WO2021045110A1

WO2021045110A1 - Steering module

Info

Publication number: WO2021045110A1
Application number: PCT/JP2020/033275
Authority: WO
Inventors: 隆太輿石; ガヤーンベラガラ; 行正長田; 村松　啓且
Original assignee: ヤマハ発動機株式会社
Priority date: 2019-09-02
Filing date: 2020-09-02
Publication date: 2021-03-11

Abstract

Provided is a steering module used in a vehicle and provided with a steering function for steering vehicle wheels, wherein the versatility of the steering module can be improved while the steering module is made more compact. The steering module is provided with a vehicle body attachment section including a steering shaft, a main body section, a steering motor unit including a steering fixed body and a steering rotating body, and a control device. The steering fixed body and the steering control device are supported on the main body section so as to pivot integrally with the vehicle wheels relative to the steering shaft in a manner such that the steering control device, the steering fixed body, and the steering shaft at least partially overlap the vehicle wheels as seen from the direction in which a rotational axis of a vehicle wheel support section extends, whereby the steering control device and the steering motor unit, which are for steering the vehicle wheels, pivot as a whole along with the vehicle wheels.

Description

Steering module

The present invention relates to a module used in a vehicle, and more particularly to a steering module having a steering function for steering wheels.

Conventionally, a vehicle in which each element such as a steering module, a drive module, and a suspension module is modularized has been proposed. Such a vehicle is disclosed in, for example, Non-Patent Document 1 below.

In Non-Patent Document 1 below, the drive module is connected to the steering module. The steering module is attached to the vehicle body via the suspension module in a state of being unitized with the drive module. By modularizing each element in this way, various types of vehicles can be configured.

It is required to improve the versatility of the steering module so that various types of vehicles can be easily configured while making the steering module compact.

An object of the present invention is to provide a steering module used in a vehicle and having a steering function for steering wheels, which can improve the versatility of the steering module while making the steering module compact. Is.

The steering module according to the embodiment of the present invention includes a vehicle body mounting portion, a main body portion, a wheel support portion, a steering motor unit, and a control device. The vehicle body mounting portion includes a vehicle body fixing portion and a steering shaft portion. The vehicle body fixing portion is fixed to the vehicle body. The steering shaft portion is arranged so as not to rotate with respect to the vehicle body fixing portion. The main body portion is arranged so as to swing with respect to the steering shaft portion. The wheel support portion is arranged so as to rotate with respect to the main body portion. The wheel support portion supports the wheel. The steering motor unit includes a steering fixed body and a steering rotating body. The steering rotating body rotates relative to the steering fixed body. The steering motor unit steers the wheels by swinging the main body portion by the output torque. The steering control device is electrically connected to the steering fixture of the steering motor unit. The steering control device controls the steering motor unit. The steering fixed body and the steering control device are steered in such a manner that each of the steering control device, the steering fixed body, and the steering shaft portion overlaps the wheels at least partially when viewed in the direction in which the rotation axis of the wheel support portion extends. It is supported by the main body so as to swing integrally with the wheel with respect to the shaft portion, whereby the steering control device for steering the wheel and the steering motor unit swing together with the wheel as a whole.

According to the steering module, the steering fixed body and the steering control device are the wheels and at least a portion of the steering control device, the steering fixed body, and the steering shaft portion, respectively, when viewed in the direction in which the rotation axis of the wheel support portion extends. It is supported by the main body portion so as to swing integrally with the wheel with respect to the steering shaft portion in an overlapping manner. As a result, the steering control device for steering the wheels and the steering motor unit swing together with the wheels as a whole. The steering control device controls the steering motor unit. The steering control device functions as a control body for steering. The steering motor unit is controlled by a steering control device to steer the wheels. The wheels are steered by the steering motor unit. The steering controller and steering motor unit, together with the wheels, work together for steering. Such a steering control device and a steering motor unit are installed so as to swing together with the wheels as a whole. As a result, the steering process and operation can be completed in the portion that swings integrally with the wheel with respect to the steering shaft portion. As a result, it is possible to prevent the steering control device and the steering motor unit from being provided on the vehicle body. The configuration for steering the wheels, including the arrangement between the steering control device and the steering motor unit, and thus the steering module can be made compact. Further, it is not necessary to secure an installation space for the steering control device and the steering motor unit on the vehicle body. It is possible to secure a wide installation space for equipment and devices in the vehicle body. It is possible to prevent or suppress the imposition of design restrictions for securing the installation space for equipment and devices on the vehicle body in order to install the steering module. Therefore, the degree of freedom in designing the vehicle body is improved, and as a result, the combination with the vehicle body becomes easy. In addition, since each of the steering control device, the steering fixed body, and the steering shaft portion overlaps with the wheels at least partially when viewed in the direction in which the rotation axis of the wheel support portion extends, the steering module can be made compact. it can. According to the steering module, it is easy to secure a large space around the wheel, particularly a space above the wheel around the wheel. Therefore, it becomes easier to utilize the space above the wheels, and as a result, the combination with the vehicle body becomes easier. Therefore, the versatility of the steering module can be improved.

The steering module according to the embodiment of the present invention may be used in a vehicle and may have a steering function for steering the wheels, and may further have a driving function for driving the wheels, for example. Wheels include, for example, wheels and tires mounted on the wheels.

In one embodiment of the present invention, the vehicle body fixing portion may be directly fixed to the vehicle body or indirectly fixed to the vehicle body. The mode in which the steering shaft portion is arranged so as not to rotate with respect to the vehicle body fixing portion is, for example, a mode in which the steering shaft portion is fixed to the vehicle body fixing portion or a mode in which the steering shaft portion is integrally formed with the vehicle body fixing portion. including. The central axis of the steering shaft may extend in a direction intersecting the rotation axis of the wheel support. The central axis of the steering shaft may extend in a direction orthogonal to the rotation axis of the wheel support.

In one embodiment of the present invention, the mode in which the main body portion is arranged so as to swing with respect to the steering shaft portion is such that, for example, the main body portion rotates in the circumferential direction around the central axis of the steering shaft portion within a range of less than 360 °. Includes aspects arranged in. The main body supports, for example, a steering motor unit. The main body may directly support the steering motor unit or indirectly support the steering motor unit. The main body may have, for example, an accommodation space that is a space for accommodating the steering motor unit. In this case, the main body supports the steering motor unit with the steering motor unit housed in the accommodation space.

In one embodiment of the present invention, the mode in which the wheel support portion is arranged so as to rotate with respect to the main body portion includes a mode in which the wheel support portion itself is arranged so as to rotate with respect to the main body portion, and the wheel support portion. It includes an embodiment in which a member arranged so as to rotate integrally with the main body is arranged so as to rotate with respect to the main body portion. The wheel support portion may directly support the wheel or may indirectly support the wheel. The mode in which the wheel support portion supports the wheel includes, for example, a mode in which the wheel support portion supports the wheel of the wheel.

In one embodiment of the present invention, the steering fixed body may be directly supported by the main body or indirectly supported by the main body. The positional relationship between the steering rotating body and the steering fixed body is not particularly limited. The steering rotating body and the steering fixed body may be arranged side by side in the direction in which the central axis of the steering fixed body extends. When the shape of the steering fixed body is annular when viewed in the direction in which the central axis of the steering fixed body extends, the steering rotating body is placed in the space surrounded by the steering fixed body when viewed in the direction in which the central axis of the steering fixed body extends. It may be arranged. The rotation axis of the steering rotating body may be parallel to the central axis of the steering fixed body or may coincide with the central axis of the steering fixed body. The steering fixed body may be entirely overlapped with the wheels when viewed in the direction in which the rotation axis of the wheel support portion extends. The steering fixed body may be entirely overlapped with the wheel of the wheel when viewed in the direction in which the rotation axis of the wheel support portion extends. The steering rotating body may be arranged coaxially with the steering fixed body. The rotation axis of the steering rotating body may be parallel to the rotation axis of the wheel support portion, or may coincide with the rotation axis of the wheel support portion. The steering rotating body may be arranged coaxially with the wheel support portion. The steering rotating body may be connected to the steering shaft portion. The mode in which the steering rotating body is connected to the steering shaft portion may be any mode in which the rotation of the steering rotating body can be changed to swing with respect to the steering shaft portion of the main body portion. The steering rotating body may be directly connected to the steering shaft portion or may be indirectly connected to the steering shaft portion. In the mode in which the steering rotating body is indirectly connected to the steering shaft portion, a member rotatably arranged around a rotation axis that coincides with the rotation axis of the steering rotation body or a rotation axis parallel to the rotation axis of the steering rotation body is used. The mode in which the steering rotating body is connected to the steering shaft portion via the steering shaft portion is included.

In one embodiment of the present invention, the steering motor unit may include a steering motor capable of outputting torque for rotating the steering rotating body with respect to the steering fixed body. The number of steering motors is, for example, one. That is, the steering motor unit may include a single steering motor. The steering motor may include a stator and a rotor that is rotatable relative to the stator. The stator is included, for example, in the steering fixture. The central axis of the stator may coincide with the rotation axis of the wheel support or may be parallel to the rotation axis of the wheel support. The rotor is included in the steering rotating body, for example. The rotation axis of the rotor may coincide with the rotation axis of the wheel support portion, or may be parallel to the rotation axis of the wheel support portion. The steering motor may be a radial gap type electric motor or an axial gap type electric motor. In a radial gap type electric motor, the rotor and the stator are arranged coaxially, and the gap between the rotor and the stator is formed in a direction orthogonal to the rotation axis of the rotor. In the axial gap type electric motor, the rotor and the stator are arranged coaxially, and the gap between the rotor and the stator is formed in the direction in which the rotation axis of the rotor extends. The steering motor unit may be located, for example, in a wheel on a wheel. In the mode in which the steering motor unit is arranged in the wheel, the steering motor unit is located closer to the rotation axis of the wheel support than the rim on which the tire is mounted in the wheel when viewed in the direction in which the rotation axis of the wheel support extends. Includes aspects of placement. In other words, the mode in which the steering motor unit is arranged in the wheel is that the steering motor unit is located in the space of the wheel surrounded by the rim on which the tire is mounted, when viewed in the direction in which the rotation axis of the wheel support extends. Includes aspects in which the is arranged. The steering motor unit may be, for example, at least partially located within the wheel of the wheel. A mode in which at least a part of the steering motor unit is arranged in the wheel includes a mode in which at least a part of the steering motor unit overlaps the wheel when viewed in a direction orthogonal to the direction in which the rotation axis of the wheel support portion extends. The steering motor unit may further include a speed reducer that reduces the rotation of the steering rotating body. The speed reducer may have, for example, a planetary gear mechanism or a cycloid mechanism. At least a part of the speed reducer may overlap the steering rotating body when viewed in the direction in which the rotation axis of the wheel support portion extends. At least a part of the speed reducer may overlap the steering fixed body when viewed in the direction in which the rotation axis of the wheel support portion extends. When the shape of the steering rotating body when viewed in the direction in which the rotation axis of the wheel support extends is annular, at least a part of the speed reducer is more than the steering rotating body when viewed in the direction in which the rotation axis of the wheel support extends. May be arranged near the rotation axis of the wheel support. That is, at least a part of the speed reducer may be arranged in a space surrounded by the steering rotating body when viewed in the direction in which the rotation axis of the wheel support portion extends. The steering motor unit may further include an output shaft portion. The output shaft portion is connected to the steering rotating body and is connected to the steering shaft portion so that the rotation of the steering rotating body is transmitted. The output shaft portion may be one in which the rotation of the steering rotating body is directly transmitted. That is, the output shaft portion may be directly connected to the steering rotating body. Alternatively, the output shaft portion may be one in which the rotation of the steering rotating body is transmitted via the speed reducer. That is, the output shaft portion may be connected to the steering rotating body via the speed reducer. The mode in which the output shaft portion is connected to the steering shaft portion is not particularly limited. The mode in which the output shaft portion is connected to the steering shaft portion may be any mode in which the rotation of the output shaft portion can be changed to swing with respect to the steering shaft portion of the main body portion. The output shaft portion may be directly connected to the steering shaft portion or may be indirectly connected to the steering shaft portion.

In one embodiment of the present invention, the steering control device is, for example, an ECU (Electronic Control Unit). The ECU is realized by, for example, a combination of an IC (Integrated Circuit), an electronic component, a circuit board, and the like. The control by the steering control device is realized, for example, by the CPU (Central Processing Unit) reading a program stored in the non-volatile memory and executing a predetermined process according to the program. The steering control device may be directly supported by the main body or indirectly supported by the main body. The main body may have, for example, an accommodation space that is a space for accommodating the steering control device. In this case, the main body supports the steering control device in a state where the steering control device is housed in the accommodation space. The steering control device may be divided into a plurality of control units, for example. In this case, there are a plurality of modes in which at least a part of the steering control device is arranged so as to overlap the wheels when viewed in the direction in which the rotation axis of the wheel support extends, when viewed in the direction in which the rotation axis of the wheel support extends. It includes an embodiment in which a part of at least one control unit of the control units is arranged so as to overlap the wheels. The plurality of control units include, for example, a drive current supply unit and a drive current control unit. The drive current supply unit supplies the steering fixed body with a driving current for rotating the steering rotating body relative to the steering fixed body. The drive current control unit controls the supply of the drive current to the steering fixed body by the drive current supply unit according to the rotational state of the steering rotating body. The central axis of the steering shaft may be located between the drive current supply unit and the drive current control unit when viewed in the direction in which the rotation axis of the wheel support portion extends. In such an embodiment, the central axis of the steering shaft is located between the substrate included in the drive current supply unit and the substrate included in the drive current control unit when viewed in the direction in which the rotation axis of the wheel support portion extends. Aspects are included. The steering control device may be arranged parallel to a plane including the central axis of the steering shaft portion and the rotation axis of the wheel support portion. Such an embodiment includes, for example, an embodiment in which the substrate included in the steering control device is arranged parallel to a plane including the central axis of the steering shaft portion and the rotation axis of the wheel support portion. The steering control device may overlap the central axis of the steering shaft when viewed in a direction orthogonal to each of the direction in which the central axis of the steering shaft extends and the direction in which the rotation axis of the wheel support extends. The steering control device may overlap the wheels as a whole when viewed in the direction in which the rotation axis of the wheel support portion extends. The steering control device may overlap at least a part of the wheel of the wheel when viewed in the direction in which the rotation axis of the wheel support extends.

The steering module according to the embodiment of the present invention may include a connection switching mechanism. The connection switching mechanism is a state in which the steering rotating body is connected to the steering shaft so that the main body swings with respect to the steering shaft due to the rotation of the steering rotating body, and the wheel support portion is the main body due to the rotation of the steering rotating body. The state in which the steering rotating body is connected to the wheel support portion is switched so as to rotate with respect to the portion.

According to the above aspect, it is possible to obtain a steering module having a function different from that of the conventional one. Specifically, according to the above aspect, the torque generated by the steering motor unit can be used as the drive torque. That is, the steering module also functions as a drive module. Further, when the steering module also has a drive function, the torque generated by the steering motor unit can be added to the torque generated by the drive motor unit, so that the maximum drive torque can be increased. Therefore, according to the above aspect, it is possible to obtain a steering module having a function different from that of the conventional one.

The steering module according to the embodiment of the present invention may further include a locking mechanism. The lock mechanism locks the main body with respect to the steering shaft so as not to swing.

According to the above aspect, it is suppressed that the wheels are steered in a state where the steering rotating body is connected to the wheel supporting portion so that the wheel supporting portion rotates with respect to the main body portion due to the rotation of the steering rotating body.

The steering module according to the embodiment of the present invention may further include a drive motor unit. The drive motor unit generates torque to rotate the wheels.

According to the above aspect, the steering module also functions as a drive module.

In one embodiment of the present invention, the main body supports, for example, a drive motor unit. The main body may directly support the drive motor unit or indirectly support the drive motor unit. The main body may have, for example, a storage space that is a space for housing the drive motor unit. In this case, the main body supports the drive motor unit with the drive motor unit housed in the accommodation space.

In one embodiment of the present invention, the drive motor unit includes a drive fixed body and a drive rotating body. The drive rotating body rotates relative to the drive fixed body. The drive motor unit may include a drive motor capable of outputting torque for rotating the drive rotating body with respect to the drive fixed body. The drive motor is, for example, one. That is, the drive motor unit may include a single drive motor. The drive motor may include a stator and a rotor that is rotatable with respect to the stator. The stator is included, for example, in the drive fixture. The central axis of the stator may coincide with the rotation axis of the wheel support or may be parallel to the rotation axis of the wheel support. The rotor is included in the drive rotating body, for example. The rotation axis of the rotor may coincide with the rotation axis of the wheel support portion, or may be parallel to the rotation axis of the wheel support portion. The drive motor may be a radial gap type electric motor or an axial gap type electric motor. In a radial gap type electric motor, the rotor and the stator are arranged coaxially, and the gap between the rotor and the stator is formed in a direction orthogonal to the rotation axis of the rotor. In the axial gap type electric motor, the rotor and the stator are arranged coaxially, and the gap between the rotor and the stator is formed in the direction in which the rotation axis of the rotor extends. The drive motor unit may be located within the wheel of the wheel, for example. In the mode in which the drive motor unit is arranged in the wheel, the drive motor unit is located closer to the rotation axis of the wheel support than the rim on which the tire is mounted in the wheel when viewed in the direction in which the rotation axis of the wheel support extends. Includes aspects of placement. In other words, the mode in which the drive motor unit is arranged in the wheel is that the drive motor unit is located in the space of the wheel surrounded by the rim on which the tire is mounted, when viewed in the direction in which the rotation axis of the wheel support extends. Includes aspects in which the is arranged. The drive motor unit may further include a speed reducer that reduces the rotation of the drive rotating body. The speed reducer may have, for example, a planetary gear mechanism or a cycloid mechanism. At least a part of the speed reducer may overlap the drive rotating body when viewed in the direction in which the rotation axis of the wheel support portion extends. At least a part of the speed reducer may overlap the drive fixing body when viewed in the direction in which the rotation axis of the wheel support portion extends. When the shape of the drive rotating body when viewed in the direction in which the rotation axis of the wheel support extends is annular, at least a part of the speed reducer is more than the drive rotating body when viewed in the direction in which the rotation axis of the wheel support extends. May be arranged near the rotation axis of the wheel support. That is, at least a part of the speed reducer may be arranged in a space surrounded by the driving rotating body when viewed in the direction in which the rotation axis of the wheel support portion extends. The drive motor unit may further include an output shaft portion. The output shaft portion may be connected to the wheel support portion so as to rotate integrally with the wheel support portion. The mode in which the output shaft portion is connected to the wheel support portion is not particularly limited as long as the force can be transmitted from the output shaft portion to the wheel support portion. The output shaft portion may be formed integrally with the wheel support portion, or may be formed separately from the wheel support portion. The output shaft portion may be one in which the rotation of the drive rotating body is directly transmitted. That is, the output shaft portion may be directly connected to the drive rotating body. Alternatively, the output shaft portion may be one in which the rotation of the drive rotating body is transmitted via the speed reducer. That is, the output shaft portion may be connected to the drive rotating body via a speed reducer.

The above-mentioned objectives and other objectives, features, aspects and advantages of the present invention will be further clarified from the following detailed description of the embodiments of the present invention made in connection with the accompanying drawings. As used herein, the term "and / or (and / or)" includes any or all combinations of one or more related listed items (items). As used herein, the use of the terms "include, include", "include, comprising" or "having" and variations thereof are described features, processes, operations. , Elements, components and / or their equivalents, but may include one or more of steps, actions, elements, components, and / or groups thereof. Unless otherwise defined, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by those skilled in the art to which the present invention belongs. Terms such as those defined in commonly used dictionaries should be construed to have meaning consistent with the relevant technology and in the context of the present disclosure and are expressly defined herein. Unless otherwise stated, it will not be interpreted in an ideal or overly formal sense. It is understood that a number of techniques and processes are disclosed in the description of the present invention. Each of these has its own interests, and each may be used in conjunction with one or more of the other disclosed techniques, or in some cases all. Therefore, for clarity, this description refrains from unnecessarily repeating all possible combinations of individual steps. Nevertheless, the specification and claims should be read with the understanding that all such combinations are within the scope of the present invention and claims. In the following description, for purposes of illustration, a number of specific details are given to provide a complete understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention can be practiced without these particular details. The present disclosure should be considered as an example of the invention and is not intended to limit the invention to the particular embodiments set forth in the drawings or description below.

According to the present invention, there is provided a steering module used in a vehicle and having a steering function for steering wheels, which can improve the versatility of the steering module while making the steering module compact. Can be done.

It is a schematic diagram which shows the schematic structure of the steering module by 1st Embodiment of this invention. It is a schematic view which looked at the steering module shown in FIG. 1 to the left. It is a schematic view which looked at the steering module shown in FIG. 1 downward. It is a schematic diagram which shows the schematic structure of the steering module by the 2nd Embodiment of this invention. It is a schematic view which looked at the steering module shown in FIG. 4 to the left. It is a schematic view which looked at the steering module shown in FIG. 4 downward. It is a schematic diagram which shows the schematic structure of the steering module by the 3rd Embodiment of this invention. It is sectional drawing of the steering module by 4th Embodiment of this invention. It is sectional drawing of the steering module by 5th Embodiment of this invention. It is an enlarged view of the connection destination switching mechanism and the lock mechanism. It is a front view and a cross-sectional view of a spline shaft. It is sectional drawing of the steering module by 6th Embodiment of this invention. It is an external perspective view of a vehicle.

Hereinafter, the details of the steering module according to the embodiment of the present invention will be described with reference to the drawings. The embodiments described below are merely examples. The present invention is not to be construed in any limitation by the embodiments described below.

[First Embodiment]
The steering module 10 according to the first embodiment of the present invention will be described with reference to FIG. In this specification, the direction in which the rotation axis 40L of the wheel support portion 40, which will be described later, extends is the left-right direction. The direction (left-right direction) orthogonal to the rotation axis 40L of the wheel support portion 40 and perpendicular to the paper surface is defined as the front-rear direction. The direction orthogonal to each of the left-right direction and the front-back direction is defined as the vertical direction.

With reference to FIG. 1, the steering module 10 includes a vehicle body mounting portion 20, a main body portion 30, a wheel support portion 40, a steering motor unit 60, and a control device 70 as a steering control device. These will be described below.

The vehicle body mounting portion 20 includes a vehicle body fixing portion 22 and a steering shaft portion 24. The vehicle body fixing portion 22 is fixed to the vehicle body VB. The steering shaft portion 24 is arranged so as not to rotate with respect to the vehicle body fixing portion 22.

The main body portion 30 is arranged so as to swing with respect to the steering shaft portion 24. The wheel support portion 40 is arranged so as to rotate with respect to the main body portion 30. The wheel support portion 40 has a rotation axis 40L. The wheel support portion 40 is arranged so as to be rotatable around the rotation axis 40L with respect to the main body portion 30. The wheel support portion 40 supports the wheel VW.

The steering motor unit 60 includes a fixed body 62 as a steering fixed body and a rotating body 64 as a steering rotating body. The steering motor unit 60 swings the main body 30 by the output torque to steer the wheels VW. The fixed body 62 is supported by the main body 30 so as to swing integrally with the wheel VW with respect to the steering shaft portion 24. The rotating body 64 rotates relative to the fixed body 62.

The control device 70 is electrically connected to the fixed body 62 of the steering motor unit 60. The control device 70 controls the steering motor unit 60. The control device 70 is supported by the main body 30 so as to swing integrally with the wheel VW with respect to the steering shaft portion 24.

Subsequently, a description will be given with reference to FIGS. 2 and 3. At least a part of the fixed body 62 of the steering motor unit 60 is arranged so as to overlap the wheel VW when viewed in the direction in which the rotation axis 40L of the wheel support portion 40 extends. At least a part of the control device 70 is arranged so as to overlap the wheel VW when viewed in the direction in which the rotation axis 40L of the wheel support portion 40 extends. At least a part of the steering shaft portion 24 of the vehicle body mounting portion 20 is arranged so as to overlap the wheel VW when viewed in the direction in which the rotation axis 40L of the wheel support portion 40 extends.

In such a steering module 10, the fixed body 62 and the control device 70 are the wheels VW when each of the control device 70, the fixed body 62, and the steering shaft portion 24 is viewed in the direction in which the rotation axis of the wheel support portion 40 extends. It is supported by the main body 30 so as to swing integrally with the wheel VW with respect to the steering shaft portion 24 in a manner that at least partially overlaps with the steering shaft portion 24. As a result, the control device 70 for steering the wheel VW and the steering motor unit 60 swing together with the wheel VW as a whole, so that the inside of the portion that swings integrally with the wheel VW with respect to the steering shaft portion 24. The steering process and operation can be completed with. As a result, the control device 70 and the steering motor unit 60 can be prevented from being provided in the vehicle body VB. The configuration for steering the wheel VW, including the arrangement between the control device 70 and the steering motor unit 60, and the steering module 10 can be made compact. Further, it is not necessary to secure an installation space for the control device 70 and the steering motor unit 60 in the vehicle body VB. In the vehicle body VB, it becomes possible to secure a wide installation space for equipment and devices. It is possible to prevent or suppress the imposition of design restrictions for securing the installation space for equipment and devices in the vehicle body VB for installing the steering module 10. Therefore, the degree of freedom in designing the vehicle body VB is improved, and as a result, the combination with the vehicle body VB becomes easy. In addition, since each of the control device 70, the fixed body 62, and the steering shaft portion 24 overlaps the wheel VW at least partially when viewed in the direction in which the rotation axis 40L of the wheel support portion 40 extends, the steering module 10 is provided. It can be made compact. According to the steering module 10, it is easy to secure a large space around the wheel VW, particularly a space above the wheel VW around the wheel VW. Therefore, it becomes easier to utilize the space above the wheel VW, and as a result, the combination with the vehicle body VB becomes easier. Therefore, the versatility of the steering module 10 can be improved.

[Second Embodiment]
The steering module 10A according to the second embodiment of the present invention will be described with reference to FIG. The steering module 10 includes a vehicle body mounting portion 20, a main body portion 30, a wheel support portion 40, a steering motor unit 60, and a control device 70 as a steering control device.

The vehicle body mounting portion 20 includes a vehicle body fixing portion 22 and a steering shaft portion 24. The vehicle body fixing portion 22 is fixed to the vehicle body VB. The vehicle body fixing portion 22 is fixed to the vehicle body VB by, for example, bolts and nuts. The steering shaft portion 24 is arranged so as not to rotate with respect to the vehicle body fixing portion 22. The wheel VW includes a wheel VW1 and a tire VW2 mounted on the wheel VW1. The steering shaft portion 24 has a central axis 24L. In the example shown in FIG. 4, the central axis 24L of the steering shaft portion 24 extends in a direction orthogonal to the rotation axis 40L of the wheel support portion 40.

The main body portion 30 is arranged so as to swing with respect to the steering shaft portion 24. In the example shown in FIG. 4, the main body portion 30 is swingably arranged around the central axis 24L of the steering shaft portion 24. The main body 30 supports the steering motor unit 60. In the example shown in FIG. 4, the main body 30 has a storage space 30A. The steering motor unit 60 is accommodated in the accommodation space 30A. That is, the main body 30 supports the steering motor unit 60 in a state where the steering motor unit 60 is accommodated in the accommodation space 30A.

The wheel support portion 40 is arranged so as to rotate with respect to the main body portion 30. The wheel support portion 40 supports the wheel VW. In the example shown in FIG. 4, the wheel support portion 40 is fixed to the wheel VW1 of the wheel VW. As a result, the wheel support portion 40 supports the wheel VW1 of the wheel VW. When fixing the wheel support portion 40 to the wheel VW1 of the wheel VW, for example, bolts and nuts are used. The bolts include stud bolts fixed to the wheel support 40. A drive shaft portion 42 is connected to the wheel support portion 40 so as to rotate integrally with the wheel support portion 40. The rotation axis 42L of the drive shaft portion 42 coincides with the rotation axis 40L of the wheel support portion 40. The drive shaft portion 42 is rotatably arranged with respect to the main body portion 30. Therefore, the wheel support portion 40 is rotatably arranged with respect to the main body portion 30.

The steering motor unit 60 includes a fixed body 62 as a steering fixed body and a rotating body 64 as a steering rotating body. The steering motor unit 60 swings the main body 30 by the output torque to steer the wheels VW. The steering motor unit 60 includes a steering motor 66 capable of outputting torque for rotating the rotating body 64 with respect to the fixed body 62. There is one steering motor 66. The stator of the steering motor 66 is included in the fixed body 62. The rotor of the steering motor 66 is included in the rotating body 64. The rotating body 64 rotates relative to the fixed body 62. In the example shown in FIG. 4, the steering motor 66 is a so-called inner rotor type electric motor. The fixed body 62 is supported by the main body 30 so as to swing integrally with the wheel VW with respect to the steering shaft portion 24. In the example shown in FIG. 4, the central axis of the fixed body 62 coincides with the rotation axis 40L of the wheel support portion 40. The rotation axis 64L of the rotating body 64 coincides with the central axis of the fixed body 62. The rotation axis 64L of the rotating body 64 coincides with the rotation axis 40L of the wheel support portion 40. The rotation axis 64L of the rotating body 64 extends in a direction orthogonal to the central axis 24L of the steering shaft portion 24. The rotating body 64 is connected to the steering shaft portion 24 so that the main body portion 30 swings with respect to the steering shaft portion 24.

The steering motor unit 60 further includes an output shaft portion 65. In the example shown in FIG. 4, the rotation axis 65L of the output shaft portion 65 coincides with the rotation axis 64L of the rotating body 64. The rotation axis 65L of the output shaft portion 65 coincides with the rotation axis 40L of the wheel support portion 40. The output shaft portion 65 is connected to the rotating body 64 so that the rotation of the rotating body 64 is transmitted. The output shaft portion 65 is connected to the steering shaft portion 24. In the example shown in FIG. 4, the output shaft portion 65 is connected to the steering shaft portion 24 by meshing the bevel gear 650 formed on the output shaft portion 65 and the bevel gear 240 formed on the steering shaft portion 24. There is.

The steering motor unit 60 includes a speed reducer 68. The speed reducer 68 reduces the rotation of the rotor (that is, the rotating body 64) of the steering motor 66 and transmits it to the output shaft portion 65. At least a part of the speed reducer 68 is arranged closer to the rotation axis 40L of the wheel support 40 than the rotor of the steering motor 66 (that is, the rotating body 64) when viewed in the direction in which the rotation axis 40L of the wheel support 40 extends. Will be done.

The control device 70 is electrically connected to the fixed body 62. The control device 70 controls the steering motor unit 60. The control device 70 is supported by the main body 30 so as to swing integrally with the wheel VW with respect to the steering shaft portion 24. Direction perpendicular to each of the direction in which the central axis 24L of the steering shaft portion 24 extends (that is, the vertical direction in FIG. 4) and the direction in which the rotation axis 40L of the wheel support portion 40 extends (that is, the left-right direction in FIG. 4). The control device 70 overlaps the central axis 24L of the steering shaft portion 24 when viewed in the front-rear direction (FIG. 4).

Subsequently, a description will be given with reference to FIGS. 5 and 6. At least a part of the fixed body 62 of the steering motor unit 60 is arranged so as to overlap the wheel VW when viewed in the direction in which the rotation axis 40L of the wheel support portion 40 extends. At least a part of the control device 70 is arranged so as to overlap the wheel VW when viewed in the direction in which the rotation axis 40L of the wheel support portion 40 extends.

The control device 70 includes a drive current supply unit 72 and a drive current control unit 74. The drive current supply unit 72 supplies the drive current for rotating the rotating body 64 relative to the fixed body 62 to the fixed body 62. The drive current control unit 74 controls the supply of the drive current to the fixed body 62 by the drive current supply unit 72 according to the rotation state of the rotating body 64. When viewed in the direction in which the rotation axis 40L of the wheel support unit 40 extends, at least one part of the drive current supply unit 72 and the drive current control unit 74 is arranged so as to overlap the wheel VW.

The control device 70 is arranged parallel to the plane S1 including the central axis 24L of the steering shaft portion 24 and the rotation axis 40L of the wheel support portion 40. Specifically, each of the drive current supply unit 72 and the drive current control unit 74 is arranged parallel to the plane S1.

The steering shaft portion 24 is located between the drive current supply unit 72 and the drive current control unit 74 when viewed in the direction in which the rotation axis 40L of the wheel support portion 40 extends. That is, the central axis 24L of the steering shaft portion 24 is located between the drive current supply unit 72 and the drive current control unit 74 when viewed in the direction in which the rotation axis 40L of the wheel support portion 40 extends. At least a part of the steering shaft portion 24 is arranged so as to overlap the wheel VW when viewed in the direction in which the rotation axis 40L of the wheel support portion 40 extends.

In such a steering module 10A as well, it is possible to improve the versatility of the steering module 10A while making the steering module 10A compact as in the steering module 10.

[Third Embodiment]
The steering module 10B according to the third embodiment of the present invention will be described with reference to FIG. 7. The steering module 10B further includes a drive motor unit 50 as compared to the steering module 10A. The drive motor unit 50 includes a fixed body 52 and a rotating body 54. The drive motor unit 50 transmits the rotation of the rotating body 54 to the output shaft portion 55 to drive the wheel VW. That is, the steering module 10B has a driving function for driving the wheels VW in addition to the steering function for steering the wheels VW.

The drive motor unit 50 is supported by the main body 30. In the example shown in FIG. 7, the drive motor unit 50 is supported by the main body 30 in a state of being housed in the accommodation space 30B of the main body 30. The drive motor unit 50 includes a drive motor 56 capable of outputting torque for rotating the rotating body 54 with respect to the fixed body 52. There is one drive motor 56. The stator of the drive motor 56 is included in the fixed body 52. The rotor of the drive motor 56 is included in the rotating body 54. In the example shown in FIG. 7, the drive motor 56 is a so-called inner rotor type electric motor. The fixed body 52 is fixed to the main body 30. The rotating body 54 rotates relative to the fixed body 52. In the example shown in FIG. 7, the rotation axis 54L of the rotating body 54 coincides with the central axis of the fixed body 52. The rotation axis 54L of the rotating body 54 coincides with the rotation axis 40L of the wheel support portion 40.

The drive motor unit 50 further includes an output shaft portion 55. In the example shown in FIG. 7, the rotation axis 55L of the output shaft portion 55 coincides with the rotation axis 54L of the rotating body 54. The rotation axis 55L of the output shaft portion 55 coincides with the rotation axis 40L of the wheel support portion 40. In the example shown in FIG. 7, the output shaft portion 55 is transmitted the rotation of the rotating body 54 and rotates integrally with the wheel support portion 40.

The drive motor unit 50 includes a speed reducer 58. The speed reducer 58 reduces the rotation of the rotor (that is, the rotating body 54) of the drive motor 56. At least a part of the speed reducer 58 is arranged closer to the rotation axis 40L of the wheel support 40 than the rotor of the drive motor 56 (that is, the rotating body 54) when viewed in the direction in which the rotation axis 40L of the wheel support 40 extends. Will be done. The drive motor unit 50 is controlled by the control device 70. That is, in the example shown in FIG. 7, the control device 70 controls the drive motor unit 50 and the steering motor unit 60.

In such a steering module 10B as well, the versatility of the steering module 10B can be improved while making the steering module 10B compact as in the steering module 10A.

[Fourth Embodiment]
The steering module 10C according to the fourth embodiment of the present invention will be described with reference to FIG. FIG. 8A shows the steering module 10C in the steering output state. FIG. 8B shows the steering module 10C in the drive output state.

The steering module 10C is used for vehicles. The steering module 10C is attached to, for example, the vehicle body 102 of the vehicle. The steering module 10C includes a vehicle body fixing portion 16, a main body portion 18, a wheel support portion 21, a steering motor 22A, and a connection destination switching mechanism 24A.

The vehicle body fixing portion 16 is fixed to the vehicle body 102. The vehicle body fixing portion 16 cannot be displaced with respect to the vehicle body 102. The vehicle body fixing portion 16 includes, for example, a steering shaft portion.

The main body portion 18 swings with respect to the vehicle body fixing portion 16. The main body portion 18 can swing with respect to the vehicle body fixing portion 16 around a central axis extending in the vertical direction, for example.

The wheel support portion 21 supports the wheel 110 so as to rotate with respect to the main body portion 18 together with the wheel 110. The wheel support portion 21 is provided so as to rotate with respect to the main body portion 18. As a result, the wheel 110 can rotate with respect to the main body portion 18.

The steering motor 22A steers the wheels 110 by generating a torque that causes the main body 18 to swing with respect to the vehicle body fixing portion 16. The torque generated by the steering motor 22A is applied to the vehicle body fixing portion 16. The steering motor 22A includes a fixed body 221 as a steering fixed body and a rotating body 222 as a steering rotating body. The fixed body 221 is fixed to the main body portion 18. The rotating body 222 rotates with respect to the fixed body 221.

Although not shown, the steering module 10C further includes a control device for driving the steering motor 22A. Then, the fixed body 221 and the control device are in such a manner that each of the control device, the fixed body 221 and the steering shaft portion overlaps the wheel 110 at least partially when viewed in the direction in which the rotation axis of the wheel support portion 21 extends. , The main body 18 is supported so as to swing integrally with the wheel 110 with respect to the steering shaft portion, whereby the control device for steering the wheel 110 and the steering motor 22A swing together with the wheel 110 as a whole. Move.

As shown in FIG. 8A, the connection destination switching mechanism 24A is connected to the steering shaft portion so that the main body portion 18 swings with respect to the vehicle body fixing portion 16 due to the rotation of the rotating body 222. In the state (steering output state) and as shown in FIG. 8B, the rotating body 222 is attached to the wheel supporting portion 20 so that the wheel supporting portion 20 rotates with respect to the main body portion 18 due to the rotation of the rotating body 222. Switch between the connected state (drive output state).

According to the steering module 10C, the same effect as that of the steering module 10 can be obtained. Further, since the connection destination switching mechanism 24A can switch between the steering output state and the drive output state, the torque generated by the steering motor 22A can be used as the drive torque.

[Fifth Embodiment]
A module as a steering module according to a fifth embodiment of the present invention will be described with reference to FIG. 9-11. FIG. 9A shows the module 10a in the steering output state and the swing lock release state. FIG. 9B shows the module 10a in the drive output state and the swing lock state.

Module 10a is used for vehicles. The module 10a is attached to, for example, the vehicle body 102 of the vehicle. The module 10a includes a vehicle body fixing portion 16, a main body portion 18, a wheel support portion 21, a steering motor 22, a speed reducer 23, a connection destination switching mechanism 24A, a drive motor 26, a speed reducer 27, a control device 28, a lock mechanism 29, and a steering shaft. It is equipped with 30A and a bevel gear 31.

The vehicle body fixing portion 16 is fixed to the vehicle body 102. The vehicle body fixing portion 16 includes a steering shaft portion 12 and a fixed support portion 14. The steering shaft portion 12 includes a shaft portion main body 120 and a bevel gear 122. The central axis L1 of the shaft portion main body 120 extends in the vertical direction. The bevel gear 122 is fixed to the shaft body 120. The fixed support portion 14 supports the steering shaft portion 12 so that the steering shaft portion 12 does not rotate with respect to the vehicle body 102. The fixed support portion 14 is fixed to the vehicle body 102 by, for example, fastening members such as bolts and nuts.

The main body portion 18 swings with respect to the vehicle body fixing portion 16. The main body 18 accommodates the steering motor 22A, the speed reducer 23, the drive motor 26, and the speed reducer 27.

Wheel 110 includes wheel 112 and tire 114. The wheel 112 includes a rim 112a and a disc 112b. The wheel support portion 20A supports the wheel 110 so as to rotate with respect to the main body portion 18 together with the wheel 110. The wheel support portion 20A supports the disc 112b of the wheel 112. The wheel 112 is fixed to the wheel support portion 20A by a fastening member such as a bolt and / or a nut. The wheel support portion 20A is provided so as to rotate with respect to the main body portion 18. The rotation axis L3 of the wheel support portion 20A and the wheel 110 is parallel to the horizontal plane. In FIG. 9, the rotation axis L3 of the wheel support portion 20 and the wheel 110 extends in the left-right direction.

As shown in FIG. 9, the position of the intersection P1 between the center axis L1 of the steering shaft portion 12 and the contact patch of the wheel 110 is different from the position of the intersection P0 of the center line L0 of the wheel 110 and the contact patch of the wheel 110. .. The center line L0 of the wheel 110 is a straight line that passes through the center of the wheel 110 in the front-rear direction and the center of the wheel 110 in the left-right direction and extends in the vertical direction.

The drive motor 26 and the speed reducer 27 are arranged in a space surrounded by the wheels 112. The drive motor 26 and the speed reducer 27 overlap the wheels 110 when viewed in the direction in which the rotation axis L3 of the wheels 110 extends.

The drive motor 26 generates torque for rotating the wheel support portion 20A with respect to the main body portion 18. The drive motor 26 applies torque to the wheels 110 to rotate the wheels 110 with respect to the main body 18 around the rotation axis L3 of the wheels 110. The drive motor 26 includes a fixed body 261 and a rotating body 262. The fixed body 261 is a stator. The fixed body 261 is fixed to the inner surface of the main body 18. The rotating body 262 includes a rotor 2621 and a rotating shaft 2622. The rotor 2621 is arranged in a space surrounded by the fixed body 261 when viewed to the left. The rotor 2621 rotates with respect to the fixed body 261. In FIG. 9, the rotation axis L4 of the rotor 2621 coincides with the rotation axis L3 of the wheel 110.

The speed reducer 27 reduces the rotation speed of the rotor 2621 and increases the torque of the rotor 2621 to transmit the rotation of the rotor 2621 to the rotation shaft 2622. The speed reducer 27 is arranged in a space surrounded by the rotor 2621 when viewed to the left.

The rotation shaft 2622 can rotate about the rotation axis L5 of the rotation shaft 2622. In FIG. 9, the rotation axis L5 of the rotation shaft 2622 coincides with the rotation axis L3 of the wheel 110. The wheel support portion 20 is fixed to the rotating shaft 2622. As a result, when the drive motor 26 operates, the rotating shaft 2622 rotates, and the wheel support portion 20 and the wheels 110 rotate.

The steering motor 22A and the speed reducer 23 are arranged in a space surrounded by the wheels 112. The steering motor 22A and the reduction gear 23 are arranged closer to the steering shaft portion 12 than the drive motor 26 and the reduction gear 27. When viewed in the direction in which the rotation axis L3 of the wheel 110 extends, at least a part of the steering motor 22A and the speed reducer 23 overlaps with the wheel 110.

The steering motor 22A steers the wheels 110 by applying a torque that causes the main body 18 to swing with respect to the steering shaft 12 to the steering shaft 12. The steering motor 22A includes a fixed body 221 as a steering fixed body and a rotating body 222 as a steering rotating body. The fixed body 221 is a stator. The fixed body 221 is fixed to the inner surface of the main body 18. The rotating body 222 includes a rotor 2221 and a rotating shaft 2222. The rotor 2221 is arranged in a space surrounded by the fixed body 221 when viewed to the left. The rotor 2221 rotates with respect to the fixed body 221. In FIG. 2, the rotation axis L6 of the rotor 2221 coincides with the rotation axis L3 of the wheel 110.

The speed reducer 23 reduces the rotation speed of the rotor 2221 and increases the torque of the rotor 2221, and transmits the rotation of the rotor 2221 to the rotation shaft 2222. The speed reducer 23 is arranged in a space surrounded by the rotor 2221 when viewed to the left.

The rotating shaft 2222 can rotate with respect to the main body 18 about the rotating axis L7 of the rotating shaft 2222. The rotation axis L7 of the rotation shaft 2222 coincides with the rotation axis L3 of the wheel 110.

The steering shaft 30 is arranged closer to the steering shaft portion 12 than the rotating shaft 2222. The steering shaft 30 can rotate with respect to the main body 18 about the rotation axis L8 of the steering shaft 30. The rotation axis L8 of the steering shaft 30 coincides with the rotation axis L7 of the rotation shaft 2222.

The bevel gear 31 is provided on the steering shaft 30. The bevel gear 31 and the bevel gear 122 mesh with each other.

Although not shown, the module 10a further includes a control device for driving the steering motor 22A. The fixed body 221 and the control device are such that each of the control device, the fixed body 221 and the steering shaft portion 12 overlaps the wheel 110 at least partially when viewed in the direction in which the rotation axis of the wheel support portion 21 extends. The main body 18 is supported by the main body 18 so as to swing integrally with the wheels 110 with respect to the steering shaft portion, whereby the control device for steering the wheels 110 and the steering motor 22A as a whole together with the wheels 110 are supported. Swing. The control device for driving the steering motor 22A may drive not only the steering motor 22A but also the drive motor 26.

In the connection switching mechanism 24A, as shown in FIG. 9A, the rotating body 222 is connected to the steering shaft portion 12 so that the main body 18 swings with respect to the vehicle body fixing portion 16 due to the rotation of the rotating body 222. In the state (steering output state) and as shown in FIG. 9B, the rotating body 222 is attached to the wheel supporting portion 20 so that the wheel supporting portion 20 rotates with respect to the main body portion 18 due to the rotation of the rotating body 222. Switch between the connected state (drive output state).

As shown in FIG. 10, the connection switching mechanism 24A includes an actuator 240A, an actuator shaft 241,

spline shafts

243 and 244, and spline holes 245 to 248 in order to switch between a steering output state and a drive output state.

The actuator 240A is fixed to the main body 18. More specifically, as shown in FIG. 9, the actuator 240A is fixed to a portion where the rotation axis L7 passes at the right end portion of the main body portion 18.

The actuator shaft 241 extends to the left from the actuator 240A. The actuator shaft 241 penetrates the steering shaft 30, the bevel gear 31, and the rotating shaft 2222 in the left-right direction. The actuator 240A moves the actuator shaft 241 in the left-right direction with respect to the main body 18.

The spline hole 245 is provided at the left end of the steering shaft 30. The spline hole 246 is provided at the right end of the rotating shaft 2222. The spline hole 247 is provided at the left end of the rotating shaft 2222. The spline hole 248 is provided at the right end of the rotating shaft 2622.

The spline shaft 243 is provided in the middle portion of the actuator shaft 241. The spline shaft 243 is provided near the left end of the steering shaft 30 and near the right end of the rotating shaft 2222. The spline shaft 243 can rotate about the rotation axis L7 with respect to the actuator shaft 241. Therefore, the spline shaft 243 can rotate about the rotation axis L7 with respect to the main body portion 18. However, the spline shaft 243 cannot be displaced in the left-right direction with respect to the actuator shaft 241. Therefore, the spline shaft 243 is moved by the actuator 240A in the left-right direction with respect to the main body 18 together with the actuator shaft 241.

The structure of the spline shaft 243 will be described with reference to FIG. The spline shaft 243 can rotate about the rotation axis L7 with respect to the actuator shaft 241. Therefore, the actuator shaft 241 penetrates the spline shaft 243 in the left-right direction. A circlip 300 is provided to the right of the spline shaft 243. A circlip 302 is provided on the left side of the spline shaft 243. The

circlips

300 and 302 are fixed to the actuator shaft 241. The

circlips

300 and 302 regulate the spline shaft 243 from moving in the left-right direction with respect to the actuator shaft 241. The

spline shafts

244 and 250, which will be described later, also have the same structure as the spline shaft 243.

The spline shaft 244 is provided at the left end of the actuator shaft 241. The spline shaft 244 is provided near the left end of the rotating shaft 2222 and near the right end of the drive motor rotating shaft 2622. The spline shaft 244 can rotate about the rotation axis L7 with respect to the actuator shaft 241. Therefore, the spline shaft 244 can rotate with respect to the main body 18 about the rotation axis L7. However, the spline shaft 244 cannot be displaced in the left-right direction with respect to the actuator shaft 241. Therefore, the spline shaft 244 is moved by the actuator 240A in the left-right direction with respect to the main body 18 together with the actuator shaft 241.

The lock mechanism 29 locks the main body portion 18 with respect to the vehicle body fixing portion 16 so as not to swing. The lock mechanism 29 has a swing lock release state that allows the main body 18 to swing with respect to the vehicle body fixing portion 16 and a swing that does not allow the main body 18 to swing with respect to the vehicle body fixing portion 16. Switch between locked state. As shown in FIG. 10, the lock mechanism 29 includes an actuator 240A, an actuator shaft 241, a spline shaft 250, and spline holes 251,252 in order to switch between the swing lock release state and the swing lock state.

The spline hole 251 is provided at the right end of the main body 18. The spline hole 251 is provided to the right of the bevel gear 31. The spline hole 252 is provided at the right end of the bevel gear 31. The spline shaft 250 is provided on the right side of the actuator shaft 241. The spline shaft 250 is provided near the right end of the main body 18 and near the right end of the bevel gear 31. The spline shaft 250 can rotate about the rotation axis L7 with respect to the actuator shaft 241. Therefore, the spline shaft 250 can rotate with respect to the main body 18 about the rotation axis L7. However, the spline shaft 250 cannot be displaced in the left-right direction with respect to the actuator shaft 241. Therefore, the spline shaft 250 is moved by the actuator 240A in the left-right direction with respect to the main body 18 together with the actuator shaft 241.

The control device 28 controls the operation of the actuator 240A. The control device 28 is realized by a combination of an IC (Integrated Circuit), a circuit board, and electronic components. In addition to controlling the actuator 240, the control device 28 may also control the steering motor 22 and the drive motor 26.

Next, the operations of the connection destination switching mechanism 24A and the lock mechanism 29 will be described with reference to FIG. The connection destination switching mechanism 24A can switch the state of the module 10a between the steering output state and the drive output state. Further, the lock mechanism 29 can switch the state of the module 10a between the swing lock release state and the swing lock state. When the state of the module 10a is the steering output state, the state of the module 10a is the swing lock release state. When the state of the module 10a is the drive output state, the state of the module 10a is the swing lock state. The details will be described below.

In the steering output state and the swing lock release state, the control device 28 (not shown in FIG. 10) controls the actuator 240A so that the actuator shaft 241 is displaced to the left end of the movable range of the actuator shaft 241. At this time, the spline shaft 244 does not mesh with the spline hole 247, but meshes with the spline hole 248. The rotating shaft 2222 is not fixed to the rotating shaft 2622. Further, the spline shaft 243 meshes with the spline hole 245 and meshes with the spline hole 246. The rotating shaft 2222 is fixed to the steering shaft 30. The state of the module 10a is a steering output state in which the rotating body 222 is connected to the vehicle body fixing portion 16 so that the main body portion 18 swings with respect to the vehicle body fixing portion 16 due to the rotation of the rotating body 222. The spline shaft 250 does not mesh with the spline hole 251 but meshes with the spline hole 252. The steering shaft 30 and the bevel gear 31 are not fixed to the main body 18. The state of the module 10a is a swing lock release state in which the main body portion 18 is allowed to swing with respect to the vehicle body fixing portion 16. As a result, when the steering motor 22A is driven, the main body 18 swings with respect to the steering shaft 12.

In the drive output state and the swing lock state, the control device 28 controls the actuator 240A so that the actuator shaft 241 is displaced to the right end of the movable range of the actuator shaft 241. At this time, the spline shaft 244 meshes with the spline hole 247 and meshes with the spline hole 248. The rotating shaft 2222 is fixed to the rotating shaft 2622. Further, the spline shaft 243 meshes with the spline hole 245 and does not mesh with the spline hole 246. The rotating shaft 2222 is not fixed to the steering shaft 30. The state of the module 10a is a drive output state in which the rotating body 222 is connected to the wheel supporting portion 20 so that the wheel supporting portion 20 rotates with respect to the main body portion 18 due to the rotation of the rotating body 222. The spline shaft 250 meshes with the spline hole 251 and meshes with the spline hole 252. The steering shaft 30 and the bevel gear 31 are fixed to the main body 18. The state of the module 10a is a swing lock state in which the main body 18 is not allowed to swing with respect to the vehicle body fixing portion 16. As a result, when the steering motor 22A is driven, the wheels 110 rotate with respect to the main body 18.

According to the module 10a, the same effect as that of the module 10 can be obtained.

[Sixth Embodiment]
A module as a steering module according to a sixth embodiment of the present invention will be described with reference to FIG. Note that FIG. 12 shows the module 10b in the steering output state.

Module 10b differs from module 10a in that it further includes a clutch 50A. The clutch 50A is provided in the torque transmission path between the drive motor 26 and the wheel support portion 20a, and switches between transmission and interruption of the torque generated by the drive motor 26 to the wheel support portion 20a.

The module 10b includes a wheel support portion 20a instead of the wheel support portion 20. The rotating shaft 2622 penetrates the wheel support portion 20a in the left-right direction. The wheel support portion 20a can rotate about the rotation axis L5 with respect to the rotation shaft 2622.

The clutch 50A includes a connecting member 51, a fixing plate 52,

nuts

54 and 56, and a cap 58. The rotating shaft 2622 penetrates the connecting member 51 in the left-right direction. A spline shaft is formed on the rotating shaft 2622. Spline holes are formed on the inner surface of the connecting member 51. The spline shaft of the rotating shaft 2622 and the spline hole of the connecting member 51 mesh with each other. A spline shaft is formed on the outer surface of the connecting member 51. Spline holes are formed on the inner surface of the wheel support portion 20a. The spline shaft of the connecting member 51 and the spline hole of the wheel support portion 20a mesh with each other. As a result, the connecting member 51 connects the rotating shaft 2622 and the wheel supporting portion 20 so that torque is transmitted from the rotating shaft 2622 to the wheel supporting portion 20a. As a result, when the rotating shaft 2622 rotates, the connecting member 51 and the wheel support portion 20a rotate.

The rotating shaft 2622 penetrates the fixed plate 52 in the left-right direction. The fixing plate 52 is provided on the left side of the wheel support portion 20a and the connecting member 51. The fixing plate 52 prevents the connecting member 51 from coming off from the wheel support portion 20a and the rotating shaft 2622.

Nuts

54 and 56 constitute a double nut. A male screw is formed at the left end of the rotating shaft 2622. The nuts 54 and 56 are attached to the left end of the rotating shaft 2622. As a result, the nuts 54 and 56 press the fixing plate 52 against the connecting member 51 and the wheel support portion 20a.

The cap 58 is attached to the fixing plate 52 so as to cover the nuts 54 and 56. The cap 58 protects the nuts 54 and 56.

As shown in FIG. 12, when the connecting member 51 is attached to the module 10b, the torque generated by the drive motor 26 is transmitted to the wheel support portion 20a. On the other hand, when the connecting member 51, the fixing plate 52, the nuts 54, 56 and the cap 58 are removed from the module 10b, the torque generated by the drive motor 26 is not transmitted to the wheel support portion 20a. Since the structure of the module 10b other than the clutch 50A is the same as that of the module 10a, the description thereof will be omitted.

According to the module 10b, the same effect as that of the module 10a can be obtained.

[Vehicles equipped with steering module]
The vehicle 100 will be described with reference to FIG. The vehicle 100 includes a vehicle body 102, a left front drive steering module 10aLF, a right front drive steering module 10aRF, a left rear drive steering module 10aLB, and a right rear drive steering module 10aRB. The vehicle body 102 supports the left front drive steering module 10aLF, the right front drive steering module 10aRF, the left rear drive steering module 10aLB, and the right rear drive steering module 10aRB.

Since the left front drive steering module 10aLF, the right front drive steering module 10aRF, the left rear drive steering module 10aLB and the right rear drive steering module 10aRB have the same structure as the module 10a, the description thereof will be omitted. In addition, at least one of the left front drive steering module 10aLF, the right front drive steering module 10aRF, the left rear drive steering module 10aLB, and the right rear drive steering module 10aRB is used in place of the module 10a, the module 10b, the module 10, the drive module, and the drive function. And casters that do not have a steering function, or fixed wheels whose direction does not change due to external force may be changed.

(Other embodiments)
The embodiments and variations in which at least one of the description and the illustration is made in the present specification is for facilitating the understanding of the present disclosure and does not limit the idea of the present disclosure. The above embodiments and modifications can be changed or improved without departing from the spirit of the present invention. The gist is an equal element, modification, deletion, combination (eg, combination of features across embodiments and variants), improvement, modification that can be recognized by one of ordinary skill in the art based on the embodiments disclosed herein. Including. The limitations of the claims should be broadly construed based on the terms used in the claims and are limited to the embodiments and variations described herein or in the process of the present application. Should not be done. Such embodiments and variations should be construed as non-exclusive. For example, in the present specification, the terms "preferably" and "good" are non-exclusive and are "preferable but not limited to" and "good but not limited thereto". It means "no".

10 Steering module 20 Body mounting part 22 Body fixing part 24 Steering shaft part 30 Main body part 40 Wheel support part 60 Steering motor unit 62 Fixed body 64 Rotating body 66 Steering motor 68 Reducer 70 Control device VB Body VW Wheels

Claims

A vehicle body mounting portion including a vehicle body fixing portion fixed to the vehicle body and a steering shaft portion non-rotatably arranged with respect to the vehicle body fixing portion.
A main body portion arranged so as to swing with respect to the steering shaft portion, and
A wheel support portion that is arranged to rotate with respect to the main body portion and supports the wheels,
A steering motor unit that includes a steering fixed body and a steering rotating body that rotates relative to the steering fixed body, and swings the main body portion by an output torque to steer the wheels.
A steering control device that is electrically connected to the steering fixed body of the steering motor unit and controls the steering motor unit.
It is a steering module equipped with
The steering fixed body and the steering control device are such that each of the steering control device, the steering fixed body, and the steering shaft portion is viewed from the wheel and at least a portion in a direction in which the rotation axis of the wheel support portion extends. The steering control device and the steering motor for steering the wheels are supported by the main body portion so as to swing integrally with the wheels with respect to the steering shaft portion in a substantially overlapping manner. A steering module in which the unit swings together with the wheels as a whole.
The steering module according to claim 1.
The steering control device is a steering module that overlaps the central axis of the steering shaft when viewed in a direction orthogonal to each of a direction in which the central axis of the steering shaft extends and a direction in which the rotation axis of the wheel support extends.
The steering module according to claim 1 or 2.
The steering control device is
A drive current supply unit that supplies a drive current for rotating the steering rotating body relative to the steering fixed body to the steering fixed body.
Includes a drive current control unit that controls the supply of drive current to the steering fixed body by the drive current supply unit according to the rotational state of the steering rotating body.
A steering module in which the central axis of the steering shaft is located between the drive current supply unit and the drive current control unit when viewed in the direction in which the rotation axis of the wheel support is extended.
The steering module according to any one of claims 1 to 3, and further.
A state in which the steering rotating body is connected to the steering shaft portion so that the main body portion swings with respect to the steering shaft portion due to the rotation of the steering rotating body, and the wheel support portion due to the rotation of the steering rotating body. A steering module comprising a connection switching mechanism for switching between a state in which the steering rotating body is connected to the wheel support portion so that the steering rotating body rotates with respect to the main body portion.
The steering module according to claim 4, further
A steering module including a lock mechanism that locks the main body portion with respect to the steering shaft portion so as not to swing.
The steering module according to claim 4 or 5, further
A steering module including a drive motor unit that generates torque for rotating the wheels.