JP2509670Y2 - Crawler type carrier loading attitude control device - Google Patents

Description

[Detailed description of the device]

[0001]

[Industrial applications]

The present invention relates to a load posture control device for a crawler-type carrier that can hold a load in a fixed posture regardless of the road surface shape.

[0002]

[Prior art]

Since the crawler type traveling device has a large ground contact area and a low ground contact pressure, it can travel on an unusual road surface, for example, on an obstacle such as a step, but in order to further improve this running performance, the crawler type Japanese Patent Publication No. Sho 63-19391 shows that the shape of a triangle formed by three wrapped sprockets (wheels) can be changed according to the type of obstacle.

[0003]

[Problems to be solved by the device]

However, in the above-mentioned prior art example, it is unclear what the posture of the loading platform will be when the winding shape of the crawler is changed. If the posture of the loading platform changes as it is with the change of the winding shape of the crawler, the loading platform tilts and the load falls when the loading platform is largely changed. In particular, when an object such as a gas cylinder is loaded on the loading platform with an inclination, it is desired that the posture of the loading does not change even if the winding shape of the crawler changes.

The present invention solves such a problem, and in short, it is intended to prevent the inclination of the carrier frame from changing even when the inclination of the chassis frame changes due to sloping ground or the like.

[0005]

[Means for Solving the Problems]

Under the above-mentioned problems, the present invention has small-diameter drive wheels and idle wheels arranged in front of and behind large-diameter running wheels, and a crawler is wound around these drive wheels, running wheels, and idle wheels in a triangular shape, and A crawler in which a wheel is attached to a track frame which is vertically rotatable about a support shaft of the traveling wheel by expansion and contraction of a hydraulic cylinder provided between the crawler frame and a chassis frame so that a winding shape of the crawler can be changed. In a model carrier, an inclination sensor for detecting the inclination state of the undercarriage frame is attached to the undercarriage frame, and the hydraulic cylinder is expanded and contracted according to the detection value of the inclining sensor to make the traveling wheel and the driving wheel contact with each other. The crawler winding shape is changed so that the traveling wheel, the driving wheel, and the idler wheel come into contact with each other so that the posture of the load loaded on the luggage carrier frame is kept constant. One in which the.

[0006]

【Example】

1 to 3 are a side view, a plan view and a front view of a crawler type carrier for exclusive use of a cylindrical object showing an embodiment of the present invention, the center of a chassis frame 3 on which an engine 1 and a mission 2 are mounted. A large-diameter traveling wheel 5 is loosely fitted to a support shaft 4 that is forcedly driven by the power of the engine 1 while protruding to both sides in the vicinity of the center of gravity, and a small-diameter idler wheel 6 is attached to the upper rear position of the traveling wheel 5. On the support shaft 4, left and right track frames 7 which can be rotated up and down around the support shaft 4 are forwardly extended and pivotally attached, and small-diameter drive wheels 8 are attached to the track frames 7. The track frame 7 accommodates a chain wheel 10 fixed to a support shaft 4 connected by a chain 9 and a chain wheel 11 connected to a drive wheel 8, and the power of the support shaft 4 is supplied to the drive wheel 8.
Tell. On the other hand, the truck frame 7 and chassis frame 3
A hydraulic cylinder 12 is interposed between and, and the drive wheel 8 can be rotated up and down about the support shaft 4 by expansion and contraction of the hydraulic cylinder 12. The crawler 13 is wound around the idler wheel 6, the traveling wheel 5, and the drive wheel 8 described above. In the crawler 13 thus wound, since the idler wheel 6 is located above and behind the traveling wheel 5, the traveling wheel 5 has a large diameter so that the upper surface of the crawler 13 and the traveling wheel 5 are slightly spaced. It is preferable to leave it because the contact area of the traveling wheel 5 becomes large. Besides, supporting wheels 14 are appropriately installed between the traveling wheels 5, the driving wheels 8 and the idle wheels 6.

A handle 15 extends upward from the rear end of the chassis frame 3, and a handle lever 15 is provided with a clutch lever 16 and a gear shift lever 17 for intermittently changing the power in the mission 2 and for shifting the gear. Further, below the handle 15, a posture changing lever 18 for operating the hydraulic cylinder 12 is also provided. When you operate this attitude change lever 18,
A hydraulic cylinder that switches the direction switching valve to suit the operation amount.
Although the expansion / contraction amount of 12 can be obtained, since these are based on conventionally known means, details thereof are omitted here.
A luggage carrier frame 19 is erected above the chassis frame 3 in an inclined manner of a rear beam, on which a cylindrical object (hereinafter referred to as a cargo) 20 is placed. In addition, the carrier frame 19 is provided on the chassis frame 3, and the truck frame 7
(The posture of the carrier frame 19 does not change even if the track frame 7 is rotated).

Since the load 20 carried by the carrier is a long and thin cylinder having a heavy weight like a gas cylinder, it has a catch mechanism for surely catching it and dropping it on the carrier frame 19. The catch mechanism is chassis frame 3
When the hydraulic cylinder 21 interposed between the vehicle and the vehicle is actuated, the vehicle is laid down on the luggage carrier frame 19 from a posture in which it is erected around a horizontal shaft 22 that is laterally laid across the front portion of the chassis frame 3 (at substantially the same position as the drive wheels 8). It is composed of a rotating frame 23 that rotates to such a posture and a catch arm 24 that is provided on the rotating frame 23 to grip and release the load 20. The rotation frame 23 and the catch arm 24 are operated by a catch lever 25 extending rearward near the handle 15. When the catch lever 25 is moved up and down, the rotation frame 23 is undulated, and when the catch lever 25 is operated left and right, the catch arm 24 is moved. Opens and closes. The catch arm
The opening / closing of 24 is performed by an opening / closing mechanism 26 which is operated by a cam or the like in association with the catch lever 25. Since the details of the opening / closing mechanism 26 are not directly related to the gist of the present invention, description thereof will be omitted here.

When the load 20 is grasped by the catch arm 24, the rotating frame 23 is tilted onto the carrier frame 19 and travels to a desired position. At this time, the crawler 13 is wound depending on the shape of the traveling road surface or the like. Change the shape. That is, when traveling on a flat ground, the angle between the lower side of the crawler 13 wound between the running wheel 5 and the idler wheel 6 and the lower side of the crawler 13 wound between the running wheel 5 and the drive wheel 8 is 180 ° or less. If the traveling wheels 5 and the driving wheels 8 are in a state of being in contact with each other at a bent angle, the ground contact length of the crawler 13 is shortened, and the running property
Steerability also improves. On the other hand, when traveling on slopes such as slopes and stairs, by lowering the drive wheels 8 according to the slope, the absolute posture of the cargo frame 19 with respect to the ground does not change, and the posture of the load 20 is stable. In particular, when going up and down stairs, the lower side of the crawler 13 wound between the running wheel 5 and the idler wheel 6 and the lower side of the crawler 13 wound between the running wheel 5 and the drive wheel 8 are set to 180 °, 5, drive wheel 8
If both the idler wheels 6 and the idler wheel 6 are in contact with the ground, the number of edges of the stairs in contact with the crawler 13 increases, slippage does not easily occur, and stable traveling can be performed.

In the present invention, in addition to the above construction, an inclination sensor 27 for detecting the inclination of the chassis frame 3 is attached to the chassis frame 3, and the detected value of the inclination sensor 27 controls the hydraulic cylinder 12. Input to switching valve and crawler
The winding shape of 13 is changed so that the inclination of the carrier frame 19 is always kept constant. That is, if the output of the tilt sensor 27 and the expansion / contraction amount of the hydraulic cylinder 12 are made to correspond in advance, and if the tilt sensor 27 outputs a specific detection value, the hydraulic cylinder 12 may be expanded / contracted by a set amount in accordance with that. Good. Note that a conventionally known device that converts the degree of inclination into an electric signal by using a gravity pendulum or the like of the inclination sensor 27 may be used, and thus details thereof will be omitted here. Further, the tilt sensor 27 may be attached to the chassis frame 3 at an appropriate position,
It is preferable to mount it at a relatively high position such as the carrier frame 19 where the inclination can be easily detected.

[0011]

[Effect of device]

As described above, since the present invention is the one described above, the following effects can be expected. i) Since the lower side of the crawler wound around the driving wheels and the idler wheels around the running wheel can be changed and fixed to an arbitrary angle within a fixed angle range from a straight line of 180 ° to a flat surface. It can respond optimally to the shape of any road surface, such as slopes, stairs or obstacles. Since this change is automatically performed based on the tilt sensor, the operator does not need to perform this change operation, and only needs to pay attention to traveling. ii) When the operator pushes down the steering wheel, the inclination sensor detects this inclination, so the drive wheel goes up and one point of the traveling wheel comes into contact with the ground, improving turning performance. This makes it easy to change the direction of the landing along the stairs. iii) Since the crawler winding shape is changed independently on the left and right sides, it is possible to drive with peace of mind even on uneven hills. iv) By increasing the diameter of the running wheels, rolling resistance is reduced and changes in the circumferential length are small when the winding shape of the crawler is changed.

[Brief description of drawings]

FIG. 1 is a side view of a crawler type carrier showing an embodiment of the present invention.

FIG. 2 is a plan view of a crawler type carrier showing an embodiment of the present invention.

FIG. 3 is a front view of a crawler-type carrier showing an embodiment of the present invention.

[Explanation of symbols]

 3 ... Chassis frame 4 ... Support shaft 5 ... Running wheel 6 ... Idler wheel 7 ... Truck frame 8 ... Drive wheel 12 ... Hydraulic cylinder 13 ... Crawler 19 ... Luggage frame 27 ... Tilt sensor

Claims (2)

(57) [Scope of utility model registration request] 1. A small-diameter drive wheel (8) and an idle wheel (6) are arranged in front of and behind a large-diameter running wheel (5), and these running wheel (5), drive wheel (8) and idle wheel (6) are provided. ), The crawler (13) is wound in a triangular shape, and the drive wheel (8) is extended and contracted by a hydraulic cylinder (12) interposed between the drive wheel (8) and the chassis frame (3) to support the running wheel (5). Axis (4)
Track frame (7) that can be rotated up and down around the center
In the crawler type transport vehicle in which the winding shape of the crawler (13) can be changed, the tilt sensor (27) for detecting the tilt state of the chassis frame (3) is mounted on the chassis frame (3), The hydraulic cylinder (12) is expanded / contracted according to the detection value of the inclination sensor (27) so that the traveling wheel (5) and the driving wheel (8) come into contact with the traveling wheel (5) and the driving wheel (8). ) And the idler wheel (6) are in a grounding state, the crawler (13) is changed in the winding shape so that the posture of the loading platform (20) loaded on the loading platform frame (19) is kept constant. A loading posture control device for a carrier. 2. A tilt sensor (27) and a hydraulic cylinder (1
2. The load attitude control device for a crawler-type carrier according to claim 1, wherein the left and right track frames (7) are independently provided.