JP2562893Y2 - Steering wheel steering angle detection device for traveling vehicles - Google Patents
Steering wheel steering angle detection device for traveling vehiclesInfo
- Publication number
- JP2562893Y2 JP2562893Y2 JP5800291U JP5800291U JP2562893Y2 JP 2562893 Y2 JP2562893 Y2 JP 2562893Y2 JP 5800291 U JP5800291 U JP 5800291U JP 5800291 U JP5800291 U JP 5800291U JP 2562893 Y2 JP2562893 Y2 JP 2562893Y2
- Authority
- JP
- Japan
- Prior art keywords
- mounting plate
- center lever
- center
- vertical pin
- pin
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Landscapes
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本考案は、走行車両の操舵輪の舵
角を検出する装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for detecting a steering angle of a steered wheel of a traveling vehicle.
【０００２】[0002]
【従来の技術】走行車両の操舵輪は車体に対してリンク
機構で揺動自在に支承され、このリンク機構をステアリ
ングシリンダで揺動することで操舵輪を操舵している。
このような走行車両において無人操舵システムを採用す
る際には操舵輪の舵角を検出して制御系にフィードバッ
クする必要があり、その操舵輪の舵角を検出するにはリ
ンク機構の枢着ピンとリンクの回転角度をポテンション
メータで検出することが考えられる。2. Description of the Related Art Steered wheels of a traveling vehicle are swingably supported by a link mechanism with respect to a vehicle body, and the steered wheels are steered by swinging the link mechanism with a steering cylinder.
When adopting an unmanned steering system in such a traveling vehicle, it is necessary to detect the steering angle of a steered wheel and feed it back to a control system, and to detect the steered angle of the steered wheel, a steering pin of a link mechanism is used. It is conceivable to detect the rotation angle of the link with a potentiometer.
【０００３】[0003]
【考案が解決しようとする課題】しかしながら、リンク
機構はかなり大きなガタを許容する構成となっているの
で、そのガタのためにポテンションメータの検出精度が
悪くなって操舵輪の舵角を正確に検出できない。However, since the link mechanism is configured to allow a considerably large play, the detection accuracy of the potentiometer deteriorates due to the play, and the steering angle of the steered wheels can be accurately determined. Not detectable.
【０００４】そこで、本考案は前述の課題を解決できる
ようにした走行車両の操舵輪舵角検出装置を提供するこ
とを目的とする。Accordingly, an object of the present invention is to provide a device for detecting a steering wheel steering angle of a traveling vehicle which can solve the above-mentioned problem.
【０００５】[0005]
【課題を解決するための手段】第１の考案は、車体側に
センタレバー８を縦ピン１６の回りに揺動自在に支承
し、このセンタレバー８に操舵輪１を取付けてセンタレ
バー８を揺動して操舵する構成とし、前記縦ピン１６に
取付板１９を回転自在に取付け、この取付板１９に設け
たポテンションメータ１０の回転軸１０ａを縦ピン１６
の中心に連結し、前記センターレバー８と取付板１９
を、所定の幅を有する薄板状で上下方向には変位可能で
幅方向には変位しない連結機構２０で連結したことを特
徴とする走行車両の操舵輪舵角検出装置である。第２の
考案は、車体側にセンタレバー８を縦ピン１６の回りに
揺動自在に支承し、このセンタレバー８に操舵輪１を取
付けてセンタレバー８を揺動して操舵する構成とし、前
記縦ピン１６に取付板１９を回転自在に取付け、この取
付板１９に設けたポテンションメータ１０の回転軸１０
ａを縦ピン１６の中心に連結し、前記取付板１９に長孔
３２を有するプレート３１を取付け、前記センターレバ
ー８にピン３３を取付け、このピン３３を前記プレート
３１の長孔３２に、長孔３２に沿って摺動自在で、かつ
上下動自在に嵌合してセンターレバー８と取付板１９を
連結したことを特徴とする走行車両の操舵輪舵角検出装
置である。第３の考案は、車体側にセンタレバー８を縦
ピン１６の回りに揺動自在に支承し、このセンタレバー
８に操舵輪１を取付けてセンタレバー８を揺動して操舵
する構成とし、前記縦ピン１６に取付板１９を回転自在
に取付け、この取付板１９に設けたポテンションメータ
１０の回転軸１０ａを縦ピン１６の中心に連結し、前記
センターレバー８と取付板１９を、複数のリンクを上下
方向に揺動可能で水平方向には揺動しないように連結し
た連結機構２０で連結したことを特徴とする走行車両の
操舵輪舵角検出装置である。According to a first aspect of the present invention, a center lever 8 is supported on a vehicle body side so as to be swingable around a vertical pin 16, and the steering wheel 1 is mounted on the center lever 8 to mount the center lever 8 thereon. The mounting plate 19 is rotatably mounted on the vertical pin 16, and the rotating shaft 10 a of the potentiometer 10 provided on the mounting plate 19 is connected to the vertical pin 16.
Of the center lever 8 and the mounting plate 19
Are connected by a connecting mechanism 20 which is a thin plate having a predetermined width and is vertically displaceable but not displaced in the width direction. In the second invention, a center lever 8 is supported on the vehicle body side so as to be swingable around a vertical pin 16, and the steering wheel 1 is mounted on the center lever 8 to swing the center lever 8 for steering. A mounting plate 19 is rotatably mounted on the vertical pin 16, and a rotation shaft 10 of a potentiometer 10 provided on the mounting plate 19 is provided.
a is connected to the center of the vertical pin 16, a plate 31 having a long hole 32 is mounted on the mounting plate 19, a pin 33 is mounted on the center lever 8, and the pin 33 is inserted into the long hole 32 of the plate 31. A steering wheel steering angle detecting device for a traveling vehicle, characterized in that the center lever 8 and the mounting plate 19 are connected to each other so as to be slidable along the hole 32 and to be movable up and down. A third invention is that a center lever 8 is supported on the vehicle body side so as to be swingable around a vertical pin 16, a steering wheel 1 is mounted on the center lever 8, and the center lever 8 is swung to steer. A mounting plate 19 is rotatably mounted on the vertical pin 16, and a rotation shaft 10 a of the potentiometer 10 provided on the mounting plate 19 is connected to the center of the vertical pin 16, and the center lever 8 and the mounting plate 19 Are connected by a connecting mechanism 20 that is capable of swinging up and down and not swinging in a horizontal direction.
【０００６】[0006]
【作 用】第１の考案によれば、センタレバー８の縦
ピン１６回りの揺動を連結機構２０を介して取付板１９
に伝達できるし、センタレバー８の上下方向の変位を連
結機構２０で吸収して取付板１９に伝達しないから、操
舵輪１の舵角をポテンションメータ１０で正確に検出で
きる。第２の考案によれば、センタレバー８の縦ピン１
６回りの揺動をピン３３とプレート３１を介して取付板
１９に伝達できるし、センタレバー８の上下方向の変位
をピン３３のプレート３１の長孔３２に沿う上下動で吸
収して取付板１９に伝達しないから、操舵輪１の舵角を
ポテンションメータ１０で正確に検出できる。第３の考
案によれば、センタレバー８の縦ピン１６回りの揺動を
連結機構２０を形成する複数のリンクを介して取付板１
９に伝達できるし、センタレバー８の上下方向の変位を
連結機構２０を形成する複数のリンクの上下方向の揺動
で吸収して取付板１９に伝達しないから、操舵輪１の舵
角をポテンションメータ１０で正確に検出できる。According to the first invention, the swing of the center lever 8 around the vertical pin 16 is controlled by the connecting plate 20 via the connecting mechanism 20.
Since the displacement of the center lever 8 in the vertical direction is absorbed by the connecting mechanism 20 and is not transmitted to the mounting plate 19, the steering angle of the steered wheels 1 can be accurately detected by the potentiometer 10. According to the second invention, the vertical pin 1 of the center lever 8 is
The six rotations can be transmitted to the mounting plate 19 through the pin 33 and the plate 31, and the vertical displacement of the center lever 8 is absorbed by the vertical movement of the pin 33 along the long hole 32 of the plate 31 so that the mounting plate 19 19, the steering angle of the steered wheel 1 can be accurately detected by the potentiometer 10. According to the third invention, the swing of the center lever 8 around the vertical pin 16 is controlled by the mounting plate 1 via the plurality of links forming the coupling mechanism 20.
9, and the vertical displacement of the center lever 8 is absorbed by the vertical swing of the plurality of links forming the connecting mechanism 20 and is not transmitted to the mounting plate 19, so that the steering angle of the steered wheels 1 is It can be detected accurately by the tension meter 10.
【０００７】[0007]
【実 施 例】図１に示すように、操舵輪１はリンク機
構２で車体側に揺動自在に支承され、そのリンク機構２
はステアリングシリンダ３で揺動され、そのステアリン
グシリンダ３には油圧ポンプ４の吐出圧油がデマンドバ
ルブ５、切換弁６、サーボ弁７により供給制御され、リ
ンク機構２を構成するセンタレバー８の枢着部９にポテ
ンションメータ１０が取付けられて操舵輪１の舵角を検
出し、その舵角は制御系１１にフイードバックされる。
制御系１１はコントローラ１２、比較器１３、制御器１
４等より構成されている。図２、図３に示すように、セ
ンタレバー８は車体１５側に固定した縦ピン１６の回り
に水平方向に揺動自在に支承され、この縦ピン１６の上
部に軸受１７、筒体１８を介して取付板１９が回転自在
に支承してあり、その取付板１９に取付けたポテンショ
ンメータ１０の回転軸１０ａが縦ピン１６の中心に連結
され、前記取付板１９とセンタレバー８が上下方向に変
位可能で水平方向に剛性大なる連結機構２０で連結した
ある。該連結機構２０は取付横片２１と縦片２２と横片
２３とでクランク型となったグラスファイバー等の幅狭
な薄板状となり、その取付横片２１が取付板１９にプレ
ート２４とボルト２５で取付けられ、横片２３はセンタ
レバー８に固着した取付座２６にボルト２７で取付けて
ある。このようであるから、連結機構２０は上下方向に
スムーズに変位するのでセンタレバー８の上下方向のガ
タを吸収してポテンションメータ１０に伝達しないよう
になり、センタレバー８が縦ピン１６の回りに揺動する
と連結機構２０を介して取付板１９が縦ピン１６の回り
に回転し、ポテンションメータ１０で回転角度を検出す
ることで操舵輪１の舵角を検出できる。前記薄板状の連
結機構２０をせんい強化式のプラスチック板とし、その
せんいを長手方向に亘って平行に配設したものとすれば
上下方向には変位し易く、幅方向には剛性大となる。な
お、連結機構２０はバネ鋼としても良い。図４、図５に
示すように、取付板１９にボルト３０で取付けたプレー
ト３１の長孔３２に、センタレバー８に設けたピン３３
を臨ませて連結機構２０としても良い。このようにすれ
ば、センタレバー８の上下方向の変位によってピン３３
がプレート３１の長孔３２に沿って上下動してプレート
３１に伝達せず、センタレバー８の縦ピン１６回りの揺
動はピン３３、長孔３２、プレート３１を介して取付板
１９に伝達して縦ピン１６の回りに回転するからポテン
ションメータ１０で舵角を検出できる。図６、図７に示
すように、取付板１９の下面に略Ｖ字状の板４０を固着
し、この板４０の前後両側面に一対のリンク４１，４１
をピン４２で上下揺動自在にそれぞれ支承し、この一対
の第１リンク４１，４１を中間リンク４３に固着し、そ
の中間リンク４３に第２リンク４４をピン４５で上下揺
動自在に連結し、この第２リンク４４をセンタレバー８
の取付座４６にピン４７で水平方向に揺動自在に連結し
て連結機構２０を構成している。このようにすれば、セ
ンタレバー８の上下方向の変位が第２リンク４４、中間
リンク４３、第１リンク４１の連結部の上下揺動で吸収
して取付板１９に伝達しないようにできるし、センタレ
バー８の縦ピン１６回りの揺動は第２リンク４４、中間
リンク４３、第１リンク４１を介して取付板１９に伝達
して取付板１９が縦ピン１６の回りに回転するからポテ
ンションメータ１０で操舵輪１の舵角を検出できる。[Embodiment] As shown in FIG. 1, a steered wheel 1 is swingably supported by a link mechanism 2 on the vehicle body side.
Is swung by a steering cylinder 3, and the delivery pressure oil of a hydraulic pump 4 is supplied and controlled to the steering cylinder 3 by a demand valve 5, a switching valve 6 and a servo valve 7, and a pivot of a center lever 8 constituting the link mechanism 2 is controlled. A potentiometer 10 is attached to the attachment section 9 to detect the steering angle of the steered wheels 1, and the steering angle is fed back to the control system 11.
The control system 11 includes a controller 12, a comparator 13, and a controller 1.
4 and so on. As shown in FIGS. 2 and 3, the center lever 8 is supported so as to be swingable in the horizontal direction around a vertical pin 16 fixed to the vehicle body 15, and a bearing 17 and a cylindrical body 18 are mounted on the upper part of the vertical pin 16. A mounting plate 19 is rotatably supported via the mounting plate 19, and a rotation shaft 10 a of the potentiometer 10 mounted on the mounting plate 19 is connected to the center of the vertical pin 16, and the mounting plate 19 and the center lever 8 are vertically moved. , And connected by a connecting mechanism 20 having rigidity in the horizontal direction. The connecting mechanism 20 is formed of a narrow thin plate made of a crank-shaped glass fiber or the like by the mounting horizontal piece 21, the vertical piece 22, and the horizontal piece 23, and the mounting horizontal piece 21 is attached to the mounting plate 19 by the plate 24 and the bolt 25. The horizontal piece 23 is mounted on a mounting seat 26 fixed to the center lever 8 with a bolt 27. Because of this, the connecting mechanism 20 is smoothly displaced in the vertical direction, so that the vertical play of the center lever 8 is absorbed and is not transmitted to the potentiometer 10. When the swinging is performed, the mounting plate 19 rotates around the vertical pin 16 via the coupling mechanism 20, and the turning angle of the steered wheel 1 can be detected by detecting the rotation angle with the potentiometer 10. If the thin plate-like connecting mechanism 20 is a plastic plate of a fiber reinforcement type and the fibers are arranged in parallel along the longitudinal direction, the plastic structure is easily displaced in the vertical direction and rigid in the width direction. The connecting mechanism 20 may be made of spring steel. As shown in FIGS. 4 and 5, a pin 33 provided on the center lever 8 is inserted into a long hole 32 of a plate 31 attached to the attachment plate 19 with a bolt 30.
And the connecting mechanism 20 may be provided. By doing so, the vertical movement of the center lever 8 causes the pin 33 to move.
Moves up and down along the long hole 32 of the plate 31 and does not transmit to the plate 31, and the swing of the center lever 8 around the vertical pin 16 is transmitted to the mounting plate 19 via the pin 33, the long hole 32 and the plate 31. As a result, the steering angle can be detected by the potentiometer 10 because of rotation around the vertical pin 16. As shown in FIGS. 6 and 7, a substantially V-shaped plate 40 is fixed to the lower surface of the mounting plate 19, and a pair of links 41, 41 are provided on both front and rear sides of the plate 40.
The first link 41 and the pair of first links 41 are fixed to an intermediate link 43, and the second link 44 is connected to the intermediate link 43 by a pin 45 so as to be able to vertically swing. The second link 44 is connected to the center lever 8
The connecting mechanism 20 is constituted by connecting to the mounting seat 46 of the first embodiment by a pin 47 so as to be swingable in the horizontal direction. With this configuration, the vertical displacement of the center lever 8 can be prevented from being transmitted to the mounting plate 19 by being absorbed by the vertical swing of the connecting portion of the second link 44, the intermediate link 43, and the first link 41, The swing of the center lever 8 around the vertical pin 16 is transmitted to the mounting plate 19 via the second link 44, the intermediate link 43, and the first link 41, and the mounting plate 19 rotates around the vertical pin 16, so that the potential is increased. The steering angle of the steered wheels 1 can be detected by the meter 10.
【０００８】[0008]
【考案の効果】請求項１に係る考案によれば、センタレ
バー８の縦ピン１６回りの揺動を連結機構２０を介して
取付板１９に伝達できるし、センタレバー８の上下方向
の変位を連結機構２０で吸収して取付板１９に伝達しな
いから、操舵輪１の舵角をポテンションメータ１０で正
確に検出できる。請求項２に係る考案によれば、センタ
レバー８の縦ピン１６回りの揺動をピン３３とプレート
３１を介して取付板１９に伝達できるし、センタレバー
８の上下方向の変位をピン３３のプレート３１の長孔３
２に沿う上下動で吸収して取付板１９に伝達しないか
ら、操舵輪１の舵角をポテンションメータ１０で正確に
検出できる。請求項３に係る考案によれば、センタレバ
ー８の縦ピン１６回りの揺動を連結機構２０を形成する
複数のリンクを介して取付板１９に伝達できるし、セン
タレバー８の上下方向の変位を連結機構２０を形成する
複数のリンクの上下方向の揺動で吸収して取付板１９に
伝達しないから、操舵輪１の舵角をポテンションメータ
１０で正確に検出できる。According to the first aspect of the present invention, the swing of the center lever 8 around the vertical pin 16 can be transmitted to the mounting plate 19 via the connecting mechanism 20, and the vertical displacement of the center lever 8 can be reduced. Since the light is absorbed by the connecting mechanism 20 and is not transmitted to the mounting plate 19, the steering angle of the steering wheel 1 can be accurately detected by the potentiometer 10. According to the present invention, the swing of the center lever 8 around the vertical pin 16 can be transmitted to the mounting plate 19 via the pin 33 and the plate 31, and the vertical displacement of the center lever 8 can be transmitted to the pin 33. Slot 3 of plate 31
The steering angle of the steered wheel 1 can be accurately detected by the potentiometer 10 because it is not transmitted to the mounting plate 19 because it is absorbed by the vertical movement along 2. According to the present invention, the swing of the center lever 8 around the vertical pin 16 can be transmitted to the mounting plate 19 via the plurality of links forming the connecting mechanism 20, and the center lever 8 can be displaced in the vertical direction. Is absorbed by the vertical swing of the plurality of links forming the connecting mechanism 20 and is not transmitted to the mounting plate 19, so that the steering angle of the steered wheels 1 can be accurately detected by the potentiometer 10.
【図１】操舵輪の操舵システムに全体概略説明図であ
る。FIG. 1 is an overall schematic explanatory diagram of a steering system of a steered wheel.
【図２】本考案の第１実施例の正面図である。FIG. 2 is a front view of the first embodiment of the present invention.
【図３】図２の平面図である。FIG. 3 is a plan view of FIG. 2;
【図４】本考案の第２実施例の正面図である。FIG. 4 is a front view of a second embodiment of the present invention.
【図５】図４の平面図である。FIG. 5 is a plan view of FIG. 4;
【図６】本考案の第３実施例の正面図である。FIG. 6 is a front view of a third embodiment of the present invention.
【図７】図６の平面図である。FIG. 7 is a plan view of FIG. 6;
１ 操舵輪、８ センタレバー、１０ ポテンションメ
ータ、１０ａ 回転軸、１６ 縦ピン、１９ 取付板、
２０ 連結部材。1 Steering wheel, 8 center lever, 10 potentiometer, 10a rotary shaft, 16 vertical pins, 19 mounting plate,
20 connecting members.
Claims (3)
回りに揺動自在に支承し、このセンタレバー８に操舵輪
１を取付けてセンタレバー８を揺動して操舵する構成と
し、 前記縦ピン１６に取付板１９を回転自在に取付け、この
取付板１９に設けたポテンションメータ１０の回転軸１
０ａを縦ピン１６の中心に連結し、前記センターレバー
８と取付板１９を、所定の幅を有する薄板状で上下方向
には変位可能で幅方向には変位しない連結機構２０で連
結したことを特徴とする走行車両の操舵輪舵角検出装
置。1. A structure in which a center lever 8 is supported on a vehicle body side so as to be swingable around a vertical pin 16, a steering wheel 1 is mounted on the center lever 8, and the center lever 8 is swung to steer. A mounting plate 19 is rotatably mounted on the vertical pin 16, and the rotary shaft 1 of the potentiometer 10 provided on the mounting plate 19 is provided.
0a is connected to the center of the vertical pin 16, and the center lever 8 and the mounting plate 19 are vertically connected in a thin plate shape having a predetermined width.
With the connecting mechanism 20 that can be displaced in the
An apparatus for detecting a steering wheel steering angle of a traveling vehicle, comprising:
回りに揺動自在に支承し、このセンタレバー８に操舵輪
１を取付けてセンタレバー８を揺動して操舵する構成と
し、 前記縦ピン１６に取付板１９を回転自在に取付け、この
取付板１９に設けたポテンションメータ１０の回転軸１
０ａを縦ピン１６の中心に連結し、前記取付板１９に長
孔３２を有するプレート３１を取付け、前記センターレ
バー８にピン３３を取付け、このピン３３を前記プレー
ト３１の長孔３２に、長孔３２に沿って摺動自在で、か
つ上下動自在に嵌合してセンターレバー８と取付板１９
を連結したことを特徴とする走行車両の操舵輪舵角検出
装置。2. A structure in which a center lever 8 is supported on the vehicle body side so as to be swingable about a vertical pin 16, and a steering wheel 1 is mounted on the center lever 8 to swing the center lever 8 for steering. A mounting plate 19 is rotatably mounted on the vertical pin 16, and the rotary shaft 1 of the potentiometer 10 provided on the mounting plate 19 is provided.
Connecting the 0a to the center of the longitudinal pin 16, the length to the mounting plate 19
Attach the plate 31 having the hole 32, and
Attach the pin 33 to the bar 8, and
Slidably along the long hole 32 of the
The center lever 8 and the mounting plate 19
Steering wheel steering angle detecting apparatus of the traveling vehicle, characterized in that the connecting.
回りに揺動自在に支承し、このセンタレバー８に操舵輪
１を取付けてセンタレバー８を揺動して操舵する構成と
し、 前記縦ピン１６に取付板１９を回転自在に取付け、この
取付板１９に設けたポテンションメータ１０の回転軸１
０ａを縦ピン１６の中心に連結し、前記センターレバー
８と取付板１９を、複数のリンクを上下方向に揺動可能
で水平方向には揺動しないように連結した連結機構２０
で連結したことを特徴とする走行車両の操舵輪舵角検出
装置。3. A structure in which a center lever 8 is supported on the vehicle body side so as to be swingable around a vertical pin 16, and a steering wheel 1 is mounted on the center lever 8 to swing the center lever 8 for steering. A mounting plate 19 is rotatably mounted on the vertical pin 16, and the rotary shaft 1 of the potentiometer 10 provided on the mounting plate 19 is provided.
0a is connected to the center of the vertical pin 16, and the center lever 8 and the mounting plate 19 can swing a plurality of links up and down.
Connecting mechanism 20 connected so as not to swing in the horizontal direction
A steering wheel steering angle detection device for a traveling vehicle, wherein
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5800291U JP2562893Y2 (en) | 1991-06-28 | 1991-06-28 | Steering wheel steering angle detection device for traveling vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5800291U JP2562893Y2 (en) | 1991-06-28 | 1991-06-28 | Steering wheel steering angle detection device for traveling vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH051658U JPH051658U (en) | 1993-01-14 |
| JP2562893Y2 true JP2562893Y2 (en) | 1998-02-16 |
Family
ID=13071782
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5800291U Expired - Lifetime JP2562893Y2 (en) | 1991-06-28 | 1991-06-28 | Steering wheel steering angle detection device for traveling vehicles |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2562893Y2 (en) |
-
1991
- 1991-06-28 JP JP5800291U patent/JP2562893Y2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH051658U (en) | 1993-01-14 |
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