JP7409753B2 - Outriggers and industrial vehicles equipped with such outriggers - Google Patents

Description

The present invention relates to an industrial vehicle outrigger provided on an industrial vehicle and an industrial vehicle equipped with the outrigger.

Conventionally, as disclosed in Patent Document 1, an automatic guided vehicle equipped with a robot that performs a predetermined task is known. The unmanned guided robot system disclosed in Patent Document 1 includes a self-propelled unmanned guided vehicle that can travel on a road surface, a robot mounted on the unmanned guided vehicle, and a robot mounted on the unmanned guided vehicle and which controls the automated guided vehicle. A control device (control unit) is provided. Since this type of robot may perform precision work, it is preferable that the automatic guided vehicle is stably fixed to the ground during the work. Therefore, as disclosed in Patent Document 2, an automatic guided vehicle equipped with outriggers is disclosed. As this type of outrigger, for example, a vehicle outrigger as disclosed in Patent Document 3 is known.

For example, the outrigger 100 shown in FIG. 6 includes an outrigger main body 20, an outrigger connecting section 23, an outrigger opening/closing section 21 having a motor 210, a hydraulic cylinder 22, and a rod section 24 connected to a piston rod 221 of the hydraulic cylinder 22. , a grounding part 25 provided at the lower end of the rod part 24 , and a guide part 26 provided along the circumferential direction of the rod part 24 . As shown in FIGS. 6 and 7, the outrigger main body 20 is swingably connected to the vehicle body 12 via an outrigger connection part 23, and is stored in the storage position when not in use, and opened by the outrigger opening/closing part 21 when in use. It is swung into the deployed position. When the outrigger main body 20 is deployed from the vehicle body 12, the rod portion 24 is extended from the lower end of the outrigger 100 by the hydraulic cylinder 22, and causes the grounding portion 25 to contact the ground. When the rod portion 24 is stopped, the extended state is maintained by hydraulic pressure, and thereby the outrigger 100 fixes the vehicle body 12 to the ground.

By the way, it is known that the hydraulic cylinder in this type of outrigger gradually causes oil leakage. It is difficult to completely prevent such oil leaks, and the oil leakage causes the hydraulic cylinders to not be able to properly maintain the extended state due to the original pressure being applied, resulting in the outriggers being unable to maintain the vehicle body position for a long time. There was a problem in that it became difficult to stably fix it.

JP 2021-084177 Publication JP2020-032838A Japanese Patent Application Publication No. 2012-111398

Therefore, an object of the present invention is to provide an outrigger that can appropriately maintain an extended state and an industrial vehicle equipped with the outrigger.

In order to solve the above problems, an outrigger provided in an industrial vehicle according to the present invention includes:
An outrigger body that extends vertically,
a hydraulic cylinder having a cylinder body and a piston rod;
a rod portion that extends downward from the piston rod, has a lower end exposed from the outrigger body, and is moved in the vertical direction together with the piston rod;
a guide portion fixed to the outrigger body and provided along the circumferential direction of the rod portion;
a first wedge block having a first inclined surface inclined upward and toward the rod portion, and provided along the circumferential direction of the rod portion so as to be movable in the vertical direction;
a second wedge block having a second inclined surface provided opposite to the first inclined surface and fixed to the outrigger main body;
and a biasing portion that biases the first wedge block upward and prevents movement of the rod portion by a wedge mechanism formed by the first wedge block and the second wedge block when the piston rod is stopped. It is characterized by

The outrigger preferably includes:
The cylinder body is connected to the outrigger body so as to be movable in the vertical direction, and when the piston rod contracts due to hydraulic pressure, the rod part is prevented from moving by a wedge mechanism, so that it is moved downward by the contractile force of the hydraulic cylinder. It is configured so that
The above outrigger is
a push rod extending downward from the cylinder body and moving downward together with the cylinder body;
It is connected to the lower end of the push rod, and is pressed against the first wedge block by the contraction force of the hydraulic cylinder via the push rod, which pushes the first wedge block downward, causing the first wedge block to slide downward, and thereby stopping the wedge mechanism. The apparatus further includes a pressing part for releasing the .

The outrigger preferably includes:
The cylinder body is connected to the outrigger body so as to be movable in the vertical direction, and when the piston rod contracts due to hydraulic pressure, the rod part is prevented from moving by a wedge mechanism, so that it is moved downward by the contractile force of the hydraulic cylinder. It is configured so that
The above outrigger is
a push rod extending downward from the cylinder body and moving downward together with the cylinder body;
a release arm that has a pressing portion, extends in the horizontal direction, is connected to the outrigger main body so as to be swingable in the vertical direction, and is connected at one end to a push rod, and is swingable by the downward movement of the push rod;
It is provided below the release arm so as to be movable up and down, and when the release arm swings downward, the pressing portion is pressed against the first wedge block, and the first wedge block is slid downward. further comprising a pressing part for releasing the restraint of the mechanism,
The horizontal position of the pressing portion is located between the swinging end of the release arm and the center of rotation of the release arm swinging.

The outrigger preferably includes:
The pressing part is a first adjustment screw extending in the vertical direction,
The lower end of the first adjustment screw is pressed against the pressing portion.

The outrigger preferably includes:
The pressing portion is constituted by a pin extending in the vertical direction.

The outrigger preferably includes:
Also equipped with a rubber bush,
A cylinder body is connected to the outrigger body via a rubber bushing and is thereby moved downward by the contraction force of the hydraulic cylinder.

The outrigger preferably includes:
The cylinder body is connected to the outrigger body via a cylinder connection portion having an elongated hole, and is thereby moved downward by the contraction force of the hydraulic cylinder.

The outrigger preferably includes:
further comprising a second adjustment screw for adjusting the vertical position of the biasing part,
The biasing section is configured by a spring.

In order to solve the above problems, an industrial vehicle according to the present invention includes:
It is characterized by comprising the above-mentioned outrigger.

The outrigger according to the present invention can maintain an appropriately extended state. Further, an industrial vehicle equipped with an outrigger according to the present invention can stably fix the vehicle body position for a long time.

1 is a schematic side view showing an industrial vehicle equipped with an outrigger according to an embodiment of the present invention. 2 is a schematic rear view showing the outrigger provided on the front left side of the vehicle body among the outriggers shown in FIG. 1. FIG. 3 is an enlarged view of part B in FIG. 2. FIG. FIG. 3 is a perspective view showing the cylinder connection portion shown in FIG. 2; FIG. 3 is a perspective view showing a modification of the cylinder connecting portion shown in FIG. 2; FIG. 2 is a schematic rear view showing a conventional outrigger installed in an industrial vehicle. FIG. 7 is a schematic rear view showing the conventional outrigger shown in FIG. 6 when it is deployed.

DESCRIPTION OF THE PREFERRED EMBODIMENTS An outrigger according to an embodiment of the present invention and an industrial vehicle equipped with the outrigger will be described below with reference to the accompanying drawings. Double arrows X and Y in the figure indicate the horizontal direction, and double arrow Z indicates the vertical direction. The orientation of the invention is based on the orientation shown in the figures.

<Industrial vehicles>
First, with reference to FIG. 1, an industrial vehicle 1 according to the present embodiment will be described. FIG. 1 is a side view of an industrial vehicle 1 according to an embodiment of the present invention. Although the industrial vehicle 1 is an automatic guided vehicle, it is merely an example, and the industrial vehicle according to the present invention is not limited to an automatic guided vehicle. For example, the industrial vehicle according to the present invention may be an aerial work vehicle, a forklift, or the like. The industrial vehicle 1 includes a pair of left and right front wheels 10, a pair of left and right rear wheels 11, a vehicle body 12, a lifting device 13, two robots 14, and four outriggers 2.

The front wheels 10 and the rear wheels 11 are arranged at the front and rear parts of the vehicle body 12, respectively, and the lifting device 13 is arranged at the upper surface of the vehicle body 12. The two robots 14 are placed on the upper surface of the lifting device 13, and are raised and lowered by the lifting device 13 to perform predetermined tasks. The shape, type, and number of robots 14 and the presence or absence of the lifting device 13 are merely examples, and the shape, type, number, and presence or absence of the lifting device 13 of the robots 14 arranged in the industrial vehicle 1 of the present invention are not limited to these. Not limited.

<Outrigger>
Next, the outrigger 2 according to this embodiment will be described with reference to FIGS. 1 to 4. As shown in FIG. 1, the four outriggers 2 are arranged on the front left and right sides and the rear left and right sides of the vehicle body 12, respectively. The outrigger 2 shown in FIG. 2 is an outrigger 2 provided on the front left side of a vehicle body 12, and includes an outrigger main body 20, an outrigger opening/closing part 21, a hydraulic cylinder 22, a cylinder connecting part 23, and a rod part. 24, a grounding part 25, a guide part 26, a first wedge block 27, a second wedge block 28, and a biasing part 29 (see FIG. 3). In this embodiment, the vehicle body 12 is provided with four outriggers 2, but this is just an example, and the number of outriggers 2 provided in the industrial vehicle 1 is not limited to this.

As shown in FIG. 2, the outrigger main body 20 extends in the vertical direction, and similarly to the conventional example shown in FIGS. 6 and 7, the upper end of the outrigger main body 20 extends in the horizontal direction It is swingably connected to the vehicle body 12.

The outrigger opening/closing section 21 includes a motor section 210 having a built-in motor, a first arm 211, and a second arm 212. One end and the other end of the first arm 211 are swingably connected to the motor section 210 and one end of the second arm 212, respectively. The other end of the second arm 212 is swingably connected to the center of the outrigger body 20 in the vertical direction. When the outrigger 2 is in use, the outrigger opening/closing section 21 swings the first and second arms 211 and 212 by motor drive, and deploys the outrigger main body 20 from the vehicle body 12 as described in the conventional example.

Although the hydraulic cylinder 22 is an electric hydraulic cylinder, it is merely an example, and the hydraulic cylinder according to the present invention is not limited to this. The hydraulic cylinder 22 includes a cylinder body 220, a piston rod 221, an electric pump section 222, and an oil tank section 223. The cylinder main body 220 is connected to the outrigger main body 20 via the cylinder connecting portion 23 so as to be movable in the vertical direction. The electric pump section 222 feeds hydraulic oil from the oil tank section 223 into the cylinder, and uses hydraulic pressure to move the piston rod 221 up and down to expand and contract.

As shown in FIG. 4, the cylinder connecting portion 23 includes a pin 230, a cylinder mounting portion 231, a rubber bush 232, a washer 233, and a retaining ring 234. The cylinder connecting portion 23 fixes the cylinder body 220 to the outrigger body 20 by passing a pin 230 through other members. Since the cylinder body 220 is fixed to the cylinder mounting portion 231 via the rubber bush 232, when it is pulled downward by the cylinder contraction force described later, it is moved downward by the deflection of the rubber bush 232.

As shown in FIGS. 2 and 3, the rod portion 24 extends in the vertical direction, the upper end of the rod portion 24 is fixed to the piston rod 221, and the lower end of the rod portion 24 is exposed from the lower end of the outrigger main body 20. At the same time, it is fixed to the grounding portion 25. The rod portion 24 is moved in the vertical direction together with the piston rod 221 by hydraulic pressure.

The guide portion 26 is fixed to the lower part of the outrigger main body 20 along the circumferential direction of the rod portion 24. Although the guide portion 26 is constituted by a slide bush, this is merely an example and is not limited thereto.

As shown in FIG. 3, the first wedge block 27 has a first inclined surface 27a that slopes upward and toward the rod portion 24, and is provided along the circumferential direction of the rod portion 24 so as to be movable in the vertical direction. It is being Thereby, the rod portion 24 is guided in the vertical direction by the guide portion 26 and the first wedge block 27 at the lower part of the outrigger main body 20. In this embodiment, the ratio of the first wedge block 27 and the guide section 26 in the circumferential direction of the rod section 24 is 1:4, but this is just an example and is not limited to this.

The second wedge block 28 has a second inclined surface 28a provided opposite to the first inclined surface 27a, and is fixed to the lower part of the outrigger main body 20.

In this embodiment, the biasing portion 29 is configured by a coil spring. The urging section 29 urges the first wedge block 27 upward by the repulsive force of the spring, and presses the first wedge block 27 against the rod section 24 by the wedge mechanism formed by the first wedge block 27 and the second wedge block 28. Then, the movement of the rod portion 24 is restrained by the frictional force of the first wedge block 27.

When the outrigger 2 is in use, the piston rod 221 and the rod portion 24 are moved downward by the hydraulic pressure of the hydraulic cylinder 22, and the rod portion 24 extends from the lower end of the outrigger body 20. When the piston rod 221 and the rod section 24 move downward, the first wedge block 27 moves downward together with the rod section 24 due to the frictional force with the rod section 24, thereby loosening the wedge, thereby preventing the movement of the rod section 24. The restriction is lifted. Furthermore, when the grounding portion 25 is in contact with the ground and the piston rod 221 is stopped, the rod portion 24 is prevented from moving by the wedge mechanism. Thereby, the outriggers 2 can maintain the extended state appropriately, so that the industrial vehicle 1 can stably fix the position of the vehicle body 12 for a long time. Furthermore, the outriggers 2 can also restrict the shaking of the vehicle body 12 in the left-right direction by sandwiching the rod part 24 between the guide part 26 and the first wedge block 27 from the left and right by the pressing force of the wedge mechanism.

Further, the outrigger 2 includes a pressing portion 30, a push rod 31, a release arm 32, and a second adjustment screw 34.

The pressing portion 30 has a pin shape extending in the vertical direction. As shown in FIG. 3, the first wedge block 27 has a stepped portion 27b on the first inclined surface 27a, and the lower end of the pressing portion 30 is brought into contact with the stepped portion 27b.

The release arm 32 extends in the left-right direction and includes a fulcrum member 32a and a pressing portion 32b. The fulcrum member 32a is provided at the right end of the release arm 32, and the left end of the release arm 32 is connected to the outrigger body 20 so as to be swingable in the vertical direction. The pressing portion 32b is an adjustment screw extending in the vertical direction, and is screwed into the release arm 32 main body at a position between the right end and the left end of the release arm 32 in the left-right direction. The lower end of the pressing portion 32b is brought into contact with the upper end of the pressing portion 30.

The push rod 31 extends downward from the lower end of the cylinder body 220 and is connected to the left end of the release arm 32 so that the release arm 32 can swing. When the piston rod 221 contracts due to the hydraulic pressure, the cylinder body 220 is pulled downward by the contraction force of the hydraulic cylinder 22 because the rod portion 24 is prevented from moving by the wedge mechanism. As a result, since the cylinder body 220 is connected to the outrigger body 20 via the rubber bush 232, the rubber bush 232 is deflected by the cylinder contraction force, thereby moving downward. As a result, the push rod 31 moves downward together with the cylinder body 220, causing the left end of the release arm 32 to swing downward.

When the release arm 32 is swung downward by the push rod 31, the lower end of the pressing portion 32b is pressed against the pressing portion 30. Next, the pressing part 30 is pressed against the first wedge block 27 by the contraction force of the hydraulic cylinder 22 via the release arm 32 and slides the first wedge block 27 downward, thereby causing the rod part 24 to move by the wedge mechanism. lift the restriction on The cylinder contractile force in the pressing part 32b acts on the pressing part 30 with the left end position of the release arm 32 in the left-right direction as a force point, the position of the fulcrum member 32a as a fulcrum, and the position of the pressing part 32b as a point of action. Therefore, the cylinder contraction force in the push rod 31 is increased. The cylinder contraction force at the pressing portion 32b in this embodiment is approximately three times greater than the cylinder contraction force at the push rod 31. Thereby, the pressing section 30 appropriately moves the first wedge block 27 downward, and appropriately releases the restriction on the movement of the rod section 24. As a result, the outrigger 2 appropriately prevents the contraction of the rod portion 24 when the hydraulic cylinder 22 is stopped, and also appropriately moves the rod portion 24 upward when the hydraulic cylinder 22 is contracted. It can be stored on the main body 20 side.

The outrigger 2 further includes a second adjustment screw 34. The second adjustment screw 34 is an adjustment screw for adjusting the vertical position of the biasing portion 29. The outrigger 2 can adjust the urging force of the urging part 29 against the first wedge block 27, in other words, the pressing force of the wedge mechanism against the rod part 24, using the second adjustment screw 34. Further, the outrigger 2 can also adjust the pressing force of the pressing portion 30 against the first wedge block 27 by adjusting the pressing portion 37b, that is, the first adjustment screw.

Although the outrigger 2 according to one embodiment of the present invention and the industrial vehicle 1 equipped with the outrigger 2 have been described above, the outrigger of the present invention and the industrial vehicle equipped with the outrigger are limited to the above embodiment. isn't it. For example, the outrigger according to the present invention may be implemented by the following modifications.

<Modified example>
- The rod portion 24 and the piston rod 221 may be integrally configured. Further, the pressing portion 30 and the first wedge block 27, or the pressing portion 30 and the pressing portion 32b may also be configured integrally. Further, the part of the first wedge block 27 that is pressed by the pressing part 30 is not particularly limited. For example, the first wedge block 27 may be configured such that the horizontal surface of the upper end is pressed by the pressing part 30. You can.

- If it is possible to release the restriction on the movement of the rod part 24 by the wedge mechanism, for example, the push rod 31 is brought into direct contact with the pressing part 30 without going through the release arm 32, and the cylinder contraction force is directly applied. The information may also be transmitted to the unit 30.

- The first wedge block 27 may be divided into a plurality of parts in the circumferential direction of the rod part 24, and in this case, a plurality of members for moving the first wedge block 27 downward, such as the pressing part 30, are arranged accordingly. .

- The cylinder attachment part 231 may have a long hole 231a extending in the vertical direction, as shown in FIG. In this case, for example, the cylinder connection part 23 does not need to have the rubber bush 232.

1 Industrial vehicle 10 Front wheel 11 Rear wheel 12 Vehicle body 13 Lifting device 14 Robot 2 Outrigger 20 Outrigger body 21 Outrigger opening/closing part 210 Motor part 211 First arm 212 Second arm 22 Hydraulic cylinder 220 Cylinder body 221 Piston rod 222 Electric pump part 223 Oil Tank part 23 Cylinder connecting part 230 Pin 231 Cylinder mounting part 231a Long hole 232 Rubber bush 233 Washer 234 Retaining ring 24 Rod part 25 Grounding part 26 Guide part 27 First wedge block 27a First inclined surface 27b Step part 28 Second wedge block 28a Second inclined surface 29 Biasing part 30 Pressing part 31 Push rod 32 Release arm 32a Fulcrum member 32b Pressing part (first adjustment screw)
34 Second adjustment screw 100 Conventional outrigger

Claims (8)

An outrigger installed on an industrial vehicle,
An outrigger body that extends vertically,
a hydraulic cylinder having a cylinder body and a piston rod;
a rod portion that extends downward from the piston rod, has a lower end exposed from the outrigger body, and is moved in the vertical direction together with the piston rod;
a guide portion fixed to the outrigger main body and provided along the circumferential direction of the rod portion;
a first wedge block having a first inclined surface inclined upward and toward the rod portion, and provided along the circumferential direction of the rod portion so as to be movable in the vertical direction;
a second wedge block having a second inclined surface provided opposite to the first inclined surface and fixed to the outrigger main body;
a biasing portion that biases the first wedge block upward and, when the piston rod is stopped, prevents movement of the rod portion by a wedge mechanism formed by the first wedge block and the second wedge block; ,
push rod and
A pressing part;
The cylinder body is vertically movably connected to the outrigger body, and when the piston rod contracts due to hydraulic pressure, the rod portion is prevented from moving by the wedge mechanism, so that the hydraulic cylinder contracts. It is configured to be moved downward by a force,
The push rod extends downward from the cylinder body and moves downward together with the cylinder body,
The pressing part is connected to a lower end of the push rod, and is pressed against the first wedge block by the contraction force of the hydraulic cylinder via the push rod, and presses the first wedge block downward, so that the first wedge block is pressed against the first wedge block. An outrigger characterized in that the block is slid downward to release the restraint of the wedge mechanism. An outrigger installed on an industrial vehicle,
An outrigger body that extends vertically,
a hydraulic cylinder having a cylinder body and a piston rod;
a rod portion that extends downward from the piston rod, has a lower end exposed from the outrigger body, and is moved in the vertical direction together with the piston rod;
a guide portion fixed to the outrigger main body and provided along the circumferential direction of the rod portion;
a first wedge block having a first inclined surface inclined upward and toward the rod portion, and provided along the circumferential direction of the rod portion so as to be movable in the vertical direction;
a second wedge block having a second inclined surface provided opposite to the first inclined surface and fixed to the outrigger main body;
a biasing portion that biases the first wedge block upward and, when the piston rod is stopped, prevents movement of the rod portion by a wedge mechanism formed by the first wedge block and the second wedge block; ,
push rod and
a release arm;
A pressing part;
The cylinder body is vertically movably connected to the outrigger body, and when the piston rod contracts due to hydraulic pressure, the rod portion is prevented from moving by the wedge mechanism, so that the hydraulic cylinder contracts. It is configured to be moved downward by a force,
The push rod extends downward from the cylinder body and moves downward together with the cylinder body,
The release arm has a pressing portion, extends in the horizontal direction, is connected to the outrigger main body so as to be swingable in the vertical direction, and has one end connected to the push rod, and is oscillated by the downward movement of the push rod. made to move,
The pressing portion is provided below the release arm so as to be movable up and down, and when the release arm swings downward, the pressing portion is pressed against the first wedge block, thereby pressing the first wedge block downward. 1. Slide the wedge block downward to release the restraint on the wedge mechanism,
The outrigger is characterized in that the horizontal position of the pressing portion is located between the swinging end of the release arm and the center of rotation of the release arm swinging. The pressing portion is a first adjustment screw extending in the vertical direction,
The outrigger according to claim 2 , wherein a lower end of the first adjustment screw is pressed against the pressing portion. The outrigger according to claim 2 or 3 , wherein the pressing portion is constituted by a pin extending in the vertical direction. Also equipped with a rubber bush,
5. The cylinder body according to claim 1 , wherein the cylinder body is connected to the outrigger body via the rubber bush, and is thereby moved downward by the contraction force of the hydraulic cylinder. Outriggers listed. Any one of claims 1 to 4 , wherein the cylinder body is connected to the outrigger body via a cylinder connection portion having an elongated hole, and is thereby moved downward by the contraction force of the hydraulic cylinder. or the outrigger described in paragraph 1. further comprising a second adjustment screw that adjusts the vertical position of the biasing section,
The outrigger according to any one of claims 1 to 6 , wherein the biasing portion is constituted by a coil spring. An industrial vehicle comprising the outrigger according to any one of claims 1 to 7 .

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