JPH07101363A - Method and device for preventing fall-down of stair ascending vehicle - Google Patents

Abstract

PURPOSE:To prevent the occurrence of a shock and a fall-down caused by rapid movement of a center of gravity by a method wherein when, during running, the inclination angle in a longitudinal direction of a car body exceeds a given value, deceleration is effected and running is performed as the inclination angle in a longitudinal direction of the car body is controlled by using a car body upright-standing device. CONSTITUTION:A car body upright-standing device 10 is mounted on a running device 2 arranged to a vehicle body. When a vehicle is inclined in a longitudinal direction during running and an inclination angle exceeds a preset value, a signal is transmitted by an inclination meter 34. A control signal is transmitted by a controller 33 to receive the signal and through control of switching valves 35 and 36, a flow rate to running motors 41 and 42 is regulated to decelerate the running speed of a vehicle. By operating the car body upright-standing device 10 through remote control, a wheel 26 is pressed down and brought into contact with the floor of a landing 51. The wheel 26 is further pressed down according to the progress of a vehicle and advancing and press-down of the wheel 26 are repeated so that the wheel 26 is brought into constant contact with the floor.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a track-mounted stair climbing vehicle that can easily climb stairs by itself.

[0002]

2. Description of the Related Art Conventionally, many self-propelled vehicles for climbing stairs have been proposed. In particular, there are many proposals for tracked vehicles. In these proposals, the crawler track is used to run directly up and down stairs. It has become. FIG. 9 is a view showing a state of a conventional stair climbing vehicle when climbing stairs, where 1 is a main body, 2 is a traveling device, and 3 is a crawler track.

[0003]

However, in the above running method, when the vehicle rises as shown in FIG.
Ascending to 0 and entering the landing 51, the center of gravity G of the vehicle
When the vehicle tries to cross the last corner 52 of the stairs 50, or when the vehicle descends the stairs as shown in FIG. 10, the vehicle runs from the landing 51 to the stairs 50, and the center of gravity G of the vehicle crosses the first corner 52 of the stairs 50. If you try to do so, a sudden shift of the center of gravity will occur, resulting in shock or danger. Especially when getting off, there is a great risk of the vehicle falling.

The present invention has been made to solve the above-mentioned problems, and prevents the occurrence of shocks and falls due to the start of ascending / descending and the sudden movement of the center of gravity at the time of ascending / descending when ascending / descending a stair. It is an object of the present invention to provide a fall prevention method and device for a stair climbing vehicle that allows easy and smooth stair climbing.

[0005]

In order to achieve the above object, in the first invention of the fall prevention method and device for a stair climbing vehicle according to the present invention, (1) a vehicle body for controlling a longitudinal inclination of the vehicle body An erecting device is provided to reduce the traveling speed of the vehicle when the inclination angle of the vehicle body in the front-rear direction exceeds a predetermined value while traveling, and to control the inclination angle of the vehicle body in the longitudinal direction by the erecting device. It is characterized by running while preventing the vehicle from falling over. According to a second aspect of the invention, (2) a vehicle body erection device for controlling an inclination posture of the vehicle body in the front-rear direction is provided, and when the inclination angle of the vehicle body in the front-rear direction exceeds a predetermined value during traveling, the vehicle travels. And the inclination angle of the vehicle body in the front-rear direction is controlled by the vehicle body erection device to prevent the vehicle from falling over. According to a third aspect of the invention, (3) the vehicle body erection device including a two-stage coupling four-node link mechanism that is vertically movable and a wheel attached to a lower end of the four-node link mechanism. A vehicle stop device for stopping the traveling of the vehicle when the tilt angle of the vehicle body in the front-rear direction exceeds a predetermined value. In a fourth aspect of the invention, (4) the vehicle stopping device detects an inclination angle of the vehicle body in the front-rear direction,
An inclinometer that emits a signal when the inclination angle exceeds a predetermined value, a controller that receives a signal from the inclinometer, calculates and outputs a control signal, and a switching valve that operates by the signal from the controller. And a travel motor controlled by the switching valve, and a hydraulic pump that supplies pressure oil to the travel motor. In a fifth aspect, (5) the hydraulic pump is a variable displacement pump controlled by a signal from the controller. According to a sixth aspect of the invention, (6) the stair climbing vehicle includes an electric operation lever for controlling the controller. In a seventh aspect of the invention, (7) the vehicle stopping device includes a receiver that receives a signal from a transmitter that is remotely operated by an operator, and a controller that receives a signal from the receiver and calculates and issues a control signal. , An inclinometer that detects the inclination angle of the vehicle body in the front-rear direction and sends a signal when the inclination angle exceeds a predetermined value, and opens and closes the circuit by receiving signals from the controller and the inclinometer A relay switch, a switching valve operated by a signal from the relay switch, a traveling motor controlled by the switching valve, and a hydraulic pump that supplies pressure oil to the traveling motor. In the eighth invention, (8) the hydraulic pump is a variable displacement pump controlled by a signal from the controller. In a ninth aspect, (9) the stair climbing vehicle includes an electric operation lever that controls the controller.

[0006]

As described above, the stair climbing vehicle is provided with the vehicle body erection device including the four-bar linkage and the wheels for controlling the vehicle body posture in the front-rear direction, and the inclinometer for detecting the vehicle body front-rear inclination angle is provided to provide the vehicle body inclination angle. When the vehicle exceeds a predetermined value, it is equipped with a vehicle stop device that transmits a signal and switches the switching valve of the hydraulic traveling device to decelerate or stop the traveling of the vehicle. When the value exceeds a predetermined value, the vehicle decelerates, and the stair climbing vehicle is prevented from tipping over under the control of the vehicle body erection device to safely travel. or,
When the tilt angle of the vehicle body in the front-rear direction exceeds a predetermined value, the vehicle stops, and the vehicle body standing device controls the tilt angle of the vehicle body to prevent the vehicle from falling.
In addition, the wheels of the vehicle body erection device allow the maneuverable movement in the stairs landing and the like with a small turn. Also, loss horsepower can be reduced by using a variable displacement pump as the hydraulic pump of the hydraulic traveling device, and traveling control can be performed by both remote operation and boarding operation by providing an electric operation lever for controller control. Becomes

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a fall prevention method and device for a stair climbing vehicle according to the present invention will be described below in detail with reference to the drawings. FIG. 1 is a configuration diagram of a vehicle body standing device 10,
It is mounted on the traveling device 2 mounted on the main body 1. The vehicle body erection device 10 includes two-stage four-bar linkage mechanisms 11 and 20 and at least one wheel 26. The wheel 26 may be a fixed wheel or a wheel capable of turning completely. The upper and lower links 12, 13 of the first-stage four-bar linkage mechanism 11 are attached to the side surface of the main body 1 by the pins 14, 15 at the respective base end portions,
Each tip is one of the links 2 of the second stage four-bar linkage 20.
It is connected to the upper part of 1 by pins 16 and 17. Second
The upper end of the other link 22 of the four-stage four-bar linkage mechanism 20 is connected to the lower link 13 of the first-stage four-bar linkage mechanism 11 by a pin 18, and the wheels of the link 21 and the lower end of the link 22 are provided by pins 23, 24. A bracket 25 is connected to the wheel bracket 25 and at least one wheel 26
Is installed. A pin 15 for attaching the link 13 to the main body 1 and a pin 23 for connecting the link 22 and the wheel bracket 25 are connected by a hydraulic cylinder 27. The hydraulic cylinder 27 is adapted to expand and contract by remote control.

Next, the operation of the vehicle body erection device 10 will be described. When the hydraulic cylinder 27 is extended by remote control, the wheel bracket 25 is parallel to the floor surface by pushing down the two-stage four-node link mechanisms 11 and 20 in the order of FIGS. 1 (a) (b) (c). In this state, the wheel 26 descends, and one side of the main body 1 is pushed up by the reaction force that pushes the floor surface to stand up in an inclined state. When the hydraulic cylinder 27 is shortened (c)
(B) Two-stage four-bar linkage mechanisms 11 and 20 in the order of (a)
, The main body 1 becomes horizontal, and the wheels 26 are housed in the traveling device 2.

FIG. 2 is a system diagram of a first embodiment 30 of the vehicle stopping apparatus. 31 is a transmitter for an operator to remotely control the vehicle, 33 is a receiver 32 for receiving a signal from the transmitter 31. , A controller that receives a signal from the receiver 32, calculates and outputs a control signal, detects the tilt angle of the vehicle body, and outputs a signal when the tilt angle exceeds a predetermined value.
And the switching valves 35 and 36 which are operated by a control signal from the controller 33. The switching valves 35 and 36 are electromagnetic flow control valves having three positions of forward, neutral and reverse. Reference numeral 40 is a hydraulic pump, 41 and 42 are traveling hydraulic motors that drive the left and right crawler belts, and 43 is an oil tank.
The inclinometer 34 is set to emit a signal when the vehicle exceeds a preset inclination angle (an angle smaller than the tipping angle of the vehicle). The operator can use the transmitter 31 to move the vehicle forward and backward, start and stop, release the vehicle stop signal, operate the vehicle body erection device, and the like.

Next, the operation of the vehicle stop device 30 will be described. When the operator operates the transmitter 31 and the vehicle tilts in the front-rear direction while the vehicle is traveling forward or backward and the tilt angle exceeds a predetermined value, the inclinometer 34 transmits a signal and receives the signal. The controller 33 sends a control signal to control the switching valves 35 and 36 to adjust the flow rate to the running motors 41 and 42 to reduce the running speed of the vehicle. Alternatively, the switching valves 35 and 36 can be switched to the neutral position to stop the traveling of the vehicle. When the traveling speed of the vehicle is reduced or the vehicle stops, the operator takes the following measures, releases the vehicle stop signal, and causes the vehicle to travel again.

Next, a method of ascending and descending stairs will be described.
FIG. 3 is a diagram showing an operation procedure when climbing stairs, and the operator operates the transmitter 31 to drive the vehicle. First,
As shown in (a), the vehicle body standing apparatus 10 is housed in the traveling apparatus 2, and the stairs 50 are climbed up to bring the vehicle into the landing 51. Next, the vehicle has the wheels 26 of the vehicle body standing device 10.
After reaching the position where the vehicle can be extended, the operator remotely operates the vehicle body erection device 10 as shown in FIG.
And push it down to touch the floor of the landing 51. Push down the wheel 26 as shown in (c) according to the progress of the vehicle,
The forward movement and the pushing down of the wheel 26 are repeatedly performed so that the wheel 26 always comes into contact with the ground, and as shown in (d), the wheel 26 is pushed down to enter the landing 51, and the wheel 26 is used to make a small turn. And move the wheels 26 up to store the wheels 26 in the traveling device 2 and restore the original state (a) to the track 3
Ground and start the next work.

FIG. 4 and FIG. 5 are diagrams showing an operating procedure when descending stairs. As shown in FIG. 4A, at the first landing 51, the vehicle body standing device 10 is operated to push down the wheels 26 to incline the vehicle. Start descent of stairs. When the vehicle starts to descend the stairs 50 and the inclination angle of the vehicle exceeds α (an angle smaller than a predetermined vehicle overturn angle) as shown in (b), the vehicle stop device 30 operates to reduce the traveling speed of the vehicle. Or stop the vehicle. The operator pulls up the wheels 26 by remote control as shown in FIG.
The vehicle is moved forward by bringing it into contact with the first angle 52 of 0 and making the inclination angle of the vehicle body the same as the inclination angle of the stairs 50. The vehicle is further advanced, and when the inclination angle of the vehicle exceeds α as shown in (d), the vehicle decelerates the traveling speed again. Or stop the vehicle. The operator operates the wheels 26 as shown in FIG.
Is pulled up to bring the crawler belt 3 into contact with the corner 52 of the stairs 50, and the vehicle is moved forward again. Repeat this operation,
When it is confirmed that the center of gravity G has completely moved to the side of the stairs 50 as shown in (f), the wheels 26 are stored in the traveling device 2 and the stairs 50 descend as shown in (g).

FIG. 6 is a system diagram of a second embodiment 60 of the vehicle stopping apparatus. The hydraulic pump 40 of the first embodiment is changed to a variable displacement hydraulic pump 44, and a hydraulic pump displacement controller 45 and a controller 33 are provided. The operator connects the transmitter 31
The pump capacity can be controlled by. The other parts are the same as those in the first embodiment, so the description is omitted. Since the hydraulic pump is of the variable displacement type, when the switching valves 35 and 36 are set to the neutral position, the discharge amount of the variable displacement hydraulic pump can be reduced and the loss horsepower can be reduced.

FIG. 7 is a system diagram of a third embodiment 61 of the vehicle stop system in which an electric operation lever 37 mounted on a vehicle is connected to the controller 33 of the first embodiment. The other parts are the same as those in the first embodiment, so the description is omitted. Since the electric operation lever 37 is installed, the operator can remotely operate the transmitter 31 as well.
It is also possible to operate the vehicle by riding in the vehicle.

FIG. 8 is a system diagram of a fourth embodiment 62 of the vehicle stopping apparatus. A relay switch 38 is connected next to the controller 33 of the first embodiment, and the relay switch 38, the inclinometer 34 and the switching valve 35, 36, the relay switch 38 receives a signal from the inclinometer 34 when the tilt angle of the vehicle body in the front-rear direction exceeds a predetermined value, and the relay switch 38 is set to the open position. -La 33
Control signals to the switching valves 35 and 36 are cut off, the switching valves 35 and 36 are set to the neutral position, and the traveling motors 41 and 42 are stopped. When the tilt angle of the vehicle body in the front-rear direction becomes less than a predetermined value, the signal from the inclinometer 34 is not transmitted, so the relay switch 38 is in the closed position and the control signal is switched from the controller 33. The valves 35 and 36 are in the receiving state, and the traveling motor is driven by the control of the switching valves 35 and 36. The other parts are the same as those in the first embodiment, so the description is omitted. Since the relay switch 38 is provided, the number of actuators to be stopped can be increased by increasing the number of connection circuits of the relay switch 38.

As a fifth embodiment, the hydraulic pump 40 of the fourth embodiment 62 shown in FIG. 8 is replaced with a variable displacement hydraulic pump 44.
And the fourth embodiment 62 as the sixth embodiment.
Although there is a controller 33 to which an electric operation lever 37 is connected, description thereof will be omitted.

As described above, the fall prevention method and device for a stair climbing vehicle according to the present invention is applied to a crawl type construction machine and a construction vehicle. Further, the vehicle fall prevention method and apparatus of the present invention reduces the traveling speed of the vehicle when the vehicle leans to a predetermined vehicle body lean angle, and controls the leaning of the vehicle body by the vehicle body standing device to allow the vehicle to run safely. .
Alternatively, the vehicle can be safely driven after the vehicle is stopped when the vehicle leans at a large vehicle body tilt angle and the leaning of the vehicle body is controlled by the vehicle body standing device.

[0018]

According to the first aspect of the present invention, when the vehicle exceeds a predetermined inclination angle in the front-rear direction, the switching valve of the hydraulic traveling device is controlled to reduce the traveling speed of the vehicle and the vehicle body standing device is controlled. It is possible to prevent the vehicle from falling. According to a second aspect of the present invention, when the vehicle exceeds a predetermined tilt angle in the front-rear direction, the switching valve of the hydraulic traveling device is set to the neutral position to stop the vehicle, and the vehicle body standing device can be controlled to prevent the vehicle from toppling over. . Furthermore, by changing the hydraulic pump of the hydraulic traveling device to a variable displacement hydraulic pump, loss horsepower can be reduced, and since an electric operation lever connected to the controller is installed, both remote operation and boarding operation are possible. Become.

[Brief description of drawings]

FIG. 1 is an explanatory diagram of a configuration and an operation of a vehicle body standing device of the invention.

FIG. 2 is a system diagram of a first embodiment of a vehicle stopping device of the present invention.

FIG. 3 is an explanatory diagram of an operation procedure when climbing stairs by the fall prevention device of the present invention.

FIG. 4 is an explanatory view (No. 1) of the operation procedure when descending stairs by the fall prevention device of the present invention.

FIG. 5 is an explanatory view (No. 2) of the operation procedure when descending stairs by the fall prevention device of the present invention.

FIG. 6 is a system diagram of a second embodiment of the vehicle stopping apparatus of the present invention.

FIG. 7 is a system diagram of a third embodiment of the vehicle stopping apparatus of the present invention.

FIG. 8 is a system diagram of a fourth embodiment of the vehicle stopping apparatus of the present invention.

FIG. 9 is a state explanatory view of a conventional stair climbing vehicle when climbing stairs.

FIG. 10 is a state explanatory view of a conventional stair climbing vehicle when descending stairs.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 main body 2 traveling device 3 crawler track 10 vehicle body standing device 11 1st stage 4 section link 20 2nd stage 4 section link 26 wheels 30 vehicle stop device 31 transmitter 32 receiver 33 controller 34 inclinometer 35, 36 switching valve 37 electric type Control lever 38 Relay switch 40 Hydraulic pump 44 Variable displacement pump 50 Stairs 51 Landing

Claims (9)

[Claims] 1. A vehicle body erection device for controlling a front-back direction inclination posture of a vehicle body is provided, and while traveling, the traveling speed of the vehicle is decelerated when the vehicle body front-back direction inclination angle exceeds a predetermined value. A method for preventing falls in a stair climbing vehicle, characterized in that the vehicle body standing device controls the inclination angle of the vehicle body in the front-rear direction to run while preventing the vehicle from falling. 2. A vehicle body erection device for controlling an inclination posture of a vehicle body in the front-rear direction, wherein the vehicle is stopped when the inclination angle of the vehicle body in the front-rear direction exceeds a predetermined value during traveling, A fall prevention method for a stair climbing vehicle, comprising: controlling a tilt angle of a vehicle body in a front-rear direction by a vehicle body standing device to prevent the vehicle from falling. 3. A vehicle body erection device including a link mechanism that is vertically movable in parallel and a wheel attached to a lower end of the link mechanism, and an inclination angle of the vehicle body in a front-rear direction is predetermined. A fall prevention device for a stair climbing vehicle, comprising: a vehicle stop device that stops traveling of the vehicle when the value exceeds the value. 4. The vehicle stop device detects an inclination angle of a vehicle body in the front-rear direction, and outputs a signal from the inclinometer and a signal from the inclinometer when the inclination angle exceeds a predetermined value. A controller for receiving and calculating and transmitting a control signal, a switching valve operated by a signal from the controller, a traveling motor controlled by the switching valve, and a hydraulic pump for supplying pressure oil to the traveling motor are provided. The fall prevention device for a stair climbing vehicle according to claim 3, wherein 5. The fall prevention device for a stair climbing vehicle according to claim 4, wherein the hydraulic pump is a variable displacement pump controlled by a signal from the controller. 6. The fall prevention device for a stair climbing vehicle according to claim 4, wherein the stair climbing vehicle includes an electric operation lever for controlling the controller. 7. The vehicle stop device includes a receiver that receives a signal from a transmitter that is remotely operated by an operator, a controller that receives a signal from the receiver, calculates the control signal, and transmits a control signal. An inclinometer which detects the inclination angle of the inclinometer and transmits a signal when the inclination angle exceeds a predetermined value, a relay switch which receives a signal from the controller and the inclinometer to open and close a circuit, The stair climbing according to claim 3, further comprising: a switching valve that is operated by a signal from a relay switch, a traveling motor controlled by the switching valve, and a hydraulic pump that supplies pressure oil to the traveling motor. Fall prevention device for vehicles. 8. The fall prevention device for a stair climbing vehicle according to claim 7, wherein the hydraulic pump is a variable displacement pump controlled by a signal from the controller. 9. The fall prevention device for a stair climbing vehicle according to claim 7, wherein the stair climbing vehicle includes an electric operation lever for controlling the controller.