JP2016114406A - Angle sensor, torque sensor, electric power steering device, transmission, and vehicle - Google Patents

Abstract

An angle sensor suitable for suppressing an influence on an angle error due to magnetic flux fluctuation, a torque sensor including the angle sensor, an electric power steering device, a transmission, and a vehicle are provided. A cylindrical multipolar ring magnet 10 magnetized in the circumferential direction by sinusoidal magnetization and a first electrode disposed opposite to the outer peripheral surface of the multipolar ring magnet 10 and having a phase difference in the circumferential direction. The magnetic flux collecting yoke 11, the second magnetic flux collecting yoke 12, the magnetic detector for detecting the magnetic flux collected by the first and second magnetic collecting yokes 11 and 12, and the magnetic flux detected by the magnetic detector. An angle calculation circuit for calculating the rotation angle of the multipolar ring magnet 10. [Selection] Figure 3

Description

  The present invention relates to an angle sensor that detects an angle using a multipolar ring magnet, a torque sensor including the angle sensor, an electric power steering device, a transmission, and a vehicle.

  Conventionally, there is a technique in which angle sensors each including a multipolar ring magnet and a magnetic detector are arranged at both ends of a torsion bar, and a torque value is calculated from a difference between detection angles of these angle sensors (see, for example, Patent Document 1).

JP 2011-80783 A

However, the prior art of Patent Document 1 is configured to directly detect the magnetic flux of the multipolar ring magnet using a magnetic sensor. The magnetic sensor has a characteristic of directly converting the magnetic flux of the magnet into an electrical signal. For this reason, there is a problem that the error in the magnetic pole width and the magnetization accuracy of the multipolar ring magnet directly affect the angle error.
Accordingly, the present invention has been made paying attention to such an unsolved problem of the conventional technology, and is an angle sensor suitable for suppressing the influence on the angle error due to magnetic flux fluctuation, and this angle sensor. A torque sensor, an electric power steering device, a transmission, and a vehicle are provided.

  In order to achieve the above object, an angle sensor according to a first aspect of the present invention includes a cylindrical multipolar ring magnet magnetized in a circumferential direction by sinusoidal magnetization, and an outer peripheral surface of the multipolar ring magnet. Of the multipolar ring magnet based on the magnetic flux detected by the magnetic detection unit, the magnetic detection unit that detects the magnetic flux collected by the magnetic collection yoke, An angle calculation unit for calculating a rotation angle.

  In addition, the torque sensor according to the second aspect of the present invention includes an elastic member that connects the first rotating shaft and the second rotating shaft, and a first end provided on one end of the elastic member or the first rotating shaft. An angle sensor, a second angle sensor provided at the other end of the elastic member or the second rotation shaft, a first angle detection value detected by the first angle sensor, and a second angle detected by the second angle sensor A torque value calculating unit that calculates a torque value based on a difference value with respect to the detected angle value, and the first angle sensor and the second angle sensor are configured by the angle sensor according to the first aspect.

An electric power steering apparatus according to the third aspect of the present invention includes the torque sensor according to the second aspect.
A vehicle according to a fourth aspect of the present invention includes the electric power steering device according to the third aspect.
A transmission according to the fifth aspect of the present invention includes the torque sensor according to the second aspect.
A vehicle according to a sixth aspect of the present invention includes the transmission according to the fifth aspect.

  According to the present invention, the magnetic flux of the multipolar ring magnet is collected by a plurality of magnetic collecting yokes opposed to the outer circumferential surface of the multipolar ring magnet and arranged with a phase difference in the circumferential direction, and then detected by the magnetic detection unit. I tried to do it. As a result, compared to a configuration in which the magnetic flux of the multipolar ring magnet is directly detected by a magnetic detector, the influence on the pitch error of the magnet and the angle error due to the gap variation between the magnet and the magnetic detector can be suppressed. An effect is obtained. Moreover, the effect that the influence on the torque value by an angle error can be suppressed is acquired.

1 is a block diagram illustrating a configuration example of a vehicle according to a first embodiment of the present invention. It is a figure showing an example of 1 composition of a torque sensor concerning a 1st embodiment of the present invention. It is a figure which shows the example of 1 structure of the angle sensor which concerns on 1st Embodiment of this invention. It is a figure which shows an example of the magnetic flux density waveform by sinusoidal magnetization. (A) is a figure which shows an example of the upper side yoke which comprises a magnetism collection yoke, (b) is a figure for demonstrating the gradient provided in the front-end | tip part of a magnetism collection part, (c), It is a figure which shows an example of the lower yoke which comprises a magnetism collection yoke. (A) And (b) is a figure which shows an example of the assembly structure of the magnetism collection yoke which concerns on 1st Embodiment of this invention. (A) And (b) is a figure which shows an example of the arrangement configuration of the magnetic detector which concerns on 1st Embodiment of this invention. It is a figure which shows one structural example of the magnetic detection part which concerns on 1st Embodiment of this invention. It is a figure which shows the example of 1 structure of the angle sensor which concerns on 2nd Embodiment of this invention. It is a figure which shows the example of 1 structure of the magnetic detection part which concerns on 2nd Embodiment of this invention. It is a figure which shows one structural example of the principal part of the vehicle carrying the belt type continuously variable transmission which concerns on 3rd Embodiment of this invention. It is an axial direction sectional view showing one example of composition of a countershaft concerning a 3rd embodiment of the present invention.

Next, first to third embodiments of the present invention will be described with reference to the drawings. In the following description of the drawings, the same or similar parts are denoted by the same or similar reference numerals. However, it should be noted that the drawings are schematic, and the vertical and horizontal dimensions and scales of members and parts are different from actual ones. Therefore, specific dimensions and scales should be determined in consideration of the following description. Moreover, it is a matter of course that portions having different dimensional relationships and ratios are included between the drawings.
In addition, the first to third embodiments shown below exemplify apparatuses and methods for embodying the technical idea of the present invention, and the technical idea of the present invention is the material of a component, The shape, structure, arrangement, etc. are not specified below. The technical idea of the present invention can be variously modified within the technical scope defined by the claims described in the claims.

(First embodiment)
(Constitution)
As shown in FIG. 1, the first vehicle 4 according to the first embodiment includes front wheels 4FR and 4FL and rear wheels 4RR and 4RL serving as left and right steered wheels. The front wheels 4FR and 4FL are steered by the electric power steering device 3.
As shown in FIG. 1, the electric power steering device 3 includes a steering wheel 31, a steering shaft 32, a first torque sensor 2, a first universal joint 34, a lower shaft 35, and a second universal joint. 36.
The electric power steering device 3 further includes a pinion shaft 37, a steering gear 38, a tie rod 39, and a knuckle arm 40.

The steering force applied to the steering wheel 31 from the driver is transmitted to the steering shaft 32. The steering shaft 32 has an input shaft 32a and an output shaft 32b. One end of the input shaft 32 a is connected to the steering wheel 31, and the other end is connected to one end of the output shaft 32 b via the first torque sensor 2.
The steering force transmitted to the output shaft 32 b is transmitted to the lower shaft 35 via the first universal joint 34 and further transmitted to the pinion shaft 37 via the second universal joint 36. The steering force transmitted to the pinion shaft 37 is transmitted to the tie rod 39 via the steering gear 38. Further, the steering force transmitted to the tie rod 39 is transmitted to the knuckle arm 40 to steer the front wheels 4FR and 4FL.

Here, the steering gear 38 is configured in a rack and pinion type having a pinion 38a coupled to the pinion shaft 37 and a rack 38b meshing with the pinion 38a. Therefore, the steering gear 38 converts the rotational motion transmitted to the pinion 38a into a straight traveling motion in the vehicle width direction by the rack 38b.
A steering assist mechanism 41 that transmits a steering assist force to the output shaft 32b is connected to the output shaft 32b of the steering shaft 32.

The steering assist mechanism 41 is fixed to a housing of the electric motor 43, a reduction gear 42 configured by, for example, a worm gear mechanism connected to the output shaft 32b, an electric motor 43 that generates a steering assist force connected to the reduction gear 42, and the like. A supported EPS control unit 44 is provided.
The electric motor 43 is a three-phase brushless motor, and includes an annular motor rotor and an annular motor stator (not shown). The motor stator includes a plurality of pole teeth protruding radially outward at equal intervals in the circumferential direction, and an excitation coil is wound around each pole tooth. A motor rotor is coaxially disposed outside the motor stator. The motor rotor is configured to include a plurality of magnets that are opposed to the pole teeth of the motor stator with a slight gap (air gap) and that are provided on the inner peripheral surface at equal intervals in the circumferential direction.

The motor rotor is fixed to the motor rotation shaft. By passing a three-phase alternating current through the motor control coil via the EPS control unit 44, each tooth of the motor stator is excited in a predetermined order, and the motor rotor rotates. A motor rotating shaft rotates with rotation.
The EPS control unit 44 includes a current command calculation circuit and a motor drive circuit (not shown). Further, as shown in FIG. 1, the EPS control unit 44 receives a vehicle speed V detected by the vehicle speed sensor 50 and a direct current from a battery 51 as a direct current voltage source.

The current command calculation circuit is a current for driving the electric motor 43 based on the vehicle speed V from the vehicle speed sensor 50, the steering torque Ts from the first torque sensor 2, and the motor rotation angle θm from the electric motor 43. Calculate the command value.
The motor drive circuit is composed of, for example, a three-phase inverter circuit, and drives the electric motor 43 based on the current command value from the current command calculation circuit.

The first torque sensor 2 detects the steering torque applied to the steering wheel 31 and transmitted to the input shaft 32a.
As shown in FIG. 2, the first torque sensor 2 includes a first angle sensor 1A, a first angle sensor 1B, a first torsion bar 21 made of an elastic member such as spring steel, And a first torque calculation circuit 23. The first angle sensor 1A and the first angle sensor 1B are composed of the first angle sensor 1 having the same configuration. Therefore, A and B are added to the end of the code to distinguish them. Hereinafter, A and B are added to the end of the reference numerals as appropriate for the reference numerals of the other components to distinguish them.

  As shown in FIG. 2, the first torsion bar 21 has one end attached to the input shaft 32a and the other end attached to the output shaft 32b. Accordingly, when the input shaft 32a rotates, the end portion (hereinafter referred to as “input end”) of the first torsion bar 21 on the input shaft 32a side rotates. On the other hand, when the output shaft 32b rotates, the end portion (hereinafter referred to as “output end”) of the first torsion bar 21 on the output shaft 32b side rotates.

Furthermore, as shown in FIG. 2, in the first embodiment, the first angle sensor 1 </ b> A is provided at the input end of the first torsion bar 21, and the first angle sensor is provided at the output end of the first torsion bar 21. 1B is provided.
The first angle sensor 1A detects a magnetic flux corresponding to the rotational displacement of the input end of the first torsion bar 21, and the first angle sensor 1B detects the rotational displacement of the output end of the first torsion bar 21. The magnetic flux corresponding to is detected. The magnetic flux detected by the first angle sensor 1A is input as an electric signal to the internal angle calculation circuit 16A, and the magnetic flux detected by the first angle sensor 1B is input as an electric signal to the internal angle calculation circuit 16B. .

Note that the angle calculation circuit 16A and the angle calculation circuit 16B are composed of the angle calculation circuit 16 having the same configuration. Therefore, A and B are added to the end of the code to distinguish them.
The angle calculation circuit 16A calculates a first rotation angle θA that is a rotation angle of the input end of the first torsion bar 21 (equivalent to the rotation angle of the input shaft 32a) in response to the input of an electrical signal corresponding to the detected magnetic flux. To do. Then, the calculated first rotation angle θA is output to the first torque calculation circuit 23.

In addition, the angle calculation circuit 16B receives a second rotation angle θB that is the rotation angle of the output end of the first torsion bar 21 (equivalent to the rotation angle of the output shaft 32b) in response to the input of an electrical signal corresponding to the detected magnetic flux. Is calculated. Then, the calculated second rotation angle θB is output to the first torque calculation circuit 23.
The first torque calculation circuit 23 calculates a difference between the first rotation angle θA and the second rotation angle θB (relative angle φ corresponding to the twist of the first torsion bar 21), and based on the relative angle φ, A steering torque Ts is calculated. The steering torque Ts is output to the EPS control unit 44.

Hereinafter, the first angle sensor 1 </ b> A and the first angle sensor 1 </ b> B may be simply referred to as “first angle sensor 1” when it is not necessary to distinguish between them. In addition, the angle calculation circuit 16A and the angle calculation circuit 16B may be simply referred to as “angle calculation circuit 16” when it is not necessary to distinguish them.
As shown in FIG. 3, the first angle sensor 1 includes a multipolar ring magnet 10, a first magnetism collecting yoke 11, and a second magnetism collecting yoke 12.

The multipolar ring magnet 10 is a cylindrical (ring-shaped) multipolar magnet that is magnetized so that S poles and N poles are alternately continued along the circumferential direction. Further, the multipolar ring magnet 10 is magnetized by sinusoidal magnetization, and the magnetic flux density distribution on the surface of each magnetic pole is sinusoidal as shown in FIG.
By configuring the magnetic flux density distribution in a sine wave shape, it is possible to detect a magnetic flux that changes in a sine wave shape with a magnetic detector described later.

A pair of magnetic poles is composed of a set of S and N poles adjacent to each other in the circumferential direction of the multipolar ring magnet 10. In the first embodiment, as shown in FIG. 3, the multipolar ring magnet 10 is composed of 22 pole pairs. In this way, the 22-pole pair is suitable for application to a torque sensor having a torque detection range of -8 to +8 (deg).
It should be noted that the number of magnetic pole pairs may be configured to be smaller or larger than 22 pole pairs depending on the torque detection range or the like.

Moreover, the multipolar ring magnet 10 can be comprised from a neodymium magnet, a ferrite magnet, a samarium cobalt magnet etc. according to a required magnetic flux density, for example.
The first magnetism collecting yoke 11 and the second magnetism collecting yoke 12 are arranged so as to face the outer peripheral surface of the multipolar ring magnet 10 (that is, face the radial direction), and the circumferential direction of the multipolar ring magnet 10 Are provided in parallel with each other at intervals of 90 ° in electrical angle.

The first magnetism collecting yoke 11 includes a first upper yoke 11a and a first lower yoke 11b, and the second magnetism collecting yoke 12 includes a second upper yoke 12a and a second lower yoke 11b. It is comprised from the side yoke 12b.
Here, for convenience of explanation, the first upper yoke 11a, the first lower yoke 11b, the second upper yoke 12a, and the second lower yoke 12b are given different reference numerals. They are all composed of the same material and members having the same shape except for the arrangement position.

Therefore, hereinafter, the configuration of the first upper yoke 11a will be described in detail on the basis of FIGS. 5A to 5C, and the other first lower yoke 11b and second upper yoke 12a will be described. The description of the configuration of the second lower yoke 12b will be omitted as appropriate.
As shown in FIG. 5A, the first upper yoke 11a includes a first magnetic flux collector 111a, a second magnetic flux collector 112a, and a third magnetic flux collector 113a.
Hereinafter, the first magnetic flux collector 111a, the second magnetic flux collector 112a, and the third magnetic flux collector 113a may be collectively referred to as “first to third magnetic flux collectors 111a to 111c”.

  The first to third magnetism collecting portions 111 a to 113 a are arranged in parallel at substantially equal intervals along the circumferential direction when the first magnetism collecting yoke 11 is disposed opposite to the outer circumferential surface of the multipolar ring magnet 10. It is configured as follows. At this time, each magnetism collecting portion is arranged around the outer circumferential surface so that the distance between the opposing surfaces of the first to third magnetism collecting portions 111a to 113a and the outer circumferential surface of the multipolar ring magnet 10 is substantially equal. It is configured so as to be inclined at a predetermined angle along the direction.

  Further, the first upper yoke 11a is a first arm portion extending from one end of each of the first to third magnetic flux collectors 111a to 113a in a direction orthogonal to the plate surface of the first to third magnetic flux collectors 111a to 113a. 1141a, a second arm portion 1142a, a third arm portion 1143a, and a flat plate portion 1144a to which the end portions of the first to third arm portions 1141a to 1143a extend are connected to each other in a plan view. Connecting portion 114a.

  In addition, the flat plate portion 1144a of the connection portion 114a has a first and a second centered on the central portion where the second arm portion 1142a extending from the second magnetism collecting portion 112a is connected to the outer peripheral surface of the multipolar ring magnet 10. It becomes the shape bent diagonally in the direction which approaches an outer peripheral surface toward the 3 magnetism collection parts 111a and 113a side. That is, the connected portion of the first arm portion 1141 a and the third arm portion 1143 a following the central portion of the flat plate portion 1144 a is bent in a direction approaching the outer peripheral surface of the multipolar ring magnet 10. With this configuration, the distances between the opposing surfaces of the first to third magnetic flux collectors 111a to 113a and the magnetic poles are substantially equal.

Further, the first upper yoke 11a has first and second magnetic flux collectors at the end of the connection portion 114a opposite to the first to third arm portions 1141a to 1143a in plan view from the end side. A rectangular flat plate-like detector 115a extending in the same direction as the extending direction of the first and second magnetic flux collectors 111a and 112a from a position adjacent to the second magnetic flux collector 112a between the portions 111a and 112a. .
In addition, the space | interval which adjoins the 1st-3rd magnetic flux collection parts 111a-113a is comprised in the space | interval which faces all the same magnetic poles when facing a magnetic pole. In addition, the gap is larger than the width of the detector 115a so that the N pole and the S pole do not interfere with each other.

Each of the first to third magnetic flux collectors 111 a to 113 a has a circumferential width substantially the same as the magnetic pole width, and is orthogonal to the circumferential direction along the outer circumferential surface of the multipolar ring magnet 10. The length in the direction in which the multipolar ring magnet 10 is formed is approximately half the length of the multipolar ring magnet 10 in the axial direction.
In the first to third magnetic flux collectors 111a to 113a, as shown in FIG. 5B, the circumferential interval (gap) dg of the tip is larger than the circumferential width of the detector 115a. In this manner, inclined portions having a gradient γ are provided at both ends in the circumferential direction of the tip portion, and the tip portion is configured in a substantially triangular (or substantially trapezoidal) shape.

According to the rotation of the multipolar ring magnet 10, the first to third magnetic flux collectors 111 a to 113 a are configured in the shape and dimensions as described above, and the multipolar ring magnet 10 is sinusoidally magnetized. The magnetic flux collected by the first to third magnetic flux collectors 111a to 113a changes in a sine wave shape. That is, the magnetic detector 13 described later can detect a magnetic flux that changes in a sine wave shape.
On the other hand, since the first lower yoke 11b has the same configuration as the first upper yoke 11a, detailed description thereof will be omitted, but in the first embodiment, the end of the code is distinguished as “a → b”.

That is, as shown in FIG. 5C, the first lower yoke 11b includes a first magnetic flux collector 111b, a second magnetic flux collector 112b, a third magnetic flux collector 113b, a connection portion 114b, And a detection unit 115b. Hereinafter, the first magnetic flux collector 111b, the second magnetic flux collector 112b, and the third magnetic flux collector 113b may be referred to as “first to third magnetic flux collectors 111b to 113b”.
Although the first upper yoke 11a has been described as being divided into a plurality of components, actually, a single flat plate member punched into a developed shape shown in FIG. 5A is bent by a punching die. Produced. Therefore, as shown in FIG. 5A, R is formed in each bent portion. The same applies to the first lower yoke 11b shown in FIG.

  As shown in FIGS. 6A and 6B, the first magnetism collecting yoke 11 includes a first upper yoke 11a and a first lower yoke in a posture in which the first upper yoke 11a is turned upside down. It is configured by combining the yoke 11b in the vertical direction. That is, one of the first upper yoke 11a and the first lower yoke 11b having the same posture is rotated by 180 ° with respect to the other, and the tip side of one magnetism collecting portion is set to the tip of the other magnetism collecting portion. Combining in the vertical direction (in the direction of the arrow in FIG. 6A) facing the side.

  Specifically, as shown in FIG. 6 (a), the first upper yoke 11a and the first lower yoke 11b are connected to each other as shown by the broken line in FIG. 6 (a). The lower end of the detection unit 115a of 11a and the upper end of the detection unit 115b of the first lower yoke 11b face each other in the vertical direction. Hereinafter, the detection unit 115a may be referred to as an “upper detection unit 115a” and the detection unit 115b may be referred to as a “lower detection unit 115b”.

As shown in FIG. 6B, the lower end part of the upper detection unit 115a and the upper end part of the lower detection unit 115b are designed in advance, as shown in FIG. 6B. Combined so as to face each other with a distance d.
As a result, the first upper yoke 11a and the first lower yoke 11b are arranged between the first magnetic collecting portions 111a and the second magnetic collecting portions 112a of the first upper yoke 11a. It arrange | positions so that the front-end | tip part of the 3rd magnetism collection part 113b of the yoke 11b may be located. In addition, the tip of the second magnetism collecting portion 112b of the first lower yoke 11b is positioned between the tips of the second magnetism collecting portion 112a and the third magnetism collecting portion 113a of the first upper yoke 11a. Placed in. In other words, the first upper yoke 11a and the first lower yoke 11b are arranged between the first upper yoke 11a and the first upper yoke 11b between the tips of the second magnetism collecting portion 112b and the third magnetism collecting portion 113b. It arrange | positions so that the front-end | tip part of the 1st magnetism collection part 111a of the yoke 11a may be located. In addition, the tip of the second magnetism collecting portion 112a of the first upper yoke 11a is positioned between the tips of the first magnetism collecting portion 111b and the second magnetism collecting portion 112b of the first lower yoke 11b. Placed in.

That is, as shown in FIG. 3, when the first magnetism collecting yoke 11 is disposed opposite to the outer peripheral surface of the multipolar ring magnet 10, the first to third magnetism collecting parts 111 a to 113 a and the first to third magnets are arranged. The magnetic flux collectors 111b to 113b are arranged alternately along the circumferential direction.
Note that the first upper yoke 11a and the first lower yoke 11b may be made of a magnetic material having a relatively high magnetic permeability, such as permalloy, electromagnetic soft iron, silicon steel plate, or the like because of the role of magnetic collection. desirable.
Furthermore, between the lower end part of the upper side detection part 115a and the upper end part of the lower side detection part 115b, the magnetic detector 13 is arrange | positioned as shown to Fig.7 (a).

The magnetic detector 13 detects the magnetic flux that is collected by the first magnetic collecting yoke 11 and changes in a sine wave shape. An output terminal of the magnetic detector 13 is connected to a circuit board on which the angle calculation circuit 16 is mounted, and an electrical signal corresponding to the magnetic flux detected by the magnetic detector 13 is input to the angle calculation circuit 16.
In addition, the magnetic detector 13 is comprised from a Hall element, Hall IC, etc., for example.
For example, when the angle calculation circuit 16 is composed of a digital circuit such as a microprocessor and a Hall element or an analog output type Hall IC is applied as the magnetic detector 13, the angle calculation circuit 16 is mounted. An A / D conversion circuit is provided on the circuit board, and an analog electric signal corresponding to the magnetic flux is converted into a digital signal and input to the angle calculation circuit 16.

  With the above configuration, for example, the first magnetism collecting yoke 11 faces each other when the first to third magnetism collecting portions 111a to 113a of the first upper yoke 11a are opposed to the N-pole magnetic poles. The magnetic flux collected from the N-pole magnetic poles is collected, and the collected magnetic flux passes through the lower detection portion 115b of the first lower yoke 11b via the connection portion 114a and the upper detection portion 115a, and passes through the connection portion 114b and the first The magnetic circuit which returns to the magnetic pole of S pole via the 1st-3rd magnetism collecting part 111b-113b is comprised. Since the magnetic detector 13 is disposed between the upper detector 115a and the lower detector 115b, the magnetic flux collected by the magnetic detector 13 at the first to third magnetic collectors 111a to 113a. Is detected.

Note that when the first to third magnetic flux collectors 111b to 113b of the first lower yoke 11b are opposed to the N-pole magnetic poles, the magnetic flux collected by the reverse route is the first to third magnetic flux collectors. A magnetic circuit that returns to the magnetic pole of the S pole via the portions 111a to 113a is configured. Then, the magnetic detector 13 detects the magnetic flux collected by the first to third magnetic flux collectors 111b to 113b.
On the other hand, the second magnetic flux collecting yoke 12 has the same configuration as the first magnetic flux collecting yoke 11 and will not be described in detail. However, in order to distinguish the two, the second magnetic flux collecting yoke 12 is configured. The reference numerals of the constituent parts are given the reference numerals in which the upper two digits of the constituent parts of the first magnetic flux collecting yoke 11 are “11 → 12”.

That is, as shown in FIG. 7B, the second magnetic flux collecting yoke 12 includes a second upper yoke 12a and a second lower yoke 12b. In addition, the second upper yoke 12a includes first to third magnetism collecting portions 121a to 123a, a connection portion 124a, and a detection portion 125a, and the second lower yoke 12b includes first to first magnets. The three magnetic flux collectors 121b to 123b, the connection part 124b, and the detection part 125b are configured.
Further, a magnetic detector 14 having the same configuration as that of the magnetic detector 13 is disposed between the lower end of the detection unit 125a and the upper end of the detection unit 125b of the second magnetism collecting yoke 12.
Further, the set of the first magnetism collecting yoke 11 and the magnetic detector 13 and the set of the second magnetism collecting yoke 12 and the magnetic detector 14 are integrally formed by molding with a resin material as shown in FIG. Thus, the cylindrical first magnetic detection unit 15 is configured.

As shown in FIG. 8, the first magnetic detection unit 15 is arranged on the outside of the multipolar ring magnet 10 so as to be coaxial with the multipolar ring magnet 10 with a predesigned gap.
That is, the first angle sensor 1A has its multipolar ring magnet 10A fixed coaxially to the outer peripheral surface of the input end of the first torsion bar 21, and the first angle sensor 1B has its multipolar ring magnet 10B. The first torsion bar 21 is coaxially fixed to the outer peripheral surface of the output end.
The first angle sensor 1A has a positional relationship in which the inner peripheral surface of the first magnetic detection unit 15A is opposed to the outer peripheral surface of the multipolar ring magnet 10A fixed to the input end. It is fixed to the housing. The first angle sensor 1B has a positional relationship in which the inner peripheral surface of the first magnetic detection unit 15B is opposed to the outer peripheral surface of the multipolar ring magnet 10B fixed to the output end. It is fixed to the housing.

With this configuration, when the input end of the first torsion bar 21 is rotated, the multipolar ring magnet 10 of the first angle sensor 1A is opposed to the first magnetic detection unit 15A in the radial direction. To rotate. In addition, when the output end of the first torsion bar 21 rotates, the multipolar ring magnet 10 of the first angle sensor 1B is in a state of facing the first magnetic detection unit 15B in the radial direction. Rotate.
As described above, the first magnetism collecting yoke 11 and the second magnetism collecting yoke 12 are opposed to the outer peripheral surface of the multipolar ring magnet 10 and have a phase difference of 90 ° in the circumferential direction in the circumferential direction. They are spaced apart.

With the configuration described above, the magnetic flux collected by the first magnetic collecting yoke 11A of the first angle sensor 1A is a sine wave (hereinafter sometimes referred to as “sin wave”) by the magnetic detector 13A. The magnetic flux detected as the magnetic flux signal and collected by the second magnetism collecting yoke 12A is detected by the magnetic detector 14A as a magnetic flux signal of a cosine wave (hereinafter sometimes referred to as “cos wave”).
Similarly, the magnetic flux collected by the first magnetic collecting yoke 11B of the first angle sensor 1B is detected as a sin wave magnetic flux signal by the magnetic detector 13B and collected by the second magnetic collecting yoke 12B. The magnetic flux thus detected is detected as a cos wave magnetic flux signal by the magnetic detector 14B.

  Then, the angle calculation circuit 16A calculates the first rotation angle θA by obtaining an arc tangent from the sin wave magnetic flux signal and the cos wave magnetic flux signal from the first angle sensor 1A. Further, the angle calculation circuit 16B calculates the second rotation angle θB by obtaining the arc tangent from the sin wave magnetic flux signal and the cos wave magnetic flux signal from the first angle sensor 1B.

(Operation)
Next, the operation of the first embodiment will be described.
When the steering wheel 31 is steered by the driver of the first vehicle 4 and this steering force is transmitted to the steering shaft 32, the input shaft 32a first rotates in a direction corresponding to the steering direction. With this rotation, the input end of the first torsion bar 21 rotates, and the multipolar ring magnet 10A of the first angle sensor 1A provided at the input end of the first torsion bar 21 rotates. .

  The rotational displacement due to this rotation appears as a change in the magnetic flux collected by the first and second magnetic flux collecting yokes 11A and 12A of the first magnetic detector 15A, and this magnetic flux is reflected in the magnetic detectors 13A and 14A. Detected as a sin wave signal and a cos wave signal. These detection signals are input to the angle calculation circuit 16A, and the angle calculation circuit 16A calculates the arc tangent of the first rotation angle θA.

  On the other hand, the steering force that has passed through the input end is transmitted to the output end via twisting (elastic deformation) of the first torsion bar 21, and the output end rotates. That is, the input end (input shaft 32a) and the output end (output shaft 32b) are relatively displaced in the rotation direction. As a result, the multipolar ring magnet 10B of the first angle sensor 1B provided at the output end of the first torsion bar 21 rotates. The rotational displacement due to this rotation appears as a change in the magnetic flux collected by the first and second magnetic flux collecting yokes 11B and 12B of the first magnetic detector 15B, and this magnetic flux is reflected in the magnetic detectors 13B and 14B. Detected as a sin wave signal and a cos wave signal. These detection signals are input to the angle calculation circuit 16B, and the second rotation angle θB is calculated by obtaining these arc tangents in the angle calculation circuit 16B.

  The first torque sensor 2 detects rotational displacement (angle) between the first angle sensor 1A and the first angle sensor 1B when the input end and the output end of the first torsion bar 21 are rotated. It is possible to determine the order (that is, the order of rotational displacement). Thereby, when it is determined that the angle detection is performed in the order of the first angle sensor 1A → the first angle sensor 1B, it is possible to determine that the torque (steering torque) input is from the steering wheel 31 side. It is. Similarly, when it is determined that the angle detection is performed in the order of the first angle sensor 1B → the first angle sensor 1A, it is possible to determine that the torque is input from the wheel side.

On the other hand, the first torque calculation circuit 23 obtains a difference (relative angle φ) between the first rotation angle θA from the angle calculation circuit 16A and the second rotation angle θB from the angle calculation circuit 16B, and this relative angle φ From the above, the steering torque Ts is calculated. That is, if the relative angle φ is obtained, for example, when the first torsion bar 21 is a solid cylindrical member, the steering torque Ts related to the first torsion bar 21 is “φ = 32 · Ts · L / (Π · D ⁴ · G) ”. Note that L is the length of the first torsion bar 21, D is the diameter of the first torsion bar 21, and G is the transverse elastic modulus of the first torsion bar 21.

In addition, the EPS control unit 44 generates a current command value based on the steering torque Ts from the first torque calculation circuit 23, the vehicle speed V from the vehicle speed sensor 50, and the motor rotation angle θm from the electric motor 43 in the current command calculation circuit. Calculate. Further, the EPS control unit 44 generates a three-phase AC current corresponding to the current command value calculated by the current command calculation circuit in the motor drive circuit, supplies the generated three-phase AC current to the electric motor 43, and A steering assist force is generated in the motor 43.
Here, in the first embodiment, the first torsion bar 21 corresponds to the elastic member, the input shaft 32a and the output shaft 32b correspond to the first rotating shaft and the second rotating shaft, and the first torque calculation. The circuit 23 corresponds to a torque value calculation unit.

(Effect of 1st Embodiment)
(1) The first angle sensor 1 is a cylindrical multipolar ring magnet 10 magnetized in the circumferential direction by sinusoidal magnetization, and is opposed to the outer peripheral surface of the multipolar ring magnet 10 and positioned in the circumferential direction. A first magnetic collecting yoke 11 and a second magnetic collecting yoke 12 arranged with a phase difference, a magnetic detector 13 for detecting a magnetic flux collected by the first magnetic collecting yoke 11 and the second magnetic collecting yoke 12, and 14 and an angle calculation circuit 16 that calculates the rotation angle of the multipolar ring magnet 10 based on the magnetic flux detected by the magnetic detectors 13 and 14.
With this configuration, compared to a configuration in which the magnetic detector directly detects the magnetic flux of the multipolar ring magnet 10, the detection angle is caused by the magnetic flux error due to the magnet pitch error and the gap variation between the magnet and the magnetic detector. It is possible to suppress errors in (rotation angle).

(2) The first angle sensor 1 is equidistant so that the first magnetism collecting yoke 11 and the second magnetism collecting yoke 12 face the plurality of magnetic poles along the circumferential direction of the multipolar ring magnet 10. The first to third magnetic flux collectors 111a to 113a and the first to third magnetic flux collectors 111b to 113b arranged in parallel are provided.
With this configuration, it is possible to collect magnetic flux from a plurality of magnetic poles by a plurality of magnetism collecting portions, and this is caused by fluctuations in magnetic flux due to pitch error of the magnet and gap fluctuation between the magnet and the magnetic detector. The error in the detection angle (rotation angle) can be further reduced.

(3) The first angle sensor 1 includes a first magnetism collecting yoke 11 and a second magnetism collecting yoke 12 arranged in parallel along the outer circumferential surface of the multipolar ring magnet 10 at equal intervals in the circumferential direction. A connecting portion 114a for connecting the third magnetism collecting portions 111a to 113a and an end portion on the opposite side to the tip side of the first to third magnetism collecting portions 111a to 113a, and a side opposite to the connecting side of the connecting portion 114a. A first upper yoke 11a having a detection portion 115a provided at the end; and a first lower yoke 11b having the same shape as the first upper yoke 11a. One of the lower yokes 11b is rotated 180 ° with respect to the other, and the first to third magnetism collecting portions 111a to 113a of the first upper yoke 11a and the first to third of the first lower yoke 11b The magnetic flux collectors 111b to 113b are alternately arranged along the circumferential direction. Sea urchin, and magnetic detector 13 is constituted by combining both to be disposed between the detecting portion 115b of the detection unit 115a and the first lower yoke 11b of the first upper yoke 11a.

If it is this structure, the magnetic flux from each N pole magnetic pole which one magnetism collection part opposes will be collected from two components of the same shape, and the collected magnetic flux will reach the magnetic detector 13 and reached. It is possible to configure a magnetic circuit having a magnetic path in which the magnetic flux returns to the magnetic poles of the opposite S poles through the other magnetic flux collector.
As a result, a magnetic circuit can be configured by a combination of two members having the same shape, so that it is possible to reduce costs during mass production, such as reduction in mold costs.

(4) In the first angle sensor 1, the circumferential widths of the first to third magnetic flux collectors 111a to 113a and the first to third magnetic flux collectors 111b to 113b are the circumferences of the magnetic poles of the multipolar ring magnet 10. The circumferential interval between the tip portions of the first to third magnetic flux collectors 111a to 113a and the first to third magnetic flux collectors 111b to 113b is configured to be substantially the same as the width in the direction. A slope is provided at the tip so as to be larger than the circumferential interval of 115b.
With this configuration, it is possible to collect the magnetic flux of the sine wave magnetized multipolar ring magnet and to detect the magnetic flux collection that changes in a sine wave shape in the magnetic detectors 13 and 14.

(5) The first angle sensor 1 is composed of a first magnetism collecting yoke 11 and a second magnetism collecting yoke 12 in which a plurality of magnetism collecting yokes are arranged with a phase difference of 90 degrees in electrical angle. Yes.
With this configuration, it is possible to obtain a sine wave magnetic flux detection signal from the magnetic detector 13 of the first magnetic flux collecting yoke 11, and to detect cosine wave magnetic flux from the magnetic detector 14 of the second magnetic flux collecting yoke 12. A signal can be obtained.

(6) The change in the magnetic flux collected by the first magnetism collecting yoke 11 and the second magnetism collecting yoke 12 is sinusoidal, and the first magnetism collecting yoke 11 and the second magnetism collecting yoke 12 are electrically angled. By arranging with a phase difference of 90 degrees, the first angle sensor 1 detects that the magnetic detector 13 detects the magnetic flux collected by the first magnetic collecting yoke 11 as a sine wave, and the magnetic detector 14 The magnetic flux collected by the second magnetic flux collecting yoke 12 is detected as a cosine wave, and the angle calculation circuit 16 detects the sine wave-like magnetic flux detected by the magnetic detector 13 and the cosine-wave-like magnetic flux detected by the magnetic detector 14. The rotation angle of the multipolar ring magnet 10 is calculated by obtaining the arc tangent from
With this configuration, the rotation angle can be easily calculated from the detected magnetic flux.

(7) In the first angle sensor 1, the first magnetism collecting yoke 11 and the second magnetism collecting yoke 12 are made of any one material of permalloy, electromagnetic soft iron, and silicon steel plate.
With this configuration, magnetic flux can be collected relatively efficiently.
(8) As for the 1st angle sensor 1, the multipolar ring magnet is comprised from any one magnet among a neodymium magnet, a ferrite magnet, and a samarium cobalt magnet.
With this configuration, for example, a neodymium magnet is used when a relatively large magnetic flux density is required, a ferrite magnet is used when a relatively small magnetic flux density is sufficient, and a samarium cobalt magnet is used when high temperature resistance is required. It is possible to configure a multipolar ring magnet having appropriate magnetic flux density and characteristics according to the required magnetic flux density, usage environment, and the like.

(9) The first torque sensor 2 includes the first torsion bar 21 that connects the input shaft 32a and the output shaft 32b, and the first angle provided at one end (input end) of the first torsion bar 21. A first angle sensor 1A comprising the sensor 1, a first angle sensor 1B comprising the first angle sensor 1 provided at the other end (output end) of the first torsion bar 21, and a first angle And a first torque calculation circuit 23 that calculates a steering torque Ts based on a difference value between the first rotation angle θA detected by the sensor 1A and the second rotation angle θB detected by the first angle sensor 1B.

With this configuration, the difference between the detection angles of the first angle sensors 1A and 1B having the same configuration as the first angle sensor 1 (the twist angle (relative angle φ) of the first torsion bar 21) is calculated. Is possible. The steering torque Ts can be calculated from the relative angle φ.
As a result, it is possible to suppress the influence on the relative angle φ due to the magnetic flux fluctuation of the first angle sensor 1 due to the magnet pitch error and the gap fluctuation between the magnet and the magnetic detector. As a result, it is possible to obtain the steering torque Ts with relatively little error due to magnetic flux fluctuations in the first angle sensor 1.

(10) The first torque sensor 2 has a torque detection range of −8 ° to + 8 ° of the rotation angle of the first torsion bar 21 and 22 pole pairs of the multipolar ring magnet 10.
With this configuration, the number of pole pairs of the multipolar ring magnet 10 is 22 with respect to a mechanical angle of 360 °, so that a mechanical angle of about 16 ° corresponds to one magnetic pole pair. Accordingly, each magnetic pole pair (N pole 8 °, S pole 8 °) corresponds to an angle range of −8 ° to + 8 ° corresponding to 16 °, and the rotation angle is obtained by simple calculation. Is possible.

(11) The electric power steering device 3 includes the first torque sensor 2.
With this configuration, for example, the electric motor 43 that constitutes the electric power steering device 3 can be driven and controlled by the steering torque Ts that is relatively less affected by errors caused by magnetic flux fluctuations in the angle sensor.
Accordingly, it is possible to drive the electric motor with an appropriate steering torque Ts to generate an appropriate steering assist torque. As a result, it is possible to perform steering assist with good steering feeling and the like.

(12) In the electric power steering apparatus 3, the torque calculated by the first torque calculation circuit 23 is calculated by the first torque sensor 2 based on the angle detection states of the first angle sensor 1A and the first angle sensor 1B. Then, it is determined whether the torque is input from the steering wheel 31 side or the torque is input from the tire (wheels 4FR and 4FL) side.
With this configuration, it is possible to determine the input direction of the torque, so it is possible to determine whether the torque is applied by the driver or a disturbance externally applied to the vehicle, and appropriate steering is performed. Auxiliary control can be performed. As a result, it is possible to perform steering assist with good steering feeling and the like.

(13) The first vehicle 4 includes the electric power steering device 3.
According to this configuration, the electric power steering device 3 can generate the steering assist torque with the steering torque Ts that is relatively less affected by the error caused by the magnetic flux fluctuation in the angle sensor.
As a result, it is possible to perform steering assist with an appropriate steering assist torque with little error due to magnetic flux fluctuations in the angle sensor, and it is possible to perform good steering assist such as steering feeling.

(Second Embodiment)
(Constitution)
The second angle sensor 5 according to the second embodiment of the present invention is the same as the first angle sensor 1 according to the first embodiment described above. Two sets of the yoke 12 and the magnetic detector 14 are added.
Hereinafter, a set of the first magnetic flux collecting yoke 11 and the magnetic detector 13 and the second magnetic flux collecting yoke 12 and the magnetic detector 14 may be referred to as a “magnetic flux detection component”.
Specifically, as shown in FIG. 9, the second angle sensor 5 includes a first magnetic flux detection configuration unit 17A, a second magnetic flux detection configuration unit 17B, and a third magnetic flux detection configuration unit 17C. Consists of.

Hereinafter, the first magnetic flux detection component 17A, the second magnetic flux detection component 17B, and the third magnetic flux detection component 17C may be referred to as “first to third magnetic flux detection components 17A to 17C”. .
Each of the first to third magnetic flux detection components 17A to 17C is opposed to the outer peripheral surface of the multipolar ring magnet 10 and is arranged in parallel in the circumferential direction with a phase difference of 90 ° in electrical angle. The magnetic yoke 11 (including the magnetic detector 13) and the second magnetic flux collecting yoke 12 (including the magnetic detector 14) are included. In FIG. 9, the magnetic detectors 13 and 14 are not shown.

In addition, the first to third magnetic flux detection components 17 </ b> A to 17 </ b> C are arranged in parallel at equal intervals along the circumferential direction of the multipolar ring magnet 10.
Moreover, the 1st-3rd magnetic flux detection structure parts 17A-17C are integrally formed by molding with a resin material, as shown in FIG. 10, and comprise the cylindrical 2nd magnetic detection part 18. As shown in FIG.
Three sets of sinusoidal wave and coswave magnetic flux signals detected by the first to third magnetic flux detection components 17 </ b> A to 17 </ b> C are input to the angle calculation circuit 16.

  The angle calculation circuit 16 of the second embodiment calculates the arc tangent for each of the three sets of input magnetic flux signals, and calculates the rotation angle of the multipolar ring magnet 10 from the average value of the three arc tangents. In addition, the angle calculation circuit 16 is configured to determine an abnormal location by majority vote when there is a difference value between each value and another value that is equal to or greater than a preset threshold value among the three arc tangents. It has become. That is, the magnetic flux detection component corresponding to the arc tangent having the most deviating value is determined as an abnormal location. And the average value of the rotation angle based on the detection results of the remaining two magnetic flux detection components is adopted as the normal value.

In addition, the 2nd angle sensor 5 is the 1st of the electric power steering apparatus 3 mounted in the 1st vehicle 4 of the said 1st Embodiment similarly to the 1st angle sensor 1 of the said 1st Embodiment. The present invention can be applied to an angle sensor that constitutes the torque sensor 2.
Here, in the second embodiment, the first torsion bar 21 corresponds to the elastic member, the input shaft 32a and the output shaft 32b correspond to the first rotating shaft and the second rotating shaft, and the first torque calculation. The circuit 23 corresponds to a torque value calculation unit.

(Effect of 2nd Embodiment)
In addition to the effects of the first embodiment, the second embodiment has the following effects.
(1) The second angle sensor 5 includes a set of two magnetic collecting yokes (a first magnetic collecting yoke 11 and a second magnetic collecting yoke) in which a plurality of magnetic collecting yokes are arranged with a phase difference of 90 degrees in electrical angle. The magnetic yokes 12) are composed of a plurality of sets (for example, three sets), and the plurality of sets of magnetic collecting yokes (for example, the first to third magnetic flux detection components 17 </ b> A to 17 </ b> C) are arranged in the circumferential direction of the multipolar ring magnet 10. It is arranged at equal intervals along.
With this configuration, the sin wave flux signal and the cosine wave detected by the magnetic detectors 13 and 14 in each of the plurality of sets of magnetic flux collecting yokes (first to third magnetic flux detection components 17A to 17C). The rotation angle of the multipolar ring magnet 10 can be calculated from the magnetic flux signal.

  Thereby, for example, by setting the average value of the respective rotation angles as the rotation angle, it is possible to cancel the influence of misalignment, inclination, etc. of the multipolar ring magnet and obtain more accurate angle information. In addition, for example, when the calculation result includes a rotation angle at which the mutual difference value is equal to or larger than a preset threshold value, an abnormal part is determined by majority decision, and an angle is detected at the remaining normal part. By adopting the result as angle information, the reliability of the angle information can be improved.

(Third embodiment)
(Constitution)
As shown in FIG. 11, the second vehicle 6 according to the third embodiment includes a belt-type continuously variable transmission 7, a drive source 60 such as an engine, drive wheels 61L and 61R, a starting clutch 62, a differential, And a gear 63.

  As shown in FIG. 11, the belt-type continuously variable transmission 7 rotates inside a transmission case (not shown) to rotatably support a driving pulley 720 and a driven pulley 750 for continuously variable transmission. Part 700 is provided. The rotating unit 700 includes an input-side rotating shaft 71 and an output-side rotating shaft 72 that are arranged in parallel to each other. The input side rotating shaft 71 is rotatably supported in the transmission case via a pair of rolling bearings 74A and 74B, and the output side rotating shaft 72 is paired in the transmission case with a pair of rolling bearings 74C and 74C. It is rotatably supported via 74D.

  As shown in FIG. 11, the belt-type continuously variable transmission 7 is configured such that the input-side rotating shaft 71 is rotationally driven by a driving source 60 via a starting clutch 62 such as a torque converter or an electromagnetic clutch. It has become. Further, the input side rotary shaft 71 is provided with a drive side pulley 720 at a portion located between the pair of rolling bearings 74A and 74B at an intermediate portion thereof. The shaft 71 rotates in synchronization. The distance between the pair of drive side pulley plates 73a and 73b constituting the drive side pulley 720 is adjusted by displacing one drive side pulley plate 73a in the axial direction by the drive side actuator 77 (left side in FIG. 11). It is free. That is, the groove width of the driving pulley 720 can be enlarged and reduced by the driving actuator 77.

  Further, the output side rotating shaft 72 is provided with a driven pulley 750 at a portion located between the pair of rolling bearings 74C and 74D at an intermediate portion thereof, and the driven pulley 750 and the output side rotating shaft are arranged. 72 is rotated synchronously. The distance between the pair of driven pulley plates 75a and 75b constituting the driven pulley 750 is determined by displacing one (right side in FIG. 11) driven pulley plate 75a in the axial direction by the driven actuator 78. It is adjustable. That is, the groove width of the driven pulley 750 can be enlarged and reduced by the driven actuator 78. An endless belt 76 is stretched between the driven pulley 750 and the driving pulley 720. The endless belt 76 is made of metal.

As shown in FIG. 11, the belt-type continuously variable transmission 7 further includes a counter shaft 770 that is connected to the output-side rotary shaft 72 via an output gear 72 </ b> G that can rotate integrally with the output-side rotary shaft 72. .
As shown in FIG. 12, the counter shaft 770 includes an input gear shaft 772, an output gear shaft 775, and a second torque sensor 8.

The input gear shaft 772 has a substantially cross-shaped cross section, and includes an outer shaft portion 772a and an inner shaft portion 772b.
The outer shaft portion 772a is a shaft having a hollow structure, and an annular input gear portion 772G is formed on the outer peripheral portion substantially in the center in the axial direction. The inner shaft portion 772b is provided concentrically with the outer shaft portion 772a in the hollow inside the outer shaft portion 772a, one end is fixed to one end portion of the outer shaft portion 772a, and a part on the other end side (example in FIG. 12). Then, about 1/3 of the total length is configured to protrude from the other end side of the outer shaft portion 772a. With this configuration, the outer shaft portion 772a, the input gear portion 772G, and the inner shaft portion 772b rotate integrally. The input gear portion 772G is configured to mesh with the output gear 72G.

The output gear shaft 775 is a hollow shaft, and an annular output gear portion 775G having an outer diameter smaller than that of the input gear portion 772G is formed on the outer peripheral portion of one end on the input gear shaft 772 side.
Further, the output gear shaft 775 is disposed concentrically with the input gear shaft 772, and has a configuration in which part of the outer shaft portion 772 a and the inner shaft portion 772 b of the input gear shaft 772 is enclosed in the inner hollow. Note that the tip end portion of the inner shaft portion 772b protruding from the outer shaft portion 772a protrudes from the end portion of the output gear shaft 775 opposite to the output gear portion 775G. Further, the output gear shaft 775 is configured such that the output gear portion 775G meshes with the differential gear 63.

The second torque sensor 8 detects the shaft torque Ta input to the belt type continuously variable transmission 7.
As shown in FIG. 12, the second torque sensor 8 includes a first angle sensor 1C, a first angle sensor 1D, a second torsion bar 81 formed of an elastic member such as spring steel, And a second torque calculation circuit 83. The first angle sensor 1C and the first angle sensor 1D are configured from the first angle sensor 1 of the first embodiment. Therefore, C and D are appended to the end of the code to distinguish them. Hereinafter, C and D are appended to the end of the reference numerals as appropriate for the reference numerals of the other components to distinguish them. In place of the first angle sensor 1, the second angle sensor 5 of the second embodiment may be applied.
1C of 1st angle sensors are provided in the front-end | tip part protruded from the output gear shaft 775 of the inner side shaft part 772b of the input gear shaft 772. The first angle sensor 1D is provided adjacent to the first angle sensor 1C at the end of the output gear shaft 775 opposite to the output gear portion 775G.

The second torsion bar 81 is formed in a cylindrical rod-like hollow structure having a length close to the entire length of the countershaft 770, and includes an outer shaft portion 772a of the input gear shaft 772 and an inner diameter portion of the output gear shaft 775, and an input gear shaft 772. Is provided in the hollow between the inner shaft portion 772b and the outer peripheral portion. That is, the second torsion bar 81 encloses most of the inner shaft portion 772b in the inner hollow.
One end of the second torsion bar 81 on the input gear shaft 772 side is fixed to the outer shaft portion 772a, and one end of the second torsion bar 81 on the output gear shaft 775 side is fixed to the output gear shaft 775. That is, the input gear shaft 772 and the output gear shaft 775 are connected via the second torsion bar 81.
Therefore, when the input gear shaft 772 rotates, the end portion of the second torsion bar 81 on the input gear shaft 772 side (hereinafter referred to as “input gear end”) rotates. The power generated by the rotation of the input gear end is transmitted to the end portion on the output gear shaft 775 side (hereinafter referred to as “output gear end”) via the twist of the second torsion bar 81, and the output gear end rotates. To do. That is, the output gear shaft 775 rotates.

  The first angle sensor 1C detects a magnetic flux corresponding to the rotational displacement of the input gear shaft 772, and the first angle sensor 1D detects the magnetic flux corresponding to the rotational displacement of the output gear shaft 775. The magnetic flux detected by the first angle sensor 1C is input as an electric signal to an internal angle calculation circuit 16C (not shown), and the magnetic flux detected by the first angle sensor 1D is input as an electric signal to the internal angle calculation circuit 16D. (Not shown).

The angle calculation circuit 16C and the angle calculation circuit 16D are composed of the angle calculation circuit 16 having the same configuration. Therefore, C and D are appended to the end of the code to distinguish them.
The angle calculation circuit 16C calculates a third rotation angle θC that is a rotation angle of the input gear shaft 772 in response to an input of an electrical signal corresponding to the detected magnetic flux. Then, the calculated third rotation angle θC is output to the second torque calculation circuit 83.

Further, the angle calculation circuit 16D calculates a fourth rotation angle θD that is a rotation angle of the output gear shaft 775 in response to an input of an electrical signal corresponding to the detected magnetic flux. Then, the calculated fourth rotation angle θD is output to the second torque calculation circuit 83.
The second torque calculation circuit 83 calculates a difference (relative angle φ corresponding to the twist of the second torsion bar 81) between the third rotation angle θC and the fourth rotation angle θD, and based on the relative angle φ, The shaft torque Ta is calculated. The shaft torque Ta is output to, for example, a hydraulic control unit (not shown) that controls the pressing force of the pulley by hydraulic pressure.

(Operation)
Next, the operation of the third embodiment will be described.
In the belt type continuously variable transmission 7, the power transmitted from the driving source 60 to the input side rotating shaft 71 via the starting clutch 62 is transmitted from the driving side pulley 720 to the driven side pulley 750 via the endless belt 76. The The power transmitted to the driven pulley 750 is transmitted to the output-side rotating shaft 72 and is transmitted to the counter shaft 770 via the output gear 72G that rotates integrally with the output-side rotating shaft 72.

At this time, the motive power transmitted from the output gear 72G to the counter shaft 770 is first transmitted to the input gear portion 772G meshing with the output gear 72 to rotate the input gear shaft 772. The rotational displacement (third rotation angle θC) of the input gear shaft 772 is detected by the first angle sensor 1C.
Subsequently, the input gear end of the second torsion bar 81 rotates as the input gear shaft 772 rotates, and the power generated by this rotation is transmitted to the output gear end via the second torsion bar 81. As a result, the output gear end rotates, and the output gear shaft 775 rotates with this rotation. The rotational displacement (fourth rotation angle θD) of the output gear shaft 775 is detected by the first angle sensor 1D.

The second torque calculation circuit 83 obtains a difference (relative angle φ) between the third rotation angle θC from the angle calculation circuit 16C and the fourth rotation angle θD from the angle calculation circuit 16D, and the shaft is determined from the relative angle φ. Torque Ta is calculated. That is, if the relative angle φ is obtained, for example, the axial torque Ta related to the second torsion bar 81 which is a hollow cylindrical member is “φ = 32 · Ta · L / (π · (D0 ⁴ −D1 ⁴ ). It is possible to calculate from “G)”. L is the length of the second torsion bar 81, D0 is the outer diameter of the second torsion bar 81, D1 is the inner diameter of the second torsion bar 81, and G is the transverse elastic modulus of the second torsion bar 81. is there. Then, the calculated shaft torque Ta is output to the control unit.
Here, in the third embodiment, the second torsion bar 81 corresponds to the elastic member, the input gear shaft 772 and the output gear shaft 775 correspond to the first rotation shaft and the second rotation shaft, and the second The torque calculation circuit 83 corresponds to the torque value calculation unit.

(Effect of the third embodiment)
The third embodiment has the following effects in addition to the effects of the first embodiment and the second embodiment.
(1) A belt type continuously variable transmission 7 which is a kind of transmission is a second type constituted by the first angle sensor 1 or the second angle sensor 5 of the first embodiment or the second embodiment. A torque sensor 8 is provided.
With this configuration, the second torque sensor 8 can calculate the shaft torque Ta that is relatively less affected by errors caused by magnetic flux fluctuations in the angle sensor than in the prior art.
As a result, the pushing force of the pulley can be controlled by a more appropriate shaft torque Ta, so that it is possible to further reduce the loss due to the slip of the belt.

(2) The second vehicle 6 includes the belt type continuously variable transmission 7 which is a kind of transmission.
With this configuration, it is possible to control the pressing force of the pulley of the belt-type continuously variable transmission 7 by the shaft torque Ta, which is relatively less affected by errors caused by magnetic flux fluctuations in the angle sensor than in the past. It becomes.
As a result, the pressing force of the pulley can be controlled by a more appropriate shaft torque Ta, so that it is possible to implement good power transmission with less loss due to belt slip.

(Modification)
(1) In each of the above embodiments, the number of the magnetic flux collecting portions included in the magnetic flux collecting yoke is three. However, the present invention is not limited to this configuration, and the number of magnetic flux collecting portions may be two or less or four or more.
(2) In each of the above embodiments, the shape of the magnetism collecting portion is configured to have a flat plate surface, but the present invention is not limited to this configuration. Even if the circumferential cross-sectional shape of at least the facing surface of the magnetism collecting part is configured to be the same shape as the circular arc shape of the circumferential cross-section of the multipolar ring magnet, the entire facing surface has an equal distance from the outer peripheral surface. Good.

(3) In the third embodiment, the first angle sensor 1 or the second angle sensor 5 uses the second torque sensor 8 to detect the shaft torque (power transmission torque) Ta of the belt-type continuously variable transmission 7. However, the present invention is not limited to this configuration. For example, the present invention may be applied to a torque sensor that detects the shaft torque of another transmission such as an automatic transmission (hereinafter referred to as “AT”). For example, when the second torque sensor 8 is applied to the detection of the AT shaft torque, the pressure of the AT hydraulic multi-plate clutch can be controlled by the shaft torque. As a result, it is possible to reduce power loss due to clutch slipping as compared with the prior art, and to reduce shift shock.

(4) In the first embodiment, the first angle sensor 1A is provided at the upper end of the first torsion bar 21 and the first angle sensor 1B is provided at the lower end of the first torsion bar 21. The configuration is not limited to this. For example, the first angle sensor 1A may be provided on the input shaft 32a, and the first angle sensor 1B may be provided on the output shaft 32b. The same applies to the case where the second angle sensor 5 of the second embodiment is provided.

(5) In the said 2nd Embodiment, the number of the magnetic flux detection structure parts (group of magnetic collection yoke) which comprises the 2nd angle sensor 5 is set to 3 sets (1st-3rd magnetic flux detection structure parts 17A-17C). However, the present invention is not limited to this configuration, and may be two sets or four or more sets within a configurable range.
Each of the above embodiments is a preferable specific example of the present invention, and various technically preferable limitations are given. However, the scope of the present invention is particularly limited in the above description. As long as there is no description, it is not restricted to these forms.
Further, the present invention is not limited to the above-described embodiments, and modifications, improvements, and the like within the scope that can achieve the object of the present invention are included in the present invention.

DESCRIPTION OF SYMBOLS 1 ... 1st angle sensor, 2 ... 1st torque sensor, 3 ... Electric power steering apparatus, 4, 6 ... Vehicle, 5 ... 2nd angle sensor, 7 ... Belt type continuously variable transmission, 10 ... Multipole Ring magnet, 11 ... first magnetic collecting yoke, 11a ... first upper yoke, 11b ... first lower yoke, 12 ... second magnetic collecting yoke, 12a ... second upper yoke, 12b ... second Lower yoke, 13, 14 ... Magnetic detector, 15, 18 ... Magnetic detector, 16 ... Angle calculation circuit, 21 ... First torsion bar, 23 ... First torque calculation circuit, 81 ... Second torsion Bar, 83 ... 2nd torque calculation circuit, 111a-113a, 111b-113b, 121a-123a, 121b-123b ... 1st-3rd magnetism collecting part, 770 ... Countershaft

Claims (16)

A cylindrical multipolar ring magnet magnetized in the circumferential direction by sinusoidal magnetization;
A plurality of magnetism collecting yokes opposed to the outer circumferential surface of the multipolar ring magnet and disposed with a phase difference in the circumferential direction;
A magnetic detector for detecting a magnetic flux collected by the magnetic collecting yoke;
An angle sensor comprising: an angle calculation unit that calculates a rotation angle of the multipolar ring magnet based on the magnetic flux detected by the magnetic detection unit.   2. The angle sensor according to claim 1, wherein the magnetic flux collecting yoke includes a plurality of magnetic flux collecting portions arranged in parallel at equal intervals so as to face a plurality of magnetic poles along a circumferential direction of the multipolar ring magnet.   The magnetism collecting yoke connects a plurality of magnetism collecting portions arranged in parallel at equal intervals in the circumferential direction along the outer peripheral surface of the multipolar ring magnet and an end portion on the opposite side to the tip side of the magnetism collecting portions. An upper yoke having a connection portion and a detection portion provided at an end of the connection portion opposite to the connection side of the magnetism collecting portion; a lower yoke having the same shape as the upper yoke; One of the yoke and the lower yoke is rotated 180 ° with respect to the other so that the magnetism collecting portions of the upper yoke and the magnetism collecting portions of the lower yoke are arranged alternately along the circumferential direction. The angle sensor according to claim 2, wherein the magnetic detection unit is configured so as to be disposed between the detection unit of the upper yoke and the detection unit of the lower yoke.   The circumferential width of the magnetism collecting portion is configured to be substantially the same as the circumferential width of the magnetic poles of the multipolar ring magnet, and the circumferential interval between the tip portions of the magnetism collecting portion is The angle sensor according to claim 3, wherein a gradient is provided at the tip portion so as to be larger than the interval in the circumferential direction of the detection unit.   5. The angle sensor according to claim 1, wherein each of the plurality of magnetism collecting yokes includes two magnetism collecting yokes arranged with a phase difference of 90 degrees in electrical angle. The plurality of magnetism collecting yokes is composed of a plurality of sets of two magnetism collecting yokes arranged with a phase difference of 90 degrees in electrical angle,
The angle sensor according to any one of claims 1 to 4, wherein the plurality of sets of magnetism collecting yokes are arranged at equal intervals along a circumferential direction of the multipolar ring magnet. The change in magnetic flux is sinusoidal,
By arranging the two magnetic collecting yokes with a phase difference of 90 degrees in electrical angle,
The magnetic detection unit detects a magnetic flux collected by one of the two magnetic collecting yokes as a sine wave, detects a magnetic flux collected by the other magnetic collecting yoke as a cosine wave,
The angle calculation unit calculates a rotation angle of the multipolar ring magnet by obtaining an arc tangent from the sine wave-like magnetic flux and the cosine wave-like magnetic flux detected by the magnetic detection unit. Angle sensor.   The angle sensor according to any one of claims 1 to 7, wherein the magnetism collecting yoke is made of any one material of permalloy, electromagnetic soft iron, and silicon steel plate.   The angle sensor according to any one of claims 1 to 8, wherein the multipolar ring magnet is configured by any one of a neodymium magnet, a ferrite magnet, and a samarium cobalt magnet. An elastic member connecting the first rotating shaft and the second rotating shaft;
A first angle sensor provided at one end of the elastic member or the first rotation shaft;
A second angle sensor provided at the other end of the elastic member or the second rotation shaft;
A torque value calculation unit that calculates a torque value based on a difference value between a first angle detection value detected by the first angle sensor and a second angle detection value detected by the second angle sensor;
The first angle sensor and the second angle sensor are torque sensors each including the angle sensor according to any one of claims 1 to 9. The torque detection range is a range of −8 ° to + 8 ° of the rotation angle,
The torque sensor according to claim 10, wherein the number of pole pairs of the multipolar ring magnet is set to 22.   An electric power steering apparatus comprising the torque sensor according to claim 10.   The torque sensor is based on the angle detection state of the first angle sensor and the second angle sensor, and the torque calculated by the torque value calculation unit is input from the steering wheel side or input from the tire side. The electric power steering apparatus according to claim 12, wherein the electric power steering apparatus determines whether the torque is applied.   A vehicle comprising the electric power steering device according to claim 12.   A transmission comprising the torque sensor according to claim 10.   A vehicle comprising the transmission according to claim 15.

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