JPH04306181A - Moving truck for rough terrain - Google Patents

Abstract

PURPOSE:To enable a moving truck running on rough terrain and equipped with a goods loading portion to stably run on unleveled ground while keeping the goods loading portion horizontal and also to enable the payload to be increased. CONSTITUTION:A guide portion 3 taking the form of a circle extending along the longitudinal direction of the body of a vehicle is supported on the upper portion of the body of the vehicle. A goods loading portion 4 which is movable in the longitudinal direction of the body of the vehicle and along the guide portion 3 is connected to the upper side of the guide portion 3. An attitude sensor 6 is provided to the main body 1 of the vehicle and the goods loading portion 4 is put in a rolling movement in the longitudinal direction of the body of the vehicle by a driving means such as a motor in response to signals obtained from the sensor 6.

Description

[Detailed description of the invention]

0001

[Industrial Application Field] The present invention is applicable to patrol inspections inside nuclear reactors, factories, construction sites, chemical plants, mountainous areas, seabeds, etc., remote control manipulators used for work, and uneven terrain movement as a means of transporting materials. About cars.

0002

2. Description of the Related Art The prior art will be explained with reference to the drawings. FIG. 8 is a diagram showing the prior art, in which (A) is the state on a flat ground, (B
) indicates conditions on uneven ground such as stairs or slopes. FIG. 9 is a diagram showing another conventional technology, in which (A) is a state on a flat ground, (B
) indicates conditions on uneven ground such as stairs or slopes. FIG. 10 is a diagram showing another conventional technique, in which (A) is a state on a flat ground, (
B) indicates the condition on uneven ground such as stairs or slopes. FIG. 11 is a diagram showing another conventional technique, in which (A) is a state on a flat ground;
B) indicates the condition on uneven ground such as stairs or slopes.

[0003] When moving on uneven ground, especially when traveling over stairs or steps, if the goods loading section 4 of the moving vehicle is fixed to the vehicle body 1 as shown in FIG. The center of gravity of the entire vehicle moves downward, making the moving vehicle extremely unstable and, in some cases, tipping over or becoming unable to drive. Therefore, as shown in Figures 9, 10, and 11, a mechanism is added to the rough terrain vehicle to separate the goods loading section 4 and the vehicle body 1 and move the goods loading section 4 forward when traveling over stairs, slopes, and steps. Therefore, when traveling over stairs, slopes, or steps, the material loading section 4 is moved forward to move the center of gravity of the entire moving vehicle upward.

0004

[Problems to be Solved by the Invention] Although it is possible for mobile vehicles equipped with these mechanisms to travel on stairs, slopes, and differences in height using the methods described above, each vehicle has the following problems. In the method shown in FIG. 9, the material loading section 4 is raised relative to the vehicle body 4 in parallel to the slope on the slope.
A high-output drive source is required just for attitude control. Furthermore, the material loading section 4 cannot be kept horizontally.

The method shown in FIG. 10 is a method in which the article loading section 4 is rotated around an axis S according to the inclination angle of the vehicle body, and is always kept horizontal. In this mechanism, since the axis S has a height h from the road surface, the center of gravity of the goods loading section 4 always shifts downward when the vehicle body is tilted. This causes a decrease in stability.

The method shown in FIG. 11 is a method in which the article loading section 4 is supported on the vehicle body using a four-bar link, and the article loading section 4 is tilted forward in accordance with the inclination angle of the road surface to always maintain a horizontal position. This mechanism has a problem in that large stress is concentrated on the support shaft of the link when it is tilted. Furthermore, since the article loading section 4 is supported by the link mechanism, it is difficult to increase the weight of the loaded articles.

SUMMARY OF THE INVENTION In view of the above-mentioned problems, it is an object of the present invention to increase the loading weight of a goods loading section and to improve the stability of a mobile vehicle on uneven terrain such as stairs and slopes.

[0008]

[Means for Solving the Problems] That is, the rough terrain vehicle according to the present invention supports an arcuate guide part in the longitudinal direction of the vehicle body on the upper part of the vehicle body, and supports the arc-shaped guide part in the longitudinal direction of the vehicle body along the guide part on the upper part of the guide part. A movable cargo loading section is provided, and a motor or the like is driven to swing the cargo loading section in the longitudinal direction of the vehicle body based on information obtained from a posture sensor provided on the vehicle body, the guide section, or the cargo loading section. The configuration has means. In this case, it is desirable that the center of curvature of the guide portion on the arc be located below the ground contact surface of the vehicle body.

[0009]

[Function] The above-mentioned rough terrain vehicle supports an arcuate guide part in the longitudinal direction of the vehicle body on the upper part of the vehicle body, and has a material loading part that can move in the longitudinal direction of the vehicle body along the guide part on the upper part of the guide part. , based on the information obtained from the attitude sensor provided in the vehicle body, the guide section, or the cargo loading section, the cargo mounting section is configured to have a driving means such as a motor that swings the cargo loading section in the front and back direction of the vehicle body, thereby making it possible to move. When the vehicle moves over uneven terrain such as stairs or slopes, the center of gravity of the cargo loading section can be adjusted to maintain a horizontal and stable posture, and the cargo loading section is supported without a link to the guide section. Therefore, the loading weight can be easily increased. Also,
When the center of curvature of the guide portion is located below the ground contact surface of the vehicle body, it is possible to move the center of gravity in a more stable direction during driving.

0010

DESCRIPTION OF THE PREFERRED EMBODIMENTS The rough terrain vehicle according to the present invention will be explained below based on the illustrated embodiments. FIG. 1 is a diagram showing an embodiment of the rough terrain vehicle of the present invention. In FIG. 1, reference numeral 1 denotes a vehicle body, and wheels 2a and 2b for running are arranged symmetrically at the front and rear of the lower part of the body. An arc-shaped guide portion 3 is supported in the upper part of the vehicle body 1 in the front-rear direction. At the upper part of the guide part 3, there is a material loading part 4 which is movable in the front and back direction, and a connecting part 5.
It is installed through. 6 is an attitude sensor that detects the attitude of the moving vehicle. In this embodiment, the attitude sensor 6 is arranged on the vehicle main body 1, but it may be arranged on the material loading section 4.

FIG. 2 shows an example of the driving means. Connecting part 5
The guide section 3 is sandwiched between support pulleys 8a and 8b rotatably supported by the frame 7 of the connecting section 5, and a drive pulley 11 engaged with the output shaft 10 of the motor 9 supported by the frame 7. . The motor 9 is driven by a signal from the attitude sensor 6 in FIG. 1 so as to keep the material loading section 4 horizontal at all times.

[0012] This state will be explained using figures. Figure 6 (A
) shows the state of the mobile vehicle of this embodiment on flat ground, and (B) shows the state on uneven ground such as a slope. When the moving vehicle moves up and down uneven ground such as stairs or slopes as shown in FIG. 6(B) from the level ground shown in FIG. By moving until it becomes horizontal, the entire center of gravity can be moved in a stable direction, allowing stable movement on rough terrain.

FIGS. 7A and 7B are diagrams showing the influence of the radius of curvature of the guide portion 3 of this embodiment. FIG. 7(A) is a diagram showing a case where the center of curvature OA of the guide portion 3 is located above the ground contact surface of the vehicle body. Figure 7(B) shows the guide part 3.
FIG. 3 is a diagram showing a case where the center of curvature OB is below the ground contact surface of the vehicle body. From this, Fig. 7(B) is better than the case of Fig. 7(A).
) can be said to be more stable.

FIG. 3 shows an embodiment using another driving means. In FIG. 3, the guide part 3 includes support pulleys 12a, 12b, 12 rotatably supported by the frame 7 of the connecting part 5.
It is sandwiched between c and 12d. Guide pulleys 13a and 13b are rotatably supported at both ends of the guide portion 3. A posture sensor 6 and a motor 14 are installed on the upper part of the vehicle body 1.
are arranged, idler pulleys 15a, 15b, 15c,
15d is supported rotatably as appropriate. A drive pulley 17 is engaged with the rotating shaft 16 of the motor 14 . The timing belt 18, one end of which is fixed to the bottom surface of the material loading section 4 or the connecting section 5, is attached to the guide pulley 13a, idler pulleys 15d and 15c, drive pulley 17, and idler pulley 1.
5b, 15a, and are suspended on the guide pulley 13b, and the other end is again fixed to the bottom surface of the material loading section 4 or the connecting section 5. The motor 14 is driven by a signal from the attitude sensor 6 so as to keep the material loading section 4 horizontal at all times.

FIG. 4 shows another embodiment. Figure 4
, a motor 21 is fixed to the frame 7 of the connecting portion 5, and a support pulley 19a rotatably supported.
, 19b, 19c, 19d, guide pulleys 20a, 20
b is provided. A drive pulley 23 is engaged with a drive shaft 22 of the motor 21 . The guide portion 3 is sandwiched between the support pulleys 19a, 19b, 19c, and 19d. One end of the timing belt 24 is fixed to one end of the guide part 3, and the timing belt 24 is suspended around the guide pulley 20a, drive pulley 23, and guide pulley 20b, and then fixed to the other end of the guide part 3 again. The motor 21 is driven by a signal from the attitude sensor 6 so as to keep the material loading section 4 horizontal at all times.

In the examples shown in FIGS. 3 and 4, a flexible material such as a chain or belt may be used instead of the timing belt.

FIG. 5 shows another embodiment of the guide section. Figure 5(A) is a side view, and Figure 5(B) is a-a in (A).
It is a cross section. In FIG. 5A, 1 is a vehicle body, 29 is a vehicle body frame on the side of the vehicle body 1, 4 is an article loading section, and 5 is a connecting section 5 that connects the vehicle body 1 and article loading section 4. A guide portion 31 having an arcuate groove carved in the front-rear direction is provided on the vehicle body frame 29. The upper ends of the guide part 31 and the vehicle body frame 29 are connected to guide pulleys 26a, 26 which are rotatably disposed inside the frame 30 of the connecting part 5.
The material loading section 4 is supported by being sandwiched between the support pulleys 25a, 25b and the drive pulley 27 which is engaged with the drive shaft 32 of the motor 28 fixed to the bottom surface of the material loading section 4 in FIG. 5(B). and can be driven.

[0018]

As explained above, the rough terrain moving vehicle according to the present invention supports an arc-shaped guide part in the longitudinal direction of the vehicle body on the upper part of the vehicle body, and supports the guide part in the longitudinal direction of the vehicle body along the guide part on the upper part of the guide part. Driving a motor or the like that swings the material loading section in the longitudinal direction of the vehicle body based on information obtained from an attitude sensor provided on the vehicle body, the guide section, or the material loading section. This mobile vehicle is equipped with a means for moving the center of gravity of the mobile vehicle to a stable position when moving on uneven terrain such as stairs or slopes, thereby realizing stable running.

Furthermore, by locating the center of curvature of the guide portion below the ground contact surface of the vehicle body, more stable movement on uneven ground such as stairs and slopes is possible. In addition, since there is no link between the cargo loading section and the main body, the payload can be easily increased, and the power required for attitude control is small to keep the cargo loading section in a horizontal state at all times. It is a highly practical transportation vehicle.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing an embodiment of the rough terrain vehicle of the present invention.

FIG. 2 is a diagram showing an example of the driving means.

FIG. 3 is a diagram showing another example of driving means.

FIG. 4 is a diagram showing still another example of driving means.

FIG. 5 shows another example of the guide part, (A) is a side view, (A) is a side view;
B) is a sectional view taken along line a-a of (A).

FIG. 6 is a diagram showing the operation of the embodiment of the present invention. (A)
(B) shows the state on level ground, and (B) shows the state on uneven ground such as stairs or slopes.

FIG. 7 is a diagram illustrating an embodiment of the present invention. (A)
(B) shows the movement of the center of gravity when the center of curvature of the guide portion 3 is above the ground contact surface of the vehicle body, and (B) shows the movement of the center of gravity when the center of curvature is below the ground contact surface of the vehicle body.

FIG. 8 is a diagram showing a prior art. (A) shows the state on level ground, and (B) shows the state on uneven ground such as stairs or slopes.

FIG. 9 is a diagram showing another conventional technique from FIG. 8; (A) shows the state on level ground, and (B) shows the state on uneven ground such as stairs or slopes.

FIG. 10 is a diagram showing a conventional technique different from FIGS. 8 and 9. FIG. (A) shows the state on level ground, and (B) shows the state on uneven ground such as stairs or slopes.

FIG. 11 is a diagram showing a conventional technique different from FIGS. 8, 9, and 10. (A) shows the state on level ground, and (B) shows the state on uneven ground such as stairs or slopes.

[Explanation of symbols]

1 Vehicle main bodies 2a, 2b Wheels 3 Guide section 4 Material loading section 5 Connection section 6 Posture sensor 7 Frame 8a, 8b Support pulley 9 Motor 10 Output shaft 11 Drive pulley 12a, 12b, 12c, 12d Support pulley 13a
, 13b Guide pulley 14 Motor 15a, 15b, 15c, 15d Idler pulley 1
6 Rotating shaft 17 Drive pulley 18 Timing belt 19a, 19b, 19c, 19d Support pulley 20a
, 20b Guide pulley 21 Motor 22 Drive shaft 23 Drive pulley 24 Timing belt 25a, 25b Support pulleys 26a, 26b, 26c Guide pulley 27 Drive pulley 28 Motors 29a, 29b Vehicle body frame 30 Frame 31 Guide portion 32 Drive shaft

Claims (2)

[Claims] Claim 1: An arc-shaped guide section is supported in the vehicle body's longitudinal direction on the upper part of the vehicle body, and a material loading section that is movable in the vehicle body's longitudinal direction along the guide part is provided at the upper part of the guide part, and the vehicle body or An all-terrain vehicle characterized by comprising a driving means such as a motor that swings the material loading section in the longitudinal direction of the vehicle body based on information obtained from a posture sensor provided in the guide section or the material loading section. 2. Claim 1, wherein the center of curvature of the arcuate guide portion is located below the ground contact surface of the vehicle body.
The rough terrain vehicle described.