JP3938650B2 - Connected vehicle behavior control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a behavior suppressing device for a connected vehicle.
[0002]
[Prior art]
There are trailer swing phenomenon, jackknife phenomenon, etc. as vehicle behavior peculiar to the connected vehicle, and various countermeasures have been disclosed in order to suppress these abnormal behavior. Among these, there are limit switches arranged around the connection point and switches linked to the operation lever of the retarder. (See JP-A-7-257335, JP-A-6-219340, JP-A-6-55968, JP-A-9-263272).
[0003]
[Problems to be solved by the invention]
Specifically, a member that stands by at a retracted position that allows relative rotation between the tow vehicle and the towed vehicle is connected to a type that is displaced to the lock position by the operation of the cylinder when restraining of the relative rotation is necessary, There is a type in which an electromagnetic coil arranged around a point is energized when it is necessary to restrict relative rotation between the towed vehicle and the towed vehicle and attracts the vehicles by the generated magnetic force. However, in any case, since the restraint of relative rotation (connection angle) acts instantaneously and firmly, the impact (shock) generated between the vehicles is large, and the apparatus is required to have high strength rigidity to withstand this. Further, depending on the traveling state, there is a possibility that the tow vehicle may be dragged by the towed vehicle when the connection angle is constrained, and it is difficult to find the timing for releasing the restraint.
[0004]
The present invention has been made in view of such a problem, and an object of the present invention is to provide means capable of appropriately suppressing the connection angle between the tow vehicle and the towed vehicle without generating a large shock.
[0005]
[Means for Solving the Problems]
According to the first aspect of the present invention, in the connected vehicle that supports the towed vehicle rotatably around the connection point set on the tow vehicle, the wire winding drum is attached to the offset point with respect to the connection point of the tow vehicle, and the wire is attached to the attachment portion. There are provided means for elastically supporting the winding drum, means for regulating the rotation of the wire winding drum, means for controlling the regulation to be turned on and off, and means for connecting the tip of the wire to the towed vehicle .
[0006]
In the second invention, in a connected vehicle that rotatably supports a towed vehicle around a connection point set on the tow vehicle, a wire winding drum is attached to an offset point with respect to the connection point of the tow vehicle, and the winding direction of the drum is set. A means for urging the drum to rotate, a ratchet for restricting the rotation of the drum in the pull-out direction, a means for controlling the ratchet to be turned on and off, and connecting the tip of the wire to the towed vehicle. And a hydraulic damper or a spring damper for elastically supporting the wire winding drum at an offset point with respect to the connecting point of the towing vehicle .
[0007]
In the third invention, in the first invention or the second invention, the means for controlling to turn on / off the restriction on the rotation of the drum is an output corresponding to the rotation angle of the drum as the means for detecting the connection angle. A potentiometer for generating
[0009]
【The invention's effect】
In the first invention, when the rotation of the wire winding drum is restricted, the displacement of the connecting angle is restricted by the wire stretched between the vehicles. For this reason, by controlling the restriction on the wire winding drum as necessary, it is possible to suppress an abnormal increase in the connection angle (jack knife phenomenon or the like) without generating a large shock. Moreover, the shock accompanying the regulation of the coupling angle can be satisfactorily attenuated (buffered) by means for elastically supporting the drum .
[0010]
In the second invention, when the ratchet restriction is turned off, the connection between the vehicles is performed while the wire stretched between the towed vehicle and the towed vehicle is expanded and contracted against the urging force in the drum winding direction. Relative rotation around the point is possible. When the ratchet restriction is turned on, the rotation of the drum in the pulling-out direction is restricted, and the relative rotation between the vehicles in the direction of expansion of the connecting angle is restricted by the wire stretched between the vehicles. That is, further expansion of the connection angle is prevented, while winding of the wire accompanying the reduction of the connection angle is allowed. For this reason, it is possible to suppress abnormal expansion of the connecting angle by controlling the ratchet regulation to be turned on as necessary. Moreover, the shock accompanying the ratchet regulation can be attenuated (buffered) satisfactorily by the expansion and contraction of the hydraulic damper or the spring damper .
[0011]
In the third aspect of the invention, it is possible to appropriately control the connection angle constraint based on the connection angle detection signal. Further, the connecting angle can be easily and accurately detected from the rotation angle of the drum by a potentiometer .
[0013]
DETAILED DESCRIPTION OF THE INVENTION
1 to 8, 1 is a tractor (tow vehicle), 2 is a trailer (towed vehicle), and a coupler 3 (fifth wheel coupler) is mounted at the center of the rear part of the tractor 1. A kingpin (not shown) is arranged in the center of the front part of the. The fifth wheel coupler 3 is provided with a jaw mechanism (not shown) at the center lower part of the saddle 4 that supports the front part of the trailer 2, and locks the king pin received in the center of the saddle 4 in a freely connected state. Further, when the lock of the jaw mechanism is released, the king pin can be removed from the saddle 4, so that the trailer 2 can be separated from the tractor 1.
[0014]
A casing 6 having a wire 5 outlet is provided in the center of the rear end of the frame 1a of the tractor 1, and a wire winding device 7 as shown in FIG. A hook 8 is connected to the tip of the wire 5, and a ring 9 on which the hook 8 is detachably engaged is fixed to the center of the front end of the frame 2 a of the trailer 2. The wire winding device 7 includes a drum 10 and a bracket 11 that rotatably supports the drum 10, and means such as a spring (not shown) that urges the drum 10 to rotate in the winding direction with respect to the bracket 11 on the fixed side. Z) is assembled.
[0015]
A spring damper 12 is interposed between the bracket 11 and its substrate 11a (which forms a mounting surface for the winding device 7). The spring damper 12 includes a cylinder 12a and a piston 12b that is slidable therein, a rod 12c that connects the piston 12b and the base plate 11a, a spring 12d that biases the piston 12b in the contraction direction of the rod 12c, An excessive load that momentarily acts in the extending direction of the rod 12c in accordance with the restriction (restraint) of the connecting angle described later is mainly attenuated by the spring force of the spring 12d.
[0016]
A ratchet function 15 is assembled between the drum 10 and the bracket 11 in order to regulate the coupling angle (the rotation angle about the king pin of the trailer 2 with respect to the tractor 1). The ratchet mechanism 15 includes a claw wheel 16 that rotates around the shaft 22 integrally with the drum 10 and a claw lever 17 that restricts the rotation of the drum 10 in the wire pull-out direction when engaged with the claw wheel 16. The claw lever 17 is supported on the bracket 11 side via its proximal end so as to be rotatable in the engagement / disengagement direction with respect to the claw wheel 16. A protrusion 18 (lever) is formed at the base end of the lever 17, and a spring 19 that elastically holds the lever 17 in a retracted position that does not interfere with the ratchet wheel 16 via the protrusion 18, and resists the spring force. An actuator 20 (solenoid) for engaging the claw lever 17 with the claw wheel 16 is provided.
[0017]
The actuator 20 is connected to the protrusion 18 via a rod 23, and a control switch 21 is interposed in the power supply circuit. The control switch 21 may be turned on and off by the driver. In this embodiment, the control unit 30 (mounted on the tractor 1) shown in FIG. In order to suppress the jackknife phenomenon, etc., the actuator 20 and the alarm means 25 (operator's lamp and buzzer) are controlled as described later.
[0018]
As detection means necessary for control, a coupler switch 31 that detects a connected state (a locked state of the jaw mechanism) in which the king pin is rotatable with respect to the fifth wheel coupler 3, a vehicle body speed detecting means 32, and a connecting angle detecting means 33 are provided. Provided. The vehicle body speed detection means 32 includes a rotation sensor arranged for each wheel of the tractor 1 and a rotation sensor arranged for each wheel of the trailer 2, and an average value (calculated value) of these outputs (wheel speeds) is used as the vehicle body speed. Output. In this case, the connection angle detection means 33 uses a potentiometer (connected to the rotation shaft of the drum) that generates an output corresponding to the rotation angle of the drum 10, and outputs an operation value of the connection angle corresponding to the potentiometer from the output. To do.
[0019]
FIG. 7 is a flowchart for explaining the control contents of the control unit 30 and is repeatedly executed at a predetermined control cycle. In step 1, it is determined whether or not the coupler switch 21 is on (a connected state in which the king pin is rotatable with respect to the fifth wheel coupler 3). In step 2 and step 3, the vehicle speed (input signal from the vehicle speed detection means 32) is read to determine whether the vehicle speed is equal to or higher than a predetermined value (for example, 15 km / h). If both the determination in step 1 and the determination in step 3 are yes , the process proceeds to step 4 and the threshold values a and b (a> b) corresponding to the vehicle body speed (detection value) are searched from preset map data. . In step 5, the connection angle (input signal from the connection angle detection means 33) is read.
[0020]
In step 6, it is determined whether or not the control plug F = 1 (F = 0 is set by initialization of control). If this determination is no, the process jumps to step 10, and if yes, the process proceeds to step 7 to determine whether the connection angle (detection value) is equal to or greater than the threshold value a. If the determination in step 7 is yes, in step 8 and step 9, the control flag F is switched to 1 and the alarm means 25 and the actuator 20 are turned on. In step 10, it is determined whether or not the connection angle (detected value) is equal to or larger than a threshold value b smaller than the threshold value a. When this determination is yes, in Step 11 and Step 12, the control flag F is switched to 1, and the alarm unit 25 and the actuator 30 are turned off. If the determination in step 1, the determination in step 3 and the determination in step 7 are no, the process jumps to return.
[0021]
With such a configuration, when a predetermined operating condition is not satisfied during traveling in the connected state (when the determination at step 3 is no, or when the determination at step 6 is yes and the determination at step 7 is no), The alarm is stopped and the power supply to the actuator 20 is kept off. Since the pawl lever 17 of the ratchet mechanism 15 is in the retracted position and the pawl wheel 16 is free to rotate, the wire 5 stretched between the tractor 1 and the trailer 2 is stretched against the urging force in the winding direction of the drum 10. Since it can be relatively rotated around the kingpin between the vehicles while being contracted, it can be made to turn slowly at a large connecting angle, for example, at an intersection.
[0022]
When a predetermined operating condition is satisfied (determination in step 6 becomes yes), an alarm is activated and energization of the actuator 20 is performed until a predetermined release condition is satisfied (determination in step 10 is yes). Turned on. For this reason, the driver can accurately and easily determine the abnormality of the connection angle by the operation of the alarm. Since the claw lever 17 of the ratchet mechanism 15 is engaged with the claw wheel 16 by the operation of the actuator 20, the rotation of the drum 10 in the pulling direction is restricted, and the king pin between the vehicles is centered by the wire 5 stretched between the vehicles. The relative rotation is restricted. That is, since further expansion of the connection angle is prevented, abnormal expansion of the connection angle (jackknife phenomenon or the like) can be appropriately suppressed (see FIG. 9).
[0023]
At that time, the winding of the wire 5 accompanying the reduction of the connecting angle is allowed, so that the connecting angle can be returned to the normal range by driving operation (recovering the vehicle behavior), and the wire 5 is wound on the drum 10. This won't get in the way between cars. In addition, since the ratchet mechanism 15 includes the spring damper 12, the shock associated with the restriction (engagement between the claw wheel 16 and the claw lever 17) can be attenuated (buffered) well.
[0024]
When the predetermined release condition is satisfied, the control flag F = 0, the alarm operation and the energization of the actuator 20 are switched off, and the threshold value a of the operation condition and the threshold value b of the release condition are changed. By setting it, it becomes effective to reestablish the vehicle behavior by the driving operation.
[0025]
The connection angle can be easily detected from the output of the potentiometer, but the assembly angle (actual displacement of the ratchet mechanism 15 or ring 9 etc.) may cause a change in the output of the potentiometer whose connection angle (actual value) is 0. Sex is conceivable. Therefore, a function is added to the control unit 30 to initialize the correspondence between the potentiometer output and the connection angle based on the actual value of 0.
[0026]
FIG. 8 is a flowchart for explaining this function. In step 1, it is determined whether or not the coupler switch 31 is ON. In step 2, it is determined whether the vehicle body speed is a predetermined value (for example, 30 km / h). In step 3, it is determined whether the detected value of a rudder angle sensor (not shown) is zero. Then, when a predetermined time (for example, 5 seconds) elapses with all the determinations in Step 1 to Step 3 being “yes”, the process proceeds from Step 4 and Step 5 to Step 6, and the output of the potentiometer at that time is determined by the connection angle. Initialize as corresponding to 0.
[0027]
Thereby, when the tractor 1 and the trailer 2 are in the straight traveling state, the correspondence relationship between the output of the potentiometer and the connection angle is updated, so that the output of the potentiometer corresponding to the connection angle of 0 changes as described above. In addition, the connecting angle corresponding to the output of the potentiometer can be accurately obtained. In addition, about the wire winding apparatus 7, you may make it control these synchronously by arrange | positioning two or more like FIG. In FIG. 10, 3 is a fifth wheel coupler, and 5 is a wire.
[Brief description of the drawings]
FIG. 1 is a side view of a coupled vehicle representing an embodiment of the present invention.
FIG. 2 is a plan view of the coupled vehicle.
FIG. 3 is also a partial plan view.
FIG. 4 is a partial side view of the same.
FIG. 5 is an explanatory view showing the configuration of the wire winding device.
FIG. 6 is a block diagram of the control system.
FIG. 7 is a flowchart for explaining the control contents of the control unit.
FIG. 8 is a flowchart for explaining the control contents in the same manner.
FIG. 9 is an explanatory view of the same operation.
FIG. 10 is a side view of a coupled vehicle representing another embodiment.
[Explanation of symbols]
1 Tractor 2 Trailer (semi-trailer)
3 Fifth wheel coupler 5 Wire 7 Wire hoisting device 8 Hook 9 Locking ring 10 Drum 11 Bracket 12 Spring damper 15 Ratchet mechanism 16 Claw wheel 17 Claw lever 19 Spring 20 Actuator 21 Control switch 30 Control unit 32 Car body speed detection means 33 Connection Angle detection means

Claims (3)

In a connected vehicle that supports a towed vehicle rotatably around a connection point set on the towing vehicle, a wire winding drum is attached to an offset point with respect to the connection point of the towing vehicle, and the wire winding drum is elastically attached to the attachment portion. A connected vehicle comprising: means for supporting; means for restricting rotation of the wire hoisting drum; means for controlling the restriction to be turned on and off; and means for connecting the tip of the wire to the towed vehicle. Behavior suppression device. In a connected vehicle that supports a towed vehicle rotatably around a connection point set on the tow vehicle, a wire winding drum is attached to an offset point with respect to the connection point of the tow vehicle, and the drum is attached to rotate in the winding direction. A ratchet for controlling the rotation of the drum in the pull-out direction, a means for controlling the ratchet to be turned on and off, a means for connecting the tip of the wire to the towed vehicle, A behavior suppressing device for a connected vehicle , comprising: a hydraulic damper or a spring damper that elastically supports the wire winding drum at an offset point with respect to the connection point . On the restriction against the rotation of the drum - means for controlling to off, as a means for detecting a connecting angle claim 1 or claims characterized by comprising a potentiometer for generating an output corresponding to the rotation angle of the drum Item 3. A connected vehicle behavior suppressing device according to Item 2.

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