JP2023000766A - Working vehicle - Google Patents

Abstract

To provide a working vehicle supporting wheels for traveling by a plurality of stretching mechanisms which can change a travel direction of a machine body while suppressing possibility of turning.SOLUTION: A working vehicle includes: stretching mechanisms 4 which are mounted on a plurality of places of a machine body 1 and extending from the machine body 1; stretching actuators 18 and 23 which enable stretching operation of the stretching mechanisms 4; wheels 5 for traveling supported on extension ends of the stretching mechanisms 4 so as to be capable of changing its direction around vertical shaft cores P4 in a vertical direction; driving actuators capable of rotationally driving the wheels 5; and steering actuators capable of changing the wheels 5 around the vertical shaft cores 4.SELECTED DRAWING: Figure 1

Description

TECHNICAL FIELD The present invention relates to a work vehicle suitable for traveling on a work site with many irregularities.

An example of the work vehicle as described above is disclosed in Patent Document 1.
In Patent Document 1, bending and stretching mechanisms are attached to a plurality of locations on the machine body and extend from the machine body, and wheels for traveling are supported by the extending ends of the bending and stretching mechanisms. It is configured to run while bending and stretching the bending and stretching mechanism by.

In Patent Document 1, the base of the bending and stretching mechanism is attached to the fuselage so that its direction can be changed left and right.

JP 2020-1443 A

In the work vehicle of Patent Document 1, for example, when changing the traveling direction of the machine body to the right, when the bending and stretching mechanism is turned to the right, the wheels supported by the extension ends of the bending and stretching mechanism move to the right with respect to the machine body. move to As a result, the center of gravity of the machine body is positioned to the left of the wheels, and there is a possibility that the work vehicle will topple over, for example, on a slope.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a work vehicle in which wheels for traveling are supported by a plurality of bending and stretching mechanisms so that the traveling direction of the machine body can be changed while suppressing the possibility of overturning.

The work vehicle of the present invention includes a machine body, a bending and stretching mechanism attached to a plurality of locations of the machine body and extending from the machine body, a bending and stretching actuator capable of bending and stretching the bending and stretching mechanism, and a vertical axis along the vertical direction. A wheel for traveling supported on the extending end of the bending and stretching mechanism so as to be able to change its direction, a driving actuator capable of rotationally driving the wheel, and an operation capable of changing the direction of the wheel around the vertical axis. A directional actuator is provided.

According to the present invention, the bending and stretching mechanisms are attached to a plurality of locations on the machine body and extend from the machine body, and the wheels for traveling are supported by the extending ends of the bending and stretching mechanisms, and the bending and stretching actuators are operated according to the work site. The vehicle can run by bending and stretching the bending and stretching mechanism and rotating the wheels by the drive actuator.

According to the present invention, the wheel is supported by the extension end of the bending and stretching mechanism so that the direction can be changed around the vertical axis along the vertical direction, and the direction of the wheel can be changed by the steering actuator.
By changing the orientation of the wheels with respect to the bending and stretching mechanism using the steering actuator, the traveling direction of the machine body can be changed, and it is not necessary to change the orientation of the entire bending and stretching mechanism with respect to the machine body.
Since it is not necessary to change the direction of the entire bending and stretching mechanism with respect to the machine body, the wheels do not move to the right or left with respect to the machine body when changing the direction of movement of the machine body, so the work vehicle can be overturned. sexuality is suppressed.

When the bending and stretching mechanism as a whole changes its orientation with respect to the machine body, the wheels slide sideways on the work site, so a large lateral load is applied to the bending and stretching mechanism.
According to the present invention, since it is not necessary to change the orientation of the entire bending and stretching mechanism with respect to the machine body, a large lateral load is not applied to the bending and stretching mechanism when changing the traveling direction of the machine body. advantage in terms of

In the present invention, the bending and stretching mechanism is attached to the fuselage and extends downward from the fuselage in such a manner that the bending and stretching mechanism cannot be horizontally changed and can swing back and forth about a first lateral axis along the lateral direction. The first link is attached to the lower part of the first link so that the direction cannot be changed in the left and right direction and the vertical swing is possible about the second left and right axis along the left and right direction. and a second link extending in a direction away from the fuselage, and the wheel is attached to the extending end of the second link so as to be able to change direction left and right around the vertical axis. It is preferred that it is supported.

According to the invention, the bending and stretching mechanism has a first link and a second link. The first link is attached to the fuselage so as to be able to swing back and forth about a first left-right axis extending in the left-right direction, and the first link cannot be changed in the left-right direction. The second link is attached to the lower part of the first link so as to be capable of swinging up and down about a second left-right axis extending in the left-right direction, and its direction cannot be changed in the left-right direction.
With such a first link and a second link, it is possible to obtain a bending and stretching mechanism that can bend and stretch and cannot change its direction to the left or right.

In the present invention, a wheel support member is attached to the extended end of the second link so as to be able to change its orientation from side to side about the vertical axis and supports the wheel, and the drive actuator is configured to support the wheel. The steering actuator is attached to a member and can rotate the wheel, and the steering actuator is attached across the wheel support member and the second link along the second link, and expands and contracts. It is preferable that the telescopic cylinder is capable of changing the direction of the wheel support member to the left and right.

According to the present invention, since the motor for driving the wheel is attached to the wheel support member that supports the wheel, even if the direction of the wheel support member is changed left or right, the positional relationship between the wheel and the motor with respect to the wheel support member changes. Therefore, it is advantageous in terms of simplification of the drive structure of the wheels by the motor.

According to the present invention, the telescopic cylinder is attached across the wheel support member and the second link, and the telescopic cylinder is telescopically moved to change the orientation of the wheel support member to the left and right.
In this case, since the telescopic cylinder is provided along the second link, the telescopic cylinder is arranged compactly.

In the present invention, it is preferable that the wheel is supported on one of the left and right sides of the wheel support member, and the motor and the telescopic cylinder are attached to the other of the left and right sides of the wheel support member.

According to the present invention, the wheel, the motor, and the telescopic cylinder are provided on opposite sides of the wheel support member, and are provided on the wheel support member with little mutual interference, so that the support structure for the wheel, the motor, and the telescopic cylinder is simple. It is advantageous in terms of conversion.

In the present invention, the bending and stretching mechanisms are attached to the right and left parts of the fuselage, the wheels are supported by the wheel support members on the opposite side of the left-right center of the fuselage, and the motor and the telescopic cylinder are supported. is preferably attached to a portion of the wheel support member on the left-right center side of the fuselage.

According to the present invention, when the bending and stretching mechanisms are attached to the right and left parts of the body, the motor and the telescopic cylinder are attached to the portion of the wheel support member on the left-right center side of the body. advantage in terms of

In the present invention, it is preferable that an auxiliary wheel is provided which is freely rotatable about a third lateral axis extending in the lateral direction and which is supported by the connecting portion between the first link and the second link.

In the bending/stretching mechanism, when the first link and the second link are bent/stretched by the bending/stretching actuator, the connecting portion between the first link and the second link may come into contact with the work ground.
According to the present invention, since the auxiliary wheels are supported by the connecting portion between the first link and the second link, even if the connecting portion between the first link and the second link approaches the work site, the auxiliary wheels will not be able to work. By grounding the first link and the second link, it is possible to prevent damage due to contact with the work ground.

According to the present invention, the auxiliary wheels are rotatably supported around the third lateral axis extending in the lateral direction. Since the work vehicle rotates along the traveling direction, the work vehicle travel is not hindered by the auxiliary wheels.
According to the present invention, the auxiliary wheels are supported so as to be freely rotatable, and there is no structure for rotationally driving the auxiliary wheels, which is advantageous in terms of structural simplification.

It is a left side view of a work vehicle. 1 is a plan view of a work vehicle; FIG. 1 is a front view of a work vehicle; FIG. It is a left side view near the bending and stretching mechanism of the right front. It is a cross-sectional plan view of the vicinity of the right front bending and stretching mechanism.

1 to 5 show remote-controlled and autonomous working vehicles, in which F indicates the forward direction, B indicates the rearward direction, and U indicates the upward direction. , D indicates the downward direction, R indicates the right direction, and L indicates the left direction.

(Overall configuration of working vehicle)
As shown in FIGS. 1, 2, and 3, a hydraulic device 2 and a control device 3 are mounted on a body 1, and four bending and stretching mechanisms 4 are attached to the body 1 at the front right, front left, rear right, and rear left. and extended from the machine body 1, and the right front, left front, right rear, and left rear wheels 5 for traveling are supported by the extension ends of the bending and stretching mechanism 4, and the entire work vehicle is configured. there is

(Aircraft configuration)
As shown in FIGS. 1, 2 and 3, left and right frames 6 extending in the front-rear direction and front and rear frames 7 extending in the left-right direction are connected to form a rectangular frame in plan view. , front and rear frames 8 extending in the left-right direction are connected over the frame 6 . Left and right frames 9 that are channel-shaped (having a U-shaped cross section) in a side view are connected across the frame 8 , and front and rear frames 10 along the left-right direction are connected across the frame 9 .

Left and right frame members 11 are connected to the right and left portions of the frame 8 . The frame-shaped member 11 includes an upper portion 11a and a lower portion 11b formed in a channel shape in plan view, a front portion 11c connected across the front portions of the upper portion 11a and the lower portion 11b, an upper portion 11a and a lower portion 11b. A rear portion 11d connected across the rear portion of the upper portion 11a and a middle portion 11e connected across the front and rear intermediate portions of the lower portion 11b.

Five flat plate-shaped frames 12 are connected across the upper portions 11 a of the left and right frame-shaped members 11 . Left and right frames 13 along the front-rear direction are connected to the frame 10 and extend forward from the front frame 7 and extend rearward from the rear frame 7 . ing. A plurality of frames 14 extending in the left-right direction are connected across the frame 13 .

As described above, the body 1 has the frames 6 to 10, the frame member 11, the frames 12, 13, 14, and the like.
Hydraulic device 2 is supported by frames 9 and 10, control device 3 is supported by frames 6 and 7, and hydraulic device 2 and control device 3 are supported by frames 6 to 10, frame member 11, frames 12, 13, and 14. It is surrounded by A load or the like can be mounted on the frame 12 and the frames 13 and 14. - 特許庁

(Configuration of bending and stretching mechanism)
As shown in FIGS. 1, 2 and 3, the bending and stretching mechanism 4 has a first link 21 and a second link 22, and the first link 21 and the second link 22 are configured as described below. ing.

As shown in FIGS. 1, 2 and 3, in the airframe 1, channel-shaped support brackets 15 are connected to the four connection portions of the frames 6 and 7 at the front right, front left, rear right, and rear left. The support bracket 15 is surrounded by the shaped member 11 .

As shown in FIGS. 1, 3, 4, and 5, the first link 21 is configured in a flat plate shape and provided with two pieces. An upper portion of the first link 21 is attached to the support bracket 15 (body 1) so as to be capable of swinging back and forth around an axis P1 (corresponding to a first left-right axis) extending in the left-right direction. extends downward from the support bracket 15 (body 1).
As a result, the first link 21 can swing back and forth around the axis P1, and cannot be turned left or right.

As shown in FIGS. 4 and 5, the second link 22 includes a flat plate-like first portion 22a, two second portions 22b formed by bending a round bar into a crank shape, and a boss portion 22c (extending corresponding to the edge). The front portion of the first portion 22a and the front portion of the second portion 22b are connected, and the boss portion 22c is connected vertically to the front portion of the first portion 22a and the front portion of the second portion 22b.

In the right front and left front bending and stretching mechanisms 4, the rear part of the second link 22 is attached to the lower part of the first link 21 so as to be vertically swingable around an axis P2 (corresponding to a second left-right axis) along the left-right direction. The second link 22 extends forward from the lower portion of the first link 21 along the front-rear direction, which is the direction away from the body 1 .

In the right rear and left rear bending and stretching mechanisms 4, the front portion of the second link 22 is vertically swingable around an axis P2 along the left-right direction (corresponding to a second left-right axis). A second link 22 is attached to the lower part, and extends rearward, which is a direction away from the body 1, from the lower part of the first link 21 along the front-rear direction.
As a result, the second link 22 can swing up and down around the axis P2, and cannot change its direction to the left or right.

Auxiliary wheels 27 are mounted on the right lateral side of the connecting portion between the right front and right rear first links 21 and the second links 22, and are concentrically aligned with the shaft center P2 along the left-right direction. (corresponding to the left-right axis), and is supported so as to be freely rotatable.

Auxiliary wheels 27 are mounted on the left lateral side of the connecting portion between the left front and left rear first links 21 and the second link 22, and are concentrically aligned with the shaft center P2 along the left-right direction. (corresponding to the left-right axis), and is supported so as to be freely rotatable.

(Configuration of bending and stretching operation of bending and stretching mechanism)
As shown in FIGS. 1 and 4, the connecting link 16 is attached to the support bracket 15 so as to be swingable about an axis P5 along the left-right direction, and the connecting link 17 is mounted around an axis P6 along the left-right direction. is attached to the upper portion of the first link 21 so as to be capable of swinging, and the extending ends of the linking links 16 and 17 are connected.

A double-acting hydraulic cylinder 18 (corresponding to a bending and stretching actuator) is connected across the extending ends of the linking links 16 and 17 and the lower portion of the first link 21 . By extending and retracting the hydraulic cylinder 18, the first link 21 is pivoted back and forth about the axis P1 with respect to the support bracket 15 (body 1).

As shown in FIGS. 1, 3, 4 and 5, the connecting link 19 is attached to the lower part of the first link 21 so as to be able to swing about an axis P7 extending in the left-right direction, and the connecting link 20 moves in the left-right direction. It is attached to the second link 22 so as to be capable of swinging about an axis P8 along which the linking links 19 and 20 are connected.

A double-acting hydraulic cylinder 23 (corresponding to a bending and stretching actuator) is connected across the extending ends of the connecting links 19 and 20 and the upper portion of the first link 21 . The extension and contraction of the hydraulic cylinder 23 causes the second link 22 to swing up and down about the axis P2 with respect to the first link 21 .

Based on a command from the control device 3, hydraulic oil is supplied and discharged from the hydraulic device 2 to the hydraulic cylinders 18 and 23, and the hydraulic cylinders 18 and 23 are extended and retracted. The first link 21 is pivoted back and forth by the hydraulic cylinders 18 and 23, and the second link 22 is pivoted up and down, whereby the bending and stretching mechanism 4 is bent and stretched.

By independently bending and stretching the bending and stretching mechanisms 4, the posture of the machine body 1 can be arbitrarily set according to the unevenness and inclination of the work ground. When the bending and stretching mechanism 4 is operated to bend and stretch, even if the connecting portion between the first link 21 and the second link 22 approaches the work site, the auxiliary wheels 27 are grounded on the work site, thereby The connecting portion with the second link 22 is prevented from coming into contact with the work site.

(Structure of supporting and driving wheels)
As shown in FIGS. 2 to 5, four wheel support members 24 are provided, and the wheel support members 24 change their direction to the left and right around an axis P4 (corresponding to the vertical axis) along the vertical direction. It is attached to the boss portion 22c of the second link 22 as possible.

The wheels 5 are located on the right lateral side of the right front and right rear wheel support members 24 (corresponding to the left and right one side portions of the wheel support members 24) (the portion of the wheel support members 24 on the opposite side of the left and right center A1 of the airframe 1 ) and is rotatably supported.

The wheels 5 are positioned on the left lateral side portions of the left front and left rear wheel support members 24 (corresponding to the left and right one side portions of the wheel support members 24) (the portions of the wheel support members 24 on the opposite side of the left-right center A1 of the fuselage 1). ) and is rotatably supported.
As a result, the wheel 5 is supported by the extension end of the bending and stretching mechanism 4 (second link 22) so that the direction can be changed to the left and right around the axis P4 along the vertical direction.

Hydraulic motors 25 (corresponding to drive actuators and motors) are mounted on the left lateral side portions of the right front and right rear wheel support members 24 (corresponding to the portions on the other left and right sides of the wheel support members 24) (aircraft 1 in the wheel support members 24). (corresponding to the part on the left and right center A1 side).

Hydraulic motors 25 (corresponding to drive actuators and motors) are mounted on the right lateral side portions of the left front and left rear wheel support members 24 (corresponding to portions on the other left and right sides of the wheel support members 24) (body 1 in the wheel support members 24). (corresponding to the part on the left and right center A1 side).

Based on a command from the control device 3, hydraulic fluid is supplied and discharged from the hydraulic device 2 to the hydraulic motor 25, and the hydraulic motor 25 independently drives the wheels 5 forward and backward. forward, backward, and stop.

(Structure of wheel steering operation)
As shown in FIGS. 2 to 5, a bracket 24a is provided on the left lateral side of the right front and right rear wheel support member 24, and the left side of the right front and right rear second link 22 (first portion 22a) is provided. A bracket 22d is provided on the lateral side of the .

Brackets 24a are provided on the right lateral sides of the left front and left rear wheel support members 24, and brackets 22d are provided on the right lateral sides of the left front and left rear second links 22 (first portions 22a). It is

A double-acting hydraulic cylinder 26 (corresponding to a steering actuator and telescopic cylinder) is attached across the bracket 24a of the wheel support member 24 and the bracket 22d of the second link 22. It is attached across the wheel support member 24 and the second link 22 along the link 22 (first portion 22a).

As a result, the right front and right rear hydraulic cylinders 26 are moved to the left lateral side portions of the right front and right rear second links 22 (first portions 22a) (corresponding to portions on the other left and right sides of the wheel support member 24) (wheel (corresponding to the portion of the support member 24 on the left-right center A1 side of the airframe 1).

The left front and left rear hydraulic cylinders 26 are mounted on the right side portion (corresponding to the other left and right side portion of the wheel support member 24) of the left front and left rear second links 22 (first portion 22a) (wheel support member 24 (corresponding to the portion on the left-right center A1 side of the airframe 1 in ).

Based on a command from the control device 3, hydraulic oil is supplied and discharged from the hydraulic device 2 to the hydraulic cylinder 26, and the hydraulic cylinder 26 is operated to extend and retract, thereby four sets of wheel support members 24, wheels 5, and hydraulic pressure. The motors 25 are independently operated to change their direction to the left and right around the axis P4.

As described above (structure of supporting and driving wheels), the wheels 5 are independently driven forward and reverse, and in addition, the wheels 5 are independently turned left and right. , right and left turns, right and left pivot turns, and super pivot turns are performed while moving forward and backward in the work vehicle.

(First alternative embodiment of the invention)
Instead of four bending and stretching mechanisms 4 and wheels 5, six bending and stretching mechanisms 4 and wheels 5 may be provided, or eight bending and stretching mechanisms 4 and wheels 5 may be provided.
According to this configuration, in addition to attaching the bending and stretching mechanisms 4 to the right front portion, left front portion, right rear portion, and left rear portion of the fuselage 1, the bending and stretching mechanisms 4 are attached to the front and rear intermediate portions of the fuselage 1 to provide right and left lateral lateral movement. It may be constructed so as to extend in the direction of

(Second alternative embodiment of the invention)
In the bending and stretching mechanism 4, instead of the hydraulic cylinders 18 and 23, an electric cylinder (not shown) or an electric motor (not shown) may be used as the bending and stretching actuator.

In the wheels 5, instead of the hydraulic motors 25, electric motors (not shown) may be used as drive actuators.

In the wheels 5, instead of the hydraulic cylinders 26, electric cylinders (not shown) or electric motors (not shown) may be used as steering actuators.

(Third alternative embodiment of the invention)
On the right front or right rear second link 22, the wheel 5 is supported on the left lateral side of the wheel support member 24, and the hydraulic motor 25 and hydraulic cylinder 26 are mounted on the right lateral side of the wheel support member 24. good too.

(Fourth alternative embodiment of the invention)
In the left front or left rear second link 22, the wheel 5 is supported on the right lateral side of the wheel support member 24, and the hydraulic motor 25 and the hydraulic cylinder 26 are attached to the left lateral side of the wheel support member 24. good too.

(Fifth alternative embodiment of the invention)
At the connecting portion between the first link 21 and the second link 22, the auxiliary wheel 27 may be freely rotatably supported around an axis P3 along the left-right direction at a position different from the axis P2.
An auxiliary wheel 27 may be supported on the left lateral side at the connecting portion between the right front or right rear first link 21 and the second link 22 .
An auxiliary wheel 27 may be supported on the right lateral side at the connection portion between the left front or left rear first link 21 and the second link 22 .

INDUSTRIAL APPLICABILITY The present invention can be applied to a work vehicle suitable for traveling on a work site with many irregularities, and can also be applied to a work vehicle on which a worker can ride.

1 body 4 bending mechanism 5 wheel 18 hydraulic cylinder (bending and stretching actuator)
21 first link 22 second link 22c boss (extending end)
23 hydraulic cylinder (bending and stretching actuator)
24 wheel support member 25 hydraulic motor (drive actuator, motor)
26 hydraulic cylinder (steering actuator, telescopic cylinder)
27 auxiliary wheel A1 left-right center P1 axis (first left-right axis)
P2 axis center (second left-right axis center)
P3 axis center (third left-right axis center)
P4 axis center (vertical axis center)

Claims (6)

Airframe and
a bending and stretching mechanism attached to a plurality of locations of the fuselage and extending from the fuselage;
a bending and stretching actuator capable of bending and stretching the bending and stretching mechanism;
a wheel for running supported on the extension end of the bending and stretching mechanism so that the direction can be changed around the vertical axis along the vertical direction;
a drive actuator capable of rotationally driving the wheel;
and a steering actuator capable of changing the direction of the wheels around the vertical axis. The bending and stretching mechanism is
a first link that is attached to the fuselage and extends downward from the fuselage so that the direction cannot be changed in the left-right direction and the first link can swing back and forth about a first left-right axis along the left-right direction;
It is attached to the lower part of the first link so as to be vertically swingable around a second lateral axis along the lateral direction, and is separated from the fuselage along the front-rear direction from the lower part of the first link. a second link extending in the direction of
2. The work vehicle according to claim 1, wherein the wheel is supported by the extended end of the second link so that the wheel can be turned left and right around the vertical axis. a wheel support member attached to the extended end of the second link and supporting the wheel so as to be able to change its orientation from side to side about the vertical axis;
The drive actuator is a motor that is attached to the wheel support member and capable of rotationally driving the wheel,
The steering actuator is a telescopic cylinder that is attached across the wheel support member and the second link along the second link, and that can change the direction of the wheel support member to the left and right by extending and contracting. The work vehicle according to claim 2. The wheel is supported on one of the left and right sides of the wheel support member,
4. The work vehicle according to claim 3, wherein the motor and the telescopic cylinder are attached to the other left and right portions of the wheel support member. The bending and stretching mechanism is attached to the right and left parts of the fuselage,
The wheels are supported on the wheel support member on the opposite side of the left-right center of the fuselage,
5. The work vehicle according to claim 4, wherein the motor and the telescopic cylinder are attached to a portion of the wheel support member on the left-right center side of the machine body. 6. An auxiliary wheel supported by a connecting portion between said first link and said second link is provided so as to be freely rotatable around a third lateral axis along the lateral direction. or the work vehicle described in paragraph 1.

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