JPH0136707Y2 - - Google Patents

Description

[Detailed description of the invention] In a conventional articulated steering type vehicle, as shown in FIG.
Since the front and rear car bodies 01 and 02 move parallel to the ground G when turning, there is no vertical movement, and therefore there is no restoring force to the straight-ahead state, resulting in poor straight-line performance. was unstable.

This invention was proposed to improve the straight-line stability of vehicles with articulated steering, and its gist is as follows:
The articulated steering device is characterized in that a front vehicle body is pivotally supported on a rearwardly tilted shaft within the center plane of the vehicle, and a rear vehicle body is pivotally supported on a forwardly tilted shaft.

Since the present invention has the above configuration,
It is possible to exert a force that constantly tries to restore the straight running state, and it is possible to obtain stable high-speed straight running performance, making it possible for the vehicle to run at high speed.

Hereinafter, the present invention will be specifically explained with reference to an embodiment shown in FIGS. 2 to 5.

In Fig. 2, 1 is the vehicle, 2 is the front body, and 3 is the vehicle.
is the rear body, 4 is the articulate frame,
G indicates the ground. The front body 2 is pivotally supported on an articulating frame 4 by a shaft 5 tilted backward by an angle θ _f with respect to the ground G within the center plane A of the vehicle, and the rear body 3 is supported on the ground within the center plane A of the vehicle. It is pivotally supported by the articulating frame 4 by a shaft 6 tilted forward by an angle θ with respect to G. As shown in FIG.
b and fulcrums 11a, 1 provided on arms 10a, 10b extending left and right from the articulate frame 4.
1b through steering hydraulic cylinders 12a and 12b. Similarly, fulcrums 14a, 14b provided on arms 13a, 13b extending left and right from the rear vehicle body 3 and fulcrums 16a, 16b provided on arms 10a, 10b extending left and right from the articulate frame 4 are used for steering. They are connected by hydraulic cylinders 17a and 17b. Steering device 1 provided in driver's seat 18
9 to selectively send fluid to each steering cylinder 12a, 12b, 17a, 17b, shorten the hydraulic cylinders 12a, 17a,
Furthermore, when the hydraulic cylinders 12b and 17b are extended, the left sides of the front vehicle body 2 and rear vehicle body 3 are pulled toward the articulation frame 4, and the vehicle 1 turns to the left. In addition, the hydraulic cylinder 12
a, 17a, and the hydraulic cylinder 12
If b and 17b are shortened, the vehicle 1 will turn to the right.

A schematic side view when turning to the left is shown in FIG. 4, and a schematic plan view is shown in FIG. Right front wheel 21b, left rear wheel 22
a, occupies the position of the right rear wheel 22b, the left front wheel 21a moves downward by M from the position 21 when traveling straight, and the right front wheel 21b moves upward by N from the position 21 when traveling straight. Similarly, the left rear wheel 22a moves upward by an amount P from the position 22 when traveling straight, and the right rear wheel 22b moves downward by an amount Q from the position 22 when traveling straight. At this time, each wheel is in contact with the ground G, so
The vehicle bodies 2 and 3 are relatively lifted by the heights M and Q by which the left front wheel 21a and the right rear wheel 22b are moved downward. On the other hand, the vehicle bodies 2 and 3 are relatively lowered by the heights N and P by which the front right wheel 21b and the rear left wheel 22a are moved upward.

Then, as shown in Fig. 4, the front wheel grounding load Wf,
Since the axes 5 and 6 are inclined by angles θ _f and θ〓, respectively, the rear wheel grounding load Wγ generates component forces W _f1 and W〓 ₁ . However, W _f1 = W _f cosθ _f , W〓 ₁ = W〓 cosθ〓.

This component force W _f1 , W〓 ₁ is as shown in Fig. 5,
The left front wheel 21a acts as a restoring force _Wf2 , and the right rear wheel 22b acts as a restoring force _W〓3 . On the other hand, right front wheel 2
1b acts as a restoring force _Wf3 , and the left rear wheel 22a acts as a restoring force _W〓2 . At this time, each wheel 21
The angles formed by the lines connecting a, 21b, 22a, 22b and axes 5 and 6 with the center line Y are α ₁ for the left front wheel, α ₂ for the right front wheel, β ₁ for the left rear wheel, and β ₂ for the right rear wheel. , W _f2 = W _f1 sinα ₁ W _f3 = W _f1 sinα ₂ W〓 ₂ = W〓 ₁ sinβ ₁ W〓 ₃ = W〓 ₁ sinβ ₂ . Here, the angles α ₁ and β ₂ of the wheels 21a and 22a that are farther away from the center line Y are larger than the angles α ₂ and β ₂ , respectively, so W _f2 >W _f3 and W〓 ₃ >W _f2 . As a result, a restoring force always acts on the front vehicle body 2 and the rear vehicle body 3 in the direction of the center line Y.

In this way, it is possible to apply a force that constantly tries to restore the articulated steering system to a straight-line state, so that stable straight-line performance can be obtained in this vehicle, which generally has poor high-speed straight-line performance. becomes possible.

[Brief explanation of drawings]

Fig. 1 is a side view showing a conventional articulated steering vehicle; Figs. 2 to 5 show an embodiment of the present invention; Fig. 2 is a side view; Fig. 3 is a plan view; FIG. 4 is a schematic side view when turning to the left, and FIG. 5 is a schematic plan view of the same. 2...front vehicle body, 3...rear vehicle body, 5...rearward tilting axis, 6...forward tilting axis.

Claims (1)

[Scope of utility model registration request] An articulated steering device characterized in that a front vehicle body is pivotally supported on a rearwardly tilted shaft within the center plane of the vehicle, and a rear vehicle body is pivotally supported on a forwardly tilted shaft.