JPS5945543B2 - Forward/forward switching method in vehicle automatic steering system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention is applied to the steering of vehicles in new transportation systems called guideway systems, in which vehicles travel along guide walls provided on both sides or one side of a running track. Concerning the conversion method.

In the guideway system described above, the vehicle runs along a guide wall erected on the side of a flat running track, and an automatic steering device is installed to make the vehicle run more smoothly.

The basic structure of this conventional automatic steering system, as shown in FIG. 1, is that a knuckle arm 4' is connected to the end of an axle 2' provided on a vehicle body 1' by a tie rod 3'. Two left and right wheels 6' are pivotally connected by a king pin 5' and are rotatable left and right, and the knuckle arm 4' and the pivot T'
A rotary lever 8', which is provided so as to be rotatable left and right around the center, is connected to the rotary lever 8' by a connecting rod 9'. The guide rod 10' is connected via an intervening rod 11', and the axial movement of the guide rod 10' by the guide wall 12' rotates the rotary lever 8' about the pivot shaft 7'. The rotation of the rotation lever 8' is transmitted to the knuckle arm 4' via the connecting rod 9', and the wheel 6' is moved relative to the axle 2' in the same direction or in the opposite direction to the movement direction of the guide rod 10'. It has become.

In this automatic steering system, the direction of steering rotation of the front wheels and the rear wheels with respect to the left and right movement of the guide rod 10' is reversed, so that the connecting portion of the connecting rod 9' to the rotating lever 8' is connected to the cylinder 1.
3', the cylinder is moved from the state shown by the solid line in Figure 1 to the state shown by the two-dot chain line. If the cylinder becomes free due to a failure in the piping system, etc., the induction rod 1
A moving force of 0' is applied to the connecting rod 9' via the rotating lever 8'.
If the cylinder is expanded or contracted without being accurately transmitted (for example, in FIG. 1, if the guide rod 10' moves to the right and the rotating lever 8' rotates clockwise about the pivot 7') , the cylinder begins to expand.

Needless to say, this problem becomes more pronounced as the angle formed between the connecting rod 9' and the rotating lever 8' becomes smaller.

) There is a fear that the correct fixing position of the joint throat 9' with respect to the rotary lever 8' may be gradually shifted, and the steering mode of the single-wheeled vehicle may eventually be reversed, causing an unexpected accident.

The same holds true for the external force applied to the wheel 6'.

Since the present invention has been made to solve the above problems, details thereof will be explained below with reference to the drawings.

2 and 3 show an apparatus for carrying out the forward/reverse switching method of the present invention, in which a knuckle arm 4 connected to the end of an axle 2 provided on a vehicle body 1 by a tie rod 3 is connected to a king pin 5. Two left and right wheels 6 are pivotally connected to each other and are rotatable left and right.

The above-mentioned knuckle arm 4 and a rotating lever 8 provided so as to be rotatable left and right around a pivot shaft 7 supported on the vehicle body 1 are connected to each other by a connecting rod 9.
The guide rod 10 provided on the vehicle body 1 in parallel with the intervening rod 1
1.

The above-mentioned guide rod 10 is attached to the vehicle body 1 by a support link 13 so as to be movable in the axial direction of the vehicle body 1, and guide wheels 14 and 15 guided by a guide wall 16 are attached to both ends of the guide rod in upper and lower stages. There is.

Two connecting rods 9 connected at one end to the knuckle arm 4
The two brackets are pivoted to a fulcrum shaft 25 (details will be described later) and have locking portions 17 disposed at the front and rear of the pivot shaft 7.

The other ends (inner ends) of each rotary member 18 and 19 are individually connected to each other, and the rotary lever 8 has a longitudinal direction along a guide 20 of the rotary lever 8. A guide roller 21 that is moved in the direction, and this guide roller 21
Attached to the center shaft 22 of.

The locking portion 1 of any one of the rotating members 18 and 19
A converting cylinder 24 is provided which has a fixing member 23 which fits into the pivot member 7 and fixes its pivot member 18, 19 to the pivot lever 8.

4 to 6 show an example of the detailed structure of the rotating four-bar 8 shown in FIGS. Further, the rotating member ia, 19 is provided with a guide edge 26 that acts to guide the fixed member 23 having a roller structure to the locking portion 17.

In these figures, 27 and 28 are connecting rods 9.
a connecting pin connecting the end of the to the pivot member 18.19;
29.30 is a limit switch that detects the movement of the guide roller 21 along the guide 20.

Reference numeral 31 in Figures 2 and 3 is an interlocking link that connects the knuckle arms 4 of the front and rear wheels to interlock their steering operations, and this link includes a buffer mechanism such as an oil tamper or a spring. It's normal to have a rainy evening.

Next, the operation and operation method of the forward/reverse switching device configured as described above will be explained.

FIG. 2 shows that the conversion cylinder 24 is retracted and the guide roller 2
1 upward in this figure along the guide 20, and the fixing member 23 is fitted into the locking portion 17 of the rotating member 19 to fix the rotating member 19 to the rotating lever 8, thereby connecting the left side. This figure shows the rod 9 selected and its inner end connected to the rotation lever 8. In this figure, when the guide rod 10 is pushed leftward by the guide wall 16 as the vehicle travels, it rotates. The moving lever 8 rotates counterclockwise around the pivot 7 and pushes left and right connecting rods 9 connected to the rotating member 19 to the left, so the two wheels 6 are connected to the knuckle arm by the action of the tie rod 3. 4 and rotates counterclockwise around the king pin 5 to change the running direction of the vehicle.

In this case, the rotating member 18 is not fixed to the rotating lever 8 and rotates freely around the fulcrum shaft 25, so that the rotation of the rotating lever 8 in the counterclockwise direction about the pivot shaft 7 The right connecting rod 9 connected to the rotating member 18 is not moved to the right and pushes the knuckle arm 4.

When the guide rod 10 is moved to the right, the wheels 6 are rotated clockwise.

This is a front wheel steering mode. From the state shown in FIG. 2, extend the conversion cylinder 24 and move the guide roller 21 to the guide 2.
When moved downward along 0, the fixed member 23 moves to the rotating member 19.
It comes off from the locking part 17 of the rotating member 19 and is guided by the guide edge 26 of the other rotating member 18, and is fitted into the locking part 17 of the rotating member 18 and fixed to the rotating lever 8. Select the right connecting rod 9 and connect its inner end to the pivot lever 8 (see FIG. 3).

During this changeover, the guide roller 21 passes through the pivot shaft 7 from top to bottom in the figure.

When the guide rod 10 is moved to the left from the state shown in Fig. 3,
The rotating lever 8 rotates counterclockwise around the pivot 7 and pushes the right connecting rod 9 connected to the rotating member 18 to the right, so this time, unlike in the case of FIG. 6 rotates clockwise around the king pin 5.

Furthermore, when the guide rod 10 is moved to the right, the wheels 6 rotate counterclockwise.

This is a rear wheel steering mode. In the above, even if the conversion cylinder 24 or its related valves or piping system breaks down and the conversion cylinder 24 becomes free, the locked state will be broken by the external force applied to the guide rod 10 or the wheels 6, and the steering will be controlled. The form does not change arbitrarily.

That is, unlike the conventional movement method shown in FIG. 1 in which the switching is achieved by moving the connecting rod 9' in the longitudinal direction of the rotating lever 8', the connecting rod 9 is attached to the rotating lever 8 by the fulcrum shaft 25. The rotating members 18 and 19 are connected to the rotating members 18 and 19, which are prevented from freely rotating about the fulcrum shaft 25 by the fixed member 23. Since the acting force is absorbed by the fulcrum shaft 25, even if it is a conversion cylinder.

Even if 24 becomes free, the locked state of the connecting rod 9 will not be broken by external force.

As explained above, the present invention uses two connecting rods, and arranges the inner ends of these connecting rods so that they can be freely connected to the front and back of the pivot of the rotating lever. By selecting one of these connecting rods and connecting only the inner end of that connecting rod to the rotating lever, the steering direction of the wheels can be made to correspond to the forward and backward movement of the vehicle. According to the present invention, there is no arbitrary change in the steering mode due to failure of the conversion cylinder, etc., and the forward and backward movement can prevent unexpected accidents. It has the advantage of providing a conversion device.

Furthermore, since two connecting irons are used in the present invention, even if one connecting iron is damaged, the remaining connecting iron can be temporarily replaced on-site to replace the broken connecting iron. It is possible to measure the forwarding of

Moreover, in the selection method of the present invention, in addition to selecting two connecting rods and connecting them to the rotating lever, two connecting rods can be connected to the rotating lever at the same time (in this case, when the wheel is on the axle) The steering system can be inspected easily by simultaneously releasing the connection to the rotation lever (in this case, the wheels become free).

[Brief explanation of drawings]

FIG. 1 is a plan view of a conventional steering device of the moving type, FIGS. 2 and 3 are schematic plan views of an automatic steering device using a forward/reverse switching device adopting the selection method of the present invention, and FIG. The figure is a side view of a forward/reverse conversion device implementing the present invention, and FIG. 5 is a longitudinal sectional view of the same.
FIG. 6 is a sectional view taken along the line (■-Vl) in FIG. 5. 1...Car body, 2...Axle, 3...
・・Tie rod, 4・・Knuckle arm, 5・
...Kingpin, 6...Wheel, 7...
...Pivot, 8...Rotating lever, 9...
・Connected rondo, 10・curve・induction rod.

Claims (1)

[Claims] 1 Knuckle arms connected to the ends of an axle provided on the vehicle body by tie rods are pivoted by king pins, and two left and right wheels are provided so as to be rotatable left and right, and are supported by the knuckle arms and the vehicle body. The rotary levers, which are rotatable left and right around a pivot, are connected to each other by a connecting rod, and the connecting rod is connected to a guide rod provided on the vehicle body parallel to the axle. The rotary lever is rotated about the pivot by the movement of the rod in the axial direction, and the rotation of the rotary lever is transmitted to the knuckle arm via the connecting rod,
In the automatic steering system for a vehicle configured to move the wheels relative to the axle in the same direction or in the opposite direction to the moving direction of the guide rod, two connecting rods are used and the inner ends of the connecting rods are connected to each other. It is arranged so that it can be freely connected to the front and back of the pivot of the rotating lever, and by selecting one of the two connecting rods and connecting only the inner end of the connecting rod to the rotating lever, the vehicle A forward/reverse switching method in a vehicle automatic steering system, characterized in that the steering direction of wheels corresponds to forward/reverse travel.