KR940007898Y1 - Steering device for auto-cruising vehicle - Google Patents
Steering device for auto-cruising vehicle Download PDFInfo
- Publication number
- KR940007898Y1 KR940007898Y1 KR2019880019599U KR880019599U KR940007898Y1 KR 940007898 Y1 KR940007898 Y1 KR 940007898Y1 KR 2019880019599 U KR2019880019599 U KR 2019880019599U KR 880019599 U KR880019599 U KR 880019599U KR 940007898 Y1 KR940007898 Y1 KR 940007898Y1
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- driving
- rotating plate
- vehicle
- driven
- wheels
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/043—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by clutch means between driving element, e.g. motor, and driven element, e.g. steering column or steering gear
- B62D5/0433—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by clutch means between driving element, e.g. motor, and driven element, e.g. steering column or steering gear the clutch being of on-off type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0475—Controlling other elements
- B62D5/0478—Clutches
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
내용 없음.No content.
Description
제 1 도는 본 고안의 구조를 나타낸 정 단면도.1 is a cross-sectional view showing the structure of the present invention.
제 2 도는 제 1 도의 평면도.2 is a plan view of FIG.
제 3 도는 본 고안에 따라 구성된 조향 장치의 임의 각도로 직선주행시의 조향 상태 예시도.Figure 3 is an illustration of the steering state when driving in a straight line at an angle of the steering device configured according to the present invention.
제 4 도는 본 고안에 따라 구성된 조향 장치의 측방 주행시의 조향상태 예시도.4 is a diagram illustrating a steering state during side driving of a steering apparatus constructed according to the present invention.
제 5 도는 종래 고안의 구조를 나타낸 정 단면도.Figure 5 is a cross-sectional view showing a structure of a conventional design.
제 6 도는 제 5 도의 평면도.6 is a plan view of FIG.
제 7a, b, c, d, e 도는 무인운반차의 주행 예시도.7a, b, c, d, e or an exemplary view of driving of an unmanned vehicle.
* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings
10 : 회전판 11 : 회전축10: rotating plate 11: rotating shaft
12 : 구동모터 13 : 구동륜12: drive motor 13: drive wheel
20 : 상부차체 21 : 마그네틱 클럿치20: upper body 21: magnetic clutch
본 고안은 속도차 주행방식 무인차의 조향장치에 관한 것으로 특히, 조향장치의 구조를 개선하여 커브길 주행과 같은 단순한 주행뿐만 아니라, 최소반경 회전, 직각회전 및 측방직선주행과 임의의 경사각도로의 직선주행 등이 가능토록 된 우수한 성능의 무인차를 제공하기 위한 것이다.The present invention relates to a steering apparatus of an unmanned vehicle with a speed difference driving method, and in particular, by improving the structure of the steering apparatus, not only a simple driving such as a curve road driving, but also a minimum radius rotation, a perpendicular rotation, and a lateral linear driving and any inclination angle The purpose is to provide an unmanned vehicle with excellent performance that enables straight driving and the like.
종래에는 도면 제 5 도 및 제 6 도에서 보는 바와 같이, 차체(1)의 중앙에 각각의 모터(2)에 의해서 구동되는 좌, 우 구동륜(3)을 설치하였으며, 상기 차체(1)의 전, 후방에는 1개 또는 2개의 종동륜(4)을 설치하였다. 이와같은 종래의 무인차는 감속기 및 구동모터(2)에서 발생된 회전력으로 좌우측 구동륜(3)을 구동시켜 무인차를 구동시켜 왔는데, 좌우측 구동륜(3)이 동일 방향으로 동일한 속도로 회전하게 되면, 제 7a 도와 같이 전후로 직진운행이 가능하며, 좌우측 구동륜(3)의 방향을 동일하게 하면서 속도의 차이가 있게 하면 제 7b 도와 같이, 임의의 원호를 그리며 주행할 수 있게 된다. 또한 좌우측 구동륜의 회전방향을 각기 반대방향으로 회전하게 되면 제 7c 도와 같이 회전 주행을 행할 수 있다. 그러나 이는 제 7a, b, c 도와 같이 전후방으로 직진운행과 임의의 원호를 그리면서 원호의 주행 그리고 회전은 가능하였으나, 제 7d, e 도와 같이 측방으로 직선 주행이나, 임의의 각도로의 직선운행이 불가능하여서 극히 한정된 작업밖에 할 수 없었고, 무인차가 목적지에서 화물을 이재(loading unloading)시 작업공간에 따라 목적지의 접근이 용이할 수도 있으나, 비교적 협소한 공간에서는 불필요한 예비동작을 요하게 되는 번거로운 작업을 행해야 하는 폐단을 가지고 있었다.Conventionally, as shown in FIGS. 5 and 6, left and right driving wheels 3 driven by respective motors 2 are installed in the center of the vehicle body 1, and the front of the vehicle body 1 is provided. In the rear, one or two driven wheels 4 were installed. Such a conventional driverless vehicle has driven the driverless vehicle by driving the left and right driving wheels 3 with the rotational force generated by the speed reducer and the driving motor 2, and when the left and right driving wheels 3 rotate at the same speed in the same direction, It is possible to go straight back and forth as shown in the 7a diagram. When the left and right driving wheels 3 have the same direction while allowing the speed difference, as shown in the 7b diagram, the vehicle can travel in an arbitrary arc. In addition, when the rotation directions of the left and right driving wheels are respectively rotated in opposite directions, the rotational driving can be performed as shown in FIG. 7C. However, it is possible to drive and rotate the circular arc while drawing a straight line and an arbitrary arc forward and backward as shown in 7a, b and c, but it is possible to run straight in a lateral direction as in 7d, e or in any angle. It was impossible to do only limited work, and when the unmanned vehicle was unloading the cargo at the destination, it could be easy to access the destination depending on the work space, but in a relatively narrow space, it was necessary to perform a cumbersome work that required unnecessary preliminary operation. Had a dismissal to do.
따라서 본 고안은 상기와 같은 종래의 폐단을 감안하여 측방으로 직선주행이나, 임의의 각도로 경사진 상태에서의 직선운행 등이 가능토록 좌우측 구동륜이 설치된 차체가 회전 가능토록 구조를 개선한 것이다.Therefore, the present invention improves the structure so that the vehicle body provided with the left and right driving wheels is rotatable so as to allow straight running in the side or straight running in a state inclined at an arbitrary angle in view of the conventional closed end as described above.
이를 첨부된 도면에 따라 보다 더 상세히 설명하면 다음과 같다.When described in more detail according to the accompanying drawings as follows.
각각의 구동모터(12)에 의해 구동되는 한쌍의 구동륜(13)을 구비한 무인차에 있어서, 상부일측에 플랜지부(11a)를 구비한 회전축(11)이 직립설치된 회전판(10)이, 상면에 상기 회전판의 회전 제어용 마그네틱 클럿치(21)가 설치된 상부차체(20) 하방에서 회전가능토록 회전축 선단부가 관통설치 되었으며, 상기 회전판의 회전축 양측에는 구동륜(13)을 구비한 구동모터(12)가 각각 고정설치된다.In an unmanned vehicle having a pair of drive wheels 13 driven by respective drive motors 12, an upper surface of a rotating plate 10 having a rotating shaft 11 provided with a flange portion 11a on an upper side thereof is installed upright. The rotary shaft end portion was penetrated so as to be rotatable from below the upper body 20 in which the magnetic clutch 21 for controlling the rotation of the rotating plate was installed. Each is fixedly installed.
또한, 하부차체(22)의 저면 각 모서리부에는 각각 1개씩의 종동륜(23)이 회전가능토록 결합설치된다.In addition, one driven wheel 23 is provided at each corner portion of the bottom surface of the lower vehicle body 22 so as to be rotatable.
이와 같이 구성된 본 고안의 작동상태를 설명하면 다음과 같다.Referring to the operating state of the present invention configured as described above are as follows.
회전판(10) 중앙에 직립설치된 회전축(11)의 선단부가 상부차체(20)를 관통하여서, 그 상면에 위치한 마그네틱 클럿치(21)와 고정결합된 상태에서 마그네틱 클럿치(21)가 상부차체 상면에 자체자력에 의해 밀착되게 되면 회전축 하단의 회전판(10)이 고정되게 되어, 상기 회전판에 설치된 한상의 구동륜 또한 선회할 수 없이 어느 일방향을 향하게 되는 것이다.The front end of the rotating shaft 11, which is installed upright in the center of the rotating plate 10, penetrates the upper body 20, and the magnetic clutch 21 is fixed to the upper surface of the upper body in a state in which the magnetic clutch 21 is fixedly coupled thereto. When it is in close contact by the magnetic force on the rotary plate 10 of the lower end of the rotary shaft is fixed, the driving wheel of the upper limit of the rotating plate installed on the rotary plate also can be turned in any one direction.
이와같은 상태에서 무인차의 직진주행을 요할 시에는, 도면 제 2 도와 같이 좌우측 구동륜(13)이 전방으로 향하도록 된 상태에서 마그네틱 클럿치(21)를 자체자력에 의해 상부차체 선단면에 고착시키게 되면 회전판(10)이 고정되어 종래의 무인차와 같이 도면 제 7a, b, c 도와 같이 양측 구동륜(13)이 동일방향에 동일속도시에는 전후진 직진 주행을 하며, 양측구동륜(13) 속도차가 나게 하면 임의의 원호를 그리는 원호주행을 하고, 그리고 양측구동륜(13)의 회전방향을 달리하면 회전주행을 할 수 있다. 이때 하부 각각의 종동륜(23)은 구동륜의 진행에 따라 같은 방향으로 위치되게 자유자재로 회전된다. 또한 화물을 이재시 작업공간의 특성에 따라 제 7d, e도와 같은 측바 직선주행 및 임의의 각도로 경사진 상태의 직선주행이 요구되게 된다.When driving straight of the driverless vehicle in such a state, as shown in FIG. 2, the magnetic clutch 21 is fixed to the upper vehicle front end surface by its own magnetic force with the left and right driving wheels 13 facing forward. When the rotating plate 10 is fixed, as in the conventional unmanned vehicle, as shown in the drawings 7a, b, and c, both driving wheels 13 are driven forward and backward at the same speed in the same direction, and both driving wheels 13 have a speed difference. If it is made, circular arcs can be drawn by drawing an arbitrary arc, and rotational directions can be made by changing the direction of rotation of both side driving wheels 13. At this time, each of the following driven wheel 23 is freely rotated to be positioned in the same direction as the driving wheel proceeds. In addition, according to the characteristics of the workspace when moving the cargo is required to run a straight line in the state of inclined at an angle and the side bar straight running as shown in 7d, e degrees.
이와 같은 측면 주행이나 경사주행시에는 마그네틱 클러치(21)가 상부차체(20) 상면에서 이탈되도록 자력을 제거시킨 상태에서 양측 구동모터의 속도차를 두게 되면 제 4 도 및 제 3 도와 같이 구동륜(13)이 차체와 90° 또는 임의의 각도로 회전하게 되는데 이는, 일측 구동모터를 정지시키면서 타측 구동모터를 가동시키게 되면, 양측 구동륜(13)이 지면과 접촉하고 있는 상태이기 때문에 정지된 구동모터측의 구동륜을 축으로 해서 가동중인 구동모터측의 구동륜은 원호를 그리면서 선회하게 되어 필요한 각도만큼 선회한 상태에서, 마그네틱 클럿치(21)로 고정시킨 상태에서 양측 구동륜(13)을 동일속도로 구동시키게 되면 제 7d, e 도와 같이 측방주행 및 임의의 각도로 경사주행이 가능하게 되는 것이다.In such a side driving or inclined driving, if the magnetic clutch 21 is removed from the upper surface of the upper vehicle body 20 so that the magnetic force is removed and the speed difference between the two driving motors is placed, the driving wheel 13 as shown in FIGS. 4 and 3. The vehicle body rotates at an angle of 90 ° or an arbitrary angle. When the other driving motor is operated while the one driving motor is stopped, both driving wheels 13 are in contact with the ground and the driving wheels of the driving motor are stopped. The driving wheel on the side of the driving motor which is operated with the shaft as the axis rotates while drawing an arc, and the two driving wheels 13 are driven at the same speed while being fixed by the magnetic clutch 21 while turning by the required angle. As in 7d, e, it is possible to travel sideways and inclined at any angle.
그리고, 하부차체(22) 저면 각각 모서리부에 각각 1개씩 4개의 종동륜(23)이 선회가능토록 결합설치되어 있으므로써 급격한 진행방향의 변경에도 무인차를 안전하게 지지토록 한다.In addition, since four driven wheels 23 are provided so as to be pivotable one by one at each corner of the bottom of the lower body 22, the driverless vehicle can be safely supported even in a sudden change of direction.
이와 같이 구성되고 작동되는 본 고안은 무인차의 구동부를 선회 가능한 구조로 하면서, 이 회전을 제어할 수 있는 마그네틱 클럿치를 사용하여 무인차가 임의의 각도로의 직선주행과 측방주행을 행할 수 있게 하므로서, 무인차의 기능을 대폭 강화하여 화물이 이재(loading, unloading)시 협소한 작업공간에서도 용이하게 작업을 행할 수 있는 매우 실용성 있는 고안이다.The present invention, which is constructed and operated as described above, has a structure capable of turning the driving unit of the driverless vehicle, and uses the magnetic clutch to control the rotation, thereby allowing the driverless vehicle to perform linear and lateral driving at an arbitrary angle, By greatly strengthening the function of driverless cars, it is a very practical design that can easily work in a narrow work space when cargo is loaded or unloaded.
Claims (1)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR2019880019599U KR940007898Y1 (en) | 1988-11-30 | 1988-11-30 | Steering device for auto-cruising vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR2019880019599U KR940007898Y1 (en) | 1988-11-30 | 1988-11-30 | Steering device for auto-cruising vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| KR900010030U KR900010030U (en) | 1990-06-01 |
| KR940007898Y1 true KR940007898Y1 (en) | 1994-10-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| KR2019880019599U KR940007898Y1 (en) | 1988-11-30 | 1988-11-30 | Steering device for auto-cruising vehicle |
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| Country | Link |
|---|---|
| KR (1) | KR940007898Y1 (en) |
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1988
- 1988-11-30 KR KR2019880019599U patent/KR940007898Y1/en not_active IP Right Cessation
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| Publication number | Publication date |
|---|---|
| KR900010030U (en) | 1990-06-01 |
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