JPH0452707A - Multi-function carrier vehicle - Google Patents

Abstract

PURPOSE:To attain the automatic drive of a carrier vehicle between two unspecified points or between two specified points by providing a steering means, a displacement detection means, a steering mode selection means, and a steering control mechanism. CONSTITUTION:A driver gets on a carrier vehicle to carry the materials to an unspecified place or the vehicle is moved to an optional place with external operations of a drive means 3 and a steering means 6. Meanwhile a guide cable 32 is laid along the traveling route of the vehicle at such a work site where the vehicle reciprocates along the prescribed traveling route. The displacement detection means 13 and 14 interlock the cable 32, and the vehicle is driven forward or backward after the automatic changeover of a steering mode selection means 11. At the same time, the signal is supplied to a steering control mechanism 15 so as to minimize the displacement value obtained by the displacement detection means. Thus the vehicle is automatically steered to move back and forth so as to keep a prescribed distance from the cable 32. As a result, the vehicle can automatically travel between the unspecified places or the specified places.

Description

[Detailed Description of the Invention] Industrial Field of Application The present invention is a self-propelled vehicle, whether a ride-on type or a hand-guided type, capable of moving forward and backward, and capable of moving to an unspecified location at will. The present invention relates to a multifunctional transport vehicle that is capable of automatically traveling along a guide cable along a preset route.

Conventional technology As transport vehicles that run on power, there have traditionally been dedicated vehicles such as ride-on or hand-guided self-propelled transport vehicles, or unmanned transport vehicles that run on a set track. , used for specific tasks.

For example, for transporting earth, sand, and equipment during construction and civil engineering work, we have a ride-on type vessel that is versatile for loading and dumping earth and sand, as shown in Figure 12, and can be operated from one unspecified place to another by the driver's operation. There are vehicles that travel back and forth and transport loads, but when used: Each vehicle must have one qualified driver. On the other hand, in cases where various materials are to be transported along a fixed route over a relatively long period of time, such as large-scale construction work in forestry or fruit cultivation, simple rails (
(including 1st and 2nd type), and an unmanned self-driving transport trolley is moved back and forth from one fixed point to another on the track to transport the load. is well known.

However, in the two cited examples above, specialized vehicles are used depending on the content of each work, but the work in this example is a work that is mixed over time, and at some point At the driver's will, the machine travels within unspecified work sites and between work sites, performs transportation work, and sometimes automatically travels back and forth along a predetermined route along a guide cable that is simply stretched. There are no dual-purpose transportation vehicles that can perform both transportation and transportation work.

Problems to be Solved by the Invention The conventional transport vehicles mentioned above are capable of fully demonstrating their capabilities and achieving their objectives under specific working conditions, but in recent years, especially There is a shortage of labor for civil engineering work, forestry, agricultural work, etc., and the aging of the population is progressing.
Mechanization is also required for work that involves small transportation. In addition, with the addition of subdivision and diversification of construction types, soil, equipment,
Transportation of timber and other products is also carried out from unspecified points to other unspecified points, or from one fixed point to another, and the quantity is uneconomical to lay rails, or it is impossible to move from one fixed point to another. They tend to move around a lot.

In view of these current circumstances, the present invention aims to provide a single machine with a traveling device that can be operated by a driver while riding or walking to transport earth, sand, equipment, etc. to an unspecified location, or to transport earth and sand, equipment, etc. to an unspecified location, or to carry It is an object of the present invention to provide a multi-functional transport vehicle that can automatically run unmanned by simply installing a guide cable in a bow length.

Problems for Solving the Problems In order to solve the above problems, the present invention has the following configuration. In other words, the transport equipment and the
In a transport vehicle equipped with a power unit for actuating the actuator for the transport equipment and driving the traveling equipment, you can manually move the aircraft forward, backward, stop, run, and change direction by riding in the transport vehicle or directly from the machine side. The traveling means for operating the traveling device and the steering means for steering which can issue commands such as Displacement detection means capable of detecting different positive and negative displacement amounts when the distance between the guide lobe and the aircraft body differs from a predetermined value, and configured to be able to be stored freely in the aircraft body side, and a steering means for two-stroke maneuvering. For,
A steering mode selection means having a manual/automatic steering position that can switch the command from the displacement detection means and connect it to the steering means for steering in addition to directly issuing a driving direction conversion command manually; Means is provided for supplying a signal to the steering control mechanism such that when the steering mode selection means is in the automatic steering position, the amount of displacement obtained by the displacement detection means is minimized.

Function When using this transport vehicle to transport earth, sand, equipment, etc. from an unspecified location to another location, the driver, as in the case of the prior art, rides on the vehicle or from outside the vehicle, operates the traveling means for operating the traveling device, Operate the steering means to move the vehicle to any desired location.

On the other hand, in a work site where the travel route and movement point of the vehicle are determined in advance and the vehicle moves back and forth or circulates between them, a guide cable is stretched along the route, and the vehicle according to the present invention is attached to the guide cable. When the displacement detection means is engaged and the steering mode selection means for manual/automatic steering switching is switched to automatic, and the vehicle is moved forward or backward, a signal that minimizes the amount of displacement obtained by the displacement detection means is sent to the steering wheel. The control mechanism automatically steers the transport vehicle back and forth to maintain a predetermined distance from the guide cable.

Example Next, embodiments of the present invention will be described based on the drawings.

Fig. 1 is an external side view showing a first embodiment of a multifunctional transport vehicle according to the present invention, and Fig. 2 is a schematic diagram showing a steering control system of this vehicle. The front wheel 2 is also a rear wheel, which supports the main frame 31, and rotates in the left and right direction via a link mechanism by the expansion and contraction of the front wheel steering cylinder 16 and the rear wheel steering cylinder 17, respectively. , a vessel 4 for transporting earth and sand, and a front wheel 1
The vehicle is equipped with a power plant 3 that serves as a power source for driving the rear wheels 2, operating working devices such as a dump cylinder that tilts the vessel 4, and driving the operating hydraulic pump. 6 is a steering wheel, and when manual steering link is selected as steering mode selection means in 11, get on the steering wheel,
Alternatively, by rotating this handle to the right or left from the machine side, the steering cylinders 16, 17, or one of them, can be extended or contracted to change the direction of the front wheels 1 and rear wheels 2, and move the vehicle. The direction can be determined freely. Reference numeral 7 denotes a travel lever, which is tilted forward or backward from the neutral position, and controls the selection of the direction of travel of the vehicle and the operation of starting and stopping the vehicle. Reference numeral 8 indicates a dump cylinder lever 9 for operating the vessel 4, which is an engine control lever of the power plant 3.

Further, 10 is linked to the travel lever 7, and the travel lever 7 is connected to the travel lever 7.
A forward/reverse determination means detects whether the vehicle is set to forward, reverse, or neutral and issues a respective signal.11 selects manual steering, automatic steering, or steering only for the wheels on the side in the direction of travel. 12 is a steering wheel 6;
The steering angle command means 13.14 is linked to the manual steering mode and generates a signal corresponding to the rotation angle of the steering wheel 6 in the manual steering mode, and the steering angle command means 13.14 is for setting the traveling route of the vehicle in advance so that the vehicle can automatically steer. 18.19 Displacement detection means for detecting whether the distance between the guide cable 32 stretched over the main frame 31 and the main frame 31 is different from a predetermined reference value, and if so, detecting the amount of positive or negative displacement and generating a signal; are steering valves for operating the steering cylinders 16 and 17, and there are various types of existing technologies, but all of them are steering valves for operating the steering cylinders 16 and 17.
A command signal from the tank 21 is transmitted through the signal circuits 27, 28, 29, 30 and switched, and the oil in the tank 21 is transferred to the pump 20.
The pressure oil created by the suction is supplied to the steering cylinder 16 or 17, where it expands and contracts.

The controller 15 receives a signal from the forward/reverse motion determining means 10 through a signal circuit 22, and the steering mode selecting means 1
The signal from the steering angle command means 12 is sent to the signal circuit 23, and the signal from the steering angle command means 12 is sent to the signal circuit 24.
The signals from 3.14 are sent to signal circuits 25 and 26, respectively.
Furthermore, although not shown in the drawings, signals indicating the magnitude of the traveling speed, etc. are input, and these signals are internal to the controller 15, and depending on the input conditions, can be directly transmitted to the signal circuits 27, 28, 29, .
30 or to signal circuits 27, 28, 29, .
Output to 30.

For example, when the steering mode selection means 11 is set to the manual steering position, the controller 15 outputs an output command signal to one or both of the steering valves 18 and 19 in response to a signal from the steering angle command means 12. By operating the steering handle 6, the vehicle can be steered as desired. On the other hand, if the steering mode selection means 11 is selected to a position with automatic steering, the forward/reverse motion determining means 10 and the displacement detecting means 13.1
4, as well as a signal from a traveling speed detection means, etc., as necessary, is input to the controller 15, and its output is output to one or both of the steering valves 18 and 19. As a result, either the front wheel 1 or the rear wheel 2 On the other hand or at the same time, rotation is performed in accordance with respective input conditions such as large and small angles or large and small rotational speeds. In this embodiment, a steering control mechanism including a forward/reverse motion determining means 10, a controller 15, a steering cylinder 16, 17 and associated link mechanism, a steering valve 18, 19, and a signal transmission circuit, a steering handle 6, and a steering mode are provided. Selection means 11 and displacement detection means 1
It consists of 3.14.

FIG. 3 shows the displacement detection means 13 in FIGS. 1 and 2.
Fig. 4 is an enlarged side view showing the concept of Fig. 14, and Fig. 4 is a front view seen from the direction of arrow A in Fig. 3. In these figures, α is a guide bar that is vertically slidable with respect to the telescopic arbor d and has a groove e at its lower end that engages with the guide cable 32, and b is a guide bar that is connected to the main frame 31. C is a displacement detection unit that detects the positive and negative displacement β values of the guide bar α with respect to the standard distance, which is the overhang amount, under the influence of the guide cable 32 and issues a signal. This is a spring chamber that functions to return the telescopic arbor d to the reference position together with the guide bar α. Note that f in the figure indicates an automatic stopping device when it is necessary to automatically stop the vehicle near the terminal of the guide cable 32.

Figures 5, 6, and 7 are all guide cables 3
Fig. 5 is a front view showing how to attach the guide cable 32 to the top of the ball 33, and B-B in this figure
The cross-sectional view in the direction of arrows is shown in FIG.
can be reliably supported by the ball 33 by simply tightening the bottle bolt 34 at any desired position.

Note that 33α indicates the case where an automatic stop arm for operating the automatic stop device 1 explained in FIG. 3 is provided.

FIG. 7 also shows the guide cable 3 along the running path 35.
2 is a schematic diagram showing an outline of the case where the ball 2 is stretched using balls 33.

Next, the operation of the vehicle of the present invention in the above embodiment will be explained. Like a transportation vehicle that follows conventional usage methods (,
When the driver is on board or operates the aircraft from the side, he selects manual steering using the steering mode selection means 11, and operates the steering wheel 6 and travel lever 7 to move the aircraft to one position in any direction. Just do the work.

Next, when transporting earth, sand, equipment, etc. frequently between defined points, the guide cable 32 is stretched in advance as shown in FIG. 7, and the guide cable 32 is The vehicle is positioned from above so that the groove e of the guide bar Q shown in FIG. 3 or FIG. When,
It is effective to provide this steering mode selection means 11 so that it can be set to either simultaneous steering of the front and rear wheels or steering of only the wheels on the traveling side, taking into consideration the structure of the vehicle, work site conditions, etc. It is. Then, the engine control lever 9 is set at an appropriate position, and the vehicle is moved by the travel lever 7.

Through such a procedure, the signals from the displacement detection means 13 and 14 are transmitted to the controller 15,
0 is input together with the signal from the steering mode selection means 11, and the controller 15 outputs a signal to both steering valves 18 and 19 simultaneously or to one of them so that the displacement amount 2 shown in FIG. 3 is minimized. . As a result, as the vehicle advances, the steering cylinders 11, 12 or one of them operates to maintain the distance between the main frame 31 and the guide cable 32 at the standard distance shown in FIG. The direction is constantly corrected, as a result of which this multifunctional carrier moves autonomously along the guide cable 32 and automatically stops the arm 3 when reaching the destination.
It is possible to stop at a desired fixed position by the action of 3α and the automatic stop device f.

8 and 9 are diagrams showing a second embodiment of the present invention, with FIG. 8 being an external side view thereof, and FIG. 9 being a schematic diagram showing its steering control system. Comparing these figures with the first embodiment, the traveling device and steering system are different, and therefore there is only one displacement detecting means. That is, the vehicle of the second embodiment is a wheel-type skid steering type traveling device, and has wheels 38r, 38r.

Power is simultaneously transmitted to both wheels 38j2 and 38J2 via the steering clutch 36, but the right wheels 38r and 38r
382.38ρ on the right side clutch 36r and 382.38ρ on the left side perform steering control for direction change by disconnecting or connecting the driving power, or by applying braking force, by connecting or disconnecting the left clutch 36I2. These right and left clutches 36r form a mechanism.
, 36e are operated by the steering mode selection means 3.
7 is set to the manual steering position, the means 3
7, a signal is generated by operating the steering wheel 6. As the signal medium in this embodiment, the first
As in the embodiment, pressure oil from the pump 20 is used, but it goes without saying that other fluids, electricity, etc. can be used instead.

39 is a displacement detecting means, which is a detector having the same purpose as that in the first embodiment although the output signal medium is different, and the distance between the guide cable 32 and the main frame 31 is a positive or negative displacement with respect to a predetermined standard distance. When the amount i occurs, the value is detected and used as an oil pressure signal, and when the steering mode selection means 37 is set to the automatic steering position,
By inputting a signal to the right and left clutches 36r and 36° C. to connect and disconnect the clutches, the displacement amount p of the displacement detection means 39 is always minimized.
While adjusting the vehicle's direction of travel, the vehicle moves towards a fixed point using automatic steering.

Further, FIG. 10 is a schematic diagram showing the steering control system in the third embodiment of the present invention.
In contrast to the input/output signals of the displacement detection means, steering mode selection means, steering control mechanism, etc. in this embodiment and the second embodiment, which are all electrical and fluid, in this embodiment, the displacement detection means, steering mode selection means, steering control mechanism, etc. A feature is that the signal transmission medium between the selection means and the steering control mechanism is a mechanical link system. That is, the amount of displacement with respect to the standard distance obtained by the displacement detection means 42 ±2
The magnitude of is directly input as a mechanical operating amount to the steering mode selection means 41 via means such as a link, rod, or flexible shaft. When the steering wheel 6 is turned, any steering clutch is activated according to the rotational movement of the steering handle 6.
When the automatic steering position is set, the displacement detecting means 42 described above is detected. With the value of steering clutch 4
0 right clutch 40r, left clutch 40! , or the power to the wheels 38 is connected/disconnected or braked through either one of them, so that the main frame 31 is always connected to the main frame 31.
The automatic steering operation state is such that the distance between the guide cable 32 and the guide cable 32 is a standard distance.

FIG. 11 is a side view showing a fourth embodiment of the present invention, in which a crawler system is adopted as the suspension, whereas the second and third embodiments are wheel-type skid steering vehicles. Therefore, the power transmission system, steering mode selection means, displacement detection means, etc. are the same in the second embodiment and the third embodiment.
This is exactly the same as the example.

Effects of the Invention When the multifunctional transport vehicle according to the present invention is adopted as a transport vehicle used for various types of work such as civil engineering, forestry, agriculture, etc., depending on the content of the work, the vehicle can be transported from an unspecified point along an unspecified route. It is necessary to move to another unspecified location.

At this time, the steering mode selection means is set to the manual steering position, and the driver operates the steering wheel from aboard the aircraft or from the side of the aircraft to move while steering in any direction. On the other hand, when there is work that involves frequent reciprocating between two fixed points to transport earth, sand, equipment, etc., an easy-to-stretch guide cable is installed along the desired travel route, and the present invention is applied to the work. When the groove of the guide pa of the displacement detection means provided on the multifunctional transport vehicle is engaged and the steering mode selection means is set to the automatic steering position and the vehicle is started, the vehicle will self-propel along the guide cable to a predetermined position. , there is no need for manpower during that time, which helps save labor during transportation.

[Brief explanation of the drawing]

FIG. 1 is a side view showing a first embodiment of the multifunctional transport vehicle of the present invention, FIG. 2 is a schematic diagram showing a steering control system, and FIG. 3 is an external view of displacement detection means used in the steering control system. Figure 4 is a front view seen from arrow A in Figure 3, and Figure 5 is a guide cable support pole 1.
An external view showing an example, Fig. 6 is an enlarged sectional view taken along the line B-B in Fig. 5, Fig. 7 is a sketch showing the state of the guide cable stretched along the vehicle running path, and Fig. 8 is Embodiment 2 of the present invention is an external side view of a wheel-type skid steering multifunctional transport vehicle, FIG. 9 is a schematic diagram showing the steering control system of the 8th National Army vehicle, and FIG. 10 is the third embodiment of the present invention. FIG. 11 is a schematic diagram showing the steering control system in the embodiment, whereas FIG. The figure is a perspective view of a ride-on type earth and sand transport vehicle in the prior art. 3 ・・・・・・・ Power Plant 6 ・・・・・
・・・ Steering handle 10 ・・・・・・・・・
Forward/reverse motion determination means j 1 ” ” 6 ・・・・・・・・・ 10 ・・・ ・・・・ ・・ 11, 37. 4 12 ・・・・・・・・・ 13, 14. 3 18.19 ・・ 32 ・・・・・・・・・ 36, 40 ・・ Steering mode retraction means Steering angle command means 9.42 Displacement detection means Steering valve guide cable Steering clutch or higher

Claims (1)

[Claims] On the main frame suspended on a traveling device that can move forward and backward and change direction, the transport equipment, power unit, and
A transport vehicle equipped with the control device and driving the traveling device with the power of the power unit includes a steering means capable of emitting a signal for changing the direction when the vehicle travels, and a steering means capable of emitting a signal for changing the direction when the vehicle travels; displacement detection means that engages with a pre-stretched guide rope and detects the different positive and negative displacement amounts and issues a signal when the distance between the guide rope and the body of the vehicle differs from a predetermined value; located between the steering means and the steering control mechanism, in addition to emitting a signal by directly manually operating the steering means to change the direction of the vehicle, switching the signal from the displacement detection means and supplying the signal to the steering control mechanism; A multifunctional transport vehicle comprising a steering mode selection means having manual and automatic steering positions, and a steering control mechanism that receives a command signal from the steering means or displacement detection means and changes the direction of travel of the vehicle.