not shown) via a connector, a lead wire (not shown) or the like, and the rotating gear 1 is also connected. A steering shaft is inserted into the engaging portion 1B and is attached to the automobile.

  In the above configuration, when the steering wheel is rotated, the rotary gear 1 is rotated, and the first detection gear 2 is rotated in conjunction therewith. Therefore, the magnet 5A mounted at the center is also rotated, and this magnet 5A is rotated. The magnetic detection element 5B detects the direction of the change in magnetism, and a substantially sawtooth detection signal L that repeatedly increases and decreases as shown in the waveform diagram of FIG. 2A is output from the magnetic detection element 5B to the control means 17. Is done.

  The second detection gear 13 meshed with the first detection gear 2 is also rotated in conjunction with the rotation gear 1, and the magnet 6A mounted at the center is also rotated, so that the changing magnetic field of the magnet 6A is changed. The magnetic detection element 6B detects, and a substantially sawtooth detection signal P as shown in the waveform diagram of FIG.

  At this time, as described above, since the number of teeth of the second detection gear 13 is not more than 1/2 of this, the number of teeth of the first detection gear 2 is greatly different from 20 as shown in FIG. The detection signal P of the second detection gear 13 shown in FIG. 2B is greatly different from the detection signal L of the first detection gear 2 shown in FIG. The data waveform has a large phase difference.

  Therefore, from these detection signals, the control means 17 determines, for example, the first rotation angle θ4 of the detection signal P of the second detection body 15 from, for example, the first rotation angle θ3 of the detection signal L of the first detection body 12. Even if the calculation is performed, the obtained data waveform is a substantially sawtooth waveform signal R that repeatedly increases and decreases, as shown in FIG. It is not possible to obtain a linear phase difference signal.

  However, in the present invention, at this time, as shown in the waveform diagram of FIG. 3A, the control unit 17 multiplies the detection signal L from the magnetic detection element 5B by a predetermined multiple, for example, the first detection gear 2. When the number of teeth of the second detection gear 13 is 20 less than the number of teeth 42 by subtracting 2 from this, the substantially sawtooth detection signal S is doubled. Calculate as

  Then, from these detection signals, the control means 17 uses the detection signal S obtained by doubling the detection signal L of the first detection gear 2, for example, from the angle θ5 of the first rotation, as shown in FIG. For example, the angle θ4 of the first rotation of the detection signal P of the detection gear 13 is reduced to calculate a linear phase difference signal T that gradually increases as shown in FIG. 3C, and this angle θ5-θ4. From this, first, the rotation angle of one or more rotations of the rotating gear 1 is detected.

  After that, the control means 17 detects the detailed rotation angle of the rotating gear 1 from the angle θ5 of the detection signal S or the angle θ4 of the detection signal P and the number of teeth of each spur gear portion, It is output to the electronic circuit, and various controls of the vehicle such as a power steering device and a brake device are performed.

  At this time, as described above, for example, the number of teeth of the rotary gear 1 is 90, the number of teeth of the first detection gear 2 is 42, the number of teeth of the second detection gear 13 is 20, and the resolution of the control means 17 is Is, for example, 2 12 4096, the resolution of the magnetic detection element 6B is a value obtained by dividing 360 degrees of one rotation by 4096.

  When the detailed rotation angle of the rotating gear 1 is detected by the magnetic detection element 6B, the value 4.5 obtained by dividing the number of teeth 90 of the rotating gear 1 by the number of teeth 20 of the second detecting gear 13 is as described above. A resolution of 0.019 degrees is obtained by further dividing the value of.

  That is, the number of teeth of the second detection gear 13 is reduced to 2 by subtracting 2 from the number of teeth 42 of the first detection gear 2 to make the number of teeth 20, compared with the number of teeth 90 of the rotating gear 1. The rotation angle of the rotary gear 1 is formed by the magnetic detection element 6B of the second detection gear 13 which is formed with a small number of teeth of 1/4 or less and rotates 4.5 times with respect to one rotation of the rotary gear 1. By detecting this, it is possible to detect a rotation angle with high resolution capable of detecting the rotation of the rotary gear 1 up to 0.019 degrees.

  Further, the control unit 17 multiplies the detection signal L from the magnetic detection element 5B by a predetermined multiple, for example, the number of teeth of the second detection gear 13 subtracts 2 from the number of teeth 42 of the first detection gear 2 as described above. Further, when the number of teeth of 20 is halved, by calculating as a substantially sawtooth detection signal S that is doubled, the number of teeth of the second detection gear 13 is reduced, The linear phase difference signal T that gradually increases can be calculated, and thereby, the rotation angle of one or more rotations of the rotating gear 1 can be detected.

  At this time, if the number of teeth of the second detection gear 13 is the number of teeth obtained by subtracting 1 or 2 from the number of teeth of the first detection gear 2 and setting this to 1/3, the control means 17 , The detection signal L is tripled and the detection signal S is calculated. If the detection signal L is 1/4, the detection signal S is calculated by multiplying the detection signal S by a factor of four. Angle detection can be performed.

  As described above, according to the present embodiment, the number of teeth of the second detection gear 13 is formed to be ½ or less of the number of teeth of the first detection gear 2, and the control means 17 is set to the first detection means 5. The rotation angle of the rotation gear 1 is approximately one rotation or more from the phase difference signal T of the detection signals of the first detection gear 2 and the second detection gear 13 by calculating the detection signal from And a rotation angle detection device capable of detecting a rotation angle with higher resolution and higher accuracy by using the second detection gear 13 having a smaller number of teeth.

(Embodiment 2)
A second embodiment of the present invention, particularly the invention described in claim 2, will be described.

  In addition, the same code | symbol is attached | subjected to the part of the structure same as the structure of Embodiment 1, and detailed description is abbreviate | omitted.

  FIG. 4 is a side view of a rotation angle / torque detection device according to a second embodiment of the present invention, and FIG. 5 is an exploded perspective view thereof. In FIG. In the case of the first embodiment, the spur gear portion 2A of the first detection gear 2 is meshed with the spur gear portion 2A of the first detection gear 2 and the spur gear portion 13A of the second detection gear 13 is engaged with the spur gear portion 2A of the first detection gear 2. It is the same.

  The diameter and the number of teeth of these gears are the largest in the rotating gear 1 and are decreasing in the order of the first detecting gear 2 and the second detecting gear 13, for example, the number of teeth of the rotating gear 1 is 90, In the first embodiment, the number of teeth of the first detection gear 2 is 42 and the number of teeth of the second detection gear 13 is 20 which is 1/2 or less of the number of teeth of the first detection gear 2. Same as the case.

  Reference numeral 14 denotes a wiring board disposed substantially in parallel below the first and second detection gears 2 and 13, and a plurality of wiring patterns (not shown) are formed on the upper and lower surfaces, and the first detection is performed. Magnetic detection of an AMR (anisotropic magnetoresistive) element or the like is provided on the opposing surface of the magnet 5A attached to the center of the gear 2 by insert molding or the like and the magnet 6A attached to the center of the second detection gear 13. Elements 5B and 6B are respectively mounted.

  The first detection means 5 is formed by the magnet 5A and the magnetic detection element 5B facing each other, and the second detection means 6 is formed by the magnet 6A and the magnetic detection element 6B. The control means 17 connected to the magnetic detection elements 5B and 6B is formed by electronic parts such as a microcomputer as in the case of the first embodiment.

  Reference numeral 21 denotes an insulating resin or metal interlocking gear disposed below the rotary gear 1. Reference numeral 22 is a detection gear. The detection means 23 is formed by the magnet 23A mounted at the center of the detection gear 22 and the magnetic detection element 23B mounted on the wiring board 14 so as to face the magnet 23A, and the magnetic detection element 23B is connected to the control means 17. It is connected.

  Further, the diameter and the number of teeth of the interlocking gear 21 and the detection gear 22 are the same as those of the rotating gear 1 and the second detection gear 13, for example, the number of teeth of the interlocking gear 21 is 90 and the number of teeth of the detection gear 22 is 20. Is formed.

  Reference numeral 24 denotes a substantially cylindrical connection body such as a torsion bar, which is disposed between the rotating gear 1 and the interlocking gear 21. The upper end of the connecting body 24 is the rotating gear 1 and the lower end is the interlocking gear 21. Each of the rotating gears 1, the first detection gear 2, the second detection gear 13, the wiring board 14, the interlocking gear 21, the detection gear 22, and the like are fixed to each other, and a case or a cover (not shown) made of an insulating resin. ), Etc., to cover the rotation angle / torque detection device.

  The rotation angle / torque detection device configured as described above is mounted at the upper and lower ends of the connecting body 24 with the steering shaft mounted below the steering wheel of the automobile, and the control means 17 is connected to the connector or lead wire ( It is connected to an electronic circuit (not shown) of the automobile body through a not shown) or the like.

  In the above configuration, when the steering wheel is rotated, the rotating gear 1 fixed to the upper end of the connecting body 24 is rotated, and in conjunction with this, the first detecting gear 2 and the second detecting gear 13 are rotated, The magnets 5A and 6A mounted on the motor also rotate, and the magnetism detecting elements 5B and 6B detect this changing magnetism. From these detection signals, the control means 17 performs the rotation gear in the same manner as in the first embodiment. 1 is detected and output to the electronic circuit of the automobile body.

  Further, as the steering shaft and the rotating gear 1 rotate, after the connecting body 24 is twisted, the interlocking gear 21 rotates with a slight delay after the rotating gear 1. At this time, for example, when the vehicle is running, the rotational torque is small. Therefore, the delay in the rotation of the interlocking gear 21 with respect to the rotating gear 1 is small, and the rotational torque is large when the vehicle is stopped.

  At this time, the delay in the rotation of the interlocking gear 21 with respect to the rotating gear 1 is about 1 degree as an angle when the rotational torque is small, and around 4 degrees when the rotational torque is large.

  Then, the detection gear 22 rotates in conjunction with the rotation of the interlocking gear 21, the central magnet 23A also rotates, and the magnetism detecting element 23B detects the magnetism that the magnet 23A changes, and FIG. A substantially sawtooth detection signal P that repeatedly increases and decreases as shown in FIG. 6 is output from the magnetic detection element 23B to the control means 17.

  However, at this time, the interlocking gear 21 rotates slightly behind the rotating gear 1 as described above, and therefore the detection gear 22 meshed with the interlocking gear 21 is also a second detecting gear meshed with the rotating gear 1. Rotate slightly behind 13.

  Therefore, the number of teeth of the interlocking gear 21 is the same as that of the rotation gear 1 and the number of teeth of the detection gear 22 is the same as that of the second detection gear 13. Therefore, the detection signal P from the detection gear 22 is the same as that of the second detection gear 13. Although they have the same waveform, they are shifted by this rotation delay.

  Further, as described above, for example, the delay of the detection signal P is small because the rotational torque is small when the vehicle is traveling, and is large because the rotational torque is large when the vehicle is stopped.

  Then, the control means 17 calculates the rotational torque of the steering shaft from the deviation of the rotation angle calculated from the detection signal P from the second detection gear 13 and the detection signal P from the detection gear 22, and this is the vehicle. It is output to the electronic circuit of the main body, and the electronic circuit calculates various data from the rotational torque, the rotational angle of the steering shaft from the control means 17 described above, or the speed sensor mounted on each part of the vehicle body, Various controls of the vehicle such as a power steering device and a brake device are performed.

  That is, the rotational torque from the control means 17 is adjusted to the running or stopped state of the vehicle. For example, when the vehicle is running and the rotational torque of the steering is small, the power steering device is loosened and the steering wheel is adjusted to some extent. When the vehicle is stopped and the steering torque is large, the power steering device is used greatly to control the steering wheel so that it can be rotated even with a light force. .

  Alternatively, depending on the rotation angle from the control means 17, the brake device is intermittently operated when the steering wheel is largely rotated, and the brake device is continuously activated when the steering wheel is rotated small. The brake device is controlled in accordance with the rotation of the steering wheel.

  At this time, the control means 17 uses the second detection gear 13 and the detection gear 22 having a number of teeth that is equal to or less than 1/4 of the number of teeth 90 of the interlocking gear 21 and the rotating gear 1 and a small number of teeth. By detecting the rotational torque, the rotational torque can be detected with high resolution and high accuracy, as in the case of detecting the rotational angle.

  As described above, according to the present embodiment, the upper end of the connecting body 24 is fixed to the rotary gear 1 and the lower end is fixed to the interlocking gear 21 meshed with the detection gear 22, and the second detection of the second detection gear 13 is performed. The control means 17 detects the rotational torque from the detection signal from the means 6 and the detection means 23 for detecting the rotation of the detection gear 22, so that in addition to the detection of the rotation angle, the detection of the rotational torque with high resolution and high accuracy. It is possible to obtain a rotation angle / torque detection device capable of achieving the above.

  In the above description, the configuration in which the first detection gear 2 is engaged with the rotary gear 1 and the second detection gear 13 is engaged with the first detection gear 2 to detect the rotation angle has been described. However, as described in the section in which the second detection gear 13 is engaged with the rotation gear 1 and the first detection gear 2 is engaged with the second detection gear 13, or as described in the background section, the rotation gear 1 In addition, the present invention can be implemented and a similar effect can be obtained as a rotation angle detection device having a configuration in which both the first detection gear 2 and the second detection gear 13 are engaged with each other.

  The rotation angle detection device and the rotation angle / torque detection device using the rotation angle detection device according to the present invention can obtain a high-resolution rotation angle and rotation torque with a simple configuration, and mainly rotate the steering of an automobile. This is useful for detecting angle and rotational torque.

DESCRIPTION OF SYMBOLS 1 Rotating gear 1A Spur gear part 1B Engagement part 2 1st detection gear 2A Spur gear part 4, 14 Wiring board 5 1st detection means 5A, 6A, 23A Magnet 5B, 6B, 23B Magnetic detection element 6 2nd Detection means 13 Second detection gear 13A Spur gear section 17 Control means 21 Interlocking gear 21A Spur gear section 22 Detection gear 22A Spur gear section 23 Detection means 24 Connected body

Claims (2)

A rotating gear that rotates in conjunction with the steering, first and second detection gears that rotate in conjunction with the rotating gear, and first and second detection gears that detect the rotation of the first and second detecting gears A detection means and a control means for detecting the rotation angle of the rotary gear based on detection signals from the first and second detection means, and the number of teeth of the second detection gear is set to the number of teeth of the first detection gear. A rotation angle detecting device that is formed to be ½ or less of the number and that the control means calculates by multiplying a detection signal from the first detection means by a predetermined value. The rotation angle detection device according to claim 1, a detection gear meshed with an interlocking gear, a detection means for detecting the rotation of the detection gear, an upper end of the rotation angle detection device, and a lower end of the rotation gear of the rotation gear. A rotation angle / torque detection device comprising a joined body, wherein the control means detects the rotational torque based on detection signals from the second detection means and the detection means.

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