JP2006224815A - Steering wheel device, and steering system having the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a steering wheel device capable of obtaining excellent operability and suitable for miniaturization. <P>SOLUTION: The steering wheel device comprises a rotary shaft which is integrally and rotatably supported by an operation member, a sliding member which has a through hole with the rotary shaft inserted therein and is slidably provided in the axial direction of the rotary shaft, a guide member which regulates the rotation of the sliding member around the rotary shaft and guides the sliding operation thereof, a rocking member which is provided slidably in the axial direction of the rotary shaft interlockingly with the slide of the sliding member, and an angle detector to detect the rocking angle of the rocking member. A helical groove is axially formed in an outer circumferential part of the rotary shaft, a guide groove is formed in the guide member in the axial direction of the rotary shaft, and an engagement groove is formed in the rocking member toward the rocking center. An inner projecting piece provided on the sliding member is inserted in the helical groove, and an outer projecting piece is inserted in the guide groove and the engagement groove. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a steering device operated by a driver and a steering system for turning steered wheels in accordance with the operation of the steering device.

  2. Description of the Related Art Conventionally, a vehicle such as a forklift employs a steering system that detects the rotation of a handle operated by a driver and operates an actuator such as a motor in accordance with this to turn a steered wheel. As such a steering system, for example, as shown in Patent Document 1, there is no mechanical connection between the steering wheel and the steered wheel, or as shown in Patent Document 2, for example, the mechanical connection between the steering wheel and the steered wheel. Some are linked.

  As a method for detecting the rotation of the steering wheel in the steering system, for example, as shown in Patent Document 1, a technique for directly detecting the rotation of the rotating shaft, or as shown in Patent Document 2, for example, a male screw is provided on the rotating shaft. In addition, there is a technique for detecting the vertical movement of the pin accompanying rotation of the rotary shaft by screwing a metal (nut) provided with a pin into the male screw. For example, as shown in Patent Document 3, there is a technique in which a spiral groove is provided on the rotation shaft, and the operation shaft of the detection device is engaged with the spiral groove to detect the vertical movement of the operation shaft accompanying the rotation of the rotation shaft. .

Japanese Patent Laid-Open No. 7-206399 JP-A-10-29553 JP 10-47952 A

  A steering wheel in a steering system may have a certain limit on the rotation of the steering system. Thus, for example, the driver can feel the state of the steered wheel from the state of the handle so that the steered wheel can be turned to the limit position by rotating the handle to the limit position. The operability can be improved. If the steering wheel and the steered wheel are mechanically connected, in addition to restricting the rotation of the steering wheel itself, the steering wheel can be locked to lock by setting a limit on the turning of the steered wheel. Can do.

  By the way, in the technique described in Patent Document 2, the rotation shaft is lengthened in order to connect the handle to the steered wheel. However, as in the technique described in Patent Document 1, the mechanical force between the handle and the steered wheel is long. If it is the structure which eliminated the simple connection, for example, the length of a rotating shaft can be shortened and size reduction can be achieved. However, when the lock-to-lock of the steering wheel is to be realized as described above, it is not possible to adopt a method of limiting the turning of the steered wheels, and some mechanism or device that restricts the rotation of the steering wheel itself is required. For this reason, there is a risk of warping and an increase in size.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a handle device that can obtain good operability and is suitable for downsizing. Moreover, it aims at providing the steering system excellent in convenience by utilizing such a handle apparatus.

  In order to achieve the above object, a handle device according to the present invention includes an operation member grasped by a driver and a rotation shaft that is rotatably supported integrally with the operation member, and rotates together with the operation member. A handle device for rotating a shaft, having a through hole into which the rotating shaft is inserted, and a sliding member provided to be slidable in an axial direction of the rotating shaft, and the rotating shaft of the sliding member A guide member that regulates rotation around and guides sliding; a swinging member that is slidable in the axial direction of the rotating shaft in conjunction with the sliding of the sliding member; and the swinging member And an angle detector for detecting the swing angle of the rotation shaft as an operation angle, and a spiral groove is formed in the axial direction on the outer periphery of the rotation shaft, and a guide groove is formed in the guide member in the axial direction of the rotation shaft. Furthermore, an engagement groove is formed on the swing member toward the swing center. The sliding member is provided with an inner projecting piece projecting toward the rotating shaft and an outer projecting piece projecting outward, and the rotating shaft is inserted into the through hole. In addition, the inner projecting piece is inserted into the spiral groove, and the outer projecting piece is inserted into the guide groove and the engaging groove.

According to this, when the driver rotates the rotating shaft together with the operation member, the spiral groove also rotates, so that the sliding member also tries to rotate together with the inner protrusion piece inserted therein. However, since the outer projecting piece is inserted into the guide groove of the guide member and the rotation around the rotation shaft is restricted, the sliding member slides in the axial direction of the rotation shaft according to the pitch of the spiral groove. Here, not only the inner projecting piece but also the outer projecting piece moves in the axial direction integrally with the sliding member, but since the outer projecting piece is inserted into the engaging groove of the swinging member, the sliding member slides. The movement is transmitted to the swinging member through the outer projecting piece, and the swinging member swings in conjunction with the sliding of the sliding member. The swing angle of the swing member that swings in this way is detected by the angle detector.
Therefore, how much the driver has rotated the operation member can be grasped from the operation angle by the angle detector, and by turning the steered wheels provided in the vehicle body according to this operation angle, for example, the driver's operation A steering system that appropriately reflects the intention can be obtained. In addition, since the object to be operated (for example, a steered wheel) and the rotation shaft do not have to be mechanically connected, the rotation shaft is supported by the rotation shaft itself, formed into a spiral groove, or connected to the operation member. As a minimum length necessary for the above, it is possible to reduce the size of the entire handle device. Of course, the inner projecting piece and the outer projecting piece are used to restrict the rotation of the sliding member, slide the sliding member in the axial direction of the rotating shaft, and further swing the swinging member. It can be a simple structure. The rotating shaft and the sliding member are not necessarily in contact with each other, and a minute gap may be provided between the rotating shaft and the sliding member in order to smoothly slide.

  The handle device includes a pair of support members that support the rotary shaft at positions closer to the ends of the rotary shaft than the sliding member, and the spiral groove is between the two support members. The sliding member has a distal end, and the sliding member is slidable to a position where the inner projecting piece reaches the distal end. At the position, the support member and the sliding member are connected to the rotating shaft. It can be set as the structure characterized by being spaced apart by predetermined distance to the axial direction.

  In this way, the slidable range of the sliding member is limited between the position where the inner protrusion reaches one end of the spiral groove and the position where the inner protrusion reaches the other end. The rotation range of the rotating shaft, and hence the operating member, can be limited, and so-called lock-to-lock can be realized. Therefore, the driver can perceive the state of the target object (for example, a steered wheel) to be operated from the state of the operation member, and can operate the handle device so as to operate the target object as desired. In addition, since the range in which the operating member can be rotated is limited by using the sliding member, and the inner projecting piece inserted in the spiral groove is limited, the structure can be simplified and the occupied space can be reduced. It is relatively small. Further, even if the inner protrusion reaches the end of the spiral groove and the sliding member slides to the limit position, a gap of a predetermined distance is secured between the supporting member and the sliding member. Contact with the sliding member can be prevented.

  In order to achieve the above object, a steering system according to the present invention is a steering system that turns steered wheels that are turnably provided on a vehicle body in accordance with a driver's operation. An apparatus, a drive device for turning the steered wheel, a detection device for detecting the turning angle of the steered wheel, and a control for controlling the drive device in accordance with an operation angle by the handle device and a turning angle by the detection device The control device derives a target turning angle based on the operation angle, and controls the drive device so that the target turning angle and the turning angle coincide with each other. Yes.

According to this, when the driver operates the handle device, that is, when the operation member is rotated, an operation angle corresponding to how much the rotation is performed is detected by the angle detector, and the control device detects the detected operation angle. A corresponding target turning angle is derived, and the drive device is controlled so that the target turning angle and the actual turning angle coincide. That is, if the actual turning angle is smaller, the steered wheels are turned so that the turning angle becomes larger, and if the actual turning angle is larger, the steered wheels are turned so that the turning angle becomes smaller.
Accordingly, since the turning angle is controlled so as to correspond to the operation angle on a one-to-one basis, the driver can operate the handle device without feeling uncomfortable, and the steered wheel can be turned as desired by operating the handle device. Of course, since it is not necessary to mechanically connect the steering wheel device and the steered wheel and the steering wheel device and the driving device, it is possible to arrange them freely in the design. It can be easily applied to changing vehicles.

As described above, according to the handle device according to the present invention, an object to be operated (for example, a steered wheel) and a rotating shaft may not be mechanically connected, and the driver can operate the operating member. The amount of rotation can be grasped from the operation angle by the angle detector, so that the entire handle device can be miniaturized with the rotation shaft as the minimum length. Further, the inner projecting piece and the outer projecting piece provided on the sliding member are used to regulate and slide the sliding member, and to swing the swinging member. can do.
Further, according to the steering system according to the present invention, it is not necessary to mechanically connect the steering wheel device to the steered wheels and the driving device, so that these can be freely arranged by design, and the driver can handle the steering wheel device. The steered wheels can be turned as desired by operating.

  Hereinafter, an embodiment in which the present invention is applied to a forklift which is a kind of industrial vehicle will be described with reference to the drawings.

  As shown in FIG. 1, the forklift according to the first embodiment includes a pair of left and right straddle legs 2 extending rearward at the rear part of the vehicle body 1, and a rear wheel at the front end of each straddle leg 2. 3 is provided. A front wheel 4 is provided at the front portion of the vehicle body 1, and the front wheel 4 functions as a traveling drive wheel and a steered wheel. A mast device 5 is provided at the base end portion of the straddle leg 2, and a cab 6 is supported by the mast device 5 so as to be movable up and down. A fork 7 for handling a load is extended rearward on the cab 6, and an operation box 8 and an accelerator lever 9 for driving the forklift are provided on a side wall standing at the front of the cab 6. A handle device 10 is provided.

  As shown in FIGS. 2 and 3, the handle device 10 includes a disk-shaped wheel 11, a shaft 12 coupled to the wheel 11, and upper and lower supports 13 that support the shaft 12 so as to be rotatable around its central axis. I have. Further, a slider 14 is fitted on the shaft 12 between the upper and lower supports 13, and the slider 14 can slide in the axial direction of the shaft 12 as the shaft 12 rotates, as will be described later. Two cylindrical pins 15 are inserted into the slider 14 so as to face each other. Further, the handle device 10 is provided with left and right guides 16 by connecting upper and lower supports 13, and an angle sensor 17 including a potentiometer is provided on the right guide 16. An arm 18 is attached to the angle sensor 17, and the arm 18 and the pin 15 are engaged with each other. In addition, a knob 19 is attached to the wheel 11 so as to be easy to operate, and the driver can carry out a rotation operation with the knob 19.

  As shown in FIG. 3, the wheel 11 is composed of a core material 11A fixed to the shaft 12 and to which the knob 19 is fixed, and a covering material 11B provided so as to cover the core material 11A from above and from the side, By fixing the covering material 11B to the core material 11A, the entire wheel 11, the shaft 12, and the knob 19 are integrated. The shaft 12 has its upper end connected to the center of the core 11A with its axial direction facing up and down, supported by the upper support 13 at a position somewhat below the wheel 11, and its lower end. Is supported by the lower support 13. In addition, a single spiral groove 12 a is formed on the outer periphery of the shaft 12 so as to be positioned between the upper and lower supports 13. The spiral groove 12a has a square cross section and is formed at a predetermined pitch in the axial direction of the shaft 12. Here, the spiral groove 12a having eight and a half halves is formed around the shaft 12 from the upper end to the lower end. Yes.

  The slider 14 fitted to such a shaft 12 is formed in a cylindrical shape having a through-hole penetrating vertically in the central portion. Each pin 15 inserted in the slider 14 has one end projecting inward from the inner wall surface (hereinafter referred to as inner edge) of the slider 14 with the axial direction directed to the left and right, and the other end side disposed on the outer wall surface (hereinafter referred to as “inner wall”). It protrudes outward from the outer edge. Here, the portion of the pin 15 that protrudes from the inner edge corresponds to the inner protrusion piece in the present invention, and the portion that protrudes from the outer edge corresponds to the outer protrusion piece in the present invention. Any portion protruding from the inner edge of the pin 15 is inserted into the spiral groove 12a, and the two pins 15 are arranged at positions shifted by a half circumference along the spiral groove 12a. The left pin 15) is located above the other pin 15 (right pin 15 in FIG. 3) by 1/2 of the pitch of the spiral groove 12a. Thereby, the slidable range of the slider 14 is such that the portion protruding from the inner edge of the left (upper) pin 15 reaches the upper end of the spiral groove 12a and the right (lower) pin 15 The portion protruding from the inner edge is limited to the position where the lower end is reached.

  Each guide 16 is formed with a guide groove 16a parallel to the axial direction of the shaft 12 (that is, in the vertical direction). The angle sensor 17 is attached to the inside of the guide 16 (on the shaft 12 side) by causing the rotatable input shaft to protrude outward from the guide 16 (rightward in this embodiment 1). An arm 18 is attached to a portion protruding from the arm 18. The arm 18 is attached to the input shaft of the angle sensor 17 at the base end, and the distal end of the arm 18 has a longitudinal direction of the arm 18 (the center of the input shaft of the angle sensor 17 that is the center of swinging of the arm 18 and the arm 18). The engaging groove 18a is formed in a direction connecting the tip end portion of the engaging groove 18a. The portion protruding from the outer edge of the left pin 15 is inserted into the guide groove 16a of the left guide 16, and the portion protruding from the outer edge of the right pin 15 is inserted into the guide groove 16a of the right guide 16. At the same time, it is inserted into the engagement groove 18a of the arm 18 and engaged therewith.

The guide groove 16a and the engagement groove 18a are formed to have substantially the same width as the outer diameter of the portion protruding from the outer edge of the pin 15, and when the pin 15 is inserted, the guide groove 16a While allowing the pin 15 to move (slide) in the vertical direction with respect to the guide 16, the movement of the pin 15 in the direction (front-rear direction) perpendicular to the axial direction and perpendicular to the vertical direction is restricted.
Further, as shown in FIGS. 3 and 4, with the longitudinal direction of the arm 18 being horizontal, the spiral groove 12a from the left pin 15 to the upper end is equivalent to four rounds, and the lower side from the right pin 15 is The spiral groove 12a to the end is also attached so as to have four rounds.

  As shown in FIG. 4, when the driver holds the knob 19 and rotates the shaft 12 together with the wheel 11, the portion protruding from the inner edge of the pin 15 is inserted into the spiral groove 12a. Accordingly, the slider 14 also tries to rotate together with the pin 15. However, since the portion protruding from the outer edge of the pin 15 is inserted into the guide groove 16a, the rotation is prevented and the slider 14 slides in the axial direction of the shaft 12. That is, as shown in FIG. 4, if the spiral groove 12a is formed clockwise in a plan view, if the shaft 12 rotates counterclockwise in a plan view, the slider 14 moves downward and rotates clockwise in a plan view. For example, the slider 14 slides upward. Further, since the portion protruding from the outer edge of the pin 15 is inserted into the engaging groove 18a, if the slider 14 moves downward as the slider 14 slides, the arm 18 swings downward, If the slider 14 moves upward, the arm 18 swings upward.

  The swing angle of the arm 18 swinging in this way is detected by the angle sensor 17 and input to the control device 24 described later. The angle sensor 17 detects a swing angle centered on a state where the longitudinal direction of the arm 18 is horizontal, and here, when the arm 18 swings upward, it is a positive value and swings downward. The angle of is a negative value.

  From the state where the longitudinal direction of the arm 18 shown in FIG. 4 is horizontal (the state where the swing angle of the arm 18 is 0), the wheel 11 is rotated four times counterclockwise in plan view, and as shown in FIG. When the portion protruding from the inner edge reaches the lower end of the spiral groove 12a, the slider 14 can no longer slide, the rotation of the shaft 12 is prevented, and the driver moves the wheel 11 to the left in plan view. Can no longer rotate around. When the wheel 11 is rotated clockwise eight times in plan view from this state, the portion protruding from the inner edge of the left pin 15 reaches the upper end of the spiral groove 12a, the rotation of the shaft 12 is prevented, and the driver The wheel 11 can no longer be rotated clockwise in plan view. In this way, the lock-to-lock of the handle device 10 is 8 rotations.

  As shown in FIG. 5, when a portion protruding from the inner edge of the right pin 15 reaches the lower end, a distance G is vertically increased between the lower support 13 and the lower end of the slider 14. When the portion protruding from the inner edge of the left pin 15 reaches the upper end, the same gap is provided between the upper support 13 and the upper end of the slider 14. A gap is secured. Thereby, the contact between the upper and lower supports 13 and the slider 14 is prevented.

  Now, as shown in FIG. 6, the front wheel 4 is supported by a drive device 20 provided at the front portion of the vehicle body 1. The drive device 20 is supported by the vehicle body 1 so as to be able to turn around the vertical axis. Above the drive device 20, a driving motor 21 for driving the front wheels 4 and a steering motor for driving the drive device 20 are provided. A motor 22 is arranged. The front wheel 4 and the traveling motor 21 are connected to each other through a gear built in the drive device 20, and the driving torque from the traveling motor 21 is transmitted to the front wheel 4 through the drive device 20 so that the front wheel 4 rotates. To do. The drive device 20 and the steering motor 22 are also connected via a gear different from the above, and the drive torque from the steering motor 22 is transmitted to the drive device 20 so that the drive device 20 turns. Here, since the front wheel 4 is supported by the drive device 20, the front wheel 4 and the drive device 20 turn integrally. The front wheel 4 and the drive device 20 turn clockwise when the steering motor 22 is driven forward, and turn counterclockwise when driven reversely.

  As shown in FIG. 6, an angle sensor 23 formed of a potentiometer is connected to a gear fixed to the drive device 20 among the gears connecting the drive device 20 and the steering motor 22. The turning angle of the drive device 20 (hereinafter simply referred to as the turning angle of the front wheel 4) is detected by the angle sensor 23 and input to the control device 24 mounted on the vehicle body 1. The angle sensor 23 detects the turning angle of the front wheel 4 around the time when the front wheel 4 is in a straight traveling state. Here, the angle when the front wheel 4 turns from the straight traveling state to the right in the plan view is a positive value, and the straight traveling state. The angle when turning from left to right in plan view is a negative value.

  The control device 24 receives an operation angle (operation angle A) from the angle sensor 17 of the handle device 10 and a turning angle (turning angle C) from the angle sensor 23, and the control device 24 controls the steering motor based on these. 22 is controlled.

When the operation angle A from the angle sensor 17 is input, the control device 24 derives a target turning angle B corresponding to the operation angle A. That is, in the control device 24, a steering mode that defines the relationship between the operation angle A and the target turning angle B is set in advance (one of several steering modes can be selected and set). Good), the target turning angle B is derived under this steering mode. For example, if the steering mode M1 indicated by the thick solid line in FIG. 7 is set, in the range of −A2 ≦ A <−A1,
B = (B2-B1) / (A2-A1) * (A + A1) -B1
In the range of −A1 ≦ A ≦ A1,
B = B1 / A1 × A
In the range of A1 <A ≦ A2,
B = (B2-B1) / (A2-A1) * (A-A1) + B1
The target turning angle B is derived by each calculation. If the steering mode M2 indicated by the thin solid line in FIG. 7 is set, in the range of −A2 ≦ A <−A1,
B = (B2-B0) / (A2-A1) * (A + A1) -B0
In the range of −A1 ≦ A ≦ A1,
B = B0 / A1 × A
In the range of A1 <A ≦ A2,
B = (B2−B0) / (A2−A1) × (A−A1) + B0
The target turning angle B is derived by each calculation. Since B0 <B1, here, when the steering mode M2 is set, the change of the target turning angle B with respect to the change of the operation angle A is more gradual than the steering mode M1 in the range of −A1 ≦ A ≦ A1. Therefore, in the ranges of −A2 ≦ A <−A1 and A1 <A ≦ A2, the change in the target turning angle B with respect to the change in the operation angle A becomes steeper than in the steering mode M1.

  When the target turning angle B is derived as described above, the control device 24 obtains an angle deviation (| B−C |) between the target turning angle B and the turning angle C from the angle sensor 23, and the target turning angle. It is determined whether the turning angle C is larger or smaller than B. Then, when the turning angle C is smaller than the target turning angle B, the control device 24 steers the front wheel 4 and the drive device 20 in a direction in which the turning angle C increases, that is, clockwise in plan view. 22 is driven in a forward direction, and when the turning angle C is larger than the target turning angle B, the steering motor C turns so that the turning angle C decreases, that is, the front wheel 4 and the drive device 20 turn counterclockwise in plan view. 22 is driven in reverse. Thus, when the target turning angle B and the turning angle C coincide with each other and the angle deviation becomes 0, the control device 24 stops the driving of the steering motor 22.

According to the first embodiment, when the driver operates the handle device 10, that is, when the wheel 11 is rotated, the operation angle A corresponding to the operation is detected by the angle sensor 17. The control device 24 derives the target turning angle B corresponding to the detected operation angle A, and controls the steering motor 22 so that the target turning angle B and the actual turning angle C coincide with each other. Thus, the driver can turn the front wheel 4 as desired. In particular, the turning angle C is controlled so as to correspond to the operation angle A on a one-to-one basis, and the lock-to-lock is limited to eight rotations. From this state, the state of the front wheel 4 can be felt.
Note that, regardless of which of the steering modes M1 and M2 is set, the change in the target turning angle B with respect to the change in the operation angle A is relatively gentle in the range of −A1 ≦ A ≦ A1, so Since the change of the target turning angle B with respect to the change of the operation angle A is relatively abrupt in other ranges, the front wheel 4 can be greatly turned with a small amount of operation.

  Further, according to the handle device 10 of the first embodiment, the handle device 10 can be reduced in size by using the shaft 12 as a minimum length, and the rotation of the slider 14 is regulated using the pin 15. In addition, since the slider 14 is slid and the arm 18 is swung, the structure can be simplified. Furthermore, the slider 14 is used to limit the rotatable range of the shaft 12, and thus the wheel 11, and is limited by the pin 15 inserted into the spiral groove 12a. And can occupy less space. Of course, since it is not necessary to mechanically connect the handle device 10 to the front wheel 4, the drive device 20, and the steering motor 22, these can be freely arranged, and the cab 6 moves up and down like the forklift according to the first embodiment. The present invention can also be suitably applied to vehicles.

In the first embodiment, the wheel 11 is fixed to the upper end portion of the shaft 12, and the wheel 11 and the shaft 12 are always rotated integrally. The wheel 11 and the shaft 12 may be rotated integrally by interlocking the movement of the wheel 11 with the movement of the wheel 30 fixed to the shaft 12. Hereinafter, the second embodiment will be described.
In the second embodiment, since the configuration other than the handle device 10 is the same as that of the first embodiment, the description thereof will be omitted, and the same reference numerals are used for the same configuration as the first embodiment with respect to the handle device 10. Is simplified.

  As shown in FIG. 8, the handle device 10 according to the second embodiment includes a disk-shaped wheel 11, a shaft 12 connected to the wheel 11, and upper and lower supports that rotatably support the shaft 12 around its central axis. 13, and further includes a cylindrical slider 14 fitted to the shaft 12 between the upper and lower supports 13 and left and right pins 15 inserted into the slider 14. The handle device 10 includes a left and right guide 16, an angle sensor 17 provided on the right guide 16, and an arm 18 attached to the angle sensor 17. The arm 18 and the right pin 15 are engaged. I'm allowed. Reference numeral 19 denotes a knob attached to the wheel 11.

  As shown in FIG. 9, the wheel 30 is fixed to the upper portion of the shaft 12 at a position below the wheel 11, and a pin 31 protrudes from the wheel 30 toward the wheel 11, and an engagement hole 30 a. Is formed. The wheel 11 includes a core material 11 </ b> A and a covering material 11 </ b> B, and a pin 32 projects from the core material 11 </ b> A toward the wheel 30. As shown in FIG. 10, springs 33 are concentrically arranged between the core member 11 </ b> A and the wheel 30, and both ends of the springs 33 are locked to the pins 31 and 32. . Further, a pin 34 projects from the core member 11 </ b> A toward the wheel 30, and the pin 34 is inserted into the engagement hole 30 a of the wheel 30.

  As shown in FIGS. 8 and 9, the upper support 13 protrudes toward the front side as viewed from the driver than the lower support 13, and a screw hole penetrating vertically is formed in the protruding portion. . A holder 35 is attached to the screw hole from below. The holder 35 has an upper part as a screw shaft and a lower part as a knob, and a through hole is formed at the center thereof. A shoe 37 is attached to the holder 35 via a spring 36. The shoe 37 includes a disk-shaped contact portion and a columnar guide portion that is inserted into the through hole of the holder 35. The shoe 37 is biased upward by a spring 36, and the upper surface of the contact portion is pressed against the lower surface of the wheel 30. Yes. As shown in FIG. 9, when the holder 35 is screwed and moved upward, the spring 36 pushes up the shoe 37 and the shoe 37 is pressed more strongly. Conversely, when the holder 35 is moved downward, the pressing force applied to the shoe 37. Will weaken.

  As shown in FIG. 9, when the driver holds the knob 19 and rotates the wheel 11, the rotation is transmitted to the wheel 30 via the spring 33, so the wheel 30 and the shaft 12 rotate integrally with the wheel 11. Therefore, dynamic friction is generated between the wheel 30 and the shoe 37, and this acts as a load when the wheel 30 and thus the wheel 11 is rotated. Further, since the portion protruding from the inner edge of the pin 15 is inserted into the spiral groove 12a, the slider 14 also tries to rotate together with the pin 15 as the spiral groove 12a rotates. However, since the portion protruding from the outer edge of the pin 15 is inserted into the guide groove 16a, the rotation is prevented and the slider 14 slides in the axial direction of the shaft 12. Further, since the portion protruding from the outer edge of the pin 15 is inserted into the engaging groove 18 a, the arm 18 swings as the slider 14 slides, and the swing angle of the arm 18 is determined by the angle sensor 17. Detected and input to the control device 24. When the slider 14 slides and the portion protruding from the inner edge of the pin 15 reaches the upper or lower end of the spiral groove 12a, the slider 14 cannot slide further, and the shaft 12 and the wheel 30 are moved. , And the driver cannot rotate the wheel 11 any further.

  According to the handle device 10 of the second embodiment, since the wheel 30 is provided, the handle device 10 is slightly longer than the first embodiment, but the handle device 10 can be reduced in size by using the shaft 12 as a minimum length. Can do. Further, as in the first embodiment, the pin 15 is used to restrict the rotation of the slider 14 and to slide the slider 14 to swing the arm 18. Further, the shaft 12, and then the wheel 11. Since the range of rotation is limited, a simple structure can be achieved and the occupied space can be reduced. Of course, the handle device 10 does not need to be mechanically connected to the front wheels 4, the drive device 20, and the steering motor 22, and therefore can be freely arranged.

  Further, according to the second embodiment, since the lock-to-lock is realized, the driver can feel the state of the front wheel 4 from the state of the wheel 11, and the handle device 10 so as to turn the front wheel 4 as desired. Can be operated. Furthermore, by changing the screwing condition of the holder 35, the contact pressure between the shoe 37 and the wheel 30 can be changed to adjust the load against the rotation of the wheel 11, so that for example, the driver feels that the wheel 11 is turning too lightly. When this is done, the load can be increased appropriately to improve the operability. Of course, even if the load decreases due to wear of the shoe 37 or the wheel 30, it can be easily readjusted to obtain good operability.

1 is a perspective view of a forklift according to an embodiment of the present invention. It is a perspective view of Example 1 of the present invention. It is a rear view of Example 1 of the present invention. It is a side view of Example 1 of the present invention. It is a side view of Example 1 of the present invention. It is a system diagram of Example 1 of the present invention. It is a control characteristic figure of Example 1 of the present invention. It is a perspective view of Example 2 of the present invention. It is a side view of Example 2 of the present invention. It is a top view of Example 2 of the present invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Car body 4 Front wheel 6 Driver's cab 10 Handle apparatus 11 Wheel 12 Shaft 12a Spiral groove 13 Support 14 Slider 15 Pin 16 Guide 16a Guide groove 17 Angle sensor 18 Arm 18a Engaging groove 20 Drive device 22 Steering motor 23 Angle sensor 24 Control device 30 Wheel 30a Engagement hole 31 Pin 32 Pin 33 Spring 34 Pin

Claims (3)

A handle device comprising: an operating member grasped by a driver; and a rotating shaft that is rotatably supported integrally with the operating member, and rotates the rotating shaft together with the operating member,
A sliding member having a through-hole into which the rotating shaft is inserted and provided so as to be slidable in the axial direction of the rotating shaft, and restricting rotation of the sliding member around the rotating shaft and sliding. A guide member to be guided, a swinging member provided to be slidable in the axial direction of the rotating shaft in conjunction with the sliding of the sliding member, and a swing angle of the swinging member is detected as an operation angle. An angle detector,
A spiral groove is formed in the axial direction on the outer periphery of the rotary shaft, a guide groove is formed in the guide member in the axial direction of the rotary shaft, and the guide member is further engaged with the swing member toward the swing center. A groove is formed,
The sliding member is provided with an inner projecting piece projecting toward the rotating shaft and an outer projecting piece projecting outward, and the rotating shaft is inserted into the through hole. The handle device, wherein the inner projecting piece is inserted into the spiral groove, and the outer projecting piece is inserted into the guide groove and the engaging groove. The rotating shaft includes a pair of supporting members that support the rotating shaft at positions closer to the ends of the rotating shaft than the sliding member, and the spiral groove has an end between the supporting members, and the sliding shaft The moving member is slidable to a position where the inner projecting piece reaches the end,
2. The handle device according to claim 1, wherein at the position, the support member and the sliding member are separated from each other by a predetermined distance in the axial direction of the rotation shaft. A steering system that turns steered wheels that are turnably provided on a vehicle body according to a driver's operation,
The handle device according to claim 1, a drive device that drives the turning of the steered wheel, a detection device that detects a turning angle of the steered wheel, an operation angle by the handle device, and a turn by the detection device A control device for controlling the drive device according to the angle,
The control system derives a target turning angle based on the operation angle, and controls the driving device so that the target turning angle and the turning angle coincide with each other.

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