JPS5823266B2 - Forward/forward switching device in automatic guided steering vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a special automatic guidance system installed in new transportation system vehicles called a guideway system, which allows vehicles to travel along guide walls provided on both sides or one side of a running track. The present invention relates to a forward-moving vehicle, and more particularly to a forward-reverse switching device that changes the steering mode in response to forward and backward travel of the vehicle.

In the guideway system described above, the vehicle travels while being automatically guided along the side walls erected on the sides of the running track surface.

The routes of new transportation systems are often constructed by freely combining relatively small curvature radii and steep slopes, so vehicles are equipped with special features to enable them to run smoothly on such varied routes. The steering scheme used is used.

Furthermore, in new transportation systems, there are many opportunities for vehicles to turn back and forth on routes, just like in conventional railways.

Therefore, for example, the leading wheels on the outbound trip must become the trailing wheels on the return trip.

Therefore, it is necessary to switch the function of this steering device of the vehicle depending on the direction of travel of the vehicle.

However, before the direction is changed based on the guide wheels provided on the left and right sides of the front and rear of the vehicle and the commands from these guide wheels, the steering relationship of the rear wheels is naturally reversed on the outbound and return trips due to the relationship between the guide wheels and the vehicle position. I have no choice but to use the steering wheel.

Therefore, the steering function of the front and rear wheels is switched to the side that matches the direction of travel of the vehicle before the vehicle starts (
(hereinafter referred to as steering condition switching) must be completed.

However, when switching the steering conditions before starting forward or backward, for example, if the front and rear wheels are not steered substantially parallel to the track in the direction of the next start, the steering conditions are changed while returning them to substantially parallel. Since the switching must be performed in a state where the steering condition has already been completely cut, the steering switching device for switching the steering conditions must be equipped with a cylinder or the like with a considerably large operating force.

Furthermore, since a large acting force is applied to the conversion device itself, it was necessary to increase its strength.

This invention was made in view of the above circumstances, and its purpose is to enable switching of the steering conditions of the front and rear wheels while starting the vehicle when the vehicle changes forward and backward. In addition, a forward/reverse switching device for an automatic guided steering vehicle is configured to confirm whether or not the switching of steering conditions has been performed correctly, and to appropriately continue or stop the start based on this confirmation command. Our goal is to provide the following.

An embodiment of the present invention will be described in detail below based on the drawings.

First, FIG. 1 is a block diagram showing the configuration of the present invention.

In the figure, 1 is an autopilot control device, and an auxiliary circuit 2 and a main circuit 3 are interposed in parallel on the load side of the autopilot control device 1.

By the way, the autopilot control device 1 has a command circuit 1a that catches a command signal sent from outside the vehicle and sends a predetermined command signal to each of the components mounted on the vehicle, and a command signal from the command circuit 1a. It is composed of an automatic operation/confirmation circuit 1b that performs calculations.

Next, the above-mentioned auxiliary circuit 2 has a timer 2a (this timer has a structure that opens the circuit approximately 2 seconds after being set).

), a forward auxiliary circuit 2c for controlling the operation of the travel motor 5, and a reverse auxiliary circuit 2b.

Next, the above-mentioned main circuit 3 is composed of operation confirmation relays 3a and 3b which form a closed circuit when the cylinder 4 in the steering conversion device for changing the steering condition is reliably extended or contracted.

Next, an example of a specific circuit of the automatic pilot control device 1, the auxiliary circuit 2, and the main circuit 3 will be explained in detail with reference to FIG.

First, the output terminal V of each command signal of the command circuit 1a.

W, X, y, and z are connected to the next automatic operation/confirmation circuit 1b.

Each command signal of the automatic operation/confirmation circuit 1b, y' (power running signal), w' (forward switching confirmation signal), / (reverse switching confirmation signal), y' (reverse switching signal), z' (forward switching signal) Output terminal V' is grounded via relay 2a' of timer 2a incorporated in auxiliary circuit 2.

Next, the output terminal W' is grounded via the forward switching confirmation indicator 6.

Next, the output terminal X' is grounded via the reverse switching confirmation indicator 7.

Next, the output terminal y' is grounded via a reverse switching relay 2b' incorporated in the reverse auxiliary circuit 2b.

Next, the output terminal Z' is grounded to the forward auxiliary circuit 2c via a broken forward switching relay 20' built into the forward moving auxiliary circuit 2c.

On the other hand, a contact 2a'' of a timer 2a is connected in series between the input terminal 8 of the DC power supply of the auxiliary circuit 2 and the ground, and a forward switching completion check is provided between the contact 2c'' of the forward switching relay 2c' and the main circuit 3. A forward auxiliary circuit 2c formed by connecting the contact 9a of the relay 9 and the forward auxiliary relay 4a in series, the contact 2b'' of the reverse switching relay 2b', and the contact of the reverse switching completion confirmation relay 10 interposed in the main circuit 3. A series-parallel circuit is connected in which a reverse auxiliary circuit 2b formed by connecting the reverse auxiliary relay 4b in series with the reverse auxiliary relay 10a is connected in parallel.

In addition, the DC input terminal 8 and the forward/reverse movement confirmation display 6,
7, a parallel circuit of the second contact 9a' of the forward switching completion confirmation relay 9 and the contact 4a' of the forward auxiliary relay 4a, and the second contact 10a' of the reverse switching completion confirmation relay 10 are connected.
The parallel circuits of contacts 4b' and 4b of the reverse auxiliary relay 4b are arranged and connected to correspond to the aforementioned front and reverse auxiliary circuits 2ct and 2b, respectively.

Further, one end of the forward side of the main circuit 3 is connected to the aforementioned output end 2', and the forward switching completion confirmation relay 9, the contact 11a of the connecting surface relay 11, and the operation confirmation relay 8a are connected in series on the way to the other end. It is designed to be sequentially connected to different vehicles via the .

On the other hand, one end on the reverse side is connected to the above-mentioned output terminal y', and on the way from this to the other end there is a reverse changeover completion confirmation relay 10,
Contact 11b of connection surface relay 11 and operation confirmation relay 3b
They are connected to different vehicles in series.

Note that 15 in the figure indicates a mode switching device.

Reference numeral 16 denotes a forward/reverse switching relay when, for example, the mode switching device 15 is set to manual mode.

Manual information will be omitted. Next, referring to FIG. 3, the operation of the above-mentioned circuit and the state of switching the steering conditions for the running directions of the front and rear wheels will be explained.

For the purpose of explanation, the configuration of mechanical parts such as the conversion device will be explained in detail in the Patent Department (Japanese Patent Application No. 51-68984) by the applicant.
In the following explanation, a detailed explanation of the configuration will be omitted, and only the parts necessary for explaining the operation will be explained.

First, knuckle arms 28 interconnected by tie rods 22 are pivotally connected to the ends of an axle 21 provided on a vehicle body 20 by king pins, so that two left and right wheels 24 are provided so as to be rotatable left and right.

The pivot 25 supported on the knuckle arm 23 and the vehicle body 20
A rotary lever 26, which is rotatable left and right around the center, is connected to the rotary lever 26 through a connecting rod 27 and two rotary members 29 and 30.
A guide rod 28 provided on the vehicle body 20 parallel to the guide rod 1 is connected to the guide rod 28 via an intervening rod 28a.

The guide rod 28 is attached to the vehicle body 20 by a support link so as to be movable in the width direction of the vehicle body 20, and guide wheels 32 and 33 guided by guide walls are attached to both ends of the rod in upper and lower stages.

Two connecting rods 27 connected at one end to the knuckle arm 23 are pivotally connected to a fulcrum shaft, and two rotating members 29.3 have locking portions 29a and 30a disposed at the front and rear of the pivot shaft 25.
The rotating lever 26 includes a guide roller that is moved in the longitudinal direction of the rotating lever 26 along a guide of the rotating lever 26, and a guide roller that is moved in the longitudinal direction of the rotating lever 26 along a guide of the rotating lever 26. attached to the central axis of the
A cylinder 4 (see FIG. 1) is provided with a fixing member 31 that fits into the locking portions 29a, 30a of the rotating members 29, 30 and fixes the rotating members 29, 30 to the rotating lever 26. It is being

By the way, at the expansion/contraction limit position of the fixing member 31 attached to the tip of the rod of the cylinder 4, for example, as shown in FIGS.
An operation confirmation relay 3a is installed in the main circuit 3 shown in the figure and is used to confirm the rod expansion/contraction limit position of the cylinder 4.
Each contact of p3b is arranged.

Next, the functions of each of the above parts will be explained.

First, the overall operation of the present invention will be explained with reference to FIG. 1. An autopilot control device 1 issues a start command to the vehicle.

This command signal is sent to the auxiliary circuit 2 and operates the timer 2a.

This timer 2a is set to send the power running command for about 2 seconds to the loads connected thereafter.

For example, if the above-mentioned traveling command is a powering command for reversing (traveling to the left in FIG. 3), the reversing auxiliary circuit 2b provided at the next stage is activated and set to a predetermined condition.

This causes the cylinder 4 and travel motor 5 to move.
is started, and the cylinder 4, for example, extends its londra to engage the fixing member 31 at the tip with the locking portion 30a of the rotating member 30.

In this case, the fixing member 31 presses and contacts the operation confirmation relay 3a incorporated in the main circuit 3 to set the main circuit 3 in the operating state.

The time required during this time is about 2 seconds because it is limited by the timer 2a.

That is, during these two seconds, the cylinder 4 completes a predetermined extension operation and brings the operation confirmation relay 3a into contact.

On the other hand, the traveling motor 5 continues to rotate upon confirmation of the operation of the cylinder 4, thereby causing the vehicle to enter a traveling state.

The above operation occurs when the cylinder 4 operates normally within the time set by the timer 2a.

On the other hand, if the cylinder 4 does not operate normally within the time set by the timer 2a, the main circuit 3 will not be set to the operating state, and the timer 2a will shut off the auxiliary circuit 2, causing the travel motor 5 will be stopped.

Next, the operation of the circuit shown in FIG. 2 and the front and rear wheel steering conversion devices shown in FIG. 3 will be explained.

Figure 3 shows a state in which the vehicle is running to the right (forward).If you want to change the running direction from this state and move backwards to the left, the front wheels 24.24 and the rear wheels 24.24 must be steered. The relationship must be set so as to switch the steering conditions as described above.

Following the circuit shown in FIG. 2, the state in which the front and rear cylinders 4, 4 are switched to a predetermined steering condition will be sequentially explained for the case of the rear wheel (left wheel in FIG. 3).

Now, when a powering command V is sent out from the command circuit 1a of the automatic pilot control device 1, a powering command V' is sent out from the automatic operation confirmation circuit 1b.

This power running command V' causes the timer relay 2a' to operate, closing the timer contact 2a'' and activating the timer 2a.

Simultaneously with the power running command v', for example, a reverse (leftward in FIG. 3) switching signal y' is issued.

Therefore, the reverse switching relay 2b' of the reverse auxiliary circuit 2b is activated, and the contact 2b connected in series with the timer contact 2a'' is activated.
3 closes, and the left cylinder 4 in FIG. 3 contracts due to this backward switching signal, thereby switching the steering conditions.

When the contact 2b'' is closed, a predetermined current flows from the DC power input terminal 8 through the contact 10a, which is closed during demagnetization, of the reverse switching completion confirmation relay 10, activating the reverse auxiliary relay 4b, and the contact 4b' is activated. As a result, the output terminal X' is pressurized and the contact 10a'75 is closed, resulting in the same state as the switching completion state described later.The reverse confirmation indicator 7 lights up, and this pressurization signal is transmitted to the autopilot control system. 1, the travel motor 5 is started and the vehicle is started.

As a result, the fixing member 31 attached to the tip of the rod of the left cylinder 4 moves toward the rotating member 29, and finally fits into the locking portion 29a of the rotating member 29 and is fixed.

Furthermore, by fitting the fixing member 31 into the locking portion 29a, the operation confirmation relay 3b incorporated in the main circuit 3 is set.
A predetermined current flows through this, and the reverse switching completion confirmation relay 10 is activated.

Therefore, the contact 10a' of the relay 10 is closed, and the reverse switching confirmation indicator 7 connected in series with the contact 10a' is kept lit to notify that the cylinder 4 has operated normally, and the travel motor 5 is activated. Make it continue.

By the way, the contact 10a of the reverse switching completion confirmation relay 10 incorporated in the reverse auxiliary circuit 2b is the contact 10a.
' is opened, contrary to the closing, and the operation of the reverse auxiliary circuit 2b is stopped.

In the above circuit operation, the rear wheel 24.2 on the left side of FIG.
Although only the conversion in step 4 has been explained, as is clear from the circuit shown in FIG. The wheels 24.degree. 24 operate in exactly the opposite manner to the rear wheels 24.degree. 24 under the same operating signal conditions.

In addition, under the above conditions, if the rod tip of the cylinder 4 is not shortened (rear wheel) or expanded (front wheel) to a predetermined position, the operation confirmation relay 3 installed in the main circuit 3
Since neither b nor 3a will be set, the forward/reverse switching completion confirmation relays 9 and 10 will not operate and each circuit will remain stopped from then on.

On the other hand, the reverse auxiliary circuit 2b and the forward auxiliary circuit 2c are activated by setting the contact 2a'' of the timer 2a.
Timer 2a is operating for 2 seconds.
After seconds have elapsed, it will be shut off and stopped.

Therefore, if the forward and reverse switching completion confirmation relays 9 and 10 do not operate even after 2 seconds have elapsed, the contacts 9a and 10a of the switching completion confirmation relays 9 and 10 and the forward and reverse auxiliary relays 4a and 4b Since the contacts 4a' and 4b' are both opened, the indicators 6 and 7 are turned off, giving a warning that the cylinder 4 has not been operated to the predetermined position.

Therefore, the traveling motor 5 that has started stops immediately, and the vehicle remains in a stopped state without starting.

As detailed above, this invention enables switching of the steering conditions of the front and rear wheels, which requires switching between forward and reverse driving of the vehicle.
Since this can be done immediately after the vehicle starts, it can be done very smoothly.

In addition, since the above switching is confirmed by the auxiliary circuit and the main circuit built into the cylinder operating circuit, it is possible to accurately confirm whether the switching of the steering conditions for the front and rear wheels has been performed reliably, resulting in safety performance. An extremely excellent forward/reverse switching device for an automatically guided steering vehicle can be provided.

[Brief explanation of the drawing]

Fig. 1 is a block diaphragm showing one embodiment of the present invention, Fig. 2 is a circuit diagram specifically showing Fig. 1, and Fig. 3 is a plan view of the main parts showing the front and rear wheel conversion devices. be. 1... Autopilot control device, 2... Auxiliary circuit, 2a... Timer, 3... Main circuit, 3a... Operation confirmation Relay, 3b...
Operation confirmation relay, 4...Cylinder, 5...
...Travel motor, 6...Forward switching confirmation indicator,
7... Reverse switching confirmation indicator, 9... Forward switching completion confirmation relay, 10... Reverse switching completion confirmation relay, 24... Wheels, 32, 33...
...Guide wheel.

Claims (1)

[Claims] 1. A guide wheel that is brought into contact with a guide wall provided along the vehicle travel path, and is connected to this guide wheel and rotated by a travel motor by moving the guide wheel in a direction approximately perpendicular to the vehicle travel direction. In an automatic guidance steering vehicle capable of moving forward and backward, which is equipped with a steering device that steers the front and rear wheels, the steering device is incorporated in the steering device and controls the front and rear wheels according to the manner in which the vehicle moves forward and backward. It has a cylinder device that switches the steering conditions and a timer that operates upon receiving control commands from the autopilot control device, and at the same time as the timer starts timing, the cylinder device is activated to switch the steering conditions and still start the travel motor. and an auxiliary circuit for starting the vehicle, and an operation confirmation relay that is operated by the cylinder device and detects whether the switching operation of the steering condition of the cylinder device is normally performed within a predetermined time regulated by the timer. and a switching completion confirmation relay operated by the operation confirmation relay, and when the cylinder device operates normally, the switching completion confirmation relay operates the indicator provided in the auxiliary circuit and the cylinder device. What is claimed is: 1. A forward/reverse switching device for an automatically guided steering vehicle, comprising a main circuit that maintains a state in which a steering condition switching operation is completed and continues operation of a travel motor.