JP2017178168A5 - Passenger type vehicle - Google Patents

Description

The present invention includes a drive source, a left wheel and a right wheel that can be driven independently with respect to the rotation direction and the rotation speed, a caster wheel that is provided away from the left wheel and the right wheel in the front-rear direction, and mowing the lawn. The present invention relates to a passenger type vehicle including a machine.

An object of the present invention is to realize a configuration capable of automatically suppressing unstable turning in a configuration in which left and right wheels can be independently driven in the rotation direction and the rotation speed in a passenger type vehicle .

The passenger type vehicle according to the present invention can drive the left wheel and the right wheel independently of each other in the rotation direction and the rotation speed by receiving power from the drive source, the left wheel and the right wheel, and the drive source. a transmission configured to, the and a caster wheel which is provided apart in the longitudinal direction with respect to the left wheel and the right wheel, or only one of said left wheel and said right wheel is rotated, or the left wheel And a right-turning vehicle in which the right wheel rotates in the opposite direction, and is a passenger-type vehicle capable of detecting that the vehicle is making a sudden turn, a sudden turn and a turn stable A turning speed suppression unit that suppresses the turning speed when the turning stability relation amount, which is a physical quantity related to sex, is greater than or equal to a threshold value.

According to the passenger vehicle according to the present invention, the unstable turning can be automatically suppressed in the configuration in which the left and right wheels can be independently driven in the rotational direction and the rotational speed.

1 is a perspective view of a passenger type vehicle according to an embodiment of the present invention. It is a figure which shows the circumscribed circle of a caster wheel in the case of turning sharply centering | focusing on the center between right-and-left wheels seeing the vehicle of embodiment from upper direction. It is a block diagram which shows the characteristic structure of the vehicle of embodiment. (A) is the figure which looked at the power transmission structure of the power generation unit for left wheels and right wheels, and an engine from the upper side in the vehicle of embodiment, (b) is the arrow A direction of (a). FIG. In the vehicle of an embodiment, it is a figure showing a hydraulic circuit of a power generation unit for left wheels and right wheels. It is a figure which shows the principle of an acceleration sensor. In the vehicle of an embodiment, it is a schematic diagram showing the state of straight running. In the vehicle of an embodiment, it is a schematic diagram showing the state of gentle turning. In the vehicle of an embodiment, it is a schematic diagram showing the state where it turns suddenly centering on one wheel of a right-and-left wheel. In the vehicle of an embodiment, it is a schematic diagram showing the state where it turns sharply centering on the center between right-and-left wheels. It is a block diagram which shows the characteristic structure of the passenger type vehicle of another example of embodiment which concerns on this invention. In the structure shown in FIG. 9, it is a figure corresponding to FIG. (A) is a figure corresponding to Drawing 4 (a) in a passenger type vehicle of another example of an embodiment concerning the present invention, and (b) is a figure seen in the direction of arrow B of (a). FIG. 6 is a view corresponding to FIG. 5 in a passenger type vehicle according to another example of the embodiment of the present invention. FIG. 6 is a view corresponding to FIG. 5 in a passenger type vehicle according to another example of the embodiment of the present invention. In the configuration shown in FIG. 13, (a) shows two conditions for suppressing the turning speed using the relationship between the operation amount of the left control lever and the pressure detection values of the first oil passage and the second oil passage. (B) is a figure which shows two conditions for suppressing turning speed using the relationship between the operation amount of a right control lever, and the detected pressure value of a 3rd oil path and a 4th oil path. It is. In a passenger type vehicle according to another example of the embodiment of the present invention, (a) is a diagram corresponding to FIG. 4 (a), and (b) is a diagram viewed in the direction of arrow C in (a).

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the following description, a configuration in which the left and right wheels of a passenger type vehicle are mainly driven by a hydraulic motor as a traveling motor will be described. However, the traveling motor may be another motor such as an electric motor. In the following, the case where the left and right main drive wheels are arranged on the rear side and the caster wheels are arranged on the front side will be described, but the drive wheels may be on the front side and the caster wheels may be on the rear side.

The shape, the number, the arrangement relationship of components, and the like described below are examples for explanation, and can be appropriately changed according to the specification of the passenger type vehicle . Also, in the following, the same reference numerals are given to the same elements in all the drawings, and overlapping descriptions are omitted or simplified.

1 to 8C show a passenger type vehicle according to an embodiment. Hereinafter, the passenger vehicle 10 is referred to as a vehicle 10. FIG. 1 is a perspective view of the vehicle 10. FIG. 2 is a diagram illustrating a circumscribed circle of caster wheels when the vehicle 10 is turned sharply around the center between the left and right wheels as viewed from above. FIG. 3 is a block diagram showing a characteristic configuration of the vehicle 10. FIG. 4A is a view of the power transmission structure between the power generation units 26 and 27 for the left wheel and the right wheel and the engine 14 in the vehicle 10 as viewed from above, and FIG. It is the figure seen in the arrow A direction. FIG. 5 is a diagram illustrating a hydraulic circuit of the power generation units 26 and 27 for the left wheel and the right wheel in the vehicle 10.

Of the main oil passages S1, S2, S3, and S4, the charge oil passage C1 is replenished with oil from the oil reservoir E in the low-pressure side main oil passage. A bypass valve 28a is connected between both the first main oil passage S1 and the second main oil passage S2 and the oil sump E. A bypass valve 29a is connected between both the third main oil passage S3 and the fourth main oil passage S4 and the oil sump E. The bypass valves 28a and 29a are configured to be manually switchable between open and closed, which are connections between the main oil passages S1, S2, S3, and S4 and the oil sump E. In the example of FIG. 5, when the bypass valves 28 a and 29 a are switched to the open side, the main oil passages S 1, S 2, S 3 and S 4 are connected to the oil sump E via the throttle. The aperture may be omitted.

FIG. 9 is a block diagram illustrating a characteristic configuration of a vehicle 10 according to another example of the embodiment. FIG. 10 corresponds to FIG. 4 in the configuration shown in FIG. In the configurations shown in FIGS. 9 and 10, the vehicle 10 includes a tension switching actuator 46 instead of the swash plate actuator in the configurations of FIGS. 1 to 8. Specifically, as shown in FIG. 10, the left and right swash plate operation levers 32 c and 33 c are connected to the lower end portions of the left and right control levers 22 and 23 via links 43, respectively. As a result, the control levers 22 and 23 swing in the front-rear direction, whereby the swash plate operating shafts 32b and 33b rotate. Then, the tilt angle and direction of the movable swash plate of the hydraulic pumps 32 and 33 (see FIG. 5) change.

For example, in the combination of the two conditions indicated by the arrow C1 , the pressure of the first main oil passage S1 is high, the left steering lever 22 is greatly operated to the front side, and the pressure of the fourth main oil passage S4 is high. This means that the right steering lever 23 is largely operated rearward. When this combination is established, the vehicle 10 makes a sudden turn to the left with a zero turn or a state close to zero turn, and is high speed. At this time, the controller 60 (FIG. 3) determines that the vehicle is turning sharply and is unstable, and suppresses the turning speed by the swash plate actuators 41 and 42 (FIG. 3).

On the other hand, in the combination of the two conditions indicated by the arrow C2 , the pressure of the second main oil passage S1 is high, the left steering lever 22 is greatly operated to the rear side, and the pressure of the third main oil passage S3 is high, And it means that the right steering lever 23 is largely operated to the front side. When this combination is established, the vehicle turns sharply on the right side in a state of zero turn or close to zero turn, and is high speed. Also at this time, the controller makes a sharp turn and determines that the turn is unstable, and suppresses the turn speed by the swash plate actuator. Other configurations and operations are the same as those in FIGS. 1 to 8C. 1 to 12, pressure sensors 81, 82, 83, and 84 can be used as sensors for detecting the unstable turning amount as in the configurations of FIGS. 13 and 14 . Na you, even in the configuration of FIG. 13, similar to the arrangement of FIG. 11, an auxiliary manner may be provided back switch 75, 76. Note that FIG. 14 shows a combination of conditions when the vehicle turns sharply in a state of zero turn or near zero turn and is at high speed. On the other hand, even when the combination of conditions shown in FIG. 14 is not satisfied, the turning speed suppression unit 63 makes a sudden turn and the detection value of at least one pressure sensor among the pressure sensors 81, 82, 83, 84. It is good also as a structure which suppresses turning speed, when an absolute value is more than a threshold value. The configuration in FIG. 13 is not limited to the configuration in which the turning speed is suppressed by the swash plate actuators 41 and 42, and can be combined with the configuration in which the turning speed in the configuration of each example illustrated in FIGS.

15A is a diagram corresponding to FIG. 4A, and FIG. 15B is a diagram viewed in the direction of arrow C in FIG. In the vehicle 10 shown in FIG. 15, neither the acceleration sensor 50 (FIG. 3) nor the angular velocity sensor 51 (FIG. 3) is provided in the configurations of FIGS. Instead, the vehicle 10 uses the left lever swing angle around the left lever neutral position of the left steering lever 22 as the first turning stability relation amount, and uses the right steering lever 23 as the second turning stability relation amount. Use the right lever swing angle around the right lever neutral position. Then, the turning speed suppression unit 63 included in the controller 60 has at least one of the left lever swing angle and the right lever swing angle equal to or greater than a threshold value, and is making a sudden turn based on the determination result of the sudden turn determination unit 61. When it is determined, the turning speed is suppressed. Specifically, the turning speed suppressing unit 63 controls the turning speed by controlling the driving of the left and right swash plate actuators 41 and 42. For example, from the detection values of the lever potentiometers 38 and 39, as shown in FIG. 15B, both the left lever swing angle and the right lever swing angle are within the range of arrow A1 or arrow A2 close to the lever neutral position. In some cases, a sharp turn, such as a belief turn or a zero turn, is permitted. On the other hand, when at least one of the left lever swing angle and the right lever swing angle is within the range of the arrow A3 or the arrow A4 which is a range far from the lever neutral position, the sudden turn is limited. At this time, the driving of the swash plate actuators 41 and 42 is controlled, and the turning speed is suppressed by bringing the tilt angles of the swash plates of the left hydraulic pump 32 and the right hydraulic pump 33 closer to the neutral state or by setting them to the neutral state. . Ranges A1 and A2 shown in FIG. 15 are sudden turn permission ranges, and ranges A3 and A4 are sudden turn restriction ranges. According to the above configuration, since neither the acceleration sensor 50 nor the angular velocity sensor 51 needs to be provided, the cost can be reduced. Other configurations and operations are the same as the configuration of FIG. 8C from FIG. The configuration in FIG. 15 is not limited to the configuration in which the turning speed is suppressed by the swash plate actuators 41 and 42, and can be combined with the configuration in which the turning speed in the configuration of each example shown in FIGS.

10- passenger type vehicle (vehicle), 11 transmission, 12 left wheel, 13 right wheel, 14 engine, 14a drive shaft, 15, 16 caster wheel, 18 lawn mower, 19 mower deck, 20 main frame, 20a, 20b side plate, 20c Connection part, 21 Driver's seat, 22, 23 Control lever, 24 Grip part, 25 Wheel cover, 26, 27 Power generation unit, 26a, 27a Case, 26b, 27b Reduction gear mechanism, 28, 29 Hydraulic circuit, 28a, 29a Bypass Valve, 30 Left hydraulic motor, 31 Right hydraulic motor, 32, 33 Hydraulic pump, 32a, 33a Drive shaft, 32b, 33b Swash plate operation shaft, 32c, 33c Swash plate operation lever, 34 Oil passage, 35 Drive pulley, 36 Belt , 37 Sudden turning detector, 38, 39 Lever potentiometer, 40 Drive pulley, 41, 42 Slanting Plate actuator, 43 link, 44 belt tension switching mechanism, 45 pressure pulley, 46 tension switching actuator, 46a cylinder member, 46b rod, 47 swing plate, 48 spring, 50 acceleration sensor, 50a case, 50b weight, 50c spring, 51 angular velocity sensor, 60 controller, 61 sudden turn determination unit, 62 unstable turn determination unit, 63 turn speed control unit, 64 swash plate actuator control unit, 70 turn center position, 75, 76 back switch, 78 throttle actuator, 79, 80 bypass actuator, 81 first pressure sensor, 82 second pressure sensor, 83 third pressure sensor, 84 fourth pressure sensor.

Claims (10)

A driving source;
With left and right wheels,
A transmission configured to be able to drive the left wheel and the right wheel independently of each other with respect to the rotation direction and the rotation speed by receiving power from the drive source;
Caster wheels provided in the front-rear direction with respect to the left wheel and the right wheel ;
The provided, or only one of said left wheel and said right wheel is rotated, or the left wheel and said right wheel a riding type vehicle is capable of sharp turn which rotates in the opposite direction,
A sudden turn detection unit for detecting that the vehicle is turning sharply;
A passenger-type vehicle including a turning speed suppressing unit that suppresses a turning speed when a sudden turning is performed and a turning stability related amount that is a physical quantity related to turning stability is equal to or greater than a threshold value. The passenger type vehicle according to claim 1,
A turning stability relation sensor for detecting the turning stability relation amount;
The turning speed suppression unit is a passenger-type vehicle that suppresses the turning speed when a sudden turn is made and the detected value of the turning stability relation amount is equal to or greater than a threshold value. The passenger type vehicle according to claim 2,
The turning stability relation sensor is an acceleration sensor that detects acceleration in the left-right direction,
The turning speed suppression unit is a passenger-type vehicle that suppresses the turning speed when a sudden turn is made and the detection value of the acceleration sensor is equal to or greater than a threshold value. The passenger type vehicle according to claim 2,
The turning stability relationship sensor is an angular velocity sensor that detects an angular velocity of a vehicle around a vertical axis,
The turning speed suppression unit is a passenger-type vehicle that suppresses the turning speed when a sudden turn is made and the detected value of the angular velocity sensor is equal to or greater than a threshold value. The passenger type vehicle according to any one of claims 1 to 4,
The transmission is
A left hydraulic motor driven by pressure oil supply from a swash plate variable displacement left hydraulic pump, and a right hydraulic motor driven by pressure oil supply from a swash plate variable displacement right hydraulic pump,
A left adjustment shaft for adjusting the pressure oil discharge amount of the left hydraulic pump;
A right adjusting shaft for adjusting the pressure oil discharge amount of the right hydraulic pump;
A left swing angle detector for detecting the swing angle position of the left steering lever;
A right swing angle detector for detecting the swing angle position of the right steering lever;
A left actuator connected to the left adjustment shaft and driving a left swash plate operating lever;
A right actuator connected to the right adjustment shaft and driving a right swash plate operating lever;
The drive of the left actuator is controlled according to the detection signal of the left swing angle detection unit to change the discharge amount of the left hydraulic pump, and the detection signal of the right swing angle detection unit A swash plate actuator controller for controlling the drive of the right actuator to change the discharge amount of the right hydraulic pump;
The turning speed suppression unit controls the driving of the left actuator and the right actuator to bring the discharge amounts of the left hydraulic pump and the right hydraulic pump close to zero or substantially zero, thereby turning the turning speed. A passenger-type vehicle that suppresses The passenger type vehicle according to any one of claims 1 to 4,
A clutch disposed between the output of the drive source and the input of the transmission;
A switching mechanism including a switching actuator for connecting and disconnecting power transmission in the clutch,
The turning speed reduction unit, the power transmission semi transmission state in the clutch by controlling the driving of the switch actuator or inhibit the turning speed by a cut, riding type vehicle. The passenger type vehicle according to any one of claims 1 to 4,
The drive source is an engine, and includes a throttle actuator that adjusts an opening of a throttle valve of the engine,
The turning speed suppression unit is a passenger type vehicle that controls the driving of the throttle actuator to bring the throttle valve close to or closes the throttle valve to suppress the turning speed. The passenger type vehicle according to any one of claims 1 to 4,
The transmission is
A left hydraulic motor driven by pressure oil supply from the left hydraulic pump, and a right hydraulic motor driven by pressure oil supply from the right hydraulic pump,
A left main oil passage connecting the left hydraulic motor and the left hydraulic pump, and a left bypass valve connected between the left main oil passage and an oil reservoir;
A left bypass actuator that switches between closing and opening the left bypass valve;
A right main oil passage connecting the right hydraulic motor and the right hydraulic pump, and a right bypass valve connected between the right main oil passage and an oil reservoir;
A right bypass actuator that switches between closing and opening the right bypass valve;
The turning speed reduction unit, the inhibit turning speed, riding type vehicle by at the same time open the left bypass valve and the right bypass valve controls the driving of the left bypass actuator and the right bypass actuator. The passenger type vehicle according to claim 1,
In the periphery of the driver's seat, it is provided with a left steering lever and a right steering lever that are arranged on both the left and right sides and supported so as to be swingable back and forth,
The sudden turning detection unit includes a left swing angle detection unit that detects a swing angle position of the left control lever, a right swing angle detection unit that detects a swing angle position of the right control lever, and the left swing A sudden turn determination unit that determines whether or not the sudden turn is being performed from detection values of a moving angle detection unit and the right swing angle detection unit;
The turning speed suppression unit has a swinging angle centered on a left lever neutral position of the left steering lever and a swing angle centered on a right lever neutral position of the right steering lever, which is the amount of turning stability. A passenger-type vehicle that suppresses the turning speed when it is determined that at least one is greater than or equal to a threshold value and the vehicle is making a sudden turn. The passenger type vehicle according to claim 2,
The transmission is
A left hydraulic motor driven by pressure oil supply from a swash plate variable displacement left hydraulic pump, and a right hydraulic motor driven by pressure oil supply from a swash plate variable displacement right hydraulic pump,
The turning stability relation sensor is a first pressure sensor, a second pressure sensor, a third pressure sensor, and a fourth pressure sensor,
The first pressure sensor detects a pressure of a first oil passage that connects one of the two ports of the left hydraulic pump and one of the two ports of the left hydraulic motor. ,
The second pressure sensor detects a pressure of a second oil passage that connects the other port of the two ports of the left hydraulic pump and the other port of the two ports of the left hydraulic motor. ,
The third pressure sensor detects a pressure of a third oil passage that connects one of the two ports of the right hydraulic pump and one of the two ports of the right hydraulic motor. ,
The fourth pressure sensor detects a pressure of a fourth oil passage that connects the other port of the two ports of the right hydraulic pump and the other port of the two ports of the right hydraulic motor. ,
The turning speed suppressing unit is configured to make a sudden turn and to detect a detection value of at least one of the first pressure sensor, the second pressure sensor, the third pressure sensor, and the fourth pressure sensor. A passenger-type vehicle that suppresses the turning speed when an absolute value is equal to or greater than a threshold value.

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