KR20180017778A - Complex Type Torque Sensor - Google Patents

Abstract

The present invention relates to a complex torque sensor including: a steering angle detection means of a wheel mounted with a torque amount detection means of an existing steering system to enhance reliability in detection of a steering angle to prevent a rollover accident. According to the present invention, the complex torque sensor comprises: a housing including an input shaft connected to a steering handle and an output shaft connected to a steering shaft of a wheel and coupled to the input shaft, which are disposed inside; the torque amount detection means including a controller detecting the amount of torque of the input and output shafts to control the rotational direction of the wheel; and the steering angle detection means mutually coupled to the housing and torque amount detection means to control the rotational angle of the wheel. The steering angle detection means includes: a worm gear formed on the outer circumferential surface of the output shaft; a worm wheel rotated by engaging with an upper part of the worm gear; a bracket coupling a rotary shaft of the worm wheel to a leading edge to support the rotary shaft; a permanent magnet fixated to a leading edge of one side of the worm wheel; and an angle sensor disposed close to the permanent magnet and connected to a second printed circuit board (PCB) as an electric circuit to transfer a rotation amount of the output shaft to a detection unit. The rotation amount of the output shaft is proportionally outputted from an angle sensor to measure the angle and the output signal thereof is converted and outputted through a microcomputer installed in the controller to acquire the rotational angle of the wheel, thereby implementing control.

Description

Complex Type Torque Sensor [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hybrid torque sensor for a vehicle, and more particularly, to a hybrid torque sensor for a vehicle, which comprises a steering angle detecting means for detecting a steering angle of wheels mounted together with a torque detection means of a steering system To a hybrid torque sensor.

Generally, a steering apparatus of a vehicle employs an electronically controlled power steering system using most torque sensors for the convenience of steering of a steering wheel. Such an electronically controlled power steering system is a system in which a steering wheel After detecting the amount of torque, provides a rotational force necessary to rotate the wheel by the steering device by the deviation, thereby making it possible to conveniently operate the steering wheel with a small force.

For example, a steering apparatus of a vehicle is configured to steer the wheels by rotating the steering wheel. A frictional force corresponding to the load of the wheels is applied between the wheels and the road surface, causing a rotational deviation between the steering wheel and the wheels. In recent years, most steering devices are designed to measure the rotational deviation using a torque sensor and to provide a separate rotational power to the output shaft by the measured deviation to compensate for the deviation.

As one of the torque sensors of the steering apparatus, a torque sensor torque sensor using absolute phase angle detection is proposed in the Korean Registered Patent No. 10-1359347 (published on Apr. 20, 2014), which is registered by the present applicant.

In addition, an electronically controlled power steering system using a torque sensor is very convenient to control the steering device. However, in the case of a forklift, particularly in forklifts, the steering angle of the wheel can not be controlled according to the traveling speed. Control devices have been proposed.

For example, Korean Patent Laid-Open Publication No. 10-1996-0041044 (Dec. 17, 1996) entitled " Driving direction angle display device for electric forklift truck "includes a driving gear coupled to a steering wheel shaft of an electric forklift, A power transmitting means for transmitting the power of the electric power steering wheel to the power steering wheel, a power transmitting means for converting the rotational angle of the electric forklift steering wheel into a degree of angular conversion of the steering wheel, And a reverse gear connected to the driven gear shaft on the driven gear, and a reverse gear attached to an upper end of the driven anchor shaft at the upper portion of the forward gear to display a forward direction angle of the rear wheel of the electric forklift A reverse rotation angle indicating a forward direction angle at the upper end of the rotary shaft, Advancing the hour hand was installed consisted of each gear. The driving direction angle display device of the electric forklift can safely operate by displaying the driving angle of the wheels and the back angle of the wheels by the operation of the driving gear fixed to the steering wheel shaft and the driven gear interlocked with the driving wheel so that the driver can identify the angle , The drive gear, the driven gear, and the power transmission means are exposed to the outside, which is very complicated to install and repair, and may be damaged or damaged due to external material shock or interference.

In addition, in the " wheel position display device "of the Korean Patent Registration No. 10-0301210 (issued October 27, 2001), there is provided a driving gear mounted on a handle shaft and an interlocking gear to be rotated by being engaged with the driving gear, And a potentiometer for detecting the amount of rotation of the handle by analogously outputting a resistance value varying according to a rotation angle of the gear. The position of the wheel, which detects the position of the wheel and outputs the position data of the wheel by lighting the LED, Sensing means. The position display device of the wheel allows the driver to visually confirm the position of the wheel and the rotation angle of the steering wheel through the lighting of the LEDs and displays the character or symbol of the position of various wheels displayed on the LCD panel The driving gear mounted on the handle shaft and the interlocking gear and the potentiometer rotating in engagement with the driving gear are also mechanically exposed to the outside There is a problem in that installation and repair are very complicated and may be broken or damaged due to external material shock or interference.

In addition, the Korean Patent Registration No. 10-0688453 (published on Mar. 2, 2007) discloses a steering angle detecting apparatus for a forklift, which comprises a cylinder housing fixed to a vehicle body and a hydraulic oil introduced into the cylinder housing, A support rod connecting both ends of the rod to the outside of the steering cylinder so as to reciprocate left and right together with the rod; A magnet installed at one of the supports; A support board fixedly installed in the cylinder housing in the same direction as the support base with a predetermined gap with the support base; And a sensor molded on the support board along the locus of movement of the magnet and having a resistance value changed according to the movement of the magnet. The steering angle sensor of the forklift can sense the steering angle without mechanical friction contact. However, since the combined structure of the sensor and the limit switches is complicated and the sensor is installed in the exposed state, There is a problem that failure or damage may occur.

A steering angle display device for a forklift truck includes a steering angle sensor for detecting a steering angle of a rear wheel, a steering angle sensor signal for outputting a signal of the steering angle sensor, And a display unit for displaying the steering angle of the rear wheel in accordance with the output signal of the display driving unit. The steering angle display device of the forklift can detect the steering angle of the rear wheel of the forklift and display it on the display unit so that the driver can precisely determine the steering angle of the rear wheel to perform safe driving. In addition, since the steering angle sensor is mounted on the rod of the cylinder that adjusts the steering angle of the rear wheel, the configuration for detecting the change in the variable resistance value due to the movement of the rod is also mounted on the outside in an exposed state, And damage may occur.

Korean Patent Publication No. 10-1996-0041044 (published Dec. 17, 1996) Korean Patent No. 10-0301210 (issued October 27, 2001) Korean Registered Patent No. 10-0688453 (Announcement of Mar. 2, 2007) Domestic Public Utility Model No. 20-1999-003346 (Released on January 25, 1999)

Accordingly, it is an object of the present invention to provide a steering angle detecting apparatus and a steering angle detecting method for detecting a steering angle of a wheel mounted together with a torque amount detecting means of an existing steering system so as to be easily assembled without being exposed to the outside, The present invention has been made in view of the above problems, and it is an object of the present invention to provide a hybrid torque sensor which improves the reliability of detection of a steering angle for preventing rollover accidents.

 The composite torque sensor of the present invention includes an input shaft connected to a steering wheel, a housing connected to a steering shaft of the wheel and having an output shaft coupled to the input shaft, Torque detecting means comprising a detecting portion for detecting a rotational torque amount of the input shaft and an output shaft and a controller for controlling a rotational direction of the wheel through data transmitted from the detecting portion, Wherein the steering angle detection means comprises: a worm gear formed on an outer circumferential surface of the output shaft; A worm wheel that rotates in engagement with an upper portion of the worm gear; A bracket for supporting the rotation shaft of the worm wheel at the tip thereof; A permanent magnet fixed to one end of the worm wheel; An angle sensor connected to the second PCB substrate by an electric circuit so as to be able to transmit the amount of rotation of the output shaft to the detection unit while being disposed close to the permanent magnet; The rotation angle of the output shaft is proportionally output by an angle measuring angle sensor, and the output signal is converted and outputted through a microcomputer provided in the controller to obtain and control the rotation angle of the wheel.

Further, the present invention is characterized in that a spring is arranged to elastically support the bracket so that the rotating worm wheel can rotate in a state in which the worm wheel is closely attached to the worm gear without backlash to detect the steering angle. .

The composite torque sensor of the present invention includes a worm gear formed on an output shaft, a worm wheel rotated by engaging with the worm gear, and a permanent magnet mounted on the worm wheel. The angle sensor and the detection unit, Is displayed on a conventional display window (not shown) through the control of the steering angle detecting means for precisely acquiring the steering angle, so that a warning sound is generated or the operation of the steering wheel is stopped so that the overturning accident can be prevented in advance.

In addition, since the steering angle detection means of the present invention is combined with the housing of the torque amount detecting means, the output shaft, and the detection portion and the control portion of the PCB substrate, which are conventional steering devices, the structure is compact, It can be safely protected from external material shock or interference, so that safety and life can be guaranteed.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view showing a part of a composite torque sensor according to the present invention. FIG.
2 is a perspective view showing steering angle detection means of a hybrid torque sensor according to the present invention.
3 is a sectional view taken along the line 'AA' in FIG. 1;
4 is a cross-sectional view taken along line BB of Fig.
5 is a block diagram illustrating a process of detecting the steering angle of the steering angle detection means according to the present invention.
6 is a block diagram showing a process of detecting a torque amount of the torque amount detecting means according to the present invention.

Hereinafter, the structure and operation of the present invention will be described in more detail with reference to the accompanying drawings. In describing the present invention, terms and words used in the present specification and claims are to be construed in accordance with the principles of the present invention, on the basis that the inventor can properly define the concept of a term in order to best explain his invention It should be construed as meaning and concept consistent with the technical idea of.

1 and 6, the present invention includes an input shaft 10 connected to a steering wheel (not shown) and an output shaft 13 connected to a steering shaft of a wheel (not shown) and coupled to the input shaft 10 A housing (1) arranged inside; First and second multipole ring magnets 2 and 3 having N and S polarities arranged along the outer circumferential surfaces of the input shaft 10 and the output shaft 13 and first and second multipole ring magnets 2 and 3 A detecting unit 14 that detects the amount of torque by connecting the first and second Hall sensors 4 and 4 'to the PCB substrate 23 by an electric circuit so as to collect a magnetic force; And a controller (12) for converting the position angle difference value to a torque proportional voltage through a magnetic force inputted from the second Hall sensor (4, 4 ') and controlling the rotational direction of the wheel. Quot; is used.

The torque amount detecting means 100 detects the torque amount of the first multipolar ring magnet 2 of the input shaft 10 and the second multipolar ring 2 of the output shaft 13 of the output shaft 13 by using the respective first and second Hall sensors 4, The absolute phase angle between the input shaft 10 and the output shaft 13 is computed by computing the value obtained by simultaneously obtaining the N pole and the S pole magnetic force between the magnets 3, The present invention can accurately detect the amount of torque for voltage conversion that can adjust the traveling direction of the wheel through the phase angle difference value between the output shaft 13 and the output shaft 13. This applicant has proposed in Korean Patent No. 10-1359347 .) Since it is the technology of the "torque sensor of the steering apparatus using absolute phase angle detection ", the detailed configuration and operation will be omitted.

That is, the core technology of the present invention includes steering angle detecting means 200 for controlling the rotation angle of the wheel by being combined with the structures of the housing 1 of the conventional steering apparatus and the torque amount detecting means 100 The steering angle detection means 200 is configured to be compact without being exposed to the outside, so that the steering angle detection means 200 can be easily and precisely detected at the same time, To be able to.

1 to 4, the steering angle detection means 200 of the present invention detects the amount of rotation of the output shaft 13 for steering through the angle sensor 5 and calculates the steering angle state of the wheel Is displayed on the display window (not shown) through the precisely acquired data, and the alarm sound is generated or the operation is stopped.

The steering angle detection means 200 applies the gear system of the worm gear 6 and the worm wheel 7 to precisely detect the amount of rotation of the output shaft 13 and the worm wheel 7 is rotated via the angle sensor 5, And transmits the data of the detecting unit 14 to the controller 12 to detect and control the displacement state of the steering angle of the wheel.

The worm wheel 6 is disposed on the outer circumferential surface of the output shaft 13 and the worm wheel 7 is disposed on the upper portion of the worm gear 6 so as to be engaged with the rotation shaft. So that the bracket 8 can be supported.

As shown in FIG. 4, permanent magnets 72 of N pole and S pole are mounted on one end of the worm wheel 7, and an angle sensor (5).

The angle sensor 5 calculates the amount of rotation of the output shaft 13 on the second PCB substrate 23 'so as to obtain a change in the magnetic force due to the rotation of the permanent magnet 72 mounted on one side of the worm wheel 7 And the second PCB substrate 23 'is connected to the PCB substrate 23 by an electric circuit so that the signal obtained by the angle sensor 5 can be transmitted to the detection unit 14.

The amount of rotation of the output shaft 13 is proportional to the amount of rotation of the permanent magnet 72 mounted on one side of the worm wheel 7 through the angular measurement angle sensor 5 and the detection unit 14, And outputs the converted output signal through the microcomputer 121 provided in the controller 12 to precisely acquire the rotation angle of the wheel and display it on a conventional display window not shown through the control, The operation of the handle is stopped.

A hinge 81 is formed on both sides of the rear end of the bracket 8 so as to precisely acquire the rotation angle of the wheel, and is hinged to the hinge groove 15 formed in the housing 1, A spring 9 is provided at the upper end of the bracket 8 to rotate around the hinge 81 so that the worm wheel 7 is brought into close contact with the worm gear 6 to prevent backlash.

The worm gear 6 and the worm wheel 7 are connected to each other by a handle of a vehicle (forklift) And a signal of 0 to 5 V of the angle sensor 5 in which one sawtooth wave in proportion to one rotation (360 degrees) of the worm wheel 7 is output proportional to the rotational speed of the control unit 12 Is calculated through the microcomputer 121 to precisely detect the rotation angle of the wheel.

The initial zero point setting for detecting the steering and rotation angle of the wheel is performed by attaching the light reflector 31 to the second multi-pole ring magnet 3 arranged on the outer peripheral surface of the output shaft 13 as shown in FIGS. 1 and 5 And a light sensor 5 'is provided on the PCB substrate 23 so as to sense the light reflected from the light reflector 31. The light emitted from the light sensor 5' The microcomputer 121 searches for a zero point.

Also, the microcomputer 121 may be provided with an automatic setting switch 122 to automatically set the voltage to 2.5 V (center) irrespective of the rotation angle position of the output shaft 13 by pressing the microcomputer 121 for more than one second.

Next, the operation of the present invention configured as described above will be described.

First, a zero point is set through the light reflector 31, the optical sensor 5 'and the microcomputer 121 of the controller 12, or the automatic setting switch 122 is turned over for more than one second to rotate the output shaft 13 It is automatically set to 2.5 V (center) regardless of the position, and the zero point is automatically set through the microcomputer 121 of the controller 12. [

In this state, when the input shaft 10 connected to the handle is rotated, each of the first and second Hall sensors 4 and 4 'is connected to the first multipole ring magnet 2 of the input shaft 10 and the second The absolute phase angle is obtained by calculating the values obtained by simultaneously obtaining the N pole and S pole magnetic force in accordance with the movement of the multipolar ring magnet 3 and the difference in absolute phase angles between the input shaft 10 and the output shaft 13 is calculated The steering direction of the wheel is set through the difference in phase angle between the input shaft 10 and the output shaft 13, and the input shaft 10 is continuously rotated to move the wheels at the desired steering angle.

In this case, since the traveling speed of the vehicle (forklift) and the steering angle of the wheels are correlated with each other, which may lead to a safe change of direction of the vehicle (forklift) or rollover, steering angle detection means 200 ).

3 and 4, when the worm wheel 6, which is formed by a twin screw thread formed on the circumferential surface of the output shaft 13, rotates, the worm wheel 7 engaged with the worm wheel 7 rotates smoothly .

The rotation of the worm wheel 7 is assisted by a bracket 8 supporting the rotary shaft 71. The bracket 8 is provided with a hinge 81 formed on both sides of the rear end of the bracket 8, 15 so as to serve as a rotation center and transmit the elastic force of a spring 9 disposed at an upper portion of the tip to the worm wheel 7. The worm wheel 7 is tightly contacted with the worm gear 6 without causing backlash, Resulting in stable and precise rotation.

The rotation of the worm wheel 7 leads to the rotation of the permanent magnet 72 mounted on one side and the change in the magnetic force generated by the rotation of the permanent magnet 72 is detected by the angle sensor 5 .

4 and 5, the angle sensor 5 transmits the acquired data to the detection unit 14 through electrical circuit connection to the second PCB substrate 23 'and the PCB substrate 23, The angle sensor 5 for measuring the angle of the worm gear 6 and the worm wheel 7 is operated at a rotation ratio of 6: 1 and one saw tooth corresponding to one rotation (360 degrees) of the worm wheel 7 is output in proportion to the worm wheel 7, To the microcomputer 121 of the control unit 12, and then the rotation angle of the wheel is precisely detected through calculation.

The worm wheel 6 and the worm wheel 7 are operated by the rotation of the output shaft 13 and the magnetic force change of the permanent magnet 72 mounted on the worm wheel 7 is detected by the angle measuring angle sensor 5 and the detecting portion 14 and converts the output signal through a microcomputer 121 provided in the controller 12 to precisely acquire the rotation angle of the wheel and display it on a conventional display window that is not shown in the figure through control, A warning sound is generated or the operation of the handle is stopped.

The steering angle detecting means 200 detects the steering angle of the steering shaft of the steering shaft of the steering shaft of the steering wheel The structure is compact, cost reduction is possible, and since it is not exposed to the outside, it is safely protected from external material shock or interference, so that safety and life can be guaranteed.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. Accordingly, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims.

1: housing 10: input shaft
11: Torsion bar 12: Controller
13: Output shaft 14:
15: engaging groove 2: first multipole ring magnet
23: PCB substrate 23 ': second PCB substrate
3: second multipole ring magnet 4: first hall sensor
4 ': second Hall sensor 5: angle sensor
6: Circle gear 7: Worm wheel
71: rotating shaft 72: permanent magnet
8: Bracket 81: Hinge
9: spring 100: torque amount detecting means
200: steering angle degree detecting means

Claims (3)

A housing (1) having an input shaft (10) connected to the steering wheel and an output shaft (13) connected to the steering shaft of the wheel and coupled with the input shaft (10);
A detection unit 14 for detecting the amount of rotation torque of the input shaft 10 and the output shaft 13 and a controller 12 for controlling the direction of rotation of the wheels through data transmitted from the detection unit 14. [ Detection means (100); And
And a steering angle detecting means (200) for controlling a rotation angle of the wheel while being coupled to the housing (1) and the torque amount detecting means (100)
The steering angle detection means (200)
A worm gear 6 formed on an outer peripheral surface of the output shaft 13;
A worm wheel 7 that meshes with the upper portion of the worm gear 6;
A bracket 8 for holding the rotation shaft 71 of the worm wheel 7 in engagement with the tip thereof;
A permanent magnet (72) fixed to one end of the worm wheel (7);
An angle sensor 5 electrically connected to the second PCB 23 'so as to transmit the amount of rotation of the output shaft 13 to the detection unit 14 while being disposed close to the permanent magnet 72;
The rotation amount of the output shaft 13 is proportionally outputted by the angle measurement angle sensor 5 and the output signal is converted and outputted through the microcomputer 121 provided in the controller 12 to obtain and control the rotation angle of the wheel Wherein the torque sensor comprises:
The bracket according to claim 1, wherein a hinge (81) is mounted on both sides of the rear end of the bracket (8) to be positioned in a locking groove (15) formed in the housing (1) Is provided with a spring (9) which rotates about a hinge (81) and the worm wheel (7) is brought into close contact with the worm gear (6) to prevent backlash.
2. The hybrid torque sensor as claimed in claim 1, wherein the worm gear (6) is formed by a double thread line, and the worm gear (6) and the worm wheel (7) are formed at a 6: 1 rotation ratio.

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