KR101512371B1 - Independent drive and steering module and electric drive model car with the same - Google Patents

Abstract

The present invention relates to an independent drive and a steering module and an electric drive model car with the same comprising: a wheel for driving an electric model car; a drive motor whose rotational axis is fixed for driving the wheel; a king pin axis bracket on which the drive motor is mounted; a steering motor mounted on a rotational axis to steer the king pin bracket; and a mounting bracket fixed on the drive motor and mounted on a body frame of the electric model car. The drive motor and the wheel connected thereto can be independently controlled by having the drive motor and the steering motor on the wheel as a single module. Thereby the wheel can be steered smoothly without slipping and without using a link. The structure is simple. Multiple steering wheels can be installed with ease. Various steering methods such as left and right cornering, driving in a diagonal direction, pivot turning, and driving in a 90 degree side direction. Additionally, the electric model car can be used as a training aid for automobile control because various driving controls are possible.

Description

[0001] The present invention relates to an independent drive and steering module, and more particularly to an independent drive and steering module,

The present invention relates to an independent driving and steering module and an electric powered model car having the same. More particularly, the present invention relates to a power steering motor and a steering motor that are modularized into a single wheel so as to enable steering of a flexible wheel without a steering link An independent drive and steering module capable of easily configuring a steering wheel of a multi-wheel, and an electric motor vehicle having the same.

Generally, an electric model car is a model manufactured to drive by using the driving force of a motor. It is a model that recognizes the operation of the remote controller, which is a remote control, or the surrounding environment, and drives and steers through an autonomous driving control device To this end, it has a driving motor and a steering motor.

The conventional electric model car has a disadvantage in that, when steering is performed depending on the steering link, the structure is complicated, a large number of parts are required, and steering links having different lengths are required depending on the distance between the wheels.

In order to solve such disadvantages, a simple model electric motor vehicle in which the steering is performed by the electric train of the left and right driving wheels without a steering link has been conventionally developed, but the wheels are fixed in the same direction as the straight state There is a problem in that the movement of the model car is not natural, and it is difficult to control the accurate steering due to a large slip on the wheels. In order to prevent this, wheel casters or ball casters are often used for the follower shafts. This makes it difficult to drive the wheels, precisely control the behavior of the model cars, and fail to implement various motions of the model cars there was.

In order to solve the problems of the conventional methods, a motorized model car which links left and right steering wheels with a link for driving the left and right driving wheels and the steering wheels actively has been developed. -2004-0099443 has been proposed, which includes a pair of left and right driving wheels independently driven by different driving sources, a pair of left and right steering wheels, and a pair of left and right steering wheels, And a steering wheel supporting mechanism (link) capable of supporting the steering wheel so as to pivot in the same direction as each other, and the steering axis line is inclined with respect to the vertical direction so that the upper portion of the steering axis line is positioned behind the lower portion in the traveling direction . However, such a conventional technology is merely a form in which wheel casters are mounted on the left and right steering wheels and connected by a link.

In order to solve the problems of the conventional art as described above, in the present invention, the driving motor and the steering motor are modularized into one wheel so that the driving motor and the wheels connected thereto are independently controlled by the steering motor, So as to enable steering of a simple but flexible wheel without using slippage, and to realize various driving patterns such as diagonal traveling, pivot turning, and 90-degree lateral travel as well as left and right turning. Other objects of the present invention will become readily apparent from the following description of the embodiments.

According to an aspect of the present invention, there is provided a vehicle including: a wheel used for driving an electric model car; A driving motor in which a rotating shaft for driving is fixed to the wheels; A king pin shaft bracket to which the driving motor is mounted; A steering motor in which a rotary shaft for steering is coupled to the king pin shaft bracket; And a mounting bracket fixed to the steering motor and coupled to the body frame of the electric model car.

Wherein the kingpin shaft bracket includes: a seating part provided on the upper surface of the driving motor; A coupling portion formed perpendicularly to one side of the seating portion and fixed to the seating portion by being bolted to the driving motor, thereby fixing the driving motor to the seating portion; A supporting portion formed to be perpendicular to both sides of the seat portion and supporting both sides of the driving motor; And a fixing part which is formed to extend laterally on the upper end of each of the supporting parts and on which fixing grooves are formed.

Wherein the fixing motor is fixed to the fixing portion by bolts inserted into the fixing grooves on both sides of the fixing member so that the driving motor is seated in the fixing groove, And the like.

Wherein the mounting bracket is horizontally formed so as to form a fitting hole into which the steering motor is vertically fitted, and a motor protrusion fixed to the fixing protrusion by a bolt in a state in which the fixing protrusion is protruded laterally from the steering motor. government; A vertical connection portion extending vertically downward from an end of the motor fixing portion; And a frame fixing part which is horizontally extended at a lower end of the vertical connection part and fixed to the body frame of the electric model car by bolts.

The king pin shaft bracket is formed as a pair so as to be seated on the upper side and the lower side of the driving motor, and the shaft portion is formed on each side of the driving motor so that the shaft portion is provided above and below the driving motor, And a coupling portion formed vertically to one side of each of the coupling portions is coupled to the driving motor by a bolt. The coupling portion is coupled to the driving motor so as to be rotatable together with the rotary shaft of the steering motor. .

Wherein the mounting bracket comprises a pair of split bodies that are positioned on both sides of the king pin shaft bracket and coupled to each other with the king pin shaft bracket interposed therebetween, the bracket being positioned on the upper and lower sides of the king pin shaft bracket, A pair of king pin axle coupling members for fixing the king pin axle bracket around the axle portion are provided, a motor coupling portion for covering both sides of the steering motor and fixing the steering motor with bolts is formed on each of the split bodies, Each of the divided bodies may be provided with a frame fixing part fixed to the body frame of the electric powered model car by bolts.

According to another aspect of the present invention, there is provided an electric model car comprising: a body frame having a plurality of module mounting portions; A driving and steering module mounted on the module mounting part to be mounted on the body frame to independently perform driving and steering with respect to the body frame; A controller for controlling driving and steering of the driving and steering modules according to a wireless control signal of the remote controller; And a receiving unit installed in the body frame for receiving a radio control signal of the remote controller and transmitting the received radio control signal to the control unit. The driving and steering module includes an electric motor model car comprising an independent driving and steering module according to one aspect of the present invention, Is provided.

According to another aspect of the present invention, there is provided an electric model car comprising: a body frame having a plurality of module mounting portions; A driving and steering module mounted on the module mounting part to be mounted on the body frame to independently perform driving and steering with respect to the body frame; A sensor unit for recognizing a surrounding environment and a vehicle state; And a controller for controlling the driving and steering of the driving and steering modules, respectively, so as to be capable of autonomous travel upon receipt of a signal of the sensor unit, wherein the driving and steering module includes an independent driving and steering module according to one aspect of the present invention, Is provided.

According to the independent driving and steering module and the electric motor model vehicle having the independent driving and steering module according to the present invention, the driving motor and the steering motor are modularized into one wheel so that the driving motor and the wheels connected thereto are independently controlled by the steering motor This makes it possible to smoothly steer the wheel without slipping without using the steering link, and to simplify the structure in a simple manner. Further, the steering wheel of the multi-wheel can be easily configured, Such as turning, turning, and 90-degree lateral travel. In addition, it is possible to provide a platform of an excellent motorized model vehicle as a learning material for controlling the vehicle by enabling various driving control.

1 is a perspective view showing an electric model car according to a first embodiment of the present invention,
2 is a configuration diagram showing an electric model car according to the first embodiment of the present invention,
3 is a perspective view showing an independent driving and steering module according to the first embodiment of the present invention,
FIGS. 4 and 5 are perspective views of the independent drive and steering module according to the first embodiment of the present invention,
6 to 8 are plan views for explaining various driving patterns of the electric model car according to the first embodiment of the present invention,
9 is a perspective view showing an independent driving and steering module according to a second embodiment of the present invention,
FIG. 10 is a front view showing an independent driving and steering module according to a second embodiment of the present invention, in which a mounting bracket on one side is separated,
11 is a perspective view showing an independent driving and steering module according to a second embodiment of the present invention in an exploded manner.

The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated and described in detail in the drawings. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but is to be understood to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention, And the scope of the present invention is not limited to the following examples.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings, wherein like or corresponding elements are denoted by the same reference numerals, and redundant explanations thereof will be omitted.

Fig. 1 is a perspective view showing an electric model car according to a first embodiment of the present invention, and Fig. 2 is a configuration diagram showing an electric model car according to the first embodiment of the present invention.

1 and 2, an electric powered model car 200 according to a first embodiment of the present invention may include a body frame 210, a driving and steering module, a control unit 220, and a receiving unit 230 , And may further include a power supply unit 240 for supplying power necessary for operation.

The body frame 210 may have a frame structure of a model car, and may have various shapes as well as a shape as in the present embodiment. A plurality of module mounting portions 211 for mounting the driving and steering modules may be provided. In the case of four wheels, as in the present embodiment, the module mounting portions 211 may be provided in pairs in the front and rear, respectively. In addition, the body frame 210 may include a cover 213 which is coupled to the upper surface of the body frame 210 by a plurality of spacers 212 in an upwardly spaced manner. On the other hand, the cover 213 may be provided with a mounting hole 214 through which a steering motor 140, which will be described later, is inserted and fixed in order to increase the driving force and the fixing force of the steering module. The lid 213 may have a three-dimensional structure as well as a plate shape as in the present embodiment, but also an outer shape of the model car.

The control unit 220 is installed in the body frame 210 and may control the driving and steering of the driving and steering modules according to the radio control signal of the remote controller 300 and may include a circuit board and circuit elements And it is possible to provide a power source necessary for driving or controlling by using electric wires, terminals and the like in each of the driving motor and the steering motor of the driving and steering module.

On the other hand, the remote controller 300 is configured such that the operating portion 310 comprising a plurality of levers, switches, etc. for operation is configured to control the driving motor and the steering motor for each of the driving and steering modules, respectively, It is possible to select driving patterns such as forward, reverse, left turn, right turn, left turn of small turning radius, right turn of small turning radius, left oblique direction, right oblique direction, 90 degree lateral direction, pivot turn And a transmission unit 320 for converting a selection signal output from the selection unit 320 into a radio signal and transmitting the radio signal. The power unit 330 may include a battery 330 and a rechargeable battery. At this time, the control unit 220 can control each of the driving motor and the steering motor of the driving and steering modules so as to perform the operation of the model car, corresponding to each of the selection signals of the functions output by the operation of the operation unit 310 have.

The receiver 230 is installed in the body frame 210 to receive the radio control signal transmitted from the transmitter 320 of the remote controller 300 and to transmit the radio control signal to the controller 220. The receiving unit 230 may be configured to perform RF communication for receiving an RF signal from the remote controller 300 and perform Bluetooth communication or Wi-Fi communication with the remote controller 300 Lt; / RTI >

The power supply unit 240 may include a battery or a rechargeable battery and may be mounted on a mounting portion (not shown) of the body frame 210 and electrically connected to the controller 220 and a power source .

The driving and steering modules are mounted on the module mounting part 211 to be mounted on the body frame 210 in a large number so that the driving and steering of the body frame 210 can be independently performed. Will be described in detail in the independent driving and steering modules 100 and 400 according to the present invention, since they are the same as the steering modules 100 and 400. [

Meanwhile, unlike the method in which the electric model car 200 according to the first embodiment of the present invention is remotely controlled, the electric model car according to the second embodiment of the present invention recognizes the surrounding environment and the vehicle state A plurality of module mounting portions are mounted on the body frame, and a plurality of the module mounting portions are mounted on the module mounting portion, and the plurality of mounting portions are mounted on the body frame, A controller for controlling the driving and steering of the driving and steering modules so as to be capable of autonomous travel upon receipt of a signal of the sensor section; Wherein the body frame includes a body frame 210 of the electric model car 200 according to the first embodiment, To it it will be omitted. Further, the sensor unit may be installed in the body frame and may include, for example, a GPS receiver, an acceleration sensor, a proximity sensor or a contact sensor for detecting contact of an object or an object, an infrared distance sensor, a laser distance sensor, An encoder that detects the amount of motor rotation, an acoustic sensor that detects audio, and some or all of sensors that recognize the environment and the vehicle state. In addition, the control unit may receive the sensing signal output from the sensor unit, for example, to allow the electric model car to avoid the obstacle, and to control the driving and steering module such that the electric model car runs along a preset path have. Further, the driving and steering module is the same as the independent driving and steering modules 100 and 400 according to the present invention, so that the independent driving and steering modules 100 and 400 according to the present invention will be described in detail.

FIG. 3 is a perspective view illustrating an independent driving and steering module according to a first embodiment of the present invention, and FIGS. 4 and 5 are perspective views illustrating an independent driving and steering module according to a first embodiment of the present invention .

3 to 5, the independent driving and steering module 100 according to the first embodiment of the present invention includes a wheel 110, a driving motor 120, a kingpin axis bracket 130, A steering motor 140, and a mounting bracket 150.

The wheel 110 may be used for driving the motorized model car 200 and may be provided with a shoring portion 111 for fixing the shaking shaft 121 of the driving motor 120 by being fitted in the center portion thereof.

A driving shaft 120 for driving the driving motor 120 is fixed to the wheel 110. Further, the driving motor 120 may have a size and a shape to be spaced apart from the ground surface when the wheel 110 is in contact with the ground.

The kingpin shaft bracket 130 may have various structures for mounting the driving motor 120 and the driving motor 120. For example, the driving motor 120 may be mounted on the upper surface And a fixing part 131 which is vertically formed on one side of the mounting part 131 and is fixed to the mounting part 131 by being coupled to the driving motor 120 with a bolt B1, A supporting portion 133 formed to be perpendicular to both sides of the mounting portion 131 and supporting both sides of the driving motor 120 and a supporting portion 133 formed to extend laterally And a fixing portion 134 in which fixing grooves 135 are formed on respective upper surfaces.

The steering motor 140 is coupled with a rotary shaft 141 for steering to the king pin shaft bracket 130. For example, a fixing piece 142 formed to extend to both sides of the rotary shaft 141 for steering may be fixed And both sides of the fixing piece 142 are inserted into the fixing groove 135 and fixed to the fixing portion 134 by the bolts B2 so that the driving motor 120 can be fixed to the mounting portion 131 .

The mounting bracket 150 is fixed to the steering motor 140 and is coupled to the body frame 210 of the electric model car 200. The mounting bracket 150 is horizontally formed so as to form a fitting hole 151 into which the steering motor 140 is vertically fitted as in the present embodiment in order to engage the steering motor 140 with the body frame 210 A motor fixing portion 152 fixed to the fixing protrusion 143 by bolts B3 in a state in which the fixing protrusion 143 protrudes laterally from the steering motor 140, A vertical connection part 153 extending vertically downward from an end of the vertical connection part 153 and a horizontal connection part 153 extending horizontally at a lower end of the vertical connection part 153 to be fixed to the module mounting part 211 of the body frame 210 with bolts B4. And a < / RTI > Here, the steering motor 140 includes fixing protrusions 143 provided on both sides of the motor fixing portion 152 so that the fixing protrusions 143 are fitted into the fitting holes 151 of the motor fixing portion 152 by bolts B3, 151, respectively.

As shown in Fig. 6, forward and rearward (a) of the electric model car can be enabled by the forward rotation and the reverse rotation drive control of the drive motor, and by forward and reverse drive control of a part of the steering motor Some of the wheels are arranged in the same oblique direction so that the left turn (b) and the right turn (c) of the electric model car can be performed. As shown in Fig. 7, the forward and reverse rotations of all of the steering motors cause the wheels to be different from each other or to be arranged in the same oblique direction, so that the left turn (a) of a small turning radius, b), the left oblique direction running (c), and the right oblique direction running (d). Further, as shown in FIG. 8, by driving the steering motor, the wheels are disposed at 90 degrees in the longitudinal direction of the body frame, so that the 90-degree side direction running (a) The wheels are arranged so as to form a circle, thereby enabling pivotal turning (b).

9 to 11 are a perspective view, a front view, and an exploded perspective view showing the independent drive and steering module according to the second embodiment of the present invention.

9 to 11, the independent driving and steering module 400 according to the second embodiment of the present invention includes a wheel 410 used for traveling an electric model car, a shaking part 411 of a wheel 410 A kingpin shaft bracket 430 to which the driving motor 420 is mounted and a rotary shaft 441 for steering the kingpin shaft bracket 430. The driving motor 420 includes a driving motor 420 for driving the driving motor 420, And a mounting bracket 450 fixed to the steering motor 440 and coupled to the body frame 210 (shown in FIG. 1) of the powered model car. The difference from the independent driving and steering module 100 according to the first embodiment will be mainly described.

The shaft pins 431 may be formed on the upper and lower sides of the driving motor 420 so that the upper and lower sides of the driving motor 420 are coupled to each other. And the shaft portion 431 provided upward is connected to the rotary shaft 441 of the steering motor 440 by the grooves 431a and the protrusions 441a so that the steering motor 440 And a coupling portion 432 vertically formed on one side of the coupling portion 432 can be coupled to the driving motor 420 with a bolt.

The mounting bracket 450 may include a pair of split bodies 456 and 457 which are positioned on both sides of the king pin shaft bracket 430 and coupled to each other. A pair of king pin axle engaging portions 451 which are located on the upper side and the lower side of the king pin axis bracket 430 and surround the shaft portion 431 of the king pin axis bracket 430 to fix the king pin axis bracket 430 can be provided. A motor coupling portion 453 that covers both sides of the steering motor 440 and fixes the steering motor 440 with a bolt may be formed on the upper portion of the body frame 454 of the electric motor car 440, A frame fixing portion 455 fixed with a bolt may be formed on the frame fixing portion 451 (see FIG. The split bodies 456 and 457 are formed to be symmetrical to each other and can be coupled to each other by bolts and nuts by a plurality of bolt coupling portions 458 and 459. In addition, a shaft through-hole 452 may be formed in the king pin axial coupling portion 451 so as to surround the shaft portion 431 between the king pin axial coupling portion 451 and the king pin axial coupling portion of the other divided body. A mounting hole 454 may be formed in the motor engaging portion 453 to surround the steering motor 440 between the motor engaging portion 453 and the motor engaging portion of the other divided body. The fixing piece 442 can be fixed with a bolt. The frame fixing portion 455 may be horizontally protruded from each of the divided bodies 456 and 457 and fixed to the body frame 210 (shown in Fig. 1) by bolts.

The independent driving and steering module according to the second embodiment of the present invention firmly fixes the wheel 410 and the driving motor 420 and the operation thereof is the same as that of the present invention described with reference to Figs. The same applies to the independent drive and the steering module according to the first embodiment, and thus the description thereof will be omitted.

According to the independent driving and steering module and the electric motor model vehicle having the independent driving and steering module according to the present invention, the driving motor and the steering motor are modularized into one wheel so that the driving motor and the wheels connected thereto are controlled independently by the steering motor So that the steering of the flexible wheel can be performed without slipping without using the steering link. In addition, it is structurally simple, and the steering wheel of the multi-wheel can be easily configured, and various types of travel control such as left and right turning, diagonal traveling, pivot turning, and 90-degree lateral travel are enabled. In addition, it is possible to provide a platform of an excellent motorized model vehicle as a learning material for controlling the vehicle by enabling various driving control.

Although the present invention has been described with reference to the accompanying drawings, it is to be understood that various changes and modifications may be made without departing from the spirit of the invention. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined by the scope of the appended claims and equivalents thereof.

100: independent drive and steering module 110: wheel
111: shrinking portion 120: driving motor
121: rotating shaft 130: king pin shaft bracket
131: seat part 132:
133: Support part 134:
135: Fixing groove 140: Steering motor
141: rotation shaft 142:
143: Fixing projection 150: Mounting bracket
151: insertion hole 152: motor fixing portion
153: vertical connection part 154: frame fixing part
200: Electric model car 210: Body frame
211: module mounting portion 212: spacer
213: cover 214: mounting hole
220: control unit 230:
240: Power supply unit 300: Remote control unit
310: operating part 320: transmitting part
330: power supply unit 400: independent driving and steering module
410: wheel 411:
420: driving motor 421:
430: King pin shaft bracket 431: Shaft
431a: groove 432:
440: Steering motor 441:
441a: projection 442:
450: Mounting bracket 451: King pin shaft coupling part
452: shaft through groove 453: motor coupling portion
454: mounting hole 455: frame fixing portion
456, 457: split body 458, 459:
B1, B2, B3, B4: Bolt

Claims (6)

A wheel used for driving an electric model car;
A driving motor in which a rotating shaft for driving is fixed to the wheels;
A king pin shaft bracket to which the driving motor is mounted;
A steering motor in which a rotary shaft for steering is coupled to the king pin shaft bracket; And
And a mounting bracket fixed to the steering motor and coupled to the body frame of the electric model car,
The king pin shaft bracket includes:
A mounting part provided on the upper surface of the driving motor;
A coupling portion formed perpendicularly to one side of the seating portion and fixed to the seating portion by being bolted to the driving motor, thereby fixing the driving motor to the seating portion;
A supporting portion formed to be perpendicular to both sides of the seat portion and supporting both sides of the driving motor; And
And a fixing portion formed on the upper end of each of the supporting portions to extend in the lateral direction and having fixing grooves formed on respective upper surfaces thereof,
The steering motor includes:
Wherein the fixing member is fixed to the fixing portion by bolts inserted into the fixing groove and both sides of the fixing member are respectively fixed to the fixing portion by bolts, Independent drive and steering module. delete delete The method according to claim 1,
The mounting bracket includes:
A motor fixing part formed horizontally so as to form a fitting hole into which the steering motor is vertically fitted and to which the fixing protrusion is fixed by a bolt in a state that the fixing protrusion is protruded laterally from the steering motor;
A vertical connection portion extending vertically downward from an end of the motor fixing portion; And
And a frame fixing part formed to extend horizontally at a lower end of the vertical connection part and fixed to a body frame of the electric model car by a bolt. In an electric model car,
A body frame having a plurality of module mounting portions;
A driving and steering module mounted on the module mounting part to be mounted on the body frame to independently perform driving and steering with respect to the body frame;
A controller for controlling driving and steering of the driving and steering modules according to a wireless control signal of the remote controller; And
And a reception unit installed in the body frame for receiving a radio control signal of the remote controller and transmitting the radio control signal to the controller,
The driving and steering module includes:
An electric model car comprising the independent drive and steering module according to claim 1 or claim 4. In an electric model car,
A body frame having a plurality of module mounting portions;
A driving and steering module mounted on the module mounting part to be mounted on the body frame to independently perform driving and steering with respect to the body frame;
A sensor unit for recognizing a surrounding environment and a vehicle state; And
And a controller for controlling driving and steering of the driving and steering modules, respectively, so as to be capable of autonomous travel upon receipt of a signal of the sensor unit,
The driving and steering module includes:
An electric model car comprising the independent drive and steering module according to claim 1 or claim 4.

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