JPH09227100A - Method for changing manned vehicle to automatic steering - Google Patents
Method for changing manned vehicle to automatic steeringInfo
- Publication number
- JPH09227100A JPH09227100A JP8067069A JP6706996A JPH09227100A JP H09227100 A JPH09227100 A JP H09227100A JP 8067069 A JP8067069 A JP 8067069A JP 6706996 A JP6706996 A JP 6706996A JP H09227100 A JPH09227100 A JP H09227100A
- Authority
- JP
- Japan
- Prior art keywords
- steering
- handle
- automatic
- manual
- control
- 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
- 238000000034 method Methods 0.000 title claims description 3
- 239000003638 chemical reducing agent Substances 0.000 description 7
- 235000014676 Phragmites communis Nutrition 0.000 description 6
- 238000010586 diagram Methods 0.000 description 2
Landscapes
- Steering Control In Accordance With Driving Conditions (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Steering Controls (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、自動操舵から手動操
舵、あるいは手動操舵から自動操舵へと、簡単、かつ、
容易に切り替えられる有人車の自動操舵切替方法に関す
るものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is simple and easy, from automatic steering to manual steering, or from manual steering to automatic steering.
The present invention relates to an automatic steering switching method for manned vehicles that can be easily switched.
【０００２】[0002]
【従来の技術】従来の有人オートガイダンス車には、車
体上部に回動可能に配置した操舵用ハンドルと操舵用モ
ータを取り付けた操舵用減速機との間にリンクされたシ
ャフトを設け、該ハンドルのシャフト部に電磁クラッチ
を設ける構成としていた。2. Description of the Related Art A conventional manned auto-guidance vehicle is provided with a shaft linked between a steering handle rotatably arranged on the upper part of a vehicle body and a steering speed reducer having a steering motor. An electromagnetic clutch is provided on the shaft portion of the.
【０００３】[0003]
【発明が解決しようとする課題】有人車のため自動操舵
運転時も身体保持のためステアリングハンドルを持つ必
要があった。この場合、手や指が怪我をしないような構
成とする必要があったことと、電磁クラッチを設けて、
自動操舵時には操舵用ハンドルが操舵時に共に回転しな
いようにする構成としていたが部品点数が増加し、狭い
車体では配置が困難となるという課題があった。Since it is a manned vehicle, it is necessary to have a steering handle for holding the body even during automatic steering operation. In this case, it was necessary to configure the hand and fingers so that they would not get injured, and by providing an electromagnetic clutch,
In the automatic steering, the steering handle is designed so as not to rotate together with the steering, but the number of parts increases and it is difficult to arrange the steering wheel in a narrow vehicle body.
【０００４】[0004]
【課題を解決するための手段】本発明は、運転者が乗り
込み運転する有人車に操舵制御が手動と自動に相互に切
り替えることができる制御装置を付加した有人オートガ
イダンス車において、操舵制御が手動と自動に相互に切
り替えることができる切り替え手段が、操舵ハンドルの
近傍で、かつ、手や腕が緩衝しない位置に取手あるいは
ノブを設け、該取手あるいはノブを握ると作動するスイ
ッチで手動から自動へと操舵制御を切り替えることによ
り、上述の課題を解決したものである。SUMMARY OF THE INVENTION According to the present invention, in a manned auto-guidance vehicle in which a control device capable of switching between manual and automatic steering control is added to a manned vehicle driven by a driver, the steering control is manually operated. A switching means that can automatically switch between and is provided with a handle or knob in the vicinity of the steering handle and at a position where the hand or arm does not interfere, and a switch that operates when gripping the handle or knob switches from manual to automatic. By switching between the steering control and the steering control, the above problem is solved.
【０００５】[0005]
【実施例】本発明の実施例を図１、図２および図３に基
づき説明すると、１はフオークリフト、２はフオークリ
フト１の車体、３は車体２の前方に取り付けたマスト装
置、４は該マスト装置３に沿って上下動するリフトブラ
ケット、５は該リフトブラケット４の前面の上部ラック
（後述する。）に噛み合って水平移動する可動頭部、６
は該可動頭部５に吊り下げられ、旋回する一対のフオー
ク、７はラックで、リフトブラケット４の前面上部と下
部にそれぞれ歯面を前方に向け固定され、上方に位置す
るラック７を上部ラック７Ａ、下部に位置するラック７
を下部ラック７Ｂとし、８は後述する操舵ハンドル１１
の近傍で、かつ、手や腕が緩衝しない位置に固定した取
手、９は該取手８に配置された自動・手動切り替えるた
めのスイッチ（本実施例では、以下リ−ドスイッチとい
う。）、１０は該リードスイッチ９の操作で手動から自
動へと切り替え、所定の自動操舵制御を行わせる操舵制
御器である。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to FIGS. 1, 2 and 3. 1 is a forklift, 2 is a vehicle body of the forklift 1, 3 is a mast device mounted in front of the vehicle body, 4 is a A lift bracket 5 that moves up and down along the mast device 3 includes a movable head 6 that horizontally moves by engaging with an upper rack (described later) on the front surface of the lift bracket 4.
Is a pair of forks that are suspended and swiveled by the movable head 5, and 7 is a rack, which is fixed to the upper and lower front surfaces of the lift bracket 4 with its tooth surfaces facing forward, and the rack 7 located above is the upper rack. 7A, rack 7 located at the bottom
Is a lower rack 7B, and 8 is a steering handle 11 to be described later.
A handle fixed in the vicinity of the handle and at a position where the hand or arm does not buffer, 9 is a switch arranged on the handle 8 for automatic / manual switching (hereinafter referred to as a lead switch in the present embodiment), 10 Is a steering controller that switches from manual to automatic by operating the reed switch 9 to perform predetermined automatic steering control.
【０００６】１１は車体２の上面に回動自在に装着され
た操舵用ハンドル、１３は該操舵用ハンドル１１を操作
することによって、左右方向へ旋回する操舵兼駆動輪、
１４は走行用モータ１２からの回転力を該操舵兼駆動輪
に伝達する走行用減速機、１５は該走行用減速機１４の
外周に固定された第一歯車、１６は該第一歯車１５に噛
み合い、かつ、操舵用モータ１９に連結した操舵用減速
機１８の出力軸１７に固定された第二歯車、２６は上記
操舵用ハンドル１１の下方で突出した軸に固定された第
一チェーンスプロケット、２４は該第一チェーンスプロ
ケット２６とチェーン２５にて連結された第二チェーン
スプロケット、２１はトルクセンサで、一方の入力軸２
３には上記第二第二チェーンスプロケット２４および他
方の出力軸２２にはジョイントバー２０の一端を連結
し、該ジョイントバー２０の他端は上記減速機１８に連
結している。Reference numeral 11 designates a steering handle rotatably mounted on the upper surface of the vehicle body 2. Reference numeral 13 designates a steering / driving wheel that turns left and right by operating the steering handle 11.
Reference numeral 14 is a traveling speed reducer that transmits the rotational force from the traveling motor 12 to the steering and driving wheels, 15 is a first gear fixed to the outer periphery of the traveling speed reducer 14, and 16 is a first gear 15. A second gear that meshes with and is fixed to the output shaft 17 of the steering speed reducer 18 that is connected to the steering motor 19, and 26 is a first chain sprocket that is fixed to the shaft protruding below the steering handle 11. Reference numeral 24 is a second chain sprocket connected to the first chain sprocket 26 by a chain 25, and 21 is a torque sensor.
3, the second second chain sprocket 24 and the other output shaft 22 are connected to one end of a joint bar 20, and the other end of the joint bar 20 is connected to the speed reducer 18.
【０００７】図３は、電気ブロック図で、ステアリング
制御器１０は、手動操作にて制御を行う電気パワーステ
アリング部１０Ａと自動操舵・制御を行うオート部１０
Ｂのいずれか一方の制御信号が印加されて、操舵用モー
タ１９を駆動制御するモータ駆動回路１０Ｃからなる。FIG. 3 is an electric block diagram. The steering controller 10 includes an electric power steering unit 10A for performing manual control and an automatic unit 10 for performing automatic steering / control.
The motor drive circuit 10C is configured to drive and control the steering motor 19 by applying one of the B control signals.
【０００８】上記電気パワーステアリング部１０Ａには
ＮＯＴ素子３０を介して、オート部１０Ｂには直接的に
リードスイッチ９の信号がそれぞれ伝達される。A signal from the reed switch 9 is directly transmitted to the electric power steering section 10A through the NOT element 30 and to the automatic section 10B.
【０００９】取手８に手をかけると、リードスイッチ９
がＯＮとなり、電気パワーステアリング部１０Ａに接続
したＮＯＴ素子３０の出力がＬとなり、他方、オート部
１０Ｂにリードスイッチ９からの信号が直接印加して、
自動操舵・走行する。When the handle 8 is reached, the reed switch 9
Is turned on, the output of the NOT element 30 connected to the electric power steering unit 10A becomes L, while the signal from the reed switch 9 is directly applied to the auto unit 10B,
Automatically steer and drive.
【００１０】他方、取手８から手を離すと、リードスイ
ッチ９はＯＦＦとなり、パワーステアリング部１０Ａに
接続したＮＯＴ素子３０の出力がＨとなって、パワース
テアリング部１０Ａにリードスイッチ９からの信号が直
接印加して、手動によって操舵をおこなう。On the other hand, when the handle 8 is released, the reed switch 9 is turned off, the output of the NOT element 30 connected to the power steering section 10A becomes H, and the signal from the reed switch 9 is sent to the power steering section 10A. Direct steering is applied and steering is performed manually.
【００１１】[0011]
【発明の効果】本発明は、上述のように、取手を握るか
否かで、自動操舵か手動操舵を選択できる簡単な構成で
あり、かつ、取手に手をかけていると、操舵用ハンドル
の方には手が届かず、怪我をすることもない。As described above, the present invention has a simple structure in which automatic steering or manual steering can be selected depending on whether the handle is gripped or not. Is out of reach and is not injured.
【図１】 本発明装置を装着したフオークリフトの側面
図を示す。FIG. 1 shows a side view of a forklift equipped with a device of the present invention.
【図２】 図１の操舵機構を示す側面図である。FIG. 2 is a side view showing the steering mechanism of FIG.
【図３】 本発明装置の電気ブロック図を示す。FIG. 3 shows an electrical block diagram of the device of the present invention.
１ フオークリフト ２ 車体 ３ マスト装置 ４ リフトブラケット ５ 可動頭部 ６ フォ−ク ７ ラック ８ 取手 ９ スイッチ（リ−ドスイツチ） １０ 操舵制御器 １１ 操舵ハンドル １２ 走行用モ−タ １３ 操舵兼駆動輪 １４ 走行用減速機 １８ 操舵用減速機 １９ 操舵用モ−タ 1 fork lift 2 vehicle body 3 mast device 4 lift bracket 5 movable head 6 fork 7 rack 8 handle 9 switch (read switch) 10 steering controller 11 steering wheel 12 running motor 13 steering and driving wheel 14 traveling Speed reducer 18 Steering speed reducer 19 Steering motor
Claims (1)
制御が手動と自動に相互に切り替えることができる制御
装置を付加した有人オートガイダンス車において、操舵
制御が手動と自動に相互に切り替えることができる切り
替え手段が、操舵ハンドルの近傍で、かつ、手や腕が緩
衝しない位置に取手あるいはノブを設け、該取手あるい
はノブを握ると作動するスイッチで手動から自動へと操
舵制御を切り替えることを特徴とする有人車の自動操舵
切替方法。1. A manned auto-guidance vehicle equipped with a control device capable of manually and automatically switching steering control in a manned vehicle driven by a driver, wherein steering control can be switched manually and automatically. The switching means that can be performed is provided with a handle or knob near the steering handle and at a position where the hand or arm does not buffer, and the steering control is switched from manual to automatic with a switch that operates when the handle or knob is gripped. The automatic steering switching method for manned vehicles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP06706996A JP3285486B2 (en) | 1996-02-27 | 1996-02-27 | Automatic steering switching method for manned vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP06706996A JP3285486B2 (en) | 1996-02-27 | 1996-02-27 | Automatic steering switching method for manned vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH09227100A true JPH09227100A (en) | 1997-09-02 |
| JP3285486B2 JP3285486B2 (en) | 2002-05-27 |
Family
ID=13334203
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP06706996A Expired - Fee Related JP3285486B2 (en) | 1996-02-27 | 1996-02-27 | Automatic steering switching method for manned vehicles |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3285486B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2925013A1 (en) * | 2007-12-12 | 2009-06-19 | M L M Soc Par Actions Simplifi | Manually driven handling truck i.e. industrial handling truck, forming device, has guiding module including controlling central associated with screen, and unit changing functioning mode of device from manual to automatic and vice versa |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103359659A (en) * | 2013-06-24 | 2013-10-23 | 安徽威玛重型机械制造有限公司 | Control system of fork truck |
-
1996
- 1996-02-27 JP JP06706996A patent/JP3285486B2/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2925013A1 (en) * | 2007-12-12 | 2009-06-19 | M L M Soc Par Actions Simplifi | Manually driven handling truck i.e. industrial handling truck, forming device, has guiding module including controlling central associated with screen, and unit changing functioning mode of device from manual to automatic and vice versa |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3285486B2 (en) | 2002-05-27 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20020225 |
|
| LAPS | Cancellation because of no payment of annual fees |