JPH01503131A - Self-guiding device for fast vehicles with a steering wheel with pneumatic tires - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] Self-guiding device for fast vehicles with a steering wheel with pneumatic tires The present invention comprises a steering wheel having a pneumatic tire which can be a driving wheel. A self-guiding device for a fast vehicle, the vehicle's movement being near the steering wheel. a rail wheel extending longitudinally in the direction and intended to follow a rail a first arm carrying a longitudinal axis in a direction opposite to the direction of movement of the vehicle relative to the guide axle; a second arm extending in the direction and carrying the rail wheel by itself; The two support arms are centered on two approximately horizontal axes attached to the cross members. It is vertically swingable, and the cross member is mounted on a nearly vertical pivot mounted on the turret. The turret can be rotated in a horizontal plane over a predetermined negative amplitude around is at least pivotally connected to a guide lever for one of the steering wheels of said guide axle. This control turret of the guide axle is connected to a single connecting rod and is connected to a nearly vertical pivot point. The first arm connects to the second arm. A self-propelled device attached to the turret by a more rigid connection. Regarding internal equipment.

This self-guiding device is primarily used in public transport vehicles that move on tires. .

The self-guiding device is particularly suitable for certain types of vehicles in two ways, viz. guided by a self-guiding rail device as it circulates on its own substructure? , or alternatively, when the vehicle cycles on its own, This invention relates to a self-guiding device for manually guided vehicles.

at least one bearing wheel having a pneumatic tire, which can be a driving wheel; A device for automatic guidance of a vehicle with a guiding axle is disclosed in European Patent No. 0062 Known since 370.

This known device consists of a first so-called It has a sensor arm. This arm is a turret mounted on a nearly vertical axis. a small lever attached to the steering wheel and pivoted to a lever for guiding one of the steering wheels. connected to at least one connecting rod.

This known device also extends in a direction opposite to the direction of movement of the vehicle relative to the guide axle. It has a second so-called follower arm. This second arm has a nearly vertical axis. As the center, it can be rotated horizontally within a predetermined range independently of the turret. is attached to the turret.

The two arms each carry a rail wheel designed to follow the guide rail. I have it.

The second device has means for raising the sensor arm and the follower arm. a by raising the arm and by connecting the guide axle to the steering wheel. Vehicles can be driven manually.

Until now it was a sensor arm, but it is horizontal regardless of the turret up to a predetermined range. To reverse the role of the first arm to become a follower arm that can swivel to, and previously is the degree of freedom of rotation of the second arm, which used to be a tracking arm but is now a sensor arm. making the drive bidirectional by providing means for limiting or preventing the Can be done.

However, this known device destabilizes the natural vibration mode of the wheels of the guide axle. There is a drawback. Such instability has a criticality of the order of 30 to 60 k/h. This can result from speed and can cause excessive lateral vibration of the wheels.

Under these conditions, operating the vehicle at these speeds becomes dangerous. Na Therefore, whether the path imposed by the rail is straight or curved, This is because untimely derailment of the self-guiding rail wheels may occur.

In non-guided road vehicles, the guided axle has a constant amount of sway altered by the zigzag road. The guide wheels rotate while continuously benefiting from the movement, and the guide wheels rotate depending on the road condition. and the rotational components of the wheels, i.e., drums, rims, and wheels. and due to static and/or dynamic unbalance of pneumatic components or gyroscopic effects turns alternately to the right and left as a function of the disturbance caused by the

Therefore, the amplitude and frequency of these zigzags depends on the magnitude of these disturbances and depending on the value of the mass attracted and the angle of inclination of the spindle axle and their It also depends on the value of the pull-back force caused by the caster angle.

Balance the attracted rotating masses to avoid periodic phenomena in the non-guided axle. , in order to limit these masses and avoid the phenomenon of resonance known by the name of shimmy. With a steering wheel that can keep the natural frequency of the device at a different value from the value of the disturbance frequency It is essential to create a form of suspension.

It is also necessary to remove gaps at the joints that connect the pivot joints and steering wheels to each other. It was also found that

The shimmy is changed by an inadvertent jerking turn of the steering wheel. this present The phenomenon develops with a disturbance consisting of a critical velocity.

The guide device can be reloaded as described in European Patent No. 0062370. When added to the guide axle by the rail wheel on the rail, the rail wheel and rail Depending on the state of the These periodic phenomena can lead to vibrational disturbances in the steering wheel that can , observed in manually driven vehicles, at least without special precautions. was found to be similar to shimmy.

The object of the invention is to provide a guide with a device for mounting by rail wheels on a rail. The purpose is to prevent periodic phenomena in the axle.

The solution proposed by the invention characterized in the claims provides that in a self-guiding device , between the steering wheel and the rail, for a set turn imposed by the rail. Create a coupling/disconnection means that allows the steering wheel to turn by a predetermined angle. Including.

This solution is complemented by decoupling means between the guide axle and the suspended mass of the vehicle. It is advantageous to do so.

Separating the connection between the steering wheel and the rail is the setting imposed by the rail. at least one of the coupling elements intended to transmit the turning value to the steering wheel; to the set turning value by a predetermined amplitude that is sufficient to eliminate all vibration phenomena of the steering wheel. This includes introducing a mechanical clearance that gives the steering wheels a degree of freedom in turning.

Various means for decoupling the self-guided "rail wheel/rail" device of the guide axle can be used.

The first means is that the axis on which the guide rail wheel rotates is carried by its support arm. the bushing between stops that limit movement within predetermined limits. , the self-supporting arm moves laterally by a predetermined amplitude with respect to its support arm. providing flexibility to at least one guide rail wheel.

The second method uses a flat section of the hub around which the guide rail wheel rotates. a movement control that limits movement to predetermined limits on an axis that has a between the limit stops and against its support arm by sliding on a bearing. to provide at least one guide rail wheel with a degree of freedom of lateral movement with a predetermined amplitude. Including getting.

A third method includes means for restricting the movement of the device to reverse the direction of movement of the vehicle. a device for providing and inverting and carried by a cross member supporting a first support arm; Horizontal alignment of the second arm to the turret by maintaining a gap between the attachment and horizontal rotation for a turret with a given angular amplitude smaller than the degree of freedom of rotation. including providing a degree of freedom to the first guide arm.

A fourth method involves moving between the ends of the connecting rod that connects the turret to the steering wheel. by providing sliding means between movement-limiting stops that limit the movement to certain limits. The turret provides a degree of freedom for horizontal turning by a predetermined angular amplitude relative to the steering wheel. This includes giving to people.

The connection and separation of the guide wheel and rail is completed by the connection and separation of the guide axle and the suspended mass. is advantageous. This is used to reduce lateral acceleration in the area of the steering wheel. by suitable lateral suspension of the body of the vehicle.

Such lateral suspension is constituted by a cylindrical sleeve surrounding the pneumatic suspension bag, 0 cylindrical sleeves which advantageously keep the suspension bags approximately coaxial with their pistons Only travel-limiting stops allow horizontal movement limited to a predetermined value. Pressure shock absorber reduces lateral vibration.

These decoupling means give complete stability and reliability advantages to the self-guiding device. . In fact, the risk of resonance is low (with operating speeds higher than 80 km/h). I can go. Furthermore, excessive mechanical stresses within the self-guiding device are avoided.

Further features and details of the invention can be seen in the drawings attached to this specification. The drawings that will appear in the detailed description of the vehicle show, by way of non-limiting example, a vehicle according to the invention. 2 shows several embodiments of self-guiding devices.

FIG. 1 shows a self-guiding device according to the invention with a steering wheel having pneumatic tires; FIG.

FIG. 2 is a cross section taken along the line ■--■ in FIG.

Figures 3 and 4 show the connection of the guide rail wheel to the support arm of the rail wheel. This is a vertical cross section of the device for cutting.

Figure 5 shows how to disconnect the support arm pivotally connected to the turret by the cross member. FIG. 3 is a plan view of the device.

FIG. 6 is a sectional view of a device for disconnecting the turret from the steering wheel; .

Figure 7 is a vertical section of a device for disconnecting the guide rail wheel from the rail. be.

Figure 8 shows the vertical alignment of the device for free rocking of the guide rail wheel relative to the support arm. It is a cross section.

Figure 9 shows a vertical lateral view of the device for disconnecting the guide axle from the suspended mass of the vehicle. It is a cross section.

In the drawings, the same reference numbers represent the same or similar elements.

Self-guiding device for fast vehicles with wheels with pneumatic tires according to the invention As shown in FIGS. 1 and 2, this device has a main body 2 as a whole. It has a guide axle indicated by the reference numeral 1, and a spindle 3 is provided at each end of the body 2. and this spindle directs the pneumatic tire 5, which is directed by the guide lever 6. It supports the wheels 4 having. This axle 1 has two rail wheels 7 and 7'. An automatic guide means for direction is installed, and the rail wheels are connected to the vehicle (not shown). so as to be engaged with a rail 8 extending along the longitudinal axis of the rolling path (not shown). intended. These rail wheels 7 and 7' are supported on support arms 10 and 10'. The supporting arm is mounted on a shaft 9 carried by the vehicle relative to the guide axle 1. extends in two possible directions of movement. The support arms 10 and 10' are connected to the cross member 1 2 and 12', swinging vertically about substantially horizontal pivots 11 and 11' carried by 14, and the cross member is carried by a turret generally designated by the reference numeral 14. It is possible to pivot approximately horizontally around approximately vertical pivots 13 and 13' carried by the vehicle. The turret 14 is attached to a substantially vertical pivot 15 of the guide axle 10 and the null body 2. There is.

This turret 14 carries an extension 16 above which the turret is mounted. connecting the nut 14 to at least one of the guide levers 6 of the at least one wheel 4; One of the swivel joints 17 of the connecting rod 18 is attached, and the two wheels 4 are guided mutually directionally by a connecting rod 19 attached to the lever 6 by a rotary joint 20. connected.

The cross members 12 and 12' have lower appendages 21 and 21', which lower appendages The horizontal pivoting of the cross member and the pivoting of the support arms 10 and 10' are prevented by stops 22 and 22. ', and these stoppers are connected to the intersection by the turret 14. It is carried on both sides of the lower appendages 21 and 21' of the differential members 12 and 12'. Overall A device for reversing the direction of movement, indicated at 23 in FIG. arm by impeding the movement of the appendage 21 or appendage 21' of the two cross members. 10 or arms 10' are alternately prevented from pivoting.

In order to firmly apply the rail wheel 7.7' to the rail 8, the rail wheel 7.7' support arms 10, 10' respectively from the cross member extensions 24 and 24', It is suspended by a suspension system designated by reference numerals 25 and 25'.

Self-guiding devices of the above type can produce a phenomenon comparable to the shimmy of conventional guiding axles. I understand that.

Now, the conventional solution commonly recommended for eliminating shimmy is to This includes reducing gaps as much as possible.

Contrary to this widely accepted prior solution, in the present invention, a sufficiently large gap can be Once introduced into one of the components of the self-guiding device, not only the steering axle 4 but also the guide rail The wheel wheels 7.7' also pivot along a zigzag path due to their natural vibration pattern. These modalities provide double-effect rigid mechanical connections. We devised a way to prevent them from interacting with each other by slanting them.

According to a feature of the invention, the sensor rail wheel 7,7' is provided with its support arm 10,1. When given a degree of freedom of transverse motion with a predetermined amplitude relative to 0', The shimmy of the self-base circle device 1 is removed.

FIGS. 3 and 4 show that the supporting arm 10.10' is supported by the guide rail wheel 7.7'. Two different embodiments of the device according to the invention are shown, allowing a degree of freedom of lateral sliding relative to the vinegar.

In Fig. 3, the sliding device is constructed by a rail that rotates freely around its axis 9. The wheel wheels 7 are provided by means of two crotched forks located at the end of the support arm 10. The inside of the supported soft friction bushing 26 is determined by an elastic stopper 27. It can slide freely from left to right and vice versa within the limits set.

In the sliding device shown in FIG. Rotate to . This hub is provided with a bearing 29, which supports the support arm. The elastic stopper 27 is placed on the shaft with the flat part 9' integrated with the IO. sliding so as to give the rail wheel 7.7' a degree of freedom of lateral movement within limits determined by can move.

According to the device shown in FIG. 4 can be turned in a horizontal plane.

The swivel device has a cross member 12 having an appendage 21 according to Japanese Patent Application Publication No. 1-503131 (5). It has a more supported support arm 10 whose pivoting is integral with the turret 14. Limited by a device that reverses the direction of movement. Sensor support oriented in the direction of movement The degree of freedom of swing of the arm 10 relative to the turret 14 is determined by the following directions oriented in opposite directions: The degree of freedom of the swing of the support arm 10' should be smaller than that of the support arm 10', so that the setting value of the swing of the guide device is correct. must be moved so that it remains, i.e. imposed by rail 8 It must be possible to automatically correct deviation of the steering wheel 4 from the road.

A sliding device is attached to the guide member of the guide axle 2, and due to the vibration phenomenon of the steering wheel 4, Freedom of swivel of the wheels 4 able to take on the angular amplitude of the induced horizontal swivels degree can be generated. of the connecting rod 18 integral with the extension 16 of the turret 14; The degree of freedom of sliding of the part 18' is reduced by the other part 18, which is integral with the lever 6 of the steering wheel 4. 16 is shown in FIG. 16. This sliding device is It has an empty cylindrical rod 18' section, and a solid cylindrical rod 18'' section and an integral pin are inserted therein. The stone 30 slides freely.

The movement of this piston 30 is limited by an elastic stopper 31.

FIG. 7 shows the degree of freedom of lateral translation by the guide rail wheel 7.7' relative to the rail 8. 1 is a schematic diagram of a device according to the invention allowing

The second device ensures that the rail wheel 7.7' has a subsection 32 that is wider than the rail. Features. According to this device, the flange 33 has an interference fit with the side surface of the rail 8. The rail wheel 7.7' can be translated laterally until it lasts.

Rail wheels that are aligned very closely to the rail to the extent that there is no lateral clearance are overloaded. exposed to the risk of frequent wear, jamming and even derailment.

Figure 8 shows the directional orientation of the guide rail wheel relative to its support arm 10.10'. 1 is a schematic diagram of a device according to the invention that allows

The degree of freedom system is such that the rail wheel 7 rotates freely around the hub 28, and this hub can pivot about a substantially vertical axis 34, which vertical axis is connected to the bearing 29. It is proposed to be integral with the horizontal shaft having a flat part 9' with a flat part 9'.

According to a feature of the invention, the invention provides a guide axle 2 with pneumatic tire wheels. The body of the vehicle is provided with lateral suspension means to complete the vertical suspension.

Its system of degrees of freedom refers generally to the vertical suspension means connecting the guide axle to the body 35. It is proposed to be completed by transverse suspension means indicated by the numeral 36.

FIG. 9 shows the lateral translation by the guide axle 2 relative to the suspended body 35 of the vehicle. 1 is a schematic diagram of a device allowing 0 degrees of freedom; FIG.

Therefore, in this special embodiment of the vertical and horizontal dual suspension system 36, several air The pneumatic suspension casing 37 has a limited lateral position defined by the lateral stops 40. Almost coaxially aligned with the piston 38 using a cylindrical sleeve 39 that only allows movement. is maintained.

A nearly horizontal dual-effect hydraulic shock absorber 41 dampens lateral vibrations.

The invention is not limited to the embodiments described above and may be practiced without departing from the scope of the appended claims. Obviously, countless modifications can be made to the examples.

This therefore helps steer the rails to avoid periodic phenomena comparable to shimmy. This does not exclude the possibility that other mechanical means may be employed to break the bond from the wheels.

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Claims (8)

[Claims] 1. a steering wheel (4) with a pneumatic tire (5) which can be a driving wheel; A self-guiding device (1) for fast vehicles equipped with In particular, it extends longitudinally in the direction of movement of the vehicle and follows the rail (8). a first arm (10) carrying a rail wheel (7) intended for 1) extending longitudinally in a direction opposite to the direction of movement of the vehicle and itself a second arm (10') carrying a rail wheel (7') at the The beam (10, 10') has two main parts attached to the cross member (12, 12'). The cross members are vertically swingable about approximately horizontal axes (11, 11'); Centered on a nearly vertical pivot (13, 13') mounted on the turret (14) the turret is pivotable in a horizontal plane over a predetermined angular amplitude; Pivotally mounted on the guide lever (6) for one of the steering wheels (4) of the inner axle (2) This control of the guide axle (2) is connected to at least one connecting rod (18). The turret (14) now rotates around a nearly vertical axis (15). The first arm (10) is further away from the connection part of the second support arm (10'). self-guiding device attached to said turret (14) by a rigid connection; In the device, predetermined for a set turn imposed by the rail (8) coupling/disconnecting means for giving the steering wheel (4) a degree of freedom to turn by an angle determined by the steering wheel; , characterized in that it is made between the steering wheel (4) and the guide rail (8). self-guiding device. 2. for transmitting the set turning value imposed by the rail (8) to the steering wheel (4). At least one element for connecting the guiding and directing member intended to Swiveling set by a predetermined amplitude, which is sufficient to eliminate all vibration phenomena of the pick-up wheel (4) A mechanical clearance is introduced which gives the steering wheel (4) a degree of freedom of turning relative to the value. Self-guiding device according to claim 1, characterized in that: 3. The shaft (9) on which the guide rail wheels (7, 7') rotate is connected to its support arm (10). , 10') within the push (26), limiting the movement within predetermined limits. The support arm (10, 10') by a predetermined amplitude in at least one degree of freedom of transverse motion. according to claims 1 and 2, characterized in that the guide rail wheels (7, 7') of Self-guiding device by any one. 4. A hub (28) around which the guide rail wheels (7, 7') rotate, on an axis with a flat area (9') integral with the support arms (10, 10'); Bearings (29) between movement limiting stops (27) which limit movement to predetermined limits. by sliding it through the support arm (10, 10'). At least one guide rail wheel (7, 7' ), the self-guidance according to one of claims 1 and 2 Device. 5. Means are provided for restricting the movement of the device (23) for reversing the direction of movement of the vehicle. and a cross member (23) supporting the first support arm (10). By maintaining a gap between the appendage (21) carried by less than the degree of freedom of horizontal rotation of the second arm (10') relative to the let (14) The degree of freedom of horizontal rotation relative to the turret (14) is controlled by the first guide arm by a predetermined angular amplitude. According to one of the preceding claims, characterized in that Self-guiding device. 6. Between the ends of the connecting rod (18) connecting the turret (14) to the steering wheel (4) can be slid between movement limiting stops (27) which limit movement to predetermined limits. By providing means, only a predetermined angular amplitude is applied to the steering wheel (4). According to the preceding claim, characterized in that it provides the turret (14) with a degree of freedom of horizontal pivoting. Self-guiding device by any one of the ranges. 7. at least one having a core (32) having a width greater than the width of the rail (8); The flange (3) of the rail wheel (7, 7') is provided with two rail wheels (7, 7'). 3) by maintaining a lateral clearance between the sides of the guide rail (8) and the rail (8). (8) guiding at least one degree of freedom of transverse movement by a predetermined amplitude; According to one of the preceding claims, characterized in that it is provided on a rail wheel (7, 7') Self-guiding device by one or more. 8. A support arm (28) around which rail wheels (7, 7') rotate perpendicular to the axis with a flat part (9') carried by (10, 10') Providing means for horizontal pivoting about a substantially vertical pivot (34) By this means, at least one guide rail wheel (7, 7') is mounted on its support arm. The degree of freedom to rotate around the axis (34) that is almost perpendicular to (10, 10') A self-guiding device according to any one of the preceding claims, comprising: