JPH0232369B2 - BOKINIOKERUJIDOTAMAAGEKITONOSAGYOKINOSOKOSHISEISEIGYOSOCHI - Google Patents

Description

[Detailed Description of the Invention] Technical Field This application deals with the problem that a working machine that runs on the floor along the front of a spinning machine stand and performs work such as doffing loses its running posture due to the elevation or unevenness of the floor. The present invention relates to a traveling attitude control device that allows the vehicle to travel while maintaining a substantially horizontal state at all times.

Prior Art and Problems A work machine that runs on the floor along the front of a spinning machine stand and performs work such as doffing detects the elevation or unevenness of the floor, and controls its running posture based on this detection signal. Various types of control devices have been proposed for controlling the running posture of a working machine so that the working machine always runs while maintaining a substantially horizontal state, and many of them are in practical use. The present applicant also previously applied for a patent application in 1973.
No. 112604 (Japanese Unexamined Patent Publication No. 51-40437) for ``Traveling posture control device for working machines such as automatic doffing machines in spinning machines.''

However, in the conventional device described above, a wheel is attached to one end of an L-shaped swinging lever that is pivotally connected to the body of the work equipment, and a hydraulic cylinder attached to the other end of the swinging lever swings according to the difference in height of the floor surface. The driving posture is controlled by swinging a lever.
Since the vehicle body and wheels are rigidly integrated, there are the following drawbacks. That is, the shortcomings of this conventional device can be explained in FIGS.
The following is an explanation using a diagram. Figure 3 shows a state in which the vehicle is traveling on a smooth floor surface (reference surface) GL at a predetermined height. Naturally, at this time, the axle 1 and the bottom surface of the vehicle body 3 of the work equipment 2 are parallel to the floor surface GL. The wheels 4 are in contact with the floor surface GL at a point indicated by P1. From this state, as shown in Figure 4, the floor surface GL
When the wheel 4 reaches the GL1 position, the wheel 4 is pushed up, and the wheel 4 moves between the guide roller 5 and the guide rail 6.
The work equipment 2 is rotated clockwise while slipping on the floor surface GL from point P1 to point P2 while drawing an arc-shaped trajectory 7 centered on the mating point with the
It is inclined as shown by the imaginary line in the figure. If the work equipment 2 tilts and the wheels 4 slip due to the floor surface GL1 becoming higher, a braking force will act that will hinder the forward movement of the work equipment 2, which is undesirable, but this phenomenon is inevitable due to the inclination of the work equipment 2. It occurs and cannot be avoided. When the working machine 2 is tilted as described above, a detection device (not shown) detects this and issues a signal, and this detection signal operates the hydraulic cylinder 10, swings the swinging lever, and pulls up the wheel 4. This corrects the inclination of the working machine 2 and controls the working machine 2 so that it always runs in a normal posture. However, as described above, in the conventional device, the wheels 4 and the work machine 2 are rigidly integrated, so when the wheels 4 are pulled up as described above, the wheels 4 slide on the floor surface GL1 while spinning the spinning machine 8. , the entire working machine 2 including the wheels 4 rotates counterclockwise, and the wheels 4 move l in the opposite direction.
When the work equipment 2 slips on the floor surface GL1
returns to normal running position. As is clear from the above, the conventional device uses the wheels 4 both when the work machine 2 is tilted and when it is corrected to the normal posture.
Since the wheel slips on the floor surface GL, braking resistance becomes large and a large driving force is required. Furthermore, if the above-mentioned posture control is performed when the working machine 2 is stopped, the guide roller 5 may come off the wheel as it is pushed toward the spinning machine 8 when the working machine 2 returns to its normal posture. The above-mentioned drawbacks of the conventional device naturally occur when the floor surface GL becomes as low as GL2 as shown in FIG. Needless to say, the directions are all reversed.

As detailed above, in the conventional device, since the wheels 4 and the vehicle body 3 of the work vehicle 2 are rigid in the axle direction (direction perpendicular to the forward direction), the floor surface
When the work equipment 2 tilts due to the height of GL,
When correcting this, not only braking actions in one direction and two directions are activated, but also the work implement 2 must be rotated with a large rotation radius when performing posture control, which has the drawback of lacking smooth operation.

Purpose and Summary In view of the drawbacks of the conventional device described above, the present application is to connect the body and wheels of a working machine via a link mechanism to eliminate the drawbacks of the conventional device. This will be explained in detail.

Embodiment In the drawings, reference numeral 2 denotes a working machine, in which a guide roller 5 is provided on the side surface of the spinning machine 8 on the machine stand side, and the guide roller 5 fits into and is guided by a guide rail 6 attached to the spinning machine 8. In addition to traveling on the surface GL to perform tasks such as doffing, it also detects the difference in height of the floor surface GL and issues a detection signal as in the past.

In the work machine 2 as described above, the control device of the present invention is configured as follows. A pair of mounting pieces 9 are fixed to the side surface of the vehicle body 3 on the opposite side to which the guide roller 5 is mounted so as to face each other with an appropriate interval. A hydraulic cylinder 10 is rotatably mounted on the hydraulic cylinder 10, and a bar 11 is fixed to the piston rod 10a of the hydraulic cylinder 10 to constitute a first lever 12. On the other hand, a first lever 12 is constructed by fixing a bar 11 to the piston rod 10a of the hydraulic cylinder 10. A second lever 13 is pivotally mounted so as to rotate in the same direction as the first lever 12, and then the axle 1 is attached to the tips of both levers 12 and 13 as follows.
is installed. A wheel 4 is rotatably attached to one end of the axle 1, and a mounting ring 15 is fixed to the axle 1 in close proximity to the wheel 4 via a distance collar 14.
The tip of the first lever 12 is pivotally attached to the mounting ring 15, and the tip of the second lever 13 is directly pivoted to the other end of the axle 1, so that both the first and second levers 12, 13
The axle 1 is held in a suspended manner by the handles, and the bottom surface of the vehicle body 3 of the axle 1 and the work equipment 2 is on the floor during normal running.
Both the first and second levers 12 so as to be parallel to GL,
Set 13 related dimensions. In this way, the axle is attached to both the first and second levers 12, 13, and the upper end of the third lever 16 is attached to the first and second levers 12, 13.
The vehicle body 3 is located approximately midway between the pivot positions 2 and 13.
The third lever 16 is pivoted to the bottom surface, and the other end is pivoted to a mounting ring 17 fixed to the axle 1 in close proximity to the mounting ring 15, so that the third lever 16 is diagonally bridged between the vehicle body 3 and the axle 1. A link mechanism 18 is constituted by three levers 12, 13, and 16. Furthermore, first,
Although the third levers 12 and 16 are attached to the axle 1 via attachment rings 15 and 17 in the drawings, there is no problem if they are pivoted directly to the axle 1. Since the link mechanism 18 in the present application has the above-described configuration, the link mechanism 18 as a whole is rotatable in the axial direction, and the traveling attitude is controlled as described in detail below.

If the floor surface GL is flat with no difference in height, the bottom surfaces of the axle 1 and the vehicle body 3 are both on the floor surface, as shown in Figure 3.
The car is running parallel to the GL. When the floor surface GL rises to GL1 as shown in FIG. 4, the wheels 4 are lifted, and the working machine 2 tilts to the right, that is, to the spinning machine 8 side, about the fitting part between the guide roller 5 and the guide rail 6. The wheel 4 has an arcuate trajectory 7 whose radius is the distance R from the grounding point P1 with the floor surface GL to the fitting part of the guide roller 5 and the grounding point P1.
While drawing, slip the floor surface GL1 by l, and
The vehicle body 3 stops at the 2nd point and tilts as shown in the imaginary line, and at this time, the tilted axle 1 and vehicle body 3 naturally
The bottom surface of the is parallel, and the three levers 12,
13 and 16 are located at the positions of virtual lines, respectively. As mentioned above, due to the height difference of the floor surface GL1, the car body 2
The fact that the wheels 4 slip when the vehicle is tilted and a braking action is performed is a mechanical fate of the working machine 3, which is guided by the guide rail 6 and runs on the wheels 5 attached only to one side of the vehicle body, and this should be avoided. This point is the same in the present application as in the prior art.

When the vehicle body 3 is tilted as described above, the detection device detects this and issues a detection signal, and this detection signal causes the hydraulic cylinder 10 to start operating. Various types of hydraulic control mechanisms 10 are known and are used not only in the conventional device described above but also in other working machines, and the details thereof will be omitted since they can be selected and used as appropriate.

The hydraulic cylinder 10 is actuated by the detection signal, and the piston rod 10a is engaged to shorten the entire length of the first lever 12, thereby raising the axle 1 pivoted to the tip of the first lever 12 and increasing the height of the wheel 4. However, due to this pulling operation, a force is applied to the tilted axle 1 as shown in FIG. 4, which attempts to rotate it upward around the pivot point between the second lever 13 and the axle 1. . As described above, since the third lever 16 is disposed diagonally between the vehicle body 3 and the axle 1, a couple acts on it due to the rotational force, and the third lever 16 is moved around the pivot point with the axle 1. Since we want to rotate the third lever 16, which is located at the position shown by the imaginary line, to the position shown by the solid line, the other two levers 1
2 and 13, that is, the entire link mechanism 18 rotates around the pivot point with the axle 1 to the position shown by the solid line, and the vehicle body 3, which had been tilted as shown by the imaginary line, returns to the horizontal position as shown by the solid line and runs. Although the attitude is controlled, the grounding point between the wheel 4 and the floor surface GL1 is at the P2 point where the wheel slipped in the above, and as in the conventional device, the attitude control returns to the origin (at the P1 point in Fig. 4). The axle 1 travels in the inclined state shown in FIG. 4 without slipping up to the position directly above the vehicle.

As described in detail above, the control device of the present application has the following functions:
is attached to the axle 1 via the link mechanism 18, so when performing posture control, the entire work machine 2 including the wheels 4 does not need to be rotated, unlike conventional devices, so that it is performed in conjunction with the control operation. No slip occurs and braking action is prevented. In addition, in the present application, only the vehicle body 3 is rotated by the link mechanism 18 as described above, so the operation is smooth, and since the wheel 4 portion does not rotate, the rotating portion is relatively small, so that the guide is easy to operate. The roller 5 is also prevented from coming off.

As shown in FIG. 5, when the floor surface GL is lowered to the position shown at GL2, the actions of each component are the same, except that the movements of each component are reversed. i.e. floor surface
When GL becomes low, work equipment 2 tilts and wheels 4 move to P1.
Slip from point to P3 point l1, 1st, 2nd, 3rd
Each of the levers 12, 13, 16 and the vehicle body 3 are in the position of the imaginary line, and when the hydraulic cylinder 10 is actuated to project the piston rod 10a to lengthen the entire length of the first lever 12 and push down the axle 1, the third lever 16 A couple in the opposite direction acts on the link mechanism 18 to control the running attitude, but in this case as well, the same control operation as described above does not cause the slippage that conventionally occurs.

Effects As detailed above, in the present application, by attaching the vehicle body to the axle via a link mechanism, it becomes possible to move the axle and the vehicle body independently when performing attitude control. This system enables running with small driving power, excluding the braking action that inevitably occurs with control actions, and further smoothes the action to prevent slippage accidents. Moreover, it is composed of three levers. It is extremely useful as it is a simple link structure that does not cause failures and is easy to maintain and manage.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention; Fig. 1 is a front view with the spinning machine omitted, Fig. 2 is a right side view of Fig. 1, and Fig. 3 is a right side view of Fig. 1.
5 to 5 are operation explanatory diagrams. 1...Axle, 2...Work machine, 4...Wheel, 10
... Hydraulic cylinder, 12 ... First lever, 13
...Second lever, 16...Third lever, 18...
Link mechanism, GL, GL1, GL2...floor surface.

Claims (1)

[Claims] 1. A guide roller is installed on the side of the working machine on the side of the spinning machine stand, and the guide roller runs along the floor surface along the front of the spinning machine guided by a guide rail attached to the spinning machine stand, and the guide roller runs on the floor surface along the front surface of the spinning machine, thereby adjusting the height difference of the floor surface. In working machines such as automatic doffing machines in spinning machines that detect the inclination of the working machine and emit a signal, the guide roller is fixed to the car body on the opposite side from the installation side so as to face each other with an appropriate interval. A hydraulic cylinder is pivotally attached to each of the pair of mounting pieces, and a bar is fixed to the piston rod of the hydraulic cylinder to constitute a first lever, and then a second lever is provided at a position close to the spinning machine table side of the vehicle body. an axle having a wheel rotatably attached to the end of the shaft is pivotally attached to the tips of both levers, and the axle is held suspended between the two levers; , the upper end of which is located approximately midway between the first and second levers, and the lower end of which is located close to the first lever, and is pivotally connected to bridge the vehicle body and the wheels in an oblique manner. A running attitude control device for a work machine such as an automatic doffing machine in a spinning machine in which a car body and an axle are connected via a link.