WO2021044471A1 - Module - Google Patents

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Publication number
WO2021044471A1
WO2021044471A1 PCT/JP2019/034391 JP2019034391W WO2021044471A1 WO 2021044471 A1 WO2021044471 A1 WO 2021044471A1 JP 2019034391 W JP2019034391 W JP 2019034391W WO 2021044471 A1 WO2021044471 A1 WO 2021044471A1
Authority
WO
WIPO (PCT)
Prior art keywords
module
steering
steering motor
wheel
main body
Prior art date
Application number
PCT/JP2019/034391
Other languages
English (en)
Japanese (ja)
Inventor
隆太 輿石
ガヤーン ベラガラ
行正 長田
Original Assignee
ヤマハ発動機株式会社
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by ヤマハ発動機株式会社 filed Critical ヤマハ発動機株式会社
Priority to PCT/JP2019/034391 priority Critical patent/WO2021044471A1/fr
Priority to PCT/JP2020/033275 priority patent/WO2021045110A1/fr
Publication of WO2021044471A1 publication Critical patent/WO2021044471A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear

Definitions

  • the present invention relates to a module including a steering motor.
  • the vehicle described in Non-Patent Document 1 As an invention relating to a conventional module, for example, the vehicle described in Non-Patent Document 1 is known.
  • the vehicle described in Non-Patent Document 1 includes a steering motor, a drive motor, and wheels.
  • the steering motor generates steering torque to steer the wheels.
  • the drive motor generates drive torque to drive the wheels.
  • the steering motor and wheels are modularized as a steering module, and the steering module can be attached to and detached from the vehicle body. Thereby, the steering module can form various types of vehicles.
  • Vehicles of various forms have a structure in which a plurality of modules are combined. In order to increase the variation of the vehicle form, it is required to increase the variation of the module. Further, when combining a plurality of modules, it is required to maintain the compactness of the modules as much as possible so as to easily avoid interference between the modules.
  • an object of the present invention is to provide a module having a function different from the conventional one while maintaining the compactness of the module.
  • the inventor of the present application examined the driving scene of the vehicle equipped with the module in examining the method of expanding the function of the module while maintaining the compactness of the module. Then, the inventor of the present application noticed that the vehicle often outputs the maximum drive torque when climbing a slope or the like. In other words, the inventor of the present application has noticed that the maximum drive torque is rarely required when the vehicle turns. Therefore, the inventor of the present application has noticed that when the steering motor generates steering torque, the maximum drive torque is rarely required. As a result, the inventor of the present application can make the steering module function as a drive module as long as the torque generated by the steering motor can be used as the drive torque, for example, when the module is a steering module having a steering function. I noticed.
  • the inventor of the present application can add the torque generated by the steering motor to the torque generated by the drive motor when the module is a drive steering module for the drive function and the steering function, so that the maximum drive of the drive steering module can be applied. I noticed that the torque can be increased.
  • the steering motor connection destination switching mechanism has a simple structure of switching the connection destination of the steering motor. Therefore, it is possible to easily increase the variation of the function of the module while maintaining the compactness of the module. In addition, since the functions of the module have been expanded, the versatility of the module is increased. Therefore, the variation of the vehicle form can be easily increased.
  • the module of (1) is The car body fixing part fixed to the car body and The main body that swings with respect to the vehicle body fixing part, A wheel support portion that supports the wheel so as to rotate with respect to the main body portion together with the wheel.
  • Steering that has a steering motor fixed body and a steering motor rotating body that rotates with respect to the steering motor fixed body, and steers the wheels by generating torque that causes the main body portion to swing with respect to the vehicle body fixing portion.
  • the motor It is a module equipped with The steering motor fixed body is fixed to either the vehicle body fixing portion or the main body portion, and is fixed to either one of the vehicle body fixing portion and the main body portion.
  • the module A state in which the steering motor rotating body is connected to the other of the vehicle body fixing portion and the main body portion so that the main body portion swings with respect to the vehicle body fixing portion due to the rotation of the steering motor rotating body, and the steering motor.
  • a steering motor connection destination switching mechanism that switches between a state in which the steering motor rotating body is connected to the wheel support portion so that the wheel support portion rotates with respect to the main body portion due to rotation of the rotating body. Further prepare.
  • the module of (1) it is possible to obtain a module having a function different from the conventional one while maintaining the compactness of the module.
  • the module (1) is a state in which the steering motor rotating body is connected to the other of the vehicle body fixing portion and the main body portion so that the main body portion swings with respect to the vehicle body fixing portion due to the rotation of the steering motor rotating body, and the steering motor.
  • a steering motor connection destination switching mechanism for switching between a state in which the steering motor rotating body is connected to the wheel support portion so that the wheel support portion rotates with respect to the main body portion due to the rotation of the rotating body is provided.
  • the torque generated by the steering motor can be used as the drive torque.
  • the steering module will also function as a drive module.
  • the module is a drive steering module
  • the torque generated by the steering motor can be added to the torque generated by the drive motor, so that the maximum drive torque of the drive steering module can be increased.
  • the variation of the functions of the steering module and the drive steering module is increased. That is, it is possible to obtain a module having a function different from that of the conventional one.
  • the steering motor connection destination switching mechanism has a simple structure of switching the connection destination of the steering motor. Therefore, it is possible to easily increase the variation of the functions of the steering module and the drive steering module while maintaining the compactness of the module. In addition, since the functions of the module have been expanded, the versatility of the module is increased. Therefore, the variation of the vehicle form can be easily increased.
  • the module (2) is the module of (1).
  • the module A lock mechanism that locks the main body portion to the vehicle body fixing portion so as not to swing. Further prepare.
  • the module (2) it is suppressed that the wheels are steered when the steering motor is not driven. For example, it is possible to prevent the wheels from being steered while the steering motor 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 motor rotating body.
  • the module (3) is either the module (1) or the module (2).
  • a drive motor that generates torque to rotate the wheels, Further prepare.
  • the module is equipped with a drive motor. Therefore, it can be used as a drive steering module.
  • the module (4) is the module of (3).
  • the drive motor has a drive motor fixed body and a drive motor rotating body that rotates with respect to the drive motor fixed body, and generates torque for rotating the wheel support portion with respect to the main body portion.
  • the torque generated by the steering motor is transmitted to the wheels via the steering motor rotating body and the driving motor rotating body.
  • the module can be made compact. More specifically, the torque generated by the steering motor is transmitted to the wheels via the steering motor rotating body and the driving motor rotating body. The torque generated by the drive motor is transmitted to the wheels via the drive motor rotating body. In this way, the torque generated by the steering motor and the torque generated by the drive motor are transmitted to the wheels via the drive motor rotating body. It is not necessary to provide a transmission path for transmitting the torque generated by the steering motor separately from the transmission path for transmitting the torque generated by the drive motor. As a result, the module can be made compact.
  • the module (5) is either the module (3) or the module (4).
  • the module A clutch provided in the torque transmission path between the drive motor and the wheel support portion and for switching between transmission and interruption of the torque generated by the drive motor to the wheel support portion. Further prepare.
  • the clutch can block the transmission of the torque generated by the drive motor to the wheel support portion. This allows, for example, the user to push and move the vehicle.
  • the module (6) is any of the modules (3) to (5).
  • the rotation center axis of the drive motor and the rotation center axis of the steering motor coincide with the rotation center axis of the wheel.
  • the rotation center axis of the drive motor rotating body and the rotation center axis of the steering motor rotating body coincide with the rotation center axis of the wheel.
  • the module can be made compact.
  • the module (7) is any of the modules (1) to (6).
  • the wheel includes a tire portion and a wheel portion, and includes a tire portion and a wheel portion. At least a part of the steering motor is arranged in a space surrounded by the wheel portion.
  • the module can be made compact.
  • FIG. 1 is a cross-sectional view of the module 10.
  • FIG. 2 is a cross-sectional view of the module 10a.
  • FIG. 3 is an enlarged view of the steering motor connection destination switching mechanism 24 and the lock mechanism 29.
  • FIG. 4 is a front view and a cross-sectional view of the spline shaft 243.
  • FIG. 5 is a cross-sectional view of the module 10b.
  • FIG. 6 is an external perspective view of the vehicle 100.
  • FIG. 1 is a cross-sectional view of the module 10.
  • the left part of FIG. 1 shows the module 10 in the steering output state.
  • the right part of FIG. 1 shows the module 10 in the drive output state.
  • FIG. 1 shows the structure of the module 10 including the rotation center axis of the wheels of the module 10 and in a cross section parallel to the vertical direction.
  • the direction in which the rotation center axis of the wheels of the module 10 extends is defined as the left-right direction.
  • the direction in which the rotation center axis of the main body of the module 10 extends is defined as the vertical direction.
  • the left-right direction and the up-down direction are orthogonal.
  • the direction orthogonal to the vertical direction and the horizontal direction is defined as the front-back direction.
  • the axes and members extending in the front-rear direction do not necessarily indicate only the axes and members that are parallel to the front-rear direction.
  • the axis or member extending in the front-rear direction includes an axis or member inclined in a range of ⁇ 45 ° with respect to the front-rear direction.
  • the axis or member extending in the vertical direction includes an axis or member inclined in a range of ⁇ 45 ° with respect to the vertical direction.
  • the axis or member extending in the left-right direction includes an axis or member inclined in a range of ⁇ 45 ° with respect to the left-right direction.
  • first member When any two members in the present specification are defined as a first member and a second member, the relationship between the two members has the following meaning.
  • the fact that the first member is supported by the second member means that the first member is immovably attached to (that is, fixed) to the second member with respect to the second member. This includes the case where the first member is movably attached to the second member with respect to the second member. Further, the first member is supported by the second member when the first member is directly attached to the second member and when the first member is attached to the second member via the third member. Includes both if it is.
  • the first member is connected to the second member when the first member is directly connected to the second member in a state of being in contact with the second member, and when the first member is in contact with the second member.
  • the first member when the first member is connected to the second member, the first member may or may not be displaced with respect to the second member.
  • the first member and the second member arranged in the front-rear direction indicate the following states.
  • both the first member and the second member are arranged on an arbitrary straight line extending in the front-rear direction.
  • the first member and the second member arranged in the front-rear direction when viewed in the upward or downward direction indicate the following states.
  • both the first member and the second member are arranged on an arbitrary straight line indicating the front-rear direction.
  • first member and the second member when the first member and the second member are viewed in the left or right direction different from the upward and downward directions, one of the first member and the second member is arranged on an arbitrary straight line indicating the front-rear direction. It does not have to be.
  • the first member and the second member may be in contact with each other.
  • the first member and the second member may be separated from each other.
  • a third member may be present between the first member and the second member. This definition also applies to directions other than the front-back direction.
  • the fact that the first member is arranged in front of the second member means the following state. At least a part of the first member is arranged in a region through which the second member translates in the forward direction. Therefore, the first member may be contained in the region through which the second member passes when it is translated in the forward direction, or protrudes from the region through which the second member is translated when it is translated in the forward direction. May be good. In this case, the first member and the second member are arranged in the front-rear direction. This definition also applies to directions other than the front-back direction.
  • the fact that the first member is arranged before the second member means the following state.
  • the first member is arranged in front of a plane that passes through the front end of the second member and is orthogonal to the front-rear direction.
  • the first member and the second member may or may not be arranged in the front-rear direction.
  • This definition also applies to directions other than the front-back direction.
  • the first member when the first member is arranged in front of the second member when viewed from the left or right, it means the following state. Seen to the left or right, at least a portion of the first member is located within a region through which the second member translates forward. In this definition, the first member and the second member do not have to be arranged in the front-rear direction in three dimensions. This definition applies to directions other than the front-back direction.
  • each part of the first member is defined as follows.
  • the front part of the first member means the front half of the first member.
  • the rear part of the first member means the rear half of the first member.
  • the left portion of the first member means the left half of the first member.
  • the right portion of the first member means the right half of the first member.
  • the upper part of the first member means the upper half of the first member.
  • the lower part of the first member means the lower half of the first member.
  • the upper end of the first member means the upper end of the first member.
  • the lower end of the first member means the lower end of the first member.
  • the front end of the first member means the end in the front direction of the first member.
  • the rear end of the first member means the rear end of the first member.
  • the left end of the first member means the left end of the first member.
  • the right end of the first member means the right end of the first member.
  • the upper end portion of the first member means the upper end portion of the first member and its vicinity.
  • the lower end of the first member means the lower end of the first member and its vicinity.
  • the front end portion of the first member means the front end portion of the first member and its vicinity.
  • the rear end portion of the first member means the rear end portion of the first member and its vicinity.
  • the left end portion of the first member means the left end portion of the first member and its vicinity.
  • the right end portion of the first member means the right end portion of the first member and its vicinity.
  • the first member means a member constituting the module 10.
  • the formation (positioned or provided) of a configuration (member, space or opening) between the first member and the second member means that the first member and the second member are arranged in a line direction. It means that there is a configuration between the first member and the second member. However, the configuration may or may not protrude from the first member or the second member in a direction orthogonal to the direction in which the first member and the second member are lined up.
  • Module 10 is used for vehicles.
  • the module 10 is attached to, for example, the vehicle body 102 of the vehicle.
  • the plurality of modules 10 may be attached to the vehicle body 102 of the vehicle.
  • the module 10 steers the wheels 110 to the left. As a result, the vehicle turns to the left.
  • the module 10 steers the wheels 110 to the right. As a result, the vehicle turns to the right.
  • Such a module 10 includes a vehicle body fixing portion 16, a main body portion 18, a wheel support portion 20, a steering motor 22, and a steering motor connection destination switching mechanism 24.
  • 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. Therefore, the vehicle body fixing portion 16 does not include a portion that can be displaced with respect to the vehicle body 102.
  • 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. In this case, the main body 18 swings with respect to the vehicle body fixing portion 16 so as to draw an arc when viewed downward.
  • rotation means that a circular motion can be performed at a central angle of 360 ° or more around the central axis of rotation. Swinging means being able to make a circular motion around the center axis of rotation at a central angle of less than 360 °.
  • the member can rotate, the member can swing.
  • the main body portion 18 may be rotatable with respect to the vehicle body fixing portion 16. When the main body 18 can rotate with respect to the vehicle body fixing portion 16, the main body 18 can swing with respect to the vehicle body fixing portion 16.
  • the wheel 110 includes, for example, a tire portion and a wheel portion.
  • the wheel portion includes a rim portion and a disc portion.
  • the rim has a cylindrical shape with a central axis extending in the left-right direction.
  • the disk portion is a plate-shaped member having a circular shape when viewed to the right.
  • the disc portion closes the opening at the left end of the rim. However, the disc portion does not have to block the entire opening at the left end of the rim. The opening at the right end of the rim is not blocked.
  • the inside of the wheel part is hollow.
  • the tire portion has an annular shape when viewed to the left.
  • the tire portion surrounds the outer surface of the rim portion when viewed to the left.
  • the wheel support portion 20 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 20 supports, for example, the disc portion of the wheel portion.
  • the wheel support portion 20 is provided so as to rotate with respect to the main body portion 18.
  • the wheel 110 can rotate with respect to the main body portion 18.
  • the rotation center axes of the wheel support portion 20 and the wheel 110 are, for example, parallel to the horizontal plane. In FIG. 1, the rotation center axes of the wheel support portion 20 and the wheel 110 extend in the left-right direction.
  • the steering motor 22 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 22 is applied to the vehicle body fixing portion 16.
  • the steering motor 22 includes a steering motor fixed body 221 and a steering motor rotating body 222.
  • the steering motor fixed body 221 is, for example, a stator.
  • the steering motor fixing body 221 is fixed to either the vehicle body fixing portion 16 or the main body portion 18. In FIG. 1, the steering motor fixed body 221 is fixed to the main body portion 18.
  • the steering motor rotating body 222 is, for example, a steering motor rotor and a steering motor rotating shaft. The steering motor rotating body 222 rotates with respect to the steering motor fixed body 221.
  • the rotation direction of the steering motor rotor and the rotation direction of the steering motor rotation shaft may be the same or different.
  • the rotation center axis of the steering motor rotating body 222 is, for example, parallel to the rotation center axis of the wheel 110. In FIG. 1, the rotation center axis of the wheel 110 extends in the left-right direction. Therefore, the rotation center axis of the steering motor rotating body 222 extends in the left-right direction. However, the rotation center axis of the steering motor rotating body 222 may or may not coincide with the rotation center axis of the wheel 110. In FIG. 1, the rotation center axis of the steering motor rotating body 222 coincides with the rotation center axis of the wheel 110.
  • At least a part of the steering motor 22 as described above is arranged in a space surrounded by, for example, a wheel portion.
  • the entire steering motor 22 may be arranged in the space surrounded by the wheel portion.
  • the entire steering motor 22 may be arranged outside the space surrounded by the wheel portion.
  • the space surrounded by the wheel portion means a space surrounded by a surface perpendicular to the left-right direction including the right end of the wheel portion and the wheel portion.
  • the steering motor rotating body 222 has a vehicle body so that the main body 18 swings with respect to the vehicle body fixing portion 16 due to the rotation of the steering motor rotating body 222.
  • the state in which the motor rotating body 222 is connected to the wheel support portion 20 is switched.
  • a state in which the steering motor rotating body 222 is connected to the other of the vehicle body fixing portion 16 and the main body portion 18 is defined as a steering output state.
  • a state in which the steering motor rotating body 222 is connected to the wheel support portion 20 is defined as a drive output state.
  • the steering motor 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 steering motor rotating body 222.
  • the steering output state is switched between the steering output state and the drive output state in which the steering motor rotating body 222 is connected to the wheel supporting portion 20 so that the wheel support portion 20 rotates with respect to the main body portion 18 due to the rotation of the steering motor rotating body 222.
  • Connecting the steering motor rotating body 222 to the vehicle body fixing portion 16 means that, for example, the torque generated by the steering motor 22 is transmitted to the vehicle body fixing portion 16.
  • the steering motor connection destination switching mechanism 24 has a steering output in which the steering motor rotating body 222 is connected to the main body 18 so that the main body 18 swings with respect to the vehicle body fixing portion 16 due to the rotation of the steering motor rotating body 222.
  • the state may be switched between a state and a drive output state in which the steering motor 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 steering motor rotating body 222.
  • the steering motor fixing body 221 is fixed to the vehicle body fixing portion 16.
  • the module 10 may further include a lock mechanism (not shown) that locks the main body portion 18 with respect to the vehicle body fixing portion 16 so as not to swing.
  • the module 10 may include a drive motor that generates a torque for rotating the wheel support portion 20 with respect to the main body portion 18.
  • the module 10 is a drive steering module.
  • a drive motor has a drive motor fixed body and a drive motor rotating body that rotates with respect to the drive motor fixed body. Then, the torque generated by the steering motor is transmitted to the wheels 110 via the steering motor rotating body 222 and the driving motor rotating body. Further, the rotation center axis of the drive motor and the rotation center axis of the steering motor 22 may coincide with the rotation center axis of the wheel 110.
  • the module when the module is provided with a drive motor, the module is provided in the torque transmission path between the drive motor and the wheel support portion, and the torque generated by the drive motor is transmitted and cut off to the wheel support portion.
  • a switching clutch may be provided.
  • the module 10 is in a state where the steering motor rotating body 222 is connected to the other of the vehicle body fixing portion 16 and the main body 18 so that the main body 18 swings with respect to the vehicle body fixing portion 16 due to the rotation of the steering motor rotating body 222.
  • a steering motor connection destination switching mechanism 24 that switches between a state in which the steering motor 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 steering motor rotating body 222. , Prepare.
  • the module 10 is a steering motor 22, the torque generated by the steering motor 22 can be used as the drive torque.
  • the module 10 also functions as a drive module.
  • the torque generated by the steering motor 22 can be added to the torque generated by the drive motor, so that the maximum drive torque of the drive steering module can be increased.
  • the variation of the functions of the steering module and the drive steering module is increased. That is, it is possible to obtain a module 10 having a function different from that of the conventional one.
  • the steering motor connection destination switching mechanism 24 has a simple structure of switching the connection destination of the steering motor 22. Therefore, it is possible to easily increase the variation of the functions of the steering module and the drive steering module while maintaining the compactness of the module 10. Further, since the function of the module 10 has been expanded, the versatility of the module 10 is increased. Therefore, the variation of the vehicle form can be easily increased.
  • the wheels 110 are suppressed from being steered when the steering motor 22 is not driven. Rudder.
  • the wheels 110 may be steered in a state where the steering motor 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 steering motor rotating body 222. It is suppressed.
  • the module 10 can be used as a drive steering module. Further, when the torque generated by the steering motor 22 is transmitted to the wheels via the steering motor rotating body 222 and the driving motor rotating body, the module 10 can be made compact. More specifically, the torque generated by the steering motor 22 is transmitted to the wheels 110 via the steering motor rotating body 222 and the drive motor rotating body. In this way, the torque generated by the drive motor is transmitted to the wheels 110 via the drive motor rotating body. The torque generated by the steering motor 22 and the torque generated by the drive motor are transmitted to the wheels 110 via the drive motor rotating body. It is not necessary to provide a transmission path for transmitting the torque generated by the steering motor 22 separately from the transmission path for transmitting the torque generated by the drive motor.
  • the module 10 can be made compact.
  • the clutch can block the transmission of the torque generated by the drive motor to the wheel support portion 20. This allows, for example, the user to push and move the vehicle.
  • the rotation center axis of the drive motor rotating body and the rotation center axis of the steering motor rotating body 222 coincide with the rotation center axis of the wheel 110, the module 10 can be made compact.
  • the module 10 can be made compact.
  • FIG. 2 is a cross-sectional view of the module 10a.
  • the left part of FIG. 2 shows the module 10a in the steering output state and the swing lock release state.
  • the right part of FIG. 2 shows the module 10a in the drive output state and the swing lock state.
  • FIG. 2 shows the structure of the module 10a including the rotation center axis of the wheels of the module 10a and in a cross section parallel to the vertical direction.
  • FIG. 3 is an enlarged view of the steering motor connection destination switching mechanism 24 and the lock mechanism 29.
  • FIG. 4 is a front view and a cross-sectional view of the spline shaft 243.
  • Module 10a is used for vehicles.
  • the module 10a is attached to, for example, the vehicle body 102 of the vehicle.
  • a plurality of modules 10a may be attached to the vehicle body 102 of the vehicle.
  • the module 10a rotates the wheel 110. As a result, the vehicle moves forward or backward.
  • Module 10a steers the wheels 110 to the left. As a result, the vehicle turns to the left.
  • Module 10a steers the wheels 110 to the right. As a result, the vehicle turns to the right.
  • Such a module 10a includes a vehicle body fixing portion 16, a main body portion 18, a wheel support portion 20, a steering motor 22, a steering motor reducer 23, a steering motor connection destination switching mechanism 24, a drive motor 26, a drive motor reducer 27, and a control. It includes a device 28, a lock mechanism 29, a steering shaft 30, and a steering 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 steering shaft portion main body 120 and a steering shaft portion bevel gear 122.
  • the steering shaft portion main body 120 is a rod-shaped member extending in the vertical direction.
  • the steering shaft body 120 extends linearly.
  • the central axis L1 of the steering shaft main body 120 extends in the vertical direction.
  • the steering shaft portion bevel gear 122 is provided at the lower end of the steering shaft portion main body 120.
  • the steering shaft portion bevel gear 122 is fixed to the steering shaft portion main body 120.
  • the steering shaft portion bevel gear 122 cannot rotate about the central axis L1 with respect to the steering shaft portion main 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 steering shaft portion 12 cannot be displaced with respect to the vehicle body 102.
  • the fixed support portion 14 is provided at the upper end of the steering shaft portion main body 120.
  • the fixed support portion 14 is a plate-shaped member having an upper surface parallel to a horizontal plane.
  • 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 portion 18 can swing with respect to the vehicle body fixing portion 16 around a central axis extending in the vertical direction, for example. In this case, the main body 18 swings with respect to the vehicle body fixing portion 16 so as to draw an arc when viewed downward.
  • rotation means that a circular motion can be performed at a central angle of 360 ° or more around the central axis of rotation. Swinging means being able to make a circular motion around the center axis of rotation at a central angle of less than 360 °.
  • the member can rotate, the member can swing.
  • the main body 18 is a housing that houses the steering motor 22, the steering motor reducer 23, the drive motor 26, and the drive motor reducer 27, which will be described later.
  • the main body 18 is made of, for example, a metal having excellent heat dissipation.
  • the wheel 110 includes a wheel portion 112 and a tire portion 114.
  • the wheel portion 112 includes a rim portion 112a and a disc portion 112b.
  • the rim 112a has a cylindrical shape having a central axis L2 extending in the left-right direction.
  • the disk portion 112b is a plate-shaped member having a circular shape when viewed to the right.
  • the disk portion 112b closes the opening at the left end of the rim 112a.
  • the disc portion 112b does not have to block the entire opening at the left end portion of the rim 112a.
  • the opening at the right end of the rim 112a is not closed.
  • the inside of the wheel portion 112 is hollow.
  • the wheel portion 112 is made of, for example, a metal such as aluminum or iron.
  • the tire portion 114 has a ring shape when viewed to the left.
  • the tire portion 114 surrounds the outer surface of the rim 112a of the wheel portion 112 when viewed to the left.
  • the tire portion 114 is made of, for example, rubber.
  • the wheel support portion 20 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 20 supports the disc portion 112b of the wheel portion 112.
  • the wheel support portion 20 is, for example, a hub. Therefore, the wheel support portion 20 has a circular plate shape when viewed to the left.
  • the wheel support portion 20 is arranged in a space surrounded by the wheel portion 112.
  • the wheel support portion 20 is in contact with the right surface of the disc portion 112b.
  • the wheel portion 112 is fixed to the wheel support portion 20 by fastening members such as bolts and / or nuts.
  • the wheel support portion 20 is provided so as to rotate with respect to the main body portion 18. Specifically, the wheel support portion 20 is fixed to the left end of the drive motor rotation shaft 2622 of the drive motor 26 described later.
  • the drive motor rotation shaft 2622 can rotate with respect to the main body 18 about a rotation center axis extending in the left-right direction.
  • the wheel 110 can rotate with respect to the main body portion 18.
  • the rotation center axis L3 of the wheel support portion 20 and the wheel 110 is parallel to the horizontal plane. In FIG. 2, the rotation center axis L3 of the wheel support portion 20 and the wheel 110 extends in the left-right direction.
  • the position of the intersection P1 between the central 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 steering shaft portion 12 is arranged to the right of the wheel 110.
  • the central axis L1 of the steering shaft portion 12 and the center line L0 of the wheels 110 extend in the vertical direction. Therefore, the intersection P1 between the center axis L1 of the steering shaft portion 12 and the contact patch of the wheel 110 is located to the right of the intersection P0 of the center line L0 of the wheel 110 and the contact patch of the wheel 110.
  • the drive motor 26 and the drive motor reducer 27 are arranged in a space surrounded by the wheel portion 112.
  • the drive motor 26 and the drive motor reducer 27 are arranged on the left side of the space surrounded by the wheel portions 112.
  • the entire drive motor 26 and drive motor reducer 27 overlap the wheels 110.
  • the drive motor 26 and the drive motor reducer 27 are not located on the wheels.
  • At least a part of the drive motor 26 and the drive motor reducer 27 may be arranged in the space surrounded by the wheel portion 112.
  • the space surrounded by the wheel portion 112 means a space surrounded by a plane perpendicular to the left-right direction including the right end of the wheel portion 112 and the wheel portion 112 in FIG.
  • the drive motor 26 generates torque that rotates the wheel support portion 20 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 center axis L3 of the wheels 110.
  • the drive motor 26 includes a drive motor fixed body 261 and a drive motor rotating body 262.
  • the drive motor fixed body 261 is a stator.
  • the drive motor fixed body 261 has a cylindrical shape.
  • the drive motor fixed body 261 is fixed to the inner surface of the main body portion 18.
  • the drive motor rotating body 262 includes a drive motor rotor 2621 and a drive motor rotating shaft 2622.
  • the drive motor rotor 2621 has a cylindrical shape.
  • the drive motor rotor 2621 is arranged in a space surrounded by the drive motor fixed body 261 when viewed to the left.
  • the drive motor rotor 2621 rotates with respect to the drive motor fixed body 261.
  • the rotation center axis L4 of the drive motor rotor 2621 is, for example, parallel to the rotation center axis L3 of the wheel 110.
  • the rotation center axis L3 of the wheel 110 extends in the left-right direction. Therefore, the rotation center axis L4 of the drive motor rotor 2621 extends in the left-right direction.
  • the rotation center axis L4 of the drive motor rotor 2621 may or may not coincide with the rotation center axis L3 of the wheel 110.
  • the rotation center axis L4 of the drive motor rotor 2621 coincides with the rotation center axis L3 of the wheel 110.
  • the drive motor reducer 27 reduces the rotation speed of the drive motor rotor 2621 and increases the torque of the drive motor rotor 2621 to transmit the rotation of the drive motor rotor 2621 to the drive motor rotation shaft 2622.
  • the drive motor reducer 27 is, for example, a planetary gear reducer, a harmonic drive (registered trademark) reducer, or a cycloid type reducer.
  • the drive motor reducer 27 has a cylindrical shape.
  • the drive motor reducer 27 is arranged in a space surrounded by the drive motor rotor 2621 when viewed to the left.
  • the drive motor rotation shaft 2622 can rotate about the rotation center axis L5 of the drive motor rotation shaft 2622.
  • the rotation center axis L5 of the drive motor rotation shaft 2622 is parallel to, for example, the rotation center axis L3 of the wheel 110.
  • the rotation center axis L3 of the wheel 110 extends in the left-right direction. Therefore, the rotation center axis L5 of the drive motor rotation shaft 2622 extends in the left-right direction.
  • the rotation center axis L5 of the drive motor rotation shaft 2622 may or may not coincide with the rotation center axis L3 of the wheel 110.
  • the rotation center axis L5 of the drive motor rotation shaft 2622 coincides with the rotation center axis L3 of the wheel 110.
  • a wheel support portion 20 is fixed to the left end of the drive motor rotating shaft 2622. As a result, when the drive motor 26 operates, the drive motor rotation shaft 2622 rotates, and the wheel support portion 20 and the wheels 110 rotate.
  • the steering motor 22 and the steering motor reducer 23 are arranged in a space surrounded by the wheel portion 112.
  • the steering motor 22 and the steering motor reducer 23 are arranged on the right side of the space surrounded by the wheel portions 112. Therefore, the steering motor 22 and the steering motor reducer 23 are arranged to the right of the drive motor 26 and the drive motor reducer 27.
  • at least a part of the steering motor 22 and the steering motor reducer 23 overlaps with the wheels 110 when viewed in the direction in which the rotation center axis L3 of the wheels 110 extends. In FIG. 2, when viewed to the left, the entire steering motor 22 and steering motor reducer 23 overlap the wheels 110.
  • the steering motor 22 and the steering motor reducer 23 are not located on the wheels 110.
  • at least a part of the steering motor 22 and the steering motor reducer 23 is arranged in the space surrounded by the wheel portion 112.
  • the entire steering motor 22 and the steering motor reducer 23 may be arranged in the space surrounded by the wheel portion 112.
  • the steering motor 22 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 steering motor 22 steers the wheels 110 by applying torque to the steering shaft portion 12 to swing the main body portion 18 with respect to the steering shaft portion 12.
  • the steering motor 22 includes a steering motor fixed body 221 and a steering motor rotating body 222.
  • the steering motor fixed body 221 is a stator.
  • the steering motor fixed body 221 has a cylindrical shape.
  • the steering motor fixing body 221 is fixed to the inner surface of the main body portion 18.
  • the steering motor rotating body 222 includes a steering motor rotor 2221 and a steering motor rotating shaft 2222.
  • the steering motor rotor 2221 has a cylindrical shape.
  • the steering motor rotor 2221 is arranged in a space surrounded by the steering motor fixed body 221 when viewed to the left.
  • the steering motor rotor 2221 rotates with respect to the steering motor fixed body 221.
  • the rotation center axis L6 of the steering motor rotor 2221 is, for example, parallel to the rotation center axis L3 of the wheel 110.
  • the rotation center axis L3 of the wheel 110 extends in the left-right direction. Therefore, the rotation center axis L6 of the steering motor rotor 2221 extends in the left-right direction.
  • the rotation center axis L6 of the steering motor rotor 2221 may or may not coincide with the rotation center axis L3 of the wheel 110.
  • the rotation center axis L6 of the steering motor rotor 2221 coincides with the rotation center axis L3 of the wheel 110.
  • the steering motor reducer 23 reduces the rotation speed of the steering motor rotor 2221 and increases the torque of the steering motor rotor 2221 to transmit the rotation of the steering motor rotor 2221 to the steering motor rotation shaft 2222.
  • the steering motor reducer 23 is, for example, a planetary gear reducer, a harmonic drive (registered trademark) reducer, or a cycloid type reducer.
  • the steering motor reducer 23 has a cylindrical shape.
  • the steering motor reducer 23 is arranged in a space surrounded by the steering motor rotor 2221 when viewed to the left.
  • the steering motor rotation shaft 2222 can rotate with respect to the main body 18 about the rotation center axis L7 of the steering motor rotation shaft 2222.
  • the rotation center axis L7 of the steering motor rotation shaft 2222 is, for example, parallel to the rotation center axis L3 of the wheel 110.
  • the rotation center axis L3 of the wheel 110 extends in the left-right direction. Therefore, the rotation center axis L7 of the steering motor rotation shaft 2222 extends in the left-right direction.
  • the rotation center axis L7 of the steering motor rotation shaft 2222 may or may not coincide with the rotation center axis L3 of the wheel 110.
  • the rotation center axis L7 of the steering motor rotation shaft 2222 coincides with the rotation center axis L3 of the wheel 110.
  • the steering shaft 30 is arranged to the right of the steering motor rotation shaft 2222.
  • the steering shaft 30 can rotate with respect to the main body 18 about the rotation center axis L8 of the steering shaft 30.
  • the rotation center axis L8 of the steering shaft 30 coincides with the rotation center axis L7 of the steering motor rotation shaft 2222.
  • the steering bevel gear 31 is provided at the right end of the steering shaft 30.
  • the steering bevel gear 31 and the steering shaft portion bevel gear 122 are in mesh with each other.
  • the steering motor rotating body 222 has a vehicle body so that the main body 18 swings with respect to the vehicle body fixing portion 16 due to the rotation of the steering motor rotating body 222.
  • the state in which the motor rotating body 222 is connected to the wheel support portion 20 is switched.
  • a state in which the steering motor rotating body 222 is connected to the other of the vehicle body fixing portion 16 and the main body portion 18 is defined as a steering output state.
  • a state in which the steering motor rotating body 222 is connected to the wheel support portion 20 is defined as a drive output state.
  • the steering motor 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 steering motor rotating body 222.
  • the steering output state is switched between the steering output state and the drive output state in which the steering motor rotating body 222 is connected to the wheel supporting portion 20 so that the wheel support portion 20 rotates with respect to the main body portion 18 due to the rotation of the steering motor rotating body 222.
  • Connecting the steering motor rotating body 222 to the vehicle body fixing portion 16 means that, for example, the torque generated by the drive motor 26 is transmitted to the vehicle body fixing portion 16.
  • the steering motor connection destination switching mechanism 24 has a steering output in which the steering motor rotating body 222 is connected to the main body 18 so that the main body 18 swings with respect to the vehicle body fixing portion 16 due to the rotation of the steering motor rotating body 222.
  • the state may be switched between a state and a drive output state in which the steering motor 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 steering motor rotating body 222.
  • the steering motor fixing body 221 is fixed to the vehicle body fixing portion 16.
  • the steering motor connection destination switching mechanism 24 switches between the steering output state and the drive output state, and as shown in FIG. 3, the actuator 240, the actuator shaft 241, the spline shafts 243 and 244, and the spline holes 245 to 248. Includes.
  • the steering motor connection destination switching mechanism 24 switches between the steering output state and the drive output state by the actuator 240.
  • the actuator 240 is fixed to the main body 18. More specifically, as shown in FIG. 2, the actuator 240 is fixed to a portion where the rotation center axis L7 passes at the right end portion of the main body portion 18.
  • the actuator shaft 241 extends from the actuator 240 to the left.
  • the actuator shaft 241 extends linearly in the left-right direction.
  • the actuator shaft 241 penetrates the steering shaft 30, the steering bevel gear 31, and the steering motor rotation shaft 2222 in the left-right direction.
  • the actuator 240 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 steering motor rotation shaft 2222.
  • the spline hole 247 is provided at the left end of the steering motor rotation shaft 2222.
  • the spline hole 248 is provided at the right end of the drive motor rotating shaft 2622.
  • the spline shaft 243 is provided in the middle portion of the actuator shaft 241.
  • the left portion, the intermediate portion, and the right portion of the actuator 240 are defined as follows.
  • the leftmost portion is defined as the left portion of the actuator 240.
  • the portion located in the center is defined as the intermediate portion of the actuator 240.
  • the rightmost portion is defined as the right portion of the actuator 240.
  • the spline shaft 243 is provided near the left end of the steering shaft 30 and near the right end of the steering motor rotation shaft 2222.
  • the spline shaft 243 can rotate about the rotation center axis L7 with respect to the actuator shaft 241. Therefore, the spline shaft 243 can rotate about the rotation center 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 240 in the left-right direction with respect to the main body 18 together with the actuator shaft 241.
  • the spline shaft 243 can rotate about the rotation center 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 on the right side of the spline shaft 243.
  • a circlip 302 is provided on the left side of the spline shaft 243.
  • the circlips 300 and 302 have a shape in which a part of the ring is cut out.
  • 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 steering motor rotation shaft 2222 and near the right end of the drive motor rotation shaft 2622.
  • the spline shaft 244 can rotate about the rotation center 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 center axis L7.
  • 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 240 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.
  • the lock mechanism 29 includes an actuator 240, an actuator shaft 241, a spline shaft 250, and spline holes 251,252 in order to realize switching between the swing lock release state and the swing lock state. There is.
  • 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 steering bevel gear 31.
  • the spline hole 252 is provided at the right end of the steering 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 steering bevel gear 31.
  • the spline shaft 250 can rotate about the rotation center 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 center axis L7.
  • 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 240 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 240.
  • the control device 28 is realized by a combination of an IC (Integrated Circuit), a circuit board, and electronic components.
  • the steering motor connection destination switching mechanism 24 can switch the state of the module 10a between the steering output state and the drive output state.
  • the lock mechanism 29 can switch the state of the module 10a between the swing lock release state and the swing lock state.
  • the state of the module 10a is the steering output state
  • the state of the module 10a is the swing lock release state
  • the state of the module 10a is the swing lock state.
  • the control device 28 controls the actuator 240 so that the actuator shaft 241 is displaced to the left end of the movable range of the actuator shaft 241.
  • the spline shaft 244 does not mesh with the spline hole 247, but meshes with the spline hole 248.
  • the steering motor rotation shaft 2222 is not fixed to the drive motor rotation shaft 2622.
  • the spline shaft 243 meshes with the spline hole 245 and meshes with the spline hole 246.
  • the steering motor rotation shaft 2222 is fixed to the steering shaft 30.
  • the state of the module 10a is a steering output state in which the steering motor 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 steering motor 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 steering 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 22 is driven, the main body 18 swings with respect to the steering shaft 12.
  • the control device 28 controls the actuator 240 so that the actuator shaft 241 is displaced to the right end of the movable range of the actuator shaft 241.
  • the spline shaft 244 meshes with the spline hole 247 and meshes with the spline hole 248.
  • the steering motor rotation shaft 2222 is fixed to the drive motor rotation shaft 2622.
  • the spline shaft 243 meshes with the spline hole 245 and does not mesh with the spline hole 246.
  • the steering motor rotation shaft 2222 is not fixed to the steering shaft 30.
  • the state of the module 10a is a drive output state in which the steering motor 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 steering motor 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 steering 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 22 is driven, the wheels 110 rotate with respect to the main body 18.
  • control device 28 may also control the steering motor 22 and the drive motor 26.
  • the module 10a for the same reason as the module 10, it is possible to obtain the module 10a having a function different from the conventional one while maintaining the compactness of the module 10a.
  • the wheels 110 are suppressed from being steered when the steering motor 22 is not driven for the same reason as the module 10. Further, according to the module 10a, the module 10a can be made compact for the same reason as the module 10.
  • FIG. 5 is a cross-sectional view of the module 10b.
  • FIG. 5 shows the module 10a in the steering output state.
  • Module 10b differs from module 10a in that it further includes a clutch 50.
  • the clutch 50 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 wheel support portion 20a has an annular shape when viewed to the left.
  • the drive motor rotation shaft 2622 penetrates the wheel support portion 20a in the left-right direction.
  • the wheel support portion 20a can rotate about the rotation center axis L5 with respect to the drive motor rotation shaft 2622.
  • the clutch 50 includes a connecting member 51, a fixing plate 52, nuts 54 and 56, and a cap 58.
  • the connecting member 51 has an annular shape when viewed to the left.
  • the drive motor rotation shaft 2622 penetrates the connecting member 51 in the left-right direction.
  • a spline shaft is formed on the drive motor rotation shaft 2622.
  • a spline hole is formed on the inner surface of the connecting member 51. Then, the spline shaft of the drive motor rotation shaft 2622 and the spline hole of the connecting member 51 are in mesh with each other.
  • a spline shaft is formed on the outer surface of the connecting member 51.
  • a spline hole is 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 are in mesh with each other.
  • the connecting member 51 connects the drive motor rotation shaft 2622 and the wheel support portion 20 so that torque is transmitted from the drive motor rotation shaft 2622 to the wheel support portion 20a.
  • the connecting member 51 and the wheel support portion 20a rotate.
  • the fixed plate 52 has an annular shape when viewed to the left.
  • the drive motor rotation 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 drive motor rotating shaft 2622.
  • Nuts 54 and 56 constitute a double nut.
  • a male screw is formed at the left end of the drive motor rotating shaft 2622.
  • the nuts 54 and 56 are attached to the left end of the drive motor rotating shaft 2622.
  • the nuts 54 and 56 press the fixing plate 52 against the connecting member 51 and the wheel support portion 20a.
  • either the nut 54 or the nut 56 may be provided.
  • 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.
  • the module 10b for the same reason as the module 10a, it is possible to obtain the module 10b having a function different from the conventional one while maintaining the compactness of the module 10b.
  • the wheels 110 are suppressed from being steered when the steering motor 22 is not driven for the same reason as the module 10a. Further, according to the module 10b, the module 10b can be made compact for the same reason as the module 10a.
  • FIG. 6 is an external perspective view of the vehicle 100.
  • 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 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 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.
  • 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 may have the same structure as the module 10b. Further, in the vehicle 100, the left front drive steering module 10aLF and the right front drive steering module 10aRF have the same structure as the module 10, and the left rear drive steering module 10aLB and the right rear drive steering module 10aRB are the same as the module 10a or the module 10b. It may have a structure.
  • the left front drive steering module 10aLF and the right front drive steering module 10aRF have the same structure as the module 10a or the module 10b, and the left rear drive steering module 10aLB and the right rear drive steering module 10aRB are the same as the module 10. It may have a structure.
  • a drive module is used instead of the left front drive steering module 10aLF and the right front drive steering module 10aRF, and even if the module 10a or the module 10b is used for the left rear drive steering module 10aLB and the right rear drive steering module 10aRB.
  • Module 10a or module 10b may be used for the left front drive steering module 10aLF and the right front drive steering module 10aRF, and a drive module may be used instead of the left rear drive steering module 10aLB and the right rear drive steering module 10aRB.
  • casters having no drive function and steering function are used instead of the left front drive steering module 10aLF and the right front drive steering module 10aRF, and the module 10a is used for the left rear drive steering module 10aLB and the right rear drive steering module 10aRB.
  • module 10b may be used.
  • Module 10a or module 10b is used for the left front drive steering module 10aLF and right front drive steering module 10aRF, and casters having no drive function and steering function are used in place of the left rear drive steering module 10aLB and the right rear drive steering module 10aRB.
  • the direction of the caster changes due to an external force.
  • a fixed wheel whose direction does not change due to an external force may be used.
  • 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.
  • the terms "preferably” and "good” are non-exclusive and are “preferable but not limited to” and “good but not limited thereto”. It means "no".

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
  • Power Steering Mechanism (AREA)

Abstract

La présente invention concerne un module qui fonctionne différemment par rapport à l'état de la technique tout en étant compact.　Un corps fixe de moteur de direction est fixé à l'une d'une partie de fixation de corps de véhicule et d'une partie de corps. Le module comprend un mécanisme de commutation de destination de connexion de moteur de direction qui commute entre un état dans lequel un corps rotatif de moteur de direction est connecté à l'autre de la partie de fixation de corps de véhicule et de la partie de corps de sorte que la partie de corps oscille par rapport à la partie de fixation de corps de véhicule avec la rotation du corps rotatif de moteur de direction et un état dans lequel le corps rotatif de moteur de direction est connecté à une partie de support de roue de sorte que la partie de support de roue tourne par rapport à la partie de corps avec la rotation du corps rotatif de moteur de direction.
PCT/JP2019/034391 2019-09-02 2019-09-02 Module WO2021044471A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP2019/034391 WO2021044471A1 (fr) 2019-09-02 2019-09-02 Module
PCT/JP2020/033275 WO2021045110A1 (fr) 2019-09-02 2020-09-02 Module de direction

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2019/034391 WO2021044471A1 (fr) 2019-09-02 2019-09-02 Module

Publications (1)

Publication Number Publication Date
WO2021044471A1 true WO2021044471A1 (fr) 2021-03-11

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PCT/JP2019/034391 WO2021044471A1 (fr) 2019-09-02 2019-09-02 Module

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WO (1) WO2021044471A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070256868A1 (en) * 2006-05-08 2007-11-08 Deere & Company, A Delaware Corporation Steering Mechanism for self-propelled mower
JP2010023809A (ja) * 2008-07-24 2010-02-04 Denso Corp 車両駆動用アクチュエータ
JP2014061744A (ja) * 2012-09-20 2014-04-10 Jtekt Corp 転舵装置および車両
JP2017013529A (ja) * 2015-06-26 2017-01-19 株式会社ジェイテクト 車両用操舵装置
JP2017081247A (ja) * 2015-10-23 2017-05-18 株式会社ジェイテクト 車両用操舵装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070256868A1 (en) * 2006-05-08 2007-11-08 Deere & Company, A Delaware Corporation Steering Mechanism for self-propelled mower
JP2010023809A (ja) * 2008-07-24 2010-02-04 Denso Corp 車両駆動用アクチュエータ
JP2014061744A (ja) * 2012-09-20 2014-04-10 Jtekt Corp 転舵装置および車両
JP2017013529A (ja) * 2015-06-26 2017-01-19 株式会社ジェイテクト 車両用操舵装置
JP2017081247A (ja) * 2015-10-23 2017-05-18 株式会社ジェイテクト 車両用操舵装置

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