KR940005534Y1 - Steering of motor vehicles - Google Patents

Abstract

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Description

4-wheel steering with belt

1a, b, c, d, and e are schematic diagrams showing the arrangement of the wheels and the direction of travel of the vehicle, which are possible by four-wheel steering;

2A and 2B are a schematic view of a conventional four-wheel steering device and a wheel installation state.

3a, b is a plan view of the installation state of the present invention and a cross-sectional view taken along line A-A.

4a, b, c is a working state of the present invention.

* Explanation of symbols for main parts of the drawings

6, 7, 8: Poly 9: Plate Cam

91a, 91b: guide 10: motor

11 feed screw 12 roller

13: spring body

The present invention relates to a four-wheel steering apparatus using a belt that is adapted to steer four wheels in all possible forms, with an emphasis in particular on steering of a moving part of an unmanned vehicle or a self-driving robot.

First, referring to the four-wheel steering apparatus using a conventional belt, as shown in FIG. 2, the pulley belt 5 'of each of the four wheels in which the steering pulley 2' is installed on the upper portion of the wheel 1 '. It is installed to drive the steering by driving the pulley (4 ') connected to the steering motor (3'), the steering force is driven by the driving of the motor (3 ') to each of the four steering pulley (2'). Simultaneously transmitted and steered while rotating in the same rotational direction, steering is performed as shown in FIGS. 1a, b, and c so that driving in the direction of the arrow is possible.

However, this conventional steering has a problem in that the driving of the car, which is impossible at the time of tracking the U-Turn or any arc in the stop position (see also FIGS. 1d and e), is limited to a limited form. there was.

Therefore, the present invention, in order to solve the above problems, in the installation of the pulleys and pulleys of the steering motor on all four sides of the belt to have a tension on the front and rear belts and the motor pulleys and pulleys of both sides have a predetermined inclination hole As the plate cam moves forward and backward, it is possible to transport the U-Turn and arbitrary arcs by transporting them to both sides, which will be described in detail below with reference to the accompanying drawings.

Steering pulley (2) is installed on the top of the wheel (1) is installed on the bottom four corners, the pulley belt (5) is recommended and the steering of the steering motor (3) is operated in the center of the belt on one side at the same time As configured as a pulley 4; Tension pulleys (6) (8) installed on the spring body (13) are placed outside the front and rear belt centers, and the tension pulleys (7) are positioned at the steering pulley corresponding positions; At each of the lower end and the upper end of the inclined long hole parallel to both sides, a plate cam 9 having guide holes 91a and 91b through which a vertical hole is tensioned is cut into a conveying screw 11 operated by a motor 10 which is placed in front. As a result, the roller 12 is placed at the end of the pulleys 4 and 7 extending upward and backward, and inserted into the guide holes 91a and 1b.

Looking at the operating state of the present invention configured as described above are as follows.

First, as shown in FIG. 3A, all four wheels are lined up in front in the state where the plate cam 9 is not moved, and thus the steering state has a traveling direction as shown in FIG. 1A.

Also, in this state (with no movement of the plate cam), the steering motor 3 is rotated, whereby the steering motor pulley 4 drives the belt 5 so that the four steering pulleys 2 are rotated so that four steering motors are rotated. The wheels 1 are rotated so that the arrangement of the wheels is as shown in Fig. 1b or c according to the degree of rotation thereof, so that this type of steering can be performed.

That is, in the above state, it is the same as the conventional system, and only when the steering motor is used (steering from the state of FIG. 1a to the state of FIG. 1b or 1c).

In addition, the operation for the operation of the present invention, when the plate cam moving motor 10 is rotated and the transfer screw 11 connected thereto is rotated, the plate cam 9 is positioned as shown in the arrow direction of FIG. Is adjusted.

The plate cam 9 is provided so that only the longitudinal movement is possible by a separate guide mechanism.

Also, the steering motor 3, the steering motor pulley 4 and the tension pulley 7 are guided so that their sides are movable only in the transverse direction as shown in FIG. 3B, and the guide cam is moved when the plate cam 9 is moved. According to the shape of the shaft is moved by the driven roller 12, and thus the lateral displacement of the steering motor pulley (4) and the tension pulley (7) is determined.

Now, when the plate cam 9 is moved in the state shown in FIG. 3a, the position of each of the pulleys 4 and 7 is slightly changed to the left along the guide holes 91a and 91b of the plate cam. As the shape is changed, the steering pulley 2 rotates slightly and has a steering form as shown in FIG. 4A to enable driving in the form as shown in FIG. 1D.

If the plate cam is moved a little more, the steering shape of the four wheels is changed as shown in FIG. 4C.

At this time, when the plate cam is completely moved, the position of the steering motor pulley 4 is not changed in the state of FIG. 4B by the shape of the guide holes 91a and 91b, and only the tension pulley 7 is moved to the left side. As a result, the two wheels on the left side are not steered, and only the two wheels on the right side are further rotated to have a steering state as shown in FIG. 4C and thus a steering state capable of driving U-Turn as shown in FIG. 1D.

As described above, even if the plate cam is moved downward from the original stop position, the same direction can be obtained as the wheel rotation direction is changed.

On the other hand, the shape of the plate cam should be designed to perform the above purposes according to the characteristics of the driverless element such as the distance between the wheels, the size of the steering pulley (2).

The present invention constructed and operated as described above uses three tension pulleys that are movable in a four-wheel steering method using a conventional belt, a steering motor, and a steering motor pulley as a movable structure, and all types of steering that are possible by four-wheel steering. By applying this method to the driver's steering mechanism of an unmanned vehicle or frequent driving robot, the four wheels satisfy various types of steering by using the minimum number of mechanisms and actuators. There is an effect that can be made.

Claims (1)

A steering pulley (2) is installed on the top of the wheel (1) and is installed at four corners of the bottom, and the pulley (5) is installed with the belt (5) on the pulley and at the same time, the steering pulley (3) is operated at the center of one belt by the steering motor (3). As configured as (4); Tension pulleys 6 and 8 installed on the spring body 13 are placed outside the front and rear belt centers and tension pulleys 7 are positioned at the steering pulley corresponding positions; Each of the lower end and the upper end of the inclined long hole parallel to both sides has a guide hole 9 (a), 9 (b) in which a vertical hole is tension cut and is driven by a motor 10 in which a plate cam 9 is placed in front. 4, using a belt, characterized in that the roller 12 is installed at the end of the shaft extending upward and forward and backward by the screw 11, the shaft 12 is extended to the upper end of the pulley (4) (7). Wheel steering system.