JPH09164969A - Automatic and manual change-over type steering gear or vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a steering gear simple in constitution and easy to control devised to easily carry out change-over operation from one travelling state to the other travelling state of automatic travelling and manual travelling of a vehicle. SOLUTION: It is furnished with a clutch 64 to cut and connect power transmission between a steering mechanism 30 and a steering handle and a lock means 69 free to lock the steering handle on a car body. When a clutch driving means 72 makes the clutch take cutting motion by control of a control device, a lock driving means 86 makes a locking means 69 take locking motion, while, when the same clutch driving means 72 makes the clutch take connecting motion, the same lock driving means 86 makes the locking means 69 take unlocking motion. The clutch driving means 72 is doubly used as the lock driving means 86.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic / manual switching type steering device for a vehicle, which can selectively switch the steering of a vehicle such as a golf car to either an automatic type or a manual type. .

[0002]

2. Description of the Related Art Conventionally, there is an automatic / manual switching type steering device for a vehicle constructed as follows.

According to this, in the vehicle, a steering mechanism supported by a vehicle body on the stationary side of the vehicle and interlockingly connected with steering wheels, and a steering mechanism supported by the vehicle body and capable of driving the steering mechanism are provided. A drive unit and a steering handle, a clutch for connecting and disconnecting power transmission between the steering mechanism and the steering handle, a clutch drive unit for connecting and disconnecting the clutch, and a locking unit for locking the steering handle to the vehicle body. And a control device for controlling the traveling of the vehicle.

When the control device is set to the "automatic traveling mode", the steering drive means drives the steering mechanism under the control of the control device, and the clutch drive means operates to disengage the clutch. There is. On the other hand, when the control device is set to the "manual drive mode", the control of the control device stops the drive of the steering mechanism by the steering drive means, and the clutch drive means causes the clutch to engage. ing.

When the vehicle is to be driven automatically, the control device is set to the "automatic driving mode". Then, as described above, the steering drive means controlled by the control device drives the steering mechanism, and the steering wheels that are interlocked with the steering mechanism are steered, so that the vehicle automatically moves on the ground along a predetermined traveling path. Can be run.

In the above case, since the clutch is disengaged, it is possible to prevent the steering wheel from being unnecessarily operated in conjunction with the drive of the steering drive means.
Further, at this time, if the steering handle is locked to the vehicle body by operating the locking means, during the above-described automatic traveling,
Unnecessary operation of the steering handle in a free state is prevented.

On the other hand, when the vehicle is to be manually driven, the control device is set to the "manual traveling mode".
Then, as described above, the clutch is operated to be connected, and the steering mechanism can be interlocked with the steering handle via the clutch. At this time, the lock means is operated to unlock the steering wheel with respect to the vehicle body.

In the above-mentioned state, when a driver in the vehicle operates the steering wheel, this operation drives the steering mechanism through the clutch connected as described above, and interlocks with the steering mechanism. The steering wheel is steered, and the vehicle is manually driven on the ground along a traveling path desired by the driver.

[0009]

By the way, in the above-mentioned conventional technique, as described above, the control device is switched from one of the "automatic traveling mode" and the "manual traveling mode" to the other mode. In each case,
It is necessary to manually lock or unlock the locking means, which makes the switching operation between automatic traveling and manual traveling of the vehicle complicated.

Further, since the above steering device has many constituent parts, it is desired to provide a steering device which has a simpler structure and is easy to control.

The present invention has been made by paying attention to the above circumstances, and it is possible to easily perform an operation of switching from one of the traveling states of automatic traveling and manual traveling of a vehicle to the other traveling state. An object is to provide an automatic / manual switching type steering device for a vehicle.

Another object of the present invention is to provide a steering device having a simpler structure and easier to control.

[0013]

An automatic / manual switching type steering device for a vehicle according to the present invention for achieving the above object is as follows.

[0014] The "means for solving the problem"
In the section, the terms in parentheses below correspond to the terms in the claims.

According to the first aspect of the present invention, a steering mechanism 30 supported by the vehicle body 3 and interlockingly connected to the steering wheel 11 and a steering drive means 37 supported by the vehicle body 3 and capable of driving the steering mechanism 30. And a steering handle 56, a clutch 64 for connecting / disconnecting power transmission between the steering mechanism 30 and the steering handle 56, a clutch drive means 72 for connecting / disconnecting the clutch 64, and the steering handle 56 on the vehicle body 3. A lock device 69 that enables locking and a control device 109 that controls the traveling of the golf car (vehicle) 1 are provided, and when the control device 109 is in the "automatic traveling mode", the steering operation is performed by the control of the control device 109. The drive means 37 drives the steering mechanism 30, and the clutch drive means 72 disconnects the clutch 64 (B).
On the other hand, on the other hand, the control device 109 is set to the "manual drive mode"
In this case, the drive of the steering mechanism 30 by the steering drive means 37 is stopped by the control of the control device 109, and the clutch drive means 72 causes the clutch 6 to operate.
4 is connected (A), the locking means 69 is locked and unlocked (B,
The control device 1 is provided with the lock driving means 86 for A).
By the control of 09, when the clutch drive means 72 disengages the clutch 64 (B), the lock drive means 86 causes the lock means 69 to lock (B), while the clutch drive means 72 operates the clutch 64. When the connecting operation (A) is carried out, the lock driving means 86 causes the lock means 69 to perform the unlocking operation (A), and the clutch driving means 72 also serves as the lock driving means 86.

According to a second aspect of the present invention, in addition to the first aspect of the invention, a steering shaft 57 rotatably supported around the vehicle body 3 is provided, and the steering shaft 5 is provided.
7, a steering handle 56 is attached, a clutch 64 is a driven gear (driven side member) 52 connected to the steering mechanism 30, and
The driving side member 65 is supported on the steering shaft 57 so as to be reciprocally slidable in the axial direction, and the "forward sliding" (A) of the driving side member 65 is performed by the driving side member 65.
Engages with the driven gear (driven side member) 52 in a disengageable manner to enable power transmission, while the same as the drive side member 65.
In the "backward sliding" (B), the drive side member 65 is disengageably engaged with the vehicle body 3 so that the steering handle 56 is locked to the vehicle body 3 via the steering shaft 57. The clutch drive means 72 is a clutch motor 73.
And an output shaft 76 that rotates by receiving the power of the clutch motor 73, and the rotation of the output shaft 76 that drives the drive-side member 6
5 and the interlocking mechanism 78 that reciprocally slides the drive side member 65. When the clutch motor 73 is driven by the control of the control device 109, the output shaft 76 is provided.
Is intermittently rotated by a predetermined rotation angle in one direction (C), and "forward sliding" (A) and "reverse sliding" (B) are applied to the drive side member 65 via the interlocking mechanism 78. Is to be repeated intermittently.

[0017]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

In FIGS. 2 and 3, reference numeral 1 in the drawings is a golf car which is a vehicle, and the golf car 1 can run on a ground 2 in a golf course. The arrow Fr indicates the front in the traveling direction of the golf car 1, and the left and right described below means the vehicle width direction toward the front.

A vehicle body 3 of the golf car 1 has a vehicle body frame 4, and a pair of left and right lower arms 5 and 5 are pivotally supported by a pivot shafts 6 and 6 on the front portion of the vehicle body frame 4 so as to be vertically rotatable. Has been done. A shock absorber 8 is extensible and extensible between the rotating end of each lower arm 5 and each side portion of the front portion of the vehicle body 3. A steering knuckle 10 is rotatably supported by a central shaft 9 passing through the shaft centers of the shock absorbers 8, and steering wheels 11 that are front wheels are supported by the steering knuckles 10. A pair of left and right rear wheels 13, 13 are respectively supported on the rear portion of the vehicle body frame 4, and the vehicle body 3 is supported on the ground 2 by the wheels 11 and the rear wheels 13.

An internal combustion engine 14 is provided at the rear of the vehicle body frame 4.
Is supported, and the power of the internal combustion engine 14 is supplied to the rear wheel 13
A gear-type power transmission device 15 for transmitting the power is provided. More specifically, the input shaft 17 of the power transmission device 15 is interlockingly connected to the crankshaft 16 which is the output shaft of the internal combustion engine 14 by a V-belt winding means (not shown). 18 is integrated with the axle of the rear wheel 13.

The power of the internal combustion engine 14 is transmitted to the rear wheel 13 via the crankshaft 16, V-belt winding means, the input shaft 17 of the power transmission device 15, and the output shaft 18 of the power transmission device 15. Each rear wheel 13 by this
The golf car 1 is allowed to travel on the ground 2 by driving. Reference numeral 19 is an ignition device 19 of the internal combustion engine 14.

A one-way clutch 22 is provided on the input shaft 17 of the power transmission device 15, and power is transmitted only from the internal combustion engine 14 to the rear wheels 13 via the one-way clutch 22. When the golf car 1 stops on an uphill slope, the one-way clutch 22 prevents the rear wheels 13 from rotating in the reverse direction to prevent the golf car 1 from moving backward.

The golf car 1 has a steering device 2 at the front thereof.
3 is provided. A seat 25 is provided behind the steering device 23 on the floor panel 24 of the vehicle body 3, and a driver seated on the seat 25 can operate the steering device 23. Further, on the rear portion of the vehicle body frame 4, there is provided a stand 27 for luggage 26 which is a golf bag.

In FIG. 3, the steering device 23 includes a steering mechanism 30 which is interlockingly connected to the wheels 11.
The steering mechanism 30 has a tie rod 32 that connects a pair of knuckle arms 31, 31 provided on each steering knuckle 10 to each other, and a rack gear mechanism 33. The rack gear mechanism 33 includes a rack gear that extends in the left-right direction, an interlocking shaft 35 that interlocks the right end of the rack gear and the right steering knuckle 10 with each other, a pinion that meshes with the rack gear, and an input that is connected to the pinion. And a shaft 36.

1, 3 to 7, steering drive means 37 is provided which is supported by the vehicle body frame 4 of the vehicle body 3 and enables the steering mechanism 30 to be driven. The steering drive means 37 receives electric power from a vehicle-mounted battery 38 and drives the electric motor 39 so as to rotate forward and backward, and the electric motor 3
9, a power transmission device 40 for transmitting the power of 9 to the input shaft 36 of the steering mechanism 30, the electric motor 39, and the power transmission device 40.
And an electromagnetic clutch 41 that is interposed therebetween.

The power transmission device 40 has a casing 4 supported by the body frame 4 via a bracket 43.
4, an input shaft 4 which is internally contained in the casing 44 and is supported by the casing 44 around its axis.
5, an intermediate shaft 46, and an output shaft 47 are provided.
The input shaft 45 inputs the power of the electric motor 39 via the electromagnetic clutch 41. A drive gear 49 is attached to the input shaft 45, and the intermediate shaft 46 meshes with the drive gear 49. The intermediate large gear 50 and the intermediate small gear 51 are attached so as to be arranged in parallel with the intermediate large gear 50. A driven gear 52 that meshes with the intermediate small gear 51 is attached to the output shaft 47, and the output shaft 47 includes the steering mechanism 30 via a universal joint 53.
Is connected to the input shaft 36 of the.

The power of the electric motor 39 is transmitted to the wheels 11, 11 via the electromagnetic clutch 41, the power transmission device 40, and the steering mechanism 30, and the golf car 1 is steered.

In FIGS. 1 to 3, a steering wheel 56 that allows the steering mechanism 30 to be driven by the operating force of the driver.
Is provided. The steering handlebar 56 is supported by a steering shaft 57 that is rotatably supported on the vehicle body frame 4 about its axis, that is, the steering handlebar 56 is mounted on the vehicle body frame 4 of the vehicle body 3 via the steering shaft 57. Supported by.

The steering shaft 57 is supported by the vehicle body frame 4 and has a shaft main body 58 for supporting the steering handle 56 at one end (upper end) thereof, and an output shaft 47 of the power transmission device 40 of the steering drive means 37. A rotary shaft 60 rotatably supported by the casing 44 on the same shaft 59 about the shaft center 59, and the rotary shaft 60 can be connected to the other end (lower end) of the shaft body 58. And a joint 61.

A dog clutch 64 is provided for connecting and disconnecting the power transmission between the steering mechanism 30 and the steering handle 56. The clutch 64 serves as the steering mechanism 30.
The driven gear 52, which is a driven side member, interlockingly coupled to the input shaft 36 of the power transmission device 40 via the output shaft 47 of the power transmission device 40 and the universal joint 53, and the rotating shaft 60 of the steering shaft 57 only in the axial direction thereof. The driving side member 65 is fitted with a spline so as to be slidable back and forth.

As shown by the solid line in FIG. 1, when the drive side member 65 is "forward slid" A downward toward the driven gear 52, the engagement convex portion of the drive side member 65 is engaged. Part 6
6 engageably engages with the engaged portion 67, which is the engaging recess of the driven gear 52, so that the clutch 64 engages (A). As a result, the operating force applied to the steering wheel 56 by the driver is the steering shaft 57,
Each wheel 1 via the clutch 64 and the steering mechanism 30.
1, 11, and the desired steering is obtained in the golf car 1 based on the driver's judgment.

On the other hand, when the drive side member 65 is "reciprocally slid" B upward in the direction away from the driven gear 52, the engaging portion 66 disengages from the engaged portion 67, The clutch 64 disengages (B). As a result, the steering handle 56 and the steering shaft 5 are
7 and the drive side member 65 are separated from the power transmission device 40 of the steering drive means 37.

In FIG. 1, the steering wheel 56 is referred to as above.
And the steering shaft 57 to the vehicle body frame 4 of the vehicle body 3.
Locking means 69 is provided to enable locking. A part of the locking means 69 is also used by the clutch 64. The locking means 69 has an engaging portion 70 which is an engaging convex portion formed on the clutch 64, and an engaging portion 70 which is an engaging concave portion formed on the inner surface of the casing 44 of the steering drive means 37. ing.

Then, the "reverse sliding" of the driving side member 65 is performed.
In B, when the clutch 64 is disengaged (B), the engaging portion 70 is disengageably engaged with the engaged portion 71, and the locking means 69 is locked (B). As a result, the steering handle 56 and the steering shaft 57 are locked to the vehicle body frame 4. Therefore, the free rotation of the steering wheel 56 is prevented regardless of whether or not the driver applies an operating force to the steering wheel 56.

On the other hand, as shown by the solid line in FIG. 1, when the clutch 64 is engaged (A) by the "forward sliding" A of the driving side member 65, the engaging portion 70 of the locking means 69 is provided.
Disengages from the engaged portion 71, and the locking means 69
Unlocks (A). As a result, the steering handle 56 and the steering shaft 57 can freely rotate.

1, 4 to 6, the clutch 64 is shown.
A clutch drive means 72 for connecting and disconnecting is provided. The clutch drive means 72 has a clutch motor 73 which is an electric motor. The clutch motor 73 is supported by the casing 44 of the power transmission device 40 and is driven by inputting electric power from the battery 38. The clutch drive means 72 has a worm gear set 74 interlocked with the output shaft of the clutch motor 73, and the shaft that rotates together with the worm wheel 75 of the worm gear set 74 is the output shaft 76 of the clutch drive means 72. The power of the clutch motor 73 is sufficiently decelerated by the worm gear set 74 and output via the shaft 76.

The clutch driving means 72 is provided with an interlocking mechanism 78 for interlocking the driven gear 52 with the output shaft 76. The interlocking mechanism 78 is a crank 79 interlocking with the output shaft 76, a clutch fork 81 engaged with the drive side member 65 and pivotally supported by the casing 44 via a pivot shaft 80, and the clutch fork 81. A rotating arm 82 attached to the pivot 80, an interlocking bar 83 having one end connected to the crank 79 and the other end connected to the rotating end of the rotating arm 82, and the rotating arm 82 and the interlocking bar. 83
And an elastic body 84 composed of a pair of coil springs interposed between and.

A lock drive means 86 for locking and unlocking the lock means 69 is provided, and the lock drive means 86 is also used by the clutch drive means 72.

The clutch motor 73 of the clutch driving means 72 is driven to rotate only in one direction, and accordingly, the output shaft 76 is also allowed to rotate only in one direction (arrow C in FIGS. 5 and 6). There is.

In FIG. 6, annular first to third conductive plates 88 coaxial with the output shaft 76 and rotating together with the output shaft 76.
To 90 are provided, and the first to third brushes 9 are in sliding contact with these.
1-93 are provided. The first to third conductive plates 88 to
90 are electrically connected to each other, and the first to third brushes 91 to 9
3 is fixed to the case side of the clutch motor 73.
The first conductive plate 88 is made of an insulating material on a part of the circumference of the first conductive plate 88.
A notch 94 is provided, a second notch 95 that is an insulator is provided at a portion of the second conductive plate 89 in the circumferential direction, and the third conductive plate 90 is grounded or connected to the battery 38. There is.

The first conductive plate 88, the third conductive plate 90, the first brush 91, the third brush 93, and the first cutout 9 are formed.
4 constitutes a first position SW 96 (SW = switch, the same applies hereinafter), and the second conductive plate 89, the third conductive plate 90, the second brush 92, the third brush 93, and the second cutout 95 are second. It constitutes the position SW 97.

1, 4 to 6, the clutch drive means 72 (lock drive means 86) indicates the clutch 64.
When the (locking means 69) is connected (unlocked), the second notch 95 of the second conductive plate 89 reaches the second brush 92, and the second position SW 97 remains O for a short period of time.
It is supposed to be N (on).

Particularly, as indicated by the chain double-dashed line in FIG. 5, the output shaft 76 has a predetermined rotation angle of about 1 from the state shown by the solid line.
When rotated by 80 °, the clutch drive means 72 (lock drive means 86) causes the drive side member 65 to “reverse slide” B through the interlocking mechanism 78, and the clutch 64 (lock means 69) is disengaged (locked). , At this time, the first brush 9
1 reaches the first notch 94 of the first conductive plate 88,
It is said that the position SW 96 is turned on for a short period of time.

From the above state, when the output shaft 76 is rotated again by a predetermined rotation angle of about 180 °, the clutch drive means 72 (lock drive means 86) of the same as above moves the forward drive side member 65 through the same interlocking mechanism 78. Motion ”A
~ 6 Return to the original state shown by the solid line.

In particular, in FIG. 5, there is provided a clutch sensor 99 which detects the connecting / disconnecting operation of the clutch 64 and also serves as an abnormality detecting sensor. The clutch sensor 99 is turned on when the clutch 64 is disengaged in cooperation with the cam 100 attached to the pivot shaft 80 of the interlocking mechanism 78 and the clutch drive means 72 which is operated as shown by the chain double-dashed line in FIG. And a clutch connection SW 102 that is turned off when the clutch 64 is disengaged. on the other hand,
Clutch drive means 7 operating as shown by the solid line in FIG.
When the clutch 64 is engaged in the interlocking operation with 2, the clutch disconnection SW 101 is turned off and the clutch connection SW 102 is turned on.

The clutch sensor 99 also serves as the lock sensor 104 for detecting the lock operation and the lock release operation of the lock means 69. That is, the lock sensor 104 includes the cam 100, the clutch disconnection SW 101 that is turned on when the lock means 69 is locked in conjunction with the clutch drive means 72 that is operated as indicated by the chain double-dashed line in FIG. It is composed of a clutch connection SW 102 which is turned off when the locking means 69 is locked. On the other hand, in conjunction with the clutch drive means 72 that operates as shown by the solid line in FIG. 5, that is, the lock drive means 8
When the lock means 69 is unlocked in conjunction with 6, the clutch disconnection SW 101 is turned off and the clutch connection SW 102 is turned on.

In FIGS. 2 and 3, a guide wire 106 is previously embedded along the desired running path of the golf car 1 near the ground surface of the ground 2, and an alternating current is passed through the guide wire 106. There is. On the other hand, a guide wire sensor 107 is provided at the front end of the body frame 4 of the golf car 1 in correspondence with the guide wire 106.

In FIG. 7, a control device 109 for electronically controlling the traveling of the golf car 1 is provided. All the above-mentioned electric parts are electrically connected to the control device 109. In addition, a start S for connecting to the control device 109 to operate the control device 109.
W110, manual switching SW111, and remote control SW1
12 are provided. The starting SW 110 is attached to the vehicle body 3, and when the starting SW 110 is turned on, the control device 109 is set to the “automatic traveling mode”. Also,
The manual switching SW111 is attached to the vehicle body 3 as above,
When the manual switching SW111 is turned on, the control device 1
09 is set to the "manual traveling mode". The remote controller SW112 is provided separately from the vehicle body 3 and can be carried. Then, if the remote controller SW 112 is turned on from a position away from the vehicle body 3, the control device 109 is set to the "automatic traveling mode" as described above.

The above SWs 110 to 112 are turned off.
Then, the control of the control device 109 is stopped, and the golf car 1 is stopped.

A warning lamp 114 and a warning buzzer 115, which are warning display means, are connected to the control device 109. Further, the control device 109 includes the ignition device 1 described above.
9, an ignition relay 116 and a starter relay 117
And are connected.

8 to 10, the control device 109 is used.
The travel control of the golf car 1 according to will be described.

8 and 9 show a flowchart for the control device 109, and (P-1) to (P-26) in the drawings show each step of the program. Also, FIGS.
The symbols A, B, and C mean that the same symbols are connected to each other.

8 to 10, the control device 109 described above is used.
Start SW with the main SW of is ON (P-1)
If both 110 and the remote control SW 112 are turned off (P-2) and the manual switching SW 111 is turned off (P-3), the original state after execution of the above (P-1) is restored. (P-4). This state corresponds to "0" in FIG.

When the start SW 110 or the remote controller SW 112 is turned on in the above (P-2), the control device 109 is set to the "automatic traveling mode" (P-5). Start SW above
Before the 110 or the remote control SW 112 is turned on, the internal combustion engine 14 has stopped operating, and the golf car 1
Is in a stopped state. In (P-5), the current traveling flag, which is the current flag, is set to "automatic", and the steering drive means 3
The electric motor 39 of No. 7 is driven, and the electromagnetic clutch 41 is engaged. This state corresponds to "a" in FIG.

Next, at (P-6), it is judged if the previous previous running flag is "manual" and the current running flag is "automatic". In this case, in (P-5), the current travel flag is set to "automatic", but if it is determined that the previous travel flag is not "manual", (P-7) is executed.

In the above (P-7), the first position SW96
If it is determined that the switch is on, the clutch motor 73 is turned off (P-8) and (P-9) is executed. Also, the same as above (P-7), same as above 1st position SW96 is OFF
Even if it is done, the same as above (P-9) is executed.

If the clutch disengagement SW 101 is ON and the clutch connection SW 102 is OFF, therefore, if it is determined in the above (P-9) that the clutch 64 is not engaged, the (P-10) is executed. , It is determined whether or not the warning flag is “clutch disengagement side”, and if not, the original state is restored (P-4).

If it is determined in (P-6) that the current running flag is "automatic" and the previous running flag is "manual", the clutch motor 73 is turned on to drive the clutch motor 73. (P-11), and then (P-9) above is executed. This state corresponds to the middle part of "ab" in FIG.

If the clutch disconnection SW 101 is OFF and the clutch connection SW 102 is ON, and therefore it is determined in (P-9) that the clutch 64 is engaged, the warning flag indicates "Clutch disengagement." Side "(P
-12) and (P-13) are executed.

At the stage where the above (P-13) is executed,
The control device 109 is set to the "automatic traveling mode" by the above (P-2). However, in (P-9) described above, it is determined that the clutch 64 is engaged and the steering handle 56 and the steering mechanism 30 are still connected, that is, it is possible to manually drive the vehicle. Therefore, it is determined that some abnormality such as a failure has occurred in the steering device 23.

The above-mentioned abnormality occurs when, for example,
In the following cases. That is, when the control device 109 is set to the “automatic traveling mode”, the clutch 64 should be interlocked with the clutch drive means 72 through the interlocking mechanism 78, and the clutch 64 should be in the disengaged state. The engaging portion 6 of the clutch 64 against the elastic force of the elastic body 84.
6 and the engaged portion 67 are still engaged with each other due to a large frictional force or the like.

If it is determined that an abnormality has occurred as described above, in (P-13), the ignition relay 11
6 and the starter relay 117 are both turned off to stop the internal combustion engine 14 from starting and other operations, that is, the golf car 1 cannot be started. Further, in this case, the warning lamp 114 lights up and a warning is displayed, and the warning buzzer 11
5 emits a warning sound and displays a warning.

Next, the above (P-4), (P-6), (P
-7) is sequentially executed. In this (P-7), after the clutch motor 73 is turned on in the above (P-11),
The output shaft 76 of the clutch driving means 72 rotates about 180 °, and the first notch 9 in the clutch driving means 72 is rotated.
4 reaches the first brush 91 and the first position SW 96 is turned on.
If so, the clutch motor 73 is turned off (P-8). This state corresponds to "b" in FIG.

Next, (P-9) is executed again, and if it is determined that the clutch 64 is still in the engaged state, the above (P-12) and (P-13) are executed again. Then, the original state is restored (P-4).

In (P-8), after a certain period (τ _{1 in} FIG. 10) has passed since the clutch motor 73 was turned off, the engaged portion 67 to the engaging portion 66 of the clutch 64 are changed to the elastic body. The elastic force of 84 disengages and clutch disengagement SW1
When 01 is turned on, the same as above, the clutch motor 73 is turned off.
It is assumed that the clutch connection SW 102 is turned off after a lapse of a certain period (τ _{2 in} FIG. 10) after the F is applied. Then, in (P-9), it is determined that the clutch 64 is not engaged. Also, it is confirmed that the warning flag at this time is "clutch disengagement side" (P-10), and then
This warning flag is "cleared" (P-14).

In this state, the clutch 64 is disengaged and is in a state suitable for the "automatic traveling mode". Therefore, both the ignition relay 116 and the starter relay 117 are turned on.
Then, the internal combustion engine 14 is driven so that the golf car 1 can start. This state corresponds to "c" in FIG.

In the above case, the engaged portion 67 of the clutch 64.
Immediately after the engaging portion 66 is disengaged from the engaging portion 70, the engaging portion 70 engages with the engaged portion 71 of the locking means 69, and the locking means 6 is released.
9, the steering wheel 56 and the steering shaft 57 are locked to the vehicle body frame 4.

Then, when the golf car 1 is automatically run on the ground 2 in the above state, the induction wire sensor 107 detects the magnetic force of the induction wire 106 in which an alternating current is already passed, and in response to this detection. The electric motor 39 of the steering drive means 37 is rotationally driven in the forward and reverse directions through the control device 109, and the wheels 11 which are interlocked with the electric motor 39 are steered through the steering mechanism 30.
The golf car 1 is automatically driven along the guide line 106. This state corresponds to "cd" in FIG.

At (P-2), both the starting SW 110 and the remote control SW 112 are turned off, and
When the manual switching SW 111 is turned on in (P-3), the control device 109 is set to the "manual traveling mode" (P-1
6). Before the manual switch SW111 is turned on,
The internal combustion engine 14 is stopped, and the golf car 1 is stopped. In (P-16), the current traveling flag is set to "manual", the electric motor 39 of the steering drive means 37 is stopped, and the electromagnetic clutch 41 is automatically disengaged. When the electromagnetic clutch 41 is disengaged in this way, the operating force on the steering wheel 56 is applied to the steering drive means 37 via the steering shaft 57 and the power transmission device 40.
Transmission to the electric motor 39 of the steering wheel 56 is prevented by the disconnection operation of the electromagnetic clutch 41.
The operation of can be done lightly. This state is shown in FIG.
Corresponds to "d" of.

Next, at (P-17), it is judged if the previous running flag is "automatic" and the current running flag is "manual". In this case, in (P-16), the current traveling flag is set to "manual", but if it is determined that the previous traveling flag is not "automatic", (P-21) is executed.

In the above (P-21), the second position SW9
If it is determined that 7 is ON, the clutch motor 73
Is turned off (P-22), and (P-19) is executed. Also, in the same as above (P-21), same as above 2nd position SW97
Even if is turned off, the same as above (P-19) is executed.

If the clutch disconnection SW 101 is OFF and the clutch connection SW 102 is ON, and if it is determined in the above (P-19) that the clutch 64 is not in the disconnecting operation, the (P-20) is executed. , It is determined whether or not the warning flag is "clutch connection side", and if not, the original state is restored (P-4).

If it is determined in (P-17) that the current running flag is "manual" and the previous running flag is "automatic", the clutch motor 73 is driven (P -18), and then (P-19) above is executed. In this state, it corresponds to the middle part of "d to e" in FIG.

If the clutch disconnection SW 101 is ON and the clutch connection SW 102 is OFF, and if it is determined in (P-19) that the clutch 64 is in the disengagement operation, the warning flag indicates "Clutch connection." Side ”(P-23) and (P-24) is executed.

At the stage where the above (P-24) is executed,
The control device 109 is set to the “manual traveling mode” by the above (P-3). However, in (P-19) above,
Since it is determined that the clutch 64 is disengaged and the steering wheel 56 and the steering mechanism 30 are still disengaged from each other, that is, it is determined that the automatic traveling is possible.
It is determined that the steering device 23 has some abnormality such as a failure.

The above-mentioned abnormality occurs when, for example,
In the following cases. That is, when the control device 109 is set to the “manual traveling mode”, the clutch 64 should be interlocked with the clutch drive means 72 through the interlocking mechanism 78, and the clutch 64 should be in the connected state. The engaging portion 66 does not face the engaged portion 67, that is,
Regardless of the elastic force of the elastic body 84 of the interlocking mechanism 78,
This is a case where the engaging portion 66 cannot be engaged with the engaged portion 67.

If it is judged that the above-mentioned abnormality has occurred, in the above (P-24), the ignition relay 11
6 and the starter relay 117 are both turned off to stop the internal combustion engine 14 from starting and other operations, that is, the golf car 1 cannot be started. Further, in this case, the warning lamp 114 lights up and a warning is displayed, and the warning buzzer 11
5 emits a warning sound and displays a warning.

Next, the above (P-4), (P-17),
(P-21) is sequentially executed. In this (P-21), the clutch motor 73 is turned on in the above (P-18).
After that, the output shaft 76 of the clutch drive means 72 is about 18
When the second notch 95 in the clutch drive means 72 reaches the second brush 92 (shown in FIG. 6) and the second position SW 97 is turned on, the clutch motor 73 is turned off (P- 22). This state is shown in FIG.
Corresponds to "e" of 0.

Next, (P-19) is executed again, and if it is determined that the clutch 64 is still in the disengaged state, the above (P-23) and (P-24) are executed again. Then, the original state is restored (P-4).

In the above (P-22), the clutch motor 73
After a certain period (τ _{3 in} FIG. 10) from when the clutch is turned off, the engaging portion 66 engages with the engaged portion 67 of the clutch 64 by the elastic force of the elastic body 84 and the clutch disconnection switch SW is released.
It is assumed that 101 is turned off and the clutch connection SW 102 is turned on after a lapse of a certain period (τ _{4 in} FIG. 10) after the clutch motor 73 is turned off. Then, in (P-19), it is determined that the clutch 64 is not disengaged. Also, it is confirmed that the warning flag at this time is "clutch connection side" (P-20), and then this warning flag is "cleared" (P-25).

In this state, the clutch 64 is engaged and is in a state suitable for the "manual running mode". Therefore, both the ignition relay 116 and the starter relay 117 are turned on.
Then, the internal combustion engine 14 is driven so that the golf car 1 can start. This state corresponds to "g" in FIG.

In the above case, the engaged portion 67 of the clutch 64 is
When the engaging portion 66 is engaged with the engaging portion 70, the engaging portion 70 is disengaged from the engaged portion 71 of the locking means 69 and the locking means 6 is engaged.
9 unlocks, and the steering wheel 56 and the steering shaft 57 are freely rotated.

In the above state, when the driver steers the steering wheel 56 by the operating force, the wheels 11 which are interlocked with the steering wheel 56 are steered, and the golf car 1 is steered in a desired direction. Then, the vehicle is manually driven toward the destination. This state corresponds to "g" and thereafter in FIG.

Thereafter, the programs (P-1) to (P-26) are executed. Therefore, the control device 109
From the state of "automatic driving mode"
Is switched from one of the "manual drive mode" and the "automatic drive mode" to the other mode, the clutch 6
4 is automatically connected and disconnected, and the locking means 69 is also automatically locked and unlocked.

Although the above is based on the illustrated example, the universal joint 53 and the universal joint 61 may be constant velocity joints. Further, each period τ _{1 to} τ ₄ is a concept including 0.

[0086]

According to the present invention, the following effects occur.

According to the first aspect of the present invention, there is provided a steering mechanism which is supported by the vehicle body and is interlocked with the steering wheel, and steering drive means and a steering handle which are supported by the vehicle body and can drive the steering mechanism. A clutch for connecting / disconnecting power transmission between the steering mechanism and the steering wheel, a clutch drive means for connecting / disconnecting the clutch, a locking means for locking the steering wheel on the vehicle body, And a control device for controlling the control device. When the control device is set to the “automatic traveling mode”, the steering drive means drives the steering mechanism by the control of the control device,
The clutch drive means disengages the clutch,
On the other hand, when the same control device is set to the "manual drive mode",
Under the control of this control device, the driving of the steering mechanism by the steering drive means is stopped, and in the automatic / manual switching type steering device of the vehicle in which the clutch drive means causes the clutch to engage, Lock drive means for locking and unlocking is provided, and when the clutch drive means disengages the clutch under the control of the control device, the lock drive means locks the lock means, and the same as the clutch drive means. When the clutch is engaged, the lock driving means operates to unlock the locking means.

Therefore, when the control device is switched from the "manual traveling mode" to the "automatic traveling mode" in an attempt to automatically drive the vehicle, the clutch is disengaged by this switching and the steering handle is operated by the steering drive means. It is avoided that it is uselessly operated by, and in this state,
The steering wheel is automatically steered by the steering drive means via the steering mechanism. At the same time, the locking means that is locked prevents the steering wheel from being locked by the vehicle body and attempting to operate freely.

On the other hand, if the control device is switched from the "automatic drive mode" to the "manual drive mode" in an attempt to manually drive the vehicle, the clutch is operated to connect to the steering wheel via the clutch. The steering mechanism can be linked. Along with this, the lock means is unlocked.

For this reason, when a driver in a vehicle performs a steering operation on a steering wheel, the steering mechanism is driven through a clutch to which the operation is connected, and the steering wheel is linked with the steering mechanism. Is steered, the vehicle is steered on the ground in a direction desired by the driver, and manually driven toward the destination.

That is, of the automatic traveling and the manual traveling of the vehicle,
If the control device is switched from one of the "automatic drive mode" and the "manual drive mode" to the other mode in the case of attempting to drive either one of them, the clutch automatically operates as described above. And the lock means are automatically locked or unlocked.

Therefore, every time the vehicle is switched from one of the automatic running mode and the manual running mode to the other running mode, the locking means is manually locked or unlocked as compared with the conventional case. The above switching operation becomes easy.

The clutch drive means also serves as the lock drive means.

Therefore, the steering device has many components,
Since the lock driving means is also used as the clutch driving means, the number of components is reduced.

Therefore, the structure of the steering device is simplified.

According to the second aspect of the present invention, the vehicle body is provided with the steering shaft rotatably supported around the axis.
Attach the steering handle to this steering shaft,
The clutch is composed of a driven member connected to the steering mechanism and a driving member supported on the steering shaft so as to be reciprocally slidable in the axial direction. The drive side member is disengageably engaged with the driven side member to enable power transmission, while the drive side member is reciprocally slidable to allow the drive side member to be disengaged from the vehicle body. And the steering wheel is locked to the vehicle body via the steering shaft, the clutch drive means, the clutch motor, the output shaft that rotates by receiving the power of the clutch motor, and the rotation of the output shaft. Is transmitted to the drive side member to reciprocally slide the drive side member, and the output shaft is rotated in one direction by a predetermined rotation angle according to the drive of the clutch motor under the control of the control device. Times intermittently It is allowed, to the drive-side member via the interlock mechanism to alternately and "往摺 moving" and "Fukusurido" are so as to intermittently repeated.

That is, when the clutch motor is driven by the clutch driving means, the driving side member is slid back and forth to open and close the clutch, and the locking means is locked and unlocked. Since it is sufficient to rotate in one direction, this control is simpler than the forward / reverse control of the clutch motor.

Therefore, there is an advantage that the steering device can be easily controlled.

[Brief description of the drawings]

FIG. 1 is a sectional view taken along line 1-1 of FIG.

FIG. 2 is an overall side view of a vehicle.

FIG. 3 is a partially cutaway plan view of a front portion of the vehicle.

FIG. 4 is a partial enlarged solid line diagram of FIG.

FIG. 5 is a view taken along line 5-5 in FIG. 4;

FIG. 6 is a partially enlarged partial sectional view of FIG.

FIG. 7 is an electrical block diagram.

FIG. 8 is a flowchart of a control device.

FIG. 9 is a flowchart of a control device.

FIG. 10 is a time chart of the control device.

[Explanation of symbols]

 1 Golf Car (Vehicle) 2 Ground 3 Vehicle Body 4 Vehicle Body Frame (Vehicle Stationary Side) 11 Wheels 14 Internal Combustion Engine 23 Steering Device 30 Steering Mechanism 37 Steering Driving Means 39 Electric Motor 40 Power Transmission Device 41 Electromagnetic Clutch 52 Driven Gear (Driven Member) 56 Steering Handle 57 Steering Shaft 64 Clutch 65 Drive Side Member 69 Locking Means 72 Clutch Driving Means 73 Clutch Motor 76 Output Shaft 78 Interlocking Mechanism 86 Lock Driving Means 99 Clutch Sensor (Abnormality Detection Sensor) 101 Clutch Disengage SW 102 Clutch Connection SW 104 Lock Sensor (Abnormality detection sensor) 109 Control device 110 Start SW 111 Manual switching SW 112 Remote control SW

Claims (2)

[Claims] 1. A steering mechanism supported by a vehicle body and interlockingly connected to a steering wheel, a steering drive means and a steering handle which are supported by the vehicle body and can drive the steering mechanism, the steering mechanism and a steering handle. A clutch for connecting and disconnecting power transmission to and from the vehicle, a clutch driving means for connecting and disconnecting the clutch, a locking means for locking the steering handle to the vehicle body, and a control device for controlling the traveling of the vehicle. When the control device is set to the "automatic traveling mode", the steering drive means drives the steering mechanism under the control of the control device, and the clutch drive means disengages the clutch. Is set to the “manual traveling mode”, the drive of the steering mechanism by the steering drive means is stopped by the control of the control device, and An automatic / manual switching type steering device of a vehicle in which a latch drive means operates to engage the clutch, a lock drive means for locking and unlocking the lock means is provided, and the clutch is controlled by the control device. When the drive means disengages the clutch, the lock drive means locks the lock means, while when the clutch drive means engages the clutch, the lock drive means unlocks the lock means. An automatic / manual switching type steering device for a vehicle, wherein the clutch drive means also serves as the lock drive means. 2. A vehicle body is provided with a steering shaft rotatably supported about an axis, a steering handle is attached to the steering shaft, a driven side member for connecting a clutch to a steering mechanism, and the steering shaft. Drive side member that is supported so as to be slidable back and forth in the direction, and when the drive side member is "forward slide", the drive side member is disengageably engaged with the driven side member to generate power. On the other hand, the transmission is enabled, while the drive side member is "reciprocally slid", the drive side member is removably engaged with the vehicle body, and the steering wheel is locked to the vehicle body via the steering shaft. Thus, the clutch driving means transmits the rotation of the clutch motor, the output shaft that rotates by receiving the power of the clutch motor, and the rotation of the output shaft to the driving side member, and the driving side member is moved to the forward direction. Equipped with an interlocking mechanism that slides back and forth,
With the drive of the clutch motor under the control of the control device, the output shaft is intermittently rotated in one direction by a predetermined rotation angle, and the drive-side member is made to perform "forward sliding" through the interlocking mechanism. The automatic / manual switching type steering device for a vehicle according to claim 1, wherein "reverse sliding" is alternately and intermittently repeated.