JPH01226477A - Automobile having small rotary radius and turning method - Google Patents
Automobile having small rotary radius and turning methodInfo
- Publication number
- JPH01226477A JPH01226477A JP5219688A JP5219688A JPH01226477A JP H01226477 A JPH01226477 A JP H01226477A JP 5219688 A JP5219688 A JP 5219688A JP 5219688 A JP5219688 A JP 5219688A JP H01226477 A JPH01226477 A JP H01226477A
- Authority
- JP
- Japan
- Prior art keywords
- wheel
- braked
- wheels
- differential
- pair
- 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
- 238000000034 method Methods 0.000 title claims description 4
- 230000007246 mechanism Effects 0.000 claims abstract description 4
- 230000000694 effects Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 1
Landscapes
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
- Regulating Braking Force (AREA)
Abstract
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は回転半径の小さな自動車およびその旋回方法に
間するものである１本発明の自動車には乗用車、バス、
トラック、特殊自動車のほか、ｃ７ポット等車輪を差動
装置を介して駆動し移動する全ての装置を含む。Detailed Description of the Invention (Industrial Application Field) The present invention relates to an automobile with a small turning radius and a turning method thereof.1 The automobile of the present invention includes a passenger car, a bus,
In addition to trucks and special vehicles, this includes all devices that drive wheels via differentials, such as C7 pots.
（従来の技術）
従来の自動車は前進または後退しないと方向転換できな
かった。すなわち一般の車は前輪のみにより操舵し、特
殊作業用の車には後輪のみにより操舵するものがあった
。(Prior Art) Conventional automobiles could not change direction without moving forward or backward. In other words, ordinary cars were steered only by the front wheels, while some vehicles for special work were steered only by the rear wheels.
（発明が解決しようとする課題）
一般の自動車は勿論のこと、特に狭い場所で作業を行う
フォークリフトやショベルカー等の特殊自動車や自由な
移動が要求される移動式のロボットは９回転半径が大き
いため、方向転換のための走行距離が長くかつ時間がか
かり９曲りきれないために進入箇所の制限が大きいなど
の問題点があった・
本発明は回転半径の小さい自動車を提供することを目的
とする。(Problem to be solved by the invention) Not only general automobiles, but also special automobiles such as forklifts and excavators that work in narrow spaces, and mobile robots that require free movement have a large turning radius. Therefore, there were problems such as the distance traveled to change direction was long and it took a long time to complete the nine turns, which resulted in large restrictions on the entry points.The present invention aims to provide an automobile with a small turning radius. do.
（課題を解決するための手段）
本発明の自動車は次のように構成する。すなわち第１図
に示すように９本発明は、差動装置１を介して駆動する
駆動車輪対２Ａ、２Ｂを、それぞれ独立して制動する制
動装置３Ａ、３Ｂを装備いこの一方９例えば左の駆動車
輪２Ａ、 を制動したときこの制動車輪の接地点Ｐに
対して他の車輪をほぼ垂直に向ける操舵装置とを装備す
ることによって自動車の回転半径を小さくする。(Means for Solving the Problems) The automobile of the present invention is configured as follows. That is, as shown in FIG. 1, the present invention is equipped with braking devices 3A and 3B that independently brake the drive wheel pair 2A and 2B driven via the differential device 1. The turning radius of the automobile is reduced by equipping the vehicle with a steering device that directs the other wheels substantially perpendicularly to the grounding point P of the brake wheel when the drive wheel 2A is braked.
本発明に用いる差動装置は従来のもので良く。The differential device used in the present invention may be a conventional differential device.
特定する必要はない０本発明の駆動車輪の制動装置は従
来の全輪同時に制動する機能のほかに、それぞれ独立し
て制動できるように圧力配管や操作方法を異にしている
。また本発明の操舵装置は。It is not necessary to specify the driving wheel braking device of the present invention, in addition to the conventional function of simultaneously braking all wheels, the pressure piping and operation method are different so that each wheel can be braked independently. Moreover, the steering device of the present invention is as follows.
第１図に示すように直進時に対し車輪４Ａ、４Ｂを大き
く旋回するので、左右の車輪を同方向に同時に操舵する
公知のパワーステアリング装置５のほかに、それぞれ独
立して操作でき互いに逆方向に操作できる車輪旋回装置
を有する。すなわち具体的には油圧サーボ機構により変
位する両ロッド型復動シリンダ６の両側のロッドに片ロ
ッド型復動シリンダ７Ａ、７Ｂの一端を連結し、それぞ
れの片ロッド型復動シリンダ？Ａ、７Ｂの他端と車輪の
操舵レバー８Ａ、８Ｂとを連結した構造とするのが望ま
しい。As shown in FIG. 1, since the wheels 4A and 4B are turned significantly compared to when driving straight, in addition to the known power steering device 5 that simultaneously steers the left and right wheels in the same direction, each can be operated independently. It has a wheel swivel device that can be operated. Specifically, one end of the single-rod type double-acting cylinders 7A and 7B is connected to the rods on both sides of the double-rod type double-acting cylinder 6, which is displaced by a hydraulic servo mechanism, and each single-rod type double-acting cylinder ? It is desirable to have a structure in which the other ends of A and 7B are connected to wheel steering levers 8A and 8B.
また本発明の自動車は、差動装置を介して駆動する車輪
の一方を制動操作すると、この制動した制動車輪の接地
点Ｐの方向に対して他の車輪をほぼ垂直に自動的に向け
るように構成するのが望ましい、さらに望ましくは差動
装置の両側の車−を制動操作するとその時の状態で全て
の車輪を制動するように構成して、同装置をパーキング
ブレーキとして機能させる。Furthermore, in the automobile of the present invention, when one of the wheels driven through the differential device is braked, the other wheel is automatically directed almost perpendicularly to the direction of the grounding point P of the braked wheel. It is desirable to configure the differential device, and more preferably, to configure the device so that when the vehicles on both sides of the differential device are braked, all the wheels are braked in the state at that time, so that the device functions as a parking brake.
（作用） 上述のように構成した本発明の自動車において。(effect) In the automobile of the present invention configured as described above.
差動装置ｌを介して駆動する車輪対２Ａ、２Ｂを例えば
第１図の左側の制動装置３Ａを作動させ。For example, the braking device 3A on the left side of FIG. 1 is actuated to drive the pair of wheels 2A, 2B via the differential device 1.
車輪２Ａを制動すると、その接地点方向Ｐに対して他の
車輪２Ｂ、４Ａ、４Ｂをほぼ垂直に向ける。When the wheel 2A is braked, the other wheels 2B, 4A, 4B are orientated substantially perpendicularly to the grounding point direction P of the wheel 2A.
そしてこの状態で差動歯車の人力軸９を駆動すると、自
動車は制動車輪Ｐを中心に旋回する。旋回方向はこの入
力軸９の駆動方向が車を第１図の上方に進める方向であ
れば、車輪２Ｂの駆動によって車輪２Ｂ、４Ａ、４Ｂは
接地点Ｐを中心にして反時計回りに小さな力で容易に旋
回する。車輪２Ａが操舵できない車輪である場合には、
常時Ｐに垂直であるのが普通であるので旋回のための操
舵は必要としない、制動する制動車輪の接地点方向に対
し他の車輪の向きが垂直方向からのずれが大きくなると
、車の旋回に要する力は大きくなり好ましくない、差動
歯車の駆動方向が前記と逆方向であれば、車の旋回方向
は時計回りになる。また制動する車輪が変わる場合にも
車の旋回方向は前記と同様に容易に分かる。When the human power shaft 9 of the differential gear is driven in this state, the automobile turns around the brake wheels P. In the turning direction, if the driving direction of this input shaft 9 is the direction in which the vehicle advances upward in FIG. swivels easily. If wheel 2A is a wheel that cannot be steered,
Since it is normally perpendicular to P at all times, steering for turning is not required.If the direction of the other wheels deviates from the perpendicular direction with respect to the direction of the grounding point of the braking wheel, the car will not be able to turn. If the driving direction of the differential gear is opposite to the above-mentioned direction, the turning direction of the car will be clockwise. Furthermore, even when the wheels to be braked change, the turning direction of the vehicle can be easily determined in the same manner as described above.
本発明の駆動車輪の制動装置は従来の全輪同時に制動す
る機能のほかに、それぞれ独立して制動できるように圧
力配管を装備している。従ってこれらをパーキングブレ
ーキとして用いることができる。In addition to the conventional function of simultaneously braking all wheels, the drive wheel braking device of the present invention is equipped with pressure piping so that each wheel can be braked independently. Therefore, these can be used as parking brakes.
本発明の操舵装置を第１図に示すように構成する場合に
は１通常の運転で左右の車輪を平行に同方向に同時に操
舵する時は、公知のパワーステアリング装置５の岡ロッ
ド型復動シリンダ６のみを作動させる。このとき片ロッ
ド型復動シリンダ７Ａ、７Ｂはロッドなシリンダ内に終
端まで納めた状態である。そして旋回するときは片ロッ
ド型復動シリンダ７Ａ、７Ｂはロッドをシリンダからい
っばいに出した状態で、左右の車輪の向きの違いは制動
車輪の接地点Ｐの方向に応じて２両ロッド型復動シリン
ダによって調整する。この様に操舵装置を構成すること
によって操舵装置を簡単にでき、かつ旋回運転の自動化
が容易になる。すなわち差動装置を介して駆動する車輪
対の一方を制動操作するとき、この制動した制動車輪の
接地点方向に対して自動的に他の車輪をほぼ垂直に向け
るように容易に構成でき、自動化によって運転の誤りが
少なくなり、操作時間も短縮できる。さらに本発明では
差動装置の両側の車輪を制動操作すると、その時の状態
で全ての車輪を制動するように構成すれば９次の運転が
開始しゃすくい 同装置をパーキングブレーキとして機
能させれる。このような場合には右旋回、パーキングブ
レーキ差動。When the steering system of the present invention is configured as shown in FIG. Only cylinder 6 is operated. At this time, the single rod type double-acting cylinders 7A and 7B are housed in the rod cylinders to their ends. When turning, the single-rod type double-acting cylinders 7A and 7B have their rods extended from the cylinder all at once, and the difference in the direction of the left and right wheels is determined by the direction of the grounding point P of the braking wheel. Adjusted by double-acting cylinder. By configuring the steering device in this way, the steering device can be simplified and the turning operation can be automated easily. In other words, when one of a pair of wheels driven via a differential is braked, the other wheel can be easily configured to automatically orient almost perpendicularly to the grounding point of the braked wheel. This reduces driving errors and reduces operating time. Furthermore, in the present invention, when the wheels on both sides of the differential device are braked, if all wheels are braked in the current state, the ninth operation will start, and the device can function as a parking brake. In this case, turn right and use the parking brake differential.
左旋回の３種の操作端を装備するのが良い。It is better to be equipped with three types of left-turn operating ends.
（発明の効果）
本発明は以上のように構成するので９次の効果を奏する
。すなわち従来の自動車は前進または後退しないと方向
転換できなかったが２本発明により車輪の１つを中心に
して旋回でき９回転半径が小さくできる。また本発明の
旋回装置を用いてパーキングブレーキとすることができ
る０本発明は一般の車は勿論のこと、特に狭い場所で作
業を行うフォークリフトやショベルカーや移動ロボット
等の特殊作業用の車において旋回のための走行距離を短
くシ９時間を節約し、進入箇所の制限も小さくすること
ができる。(Effects of the Invention) Since the present invention is configured as described above, the following effects are achieved. That is, conventional automobiles could not change direction without moving forward or backward, but with the present invention, the turning radius can be reduced by turning around one of the wheels. In addition, the swing device of the present invention can be used as a parking brake.The present invention is applicable not only to general vehicles, but also to special work vehicles such as forklifts, excavators, and mobile robots that work in narrow spaces. It is possible to shorten the travel distance for turning, save 9 hours, and reduce the restrictions on entry points.
第１図は本発明の自動車の旋回装置の説明図である。
１：差動装置。
２Ａ、２Ｂ：駆動車輪。
３Ａ、３Ｂ： 制動装置。
４Ａ、４Ｂ： 車輪。
５：パワーステアリング装置。
６：両ロッド型復動シリンダ。
７Ａ、７Ｂ： 片ロッド型復動シリンダ８Ａ、８Ｂ：
車輪の操舵レバー。
９：差動装置の人力軸。
Ｂ
第１図FIG. 1 is an explanatory diagram of a turning device for an automobile according to the present invention. 1: Differential device. 2A, 2B: Drive wheels. 3A, 3B: Braking device. 4A, 4B: Wheels. 5: Power steering device. 6: Double rod type double acting cylinder. 7A, 7B: Single rod type double acting cylinder 8A, 8B:
Wheel steering lever. 9: Manual shaft of differential gear. B Figure 1
Claims (1)
立して制動する制動装置と、この一方を制動したときこ
の制動車輪の接地点方向に対して他の車輪をほぼ垂直に
向ける操舵装置とを装備する回転半径の小さな自動車。 ２、差動装置を介して駆動する駆動車輪対をそれぞれ独
立して制動する制動装置と、この一方を制動したときこ
の制動車輪の接地点方向に対して他の車輪をほぼ垂直に
向ける操舵装置とを装備する自動車において、油圧サー
ボ機構により変位する両ロッド型復動シリンダの両側の
ロッドに片ロッド型復動シリンダの一端を連結し、それ
ぞれの片ロッド型復動シリンダの他端と車輪の操舵レバ
ーとを連結した回転半径の小さな自動車。 ３、差動装置を介して駆動する駆動車輪対の一方のみを
制動操作すると、この制動した制動車輪の接地点方向に
対して他の車輪をほぼ垂直に自動的に向け、差動装置の
両側の駆動車輪を制動操作するとその時の状態で全ての
車輪を制動するように構成した請求項２記載の回転半径
の小さな自動車。 ４、差動装置を介して駆動する駆動車輪対をそれぞれ独
立して制動する制動装置と、この一方を制動したときこ
の制動車輪の接地点方向に対して他の車輪をほぼ垂直に
向ける操舵装置とを装備する自動車において、前記駆動
車輪対の一方の駆動車輪を制動し、この制動車輪の接地
点方向に対して他の車輪をほぼ垂直に向け、差動装置の
入力軸を駆動することによって旋回する回転半径の小さ
な自動車の旋回方法。[Claims] 1. A braking device that independently brakes a pair of drive wheels driven via a differential device, and a brake device that, when one of these wheels is braked, causes the other wheel to brake in the direction of the grounding point of this brake wheel. A vehicle with a small turning radius that is equipped with a nearly vertical steering device. 2. A braking device that independently brakes a pair of driving wheels driven via a differential device, and a steering device that directs the other wheel almost perpendicularly to the grounding point direction of the braked wheel when one of the wheels is braked. In an automobile equipped with a hydraulic servo mechanism, one end of the single-rod double-acting cylinder is connected to the rods on both sides of the double-rod double-acting cylinder, and the other end of each single-rod double-acting cylinder is connected to the wheel. A car with a small turning radius that is connected to a steering lever. 3. When only one of the pair of driving wheels driven through the differential is braked, the other wheel is automatically turned almost perpendicularly to the grounding point of the braked wheel, and both sides of the differential are 3. An automobile with a small turning radius according to claim 2, wherein when one of the drive wheels is braked, all the wheels are braked in the state at that time. 4. A braking device that independently brakes each pair of drive wheels driven via a differential device, and a steering device that directs the other wheel almost perpendicularly to the grounding point direction of the braked wheel when one of the wheels is braked. By braking one drive wheel of the pair of drive wheels, orienting the other wheel substantially perpendicularly to the grounding point direction of the brake wheel, and driving the input shaft of the differential. A method of turning a car with a small turning radius.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5219688A JPH01226477A (en) | 1988-03-06 | 1988-03-06 | Automobile having small rotary radius and turning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5219688A JPH01226477A (en) | 1988-03-06 | 1988-03-06 | Automobile having small rotary radius and turning method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH01226477A true JPH01226477A (en) | 1989-09-11 |
Family
ID=12908039
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5219688A Pending JPH01226477A (en) | 1988-03-06 | 1988-03-06 | Automobile having small rotary radius and turning method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH01226477A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6056081A (en) * | 1997-10-16 | 2000-05-02 | Case Corporation | Mechanical front wheel drive axle for improved steering |
| FR2950309A1 (en) * | 2009-09-22 | 2011-03-25 | Peugeot Citroen Automobiles Sa | Method for actuating pivoting of e.g. small electric motor vehicle, involves controlling electric machine for driving one of rear wheels toward front or rear sides along requested pivoting direction |
-
1988
- 1988-03-06 JP JP5219688A patent/JPH01226477A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6056081A (en) * | 1997-10-16 | 2000-05-02 | Case Corporation | Mechanical front wheel drive axle for improved steering |
| FR2950309A1 (en) * | 2009-09-22 | 2011-03-25 | Peugeot Citroen Automobiles Sa | Method for actuating pivoting of e.g. small electric motor vehicle, involves controlling electric machine for driving one of rear wheels toward front or rear sides along requested pivoting direction |
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