JPH10297519A - Steering device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make the steering feeling of an electric steering wheel having a steering reactive force adding function of a carrier vehicle the same as that of a conventional vehicle in which a steering wheel is mechanically joined to a steering mechanism. SOLUTION: In this steering device, a servo motor 1 having a rotational angle detecting function is joined to a steering wheel 3 via a torque limiter 4, and the steering angle of the steering wheel 3 is detected by the rotational angle detector 2 of the servo motor 1, vehicle speed is detected by a vehicle speed sensor, and the steering angle of a running gear 11 is detected by the steering angle detector 7 of the running gear, and a steering device controller 5 produces a reactive signal based on the detection results and gives it to the servo motor 1 to produce a controllable reactive force in the steering wheel 3 and produces a steering signal to control the steering mechanism 6 of the running gear 11.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering system, and more particularly to a steering system for a heavy vehicle such as a steel plate coil, a hull, or a large structure in a steelworks, a shipyard, or a plant construction site. This is useful when applied to an electric handle device with a reaction force adding function.

[0002]

[Prior art]

[Background of the Related Art] In the industrial fields related to steel and shipbuilding, self-propelled transport vehicles and the like are used for transporting heavy objects such as steel structures. FIG. 2 is a perspective view of a self-propelled transport vehicle for heavy objects.

As shown in FIG. 2, a cab 10 and a plurality of steerable traveling devices 11 are mounted on a frame 9A of a transport vehicle 9.
Is attached. Further, although not shown, a steering mechanism for steering the traveling device 11 by a hydraulic cylinder, a motor, or the like, and other devices are attached to the frame 9A.

The reason why the plurality of traveling devices 11 are provided on the transport vehicle 9 is that the loading weight is large, so that it is necessary to provide many traveling devices in terms of axle load, and the size of the load is large, so that the vehicle length is long. It is because it becomes.

[0005] The reason why the plurality of traveling devices 11 can be steered is that, even when the number of traveling devices 11 is large and the overall length of the vehicle is long, the vehicle can make a small turn so as to be able to travel on an existing traveling path, and can improve the load transport efficiency. Therefore, the vehicle must be able to traverse or skew so that the cargo can be easily transported to a predetermined position and direction.

For these reasons, as shown in FIG. 2, a transfer vehicle 9 having a plurality of steerable traveling devices 11 is usually used.
It has become.

However, the relationship between the steering direction and the steering angle of the steering wheel and the steering direction and the steering angle of the traveling device 11 cannot be uniquely determined. The reason will be described below with reference to FIGS. FIG. 3 shows a steering direction and a steering angle of the traveling device 11 during a small turning. As shown in the figure, when making a small turn, it is necessary to steer the plurality of traveling devices 11 in different directions and at different angles so that the turning radius becomes the minimum. FIG. 4 shows the steering direction and the steering angle of the traveling device 11 during skewing or traversing. As shown in the figure, at the time of skewing or traversing, it is necessary to steer the plurality of traveling devices 11 in the same direction and angle.

As described above, the steering direction and the steering angle of the steering wheel and the steering direction and the steering angle of the traveling device 11 are not uniquely determined in the self-propelled transporting vehicle 9 for a heavy object. Thus, a steering mechanism that mechanically connects the steering wheel and the traveling device via a joint or a reduction gear cannot be adopted.

In addition, due to the structure of the vehicle, the driver's cab 10 and the traveling device 11 of the self-propelled transport vehicle 9 for heavy objects are far from each other. A mechanism is required.

For this reason, it is necessary to detect the steering angle of the steering wheel electrically and control the steering angles of the plurality of traveling devices 11 independently. In the transport vehicle 9 described above, the steering angle of the steering wheel is electrically detected. Electric handle is used.

However, the electric handle has the following problems. The electric handle has no steering reaction force at the time of steering, and the steering feeling of the handle does not change even if the force required for steering the traveling device increases at low vehicle speed, and the steering wheel and the traveling device are mechanically connected. A steering feeling equivalent to that of a normal vehicle connected cannot be obtained. Therefore, a steering reaction force applying device for applying a steering reaction force to the steering wheel is required. In addition, if the steering wheel steering angle when the device is not energized causes a deviation between the steering wheel steering angle and the traveling device steering angle, and the traveling device steers suddenly when the device is energized, or if the driver steers the steering wheel sharply, However, the steering mechanism cannot respond, leading to damage to the steering mechanism. For this reason, the electric steering wheel requires a steering wheel lock device that restricts steering when the device is not energized or sharp steering. Further, even when the steering wheel is forcibly turned on when the device is not energized, it is necessary to prevent the rotation angle detector for detecting the steering wheel angle from slipping and rotating. Therefore, a torque limiter is required.

[Configuration of Conventional Electric Handle Apparatus with Steering Reaction Force Addition Function] In order to satisfy all of the above steering reaction force addition function, handle lock function and torque limiter function, a conventional electric handle with steering reaction force addition function is provided. As shown in FIG. 5, the device includes a steering reaction force applying device 1 such as an oil damper, a powder brake, a slip clutch, etc., in addition to a steering wheel 13.
5, a handle lock device 16 such as an electromagnetic brake, a rotation angle detector 12, and a torque limiter 14.

The steering reaction applying device 15, the steering lock device 16, the rotation angle detector 12, and the torque limiter 14 in FIG. 5 are separate components, and the handle 13 is connected to the rotation angle detector 12 via the torque limiter 14. , A steering reaction applying device 15 such as an oil damper and a slip clutch, and a steering lock device 16 such as an electromagnetic brake.

However, the conventional electric steering wheel device having a steering reaction force adding function has the following problems (1) to (3). (1) In order to satisfy all of the above functions, as shown in FIG.
6. Since it is necessary to use a combination of individual components such as the rotation angle detector 12 and the torque limiter 14, the whole device has a complicated structure. (2) It is impossible to obtain a steering feeling equivalent to that of a normal vehicle in which a steering wheel and a steering mechanism are mechanically connected. (3) The actual steering angle of the traveling device 11 and the vehicle speed are not reflected in the control.

Of the above problems, the steering feeling (2) will be described in detail as follows. (A) In a normal vehicle in which a steering wheel and a steering mechanism are mechanically connected, a steering reaction force in a direction opposite to the steering direction is applied to the steering wheel due to friction between a tire and a road surface. Further, since the friction between the tire and the road surface changes according to the vehicle speed, the steering reaction force also changes according to the vehicle speed. Further, in general, a caster angle and a caster trail are set on the tires so that the vehicle keeps the straight running property, and the tires always try to return to the straight running position during running, so the steering wheel is kept at a constant steering angle. And
Even when the steering is returned, the force to return to the neutral position works. (B) However, when an oil damper or a slip clutch is used as the steering reaction force applying device 15, the steering reaction force cannot be freely controlled according to the vehicle speed and the like, and the steering angle of the steering wheel is kept constant. It is impossible to apply a steering reaction force when fixed or when steering is returned. (C) Therefore, in the conventional electric steering wheel device with a steering reaction force adding function, it is impossible to obtain a steering feeling equivalent to that of a normal vehicle in which the steering wheel and the steering mechanism are mechanically connected.

[0016]

SUMMARY OF THE INVENTION It is an object of the present invention to provide a steering apparatus capable of controlling a steering mechanism in consideration of an actual steering angle and a vehicle speed of a traveling apparatus. .

Another object of the present invention is to provide a steering device capable of obtaining a steering feeling equivalent to that of a normal vehicle in which a steering wheel and a steering mechanism are mechanically connected.

[0018]

According to a first aspect of the present invention, there is provided a steering apparatus for detecting a steering wheel operation amount detecting means for detecting an operation amount given to a steering wheel to signal the operation amount; Vehicle speed detecting means for detecting and signaling; steering angle detecting means for detecting and steering the steering angle of the traveling device; steering means for steering the traveling device; a steering wheel operation amount signal, a vehicle speed signal and a steering angle signal. It is characterized by having a controller for outputting a steering signal to the steering means, and a signal line connecting each detection means with the controller and the steering means.

Further, the steering apparatus according to the second aspect of the present invention,
Further, it is characterized by having a reaction force generating device for generating a reaction force on the steering wheel, and a controller for outputting a reaction force signal to the reaction force generating device based on a steering wheel operation amount signal, a vehicle speed signal and a steering angle signal.

[0020]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows an embodiment of the present invention in which an electric handle device using a servomotor with a rotation angle detecting function is applied to a handle device of a large-sized transport vehicle.

In FIG. 1, a servo motor 1 having a rotation angle detecting function is a servo motor having a rotation angle detector 2 itself, and corresponds to a reaction force generator for generating a steering reaction force on a steering wheel 3. The rotation angle detector 2 corresponds to a handle operation amount detection unit that detects an operation amount given to the handle 3 and converts the signal into a signal. The handle 3 is directly connected to the servo motor 1 with a rotation angle detecting function after passing through a torque limiter 4. The rotation angle detector 2 supplies a steering wheel operation amount signal (steering wheel steering angle and direction) to the steering device controller 5 through a signal line 20.

The torque limiter 4 transmits torque from the handle 3 to the servomotor 1 with a rotation angle detecting function so that the rotation angle detector 2 does not slip and rotate even when the steering wheel 3 is forcibly turned when the equipment is not energized. Restrict. In addition, the handle 3 is passed through the torque limiter 4 if necessary,
Furthermore, a servo motor 1 with a rotation angle detection function via a reduction gear
Is connected.

Although not shown, there are a plurality of traveling devices 11, each of which includes a steering mechanism 6 and a traveling device steering angle detector 7. The steering mechanism 6 corresponds to a steering means for steering the traveling device 11, and includes a hydraulic cylinder, a motor, and the like. The traveling device steering angle detector 7 corresponds to a steering angle detection unit that detects the steering angle of the traveling device 11 and converts it into a signal, and outputs a steering angle signal (actual traveling device steering angle and direction) through a signal line 21 to the steering device control. To the container 5.

The vehicle speed sensor 8 corresponds to vehicle speed detecting means for detecting a vehicle speed and converting it into a signal, and supplies a vehicle speed signal to the steering device controller 5 through a signal line 22.

The steering device controller 5 outputs a steering wheel operation amount signal,
The controller corresponds to a controller that outputs a steering signal (torque and rotation direction for steering the traveling device) to the steering mechanism 6 through a signal line 23 based on a vehicle speed signal and a steering angle signal, and also uses a steering wheel operation amount signal, a vehicle speed signal, and a steering angle signal. It corresponds to a controller that outputs a reaction force signal (torque and rotation direction for adding a steering reaction force) to the servomotor 1 with a rotation angle detection function through a signal line 24.

A signal line 20 connects the rotation detector 2 and the steering device controller 5, a signal line 21 connects the traveling device steering angle detector 7 and the steering device controller 5, and a signal line 22 is a vehicle speed sensor 8.
And the steering device controller 5, a signal line 23 connects the steering device controller 5 and the steering mechanism 6, and a signal line 24 connects the steering device controller 5 and the servomotor 1 with a rotation angle detecting function. .

The steering device controller 5 has the following functions. The steering device controller 5 is a servomotor 1 with a rotation angle detecting function.
The steering mechanism 6 composed of a hydraulic cylinder, a motor, and the like is controlled in accordance with the steering angle of the steering wheel 3 detected by the rotation angle detector 2 to steer the traveling device 11. Further, the steering device controller 5 generates a torque in the direction opposite to the steering wheel direction to the servo motor 1 with the rotation angle detecting function, gives a steering reaction force to the steering wheel 3, and adds a weight to the steering wheel. The torque of the servo motor 1 with the rotation angle detecting function can be controlled to an arbitrary value by the steering device controller 5, and the weight of the steering wheel is controlled to a desired value according to the vehicle speed signal of the vehicle speed sensor 8 and the like. I have. Furthermore, when the steering angle of the steering wheel 3 is fixed,
Even at the time of steering return, the steering device controller 5 applies a steering reaction force by causing the servo motor 1 with the rotation angle detecting function to generate torque. Further, the steering device controller 5 determines a difference between the steering wheel angle detected by the rotation angle detector 2 and the actual steering angle of the traveling device 11 detected by the traveling device steering angle detector 7 (hereinafter referred to as deviation and When the deviation increases, the torque in the direction opposite to the steering direction of the steering wheel generated by the servo motor 1 with the rotation angle detecting function is gradually increased in accordance with the deviation, and the steering reaction force is increased to increase the steering wheel steering. I do. When the deviation exceeds a certain value, the steering device controller 5 causes the servo motor 1 with the rotation angle detecting function to generate a shaft fixing force by an electromagnetic force to lock the steering wheel. When no power is supplied, the steering device controller 5 short-circuits the armature wiring of the servo motor 1 with the rotation angle detecting function to generate a shaft fixing force by electromagnetic force, thereby locking the steering wheel.

The magnitude of the torque output from the servomotor 1 with the rotation angle detecting function can be easily changed by changing the control constant and the control method of the steering device controller 5.

As can be seen from the above description, in this example, the steering mechanism 6 is controlled based on the actual steering angle and the vehicle speed of the traveling device 11 in addition to the steering wheel steering angle, so that the controllability is good. Further, a servo motor 1 with a rotation angle detecting function based on the steering angle of the steering wheel, the vehicle speed, and the actual steering angle of the traveling device 11.
A steering reaction force is generated on the steering wheel 3 by controlling the torque of the steering wheel 3. Therefore, even in a vehicle using the electric steering device, a steering feeling equivalent to that of a normal vehicle in which the steering wheel and the steering mechanism are mechanically connected can be obtained. Good controllability. Also,
The device can be prevented from being damaged by suppressing sharp steering such as when the steering is locked when the deviation is large or when no power is supplied.

In this embodiment, a steering reaction force adding function and a steering wheel lock function are used by using one servomotor 1 with a rotation angle detecting function connected to the steering wheel 3 via a torque limiter 4 and a reduction gear if necessary. In addition, since the function of detecting the rotation angle of the steering wheel is realized, the number of parts can be reduced, the structure of the entire apparatus can be simplified, and the size can be reduced.

Next, an example of the configuration of the steering device controller 5 will be described. The steering device controller 5 in this example includes a subtractor 51, controllers 52 to 54 for adding a steering reaction force, and a controller 55 for a traveling device steering angle.

The subtractor 51 calculates the steering angle of the steering wheel 3 of the steering wheel 3 detected by the rotation angle detector 2 of the servo motor 1 with the rotation angle detection function, and the actual value of the traveling device 11 detected by the traveling device steering angle detector 7. Calculate the deviation from the steering angle of
The deviation signal is provided to the controller 54 and the controller 55.

The controller 52 receives a vehicle speed signal from the vehicle speed sensor 8 and outputs a reaction force signal to control the steering wheel weight to a desired value according to the vehicle speed, for example, to increase the steering wheel steering at a low vehicle speed. Generate.

The controller 53 receives the steering angle signal from the steering angle detector 7 of the traveling device, and imitates the force that the tires always try to return to the straight traveling position during traveling. Also, a reaction force signal is generated so that the steering wheel 3 is returned to the neutral position even when the steering is returned.

The controller 54 receives a deviation signal between the steering wheel steering angle and the traveling device steering angle from the subtractor 51. For example, when the deviation becomes large, the steering reaction force is gradually increased in accordance with the deviation to make the steering wheel heavy. Then, a reaction force signal is generated so as to control the steering wheel weight to a desired value according to the deviation.

The individual reaction force signals generated by these controllers 52 to 54 are combined and given to the servomotor 1 with a rotation angle detecting function.

When the deviation exceeds a certain value, the controller 54 detects the rotation angle so that the servo motor 1 with the rotation angle detection function generates a shaft fixing force by electromagnetic force and locks the steering wheel. A signal is given to the servo motor with function 1. Further, when no power is supplied, the controller 54 short-circuits the armature wiring of the servo motor 1 with the rotation angle detection function, generates a shaft fixing force by electromagnetic force, and locks the handle 3 so that the servo with the rotation angle detection function is locked. A signal is given to the motor 1. The servomotor 1 with the rotation angle detecting function generates a shaft fixing force of the electromagnetic force based on these signals.

The controller 55 inputs a deviation signal between the steering wheel steering angle and the traveling device steering angle from the subtractor 51. For example, when the steering angle and the direction of the traveling device 11 make a small turn (or straight turn), or At the time of skewing, a steering angle signal to be applied to the steering mechanism 6 is generated according to the deviation so as to be suitable for the traveling situation. Further, if necessary, the controller 55 receives the vehicle speed signal from the vehicle speed sensor 8 and generates a steering angle signal based on the deviation and the vehicle speed.

[0040]

According to the first aspect of the present invention, there is provided a steering operation amount detecting means for detecting an operation amount given to a steering wheel and converting the signal into a signal, and a vehicle speed detecting means for detecting a vehicle speed and converting the signal into a signal. A steering angle detecting means for detecting a steering angle of the traveling device to signal the steering device, a steering device for steering the traveling device, and a controller for outputting a steering signal to the steering device based on a steering wheel operation amount signal, a vehicle speed signal and a steering angle signal. And a signal line connecting each detection means with the controller and the steering means, so that not only the steering wheel angle but also the steering angle of the traveling apparatus can be controlled based on the actual steering angle and the vehicle speed of the traveling apparatus. it can. Therefore, controllability is good.

According to the steering apparatus of the second aspect of the present invention, a reaction force generating device for generating a reaction force on the steering wheel, and a reaction force signal based on the steering wheel operation amount signal, the vehicle speed signal, and the steering angle signal are further generated. Since it has a controller that outputs to the force generating device, a steering reaction force can be generated based on the steering angle of the steering wheel, the vehicle speed, and the actual steering angle of the traveling device, and a normal steering wheel is mechanically connected to the steering mechanism. A steering feeling equivalent to that of a vehicle can be obtained. Further, rapid steering of the steering wheel can be suppressed, and damage to the equipment can be prevented.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of an electric steering device with a steering reaction force adding function using a servomotor with a rotation angle detecting function as an embodiment of the present invention.

FIG. 2 is a perspective view of a self-propelled transport vehicle for heavy goods.

FIG. 3 is a schematic diagram showing a traveling device steering direction during a small turn.

FIG. 4 is a schematic diagram showing a traveling device steering direction when the vehicle is traversing or skewed.

FIG. 5 is a schematic configuration diagram of a conventional electric handle device with a steering reaction force adding function.

[Explanation of symbols]

 Reference Signs List 1 servo motor with rotation angle detecting function 2 servo motor rotation angle detector 3 handle 4 torque limiter 5 steering device controller 51 subtractor 52 vehicle speed controller 53 neutral point controller 54 deviation controller 55 steering angle controller 6 Steering mechanism 7 Traveling device steering angle detector 8 Vehicle speed sensor 9 Transport vehicle 9A Frame 10 Driver's cab 11 Traveling device 20 to 24 Signal line

Claims (2)

[Claims] 1. A steering wheel operation amount detecting means for detecting an operation amount given to a steering wheel and signaling it, a vehicle speed detecting means for detecting a vehicle speed and signaling it, and detecting a steering angle of a traveling device to signal it. Steering angle detecting means, a steering means for steering the traveling device, a controller for outputting a steering signal to the steering means based on a steering wheel operation amount signal, a vehicle speed signal and a steering angle signal, and connecting each detecting means with the controller and the steering means. A steering device comprising: 2. A reaction force generator for generating a reaction force on a steering wheel, and a controller for outputting a reaction force signal to the reaction force generator based on a steering wheel operation amount signal, a vehicle speed signal, and a steering angle signal. Item 2. The steering device according to Item 1.