JPH01109172A - Mechanism for controlling steering angle of four-wheel steering vehicle - Google Patents
Mechanism for controlling steering angle of four-wheel steering vehicleInfo
- Publication number
- JPH01109172A JPH01109172A JP62266087A JP26608787A JPH01109172A JP H01109172 A JPH01109172 A JP H01109172A JP 62266087 A JP62266087 A JP 62266087A JP 26608787 A JP26608787 A JP 26608787A JP H01109172 A JPH01109172 A JP H01109172A
- Authority
- JP
- Japan
- Prior art keywords
- gear
- steering
- tie rod
- steering angle
- wheel steering
- 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.)
- Pending
Links
- 230000033001 locomotion Effects 0.000 claims abstract description 5
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 125000000391 vinyl group Chemical group [H]C([*])=C([H])[H] 0.000 description 1
- 229920002554 vinyl polymer Polymers 0.000 description 1
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
- B62D7/15—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 characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/1518—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 characterised by means varying the ratio between the steering angles of the steered wheels comprising a mechanical interconnecting system between the steering control means of the different axles
- B62D7/1536—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 characterised by means varying the ratio between the steering angles of the steered wheels comprising a mechanical interconnecting system between the steering control means of the different axles provided with hydraulic assistance
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)
Abstract
Description
【発明の詳細な説明】
［産業上の利用分野］
本発明は４輪操舵車両の舵角制御機構に関するものであ
る。DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] The present invention relates to a steering angle control mechanism for a four-wheel steering vehicle.
［従来の技術］
特開昭５５−９１４５８号公報に開示される車両の４輪
操舵装置では、前輪舵角が小さい時には後輪を同位相に
操舵（転舵）し、前輪舵角が大さい哨には後輪を逆位相
に操舵するために、前輪操舵に関連して入力ロットのビ
ンが前後方向に往復動すると、ビンに係合する平面的Ｓ
字形カム溝を有するＩＮＩ体が左右に移動し、この摺動
体によりタイロッドを介して後輪が操舵される。また、
特開昭５８−９７５６５号公報に開示されるもので番ユ
、遊Ｗ歯串に結合されたクランクの、トロコイド曲線状
に動作するビンによりタイロッドを介して後輪が操舵さ
れる。[Prior Art] In the four-wheel steering system for a vehicle disclosed in Japanese Patent Application Laid-Open No. 55-91458, when the front wheel steering angle is small, the rear wheels are steered (steering) in the same phase, and when the front wheel steering angle is large, the rear wheels are steered in the same phase. In order to steer the rear wheels in the opposite phase, the steering wheel has a planar S that engages with the bin when the bin of the input lot reciprocates in the front and back direction in relation to front wheel steering.
The INI body having a letter-shaped cam groove moves left and right, and the sliding body steers the rear wheels via the tie rod. Also,
In the system disclosed in Japanese Patent Application Laid-open No. 58-97565, the rear wheels are steered via a tie rod by a crank connected to a freewheel tooth skewer and operated in a trochoidal curve.
［発明が解決しようとする問題点］
前者の４輪操舵ｓＩＭでは、横道が簡甲ではあるが、摺
動体のカム溝と入力ロットのビンとが線接触するから、
両者の線接触部の耐摩耗性に問題があり、線接触部のガ
タは車両の操縦安定性に影響する。後書の４輪操舵装置
では、大きな後輪舵角を得るためには、歯車が大さくな
り、コストが嵩むだけでなく、！１纏増加や車両への取
付スペースの点て不利である。[Problems to be Solved by the Invention] In the former four-wheel steering SIM, although the sideways are simple, the cam groove of the sliding body and the bottle of the input lot are in line contact, so
There is a problem with the wear resistance of the line contact area between the two, and play in the line contact area affects the steering stability of the vehicle. In the four-wheel steering system described later, in order to obtain a large rear wheel steering angle, the gears need to be large, which not only increases costs! This is disadvantageous in terms of the additional number of bundles and the installation space on the vehicle.
［発明が解決しようとする問題点］
本発明の目的は狭いスペースにも取付可能な小型で、耐
摩耗性、耐久性、信頼性に優れた車両の４輪操舵￥ＡＩ
Ｉを提供することにある。[Problems to be Solved by the Invention] The purpose of the present invention is to provide a four-wheel steering AI for vehicles that is compact and can be installed in a narrow space, and has excellent wear resistance, durability, and reliability.
The goal is to provide I.
Ｅ問題を解決するための手段］
上記目的を達成するために、本発明の構成は前輪操舵用
タイロッドの往復動により回転される入力軸に内６１１
１１車と外歯歯車とを同軸に結合し、これらに交互に噛
み合う小歯車を結合する出力軸により接輪操舵用タイロ
ッドを往復動させるものである。Means for Solving Problem E] In order to achieve the above object, the configuration of the present invention is such that an inner 611
This system reciprocates the contact wheel steering tie rod by means of an output shaft which connects the No. 11 wheel and an external gear coaxially, and connects small gears that alternately mesh with these gears.
［作用］
ハンドル２が直進位置にある時は、小歯車３４は内歯歯
車３２と噛み合っている。ここで、ハンドルを例えば右
へ切ると、入り軸１０と一緒に外歯歯１１１３１が時計
方向に回転し、小出車３４と一緒に出力軸３３が反時計
方向に回転し、減速自車機構を経て後輪操舵用タイロッ
ド２３が右方へ移動し、後輪２７が右方（前輪と同位相
）に偏向される。これにより、高速走行での安定した操
縦が得られる。[Operation] When the handle 2 is in the straight forward position, the small gear 34 is meshed with the internal gear 32. Here, when the steering wheel is turned to the right, for example, the external teeth 11131 rotate clockwise together with the input shaft 10, the output shaft 33 rotates counterclockwise together with the small output wheel 34, and the self-vehicle deceleration mechanism After that, the rear wheel steering tie rod 23 moves to the right, and the rear wheels 27 are deflected to the right (in the same phase as the front wheels). This provides stable maneuvering at high speeds.
ハンドル２を大きく右へ切ると、所定の切り角（位相切
換角）で７クチユエータ４７により小歯車３４の外−歯
車３１との噛合いが解除され、内歯−車３２と噛み合さ
れる。この時、小歯中３４が時計方向へ回転し、後輪操
舵用タイロッド２３が左方へ移動し、後輪２７が左方（
前輪と逆位相）に偏向される。これにより、低速走行で
の小回り性が向上される。When the handle 2 is turned sharply to the right, the small gear 34 is disengaged from the external gear 31 and engaged with the internal gear 32 by the cutter 47 at a predetermined turning angle (phase switching angle). At this time, the small tooth center 34 rotates clockwise, the rear wheel steering tie rod 23 moves to the left, and the rear wheel 27 moves to the left (
(opposite phase to the front wheels). This improves the ability to turn around at low speeds.
［発明の実施例１
第２図は、本発明に係る４輪操舵車両の舵角制御機構を
備えた４輪操舵車両の概略構成を示す平面図である。左
右の各前輪４を支持するナックルアーム６は上下方向の
支軸６ａにより車体に回動可能に支持され、これらのナ
ックルアーム６がビン５によりタイロッド８の両端部と
連結される。Embodiment 1 of the Invention FIG. 2 is a plan view showing a schematic configuration of a four-wheel steered vehicle equipped with a steering angle control mechanism for a four-wheel steered vehicle according to the present invention. Knuckle arms 6 supporting the left and right front wheels 4 are rotatably supported by the vehicle body by vertical support shafts 6a, and these knuckle arms 6 are connected to both ends of tie rods 8 by pins 5.
ラックを一体に備えているタイロッド８は、前輪舵取機
構７の内部で、ハンドル２を有する操舵軸３のピニオン
と噛み合される。A tie rod 8 integrally provided with a rack is engaged with a pinion of a steering shaft 3 having a handle 2 inside the front wheel steering mechanism 7.
タイロッド８の左右方向の運動は、タイロッド８のラッ
クに噛み合うピニオン９をｉｔ、４＄１方へ延出する入
力軸１０の回転として舵角制御機構１２へ伝達される。The left-right movement of the tie rod 8 is transmitted to the steering angle control mechanism 12 as a rotation of an input shaft 10 that extends a pinion 9 that engages with the rack of the tie rod 8 in the 1 direction.
舵角＃ＪＩｊ機構１２において、入力軸１０の回転は出
力軸の回転に変換され、この出り軸のピニオンと噛み合
うラックを有するタイロッド２３を往ｖ１ａさぜる。タ
イロッド２３の端部はビン２４によりナックル７−ム２
５に連結される。後輪２７を支持するナックル７−ム２
５は、上下方向の支軸２５ａにより車体に回動可能に支
持される。In the steering angle #JIj mechanism 12, the rotation of the input shaft 10 is converted to the rotation of the output shaft, which moves the tie rod 23 having a rack that meshes with the pinion of the output shaft. The end of the tie rod 23 is connected to the knuckle 7-m 2 by the pin 24.
5. Knuckle 7-m 2 that supports the rear wheel 27
5 is rotatably supported on the vehicle body by a vertical support shaft 25a.
第３図に示すように、舵角制御機構１２は入力軸１０に
結合された内１ｉＩＩ歯ｌｌ３２と、これより小径の外
歯歯車３１とを同心に協えている。内歯歯車３２と外歯
歯Ｗ１３１に交互に噛み合う小６４１１３４を結合する
出力軸３３がハウジング（図示せず）１、二Ｉｉ！Ｊ
ａ可能に支持される。小歯ｔ１３４に歯車３５が噛み合
される。山車３５とビニ：４し３７を結合する軸３６が
ハウジングに支持される。ピニオン３７がタイロッド２
３のラック３８に噛み合される。歯車３５とピニオン３
７は減速歯串磯構を構成する。As shown in FIG. 3, the steering angle control mechanism 12 has an inner gear 32 coupled to the input shaft 10, and an external gear 31 having a smaller diameter than the inner gear 32, which coaxially cooperate with each other. The output shaft 33 that connects the small 641134 that alternately meshes with the internal gear 32 and the external tooth W131 is connected to the housing (not shown) 1, 2 Ii! J
a is supported. The gear 35 meshes with the small teeth t134. A shaft 36 connecting the float 35 and the vinyl 4 and 37 is supported by the housing. pinion 37 is tie rod 2
It is engaged with the rack 38 of No. 3. Gear 35 and pinion 3
7 constitutes a reduction tooth skewer structure.
第１図に示すように、実際には歯１１３５と噛み合う歯
車５０の軸４９がハウジングに支持され、この輪４９に
、ｌｌｉ！４８が回動可能に支持される。As shown in FIG. 1, the shaft 49 of the gear 50 that actually meshes with the teeth 1135 is supported by the housing, and this ring 49 has lli! 48 is rotatably supported.
ｈ！４８の中間部分に小歯車３４の出力軸３３が支持さ
れる。１１４８の端部はビン４３によりアクチュエータ
４７のロッド４４に連結される。アク升ユエータ４．７
は図示してないハウジングに支持したシリンダ４６にピ
ストン４５を嵌合しでなる。h! The output shaft 33 of the small gear 34 is supported at the intermediate portion of the pinion 48 . The end of 1148 is connected by pin 43 to rod 44 of actuator 47 . Akumasu Yueta 4.7
A piston 45 is fitted into a cylinder 46 supported by a housing (not shown).
ピストン４５にロッド４４が結合される。シリンダ４６
の下側の室に収容したばね４２の力により、腕４８は軸
４９を中心として時計方向に回転付勢され、小歯車３４
が外歯歯車３１に噛み合される。A rod 44 is coupled to the piston 45 . cylinder 46
Due to the force of the spring 42 housed in the lower chamber, the arm 48 is urged to rotate clockwise about the shaft 49, causing the small gear 34 to rotate.
is meshed with the external gear 31.
所定の前輪舵角（入力軸の回転角）αで７クチユエータ
４７により１４８が軸４９を中心として反時計方向に回
動されると、小歯車３４が内歯歯車３２に噛み合される
。したがって、第５図に示すように、前輪舵角が小さい
内は後輪は前輪と同位相に操舵されるが、前輪舵角が所
定値（位相切換ｐ３）αを超えると、後輪が前輪と逆位
相に操舵される。When 148 is rotated counterclockwise about shaft 49 by seven cutter 47 at a predetermined front wheel steering angle (rotation angle of input shaft) α, small gear 34 is meshed with internal gear 32 . Therefore, as shown in Fig. 5, while the front wheel steering angle is small, the rear wheels are steered in the same phase as the front wheels, but when the front wheel steering angle exceeds a predetermined value (phase switching p3) α, the rear wheels are steered in the same phase as the front wheels. It is steered in the opposite phase.
なお、上述の実施例では、アクチュエータ４７に油圧ア
クチュエータを用いているが、流体圧７クチユエータま
たは電磁アクチュエータを用いることができる。In the above embodiment, a hydraulic actuator is used as the actuator 47, but a hydraulic actuator or an electromagnetic actuator may be used.
上述の実施例では、タイロッド４３がピニオン３７によ
り直接駆動されるものであるが、第４図は油圧式後輪舵
取ｉ横の例を示す。第１図に示した軸３６がサーボ１ｔ
ｌＪｔｉｌｌ弁５１を内臓する舵取ｖ１構の入力軸と結
合される。軸３６の回転により、タイロッド２３のラッ
ク３８に噛み合うピニオン３７の軸３６ａと軸３６との
悶に結合されたサーボ１Ｉｌｌｌｉｌ弁５１が作動し、
ハウジング５５と一体のシリンダ５７に嵌合したピスト
ン５８により仕切られる一方の室５９または６０に圧油
が供給され、ピストン５８によりこれに結合したタイロ
ッド２３に助勢力が与えられる。In the embodiment described above, the tie rod 43 is directly driven by the pinion 37, but FIG. 4 shows an example of hydraulic rear wheel steering i. The shaft 36 shown in Fig. 1 is a servo 1t.
It is coupled to the input shaft of the steering v1 structure which includes the lJtill valve 51. As the shaft 36 rotates, the servo 1Illil valve 51, which is connected to the shaft 36a of the pinion 37 meshing with the rack 38 of the tie rod 23 and the shaft 36, operates.
Pressure oil is supplied to one chamber 59 or 60 partitioned by a piston 58 fitted into a cylinder 57 integral with the housing 55, and the piston 58 applies an auxiliary force to the tie rod 23 connected thereto.
アクチュエータ４７は油圧ポンプ６６からの圧油が切換
弁６５を経て上側の至へ供給されると、ばね４２の力に
抗してロッド４４が下降する。切換弁６５はモードスイ
ッチ６１、車速センサ６２、前輪または後輪の舵角セン
サ６３の信号を入力とする電子制御装置１６４の出力に
“より制御される。When pressure oil from the hydraulic pump 66 is supplied to the upper end of the actuator 47 via the switching valve 65, the rod 44 moves down against the force of the spring 42. The switching valve 65 is controlled by the output of an electronic control device 164 which receives signals from the mode switch 61, vehicle speed sensor 62, and front or rear wheel steering angle sensor 63.
モードスイッチ６１は位相切換角αを選択するもので、
第６図に示すように車速Ｖに対応してモード−１，−２
から設定される。The mode switch 61 is for selecting the phase switching angle α.
As shown in Fig. 6, modes -1 and -2 correspond to vehicle speed V.
It is set from
次に、本発明装置の作動について説明する。車両の直進
状態では、小歯ｌｌ３４は内歯歯車３２と噛み合ってい
る。第２図においてハンドル２を右へ切ると、タイロッ
ド８が左方へ移動し、ナックル７−ム６が支軸６ａを中
心として時計方向に回動し、前輪４が右方へ偏向される
。タイロッド８の左方移動に伴ってビニオン９と一緒に
入力軸１０が第１図において時計方向に回転づる。Next, the operation of the device of the present invention will be explained. When the vehicle is traveling straight, the small teeth 1134 mesh with the internal gear 32. When the handle 2 is turned to the right in FIG. 2, the tie rod 8 moves to the left, the knuckle 7-m 6 rotates clockwise about the support shaft 6a, and the front wheel 4 is deflected to the right. As the tie rod 8 moves leftward, the input shaft 10 rotates clockwise in FIG. 1 together with the pinion 9.
外歯歯車３１が時計方向へ回転し、この回転は小歯車３
４、歯車５０、歯車３５を経てビニオン３７を反時計方
向に回転させろ。タイロッド２３が右方へ移動し、第２
図においてナックル７−ム２５が支軸２５ａを中心とし
て時計方向に回動し、後輪２７（＃輪と同位相）が右方
へ偏向される。The external gear 31 rotates clockwise, and this rotation
4. Rotate the pinion 37 counterclockwise via gear 50 and gear 35. The tie rod 23 moves to the right and the second
In the figure, the knuckle 7-m 25 rotates clockwise about the support shaft 25a, and the rear wheel 27 (in the same phase as the # wheel) is deflected to the right.
アクチュエータ４７は電子１．ＩＩ御ＨＷ１６４により
ＩＩＩＩｔｌｔＬ、小歯！ＩＮ３４８％ｆｉｉ！Ｉｉｌ
［３１ニ噛み合う状態と、内歯歯ｉ’ｔ１３２に噛み合
う状態とに切り換えられる。すなわち、モードスイッチ
４０と、例えば変速機の出ｈ＠部に配設した車速センサ
６２と、例えば操舵軸に配設した舵角センサ６３との（
を号に話づいて、前輪（または後輪）舵角が車速に対応
する位相切換角αを超えると、電子！ＩｉＪＩＭｌ装！
！６４からの信号が切換弁６５へ加えられる。切換弁５
が切り換わると、油圧ポンプ６６から圧油がアクチュエ
ータ４７の上側の室へ供給され、ロッド４４がばね４２
の力に抗して引き下げられる。Actuator 47 is electronic 1. IIItltL by II HW164, small teeth! IN348% fii! Iil
[The state is switched between the state in which the tooth is engaged with the internal tooth i't132 and the state in which it is engaged with the internal tooth i't132. That is, the mode switch 40, the vehicle speed sensor 62 disposed, for example, at the output part of the transmission, and the steering angle sensor 63 disposed, for example, on the steering shaft (
When the front wheel (or rear wheel) steering angle exceeds the phase switching angle α corresponding to the vehicle speed, the electronic! IiJIMl outfit!
! A signal from 64 is applied to switching valve 65. Switching valve 5
When the switch is switched, pressure oil is supplied from the hydraulic pump 66 to the upper chamber of the actuator 47, and the rod 44 is connected to the spring 42.
pulled down against the force of
したがって、小歯車３４が内歯歯車３２と噛み合い、後
輪２７の操舵が前輪４と同位相から逆位４０に切り換わ
る。Therefore, the small gear 34 meshes with the internal gear 32, and the steering of the rear wheels 27 is switched from the same phase as the front wheels 4 to the opposite position 40.
第７図は上述のｌｌ１ｌｌＩＩを行うプログラムの流れ
【４である。同図におい（、ｐ＋１〜ｐ２２はプログラ
ムの各ステップを−Ａｔ。このプログラムはｐｌｌでス
タートし、ｐ１２″ｃＷＪ１１ＪＪ化し、ｐ１３で市速
むンリ６２からの信号に基づき車速■を読み込む。Ｄ１
４でモードスイッチ６１の信号を読み込む。ｐ１５で舵
角センサ６３からの信号に塁づき前輪舵角θを読み込む
。ｐ１６でモードスイッチ６１が１か否かを判定する。FIG. 7 shows the program flow [4] for performing the above-mentioned ll1llll. In the same figure (, p+1 to p22 are -At for each step of the program. This program starts with pll, converts to p12''cWJ11JJ, and reads the vehicle speed ■ based on the signal from city speed unit 62 at p13. D1
4 reads the signal of the mode switch 61. At p15, the front wheel steering angle θ is read into the signal from the steering angle sensor 63. At p16, it is determined whether the mode switch 61 is set to 1 or not.
モードスイッチ６１が−１でない場合は、ｐ１７でモー
ド−２の一１ｍマツプから車速Ｖに対応りる位相切換角
αを求め、ｐ１９へ進む。If the mode switch 61 is not -1, the phase switching angle α corresponding to the vehicle speed V is determined from the 1-m map of mode-2 in p17, and the process proceeds to p19.
モードスイッチ６１が−１の１５１合は、ｐ１８でモー
ド−１の−１−マツプから車速Ｖに対応する位相切換角
αを求める。ｐ１９で前輪舵角θが位相切換角αよりも
大きいか否かを判定する。前輪舵角θが位相切換角αよ
りも小さい場合は、ｐ２０で７クチユエータ４７を作動
させ、ｐ２２で終る。前輪舵角θが位相切換角αよりも
大きい場合は、ｐ２１で７クチユエータ４７の動作を解
除し、ｐ２２で終る。このプログラムは所定時圓亀に繰
り返し實行される。If the mode switch 61 is -1 (151), the phase switching angle α corresponding to the vehicle speed V is determined from the -1 map of mode -1 in p18. At p19, it is determined whether the front wheel steering angle θ is larger than the phase switching angle α. If the front wheel steering angle θ is smaller than the phase switching angle α, the 7 actuator 47 is operated at p20, and the process ends at p22. If the front wheel steering angle θ is larger than the phase switching angle α, the operation of the 7-cut unit 47 is canceled at p21, and the process ends at p22. This program is repeatedly executed at predetermined times.
こうして選択されたモードに従つＣ中速に応じた後輪舵
角＃１１−が遅せられる。In this way, the rear wheel steering angle #11- corresponding to the C medium speed according to the selected mode is delayed.
［発明の効果］ 。[Effect of the invention] .
本発明は上述のように、前輪操舵用タイロツドの往復動
により回転される入力軸に内歯歯車と外歯歯巾とを同軸
に結合し、これらに交互に噛み合う小歯車を結合する出
力軸により後輪操舵用タイロッドを往復動させるもので
あるから、ハンドルの切り角が小さい内は、入力軸と一
緒に回転する外歯歯車により小歯車が回転され、小歯車
を支持する出力軸により後輪が同位相に操舵される。ハ
ンドルの切り角が所定値より６大きくなると、入力軸と
一緒に回転する内歯山車により小歯車が回 。As described above, the present invention has an output shaft in which an internal gear and an external tooth width are coaxially connected to an input shaft that is rotated by the reciprocating motion of a tie rod for front wheel steering, and small gears that mesh alternately with these are connected. Since the tie rod for steering the rear wheels is reciprocated, while the steering angle is small, the pinion is rotated by the external gear that rotates together with the input shaft, and the output shaft that supports the pinion rotates the pinion. are steered to the same phase. When the steering angle of the handle becomes 6 times larger than the predetermined value, the pinion is rotated by the internal gear that rotates together with the input shaft.
転され、小歯車を支持する出力軸により後輪が逆位相に
操舵される。The output shaft supporting the pinion steers the rear wheels in the opposite phase.
ｍ速に応じて同位相の操舵状態から逆位相の操舵状態へ
、アクチュエータにより自動的に切り換わるので、低速
走行での小回り性が向上されるとともに、高速走行での
ｌ線変更で安定した操縦が得られる。Since the actuator automatically switches from an in-phase steering state to an opposite-phase steering state depending on the m speed, it improves the ability to turn around at low speeds, and stabilizes steering by changing the l line at high speeds. is obtained.
本発明によれば、入力軸と出り軸は歯車機構で噛み合さ
れ、従来例のカム溝などのようにガタを生じる摺動部分
がないので、ＦＡ摩耗性、６Ｊ久性を有し、作動の信頼
性が向上される。According to the present invention, the input shaft and the output shaft are meshed with each other by a gear mechanism, and there is no sliding part that causes backlash like the cam groove of the conventional example, so it has FA abrasion resistance and 6J durability. Operational reliability is improved.
第１図は本発明に係る４輪操舵車両の舵角制御機構の正
面図、第２図は同船角ｔ、＋Ｉｍ機構を備えた４輪操舵
車両の平面口、第３図は同舵角制御機構の原理的構成を
示す正面図、第４図は油圧式後輪舵取機構の正面断面図
、第５図は同舵角制御機構の特性線図、第６図は位相切
換角のモード特性線図、第７図は同舵角制御Ｉｌｖ＆横
を制御するためのプログラムＩＱれ図である。
８．２３：タイ０ツド １０：入力軸 １２：舵角１Ｉ
ＩｊＩＩＩＩ２ＩＩ構 ３１：外歯歯巾 ３２：内歯山
車３３：出力軸 ３４：小歯中 ４７＝アクチユ」−。
−タ ４８：鋺 ６１：モードスイッチ ６２：車速セ
ンサ ６３：舵角センサ ６４：電了制御装δ
特許出願人 いすず自＃ＪＪ１ｔＩ株式会社代理人
弁理上 山本俊人
第 ３ 筺
５５ ズ
第 ７ 図FIG. 1 is a front view of the steering angle control mechanism for a four-wheel steered vehicle according to the present invention, FIG. 2 is a plane view of a four-wheel steered vehicle equipped with the ship angle t, +Im mechanism, and FIG. 3 is a front view of the steering angle control mechanism for the four-wheel steered vehicle according to the present invention. A front view showing the principle structure of the mechanism, Fig. 4 is a front sectional view of the hydraulic rear wheel steering mechanism, Fig. 5 is a characteristic diagram of the steering angle control mechanism, and Fig. 6 is the mode characteristics of the phase switching angle. 7 is a program IQ diagram for controlling the steering angle control Ilv & lateral. 8.23: Tie 0 10: Input shaft 12: Rudder angle 1I
IjIII2II structure 31: External tooth width 32: Internal gear float 33: Output shaft 34: Small tooth medium 47 = Actu. -ta 48: Sword 61: Mode switch 62: Vehicle speed sensor 63: Rudder angle sensor 64: Power-off control device δ Patent applicant Isuzu Motor Corporation #JJ1tI Co., Ltd. Agent
Patent Attorney Toshito Yamamoto No. 3 Box 55 Figure 7
Claims (3)
入力軸に内歯歯車と外歯歯車とを同軸に結合し、これら
に交互に噛み合う小歯車を結合する出力軸により後輪操
舵用タイロッドを往復動させることを特徴とする４輪操
舵車両の舵角制御機構。(1) An internal gear and an external gear are coaxially coupled to an input shaft that is rotated by the reciprocating motion of the tie rod for front wheel steering, and the tie rod for steering the rear wheels is connected to an output shaft that connects small gears that alternately mesh with these gears. A steering angle control mechanism for a four-wheel steering vehicle characterized by reciprocating motion.
範囲（１）に記載の４輪操舵車両の舵角制御機構。(2) A steering angle control mechanism for a four-wheel steering vehicle according to claim (1), wherein the output shaft is supported by a rotatable arm.
求の範囲（２）に記載の４輪操舵車両の舵角制御機構。(3) The steering angle control mechanism for a four-wheel steering vehicle according to claim (2), wherein the arm is driven by an actuator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62266087A JPH01109172A (en) | 1987-10-21 | 1987-10-21 | Mechanism for controlling steering angle of four-wheel steering vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62266087A JPH01109172A (en) | 1987-10-21 | 1987-10-21 | Mechanism for controlling steering angle of four-wheel steering vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH01109172A true JPH01109172A (en) | 1989-04-26 |
Family
ID=17426157
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP62266087A Pending JPH01109172A (en) | 1987-10-21 | 1987-10-21 | Mechanism for controlling steering angle of four-wheel steering vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH01109172A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007073299A (en) * | 2005-09-06 | 2007-03-22 | Sony Corp | Battery |
| US10689029B2 (en) | 2018-04-12 | 2020-06-23 | Cnh Industrial America Llc | Four-wheel steering with front/rear matching geometries |
-
1987
- 1987-10-21 JP JP62266087A patent/JPH01109172A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007073299A (en) * | 2005-09-06 | 2007-03-22 | Sony Corp | Battery |
| US10689029B2 (en) | 2018-04-12 | 2020-06-23 | Cnh Industrial America Llc | Four-wheel steering with front/rear matching geometries |
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