| 摘要 |
PURPOSE:To provide a reach type fork-lift which continuously changes a progress direction to all directions completely satisfies a theory of Ackerman Jeantaud, and besides corrects the posture of a car body to all progress directions. CONSTITUTION:A reach type fork-lift 1 is formed such that left and right road wheels 5 and 6 are steerably supported, a means for detecting the steering angle thereof is provided, a drive wheel 4 steerable by a handle and a means detectable of the steering angle thereof are provided, and a progress angle input means 15 capable of inputting a reference direction extending along the central line of a car body and an angle with the reference direction is provided. When a progress angle theta0 is on the right of the reference direction, the steering angle thetaR of the right road wheel 6 is caused to coincide with the progress angle theta0. The cornering center P of a car body determined by a geometric relation between the right road wheel 6 and the drive wheel 4 is computed and the right road wheel 5 is steered and controlled such that the extension line HL of the left road wheel 5 crosses the cornering center P. |
