JPH044940Y2 - - Google Patents
Info
- Publication number
- JPH044940Y2 JPH044940Y2 JP1985067391U JP6739185U JPH044940Y2 JP H044940 Y2 JPH044940 Y2 JP H044940Y2 JP 1985067391 U JP1985067391 U JP 1985067391U JP 6739185 U JP6739185 U JP 6739185U JP H044940 Y2 JPH044940 Y2 JP H044940Y2
- Authority
- JP
- Japan
- Prior art keywords
- suspension
- steering
- wheel
- lock
- vehicle body
- 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
Links
- 239000000725 suspension Substances 0.000 claims description 41
- 238000001514 detection method Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000008602 contraction Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
Landscapes
- Controls For Constant Speed Travelling (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Description
【考案の詳細な説明】
産業上の利用分野
本考案は、ラフテレンクレーンなどの４輪操向
式走行車両の安全装置に関するものである。[Detailed Description of the Invention] Industrial Application Field The present invention relates to a safety device for four-wheel steering vehicles such as rough terrain cranes.
従来の技術
車体の前後に、前輪と後輪とを前後側ステアリ
ングシリンダで揺動自在に装着し、前後輪の４輪
を操向したり、前輪の２輪だけを操向したりでき
るようにした４輪操向式走行車両が知られてい
る。Conventional technology The front and rear wheels are mounted on the front and rear of the vehicle body so that they can swing freely using front and rear steering cylinders, so that the front and rear wheels can be steered, or only the front two wheels can be steered. A four-wheel steering vehicle is known.
考案が解決しようとする問題点
４輪操向時と２輪操向時とでは旋回半径が大き
く異なり、４輪操向時に２輪操向時とハンドル切
れ角、走行速度などを同じ感覚で操向操作する
と、２輪操向時よりも小さな旋回半径で急激に旋
回されるので、旋回時に車体に大きな横向慣性力
が作用して走行不安定となり、著しい場合には転
倒して非常に危険である。Problems that the invention aims to solve: The turning radius is significantly different when steering with four wheels and when steering with two wheels, so it is difficult to control the steering angle, running speed, etc. during four-wheel steering with the same feeling as when steering with two wheels. When the vehicle is steered in the opposite direction, the vehicle is turned rapidly with a smaller turning radius than when the two wheels are steered, so a large lateral inertia force is applied to the vehicle body during the turn, making the vehicle unstable, and in extreme cases, it may fall over, which is extremely dangerous. be.
問題点を解決するための手段及び作用
後ステアリングロツク機構のアンロツク状態を
検出する手段と、変速機の高速変速位置を検出す
る手段と、車体の高さが低くなつたことを検出す
るスイツチと、両検出手段の検出信号が入力され
るとサスペンシヨン高さ切換弁にサスペンシヨン
シリンダを縮小する位置とする信号を出力し、か
つ前記スイツチの信号が入力されるとサスロツク
弁にサスペンシヨンシリンダをロツクする信号を
出力するコントローラを設けて、４輪操向で高速
走行する際には車体重心を下げた状態でサスペン
シヨンシリンダをロツクできるようにしたもので
ある。Means and operation for solving the problem: means for detecting the unlocked state of the rear steering lock mechanism; means for detecting the high speed shift position of the transmission; and a switch for detecting that the height of the vehicle body has been lowered; When the detection signals of both detection means are inputted, a signal is outputted to the suspension height switching valve to set the suspension cylinder to the contracting position, and when the signal from the switch is inputted, the suspension cylinder is locked to the suspension lock valve. The system is equipped with a controller that outputs a signal to lock the suspension cylinders while lowering the center of gravity of the vehicle when driving at high speed with four-wheel steering.
実施例
第２図は走行車両の概略斜視図であり、車体１
の前後には前、後アクスル２，３が前左右側サス
ペンシヨンシリンダ４，５及び後左右側サスペン
シヨンシリンダ６，７を介して左右揺動自在に支
承され、この前、後アクスル２，３内に設けた図
示しない左右の駆動軸には左右の前輪８Ｆと後輪
８Ｒとが揺動自在に設けてあると共に、この前輪
８Ｆと後輪８Ｒとは前ステアリングシリンダ９と
後ステアリングシリンダ１０とで左右に揺動され
て４輪操向式の車両となつている。Embodiment FIG. 2 is a schematic perspective view of a running vehicle, and the vehicle body 1
Front and rear axles 2 and 3 are supported so as to be swingable left and right via front left and right suspension cylinders 4 and 5 and rear left and right suspension cylinders 6 and 7, respectively. Left and right front wheels 8F and rear wheels 8R are swingably provided on the left and right drive shafts (not shown) provided inside, and the front wheels 8F and rear wheels 8R are connected to a front steering cylinder 9 and a rear steering cylinder 10. It swings from side to side, making it a four-wheel steering vehicle.
前記各左右の駆動輪は図示しない差動機を介し
て前後推進軸１１，１２に連結し、前後推進軸１
１，１２は変速機１３の出力側に連結していると
共に、変速機１３の入力側はトルクコンバータ１
４を介してエンジン１５の出力側に連結し、エン
ジン１５は燃料噴射ポンプ１６の噴射量をコント
ロールレバ１７で増減することで回転速度が制御
され、そのコントロールレバ１７はリンク機構１
８を介してアクセルペダル１９に連結している。 The left and right drive wheels are connected to the front and rear propulsion shafts 11 and 12 via differentials (not shown), and
1 and 12 are connected to the output side of the transmission 13, and the input side of the transmission 13 is connected to the torque converter 1.
The rotation speed of the engine 15 is controlled by increasing or decreasing the injection amount of the fuel injection pump 16 with a control lever 17, and the control lever 17 is connected to the output side of the engine 15 via the link mechanism 1.
8 to an accelerator pedal 19.
前記後アクスル３には後輪８Ｒをセンタ位置、
つまり直進姿勢で揺動固定する後ステアリングロ
ツク機構２０、例えば後輪８Ｒ側に設けたロツク
ピン２１をシリンダ２２で後アクスル３のピン孔
２３に嵌合する機構が設けられている。 The rear axle 3 has the rear wheel 8R in the center position,
In other words, a rear steering lock mechanism 20 that swings and locks the vehicle in a straight-ahead position is provided, for example, a mechanism that fits a lock pin 21 provided on the rear wheel 8R side into a pin hole 23 of the rear axle 3 using a cylinder 22.
第３図はステアリング油圧回路図であり、ステ
アリングポンプ２４の吐出圧油をステアリングハ
ンドル２５で切換えられるステアリングバルブ２
６で前後ステアリングシリンダ９，１０に供給す
るようにしてあると共に、ステアリング切換弁２
７が設けられ、このステアリング切換弁２７は、
前ステアリングシリンダ９にのみ供給する２輪操
向位置と、前後輪８Ｆ，８Ｒが同一方向に揺動
するように前後ステアリングシリンダ９，１０に
供給するカニ操向位置と、前後輪８Ｆ，８Ｒを
反対方向に揺動するように前後ステアリングシリ
ンダ９，１０に供給する４輪操向位置とを備え
ていると共に、車両が前進、後進する時に圧油の
流れを反対とする前後進切換弁２８が設けてあ
る。 FIG. 3 is a steering hydraulic circuit diagram, in which the steering valve 2 can switch the pressure oil discharged from the steering pump 24 with the steering handle 25.
6 to supply to the front and rear steering cylinders 9, 10, and a steering switching valve 2.
7 is provided, and this steering switching valve 27 is
A two-wheel steering position that is supplied only to the front steering cylinder 9, a crab steering position that is supplied to the front and rear steering cylinders 9 and 10 so that the front and rear wheels 8F and 8R swing in the same direction, and a crab steering position that is supplied to the front and rear steering cylinders 9 and 10 so that the front and rear wheels 8F and 8R swing in the same direction. It is provided with four wheel steering positions that supply the front and rear steering cylinders 9 and 10 so as to swing in opposite directions, and a forward/reverse switching valve 28 that reverses the flow of pressure oil when the vehicle moves forward or backward. It is provided.
第４図はサスペンシヨン油圧回路図であり、第
１ポンプP1の吐出側は管路３０を介してサスペ
ンシヨン高さ切換弁３１の入口ポート３１ａに接
続してあり、ドレーンポート３１ｂはタンク３２
に通じていると共に、第１ポート３１ｃは前左右
側及び後左右側サスペンシヨンシリンダ４，５，
６，７のヘツド側室４ａ，５ａ，６ａ，７ａに第
１〜第４ヘツド側管路３３，３４，３５，３６を
介して接続してあり、またサスペンシヨン高さ切
換弁３１の第２ポート３１ｄは前左右側及び後左
右側サスペンシヨンシリンダ４，５，６，７のロ
ツド側室４ｂ，５ｂ，６ｂ，７ｂに第１〜第４ロ
ツド側管路３７，３８，３９，４０を介して接続
してある。 FIG. 4 is a suspension hydraulic circuit diagram, in which the discharge side of the first pump P1 is connected to the inlet port 31a of the suspension height switching valve 31 via a pipe 30, and the drain port 31b is connected to the tank 32.
The first port 31c also communicates with the front left and right suspension cylinders 4, 5, and rear left and right suspension cylinders.
It is connected to the head side chambers 4a, 5a, 6a, 7a of 6 and 7 via the first to fourth head side pipes 33, 34, 35, 36, and the second port of the suspension height switching valve 31. 31d is connected to the rod side chambers 4b, 5b, 6b, 7b of the front left and right suspension cylinders 4, 5, 6, 7 through the first to fourth rod side conduits 37, 38, 39, 40. It has been done.
前左側サスペンシヨンシリンダ４の第１ヘツド
側、ロツド側管路３３，３７に前左側パイロツト
チエツク弁４１が設けてあり、前右側サスペンシ
ヨンシリンダ５の第２ヘツド側、ロツド側管路３
４，３８に前右側パイロツトチエツク弁４２が設
けてあり、後左側サスペンシヨンシリンダ６の第
３ヘツド側、ロツド側管路３５，３９に後左側パ
イロツトチエツク弁４３が設けてあり、後右側サ
スペンシヨンシリンダ７の第４ヘツド側、ロツド
側管路３６，４０に後右側パイロツトチエツク弁
４４が設けてある。 A front left pilot check valve 41 is provided in the first head side and rod side conduits 33 and 37 of the front left suspension cylinder 4, and a front left pilot check valve 41 is provided in the second head side and rod side conduit 3 of the front right suspension cylinder 5.
A front right pilot check valve 42 is provided at the rear left suspension cylinder 6, a rear left pilot check valve 43 is provided at the third head side of the rear left suspension cylinder 6, and a rear left pilot check valve 43 is provided at the rod side pipes 35, 39. A rear right pilot check valve 44 is provided on the fourth head side of the cylinder 7 and on the rod side conduits 36, 40.
第２ポンプP2の吐出路４５には前側サスロツ
ク弁４６と後側サスロツク弁４７とが設けられ、
前側サスロツク弁４６は、前記第２ポンプP2か
らのパイロツト圧をドレーンに排出するロツク位
置イと、前左、右側パイロツトチエツク弁４１，
４２に供給しこれら前左、右側パイロツトチエツ
ク弁４１，４２を開放するフリー位置ロとを有
し、後側サスロツク弁４７は、第２ポンプP2か
らのパイロツト圧をドレーンに排出するロツク位
置イと、後左、右側パイロツトチエツク弁４３，
４４に供給してこれらを開放するフリー位置ロと
を有し、バネ力でロツク位置イに保持され、ソレ
ノイド４６ａ，４７ａが励磁されるとフリー位置
ロに切換るようにしてある。 The discharge passage 45 of the second pump P2 is provided with a front suspension lock valve 46 and a rear suspension lock valve 47.
The front suspension lock valve 46 has a lock position A that discharges the pilot pressure from the second pump P2 to the drain, and a front left and right pilot check valve 41,
The rear suspension lock valve 47 has a lock position that discharges the pilot pressure from the second pump P2 to the drain. and rear left and right pilot check valves 43,
44 to open them, and is held in the locked position A by a spring force, and is switched to the free position B when the solenoids 46a and 47a are energized.
第１図は要部説明図であり、後ステアリングロ
ツク機構２０にはピン２１がピン孔２３に嵌合し
てロツク状態、アンロツク状態を検出する検出器
５０が設けられ、この検出信号はコントローラ５
１の比較演算回路５２に入力される。 FIG. 1 is an explanatory view of the main part, and the rear steering lock mechanism 20 is provided with a detector 50 that detects the locked state and unlocked state by fitting the pin 21 into the pin hole 23, and this detection signal is sent to the controller 5.
The signal is input to the comparison calculation circuit 52 of No. 1.
ステアリング切換レバー５３は２輪操向位置
′とカニ操向位置′と４輪操向位置′とに操
作可能となり、前記ステアリング切換弁２７のソ
レノイド２７ａ，２７ｂに通電制御して各位置
，，に切換えできるようにしてあると共
に、４輪操向位置′とすると検出器５４が作動
して、その検出信号が比較演算回路５２に入力さ
れる。 The steering switching lever 53 can be operated to a two-wheel steering position, a crab steering position, and a four-wheel steering position, and the solenoids 27a and 27b of the steering switching valve 27 are controlled to be energized to each position. When the four-wheel steering position is set to the four-wheel steering position, the detector 54 is activated and its detection signal is input to the comparison calculation circuit 52.
変速機１３は変速レバー５５によつて変速操作
され、変速レバー５５が高速変速位置F3になる
と検出器５６が作動して検出信号を前記比較演算
回路５２に入力される。 The transmission 13 is operated to change speed by a speed change lever 55, and when the speed change lever 55 reaches a high speed change position F3 , a detector 56 is activated and a detection signal is inputted to the comparison calculation circuit 52.
この比較演算回路５２は、検出器５４より４輪
操向信号が入力された状態で検出器５０よりアン
ロツク状態検出信号が入力されると共に、検出器
５６より高速変速位置信号が入力された時に、前
述のサスペンシヨン高さ切換弁３１の第１ソレノ
イド３１ａに通電して第１ポンプP1の吐出圧油
を第１〜第４ロツド側管路３７〜４０を介して各
サスペンシヨンシリンダ４，５，６，７のロツド
側４ｂ，５ｂ，６ｂ，７ｂに供給して車体１を前
後輪８Ｆ，８Ｒに対して下方に移動し、このこと
をリミツトスイツチ５８で検出したら前後サスロ
ツク弁４６，４７のソレノイド４６ａ，４７ａへ
の通電を遮断してロツク位置イとする。 When the unlock state detection signal is input from the detector 50 while the four-wheel steering signal is input from the detector 54, and the high-speed shift position signal is input from the detector 56, the comparison calculation circuit 52 operates as follows: The first solenoid 31a of the suspension height switching valve 31 is energized to supply the pressure oil discharged from the first pump P1 to each suspension cylinder 4, 5 through the first to fourth rod side conduits 37 to 40. , 6, 7 on the rod side 4b, 5b, 6b, 7b to move the vehicle body 1 downward relative to the front and rear wheels 8F, 8R, and when this is detected by the limit switch 58, the solenoids of the front and rear suspension lock valves 46, 47 are The power supply to 46a and 47a is cut off to set the lock position A.
ここで、高速変速位置とは４輪操向時の安全許
容速度以上になり得る最低位変速位置である。 Here, the high speed shift position is the lowest shift position that can exceed the safe allowable speed during four-wheel steering.
この様であるから、車体重心が下つて車体安定
性が向上すると共に、サスペンシヨンシリンダが
ロツクされるので、４輪操向で高速走行しても転
倒したりすることがなくて安全である。 Because of this, the center of gravity of the vehicle is lowered and the stability of the vehicle body is improved, and the suspension cylinders are locked, so even if the vehicle is driven at high speed with four-wheel steering, it is safe and will not fall over.
考案の効果
後ステアリングロツク機構２０のアンロツク状
態を検出することで４輪操向であることを感知で
きるし、高速変速位置を検出することで高速走行
であることを検知でき、両検出信号でコントロー
ラ５１でサスペンシヨン高さ切換弁３１が切換え
られ、スイツチの信号によつてサスロツク弁が切
換えられるから、４輪操向時に変速機が高速変速
位置となるサスペンシヨン高さ切換弁３１が切換
つて車体重心が下り、その状態でサスロツク弁が
作動してサスペンシヨンリンダがロツクされるか
ら、高速で４輪操向しても車体が転倒せずに安全
である。Effects of the invention By detecting the unlocked state of the rear steering lock mechanism 20, it is possible to detect that four-wheel steering is being performed, and by detecting the high-speed gear shift position, it is possible to detect that high-speed driving is being performed. The suspension height switching valve 31 is switched at step 51, and the suspension lock valve is switched in response to a signal from the switch, so the suspension height switching valve 31 switches the transmission to the high speed shift position during four-wheel steering. The center of gravity is lowered, and in this state the suspension lock valve operates and the suspension cylinder is locked, so the vehicle is safe and will not tip over even when four-wheel steering is performed at high speeds.
図面は本考案の実施例を示し、第１図は要部説
明図、第２図は全体斜視図、第３図、第４図は油
圧回路図である。
１は車体、８Ｆは前輪、８Ｒは後輪、９は前サ
スペンシヨンシリンダ、１０は後サスペンシヨン
シリンダ、２０は後ステアリングロツク機構、３
１はサスペンシヨン高さ切換弁、５１はコントロ
ーラ。
The drawings show an embodiment of the present invention, with FIG. 1 being an explanatory view of the main parts, FIG. 2 being an overall perspective view, and FIGS. 3 and 4 being hydraulic circuit diagrams. 1 is the vehicle body, 8F is the front wheel, 8R is the rear wheel, 9 is the front suspension cylinder, 10 is the rear suspension cylinder, 20 is the rear steering lock mechanism, 3
1 is a suspension height switching valve, and 51 is a controller.
Claims (1)
後輪８Ｒを備えた後アクスル３をサスペンシヨン
シリンダを介してそれぞれ取付け、その前後アク
スル２，３に前後ステアリングシリンダ９，１０
を設け、前記後アクスル３に後輪８Ｒを直進姿勢
で揺動固定する後ステアリングロツク機構２０を
設け、エンジン１５の出力を変速機１３を介して
前後輪８Ｆ，８Ｒに連結した４輪操向式走行車両
において、前記後ステアリングロツク機構２０の
アンロツク状態を検出する手段と、前記変速機１
３の高速変速位置を検出する手段と、前記サスペ
ンシヨンシリンダに圧油を供給して車体１の高さ
を変更するサスペンシヨン高さ切換弁３１と、前
記サスペンシヨンシリンダの伸縮をロツクするサ
スロツク弁と、車体１の高さが低くなつたことを
検出するスイツチと、前記両検出手段の検出信号
が入力された時にサスペンシヨン高さ切換弁３１
をサスペンシヨンシリンダを縮小する位置とする
信号を出力し、かつ前記スイツチの信号が入力さ
れた時にサスロツク弁をロツク位置とする信号を
出力するコントローラ５１を設けたことを特徴と
する４輪操向式走行車両の安全装置。 A front axle 2 with a front wheel 8F and a rear axle 3 with a rear wheel 8R are attached to the vehicle body 1 via suspension cylinders, and front and rear steering cylinders 9, 10 are attached to the front and rear axles 2, 3, respectively.
A rear steering lock mechanism 20 is provided on the rear axle 3 to swing and fix the rear wheel 8R in a straight-ahead position, and the output of the engine 15 is connected to the front and rear wheels 8F and 8R via the transmission 13 for four-wheel steering. In the type vehicle, there is provided a means for detecting an unlocked state of the rear steering lock mechanism 20, and a means for detecting the unlocked state of the rear steering lock mechanism 20;
3, a suspension height switching valve 31 that supplies pressurized oil to the suspension cylinder to change the height of the vehicle body 1, and a suspension lock valve that locks expansion and contraction of the suspension cylinder. , a switch for detecting that the height of the vehicle body 1 has been lowered, and a suspension height switching valve 31 when the detection signals of both the detection means are inputted.
The four-wheel steering system is characterized by being provided with a controller 51 which outputs a signal that sets the suspension cylinder to the contracting position, and outputs a signal that sets the suspension lock valve to the lock position when the signal from the switch is input. Safety device for type-driving vehicles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1985067391U JPH044940Y2 (en) | 1985-05-09 | 1985-05-09 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1985067391U JPH044940Y2 (en) | 1985-05-09 | 1985-05-09 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS61183262U JPS61183262U (en) | 1986-11-15 |
| JPH044940Y2 true JPH044940Y2 (en) | 1992-02-13 |
Family
ID=30601172
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1985067391U Expired JPH044940Y2 (en) | 1985-05-09 | 1985-05-09 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH044940Y2 (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57175469A (en) * | 1981-04-24 | 1982-10-28 | Kato Seisakusho:Kk | Mobile crane |
| JPS59102660A (en) * | 1982-12-06 | 1984-06-13 | Mazda Motor Corp | Integrated control device of suspension and steering |
-
1985
- 1985-05-09 JP JP1985067391U patent/JPH044940Y2/ja not_active Expired
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57175469A (en) * | 1981-04-24 | 1982-10-28 | Kato Seisakusho:Kk | Mobile crane |
| JPS59102660A (en) * | 1982-12-06 | 1984-06-13 | Mazda Motor Corp | Integrated control device of suspension and steering |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS61183262U (en) | 1986-11-15 |
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