JP2007062603A - Crawler type working vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a crawler type working vehicle capable of smoothly carrying out rotating motion of a caster for rising motion from a step and direction changing motion of the vehicle regardless of overhanging quantity of a supporting device. <P>SOLUTION: The supporting devices 12, 13 to support a car body by lifting it are provided on both of front and rear sides of a crawler type travelling body 1. These supporting devices 12, 13 are constituted free to overhang and be stored by providing the casters 15, 26 on tip end parts of arms 14, 25 revolving around the fore-and-aft one end side. The casters 15, 26 are structured in fore-and-aft dual wheels respectively furnished with a pair of front and rear wheels 19, 30, front and rear caster frames 19, 30 are mounted on common brackets 22, 33 free to revolve around a vertical shaft and these brackets 22, 33 are mounted on the arms 14, 25 free to revolve around bracket supporting shafts 23, 34 horizontal in the left and right directions. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a crawler-type work vehicle that enters an inside of a building and performs interior dismantling work or the like.

  This type of crawler work vehicle is basically equipped with an upper swinging body on the upper part of the crawler traveling body so as to be able to turn around the vertical axis in the same manner as a hydraulic excavator. Constructed with attachments.

  In addition, in the same vehicle, it is necessary to go up and down the slope of stairs and to change the direction in a narrow place such as a landing, so a support device with casters is attached to the front and rear sides of the traveling body so that it can be raised and lowered. Is known (see Patent Document 1).

  The support device includes an arm that is rotated around a front and rear end side by a hydraulic cylinder, a caster provided at a tip portion of the arm, and an arm driving unit that rotationally drives the arm. It is configured to be able to move up and down between an overhanging state that projects downward from the lower surface of the traveling body and contacts the ground, and a retracted state in which the wheel is stored at a position above the lower surface of the traveling body, and is used as follows.

  For example, when riding on the landing from the stairs, the support device is lowered and brought into contact with the ground, and the device is raised according to the traveling of the traveling body, so that the vehicle body is gradually switched from the forward-tilting posture to the horizontal posture.

Also, when changing directions at landings, indoors, or on curved roads, with the support device lowered and the vehicle body tilted rearward, for example, by driving the right crawler with the left front end of the traveling body as a fulcrum, the vehicle body is turned to the left Change direction.
JP 7-81634 A

  In the known crawler-type work vehicle, the caster of the support device has a structure in which a caster frame that supports a wheel rotatably around a horizontal axis is directly attached to an arm so as to be rotatable around a vertical axis.

  However, according to this configuration, the angle of the vertical axis (the pivot center axis of the caster) with respect to the ground plane varies depending on the amount of extension of the support device (the angle of the arm). For this reason, when the angle with respect to the vertical axis of the turning center axis increases, the turning resistance of the caster increases, and a situation in which the turning (posture changing) operation is not performed properly occurs.

  If this happens, the casters will be twisted and the movement of the traveling body will be hindered, and the riding and turning operation will not be performed smoothly.

  Therefore, the present invention provides a crawler type work vehicle that can smoothly perform a turning operation of a caster, that is, a climbing operation and a direction changing operation of a vehicle from a staircase, regardless of a protruding amount of a support device.

  The invention of claim 1 is provided with a crawler type traveling body, and provided with supporting devices for lifting and supporting the front and rear one side of the vehicle body on both the left and right sides of at least one side of the traveling body. An overhanging state in which an arm that pivots as a center, a caster provided at the tip of the arm, and an arm driving means that rotationally drives the arm, the caster projects below the lower surface of the traveling body and contacts the ground And a pair of front and rear wheels that are configured to be able to move up and down between the caster and a retracted state that is located above the lower surface of the traveling body, and that the casters are rotatably attached to separate caster frames around a horizontal axis. The two caster frames are mounted on a common bracket so as to be pivotable around a vertical axis, and the bracket is attached to the left and right arms with respect to the arm. About a horizontal bracket support shaft countercurrent those mounted rotatably.

  According to a second aspect of the present invention, in the configuration of the first aspect, a horizontal holding means for keeping the casters horizontal in the retracted state of the support device is provided.

  According to a third aspect of the present invention, in the configuration of the second aspect, the caster is attached to the arm in an eccentric state in which the center of gravity is shifted to the front and rear sides with respect to the bracket support shaft, and the entire caster is received by receiving the rotational moment due to the eccentricity. The horizontal holding means is configured by providing a stopper for holding the battery horizontally in the retracted state.

  According to a fourth aspect of the present invention, in the structure according to any one of the first to third aspects, the hydraulic cylinder as the arm driving means is in a state in which the hydraulic cylinder is in an inclined posture that rises toward the rod end when the support device is retracted. And between the arm and the arm.

  According to a fifth aspect of the present invention, in any one of the first to fourth aspects, the support device is provided on both the front and rear sides of the traveling body.

  A sixth aspect of the present invention is the structure according to any one of the first to fifth aspects, wherein the support device is provided on the traveling body in a state of being stored within the overall length of the traveling body.

  According to the present invention, the caster of the support device has a double-wheel structure including a pair of front and rear wheels, and is attached so as to be rotatable around a horizontal bracket support shaft in the left-right direction. The angle of the pivot center axis of the caster with respect to the ground is constant (vertical).

  Accordingly, since the turning operation of the caster is performed lightly with the minimum resistance, it is possible to smoothly perform the climbing operation and the direction changing operation from the stairs of the vehicle.

  In addition, since the caster is always perpendicular to the ground plane regardless of the amount of overhang, it is possible to increase the amount of overhang of the support device. It is possible to make the direction change operation of the vehicle body lighter with less resistance in a state where it is lifted off.

  By the way, if the caster is attached to the arm so as to be able to rotate around the bracket spindle, the caster may rotate back and forth in the retracted state, the posture may not be stable, and may interfere with other structures of the traveling body. Arise.

  In this regard, according to the second and third aspects of the invention, since the caster is kept horizontal in the retracted state by the horizontal holding means, the ground height of the caster is kept constant, and the caster may interfere with other structures and the like. There is no.

  In this case, according to the invention of claim 3, the caster is attached to the arm in an eccentric state in which the center of gravity is shifted to one side in the front-rear direction with respect to the bracket support shaft, and the entire caster is received by the stopper by the rotational moment due to the eccentricity. Since the structure is held horizontally in the retracted state, the structure for holding the casters is simple and less expensive than, for example, a structure in which the casters are held horizontally by a spring force.

  On the other hand, according to the fourth aspect of the present invention, the traveling frame is configured so that the hydraulic cylinder for rotating the arm tilts upward toward the rod end side when the support device is retracted (the rod is positioned above the tilt). Since it is provided between the arm and the arm, it is possible to avoid contact between the rod and scattered matter on the floor surface and to prevent damage thereof.

  According to the fifth aspect of the present invention, the support devices are provided on both the front and rear sides so that the side required for climbing the stairs and changing the direction can be extended, so that the degree of freedom of operation is increased and the usability is improved.

  According to the sixth aspect of the present invention, since the support device does not protrude from the traveling body in the retracted state in the retracted state, it is advantageous for getting on a narrow landing or changing direction in a narrow place.

  FIG. 1 shows an overall configuration of a work vehicle according to the embodiment.

  In this vehicle, an upper swing body 2 is mounted on a crawler type lower traveling body 1 so as to be rotatable around a vertical axis via a swing bearing (not shown), and a work attachment 3 is attached to the upper swing body 2. .

  Here, as an example of the work attachment 3, an arm 5 is attached to the tip of a boom 4 that can be raised and lowered, and a scraper device 6 for leveling is attached to the tip of the arm 5. A vibration-type or crushing-type crushing device or the like may be attached to the tip.

  The structure of the lower traveling body 1 is shown in FIGS. In the following description, for the sake of convenience, the left side of FIGS. 2 and 3 is the front side and the right side is the rear side.

  The lower traveling body 1 has crawler frames 8 and 8 attached to the left and right sides of the car body 7, and the crawler frames 9 and 9 and their driving devices (driving wheels, idle wheels and traveling motors) on the both crawler frames 8 and 8. (Not shown) is provided.

  Further, as shown in FIG. 1, an upper support frame 10 is provided on the upper surface side of the car body 7 so as to be rotatable up and down by an upper elevating cylinder (hydraulic cylinder) 11 with a front and rear side as a fulcrum. A revolving body 2 is mounted.

  Thus, as shown in FIGS. 8 and 9, the upper swing body 2 can be kept horizontal with respect to the inclined lower traveling body 1 when traveling on stairs or slopes.

  On the other hand, as shown in FIGS. 2 and 3, as a support device for supporting the vehicle body when climbing from a slope such as a staircase to a horizontal surface or when changing direction, a front support device 12 is provided on the front side of the car body 7 and a rear side is provided on the rear side. Support devices 13 are respectively provided. The both-side support devices 12 and 13 basically have the same configuration as described below.

Front support device 12
The front support device 12 is configured by attaching casters 15 to the distal ends of a pair of left and right front arms 14, 14.

  The left and right front arms 14, 14 are integrally coupled by a connecting member 16 (see FIG. 3), and the rear end portion thereof can be rotated by a horizontal axis (arm support shaft) 17, 17 in the left-right direction with respect to the car body 7. Installed on.

  A front projecting cylinder (hydraulic cylinder) 18 is provided between the connecting member 16 and the car body 7, and the entire front support device 12 is projected / stored by the front projecting cylinder 18.

  In the retracted state, as shown by the solid lines in FIGS. 2 and 4, the caster 15 is positioned above the lower surface of the lower traveling body 1 within the overall length of the lower traveling body 1, and in the overhanging state, the caster 15 is lower than the lower surface of the traveling body. Project downward and ground.

  As shown in FIG. 2, the front projecting cylinder 18 is connected to the arm 14 (connecting member 16) on the rod end side, and in a state in which it is inclined upward toward the rod end side when the support device is retracted. And the arm 14.

  In this case, the rod 18a of the cylinder 18 is positioned at a high position during normal running in the retracted state, and it is difficult to contact the scattered matter or the like on the floor surface.

  As shown in FIGS. 4 and 6, the left and right casters 15 have a pair of front and rear wheels 21 and 21 attached to separate caster frames 19 and 19 so as to be rotatable (rollable) around horizontal axes 20 and 20, respectively. It has a front and rear double wheel structure.

  The front and rear caster frames 19, 19 are attached to a common bracket 22 by a bearing (not shown) so as to be pivotable about a vertical axis (spinning center axis) A, and the common bracket 22 is a horizontal axis in the horizontal direction with respect to the arm 14. (Bracket support shaft) 23 is attached to be rotatable.

  As shown in FIG. 6, the left and right brackets 22, 22 are integrated by a connecting portion 22a.

  During normal traveling, the left and right casters 15 are stored in a horizontal posture at a certain ground height position within the overall length of the lower traveling body 1 as shown by the solid lines in FIGS.

  As means for maintaining the horizontal posture of the caster 15 in the retracted state, the bracket support shaft 23 is set at a position shifted in the front-rear direction with respect to the center of gravity O (shown in FIG. 4) of the entire caster 15.

  By attaching the caster 15 to the arm 14 in an eccentric state in this way, a rotational moment M due to the eccentricity is generated, and this rotational moment M is received by a stopper surface (part indicated by a thick line) 24 provided on the arm 14. The caster 15 is configured to be kept in a horizontal posture in a retracted state (a constant ground height is maintained).

  In this configuration, as shown by the two-dot chain line in FIGS. 2 and 4, the front support device 12 is extended and the casters 15 (wheels 21 and 21) are grounded to support the front side of the vehicle body in a state of floating from the grounding surface. Can do.

  Here, the front caster 15 has a front / rear dual-wheel structure as described above, and is attached so as to be rotatable around the horizontal bracket support shaft 23 in the left / right direction. When the pair of front and rear wheels 21 and 21 come into contact with each other, the angle of the caster turning center axis A with respect to the contact surface is always constant (perpendicular to the contact surface), that is, the turning resistance is minimized.

  Further, since the caster 15 is kept horizontal in the retracted state as described above, the ground height of the caster 15 is kept constant, and there is no possibility that the caster 15 interferes with other structures.

  In addition, as a means, the caster 15 is attached to the arm 14 in an eccentric state in which the center of gravity is shifted to the front and rear sides with respect to the bracket support shaft 23, and the rotational moment M due to the eccentricity is received by the stopper surface 24. Since the entire structure is held horizontally in the retracted state, the structure for holding the caster 15 horizontally is simpler and less expensive than, for example, a structure in which the caster 15 is held horizontally by a spring force. I'm sorry.

Rear support device 13
Similar to the front support device 12, the rear support device 13 is configured by attaching casters 26 to the tip portions of the left and right rear arms 25, 25.

  Both arms 25, 25 are integrally connected by a connecting member 27 (see FIG. 3), and the rear end is attached to the car body 7 so as to be rotatable by horizontal axes (arm support shafts) 28, 28 in the left-right direction. It has been.

  The support device 13 is extended / stored by a rear extension cylinder (hydraulic cylinder) 29 provided between the connecting member 27 and the car body 7, and the caster 26 travels within the overall length of the traveling body 1 in the retracted state. The caster 26 is located above the lower surface of the body, and in the overhanging state, the caster 26 protrudes downward from the lower surface of the traveling body and contacts the ground.

  In order to avoid damage to the rod 29a, the rear overhanging cylinder 29, in the same manner as the front overhanging cylinder 18, is in a state in which the car body 7 and the arm 25 are in an upwardly inclined posture toward the rod end side when the support device is retracted. It is provided in between.

  The left and right casters 26 have a front and rear dual-wheel structure including a pair of front and rear wheels 32 and 32 that are attached to separate caster frames 30 and 30 so as to be rotatable (rollable) around horizontal axes 31 and 31, respectively. Each of the brackets 33 is attached to a bracket 33 so as to be pivotable around a vertical axis (swing center axis) A by a bearing (not shown).

  The bracket 33 is attached to the arm 25 so as to be rotatable around a horizontal axis (bracket support shaft) 34 in the left-right direction.

  As shown in FIG. 7, the left and right brackets 33, 33 are integrated by a connecting portion 33a.

  The left and right casters 26 are attached to the arm 25 in an eccentric state in which the center of gravity O (shown in FIG. 5) is shifted to the front and rear sides with respect to the bracket support shaft 34, as in the case of the front caster 15, and the rotational moment M due to this eccentricity. Is received by a stopper 35 provided on the arm 25, so that the caster 26 is kept in a horizontal posture in a retracted state (a constant ground height is maintained).

  Similarly to the front support device 12, the rear support device 13 can support the rear side of the vehicle body in a projecting state indicated by a two-dot chain line in FIGS.

  Here, the rear casters 26 are also of a front / rear double-wheel structure and are pivotably mounted around a horizontal bracket support shaft 34 in the left / right direction. When the wheels 32 and 32 are grounded, the angle of the caster turning center axis A with respect to the ground plane is always constant (perpendicular to the ground plane).

  The operation and effect of this point will be described more specifically.

  FIGS. 8 to 10 show the situation from going up the stairs 36 such as a building to the landing 37. FIG.

  In this case, as shown in FIGS. 8 and 9, the upper support frame 10 is rotated upward, and the upper swing body 2 is tilted by the inclination angle θ of the staircase 36 with respect to the lower travel body 1, thereby 2 can be kept horizontal.

  FIG. 9 shows a state immediately before getting on the landing 37 from the stairs 36. At this time, the support device (explained in the case of the front support device 12) on the front side in the advancing direction is extended so that the caster 15 is grounded to the landing 37, and the vehicle progresses. By storing the apparatus 12 according to the above, the posture of the vehicle can be gradually changed from the inclined posture to the horizontal posture as shown in FIGS.

  In this case, since the turning center axis A (see FIG. 4) of the caster 15 with respect to the ground contact surface (floor surface of the landing 37) is always perpendicular to the ground contact surface regardless of the overhang amount of the support device 12 as described above. The turning resistance of the caster 15 is minimized.

  Therefore, since the turning motion of the caster 15 is lightly performed with the minimum resistance, the climbing operation from the stairs 36 to the landing 37 can be smoothly performed.

  On the other hand, FIG. 11 shows a situation in which the vehicle that has entered the landing 37 is turned 90 ° to the right.

  In this case, the support device on the rear side in the traveling direction (described in the case of the rear support device 13 in FIGS. 2 and 5) is extended so that the caster 26 is grounded to the landing 37, so 2 and 5).

  In this state, while the right crawler 9 is stopped, only the left crawler 9 is driven forward, so that the vehicle is caster with the contact point C between the front end of the right crawler 9 and the landing 37 as a fulcrum as shown in FIG. Change direction to the right with 26 rolls.

  Also in this case, since the caster 26 (wheels 32, 32) is always in contact with the floor surface of the landing 37 in a vertical direction, the turning motion of the caster 26 is performed lightly and the direction changing operation is performed smoothly.

  Further, since the caster 15 is always perpendicular to the ground contact surface regardless of the amount of overhang, the amount of overhang of the support device 13 can be increased. The vehicle can be turned more easily with less resistance while the vehicle is lifted off the ground.

  By the way, as a horizontal holding means for keeping the casters 15 and 26 in the horizontal state in the retracted state, another configuration, for example, a configuration in which the casters 15 and 26 are held in the horizontal posture and automatically returned by a return spring may be adopted.

  Moreover, although it is desirable to provide a support apparatus in the front and back both sides of the lower traveling body 1 like the said embodiment, you may provide in only one side.

  Furthermore, it is desirable to store the support device in a state where it does not protrude from the overall length of the lower traveling body 1 as in the above embodiment. You may take

1 is an overall schematic side view of a vehicle according to an embodiment of the present invention. It is a side view which shows the structure of the lower traveling body of the vehicle. It is the same top view. It is an expanded side view of the front side support apparatus in the vehicle. It is an expanded side view of the back side support apparatus. It is the VI-VI line expanded sectional view of FIG. It is the VII-VII line expanded sectional view of FIG. It is a side view which shows the condition where the vehicle is going up the stairs. It is a side view which shows the condition immediately before getting on the landing of a staircase. It is a side view which shows the condition which got on the landing. It is a top view which shows the condition which turns a vehicle to the right in a landing.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Lower traveling body 2 Upper turning body 12 Front side support device 13 Rear side support device 14,25 Arm 15,26 Caster 18,29 Overhang cylinder 18a, 29a Rod rod 19,30 Caster frame 20,31 of the cylinder Horizontal shaft 21, 32 Wheel 22, 33 Bracket 23, 34 Bracket support shaft 24 Stopper surface 35 Stopper

Claims (6)

  A crawler-type traveling body is provided, and a support device that lifts and supports the front and rear one side of the vehicle body is provided on both the left and right sides of the front and rear of the traveling body. A projecting state in which the caster is provided at the tip of the arm and arm driving means for driving the arm to rotate, and the caster projects downward from the lower surface of the traveling body and contacts the ground; The caster includes a pair of front and rear wheels that are configured to be movable up and down with respect to a retracted state located above and having a pair of front and rear wheels that are rotatably attached to separate caster frames around a horizontal axis. The two caster frames are attached to a common bracket so as to be pivotable around a vertical axis, and the bracket is attached to a horizontal bracket in the horizontal direction with respect to the arm. Crawler type working vehicle, characterized in that mounted rotatably around a preparative shaft.   2. The crawler work vehicle according to claim 1, further comprising horizontal holding means for keeping the casters horizontal when the support device is retracted.   The caster is attached to the arm in an eccentric state in which its center of gravity is shifted to the front and rear sides with respect to the bracket support shaft, and a horizontal stopper is provided by receiving a turning moment due to the eccentricity and holding the entire caster horizontally in the retracted state. 3. The crawler work vehicle according to claim 2, wherein the holding means is configured.   4. The hydraulic cylinder as an arm driving means is provided between the traveling frame and the arm in a state in which the hydraulic cylinder as an arm driving means is inclined upward toward the rod end side when the support device is retracted. The crawler type work vehicle according to any one of the above.   The crawler work vehicle according to any one of claims 1 to 4, wherein support devices are provided on both front and rear sides of the traveling body.   The crawler work vehicle according to any one of claims 1 to 5, wherein the support device is provided on the traveling body in a state of being stored within the overall length of the traveling body.

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