JP4079720B2 - Traveling cart - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a traveling carriage that includes a plurality of independent conversion-type wheel devices in a carriage body and conveys a large load.
[0002]
[Prior art]
There are three or more wheel devices in the vehicle length direction and two or more rows in the vehicle width direction at the bottom of the main body of the carriage, and each wheel device can be turned independently. When the steering wheel arranged in the driver's seat is operated, the steering wheel operation amount is detected by the steering wheel rotation angle detector, and the steering controller turns the traveling cart based on the detection signal. The center is calculated, the target rudder angle of each wheel device is calculated, and the turning cylinder of each wheel device is driven.
[0003]
[Problems to be solved by the invention]
However, although the driver in the driver's seat can determine the traveling mode, in the forward / reverse mode, when the steering wheel is operated and steered, it is difficult to grasp the direction of the traveling wheel, so the vehicle body travels in which direction. This makes it difficult to predict and the direction of turn cannot be determined accurately.
[0004]
An object of the present invention is to solve the above-mentioned problems and to provide a traveling carriage that can easily grasp the direction of traveling wheels of the carriage from the driver's seat and can improve the maneuverability.
[0005]
[Means for Solving the Problems]
In order to achieve the above object, the invention according to claim 1 is characterized in that a driver's seat is arranged at each of a front part and a rear part of a carriage body, and a steering angle is operated by steering means of the driver's seat, respectively. In a traveling vehicle provided with a wheel device, a target steering angle of a virtual master axis set at the center position of the front row wheel device in the traveling direction of the traveling vehicle is calculated based on the steering angle input by the steering means. A master shaft rudder angle calculation unit, a turning center calculation unit that calculates a turning center position based on a calculation value of the master shaft rudder angle calculation unit, and a target of each wheel device based on a calculation value of the turning center calculation unit A steering control device having a wheel target rudder angle calculation unit for calculating a rudder angle, and the master axis rudder angle calculation unit is configured to determine a position of a virtual master axis based on a driver seat switching command signal for designating a driver seat. Switch It calculates a target steering angle of the shaft, configured to output the steering angle display unit of the designated driver's seat, the display device of the driver's seat, the target of the master axis which is calculated by the master axis steering angle calculating section A rudder angle display unit that displays the direction of turning of the bogie body based on the rudder angle value is provided.
[0006]
According to the above configuration, the driver's seat display device is provided with the rudder angle display unit that displays the rudder angle of the virtual master shaft. It is possible to accurately and quickly predict the turning direction (traveling direction) of the vehicle, and to accurately maneuver. As a result, it is possible to prevent useless driving movements or contact accidents by the driver, and the operating performance can be significantly improved. In addition, even when the driver seats arranged at the front and rear are switched and operated according to the traveling direction of the traveling carriage, the traveling carriage can be operated with the same feeling at the front and rear driver seats, further improving the operation performance. be able to. Further, since the turning direction is displayed on the rudder angle display unit, the turning direction can be detected instantly without misunderstanding by the driver, and accurate determination can be made.
[0009]
DETAILED DESCRIPTION OF THE INVENTION
Here, an embodiment of a traveling carriage according to the present invention will be described with reference to FIGS.
[0010]
As shown in FIG. 4, a front driver seat 2 </ b> A and a rear driver seat 2 </ b> B are provided at the front and rear positions on the lower surface of the cart body 1 on which the loading platform surface 1 a on which a large load is mounted is formed. The bottom surface of the cart body 1 is provided with a large number of, for example, a total of 16 independent conversion type wheel devices R1 to R8 and L1 to L8 in two rows on the left and right and eight rows on the front and rear sides, and the driver seat 2A, 1B, each wheel device R1 to R8, L1 to L8 is steered via a steering controller (steering control device) 3 to steer the traveling carriage by operating the steering handle shown in FIG. It is configured.
[0011]
As shown in FIG. 5, each of the wheel devices R1 to R8 and L1 to L8 includes a revolving body 11 that is supported by the carriage main body 1 so as to be rotatable about a rudder shaft SS, and an upper arm portion 12 and a revolving body 11. An axle portion 15 supported on the rudder shaft SS via the lower arm portion 13 and the suspension cylinder 14, a plurality of wheels 17 rotatably supported by the axle portion 15 and driven by a drive motor 16; A steering drive device 18 is provided in the cart body 1 and steers the turning body 11 about the turning shaft SS around the turning shaft SS . Although not shown in the drawings, the steering drive device 18 is configured to mesh one or a plurality of racks with a pinion provided on the revolving body 11, for example, and to rotate the revolving body 11 by driving the rack back and forth by a revolving cylinder (36). It is constituted by a rack and pinion mechanism. Further, a steering angle detector (FIG. 1) 19 for detecting the turning angle of the wheel 17, that is, the actual steering angle is provided.
[0012]
In addition to the steering wheel, the front and rear driver seats 2A and 2B include a driver seat selection switch 21 for specifying the driver seats 2A and 2B to be used, a travel mode selection lever 22, a shift lever 26, and the display shown in FIG. Touch panels (display devices) 23F and 23R having steering angle display portions 24F and 24R that can be operated and display the turning direction (traveling direction) of the cart body 1 are provided.
[0013]
As shown in FIGS. 1 and 2, the steering controller 3 comprising a microcomputer is based on the steering wheel operating angle of the steering wheel rotation angle detector 25 provided on the steering handle 4 and the front row wheel devices R1, L1 in the traveling direction. Target turning angles (steering angles θ1R to θ8R, θ1L to θ8L) that are set to the central axis (on the axle MC) of (R8, L8) and that are at the rudder shaft (slave shaft) SS of each wheel device R1 to R8, L1 to L8 To the target steering angle θmst of the master axis MS calculated by the master axis steering angle calculation unit 31. Based on the turning center calculation unit 32 that calculates the entire turning center SC of the cart body 1 based on the turning center SC calculated by the turning center calculation unit 32, the wheel devices R1 to R8 and L1 to L8 A wheel target rudder angle calculating unit 33 for calculating target rudder angles θ1R to θ8R and θ1L to θ8L of the rudder shaft SS, and each wheel device R1 to R1 based on the target rudder angle obtained by the wheel target rudder angle calculating unit 33. The steering angle command calculation unit 34 that calculates the steering angle command values of R8, L1 to L8, respectively, and outputs the steering angle command values to the control valves 37 of the turning cylinders 36 of the wheel devices R1 to R8 and L1 to L8, respectively. And a steering angle command output unit 35.
[0014]
The calculated value of the master shaft rudder angle calculation unit 31 is output to the touch panel 23 of the front driver seat 2A or the rear driver seat 2B, and is displayed on the rudder angle display unit 24 via the signal processing unit 25 on the coordinates of the cart body 1. The conversion direction is visually displayed as an analog with an arrow that rotates relative to the straight direction. When the traveling direction of the traveling carriage is changed and the driver seat selection switch 21 of the driver seats 2A and 2B is operated, the virtual master axis MS is switched by the operation signal, and the master shaft steering angle calculation unit 31 is operated. The touch panels 23 of the front and rear driver seats 2A and 2B output from the are switched.
[0015]
Here, with reference to FIG. 6, the calculation method of the target steering angle of the virtual master axis MS in the master axis steering angle calculation unit 31 will be described.
When the front driver's seat 2A is selected, the rudder axis SS of the wheel device 1R is calculated as a reference axis. That is, on the X and Y coordinates where the axle MC is arranged on the x axis and the virtual master axis MS is the intersection, the distance between the left and right rudder axes is H2, the distance between the axle MC and the rudder axis is H1, and the master axis Is the target steering angle of θmst, the distance in the x-axis direction from the virtual master axis MS to the turning center SC is L, and the coordinates (x, y) of the turning center O are
x = L
tanθ1R = x / (y + H1) → (L / tanθ1R) −H1
θmst = tan ⁻¹ θ (x / y).
[0016]
Further, when the rear driver's seat 2A is selected, the rudder axis SS of the wheel device 8L is calculated as a reference axis. Since the turning center SC is on a line orthogonal to the center of the axle MC, the sign of θ8L is inverted and assigned to θ1L.
[0017]
x = L
tanθ1L = x / (y−H1) → (L / tanθ1L) + H1
θmst = tan ⁻¹ θ (x / y).
[0018]
Next, if the calculation method of the turning center coordinates in the turning center calculation unit 32 is the turning center O (x, y),
x = L
It is determined by y = L / tan θmst.
[0019]
Furthermore, the target rudder angle of each wheel apparatus R1-R8, L1-L8 in the wheel target rudder angle calculating part 33 is as follows.
tan θ1L = x / (y−H1) → θ1L = tan ⁻¹ [x / (y−H1)]
tan θ1R = x / (y + H1) → θ1R = tan ⁻¹ [x / (y + H1)]
tan θ2L = (x−L1) / (y−H1) → θ2L = tan ⁻¹ [(x−L1) / (y−H1)]
tan θ2R = (x−L1) / (y + H1) → θ2R = tan ⁻¹ [(x−L1) / (y + H1)]
tan θ3L = (x−L2) / (y−H1) → θ3L = tan ⁻¹ [(x−L2) / (y−H1)]
tan θ3R = (x−L2) / (y + H1) → θ3R = tan ⁻¹ [(x−L2) / (y + H1)]
tan θ4L = (x−L3) / (y−H1) → θ4L = tan ⁻¹ [(x−L3) / (y−H1)]
tan θ4R = (x−L3) / (y + H1) → θ4R = tan ⁻¹ [(x−L3) / (y + H1)]
It becomes. In addition, in tanθ5L to tanθ8R, the turning angle is left-right symmetric.
[0020]
In the above embodiment, the driver's seats 2A and 2B are selected and the driver's seat selection switch 21 is input, and the traveling mode selection lever 22 selects any one of the forward / reverse mode, the skew mode, and the transverse mode. The shift lever 26 is operated. Then, the steering wheel 4 is operated, and the steering wheel operation angle is output from the steering wheel rotation angle detector 25 to the master shaft steering angle calculator 31. Then, the target rudder angle θmst in the virtual master axis MS set at the center of the front row wheel device R1, L1 (R8, L8) in the traveling direction is calculated. Next, the turning center calculation unit 32 calculates the entire turning center SC of the carriage body 1 based on the target steering angle θmst calculated by the master shaft steering angle calculation unit 31. Based on the turning center SC, the wheel target rudder angle calculation unit 33 calculates the target rudder angles θ1R to θ8R and θ1L to θ8L of the rudder shaft SS of the wheel devices R1 to R8 and L1 to L8, respectively. The command calculation unit 34 calculates the steering angle command values of the wheel devices R1 to R8 and L1 to L8 based on the target steering angle, and the wheel devices R1 to R8 and L1 to L8 via the steering angle command output unit 35. The steering angle command value is output to the control valve 37 of the turning cylinder 36.
[0021]
At this time, the target rudder angle of the master shaft MS of the master shaft rudder angle calculation unit 31 is output to the touch panel 23 of the front driver's seat 2A (or the rear driver's seat 2B) and processed by the signal processing unit to display the rudder angle. In the unit 24, the direction of turn (traveling direction) of the bogie body 1 that is the same as the target rudder angle in the master axis MS is displayed by an arrow.
[0022]
Further, when the driver's seats 2A and 2B are changed according to the traveling direction of the traveling carriage and the driver's seat selection lever 21 is operated and a driver's seat switching signal is output, the master shaft rudder angle calculation unit 31 generates a virtual master axis MS. Is switched, and the touch panel 23 for displaying the direction of switching is switched.
[0023]
According to the above embodiment, the virtual master shaft MS set on the touch panel 23 of the driver's seat 2A, 2B is set at the center (on the axle MCL) of the front row wheel devices R1, L1 (R8, L8) in the traveling direction. Since the rudder angle display unit 24 for displaying the rudder angle is provided, the driver of the driver's seat 2A, 2B can know the turning direction (traveling direction) of the traveling carriage accurately and quickly, and the movement of the vehicle body 1 Can be predicted instantaneously and operated accurately.
[0024]
In addition, the steering angle display unit 24 displays the turning direction of the carriage body 1 with an arrow, so that the turning direction can be instantly detected and the steering can be performed quickly, and the emergency response can be safely handled. Can do.
[0025]
Further, even in a type in which the driver seats 2A and 2B are installed before and after the cart body 1, the virtual master axis MS is switched only by switching the driver seat selection lever 21, and the steering is performed in the same sense both before and after. The steering performance is not impaired.
[0026]
Therefore, it is possible to prevent useless driving operations and contact accidents by the driver, and the operating performance at the driver's seat can be significantly improved.
[0027]
【The invention's effect】
As described above, according to the first aspect of the present invention, the driver seat display device is provided with the rudder angle display unit for displaying the rudder angle of the virtual master shaft. The direction can be grasped instantaneously, and the direction of travel (traveling direction) of the traveling carriage can be predicted accurately and quickly, and the steering can be performed accurately. As a result, it is possible to prevent useless driving movements or contact accidents by the driver, and the operating performance can be significantly improved.
[0028]
In addition , even when the driver seats arranged at the front and rear are switched and operated according to the traveling direction of the traveling carriage, the traveling carriage can be operated with the same feeling at the front and rear driver seats, further improving the operation performance. be able to. Since the換向direction by the steering angle display unit shown table instantaneously without mistaking the driver can perceive the換向direction, it is possible to accurately determine.
[Brief description of the drawings]
FIG. 1 is a control configuration diagram showing an embodiment of a traveling carriage according to the present invention.
FIG. 2 is a plan view for explaining a turning direction of wheels of the traveling carriage.
FIG. 3 is an explanatory diagram showing a touch panel of the traveling vehicle.
FIG. 4 is an overall side view of the traveling carriage.
FIG. 5 is a side view showing a wheel device of the traveling carriage.
FIG. 6 is an explanatory diagram showing a traveling control operation of the traveling vehicle.
[Explanation of symbols]
R1 to R8, L1 to L8 Wheel device MS Master shaft θmst Master shaft target rudder angle 1 Bogie body 1a Cargo surface 2A Front driver seat 2B Rear driver seat 3 Steering controller 4 Steering wheel 11 Revolving body 15 Axle portion 17 Wheel 18 Steering drive Device 19 Steering angle detector 21 Driver's seat selection switch 23 Touch panel 24 Steering angle display unit 25 Handle rotation angle detector 31 Master shaft steering angle calculation unit 32 Turning center calculation unit 33 Wheel target steering angle calculation unit 34 Steering angle command calculation unit 35 Rudder angle command output section

Claims (1)

In the traveling cart provided with a plurality of independent diverting wheel devices in which a driver's seat is arranged at each of the front portion and the rear portion of the cart body, and the steering angle is respectively operated by the steering means of the driver seat,
Based on the steering angle input by the steering means, a master shaft rudder angle calculation unit that calculates a target rudder angle of a virtual master shaft set at the center position of the front row wheel device in the traveling direction of the traveling carriage , A turning center calculation unit that calculates a turning center position based on a calculation value of a master shaft steering angle calculation unit, and a wheel target steering angle that calculates a target steering angle of each wheel device based on a calculation value of the turning center calculation unit, respectively. A steering control device having a calculation unit;
The master axis rudder angle calculation unit calculates the target rudder angle of the master axis by switching the position of the virtual master axis based on the driver seat switching command signal that designates the driver seat, and the rudder angle of the designated driver seat Configured to output to the display,
The driver's seat display device is provided with a rudder angle display unit that displays a turning direction of the cart body based on a target rudder angle value of the master shaft calculated by the master shaft rudder angle calculating unit. Traveling trolley.

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