KR20130097480A - Steering device for vehicle capable of cycle steering and vehicle having the same - Google Patents

Abstract

The present invention discloses a vehicle turning device and a vehicle including the same. The present invention provides a base frame, wheel hubs installed on both sides of the base frame, a steering shaft mounted to rotate the direction of the wheel hubs, and an extension and contraction in the axial direction of the steering shaft. An actuator for applying a force to the base frame, and a position detecting sensor for detecting the position of the base frame.

Description

Steering device for vehicle capable of cycle steering and vehicle having the same}

The present invention relates to a vehicle steering apparatus and a vehicle, and more particularly, to a vehicle turning apparatus capable of rotating steering and a vehicle including the same.

The vehicle steering apparatus is a device installed in the vehicle to change the traveling direction of the vehicle according to the user's operation when driving the vehicle. In this case, the steering device for the vehicle may be connected to a steering wheel formed in the interior of the vehicle to transmit a manipulation of the steering wheel to the wheel hubs, thereby changing the traveling direction of the vehicle. Such a vehicle steering apparatus can rotate wheel hubs of a vehicle based on the angle at which the steering wheel rotates. In particular, in recent years, the wheel hubs are precisely and accurately controlled by electronic control, deviating from the mechanical configuration of the past.

Meanwhile, when the steering apparatus of the vehicle is applied to a general vehicle, the wheel hubs may be rotated in the same direction. Specifically, when the user rotates the steering wheel, the wheel hubs are rotated in the direction in which the steering wheel rotates to change the traveling direction of the vehicle. In particular, in the case of commercial vehicles, a vehicle steering device is installed on the front wheel or the rear wheel to allow the passenger to freely control the traveling direction of the vehicle.

However, in the case of the general vehicle as described above, it should rotate in various directions as necessary. In particular, in the case of special vehicles such as fork cranes, cranes, robots, etc., it is necessary to rotate by the working environment. In this case, in general, a special vehicle such as a fork crane, a crane, a robot, etc. may rotate through the wheel hubs and may rotate by using a caterpillar or skid steering.

In the case of the structure as described above, since the body portion and the wheel hubs must be relative to each other, a separate device must be installed between the body portion and the wheel hubs. In addition, in the case of the existing commercialized special vehicle, there is a problem that the volume is increased or the structure is complicated by using a special device.

On the other hand, in order to solve the above problems, a device capable of adjusting the angle of each wheel hub is disclosed in Japanese Laid-Open Patent Publication No. 2004-262327 (name of the invention: steering control device of the working vehicle, applicant: ISEKI & CO LTD) A technique for installing the steering device is disclosed, but this requires a separate device to be installed in each wheel hub, and the control logic is complicated by controlling each device separately, which makes it difficult to control the attitude of the vehicle when the vehicle rotates. In addition, since a separate device must be installed in each wheel hub as described above, the weight of the vehicle is increased, fuel loss is increased, and the installation space is increased, thereby miniaturizing the vehicle.

Korean Laid-Open Patent Publication No. 2004-0053958 Japanese Laid-Open Patent Publication No. 2004-262327

The present invention provides a vehicle turning device capable of turning and turning a vehicle by varying the length of the steering shaft during turning steering.

One aspect of the invention, the base frame, the wheel hubs provided on both sides of the base frame, a steering shaft mounted to rotate the direction of each wheel hub, and the expansion and contraction in the axial direction of the steering shaft It is possible to provide a vehicle turning device including an actuator for applying a force to the base frame, and a position detecting sensor unit for detecting the position of the base frame.

In addition, the base frame may be inserted and disposed inside the steering shaft to be disposed on the same axis as the steering shaft.

The apparatus may further include a handle part contacting the steering shaft to reciprocate the steering shaft.

In addition, the handle portion has a first gear formed at one end of the handle portion, the steering shaft is formed so as to protrude to the outer surface in contact with the first gear, and to reciprocate the steering shaft in accordance with the rotation of the first gear And a second gear interlocked with the first gear.

The apparatus may further include a hydraulic supply unit configured to supply hydraulic pressure to the actuator according to an external signal input by an external user, and a controller configured to control the hydraulic pressure supply unit to receive the external signal and adjust the hydraulic pressure supplied to the actuator. Can be.

The control unit may control the hydraulic pressure supply unit to supply the hydraulic pressure to the actuator so that the base frame extends in the axial direction so that the wheel hubs have a diamond shape.

The control unit may supply the hydraulic pressure to the actuator by controlling the hydraulic pressure supply unit such that the base frame extends in the axial direction and the wheel hubs are arranged in a tangential direction of a circle having a center.

Another aspect of the invention can provide a vehicle comprising a vehicle turning device.

Embodiments of the present invention can easily and quickly form the toe-in or toe-in of the wheel hubs by stretching or contracting the base frame in the axial direction. In addition, by adjusting the angles of the wheel hubs on both sides through one base frame, it is possible to realize the weight reduction of the vehicle, reduce the running cost and miniaturize the vehicle.

1 is a conceptual diagram showing a turning device for a vehicle according to an embodiment of the present invention.
FIG. 2 is an operation diagram showing a first operation state of the vehicle turning device shown in FIG. 1.
3 is an enlarged conceptual view illustrating a portion A shown in FIG. 2.
4 is an operation diagram showing a second operation state of the vehicle turning device shown in FIG. 1.
5 is an enlarged conceptual view illustrating a portion B of FIG. 4.

A vehicle (not shown) according to an embodiment of the present invention includes a vehicle turning device 100 to be described later. In addition, the vehicle may include a general body portion (C). In this case, the body portion C of the vehicle may be variously formed. Specifically, the body portion C may include a body portion C of a general commercial vehicle, a body portion C of a special vehicle such as a fork lane or a crane, a body portion C of a mobile robot, and the like. At this time, the body portion C may be provided with wheel hubs 113 and 133 to be described later. In particular, the body portion C may include any object that is not limited to the above and is movable in connection with the vehicle turning device 100. Hereinafter, the vehicle turning device 100 will be described in detail. In particular, it will be described below with respect to the vehicle turning device 100 installed in the vehicle of the in-wheel motor type.

1 is a conceptual diagram showing a vehicle turning device 100 according to an embodiment of the present invention.

Referring to FIG. 1, the vehicle turning device 100 may include a first vehicle turning device 110 installed in the body portion C of the vehicle. In addition, the vehicle turning device 100 may include a second vehicle turning device 130 disposed to be spaced apart from the first vehicle turning device 110 by a predetermined interval and installed in the body portion C of the vehicle. In this case, the first vehicle turning device 110 may be installed in front of the body portion C of the vehicle. In addition, the second vehicle turning device 130 may be installed behind the body portion C of the vehicle.

Meanwhile, the first vehicle turning device 110 and the second vehicle turning device 130 may be installed opposite to each other. Hereinafter, for convenience of description, the first vehicle turning device 110 is installed in front of the body part C, and the second vehicle turning device 130 is installed in the rear of the body part C. Let's explain.

In particular, the first vehicle turning device 110 may be connected to the handle part 120 inside the body part C. In this case, the first vehicle turning device 110 to which the handle part 120 is connected may be the second vehicle turning device 130. The handle part 120 may be installed to be rotatable according to a user's manipulation, and a steering force may be generated according to the manipulation of the handle part 120 to be transmitted to the first vehicle turning device 110.

Meanwhile, the first vehicle turning device 110 and the second vehicle turning device 130 may be similarly formed. Therefore, in the following description, for convenience of description, a case in which the first vehicle turning device 110 and the handle part 120 are connected and the first vehicle turning device 110 will be described.

The first vehicle turning device 110 includes a first base frame 111. In this case, the first base frame 111 may move according to the manipulation of the handle part 120. In addition, the first base frame 111 may have a first steering rod 111a in which a part is inserted and disposed inside the first steering shaft 112 to be described later, and the first steering rod to face the first tie rod 111a. The second tie rod 111b may be partially inserted into the shaft 112 and disposed therein.

The first base frame 111 is provided with a first tie rod 111c installed to be connected to the first tie rod 111a, and a second tie rod end 111d installed to be connected with the second tie rod 111b. ) May be included. In this case, the first tie rods 111a and the second tie rods 111b may be connected to the first tie rods 111c and the second tie rods 111d with a predetermined angle. In particular, the first tie rod 111a and the second tie rod 111b may be connected to one surface of the first wheel hubs 113 and the second wheel hubs 133 by a predetermined angle, respectively.

The first base frame 111 is a first knuckle arm 111e installed to be connected to the first tie rod end 111c and a second knuckle arm 111f installed to be connected to the second tie rod end 111d. It may include. At this time, the first knuckle arm 111e and the second knuckle arm 111f are installed to be connected to the first wheel hubs 113, which will be described later, respectively, so that the steering force of the handle part 120 may be controlled by the first wheel hubs 113. Can be delivered to.

In this case, the first tie rod 111a, the first tie rod end 111c, the second tie rod 111b, the second tie rod end 111d, the first tie rod end 111c and the first knuckle arm ( 111e), the second tie rod end 111d and the second knuckle arm 111f may be connected to each other by a ball joint.

Meanwhile, the first vehicle turning device 110 includes first wheel hubs 113 mounted on both sides of the first base frame 111 so as to be rotatable. In this case, the first wheel hubs 113 may be installed to be coupled to the wheel assembly (not shown). In addition, the first wheel hubs 113 may determine a traveling direction of the vehicle by changing a direction according to the manipulation of the handle part 120.

The first vehicle turning device 110 includes a first steering shaft 112 mounted to rotate the direction of each first wheel hub 113. The first steering shaft 112 may be installed to be movable in the body portion (C). In addition, the first steering shaft 112 may be formed to surround the first base frame 111 so that the first base frame 111 is movable therein. In particular, the first steering shaft 112 and the first base frame 111 may be disposed on the same axis.

In this case, the first steering shaft 112 may be connected to one end of the handle part 120 to interlock with the handle part 120. In particular, the handle part 120 may include a handle 121 installed to be rotatable by a user, and a steering shaft 122 connected to the handle 121 to transmit a steering force generated by the rotation of the handle 121. .

At this time, the first steering shaft 112 is connected to one end of the steering shaft 122 may move by the steering force. In detail, the first steering shaft 112 may include a second gear 112a that protrudes from an outer surface thereof. In addition, one end of the steering shaft 122 may be provided with a first gear 123 to be engaged with the second gear 112a. In this case, the second gear 112a is in contact with the first gear 123 and interlocks with the first gear 123 to reciprocate the first steering shaft 112 according to the rotation of the first gear 123. Can be.

In particular, the first steering shaft 112 may be supported by the first bearing part 161. Specifically, the first bearing part 161 may include a sliding bearing for supporting the first steering shaft 112 to be movable in the axial direction.

Meanwhile, the first vehicle turning device 110 includes a first actuator 114 capable of extending and contracting in the axial direction of the first steering shaft 112 to apply a force to the first base frame 111. In this case, the first actuator 114 may be disposed in the first steering shaft 112 to apply a force to the first tie rod 111a and the second tie rod 111b by hydraulic pressure supplied from the outside.

The first vehicle turning device 110 may include a first position detecting sensor unit 115 that detects a position of the first base frame 111. In detail, the first position detecting sensor unit 115 may detect positions of the first tie rod 111a and the second tie rod 111b. In this case, the first position sensor 115 may be formed in various ways.

For example, the first position detecting sensor unit 115 may include a switch that is in contact with the first base frame 111 and turned on / off in response to the movement of the first base frame 111. In addition, the first position sensor unit 115 may include a magnetic sensor for measuring the movement displacement of the first base frame 111. In addition to the above method, the first position detecting sensor unit 115 may include a sensor for detecting an amount of oil pressure supplied from the oil pressure supply unit 140 described below.

In this case, the first position detecting sensor unit 115 is not limited to the above, and may include all devices and sensors capable of measuring the degree of movement of the first base frame 111. Hereinafter, for convenience of description, a description will be made of a switch in which the first position sensor 115 is in contact with the first base frame 111 and turned on / off as the first base frame 111 moves. .

Meanwhile, as described above, the second vehicle turning device 130 may be formed similarly to the first vehicle turning device 110. In detail, the second vehicle turning device 130 includes a second base frame 131, second wheel hubs 133, a second steering shaft 132, a second actuator 134, and a second position sensor unit ( 135).

In this case, the second base frame 131, the second wheel hubs 133, the second steering shaft 132, the second actuator 134, and the second position detecting sensor unit 135 are described with the first base. Since the frame 111, the first wheel hubs 113, the first steering shaft 112, the first actuator 114, and the first position sensor unit 115 are the same or similar to each other, a detailed description thereof will be provided below. It will be omitted. However, since the second steering shaft 132 does not interlock with the handle part 120, the second gear 112a may not be formed differently from the first steering shaft 112.

In addition, the second base frame 131 may include a third tie rod 131a and a fourth tie rod 131b, a third tie rod end 131c and a fourth tie rod end 131d, and a third knuckle arm 131e. ) And a fourth knuckle arm 131f. At this time, the third tie rod 131a and the fourth tie rod 131b, the third tie rod end 131c and the fourth tie rod end 131d, the third knuckle arm 131e and the fourth knuckle arm 131f ) Are the first tie rod 111a and the second tie rod 111b, the first tie rod end 111c and the second tie rod end 111d, the first knuckle arm 111e and the second knuckle arm Since it is formed the same as or similar to 111f), the detailed description will be omitted below.

Meanwhile, the vehicle turning device 100 may include an input unit (not shown) that receives an external signal for turning steering from a user. In addition, the vehicle turning device 100 may include a hydraulic supply unit 140 supplying hydraulic pressure to the first actuator 114 and the second actuator 134 according to an external signal input by an external user.

In this case, the hydraulic pressure supply unit 140 may include a first hydraulic pressure supply unit (not shown) for supplying hydraulic pressure to the first actuator 114 and a second hydraulic pressure supply unit (not shown) for supplying hydraulic pressure to the second actuator 134. Can be. Hereinafter, for convenience of description, the hydraulic supply unit 140 will be described based on a case where the hydraulic pressure is simultaneously supplied to the first actuator 114 and the second actuator 134.

The vehicle turning device 100 may include a controller (not shown) for controlling the oil pressure supply unit 140 to adjust the oil pressure supplied to the first actuator 114 and the second actuator 134 by receiving the external signal. have. In this case, the controller may be formed in various forms. For example, the controller may be a main controller for controlling the vehicle, and may be separately configured and installed in the vehicle.

In addition, the controller may control the positions of the first wheel hubs 113 and the second wheel hubs 133 by controlling the hydraulic supply unit 140. In more detail, the controller may control the hydraulic supply unit 140 to form the first wheel hubs 113 and the second wheel hubs 133 in a rhombus shape. In particular, the controller may control the hydraulic supply unit 140 to arrange the first wheel hubs 113 and the second wheel hubs 133 in a tangential direction of a circle having a center.

On the other hand, the operation of the vehicle turning device 100 will be described in detail below.

FIG. 2 is an operation diagram showing a first operation state of the vehicle turning device 100 shown in FIG. 1. 3 is an enlarged conceptual view illustrating a portion A shown in FIG. 2.

2 and 3, the vehicle turning device 100 may operate in the same manner as a general vehicle steering device (not shown).

Specifically, when operating as described above, the control unit may prevent the hydraulic supply unit 140 from operating. At this time, when the hydraulic supply unit 140 does not operate, the first tie rods 111a and the second tie rods 111b may be positioned at their original positions. In detail, the first tie rod 111a and the second tie rod 111b may not move the first wheel hubs 113 to the side. In addition, the third tie rod 131a and the fourth tie rod 131b may not move toward the second wheel hubs 133.

In this case, the first position detection sensor unit 115 and the second position detection sensor unit 135 may detect the positions of the first tie rods 111a to the fourth tie rods 131b, respectively. In particular, when the first tie rod 111a and the second tie rod 111b are in the initial position, the first position sensor 115 may contact the first tie rod 111a and the second tie rod 111b. The ON signal can be sent out. In addition, the second position detecting sensor unit 135 may contact the third tie rod 131a and the fourth tie rod 131b to transmit the ON signal to the outside.

Meanwhile, when the positions of the first tie rods 111a to the fourth tie rods 131b are positioned at the initial positions as described above, the first position sensor unit 115 and the second position sensor unit 135 are positioned as described above. An ON signal may be transmitted to the controller.

When the ON signal is input as described above, the controller may determine the positions of the first tie rods 111a to the fourth tie rods 131b and apply the operation of the vehicle turning device 100. In more detail, the controller may apply an operation of the vehicle turning device 100 so that the vehicle turning device 100 operates in the same manner as a general vehicle steering device.

In this case, when the user rotates the steering wheel 121, the vehicle turning device 100 may operate to rotate the first wheel hubs 113 to change the traveling direction of the vehicle.

Meanwhile, when the ON signal is not transmitted from at least one of the first position sensor unit 115 and the second position sensor unit 135, the controller may transmit a warning sound to the outside. In this case, the controller may limit the driving of the vehicle to prevent the user from operating the direction of the vehicle through the vehicle turning device 100. In addition, the controller may control the hydraulic pressure supply unit 140 to transmit the ON signal.

Therefore, the vehicle turning device 100 can provide steering of the same vehicle as before through a simple configuration. In particular, the vehicle turning device 100 may discriminate when the turning does not rotate to provide the user with the same steering as the existing vehicle, thereby reducing safety accidents due to immature use of the user and ensuring user safety.

FIG. 4 is an operation diagram showing a second operation state of the vehicle turning device 100 shown in FIG. 1. 5 is an enlarged conceptual view illustrating a portion B of FIG. 4.

4 and 5, according to a user's selection, the vehicle turning device 100 may be controlled to cause the vehicle to rotate. As described above, the turning motion of the vehicle will be described in detail below.

1. determining whether or not to rotate;

While the vehicle is running, the user can select the turning movement. In detail, the user may input an external signal through the input unit while the vehicle is stopped. In this case, the input unit may be formed in various ways. For example, the input unit may be in the form of a switch for inputting the external signal. In addition, the input unit may be a device installed on the handle 121 to input the external signal in a specific movement direction of the handle 121.

On the other hand, when the external signal is input as described above, the control unit may maintain the vehicle in a state capable of turning movement by controlling the vehicle turning device 100.

2. preparing a turning motion by controlling the hydraulic supply;

When it is determined that the swing motion is possible as described above, the controller may control the hydraulic supply unit 140 to operate to supply hydraulic pressure to the first actuator 114 and the second actuator 134.

At this time, the first actuator 114 and the second actuator 134 may operate while hydraulic pressure is supplied to the first actuator 114 and the second actuator 134. The first actuator 114 operates to exert the first tie rods 111a and the second tie rods 111b toward the first wheel hubs 113. In detail, while the hydraulic pressure is supplied to the inside of the first actuator 114, the first tie rod 111a and the second tie rod 111b are applied with force to the first tie rod 111a and the second tie rod. It can be extended by moving 111b.

When the first tie rods 111a and the second tie rods 111b are extended, the first wheel hubs 113 may have a toe-in shape. In detail, the first wheel hubs 113 may be arranged to form a predetermined angle with each other.

Meanwhile, while the above process is in progress, the second actuator 134 may also operate to extend the lengths of the third tie rod 131a and the fourth tie rod 131b. In this case, since the method of operating the second actuator 134 is similar to that described above, a detailed description thereof will be omitted.

3. determining positions of the first wheel hubs and the second wheel hubs;

During the process as described above, when the hydraulic supply unit 140 starts to operate, the signals of the first position sensor 115 and the second position sensor 135 may vary from the ON signal to the OFF signal. . In this case, the controller may determine whether the vehicle turning device 100 operates by sensing the OFF signal.

Meanwhile, when the first actuator 114 and the second actuator 134 continue to operate as described above, the first tie rods 111a to the fourth tie rods 131b may extend to a predetermined position.

At this time, when the first tie rod 111a to the fourth tie rod 131b reach a predetermined position, the first tie rod 111a to the fourth tie rod 131b are connected to the first position detecting sensor unit 115. The second position detecting sensor unit 135 may be contacted.

In this case, the first position sensor 115 and the second position sensor 135 may contact the first tie rod 111a to the fourth tie rod 131b to transmit the ON signal to the outside again. Can be. In particular, the first position sensor 115 and the second position sensor 135 are formed in plural, respectively, are installed in the initial position and the finally set position, respectively, the first tie rod (111a) to the fourth tie rod The position of 131b may be detected.

Meanwhile, when the ON signal is not input, the controller may control the hydraulic pressure supply unit 140 to continuously supply hydraulic pressure to the first actuator 114 and the second actuator 134.

4. completing the preparation for the turning exercise;

When the control is performed as described above, the controller may determine whether the ON signal is input. When it is determined that the ON signal is input, the control unit may stop the operation of the hydraulic supply unit 140.

When the operation of the hydraulic supply unit 140 is stopped, the first actuator 114 and the second actuator 134 may maintain the first tie rods 111a to the fourth tie rods 131b in an extended state. In detail, when the first actuator 114 and the second actuator 134 are stopped as described above, the first wheel hubs 113 and the second wheel hubs 133 may form a predetermined angle with each other. have.

In detail, the first wheel hubs 113 and the second wheel hubs 133 may be arranged in a rhombus form by forming a predetermined angle with each other. In particular, the first wheel hubs 113 and the second wheel hubs 133 may be disposed in a tangential direction of a circle having one center.

If it is determined that the preparation for the turning motion is completed as described above, the controller may turn the vehicle by turning on a driving unit (not shown) of the vehicle.

Accordingly, the vehicle turning device 100 extends or contracts the first base frame 111 and the second base frame 131 in the axial direction to toe-in or to-out the wheel hubs 113 and 133. Toe-in) can be formed easily and quickly.

In addition, by adjusting the angles of the wheel hubs 113 and 133 on both sides through the first base frame 111 and the second base frame 131, it is possible to realize the weight reduction of the vehicle, reduce the running cost and reduce the size of the vehicle. It is possible.

In particular, the vehicle turning device 100 is installed in the vehicle of the in-wheel motor type that is directly coupled to the wheel hubs 113 and 133 can accurately and easily control the turning motion of the vehicle.

The above description is not limited to the configuration and method of the above-described embodiments, but the above embodiments may be configured by selectively combining all or some of the embodiments so that various modifications can be made.

100: vehicle turning device 123: first gear
110: turning device for first vehicle 130: turning device for second vehicle
111: first base frame 131: second base frame
112: first steering shaft 132: second steering shaft
113: first wheel hub 133: second wheel hub
114: first actuator 134: second actuator
115: first position detection sensor unit 135: second position detection sensor unit
120: handle portion 140: hydraulic supply portion
121: handlebar
122: steering shaft

Claims (8)

A base frame;
Wheel hubs installed on both sides of the base frame;
A steering shaft mounted to rotate the direction of each wheel hub;
An actuator capable of stretching and contracting in the axial direction of the steering shaft to apply a force to the base frame; And
And a position detection sensor unit for detecting a position of the base frame. The method of claim 1,
And the base frame is inserted and disposed inside the steering shaft to be disposed on the same axis as the steering shaft. The method of claim 1,
And a handle part which contacts the steering shaft and reciprocates the steering shaft. The method of claim 3, wherein
The handle portion has a first gear formed at one end of the handle portion,
The steering shaft is formed so as to protrude on the outer surface is in contact with the first gear, the vehicle turning device comprising a second gear that is interlocked with the first gear to reciprocate the steering shaft in accordance with the rotation of the first gear. The method of claim 1,
A hydraulic pressure supply unit supplying hydraulic pressure to the actuator according to an external signal input by an external user; And
And a controller configured to control the oil pressure supply unit to adjust the oil pressure supplied to the actuator by receiving the external signal. The method of claim 5, wherein
And the control unit controls the hydraulic supply unit such that the hydraulic supply unit supplies hydraulic pressure to the actuator such that the base frame extends in the axial direction so that the wheel hubs have a rhombus shape. The method of claim 5, wherein
And the control unit controls the hydraulic pressure supply unit to supply hydraulic pressure to the actuator such that the base frame extends in the axial direction and the wheel hubs are disposed in a tangential direction of a circle having a center. A vehicle comprising the vehicle turning device according to any one of claims 1 to 7.

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