JPH09221059A - Steering device for wheel vehicle - Google Patents
Steering device for wheel vehicleInfo
- Publication number
- JPH09221059A JPH09221059A JP2747396A JP2747396A JPH09221059A JP H09221059 A JPH09221059 A JP H09221059A JP 2747396 A JP2747396 A JP 2747396A JP 2747396 A JP2747396 A JP 2747396A JP H09221059 A JPH09221059 A JP H09221059A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle body
- wheel
- turning
- speed ratio
- turning radius
- 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
Landscapes
- Hydraulic Control Valves For Brake Systems (AREA)
- Regulating Braking Force (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、前車輪を有する前
車体と、後車輪を有する後車体とを車両の前後方向中間
において屈折することにより操向を行う、ホイール車両
の操向装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering system for a wheeled vehicle which performs steering by bending a front vehicle body having front wheels and a rear vehicle body having rear wheels at an intermediate position in the front-rear direction of the vehicle.
【０００２】[0002]
【従来の技術】従来の、車体を屈折して操向を行うホイ
ール車両の操向装置は、左右の前車輪、該左右の前車輪
に動力を伝える車輪軸及び該車輪軸を制動するブレーキ
を備える前車体と、左右の後車輪、該左右の後車輪に動
力を伝える車輪軸及び該車輪軸を制動するブレーキを備
える後車体と、該前車体と該後車体とを屈折自在に連結
する連結手段と、一端を該前車体に取り付け、他端を該
後車体に取り付けた伸縮自在なアクチュエータとを備
え、該アクチュエータの伸縮により該連結手段を中心に
該前車体と該後車体とを相対的に屈折せしめて車両の操
向を行っている。2. Description of the Related Art A conventional steering apparatus for a wheeled vehicle that bends a vehicle body to steer a vehicle includes left and right front wheels, a wheel shaft that transmits power to the left and right front wheels, and a brake that brakes the wheel shaft. A front vehicle body having the same, a rear wheel having left and right rear wheels, a wheel shaft for transmitting power to the right and left rear wheels, and a rear vehicle having a brake for braking the wheel shaft, and a connection for flexibly connecting the front vehicle body and the rear vehicle body. Means and an extendable actuator having one end attached to the front vehicle body and the other end attached to the rear vehicle body, and the front vehicle body and the rear vehicle body are relatively moved around the connecting means by extension and contraction of the actuator. The vehicle is being steered by refracting.
【０００３】[0003]
【発明が解決しようとする課題】車体を屈折して操向を
行うホイール車両の操向装置は、比較的小さい旋回半径
で車両の操向ができることから、例えばホイールローダ
の如く、掘削、運搬、積込等のサイクルを繰り返し行う
操向の多い作業に使われる建設機械に採用されている。
しかしながら、車体を屈折して操向する時の旋回半径
は、前車体と後車体との屈折が大きいほど小さくなる
が、屈折を大きくすると、車体の構造上から前車体と後
車体が干渉し、屈折を大きくするのには限界がある。そ
こで車両をより小さな旋回半径で操向できるようにする
ことが、小回りによる作業の能率向上、作業サイクルタ
イムの減少、また狭隘な場所で切り返しをしないで操向
をする等の面から望まれている。A steering device for a wheeled vehicle that bends a vehicle body to steer the vehicle can steer the vehicle with a relatively small turning radius. It is used in construction machinery used for operations that require a lot of steering operations, such as repeated loading cycles.
However, the turning radius at the time of refracting and steering the vehicle body becomes smaller as the refraction between the front vehicle body and the rear vehicle body increases, but if the refraction is increased, the front vehicle body and the rear vehicle body interfere with each other due to the structure of the vehicle body, There is a limit to increasing the refraction. Therefore, it is desirable to be able to steer the vehicle with a smaller turning radius from the standpoints of improving work efficiency by making small turns, reducing work cycle time, and steering without turning back in a narrow space. There is.
【０００４】本発明は、このような点に鑑みなされたも
ので、その技術的課題は、車体を屈折して操向を行うホ
イール車両の旋回半径を、車体が最大に屈折した時の旋
回半径より小さく、しかも車体の構造を変えることなく
できる手段を提供することである。The present invention has been made in view of the above circumstances, and a technical problem thereof is that the turning radius of a wheeled vehicle that steers the vehicle body to steer the vehicle is the turning radius when the vehicle body bends to the maximum. It is to provide a means that is smaller and can be done without changing the structure of the vehicle body.
【０００５】[0005]
【課題を解決するための手段】本発明によれば、上記技
術的課題を達成するために、車体が最大に屈折する状態
で機械的に決まる最も小さい旋回半径に対し、更に小さ
い旋回半径を得るべく、小さな旋回半径が必要な場合に
は、操向時の旋回内側車輪のブレーキを制動し、外側の
車輪との間に回転速度差を設け、旋回外側車輪を内側車
輪より速く回して、旋回半径をより小さくする。そして
このブレーキ力を制御することにより旋回半径を任意に
設定する。According to the present invention, in order to achieve the above-mentioned technical object, a smaller turning radius is obtained with respect to the smallest turning radius mechanically determined in the state where the vehicle body is bent at maximum. Therefore, when a small turning radius is required, the brake of the inside wheel during turning is braked to provide a rotational speed difference with the outside wheel, and the outside wheel is turned faster than the inside wheel to make a turn. Make the radius smaller. Then, the turning radius is arbitrarily set by controlling the braking force.
【０００６】即ち、本発明のホイール車両の操向装置
は、車輪軸の回転速度を検出する車輪軸回転速度検出手
段と、前車体と後車体との屈折角度を検出する車体屈折
角度検出手段と、車輪軸ブレーキの油圧を制御するブレ
ーキ油圧制御弁と、車両の旋回外側車輪軸回転速度と車
両の旋回内側車輪軸回転速度との比で設定される設定速
度比として車両の操向旋回半径を指令する旋回半径指令
手段と、制御手段とからなり、制御手段には、車輪軸回
転速度検出手段からの信号に基づいて旋回外側車輪軸回
転速度及び旋回内側車輪軸回転速度との比を演算する速
度比演算手段と、速度比演算手段により演算された速度
比と設定速度比とを比較する速度比比較手段と、速度比
比較手段による比較結果に基づいてブレーキ油圧制御弁
に圧力設定信号を出力する圧力設定手段とを含むことを
特徴としている。That is, the steering apparatus for a wheel vehicle according to the present invention comprises a wheel shaft rotation speed detecting means for detecting a rotation speed of a wheel shaft, and a vehicle body refraction angle detecting means for detecting a refraction angle between a front vehicle body and a rear vehicle body. , The brake hydraulic control valve for controlling the hydraulic pressure of the wheel axle brakes, and the steering turning radius of the vehicle as a set speed ratio set by the ratio of the vehicle outside rotation wheel axle rotation speed to the vehicle inside rotation wheel axle rotation speed. It comprises a turning radius command means for instructing and a control means, and the control means calculates a ratio between a turning outer wheel shaft rotation speed and a turning inner wheel shaft rotation speed based on a signal from the wheel shaft rotation speed detecting means. A speed ratio calculation means, a speed ratio comparison means for comparing the speed ratio calculated by the speed ratio calculation means with a set speed ratio, and a pressure setting signal is output to the brake hydraulic control valve based on the comparison result by the speed ratio comparison means. It is characterized in that it comprises a pressure setting means for.
【０００７】好ましくは、旋回半径指令手段には複数の
旋回半径の指示値を切り換える指示値選択手段を備え
る。[0007] Preferably, the turning radius command means is provided with an instruction value selecting means for switching the instruction values of a plurality of turning radii.
【０００８】車体屈折角度検出手段は、連結手段部にお
いて連結軸を中心として前車体と後車体との相対変位角
度を検出する。車体屈折角度検出手段としては、前車体
と後車体との屈折ストッパの当接部において屈折角度を
検出するものでもよい。更に他の車体屈折角度検出手段
としては、前車体と後車体を屈折させるアクチュエータ
の伸縮で屈折角度を検出するものでもよい。The vehicle body refraction angle detection means detects the relative displacement angle between the front vehicle body and the rear vehicle body about the connecting shaft in the connecting means portion. The vehicle body refraction angle detection means may be one that detects the refraction angle at the contact portions of the refraction stoppers of the front vehicle body and the rear vehicle body. Still another vehicle body refraction angle detecting means may be one that detects the refraction angle by expanding and contracting an actuator that refracts the front vehicle body and the rear vehicle body.
【０００９】本発明のホイール車両の操向装置は、次の
式で表される車両の旋回外側車輪の回転速度と旋回内側
車輪の回転速度との比、実質的には車両の旋回外側車輪
軸の回転速度と旋回内側車輪軸の回転速度との比である
速度比を車両の旋回半径指令信号として制御する。 The steering apparatus for a wheeled vehicle according to the present invention has a ratio of a rotational speed of a wheel on the outside of turning to a rotational speed of a wheel on the inside of turning, which is expressed by the following equation: A speed ratio, which is a ratio between the rotation speed of the vehicle and the rotation speed of the wheel shaft on the inside of the turn, is controlled as a turning radius command signal of the vehicle.
【００１０】すなわち演算された速度比βが設定速度比
Ｒの範囲内であれば、車輪軸のブレーキ力を決める出力
中のブレーキ圧力設定信号が継続される。設定速度比Ｒ
には上限下限の許容範囲を設ける。複数設定する場合は
設定値が相互に干渉しないようにする。演算された速度
比βが設定速度比Ｒより小さい場合、すなわち旋回半径
が指令の旋回半径より大きい場合には、旋回内側車輪の
回転速度を減少させるべく、制御手段の圧力設定手段か
ら増圧の設定信号が出力され、ブレーキ圧力制御弁の出
力油圧が高くなる。その結果旋回内側車輪軸のブレーキ
力が増加され、速度比βが設定速度比Ｒの範囲内の値と
なる。反対に演算された速度比βが設定速度比Ｒより大
きい場合、すなわち旋回半径が指令の旋回半径より小さ
い場合には、旋回内側車輪の回転速度を増加させるべ
く、制御手段の圧力設定手段から減圧の設定信号が出力
され、ブレーキ圧力制御弁の出力油圧が低くなる。その
結果旋回内側車輪軸のブレーキ力が減少され、速度比が
設定速度比の範囲内の値となる。That is, if the calculated speed ratio β is within the range of the set speed ratio R, the brake pressure setting signal during output for determining the braking force of the wheel shaft is continued. Set speed ratio R
The upper and lower limits are set to the allowable range. When setting multiple values, make sure that the setting values do not interfere with each other. When the calculated speed ratio β is smaller than the set speed ratio R, that is, when the turning radius is larger than the commanded turning radius, the pressure setting means of the control means increases the pressure in order to reduce the rotation speed of the turning inner wheel. A setting signal is output and the output hydraulic pressure of the brake pressure control valve becomes high. As a result, the braking force of the wheel shaft on the inside of the turn is increased, and the speed ratio β becomes a value within the range of the set speed ratio R. On the contrary, when the calculated speed ratio β is larger than the set speed ratio R, that is, when the turning radius is smaller than the commanded turning radius, the pressure setting means of the control means reduces the pressure to increase the rotation speed of the wheel on the inside of the turning. Is output, and the output hydraulic pressure of the brake pressure control valve becomes low. As a result, the braking force on the wheel shaft on the inside of the turn is reduced, and the speed ratio becomes a value within the range of the set speed ratio.
【００１１】かくして、車体を屈折し操向するホイール
車両の旋回半径を、従来より更に小さくすることができ
る。In this way, the turning radius of the wheel vehicle for refracting and steering the vehicle body can be made smaller than before.
【００１２】[0012]
【発明の実施の形態】以下、本発明に従って構成された
ホイール車両の操向装置の好適実施形態について、図１
を参照して詳細に説明する。BEST MODE FOR CARRYING OUT THE INVENTION A preferred embodiment of a steering apparatus for a wheel vehicle constructed according to the present invention will be described below with reference to FIG.
This will be described in detail with reference to FIG.
【００１３】本発明に係わるホイール車両は、車両の前
車体２と後車体４が連結手段６により、図１において紙
面に垂直な中心軸線を中心として、旋回自在に即ち屈折
自在に連結されている。伸縮自在のアクチュエータであ
る油圧シリンダ８が、シリンダのロッド端を前車体２
に、ヘッド端を後車体４に取り付けて、前車体２と後車
体４との間に介在されている。図示の実施形態において
はシリンダは１個であるが、連結手段６に対して対称に
反対側にも設けて複数にしてもよい。In a wheeled vehicle according to the present invention, a front vehicle body 2 and a rear vehicle body 4 of the vehicle are connected by a connecting means 6 so as to be rotatable or bendable about a central axis perpendicular to the plane of the drawing in FIG. . A hydraulic cylinder 8, which is a telescopic actuator, connects the rod end of the cylinder to the front vehicle body 2
Further, the head end is attached to the rear vehicle body 4 and is interposed between the front vehicle body 2 and the rear vehicle body 4. In the illustrated embodiment, one cylinder is provided, but it may be provided symmetrically with respect to the connecting means 6 on the opposite side to provide a plurality of cylinders.
【００１４】車両の前車体２には、左前車輪２２ａ及び
右前車輪２２ｂ、車両の後車体４には、左後車輪３８ａ
及び右後車輪３８ｂが取り付けられている。後車体４に
は、原動機（図示しない）からの走行動力を変速する変
速機２０が設けられる。変速機２０は推進軸２８及び５
０により前車体２に設けられている差動装置２６及び後
車体４に設けられている差動装置４４にそれぞれ接続さ
れている。差動装置２６は左前車輪軸３０ａ及び右前車
輪軸３０ｂにより、それぞれ左前車輪２２ａ及び右前車
輪２２ｂに接続されている。左前車輪軸３０ａ及び右前
車輪軸３０ｂにはそれぞれ左前車輪軸ブレーキ３４ａ、
右前車輪軸ブレーキ３４ｂが備えられている。差動装置
４４は左後車輪軸４６ａ及び右後車輪軸４６ｂにより、
それぞれ左後車輪３８ａ及び右後車輪３８ｂに接続され
ている。左後車輪軸４６ａ及び右後車輪軸４６ｂにはそ
れぞれ左後車輪軸ブレーキ６０ａ、右後車輪軸ブレーキ
６０ｂが備えられている。The front body 2 of the vehicle has a front left wheel 22a and a front right wheel 22b, and the rear body 4 of the vehicle has a rear left wheel 38a.
And a right rear wheel 38b is attached. The rear vehicle body 4 is provided with a transmission 20 that changes the traveling power from a prime mover (not shown). The transmission 20 has propulsion shafts 28 and 5
0 is connected to the differential device 26 provided on the front vehicle body 2 and the differential device 44 provided on the rear vehicle body 4, respectively. The differential device 26 is connected to the left front wheel 22a and the right front wheel 22b by a left front wheel shaft 30a and a right front wheel shaft 30b, respectively. The left front wheel shaft 30a and the right front wheel shaft 30b respectively have a left front wheel shaft brake 34a,
A front right wheel axle brake 34b is provided. The differential device 44 has a left rear wheel shaft 46a and a right rear wheel shaft 46b.
The left rear wheel 38a and the right rear wheel 38b are respectively connected. The left rear wheel shaft 46a and the right rear wheel shaft 46b are provided with a left rear wheel shaft brake 60a and a right rear wheel shaft brake 60b, respectively.
【００１５】前記各車輪軸３０ａ、３０ｂ、４６ａ、４
６ｂには、それぞれに対応して車輪軸の回転速度を検出
する車輪軸回転速度検出手段５２ａ、５２ｂ、５６ａ、
５６ｂが設けられている。The respective wheel shafts 30a, 30b, 46a, 4
6b includes wheel shaft rotation speed detecting means 52a, 52b, 56a for detecting the rotation speeds of the wheel shafts, respectively.
56b is provided.
【００１６】前車体２と後車体４との連結手段６の部分
には、前車体２と後車体４との、車両の前後方向で真直
な状態（図示の状態）からの相対的な角度を検出する車
体屈折角度検出手段１０が設けられてる。車体屈折角度
検出手段１０は、後車体４に設けられたスイッチ１０ｂ
と、前車体２に設けられたストッパ１０ａ及び１０ｃと
から構成されており、前車体２と後車体４とが許容最大
屈折角度まで屈折するとスイッチ１０ｂとストッパ１０
ａ及び１０ｃのいずれかとが当接する。At the portion of the connecting means 6 between the front vehicle body 2 and the rear vehicle body 4, the relative angle between the front vehicle body 2 and the rear vehicle body 4 in a straight state in the vehicle front-rear direction (state shown in the drawing) is set. A vehicle body refraction angle detection means 10 for detecting is provided. The vehicle body refraction angle detection means 10 includes a switch 10b provided on the rear vehicle body 4.
And the stoppers 10a and 10c provided on the front vehicle body 2, and when the front vehicle body 2 and the rear vehicle body 4 bend to the maximum allowable refraction angle, the switch 10b and the stopper 10 are provided.
Either a or 10c abuts.
【００１７】前記各車輪軸ブレーキ３４ａ、３４ｂ、６
０ａ、６０ｂそれぞれに対応して、ブレーキの作動油圧
を制御するブレーキ油圧制御弁６４ａ、６４ｂ、６８
ａ、６８ｂが設けられている。ブレーキ油圧制御弁６４
ａ、６４ｂ、６８ａ、６８ｂは電気信号に比例してブレ
ーキ油圧を出力する電磁比例ソレノイド弁で構成されて
いる。Each wheel axle brake 34a, 34b, 6
0a, 60b corresponding to the brake hydraulic pressure control valves 64a, 64b, 68 for controlling the hydraulic pressures of the brakes.
a and 68b are provided. Brake hydraulic control valve 64
Reference characters a, 64b, 68a, 68b are electromagnetic proportional solenoid valves that output brake hydraulic pressure in proportion to electric signals.
【００１８】車両運転席のステアリングホイール７２の
近傍の、操作し易い位置に旋回半径指令手段１４が設け
られている。旋回半径指令手段１４は、車両の旋回半径
を設定速度比Ｒの信号として制御装置１６に出力する。
旋回半径指令手段１４には更に、旋回半径指令手段の作
動をオンオフする旋回半径指令手段スイッチ７５及び複
数設定された設定速度比Ｒの中から指示値を選択する指
示値選択手段７４が付設されている。設定速度比Ｒを複
数設定することにより、ホイール車両の稼働場所に合わ
せて旋回半径を任意に選択できる。例えば小旋回、さら
に旋回半径の小さい極小旋回のように２段階に設定して
もよい。極小旋回はホイール車両の走行が少なく、小回
り旋回が要求される所で使われる。The turning radius command means 14 is provided near the steering wheel 72 in the driver's seat of the vehicle at a position where it can be easily operated. The turning radius command means 14 outputs the turning radius of the vehicle to the control device 16 as a signal of the set speed ratio R.
The turning radius command means 14 is further provided with a turning radius command means switch 75 for turning on / off the operation of the turning radius command means and an instruction value selection means 74 for selecting an instruction value from a plurality of set speed ratios R. There is. By setting a plurality of set speed ratios R, the turning radius can be arbitrarily selected according to the operating location of the wheel vehicle. For example, it may be set in two steps, such as a small turn and an extremely small turn with a small turning radius. Minimal turns are used where there are few wheeled vehicles and small turns are required.
【００１９】車両の任意の場所に制御手段１６を設ける
ことができる。制御手段１６は、車輪軸回転速度検出手
段５２ａ、５２ｂ、５６ａ、５６ｂからの信号に基づい
て車両の旋回外側車輪軸回転速度と旋回内側車輪軸回転
速度との比を演算する速度比演算手段８２と、速度比演
算手段８２により演算された速度比と設定速度比とを比
較する速度比比較手段８４と、速度比比較手段８４によ
る比較結果に基づいてブレーキ油圧制御弁６４ａ、６４
ｂ、６８ａ、６８ｂに圧力設定信号を出力する圧力設定
手段８６と、車体屈折角度検出手段１０からの信号に基
づいて、設定された車体の屈折角度と検出された屈折角
度とを比較する車体屈折角度比較手段８８とを含んでい
る。また圧力設定手段８６には、ブレーキ油圧制御弁６
４ａ、６４ｂ、６８ａ、６８ｂへの初期圧力信号設定手
段（図示省略）と、速度比比較手段８４による比較結果
に基づいて圧力信号を補正する圧力設定信号補正手段
（図示省略）とが配設されている。The control means 16 can be provided at any location on the vehicle. The control means 16 calculates the ratio between the turning outer wheel shaft rotation speed and the turning inner wheel shaft rotation speed of the vehicle based on the signals from the wheel shaft rotation speed detecting means 52a, 52b, 56a, 56b. And a speed ratio comparing means 84 for comparing the speed ratio calculated by the speed ratio calculating means 82 with a set speed ratio, and the brake hydraulic pressure control valves 64a, 64 based on the comparison result by the speed ratio comparing means 84.
b, 68a, 68b, and a vehicle body refraction for comparing the set vehicle body refraction angle with the detected refraction angle based on the signal from the vehicle body refraction angle detection means 10. The angle comparison means 88 is included. The pressure setting means 86 includes a brake hydraulic pressure control valve 6
Initial pressure signal setting means (not shown) for 4a, 64b, 68a, 68b and pressure setting signal correction means (not shown) for correcting the pressure signal based on the comparison result by the speed ratio comparison means 84 are provided. ing.
【００２０】車体屈折角度の検出には、新規に機構を追
加することなしに、図３に示すように前車体２及び後車
体４の屈折を規制するストッパ８０の当接を検出するス
イッチ１２０を採用することもできる。また図４に示す
ように、車体を屈折するアクチュエータ８の伸縮をスイ
ッチ２２０により検出して車体屈折角度を検出すること
もできる。To detect the refraction angle of the vehicle body, a switch 120 for detecting the contact of a stopper 80 for restricting the refraction of the front vehicle body 2 and the rear vehicle body 4 as shown in FIG. 3 is added without adding a new mechanism. It can also be adopted. Further, as shown in FIG. 4, the expansion and contraction of the actuator 8 for refracting the vehicle body can be detected by the switch 220 to detect the vehicle body refraction angle.
【００２１】次に本発明によって構成されたホイール車
両の操向装置の作動手順を、図１と共に図２に示すフロ
ーチャートを参照して説明する。Next, the operation procedure of the steering apparatus for a wheel vehicle constructed according to the present invention will be described with reference to the flow chart shown in FIG. 2 together with FIG.
【００２２】ステップＳ−１においては、旋回半径指令
手段１４がスイッチ７５によりＯＮされ、複数の旋回半
径指示値の中から指示値選択手段７４により選択された
旋回半径指令値が、設定速度比Ｒとして制御手段１６に
出力される。In step S-1, the turning radius commanding means 14 is turned on by the switch 75, and the turning radius commanding value selected by the commanding value selecting means 74 from the plurality of turning radius commanding values is the set speed ratio R. Is output to the control means 16.
【００２３】ステップＳ−２においては、車体屈折角度
検出手段１０により車体屈折角度αが検出される。In step S-2, the vehicle body refraction angle detection means 10 detects the vehicle body refraction angle α.
【００２４】ステップＳ−３においては、小旋回制御を
開始させる車体屈折角度即ち設定角度θと、検出された
車体屈折角度αが比較され、角度が合致すれば次のステ
ップへ進み、αがθに達しない場合は合致するまで前の
ステップに戻る。設定角度θは、前車体２と後車体４と
が最大に屈折する角度に設定されているのが好ましい。In step S-3, the vehicle body refraction angle at which the small turning control is started, that is, the set angle θ, is compared with the detected vehicle body refraction angle α. If the angles match, the process proceeds to the next step, where α is θ. If not, go back to the previous step until it matches. The set angle θ is preferably set to an angle at which the front vehicle body 2 and the rear vehicle body 4 bend at maximum.
【００２５】ステップＳ−４においては、旋回半径指令
手段１４から出力された設定速度比Ｒを受けて、制御手
段１６に含まれる圧力設定手段により、ブレーキ油圧制
御弁６４ａ、６４ｂ、６８ａ、６８ｂへ初期圧力設定信
号が出力される。ブレーキ油圧制御弁６４ａ、６４ｂ、
６８ａ、６８ｂは受けた信号を電磁比例ソレノイド弁に
よりブレーキ３４ａ、３４ｂ、６０ａ、６０ｂへの油圧
力を設定された初期圧力に制御する。ここで前記初期圧
力設定信号は車両が旋回する内側のブレーキ、例えば右
に操向して旋回する時は、右前車輪ブレーキ３４ｂと右
後車輪ブレーキ６０ｂに出力する。In step S-4, the brake speed control valves 64a, 64b, 68a, 68b are received by the pressure setting means included in the control means 16 in response to the set speed ratio R output from the turning radius command means 14. The initial pressure setting signal is output. Brake hydraulic control valves 64a, 64b,
68a and 68b control the received signal by an electromagnetic proportional solenoid valve to set the hydraulic pressure to the brakes 34a, 34b, 60a and 60b to a set initial pressure. Here, the initial pressure setting signal is output to the inner brake of the vehicle turning, for example, to the right front wheel brake 34b and the right rear wheel brake 60b when turning to the right by turning.
【００２６】ステップＳ−５においては、車輪軸回転速
度検出手段５２ａ、５２ｂ、５６ａ、５６ｂにより左前
車輪軸３０ａ、右前車輪軸３０ｂ、左後車輪軸４６ａ、
右後車輪軸４６ｂの回転速度がそれぞれ検出され、その
信号が制御手段１６に入力される。In step S-5, the left front wheel shaft 30a, the right front wheel shaft 30b, the left rear wheel shaft 46a, the wheel shaft rotation speed detecting means 52a, 52b, 56a, 56b.
The rotation speed of the right rear wheel shaft 46b is detected, and the signal is input to the control means 16.
【００２７】ステップＳ−６においては、制御手段１６
に含まれる演算手段により、車輪軸回転速度検出手段５
２ａ、５２ｂ、５６ａ、５６ｂにより検出された回転速
度に基づいて、速度比βが演算される。In step S-6, the control means 16
The wheel shaft rotation speed detection means 5 is calculated by the calculation means included in
The speed ratio β is calculated based on the rotation speeds detected by 2a, 52b, 56a, and 56b.
【００２８】ステップＳ−７及びＳ−９においては、制
御手段１６に含まれる速度比比較手段によって、演算さ
れた速度比βと設定速度比Ｒとが比較される。In steps S-7 and S-9, the speed ratio comparison means included in the control means 16 compares the calculated speed ratio β with the set speed ratio R.
【００２９】演算された速度比βが設定速度比Ｒより小
さい場合には、ステップＳ−８に進み、この場合は旋回
半径は設定旋回半径より大きいので旋回内側車輪の回転
を減少させるべく、制御手段１６の圧力設定手段に増圧
の信号が出力され、圧力設定手段の設定圧は高くなりブ
レーキ油圧制御弁６４ａ、６４ｂ、６８ａ、６８ｂのう
ち旋回内側車輪軸ブレーキへの出力圧が高くなる。その
結果旋回内側車輪軸のブレーキ力が増加され、速度比β
が設定速度比Ｒの範囲内の値となる。圧力信号の補正
は、制御手段１６に含まれる圧力設定信号補正手段によ
り行われる。ステップＳ−８において圧力増の補正が行
われた後は、ステップＳ−５に戻る。If the calculated speed ratio β is smaller than the set speed ratio R, the process proceeds to step S-8. In this case, since the turning radius is larger than the set turning radius, control is performed to reduce the rotation of the wheel on the inside of the turning. A pressure increase signal is output to the pressure setting means of the means 16, the set pressure of the pressure setting means becomes high, and the output pressure of the brake hydraulic pressure control valves 64a, 64b, 68a, 68b to the turning inner wheel shaft brake becomes high. As a result, the braking force on the wheel shaft inside the turning is increased, and the speed ratio β
Becomes a value within the range of the set speed ratio R. The correction of the pressure signal is performed by the pressure setting signal correction means included in the control means 16. After the pressure increase is corrected in step S-8, the process returns to step S-5.
【００３０】反対に演算された速度比βが設定速度比Ｒ
より大きい場合には、ステップＳ−１０に進み、この場
合旋回半径は設定旋回半径より小さいので旋回内側車輪
の回転を増加させるべく、制御手段１６の圧力設定手段
に減圧の信号が出力され、圧力設定手段の設定圧は低く
なりブレーキ油圧制御弁６４ａ、６４ｂ、６８ａ、６８
ｂのうち旋回内側車輪軸ブレーキへの出力圧が低くな
る。その結果旋回内側車輪のブレーキ力が減少され、速
度比βが設定速度比Ｒの範囲内の値となる。圧力信号の
補正は、制御手段１６に含まれる圧力設定信号補正手段
により行われる。ステップＳ−１０において圧力減の補
正が行われた後は、ステップＳ−５に戻る。On the contrary, the calculated speed ratio β is the set speed ratio R
If it is larger, the process proceeds to step S-10. In this case, since the turning radius is smaller than the set turning radius, a pressure reducing signal is output to the pressure setting means of the control means 16 in order to increase the rotation of the wheel on the inside of the turning, and the pressure is reduced. The set pressure of the setting means becomes low, and the brake hydraulic pressure control valves 64a, 64b, 68a, 68.
Of b, the output pressure to the wheel shaft brake on the inside of the turn is low. As a result, the braking force of the wheel on the inside of the turn is reduced, and the speed ratio β becomes a value within the range of the set speed ratio R. The correction of the pressure signal is performed by the pressure setting signal correction means included in the control means 16. After the pressure reduction is corrected in step S-10, the process returns to step S-5.
【００３１】演算された速度比βが設定速度比Ｒの範囲
内であれば、出力中の圧力設定信号が継続され、ステッ
プＳ−５に戻る。If the calculated speed ratio β is within the range of the set speed ratio R, the pressure setting signal being output is continued and the process returns to step S-5.
【００３２】以上の如く、本発明のホイール車両の走行
装置は、車体が最大に屈折した後は、指示された旋回半
径になるように、旋回の内側車輪がブレーキにより制動
制御される。As described above, in the traveling apparatus for a wheeled vehicle according to the present invention, after the vehicle body is bent to the maximum, the inside wheels of the turn are braked by the brake so that the instructed turning radius is achieved.
【００３３】[0033]
【発明の効果】本発明に従って構成されたホイール車両
の操向装置によれば、従来の車体屈折操向による最小旋
回半径に比べて、車体フレームの構造を変えることな
く、旋回半径を更に小さくすることができる。その結
果、より小さな旋回半径によって小回りができることに
よる作業の能率向上、作業サイクルタイムの減少、また
狭隘な場所で車体の切り返しをしないで操向が可能とな
る等の効果を得ることができる。According to the steering apparatus for a wheel vehicle constructed according to the present invention, the turning radius can be further reduced without changing the structure of the vehicle body frame as compared with the conventional minimum turning radius by the vehicle body bending steering. be able to. As a result, it is possible to obtain an effect such that work efficiency is improved by making a small turn with a smaller turning radius, work cycle time is reduced, and steering can be performed in a narrow place without turning the vehicle body.
【図１】本発明に従って構成されたホイール車両の操向
装置の主要構成要素を示す概略図。FIG. 1 is a schematic diagram showing main components of a steering apparatus for a wheeled vehicle configured according to the present invention.
【図２】本発明に従って構成されたホイール車両の操向
装置の作動手順の一部を示すフローチャート。FIG. 2 is a flowchart showing a part of an operation procedure of the steering apparatus for a wheeled vehicle configured according to the present invention.
【図３】車体屈折角度検出手段の他の実施形態を示す概
略図。FIG. 3 is a schematic view showing another embodiment of the vehicle body refraction angle detection means.
【図４】車体屈折角度検出手段の他の第２の実施形態を
示す概略図。FIG. 4 is a schematic view showing another second embodiment of the vehicle body refraction angle detection means.
２：前車体 ４：後車体 ６：連結手段 ８：アクチュエータ １０：車体屈折角度検出手段 １４：旋回半径指令手段 １６：制御手段 ３４ａ、３４ｂ、６０ａ、６０ｂ：車輪軸ブレーキ ５２ａ、５２ｂ、５６ａ、５６ｂ：車輪軸回転速度検出
手段 ６４ａ、６４ｂ、６８ａ、６８ｂ：ブレーキ油圧制御弁 ８２：速度比演算手段 ８４：速度比比較手段 ８６：圧力設定手段 ８８：車体屈折角度比較手段2: Front vehicle body 4: Rear vehicle body 6: Connection means 8: Actuator 10: Vehicle body refraction angle detection means 14: Turning radius command means 16: Control means 34a, 34b, 60a, 60b: Wheel axle brakes 52a, 52b, 56a, 56b : Wheel shaft rotation speed detecting means 64a, 64b, 68a, 68b: Brake hydraulic pressure control valve 82: Speed ratio calculating means 84: Speed ratio comparing means 86: Pressure setting means 88: Body refraction angle comparing means
Claims (5)
伝える車輪軸及び該車輪軸を制動するブレーキを備える
前車体と、左右の後車輪、該左右の後車輪に動力を伝え
る車輪軸及び該車輪軸を制動するブレーキを備える後車
体と、該前車体と該後車体とを屈折自在に連結する連結
手段と、一端を該前車体に取り付け、他端を該後車体に
取り付けた伸縮自在なアクチュエータとを備え、該アク
チュエータにより該連結手段を中心に該前車体と該後車
体とを屈折せしめて操向を行うホイール車両の操向装置
において、 該操向装置は更に、該車輪軸の回転速度を検出する車輪
軸回転速度検出手段と、該前車体と該後車体との屈折角
度を検出する車体屈折角度検出手段と、該車輪軸ブレー
キの油圧を制御するブレーキ油圧制御弁と、車両の旋回
外側車輪軸回転速度と車両の旋回内側車輪軸回転速度と
の比で設定される設定速度比として車両の操向旋回半径
を指令する旋回半径指令手段と、制御手段とを含み、該
制御手段は、該車輪軸回転速度検出手段からの信号に基
づいて該旋回外側車輪軸回転速度及び該旋回内側車輪軸
回転速度との比を演算する速度比演算手段と、該速度比
演算手段により演算された速度比と該設定速度比とを比
較する速度比比較手段と、該速度比比較手段による比較
結果に基づいて該ブレーキ油圧制御弁に該圧力設定信号
を出力する圧力設定手段とを含む、ことを特徴とするホ
イール車両の操向装置。1. A front vehicle body including left and right front wheels, a wheel shaft for transmitting power to the left and right front wheels, and a brake for braking the wheel shaft, left and right rear wheels, and wheels for transmitting power to the left and right rear wheels. A rear vehicle body including a shaft and a brake for braking the wheel shaft, a connecting means for flexibly connecting the front vehicle body and the rear vehicle body, one end attached to the front vehicle body, and the other end attached to the rear vehicle body A steering device for a wheel vehicle, comprising a retractable actuator, wherein the actuator bends the front vehicle body and the rear vehicle body around the connecting means to carry out steering, and the steering device further comprises: A wheel shaft rotation speed detecting means for detecting a rotation speed of a shaft, a vehicle body refraction angle detecting means for detecting a refraction angle between the front vehicle body and the rear vehicle body, and a brake hydraulic control valve for controlling a hydraulic pressure of the wheel axle brake. , Car turning outside car A turning radius command means for commanding a steering turning radius of the vehicle as a set speed ratio set by a ratio of a shaft rotation speed and a turning inner wheel shaft rotation speed of the vehicle, and a control means, the control means comprising: A speed ratio calculating means for calculating a ratio between the turning outer wheel shaft rotating speed and the turning inner wheel shaft rotating speed based on a signal from the wheel shaft rotating speed detecting means, and a speed ratio calculated by the speed ratio calculating means. And a speed ratio comparison means for comparing the set speed ratio with the speed ratio comparison means, and pressure setting means for outputting the pressure setting signal to the brake hydraulic control valve based on a comparison result by the speed ratio comparison means. Steering device for wheeled vehicles.
指示値を切り換える指示値選択手段を備えたことを特徴
とする、請求項１に記載のホイール車両の操向装置。2. The steering apparatus for a wheeled vehicle according to claim 1, wherein the turning radius commanding means includes an instruction value selecting means for switching a plurality of turning radius instruction values.
部において該前車体と該後車体との相対変位を検出する
ことを特徴とする、請求項１または２に記載のホイール
車両の操向装置。3. The wheel vehicle steering system according to claim 1, wherein the vehicle body refraction angle detection means detects relative displacement between the front vehicle body and the rear vehicle body in the coupling means portion. Device.
該後車体との屈折ストッパの当接を検出することを特徴
とする、請求項１または２に記載のホイール車両の操向
装置。4. The steering apparatus for a wheeled vehicle according to claim 1, wherein the vehicle body refraction angle detection means detects contact between refraction stoppers of the front vehicle body and the rear vehicle body. .
エータの伸縮を検出することを特徴とする、請求項１ま
たは２に記載のホイール車両の操向装置。5. The steering apparatus for a wheel vehicle according to claim 1, wherein the vehicle body refraction angle detection means detects expansion / contraction of the actuator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP02747396A JP3198402B2 (en) | 1996-02-15 | 1996-02-15 | Wheel vehicle steering system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP02747396A JP3198402B2 (en) | 1996-02-15 | 1996-02-15 | Wheel vehicle steering system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH09221059A true JPH09221059A (en) | 1997-08-26 |
| JP3198402B2 JP3198402B2 (en) | 2001-08-13 |
Family
ID=12222093
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP02747396A Expired - Fee Related JP3198402B2 (en) | 1996-02-15 | 1996-02-15 | Wheel vehicle steering system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3198402B2 (en) |
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| JP2009284712A (en) * | 2008-05-26 | 2009-12-03 | Tcm Corp | Body bending vehicle for industrial use |
| WO2011149069A1 (en) * | 2010-05-27 | 2011-12-01 | 日立建機株式会社 | Wheel loader |
| JP2011245988A (en) * | 2010-05-27 | 2011-12-08 | Hitachi Constr Mach Co Ltd | Wheel loader |
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