JPS6344591B2 - - Google Patents

Description

[Detailed description of the invention]

[Industrial Field of Application] The present invention relates to a multidirectional vehicle. [Prior Art] The applicant of the present invention previously proposed a multidirectional vehicle in Japanese Patent Publication No. 15342/1983. As shown in Figs. 1 and 2, this uses caster wheels d and e, and the steering wheel b is replaced by a cylinder device f.
It worked. a is a driving wheel. [Problems to be Solved by the Invention] However, since the caster wheels d and e are used for both longitudinal and lateral movement of the vehicle, the steering stability is not good. In particular, when traveling in a lateral direction, the distance Lb between the vehicle center of gravity G and the driving wheel a is large (Lb>La), and the lateral straightness is extremely poor, making it difficult to drive. It is also possible to travel diagonally (club travel), but in this case, the steering wheel b is controlled by the switching valve lever g.
The drive wheels a were operated separately using a handle to align the tire directions, which was time-consuming. The present invention has been made in view of the above circumstances, and its purpose is to enable the vehicle to move straight, turn, and turn in the longitudinal and lateral directions by the backward tilting, forward tilting, and upright actions of the switching lever of the switching mechanism. To provide a multi-directional running vehicle that enables super-turning and club running in all directions of the vehicle, and enables independent movement of both the left and right front wheels and the left and right rear wheels to enable smooth turning. There is a particular thing. [Means and operations for solving the problem] In order to achieve the above object, the present invention provides an input side shaft 33, an output shaft 42 on the right front wheel 109 side, and an output shaft on the left front wheel 121 side in the housing C'. A shaft 46, an output shaft 53 on the right rear wheel 129 side, an output shaft 60 on the left rear wheel 141 side, and two shift shafts 20, 25 are provided. The first mating spur gear 34 and the second clutch 7
1, a third meshing spur gear 76 that meshes with the third clutch 84, and a fourth meshing spur gear 77 that meshes with the fourth clutch 85. The fifth meshing spur gear 89 that meshes with the fifth clutch 90 is fixed, and the input side shaft 33
First, second, third spur gears 40, 78, 80 having dog clutches and first, second, third, fourth multi-stage gears 36, 37 having dog clutches and incorporating sector gears. , 38, 39 and spur gear 4
1 are rotatably provided, and a sixth meshing gear 86 that meshes with the sixth clutch 88 and a fifth multistage gear that meshes with the first multistage gear 36 are provided on the output shaft 42 on the right front wheel 109 side. 43 and a spur gear 79 that meshes with the second spur gear 78, and a fourth spur gear 44 having a dog clutch is rotatably provided.
A seventh meshing gear 54 that meshes with the first spur gear 40 is fixedly attached to the first spur gear 40 and has a dog clutch.
, a gear 58 that meshes with the fourth spur gear 44 , a gear 57 that meshes with the fourth spur gear 44 , and a sixth multi-stage gear 56 that meshes with the third multi-stage gear 38 as a sector gear, and has a dog clutch and meshes with the spur gear 41 . Matching fifth spur gear 5
An eighth meshing spur gear 47 that meshes with the eighth clutch 70 and a fan gear that meshes with the second multi-stage gear 37 are rotatably provided on the output shaft 46 on the left front wheel 121 side. A sixth spur gear 51 has a dog clutch and meshes with the spur gear 41, and a seventh spur gear 51 has a dog clutch and meshes with the first spur gear 40. A spur gear 52 is rotatably provided on the output shaft 60 on the left rear wheel 141 side, and an eighth multi-stage gear 61 meshing with the fourth multi-stage gear 39 in a fan-shaped gear and a gear 50 on the sixth spur gear 51 side are provided. A spur gear 62 that meshes with the third spur gear 80 and a spur gear 81 that meshes with the third spur gear 80 are fixed,
A first shifter yoke 66 rotatably engaged with a first clutch 69, a third shifter yoke 82 rotatably engaged with a third clutch 84, and a fourth clutch 85 are connected to one shift shaft 20. A fourth shifter yoke 83 rotatably engaged with a fifth shifter yoke 64 rotatably engaged with a fifth clutch 90 and a seventh clutch 65 are connected, and a fourth shifter yoke 83 is connected to the other shift shaft 25. 2 clutch 7
a second shifter yoke 68 rotatably engaged with
and a sixth clutch 88 rotatably engaged with the sixth clutch 88 .
and an eighth shifter yoke 67 rotatably engaged with the eighth clutch 70, and a steering unit 13 that connects a shifter yoke 87 and an eighth shifter yoke 67 rotatably engaged with the eighth clutch 70, and both shift shafts 20, 25 by operating the switching lever 14 to the upright position. by moving the first shifter yoke 66
The first clutch 69 is brought into mesh with only the first meshing spur gear 34 via the second shifter yoke 6.
8, the second clutch 71 meshes only with the second meshing spur gear 35, and the third clutch 84 meshes with the third meshing spur gear 76 through the third shifter yoke 82. The spur gear 78 of the fourth
the fourth clutch 85 via the shifter yoke 83 of
The fourth meshing spur gear 77 and the third spur gear 80
and the fifth shifter yoke 64 through the fifth shifter yoke 64.
A clutch 90 connects the fifth meshing spur gear 89 and the first spur gear 40, and a seventh clutch 65 connects the seventh meshing spur gear 54 and the sixth multistage gear 56. , the sixth clutch 88 is brought into mesh with only the sixth meshing spur gear 86 through the sixth shifter yoke 87, and the eighth clutch 70 is brought into mesh with the eighth meshing spur gear through the eighth shifter yoke 67. The gear 47 and the seventh spur gear 52 are connected, and by operating the switching lever 14 to the rearward tilted position, both shift shafts 20 and 25 are moved, and the first shifter yoke 6 is moved.
6, a first clutch 69 connects the first meshing spur gear 34 and the first multi-stage gear 36, and
the second clutch 71 via the shifter yoke 68 of
The second meshing spur gear 35 and the second multistage gear 37
and the third shifter yoke 82 through the third shifter yoke 82.
the third meshing spur gear 76 by the clutch 84 of
and the second spur gear 78, and the fourth meshing spur gear 77 and the third spur gear 80 are connected to each other by the fourth clutch 85 via the fourth shifter yoke 83.
The connection between the fifth meshing spur gear 89 and the first spur gear 40 by the fifth clutch 90 is released via the fifth shifter yoke 64, and the seventh clutch 65 The seventh meshing spur gear 54 and the sixth multi-stage gear 56 are connected, and the sixth meshing spur gear 86 and the fourth spur gear 44 are connected by a sixth clutch 88 via a sixth shifter yoke 87. The connection between the eighth spur gear 47 and the seventh spur gear 52 by the eighth clutch 70 is released via the eighth shift yoke 67, and the eighth spur gear 47 and the seventh spur gear 52 are connected to each other. 47 and the sixth spur gear 51,
In addition, by operating the switching lever 14 to the forward tilted position, both shift shafts 20 and 25 are moved, and the first clutch 69 via the first shifter yoke 66 engages the first meshing spur gear 34 and the second gear. 3 multistage gear 38
and the second shifter yoke 68 via the second shifter yoke 68.
The clutch 71 connects the second meshing spur gear 35 and the fourth
multi-stage gears 39 are connected, and the third shifter yoke 8
2, the third meshing spur gear 76 and the second spur gear 78 are disconnected by the third clutch 84, and the fourth gear is disconnected by the fourth clutch 85 through the fourth shifter yoke 83. The connection between the meshing spur gear 77 and the third spur gear 80 is released, and the fifth meshing spur gear 89 and the first spur gear 40 are moved by the fifth clutch 90 via the fifth shifter yoke 64. At the same time, the seventh clutch 65
The meshing spur gear 54 and the fifth spur gear 59 are connected, and the sixth meshing spur gear 86 and the fourth spur gear 44 are connected via the sixth shifter yoke 87. Eighth clutch 7 via yoke 67
0, the eighth meshing spur gear 47 and the seventh spur gear 5
2, an operating mechanism E' that gives steering/rotation commands to the input shaft 33 of the steering unit 13, and a transmission mechanism _B1 connected to the output shaft 42 of the steering unit 13. a right front wheel 109 that performs a turning operation, and a left front wheel 121 that is connected to the output shaft 46 of the steering unit 13 via a transmission mechanism _B2 and performs a turning operation.
and the output shaft 53 of the steering unit 13.
A right rear wheel 129 is connected to the steering unit 129 via a transmission mechanism _B3 to perform a turning operation, and a steering unit 13
The left rear wheel 141 is connected to the output shaft 60 via a transmission mechanism _B4 to perform a turning operation. Then, the backward tilting operation of the switching lever 14 of the switching mechanism F' causes the steering unit 13 to switch the steering section for the longitudinal direction, and the forward tilting operation of the switching lever 14 causes the steering unit 13 to switch the steering section for the lateral direction. Furthermore, by moving the switching lever 14 upright, the steering of the steering section for driving the club is changed, and by the steering command from the operating mechanism E', the steering of the steering section for forward and backward directions is changed. The vehicle can go straight, turn, and make a super turn in the longitudinal direction, and the steering section for lateral direction allows it to go straight, turn, and make a super turn in the lateral direction.Furthermore, the steering section for clubbing allows the vehicle to be The club is designed to run in the same direction. [Example] Hereinafter, an example of the present invention will be described with reference to FIGS. 3 to 29. A in the drawing is the vehicle body. As shown in FIG. 4, a shaft 107 is attached to the front right side of the vehicle body A via a bearing, and a bracket 10 is attached to the shaft 107.
8 is fixed, and a right front wheel 109 is pivotally supported on this bracket 108, and this right front wheel 109 is connected to a wheel motor 110 provided on the bracket 108.
It is driven by A bevel gear 106 is fixed to the shaft 107. On the front left side of vehicle body A, as shown in Figure 6,
A shaft 120 is attached via a bearing, a left front wheel 121 is attached to this shaft 120 via a shaft support member 120a, and a sprocket 119 is fixed to the shaft 120. On the rear right side of vehicle body A, as shown in Figure 4,
A shaft 127 is attached via a bearing, a bracket 128 is fixed to the shaft 127, and a right rear wheel 129 is pivotally supported on the bracket 128.
This right rear wheel 129 is driven by a wheel motor 130 provided on the bracket 128.
A bevel gear 126 is fixed to the shaft 127. As shown in FIG. 5, a shaft 140 is attached to the rear left side of the vehicle body A via a bearing, and a left rear wheel 141 is attached to the shaft 140 via a support member 140a. A sprocket 139 is fixed to the shaft 140. As shown in FIG. 4, the vehicle body A is equipped with a steering unit 13 and a steering reduction gear 3 of the operating mechanism E'. A handle 1 is attached to an input shaft 3a of the steering reduction gear 3, and an output shaft 6 of the steering reduction gear 3 is connected to a shaft 9 via bevel gears 7, 8. The shaft 9 is supported by the vehicle body A, and is connected to an input shaft 12 of a steering unit 13 via bevel gears 10 and 11. As shown in Fig. 3, the steering unit 1
The output shaft 101 of No. 3 is connected to the shaft 10 via a universal joint (or constant velocity joint) 102a.
It is connected to 3. Shaft 103 is joint 10
2b to the shaft 104, and the shaft 104
A bevel gear 105 provided at the bevel gear 105 meshes with the bevel gear 106, and these constitute a transmission mechanism B1. The output shaft 111 of the steering unit 13 is connected to the shaft 112 through a joint 102c, and the shaft 112 is connected to the shaft 1 through a joint 102d.
It is connected to 13. The shaft 113 is a bevel gear 114,
It is connected to a sprocket shaft 116 via a sprocket shaft 115 (see FIG. 6), and this sprocket shaft 116
The sprocket 117 is connected to the sprocket 119 via a chain 118, and these constitute a transmission mechanism B2. The output shaft 122 of the steering unit 13 is
As shown in FIG. 3, it is connected to a shaft 123 through a joint 102e, and the shaft 123 is connected to a shaft 124 through a joint 102f. The bevel gear 125 of the shaft 124 meshes with the bevel gear 126, and these constitute a transmission mechanism B3. The output shaft 131 of the steering unit 13 is
As shown in FIG. 3, it is connected to a shaft 132 through a joint 102g, the shaft 132 is connected to a shaft 133 through a joint 102h, and the shaft 133 is connected to a sprocket through bevel gears 134, 135. connected to a shaft 136 (see FIG. 5);
A sprocket 137 of a sprocket shaft 136 is connected to a sprocket 139 via a chain 138, and these constitute a transmission mechanism B4. A switching lever 14 of a switching mechanism F' for performing steering switching within the steering unit 13 is supported by a rotational fulcrum 15 and pin-coupled to a shaft 16, as shown in FIG. The shaft 16, as shown in FIG. Pin-connected. Further, a lever 24 fixed to the rotating shaft 22 is connected to a shift shaft 25 of the steering unit 13 by a pin. As shown in FIG. 8, the steering unit 13 includes a housing C', and an input shaft 33 is supported on the housing C'. This input shaft 33 is connected to the input shaft 12 via bevel gears 32 and 31. The input shaft 33 has first, second, third, fourth, and fifth meshing spur gears 34, 35, and 7 for the clutch.
6, 77, and 89 are fixed to the input shaft 33, and the input shaft 33 has first, second, and third clutches each having a dog clutch.
spur gears 40, 78, 80 and first, second, third and fourth multi-stage gears 36 with dog clutches,
37, 38, 39 and a spur gear 41 are each rotatably provided. In addition, the housing C' has an output shaft 42 and an output shaft 46.
are rotatably supported on the same straight line. The output shaft 42 is connected to the output shaft 101 via bevel gears 45 and 72. Further, the output shaft 46 is connected to the output shaft 111 via bevel gears 49 and 73. The output shaft 42 has a fourth shaft having a dog clutch.
A spur gear 44 is rotatably provided, and a fifth multistage gear 43, a spur gear 79, and a sixth meshing gear 86 are fixed to the output shaft 42. Further, an eighth meshing spur gear 47 for a clutch and a seventh multistage gear 48 are fixed to the output shaft 46, and sixth and seventh gears each having a dog clutch are fixed to the output shaft 46.
Spur gears 50, 51, and 52 are rotatably mounted. The housing C' has an output shaft 53 and an output shaft 60.
are provided in the same straight line and parallel to the input side shaft 33. The output shaft 53 is continuous to the output shaft 122 via bevel gears 55 and 74, and the output shaft 60
is connected to the output shaft 131 via bevel gears 63 and 75. A seventh meshing spur gear 54 for a clutch is fixed to the output shaft 53, and a sixth multi-stage gear 56 with a dog clutch and a fifth spur gear 59 with a dog clutch are rotated on the output shaft 53. The sixth multi-stage gear 56 is the spur gear 5.
7,58. Further, an eighth multistage gear 61 and spur gears 62 and 81 are fixed to the output shaft 60. In addition, the housing C' has shift shafts 20, 25.
is provided slidably and rotatably, and fifth, first, third, and fourth shifter yokes 64, 66, 82, and 83 are fixed to this shift shaft 20, respectively. The seventh, first, third and fourth clutches 65, 90, 69, 84, 85 are connected to the fifth, seventh, first, third and fourth clutches 65, 90, 69, 84. , 85 are the fifth, seventh, first, third, and fourth meshing spur gears 5, respectively.
It meshes with 4, 89, 34, 76, and 77. Eighth, second, and sixth shifter yokes 67, 68, and 87 are fixed to the shift shaft 25;
The second and sixth shifter yokes 67, 68, 87 are connected to the eighth, second and sixth clutches 70, 71, respectively.
88, and the eighth, second, and sixth clutches 70, 71, and 88 are always slidable with the eighth, second, and sixth clutch meshing spur gears 47, 35, and 86, respectively. They mesh together. The meshing of the first and fifth multistage gears 36 and 43 is as follows:
As shown in FIG. 15, the gear portion 36a and the gear portion 4
3a, 2 due to the meshing of the gear part 36b and the gear part 43b
It is a stage type. Further, the meshing of the second and seventh multi-stage gears 37 and 48 is as shown in FIG.
8a, it is a two-stage type with meshing of gear parts 37b and 48b. Further, the meshing of the third and sixth multi-stage gears 38 and 56 is as shown in FIG.
6a, gear parts 38b, 56b, gear parts 38c, 5
6c, gear parts 38d and 56d mesh to form a four-stage structure. Furthermore, the meshing of the fourth and eighth multi-stage gears 39 and 61 is as shown in FIG.
a, gear parts 39b, 61b, gear parts 39c, 61
c. It is a four-stage type with meshing of gear parts 39d and 61d. Next, the operation will be explained. (1) Vehicle longitudinal steering Left and right front wheels 121, 109, left and right rear wheels 14
1,129 so that they are parallel to the longitudinal direction of the vehicle (set as shown in Fig. 25 1).
At this time, the vehicle is in a state where it can drive straight ahead. When the switching lever 14 is placed in the rearward tilted position, the shift shaft 20 moves in the direction of arrow A in FIG. 26, and the shift shaft 25 moves in the direction of arrow B. By moving the shift shaft 20, the third, first,
fifth and fourth shifter yokes 82, 66, 64,
83 moves. For this purpose, the steering of the steering unit for the front and rear directions is switched in the steering unit 13. That is, as shown in FIG. 26, the third clutch 84 is disengaged from the third meshing spur gear 76 (see FIG. 23), and the first clutch 69 is disengaged from the third meshing spur gear 76 (see FIG. 23). meshes with The seventh clutch 65 always remains in mesh with the sixth multi-stage gear 56. The fifth clutch 90 is disengaged from the fifth meshing spur gear 89 (see FIG. 23). The fourth clutch 85 is disengaged from the third spur gear 80 (see FIG. 21). As the shift shaft 25 moves, the sixth, eighth, and second shifter yokes 87, 67, and 68 move, so that the sixth clutch 88 meshes with the fourth spur gear 44. The eighth clutch 70 is disengaged from the seventh spur gear 52 and meshed with the sixth spur gear 51 (see FIG. 22). The clutch 71 meshes with the multi-stage gear 37. When the handle 1 is rotated, the input shaft 12 of the steering unit 13 rotates, and the input shaft 33 rotates. The rotation of the input shaft 33 is transmitted to the output shaft 42 via the first meshing spur gear 34, the first clutch 69, and the first and fifth multistage gears 36, 43.
It is transmitted to the output shaft 101. This rotation of the output shaft 101 turns the right front wheel 109 via the transmission mechanism B1. Further, the rotation of the input shaft 33 rotates the output shaft 42, and the output shaft 122 is rotated from the fourth spur gear 44, the spur gear 57, the seventh clutch 65, the seventh meshing spur gear 54, and the output shaft 53 to the output shaft 122. can be conveyed to. This rotation of the output shaft 122 turns the right rear wheel 129 via the transmission mechanism B3. Further, the rotation of the input shaft 33 is controlled by the second meshing spur gear 35, the second clutch 71, the second clutch 71, the second clutch 71, the second clutch 71, the second clutch 71,
It is transmitted to the output shaft 46 via the multi-stage gears 37 and 48. This rotation of the output shaft 46 is transmitted to the output shaft 111 and rotates the left front wheel 121 via the transmission mechanism B2. Further, the rotation of the input shaft 33 is transmitted to the output shaft 46, and the eighth meshing spur gear 47, the eighth clutch 70, the sixth spur gear 50, the spur gear 62, the output shaft 60, the bevel gear 63, Output shaft 1 through 75
31, and the rotation of the output shaft 131 causes the left rear wheel 141 to turn via the transmission mechanism B4. The movement of each wheel when the steering wheel 1 is rotated to the left will be explained. As shown in FIG. 25, the right front wheel 10
9, the turning angle of the right rear wheel 129 is −β, the turning angle of the left front wheel 121 is α, and the turning angle of the left rear wheel 141 is −α, then the turning angles ±α, ± in FIG. β and rotation angle θ of input side shaft 33
If the relationship is shown in a graph, it will be as shown in Fig. 28. In this case, the first and fifth multi-stage gears 36, 43
The meshing ratio of the gear parts 36a and 43a is Kβ ₁ , the meshing ratio of the gear parts 36b and 43b is Kβ ₂ , and the meshing ratio of the gear parts 37 of the second and seventh multistage gears 37 and 48 is Kβ 1 .
The meshing ratio of a, 48a is Kα, gear part 37b, 4
The meshing ratio of 8b is _Kα2 . Also, ~ in Fig. 25 1 and ~ in Fig. 28
correspond to each other. When the input side shaft 33 rotates θ, the first and fifth multi-stage gears 36 and 43 of the right front and rear wheel system rotate in the gear portion 3.
6a and 46a mesh (the meshing ratio is Kβ ₁ ), and if the rotation ratio of the spur gears 44 and 57 is 1:1, the output shafts 42 and 53 rotate by β. If the rotation ratio of the bevel gear pairs 45, 72 and 55, 74 is 1, then the output shafts 101, 12
The rotation of 2 becomes β. If the rotation of the output side of the steering unit 13 is set to 1:1, the front right wheel 109 turns to the left β, and the rear right wheel 129 turns β to the right (see FIG. 25). When the input side shaft 33 rotates θ, the second and seventh multi-stage gears 37 and 48 of the left front and rear wheel system rotate in the gear portion 37.
a, 48a mesh (mesh ratio Kα ₁ ),
If the rotation ratio of the spur gears 50, 62 is 1:1, the output shafts 46, 60 rotate α. Pair 4 of bevel gears
The rotation ratio of each of 9, 73 and 63, 75 is 1
Then, the rotation of the output shafts 111, 131 becomes α. If the rotation of the output side of the steering unit 13 is transmitted at a ratio of 1:1, the left front wheel 121 turns to the left α, and the right rear wheel 141 turns α to the right (see FIG. 25). Therefore, if the handle 1 continues to be rotated to the left, all four wheels will perform a turning motion according to the angle diagram shown in FIG. 28. That is, in the order of ~ in Fig. 25, the left and right front wheels 121, 109, the left and right rear wheels 141, 12
Since the four wheels of the 9 move, it has steering functions such as going straight, turning, and turning around. When the handlebar 1 is rotated clockwise and the shaft 33 rotates θ as described above, the first and fifth wheels of the right front and rear wheels are rotated.
The multi-stage gears 36 and 43 are gear parts 36b and 43b.
(the meshing ratio is Kβ ₂ =Kα ₁ ), the front right wheel 109 turns β to the right, and the rear right wheel 129 turns β to the left. Similarly, multi-stage gears 37 and 48 of the left front and rear wheel system
is the meshing of the gear parts 37b and 48b (the meshing ratio is
Kβ ₂ =Kα ₁ ), the left front wheel 121 turns α to the right, and the rear left wheel 141 turns α to the left (see FIG. 25). Therefore, if the steering wheel 1 continues to be rotated clockwise, all four wheels will perform a turning operation according to the angle diagram shown in FIG. 28. That is, ~ in Figure 25 1
Since the four wheels move in this order, the same steering function as when the steering wheel is turned to the left can be obtained. The left and right front wheels 121, 10 are located at another point in the angle diagram (angle diagram of gear meshing) in Fig. 28.
9. The left and right rear wheels 141, 129 are aligned parallel to the forward direction, and when the input shaft 33 is rotated by θ, the meshing ratio of the gear portions 36a, 43a of the first and fifth multi-stage gears 36, 43 changes. Kβ ₁ , gear part 36
According to the meshing ratio Kβ ₂ of b, 43b, the output shaft 10
A rotation of 1,122 becomes β. At the same time, the meshing ratio Kα ₁ of the gear portions 37a, 48a of the second and seventh multi-stage gears 37, 48, the gear portion 3
According to the meshing ratio Kα ₂ of 7b and 48b, the output shaft 11
A rotation of 1,131 becomes α. If this relationship is shown in Table 1,

[Table] This gives you the ability to move forward in a straight line and turn around. A case of lateral steering (including lateral and vertical steering) of the vehicle will be described. As above, each wheel 121, 109, 14
1,129 in the front and back direction, and then press the switching lever 1.
4 is in the forward tilted position, as shown in FIG. ). Therefore, in the steering unit 13, the operation of the steering section for the lateral direction is switched. That is, as shown in FIG. 27, as the shift shaft 20 moves, the third, first, fifth, and fourth shifter yokes 82, 66, 64, and 83 move, thereby causing the third clutch 84 to move. The mesh with the second spur gear 78 is released. (See Figure 23). The first clutch 69 meshes with the third multi-stage gear 38. The seventh clutch 65 disengages from the sixth multi-stage gear 56 and engages the fifth spur gear 59 (see FIG. 22). 5th clutch 90
is disengaged from the first spur gear 40, and the fourth clutch 85 is disengaged from the fourth meshing spur gear 77. As the shift shaft 25 moves, the sixth, eighth, and second shifter yokes 87, 67, and 68 move, and the sixth clutch 88 meshes with the fourth spur gear 44 (see FIG. 24). second clutch 7
1 meshes with the seventh multistage gear 39. The eighth clutch 70 meshes with the seventh spur gear 52. The movement of each wheel when the steering wheel 1 is rotated to the left will be explained. In the third and sixth multi-stage gears 38 and 56, as shown in _FIG .
Kb ₂ , the meshing ratio of gear parts 38c and 56c is Kb ₃ ,
The meshing ratio of the gear parts 38d and 56d is Kb ₄ , and the meshing ratio of the gear parts 39a and 61a of the fourth and eighth multi-stage gears 39 and 61 is Ka ₁ as shown in FIG. 18, and the meshing ratio of the gear parts 39b and 61b is meshing ratio of
Ka ₂ , the meshing ratio of gear parts 39c and 61d is Ka ₂ ,
The meshing ratio of the gear parts 39d and 61d is _Ka4 . Then, as shown in FIG. 25, the right front wheel 10
The turning angle of 9 is -b, and the turning angle of right rear wheel 129 is -
a, the turning angle of the left front wheel 121, b, the left front wheel 141
If the cutting angle is a, then the relationship between the cutting angles ±a, ±b and the rotation angle θ of the input shaft 33 is shown in a graph as shown in FIG. In addition, ~ in Fig. 25 2 and ~ in Fig. 29
correspond to each other. When the handle 1 is rotated, the multi-stage gears 38 and 56 of the left and right front wheel systems mesh with the gear portions 38c and 56c (the meshing ratio is Kb ₃ ). If you continue to turn the handle 1 to the left, the gear parts 38c, 56c,
38d, 56d, 38a, 56a, 38b, 5
6b mesh in this order (meshing ratio is Kb ₃ , Kb ₄ , Kb ₁ ,
Kb ₂ ) Continue. When the input shaft 33 rotates θ, the spur gear 5
If the rotation ratio of 7, 44, 58, 52 is 1:1, the output shafts 42, 46 will rotate 2b. If the rotation ratio of the bevel gear pairs 45, 72 and 49, 73 is 1, then the output shafts 101, 111
The rotation of is b. Therefore, the right front wheel, 10
9 turns b to the right, and the left front wheel 121 turns b to the left. Fourth and eighth multi-stage gears 39, 6 of left and right rear wheel system
1 is the meshing (meshing ratio) of the gear parts 39c and 61c.
_Ka3 ). If you keep turning the handle 1 to the left, the gear parts 39d, 61d, 39a, 61a, 3
9b and 61b continue to mesh in this order. (The meshing ratio is Ka ₄ , Ka ₁ , Ka ₂ ). Then, when the input shaft 33 rotates θ, the output shafts 53 and 60 rotate a if the rotation ratio of the bevel gears 55, 74, 63, and 75 is 1:1. The rotation of the output shafts 122 and 131 is a. Therefore, if the rotation of the output shafts 53 and 60 of the steering unit 13 is transmitted at a ratio of 1:1, the right rear wheel 129 will turn to the right (a) and the left rear wheel 141 will turn to the left (a). Therefore, if the steering wheel 1 continues to be rotated to the left, all four wheels will perform a turning motion. That is, the second
5 In the order of ~ in Figure 2, left and right front wheels 121,
Since the four wheels 109, left and right rear wheels 141 and 129 move, steering functions such as straight movement in the longitudinal direction, lateral direction, and turning can be obtained. When the handle 1 is rotated clockwise, the input side shaft 33
rotates θ, the third and sixth multi-stage gears 38, 56 of the left and right front wheel systems rotate gear parts 38b, 56b,
38a, 56a, 38d, 56d, 38c, 5
They mesh in the order of 6c (the meshing ratio is Kb ₂ = Ka ₃ , Kb ₁
= Ka ₄ , Kb ₄ = Ka ₁ , Kb ₃ = Ka ₂ ). Therefore, the front right wheel 109 turns b to the left, and the front left wheel 121 turns b to the right. Similarly, the fourth and eighth multi-stage gears 39, 61 of the left and right rear wheel systems are gear parts 39b, 61b, 39.
a, 61a, 39d, 61d, 39C, 61c
(The meshing ratio is Ka ₂ = Kb ₃ , Ka ₁ =
Kb ₄ , Ka ₄ = Kb ₁ , Ka ₃ = Kb ₂ ). Then, the right rear wheel 129 moves to the left a, and the left rear wheel 14
1 turns a to the right. Therefore, if the steering wheel 1 continues to be rotated clockwise, all four wheels perform a turning motion. That is, since the four wheels move in the order of - in Fig. 25, the desired steering function can be obtained. The above is shown in Table 2.

〔Effect of the invention〕

As described in detail above, in the multi-directional vehicle according to the present invention, by operating the switching lever 14 of the switching mechanism F' to the upright position, both shift shafts 20,
25 to connect the first clutch 69 to the first meshing spur gear 34 via the first shifter yoke 66.
The second clutch 71 is connected to the second meshing spur gear 3 via the second shifter yoke 68.
5, the third clutch 84 connects the third meshing spur gear 76 and the second spur gear 78 through the third shifter yoke 82, and the fourth A clutch 85 connects the fourth meshing spur gear 77 and the third spur gear 80, and a fifth clutch 90 connects the fifth meshing spur gear 89 and the first gear through the fifth shifter yoke 64. and the seventh spur gear 40 and the seventh clutch 65
The seventh meshing spur gear 54 and the sixth multistage gear 5
6 are connected, the sixth clutch 88 is engaged only with the sixth meshing spur gear 86 via the sixth shifter yoke 87, and the eighth clutch 70 is engaged with the eighth gear via the eighth shifter yoke 67. Meshing spur gear 47
and the seventh spur gear 52, and by applying club running commands in all directions of the vehicle to the input shaft 33 of the steering unit 13 through the operation mechanism E', the left and right front wheels 121, 109 and the left,
The right rear wheels 141, 129 can be rotated to enable club running. Also, by operating the switching lever 14 of the switching mechanism F' to the rearward tilted position, both shift shafts 20, 25
through the first shifter yoke 66.
A clutch 69 connects the first meshing spur gear 34 and the first multi-stage gear 36, and a second clutch 71 connects the second meshing spur gear 35 and the second gear through a second shifter yoke 68. The multi-stage gears 37 are connected to each other, and the third clutch 8
4, the connection between the third meshing spur gear 76 and the second spur gear 78 is released, and the fourth shifter yoke 8
The connection between the fourth meshing spur gear 77 and the third spur gear 80 is released by the fourth clutch 85 via the fifth shifter yoke 64, and The connection between the meshing spur gear 89 and the first spur gear 40 is released, and the seventh clutch 65 connects the seventh meshing spur gear 54 and the sixth spur gear 54.
The sixth shifter yoke 8
7, a sixth clutch 88 connects the sixth meshing spur gear 86 and the fourth spur gear 44; spur gear 47 and seventh spur gear 5
2 and the eighth meshing spur gear 4.
7 and the sixth spur gear 51, and the operation mechanism
By giving commands to the input shaft 33 of the steering unit 13 for straight ahead, turning, and corner turning in the longitudinal direction of the vehicle by E', the left and right front wheels 12
1,109 and the left and right rear wheels 141, 129 are turned, allowing the vehicle to move straight in the longitudinal direction and turn with a turning angle. Further, by operating the switching lever 14 of the switching mechanism F' to the forward tilted position, both shift shafts 20, 25
through the first shifter yoke 66.
A clutch 69 connects the first meshing spur gear 34 and the third multi-stage gear 38, and a second clutch 71 connects the second meshing spur gear 35 and the fourth gear through the second shifter yoke 68. A multi-stage gear 39 is connected to the third clutch 8 via a third shifter yoke 82.
4, the connection between the third meshing spur gear 76 and the second spur gear 78 is released, and the fourth shifter yoke 8
The connection between the fourth meshing spur gear 77 and the third spur gear 80 is released by the fourth clutch 85 via the fifth shifter yoke 64, and The connection between the meshing spur gear 89 and the first spur gear 40 is released, and the seventh meshing spur gear 54 and the fifth
and the sixth shifter yoke 87.
The sixth spur gear 86 for meshing and the fourth spur gear 44 are connected via the eighth clutch 70 via the eighth shift yoke 67.
7 and the seventh spur gear 52, and the operation mechanism
E' gives commands for straight ahead, turning, and corner turning in the lateral direction of the vehicle to the input shaft 33 of the steering unit 13.
1,109 and the left and right rear wheels 141, 129 are turned, allowing the vehicle to move straight ahead, turn, and make a sharp turn in the lateral direction. Therefore, the backward tilting operation of the switching lever 14 of the switching mechanism F' causes the steering unit 13 to switch the traveling section for the longitudinal direction, and the forward tilting operation of the switching lever 14 causes the steering unit 13 to switch the running section for the lateral direction. Furthermore, by moving the switching lever 14 upright, the steering of the steering section for driving the club is changed, and by the steering command from the operating mechanism E', the steering of the steering section for forward and backward directions is changed. The vehicle can run straight, turn, and make a super turn in the longitudinal direction, and the lateral steering section allows the vehicle to go straight, turn, and make a super pivot turn in the lateral direction, and the club steering section allows the vehicle to move in all directions. You can run the club. In this way, the backward tilting, forward tilting, and upright actions of the switching lever 14 of the switching mechanism F' allow the vehicle to travel straight, turn, turn in the longitudinal direction and lateral direction, and perform club driving in all directions of the vehicle. It becomes possible. In addition, the left and right front wheels 121, 109 and the left and right rear wheels 141, 129 all move independently, and the steering unit 13 has multi-stage gears incorporating fan-shaped gears that move the front and rear of the vehicle. Since the vehicle has a steering section that allows the vehicle to move straight, turn, and make a sharp turn in both the direction and the lateral direction, the vehicle can smoothly turn without slipping or the like.

[Brief explanation of drawings]

FIG. 1 is an explanatory diagram of a general multi-directional vehicle running in the left and right directions, FIG. 2 is an explanatory diagram of the vehicle running in the longitudinal direction, FIG. 3 is a plan view of an embodiment of the present invention, and FIG. 5 is a view from the direction of FIG. 3, FIG. 6 is a view from the direction of FIG. 3,
Fig. 7 is a side view of the steering unit, Fig. 8 is a sectional view taken along the line - Fig. 7, Fig. 9 is a sectional view taken along the line B-B in Fig. 8, and Fig. 10 is a sectional view taken along the line C-C in Fig. 8.
11 is a sectional view taken along line D-D in Figure 8, Figure 12 is a sectional view taken along line E-E in Figure 8, and Figure 13 is a sectional view taken along line FF in Figure 8. 14 is a sectional view taken along line GG in FIG. 8, FIG. 15 is a sectional view taken along line H-H in FIG.
Fig. 17 is a sectional view along the line J-
18 is a sectional view taken along line K-K in Figure 8, Figure 19 is a sectional view taken along line LL in Figure 8, and Figure 20 is a sectional view taken along line MM in Figure 8. A cross-sectional view along
Fig. 21, , Fig. 22, , Fig. 23,
, Fig. 24 is an explanatory diagram of the operation of the clutch when the switching lever is tilted forward and backward, Fig. 25 is an explanatory diagram of the order of turning patterns 1 to 3, and Fig. 26 is a diagram showing the gear engagement of the steering unit when the switching lever is tilted backward. FIG. 27 is an explanatory diagram of the gear meshing state of the steering unit when the switching lever is tilted forward, and FIGS. 28 and 29 are angle diagrams. A is the vehicle body, 13 is the steering unit, E' is the operating mechanism, and F' is the switching mechanism.

Claims (1)

[Claims] 1 Insert the input side shaft 33 and the right front wheel 1 into the housing C'.
The output shaft 42 on the 09 side, the output shaft 46 on the left front wheel 121 side, the output shaft 53 on the right rear wheel 129 side, and the left rear wheel 1
41 side output shaft 60 and two shift shafts 20, 2
5 is provided, and a first clutch 6 is provided on the input side shaft 33.
A first meshing spur gear 34 meshes with the second clutch 71, a second meshing spur gear 35 meshes with the third clutch 84, and a third meshing spur gear 76 meshes with the third clutch 84. A fourth meshing spur gear 77 that meshes with the fourth clutch 85 and a fifth meshing spur gear 89 that meshes with the fifth clutch 90 are fixed to the input shaft 33. , second and third spur gears 40, 78, 80, first, second, third and fourth multi-stage gears 36, 37, 38, 39 having dog clutches and incorporating sector gears, and spur gears. 41 are provided rotatably, respectively, and the right front wheel 1
A sixth meshing gear 86 that meshes with a sixth clutch 88 and a first multi-stage gear 3 are attached to the output shaft 42 on the 09 side.
6, the fifth multi-stage gear 43 and the second spur gear 7 mesh with each other.
A fourth spur gear 44 having a dog clutch is rotatably provided, and a seventh spur gear 44 that meshes with a seventh clutch 65 is attached to the output shaft 53 on the right rear wheel 129 side. A gear 58 that has a dog clutch and meshes with the first spur gear 40, a gear 57 that meshes with the fourth spur gear 44, and a sector gear that meshes with the third multi-stage gear 38. A mating sixth multi-stage gear 56 and a fifth spur gear 59 having a dog clutch and meshing with the spur gear 41 are rotatably provided. Matching 8th
A seventh multi-stage gear 48 that meshes with the meshing spur gear 47 and the second multi-stage gear 37 as a fan-shaped gear is fixed to the output shaft 46, and a seventh multi-stage gear 48 that has a dog clutch and meshes with the spur gear 41 is fixed to the output shaft 46. 6 spur gears 51 and a dog clutch, and the first spur gear 4
A seventh spur gear 52 that meshes with 0 is rotatably provided,
On the output shaft 60 on the left rear wheel 141 side, there are an eighth multistage gear 61 that meshes with the fourth multistage gear 39 as a sector gear, and a spur gear 6 that meshes with the gear 50 on the sixth spur gear 51 side.
2 and a spur gear 81 meshing with a third spur gear 80, and a first shifter yoke 6 rotatably engaged with a first clutch 69 on one shift shaft 20.
6 and a third shifter yoke 82 rotatably engaged with a third clutch 84; a fourth shifter yoke 83 rotatably engaged with a fourth clutch 85; a fifth clutch 90 and a seventh clutch 65; a fifth shifter yoke 64 rotatably engaged with the respective fifth shifter yokes 64;
a second shifter yoke 68 rotatably engaged with the second clutch 71 and a sixth shifter yoke 87 and an eighth clutch 70
The steering unit 13 is connected to an eighth shifter yoke 67 which is rotatably engaged with the steering unit 13, and the first shifter yoke 66 is moved by moving both shift shafts 20, 25 by operating the switching lever 14 to the upright position. The first clutch 69 is brought into mesh with only the first meshing spur gear 34 through the second shifter yoke 68, and the second clutch 71 is brought into mesh with only the second meshing spur gear 35 through the second shifter yoke 68. , a third clutch 84 connects the third meshing spur gear 76 and a second spur gear 78 via a third shifter yoke 82, and a fourth clutch 85 connects the second spur gear 78 via a fourth shifter yoke 83. The fourth meshing spur gear 77 and the third spur gear 80 are connected, and the fifth meshing spur gear 89 and the first spur gear 40 are connected by the fifth clutch 90 via the fifth shifter yoke 64. and the seventh
A clutch 65 connects the seventh meshing spur gear 54 and the sixth multi-stage gear 56, and the sixth clutch 88 via the sixth shifter yoke 87 meshes only with the sixth meshing spur gear 86. The eighth clutch 70 connects the eighth meshing spur gear 47 and the seventh spur gear 52 via the eighth shifter yoke 67, and by operating the switching lever 14 to the rearward tilted position, both The shift shafts 20 and 25 are moved to connect the first meshing spur gear 34 and the first multi-stage gear 36 with the first clutch 69 via the first shifter yoke 66, and the second shifter yoke 68 is moved. The second meshing spur gear 35 and the second multi-stage gear 37 are connected by a second clutch 71 via the second clutch 71, and the third meshing spur gear 76 is connected by a third clutch 84 via a third shifter yoke 82. and the second spur gear 78,
The connection between the fourth meshing spur gear 77 and the third spur gear 80 by the fourth clutch 85 is released via the fourth shifter yoke 83, and the fifth clutch 90 is disengaged via the fifth shifter yoke 64. The connection between the fifth meshing spur gear 89 and the first spur gear 40 is released, and the seventh meshing spur gear 54 and the sixth multistage gear 56 are connected by the seventh clutch 65.
A sixth clutch 88 connects the sixth meshing spur gear 86 and the fourth spur gear 44 via a sixth shifter yoke 87 , and The connection between the eighth spur gear 47 for meshing and the seventh spur gear 52 is released, the eighth spur gear 47 for meshing and the sixth spur gear 51 are connected, and the switching lever 14 is tilted forward. Both shift shafts 20 and 25 are moved by operation to the position, and the first meshing spur gear 34 and the third multistage gear 38 are connected by the first clutch 69 via the first shifter yoke 66. The second clutch 71 connects the second meshing spur gear 35 and the fourth multi-stage gear 39 via the second shifter yoke 68 , and the third clutch 84 connects the second meshing spur gear 35 and the fourth multistage gear 39 via the third shifter yoke 82 . The connection between the third meshing spur gear 76 and the second spur gear 78 is released, and the fourth meshing spur gear 77 and the third spur gear are connected by the fourth clutch 85 via the fourth shifter yoke 83. The connection with the gear 80 is released and the fifth clutch 9 is connected via the fifth shifter yoke 64.
At the same time, the seventh meshing spur gear 54 and the fifth spur gear 59 are connected by the seventh clutch 65. , the sixth meshing spur gear 86 and the fourth spur gear 44 are connected via the sixth shifter yoke 87, and the eighth clutch 70 connects the eighth meshing spur gear 44 via the eighth shift yoke 67. Spur gear 47 and 7th
A switching mechanism F' that connects the spur gear ₅₂ of The right front wheel 109 is connected to the output shaft 46 of the steering unit 13 for turning movement, the left front wheel 121 is connected to the output shaft 46 of the steering unit ₁₃ for turning movement, and the output shaft 53 of the steering unit 13 is connected to the left front wheel 121 for turning movement. A right rear wheel 129 is connected via a transmission mechanism _B3 to perform a turning operation, and a left rear wheel 141 is connected to the output shaft 60 of the steering unit 13 via a transmission mechanism _B4 to perform a turning operation. A multi-directional vehicle characterized by: