CN86104770A - The homing system of the rapid vehicle of pneumatic tyre steering wheel is housed - Google Patents

Abstract

On the guide rail [8] of the vehicle of the steering wheel that pneumatic tyre [5] are housed [4], be equipped with guide wheel [7], in the homing system of [7 '], when mechanical isolator is provided between steering wheel [4] and the guide wheel [8], the periodic phenomena similar to vibration promptly is eliminated, up to running velocity surpass at least 80 kilometers/time more than, this device makes steering wheel [4] move about by the angle of being scheduled to by relative guide rail [8] preset between steering wheel [4] and guide rail [8].

Description

The present invention relates to be equipped with the homing system that the rapid vehicle of pneumatic tyre steering wheel is used.The pneumatic tyre steering wheel can be a driving wheel, comprise, near steering wheel, follow first bar of the guide wheel of track along vehicle operating direction longitudinal extension with supporting attempt, with the axis of guide is second bar of benchmark along the longitudinal extension opposite with the vehicle operating direction, this second bar also supports a guide wheel, these two strut bars also can be around two substantially horizontal axles vertical shake, and the pivot that is connected in the energy perpendicular rotates the crossbeam of predetermined angular range, this vertical pivots is connected in turntable, and turntable connects a coupling lever at least, the control lever of one of steering wheel of this coupling lever and the above-mentioned axis of guide of conduct guiding is hinged, so that turntable rotates with the control operation bar around the axle of perpendicular, first strut bar is connected to this turntable more rigidly than second strut bar.

It is mainly used in the utility car of roller tire operation.

Particularly, it relates to the homing system of double-form type vehicle, i.e. vehicle guidance is not when vehicle detours around its infrastructure, by the rail system guiding that leads certainly, exactly when vehicle detours voluntarily, is then led by the chaufeur manual handling.

Known to European patent NO 0062370, the automatic guiding system of vehicle is equipped with an axis of guide at least, and this is equipped with the wheel of band pneumatic tyre, and this wheel that has pneumatic tyre can be a driving wheel.

This known system has comprised near the axis of guide, along first alleged sensor bar of vehicle operating direction configuration.This bar be installed in vertical substantially pivot on the turntable bonded assembly, and be connected at least one and be hinged to guiding the pitman of one of them steering wheel.

It also comprises second alleged follow up lever, and follow up lever is installed along the vehicle operating opposite sense with respect to the axis of guide.This second bar is to join with turntable, as long as can horizontally rotate in the predetermined separate ranges of turntable around basic vertical pivots.

This two bar supports one separately and is the guide wheel of following Guide Rail Design.

Native system comprises the device that lifts sensor bar and follow up lever.This two bar is lifted and the axis of guide is connected with a steering wheel, make that vehicle can manual handling.

First bar is to use sensor bar so far always, device with this first bar effect of commutation can carry out bidirectional driving, this bar becomes the follow up lever that can horizontally rotate within the specific limits, rotation is independently and for restriction to turntable or checks horizontally rotating of second bar move about (freedom), second bar is aforesaid follow up lever, and has become sensor bar now.

Yet the shortcoming of this known system is to influence the stability of the characteristic vibration model of axis of guide guide wheel.When speed per hour is the critical speed of 30-60 kilometer, this fugitiveness can occur, and make wheel produce excessive lateral vibration motion.

In this case, the vehicle that moves with this speed is dangerous, no matter the route track that track adopted is straight line or curve, because from track adjusting wheel unfavorable side travel has taken place.

In the load-carrying vehicle that does not have guiding, axis of guide rotation is also constantly benefited from transforming a certain amount of swing by Z-shaped road, because load-carrying situation and guide wheel is alternately rotated to the left or to the right at the perturbation action that the static state of the rotatable parts of wheel and/or dynamicunbalance situation and steering wheel effect cause, the rotatable parts of wheel are drum, wheel rim and pneumatic element.

Therefore, the amplitude of these sawtooth curves and frequency depend on the size of these interference, also depend on simultaneously the resistance size that the hypsokinesis angle by main shaft deflection angle and main shaft is produced and the size of the adsorbed object of this resistance.

For preventing that periodic phenomena from appearring in the unguided axis of guide, essence is the rotation amount that balance is attracted, the physical dimension that stops this class amount and produce control and suspend, and the value that this two aspect can make native system natural frequency value remain on to be different from these interfering frequencies to produce, thereby the resonance effect of preventing, promptly well-known swing.

Also have been found that be necessary to eliminate hinge axis with steering wheel with any gap in another connector that links to each other therewith.

Owing to untimely and jiggly rotation of steering wheel changes into swing.This phenomenon is to aggravate with the interference with certain critical speed.

Described as European patent NO 0062370, have been found that, adding a guide pulley system on guide rail on the axis of guide, can introduce the interference that steering wheel produces periodic phenomena, depend on the state of guide wheel and guide rail and be in the running velocity that speed per hour is higher than 30 kilometers, these periodic phenomenas are same as the swing by the vehicle generation of pilot steering, are if do not take special preventive at least.

The objective of the invention is to prevent generating period phenomenon on the axis of guide that a device of being made guiding usefulness by the guide wheel on the guide rail is housed.

By the solution that the present invention is explained in the claims, be included in the homing system between steering wheel and the guide rail, the move about isolator of an angle of a permission steering wheel, this angle is according to being scheduled to respect to the predetermined adjusting of guide rail.

It is more favourable can be used as the additional of this method with the isolator between the axis of guide and the vehicle hanging object.

The decoupling method of steering wheel and guide rail comprises puts into a union piece at least, this part transmit guide rail required necessarily be adjusted to steering wheel, and one given and regulate the mechanical clearance of moving about with respect to the steering wheel of a predetermined amplitude predetermined adjustment, and this amplitude is enough to eliminate any chatter phenomena of steering wheel.

The decoupling of guiding certainly " guide wheel/rail " system of the axis of guide can be adopted multiple mode.

First method is to comprise at least one guide wheel amplitude of moving about is laterally moved, this amplitude is the cramp bar predetermined adjustment according to the axle that allows rotation relatively, guide wheel transfers at the bearing shell by cramp bar supporting and sliding on this axle between the block, thereby this two block is placed restrictions on operation in a predetermined limit.

Second method is to comprise making the move about side travel of pre-AM depth of the predetermined cramp bar that allows this wheel hub rotation relatively of at least one guide wheel transfer method with the axle head bearing in the wheel hub slip around, axle has straight portion, and in that to place restrictions on operation in aggregates with cramp bar between the block, block is placed restrictions on slip in predetermined scope.

The third method is to comprise that of first pilot bar being had horizontally rotate with respect to turntable moves about, this turntable has a predetermined corner amplitude, this amplitude than the turntable of second bar do level running moving move about little, it is the operation of adopting restriction vehicle operating direction reversing drive, with the gap between the annex that is equipped with on the crossbeam that keeps reversing drive and supporting first cramp bar.

The 4th kind of method be comprise to turntable by moving about that an angular width horizontally rotates, this angular width is transferred to respect to steering wheel by a device that provides, this device allows to slide between coupling lever two ends, this coupling lever is received steering wheel to turntable, places restrictions between the operation block and places restrictions on slip within predetermined scope.

The decoupling of guide wheel and guide rail can successfully be finished by the decoupling of the axis of guide and suspension body.This is to be produced by the suitable lateral suspension body of vehicle, so that reduce the horizontal acceleration in the steering wheel part.

Such lateral suspension advantageously constitutes by being wound with the cylindrical casing that hangs airbag, to keep hanging airbag and their piston almost coaxial.Cylindrical sleeve and place restrictions on the operation block and only allow to place restrictions on cross motion in predetermined value.Substantially horizontal liquid damper reduces swaying.

These isolators provide the advantage of homing system resistance to overturning and reliability.In fact, the risk that when speed per hour is higher than 80 kilometers running velocity, just can occur resonating at least.And then, in homing system, avoided excessive mechanical strees.

By some methods, will show detailed features of the present invention and details in the detailed diagram shown in the specification sheets of the following stated according to the embodiment and placing restrictions on property of the non-example of vehicle homing system of the present invention.

Fig. 1 is the axis of guide and the birds-eye view that is equipped with according to homing system of the present invention with pneumatic tyre steering wheel.

Fig. 2 is the section-drawing of the II-II line along Fig. 1.

Fig. 3 and Fig. 4 are the vertical cross sections of isolator of the cramp bar of guide wheel and described guide wheel.

Fig. 5 is the birds-eye view of relevant turntable pivotally attached cramp bar isolator on crossbeam.

Fig. 6 is the section-drawing with the relative steering wheel isolator of turntable.

Fig. 7 is the vertical cross section with the relative guide rail isolator of guide wheel.

Fig. 8 is the vertical cross section of guide wheel with respect to its cramp bar free oscillation device.

Fig. 9 is the isolator vertical cross sectional section-drawing of the axis of guide with respect to the vehicle hanging body.

In these accompanying drawings, same reference number is represented same or identical part.

As depicted in figs. 1 and 2, there is the rapid vehicle of pneumatic tyre wheel to be equipped with according to homing system of the present invention, this system comprises the axis of guide as a whole by reference number [1] expression, comprises the car body [2] that steering swivel [3] supports the wheel [4] of the pneumatic tyre [5] that has guiding joystick [6] manipulation that is equipped with of each end.On the axle [1] two-way auto-guider is housed, this device comprises guide wheel [7] and [7 '], and guide wheel [7] and [7 '] are to mesh with the rail [8] that vehicle (not shown) orbit longitudinal axis extends.

These guide wheels [7] and [7 '] are that extend on two of vehicle operating possible directions with respect to the axis of guide [1] cramp bar [10] and [10 '] on the axle [9] and [9 '] that is contained in by cramp bar [10] and [10 '] supporting.Cramp bar [10] can be around the vibration vertical with [11 '] of the pivot [11] of basic horizontal with [10 '], this horizontal pivot is by crossbeam [12] and [12 '] supporting, crossbeam [12] and [12 '] can horizontally rotate around basic vertical pivots [13] and [13 '], vertical pivots [13] and [13 '] are supported by turntable, this turntable is done as a whole reference number [14] expression, and turntable is contained on the basic vertical pivots [15] of car body [2] of the axis of guide [1].

This turntable [14] supporting ennation [16], the trochanter [17] of a coupling lever [18] is housed on the ennation [16], this coupling lever [18] is received at least one guiding joystick [6] of at least one wheel [4] to described turntable [14], and these two wheels [4] are directly received two ends of the coupling lever of being adorned with trochanter [20] on guiding joystick [6] [19].

Have low annex [21] and [21 '] to place restrictions on horizontally rotating of they under crossbeam [12] and [12 '], place restrictions within this preset range between the block [22] of turntable [14] supporting of the low annex [21] on above-mentioned crossbeam [12] and [12 '] both sides and [21 '] and [22 '] cramp bar [10] and [10 '].Make as a whole reference number [23] for the device that changes service direction for one and represent, block annex [21] or annex [21 '] in one of crossbeam [12] and [12 '] side before, alternately anti-stopping bar [10] or bar [10 '] rotate.

In order to make guide wheel [7], [7 '] tightly lean against on the track [8], guide wheel [7], the cramp bar of [7 '] [10], extension [24] and [24 '] of the crossbeam of [10 '] each free close suspension hang, and suspension is as a whole by reference number [25] and [25 '] expression.

As seen the fertile phenomenon of the homing system of the above-mentioned type can be compared with the swing in the conventional axis of guide.

The tradition of general recommendations solves the way of eliminating swing and always reduce so-called gap in the guide beam as much as possible in guide beam.

Opposite with this traditional terms of settlement of widely having been admitted, the present invention's suggestion is always reserved an enough big gap at one of homing system crossbeam, make guide wheel [7] [7 '] and steering wheel [4] according to their characteristic vibration patterns along the zigzag orbit rotation, because the viewpoint that the economic benefits and social benefits rigid mechanical connects, these patterns do not need to cooperatively interact.

According to feature of the present invention, when this guide wheel [7], [7 '] are cramp bar [10] relatively, and when laterally moved about with predetermined amplitude [10 '], the swing in the homing system was eliminated.

Fig. 3 and Fig. 4 represent to allow near the cramp bar [10] with respect to it according to the present invention, the guide wheel of [10 '] [7], two embodiment of the device that moves about that laterally slide [7 '].

In Fig. 3, sliding system makes guide wheel [7] freely rotate around its axle [9], slides into the right side from a left side freely, otherwise in the soft friction bushings [26] of the terminal two fork supportings of cramp bar [10], rotate in by flexible block [27] restricted portion cramp bar [10] end.

In sliding system shown in Figure 4, guide wheel [7], freely rotate around wheel hub [28] [7 '].This wheel hub has bearing [29], and bearing [29] can be gone up at the flat part [9 '] of axle and slide, and flat part [9 '] is that same cramp bar [10] is installed together, makes guide wheel [7], [7 '] can side travel within the limit of flexible block [27] qualification move about.

Device shown in Figure 5 allows to rotate in the horizontal surface of cramp bar [10] and its crossbeam relative to turntable [14] [12].

This pivoted device comprises the cramp bar [10] of crossbeam [12] supporting that has annex [21], and the rotation of annex [21] is to place restrictions on by swinging to device, and this swings to device is to swing to the direction that becomes single-piece operation part [23] with turntable [14].With service direction relevant the moving about of vibration of the turntable [14] of fixed transmission cramp bar [10] must moving about less than servo-actuated cramp bar [10 '].This servo-actuated cramp bar [10 '] is the opposite sense that is oriented to operation, to such an extent as to the predetermined value that guide piece rotates keep on the occasion of, promptly be can align automatically the same guide rail of steering wheel [4] [8] the deviation that definite route took place.

A carriage can be installed in the director of the axis of guide [2], move about, can bear the angle amplitude of the horizontal pivot rotation that causes by oscillatory occurences in the steering wheel [4] so that steering wheel [4] is rotated.Such device is shown in Fig. 6, this device makes moving about that one section [18 '] of coupling lever [18] slide, it is whole that this coupling lever [18] becomes with the extendible portion [16] of turntable [14], turntable [14] relatively another section [18 "], [18 "] become integral body to this section with the guiding joystick [6] of steering wheel [4].This sliding system comprises a section of cylindrical rod [18 '] of hollow, and the piston [30] in the cylindrical rod [18 '] of hollow is that [18 "] become whole and also are free to slide, and the mobile flexible block [31] that is subjected to of piston [30] is placed restrictions on real core cylindrical rod.

Fig. 7 is according to permission guide wheel of the present invention [7], [7 '] the relative schematic diagram of the device that moves about of guide rail [8] side travel.

This device is characterised in that guide wheel [7], [7 '] fuse wideer than rail [32] arranged.Fuse [32] allows guide wheel [7,7 '] side travel, till flange [33] has an obstacle that matches with guide rail [8] side to stop.

Guide wheel calibrate very close track taking up wear to the time without any the state of lateral clearance, block, even the undue risk of overstepping the limit.

Fig. 8 allows the cramp bar [10] of guide wheel with respect to it, the schematic diagram of the device that moves about of [10 '] direction orientation according to the present invention.

This traveling system proposes, and guide wheel [7] freely rotates around wheel hub [28], and this wheel hub can rotate around basic vertical axis [34], vertical axis [34] and have straight portion [9 '] and with the horizontal spindle that bearing [29] is housed be in aggregates.

According to characteristics of the present invention, provide the lateral suspension device to finish vertical hanging according to the car body of the axis of guide [2] that pneumatic tyre wheel is housed comprising of vehicle of the present invention.

This traveling system proposes, and connects the axis of guide and is finished by the lateral suspension device to the vertical hanging device of car body [35], and this lateral means is done as a whole, with reference number [36] expression.

Fig. 9 allows near the axis of guide [2] schematic diagram of the device that moves about that moves laterally of vehicle hanging car body [35] relatively.

Therefore, in the practical embodiments of vertical and the two suspension gears [36] of level, some inflation cylinder with suspended [37] keep coaxial alignment with piston [38] basically, only allow limited side travel with the mode of cylindrical sleeve [39], and side travel are determined by block [40].Dual-effect hydraulic bumper [41] the decay swaying of a basic horizontal.

Conspicuous, the present invention is not placed restrictions in the above embodiments, is not deviating under the appended claim, can carry out various improvement to these embodiment.

Therefore, this does not get rid of and adopts other with the possibility of track with other mechanical means of steering wheel decoupling, to prevent to be similar to the periodic phenomena of swing.

Claims (8)

1, a kind of homing system [1] of having adorned the rapid vehicle of the steering wheel [4] that has the pneumatic tyre [5] that to make driving wheel, be included near the steering wheel [4], first row [10] is along vehicle operating direction longitudinal extension, and support a guide wheel [7] along rail [8] operation, the relative axis of guide [1] of second bar [10 '] is along the opposite sense longitudinal extension of vehicle operating, an itself supporting guide wheel [7 '], these two cramp bars [10], [10 '] can be around two basic horizontal axles [11], [11 '] vertical oscillation, this horizontal shaft [11], [11 '] links can be around vertical substantially pivot [13], [13 '] is at the crossbeam [12] of a predetermined angle amplitude of horizontal surface pivoted, [12 '], this vertical pivots [13], [13 '] links turntable [14], the coupling lever [18] of the same at least guiding joystick of this turntable [14] [6] links to each other, this guiding joystick [6] is as one of steering wheel [4] of the above-mentioned axis of guide [2], in order that the turntable [14] of the above-mentioned axis of guide [2] is rotated around basic vertical pivots [15], first bar [10] is connected to the rigidity of attaching parts of turntable [14] greater than the attaching parts of second cramp bar [10 '], it is characterized in that a kind of isolator, it comprise to the device that moves about of the above-mentioned steering wheel [4] that rotates with a jiao, above-mentioned angle is scheduled to respect to the predetermined adjustment of being given by guide rail [8], works between the steering wheel [4] of guidance system and guide rail [8].

2, homing system as claimed in claim 1, it is characterized in that having at least an attaching parts, this attaching parts connects guiding and two directed crossbeams, these two beam design become to transmit tracks [8] given preset value to steering wheel [4], introduce a mechanical clearance, the steering wheel [4] that this mechanical clearance provides by the relevant adjusting of pre-AM depth preset moves about, and this amplitude is enough to eliminate all oscillatory occurences in the steering wheel [4].

3, as any described homing system in claim 1 and 2, it is characterized in that the device that moves about by the cross motion of an amplitude, this amplitude is the cramp bar [10] with respect to it, [10 '] preset, this amplitude is also given at least one, guide wheel [7], and [7 '] transfer its cramp bar [10] between two blocks [27] at axle [9], slide in the bearing shell [26] of [10 '] supporting, this block [27] is in order to move limit in predetermined amplitude.

4, as any described homing system in claim 1 and 2, it is characterized in that with cramp bar [10] with respect to it, the device that moves about that the amplitude of [10 '] preset moves laterally, at least give and a guide wheel [7], [7 '] allow the guide wheel [7] around wheel hub [28], and the axle that [7 '] transfer to planar section [9 '] is gone up by means of bearing [29] and slided between predetermined positive stop [27] of placing restrictions on motion, this planar section [9 '] and cramp bar [10], [10 '] become whole.

5, any described guidance system in the claim as described above, it is characterized in that making the device that moves about horizontally rotate with a relative turntable of preset angular width [14], this angular width is less than the free horizontal pivoted amplitude of the relative turntable [14] of second bar [10 '], the device that provides by horizontally rotating is placed restrictions on the motion of the device of vehicle operating direction, keeps a gap between converting means [23] and the annex [21] that supported by first cramp bar of crossbeam [12] supporting for this reason.

6, any described guidance system in the claim as described above, it is characterized in that the device that moves about that horizontally rotates with an angular width, this angular width is to be that the horizontal pivot of being scheduled to is rotated and passed to turntable [14] by the device that is provided with respect to steering wheel [4], this device can be connected to coupling lever [18] two ends of steering wheel [4] to turntable [14], placing restrictions on slip between the block [27], this places restrictions on block is that operation is limit in an amplitude of being scheduled to.

7, any described homing system in the claim as described above, it is characterized in that giving at least one of them guide wheel [7], [7 '] press the device that moves about with respect to the predetermined amplitude side travel of guide rail [8], it is by the guide wheel [7] of at least one its fuse [32] width greater than guide rail [8] width, [7 '], so that, keep a lateral clearance between flange of [7 '] [33] and guide rail [8] side in guide wheel [7].

8, any described homing system in the claim as described above, it is characterized in that at least one guide wheel [7], [7 '] can be along its cramp bar [10], the device that moves about that [10 '] horizontally rotate along basic vertical pivots [34] around wheel hub [28], axle [34] is with by cramp bar [10], and the axle of the band planar section [9 '] of [10 '] supporting is vertical.

Images