JP5827553B2 - Steering device - Google Patents

Description

  The present invention relates to a steering device for turning one of a pair of left and right traveling wheels in a front and rear in a wheel-type traveling vehicle having a pair of left and right traveling wheels.

  Of the traveling vehicles having the above-described configuration, various forms have been known as self-propelled traveling vehicles used for transportation work in a factory, interior construction of buildings, and the like. As an example, a relatively small vehicle body having wheels on the front, rear, left and right, a lifting device (for example, a scissor link mechanism, a telescopic post or a boom) provided on the vehicle body, and a tip of the lifting device. There is an aerial work vehicle configured to include a work table attached to a section. In this aerial work platform, an operator who has boarded the work table can move the work table to a desired high place and perform work by operating the vehicle body and raising / lowering the work table from the work table. (See, for example, Patent Document 1). In particular, indoor type aerial work platforms such as those described above are reluctant to generate exhaust gas and noise from the engine. Therefore, the drive wheels are driven to rotate by driving an electric travel motor using a battery built in the vehicle as a power source. By doing, it is comprised so that driving | running | working according to driving | running | working operation is possible.

  Such indoor type aerial work vehicles are usually configured to steer steered wheels according to steering by using a link mechanism called an Ackermann link. In general, a large reaction force acts on the Ackerman link from the steered wheels as the turning angle increases, but by operating the Ackermann link with a hydraulic cylinder capable of acting a relatively large force quickly, Steering according to steering can be performed smoothly.

JP 2009-159770 A

  Recently, further development of electrification of indoor type aerial work vehicles is progressing, and it is considered to steer using an electric actuator as part of the development. For example, a method of further electrification can be considered by using an electric cylinder configured to be extendable and contractable instead of the hydraulic cylinder. Generally, an electric cylinder ensures a sufficient operating speed as compared with a hydraulic cylinder. Since it is difficult, further electrification by this method is difficult. On the other hand, a method of further electrification by using an electric motor instead of the hydraulic cylinder and operating the Ackermann link by the rotational driving force of this electric motor is also conceivable. It is difficult to smoothly steer according to the steering in a region where the angle is large (a region where a large reaction force acts from the steered wheels). As described above, there has been a problem that it is difficult to achieve further electrification by replacing the hydraulic actuator for turning with an electric actuator.

  The present invention has been made in view of such problems, and an object of the present invention is to provide a steering apparatus that is electrified by replacing a hydraulic actuator for turning with an electric actuator.

In order to achieve such an object, the steering device according to the present invention has a pair of left and right traveling wheels (for example, the left front wheel 11a, the right front wheel 11b, the left rear wheel 11c, and the right rear wheel 11d in the embodiment) at the front and rear. In a wheel-type traveling vehicle (for example, an aerial work vehicle 1 in the embodiment), a steering device that steers one of a pair of left and right traveling wheels before and after and rotatably supports the pair of left and right traveling wheels. In addition, a pair of left and right knuckle members (for example, the left knuckle arm 16L and the right knuckle arm 16R in the embodiment) provided on the left and right of the traveling vehicle so as to be pivotable about the turning shaft of the traveling wheel, and the knuckle member A pair of left and right rotating bodies that are rotatably provided in the traveling vehicle corresponding to each of the above and rotate the knuckle member according to the rotation, and are elongated. A driving force transmitting member configured to connect the rotating bodies and transmit the rotational driving force so as to rotate the rotating bodies in the same direction; and rotation of one of the pair of left and right rotating bodies. A steering actuator (for example, a steering motor SM in the embodiment) that rotationally drives the body, the one rotary body is rotationally driven by the steering actuator, and the other rotation is performed via the driving force transmission member. The rotating body and the driving force transmission member are configured such that the turning angle difference between the knuckle members increases as the turning angle of the pair of left and right traveling wheels increases. swirled said knuckle member, the right and left than the running wheels of the turning outer of the pair of running wheels is configured to steer the running wheel of the turning inside with a large steering angle, the left and right Each of the rolling elements is formed in a disk shape, and a right-turning rotating body (for example, the upper left disk 12L and the upper right disk 12R in the embodiment) for rotating the knuckle member to the right, and a disk shape. It is comprised from the left turning rotary body (for example, the lower left disk 14L in the embodiment, and the lower right disk 14R in the embodiment) for turning the knuckle member to the left, and at least one of the pair of left and right rotary bodies is eccentric. The drive force transmission member is configured to be driven to rotate integrally in the state where the right turn drive force transmission member (for example, the upper drive force transmission in the embodiment is connected). Belt 13) and a left-turn driving force transmission member (for example, the lower driving force transmission belt 15 in the embodiment) that connects the left-turning rotators to each other .

In the steering device configured as described above, when the one rotating body is rotationally driven in the direction corresponding to the right turn by the steering actuator, the right turning rotary body constituting the other rotating body is used. Of the pair of left and right traveling wheels, the right turning driving force transmission member that has been extended is wound around the right turning rotating body that constitutes the one rotating body in a stretched state. When the right running wheel is steered at a larger turning angle than the left running wheel and the one rotating body is driven to rotate in the direction corresponding to the left turn by the steering actuator, the other rotating body is By winding the left turning driving force transmission member fed out from the left turning rotating body constituting the winding member around the left turning rotating body constituting the one rotating body in a stretched state, Driving on the right It is preferable that will be configured to steer a large steering angle to the running wheel of the left side of.

  A steering device according to the present invention is a steering device that steers one of a pair of left and right traveling wheels in a wheel-type traveling vehicle having a pair of left and right traveling wheels at the front and rear, and the pair of left and right traveling wheels. And a pair of left and right knuckle members provided on the left and right of the traveling vehicle so as to be pivotable about a steered shaft of the traveling wheel, and the knuckle member corresponding to each of the knuckle members. A pair of left and right rotating bodies that are rotatably provided to rotate the knuckle member according to the rotation, and are formed in a long shape by connecting the rotating bodies, and the rotating bodies are arranged in the same direction. A driving force transmitting member that transmits a rotational driving force so as to rotate; and a steering actuator that rotationally drives one of the pair of left and right rotating bodies. It is configured to rotate and drive the other rotating body via the driving force transmitting member by rotating by the steering actuator, and each of the pair of left and right rotating bodies is formed in a pseudo disk shape and A right turning rotator for turning the knuckle member to the right and a left turning rotator for turning the knuckle member to the left, which are formed in a pseudo disk shape, and for turning to the right A rotating body and the left-turning rotating body are configured to be integrally rotated, and the driving force transmitting member connects the right-turning rotating bodies to each other, and a right-turning driving force transmitting member. The left turning rotator and the left turning rotator are connected between the right turn rotators and the left turn. For turning right between rotating rotators The knuckle member so that a turning angle difference between the knuckle members increases as a turning angle of the pair of left and right traveling wheels increases in a state where the power transmission member and the left-turn driving force transmission member are stretched. Is turned, and the traveling wheel inside the turning of the pair of left and right traveling wheels is steered at a larger turning angle than the traveling wheel outside the turning.

  In the steering device according to the present invention, the rotating body and the driving force transmission member are turned so that the turning angle difference between the knuckle members becomes larger as the turning angle becomes larger, so that the turning inner side than the traveling wheels on the turning outer side. The traveling wheel is configured to be steered at a large steering angle. With this configuration, even when, for example, an electric motor is used as a steering actuator, a sufficient operating speed is ensured, and even in a region with a large steering angle where a relatively large reaction force is applied from the steered wheels. Can be steered. Therefore, the steering device can be electrified by replacing the hydraulic actuator for turning with an electric actuator while performing the turning equivalent to the conventional configuration.

  Each of the pair of left and right rotating bodies is formed in a disk shape and rotates rightward for rotating the knuckle member, and left-handed rotation is formed in a disk shape and rotates the knuckle member to the left. A right turning driving force transmission member that connects the right turning rotators and a left turning driving force transmission member that connects the left turning rotators. Preferably, it is configured. When configured in this way, a conventional configuration in which the Ackermann link is driven by a hydraulic actuator while the disks are connected to each other by using a driving force transmission member for turning right and a driving force transmission member for turning left. The steering can be performed in substantially the same manner as the steering apparatus.

  In the steering device according to the present invention, the right and left turning rotators hold the right turning driving force transmission member and the left turning driving force transmission member while holding the right wheel turning member. It turns so that the turning angle difference between the knuckle members becomes larger as the rudder angle becomes larger, and the running wheels of the running wheels are steered at a larger turning angle than the running wheels outside the turning. doing. With this configuration, even when, for example, an electric motor is used as a steering actuator, a sufficient operating speed is ensured, and even in a region with a large steering angle where a relatively large reaction force is applied from the steered wheels. Can be steered. For this reason, the steering apparatus can be electrified by replacing the hydraulic actuator for turning with an electric actuator while performing the turning equivalent to the conventional configuration.

It is a figure which shows a part (rotary body unit) of the steering device which concerns on this invention, Comprising: (a) shows a top view, (b) shows a side view, respectively. It is a perspective view showing an aerial work vehicle as an example to which the present invention is applied. It is a top view which shows schematic structure of the said steering apparatus. It is a side view which shows the structure of the said steering apparatus. It is a graph which shows the relationship between an inner-wheel steering angle and an outer-wheel steering angle. It is explanatory drawing which shows the motion of the steered wheel in the said aerial work vehicle, (a) is explanatory drawing of a turning center, (b) is explanatory drawing which shows the state used as the maximum steering angle at the time of a right turn, (c) ) Is an explanatory view showing a state in which the maximum steering angle is obtained during a left turn. It is the block diagram which showed the control system of the said aerial work vehicle. It is a figure which shows the state at the time of straight advance, Comprising: (a) shows direction of a front wheel, (b) shows the rotation angle state of a pair of upper side disk, (c) shows the rotation angle state of a pair of lower side disk, respectively. It is a figure when turning right at the maximum rudder angle, (a) is the direction of the front wheel, (b) is the rotation angle state of the pair of upper disks, (c) is the rotation angle state of the pair of lower disks. Respectively. It is a figure when turning left at the maximum rudder angle, where (a) shows the direction of the front wheels, (b) shows the rotation angle state of the pair of upper disks, and (c) shows the rotation angle state of the pair of lower disks. Each is shown. It is a figure which shows the state at the time of the rectilinear advance of the rotary body unit which concerns on another Example, (a) is direction of a front wheel, (b) is a rotation angle state of a pair of upper side disk, (c) is a pair of bottom The rotation angle states of the side disks are shown respectively. It is a figure when turning right at the maximum rudder angle of the rotating body unit according to another embodiment, wherein (a) shows the direction of the front wheels, (b) shows the rotation angle state of the pair of upper disks (c ) Shows the rotation angle state of the pair of lower disks. It is a figure when turning left at the maximum rudder angle of the rotating body unit according to another embodiment, wherein (a) shows the direction of the front wheels, (b) shows the rotation angle state of the pair of upper disks (c). Indicates the rotational angle state of the pair of lower disks. It is a figure which shows the state at the time of rectilinear advance of the rotary body unit which concerns on another Example, (a) shows the rotation angle state of a pair of upper disk, (b) shows the rotation angle state of a pair of lower disk, respectively. . It is a figure which shows the state at the time of rectilinear advance of the rotary body unit which concerns on another Example, (a) shows the rotation angle state of a pair of upper disk, (b) shows the rotation angle state of a pair of lower disk, respectively. .

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. FIG. 2 shows an aerial work vehicle 1 as an example of a traveling vehicle to which the steering device according to the present invention is applied. First, a schematic configuration of the aerial work vehicle 1 will be described.

  As shown in FIG. 2, the aerial work vehicle 1 is a so-called vertical lift type aerial work vehicle, and includes a vehicle body 10 capable of traveling front and rear, left and right, a scissor link mechanism 20 provided on the upper part of the vehicle body 10, The scissor link mechanism 20 is provided with a work board 30 for boarding a worker attached to the upper end portion.

  The vehicle body 10 includes a vehicle body main body 11 formed in a substantially rectangular parallelepiped and four tire wheels 11a to 11d provided at four corners on the front, rear, left and right of the vehicle body main body 11, and the tire wheels 11a to 11d. It is possible to run. In the present embodiment, among the four tire wheels 11a to 11d, the aerial work vehicle 1 configured such that the pair of left front wheels 11a and right front wheels 11b on the front side serve as driving wheels and steered wheels is illustrated. ing. As shown in FIG. 3, the left front wheel 11a and the right front wheel 11b are attached to the vehicle body 11 through a steering device 2 provided corresponding to the left front wheel 11a and the right front wheel 11b. It is comprised so that it may steer by operating (it mentions later in detail). On the other hand, a pair of left and right left rear wheels 11c and right rear wheel 11d on the rear side are driven wheels, and are rotatably attached to the end of an axle 9 that extends in the left and right directions within the body 11 of the vehicle body. ing.

  As shown in FIG. 2, the scissor link mechanism 20 includes two link members 20 a that are coupled in an X shape with their center portions pivoted by a pivot pin 20 b, and both ends of a connecting rod 20 d that extends left and right. The four link members 20a that are pivotally connected to the respective parts and are provided opposite to the left and right and that are opposed to the left and right are arranged in three groups in the vertical direction. Of the link members 20a arranged vertically, the lower end portion of the upper link member 20a and the upper end portion of the lower link member 20a are pivoted by a pivot pin 20c. Of the link members 20a arranged in the vertical direction, the front lower end portion of the link member 20a disposed on the lowermost side is pivotally connected to the vehicle body main body 11, while the rear side of the link member 20a disposed on the lowermost side. The lower end portion is coupled to a roller 20e that rolls on the upper surface of a rail (not shown) that extends in the front-rear direction of the vehicle body main body 11.

  Further, of the link members 20a arranged vertically, the front upper end portion of the link member 20a disposed on the uppermost side is pivotally connected to the work table 30, while the rear upper end portion of the link member 20a disposed on the uppermost side. The part is coupled to a roller 20f that rolls on the lower surface of a rail (not shown) provided to extend back and forth on the work table 30. The scissor link mechanism 20 can move the work table 30 up and down by extending and retracting a hydraulically driven lifting cylinder 21 straddled between the mechanism 20 and the vehicle body 11. It has become.

  Here, the operation control of the elevating cylinder 21 will be briefly described. As shown in FIG. 7, the aerial work vehicle 1 is equipped with a hydraulic pump P that is rotated by an electric hydraulic pump motor PM and discharges hydraulic oil. The hydraulic oil discharged from the hydraulic pump P is supplied to the lift cylinder 21 in the supply direction and supply amount controlled by the control valve 71, whereby the operation of the lift cylinder 21 is controlled. Note that the spool (not shown) of the control valve 71 is electromagnetically driven based on an operation signal output from the elevation controller 53 of the controller 50. Further, the hydraulic pump motor PM is driven to rotate by receiving power supply from the battery B.

  As shown in FIG. 2, the work table 30 includes a work table bottom 31 on which the operator gets on, and a handrail 32 for preventing the operator from falling down and extending upward from the peripheral edge of the work table bottom 31. And an operation box 40 attached to the handrail 32. In the operation box 40, a travel operation lever 41 for switching start / stop and forward / backward movement of the vehicle body 10 and steering operation of the vehicle body 10 (steering of the left front wheel 11a and the right front wheel 11b as steered wheels) are performed. A steering dial 42 and a lifting operation lever 43 for performing a lifting operation of the work table 30 are provided.

  As shown in FIG. 7, the travel operation lever 41 is configured to be tiltable back and forth from the neutral position when not operated, and the travel operation lever 41 includes a potentiometer whose tilt direction and tilt amount are based on the neutral position. It is detected by the detector 41a. Information detected by the travel operation detector 41 a is input to the inverter control unit 51 of the controller 50. Here, the operation of tilting the travel operation lever 41 forward from the neutral position corresponds to a forward travel command, while the operation of tilting the travel operation lever 41 backward from the neutral position corresponds to a reverse travel command. In the inverter control unit 51, a higher target traveling speed is set as the tilt amount increases. The return operation to the neutral position of the travel operation lever 41 corresponds to a travel stop command.

  The steering dial 42 is configured to be able to be twisted to the left and right from the neutral position when not being operated, so that the twisting direction and the amount of twist with respect to the neutral position as a reference are detected by a steering operation detector 42a composed of a potentiometer or the like. It has become. Information detected by the steering operation detector 42 a is input to the steering control unit 52 of the controller 50. Here, the operation of twisting the steering dial 42 clockwise corresponds to a right turn command, while the operation of twisting the steering dial 42 counterclockwise corresponds to a left turn command, and the greater the amount of twist in each operation, the greater the twist amount. A large target rudder angle is set in the steering control unit 52. The return operation to the neutral position of the steering dial 42 corresponds to a command for setting the steering angle to zero (the state shown in FIG. 3).

  The lifting operation lever 43 is configured to be tiltable back and forth from a neutral position when not operated, and a tilting direction and a tilting amount based on the neutral position are detected by a lifting operation detector 43a including a potentiometer or the like. It is like that. Information detected by the lifting operation detector 43 a is input to the lifting control unit 53 of the controller 50. Here, the operation of tilting the elevating operation lever 43 forward from the neutral position corresponds to a lowering command of the work table 30, while the operation of tilting the elevating operation lever 43 rearward from the neutral position is performed as an ascending command of the work table 30. Correspondingly, the higher the operation amount, the higher the target operation speed is set in the elevation control unit 53. The return operation to the neutral position of the lifting operation lever 43 corresponds to a lifting stop command for the work table 30.

  In the aerial work vehicle 1 configured as described above, an operator who has boarded the work table 30 operates the travel operation lever 41, the steering dial 42, and the lifting operation lever 43 to travel, steer and operate the vehicle body 10. Thus, the work table 30 can be moved to a desired work position.

  So far, the schematic configuration of the aerial work vehicle 1 has been described. Hereinafter, the configuration of the steering device 2 for turning the left front wheel 11a and the right front wheel 11b will be described.

  Here, when the left front wheel 11a and the right front wheel 11b are steered so that the left front wheel 11a and the right front wheel 11b have the same steering angle when the pair of left and right left front wheels 11a and right front wheels 11b are steered, the left side in FIG. Since the turning center position of the front wheel 11a and the turning center position of the right front wheel 11b are different, the left front wheel 11a or the right front wheel 11b slips, making smooth turning difficult. Therefore, as shown in FIG. 6A, the steering device 2 steers the left inner wheel 11a and the right front wheel by turning so that the rudder angle of the inner turning wheel becomes larger than the rudder angle of the outer turning wheel at a constant ratio. It is possible to turn the left front wheel 11a and the right front wheel 11b smoothly without causing the left front wheel 11a and the right front wheel 11b to slip by matching the turning center position regardless of the steering angle.

  For example, when the steering angle is maximized in the right turn (when the steering angle of the right front wheel 11b reaches approximately 90 degrees), the right rear wheel 11d is the turning center (see FIG. 6B), When the rudder angle becomes maximum in the left turn (when the rudder angle of the left front wheel 11a reaches approximately 90 degrees), the left rear wheel 11c is configured to be the turning center. In this way, in order to make the turning center of the left front wheel 11a and the right front wheel 11b coincide with each other regardless of the steering angle, the steering device 2 maintains the steering angle relationship as shown in FIG. And are configured to steer.

  As shown in FIG. 4, the steering device 2 includes a steered motor SM, a reduction gear G, a rotating body unit 3, a left knuckle arm 16L, and a right knuckle arm 16R.

  The steered motor SM is an electric motor that is driven to rotate by receiving power supply from the battery B (see FIG. 7), and its output shaft is connected to the speed reducer G. The reduction gear G decelerates the rotational driving force of the steered motor SM and transmits it to the rotating body unit 3 (right king pin 17R), thereby rotating the right king pin 17R relative to the vehicle body 11. Yes.

  As shown in FIGS. 1 and 3, the rotator unit 3 includes an upper right disk 12R, an upper left disk 12L, an upper driving force transmission belt 13, a lower right disk 14R, a lower left disk 14L, and a lower driving force transmission belt 15. The The upper right disk 12R is formed in a disk shape and is arranged with the central axis of rotation directed up and down, and a belt groove 12b is formed along the circumferential direction at the radial end (see FIG. 1B). ). The upper left disk 12L is formed in the same shape as the upper right disk 12R and is arranged with the rotation center axis facing up and down, and a belt groove 12a is formed along the circumferential direction at the radial end. The upper driving force transmission belt 13 has a right end portion 13R attached to the upper right disk 12R and a left end portion 13L attached to the upper left disk 12L so that the upper right disk 12R and the upper left disk 12L are connected and hung on these front portions. It has been turned. A part of the upper driving force transmission belt 13 is fitted and held in the belt groove 12b of the upper right disk 12R and the belt groove 12a of the upper left disk 12L.

  The lower right disk 14R is formed in the same shape as the upper right disk 12R, and is arranged with the rotation center axis facing up and down, and a belt groove 14b is formed along the circumferential direction at the radial end. . The lower left disk 14L is formed in the same disk shape as the upper right disk 12R and is arranged with the central axis of rotation directed up and down, and a belt groove 14a is formed at the radial end along the circumferential direction. . The lower drive force transmission belt 15 has a right end 15R attached to the lower right disk 14R and a left end 15L attached to the lower left disk 14L, thereby connecting the lower right disk 14R and the lower left disk 14L to It is hung around the side part. A part of the lower driving force transmission belt 15 is fitted and held in the belt groove 14b of the lower right disk 14R and the belt groove 14a of the lower left disk 14L.

  Here, the upper right disk 12R and the lower right disk 14R overlap vertically with the center position C1 of the upper right disk 12R (see FIG. 1 (a)) and the center position C2 of the lower right disk 14R shifted to the left and right and decentered. Are mounted on right king pins 17R that are rotatably supported by the vehicle body 11 and extend vertically. Specifically, the upper right disk 12R is eccentric to the right by an eccentric amount d with respect to the right king pin 17R, while the lower right disk 14R is eccentric to the left by an eccentric amount d with respect to the right king pin 17R. Yes. With this configuration, the right king pin 17R is driven to rotate by driving the steered motor SM, and the right king pin 17R is rotated about the right king pin 17R while maintaining the eccentric state. It can be rotated together with the kingpin 17R.

  Further, the upper left disk 12L and the lower left disk 14L are arranged so as to overlap vertically with the center position C3 of the upper left disk 12L and the center position C4 of the lower left disk 14L shifted to the left and right and decentered, respectively. Is attached to a left king pin 17L that is supported rotatably and extends vertically. Specifically, the upper left disk 12L is eccentric to the left by an eccentric amount d with respect to the left king pin 17L, while the lower left disk 14L is eccentric to the right by an eccentric amount d with respect to the left king pin 17L. . With this configuration, in the state shown in FIG. 1A, when the upper right disk 12R and the lower right disk 14R are integrally rotated clockwise by the steering motor SM, the rotational driving force of the upper right disk 12R is increased. It is transmitted to the upper left disk 12L via the upper driving force transmission belt 13, and the upper left disk 12L and the lower left disk 14L are rotated clockwise together with the left king pin 17L with the left king pin 17L as the rotation center while maintaining the eccentric state. Can be driven to rotate integrally. On the other hand, when the upper right disk 12R and the lower right disk 14R are integrally rotated counterclockwise by the steering motor SM, the rotational driving force of the lower right disk 14R is reduced to the lower driving force transmission belt. 15 is transmitted to the lower left disk 14L, and the upper left disk 12L and the lower left disk 14L are integrally rotated counterclockwise together with the left king pin 17L with the left king pin 17L as the center of rotation while maintaining the eccentric state. It can be rotated.

  As shown in FIG. 4, the left knuckle arm 16L is disposed below the lower left disk 14L, and is rotatable about a rotation axis CL extending vertically by a bearing 19 provided in the vehicle body main body 11. It is supported. The left knuckle arm 16L cantileverally supports the left front wheel 11a at the lower end portion, and the upper end portion is connected to the left king pin 17L. The steering angle of the left front wheel 11a is set according to the rotation angle of the left king pin 17L. It can be changed. An electric left travel motor LM for rotating the left front wheel 11a is provided inside the lower end of the left knuckle arm 16L. The left travel motor LM is rotationally driven by electric power from the battery B supplied via the inverter IV (see FIG. 7).

  The right knuckle arm 16R is disposed below the lower right disk 14R, and is supported by a bearing 19 provided in the vehicle body main body 11 so as to be rotatable about a rotation axis CR extending vertically. The right knuckle arm 16R cantileverally supports the right front wheel 11b at the lower end portion, and the upper end portion is connected to the right king pin 17R. The steering angle of the right front wheel 11b is set according to the rotation angle of the right king pin 17R. It can be changed. In addition, an electric right traveling motor RM for rotating the right front wheel 11b is provided inside the lower end of the right knuckle arm 16R. This right travel motor RM is rotationally driven by the electric power from the battery B supplied via the inverter IV.

  At least one of the left knuckle arm 16L and the right knuckle arm 16R is based on the rotation angle of the left knuckle arm 16L (left king pin 17L) relative to the vehicle body main body 11 or the right knuckle arm 16R (right king pin 17R) relative to the vehicle body main body 11. Further, a steering angle detector 61 for detecting the steering angle of the left front wheel 11a or the right front wheel 11b is attached (see FIG. 7). Information detected by the rudder angle detector 61 is input to the steering control unit 52 of the controller 50.

  In this steering device 2, the right king pin 17R is rotationally driven by the steering motor SM, so that the left king pin 17L is rotationally driven in the same direction as the right king pin 17R, and the right knuckle arm corresponding to the rotation angle of the right king pin 17R. 16R can be driven to rotate, and the left knuckle arm 16L can be driven to rotate in accordance with the rotation angle of the left king pin 17L. As a result, the right front wheel 11b supported by the right knuckle arm 16R is steered according to the rotation angle of the right kingpin 17R, and the left front wheel 11a supported by the left knuckle arm 16L is rotated by the left kingpin 17L. It is steered according to the angle. As described above, the shapes of the disks 12R, 12L, 14R, and 14L, the diameters of the disks 12R, 12L, 14R, and 14L, and the eccentricity d so that the steering angle relationship shown in FIG. 5 is maintained. Since the rotating body unit 3 is configured in consideration of the dimensional ratio and the like, the steering angle of the turning inner wheel can always be steered so as to be larger than the steering angle of the turning outer wheel at a constant ratio. .

  That is, in the steering device 2, when the left front wheel 11a and the right front wheel 11b are steered, the left front wheel is compared with the rudder angle when the vehicle body 10 is straightly moved forward and backward (the rudder angle at this time is zero degree). The rotating body unit 3 is configured such that the rotational angle difference between the left knuckle arm 16L and the right knuckle arm 16R increases as the steering angle of the 11a and the right front wheel 11b increases. Therefore, the steering device 2 can turn the front wheel on the turning inner side of the left front wheel 11a and the right front wheel 11b with a larger steering angle than the front wheel on the turning outer side, with such a rotation angle difference. It is like that.

  Since the aerial work vehicle 1 is equipped with the battery B instead of the engine, the exhaust gas is not generated and the generation of noise is suppressed. It is possible to work in a comfortable working environment without being full. For example, when working at a high place indoors, first, the vehicle body 10 is moved back and forth and left and right by operating the operation lever 41 and the steering dial 42, and the high work vehicle 1 is moved below the work place. Let When the movement to the work place is completed in this way, the operator operates the elevating operation lever 43 to elongate the elevating cylinder 23 to raise the scissor link mechanism 20 and raise the work table 30 to a desired height. It can be moved to a place. In addition, by operating the traveling operation lever 41 and the steering dial 42 in this state, it is possible to move the aerial work vehicle 1 while keeping the work table 30 at a high position.

  The configuration of the steering device 2 has been described so far. Hereinafter, the operation of the steering device 2 will be described with reference to FIGS.

  FIG. 8 shows that the traveling operation lever 41 is tilted to the forward side with the steering dial 42 positioned at the neutral position (without touching the steering dial 42) in order to make the aerial work vehicle 1 travel straight forward. This is shown in the figure. In this case, operation information for the travel operation lever 41 is input from the travel operation detector 41a to the inverter control unit 51, and operation information for the steering dial 42 is input from the steering operation detector 42a to the steering control unit 52. . Then, the inverter control unit 51 performs control to rotate the right traveling motor RM and the left traveling motor LM to the forward side by outputting an operation signal based on information from the traveling operation detector 41a to the inverter IV. On the other hand, based on the information from the steering operation detector 42a and the information from the rudder angle detector 61, the steering control unit 52 generates an operation signal for positioning the left front wheel 11a and the right front wheel 11b at the rotational position where the rudder angle is zero. By outputting to the battery B, power supply control from the battery B to the steered motor SM is performed. By doing so, the left front wheel 11a and the right front wheel 11b are steered so that the rotation axis C is directed to the left and right (see FIG. 8A).

  At this time, in the upper part of the rotating body unit 3, as shown in FIG. 8B, the left end 13L of the upper driving force transmission belt 13, the center position C3 of the upper left disk 12L, the left king pin 17L, the right king pin 17R, The center position C1 of the upper right disk 12R and the right end portion 13R of the upper driving force transmission belt 13 are positioned in a straight line on the left and right. On the other hand, in the lower portion of the rotating body unit 3, as shown in FIG. 8C, the left end 15L of the lower driving force transmission belt 15, the left king pin 17L, the center position C4 of the lower left disk 14L, the lower right disk. The center position C2 of 14R, the right king pin 17R, and the right end portion 15R of the lower driving force transmission belt 15 are aligned in a straight line from side to side. In the state shown in FIG. 8B and FIG. 8C, the upper driving force transmission belt 13 and the lower driving force transmission belt 15 are stretched between the disks so as not to be loosened.

  In this state, when the vehicle travels forward according to the operation on the operation box 40, an external force that rotates the right front wheel 11b about the rotation axis CR may act. For example, when an external force in the direction of turning the right front wheel 11b to the right (external force indicated by an arrow A in FIGS. 8A and 8B) is applied, the external force is applied to the right knuckle arm 16R, the upper right disk 12R, and the upper side. It is transmitted to the upper left disk 12L via the driving force transmission belt 13. At this time, the left front wheel 11a is grounded in a state of receiving a load in the vertical direction, so that the left front wheel 11a can be held at a rudder angle zero state against the external force from the right front wheel 11b, and the left front wheel 11a The right front wheel 11b connected via the upper driving force transmission belt 13 can also be held in a state where the steering angle is zero against the external force. On the contrary, when an external force in the direction of turning the right front wheel 11b to the left (external force indicated by arrow B in FIGS. 8A and 8C) is applied, this external force is applied to the right knuckle arm 16R, It is transmitted to the lower left disk 14L via the lower disk 14R and the lower drive force transmission belt 15. However, since the left front wheel 11a is grounded in a state where it receives a load in the vertical direction, the left front wheel 11a can be held at a rudder angle zero state against the external force from the right front wheel 11b, and the left front wheel 11a The right front wheel 11b connected via the side driving force transmission belt 15 can also be held in a state where the steering angle is zero against the external force.

  In FIG. 9, for example, in a state where the aerial work vehicle 1 is traveling straight forward, the steering dial 42 is twisted to the right side (twisting operation for turning at the maximum steering angle) in order to turn right. The case is shown. In this case, operation information for the travel operation lever 41 is input from the travel operation detector 41a to the inverter control unit 51, and operation information for the steering dial 42 is input from the steering operation detector 42a to the steering control unit 52. . Then, the inverter control unit 51 continues to output the operation signal based on the information from the travel operation detector 41a to the inverter IV, thereby performing control to rotate the right travel motor RM and the left travel motor LM to the forward side. . On the other hand, the steering control unit 52 sets the steering angle of the turning inner wheel (right front wheel 11b) corresponding to the amount of twist to the steering dial 42, and the left front wheel 11a until the set steering angle is detected by the steering angle detector 61. And by supplying an operation signal to the battery B so as to rotate the right front wheel 11b clockwise, power supply control from the battery B to the steered motor SM is performed.

  When the steered motor SM is driven by the power supply control to the steered motor SM, the right king pin 17R is driven to rotate clockwise. Then, the upper right disk 12R and the lower right disk 14R attached to the right king pin 17R are driven to rotate clockwise integrally with the right king pin 17R. At this time, as shown in FIG. 9B, the rotational driving force of the upper right disk 12R is transmitted to the upper left disk 12L via the upper driving force transmission belt 13, and the upper left disk 12L is in the same direction (clockwise) as the upper right disk 12R. ). Then, the upper driving force transmission belt 13 is drawn out from the upper left disk 12L and wound around the upper right disk 12R while being held by the upper right disk 12R and the upper left disk 12L, so that the steering angle shown in FIG. The right front wheel 11b (inner wheel) can be steered larger than the left front wheel 11a (outer wheel) while maintaining the relationship.

  As the upper left disk 12L is driven to rotate as described above, the left king pin 17L and the lower left disk 14L are rotated together with the upper left disk 12L in a clockwise direction. At this time, as shown in FIG. 9 (c), the lower driving force transmission belt 15 is extended from the lower right disk 14R while being held by the lower right disk 14R and the lower left disk 14L, and the lower left disk. It is taken up by 14L. Here, due to the structure of the rotator unit 3, the rotation angle given to the upper right disk 12R and the upper left disk 12L by the upper driving force transmission belt 13 and the lower driving disk 15R and the lower left disk 14L are given by the lower driving force transmission belt 15. The possible rotation angle is slightly different. Therefore, in the present embodiment, smooth and highly accurate steering is performed by using the upper driving force transmission belt 13 and the lower driving force transmission belt 15 having elasticity capable of absorbing this rotational angle difference. A rotating body unit 3 is configured.

  In addition, the rotating body unit 3 in the present embodiment is not limited to the upper part composed of the upper right disk 12R, the upper left disk 12L, and the upper driving force transmission belt 13, but also the lower right disk 14R, the lower left disk 14L, and the lower driving force transmission belt 15. The lower part which consists of is comprised in the upper-lower pair also provided. With this configuration, for example, when the steering angle is reduced from the state shown in FIG. 9, the turning motor SM is driven and the right king pin 17 </ b> R is rotated counterclockwise, so that the rotational driving force of the lower right disk 14 </ b> R is increased. It is transmitted to the lower left disk 14L via the lower drive force transmission belt 15, and the lower left disk 14L can be rotationally driven in the same direction (counterclockwise) as the lower right disk 14R. Therefore, although it is the structure using one steering motor SM, not only the steering to the direction which enlarges a steering angle but the steering to the direction which makes a steering angle small is also possible. Therefore, for example, the control can be simplified as compared with a configuration in which the left and right king pins are independently controlled to rotate using two steered motors. In the state shown in FIG. 9, as in the case of the straight traveling shown in FIG. 8, when an external force acts on the left front wheel 11a or the right front wheel 11b, the left front wheel 11a and the right front wheel 11b are steered against the external force. The corner can be held.

  In FIG. 10, for example, when the aerial work vehicle 1 is running straight forward, the steering dial 42 is twisted to the left side (twisting operation for turning at the maximum steering angle) in order to turn left. Is illustrated. In this case, operation information for the travel operation lever 41 is input from the travel operation detector 41a to the inverter control unit 51, and operation information for the steering dial 42 is input from the steering operation detector 42a to the steering control unit 52. . Then, the inverter control unit 51 continues to output the operation signal based on the information from the travel operation detector 41a to the inverter IV, thereby performing control to rotate the right travel motor RM and the left travel motor LM to the forward side. . On the other hand, the steering control unit 52 sets the rudder angle of the turning inner wheel (left front wheel 11a) corresponding to the amount of twist to the steering dial 42, and the rudder angle detector 61 detects the set rudder angle until the left rudder wheel 11a is detected. And by supplying an operation signal to the battery B so as to rotate the right front wheel 11b counterclockwise, power supply control from the battery B to the steered motor SM is performed.

  When the turning motor SM is driven by the power supply control to the turning motor SM, the right king pin 17R is driven to rotate counterclockwise. Then, the upper right disk 12R and the lower right disk 14R attached to the right king pin 17R are driven to rotate clockwise integrally with the right king pin 17R. At this time, as shown in FIG. 10C, the rotational driving force of the lower right disk 14R is transmitted to the lower left disk 14L via the lower driving force transmission belt 15, and the lower left disk 14L is in the same direction as the lower right disk 14R. It is rotated (counterclockwise). Then, the lower driving force transmission belt 15 is drawn out from the lower left disk 14L and wound around the lower right disk 14R while being held by the lower right disk 14R and the lower left disk 14L, and thus, FIG. The left front wheel 11a (inner wheel) can be steered larger than the right front wheel 11b (outer wheel) while maintaining the steering angle relationship shown.

  By rotating the lower left disk 14L as described above, the left king pin 17L and the upper left disk 12L are integrally rotated with the lower left disk 14L and rotated counterclockwise. At this time, as shown in FIG. 10B, the upper driving force transmission belt 13 is drawn out from the upper right disk 12R and wound around the upper left disk 12L while being held by the upper right disk 12R and the upper left disk 12L. It will be taken.

  As described above, the steering device 2 has a simple and inexpensive configuration in which a plurality of disks 12R, 12L, 14R, and 14L are rotationally driven by the steering motor SM, while ensuring a sufficient operation speed, Even in a region where the turning angle at which a relatively large reaction force acts is large, the steering can be smoothly performed. Thus, by using this steering device 2, it is possible to perform steering in substantially the same manner as in the conventional configuration in which the Ackermann link is driven by a hydraulic actuator (hydraulic cylinder). Further electrification of the steering device replaced with an electric actuator (electric motor) can be realized.

  In the above-described embodiment, the pair of left and right upper disks are eccentric to the left and right sides with respect to the left king pin 17L and the right king pin 17R, and the pair of left and right lower disks are eccentric to the left and right sides, respectively. However, the present invention is not limited to this configuration. For example, like the rotating body unit 103 shown in FIGS. 11B and 11C, the center position C3 of the upper left disk 12L and the center position of the left king pin 17L are matched, and the center position C4 of the lower left disk 14L is A configuration in which the center position of the king pin 17L is made coincident and the other configuration is the same as that of the rotating body unit 3 is also possible. By positioning the rotating unit 103 in the state shown in FIGS. 11B and 11C, the front wheels 11a and 11b can be steered in the straight traveling direction as shown in FIG. 11A. Further, by rotating the rotating body unit 103 clockwise as shown in FIGS. 12B and 12C, the front wheels 11a and 11b are steered in the right turning direction as shown in FIG. 12A. can do. On the other hand, by rotating the rotating body unit 103 counterclockwise as shown in FIGS. 13B and 13C, the front wheels 11a and 11b are steered in the left turning direction as shown in FIG. 13A. be able to.

  Further, as another configuration example of the rotator unit 3, a rotator unit 203 shown in FIG. 14 or a rotator unit 303 shown in FIG. 15 is also possible. The rotating body unit 203 shown in FIG. 14 has the same center position C3 of the upper left disk 12L as the center position of the left king pin 17L, and the other configuration is the same as that of the rotating body unit 3. On the other hand, the rotating body unit 303 shown in FIG. 15 has the same center position C4 of the lower left disk 14L as the center position of the left king pin 17L, and the other configuration is the same as that of the rotating body unit 3.

  The preferred embodiments of the present invention have been described above. However, the scope of the present invention is not limited to the above-described embodiments, and modifications can be made as appropriate without departing from the spirit of the present invention. In the above-described embodiment, a pair of left and right discs, which are discs that are eccentric and overlapped, are provided on the left and right, and the rotating body unit 3 is configured by connecting the upper discs and the lower discs with a driving force transmission belt. Has been described as an example. However, the shape of the rotator is not limited to a disk, and for example, an elliptical or fan-shaped rotator having an outer shape (portion around which the driving force transmission belt is wound) as shown in FIG. It is also possible to have a structure in which a pair of left and right rotating bodies are provided and connected by a driving force transmission belt.

  In the above-described embodiment, the rotation angle given to the upper right disk 12R and the upper left disk 12L by the upper driving force transmission belt 13 and the rotation angle that can be given to the lower right disk 14R and the lower left disk 14L by the lower driving force transmission belt 15. The configuration example using the upper driving force transmission belt 13 and the lower driving force transmission belt 15 having elasticity capable of absorbing the difference is described, but the present invention is not limited to this configuration example. For example, a spring capable of absorbing the rotation angle difference is interposed between the right king pin 17R and the upper right disk 12R (lower right disk 14R) or between the left king pin 17L and the upper left disk 12L (lower left disk 14L). It may be configured.

  In the above-described embodiment, the rotating body unit 3 configured by wrapping a driving force transmission belt around a disk has been described as an example, but the present invention is not limited to this configuration. For example, a wire rope can be used instead of the driving force transmission belt. It is also possible to use a sprocket instead of a disk and a roller chain instead of a belt. In this configuration, the rotational driving force of one sprocket can be reliably transmitted to the other sprocket. it can.

  In the above-described embodiment, the example in which the present invention is applied to the aerial work vehicle 1 as a traveling vehicle in which the left front wheel 11a and the right front wheel 11b are configured as driving wheels and steered wheels has been described. It is not limited. For example, the present invention can be similarly applied to a traveling vehicle in which the left front wheel 11a and the right front wheel 11b are steered wheels and the left rear wheel 11c and the right rear wheel 11d are drive wheels.

  In the above-described embodiment, the configuration example in which the present invention is applied to the aerial work vehicle 1 of the type in which the work platform 30 is moved up and down by the scissor link mechanism 20 has been described, but the present invention is applied only to this configuration example. Is not to be done. For example, the present invention can be similarly applied to an aerial work vehicle in which a work table is moved by a vertical post and an aerial work vehicle in which a work table is moved by a boom.

1 Aerial work vehicle (traveling vehicle)
2 Steering device 11a Left front wheel 11a (traveling wheel)
11b Right front wheel 11b (traveling wheel)
11c Left rear wheel 11c (traveling wheel)
11d Right rear wheel 11d (traveling wheel)
12L upper left disk (rotating body for right turn)
12R right upper disk (rotating body for right turn)
13 Upper drive force transmission belt (right turn drive force transmission member)
14L Lower left disk (Rotating body for left turn)
14R Lower right disk (Rotating body for left turn)
15 Lower drive force transmission belt (left turn drive force transmission member)
16L Left knuckle arm (knuckle member)
16R Right knuckle arm (knuckle member)
SM Steering motor (steering actuator)

Claims (3)

In a wheel-type traveling vehicle having a pair of left and right traveling wheels at the front and rear, a steering device that steers one of the pair of left and right traveling wheels before and after,
A pair of left and right knuckle members that rotatably support the pair of left and right traveling wheels, and are provided on the left and right sides of the traveling vehicle so as to be pivotable about a turning shaft of the traveling wheel;
A pair of left and right rotating bodies that are rotatably provided in the traveling vehicle corresponding to each of the knuckle members and turn the knuckle member according to the rotation;
A driving force transmitting member that is formed in a long shape and is provided by connecting the rotating bodies, and transmitting a rotational driving force so as to rotate the rotating bodies in the same direction;
A steering actuator that rotationally drives one of the pair of left and right rotating bodies;
The one rotary body is rotationally driven by the steering actuator and is configured to rotationally drive the other rotary body via the driving force transmission member,
The rotating body and the driving force transmitting member rotate the knuckle member so that a turning angle difference between the knuckle members increases as a turning angle of the pair of left and right traveling wheels increases, The traveling wheels are configured to steer the traveling wheels on the turning inner side at a larger turning angle than the traveling wheels on the outer turning side ,
Each of the pair of left and right rotating bodies is formed in a disk shape and rotates rightward for rotating the knuckle member, and is formed in a disk shape and rotates left for rotating the knuckle member to the left. Consisting of a rotating rotating body,
At least one of the pair of left and right rotating bodies is configured to be integrally rotated and driven in an eccentric state,
The drive force transmission member is composed of a right turn drive force transmission member that connects the right turn rotators and a left turn drive force transmission member that connects the left turn rotators. Steering device characterized. When said rotationally driven in a direction corresponding to the right turn one of the rotary member by pre Symbol steering actuator, the right turning fed from the right turning rotary member constituting the other rotary member By winding the driving force transmission member around the rotating right rotating body constituting the one rotating body in a tensioned state, the driving force transmitting member is positioned on the right side of the left traveling wheel among the pair of left and right traveling wheels. Steer the wheels at a large steering angle,
When the one rotating body is rotationally driven in the direction corresponding to the left turn by the steering actuator, the left turning driving force transmission member fed from the left turning rotary body constituting the other rotating body Is wound around the left turning rotating body constituting the one rotating body, and the left traveling wheel is steered at a larger turning angle than the right traveling wheel. The steering apparatus according to claim 1, wherein the steering apparatus is configured as described above. In a wheel-type traveling vehicle having a pair of left and right traveling wheels at the front and rear, a steering device that steers one of the pair of left and right traveling wheels before and after,
A pair of left and right knuckle members that rotatably support the pair of left and right traveling wheels, and are provided on the left and right sides of the traveling vehicle so as to be pivotable about a turning shaft of the traveling wheel;
A pair of left and right rotating bodies that are rotatably provided in the traveling vehicle corresponding to each of the knuckle members and turn the knuckle member according to the rotation;
A driving force transmitting member that is formed in a long shape and is provided by connecting the rotating bodies, and transmitting a rotational driving force so as to rotate the rotating bodies in the same direction;
A steering actuator that rotationally drives one of the pair of left and right rotating bodies;
The one rotary body is rotationally driven by the steering actuator and is configured to rotationally drive the other rotary body via the driving force transmission member,
Each of the pair of left and right rotating bodies is formed in a pseudo disk shape to turn the knuckle member to the right, and is formed in a pseudo disk shape to turn the knuckle member to the left. The left-turning rotator and the left-turning rotator are integrally rotated.
The driving force transmission member is composed of a right turning driving force transmission member that connects the right turning rotators and a left turning driving force transmission member that connects the left turning rotators,
The right turning rotator and the left turning rotator are:
In a state where the right turning driving force transmission member and the left turning driving force transmission member are stretched between the right turning rotary bodies and between the left turning rotary bodies, the pair of left and right traveling wheels The knuckle member is turned so that the turning angle difference between the knuckle members becomes larger as the turning angle becomes larger, and the traveling wheels on the inner side of the turn are larger than the traveling wheels on the outer side of the pair of left and right traveling wheels. A steering apparatus characterized by having a shape to be steered at a turning angle.

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