Disclosed are a cooperative steering apparatus and a vehicle steering apparatus comprising the same. The disclosed cooperative steering apparatus comprises: an input shaft that rotates as a steering wheel of a vehicle rotates; a drive motor comprising a rotor that rotates independently of the input shaft; a strain wave speed reducer comprising a wave generator that rotates as the rotor rotates, a flex spline that rotates as the input shaft rotates, a circular spline that rotates as at least one of the wave generator and the flex spline rotates, and an output shaft that rotates coaxially with the circular spline; a steering wheel connection shaft comprising one end connected to the steering wheel and the other end connected to the input shaft to transmit rotation of the steering wheel to the input shaft; and a rotation locking part that selectively blocks rotation of the steering wheel connection shaft, and comprises a lock pin movable in a direction approaching the steering wheel connection shaft from the outside of the steering wheel connection shaft and in an opposite direction to the direction. According to the present invention, an autonomous driving steering signal is input to a cooperative steering apparatus instead of a main steering apparatus so as to steer a vehicle in an autonomous driving mode of the vehicle. Accordingly, it is possible to easily and reliably add an autonomous driving function even to a vehicle, such as a bus or a truck, in which a hydraulic steering apparatus is adopted as the main steering apparatus.

    협조 조향 장치 및 이를 구비한 차량용 조향 장치가 개시된다. 개시된 협조 조향 장치는, 차량의 조향휠이 회전함에 따라 회전하는 입력 샤프트; 입력 샤프트와 독립적으로 회전하는 회전자를 구비한 구동 모터; 회전자가 회전함에 따라 회전하는 웨이브 제너레이터, 입력 샤프트가 회전함에 따라 회전하는 플렉스 스플라인, 웨이브 제너레이터 및 플렉스 스플라인 중 적어도 하나가 회전함에 따라 회전하는 써큘라 스플라인, 및 써큘라 스플라인과 동축 회전하는 출력 샤프트를 구비한 스트레인 웨이브 감속기; 조향휠의 회전을 입력 샤프트에 전달하기 위하여 일 단부가 조향휠에 연결되고 타 단부가 입력 샤프트에 연결된 조향휠 연결 샤프트; 및 조향휠 연결 샤프트의 회전을 선택적으로 가로막는 것으로, 조향휠 연결 샤프트의 바깥에서 조향휠 연결 샤프트를 향해 접근하는 방향 및 그 반대 방향으로 이동 가능한 잠금 핀(pin)을 구비한 회전 잠금부;를 구비한다.


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    Title :

    COOPERATIVE STEERING APPARATUS AND VEHICLE STEERING APPARATUS WITH THE SAME


    Additional title:

    협조 조향 장치 및 이를 구비한 차량용 조향 장치


    Contributors:
    PARK SU JU (author)

    Publication date :

    2023-10-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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