JPH03235762A - Steering device for running vehicle - Google Patents
Steering device for running vehicleInfo
- Publication number
- JPH03235762A JPH03235762A JP3113890A JP3113890A JPH03235762A JP H03235762 A JPH03235762 A JP H03235762A JP 3113890 A JP3113890 A JP 3113890A JP 3113890 A JP3113890 A JP 3113890A JP H03235762 A JPH03235762 A JP H03235762A
- Authority
- JP
- Japan
- Prior art keywords
- turning
- switch
- traveling
- cylinder
- state
- 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.)
- Granted
Links
- 230000007935 neutral effect Effects 0.000 claims abstract description 12
- 238000001514 detection method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000008602 contraction Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000010363 phase shift Effects 0.000 description 1
- 238000009751 slip forming Methods 0.000 description 1
Landscapes
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Mechanisms For Operating Contacts (AREA)
Abstract
Description
【発明の詳細な説明】
［産業上の利用分野〕
本発明は、走行車両のステアリング装置に関し、特にス
テアリングスイッチの０Ｎ−ＯＦＦ操作によりシリンダ
を作動して車輪を旋回して操縦する走行車両のステアリ
ング装置に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a steering device for a traveling vehicle, and particularly to a steering device for a traveling vehicle in which a cylinder is actuated by ON/OFF operation of a steering switch to turn the wheels and steer the vehicle. Regarding equipment.
従来の走行車両のステアリング装置は、例えば第１０図
に示されるように、車体１に旋回自在に支承された左右
の車輪２．３にリンク機構４を配設し、シリンダ５にて
リンク機構４を作動して車輪２，３を旋回し、リンク機
構４に設けたリターンスプリング６によって旋回した車
輪２．３を直進方向へ復帰するようにして操縦するもの
がある。In a conventional steering device for a running vehicle, for example, as shown in FIG. There is a vehicle that operates by operating the wheels 2 and 3 to turn the wheels 2 and 3, and using a return spring 6 provided in the link mechanism 4 to return the turned wheels 2 and 3 to the straight direction.
しかし、上述のステアリング装置では、前後方向の走行
における操縦は可能でも、１本のシリンダで左右の車輪
を同時に操舵する方式であって、ロッドとリンクとで両
車軸を連動しているので、車輪を横方向へ直角に旋回さ
せることは機構上できず、また、リターンスプリングが
片寄りとなってしまって横方向時には直進方向への自動
復帰ができないなど、走行車両を横方向へ走行させてな
おかつ操縦することは出来なかった。However, with the above-mentioned steering device, although it is possible to steer the vehicle in the forward and backward direction, it uses a single cylinder to simultaneously steer the left and right wheels, and both axles are linked by a rod and a link, so the wheels cannot be moved. Mechanically, it is not possible to turn the vehicle horizontally at right angles, and the return spring is biased to one side, making it impossible to automatically return to the straight direction when the vehicle is traveling horizontally. I couldn't pilot it.
そこで本発明は、走行車両を前後方向及び横方向へ走行
させるとともに、両方向における操縦を簡便に行えるス
テアリング装置を提供することを目的としている。SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a steering device that allows a vehicle to travel in the longitudinal direction and in the lateral direction, and allows easy maneuvering in both directions.
上記目的達成のため本発明は、走行車両の車体に、２つ
の駆動輪を対角線に配置して旋回軸にて旋回可能に支承
し、両駆動輪をそれぞれ９０度旋回して前後方向及び横
方向への走行を可能とするシリンダを設けた走行車両に
おいて、第１の手段では、前記両シリンダを作動して前
後方向及び横方向への走行方向の切換えを行う走行方向
切換スイッチと、前記シリンダのいずれか一方を作動し
て両走行方向における旋回走行を行うステアリングスイ
ッチとを設けたことを特徴とし、また、第２の手段では
、前記シリンダを作動して両走行方向における旋回走行
を行うステアリングスイッチを設けるとともに、直進走
行状態と旋回走行状態とを検知するセンサーを配設し、
前後方向直進走行状態と、前後方向旋回走行状態と、横
方向直進走行状態と、横方向旋回走行状態とで前記セン
サーの作動状況を異ならしめるセンサー作動部を前記旋
回軸に設け、両センサーの作動状況により駆動輪の前後
方向または横方向の旋回走行状態を検知して、ステアリ
ングスイッチが旋回走行位置から中立位置に切換わった
ときに前記シリンダを作動して駆動輪を前後方向または
横方向の直進走行状態に復帰させる制御手段を設けたこ
とを特徴としている。In order to achieve the above object, the present invention has two drive wheels disposed diagonally on the body of a traveling vehicle and supported so as to be able to turn on a turning axis, and both drive wheels are rotated by 90 degrees respectively in the longitudinal and lateral directions. In the vehicle equipped with a cylinder that enables the vehicle to travel in the direction of and a steering switch that operates one of the cylinders to perform turning in both running directions, and the second means includes a steering switch that operates one of the cylinders to perform turning in both running directions. At the same time, a sensor is installed to detect whether the vehicle is traveling straight or turning.
A sensor actuating portion is provided on the pivot shaft to make the operating status of the sensor different between a forward and backward running state, a forward and backward turning state, a lateral direction and a lateral turning state, and the operation of both sensors is provided. Depending on the situation, it detects whether the drive wheels are turning in the longitudinal or lateral direction, and when the steering switch is switched from the turning position to the neutral position, the cylinder is operated to move the drive wheels in a straight line in the longitudinal or lateral direction. It is characterized by the provision of a control means for returning to a running state.
かかる構成により、第１の手段では、シリンダを作動し
て駆動輪を９０度旋回することにより走行車両を前後方
向及び横方向へ走行させることができ、また、いずれの
走行方向においても、右旋回あるいは左旋回したい側へ
ステアリングスイッチをＯＮすることによってシリンダ
が作動し、駆動輪を旋回して走行車両の旋回走行が可能
となる。With this configuration, the first means can cause the vehicle to travel in the longitudinal direction and the lateral direction by operating the cylinder and turning the drive wheels by 90 degrees, and can also make a right turn in any traveling direction. By turning on the steering switch to the side where you want to turn or turn left, the cylinder is actuated and the drive wheels are turned, allowing the vehicle to turn.
さらに、第２の手段では、所望の方向に走行車両が旋回
した時点でステアリングスイッチをＯＦＦすると、制御
手段が駆動輪の旋回状態をセンサーの作動状況で検知し
、シリンダを作動して駆動輪を旋回走行状態から直進走
行状態に復帰させる。Furthermore, in the second means, when the steering switch is turned OFF when the vehicle has turned in a desired direction, the control means detects the turning state of the drive wheels based on the operating status of the sensor, and operates the cylinder to move the drive wheels. To return from a turning state to a straight-ahead state.
以下、本発明の一実施例を第１図乃至第９図に基づいて
説明する。Hereinafter, one embodiment of the present invention will be described based on FIGS. 1 to 9.
走行車両２０は、車体２１の下部に２つの駆動輪２２，
２３と２つの従動輪２４．２５とをそれぞれ対角線に配
置しており、駆動輪２２．２３にそれぞれ設けた油圧モ
ータ２６，２７のいずれか一方または双方を駆動して走
行する。The traveling vehicle 20 has two drive wheels 22 at the bottom of the vehicle body 21,
23 and two driven wheels 24 and 25 are arranged diagonally, respectively, and the vehicle travels by driving one or both of hydraulic motors 26 and 27 provided on the drive wheels 22 and 23, respectively.
駆動輪２２２３は、旋回軸２８．２９によりそれぞれ車
体２１に旋回可能に支承され、また、従動輪２４．２５
は、旋回軸３０．３１によりそれぞれ車体２１に自由に
旋回可能に支承されている。The drive wheels 2223 are rotatably supported on the vehicle body 21 by pivot shafts 28, 29, and driven wheels 24, 25.
are freely pivotably supported on the vehicle body 21 by pivot shafts 30, 31, respectively.
駆動輪２２の旋回軸２８のアーム２８ａにはシリンダ３
２のロッド３２ａが、駆動輪２３の旋回軸２９のアーム
２９ａにはシリンダ３３のロッド３３ａがそれぞれ連結
され、第１図に示されるように、シリンダ３２のロッド
３２ａ及びシリンダ３３のロッド３３ａがそれぞれ最大
に伸張した場合には、駆動輪２２，２３は前後方向（図
において左右方向）の直進状態になり、また、第２図に
示されるように、シリンダ３２のロッド３２ａ及びシリ
ンダ３３のロッド３３ａがそれぞれ最少に縮小した場合
には、駆動輪２２，２３は９０度旋回して横方向（図に
おいて上下方向）の直進状態になる。A cylinder 3 is attached to the arm 28a of the pivot shaft 28 of the drive wheel 22.
The rod 32a of the cylinder 32 and the rod 33a of the cylinder 33 are respectively connected to the arm 29a of the rotation shaft 29 of the drive wheel 23, as shown in FIG. When fully extended, the drive wheels 22 and 23 move straight in the front-back direction (left-right direction in the figure), and as shown in FIG. 2, the rod 32a of the cylinder 32 and the rod 33a of the cylinder 33 When each of the drive wheels 22 and 23 is reduced to the minimum, the drive wheels 22 and 23 turn 90 degrees and go straight in the lateral direction (in the vertical direction in the figure).
この走行方向の切換えは、車体２１の上部の操作盤３４
に設けられた走行方向切換スイッチ３５の操作により、
シリンダ３２のロッド３２ａ及びシリンダ３３のロッド
３３ａが伸縮して行われる。This switching of the running direction is performed using the operation panel 3 on the top of the vehicle body 21.
By operating the running direction changeover switch 35 provided in
The rod 32a of the cylinder 32 and the rod 33a of the cylinder 33 are expanded and contracted.
また、操作盤３４にはステアリングスイッチ３６が設け
られている。Further, the operation panel 34 is provided with a steering switch 36.
該ステアリングスイッチ３６は、電気式のレバースイッ
チで、レバー中立位置でスイッチＯＦＦ。The steering switch 36 is an electric lever switch, and the switch is turned off when the lever is in the neutral position.
レバーを右旋回位置または左旋回位置に回動するとそれ
ぞれスイッチＯＮＬ、シリンダ３２のロッド３２ａまた
はシリンダ３３のロッド３３ａを伸縮し、駆動輪２２ま
たは駆動輪２３のいずれかを旋回する。また、右旋回位
置または左旋回位置にてレバーから手を離すと自動的に
レバーは中立位置に復帰してスイッチＯＦＦされる。When the lever is rotated to the right or left rotation position, the switch ONL expands or contracts the rod 32a of the cylinder 32 or the rod 33a of the cylinder 33, respectively, and rotates either the drive wheel 22 or the drive wheel 23. Further, when the lever is released from the right or left turning position, the lever automatically returns to the neutral position and the switch is turned off.
前記油圧モータ２６．２７及びシリンダ３２３３は、第
５図に示される油圧回路３７にて駆動されるもので、該
油圧回路３７は、油圧モータ側回路３８とシリンダ側回
路３９とで構成され、電動モータ４０にて油圧モータ側
ポンプ４］とシリンダ側ポンプ４２とを回転し、油圧モ
ータ側回路３８には、油圧モータ２６，２７を正転・逆
転する制御回路４３が設けられている。The hydraulic motors 26, 27 and cylinder 3233 are driven by a hydraulic circuit 37 shown in FIG. 5, and the hydraulic circuit 37 is composed of a hydraulic motor side circuit 38 and a cylinder side circuit 39, The motor 40 rotates the hydraulic motor side pump 4] and the cylinder side pump 42, and the hydraulic motor side circuit 38 is provided with a control circuit 43 that rotates the hydraulic motors 26 and 27 in forward and reverse directions.
また、シリンダ側回路３つには、シリンダ３２のロッド
３２ａの伸縮を切換えるソレノイド型切換弁４４と、シ
リンダ３３のロッド３３ａの伸縮を切換えるソレノイド
型切換弁４５とを有する制御回路４６が設けられている
。Further, the three cylinder side circuits are provided with a control circuit 46 having a solenoid-type switching valve 44 that switches the expansion and contraction of the rod 32a of the cylinder 32, and a solenoid-type switching valve 45 that switches the expansion and contraction of the rod 33a of the cylinder 33. There is.
前記ステアリングスイッチ３６による操縦は、レバー中
立位置では、前進、後退、左横、右横のいずれの走行方
向においても直進走行となり、前進走行（第１図におい
て左方向）の場合では、１ツバ−を中立位置から左旋回
位置に回動すると、シリンダ３２のロッド３２ａが縮小
して駆動輪２２のみが旋回して左旋回をし、また、レバ
ーを右旋回位置に回動すると、シリンダ３３のロッド３
３ａが縮小して駆動輪２３のみが旋回して右旋回をする
。When the steering switch 36 is in the neutral position, the steering wheel is operated straight in any of the forward, backward, left lateral, and right lateral directions when the lever is in the neutral position. When the lever is rotated from the neutral position to the left turning position, the rod 32a of the cylinder 32 is contracted and only the drive wheel 22 is turned to the left, and when the lever is turned to the right turning position, the rod 32a of the cylinder 32 is rod 3
3a is reduced and only the drive wheels 23 turn to the right.
後退走行（第１図において右方向）の場合では、レバー
を中立位置から左旋回位置に回動すると、シリンダ３３
のロッド３３ａが縮小して駆動輪２３のみが旋回して左
旋回をし、また、レバーを右旋回位置に回動すると、シ
リンダ３２のロッド３２ａが縮小して駆動輪２２のみが
旋回して右旋回をする。When traveling backwards (rightward in Figure 1), when the lever is rotated from the neutral position to the left turning position, the cylinder 33
The rod 33a of the cylinder 32 contracts and only the driving wheel 23 turns to the left, and when the lever is rotated to the right turning position, the rod 32a of the cylinder 32 contracts and only the driving wheel 22 turns. Make a right turn.
右横方向の走行（第２図において上方向）の場合では、
レバーを中立位置から左旋回位置に回動すると、シリン
ダ３３のロッド３３ａが伸張して駆動輪２３のみが旋回
して左旋回をし、また、レバーを右旋回位置に回動する
と、シリンダ３２のロッド３２ａが縮小して駆動輪２２
のみが旋回して右旋回をする。In the case of running in the right lateral direction (upward in Figure 2),
When the lever is rotated from the neutral position to the left rotation position, the rod 33a of the cylinder 33 is extended and only the drive wheel 23 is rotated to the left, and when the lever is rotated to the right rotation position, the cylinder 32 The rod 32a of the drive wheel 22 is reduced.
The chisel turns and makes a right turn.
左方向の走行（第２図において下方向）の場合では、直
進状態からレバーを左旋回位置に回動すると、シリンダ
３２のロッド３２ａが縮小して駆動輪２２のみが旋回し
て左旋回をし、また、レバーを右旋回位置に回動すると
、シリンダ３３のロット’ ３３ ａが縮小して駆動輪
２３のみが旋回して右旋回をする。In the case of leftward travel (downward in FIG. 2), when the lever is rotated from a straight-ahead state to the left turning position, the rod 32a of the cylinder 32 contracts and only the drive wheels 22 turn to the left. Further, when the lever is rotated to the right turning position, the rod 33a of the cylinder 33 is contracted, and only the drive wheel 23 turns to make a right turn.
前記駆動輪２２．２３にはそれぞれ旋回状態検知機構４
７が設けられているが、同一の構成なので第６図及び第
７図に示される駆動輪２２の旋回状態検知機構４７で説
明する。Each of the drive wheels 22 and 23 has a turning state detection mechanism 4.
7 is provided, but since they have the same configuration, the turning state detection mechanism 47 of the drive wheel 22 shown in FIGS. 6 and 7 will be explained.
旋回状態検知機構４７は、直進走行状態と旋回走行状態
とを検知するセンサーとしての第１リミツトスイツチＬ
ＳＩと第２リミツトスイツチＬＳ２と、駆動輪２２の旋
回軸２８に固設されて旋回軸２８と一体に回動するカム
板４８とで構成され、カム板４８は、直進走行状態と旋
回走行状態とて第１リミツトスイツチＬＳＩと第２リミ
ツトスイツチＬＳ２の作動状況を異ならしめるセンサー
作動部となる。The turning state detection mechanism 47 includes a first limit switch L as a sensor that detects a straight traveling state and a turning traveling state.
It is composed of an SI, a second limit switch LS2, and a cam plate 48 that is fixed to the turning shaft 28 of the drive wheel 22 and rotates together with the turning shaft 28. This serves as a sensor operating section that makes the operating conditions of the first limit switch LSI and the second limit switch LS2 different.
第１リミツトスイツチＬＳＩと第２リミツトスイツチＬ
Ｓ２は、９０度位相をずらして配設され、カム板４８に
は、第１カム面４８ａと、第２カム而４８ｂと、第３カ
ム而４８ｃと、第４カム而４８ｄとが連続形成されてい
る。1st limit switch LSI and 2nd limit switch L
S2 are arranged with a phase shift of 90 degrees, and a first cam surface 48a, a second cam surface 48b, a third cam surface 48c, and a fourth cam surface 48d are continuously formed on the cam plate 48. ing.
第１カム面４８ａは、前後方向直進走行状態からカム板
４８が６５度回動するまでは、第１リミツトスイツチＬ
ＳＩをＯＮＬ、、第２カム而４８ｂは、前後方向直進走
行状態では、第２リミツトスイツチＬＳ２を０ＦＦＬ、
カム板４８が６５度から９５度まて回動すると第１リミ
ツトスイツチＬＳＩをＯＦＦする。The first cam surface 48a is connected to the first limit switch L until the cam plate 48 rotates 65 degrees from the state of straight forward running in the longitudinal direction.
SI is set to ONL, and the second cam 48b is set to set the second limit switch LS2 to 0FFL when the vehicle is traveling straight in the longitudinal direction.
When the cam plate 48 rotates from 65 degrees to 95 degrees, the first limit switch LSI is turned off.
第３カム面４８ｃは、カム板４８が５度から８５度まで
回動すると第２リミツトスイツチＬＳ２をＯＮＬ、第４
カム而４８ｄは、カム板４８が８５度から９５度まで回
動すると第２リミツトスイツチＬＳ２をＯＦＦする。The third cam surface 48c turns the second limit switch LS2 ONL and the fourth limit switch LS2 when the cam plate 48 rotates from 5 degrees to 85 degrees.
The cam plate 48d turns off the second limit switch LS2 when the cam plate 48 rotates from 85 degrees to 95 degrees.
これにより、第８図及び第９図に示されるように、前後
方向直進走行状態では第１リミツトスイツチＬＳ１がＯ
Ｎ、第２リミツトスイツチＬＳ２がＯＦＦとなり、前後
方向旋回走行状態では、直進走行状態から駆動輪２２が
６５度旋回するまでは、第１リミツトスイツチＬＳＩと
第２リミツトスイツチＬＳ２の双方がＯＮＬ、、駆動輪
２２の旋回が６５度以上になると第１リミツトスイツチ
ＬＳ１がＯＦＦする。As a result, as shown in FIGS. 8 and 9, when the vehicle is running straight in the longitudinal direction, the first limit switch LS1 is set to
N, the second limit switch LS2 is turned OFF, and in the longitudinal turning driving state, both the first limit switch LSI and the second limit switch LS2 are ONL, until the driving wheel 22 turns 65 degrees from the straight traveling state. When the turning angle exceeds 65 degrees, the first limit switch LS1 turns OFF.
また、横方向直進走行状態では、第１リミットスイッチ
ＬＳＩと第２リミツトスイツチＬＳ２の双方が０ＦＦＬ
、直進走行状態から駆動輪２３か２５度旋回するまでは
、第２リミツトスイツチＬＳ２がＯＮする。In addition, when the vehicle is traveling straight in the lateral direction, both the first limit switch LSI and the second limit switch LS2 are at 0FFL.
, the second limit switch LS2 is turned on until the drive wheels 23 turn 25 degrees from the straight-ahead running state.
したがって、第１リミツトスイツチＬＳ］のみがＯＮし
ているときは前後方向直進走行状態であり、第１リミツ
トスイツチＬＳＩと第２リミツトスイツチＬＳ２の双方
がＯＮしているときは前後方向旋回走行状態であること
を検知できる。Therefore, when only the first limit switch LS] is ON, the vehicle is traveling straight in the longitudinal direction, and when both the first limit switch LSI and the second limit switch LS2 are ON, the vehicle is traveling in a turning direction in the longitudinal direction. Can be detected.
また、第１リミツトスイツチＬＳＩと第２リミツトスイ
ツチＬＳ２の双方がＯＦＦしているときは横方向直進走
行状態であり、第２リミットスイッチＬＳ２のみかＯＮ
しているときは横方向旋回走行状態であることを検知で
きる。Also, when both the first limit switch LSI and the second limit switch LS2 are OFF, the vehicle is traveling straight in the lateral direction, and only the second limit switch LS2 is ON.
When the vehicle is moving, it can be detected that the vehicle is turning in a lateral direction.
尚、本実施例においては、前後方向走行では、第１リミ
ツトスイツチＬＳＩがＯＦＦする６５度に、横方向走行
では、第１リミツトスイツチＬＳ１がＯＮする２５度に
それぞれステアリング限界θＳを設定しており、ステア
リングスイッチ３６の操作ではこれ以上駆動輪２２は旋
回しない。In this embodiment, the steering limit θS is set at 65 degrees when the first limit switch LSI is turned OFF when driving in the longitudinal direction, and at 25 degrees when the first limit switch LS1 is turned ON when driving in the lateral direction. By operating the switch 36, the drive wheels 22 will no longer turn.
上記した駆動輪２２の旋回走行状態において、ステアリ
ングスイッチ３６のレバーから手を離すと、レバーは中
立位置に復帰してスイッチＯＦＦし、第９図に示される
制御手段が第１リミツトスイツチＬＳＩと第２リミツト
スイツチＬＳ２の作動状況を検知し、第２リミツトスイ
ツチＬＳ２と第１リミツトスイツチＬＳＩの双方がＯＮ
していれば前後方向旋回走行状態にあるので、シリンダ
３２のロッド３２ａを最大に伸張して旋回軸２８のアー
ム２８ａをストッパ５０に当接させる。When the driving wheel 22 is in the above-mentioned turning state, when the lever of the steering switch 36 is released, the lever returns to the neutral position and the switch is turned OFF, and the control means shown in FIG. The operating status of limit switch LS2 is detected, and both second limit switch LS2 and first limit switch LSI are turned on.
If so, the vehicle is in a state of turning in the longitudinal direction, and the rod 32a of the cylinder 32 is extended to the maximum to bring the arm 28a of the pivot shaft 28 into contact with the stopper 50.
これにより、駆動輪２２は前後方向直進走行状態になり
、第１リミツトスイツチＬＳＩのみがＯＮし、第２リミ
ツトスイツチＬＳ２はＯＦＦする。As a result, the driving wheels 22 are in a state of running straight in the longitudinal direction, only the first limit switch LSI is turned on, and the second limit switch LS2 is turned off.
また、第２リミツトスイツチＬＳ２のみがＯＮし、第１
リミツトスイツチＬＳＩはＯＦＦしている場合は、駆動
輪２２は横方向旋回走行状態にあるので、シリンダ３３
のロッド３３ａを最少に縮小して旋回軸２つのアーム２
９ａをストッパ５１に当接させ、駆動輪２２を横方向直
進走行状態にし、第１リミツトスイツチＬＳ１と第２リ
ミツトスイツチＬＳ２の双方がＯＦＦする。Also, only the second limit switch LS2 is turned on, and the first
When the limit switch LSI is OFF, the drive wheels 22 are in a lateral turning state, so the cylinder 33
The rod 33a of the arm 2 with two pivot axes is reduced to the minimum.
9a is brought into contact with the stopper 51, the driving wheels 22 are brought into a state of running straight in the lateral direction, and both the first limit switch LS1 and the second limit switch LS2 are turned off.
また、駆動輪２３も駆動輪２２と同様に作動する。Further, the drive wheel 23 also operates in the same manner as the drive wheel 22.
走行車両２０を以上のように構成することにより、走行
方向切換スイッチ３５にて前後方向の走行と横方向の走
行の切換えができ、また、ステアリングスイッチ３６の
レバーを所望の旋回位置へ回動することで駆動輪２２．
２３のいずれかを旋回して両方向の走行における操縦が
でき、さらに、旋回位置へ回動したステアリングスイッ
チ３６のレバーから手を離すと、レバーが中立位置へ復
帰するとともに、旋回した駆動輪２２．２３の旋回状況
を検知して駆動輪２２．２３を前後方向または横方向の
直進走行状態に復帰させることができる。By configuring the traveling vehicle 20 as described above, it is possible to switch between forward and backward travel and lateral travel using the travel direction changeover switch 35, and also rotate the lever of the steering switch 36 to a desired turning position. Therefore, the driving wheel 22.
It is possible to maneuver in both directions by turning either of the drive wheels 22. It is possible to detect the turning situation of the vehicle 23 and return the drive wheels 22, 23 to a straight running state in the longitudinal direction or the lateral direction.
尚、本実施例では、センサーとしてリミットスイッチを
２個用いて説明したが、３個以上用いても良く、また、
カムとリミットスイッチによる旋回状態検知機構で説明
したが、非接触型スイッチでも良い。In this embodiment, two limit switches are used as sensors, but three or more limit switches may be used.
Although the rotation state detection mechanism using a cam and a limit switch has been explained, a non-contact type switch may also be used.
本発明のステアリング装置は以上のように、走行車両に
、２つの駆動輪を対角線に配置し、両駆動輪をそれぞれ
９０度旋回して前後方向及び横方向走行可能とするシリ
ンダを設けるとともに、両シリンダを作動して両走行方
向の切換えを行う走行方向切換スイッチと、いずれか一
方のシリンダを作動して両走行方向における旋回走行を
行うステアリングスイッチとを配設し、駆動輪の旋回状
態を検知するため、直進走行状態と旋回走行状態とを検
知するセンサーを設け、前後方向直進走行状態と、前後
方向旋回走行状態と、横方向直進走行状態と、横方向旋
回走行状態とで前記両リミットスイッチの作動状況を異
ならしめるセンサー作動部を駆動輪の旋回軸に設け、セ
ンサーの作動状況により駆動輪の前後方向または横方向
の旋回走行状態を検知して、ステアリングスイッチが旋
回走行位置から中立位置に切換わったときに前記シリン
ダを作動して駆動輪を前後方向または（黄方向の直進走
行状態に復帰させる制御手段を設けたので、走行方向切
換えスイッチを操作して、両シリンダを作動して両駆動
輪を９０度旋回することにより走行車両を前後方向及び
横方向へ走行させることができ、また、いずれの走行方
向においても、右旋回あるいは左旋回したい側へステア
リングスイッチをＯＮすることによって所定のシリンダ
が作動し、対応する駆動輪が前記９０度の範囲内の旋回
をするだけの簡便な機構で走行車両の旋回走行が可能と
なる。As described above, the steering device of the present invention has two drive wheels arranged diagonally on a running vehicle, and a cylinder that turns both drive wheels by 90 degrees to enable the vehicle to travel in the longitudinal and lateral directions. A driving direction switch that operates a cylinder to switch between both driving directions, and a steering switch that activates one of the cylinders to turn in both directions are installed to detect the turning state of the drive wheels. In order to do this, a sensor is provided to detect the straight running state and the turning running state, and both limit switches are activated in the forward and backward straight running state, the forward and backward turning running state, the lateral straight running state, and the lateral turning running state. A sensor operating part is installed on the turning axis of the drive wheel to change the operating status of the steering wheel, and depending on the operating status of the sensor, the steering switch changes from the turning position to the neutral position. We have provided a control means for operating the cylinders to return the driving wheels to the forward/backward or (yellow) straight forward running state when the switch is switched. By turning the drive wheels 90 degrees, the vehicle can travel in the longitudinal and lateral directions, and in any direction, by turning on the steering switch to the side where you want to turn right or left, you can turn the vehicle to the desired direction. The vehicle can turn with a simple mechanism in which the cylinder is activated and the corresponding drive wheel turns within the range of 90 degrees.
さらに、所望の方向に走行車両が旋回した時点でステア
リングスイッチをＯＦＦすると、制御手段か駆動輪の旋
回状態を両すミッＩ・スイッチの作動状況で検知し、シ
リンダを作動して駆動輪を旋回走行状態から直進走行状
態に復帰させる。Furthermore, when the steering switch is turned OFF when the vehicle has turned in the desired direction, the turning state of the drive wheels is detected by the control means based on the operation status of the switch, and the cylinder is actuated to turn the drive wheels. Return from running state to straight running state.
したがって、前後方向と横方向の走行と両方向の走行に
おける操縦が容易に行え、また、発進時にも駆動輪が常
に直進方向を向いているので、オペレータの思考負担が
軽減される。Therefore, it is easy to maneuver the vehicle in the longitudinal and lateral directions as well as in both directions, and since the drive wheels always face the straight direction even when starting, the burden on the operator's thinking is reduced.
第１図乃至第８図は本発明の一実施例を示すもので、第
１図は走行車両の前後方向直進走行状態を示す平面図、
第２図は横方向走行状態を示す平面図、第３図は側面図
、第４図は操作盤の平面図、第５図は走行車両の油圧回
路図、第６図は前後方向直進走行状態における旋回状態
検知機構を示す拡大平面図、第７図は横方向直進走行状
態における旋回状態検知機構を示す拡大平面図、第８図
はリミットスイッチの作動状況を示す説明図、第９図は
制御手段を示すフローチャート、第１０図は従来の走行
車両のステアリング装置の平面図である。1 to 8 show one embodiment of the present invention, and FIG. 1 is a plan view showing a state in which the vehicle is running straight in the longitudinal direction;
Fig. 2 is a plan view showing the lateral running state, Fig. 3 is a side view, Fig. 4 is a plan view of the operation panel, Fig. 5 is a hydraulic circuit diagram of the running vehicle, and Fig. 6 is the longitudinal straight running state. FIG. 7 is an enlarged plan view showing the turning state detection mechanism in a lateral straight running state, FIG. 8 is an explanatory diagram showing the operating state of the limit switch, and FIG. 9 is a control diagram. A flowchart showing the means and FIG. 10 is a plan view of a conventional steering device for a traveling vehicle.
Claims (1)
て旋回軸にて旋回可能に支承し、両駆動輪をそれぞれ９
０度旋回して前後方向及び横方向への走行を可能とする
シリンダを設けた走行車両において、前記両シリンダを
作動して前後方向及び横方向への走行方向の切換えを行
う走行方向切換スイッチと、前記シリンダのいずれか一
方を作動して両走行方向における旋回走行を行うステア
リングスイッチとを設けたことを特徴とする走行車両の
ステアリング装置。 ２、走行車両の車体に、２つの駆動輪を対角線に配置し
て旋回軸にて旋回可能に支承し、両駆動輪をそれぞれ９
０度旋回して前後方向及び横方向への走行を可能とする
シリンダを設けた走行車両において、前記シリンダを作
動して両走行方向における旋回走行を行うステアリング
スイッチを設けるとともに、直進走行状態と旋回走行状
態とを検知するセンサーを配設し、前後方向直進走行状
態と、前後方向旋回走行状態と、横方向直進走行状態と
、横方向旋回走行状態とで前記センサーの作動状況を異
ならしめるセンサー作動部を前記旋回軸に設け、両セン
サーの作動状況により駆動輪の前後方向または横方向の
旋回走行状態を検知して、ステアリングスイッチが旋回
走行位置から中立位置に切換わったときに前記シリンダ
を作動して駆動輪を前後方向または横方向の直進走行状
態に復帰させる制御手段を設けたことを特徴とする走行
車両のステアリング装置。[Scope of Claims] 1. Two drive wheels are disposed diagonally on the body of a traveling vehicle and supported so as to be able to turn around a turning axis, and each drive wheel is
In a traveling vehicle equipped with a cylinder that enables traveling in the longitudinal direction and the lateral direction by turning 0 degrees, a traveling direction changeover switch that operates both cylinders to switch the traveling direction to the longitudinal direction and the lateral direction. A steering device for a traveling vehicle, comprising: a steering switch that operates one of the cylinders to perform turning in both traveling directions. 2. Two drive wheels are arranged diagonally on the body of the traveling vehicle and supported so as to be able to turn on a turning axis.
In a traveling vehicle equipped with a cylinder that enables 0-degree turning and travel in the longitudinal and lateral directions, a steering switch is provided that activates the cylinder to perform turning in both directions, and also provides a steering switch that operates the cylinder to enable turning in both directions. A sensor is provided to detect the driving state, and the sensor operation is configured to make the operating state of the sensor different depending on a state in which the vehicle is traveling straight in the longitudinal direction, a state in which it is turning in the longitudinal direction, a state in which it is traveling in a straight direction in a lateral direction, and a state in which it is traveling in a lateral direction. A part is provided on the turning axis, detects the turning state of the driving wheels in the longitudinal direction or the lateral direction according to the operating status of both sensors, and operates the cylinder when the steering switch is switched from the turning position to the neutral position. What is claimed is: 1. A steering device for a vehicle, comprising: a control means for returning the driving wheels to a straight running state in the longitudinal or lateral direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2031138A JPH0775988B2 (en) | 1990-02-09 | 1990-02-09 | Steering device for traveling vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2031138A JPH0775988B2 (en) | 1990-02-09 | 1990-02-09 | Steering device for traveling vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH03235762A true JPH03235762A (en) | 1991-10-21 |
| JPH0775988B2 JPH0775988B2 (en) | 1995-08-16 |
Family
ID=12323082
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2031138A Expired - Lifetime JPH0775988B2 (en) | 1990-02-09 | 1990-02-09 | Steering device for traveling vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0775988B2 (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0495567U (en) * | 1991-01-14 | 1992-08-19 | ||
| JPH0672352A (en) * | 1992-08-27 | 1994-03-15 | Komatsu Ltd | Steering device of traveling vehicle |
| WO1994005539A1 (en) * | 1992-08-27 | 1994-03-17 | Kabushiki Kaisha Komatsu Seisakusho | Running vehicle operation controlling device |
| JPH0635081U (en) * | 1992-10-14 | 1994-05-10 | 日本車輌製造株式会社 | Traveling vehicle |
| WO2000064800A1 (en) * | 1999-04-26 | 2000-11-02 | Tcm Corporation | Fork lift with laterally moving system |
| WO2000071459A1 (en) * | 1999-05-21 | 2000-11-30 | Tcm Corporation | Fork lift with traverse system |
| WO2000076902A1 (en) * | 1999-06-14 | 2000-12-21 | Tcm Corporation | Side fork type transportation vehicle |
| WO2001060733A1 (en) * | 2000-02-15 | 2001-08-23 | Tcm Corporation | Working vehicle with traverse system |
| WO2001064575A1 (en) * | 2000-02-25 | 2001-09-07 | Tcm Corporation | Hydraulic-driven working vehicle |
| JP2003291833A (en) * | 2002-04-03 | 2003-10-15 | Hitachi Constr Mach Co Ltd | Steering device for work vehicle |
| WO2014037033A1 (en) * | 2012-09-04 | 2014-03-13 | Combilift | A motorised truck with tiller |
| CN107953929A (en) * | 2017-08-01 | 2018-04-24 | 郝巍 | A kind of turning machine freely turned |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS53114134A (en) * | 1977-03-15 | 1978-10-05 | Komatsu Forklift Kk | All direction moving vehicle |
| JPS61285129A (en) * | 1985-06-10 | 1986-12-15 | Shinko Electric Co Ltd | All directionally moving vehicle |
-
1990
- 1990-02-09 JP JP2031138A patent/JPH0775988B2/en not_active Expired - Lifetime
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS53114134A (en) * | 1977-03-15 | 1978-10-05 | Komatsu Forklift Kk | All direction moving vehicle |
| JPS61285129A (en) * | 1985-06-10 | 1986-12-15 | Shinko Electric Co Ltd | All directionally moving vehicle |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2544379Y2 (en) * | 1991-01-14 | 1997-08-20 | セイレイ工業株式会社 | Steering mechanism for aerial work vehicles |
| JPH0495567U (en) * | 1991-01-14 | 1992-08-19 | ||
| JPH0672352A (en) * | 1992-08-27 | 1994-03-15 | Komatsu Ltd | Steering device of traveling vehicle |
| WO1994005539A1 (en) * | 1992-08-27 | 1994-03-17 | Kabushiki Kaisha Komatsu Seisakusho | Running vehicle operation controlling device |
| US5609220A (en) * | 1992-08-27 | 1997-03-11 | Kabushiki Kaisha Komatsu Seisakusho | Operation control system for traveling vehicle |
| US5699873A (en) * | 1992-08-27 | 1997-12-23 | Kabushiki Kaisha Komatsu Seisakusho | Operation control system for traveling vehicle |
| JPH0635081U (en) * | 1992-10-14 | 1994-05-10 | 日本車輌製造株式会社 | Traveling vehicle |
| WO2000064800A1 (en) * | 1999-04-26 | 2000-11-02 | Tcm Corporation | Fork lift with laterally moving system |
| US6675927B1 (en) | 1999-04-26 | 2004-01-13 | Tcm Corporation | Fork lift with laterally travelling system |
| US6557658B1 (en) | 1999-05-21 | 2003-05-06 | Tcm Corporation | Forklift having transverse travel system |
| WO2000071459A1 (en) * | 1999-05-21 | 2000-11-30 | Tcm Corporation | Fork lift with traverse system |
| WO2000076902A1 (en) * | 1999-06-14 | 2000-12-21 | Tcm Corporation | Side fork type transportation vehicle |
| WO2001060733A1 (en) * | 2000-02-15 | 2001-08-23 | Tcm Corporation | Working vehicle with traverse system |
| US6793036B1 (en) | 2000-02-15 | 2004-09-21 | Tcm Corporation | Working vehicle with transverse system |
| CN1321051C (en) * | 2000-02-15 | 2007-06-13 | Tcm公司 | Working vehicle with traverse system |
| WO2001064575A1 (en) * | 2000-02-25 | 2001-09-07 | Tcm Corporation | Hydraulic-driven working vehicle |
| JP2003291833A (en) * | 2002-04-03 | 2003-10-15 | Hitachi Constr Mach Co Ltd | Steering device for work vehicle |
| WO2014037033A1 (en) * | 2012-09-04 | 2014-03-13 | Combilift | A motorised truck with tiller |
| US9586797B2 (en) | 2012-09-04 | 2017-03-07 | Martin McVicar | Motorised truck with tiller |
| CN107953929A (en) * | 2017-08-01 | 2018-04-24 | 郝巍 | A kind of turning machine freely turned |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0775988B2 (en) | 1995-08-16 |
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