JP3212077B2 - Steering input device for omnidirectional vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an omnidirectional vehicle capable of inputting steering in a state close to the steering feeling of a driver, improving work efficiency and improving driving safety. The present invention relates to a vehicle steering input device.

[0002]

2. Description of the Related Art For example, in a vehicle such as a reach-type forklift, which includes a driving wheel and a road wheel which is driven and driven while bearing a load, as shown in FIG. In-phase movement in which the vehicle body center line l moves linearly in the same direction as the vehicle body center line 1 or in a direction different from the vehicle body center line l as shown in FIGS. 9B and 9C. 9 (D), (E),
As shown in (F), a turning motion in which the direction of the vehicle body center line l is changed while turning the center of rotation o outside the vehicle body a, inside the vehicle body center line l, and further on the vehicle body center line l, and Is known.

In order to steer such an omnidirectional vehicle, it is necessary to input three elements of an x-axis direction, a y-axis direction, a rotation angle α and a speed element in order to set a traveling direction.
A method of controlling the traveling of the vehicle by using a three-dimensional joint stick j as shown in FIGS. 10A and 10B or a potentiometer in which a rotation angle α element is separately provided therein is used. I was

[0004] The three-dimensional joint stick j is provided with a tiltable grip e near the periphery of a pivotable disk d as shown in FIGS. 10A and 10B, for example. By rotating the disk d, the potentiometers in the x-axis and y-axis directions can be set. Further, as shown in FIG. 10 (B), when the grip e is tilted, the running speed of the vehicle body is set in accordance with the tilt angle γ, while by rotating the grip e, the rotation angle α can be set. It was formed as follows.

[0005]

When the vehicle travels at a slow speed, the steering can be performed by the joint stick j having the above-mentioned structure. In the case where the inclination angle γ of the grip e is increased, the operation of rotating the grip e is difficult due to the large inclination of the grip e itself. However, there is a problem that it is difficult to determine the rotation angle α.

Further, when the grip e is gripped and the disk d is rotated to set the direction angle γ, the grip e should be held in the same direction as shown by the solid line in FIG. As a result, the grip e rotates on its own axis, as shown by the dashed line in FIG. 3, and there is a problem that accurate rotation of the vehicle cannot be input and steering becomes unstable.

As shown in FIG. 12, for example, it is conceivable to form the handle portion e1 of the grip e into a parallel link mechanism. However, with this structure, the grip portion e2 at the tip of the grip e is attached to the disk d. On the other hand, the parallelism can always be maintained, and the operability is slightly improved, but the rotation of the grip e cannot be prevented when inputting the direction angle, and cannot be adopted to solve the problem of the present application.

[0008] In addition, for controlling the rotation angle by using another operating tool, in a vehicle such as a forklift, in which one driver handles both steering and cargo handling, the driver operates the steering wheel. It is limited to three points of both hands and one foot, and cannot be steered even if an operating tool is added. For this reason,
There has been a demand for a device capable of easily and reliably inputting steering.

[0009] The present invention is basically formed so as to control the advancing angle of the vehicle body by moving a grip held by a driver in a plane, and to control the rotation angle of the vehicle body by rotating the grip. As an omnidirectional car,
In addition, even in vehicles such as forklifts that involve cargo handling operations, steering can be input in a state close to the steering feeling of the driver, and omnidirectional vehicles that can improve work efficiency and improve driving safety The purpose of the present invention is to provide a steering input device.

[0010]

SUMMARY OF THE INVENTION The present invention provides an in-phase movement that moves in the same or different direction as the vehicle body center line while keeping the vehicle body center line constant, and a turning movement that changes the direction of the vehicle body center line. A steering input device for an omnidirectional mobile vehicle, comprising a base frame having a virtual coordinate plane, a moving body, and a base provided on the base frame and being parallel to the coordinate plane and invariably oriented from the origin of the coordinate plane. Holding means for slidably holding the moving body, and a grip held by a steering operator on the moving body
A handle body provided away from the center of rotation , and the same phase is determined from an angle at which a line connecting the moving point at which the moving body has moved from the origin and the origin of the coordinate plane is inclined with respect to the coordinate axis of the coordinate plane. An omni-directional movement direction setting means for calculating a movement direction, and a turning movement setting means for setting a steering angle of the turning movement based on a turning angle of the grip with respect to the moving body. It is a steering input device for a moving vehicle.

When the grip is rotated at the origin of the coordinate plane using the apparatus of the present invention, the vehicle makes a turning motion. On the other hand, when the coordinate plane is moved without rotating the grip, the vehicle moves. The travel angle of the grip on the coordinate plane can be used as the travel angle of the vehicle.

Since the direction of the in-phase movement of the vehicle body is calculated using the moving body moving on the coordinate plane as described above, the direction of the in-phase movement can be set accurately and easily. I can do it. In addition, since the moving body can move in a plane as described above, the posture of the grip attached to the moving body is also stable, and the angle can be easily set even when the grip is rotated at a small angle. In the movement, even if the advancing angle of the in-phase movement is greatly changed, the already input revolving angle is added, so that the posture angle of the vehicle body does not change, and the steering angle of the turning motion of the vehicle body is changed. It can be calculated and set with high accuracy and can improve the stability of operation.

When the in-phase moving speed setting means for setting the in-phase moving speed based on the distance from the origin of the moving point of the moving body is provided, the speed can be inputted without separately providing an operating tool. As a result, driving becomes easier.

The movable body is formed so as to be urged toward the origin by a spring, so that the input swing can be suppressed even at a high speed or under a running condition in which the body swings greatly, and the driving safety is improved. It can be even higher.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings, taking as an example a case where an omnidirectional vehicle is a forklift truck used for cargo handling.

In FIGS. 1 to 5, a steering input device 1 for an omnidirectional vehicle (hereinafter referred to as a steering input device 1) is mounted on an omnidirectional vehicle C.

The omnidirectional vehicle C is a reach-type forklift truck as described above in this embodiment. As shown in FIG. 1, one driving wheel 21 is provided on a vehicle body 20 and a vehicle center line l is provided in front of the vehicle. And two load wheels 22 and 23, which are provided at substantially equal distances from each other and bear a load.

The driving wheel 21 is engaged with a prime mover 24. The prime mover 24 is a DC motor powered by a battery in this embodiment. This drive wheel 2
Each of the one and two road wheels 22, 23 is provided with a wheel direction changing device 25.

The vehicle body 20 is provided with driving operation devices such as a brake lever 27 in addition to the steering input device 1.

Therefore, the vehicle body 20 includes the driving wheel 2
Each wheel turning device 25, 25, 25 engaging one and two road wheels 22, 23, respectively.
9 in the same direction as the vehicle body center line 1 while maintaining the vehicle body center line l substantially constant (FIG. 9).
(Shown in FIG. 9A) or in a different direction (FIGS. 9B and 9C).
9), the vehicle center line 1 is changed by individually orienting the wheels 21, 22, and 23 in different directions (FIG. 9).
The turning motions shown in (D), (E) and (F) can be performed, and these running modes can be switched by selection.

The steering input device 1 includes a base frame 3 on which an imaginary coordinate plane 2 set on a plane can be set on an upper surface;
And a holding means 5 for slidably holding the moving body 4 parallel to the coordinate plane 2 and a grip 6 rotatably attached to the moving body.

In the present embodiment, the base frame 3 is, as shown in FIGS.
A bottom plate 3b is provided on the bottom of a peripheral frame formed by surrounding the frame members 3a.
And the holding means 5 is provided inside the base frame 3.

The holding means 5, as shown in FIG.
The traveling body 11 oriented in the Y-axis direction is laid on the pair of parallel rails 31, 31 extending in the axial direction so as to be able to move in parallel along and along the rails 31, 31.

The running body 11 has rails 31, 3 at both ends.
The sliding parts 11a, 11a fitted to the outside 1 are provided. The two sliding parts 11a, 11a are connected by two rods 32, 32 arranged in parallel.

The moving body 4 is composed of the two rods 32, 32
A base piece slidable in the Y-axis direction by using as a guide, a handle body pivotally supported in a direction perpendicular to a plane formed by the X-axis and the Y-axis and having the grip 6 1
5 are provided.

Therefore, the moving body 4 is held by the traveling body 11 slidable in the X-axis direction so as to be slidable in the Y-axis direction, and the traveling body 11 is slidable in the X-axis direction. Thereby, the moving body 10 can move in a plane parallel to the coordinate plane 2 and without changing the direction of the moving body 10 itself.

The handle body 15 rises in the base piece 34 in a direction perpendicular to the virtual coordinate plane 2 and fixes a disk 36 to the tip of a rotating shaft 35 pivotally supported by the base piece 34. give a grip 6 ingredients to the vicinity of the peripheral edge in the steering person can grasp the disc 36, thus gripping 6 from rotation center
It is provided separately.

The grip 6 is capable of rotating the disk 36 itself in the normal and reverse directions around the rotation axis 35, and the whole of the moving body 4 is held on the virtual coordinate plane 2 while holding the grip 6 itself. The plane can be moved in parallel.

The moving body 4 includes three or more, in this example, four tension springs 1 set under uniform conditions from the four corners of the base frame 3.
.. Are biased toward the center of the base frame 3 and stop at the center of the base frame 3 in a natural state where no external force is applied to the moving body 4. The position at which the moving body 4 stops is set as the origin O of the virtual coordinate plane 2.

In this embodiment, the base piece 34 and the running body 1 are positioned on the moving body 4 so that the moving body 4 can be accurately positioned at the point O.
Positioning knobs 37a, 37b are provided on each of the sliding portions 11a, 11a. The rotating shaft 35
Is provided with a brake 39 capable of always tightening the rotating shaft 35 so that it cannot be rotated and releasing the rotating shaft 35 to be rotatable only when the grip 6 is pressed down.

Therefore, when the entire moving body 4 is moved in the direction of the coordinate plane 2 using the grip 6, the grip 6
By operating without pressing down, it is possible to prevent the handle body 15 from rotating due to malfunction.

Further, the moving body 4 has an angle potentiometer S1 which can measure the rotation angle of the rotating shaft 35 rotated by the operation of the grip 6 with reference to the neutral position.
Is provided.

Further, one end of the traveling body 11 is engaged via a wrapping transmission 41 connected to the moving body 4 to move in the Y-axis direction along the traveling body 11 of the moving body 4. A Y-axis potentiometer S2 capable of measuring the amount of movement from the origin O is provided. In addition, it is preferable to use a chain or a toothed belt transmission for transmitting the potentiometer accurately without causing a slip in the Y-axis potentiometer S2.

On the other hand, one end of the rail 31 is connected to the traveling body 11 via a wrapping transmission 42 and starts from the Y axis passing through the origin O of the traveling body 11 in the X-axis direction of the traveling body 11. An X-axis potentiometer S3 that can measure the amount of movement to the X-axis is attached.

When the moving body 4 is positioned at the origin O of the coordinate plane 2 and the grip 6 is depressed, the brake 3
9 is released, and the grip 6 is gripped and the handle 15 is rotated to move the moving body 4 of the grip 6.
The rotation angle α with respect to the angle potentiometer S1
To detect.

The detected value of the angle obtained by the angle potentiometer S1 is calculated by, for example, the controller 16 provided in the vehicle body 20, so that the steering angle in the turning motion of the vehicle body 20 can be calculated. As described above, the steering input device 1 controls the vehicle body 2 by the rotation angle α.
A turning movement calculating means 9 for calculating a steering angle in a turning movement of 0 is provided.

On the other hand, the grip 6 is fixed so as not to rotate with respect to the moving body 4 without pressing the grip 6, that is, while the brake 39 is being operated, and the moving body 4 is fixed at the origin. Move on the virtual coordinate plane 2 starting from O.

For example, in FIG. 5, when the moving body 4 is moved from the origin O to the position P1, the movement amount Y1 in the Y-axis direction with respect to the movement can be detected by the Y-axis potentiometer S2. X of the traveling body 11 to which the body 4 is attached
The movement amount X1 in the axial direction can be detected by the X-axis potentiometer S3.

By detecting the movement amount X1 in the X-axis direction and the movement amount Y1 in the Y-axis direction, a line M1 connecting the origin O on the coordinate plane 2 and the moving point P1 at which the moving body 4 has moved from the origin O is detected. Is the inclination angle θ1 of the coordinate plane 2 with respect to the X axis.
Can be derived by the following equation (1). θ1 = tan ⁻¹ (Y1 / X1) (1) The calculation of the inclination angle θ1 can be obtained by performing an operation in the controller 16.

Similarly, when the moving body 4 moves from the origin O to the position P2 shown in FIG. 5, the inclination angle θ2 of the line M2 with respect to the X axis is as follows: θ2 = tan ^-1 (-Y2 / -X2) (2) can be obtained.

As described above, the steering input device 1 is connected to the moving point P1
Alternatively, the linear direction setting means 7 that can calculate the direction of the in-phase movement of the vehicle body 20 from the inclination angle θ1 or θ2 at which the line M1 or M2 connecting P2 and the origin O of the coordinate plane 2 is inclined with respect to the coordinate axis of the coordinate plane 2 I have it.

Further, the moving distance L1 between the origin O and the moving point P1 is based on the measured values of the moving amount X1 in the X-axis direction and the moving amount Y1 in the Y-axis direction. L1 = １ (X1) ² + ( Y1) ² ｝ (3) can be easily calculated. Similarly, at the moving point P2, the moving distance L2 can be calculated by L2 = {(− X2) ² + (− Y2) ² } (4).

The moved distances L1 and L2 are determined by the controller 16
The speed at which the vehicle body 20 moves in the same phase can be set. As described above, the steering input device 1 includes the in-phase movement speed setting means 10 that can calculate the in-phase movement speed of the vehicle body 20 based on the distance L1 or L2 from the origin O of the moving point P1 or P2 of the moving body 4. I have.

In this example, as shown in FIG.
When the moving body 4 moves from the origin O or the moving points P1 and P2, and the moving body 4 moves a small distance around the origin O or the moving points P1 and P2, the respective potentials on the X axis and the Y axis Dead zones 17 where distances are not detected by the meters S1 and S2 are set. Turning motion setting means 9
In the same manner, an angle range in which the rotation angle is insensitive when the grip 6 is rotated is provided.

By providing such a dead zone and a dead angle zone, disturbance of the steering due to the vibration of the vehicle body 20 or the swing of the operator is prevented.

When moving on the coordinate plane 2 of the moving body 4, a line M1 moves from the origin O toward the moving point P1 or P2.
Alternatively, it may be moved while moving straight on M2, but it may be operated in two stages in the X-axis direction and the Y-axis direction and operated on an L-shaped trajectory.

The holding means 5 may be formed so as to move the traveling body in parallel with the Y axis, contrary to the structure shown in FIG. Further, when calculating the direction of the in-phase movement, the Y-axis may be set as a reference instead of the X-axis.

The base frame 3 is provided with a cover 19 for covering the holding means 5 provided inside the base frame 3. The cover body 19 can move in the X-axis direction following the movement of the moving body 4, and includes a main cover 43 that covers the moving body 4 and a pair of telescopic covers 44, 44 disposed on both sides in the X-axis direction. And the main cover 43 has a Y
A narrow elongated hole 43a is formed in the Y-axis direction so that only the moving body 4 can move without moving in the axial direction.

FIG. 6 shows another mode in which the moving body 4 is urged by a spring. In the present example, each of the frame members 3a of the peripheral frame of the base frame 3 has four pressing pieces 45, one end of which is slidably locked. Are attached. Therefore, the moving body 4 is formed so as to be urged toward the origin O by the springs 12A through these pressing pieces 45.
In this example, the stoppers 46 are provided to prevent the pressing piece 45 from further pressing the moving body 4 beyond the origin O.
The positioning accuracy of the moving body 4 with respect to the origin O is thereby increased.

The urging of the moving body toward the origin may be performed by a pneumatic device, a hydraulic device, or the like, in addition to the spring having the above-described configuration.

FIG. 7 shows holding means 5A for holding moving body 4A.
3 shows another embodiment of the present invention. In this example, the holding means 5A
Is formed by a first arm body 51 and a second arm body 52 which are composed of parallel link bodies and are connected to each other, and the moving body 4A can move in a coordinate plane in an invariant direction by the two parallel link bodies.

When the moving body 4 moves to the moving points P3 and P4, the inclination angles θ3 and θ4 of the direction lines and the distances L3 and L4 from the origin O to the moving points P3 and P4 are one of the X axis and the Y axis. , The amount of change of the inclination angle κ1 of the first arm body 51 with respect to the X-axis, and the amount of change of the intersection angle κ2 of the second arm body 52 with respect to the first arm body 51, respectively. , S4 to calculate and calculate the direction of movement during the in-phase movement and the speed of the vehicle body during the in-phase movement.

As described above, also in this embodiment, the steering input device 1
Are linear direction setting means 7 and in-phase moving speed setting means 10
With Further, the moving body 4A is provided with a turning motion setting means which is configured substantially similarly to that shown in FIG.

FIG. 8 shows another embodiment in which a specific wheel can be steered by mechanically connecting the grip and the wheel.

In this embodiment, the rotation angle obtained by operating the grip 6 is used as the angle potentiometer S1.
And the potentiometer S
1 and the rotating shaft 35 extending flat with the traveling body 11
The shaft spline shaft 55 is engaged via a first bevel gear transmission mechanism 56.

The first bevel gear transmission mechanism 56 is engaged with the X-axis spline shaft via the clutch 57, and is engaged by the clutch 57 only when the grip 6 is turned and the turning motion is instructed. Is performed. Accordingly, even when the moving body 4 moves along the traveling body 11, the engagement by the first bevel gear transmission mechanism 56 is maintained.

The X-axis spline shaft 55 is connected to the rail 31
A second bevel gear transmission mechanism 60 disposed below the end of the traveling body 11 engages with a Y-axis spline shaft 59 extending along the Y-axis. Steering shaft 61 to be steered and direction changing mechanism 62
Engage through. Thus, even when the traveling body 11 moves in the direction of the rail 31, the transmission engagement between the X-axis spline shaft 55 and the Y-axis spline shaft 59 is maintained in the second bevel gear transmission mechanism 60. You. Therefore, the turning operation of the grip 6 is directly transmitted to the driving wheel 21 by mechanical transmission, and the wheel 21 can be steered.

In this embodiment, the two road wheels 22 and 23 detect the rotation angle α of the grip 6 by the above-mentioned angle potentiometer S1 and calculate the calculated rotation angle α via an electric output signal. Road wheel 2
It is operated by a wheel turning device attached to 2, 23. Thus, the steering input device of the present invention can be modified into various modes.

[0059]

As described above, the steering input device of the present invention includes the holding means for holding the moving body in a direction parallel to the coordinate plane according to the above-described structure, and the same from the origin of the moving body. The gist of the present invention is to provide the same phase movement direction setting means for calculating the direction of the phase movement, and the turning movement setting means for setting the turning angle of the turning movement from the turning angle of the grip attached to the moving body. However, the direction when performing the same phase movement can be set accurately and easily, and since the moving body moves in a plane, the posture of the grip attached to the moving body is also constant, and the steering angle even during the turning movement Setting becomes easy.

Therefore, in the omnidirectional vehicle, the in-phase movement and the turning movement can be inputted in a state close to the steering feeling of the operator, so that work efficiency can be improved and driving safety can be improved. Therefore, the present invention can be suitably applied to an omnidirectional moving vehicle for cargo handling such as a forklift truck that performs cargo handling in addition to steering.

Further, by providing the in-phase moving speed setting means as described in claim 2, steering is further facilitated.

[Brief description of the drawings]

FIG. 1 is a plan view showing an example of an omnidirectional vehicle using the apparatus of the present invention.

FIG. 2 is a plan view showing an example of an embodiment of the present invention.

FIG. 3 is a sectional view taken along line AA.

FIG. 4 is a perspective view showing the holding means together with a moving body.

FIG. 5 is a plan view showing the operation of the holding means.

FIG. 6 is a plan view showing another embodiment of a spring for urging a moving body.

FIG. 7 is a plan view showing another form of the holding means.

FIG. 8 is a perspective view showing another embodiment.

FIGS. 9A to 9F are plan views showing respective driving modes of the omnidirectional vehicle.

10A and 10B show a prior art, and FIG. 10A is a plan view and FIG. 10B is a side view thereof.

FIG. 11 is a plan view showing the operation.

FIG. 12 is a front view showing a conventional technique.

[Explanation of symbols]

 2 virtual coordinate plane 3 base frame 4, 4A moving body 5, 5A holding means 6 grip 7 in-phase moving direction setting means 9 turning motion setting means 10 in-phase moving speed measuring means 11 running body C omnidirectional vehicle L distance l Body center line O Origin of coordinate plane P Moving point X X axis Y Y axis α Rotation angle θ Tilt angle

──────────────────────────────────────────────────続 き Continued on the front page (58) Fields surveyed (Int. Cl. ⁷ , DB name) B62D 7/14 B62D 1/12 G06F 3/033 B62D 6/00 G05G 1/00-25/04

Claims (4)

(57) [Claims] An omnidirectional vehicle capable of performing in-phase movement for moving in the same or different direction as the vehicle body center line while keeping the vehicle body center line constant, and turning motion for changing the direction of the vehicle body center line. An input device, a base frame having a virtual coordinate plane, a moving body, and provided on the base frame and slidable from the origin of the coordinate plane in parallel with the coordinate plane and in the same direction as the moving body. Holding means for holding, and a handle body provided on the moving body with a grip gripped by a steering operator away from the center of rotation, and a moving point at which the moving body has moved from the origin and the origin of the coordinate plane. In-phase movement direction setting means for calculating the direction of the in-phase movement from the angle at which the connecting line is inclined with respect to the coordinate axis of the coordinate plane, and the turning angle of the turning motion is set by the rotation angle of the grip with respect to the moving body. Swivel motion Comprising a constant section, the steering input device omnidirectional vehicle, characterized in that to set the direction of the vehicle body of the wheel based on the phase moving direction setting means and the turning movement setting means. 2. The method according to claim 1, wherein the distance of the moving point of the moving body from the origin is
2. The steering input device for an omnidirectional vehicle according to claim 1, further comprising an in-phase moving speed setting means for setting an in-phase moving speed. 3. The holding means includes a traveling body that moves parallel to one of the X-axis and the Y-axis, and the moving body moves parallel to the other axis in the longitudinal direction of the traveling body. The steering input device for an omnidirectional vehicle according to claim 1, wherein the steering input device is supported so as to be capable of being driven. 4. The steering input device for an omnidirectional vehicle according to claim 1, wherein the movable body is urged to the origin by a spring.