JPH03447Y2 - - Google Patents

Description

[Detailed Description of the Invention] This invention relates to a walking machine capable of turning using front and rear slide actuators.

Conventionally, some walking machines having eight telescopic legs are equipped with a turning mechanism and the direction of movement is changed by this turning mechanism.
The problem is that the structure is complex and expensive.

This invention was made to improve this problem, and aims to simplify the configuration and reduce the cost by providing a walking machine that can turn without using a turning mechanism.

This invention will be described in detail below with reference to an illustrated embodiment. In the figure, reference numeral 1 denotes a main body frame, which has a framework shape with four telescopic legs 2 at the corners, and a guide frame 3 is laid horizontally in the front-rear direction of this main body frame 1. A working machine 4 such as a stone leveling machine is movably attached to the guide frame 3, and is moved via a cable 6 by a winch 5 provided at the front end of the guide frame 3.

Reference numeral 7 denotes a slider provided so as to be slidable in the front and back direction of the main body frame 1, and this slider 7
and a bracket 8 fixed to the main body frame 1 side, two left and right front and rear slide actuators 9 and 10 are installed. These front and rear slide actuators 9 and 10 are provided with hydraulic piping as shown in FIG. 4. That is, 11 is a hydraulic pump, and the hydraulic pressure discharged from this pump 11 is applied to each of the front and rear slide actuators 9,
It can be supplied to each of the front and rear slide actuators 9 and 10 via switching valves 12 and 13 provided every 10 times. Each of the above switching valves 12, 13
are the cutoff positions 12 ₁ and 13 ₁ and the positions 12 ₂ and 13 ₂ that supply hydraulic pressure to the bottom side or rod side of each of the front and rear slide actuators 9 and 10.
12 ₃ and 13 ₃ , and by selectively operating these switching valves 12 and 13, a turning operation can be performed as shown in the operation described below.

On the other hand, a movable frame 15 is supported on the slider 7 so as to be slidable in the left-right direction of the main body frame 1. The movable frame 15 also has a framework shape, and has legs 16 that are extendable and retractable at the corners. Further, two front and rear slide actuators 17 are provided between the moving frame 15 and the slider 7, and these left and right slide actuators 17 cause the moving frame 1 to move toward the slider 7.
5 can move in the left and right direction of the main body frame 1.

Next, to explain the action, when moving in the front-back direction, the legs 2 of the main body frame 1 land, and the moving frame 15
With the side legs 16 shortened, the front and rear slide actuators 9 and 10 are extended and contracted in the same direction to move the slider 7 forward or backward relative to the main body frame 1, and then the legs of the moving frame 15 are moved forward or backward relative to the main frame 1. 16 lands on the ground, the legs 2 on the main body frame 1 side are shortened, the front and rear slide actuators 9 and 10 are extended and contracted, and the slide 7 is moved. Thereafter, by repeating the above operations, movement in the front and rear directions becomes possible.

For movement in the left-right direction, the left-right slide actuator 17 may be expanded and contracted to repeat the above-mentioned operation, that is, the movement of the legs 2 and 16 provided on the main body frame 1 and the movable frame 15.

On the other hand, when turning, first the legs 16 on the movable frame 15 side land on the ground, and the legs 2 on the main body frame 1 side are shortened (● in the figure is the landing leg, and ○ is the shortened leg). ), one of the front and rear slide actuators 9 and 10 is shortened.
As a result, the main body frame 1 is rotated by an angle θ as shown in FIG. In this state, the legs 2 of the main body frame 1 land, the legs 16 of the moving frame 15 are shortened, and hydraulic pressure is supplied to the front and rear slide actuators 9 and 10 to move the slider 7 to the stroke end.
By this operation, the movable frame 15 returns to the state perpendicular to the main body frame 1 as shown in FIG. 5c. Thereafter, the slider 7 is moved to the center by the front and rear slide actuators 9 and 10 as shown in FIG. 5d. If the turning is to be continued, the operations from a to d in FIG. 5 may be repeated again.

As described in detail above, this invention is based on a hydraulic circuit for the front and rear slide actuators that move the movable frame back and forth relative to the main body frame, with a switching valve that allows the front and rear slide actuators to selectively extend and retract. Since the front and rear slide actuators allow for turning, there is no need to provide a turning mechanism separate from the walking mechanism as in the past.

This simplifies the configuration and reduces weight compared to the conventional structure provided with a turning mechanism, thereby improving maneuverability.

[Brief explanation of the drawing]

The drawings show one embodiment of this invention, in which Fig. 1 is a plan view, Fig. 2 is a side sectional view, Fig. 3 is a front sectional view, Fig. 4 is a hydraulic circuit diagram, and Fig. 5 a to d are operational diagrams. It is an explanatory diagram. 1 is a main body frame, 2 and 16 are leg bodies, 7 is a slider, 9 and 10 are front and rear slide actuators, 12 and 13 are switching valves, 15 is a moving frame, and 17 is a left and right slide actuator.

Claims (1)

[Scope of utility model registration request] A slider 7 that is movable in the front and rear directions by front and rear slide actuators 9 and 10 is provided on the main body frame 1 that has legs 2 that are extendable and retractable. A moving frame 15 is provided which is movable in the left and right direction by an actuator 17, and a hydraulic circuit of the front and rear slide actuators 9 and 10 is provided with:
A walking machine that can turn by the front and rear slide actuators 9 and 10 by providing switching valves 12 and 13 that can selectively extend and retract the front and rear slide actuators 9 and 10.