JP2002321635A - Traveling truck - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a traveling truck to perform a rapid and easy switching operation during switching of a traveling mode. SOLUTION: A driver's cab and a plurality of independent direction change type wheel devices 1 are situated on the under surface of a truck body and the traveling truck is provided with an initial state deciding part 12 which changes the steering angle of the wheel device 1 when a switching signal for the traveling mode of a control panel 2 is inputted to a control device to control the steering angle of each wheel device 1 based on an operation angle inputted by the steering wheel of the driver's cab; and a fundamental change shaft deciding part 13. A control panel situated at a driver's cab is provided with a lighting type push button switch to perform a switching operation of the traveling mode and be capable of displaying its switching state.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling vehicle capable of transporting a large load, and more particularly to a control device for a steering unit.

[0002]

2. Description of the Related Art Heretofore, as a traveling vehicle for transporting large-sized luggage, there is one in which a luggage surface on which luggage can be placed is provided on the entire upper surface of the lolly body.

As shown in FIGS. 4 and 5, the traveling trolley has a front driver's cab 52 (52A) at front and rear positions on a lower surface of a trolley body 51 having a loading surface on which a load can be placed.
And a rear driver's cab 52 (52B), and a large number, for example, two independent rows and six rows before and after, are provided between the two cabs 52 on the lower surface of the bogie main body 51, for a total of 12 independent replacements. Direction type wheel device (also called steering device)
A control device (not shown) for controlling the steering angle of each of the wheel devices 53 in accordance with a steering operation from the cab 52 is provided.

[0004] Each of the wheel devices 53 is provided with a bogie main body 5.
1 and a revolving body 61 rotatably provided on the revolving body 6.
1, a plurality of wheels 64 rotatably provided on an axle provided via an upper arm 62 and a lower arm 63 and a suspension cylinder and rotationally driven by a drive motor; And a steering cylinder device (not shown) that turns through a rack body.

[0005] The traveling carriage 51 has various traveling modes for controlling a large number of independent wheel devices 53 to move large-sized luggage efficiently. For example, as the traveling mode, a straight traveling mode used during normal traveling, a skew mode used when traveling the carriage body 51 obliquely to approach luggage, a width passing through the center of the frontmost wheel device of the carriage body 51. Front shaft fixed mode in which the turning center is located on the extension line of the direction, rear shaft fixed mode in which the turning center is located on the widthwise extension line passing through the center of the wheel device in the last row of the bogie body 51, the bogie body 51 , A turning mode (spin turn mode) in which the carriage body 51 turns on the spot, and the like.

When the driving mode is switched, first, by operating the steering wheel, the rudder shafts of the respective wheel devices corresponding to the driving mode are returned to an initial state (also referred to as a neutral position). This was done by pressing a button switch.

[0007]

However, according to the structure of the conventional control device, it is necessary to return the rudder shaft of each wheel device to the initial state by operating the steering wheel every time the driving mode is switched. There is a problem that switching takes a long time, and a driver needs extra operation.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a traveling bogie that can quickly and easily perform a switching operation when a traveling mode is switched.

[0009]

In order to solve the above-mentioned problems, a traveling vehicle according to the present invention is provided with a plurality of cabs and a plurality of independent turning type wheel devices provided on a lower surface of a trolley body, and a steering system in the cab. In the traveling bogie provided with a control device for controlling the steering angle of each of the wheel devices based on the operation angle input by the means, when a switching signal of a traveling mode is input to the control device, the wheel device The steering angle of the vehicle is provided with an initial state control unit for automatically turning to the initial state corresponding to the travel mode, and the operation panel provided on the cab, the switching state of the travel mode, The display unit shown in FIG.

According to the above configuration, when the mode switching signal is input, the steering angle of the wheel device is automatically changed to the initial state corresponding to the traveling mode, and the display unit of the operation panel displays the steering angle. Thus, the switching state can be grasped.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A traveling vehicle according to an embodiment of the present invention will be described below with reference to FIGS.

Since the gist of the present invention resides in the control device of the traveling vehicle described in the conventional example, the present embodiment focuses on this control device, and therefore has the same configuration as that described in the conventional example. The members will be described briefly.

First, the traveling vehicle will be schematically described. A front driver's cab and a rear driver's cab are provided at front and rear ends of a lower surface of a vehicle body provided with a loading surface on which a load can be placed. In the middle part of the driver's cab before and after, there are, for example, two rows on the left and right (in the vehicle width direction) and six rows on the front and rear (in the vehicle length direction) for a total of 12 (of course, the number is limited to 12). No) independent turning system is provided,
A control device is provided for controlling a turning angle (hereinafter referred to as a steering angle) of each of the wheel devices according to an operation amount (rotation amount) of a handle (steering means) of a front or rear cab.

Each of the wheel devices is rotatably provided on a revolving body provided on the bogie main body, and is rotatably provided on an axle provided on the revolving body via upper and lower arms and a suspension cylinder. And a steering cylinder device for rotating the revolving body via a pinion and a rack body.

Next, a control device for controlling a steering angle in each of the wheel devices will be described with reference to FIG. This control device originally detects the operation amount of the steering wheel with a pulse generator such as an encoder, obtains the steering wheel operation angle based on the count value of this pulse, and, based on this operation angle, the steering angle of each wheel device. Is calculated based on the target steering angle on the master axis (for example, the rudder axis of the wheel apparatus closest to the cab) as a reference when determining the other wheel apparatus determined based on the target steering angle on the master axis. By calculating a target rudder angle of a slave shaft (rudder shaft), which is a rudder shaft, and driving a steering cylinder device provided on each wheel device based on these rudder angle commands, the steering of the bogie main body (hereinafter referred to as "the steering wheel") This control device automatically changes the steering angle of each wheel device to an initial state (neutral state) according to the running mode when the running mode is switched, which is the gist of the present invention. Rank The initial state control unit for the even say) and is provided.

Hereinafter, the configuration of the initial state control unit will be described. This initial state control unit, as shown in FIG.
A data storage unit 11 in which data indicating an initial state of the wheel device 1 according to the traveling mode is stored, and a selection signal of a traveling mode selected on an operation panel 2 provided in a cab, that is, a mode switching signal is input. The data storage unit 11
From the initial state of the mode, and determines the initial state of the steering angle, and controls the rudder axis of the wheel device 1 based on the data of the initial state determined by the initial state determining section 12. When turning, the basic turning axis determination unit 13 that determines the basic turning axis and the basic turning axis determined by the basic turning axis determination unit 13
A target steering angle calculation unit 14 for calculating a target steering angle in the remaining wheel devices 1 and a steering angle command for each wheel device 1 obtained by the target steering angle calculation unit 14 to input each steering cylinder device And a steering control unit 15 for outputting to the driving unit. The wheel device 1 is provided with a steering angle detector 3, and the actually detected actual steering angle of the wheel device 1 is input to the basic turning axis determination unit 13 and the steering control unit 15. Of course, the steering control unit 15
Has an original steering control function as described above.

In determining the basic turning axis in the initial state, the steering angle of the wheel device 1 having the largest turning angle from the time when the mode selection signal is input to the initial state is determined. The axis is chosen.

The steering control unit 15 has an adjustment function so that the turning operation of the other wheel device 1 is completed in accordance with the turning operation completion time of the wheel device 1 having the largest turning angle. It has been incorporated.

FIG. 2 shows an initial state in each running mode (the mode is the mode described in the conventional example, and the description is omitted here). In addition, as shown in FIG. 3, the operation panel 2 has a lighting type push button switch for selecting each mode [also serves as an indicator light (display unit)].
When the push-button switch 4 is pressed to start the diversion operation for that mode, the push-button switch 4 flashes, and when the diversion operation is completed, it changes from flashing to lighting. Has been. Therefore, the turning signal and the turning completion signal are input to the operation panel 2 from the steering control unit 15. In addition,
The operation panel 2 is also provided with a switching lamp 5 that lights up during switching to clearly indicate that the mode is being switched.

Next, the switching operation of the traveling mode in the traveling vehicle will be described. When the mode selection push button switch 4 of the operation panel 2 is pressed to switch, for example, from the straight traveling mode to the transverse traveling mode, a mode switching signal of the transverse traveling mode is input to the initial state determination unit 12.

When a mode switching signal of the traversing mode is input to the initial state determining unit 12, data of the initial state corresponding to the traversing mode is read from the data storage unit 11 and the initial state is basically set. It is input to the turning axis determination unit 13.

The basic turning axis determination unit 13 compares the current actual steering axis of each wheel device 1 with the data in the initial state, and detects the one with the largest turning angle. Then, the basic turning axis is input to the target rudder angle calculating section 14, and the turning angles of all the wheel devices 1 at the rudder axes are calculated.

The turning angle command is input to the steering control unit 15 so that the steering axis of each wheel device 1 is set to a predetermined initial state, and the turning completion time of all the wheel devices 1 is set. Are controlled so that is substantially the same.

At the time of this turning operation, the operation panel 2
The switching lamp 5 during the switching is turned on, and the push button switch 4 for selecting the corresponding mode is turned on and off. When the turning operation is completed, the switching lamp 5 is turned off and the push button switch 4 is turned on, Therefore, the driver can easily know the operation state.

As described above, when the mode switching signal is input, the steering angle of the wheel device can be automatically changed to the initial state corresponding to the traveling mode. Compared to the case where the vehicle is returned to the initial state by operating the steering wheel, the driving mode can be quickly switched and the operation burden on the driver is reduced.

In the above-described embodiment, the function of the indicator light capable of flashing or lighting the mode switching push-button switch itself provided on the operation panel is provided.
Of course, the push button switch and the indicator lamp can be provided separately.

[0027]

As described above, according to the traveling bogie of the present invention, when the mode switching signal is input, the steering angle of the wheel device is automatically changed to the initial state corresponding to the traveling mode. Therefore, the driving mode can be quickly switched and the operation burden on the driver can be reduced as compared with the conventional case where the driver returns to the initial state by operating the steering wheel.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a schematic configuration of a control device in a traveling vehicle according to an embodiment of the present invention.

FIG. 2 is a schematic diagram showing an initial state at the time of switching the traveling mode of the traveling vehicle.

FIG. 3 is a plan view of an operation panel of the traveling vehicle.

FIG. 4 is a schematic plan view of a traveling vehicle in a conventional example.

FIG. 5 is a schematic side view of a traveling vehicle in a conventional example.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Wheel device 2 Operation panel 3 Steering angle detector 4 Push button switch 11 Data storage part 12 Initial state determination part 13 Basic turning axis determination part 14 Target rudder axis calculation part 15 Steering control part

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Isamu Aoki 1-15-10 Kyomachibori, Nishi-ku, Osaka-shi, Osaka F-term in TCM Corporation (reference) 3D034 CA03 CB09 CC01 CD12 CE01 CE09 CE14 3D044 BA19 BA26 BB07 BD01

Claims (2)

[Claims] A cab and a plurality of independent turning type wheel devices are provided on a lower surface of a bogie main body, and a steering angle of each wheel device is determined based on an operation angle input by a steering means in the cab. In a traveling vehicle provided with a control device for controlling, when a switching signal of a traveling mode is input to the control device, the steering angle of the wheel device is automatically changed to an initial state corresponding to the traveling mode. A traveling trolley comprising an initial state control unit for causing the trolley to travel. 2. The traveling vehicle according to claim 1, wherein an indicator light for indicating a switching state of the traveling mode is provided on an operation panel provided on the cab.