JPH05319252A - Vibration control levitated type running vehicle - Google Patents

Abstract

PURPOSE:To obtain stable levitating state of a running vehicle which levitates by jetting compressed air from an air skater by preventing vibration through resonance in the vehicle and a compressed air source. CONSTITUTION:In a levitated type running vehicle having an air skater 8 which levitates the whole vehicle by jetting compressed air downward from the vehicle body 1, a ball-caster air cylinder 15 is disposed comprising an air cylinder as rod protruding downward from the vehicle body 1 and a ball caster 19 fixed at tip of the rod, to prevent vibration.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an anti-vibration levitation type traveling vehicle which floats on an air mount and an air skater, and more particularly to an anti-vibration levitation type traveling vehicle suitable for exchange and transfer of wheeled legs of an aircraft. ..

[0002]

2. Description of the Related Art As a vehicle for exchanging wheeled legs of an aircraft, a tilt-type forklift supporting a pallet provided with a telescopic holding device for gripping the wheeled legs of the aircraft is mounted and levitated by an air skater. There is known a levitation type traveling vehicle configured to do so (Japanese Patent Laid-Open No. 3-111195).
issue).

[0003] This traveling vehicle is a telescopic type of pallet supported by a fork, with the pallet supported by a fork while being pushed into the lower part of the aircraft and being blown downward by an air skater so that the compressed air is floated and manually pushed to a predetermined position. Operate the holding device, grasp the wheeled leg and remove it from the aircraft,
With the air skater released and the legs with wheels inclining together with the forks, the vehicle is moved to transport the legs with wheels to a maintenance shop or the like.

The air skater in the floating traveling vehicle described above finely adjusts the positioning of the vehicle and absorbs excessive force applied to the leg during the work of attaching / detaching the leg to prevent damage to the leg or the universal joint. In order to prevent it, it is continuously used during the attaching / detaching work, and the vehicle is kept in a floating state.

[0005]

However, in the floating traveling vehicle as described above, the entire apparatus may vibrate due to resonance of the natural vibration of the vehicle and the natural vibration of the compressed air supply source. Especially the position of the center of gravity of the vehicle body is eccentric,
Further, in the process of shifting from no load to load, the natural vibration of the compressed air is easily synchronized with the natural vibration of the compressed air. Further, when an elastic body such as a fork is mounted, there is a problem that vibration is amplified and a resonance state is likely to occur.

In order to solve the above problems, an object of the present invention is to provide a vibration-proof levitation type traveling vehicle capable of preventing vibration during levitation by an air skater.

[0007]

SUMMARY OF THE INVENTION The present invention is an anti-vibration levitation type traveling vehicle described below. (1) Levitation type traveling provided with an air mount provided at a lower portion of a vehicle body and capable of expanding and contracting by compressed air, and an air skater attached to the air mount and ejecting compressed air downward to levitate the entire vehicle In a vehicle, there is provided an air cylinder with a ball caster including an air cylinder in which a rod projects downward from a vehicle body, and a ball caster attached to a tip end portion of the rod and having a ball that is freely rotatable at a grounding portion. A characteristic anti-vibration floating type traveling vehicle. (2) The anti-vibration levitation traveling vehicle according to (1) above, wherein the air cylinder with a ball caster is connected to a compressed air source common to the air mount. (3) The vibration-proof floating vehicle according to (1) or (2), wherein the air cylinder with ball casters has a spring member that retracts the rod when the operation is stopped.

[0008]

The anti-vibration levitation traveling vehicle of the present invention supplies compressed air to the air mount to expand the air mount, and further injects compressed air downward from the air skater to levitate the entire vehicle for manual movement. to enable. At the same time, compressed air is supplied to the air cylinder with a ball caster, the rod is projected downward, and the ball of the ball caster attached to the tip of the rod is grounded.

Even if the natural vibrations of the vehicle and the compressed air source are synchronized in this state, the vibration of the vehicle due to resonance is prevented because the ball casters are grounded. Further, the ball caster can move to any position because the ground contact portion is a ball that can freely rotate.

When the anti-vibration levitation type traveling vehicle is connected to a common compressed air source, the air cylinder and the air mount can be operated in synchronism, and the anti-vibration function can be provided at the same time as the levitation.

Further, by providing the air cylinder with a spring member for returning, the rod is returned at the same time when the supply of the compressed air is stopped.

[0012]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to embodiments of the drawings. The embodiment shows an example applied to an anti-vibration floating type traveling vehicle for exchanging and transporting wheeled legs of an aircraft.

FIG. 1 is a side view of an anti-vibration floating type traveling vehicle of the embodiment, FIG. 2 is a plan view thereof, FIG. 3 is a front view, FIG. 4 is a front view of an air skater, and FIG. 5 is a cross section of an air cylinder with a ball caster. 6 and 6 are side views of the tilt type forklift, and FIG.
[Fig. 3] is a system diagram of a levitation control device.

In the figure, reference numeral 1 denotes a vehicle body, which has a pair of side frames 2 extending in parallel in the front-rear direction, whose rear ends are connected to both ends of a rear frame 3 and is formed in a U-shape.

Four drive wheels 4 are provided at the four corners of the vehicle body 1, and are driven by hydraulic motors 5, respectively. The drive wheels 4 are wheels that can travel in all directions. In the embodiment, a large number of spindle-shaped (drum-shaped) free rotating bodies 6 as disclosed in JP-B-55-50830 are provided at the outer peripheral portion at an angle of approximately 45 °, and the inclination directions thereof are adjacent to each other. The wheels 4 are in opposite directions, and the vehicle body 1 can travel in front, rear, lateral, and oblique directions and turn by adjusting the rotational direction and rotational speed of each drive wheel 4.

At the bottom of the vehicle body 1, three air skaters 8 are provided at the bottom of the side frame 2 and three at the bottom of the rear frame 3. As shown in FIG. 4, the air skater 8 includes an air mount 9 made of an expandable bellows.
It is provided at the tip of. The air mount 9 expands by supplying compressed air to move the air skater 8 to the floor 12 side along the guide 11,
By releasing the compressed air, the spring inside the air mount is used to restore it. The air skater 8 has a circular injection port 10 formed downward, and the vehicle body 1 is floated by the injection pressure formed between the air skater 8 and the floor surface 12 by the injection of compressed air.

At the lower portion of the vehicle body 1, one air cylinder 15 with a ball caster is provided for each of the two side frames 2 and the one rear frame 3. As shown in FIG. 5, the air cylinder 15 with ball casters
A bracket 18 is connected to the tip of a rod 17 that projects downward from the air cylinder 16, and a ball caster 19 is provided at the tip.

The air cylinder 16 has a compressed air supply port 20.
The piston 21 is pushed down by the compressed air supplied from, and the rod 17 is moved forward. At this time, the guide 22 is arranged so that the rod 17 moves vertically.
Is provided, and a spring member 23 is provided so as to return when compressed air supply is stopped.
Connected to eight.

A freely rotatable ball 24 is attached to the ball caster 19 so as to be movable in an arbitrary direction at the time of grounding.

Reference numeral 26 is a foot-operated brake provided in the lower portion of the side frame 2, 27 is a fork insertion opening for moving the vehicle body 1, 28 is a cushioning material, 29 is a compressed air pipe, and the air skater 8 and It is connected to the air cylinder 15 with ball casters.

A tilt-type forklift 31 is provided at the center of the vehicle body 1. In the tilt-type forklift 31, the rollers 33 are provided along the guide rails 32 that are arranged substantially horizontally inside the side frames 2.
The lower part of the pair of guide masts 35 is pivotally attached to the slide member 34 that slides by means of pins 36. A fork 39 is attached to a carriage 38 that moves up and down by a roller 37 along the guide mast 35.

A first link 41 is connected between the upper portion of the guide mast 35 and the vehicle body 1 by pins 42 and 43. Further, one end of the second link 44 is connected to the middle portion of the guide mast 35 by a pin 45. A first hydraulic cylinder 46 is connected by pins 47 and 48 between the intermediate portion of the first link 41 and the other end portion of the second link 44. The second hydraulic cylinder 4 is provided between the intermediate portion of the second link 44 and the lower portion of the guide mast 35.
9 are connected by pins 50 and 51.

Abutment 53 provided between the guide masts 35
Is provided with a third hydraulic cylinder 54, and a sprocket 56 is provided at the tip of a rod 55 of the third hydraulic cylinder 54. One end of the chain 57 spanning the sprocket 56 is connected to the carriage 38 and the other end is connected to the abutment 53, and the carriage 38 is moved forward and backward by the rod 55.
Is going up and down.

A battery 60, a motor 61, a hydraulic pump 62, and a hydraulic unit 63 drive the first to third hydraulic cylinders 46, 49 and 54.

Reference numeral 65 is a pallet, which has wheels 66 and legs 67 at the bottom, and a fork insertion port 68 and a telescopic holding device 69 at the top. Telescopic holding device 69
Each has a gripper 72 that is expandable and contractible and grips an axle 71 of a wheeled leg 70 of an aircraft, which is a load.

In FIG. 7, the levitation control device 74 supplies compressed air to the first compressed air supply line 75 for supplying compressed air to the air skater 8 and the air cylinder 16 of the air mount 9 and the air cylinder 15 with ball casters. The second compressed air supply line 76 is connected to the compressed air pipe 29.
Connected to. Mechanical valves 77 and 7 are provided in the first and second compressed air supply lines 75 and 76, respectively.
8, air regulator 79, 80, master valve 8
1, 82 and flow rate adjusting valves 83, 84 are provided. A flow rate adjusting valve 85 is individually provided between the flow rate adjusting valve 83 and each air skater 8.

The anti-vibration levitation type traveling vehicle described above drives the hydraulic motor 5 to rotate the drive wheels 4, and controls the rotation direction and number of rotations of each drive wheel 4 to drive the vehicle in any direction. Enter underneath the aircraft. And wheeled leg 70
The traveling is stopped in the vicinity, and compressed air is jetted downward from the air skater 8 to levitate the vehicle main body, enabling manual movement.

At this time, compressed air is supplied from the compressed air pipe 29 to the air skater 8, the air mount 9 and the air cylinder 15 with ball casters. The air mount 9 is expanded by the supply of compressed air, and the air skater 8 is guided by the guide 11
Move along. In this state, the vehicle body 1 is levitated by injecting compressed air from the ejection port 10 of the air skater 8 toward the floor surface 12. As a result, the entire vehicle can be moved by simply pushing it lightly by hand, so that the vehicle can be positioned at an accurate position.

At the same time, compressed air is supplied to the air cylinder 16 from the compressed air supply port 20 of the air cylinder 15 with ball casters to push down the piston 21.
The rod 17 is made to project downward along the guide 22, and the ball 2 of the ball caster 19 attached to the tip thereof.
Ground 4

The operation of the levitation control device 74 at this time is shown in FIG.
In the following description, first, by switching the mechanical valves 77 and 78, compressed air flows to the pilot ports of the master valves 81 and 82, and the master valve 81,
82 is thrown in. As a result, the compressed air in the compressed air pipe 29 is supplied from the first compressed air supply line 75 to the air skater 8
To the air mount 9 and the air cylinder 15 with ball casters from the second compressed air supply line 76.
Is supplied to the air cylinder 16. At this time, by supplying compressed air to the air mount 9, the air mount 9 expands and moves the air skater 8 to the floor surface 12 side. In this state, compressed air is supplied to the air skater 8 and the vehicle body 1 floats. At the same time, compressed air is also supplied to the air cylinders 15 with ball casters to cause the rods 17 to project.

When the ball 24 is in contact with the ground, even if the natural vibrations of the vehicle and the compressed air source are synchronized, the vibration is absorbed by the air cylinder 16, so resonance does not occur and the vibration of the vehicle is prevented. In this state, the ball caster 19 can move to any position because the ground portion is the ball 24 that can freely rotate.

In this embodiment, since the air cylinder 16, the air skater 8 and the air mount 9 are connected to a common compressed air source, they can be operated in synchronism with each other, whereby the vibration and the vibration isolation function can be achieved at the same time. Is done. When the floor surface is inclined, the vehicle body 1 moves little by little due to the imbalance of the injected air, so the foot-operated brake 26 is operated and stopped at a predetermined position, and the wheeled leg 70 is replaced. Do the work.

The work of replacing the wheeled leg 70 is performed by the tilt-type forklift 31. During this time, the vehicle body 1 is kept in a floating state. In order to remove the wheeled leg 70, the fork 39 to which the pallet 65 is attached in advance is raised, the telescopic holding device 69 of the pallet 65 is extended, and the axle 71 of the wheeled leg 70 is grasped by the grasping tool 72. In this state, the wheeled legs 70 are removed from the aircraft by combining operations such as expansion and contraction of each telescopic holding device 69, ascent and descent of the fork 39, and movement of the vehicle body 1.

The fork 39 is raised and lowered by the motor 61.
The hydraulic unit 62 is driven by the rotation of the
3 is supplied to the third hydraulic cylinder 54, the rod 55 is moved forward and backward, and the carriage 38 is raised and lowered.

After the wheeled leg 70 is removed, the mechanical valves 77 and 78 are switched to stop the supply of compressed air to the air skater 8, the air mount 9 and the air cylinder 16 to release the levitation. At this time, the air mount 9 is returned by the spring, and the ball caster 19 is retracted by the contraction of the spring member 23.

To incline the fork 39, hydraulic oil is supplied from the hydraulic unit 63 to the first and second hydraulic cylinders 4.
6 and 49 to press the lower portions of the second link 44 and the guide mast 35, the slide member 34 slides on the guide rail 32 by the roller 33, and
Move to the position of 34a.

As a result, the guide mast 35 rotates about the pin 36 as an axis and tilts as shown at 35a. Along with this, the fork 39 also tilts like 39a, and the wheeled legs 70 loaded on this also tilt.

Since the sliding amount of the guide mast 35 at this time is the sum of the amounts proportional to the strokes of the first and second hydraulic cylinders 46 and 49, a tilt angle of the fork 39 is used by using a small fluid pressure cylinder. Can be increased, and the device can be downsized.

The vehicle body 1 loaded with the wheeled legs 70 tilted is driven by the drive wheels 4 and then the fork of another forklift is inserted into the fork insertion port 27 and loaded on a carrier vehicle or the like for maintenance. Transported to factories. Wheeled legs 7
The attachment of 0 is performed by the reverse operation to the above.

When the vehicle body 1 is levitated by the air skater 8, replacement work such as removal and mounting of the wheeled leg 70 is performed, so that when an excessive force is applied to the wheeled leg 70, The floating vehicle body 1 moves, and damage to the universal joint and the like is prevented.

When the vehicle body 1 continues to float, vibration easily occurs due to resonance with the compressed air source. However, by providing the air cylinder 15 with a ball caster, vibration due to resonance is prevented and the vehicle body 1 floats. It stabilizes in the state. The ball casters 19 enable the movement along the floor surface 12, and the workability is not impaired. Further, even when an excessive force is applied by the operation of the forklift 31 and the telescopic holding device 69, the air cylinder 1 with ball casters
5 absorbs this and a stable floating state is maintained.

In the above embodiment, as the air skater 8,
Although the circular mount 10 is formed at the tip of the air mount 9, the structure is not limited as long as the vehicle body 1 can be floated.

Further, as the air cylinder 15 with a ball caster, a spring member 2 for returning is provided outside the air cylinder 16.
3 and the guide 22 is provided on the outer side thereof, these may be integrally formed or may be integrally formed with the rod 17. The air cylinder 16 and the ball caster 19 are not limited to one-to-one correspondence.

The arrangement and number of the air skater 8 and the air cylinders 15 with ball casters in the vehicle body 1 are not limited, and can be arbitrarily changed within a range in which the vehicle body 1 can be stably floated. Further, the drive wheels 4 are not limited to those shown in the figures, and may be of other types.

Although the above-mentioned embodiment has been applied to the vibration-proof floating vehicle for exchanging the legs with wheels of the aircraft, the present invention can also be applied to the vibration-proof floating vehicle for other purposes. ..

[0046]

Since the anti-vibration levitation type traveling vehicle of the present invention is provided with the air mount, the air skater and the air cylinder with the ball caster, it is possible to prevent vibration at the time of levitation by the air mount and the air skater and move along the floor surface. Even if an excessive force is applied to the vehicle, it can be absorbed and the stable floating state can be maintained.

Further, by connecting the air mount and the air cylinder with the ball caster to a common compressed air source, they can be operated in synchronism with each other, whereby the stability at the time of floating is further enhanced.

Further, by providing a spring member on the air cylinder with a ball caster, the ball caster can be automatically returned when the floating is stopped, and it is possible to prevent the obstacle from running.

[Brief description of drawings]

FIG. 1 is a side view of an anti-vibration levitation traveling vehicle according to an embodiment.

FIG. 2 is a plan view of FIG.

FIG. 3 is a front view of FIG.

FIG. 4 is a front view of the air skater.

FIG. 5 is a sectional view of an air cylinder with a ball caster.

FIG. 6 is a side view of a tilt-type forklift.

FIG. 7 is a system diagram of a levitation control device.

[Explanation of symbols]

 1 Vehicle Main Body 2 Side Frame 3 Rear Frame 4 Drive Wheel 5 Hydraulic Motor 8 Air Skater 9 Air Mount 10 Injection Port 11, 22 Guide 15 Air Cylinder with Ball Caster 16 Air Cylinder 17, 55 Rod 19 Ball Caster 23 Spring Member 24 Ball 26 Foot-operated brake 29 Compressed air pipe 31 Tilt-type forklift 32 Guide rails 33, 37 Roller 34 Sliding member 35 Guide mast 38 Carriage 39 Fork 41 First link 44 Second link 46 First hydraulic cylinder 49 Second hydraulic pressure Cylinder 53 Abutment 54 Third hydraulic cylinder 56 Sprocket 57 Chain 60 Battery 62 Hydraulic pump 63 Hydraulic unit 74 Float controller 75 First compressed air supply line 76 Second compressed air supply line 77 , 78 Mechanical valve 79, 80 Air regulator 81, 82 Master valve 83, 84, 85 Flow rate adjusting valve

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Ken Nagamatsu 2-28 Asahi-cho, Omuta-shi, Fukuoka Mitsui Miike Works Miike Plant

Claims (3)

[Claims] 1. A levitation system comprising an air mount provided at a lower portion of a vehicle body and capable of expanding and contracting by compressed air, and an air skater attached to the air mount and injecting compressed air downward to levitate the entire vehicle. In a traveling vehicle, there is provided an air cylinder with a ball caster including an air cylinder having a rod protruding downward from a vehicle body, and a ball caster having a ball which is attached to a tip end portion of the rod and has a freely rotatable grounding portion. An anti-vibration floating type traveling vehicle characterized by the above. 2. An anti-vibration levitation type traveling vehicle according to claim 1, wherein the air cylinder with the ball caster is connected to a compressed air source common to the air mount. 3. An anti-vibration floating vehicle according to claim 1, wherein the air cylinder with ball casters has a spring member for retracting the rod when the operation is stopped.