JPH0554147U - External traveling control device for self-propelled vehicles - Google Patents

Abstract

(57) [Abstract] [Purpose] In a self-propelled vehicle, it is possible to safely and easily perform traveling control while being separated from the vehicle body to some extent. A traveling means mounted on a vehicle body for traveling, two traveling control means 21 and 26 for controlling the operation of the traveling means, an operation lever 10 extending forward from the vehicle body, and An external travel control device is constituted by the connecting links 31, 32, 33 connecting the operation lever and the two travel control means. The traveling control means controls the traveling means so that the vehicle body travels back and forth in response to the swinging motion of the operating lever in the front-rear direction via the connecting link, and the left and right of the operating lever via the connecting link. The driving control of the traveling means is performed so as to turn the vehicle body to the left or right in response to the swinging motion in the direction.

Description

[Detailed description of the device]

[0001]

[Industrial application]

 The present invention relates to an external traveling control device that controls traveling of a self-propelled vehicle from the outside, that is, without riding on the vehicle.

[0002]

[Prior Art]

 There are two driving control methods for self-propelled vehicles: one in which the driver sitting in the driver's seat on the vehicle controls the traveling of the vehicle, and the other in which the operator controls the traveling of the vehicle from outside the vehicle. There is. As a travel control device for a self-propelled vehicle that controls traveling from the outside, a control device (switch, lever, etc.) is provided on the outer surface of the vehicle body, and an operator operates this control device to control traveling. The one that controls traveling by using a wired or wireless remote control device has been conventionally used.

[0003]

[Problems to be solved by the device]

 Here, in the case of the type in which the control device is provided on the outer surface of the vehicle body, the operator needs to approach the vehicle body to operate the control device, and the operator may touch the traveling vehicle body, which is preferable for safety. There is a problem that there is no. On the other hand, when using a remote control device, such a problem can be solved, but since the orientation of the remote control device (the orientation of the operator holding this device) and the orientation of the vehicle body can be changed freely, The operating direction of the lever of the remote control device and the traveling direction of the vehicle do not always match. Therefore, in the case of this type, there is a problem that the remote control device is difficult to operate and requires skill.

The present invention has been made in view of such a problem, and is a self-propelled vehicle having a configuration in which the traveling control can be performed safely with a certain distance from the vehicle body and the control operation can be easily performed. It is an object of the present invention to provide an external traveling control device of the above.

[0005]

[Means for Solving the Problems]

 In order to achieve such an object, in the present invention, a traveling means mounted on a vehicle body for traveling, two traveling control means for controlling the operation of the traveling means, and a vehicle body extending forward are disposed. An external travel control device for a self-propelled vehicle is configured by the operated operation lever and a connection link connecting the operation lever and the two travel control means. Further, the traveling control means receives the swinging motion of the operation lever in the front-rear direction via the connecting link to control the driving of the traveling means so as to move the vehicle body forward and backward, and at the same time, the operation via the connecting link is performed. In response to the swinging motion of the lever in the left-right direction, drive control of the traveling means is performed so as to turn the vehicle body left and right.

In the case of both crawler type self-propelled vehicles having a pair of left and right crawler (crawler track) means on the vehicle body, the traveling means is a pair of crawler means mounted on the left and right sides of the vehicle body. The two traveling control means control the operation of each crawler means. In this case, the traveling control means receives the swinging motion of the operating lever in the front-rear direction via the connecting link, and controls the both crawler means to be driven in the same direction at the same speed to cause the vehicle body to travel in the front-rear direction. At the same time, in response to the swinging motion of the operating lever in the left-right direction via the connecting link, the control for driving both crawler means at different speeds is performed to turn the vehicle body left and right.

Further, in the case of a wheel type self-propelled vehicle having a pair of front wheels and rear wheels on the vehicle body, the traveling means are the pair of front wheels and rear wheels, and the two traveling control means described above. Is composed of drive control means for controlling the drive of the drive wheels and steering control means for controlling the steering of the steered wheels. In this case, the drive control means controls the vehicle body to move back and forth by being actuated in response to the swinging motion of the operating lever in the front-rear direction via the connecting link, and the steering control means operates through the connecting link. It is operated in response to the left-right swinging motion of the operating lever to control the vehicle to turn left and right.

[0008]

[Action]

 If the external travel control device having the above-mentioned configuration is used, the vehicle can be moved forward and backward by swinging the operation lever back and forth, and the vehicle can be turned by swinging the operation lever left and right. .. That is, the operation direction of the operation lever and the traveling direction of the vehicle correspond to each other, and therefore, the operation of the operation lever is easy. Further, since the operation lever is attached to the vehicle body so as to extend forward, the operator can operate the operation lever at a position away from the vehicle body, which is highly safe.

[0009]

【Example】

 Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. First, the case of a crawler type self-propelled vehicle will be described. As shown in FIG. 1, a crawler-type self-propelled vehicle is configured such that a pair of left and right crawlers (crawler tracks or tracks) 5 are attached to a vehicle body 1 having a loading platform 2. A hydraulic motor that drives this is attached. Therefore, the vehicle body 1 can be moved forward or backward by driving both crawlers 5 and 6 in the same direction at the same speed by the two hydraulic motors. Further, if the crawlers 5 and 6 are driven at different speeds, the vehicle body 1 can be swung to the right or left to run. By driving the crawlers 5 and 6 in opposite directions at the same speed, the vehicle body 1 can be pivoted (pivot turn).

In this crawler type self-propelled vehicle, a vehicle body 1 is provided with an operation lever 10 extending forward, and the operation lever 10 is used to control the vehicle body 1 by controlling the drive of both crawlers 5 and 6 as described above. It is designed to control traveling. The device for performing traveling control based on the operation of the operation lever 10 is the external traveling control device according to the present invention. As shown in FIG. 2, the operating lever 10 is pivotally supported on the vehicle body 1 via a spherical bush 12 provided midway on the base side. Therefore, the operating lever 10 is centered on the spherical bush 12 in four directions. It can swing freely. The operation lever 12 extends upward from the position of the spherical bush 12 and then bends obliquely forward and has a handle 11 at its tip. As shown in FIG. 1, the operator M holds the handle 11 and swings the operation lever 10 back and forth and left and right to control the traveling of the vehicle.

A first rod 31 extending in the left-right direction is integrally coupled to the lower end portion 13 of the operation lever 10, and the left and right ends of the first rod 31 are respectively provided with a second rod 32 and a third rod 32. The rod 33 is connected. The second and third rods 32, 33 are connected to the control rods 22, 27 of the first and second travel control valves 21, 26. As can be seen from this, the first to third rods 31, 32 and 33 form a connection link that connects the first and second travel control valves 21 and 26 and the operation lever 10.

As shown in FIG. 3, the first and second travel control valves 21 and 26 are connected to left and right hydraulic motors 5 a and 6 a that drive the left and right crawlers 5 and 6, respectively. The supply and discharge of hydraulic oil to and from the left and right hydraulic motors 5a and 6a are controlled to control the drive of the left and right hydraulic motors 5a and 6a, and thus the drive of the left and right crawlers 5 and 6. That is, the first and second travel control valves 21 and 26 are travel control means.

The travel control by operating the operation lever 10 in the crawler type self-propelled vehicle having the above configuration will be described. First, when the handle 11 of the operation lever 10 is held and is swung forward (in the direction of arrow A), the operation lever 10 is swung about the spherical bush 12 and is connected to the lower end 13 and the lower end 13. Then, the first rod 31 is moved backward (direction of arrow a). As a result, both the second and third rods 32 and 33 move rearward (directions of arrows e and g), and the control rods 22 and 27 of the first and second travel control valves 21 and 26 are both pushed.

As a result, the hydraulic oil is supplied from the hydraulic power source 35 to the left and right hydraulic motors 5a and 6a under the control of the first and second travel control valves 21 and 26, and the two motors 5a and 6a are driven in the same direction. Driven in the forward direction. As a result, the left and right crawlers 5 and 6 are driven in the forward direction, and the vehicle moves forward. The first and second travel control valves 21, 26 are proportional control valves, and the amount of hydraulic oil supplied from the hydraulic power source 35 to the left and right hydraulic motors 5a, 6a is proportional to the stroke of the control rods 22, 27. Is controlled. Therefore, increasing the forward swinging amount of the operating lever 10 increases the forward speed.

On the other hand, when the handle 11 of the operation lever 10 is held and rocked backward (direction of arrow B), the first rod 31 connected to the lower end 13 of the operation lever 10 moves forward (arrow b). Direction). As a result, the control rods 22, 27 of the first and second travel control valves 21, 26 are pulled out in the directions of arrows f, h via the second and third rods 32, 33. As a result, the hydraulic oil is supplied from the hydraulic power source 35 to the left and right hydraulic motors 5a, 6a under the control of the first and second travel control valves 21, 26 in the opposite direction to the above, and both motors 5a, 6a are operated. Both are driven in the reverse direction. As a result, both the left and right crawlers 5 and 6 are driven in the backward direction, and the vehicle moves backward.

Next, when the handle of the operation lever 10 is held and is swung forward (direction of arrow A) and also leftward (direction of arrow C), the first rod 31 moves backward (direction of arrow C). It moves in the a direction) and rotates counterclockwise when viewed from above. In this case as well, the control rods 22 and 27 are pushed in via the second and third rods 32 and 33, but since the first rod 31 is rotating, the pushing amount differs between the left and right, The control rod 27 of the second travel control valve 26 is pushed deeper.

Therefore, the amount of oil supplied to the right hydraulic motor 6a by the second travel control valve 26 becomes larger than the amount of oil supplied to the left hydraulic motor 5a by the first travel control valve 21, and the right crawler 6 is It is driven at a higher speed than the left crawler 5. Therefore, the vehicle turns left while moving forward. It should be noted that the greater the amount of leftward swing of the operating lever 10 is, the greater the difference between the driving speeds of the left and right rollers 5, 6 is, resulting in a sharp turn.

As described above, when the operation lever 10 is swung to the left, the vehicle turns left, but when it is swung to the right, the operation opposite to the above is performed and the vehicle turns right. When the operation lever 10 is swung backward and is swung left or right, the vehicle turns left or right while moving backward. Further, when the operation lever 10 is not swung back and forth but only left or right, one control rod is pushed in and the other control rod is pulled out. Therefore, one of the crawlers is driven in the forward direction and the other of the crawlers is driven in the reverse direction, so that the vehicle turns in the interlining direction.

Next, a case of a wheel type self-propelled vehicle will be described. As shown in FIG. 4, the wheel-type self-propelled vehicle has a pair of left and right front wheels 55 and rear wheels 56 attached to a vehicle body 51 having a loading platform 52. In the vehicle of this example, a hydraulic motor for rotating the front wheel 55 is attached to the front wheel 55, and a steering cylinder for steering the front wheel 55 is attached to the front wheel 55.

Also in this vehicle, the operation lever 60 extending forward is attached to the vehicle body 51. As shown in FIG. 5, the operating lever 60 is pivotally supported on the vehicle body 1 via a spherical bush 62 formed at the lower end. The first rod 71 is connected to the operation lever 60 at a position that is apart from the spherical bush 62 by a predetermined distance. Further, an arm 63 protruding leftward is provided close to the spherical bush 62, and a second rod 72 is connected to the tip of the arm 63. The first and second rods 71 and 72 are connected to the drive control valve 81 and the control rods 82 and 87 of the steering control valve 86, respectively.

As shown in FIG. 6, the drive control valve 81 is connected to a hydraulic motor 55a that drives the front wheels 55, and controls the supply and discharge of hydraulic oil from the hydraulic power source 75 to the hydraulic motors 55a. Control the drive of. The steering control valve 86 is connected to a steering cylinder 57 that steers the front wheels 55, and controls the supply and discharge of hydraulic oil to and from the left and right oil chambers of the steering cylinder 57 to control the steering of the front wheels 55. As can be seen from this, both control valves 81 and 86 are travel control valves that control the travel of the vehicle.

The travel control by operating the operation lever 60 in the wheel type self-propelled vehicle having the above configuration will be described. First, holding the handle 61 of the operating lever 60 and swinging it forward (in the direction of arrow A) causes the operating lever 60 to swing forward around the spherical bush 62 at the lower end, and through the first rod 71. Pull the control rod 82 of the drive control valve 81 forward (in the direction of arrow a). At this time, the arm 63 is also swung forward, but the arm 63 is close to the spherical bush 62, and the arm 63 is swung to connect the arm 63 to the second rod 72. The second rod 72 does not move because the play is provided to absorb the movement.

When the control rod 82 is pulled out in this way, it is controlled by the drive control valve 81, hydraulic oil is supplied from the hydraulic pressure source 75 to the hydraulic motor 55a, and this is driven in the forward direction. As a result, the front wheels 55 are rotationally driven in the forward direction, and the vehicle moves forward. The drive control valve 81 is also a proportional control valve, and the forward speed is increased by increasing the amount of forward swing of the operating lever 60. On the other hand, when the operation lever 60 is swung rearward (direction of arrow B), the control rod 82 is pushed rearward (direction of arrow b) via the first rod 71. As a result, the front wheel 55 is rotated in the reverse direction by the hydraulic motor 55a, and the vehicle moves backward.

On the other hand, when the operation lever 60 is swung so as to turn leftward, the arm 63 is rotated counterclockwise as viewed from above, and the control rod 87 of the steering control valve 86 is rotated via the second rod 72. Is pushed in the direction of arrow c. As a result, the steering control valve 86 is actuated, the hydraulic oil from the hydraulic pressure source 75 is supplied to the steering cylinder 57, and the front wheels 55 are steered to the left. When the operation lever 60 is swung to the right, the front wheels 55 are steered to the right, contrary to the above.

As can be seen from the above operation, when the operation lever 60 is swung forward or backward, the vehicle can be moved forward or backward, and when this is swung left or right, the front wheels are moved left or right. Can be steered to. Therefore, if the operating lever 60 is swung left while swinging forward, the vehicle can be swung left while moving forward.

In the above, an example in which the crawler or the wheels are driven and steered by hydraulic pressure has been shown, but this may be performed by an electric motor or the like. In this case, an electric switch is used instead of the travel control valve.

[0027]

[Effect of the device]

 As described above, according to the present invention, the traveling means attached to the vehicle body for traveling, the two traveling control means for controlling the operation of the traveling means, and the vehicle body are provided so as to extend forward in the vehicle body. The operation lever and the connecting link connecting the operation lever and the two travel control means together constitute an external travel control device for the self-propelled vehicle, and the travel control means is the front and rear of the operation lever via the connection link. The vehicle is driven and controlled so as to cause the vehicle body to travel back and forth in response to the directional swing motion, and the vehicle body is turned to the left and right in response to the horizontal swing motion of the operation lever via the connecting link. Drive control of the traveling means is performed. Therefore, if the external travel control device of the present invention is used, the vehicle can be moved forward and backward by swinging the operation lever back and forth, and the vehicle can be turned by swinging the operation lever left and right. You can That is, the operation direction of the operation lever and the traveling direction of the vehicle correspond to each other, and therefore, the operation of the operation lever is easy. Further, since the operation lever is attached to the vehicle body so as to extend forward, the operator can operate the operation lever at a position away from the vehicle body, which is highly safe.

[Brief description of drawings]

FIG. 1 is a perspective view showing a crawler type self-propelled vehicle including an external traveling control device according to the present invention.

FIG. 2 is a perspective view showing the external traveling control device.

FIG. 3 is a hydraulic circuit diagram showing a configuration of the external travel control device.

FIG. 4 is a perspective view showing a wheel type self-propelled vehicle including an external traveling control device according to the present invention.

FIG. 5 is a perspective view showing the external traveling control device.

FIG. 6 is a hydraulic circuit diagram showing a configuration of the external travel control device.

[Explanation of symbols]

 1,51 Vehicle body 5,6 Crawler 10,60 Operating lever 12 Spherical bush 21,26,81,86 Travel control valve 5a, 6a, 55a Hydraulic motor 55, 56 Wheel

Claims (3)

[Scope of utility model registration request] 1. A vehicle body, a traveling means attached to the vehicle body for traveling, two traveling control means for controlling the operation of the traveling means, and an operating lever provided on the vehicle body so as to extend forward. And an external travel control device for a self-propelled vehicle, comprising: a connection link connecting the operation lever and the two travel control means, wherein the travel control means includes a front and rear of the operation lever via the connection link. The swinging movement of the operating lever to drive the vehicle body forward and backward, the swinging movement of the operating lever in the left-right direction via the connecting link causes the vehicle body to move. An external traveling control device for a self-propelled vehicle, characterized in that drive control of the traveling means is performed so as to turn left and right. 2. The traveling means comprises a pair of crawler means attached to the left and right of the vehicle body, the two traveling control means respectively control the operation of the crawler means, and the traveling control means comprises the connecting link. The swing motion of the operation lever in the front-rear direction through the control lever is driven to drive the pair of crawler means in the same direction at the same speed to move the vehicle body in the front-rear direction. 2. The vehicle body is turned left and right by performing a control for driving the pair of crawler means at different speeds in response to a swinging motion of the operation lever in the left-right direction. External traveling control device for self-propelled vehicles. 3. The traveling means comprises a pair of front wheels and rear wheels attached to the front, rear, left and right sides of the vehicle body, and at least one of the front wheels and the rear wheels is a drive wheel for driving to drive, and the front wheels and the rear wheels. At least one of the wheels is a steered wheel that turns the vehicle body, and the two travel control means include a drive control means that performs drive control of the drive wheel and a steering control means that performs steering control of the steered wheel. The drive control means is operated by receiving the swinging motion of the operation lever in the front-rear direction via the connecting link to control the vehicle to travel back and forth, and the steering control means is configured to connect the connecting body to the connecting body. 2. The control according to claim 1, wherein the control lever is actuated in response to a swinging motion of the operation lever in the left-right direction via a link to turn the vehicle body left and right. External traveling control device for a traveling vehicle.