CA2526958C - Steering system for vehicles - Google Patents
Steering system for vehicles Download PDFInfo
- Publication number
- CA2526958C CA2526958C CA2526958A CA2526958A CA2526958C CA 2526958 C CA2526958 C CA 2526958C CA 2526958 A CA2526958 A CA 2526958A CA 2526958 A CA2526958 A CA 2526958A CA 2526958 C CA2526958 C CA 2526958C
- Authority
- CA
- Canada
- Prior art keywords
- steering
- operating element
- vehicle
- transmitter
- main direction
- 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.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/1509—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels with different steering modes, e.g. crab-steering, or steering specially adapted for reversing of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/04—Hand wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/12—Hand levers
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Power Steering Mechanism (AREA)
- Vehicle Body Suspensions (AREA)
- Mechanical Control Devices (AREA)
- Steering Controls (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
This invention relates to a steering system for vehicles with three independently steerable wheels and a steering setpoint transmitter steering the wheels by means of a selectable steering program, for instance a steering wheel, and beside the steering setpoint transmitter there is provided an operating element for shifting the steering line and an operating element for controlling the main direction of the vehicle.
Description
Steering System for Vehicles This invention relates to a steering system for vehicles with at least three independently steerable wheels and a steering setpoint transmitter steering the wheels by means of a selectable steering program, for instance a steering wheel.
=
A wide variety of flexible steering systems for wheel-bound vehicles are known already. While usual passenger cars and trucks generally have a front axle steering and rigid rear wheels, special vehicles are known for special applications, which achieve a very high maneuverability in that steering systems with different, firmly defined steering programs can be selected. Such special vehicles, which must have a particularly good maneuverability, are for instance working machines, as they are used for instance in the aluminum and steel industries, or floor conveyors for in-house transport. The same can include for instance crucible charging vehicles, trough charging machines, scooping vehicles, crust breakers, anode transport vehicles, four-way lift trucks, tool change cars, vehicles for container handling, airfield vehicles and any other special vehicles. For such special vehicles, a rather easy and flexible steerability both inside the factory and on the company grounds should be provided. Here, but also in any other vehicles, for instance transport vehicles, construction-site vehicles and other wheel-operated special machines, it is possible to choose between defined steering programs to achieve a high maneuverability.
An example for the possibility to select such steering programs in a special vehicle is shown in Figure 1. In Figure 1, steering programs are shown schematically and by means of representations 12, where the respective wheel positions are shown.
Reference numeral 10 each designates keypads of an operating terminal, by means of which the driver can select the respective steering programs.
=
A wide variety of flexible steering systems for wheel-bound vehicles are known already. While usual passenger cars and trucks generally have a front axle steering and rigid rear wheels, special vehicles are known for special applications, which achieve a very high maneuverability in that steering systems with different, firmly defined steering programs can be selected. Such special vehicles, which must have a particularly good maneuverability, are for instance working machines, as they are used for instance in the aluminum and steel industries, or floor conveyors for in-house transport. The same can include for instance crucible charging vehicles, trough charging machines, scooping vehicles, crust breakers, anode transport vehicles, four-way lift trucks, tool change cars, vehicles for container handling, airfield vehicles and any other special vehicles. For such special vehicles, a rather easy and flexible steerability both inside the factory and on the company grounds should be provided. Here, but also in any other vehicles, for instance transport vehicles, construction-site vehicles and other wheel-operated special machines, it is possible to choose between defined steering programs to achieve a high maneuverability.
An example for the possibility to select such steering programs in a special vehicle is shown in Figure 1. In Figure 1, steering programs are shown schematically and by means of representations 12, where the respective wheel positions are shown.
Reference numeral 10 each designates keypads of an operating terminal, by means of which the driver can select the respective steering programs.
- 2 -Corresponding to the choice of the selected steering program, the steered axles of the vehicle refer to the neutral position of the newly chosen steering program.
Thereafter, the vehicle can be steered by means of the employed steering setpoint transmitter, for instance a steering wheel, corresponding to the active steering program. In Figure 1, the so-called longitudinal programs are shown on the left, and the transverse programs are shown on the right. This means that in the case of the longitudinal program, all wheels are positioned straight ahead, the straight orientation being represented here by one direction of arrow in the representation 12. In the transverse program, the wheels are rotated by 900, so that the vehicle is driving transverse to the longitudinal axis in the direction of arrow in accordance with the representation 12' in Figure 1. Beside this fixed program, an all-wheel steering can be set on the basis of the longitudinal program or the transverse program. Another alternative is offered by the diagonal steering or the front-axle or rear-axle steering, which is shown here as well. In addition, special programs such as a circular driving program, a parking program or an automatic driving program can be selected in accordance with the prior art.
In a vehicle with a known steering system with fixed steering programs, a number of individual steps must be taken, in order to, for instance, dock to a transfer station transverse to the normal longitudinal driving direction. Before entering the docking station, the vehicle driving in longitudinal direction must first be stopped.
When the vehicle has stopped, the steering program for transverse driving will then be chosen. Subsequently, one must wait until the steered axles have been reoriented corresponding to the control commands. Subsequently, the transfer station is approached by driving in transverse direction. If corrections are necessary when approaching the transfer station, the steering program must possibly be changed again. This is a comparatively complex and uncomfortable steering system.
Therefore, it is the object of the invention to create a multi-wheel steering system for wheeled vehicles, which should be rather flexible to position.
In accordance with the invention, this object is solved by the combination of features of claim 1. Accordingly, there is created a steering system for vehicles with a plurality of steered wheels, in which beside a steering setpoint transmitter for the wheels, for instance a steering wheel, there is additionally provided an
Thereafter, the vehicle can be steered by means of the employed steering setpoint transmitter, for instance a steering wheel, corresponding to the active steering program. In Figure 1, the so-called longitudinal programs are shown on the left, and the transverse programs are shown on the right. This means that in the case of the longitudinal program, all wheels are positioned straight ahead, the straight orientation being represented here by one direction of arrow in the representation 12. In the transverse program, the wheels are rotated by 900, so that the vehicle is driving transverse to the longitudinal axis in the direction of arrow in accordance with the representation 12' in Figure 1. Beside this fixed program, an all-wheel steering can be set on the basis of the longitudinal program or the transverse program. Another alternative is offered by the diagonal steering or the front-axle or rear-axle steering, which is shown here as well. In addition, special programs such as a circular driving program, a parking program or an automatic driving program can be selected in accordance with the prior art.
In a vehicle with a known steering system with fixed steering programs, a number of individual steps must be taken, in order to, for instance, dock to a transfer station transverse to the normal longitudinal driving direction. Before entering the docking station, the vehicle driving in longitudinal direction must first be stopped.
When the vehicle has stopped, the steering program for transverse driving will then be chosen. Subsequently, one must wait until the steered axles have been reoriented corresponding to the control commands. Subsequently, the transfer station is approached by driving in transverse direction. If corrections are necessary when approaching the transfer station, the steering program must possibly be changed again. This is a comparatively complex and uncomfortable steering system.
Therefore, it is the object of the invention to create a multi-wheel steering system for wheeled vehicles, which should be rather flexible to position.
In accordance with the invention, this object is solved by the combination of features of claim 1. Accordingly, there is created a steering system for vehicles with a plurality of steered wheels, in which beside a steering setpoint transmitter for the wheels, for instance a steering wheel, there is additionally provided an
- 3 -operating element for continuously shifting the steering line and an operating element for continuously controlling the main direction of the vehicle. By means of this combination of features, an intuitive steering is created, which can completely do without firmly defined steering programs. With the corresponding continuously adjustable preset setpoint, a higher flexibility of the steering system is achieved.
According to one aspect of the present invention, there is provided a steering system for a vehicle (20) with at least three independently steerable wheels (22) and a steering setpoint transmitter (1) steering the wheels (22) by means of a selectable steering program, wherein the steered axles of the steerable wheels (22) are aligned with a steering pole (26) which can be shifted along a steering line (24) in the middle of the vehicle (20) by operating the steering setpoint transmitter (1), wherein further to the steering setpoint transmitter (1) the system comprises an operating element (2) for continuously shifting the steering line (24) and an operating element (3) for continuously controlling a main direction of the vehicle (20).
The advantage of the intuitive steering consists in the floating transition between the directions of movement and forms of movement of the vehicle. Steering program changes, which complicate the operation and retard operational sequences, are not necessary. In the case of fixed steering programs, an experienced driver should usually be employed, in order to be able to choose the best steering program each for the actual situation. With the intuitive steering in accordance with the present invention, the driver now performs the desired movement of the vehicle by using the operating elements while driving, and the vehicle directly follows the respectively preset movement. After a short period of settling in, the driver thereby is able to steer the vehicle more safely, as the driver instinctively uses the operating elements in a correct way. In the case of a wrong direction of the vehicle, he is able to intuitively correctly steer the vehicle in parallel via the steering setpoint transmitter, =
- 3a ¨
the operating element for continuously shifting the steering line and the operating element for continuously controlling the main direction of the vehicle.
Complicated maneuvers of the vehicle or a complex conversion of the steering programs during standstill of the vehicle no longer are necessary. In particular, the abrasion of the wheel surfaces on the ground while steering during standstill is eliminated, as by means of the steering system of the invention steering usually is effected while driving.
For docking to a transfer station while driving in longitudinal direction by means of the steering system in accordance with the invention, the following operational sequence is necessary: The vehicle is driving in longitudinal direction towards the transfer station. As soon as the entrance to the transfer station is reached, the main direction of the vehicle will be adjusted to the transfer station, and here, the main direction may approximately correspond to the transverse direction. During this readjustment, the vehicle need not be stopped, as by means of the operating element for continuously controlling the main direction, this main direction can be readjusted continuously while driving. Thereupon, the vehicle now moves towards the transfer station. While approaching the transfer station, the orientation of the
According to one aspect of the present invention, there is provided a steering system for a vehicle (20) with at least three independently steerable wheels (22) and a steering setpoint transmitter (1) steering the wheels (22) by means of a selectable steering program, wherein the steered axles of the steerable wheels (22) are aligned with a steering pole (26) which can be shifted along a steering line (24) in the middle of the vehicle (20) by operating the steering setpoint transmitter (1), wherein further to the steering setpoint transmitter (1) the system comprises an operating element (2) for continuously shifting the steering line (24) and an operating element (3) for continuously controlling a main direction of the vehicle (20).
The advantage of the intuitive steering consists in the floating transition between the directions of movement and forms of movement of the vehicle. Steering program changes, which complicate the operation and retard operational sequences, are not necessary. In the case of fixed steering programs, an experienced driver should usually be employed, in order to be able to choose the best steering program each for the actual situation. With the intuitive steering in accordance with the present invention, the driver now performs the desired movement of the vehicle by using the operating elements while driving, and the vehicle directly follows the respectively preset movement. After a short period of settling in, the driver thereby is able to steer the vehicle more safely, as the driver instinctively uses the operating elements in a correct way. In the case of a wrong direction of the vehicle, he is able to intuitively correctly steer the vehicle in parallel via the steering setpoint transmitter, =
- 3a ¨
the operating element for continuously shifting the steering line and the operating element for continuously controlling the main direction of the vehicle.
Complicated maneuvers of the vehicle or a complex conversion of the steering programs during standstill of the vehicle no longer are necessary. In particular, the abrasion of the wheel surfaces on the ground while steering during standstill is eliminated, as by means of the steering system of the invention steering usually is effected while driving.
For docking to a transfer station while driving in longitudinal direction by means of the steering system in accordance with the invention, the following operational sequence is necessary: The vehicle is driving in longitudinal direction towards the transfer station. As soon as the entrance to the transfer station is reached, the main direction of the vehicle will be adjusted to the transfer station, and here, the main direction may approximately correspond to the transverse direction. During this readjustment, the vehicle need not be stopped, as by means of the operating element for continuously controlling the main direction, this main direction can be readjusted continuously while driving. Thereupon, the vehicle now moves towards the transfer station. While approaching the transfer station, the orientation of the
- 4 -vehicle now can simply be influenced by means of the steering setpoint transmitter, i.e. for instance by means of a steering wheel and the operating element for continuously shifting the steering line, such that no further correction is necessary for exactly reaching a certain position at the transfer station.
Particularly advantageous aspects of the invention can be taken from the sub-claims following the main claim.
Accordingly, the steering setpoint transmitter, as already known per se in the prior art, can be a steering wheel, a joystick, an angle-of-rotation transmitter (e.g.
potentiometer, Hall transmitter, etc.) or an encoder.
Advantageously, the operating element for shifting the steering line can be a joystick, a sliding controller (e.g. sliding potentiometer, linear transmitter, etc.), a toggle switch or a rocker key. In the case of the toggle switch, however, only predetermined steering lines are adjustable.
The operating element for controlling the main direction of the vehicle can consist of a rotatable element, whose position can be determined via a rotational-angle transmitter. For certain driving directions, lock-in positions can advantageously be preset for the angle transmitter. Such driving directions can include, for instance, straight-ahead driving, 900 transverse driving into the one direction or -900 transverse driving into the opposite direction. Alternatively, the operating element can also consist of a joystick, which remains in the chosen direction and whose position is recorded by a measuring device.
Quite particularly advantageously, the operating element for shifting the steering line and the operating element for controlling the main direction can be combined in a single operating element. By means of this single operating element, the driver of the vehicle will then be able to easily shift the steering line continuously with one hand and at the same time drive into the main direction.
In accordance with one embodiment of the invention, the control commands of the steering setpoint transmitter, of the operating element for shifting the steering line and of the operating element for controlling the main direction of the vehicle can
Particularly advantageous aspects of the invention can be taken from the sub-claims following the main claim.
Accordingly, the steering setpoint transmitter, as already known per se in the prior art, can be a steering wheel, a joystick, an angle-of-rotation transmitter (e.g.
potentiometer, Hall transmitter, etc.) or an encoder.
Advantageously, the operating element for shifting the steering line can be a joystick, a sliding controller (e.g. sliding potentiometer, linear transmitter, etc.), a toggle switch or a rocker key. In the case of the toggle switch, however, only predetermined steering lines are adjustable.
The operating element for controlling the main direction of the vehicle can consist of a rotatable element, whose position can be determined via a rotational-angle transmitter. For certain driving directions, lock-in positions can advantageously be preset for the angle transmitter. Such driving directions can include, for instance, straight-ahead driving, 900 transverse driving into the one direction or -900 transverse driving into the opposite direction. Alternatively, the operating element can also consist of a joystick, which remains in the chosen direction and whose position is recorded by a measuring device.
Quite particularly advantageously, the operating element for shifting the steering line and the operating element for controlling the main direction can be combined in a single operating element. By means of this single operating element, the driver of the vehicle will then be able to easily shift the steering line continuously with one hand and at the same time drive into the main direction.
In accordance with one embodiment of the invention, the control commands of the steering setpoint transmitter, of the operating element for shifting the steering line and of the operating element for controlling the main direction of the vehicle can
- 5 -each be supplied to a control unit, which determines the control commands for the steering means of the wheels and forwards the same to the steering means.
Further features, details and advantages of the invention can be taken from an embodiment shown in the drawing. Figures 2 to 8 show a simple embodiment in a schematic representation, and in each of these Figures the different steering possibilities of the steering system will be explained.
Figure 2 schematically shows the vehicle 20 with four wheels 22 separately steerable by means of steering means which are not illustrated here in greater detail. In accordance with the invention, any number of wheels 22 can be steered with the steering system of the invention. The intuitive steering in accordance with the invention is controlled by means of three operating elements. This is on the one hand the steering setpoint transmitter 1 in the form of a steering wheel.
Beside the same, there is shown an operating element for shifting the steering line 2 in the form of a sliding potentiometer. The same is mounted in a rotatable disk 3, which is the operating element for continuously controlling the main direction of the vehicle. This rotatable mounting plate includes an angle transmitter (not shown in the drawing) performing an absolute measurement, which detects the position of this device. There are provided lock-in positions, which are not shown in detail here, but are indicated by the arrows 4, and to which corresponds the preselection of the basic setting at 00, i.e. for driving straight ahead in longitudinal direction, at +90 , i.e. for driving straight ahead in transverse direction to the right, and at -90 , i.e. for driving straight ahead in transverse direction to the left. The respective operation of the individual operating elements will be explained with reference to the following Figures.
In the representation as shown in Figure 3, cornering of the vehicle 20 is preset by means of the steering wheel 1. As long as the operating elements 3 and 4 remain in their neutral position, an all-wheel steering is obtained, which has a steering line 24 in the middle of the vehicle 20. In contrast to changing the other operating elements, the steering wheel 1 can be used for changing the orientation of the vehicle, i.e. the vehicle can be turned. Rotating the steering wheel shifts the steering pole 26 along the steering line and produces cornering with the actual steering pole as center of the curve. All steered axles of the individually steerable wheels are aligned with this steering pole 26. When the steering wheel is =
Further features, details and advantages of the invention can be taken from an embodiment shown in the drawing. Figures 2 to 8 show a simple embodiment in a schematic representation, and in each of these Figures the different steering possibilities of the steering system will be explained.
Figure 2 schematically shows the vehicle 20 with four wheels 22 separately steerable by means of steering means which are not illustrated here in greater detail. In accordance with the invention, any number of wheels 22 can be steered with the steering system of the invention. The intuitive steering in accordance with the invention is controlled by means of three operating elements. This is on the one hand the steering setpoint transmitter 1 in the form of a steering wheel.
Beside the same, there is shown an operating element for shifting the steering line 2 in the form of a sliding potentiometer. The same is mounted in a rotatable disk 3, which is the operating element for continuously controlling the main direction of the vehicle. This rotatable mounting plate includes an angle transmitter (not shown in the drawing) performing an absolute measurement, which detects the position of this device. There are provided lock-in positions, which are not shown in detail here, but are indicated by the arrows 4, and to which corresponds the preselection of the basic setting at 00, i.e. for driving straight ahead in longitudinal direction, at +90 , i.e. for driving straight ahead in transverse direction to the right, and at -90 , i.e. for driving straight ahead in transverse direction to the left. The respective operation of the individual operating elements will be explained with reference to the following Figures.
In the representation as shown in Figure 3, cornering of the vehicle 20 is preset by means of the steering wheel 1. As long as the operating elements 3 and 4 remain in their neutral position, an all-wheel steering is obtained, which has a steering line 24 in the middle of the vehicle 20. In contrast to changing the other operating elements, the steering wheel 1 can be used for changing the orientation of the vehicle, i.e. the vehicle can be turned. Rotating the steering wheel shifts the steering pole 26 along the steering line and produces cornering with the actual steering pole as center of the curve. All steered axles of the individually steerable wheels are aligned with this steering pole 26. When the steering wheel is =
- 6 -positioned straight ahead, the steering pole is infinitely far away from the vehicle.
With increasing steering angle, the steering pole approaches the vehicle more and more from the right or from the left, depending on the steering direction.
In Figure 4, the steering wheel 1 and the operating element for continuously shifting the steering line 24 are varied, the steering geometry of the vehicle being influenced by the shift in the steering line, in that the steering line 24 of the steering can be shifted forward and backward, and in accordance with the present invention shifting is effected in an infinitely variable way by adjusting the operating element 2. When the steering line 24 now is shifted forward, as shown in Figure 4, the influence of the front wheels on the steering is decreasing more and more.
With a maximum shift in forward direction, i.e. the limit value, which is exactly shown in Figure 4, the front wheels are rigid. With this setting, the vehicle can for instance easily be driven forward and into a narrow corridor, or can stably be driven rearward at high speed.
When the steering line is in the neutral position, as shown again in Figure 5, an all-wheel steering is obtained, in which the steering angles of the front and rear wheels are symmetrical. With this setting, the smallest curve radius and thus the greatest maneuverability are achieved. With the setting as shown in Figure 5, the operating element for controlling the main direction 3 likewise still is in the neutral position. When the steering line now is shifted to the rear by means of the operating element for continuously shifting the steering line 24, the influence of the rear wheels on the steering is decreasing more and more. With a maximum shift to the rear, as it is shown in Figure 6, the rear wheels are rigid. With this setting, the vehicle can stably be driven forward at high speed corresponding to a passenger car and can easily be driven rearward into a narrow corridor.
With reference to Figure 7, the control of the main direction can now be explained in detail. For controlling the main direction, the operating element for continuously controlling the main direction 3 is used. The adjustability of this rotatable plate is illustrated by means of the double arrow a. The respective position of the plate 3, as it is adjusted by the driver, is detectable by a non-illustrated angle transmitter performing an absolute measurement, as has already been described above. This adjustable main direction is set with the steerable wheels 22, as is illustrated by means of the double arrows b directly in the vicinity of the wheels 22 in Figure 7.
With increasing steering angle, the steering pole approaches the vehicle more and more from the right or from the left, depending on the steering direction.
In Figure 4, the steering wheel 1 and the operating element for continuously shifting the steering line 24 are varied, the steering geometry of the vehicle being influenced by the shift in the steering line, in that the steering line 24 of the steering can be shifted forward and backward, and in accordance with the present invention shifting is effected in an infinitely variable way by adjusting the operating element 2. When the steering line 24 now is shifted forward, as shown in Figure 4, the influence of the front wheels on the steering is decreasing more and more.
With a maximum shift in forward direction, i.e. the limit value, which is exactly shown in Figure 4, the front wheels are rigid. With this setting, the vehicle can for instance easily be driven forward and into a narrow corridor, or can stably be driven rearward at high speed.
When the steering line is in the neutral position, as shown again in Figure 5, an all-wheel steering is obtained, in which the steering angles of the front and rear wheels are symmetrical. With this setting, the smallest curve radius and thus the greatest maneuverability are achieved. With the setting as shown in Figure 5, the operating element for controlling the main direction 3 likewise still is in the neutral position. When the steering line now is shifted to the rear by means of the operating element for continuously shifting the steering line 24, the influence of the rear wheels on the steering is decreasing more and more. With a maximum shift to the rear, as it is shown in Figure 6, the rear wheels are rigid. With this setting, the vehicle can stably be driven forward at high speed corresponding to a passenger car and can easily be driven rearward into a narrow corridor.
With reference to Figure 7, the control of the main direction can now be explained in detail. For controlling the main direction, the operating element for continuously controlling the main direction 3 is used. The adjustability of this rotatable plate is illustrated by means of the double arrow a. The respective position of the plate 3, as it is adjusted by the driver, is detectable by a non-illustrated angle transmitter performing an absolute measurement, as has already been described above. This adjustable main direction is set with the steerable wheels 22, as is illustrated by means of the double arrows b directly in the vicinity of the wheels 22 in Figure 7.
- 7 -Figure 8 now illustrates by way of example the use of all three operating elements, i.e. the steering wheel 1, the operating element for continuously shifting the steering line 2 and the operating element for continuously controlling the main direction of the vehicle 3. The adjustment of the main direction here corresponds to a rotation of the steering line 24 including the steering pole 26 about the vehicle center 28.
Claims (8)
1. A steering system for a vehicle (20) with at least three independently steerable wheels (22) and a steering setpoint transmitter (1) steering the wheels (22) by means of a selectable steering program, wherein the steered axles of the steerable wheels (22) are aligned with a steering pole (26) which can be shifted along a steering line (24) in the middle of the vehicle (20) by operating the steering setpoint transmitter (1), wherein further to the steering setpoint transmitter (1) the system comprises an operating element (2) for continuously shifting the steering line (24) and an operating element (3) for continuously controlling a main direction of the vehicle (20).
2. The steering system as claimed in claim 1, characterized in that the steering setpoint transmitter is a steering wheel, a joystick, an angle-of-rotation transmitter, or an encoder.
3. The steering system as claimed in claim 1 or 2, characterized in that the operating element for shifting the steering line is a second joystick, a sliding controller, a toggle switch or a rocker key.
4. The steering system as claimed in any one of claims 1 to 3, characterized in that the operating element for controlling the main direction of the vehicle consists of a rotatable element whose position can be determined via an angle transmitter.
5. The steering system as claimed in claim 4, characterized in that for certain driving directions there are provided lock-in positions for the angle transmitter.
6. The steering system as claimed in any one of claims 1 to 5, characterized in that the operating element for shifting the steering line and the operating element for controlling the main direction are combined in one operating element.
7. The steering system as claimed in any one of claims 1 to 3, characterized in that the operating element for controlling the main direction of the vehicle consists of a third joystick, which remains in a chosen direction and whose position can be determined via a measuring device.
8. The steering system as claimed in any one of claims 1 to 7, characterized in that control commands of the steering setpoint transmitter, of the operating element for shifting the steering line and of the operating element for controlling the main direction of the vehicle are each supplied to a control unit, which determines the control commands for a steering means of the wheels and forwards the same to the steering means.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102004055282.7 | 2004-11-16 | ||
| DE102004055282A DE102004055282A1 (en) | 2004-11-16 | 2004-11-16 | Steering system for vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2526958A1 CA2526958A1 (en) | 2006-05-16 |
| CA2526958C true CA2526958C (en) | 2013-07-09 |
Family
ID=35520227
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2526958A Active CA2526958C (en) | 2004-11-16 | 2005-11-15 | Steering system for vehicles |
Country Status (7)
| Country | Link |
|---|---|
| EP (1) | EP1657140B1 (en) |
| AT (1) | ATE455691T1 (en) |
| CA (1) | CA2526958C (en) |
| DE (2) | DE102004055282A1 (en) |
| NO (1) | NO330958B1 (en) |
| RU (1) | RU2398703C2 (en) |
| ZA (1) | ZA200509138B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150375782A1 (en) * | 2014-06-30 | 2015-12-31 | Danfoss Power Solutions Aps | Method for controlling steering of a vehicle |
Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IES20070379A2 (en) * | 2007-05-24 | 2008-01-23 | Martin Mcvicar | Three-wheel forklift truck |
| DE102007050824A1 (en) * | 2007-10-24 | 2009-04-30 | ThyssenKrupp Fördertechnik GmbH | Chassis frame for mobile machine e.g. loader and unloader, for bulk material utilized in railway system, has multiple wheels or pairs of wheels that are driven individually or rotatable around vertical axis |
| DE102007060336B4 (en) * | 2007-12-14 | 2014-03-20 | Jungheinrich Aktiengesellschaft | Driving and steering control for a truck |
| DE102009021693A1 (en) * | 2009-05-18 | 2010-11-25 | Mobil Elektronik Gmbh | Method for dynamic steering program change |
| WO2010140237A1 (en) * | 2009-06-03 | 2010-12-09 | トヨタ自動車株式会社 | Vehicle steering device and setting device for the vehicle steering device |
| DE102011118133A1 (en) * | 2011-11-10 | 2013-05-16 | Leopold Kostal Gmbh & Co. Kg | Steering device for a motor vehicle |
| DE102012105831B4 (en) | 2012-07-02 | 2020-06-25 | Hubtex Maschinenbau Gmbh & Co. Kg | Steering system for a vehicle |
| DE102013101115A1 (en) * | 2013-02-05 | 2014-08-21 | Hubtex Maschinenbau Gmbh & Co. Kg | Steering system for a vehicle and multi-way transport vehicle |
| AT14540U1 (en) * | 2013-06-13 | 2016-01-15 | Amst Systemtechnik Gmbh | Highly dynamic self-propelled driving simulator and method for simulating a transition from an unaccelerated to an accelerated state |
| FR3024466B1 (en) * | 2014-08-01 | 2018-05-04 | Ecl | VEHICLE FOR OPERATING CELLS OF AN ALUMINUM PRODUCTION FACILITY, INSTALLATION AND METHOD |
| DE102016214761B4 (en) * | 2016-08-09 | 2020-09-24 | Zf Friedrichshafen Ag | Method of turning a vehicle |
| DE102018105712B4 (en) | 2018-03-13 | 2020-06-04 | Hubtex Maschinenbau Gmbh & Co. Kg | Multi-way transport vehicle |
| FR3082177B1 (en) * | 2018-06-08 | 2021-05-21 | Renault Trucks Defense | AUTOMOTIVE VEHICLE WITH DIRECTIONAL ROLLER TRAINS |
| DE102019109995A1 (en) * | 2019-04-16 | 2020-10-22 | Hubtex Maschinenbau Gmbh & Co. Kg | Steering method and steering system for an industrial truck |
| DE102020119276A1 (en) | 2020-07-22 | 2022-01-27 | A & A Logistik-Equipment GmbH & Co. KG | Support arm stacker, preferably as an AGV |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3198541A (en) * | 1962-06-18 | 1965-08-03 | Clark Equipment Co | Universal steering apparatus |
| DE4203867A1 (en) * | 1992-02-11 | 1993-08-12 | Tdi Gmbh | Steering control for all wheel steering in motor vehicle - has two steering wheels to control steering modes |
| NL1015678C2 (en) * | 2000-07-11 | 2002-01-14 | World Idea B V | Four-wheeled self-propelled vehicle for supporting elevated platform, has independent steerage on all four wheels, for ease of maneuvering |
| US6854554B2 (en) * | 2000-12-15 | 2005-02-15 | Clark Equipment Company | Joystick steering on power machine with filtered steering input |
| DE20107719U1 (en) * | 2001-05-07 | 2002-09-26 | Hubtex Maschb Gmbh & Co Kg | Reusable transport vehicle, in particular reusable forklift |
| US6505695B2 (en) * | 2001-05-18 | 2003-01-14 | Kanazawa Institute Of Technology | Electric vehicle |
| EP1316490B1 (en) * | 2001-11-23 | 2006-03-15 | Conception et Développement Michelin S.A. | Electric steering for vehicles |
| WO2003059720A1 (en) * | 2002-01-15 | 2003-07-24 | Terratronics Pty Ltd | Vehicle with integrated control of steering and wheel speed |
| DE10250764C5 (en) * | 2002-10-29 | 2009-07-02 | Jungheinrich Ag | Method and device for steering an industrial truck |
-
2004
- 2004-11-16 DE DE102004055282A patent/DE102004055282A1/en not_active Ceased
-
2005
- 2005-11-11 ZA ZA200509138A patent/ZA200509138B/en unknown
- 2005-11-14 EP EP05024840A patent/EP1657140B1/en active Active
- 2005-11-14 DE DE502005008903T patent/DE502005008903D1/en active Active
- 2005-11-14 AT AT05024840T patent/ATE455691T1/en not_active IP Right Cessation
- 2005-11-15 RU RU2005135465/11A patent/RU2398703C2/en active
- 2005-11-15 CA CA2526958A patent/CA2526958C/en active Active
- 2005-11-16 NO NO20055426A patent/NO330958B1/en unknown
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150375782A1 (en) * | 2014-06-30 | 2015-12-31 | Danfoss Power Solutions Aps | Method for controlling steering of a vehicle |
| US9707998B2 (en) * | 2014-06-30 | 2017-07-18 | Danfoss Power Solutions Aps | Method for controlling steering of a vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| NO20055426D0 (en) | 2005-11-16 |
| CA2526958A1 (en) | 2006-05-16 |
| DE102004055282A1 (en) | 2006-06-01 |
| NO20055426L (en) | 2006-05-18 |
| ZA200509138B (en) | 2006-10-25 |
| RU2005135465A (en) | 2007-05-27 |
| EP1657140B1 (en) | 2010-01-20 |
| EP1657140A2 (en) | 2006-05-17 |
| RU2398703C2 (en) | 2010-09-10 |
| ATE455691T1 (en) | 2010-02-15 |
| NO330958B1 (en) | 2011-08-29 |
| EP1657140A3 (en) | 2006-06-14 |
| DE502005008903D1 (en) | 2010-03-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA2526958C (en) | Steering system for vehicles | |
| US6827176B2 (en) | Vehicle with offset extendible axles and independent four-wheel steering control | |
| US8469125B2 (en) | System and method for controlling a trailer connected to a vehicle | |
| US10160488B2 (en) | Steering system for a vehicle and steering method for a vehicle | |
| EP1431162B1 (en) | Steering apparatus for electric industrial vehicle | |
| KR19980081199A (en) | Multi-axle steering system | |
| CN102951201B (en) | Motor vehicles | |
| US6793036B1 (en) | Working vehicle with transverse system | |
| CA2429609A1 (en) | Selectable control parameters on power machine | |
| US20200086911A1 (en) | Machine steering angle control system | |
| MX2015002817A (en) | A motorised truck with tiller. | |
| US8306699B2 (en) | Manual tracking adjustment | |
| WO2020183988A1 (en) | Work vehicle | |
| JP4141314B2 (en) | Travel restriction device for omnidirectional steering forklift | |
| CN104995084A (en) | Steering system for a vehicle, and multidirectional transport vehicle | |
| US20220194465A1 (en) | Steering method and steering system for an industrial truck | |
| JPH10119808A (en) | Rear wheel steering control method of tractor | |
| US11420675B2 (en) | Multidirectional transport vehicle | |
| WO1994020325A1 (en) | Drive control device for a vehicle, in particular for a wheelchair, and vehicle provided with such a drive control device | |
| GB2395698A (en) | Drive control of plural steering mode truck | |
| JP3306353B2 (en) | Reach type forklift | |
| KR20200076140A (en) | Travel drive device for working vehicles | |
| KR20240055301A (en) | Sequential steering system for front and rear wheels for stable rotation of a four-wheel steering moving body and method therefor | |
| JPS61215167A (en) | Steering control device of working vehicle | |
| JP2023158461A (en) | work vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EEER | Examination request |