Steering gear

Abstract

To provide a steering unit that enables autonomous steering, can be smoothly and readily attached to any of various types of steering wheels having various shapes, and is designed compactly as a whole so that even manual steering can be smoothly performed.SOLUTION: A steering unit includes a drive that operates a steering wheel having three spoke members, a follower that is an annular member fitted in the inside of the steering wheel in a plan view, and transmits a driving force of the drive to the steering wheel, and coupling fixtures that couple the follower to the steering wheel. The coupling fixtures are laid along the undersurfaces of the spoke members so that the coupling fixtures can couple the follower to the spoke members. Three coupling fixtures are included to be associated with the three spoke members.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to a steering device that can be retrofitted to a traveling machine body. [Background technology]

[0002] A steering device described in Patent Document 1 has been publicly known which includes a drive unit that operates a steering handle, a driven body that is an annular member that fits within the steering handle in a plan view and transmits the driving force of the drive unit to the steering handle, and a connecting and fixing part that connects the driven body to the steering handle, and which can be retrofitted to a traveling vehicle body to enable automatic steering of the steering handle.

[0003] According to the above-mentioned document 1, a steering device for automatically steering the steering handle can be retrofitted to the traveling vehicle body, but the overall configuration of the steering device becomes complex and large, making manual steering difficult after the steering device is installed.In addition, if the shape or type of the steering handle is different, the steering device cannot be installed in many cases, resulting in a lack of versatility. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-109453 Summary of the Invention [Problem to be solved by the invention]

[0005] The present invention aims to provide a steering device that enables automatic steering, can be smoothly and easily attached to steering handles of various shapes and types, and has a compact overall structure that allows smooth manual steering operation. [Means for solving the problem]

[0006] In order to solve the above problems, the present invention firstly comprises a drive unit that operates a steering handle having three spoke members, a driven body that is an annular member that fits inside the steering handle in a plan view and transmits the driving force of the drive unit to the steering handle, and a connecting and fixing part that connects the driven body to the steering handle, wherein the connecting and fixing part is configured to be able to connect the driven body and the spoke members by aligning it along the underside of the spoke members, and three connecting and fixing parts are provided to correspond to the three spoke members.

[0007] Secondly, the coupling and fixing portion is provided on the inner peripheral surface side of the driven body.

[0008] Thirdly, the connecting and fixing part is characterized in that it is configured to be able to swing up and down via a swing shaft.

[0009] Fourth, a cover body is provided to cover the driven body, and the cover body has an actuator installation section where an actuator constituting the drive device is installed, and a rotation prevention section that prevents the cover body from rotating due to the driving force of the actuator.

[0010] Fifth, the cover body is characterized in that it can be separated into a first cover body provided with a roller body that assists in driving the driven body, and a second cover body formed with the actuator installation portion. [Effects of the Invention]

[0011] The connecting and fixing portion allows the steering device to be smoothly and firmly attached to any steering handle having three spokes, even if the shape of the steering handle is slightly different, thereby improving versatility and reducing the size of the entire steering device. Therefore, manual steering operability can be ensured even after the steering device is installed on the steering handle. Furthermore, since the center positions of the steering handle and the annular driven body are approximately aligned in a plan view, the installation work of the steering device can be performed smoothly and easily.

[0012] Furthermore, if the connecting and fixing portion is provided on the inner surface side of the annular member constituting the driven body, the connecting and fixing portion is positioned inside the annular member, making it possible to make the entire device more compact.

[0013] Furthermore, if the connecting and fixing part is configured to be able to swing up and down via a swing shaft, the connecting and fixing part can be adjusted in its swing position up and down to match the inclination of the spoke members and be aligned with the spoke members, thereby making it easier to install the steering device even on steering handles with different specifications and improving versatility.

[0014] Furthermore, if a cover body is provided to cover the driven body, and the cover body has an actuator installation section where an actuator constituting the drive device is installed, and a rotation prevention section that prevents the cover body from rotating due to the driving force of the actuator, the cover body serves as a structure for covering the driven body, a structure for fixing the actuator, and a structure for preventing the cover body from rotating together, thereby reducing the number of parts and keeping costs low, and also contributing to the miniaturization of the entire device.

[0015] Furthermore, if the cover body is configured to be separable into a first cover body provided with a roller body that assists in driving the driven body, and a second cover body formed with the actuator installation portion, the second cover body on which the heavy actuator is installed can be separated from the first cover body and attached and detached separately, thereby improving the workability of attaching and detaching the steering device. [Brief explanation of the drawings]

[0016] [Figure 1] 1 is an overall left side view showing a work vehicle equipped with a steering unit to which the present invention is applied. [Figure 2] FIG. 2 is a plan view showing a steering unit installed on the traveling machine body. [Figure 3] FIG. 2 is a side view showing a steering unit installed on the traveling machine body. [Figure 4] 1A and 1B are a plan view and a side view showing the steering unit. [Figure 5] 2A to 2D are cross-sectional views taken along the line AA of the main part showing the types of spoke members on which the steering unit is installed. [Figure 6] FIG. 2 is an exploded perspective view showing how the steering unit is attached and detached. [Figure 7] FIG. 10 is a perspective view showing a connecting and fixing part of the first modified embodiment. [Figure 8] 1A is a perspective view of a main part showing a state in which a steering unit of a first modified embodiment is installed, and FIG. 1B is an exploded perspective view of the steering unit of the first modified embodiment. [Figure 9] FIG. 10 is a perspective view showing a steering unit according to a first modified embodiment. [Figure 10] FIG. 10 is a perspective view showing a steering unit according to a second modified embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0017] Fig. 1 is an overall left side view of a work vehicle equipped with a steering unit to which the present invention is applied, and Fig. 2 and Fig. 3 are a plan view and a side view showing the steering unit installed on a traveling machine body. The illustrated work vehicle (tractor) is composed of a machine body frame 3 supported by a pair of left and right front wheels 1, 1 and rear wheels 2, 2, a traveling machine body 7 equipped with a bonnet 4 surrounding an engine (not shown) installed on the front side of the machine body frame 3, and a cabin 6 installed behind the bonnet 4. A lifting link 8 is provided on the rear side of the traveling machine body 7 to connect a working machine (not shown) such as a rotary cultivator so that it can be raised and lowered.

[0018] The cabin 6 is provided with a control unit 9 where an operator sits to operate the running body 7, and the control unit 9 is provided with a seat 11 where the operator sits, a steering handle 12 for steering the running body 7 (front wheels 1), a forward / reverse switch lever 13 located on one of the left and right sides (left in the illustrated example) of the steering handle 12, an engine control lever 14 located on the other of the left and right sides (right in the illustrated example) of the steering handle 12, and a work equipment lifting lever 16 located in front of the engine control lever 14.

[0019] In addition, a steering unit (steering device, automatic steering device, autonomous steering device) 10 is detachably provided on the upper end side of the vertical steering shaft 15 (steering column 17) to which the steering handle 12 is connected, in other words, between the steering handle 12 and the steering shaft 15 (see Figures 1 to 3, Figure 6, etc.).

[0020] The steering unit 10 is configured to automatically steer (automatically steer) the steering handle 12 so as to make the traveling machine body 7 travel for work along a predetermined route, based on position information of the traveling machine body acquired by a GNSS receiving device (not shown) installed in the cabin 6 and image data of the traveling direction captured by a photographing device (not shown) installed in the cabin 6. The specific configuration of the steering unit 10 will be described below.

[0021] Next, the configuration of the steering unit will be specifically described with reference to Figures 1 to 6. Figures 4(A) and (B) are plan and side views showing the steering unit, Figures 5(A) to (D) are AA cross-sectional views of the main part showing the types of spoke members on which the steering unit is installed, and Figure 6 is an exploded perspective view showing how the steering unit is attached and detached.

[0022] The steering unit 10 includes the steering handle 12, a drive motor (drive device, electric motor) 21 which is an actuator that operates the steering handle 12, a driven gear (driven body) 22 which is an annular member driven by the drive motor 21 and transmits the driving force of the drive motor 21 to the steering handle 12 side, a cover body 23 which covers the driven gear 22, and a connecting fixing part 24 which connects the driven gear 22 to the steering handle 12 side.

[0023] The steering handle 12 has a ring-shaped handle portion 12A that is gripped by the operator, a support portion 12B that is connected (supported) to the upper end of the steering shaft 15, and three spoke members 12C, 12C, 12C that connect the support portion 12A and the handle portion 12B.

[0024] The spoke members 12C are members that extend radially from the pivot support portion 12B toward the handle portion 12A in a plan view, and are configured so that adjacent spoke members 12C are spaced equally apart. Specifically, adjacent spoke members 12C are located at positions rotated 120° around the pivot support portion 12B in a plan view (see FIG. 4(A), etc.).

[0025] Moreover, the spoke members 12C are inclined obliquely upward from the pivot support portion 12B toward the handle portion 12A in a side view. The angle of inclination of the spoke members 12C differs depending on the type of steering handle 12 (work vehicle).

[0026] The drive motor 21 has an output gear 20 formed to mesh with the driven gear 22, and is configured so that the output gear 20 is driven to rotate by the driving force of the drive motor 21, thereby driving to rotate the driven gear 22 connected to the steering handle 12 side.

[0027] The drive motor 21 is disposed below the steering handle 12 (handle portion 12A) and in front of the steering handle 12 (support portion 12B) by the cover body 23 (see Figures 1 to 3, etc.).

[0028] The driven gear 22 is an annular member formed with a smaller diameter than the handle portion 12A in a plan view, and is formed so as to surround the support portion 12B below the handle portion 12A (spoke member 12C).

[0029] The driven gear 22 is configured to be attached and fixed to the steering handle 12 side with its center (drive shaft) located on the axis of rotation (steering shaft 15, bearing portion 12B) of the steering handle 12. In other words, the driven gear 22 is configured to rotate (rotate and drive) around the steering shaft 15 (bearing portion 12B) as an axis (see Figures 2, 4(A), etc.).

[0030] In addition, the driven gear 22 has a gear portion 26 formed on its outer surface that meshes (engages) with the drive motor 21 (output gear 20), and the connecting fixing portion 24 is provided on its inner surface (upper surface) for connecting to the spoke member 12C.

[0031] According to this configuration, the driven gear 22 is configured to be able to steer the steering wheel 12 by transmitting the driving force of the drive motor 21 to the steering wheel 12 side. Specifically, the steering unit 10 is able to steer (automatically steer) the steering wheel 12 by transmitting the driving force of the drive motor 21 in the order of the output gear 20 → the driven gear 22 → the steering wheel 12.

[0032] The connecting and fixing portion 24 includes a fixing portion 27 attached and fixed to the inner circumferential surface of the driven gear 22, a swing shaft 28 provided at the upper end of the fixing portion 27, and a connecting portion 29 supported so as to be swingable up and down about the swing shaft 28, and is provided at a total of three locations at equal intervals along the inner circumferential surface of the annular driven gear 22 so as to correspond to the three spoke members 12C (see Figures 2 to 4, etc.). In this case, adjacent connecting and fixing portions 24 are provided at positions rotated 120° about the center of the driven gear 22 in a plan view, similar to the spoke members 12C (see Figure 4(A), etc.). In other words, the three connecting and fixing portions 24 are provided in an annular arrangement so as to be connected to the three spoke members 12C, respectively, thereby enabling the driven gear 22 to be firmly attached to the steering handle 12.

[0033] When viewed in the AA cross section, which is the view in the extension direction, the connecting portion 29 is formed in a U-shape with an open bottom, and an insertion hole 29a is formed on the side thereof through which a pair of band members (cable ties) 31, 31 are inserted.

[0034] According to this configuration, the upper surface of the connecting portion 29, with the band member 31 inserted into the insertion hole 29a, is brought into contact with the lower surface of the spoke member 12C, and in this state, the connecting portion 29 and the spoke member 12C are fastened together using the band member 31, thereby fixing the connecting portion 29 and the spoke member 12C. This allows the steering unit 10 (connection fixing portion 24, connecting portion 29) to be detachably attached and fixed to the steering handle 12 (spoke member 12C) side.

[0035] Furthermore, the connecting portion 29 extends radially from the inner circumferential surface (the fixed portion 27) of the driven gear 22 so as to overlap the spoke member 12C in a plan view, and its base end is journaled on the swing shaft 28 disposed along the inside of the driven gear 22. As a result, the connecting portion 29 is configured so that its upper surface can be aligned with the lower surface of the spoke member 12C by swinging its extended end up and down (see Figures 2 to 4, etc.).

[0036] According to this configuration, by adjusting the vertical swing position of the connecting portion 29, it is possible to bring the connecting portion 29 (upper surface) and the spoke members 12C (lower surface) into contact with each other, even if the inclination of the spoke members 12C differs depending on the type of steering handle 12. This increases the number of types of steering handle 12 to which the steering unit 10 can be attached and fixed, thereby significantly improving versatility.

[0037] As shown in the AA cross section, an abutment surface 32 is formed on the upper surface of the connecting portion 29. The abutment surface 32 is a wave-shaped surface extending in the longitudinal direction, with a pair of peaks aligned in the short direction in cross section. The abutment surface 32 having this configuration can make line contact with the lower surface of a typical spoke member 12C at at least two points, allowing the connecting portion 29 (abutment surface 32) and the spoke member 12C to abut in a stable manner (see FIGS. 5(A) to 5(D)).

[0038] Specifically, if the underside of the spoke member 12C is recessed in an E-shape (U-shape) with an open bottom, the underside of the spoke member 12C will abut against both outer sides of a pair of peaks on the abutment surface 32 (see Figure 5(A)); if the underside of the spoke member 12C is flat or gently curved downward, the underside of the spoke member 12C will abut against the apex sides of a pair of peaks on the abutment surface 32 (see Figures 5(B) and (C)); and if a triangular protrusion is provided downward on the underside of the spoke member 12C, the underside of the spoke member 12C will abut against the inner sides of a pair of peaks on the abutment surface 32 (see Figure 5(C)).

[0039] The cover body 23 is divided into a first cover body 23A and a second cover body 23B in the front and rear, and is provided with an annular cover portion 33 formed with a U-shaped cross section with an open inner peripheral surface side so as to cover the gear portion (outer peripheral surface side) of the driven gear 22, a motor installation portion (actuator installation portion) 34 that houses and supports the drive motor 21, and a rotation prevention portion 36 that prevents the steering unit 10 from rotating together with the steering handle 12 (see Figure 6).

[0040] The first cover body 23A is provided with the arc-shaped cover portion 33 that covers the front (travel direction) half of the driven gear 22, an auxiliary roller 37 that assists the rotational drive of the driven gear 22, and the anti-rotation portion 36.

[0041] A plurality of auxiliary rollers 37 (three in the illustrated example) are provided along the arc-shaped first cover portion 23A, and each auxiliary roller 37 is installed on the inner peripheral surface side of the first cover body 23A. The auxiliary rollers 37 having this configuration can hold the driven gear 22 in a position within the cover body 23 that allows smooth rotational drive, thereby making it possible to further stabilize the automatic operation of the steering wheel 12 by the steering unit 10.

[0042] As shown in Figure 3, etc., the anti-rotation portion 36 comprises a pin member (regulating pin) 38 extending downward from the front end side of the first cover body 23A, and an angle-shaped regulating member 39 configured to be attachable to the running body 7 side, and the regulating member 39 is formed with fixing holes 41, 41 for bolting to the body (steering column) side, and a regulating portion 42 recessed so that the pin member 38 can be inserted (see Figures 3, 4(B), 6, etc.).

[0043] According to this configuration, the anti-rotation portion 36 can prevent (restrict) the steering unit 10 from rotating together with the steering handle 12 as the drive motor 21 is driven, by using a simple configuration in which the pin member 38, through which a washer-shaped (ring-shaped) elastic member (rubber member) 40 is inserted, is inserted into the restricting portion 42. In addition, since the elastic member 40, which has vibration-damping properties, is interposed between the pin member 38 and the restricting member 39, the anti-rotation portion 36 can be prevented from shifting or coming off due to vibration.

[0044] The second cover body 23B is provided with an arc-shaped cover portion 33 that covers the rear half of the driven gear 22, and the drive motor installation portion 34 that houses and holds the drive motor 21 on the front side of the steering handle 12. The drive motor installation portion 34 is disposed behind and below the cover portion 33 that covers the rear portion of the driven gear 22.

[0045] According to this configuration, the divided cover body 23 has on one side (the first cover body 23A) the anti-rotation portion 36 that is attached to the running body 7 side, and on the other side (the second cover body 23B) a drive motor installation portion 34 that houses and supports the relatively heavy drive motor 21, making it possible to attach and detach the steering unit 10 to the steering handle 12 more smoothly and easily.

[0046] According to the above-described steering unit 10, if the traveling machine body 7 is equipped with the normal steering handle 12 having three spoke members 12C, the steering unit 10 can be smoothly and easily retrofitted. Furthermore, the steering unit 10 retrofitted to the traveling machine body 7 can control the steering operation of the installed steering handle 12 by controlling the driving force of the drive motor 21. This makes it possible to easily and smoothly convert an existing work vehicle into a work vehicle capable of automatic steering.

[0047] Furthermore, even if the steering handle 12 provided on the running body 7 has a different configuration from that described above and the steering unit 10 cannot be attached, the steering unit 10 can be retrofitted to the running body 7 by simply replacing the steering handle 12.

[0048] Next, another embodiment 1 of the steering unit will be described with reference to Figures 7 to 9. Figure 7 is a perspective view showing a connecting and fixing part of another embodiment 1, Figure 8(A) is a perspective view of a main part showing a state in which the steering unit of another embodiment 1 is installed, Figure 8(B) is an exploded perspective view of the steering unit of another embodiment 1, and Figure 9 is a perspective view showing the steering unit of another embodiment 1.

[0049] The steering unit 10 includes the steering handle 12 , the drive motor 21 , the driven gear 46 , the cover body 23 , and the connecting and fixing portion 47 .

[0050] The output body (output gear) of the drive motor 21 and the driven body (driven gear) are configured as pin gears. In the example shown, the output body side is a pin wheel (pin rack) 59 with rollers arranged along the outer circumferential surface, and the driven body side is an annular pin gear 60, but it is also possible to configure the output body side as a pin gear (not shown) and the driven body side as an annular pin wheel (not shown) (see FIG. 9, etc.).

[0051] In addition, the driven gear 46 is composed of multiple (three in the illustrated example) divided bodies 46A, 46B, 46C, and a connecting portion 48 is provided on the end side of each of the arc-shaped divided bodies 46A, 46B, 46C to enable the divided bodies to be attached and detached to each other.

[0052] The connecting portion 48 is composed of a connecting protrusion 48a, which is a convex portion formed on one end side of the divided bodies 46A, 46B, 46C, and a connecting hole 48b, which is formed on the other end side of the divided bodies 46A, 46B, 46C and into which the connecting protrusion 48a is inserted (see FIG. 8(B)). As a result, the driven gear 46 can be formed by using the connecting portion 48 to connect the ends of the adjacent arc-shaped divided bodies 46A, 46B, 46C.

[0053] According to this configuration, the steering unit 10 (driven gear 46) can be attached to the steering handle 12 (shaft support portion 12B, spoke member 12C) side without removing the steering handle 12 from the steering shaft 15 (steering column 17) side. This makes it possible to perform the attachment and detachment work of the steering unit 10 more smoothly and easily.

[0054] The cover body 23 may be configured such that one end of the first cover 23A and one end of the second cover 23B are rotatably connected around a connecting pin 49 (see FIG. 8(B)). With this configuration, for example, first, the first cover body 23A is installed at a predetermined installation position using the anti-rotation portion 36, and then the second cover body 23B is closed around the connecting pin 49, thereby automatically positioning the second cover body 23B at the predetermined installation position. This makes it possible to more smoothly and easily connect the cover bodies 23 that are formed in separate parts.

[0055] The connecting and fixing portion 47 has a plurality of (three in the illustrated example) fixing portions 51 attached and fixed along the inner peripheral surface side of the driven gear 22, a swinging shaft 52 provided on the upper end side of each fixing portion 51, a connecting portion 53 supported so as to be swingable up and down around the swinging shaft 52 as an axis, and configured so that the swinging end side can be installed on the upper surface side of the support portion 12B, and an annular fixing member 54 that fixes the connecting portions 53 together (see Figures 7, 8(B), etc.).

[0056] The connecting portion 53 is formed with an arc-shaped guide portion 57 recessed on its upper surface into which a portion of the fixing member 54 is fitted (set), fixing holes 57a, 57a for attaching and fixing the fixing member 54 set on the guide portion 57, and a locking piece 58 protruding downward to lock onto the upper surface of the spoke member 12C.

[0057] The guide portion 57 is configured so that it can be set to a fixed position where it is disposed on the upper surface side of the journal portion 12B from below the journal portion 12B via a space formed between adjacent spoke members 12C, 12C, by the connecting portion 53 being swung up and down about the swing shaft 52. In other words, the connecting portion 53 (guide portion 57) and the driven gear 46 can sandwich the journal portion 12B of the steering handle 12 from above and below.

[0058] Furthermore, since three connecting portions 53 are provided along the inner circumferential side of the driven gear 46, the guide portions 57 can be arranged in an annular shape on the upper surface of the journal portion 12B by setting the connecting portions 53 in fixed positions. This makes it possible to set the fixing member 54 on the annular guide portions 57 (see FIGS. 7 and 8).

[0059] The locking pieces 58 are configured to be disposed in positions where they can be locked with the side surfaces of the spoke members 12C when the connecting portions 53 are set in fixed positions (see Figures 7 and 8(A), etc.). As a result, the connecting portions 53 can prevent the steering unit 10 from being co-rotated by the driving force of the drive motor 21, even when the locking pieces 58 come into contact with the side surfaces of the spoke members 12C.

[0060] The fixing member 54 is formed in a ring shape that can be fitted into the three guide portions 57, 57, 57 formed by the connecting portion 53 set in the fixed position, and fixing holes 54a are drilled on each guide portion 57 side for bolt fixing.

[0061] As a result, the fixing member 54 can be bolted to the three guide portions 57 (connecting portions 53) using fixing bolts 55, thereby connecting the three connecting portions 53 (see Figures 7 and 8, etc.). According to this configuration, the fixing member 54 (connecting portion 53) and the driven gear 46 sandwich the journal portion 12B from above and below, so that the steering unit 10 can be attached to the steering handle 12 in a detachable configuration.

[0062] According to the above-mentioned connecting and fixing portion 47, the steering unit 10 can be firmly attached to the steering handle 12 side with a simple attachment operation, and when attaching the steering unit 10, there is no need to wrap the band member 31 around the spoke member 12C, which results in a neater appearance.

[0063] Next, a second modified embodiment of the steering unit will be described with reference to Fig. 10. Fig. 10 is a perspective view showing the steering unit of the second modified embodiment.

[0064] The steering unit 10 may be configured such that the output gear 61 of the drive motor 21 and the driven body 62 (driven gear) are non-contact magnetic gears (magnetic gears, magnetic gears). According to this configuration, the driving force of the drive motor 21 can be transmitted in a non-contact manner from the output body 61 to the driven body 62, thereby reducing vibration and noise and improving maintainability. [Explanation of symbols]

[0065] 10 Steering unit (steering device) 12 Steering wheel 12C spoke material 21 Drive motor (drive device) 22 Driven gear (follower) 24 Connection fixing part 23 Cover body 23A First cover body 23B Second cover body 28 Swing axis 34 Drive motor installation section (actuator installation section) 36 Anti-rotation part

Claims

1. a drive unit for operating a steering wheel having three spoke members; a driven body that is an annular member that fits inside the steering wheel in a plan view and transmits the driving force of the drive device to the steering wheel; a connecting and fixing portion that connects the driven body to the steering handle side, the connecting and fixing portion is configured to be able to connect the driven body and the spoke member by being placed along the lower surface side of the spoke member, The connecting and fixing portions are provided in three pieces corresponding to the three spoke members. Steering gear.

2. The connecting and fixing portion is provided on the inner peripheral surface side of the driven body. The steering device according to claim 1 .

3. The connecting and fixing part is configured to be swingable up and down via a swing shaft. A steering device according to claim 1 or 2.

4. a cover body for covering the follower body; The cover body has an actuator installation portion on which an actuator constituting the drive device is installed, and a rotation prevention portion that prevents the cover body from rotating due to the driving force of the actuator. A steering device according to any one of claims 1 to 3.

5. The cover body is configured to be separable into a first cover body provided with a roller body that assists the driving of the driven body, and a second cover body formed with the actuator installation portion. The steering device according to claim 4.

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