JP7332485B2 - remote steering device - Google Patents

Description

The present invention relates to remote steering devices. In particular, the present invention relates to the structure of a remote steering device capable of remotely steering a steering wheel installed on a vehicle or the like.

In order to improve the efficiency of agricultural work, a technique has been disclosed in which a steering drive device that rotates a steering wheel is installed in a vehicle for agricultural work to automatically steer the manually steered vehicle for agricultural work (for example, Patent Document 1). reference).

JP 2018-167724 A

Patent Document 1 discloses that a steering drive device that drives a steering wheel to rotate, a GNSS (Global Navigation Satellite System) sensor that detects the position of the vehicle, a steering control device, and a motor control device are retrofitted to a vehicle for agricultural work. By doing so, it is possible to automatically steer agricultural vehicles that are manually steered.

However, although Patent Document 1 states that the steering drive device can be retrofitted to the vehicle, it is necessary to temporarily remove the steering wheel from the steering column that rotatably supports the steering wheel, and attach the steering drive device to the steering column. There is a problem that it is not easy to install the steering drive device in the vehicle.

2. Description of the Related Art There is a demand for a remote steering apparatus that can remotely steer a steering wheel installed in a vehicle or the like, and that can be easily installed in an existing vehicle. And the above can be said to be the subject of the present invention.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a remote steering apparatus for remotely manipulating a steering wheel, which can be easily installed in an existing vehicle. .

The present inventor has constructed a remote steering device with a ring member that can be detachably fixed to a steering wheel and a frame that can be detachably fixed to a steering column. By attaching a gear to the output shaft of the steering motor, the inventor thought that a remote steering device could be easily installed in an existing vehicle.

(1) A remote steering apparatus according to the present invention is a remote steering apparatus for remotely steering a vehicle, which includes a steering wheel for steering a vehicle and a steering column for rotatably supporting the steering wheel, wherein the steering column is positioned behind the steering wheel. A ring member detachably fixed to the handle and a box-shaped frame detachably fixed to the steering column are provided from the side, the ring member has internal teeth on its inner periphery, and the frame is and a steering motor having an output shaft projecting toward the ring member, the output shaft of the steering motor having a small gear meshing with the inner teeth of the ring member.

(2) It is preferable that the frame further includes an encoder to which rotation of the steering motor is transmitted.

(3) The steering column further includes a first lever that protrudes in an outer peripheral direction from one side portion and can be tilted with respect to the steering column to change the state of the vehicle, and the frame includes the first lever. is gripped from the outer peripheral direction and is swingably connected to the frame; and a first motor swings the first swing plate in the direction in which the first lever is tilted. may be provided.

(4) The steering column further includes a first switch that is rotatably connected to the outer periphery of the first lever and that rotates around the axis of the first lever to change the state of the vehicle, The first rocking plate may further include a second motor for rotating the first switch.

(5) The steering column further includes a second lever that protrudes in the outer peripheral direction from the other side portion and can be tilted with respect to the steering column to change the state of the vehicle, and the frame includes the second lever. from the outer peripheral direction and is oscillatably connected to the frame; and a third motor for oscillating the second oscillating plate in the direction in which the second lever is tilted. may be

(6) The steering column further includes a second switch that is rotatably connected to the outer circumference of the second lever and that can change the state of the vehicle by rotating about the axis of the second lever, The second swing plate may further include a fourth motor for rotating the second switch.

A remote steering device according to the present invention comprises a ring member that can be detachably fixed to a steering wheel and a frame that can be detachably fixed to a steering column. By attaching a small gear that meshes with the steering motor to the output shaft of the steering motor, the remote steering device can be easily installed in an existing vehicle.

1 is a perspective view showing the configuration of a remote steering device according to an embodiment of the present invention, and is a state diagram showing a state in which the remote steering device is attached to a steering wheel and a steering column; FIG. FIG. 2 is a front view showing the configuration of the remote steering device according to the embodiment, and is a state diagram showing the state in which the remote steering device is attached to a steering wheel and a steering column; FIG. 2 is a plan view showing the configuration of the remote steering device according to the embodiment, and is a state diagram showing the state in which the remote steering device is attached to a steering wheel and a steering column; 2 is a perspective view showing the configuration of the remote steering device according to the embodiment; FIG. FIG. 3 is a perspective view showing the configuration of a frame provided in the remote steering device according to the embodiment; FIG. 2 is a perspective view showing the configuration of a steering wheel driving device provided in the remote steering device according to the embodiment;

EMBODIMENT OF THE INVENTION Hereinafter, the form for implementing this invention is demonstrated with reference to drawings.

[Configuration of remote steering device]
First, the overall configuration of a remote steering system according to one embodiment of the present invention will be described.

(overall structure)
1 to 6, a remote steering device (hereinafter referred to as a steering device) 10 according to one embodiment of the present invention includes a steering wheel Hd for steering a vehicle and a steering column for rotatably supporting the steering wheel Hd. A vehicle with Cs (hereinafter abbreviated as column) can be remotely steered. A steering device 10 includes a ring member 1 and a box-shaped frame 2 .

1 to 3, the ring member 1 can be detachably fixed to the handle Hd from the rear side of the handle Hd. The frame 2 can be detachably fixed to the column Cs. The frame 2 has a handle driving device Mh inside (see FIG. 5 or 6).

Referring to FIG. 1 or 2, the ring member 1 has internal teeth 1t on its inner circumference. Referring to Figures 4 to 6, the frame 2 has the steering motor Ms fixed therein. The steering motor Ms has one output shaft projecting toward the ring member 1 .

4 to 6, the steering motor Ms has a small gear 21g fixed to one output shaft. The small gear 21g meshes with the inner teeth 1t of the ring member 1 (see FIG. 1 or 2). By driving and controlling the steering motor Ms from a remote location, the steering wheel Hd can be steered via the ring member 1 (see FIGS. 1 to 3).

4 to 6, the steering device 10 further comprises an encoder Er, which is a rotary encoder. The encoder Er is installed inside the frame 2 . or. The encoder Er is installed together with the steering motor Ms (see FIG. 6).

Referring to FIG. 6, the steering motor Ms has a small gear 22g fixed to the other output shaft. The encoder Er has a large gear 23g that meshes with the small gear 22g fixed to the input shaft. The encoder Er can detect the rotation amount and rotation position of the steering wheel Hd via the steering motor Ms.

4 to 6, the steering motor Ms has an input/output terminal 21t at one end. Also, the encoder Er has an output terminal 23t at one end. The input/output terminal 21t and the output terminal 23t are electrically connected to a motor control device (not shown) to be described later.

The steering device 10 includes a motor control device (actually an electric circuit board) (not shown). The motor control device can feedback-control the rotation amount and rotation position of the steering motor Ms instructed from a remote location. The encoder Er can feedback-control the rotation amount and rotation position of the steering wheel Hd via the steering motor Ms.

(Structure of ring member)
Next, the configuration of the ring member 1 according to the embodiment will be described. Referring to FIG. 1 or FIG. 2, the handle Hd includes a hub Hb formed in the central portion, a pair of spokes Sp and Sp extending in the outer peripheral direction from the hub Hb, and an annular ring connected to the tips of the spokes Sp and Sp. rim Rm.

Referring to FIG. 1 or 2, a steering shaft Ss is detachably fixed to the hub Hb. The steering shaft Ss is rotatably held inside the column Cs. The driver can steer the vehicle by gripping and operating the rim Rm.

1 or 2, the ring member 1 secures three holding blocks 11 to opposite sides of the handle Hd. These holding blocks 11 are arranged substantially evenly around the ring member 1 . These holding blocks 11 are fixed to the rim Rm of the handle Hd using a band member 11b such as a binding band.

The ring member 1 is configured in a ring shape by connecting a plurality of split ring pieces. Thereby, the ring member 1 can be easily fixed to the rear side of the steering wheel Hd without removing the steering wheel Hd from the steering shaft Ss. In this embodiment, the ring member 1 is configured by connecting six split ring pieces.

(frame configuration)
Next, the configuration of frame 2 according to the embodiment will be described. Referring to FIGS. 4 to 6, the frame 2 is composed of a pair of side frames 20s, 20s, a lower plate 21, and an upper plate 22 to form a box-like shape having a cavity inside. A steering motor Ms and an encoder Er are installed on the bottom plate 21 (see FIG. 6).

4 to 6, the bottom plate 21 has a pair of rollers 21r, 21r arranged on the front surface thereof. The pair of rollers 21r and 21r support the ring member 1 from below and are connected to the outer circumference of the ring member 1 so as to be free to roll (see FIGS. 1 to 3).

Referring to FIGS. 4 to 6, the top plate 22 can be detachably fixed to the column Cs, and has a lever operation mechanism Mr, which will be described later.

(Configuration of lever operating mechanism)
Next, the configuration of the lever operating mechanism Mr provided in the steering device 10 will be described. Referring to FIGS. 1 to 4, the lever operating mechanism Mr includes, for example, a first lever operating mechanism capable of operating a first lever 1Lv for direction indication (a first lever 1Lv capable of changing the state of the vehicle). . The lever operating mechanism Mr includes, for example, a second lever operating mechanism capable of operating a wiper second lever 2Lv (a second lever 2Lv capable of changing the state of the vehicle).

(Structure of first lever operating mechanism)
Referring to FIGS. 1 to 4, the first lever 1Lv protrudes outward from one side of the column Cs. The change of course of the vehicle can be displayed by tilting the first lever 1Lv with respect to the column Cs.

Referring to FIGS. 1 to 4, the frame 2 includes a first rocking plate 1r and a first motor 1m. The first rocking plate 1r has a half-split structure and grips the first lever 1Lv from the outer peripheral direction. The base end of the first rocking plate 1r is connected to the top plate 22 so as to be rockable.

1 to 4, the first motor 1m is fixed to a pedestal 23 fixed to the column C. As shown in FIG. The output shaft of the first motor 1m is directly connected to one end of the crank lever Lc. The other end of the crank lever Lc is rotatably connected to one end of the link rod Ls. The other end of the link rod Ls is rotatably connected to the side surface of the first rocking plate 1r. The link rod Ls has spherical plain bearings at both ends.

1 or 2, when the output shaft of the first motor 1m rotates clockwise as viewed from the front side, the first rocking plate 1r rotates clockwise through the crank lever Lc and the link rod Ls. can tilt to That is, the first lever 1Lv can be tilted clockwise.

On the other hand, referring to FIG. 1 or 2, when the output shaft of the first motor 1m is rotated counterclockwise as viewed from the front side, the first rocking plate 1r is rotated through the crank lever Lc and the link rod Ls. can be tilted counterclockwise. That is, the first lever 1Lv can be tilted counterclockwise.

In this way, referring to FIGS. 1 to 4, the first lever 1Lv can be tilted clockwise or counterclockwise by controlling the drive of the first motor 1m from a remote location. By tilting the first lever 1Lv, the course change of the vehicle can be displayed.

1 to 4, the column Cs further includes a light switch (not shown) as a first switch rotatably connected to the outer circumference of the first lever 1Lv. By rotating the light switch around the axis of the first lever 1Lv, at least the headlight can be operated. That is, the first switch functions as a switch that can change the state of the vehicle.

1 to 4, the first rocking plate 1r fixes the second motor 2m. The second motor 2m has a small gear 11g fixed to its output shaft. On the other hand, the light switch is held by a large gear 12g that meshes with the small gear 11g. By driving the second motor 2m, the light switch can be rotated.

In this manner, referring to FIGS. 1 to 4, the light switch can be rotatably operated by remotely controlling the second motor 2m.

(Structure of Second Lever Operating Mechanism)
1 to 4, the second lever 2Lv protrudes in the outer peripheral direction from the other side of the column Cs. The wiper can be operated by tilting the second lever 2Lv with respect to the column Cs.

Referring to FIGS. 1 to 4, the frame 2 comprises a second swing plate 2r and a third motor 3m. The second rocking plate 2r has a half-split structure and grips the second lever 2Lv from the outer peripheral direction (see FIG. 4). The second rocking plate 2r is rockably connected to the top plate 22 at its base end.

1 to 4, the third motor 3m is fixed to a pedestal 23 fixed to the column C. As shown in FIG. The output shaft of the third motor 3m is directly connected to one end of the crank lever Lc. The other end of the crank lever Lc is rotatably connected to one end of the link rod Ls. The other end of the link rod Ls is rotatably connected to the side surface of the second rocking plate 2r. The link rod Ls has spherical plain bearings at both ends.

1 or 2, when the output shaft of the third motor 3m rotates counterclockwise as viewed from the front side, the second rocking plate 2r rotates counterclockwise through the crank lever Lc and the link rod Ls. It can tilt clockwise. That is, the second lever 2Lv can be tilted counterclockwise.

1 or 2, when the output shaft of the third motor 3m rotates clockwise as viewed from the front side, the second rocking plate 2r moves through the crank lever Lc and the link rod Ls. It can tilt clockwise. That is, the second lever 2Lv can be tilted clockwise.

In this way, referring to FIGS. 1 to 4, the second lever 2Lv can be tilted clockwise or counterclockwise by remotely controlling the driving of the third motor 3m. By tilting the second lever 2Lv, the operation and non-operation of the wiper can be switched.

1 to 4, the column Cs further includes a wiper switch (not shown) as a second switch rotatably connected to the outer circumference of the second lever 2Lv. By rotating the wiper switch around the axis of the second lever 2Lv, the operating state of the wiper (intermittent operation, continuous operation, etc.) can be changed. That is, the second switch functions as a switch that can change the state of the vehicle.

1 to 4, the second rocker plate 2r fixes the fourth motor 4m. The fourth motor 4m has a small gear 13g fixed to its output shaft. On the other hand, the wiper switch is held by a large gear 14g that meshes with the small gear 13g. By driving the fourth motor 4mm, the operating state of the wiper can be changed.

In this way, referring to FIGS. 1 to 4, the wiper switch can be rotatably operated by remotely controlling the driving of the fourth motor 4m.

[Operation of the remote steering device]
Next, the operation and effects of the steering system 10 according to the embodiment will be described.

1 to 6, the steering device 10 according to the embodiment comprises a ring member 1 that can be detachably fixed to a steering wheel Hd and a frame 2 that can be detachably fixed to a column Cs. By fixing the steering motor Ms inside and attaching the small gear 21g that meshes with the inner tooth 1t of the ring member 1 to the output shaft of the steering motor Ms, the steering device 10 can be easily installed in an existing vehicle.

1 to 4, the steering device 10 according to the embodiment includes a first lever 1Lv for direction indication, and a first motor 1m and a second motor 2m capable of remotely controlling the driving of the light switch. It is convenient because

Further, referring to FIGS. 1 to 4, the steering device 10 according to the embodiment includes a second wiper lever 2Lv and a third motor 3m and a fourth motor 4m capable of remotely controlling the drive of the wiper switch. It is convenient because there is

The remote steering apparatus according to the present invention is not limited to vehicles for agricultural work or vehicles for construction work, but can be applied to general vehicles such as transportation vehicles.

Further, in the present embodiment, the remote steering device 10 is applied to a vehicle provided with the first lever 1Lv for direction indication and the second lever 2Lv for wiper, but it is not limited to this. That is, the remote steering device 10 may be applied to a vehicle provided with a first lever for direction indication and a second lever 2Lv for moving the vehicle forward, neutral and backward. In this case, the column Cs further includes a gear switch as a second switch rotatably connected to the outer circumference of the second lever 2Lv. By tilting the second lever 2Lv with respect to the column Cs, the vehicle can be moved forward, neutral or backward. Further, the gear can be switched by rotating the gear switch around the axis of the second lever 2Lv. Examples of such vehicles include construction machines (heavy machines) such as wheel loaders.

Reference Signs List 1 ring member 1t internal tooth 2 frame 10 steering device (remote steering device)
21g pinion Cs column (steering column)
Hd Handle Ms Steering motor

Claims (5)

A remote steering device for remotely steering a vehicle comprising a steering wheel for steering a vehicle and a steering column for rotatably supporting the steering wheel,
a ring member that can be detachably fixed to the handle from the rear side of the handle;
a box-shaped frame that can be detachably fixed to the steering column,
The ring member has internal teeth on its inner circumference,
the frame has therein a steering motor having an output shaft projecting toward the ring member;
the output shaft of the steering motor has a small gear that meshes with the internal teeth of the ring member;
The steering column includes a first lever that protrudes in the outer peripheral direction from one side portion and can be tilted with respect to the steering column to change the state of the vehicle,
The frame is
a first rocking plate that grips the first lever from the outer peripheral direction and is rockably connected to the frame;
and a first motor for swinging the first swing plate in a direction in which the first lever is tilted . The steering column further includes a first switch that is rotatably connected to the outer periphery of the first lever and that can change the state of the vehicle by rotating about the axis of the first lever,
2. The remote steering apparatus of claim 1, wherein said first wobble plate further comprises a second motor for rotating said first switch. The steering column further includes a second lever that protrudes in the outer peripheral direction from the other side portion and can be tilted with respect to the steering column to change the state of the vehicle,
The frame is
a second rocking plate that grips the second lever from the outer peripheral direction and is rockably connected to the frame;
3. The remote steering device according to claim 1, further comprising a third motor for swinging said second swing plate in a direction in which said second lever tilts. The steering column further comprises a second switch that is rotatably connected to the outer circumference of the second lever and that can change the state of the vehicle by rotating around the axis of the second lever,
4. The remote steering apparatus of claim 3, wherein said second wobble plate further comprises a fourth motor for rotating said second switch. 5. The remote steering apparatus according to any one of claims 1 to 4, wherein said frame further comprises an encoder inside thereof to which rotation of said steering motor is transmitted.

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