JPS5815262Y2 - multi-directional vehicle - Google Patents

Description

[Detailed explanation of the idea] The present invention relates to a multidirectional vehicle.

In conventional multi-directional vehicles, when traveling in the front and rear directions,
As shown in Figure 1, the direction wheels 1 and 2 are fixed in the front and rear directions, providing the same functionality and stability as a general side reach forklift. Ackermann steering is not possible because the direction is fixed.

Therefore, if the vehicle posture needs to be corrected while traveling, it is impossible to make any corrections because the vehicle can only run diagonally at an angle θ.

This poses a practical problem because it can only perform work within a range that does not require correction of the vehicle posture in the lateral direction.

In addition, in the multi-directional vehicle shown in FIGS. 3 and 4, the casters 2 are
Since it is a wheel, steering stability is not good.

In particular, when driving in a lateral direction, steering tends to become extremely unstable due to the relationship between the vehicle's center of gravity and the wheel arrangement.

Even with two casters, it is not so much of a problem in the front-back direction.

The center of gravity G is almost on the center line in the longitudinal direction of the vehicle body, and the distance l between the drive and steering wheel 4 is small, and the direction wheel 1 and the drive and steering wheel 4 are
Because the wheelbase L between them is long.

In the lateral direction, L is not as large as in the longitudinal direction, but since L becomes a dog, steering becomes unstable.

The present invention was devised in view of the above circumstances, and its purpose is to provide a multi-directional vehicle that can improve steering stability, and to provide a multi-directional vehicle with a width that is smaller than that required for conventional lateral travel. To make it possible to stabilize the steering of a narrow but good vehicle when moving to the side and to extend the distance to move to the side.

Hereinafter, the present invention will be explained with reference to FIGS. 5 to 16.

The figure in the middle of the drawing is the vehicle body, and a shaft 62 is provided on the front left side of the vehicle body A via a bearing, and a bracket 47 of the shaft 62
The left front wheel 48 is pivoted.

Further, a shaft 54 is provided on the front right side of the vehicle body A via a bearing, and a right front wheel 56 is pivotally supported on a bracket 55 of the shaft 54.

The right front wheel 56 is driven by a drive motor 56a.

A crank 53 is fixed to the shaft 54.

A cylinder 50 is attached to the vehicle body A.
The rod 51 is connected to the crank 53 by a pin.

A caster wheel 60 is provided on the rear left side of the vehicle body A.

Further, a shaft 57 is provided on the rear right side of the vehicle HA via a bearing, and the right rear wheel 35 is pivotally supported on the bracket 34 of the shaft 57.

The vehicle body A is provided with a steering unit 5.

The steering unit 5 includes a shift shaft 6, an input shaft 22, and an output shaft 29.37.

The vehicle body A is provided with an operating mechanism B that issues steering commands.

This operation mechanism B is equipped with a steering reducer 12, and a handle 1 is attached to the human power shaft of this steering reducer 12.
1 is provided.

Further, the output shaft 15 is connected to a shaft 19a via bevel gears 16 and 17, and the shaft 19a is connected to the shaft 19a via a joint 18.
It is connected to 9.

The shaft 19 is connected via a joint 18' to a shaft 19b, which is connected via a bevel gear 20.21 to the steering unit 5. The transmission mechanism C1 is connected to the input shaft 22 of the transmission mechanism C1.

The input shaft 22 is connected to an input shaft 25 via bevel gears 22 and 23.

A gear 9 is fixed to the input shaft 25, and a gear 10.26 is rotatably provided to the input shaft 25.

A gear 61 is fixed to the output shaft 29, and a gear 36 is fixed to the output shaft 37.

A shifter yoke 7 is provided on the shifter shaft 6, and this operates a clutch 8.

The shifter yoke 7 is connected to a switching mechanism provided with a switching lever 1.

This switching mechanism comprises links 2.3.4.

The output shaft 29 is connected to a shaft 30 via a joint 18, and this shaft 30 is connected to the shaft 30 via a joint 18'.
1, and the shaft 31 is connected to the shaft 57 via bevel gears 32 and 33, and these constitute a transmission mechanism C2.

The output shaft 37 is connected to a shaft 38 through a joint 18a, and the shaft 38 is connected to a shaft 39 through a joint 18b.
The shaft 39 is connected to a shaft 42 via bevel gears 40 and 41, and the shaft 42 is connected to the joint 18 and the shaft 43.
, and is connected to the shaft 44 via the joint 18.

The shaft 44 is connected to the shaft 62 via bevel gears 45 and 46, and these constitute a transmission mechanism C2.

The vehicle body A is provided with a switching valve 49, and this switching valve 49 is provided in the circuit R of the cylinder 50.

Next, the operation will be explained.

(4) When the vehicle is traveling in the longitudinal direction, ■ Tilt the lever of the switching valve 49 forward in order to orient the direction wheel and drive wheel, that is, the right front wheel 56 in the longitudinal direction (this is also possible when tilting backward by changing the piping, etc.) Pressure oil is sent to the cylinder 50, and the cylinder rod 51 is operated to the retracting side.

■ The movement of the cylinder rod 51 rotates the shaft 54 connected to the crank 53 via the pin 52 and is transmitted to the right front wheel Brakent 55, which moves the wheel 56 to its normal position (a position parallel to the longitudinal direction of the vehicle body) If it comes with 1, Stomper 5
8, the wheels 56 are fixed in the longitudinal direction.

■ Next, when the longitudinal direction switching clutch lever 1 is put into the longitudinal direction traveling side, the shifter shaft 6 in the steering unit 5 is operated via the link 234, and the shifter yoke 7 fixed to the shifter shaft 6 is operated. clutch 8 is connected to gear 9 and gear 10
The meshing gear 26 is fixed by a lock plate 27.

Among them, lock plates 27 to 28 are coupled to the shifter shaft 6 to fix the shifter yoke 7 and gear 1026 for switching between front and rear and lateral travel.

In addition, splines are formed on the steering unit 5 side of the fourth part and the shifter shaft 6 to prevent the shifter shaft 6 from rotating.

The gear 9 is fixed to the shaft 25, and the gear 1026 is attached to the shaft 251 so that it can rotate.

■ When the handle 11 is rotated in the state of (■), the rotation is transmitted to the shaft 15 through the meshing of the gear 1314 in the steering reducer 12.

(2) It is transmitted from the shaft 15 to the shaft 19 via the bevel gear 1617 and the joint 18.

(2) Rotation of the shaft 22 is transmitted from the shaft 19 to the inside of the steering unit 5 via the bevel gear 2021.

■ Inside the steering unit 5, bevel gears 23°24
The rotation is transmitted to the input side shaft 25 through.

(2) The rotational motion of the input shaft 25 is transmitted to the shaft 29 via the gear 9, the clutch 8, and the gear 10.61.

■ Rotational movement of shaft 29 is at joint 18, shaft 30°31
, through the bevel gears 32, 33, and the shaft 57, the right rear wheel 35 turns, and in this state, the left front wheel turning gear 26 is fixed by the lock plate 2T as explained in (■). Therefore, it is not possible to turn.

) It is possible to steer the vehicle in the longitudinal direction.

(B) When the vehicle is running in a lateral direction■ In order to orient the direction wheel and drive wheel, that is, the right front wheel 56, in the lateral direction, the lever of the switching valve 49 is tilted backwards (this is also possible when tilting forward by changing the piping, etc.). The pressure oil is sent to the cylinder 50, and the cylinder rod 51 operates on the extrusion side.

■ The movement of the cylinder suspension 51 pushes the crank 53 through the pin 52, and the shaft 54 connected to the crank 53
When the rotation is transmitted to the right front wheel mounting bracket 55 and the wheel 56 reaches its normal position (a position parallel to the lateral direction of the vehicle body), it hits the stopper 59 and the wheel 56 is fixed in the lateral direction.

■ Next, when the longitudinal and lateral switching clutch lever 1 is put into the lateral traveling side, the shifter shaft 6 in the steering unit 5 is operated via the links 2 and 3° 4, and the shifter shaft 6 is fixed to the shifter shaft 6. The shifter yoke 7 operates, the clutch 8 engages the gear 9 and the gear 26, the lock plate 27 that was engaged with the gear 26 comes off, and the gear 26 becomes free.

Also, the lock plate 28 meshes with the gear 10
is fixed (in this state, the left front wheel is released,
The right rear wheel is fixed.

)■ When the steering wheel 11 is rotated in the state shown in (2), the rotation is transmitted to the shaft 15 through the meshing of the gears 13 and 14 in the steering speed reducer 12.

■ From shaft 15 to joint 18 via bevel gears 16 and 17
is transmitted to the shaft 19 via.

(2) Rotation of the shaft 22 is transmitted from the shaft 19 to the steering unit 5 via the bevel gears 20 and 21.

■ Inside the steering unit 5, bevel gears 23°24
The rotation is transmitted to the input side shaft 25 through.

(2) The rotational motion of the input shaft 25 is transmitted to the shaft 37 via the gear 9, clutch 8, and gears 26 and 36.

■ Rotational movement of shaft 37 is joint 18, shaft 38°39
, bevel gears 40, 41, and the shaft 42.

[Phase] The rotational movement of the shaft 42 is transmitted to the left front wheel mounting bracket 47 through the joint 18, the shafts 43 and 44, the bevel gears 45 and 46, and the shaft 62.The left front wheel 48 rotates, and in this state, as explained in (■) Since the right rear wheel turning gear 10 is fixed by the lock plate 28, it cannot turn.

) Steering in the lateral direction of the vehicle is possible.

(C) Others■ When traveling in the longitudinal direction, the right front wheel 56 and the right rear wheel 35 are used as driving wheels (wheel motor drive in the figure), and the right rear wheel 35 is used as a steering wheel.

■ When driving sideways, 1. The driving wheels are the same as ■, the left front wheel 4
8 is the steering wheel.

- The left front caster wheel 60 follows the vehicle in both the longitudinal and lateral directions.

A method for switching the longitudinal direction to the lateral direction will be explained.

The lever of the switching valve 49 is pushed down to change the direction of the right front wheel 56 from the front and rear of the vehicle body A to the lateral direction.

Turn the handle 11 to turn the right rear wheel 35 to a position parallel to the lateral direction of the vehicle body, and switch the clutch lever 1 from the longitudinal running state shown in FIG. 14 to the lateral running state shown in FIG. 15. .

Next, turn the handle 11 to turn the left front wheel 48 laterally.

That is, the order of the pattern shown in FIG. 16 is obtained.

A method of switching from lateral travel to longitudinal travel will be explained.

The handle 11 is rotated to turn the left front wheel 48 to a position parallel to the longitudinal direction of the vehicle body, and the clutch lever 1 is switched from the lateral running state shown in FIG. 15 to the longitudinal running state shown in FIG. 14.

Next, rotate the handlebar 11 to face the right rear wheel 35 in the front-rear direction.

Then, the lever of the switching valve 49 is turned down to change the direction of the right front wheel 56 from the vehicle body to the front and back direction.

The present invention has been described in detail above, and the vehicle body A is provided with a steering unit 5 that controls the amount of movement of the vehicle body A in the longitudinal direction and lateral direction when moving straight and turning. an operating mechanism B that issues a steering command to the input side of the steering unit 5;
A switching mechanism for issuing a switching command is provided, and wheels are provided at two diagonal corners of the vehicle body A for performing a turning operation via transmission mechanisms C2 and C3 on each output side of the steering unit 5,
A caster wheel 60 is provided at one of the two corners on the other diagonal of the vehicle body A, and a cylinder 50 is provided at one.
Since wheels are provided that are turned by the operation of the caster wheel 60, when the vehicle is running in the longitudinal direction, the wheels adjacent to the caster wheel 60 with respect to the center line of the vehicle body in the longitudinal direction serve as steering wheels, and the remaining two wheels act as steering units. The steering mechanism 5 and the cylinder 50 form a fixed wheel parallel to the front and back direction.
Further, when the vehicle is running in a lateral direction, the wheels adjacent to the caster wheel 60 serve as steering wheels with respect to the lateral body center line, and the remaining two wheels are steered in the lateral direction by the steering mechanism of the steering unit 5 and the cylinder 50. The wheels act as parallel fixed wheels, allowing the vehicle to steer in a straight line and in turns when traveling in the longitudinal and lateral directions, thereby improving steering stability.

Therefore, the width of the passage may be narrower than that required for conventional lateral travel, and the steering of the vehicle when moving toward the side is stable, and the distance at which the vehicle is moving toward the side can be extended.

In the embodiment, the right front and rear wheels 56.35 are drive wheels, the left rear wheel 60 is a caster wheel, and the right front wheel 56 is operated by the cylinder 50 in the front and rear directions and in the lateral direction, and the right rear wheel 35 is steered when traveling in the front and rear directions. When driving in the lateral direction, the left front wheel 48 is the steering wheel, but even if the caster wheel 60 is installed on the right rear wheel, right front wheel, or left front wheel, the internal structure of the steering unit 5, the transmission mechanism, and the cylinder operating mechanism are not affected. If changed accordingly, the vehicle may always be a multi-directional vehicle.

Furthermore, in the embodiment, the operation mechanism B and the switching mechanism were explained as being provided in the vehicle body A, but the steering unit 5 was brought around the driver's seat and the supporting parts of the operation mechanism B and the switching mechanism were attached directly to the steering unit 5. It is obvious that it can be made more compact by integrating it into one piece.

[Brief explanation of drawings]

Figure 1 is an explanatory diagram of a conventional multi-directional vehicle running in the longitudinal direction, Figure 2 is an explanatory diagram of the same lateral traveling, and Figure 3 is an explanatory diagram of a conventional multi-directional vehicle (front reach fork) in the longitudinal direction. FIG. 4 is an explanatory diagram when traveling in the lateral direction. FIG. 5 is an explanatory diagram of the configuration of the present invention-embodiment.
The figure is a view as seen from the arrow direction in Figure 5 ■, Figure 7 is a view as seen from the arrow ■ direction in Figure 5, Figure 8 is a view as seen from the arrow ■ direction in Figure 5, and Figure 9 is a view of the steering unit. 10 is a diagram showing the relationship between the steering wheel rotation direction and the wheel rotation direction when turning to the right when traveling in the longitudinal direction, and FIG. 11 is a diagram showing the relationship between the steering wheel rotation direction and the wheel rotation direction when turning to the left when traveling in the longitudinal direction. Relationship diagram: Figure 12 is a diagram of the relationship between the steering wheel rotation direction and wheel rotation direction when turning to the right when traveling in a lateral direction, and Figure 13 is a relationship diagram between the steering wheel rotation direction and the wheel rotation direction when turning to the left when traveling in a lateral direction. Figure 14 is an explanatory diagram of the operation of the clutch switching mechanism when traveling in the longitudinal direction.
FIG. 5 is an explanatory diagram of the operation during lateral traveling, and FIG. 16 is an explanatory diagram of a pattern for switching from longitudinal traveling to lateral traveling. A is the vehicle body, 5 is the steering unit, 35 is the right rear wheel,
48 is the left front wheel, 56 is the right front wheel, and 60 is the caster wheel.

Claims (1)

[Scope of utility model registration request] The vehicle body A is provided with a steering unit 5 that controls the steering of the vehicle body A to move straight ahead and in the lateral direction and turn, and an operation mechanism that issues a steering command to the input side of the steering unit 5 to the vehicle body A or the steering unit 5. B and a switching mechanism that issues a switching command to the steering unit 5, and wheels that perform a turning operation are provided at two diagonal corners of the vehicle body A via transmission mechanisms C2 and C3 on each output side of the steering unit 5. A multi-directional vehicle characterized in that a caster wheel 60 is provided at one of the two corners on the other diagonal of the vehicle body A, and a wheel that is rotated by the operation of a cylinder 50 is provided on one side.