JP2514935B2 - Wheel steering system - Google Patents
Wheel steering systemInfo
- Publication number
- JP2514935B2 JP2514935B2 JP61196402A JP19640286A JP2514935B2 JP 2514935 B2 JP2514935 B2 JP 2514935B2 JP 61196402 A JP61196402 A JP 61196402A JP 19640286 A JP19640286 A JP 19640286A JP 2514935 B2 JP2514935 B2 JP 2514935B2
- Authority
- JP
- Japan
- Prior art keywords
- pin
- lever
- vehicle body
- width direction
- coupled
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Description
【発明の詳細な説明】 技術分野 本発明は、たとえば車椅子などにおいて好適に実施す
ることができる車輪の操舵装置に関する。TECHNICAL FIELD The present invention relates to a wheel steering device that can be suitably implemented in, for example, a wheelchair.
背景技術 典型的な先行技術は、車体に設けられた４つの車輪を
縦軸線のまわりに角変位するためのモータを個別的に設
け、このモータを駆動して操舵を行なつている。BACKGROUND ART In typical prior art, a motor for individually angularly displacing four wheels provided on a vehicle body about a vertical axis is provided, and steering is performed by driving the motor.
発明が解決すべき問題点 このような先行技術では、操舵のために必要なモータ
の数をもつと低減することが望まれる。Problems to be Solved by the Invention In such prior art, it is desired to reduce the number of motors required for steering.
本発明の目的は、操舵のためのモータの数を低減する
ことにより構成が簡略化された車輪の操舵装置を提供す
ることである。An object of the present invention is to provide a wheel steering device having a simplified structure by reducing the number of motors for steering.
問題点を解決するための手段 本発明は、車体１に、前右車輪W1aが第１キングピン1
0aによつて、前左車輪W2aが第２キングピン20aによつ
て、後右車輪W1bが第３キングピン10bによつて、後車輪
W2bが第４キングピン20bによつて、角変位可能に設けら
れ、 これらの第１〜第４キングピン10a,20a,10b,20bは、
相互に平行であり、これらの第１〜第４キングピン10a,
20a,10b,20bに垂直な仮想平面内における正方形または
長方形の各頂点位置に配置され、 第１キングピン10aに固定され、前方に延びる第１ア
ーム11aと、 第２キングピン20aに固定され、前方に延びる第２ア
ーム21aと、 第３キングピン10bに固定され、後方に延びる第３ア
ーム11bと、 第４キングピン20bに固定され、後方に延びる第４ア
ーム21bと、 第１キングピン10aよりも車体１の幅方向内方で第１
ピン13aによつて角変位可能に設けられる第１レバー14a
であつて、第１ピン13a付近から前方に延びる第１部分1
4a1と、第１ピン13a付近から車体の幅方向内方に延びる
第２部分14a2とを有して、全体の形状が大略的にＬ字状
である第１レバー14aと、 一端部が第１アーム11aの前端部にピン結合12aされ、
他端部が第１部分14a1の前端部にピン結合（15a）され
る第１連結部材17aと、 第２キングピン20aよりも車体１の幅方向内方で第２
ピン23aによつて角変位可能に設けられる第２レバー24a
であつて、第２ピン23aから前方に延びる第３部分24a1
と、第２ピン23a付近から車体１の幅方向の内方に延び
る第４部分24a2とを有して全体の形状が大略的にＬ字状
である第２レバー24aと、 一端部が第２アーム21aの前端部にピン結合（22a）さ
れ、他端部が第３部分24a1の前端部にピン結合（25a）
される第２連結部材27aと、 第３キングピン10aよりも車体１の幅方向内方で第３
ピン13bによつて角変位可能に設けられる第３レバー14b
であつて、第３ピン13b付近から後方に延びる第５部分1
4b1と、第３ピン13b付近から車体１の幅方向内方に延び
る第６部分14b2とを有して、全体の形状が大略的にＬ字
状である第３レバー14aと、 一端部が第３アーム11bの後端部にピン結合（12b）さ
れ、他端部が第５部分14b1の後端部にピン結合（15b）
される第３連結部材17aと、 第４キングピン20bよりも車体１の幅方向内方で第４
ピン23bによつて角変位可能に設けられる第４レバー24b
であつて、第４ピン23b付近から後方に延びる第７部分2
7b1と、第４ピン23b付近から車体１の幅方向内方に延び
る第８部分24b2とを有して全体の形状が大略的にＬ字状
である第４レバー24bと、 一端部が第４アーム21bの後端部にピン結合（22b）さ
れ、他端部が第７部分24b1の後端部にピン結合（25b）
される第４連結部材27aと、 車体１の前後方向に第１および第３ピン13a,13b間で
長手方向中央部が第１軸31によつて角変位可能に設けら
れる第５レバー32と、 一端部が第１レバー14aの第２部分14a2における車体
１の幅方向内方の端部にピン結合（16a）され、他端部
が第５レバー32の長手方向一端部にピン結合（18a）さ
れる第５連結部材19aと、 一端部が14bの第６部分14bにおける車体１の幅方向内
方の端部にピン結合（16b）され、他端部が第５レバー3
2の長手方向他端部にピン結合（18b）される第６連結部
材19bと、 車体１の前後方向に第２および第４ピン23a,23b間
で、長手方向中央部が第２軸41によつて角変位可能に設
けられる第６レバー42と、 一端部が第２レバー24aの第４部分24a2における車体
１の幅方向内方の端部にピン結合（26a）され、他端部
が第６レバー42の長手方向一端部にピン結合（28a）さ
れる第７連結部材29aと、 一端部が第４レバー24bの第８部分24b2における車体
１の幅方向内方の端部にピン結合（26b）され、他端部
が第６レバー42の長手方向他端部にピン結合（28b）さ
れる第８連結部材29bと、 第５レバー32を正逆転可能に駆動する第１操舵用モー
タM1と、 第６レバー42を正逆転可能に駆動する第２操舵用モー
タM2とを含み、 前右車輪W1aと、前左車輪W2aと、後右車輪W1bと、後
左車輪W2bとが直線走行状態であるとき、第１〜第４連
結部材17a,27a,17b,27bならびに第５および第６レバー3
2,42は、車体１の幅方向に延びた状態に定められること
を特徴とする車輪の操舵装置である。Means for Solving the Problems In the present invention, in the vehicle body 1, the front right wheel W1a has the first kingpin 1
The front left wheel W2a is connected to the second king pin 20a, the rear right wheel W1b is connected to the third king pin 10b, and the rear wheel is connected to the rear wheel.
W2b is provided so as to be angularly displaceable by the fourth kingpin 20b, and these first to fourth kingpins 10a, 20a, 10b, 20b are
These first to fourth kingpins 10a, which are parallel to each other,
20a, 10b, 20b are arranged at respective vertex positions of a square or a rectangle in an imaginary plane perpendicular to 20a, 10b, 20b, are fixed to the first kingpin 10a, are extended to the first arm 11a, and are fixed to the second kingpin 20a. The second arm 21a extending and the third arm 11b fixed to the third kingpin 10b and extending rearward, the fourth arm 21b fixed to the fourth kingpin 20b and extending rearward, and the vehicle body 1 more than the first kingpin 10a. First in the width direction
A first lever 14a provided so as to be angularly displaceable by a pin 13a
Then, the first portion 1 extending forward from the vicinity of the first pin 13a
4a1 and a second portion 14a2 extending inward in the width direction of the vehicle body from the vicinity of the first pin 13a, the overall shape is a generally L-shaped first lever 14a, and one end is first Pin connection 12a is made to the front end of the arm 11a,
The first connecting member 17a, the other end of which is pin-coupled (15a) to the front end of the first portion 14a1, and the second king pin 20a are second inward of the vehicle body 1 in the width direction.
A second lever 24a provided so as to be angularly displaceable by the pin 23a
Then, the third portion 24a1 extending forward from the second pin 23a
And a fourth portion 24a2 extending inward in the width direction of the vehicle body 1 from the vicinity of the second pin 23a, and a second lever 24a having a substantially L shape as a whole, and one end portion of the second lever 24a. The front end of the arm 21a is pin-coupled (22a), and the other end is pin-coupled to the front end of the third portion 24a1 (25a).
The second connecting member 27a and the third king pin 10a are located at a third position inward of the vehicle body 1 in the width direction.
A third lever 14b that is angularly displaceable by a pin 13b
Then, the fifth portion 1 extending rearward from the vicinity of the third pin 13b
4b1 and a sixth portion 14b2 extending inward in the width direction of the vehicle body 1 from the vicinity of the third pin 13b, the third lever 14a having a substantially L-shape as a whole, and one end having a first Pin connection (12b) to the rear end of the 3 arm 11b, and the other end to the rear end of the fifth portion 14b1 (15b).
The third connecting member 17a and the fourth king pin 20b are located at a fourth position inward of the vehicle body 1 in the width direction.
A fourth lever 24b provided so as to be angularly displaceable by the pin 23b.
Then, the seventh portion 2 extending rearward from the vicinity of the fourth pin 23b
7b1 and a fourth lever 24b having an eighth portion 24b2 extending inward in the width direction of the vehicle body 1 from the vicinity of the fourth pin 23b, and the overall shape is substantially L-shaped; The arm 21b is pin-coupled (22b) to the rear end, and the other end is pin-coupled (25b) to the rear end of the seventh portion 24b1.
A fourth connecting member 27a, and a fifth lever 32 provided in the longitudinal direction between the first and third pins 13a, 13b in the front-rear direction of the vehicle body 1 so as to be angularly displaceable by the first shaft 31. One end is pin-coupled (16a) to a widthwise inner end of the vehicle body 1 in the second portion 14a2 of the first lever 14a, and the other end is pin-coupled (18a) to one longitudinal end of the fifth lever 32. The fifth connecting member 19a and one end of the sixth portion 14b of 14b are pin-coupled (16b) to the inner end in the width direction of the vehicle body 1 and the other end is the fifth lever 3a.
The sixth connecting member 19b, which is pin-coupled (18b) to the other end in the longitudinal direction of 2, and the second and fourth pins 23a, 23b in the front-rear direction of the vehicle body 1, the central portion in the longitudinal direction is the second shaft 41. Therefore, the sixth lever 42 is provided so as to be angularly displaceable, and one end of the sixth lever 42 is pin-coupled (26a) to the end of the fourth portion 24a2 of the second lever 24a inward in the width direction of the vehicle body 1 and the other end is The seventh connecting member 29a is pin-connected (28a) to one end of the 6-lever 42 in the longitudinal direction, and one end is pin-connected to the widthwise inner end of the eighth portion 24b2 of the fourth lever 24b ( 26b), and the other end of the sixth lever 42 is pinned (28b) to the other end of the sixth lever 42 in the longitudinal direction, and the first steering motor M1 for driving the fifth lever 32 in the forward and reverse directions. And a second steering motor M2 that drives the sixth lever 42 so as to be capable of rotating in the forward and reverse directions, and includes a front right wheel W1a, a front left wheel W2a, a rear right wheel W1b, and a rear left wheel W2. b and the straight running state, the first to fourth connecting members 17a, 27a, 17b, 27b and the fifth and sixth levers 3
Reference numerals 2 and 42 denote wheel steering devices, which are set to extend in the width direction of the vehicle body 1.
作 用 本発明に従えば、車体の左の前後の車輪は、縦軸線ま
わりに相互に逆方向に連動して、角変位可能に調整でき
るようにし、また車体の右の前後の車輪も縦軸線まわり
に相互に逆方向に連動して角変位可能に調整できるよう
にされる。したがつて操舵を行なうための構成を簡略化
することができる。According to the present invention, the front left and right wheels of the vehicle body can be adjusted so as to be angularly displaceable by interlocking with each other in opposite directions about the vertical axis, and the right front and rear wheels of the vehicle body can also be adjusted by the vertical axis. It is arranged so that it can be angularly displaced by interlocking with each other in opposite directions. Therefore, the configuration for steering can be simplified.
実施例 第１図は本発明の一実施例の簡略化した平面図であ
る。車体１には、４つの車輪W1a,W1b;W2a,W2bが設けら
れる。右の車輪は参照符W1a,W1bで示され、左の車輪は
参照符W2a,W2bで示される。車輪W1a,W2aは前方側であ
り、車輪W1b,W2bは後方側である。以下の説明では、前
方側の車輪W1a,W2aに関連する構成要素には添字ａを付
け、後方側の車輪W1b,W2bに関連する構成要素には添字
ｂを付し、これらを総括して示すときには添字a,bを付
けないで説明を行なう。Embodiment FIG. 1 is a simplified plan view of an embodiment of the present invention. The vehicle body 1 is provided with four wheels W1a, W1b; W2a, W2b. The right wheel is indicated by the reference signs W1a, W1b and the left wheel is indicated by the reference signs W2a, W2b. The wheels W1a and W2a are on the front side, and the wheels W1b and W2b are on the rear side. In the following description, the subscript a is attached to the components related to the front wheels W1a and W2a, and the subscript b is attached to the components related to the rear wheels W1b and W2b. Sometimes, the explanation will be made without subscripts a and b.
第２図は、車輪W1aに関連する構成を示す分解斜視図
である。車輪W1aには横軸線を有する軸６が固定されて
おり、この軸６はブラケツト７によつて支持される。ブ
ラケツト７には、縦軸線を有するキングピン10aの基端
部が固定される。キングピン10aは、車体１に設けられ
た軸受９によつて縦軸線まわりに角変位して操舵可能と
なつている。ブラケツト７にはモータ80が固定されてお
り、このモータ８は、軸６にしたがつて車輪W1aを回転
駆動し、これによつて走行することができる。ブラケツ
ト７にはまたアーム11aが固着されており、このアーム1
1aにはピン12aが立設される。車輪W1b,W2a,W2bのギング
ピンは、参照符10b,20a,20bでそれぞれ示されている。
これらのキングピン10a,10b,20a,20bは相互に平行であ
り、それらに垂直な仮想平面内における正方形、または
長方形の各頂点位置に配置され、車輪W1a,W1b;W2a,W2b
に関連する構成は、前記平面の図心Ｇを通る前記平面に
垂直な面43に関して対称に構成される。FIG. 2 is an exploded perspective view showing a configuration related to the wheel W1a. A shaft 6 having a horizontal axis is fixed to the wheel W1a, and the shaft 6 is supported by a bracket 7. The base end of a kingpin 10a having a vertical axis is fixed to the bracket 7. The kingpin 10a can be steered by a bearing 9 provided on the vehicle body 1 by being angularly displaced about the vertical axis. A motor 80 is fixed to the bracket 7, and the motor 8 rotationally drives the wheel W1a along the shaft 6 so that the vehicle can travel. An arm 11a is fixed to the bracket 7 as well.
A pin 12a is erected on 1a. The ging pins of the wheels W1b, W2a, W2b are indicated by reference numerals 10b, 20a, 20b, respectively.
These kingpins 10a, 10b, 20a, 20b are parallel to each other and are arranged at respective vertex positions of a square or a rectangle in an imaginary plane perpendicular to them, and wheels W1a, W1b; W2a, W2b
The configuration related to is configured symmetrically with respect to a plane 43 perpendicular to the plane passing through the centroid G of the plane.
車体１には、ピン13aによつて大略的にＬ字状のレバ
ー14aが角変位可能に設けられており、このレバー14aに
はピン15a,16aが取付けられる。ピン12a,15aによつて連
結部材17aは、アーム11aとレバー14aにピン結合され
る。The vehicle body 1 is provided with a substantially L-shaped lever 14a that can be angularly displaced by a pin 13a, and pins 15a and 16a are attached to the lever 14a. The connecting member 17a is pin-connected to the arm 11a and the lever 14a by the pins 12a and 15a.
車体１にはまた軸31によつてレバー32が車体１に回転
可能に取付けられており、このレバー32にはピン18aが
設けられる。ピン16a,18aによつて、連結部材19aはレバ
ー14a,32にピン結合される。ピン10a,12a,15a,16a,18a
および軸13a,31は、相互に平行である。車輪W1bに関し
ても同様な構成となつている。こうしてレバー32を軸31
のまわりに角変位することによつて、車輪W1a,W1bはキ
ングピン10a,10bのまわりに相互に逆方向に連動して角
変位する。A lever 32 is rotatably attached to the vehicle body 1 by means of a shaft 31 and the lever 32 is provided with a pin 18a. The connecting member 19a is pin-connected to the levers 14a and 32 by the pins 16a and 18a. Pins 10a, 12a, 15a, 16a, 18a
And the axes 13a, 31 are parallel to each other. The wheel W1b has a similar configuration. In this way, lever 32
By being angularly displaced around the wheels, the wheels W1a and W1b are angularly displaced around the kingpins 10a and 10b in the opposite directions.
もう１つの車輪W2a,W2bに関しても同様な構成となつ
ており、対応する部分には右側部分の参照符に10を加え
た参照符を付す。レバー42を軸41のまわりに角変位する
ことによつて、車輪W2a,W2bをキングピン20a,20bのまわ
りに、相互に逆方向に連動して角変位することができ
る。軸31,41の軸線を結ぶ直線は、対称面43に垂直であ
り、この直線上に前記図心があるモータM1,M2の動力
は、減速機R1,R2を介してレバー32,42に固着されている
軸31,41に伝達され、これによつてレバー32,42が角変位
駆動されて操舵が行なわれる。この実施例では、右の車
輪W1a,W1bの操舵のために単一のモータM1が設けられ、
また左の車輪W2a,W2bの操舵のためにもう１つのモータM
2が設けられており、前述の先行技術に関連して述べた
ように、各車輪W1a,W1b;W2a,W2bに個別に、操舵のため
にモータが設けられている構成ではないので、操舵のた
めの構成が簡略化される。The other wheels W2a and W2b have the same structure, and corresponding parts are denoted by reference numerals obtained by adding 10 to the reference numerals on the right side portion. By angularly displacing the lever 42 around the shaft 41, the wheels W2a, W2b can be angularly displaced around the kingpins 20a, 20b in the mutually opposite directions. The straight line connecting the axes of the shafts 31 and 41 is perpendicular to the plane of symmetry 43, and the power of the motors M1 and M2 having the centroid on this straight line is fixed to the levers 32 and 42 via the speed reducers R1 and R2. It is transmitted to the shafts 31 and 41 that are being driven, whereby the levers 32 and 42 are angularly displaced and driven for steering. In this embodiment, a single motor M1 is provided for steering the right wheels W1a, W1b,
Another motor M for steering left wheels W2a, W2b
2 is provided, as described in relation to the above-mentioned prior art, since each wheel W1a, W1b; W2a, W2b is not individually provided with a motor for steering, The configuration for is simplified.
車輪W1a,W1b;W2a,W2bを対称面43に平行となるように
操舵した状態では、直線走行を行なうことができる。When the wheels W1a, W1b; W2a, W2b are steered so as to be parallel to the plane of symmetry 43, straight running can be performed.
車輪W1a,W2a;W1b,W2bが直線走行状態である第１図の
状態では、連結部材17a,27a,17b,27bとレバー32,42と
は、その第１図から明らかなように車体１の幅方向（第
１図の左右方向）に延びた状態に定められる。これによ
つてキングピン10b,20bのまわりの車輪W1a,W1b,W2a,W2b
の正逆転する角度を大きくすることができる。In the state of FIG. 1 in which the wheels W1a, W2a; W1b, W2b are in the straight running state, the connecting members 17a, 27a, 17b, 27b and the levers 32, 42 are connected to the vehicle body 1 as shown in FIG. It is determined to extend in the width direction (left and right direction in FIG. 1). This allows the wheels W1a, W1b, W2a, W2b around the kingpins 10b, 20b.
It is possible to increase the forward and reverse rotation angle of.
車体１に、前右車輪W1aが第１キングピン10aによつ
て、前左車輪W2a第２キングピン20aによつて、後右車輪
W1bが第３キングピン10bによつて、後車輪W2bが第４キ
ングピン20bによつて、角変位可能に設けられる。On the vehicle body 1, the front right wheel W1a is attached to the first kingpin 10a, the front left wheel W2a is attached to the second kingpin 20a, and the rear right wheel is attached.
The W1b is provided by the third king pin 10b and the rear wheel W2b is provided by the fourth king pin 20b so as to be angularly displaceable.
これらの第１〜第４キングピン10a,20a,10b,20bは、
相互に平行であり、これらの第１〜第４キングピン10a,
20a,10b,20bに垂直な仮想平面内における正方形または
長方形の各頂点位置に配置される。These first to fourth kingpins 10a, 20a, 10b, 20b are
These first to fourth kingpins 10a, which are parallel to each other,
It is arranged at each vertex position of a square or a rectangle in a virtual plane perpendicular to 20a, 10b, 20b.
アーム11aは、第１キングピン10aに固定され、前方に
延びる。アーム21aは、第２キングピン20aに固定され、
前方に延びる。アーム11bは、第３キングピン10bに固定
され、後方に延びる。アーム21bは、第４キングピン20b
に固定され、後方に延びる。The arm 11a is fixed to the first kingpin 10a and extends forward. The arm 21a is fixed to the second kingpin 20a,
Extend forward. The arm 11b is fixed to the third kingpin 10b and extends rearward. The arm 21b is the fourth kingpin 20b.
It is fixed to and extends rearward.
レバー14aは、第１キングピン10aよりも車体１の幅方
向内方で第１ピン13aによつて角変位可能に設けられ、
第１ピン13aの付近から前方に延びる第１部分14a1と、
第１ピン13a付近から車体の幅方向内方に延びる第２部
分14a2を有して、全体の形状が大略的にＬ字状である。
連結部材17aは、一端部が第１アーム11aの前端部にピン
結合12aされ、他端部が第１部分14a1の前端部にピン結
合（15a）される。レバー24aは、第２キングピン20aよ
りも車体１の幅方向内方で第２ピン23aによつて角変位
可能に設けられ、第２ピン23aから前方に延びる第３部
分24a1と、第２ピン23a付近から車体１の幅方向の内方
に延びる第４部分24a2とを有して全体の形状が大略的に
Ｌ字状である。第２連結部材27aは、一端部が第１アー
ム21aの前端部にピン結合（22a）され、他端部が第３部
分24a1の前端部にピン結合（25a）される。レバー14a
は、第３キングピン10aよりも車体１の幅方向内方で第
３ピン13bによつて角変位可能に設けられ、第３ピン13b
付近から後方に延びる第５部分14b1と、第３ピン13b付
近から車体１の幅方向内方に延びる第６部分14b2とを有
して、全体の形状が大略的にＬ字状である。The lever 14a is provided inward of the first king pin 10a in the width direction of the vehicle body 1 so as to be angularly displaceable by the first pin 13a.
A first portion 14a1 extending forward from the vicinity of the first pin 13a,
It has a second portion 14a2 extending inward in the width direction of the vehicle body from the vicinity of the first pin 13a, and is generally L-shaped as a whole.
One end of the connecting member 17a is pin-coupled 12a to the front end of the first arm 11a, and the other end is pin-coupled (15a) to the front end of the first portion 14a1. The lever 24a is provided so as to be angularly displaceable by the second pin 23a inward of the second king pin 20a in the width direction of the vehicle body 1, and the third portion 24a1 extending forward from the second pin 23a and the second pin 23a. It has a fourth portion 24a2 extending inward in the width direction of the vehicle body 1 from the vicinity, and the overall shape is substantially L-shaped. One end of the second connecting member 27a is pin-coupled (22a) to the front end of the first arm 21a, and the other end is pin-coupled (25a) to the front end of the third portion 24a1. Lever 14a
Is provided inward in the width direction of the vehicle body 1 with respect to the third king pin 10a so as to be angularly displaceable by the third pin 13b.
It has a fifth portion 14b1 extending rearward from the vicinity and a sixth portion 14b2 extending inward in the width direction of the vehicle body 1 from the vicinity of the third pin 13b, and the overall shape is substantially L-shaped.
第３連結部材17aは、一端部が第３アーム11bの後端部
にピン結合（12b）され、他端部が第５部分14b1の後端
部にピン結合（15b）される。One end of the third connecting member 17a is pin-coupled (12b) to the rear end of the third arm 11b, and the other end is pin-coupled (15b) to the rear end of the fifth portion 14b1.
レバー24bは、第４キングピン20bよりも車体１の幅方
向内方で第４ピン23bによつて角変位可能な設けられ、
第４ピン23b付近から方向に延びる第７部分27b1と、第
４ピン23b付近から車体１の幅方向内方に延びる第８部
分24b2とを有して全体の形状が大略的にＬ字状である。The lever 24b is provided so as to be angularly displaceable by the fourth pin 23b inward of the fourth king pin 20b in the width direction of the vehicle body 1,
It has a seventh portion 27b1 extending in the direction from the vicinity of the fourth pin 23b and an eighth portion 24b2 extending inward in the width direction of the vehicle body 1 from the vicinity of the fourth pin 23b, and the overall shape is substantially L-shaped. is there.
第４連結部材27bは、一端部が第４アーム21bの後端部
にピン結合（22b）され、他端部が第７部分24b1の後端
部にピン結合（25b）される。One end of the fourth connecting member 27b is pin-coupled (22b) to the rear end of the fourth arm 21b, and the other end is pin-coupled (25b) to the rear end of the seventh portion 24b1.
レバー32は、車体１の前後方向に第１および第３ピン
13a,13b間で長手方向中央部が第１軸31によつて角変位
可能に設けられる。The lever 32 has first and third pins in the front-back direction of the vehicle body 1.
A central portion in the longitudinal direction is provided between 13a and 13b so as to be angularly displaceable by the first shaft 31.
連結部材19aは、一端部が第１レバー14aの第２部分14
a2における車体１の幅方向内方の端部にピン結合（16
a）され、他端部が第５レバー32の長手方向の一端部に
ピン結合（18a）される。One end of the connecting member 19a is the second portion 14 of the first lever 14a.
Pin connection to the widthwise inner end of the vehicle body 1 at a2 (16
a) and the other end is pin-coupled (18a) to one end of the fifth lever 32 in the longitudinal direction.
連結部材19bは、一端部が14bの第６部分14bにおける
車体１の幅方向内方の端部にピン結合（16b）され、他
端部が第５レバー32の長手方向他端部にピン結合（18
b）される。One end of the connecting member 19b is pin-coupled (16b) to the inner end in the width direction of the vehicle body 1 of the sixth portion 14b of 14b, and the other end is pin-coupled to the other end of the fifth lever 32 in the longitudinal direction. (18
b) be done.
レバー42は、車体１の前後方向に第２および第４ピン
23a,23b間で、長手方向中央部が第２軸41によつて角変
位可能に設けられる。The lever 42 has a second and a fourth pin in the front-back direction of the vehicle body 1.
A central portion in the longitudinal direction is provided between 23a and 23b so as to be angularly displaceable by the second shaft 41.
連結部材29aは、一端部が第２レバー24aの第４部分24
a2における車体１の幅方向内方の端部にピン結合（26
a）され、他端部が第６レバー42の長手方向一端部にピ
ン結合（28a）される。One end of the connecting member 29a is the fourth portion 24 of the second lever 24a.
Pin connection to the widthwise inward end of the vehicle body 1 at a2 (26
a) and the other end is pin-coupled (28a) to one end of the sixth lever 42 in the longitudinal direction.
連結部材29bは、一端部が第４レバー24bの第８部分24
b2における車体１の幅方向内方の端部にピン結合（26
b）され、他端部が第６レバー42の長手方向他端部にピ
ン結合（28b）される。One end of the connecting member 29b is the eighth portion 24 of the fourth lever 24b.
Pin connection to the widthwise inner end of the vehicle body 1 at b2 (26
b), and the other end is pin-coupled (28b) to the other end of the sixth lever 42 in the longitudinal direction.
前右車輪W1aと、前左車輪W2aと、後右車輪W1bと、後
左車輪W2bとが直線走行状態であるとき、第１〜第４連
結部材17a,27a,17b,27bならびに第５および第６レバー3
2,41は、車体１の幅方向に延びた状態に定められる。When the front right wheel W1a, the front left wheel W2a, the rear right wheel W1b, and the rear left wheel W2b are in a straight traveling state, the first to fourth connecting members 17a, 27a, 17b, 27b and the fifth and the fifth connecting members 6 lever 3
2, 41 are set to extend in the width direction of the vehicle body 1.
第３図は、車体１が右方に曲がるときの状態を示す簡
略化した平面図である。レバー32,42は、軸31,41の軸線
まわりに第３図の反時計方向に角変位される。これによ
つて車輪W1a,W1b;W2a,W2bと地面との滑りを少なくする
ことができ、また内輪差を少なくすることができる。ま
た左方に旋回するときには、レバー32,42は軸31,41の軸
線まわりに第３図の時計方向に角変位される。FIG. 3 is a simplified plan view showing a state in which the vehicle body 1 is bent to the right. The levers 32 and 42 are angularly displaced counterclockwise in FIG. 3 around the axes of the shafts 31 and 41. As a result, the slip between the wheels W1a, W1b; W2a, W2b and the ground can be reduced, and the inner ring difference can be reduced. When turning to the left, the levers 32 and 42 are angularly displaced in the clockwise direction in FIG. 3 around the axes of the shafts 31 and 41.
第４図は、車体１が図心Ｇを通る縦軸線まわりに心地
旋回するときの状態を示す。レバー32は、軸31の軸線ま
わりに第４図の時計方向に角変位され、もう１つのレバ
ー42は、軸41の軸線まわりに第４図の反時計方向に角変
位される。この状態において図心Ｇと、車輪W1aのキン
グピン10aの軸線を結ぶ直線44は、キングピ10aの軸線と
ピン12aの軸線を結ぶ直45に垂直である。残余の車輪W1
b,W2a,W2bに関しても同様である。これによつて図心Ｇ
側から見た車輪W1a,W1b;W2a,W2bを同一回転方向に回転
することによつて、回転半径を零として、その場で心地
旋回を行なうことができる。FIG. 4 shows a state in which the vehicle body 1 comfortably turns around the vertical axis passing through the center of gravity G. The lever 32 is angularly displaced around the axis of the shaft 31 in the clockwise direction of FIG. 4, and the other lever 42 is angularly displaced around the axis of the shaft 41 in the counterclockwise direction of FIG. In this state, the straight line 44 connecting the centroid G and the axis of the king pin 10a of the wheel W1a is perpendicular to the straight line 45 connecting the axis of the king pin 10a and the axis of the pin 12a. Residual wheel W1
The same applies to b, W2a, and W2b. As a result, the centroid G
By rotating the wheels W1a, W1b; W2a, W2b viewed from the side in the same rotation direction, the turning radius can be set to zero and comfortable turning can be performed on the spot.
第５図は、制動時における車輪W1a,W1b;W2a,W2bの状
態を示す簡略化した平面図である。車体１が矢符46の方
向に走行しているとき、レバー32を軸31の軸線まわりに
反時計方向に角変位し、またもう１つのレバー42を軸41
の軸線まわりに時計方向に角変位することによつて、制
動力を発生することができる。またレバー32を軸31の軸
線まわりに時計方向に角変位し、これと同時にレバー42
を軸41の軸線まわりに反時計方向に角変位し、これによ
つてもまた、制動力を発揮することができる。FIG. 5 is a simplified plan view showing the states of the wheels W1a, W1b; W2a, W2b during braking. When the vehicle body 1 travels in the direction of arrow 46, the lever 32 is angularly displaced counterclockwise around the axis of the shaft 31, and the other lever 42 is moved to the shaft 41.
The braking force can be generated by the angular displacement in the clockwise direction around the axis of. Also, the lever 32 is angularly displaced clockwise about the axis of the shaft 31, and at the same time, the lever 42 is moved.
Is angularly displaced in the counterclockwise direction about the axis of the shaft 41, which also makes it possible to exert the braking force.
横移動を行なうときにはレバー32,42を軸31,41の軸線
まわりに反時計方向に角変位して、車輪W1a,W1b;W2a,W2
bが対称面43に垂直になるようにすればよい。When performing lateral movement, the levers 32 and 42 are angularly displaced counterclockwise around the axes of the shafts 31 and 41, so that the wheels W1a, W1b; W2a, W2
It suffices that b is perpendicular to the plane of symmetry 43.
本発明は、電動車椅子に関連して実施することができ
るだけでなく、その他の移動体に関連して広範囲に実施
することができる。The present invention can be implemented not only in connection with an electric wheelchair, but also in a wide range of other mobile bodies.
効 果 以上のように本発明によれば、操舵のために前述の先
行技術に関連して述べたように、４つの各車輪毎にモー
タを設ける必要はなく、先行技術に比べて構成が簡略化
される。As described above, according to the present invention, it is not necessary to provide a motor for each of the four wheels for steering, as described in relation to the above-mentioned prior art, and the configuration is simple as compared with the prior art. Be converted.
特に本発明によれば、前右車輪W1aと後右車輪W1bは第
１操舵用モータM1によつて駆動され、前左車輪W2aと後
左車輪W2bとは第２操舵用モータM2によつて駆動するよ
うにし、これによつて左右の旋回時における適切な舵角
を設定することができる。したがつてこれらの車輪と路
面との滑りをなくし、その車輪の路面との滑りによる摩
耗を抑制することができるようになる。Particularly according to the present invention, the front right wheel W1a and the rear right wheel W1b are driven by the first steering motor M1, and the front left wheel W2a and the rear left wheel W2b are driven by the second steering motor M2. By doing so, an appropriate rudder angle can be set when turning left and right. Therefore, slippage between these wheels and the road surface can be eliminated, and wear due to slippage between the wheels and the road surface can be suppressed.
さらに本発明によれば、第１レバー14a、第２レバー2
4a、第３レバー14bおよび第４レバー24bは、全体の形状
が大略的にＬ字状に形成され、しかも第１部分14a1、第
３部分24a1、第５部分14b1および第７部分27b1は、車体
１の前後方向に延びているので、第１〜第４アーム11a,
21a,11b,21bと干渉することなく、大きな角変位量が可
能になり、これによつて左右の旋回、心地旋回および前
述の図５に示されるように停止状態を容易に達成するこ
とができるという優れた効果が得られる。Further, according to the present invention, the first lever 14a and the second lever 2
4a, the third lever 14b and the fourth lever 24b are formed in a generally L-shape as a whole, and the first portion 14a1, the third portion 24a1, the fifth portion 14b1 and the seventh portion 27b1 are Since it extends in the front-back direction of 1, the first to fourth arms 11a,
A large amount of angular displacement is possible without interfering with 21a, 11b, 21b, which allows a left / right turn, a comfortable turn, and a stop state as shown in FIG. 5 described above to be easily achieved. That is an excellent effect.
さらに本発明によれば、車輪W1a,W2a,W1b,W2bが直線
走行状態であるとき、第１〜第４連結部材17a,27a,17b,
27bならびに第５および第６レバー32,42は、車体１の幅
方向に延びた状態に定められているので、このことによ
つてもまた第１〜第４アーム11a,21a,11b,21bの左右の
旋回、心地旋回および停止のために大きく角変位するこ
とが可能である。Further, according to the present invention, when the wheels W1a, W2a, W1b, W2b are in a straight traveling state, the first to fourth connecting members 17a, 27a, 17b,
Since 27b and the fifth and sixth levers 32, 42 are defined to extend in the width direction of the vehicle body 1, this also applies to the first to fourth arms 11a, 21a, 11b, 21b. It is possible to make a large angular displacement for turning left and right, turning comfortably and stopping.
第１図は本発明の一実施例の直線走行状態を示す簡略化
した平面図、第２図は車輪W1a付近の分解斜視図、第３
図は右方に旋回するときの状態を示す簡略化した平面
図、第４図は心地旋回を行なうときの状態を示す簡略化
した平面図、第５図は制動状態を示す簡略化した平面図
である。 １……車体、10a,10b,20a,20b……キングピン、11a,11
b,21a,21b……アーム、14a,14b,24a,24b,32,42……レバ
ー、17a,17b,27a,27b,19a,19b,29a,29b……連結部材、W
1a,W1b,W2a,W2b……車輪、M1,M2……モータ、R1,R2……
減速機FIG. 1 is a simplified plan view showing a straight running state of an embodiment of the present invention, FIG. 2 is an exploded perspective view near a wheel W1a, and FIG.
The figure is a simplified plan view showing a state when turning to the right, FIG. 4 is a simplified plan view showing a state when performing comfortable turning, and FIG. 5 is a simplified plan view showing a braking state. Is. 1 ... Body, 10a, 10b, 20a, 20b ... Kingpin, 11a, 11
b, 21a, 21b …… arm, 14a, 14b, 24a, 24b, 32,42 …… lever, 17a, 17b, 27a, 27b, 19a, 19b, 29a, 29b …… connecting member, W
1a, W1b, W2a, W2b …… Wheels, M1, M2 …… Motors, R1, R2 ……
Decelerator
Claims (1)
0aによつて、前左車輪W2aが第２キングピン20aによつ
て、後右車輪W1bが第３キングピン10bによつて、後車輪
W2bが第４キングピン20bによつて、角変位可能に設けら
れ、 これらの第１〜第４キングピン10a,20a,10b,20bは、相
互に平行であり、これらの第１〜第４キングピン10a,20
a,10b,20bに垂直な仮想平面内における正方形または長
方形の各頂点位置に配置され、 第１キングピン10aに固定され、前方に延びる第１アー
ム11aと、 第２キングピン20aに固定され、前方に延びる第２アー
ム21aと、 第３キングピン10bに固定され、後方に延びる第３アー
ム11bと、 第４キングピン20bに固定され、後方に延びる第４アー
ム21bと、 第１キングピン10aよりも車体１の幅方向内方で第１ピ
ン13aによつて角変位可能に設けられる第１レバー14aで
あつて、第１ピン13a付近から前方に延びる第１部分14a
1と、第１ピン13a付近から車体の幅方向内方に延びる第
２部分14a2とを有して、全体の形状が大略的にＬ字状で
ある第１レバー14aと、 一端部が第１アーム11aの前端部にピン結合12aされ、他
端部が第１部分14a1の前端部にピン結合（15a）される
第１連結部材17aと、 第２キングピン20aよりも車体１の幅方向内方で第２ピ
ン23aによつて角変位可能に設けられる第２レバー24aで
あつて、第２ピン23aから前方に延びる第３部分24a1
と、第２ピン23a付近から車体１の幅方向の内方に延び
る第４部分24a2とを有して全体の形状が大略的にＬ字状
である第２レバー24aと、 一端部が第２アーム21aの前端部にピン結合（22a）さ
れ、他端部が第３部分24a1の前端部にピン結合（25a）
される第２連結部材27aと、 第３キングピン10aよりも車体１の幅方向内方で第３ピ
ン13bによつて角変位可能に設けられる第３レバー14bで
あつて、第３ピン13b付近から後方に延びる第５部分14b
1と、第３ピン13b付近から車体１の幅方向内方に延びる
第６部分14b2とを有して、全体の形状が大略的にＬ字状
である第３レバー14aと、 一端部が第３アーム11bの後端部にピン結合（12b）さ
れ、他端部が第５部分14b1の後端部にピン結合（15b）
される第３連結部材17aと、 第４キングピン20bよりも車体１の幅方向内方で第４ピ
ン23bによつて角変位可能に設けられる第４レバー24bで
あつて、第４ピン23b付近から後方に延びる第７部分27b
1と、第４ピン23b付近から車体１の幅方向内方に延びる
第８部分24b2とを有して全体の形状が大略的にＬ字状で
ある第４レバー24bと、 一端部が第４アーム21bの後端部にピン結合（22b）さ
れ、他端部が第７部分24b1の後端部にピン結合（25b）
される第４連結部材27bと、 車体１の前後方向に第１および第３ピン13a,13b間で長
手方向中央部が第１軸31によつて角変位可能に設けられ
る第５レバー32と、 一端部が第１レバー14aの第２部分14a2における車体１
の幅方向内方の端部にピン結合（16a）され、他端部が
第５レバー32の長手方向一端部にピン結合（18a）され
る第５連結部材19aと、 一端部が14bの第６部分14bにおける車体１の幅方向内方
の端部にピン結合（16b）され、他端部が第５レバー32
の長手方向他端部にピン結合（18b）される第６連結部
材19bと、 車体１の前後方向に第２および第４ピン23a,23b間で、
長手方向中央部が第２軸41によつて角変位可能に設けら
れる第６レバー42と、 一端部が第２レバー24aの第４部分24a2における車体１
の幅方向内方の端部にピン結合（26a）され、他端部が
第６レバー42の長手方向一端部にピン結合（28a）され
る第７連結部材29aと、 一端部が第４レバー24bの第８部分24b2における車体１
の幅方向内方の端部にピン結合（26b）され、他端部が
第６レバー42の長手方向他端部にピン結合（28b）され
る第８連結部材29bと、 第５レバー32を正逆転可能に駆動する第１操舵用モータ
M1と、 第６レバー42を正逆転可能に駆動する第２操舵用モータ
M2とを含み、 前右車輪W1aと、前左車輪W2aと、後右車輪W1bと、後左
車輪W2bとが直線走行状態であるとき、第１〜第４連結
部材17a,27a,17b,27bならびに第５および第６レバー32,
42は、車体１の幅方向に延びた状態に定められることを
特徴とする車輪の操舵装置。1. A front right wheel W1a having a first kingpin 1 on a vehicle body 1.
The front left wheel W2a is connected to the second king pin 20a, the rear right wheel W1b is connected to the third king pin 10b, and the rear wheel is connected to the rear wheel.
W2b is provided so as to be angularly displaceable by the fourth kingpin 20b, and these first to fourth kingpins 10a, 20a, 10b, 20b are parallel to each other, and these first to fourth kingpins 10a, 10a, 20
It is arranged at each vertex position of a square or a rectangle in an imaginary plane perpendicular to a, 10b, 20b, fixed to the first kingpin 10a, fixed to the first arm 11a extending forward, and fixed to the second kingpin 20a. The second arm 21a extending and the third arm 11b fixed to the third kingpin 10b and extending rearward, the fourth arm 21b fixed to the fourth kingpin 20b and extending rearward, and the vehicle body 1 more than the first kingpin 10a. A first lever 14a provided inward in the width direction so as to be angularly displaceable by a first pin 13a, the first portion 14a extending forward from the vicinity of the first pin 13a.
1 and a first portion 14a2 having a second portion 14a2 extending inward in the width direction of the vehicle body from the vicinity of the first pin 13a, and the overall shape is substantially L-shaped; A first connecting member 17a, which is pin-coupled 12a to the front end of the arm 11a, and the other end of which is pin-coupled (15a) to the front end of the first portion 14a1, and the inner side in the width direction of the vehicle body 1 than the second kingpin 20a. The second lever 24a is provided so as to be angularly displaceable by the second pin 23a, and the third portion 24a1 extends forward from the second pin 23a.
And a fourth portion 24a2 extending inward in the width direction of the vehicle body 1 from the vicinity of the second pin 23a, and a second lever 24a having a substantially L shape as a whole, and one end portion of the second lever 24a. The front end of the arm 21a is pin-coupled (22a), and the other end is pin-coupled to the front end of the third portion 24a1 (25a).
A second connecting member 27a and a third lever 14b which is angularly displaceable by a third pin 13b inward of the third kingpin 10a in the width direction of the vehicle body 1 from near the third pin 13b. Fifth portion 14b extending rearward
1 and a sixth portion 14b2 extending inward in the width direction of the vehicle body 1 from the vicinity of the third pin 13b, and the third lever 14a having a substantially L-shape as a whole, and one end of which is a first lever 14a. Pin connection (12b) to the rear end of the 3 arm 11b, and the other end to the rear end of the fifth portion 14b1 (15b).
The third connecting member 17a and the fourth lever 24b which is angularly displaceable by the fourth pin 23b inward of the fourth king pin 20b in the width direction of the vehicle body 1 from near the fourth pin 23b. Seventh part 27b extending rearward
A fourth lever 24b having a substantially L-shape and having an eighth portion 24b2 extending inward in the width direction of the vehicle body 1 from the vicinity of the fourth pin 23b; The arm 21b is pin-coupled (22b) to the rear end, and the other end is pin-coupled (25b) to the rear end of the seventh portion 24b1.
A fourth connecting member 27b, and a fifth lever 32 whose longitudinal center portion is provided between the first and third pins 13a, 13b in the front-back direction of the vehicle body 1 so as to be angularly displaceable by the first shaft 31. The vehicle body 1 whose one end is the second portion 14a2 of the first lever 14a
A fifth connecting member 19a, which is pin-coupled (16a) to the inner end in the width direction, and the other end is pin-coupled (18a) to one end in the longitudinal direction of the fifth lever 32; Pin connection (16b) is made to the widthwise inner end of the vehicle body 1 in the sixth portion 14b, and the other end is the fifth lever 32.
Between the second and fourth pins 23a, 23b in the front-back direction of the vehicle body 1, and the sixth connecting member 19b that is pin-coupled (18b) to the other end in the longitudinal direction of
A sixth lever 42 whose longitudinal center portion is provided so as to be angularly displaceable by a second shaft 41, and one end portion of the vehicle body 1 at the fourth portion 24a2 of the second lever 24a.
And a seventh connecting member 29a, which is pin-coupled (26a) to the inner end in the width direction and has the other end pin-coupled (28a) to one end in the longitudinal direction of the sixth lever 42, and one end thereof is the fourth lever. Car body 1 at the 8th part 24b2 of 24b
The fifth connecting lever 29b and the eighth connecting member 29b, which is pin-connected (26b) to the inner end in the width direction and whose other end is pin-connected (28b) to the other end in the longitudinal direction of the sixth lever 42. First steering motor driven to rotate forward and backward
The second steering motor that drives M1 and the sixth lever 42 so that they can rotate forward and backward.
Including the M2, when the front right wheel W1a, the front left wheel W2a, the rear right wheel W1b, and the rear left wheel W2b are in a straight traveling state, the first to fourth connecting members 17a, 27a, 17b, 27b And fifth and sixth levers 32,
Reference numeral 42 denotes a wheel steering device, which is defined to extend in the width direction of the vehicle body 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61196402A JP2514935B2 (en) | 1986-08-21 | 1986-08-21 | Wheel steering system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61196402A JP2514935B2 (en) | 1986-08-21 | 1986-08-21 | Wheel steering system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6353180A JPS6353180A (en) | 1988-03-07 |
| JP2514935B2 true JP2514935B2 (en) | 1996-07-10 |
Family
ID=16357267
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP61196402A Expired - Lifetime JP2514935B2 (en) | 1986-08-21 | 1986-08-21 | Wheel steering system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2514935B2 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102653246B (en) * | 2012-04-17 | 2014-11-12 | 华南农业大学 | Four-wheel driven high-ground gap mobile car and control method thereof |
| JP6494489B2 (en) * | 2015-09-25 | 2019-04-03 | 本田技研工業株式会社 | Electric wheelchair |
| CN107215389A (en) * | 2017-07-20 | 2017-09-29 | 浙江国自机器人技术有限公司 | A kind of mobile chassis and moving method of place crusing robot |
| CN107323524A (en) * | 2017-07-20 | 2017-11-07 | 浙江国自机器人技术有限公司 | A kind of mobile chassis and moving method of place crusing robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS49118125A (en) * | 1973-03-16 | 1974-11-12 |
-
1986
- 1986-08-21 JP JP61196402A patent/JP2514935B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6353180A (en) | 1988-03-07 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EXPY | Cancellation because of completion of term |