JP3565676B2 - Drive input device for omnidirectional vehicles - Google Patents

Description

[0001]
[Industrial applications]
The present invention relates to a drive input device that is used for an omnidirectional vehicle and moves the vehicle body in all directions, increases the accuracy of recognition of the drive direction by an operator, and improves the driving accuracy of the omnidirectional vehicle. The present invention relates to a drive input device.
[0002]
[Prior art]
For example, in a vehicle such as a reach-type forklift that transports a work and includes a driving and turning wheel and a turning road wheel that is driven and driven while bearing a load, as shown in FIGS. 5A and 5B, Normal movement by turning only the driving and turning wheel, or linear movement while maintaining the vehicle body center line 1 substantially constant in a direction different from the vehicle body center line 1 as shown in FIGS. 5E and 5F, the rotation center o is positioned outside the vehicle body a, inside the vehicle body center line 1, and further on the vehicle body center line 1, and There is known an omnidirectional vehicle c that can perform both a turning motion and a turning motion while changing the direction.
[0003]
In order to turn 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. The first thought of these input methods is a method of controlling the traveling of the vehicle body by a three-dimensional joystick for inputting the x-axis direction, the y-axis direction, and the speed element, and a potentiometer for inputting the rotation angle α element. is there.
[0004]
The three-dimensional joystick, for example, is provided with a rotatable grip at the tip of a stick that can be tilted in all directions, and can set the x-axis, y-axis direction, and the potential of the speed element by the falling direction and the falling angle of the stick, Further, the rotation angle α of the vehicle is set by turning the grip.
[0005]
The second idea is that a mode changeover switch for previously setting the normal movement, the in-phase movement, and the turning movement, the steering for inputting the x-axis direction, the y-axis direction, or the rotation angle α, and the inclination of the speed element are included. This is a method of controlling the travel of the vehicle body with the accelerator lever input by the user.
[0006]
When the normal movement is set by, for example, a mode changeover switch, the steering device is a device for turning the drive and turning wheel, similarly to a normal reach type forklift. When the in-phase movement is set, all the wheels are turned in the same direction. Further, when turning movement is set, all the wheels are turned in different directions.
[0007]
[Problems to be solved by the invention]
According to the first conventional technique described above, when the vehicle travels at a slow speed, the vehicle can travel and turn with the joystick having the above-described configuration, but a vehicle that travels at a high speed, such as a transport vehicle, is strongly shaken when traveling. In the case of, when the inclination angle of the grip is increased, the operation of rotating the grip is difficult due to the large inclination of the grip itself, especially when giving a large input angle to the grip, the rotation angle with respect to the vehicle There is a problem that it is difficult to determine.
[0008]
In the above-described conventional second technique, the reach-type forklift is actually used. However, when the normal movement and the turning movement are set, the operation is relatively easy. In many cases, the operator could not recognize in which direction he was heading, and it was difficult to operate it sensuously.
[0009]
The present invention can reliably operate even during shaking or high-speed traveling during traveling, and can improve the accuracy of the operator's recognition of the driving direction with a simple device, and can improve the driving accuracy. The present invention relates to a drive input device for a directional moving vehicle.
[0010]
[Means for Solving the Problems]
The present invention provides a wheel turning device for each wheel of a vehicle, and the turning device can perform the same-phase movement of running linearly while keeping the vehicle body center line constant in a direction different from the vehicle body center line. In a directional moving vehicle, a turning angle detector for detecting a turning angle of a wheel of the vehicle, a lever capable of driving and driving the wheel of the vehicle in accordance with a tilt angle, and a lever guide for supporting the lever to tilt in one character direction A base for rotatably supporting the lever guide, and a motor for horizontally rotating the lever guide to an angle corresponding to the turning angle of the wheel based on the output of the turning angle detector. A drive input device for an omnidirectional vehicle .
[0011]
According to the present invention described above, the traveling direction of the vehicle body can be easily recognized, and driving accuracy can be improved.
[0012]
【Example】
Hereinafter, an example of an embodiment of the present invention will be described with reference to the drawings, taking as an example a case where an omnidirectional vehicle is a forklift truck used for cargo handling.
[0013]
As shown in FIG. 6, a drive input device for an omnidirectional vehicle (hereinafter referred to as a drive input device) is mounted on a driver's cab of an omnidirectional vehicle.
[0014]
In this example, the omnidirectional vehicle is a reach-type forklift truck as described above. As shown in FIG. 4, one driving and turning wheel 2 is provided on the vehicle body 1 and substantially equidistant from the center line of the vehicle body 1 in front thereof. And two turning road wheels 3 which are opposed to each other and bear a load.
[0015]
The driving and turning wheel 2 is engaged with a prime mover 4, which is a DC motor powered by a battery in this example. The drive and turning wheel 2 and the two turning road wheels 3 are individually provided with wheel turning devices 5 respectively.
[0016]
In addition to the drive input device 6, the vehicle body 1 is provided with a mode changeover switch 8 and a steering 9 on a driver's cab 7 and driving operation devices such as a brake pedal 11 on a driver's seat 10.
[0017]
As shown in FIGS. 5 (A) and 5 (B), the vehicle body aligns and operates each of the wheel turning devices 5 which engage with the driving and turning wheel 2 and the two turning road wheels 3, respectively. Normal movement by turning of the drive and turning wheel 2 alone, or linearly while maintaining the vehicle body 1 center line a substantially constant in a direction different from the vehicle body 1 center line a as shown in FIGS. 5C and 5D. 5E and 5F, the center of rotation o is positioned outside the vehicle body 1, inside the vehicle body 1 center line a, and further on the vehicle body 1 center line a as shown in FIGS. A turning motion in which the vehicle turns by changing the direction of the center line a of the vehicle body 1 can be performed, and these traveling modes can be switched by setting the mode switch 8.
[0018]
Hereinafter, the device of the present invention will be described for each structure.
[0019]
As shown in FIGS. 1 to 3, the drive input device 6 is mainly formed of a base 12, a lever guide 13, a lever base 14, and a lever 15.
[0020]
The lever guide 13 has a hemispherical outer shape, rotates horizontally above the base 12, and has a concentric hemispherical space inside. The lever base 14 has a hemispherical shape whose outer diameter is substantially the same as the hemispherical shape inside the lever guide 13 and has a concentric hemispherical space inside. The lever guide 13 is provided with a cutout portion 16 along one side along the inner hemispherical shape, and along this cutout portion 16, a circular sliding portion 25 disposed at the lowermost portion of the lever base 14 slides. Structure. Further, a lever 15 is disposed on the uppermost portion of the lever base 14, and the lever 15 is formed in a straight line with the sliding portion 25 and the lever base 14 interposed therebetween.
[0021]
With the above configuration, the lever 15 has a lever tilting structure in which the lever 15 tilts only in one character direction of the notch 16 of the lever guide 13.
[0022]
As described above, the lever base 14 has a hemispherical space inside. An X-axis shaft 17 penetrates and supports the lever base 14 so as to pass through the center of the hemisphere, vertically intersects the X-axis shaft 17 at the center of the hemisphere, and a Y-axis shaft 18 penetrates the X-axis shaft 17, It is pivoted. A miter gear 19 is fixed to the inside of the lever base 14 coaxially with the X-axis shaft 17 and meshes with the miter gear 19 coaxially fixed to the Y-axis shaft 18.
[0023]
With the configuration described above, a lever tilt angle transmission structure that can output the tilt angle of the lever 15 in the X-axis direction or the Y-axis direction by the rotation angle of the Y-axis shaft 18 is provided.
[0024]
A spring bracket 26 is erected and fixed to the Y-axis shaft 18, and the upper portion of the spring bracket 26 and the base 12 are pulled by two springs 20 in two rotation directions of the Y-axis shaft 18, respectively. This is an origin position holding structure that always holds the shaft 18 and thus the lever 15 at the origin position.
[0025]
A motor 21 and a potentiometer 22 are arranged on the base 12 so as to mesh with a gear 23 engraved around the lever guide 13. One of the driving and turning wheel 2 and one of the two turning road wheels 3 is provided. The motor 21 turns according to the value of a turning angle detector that detects the turning angle provided in the motor, and the potentiometer 22 detects the turning angle of the lever guide 13 and turns the motor 21 in units of 90 degrees. This is a lever guide rotating structure that stops.
[0026]
In this embodiment, a setting is used in which the lever guide 13 rotates 90 degrees when the turning angle detector exceeds 45 degrees.
[0027]
The driving and turning wheel 2 is driven using a potentiometer 24 installed on the Y-axis shaft 18 for detecting a rotation angle and a rotation direction, and driven in accordance with the value of the potentiometer 24.
[0028]
Hereinafter, a specific method of using the device of the present invention will be described.
[0029]
When the normal movement or the turning movement is set by the mode changeover switch 8, the lever 15 is moved to the vehicle body by using the above-described drive structure in the same manner as the most frequently used driving method described in the second example of the prior art. (1) The vehicle is tilted in the front-rear direction and the steering 9 is rotated to operate.
[0030]
Next, when the mode change switch 8 is set to the in-phase movement, the traveling direction is determined by the steering 9 and the lever 15 is tilted back and forth to drive the vehicle 1. However, when the turning angle detector detects 45 degrees or more, the lever 15 is tilted 90 degrees by turning the motor 21 to rotate the lever guide 13 by 90 degrees, thereby tilting the lever 15 in the left-right direction of the vehicle body 1. The vehicle 1 is driven and driven.
[0031]
【The invention's effect】
As described above, in the drive input device of the present invention, the lever can only tilt in one character direction, and the lever guide rotates according to the turning angle of the turning wheel when moving in the same phase. It is possible for the operator to make an immediate determination in the direction of tilt of. Therefore, it is a device for improving the accuracy of recognition of the running direction of the vehicle body and improving the driving accuracy.
[Brief description of the drawings]
FIG. 1 is a front view of a drive input device embodying the present invention.
FIG. 2 is a side view of a drive input device embodying the present invention.
FIG. 3 is a top view of a drive input device embodying the present invention.
FIG. 4 is a top perspective view of a reach type forklift embodying the present invention.
5 (A) to 5 (F) are front views showing driving modes of an omnidirectional vehicle.
FIG. 6 is a perspective view of a reach type forklift embodying the present invention.
[Explanation of symbols]
REFERENCE SIGNS LIST 1 vehicle body 2 driving and turning wheel 3 turning wheel 4 prime mover 5 wheel reorienting device 6 drive input device 7 cab 8 mode changeover switch 10 driver's seat 11 brake pedal 12 base 13 lever guide 14 lever base 15 lever 16 cutout 17 X-axis shaft 18 Y-axis shaft 19 Miter gear 20 Spring 21 Motor 22 Potentiometer 23 Gear 24 Potentiometer 25 Sliding part 26 Spring bracket

Claims (1)

An omnidirectional vehicle that is provided with a wheel redirection device for each wheel of the vehicle, and that can perform in-phase movement that linearly travels while maintaining the vehicle body center line constant in a direction different from the vehicle body center line by the redirection device. A turning angle detector for detecting a turning angle of a wheel of the vehicle, a lever capable of driving and driving the wheel of the vehicle in accordance with a tilt angle, a lever guide for supporting the lever to tilt in a single character direction, and A base that supports the lever guide so as to be able to rotate horizontally, and a motor that horizontally drives the lever guide to an angle corresponding to the turning angle of the wheel based on the output of the turning angle detector. Input device for omni-directional vehicles.

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