JPH06227458A - Movable vehicle equipped with walking leg - Google Patents

Abstract

PURPOSE:To increase the traveling speed on a gentle lope by facilitating the traveling on a sharp slope of a movable vehicle which travels with the traveling legs by installing a grounded part on a vertical plane including a car body center axis and the plane parallel to the vertical plane and installing the walking legs which can be moved in the vertical and longitudinal directions, on the front and rear parts of the vehicle. CONSTITUTION:A grounded part 59 is installed on a vertical plane including a car body center axis or in the plane parallel to the vertical plane, and each walking leg 47 which can be moved in the vertical and longitudinal directions is installed at the front and rear parts of a vehicle 40. A rack 43 which revolves in the horizontal direction is installed on a car body 41, and a front wheel arm 63 and a supporting arm 75 are installed on the car body 41, and the walking legs 47 are installed on the rack 43. In the traveling on a sharp slope, front wheels 61 and a grounded body 79 are grounded, and the front and rear walking legs 47 are lifted up, and the walking legs 47 are grounded through the forward shift, and after the grounded body 79 is lifted up, the walking legs 47 are shifted relatively rearward for the car body 41, which is advanced.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving vehicle for moving on a steep slope.

[0002]

2. Description of the Related Art Conventionally, as a vehicle for moving on a steep slope, as shown in FIGS.
There was a vehicle provided with three wheels 3, 3 and two walking legs 5, 5 at the rear and two support legs 7 on both sides. That is, the front wheel arm 11 is pivotally attached to the bracket 9 pivotally attached to the left and right of the front portion of the vehicle body 1 by the cylinder 8 so as to be pivotable in the left-right direction, and the wheel 3 is attached to the front end of the front wheel arm 11. Is rotatably pivoted in the horizontal direction. The arm 13 fixed to the wheel 3 is pivotally mounted on a rod 15 parallel to the front wheel arm 11, and the hydraulic cylinder 17 expands and contracts to move the wheel 3 in the left-right direction while maintaining the posture in the front-rear direction.

On the rear part of the vehicle body 1, brackets 19 are pivotally attached to the left and right by a cylinder 20 so as to be swingable in the left and right directions, and walking legs 5 are pivotally attached to the bracket 19 so as to be pivotable up and down. That is, one end of a main arm 21 that is vertically swingable by a cylinder 22 is pivotally attached to the bracket 19, and one end of an auxiliary arm 23 that is vertically swingable by a cylinder 24 is pivotally attached to the other end of the main arm 21. A disk-shaped grounding portion 25 is attached to the other end of the auxiliary arm 23 and is in contact with and supported by the ground.

On both sides of the vehicle body 1, one end of a support arm 29 which is vertically swingable by a cylinder 27 is pivotally mounted, and a grounding member 31 is pivotally mounted on the other end. On a top surface of the vehicle body 1, a gantry 35 including a driver's cab 33 is rotatably provided in a horizontal direction. When traveling on level ground, the grounding body 31 is replaced by a rear wheel (not shown) with a brake, and the front wheel 3 is driven by a hydraulic motor for traveling.

When traveling on a sloping ground, as shown in FIG. 9A, the grounding body 31 of the support arm 29 is grounded, the auxiliary arm 23 is pulled forward, and the grounding portion 25 is lifted. As shown in b), the grounding portion 25 is grounded, and the grounding body 31 is lifted up.
As shown in (c) of FIG. 0, the vehicle body 1 is propelled forward by pushing the grounding portion 25 relatively rearward.
As shown in (d), the grounding body 31 is grounded at the end position of the propulsion. Next, when the grounding portion 25 is lifted up and pulled forward, it returns to the posture shown in FIG. This movement is repeated to move forward.

[0006]

The conventional moving vehicle of this type has the following problems. That is, (1) on a steep slope, the reaction force obtained from the ground against the cohesive soil is small and the climbing ability is small. (2) Even on a gently sloping ground, the movement speed is slow due to intermittent operation. (3) The moving stroke is small. If the front wheel arm 11 and the auxiliary arm 23 are hydraulically telescopic in order to increase the movement stroke, the structure and operation become complicated.

[0007]

DISCLOSURE OF THE INVENTION The present invention provides a walking leg having a grounding portion in a vertical plane including the center axis of a vehicle body or in a plane parallel to the vertical plane, the walking leg being movable in the vertical and longitudinal directions. One is attached to each of the front part and the rear part.

[0008]

When the vehicle travels on a steep slope, the grounding body and the front and rear grounding portions are alternately moved up and down, and when the grounding portion is grounded, the front and rear walking legs are simultaneously swung in the same front and rear direction to travel. When traveling on a gently sloping ground, replace the grounding body with the rear wheels, support the vehicle body with the front wheels and the rear wheels, and alternately ground the front and rear grounding parts. It is made to run by exercising.

In the present invention, since the driver's cab is rotatable, the front-rear direction is not specified. Therefore, the direction in which the front wheel arm is attached is the front, and the opposite side in which the support arm is attached is the rear. It is a thing.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A vehicle 40 according to an embodiment of the present invention will be described below with reference to the drawings.
Will be described in detail. 1 and 2, the vehicle body 4
A pedestal 43 is rotatably mounted in the horizontal direction on the upper surface of 1, and a cab 45 is fixed on the pedestal 43. Walking legs 47, 47 are attached to the front and rear of the gantry 43, respectively. The walking leg 47 is configured as follows. That is, one end of the main arm 49 is pivotally attached to the front and rear of the gantry 43 so as to be swingable in the vertical direction, and is swingably operated by the hydraulic cylinder 51. An auxiliary arm 53 is pivotally attached to the other end of the main arm 49 so as to be swingable in the front-rear direction, and is swung by a cylinder 55. A bucket device is attached to the rear auxiliary arm 53 and a wood holding device is attached to the front auxiliary arm 53 as a working device 57, and the work is extended and contracted by an internal cylinder (not shown). A claw-shaped grounding portion 59 is fixed to the lower end of the working device 57.

A bracket 65, which pivotally mounts a front wheel arm 63 that pivotally supports a front wheel 61 so as to be vertically swingable, is pivotally mounted to the front portion of the vehicle body 41 so as to be swingable in the left-right direction. The front wheel arm 63 is provided so as to swing up and down by a cylinder 67 and swing left and right by a cylinder (not shown), and is configured such that a front rod 61 is always held in a front-rear direction posture by a parallel rod 69.

At the rear part of the vehicle body 41, two brackets 71 which are swingable in the left-right direction by a cylinder (not shown) are provided side by side, and each bracket 71 is vertically swingably supported by a cylinder 73. One end of the arm 75 is pivotally attached, and the other end of the support arm 75 is pivotally attached to an arm 81 that supports the rear wheel 77 and the grounding body 79. Body 79
And are alternately grounded. The grounding body 79 is formed on a disc having a claw portion 80 on its lower surface.

When traveling on a steep slope, as shown in FIG. 3A, the front wheel 61 and the grounding body 79 are grounded and the front and rear walking legs 47, 47 are lifted. Next, as shown in FIG. 3B, both walking legs 47, 47 are moved forward and then grounded. Next, as shown in (c) of FIG. 4, when the grounding body 79 is lifted and the walking legs 47, 47 are both moved rearward relative to the vehicle body 41, the vehicle body becomes as shown in (d) of FIG. 41 moves forward.

When traveling on a gently sloping ground, as shown in FIG.
As shown in, the rear wheel 77 and the front wheel 61 are replaced with the grounding body 79.
And ground the front and rear walking legs 47, 47. Next, as shown in FIG. 5B, the front walking leg 47 is moved forward and grounded. Next, the front walking leg 47 is pulled to move the vehicle body 41 forward, and then the rear walking leg 47 is grounded as shown in FIG. 6 (c). Next, as shown in FIG. 6 (d), the front walking leg 47 is lifted, the rear walking leg 47 is pushed rearward, and the vehicle body 41 is moved forward.

To change the direction, for example, the front wheels 61 and the grounding body 79 are grounded, the front and rear walking legs 47, 47 are lifted, and the gantry 43 is rotated to change the direction of the walking legs 47, 47. Next, the front and rear walking legs 47, 47 are grounded, the front wheel 61 and the grounding body 79 are lifted, and the vehicle body 41 is rotated to match the direction of the pedestal 43.

[0016]

The present invention has the following effects. That is, (1) since the ground contact area of the walking leg is large and the ground contact force is increased, it becomes easy to travel on a steep slope of cohesive soil. (2) Since the front and rear walking legs are alternately run when running on a gentle slope, continuous movement is facilitated and the moving speed is increased. (3) The front and rear walking legs can have the same size and function, and the structure and operation are simple.

Further, according to the constitution of claim 2, the direction can be easily changed and the working efficiency is improved. Further, according to the structure of claim 3, the working device and the traveling leg are used in common, and the structure is extremely simple.

[Brief description of drawings]

FIG. 1 is a side view of an embodiment of the present invention.

FIG. 2 is a plan view of the same.

FIG. 3 is an explanatory diagram of traveling on steep slopes (a) and (b).

FIG. 4 is an explanatory diagram of traveling on steep slopes (c) and (d).

FIG. 5 is an explanatory view of running on gently sloping ground (a) and (b).

FIG. 6 is an explanatory view of traveling on gently sloping ground (c) and (d).

FIG. 7 is a side view of a conventional moving vehicle.

FIG. 8 is a plan view of the same.

FIG. 9 is an explanatory diagram of traveling on the slopes (a) and (b).

FIG. 10 is an explanatory diagram of traveling on the slopes (c) and (d).

[Explanation of symbols]

 40 vehicle 41 vehicle body 43 mount 47 traveling leg 57 working device 59 grounding portion 61 front wheel 63 front wheel arm 75 support arm 79 grounding body

Claims (3)

[Claims] 1. A walking leg 47, 47 provided with a grounding portion 59 in a vertical plane including a center axis of a vehicle body in a standard fixed position on a horizontal ground or in a plane parallel to the vertical plane and movable in vertical and longitudinal directions. A moving vehicle having walking legs, wherein one vehicle is mounted on each of a front portion and a rear portion of the vehicle 40. 2. A gantry 4 which horizontally rotates on a vehicle body 41.
The vehicle according to claim 1, wherein the vehicle body 41 is provided with a front wheel arm 63 and a support arm 75, and the pedestal 43 is provided with a walking leg 47. 3. A mobile vehicle having a walking leg according to claim 1, wherein the working device 57 is a walking leg 47.