JPH07187028A - Carrier - Google Patents

Abstract

PURPOSE:To enable stable carriage by preventing the fluctuation of center of gravity as far as possible when carrying materials loaded on a truck to its destination through a hard spot severe in irregularity and inclination. CONSTITUTION:This carrier comprises front and rear and left and right independent wheel mechanisms 2-5 equipped with traveling shoes 1 at the left and right, a first truck 6 supported by these wheel mechanisms, a second truck 8 being supported by the first truck rockably right and left to the traveling direction by a rocking drive mechanism 7, and a third track 10 being supported by the second truck 8 reciprocatably in the traveling direction by a rectilinear drive mechanism 9.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is a difficult place to be used for transporting materials to a difficult place such as a mountainous area where the slope or unevenness is severe, when carrying out power line construction, tower construction work or repair work. Related to a carrying device.

[0002]

2. Description of the Related Art Even a caterpillar vehicle that is relatively stable and runs on uneven ground, the unevenness and inclination of the material are too severe for a vehicle for transporting materials to the above-mentioned difficult places. It is impossible to use.

For this reason, in the above-mentioned difficult places, it is the actual situation that they are transported manually. A helicopter may be used or a cableway may be constructed and transported, but it is of course expensive and impractical.

[0004]

SUMMARY OF THE INVENTION In view of the above problems, it is an object of the present invention to propose a carrying device capable of stably carrying materials even in a difficult place where unevenness and inclination are severe. To do.

[0005]

In order to achieve the above object, in the carrying apparatus according to the invention of claim 1, the traveling shoes 1a can be moved forward, backward, leftward and rightward if the reference numerals of the embodiments are attached.
Front and rear and left and right wheel mechanisms 2 with 1d
To 5, a first carriage 6 supported by these wheel mechanisms 2 to 5, and a second carriage 6 supported by the first carriage 6 by a swing drive mechanism 7 so as to be swingable in the left-right direction orthogonal to the traveling direction. The trolley 8 and the third trolley 10 supported by the second trolley 8 so as to be reciprocable in the traveling direction by the linear drive mechanism 9 are adopted.

Further, in the carrying device according to the invention of claim 2, a load sensor 11 for detecting a load applied to each wheel mechanism 2-5 between each wheel mechanism 2-5 and the first carriage 6 described above.
The configuration according to claim 1 in which a to 11d are interposed is adopted.

In the transport apparatus according to the third aspect of the present invention, each of the wheel mechanisms 2 to 5 has the first carriage 6 and the axle 1 attached thereto.
Large diameter sprocket 12 pivotally supported by 3a to 13d
a to 12d, a lifting arm 14 rotatably supported by the axles 13a to 13d, a small diameter sprocket 15 pivotally supported on the free end side of the lifting arm 4, and a suspension between large and small sprockets. Running shoes 1a to 1d and running shoe 1a
A lifting hydraulic cylinder 16 for lifting the small diameter sprocket 15 side of 1d.
The configuration described is adopted.

According to a fourth aspect of the present invention, each of the wheel mechanisms 2 to 5 has a steering mechanism 17 and adopts the configuration according to any one of the first to third aspects.

According to a fifth aspect, the steering mechanism 1
Reference numeral 7 denotes steering rods 19a to 19d integrally provided on the vertical shafts 18a to 18d supporting the large-diameter sprockets 12a to 12d in a horizontal direction, and the left and right vertical shafts 18a and 18d.
Steering rod 19 protruding from 18c or 18b, 18d
a, 19c or 19b, 19d so as to interlock with each other, a connecting rod 20 and one end of the left and right steering rods 19a, 19d.
5. A steering hydraulic cylinder 22 pivotally attached to any one of c or 19b and 19d and having the other end pivotally attached to the first carriage 6 is adopted. It is a thing.

Further, in the sixth aspect, the pivot points 21a and 21b at both ends of the connecting rod 20 are respectively the left and right vertical shafts 18.
The structure according to any one of claims 1 to 5, wherein the a, 18c or 18b, 18d are provided at positions deviated in directions opposite to each other with respect to an imaginary line L parallel to the traveling direction passing through the axis O of the a, 18c or 18b. To do.

Further, in claim 7, of the first carriage 6, the second carriage 8 and the third carriage 10, the second carriage 8 is provided with a fuel tank 23 and a driving oil tank 24. The configuration described in any one of 1 to 6 is adopted.

According to the present invention, an extension shaft 53 formed by extending one end of an axle 26 for supporting each small diameter sprocket 15 can be erected on the ground by standing upright so as to face each small diameter sprocket 15. The auxiliary engaging wheel 57 having the engaging teeth 56 that can be folded in the axial direction is provided when unnecessary, and the configuration according to any one of claims 1 to 7 is adopted.

[0013]

According to the carrying device of the present invention, the front and rear wheel mechanisms 2 to 5 having the traveling shoes 1a to 1d on the front and rear sides and the left and right sides are independently provided. Can be controlled.

Further, the second carriage 8 is supported by these wheel mechanisms so that the second carriage 8 can swing via the swing drive mechanism 7 in the left-right direction orthogonal to the traveling direction. 1
Since the vehicle is supported by the carriage 6, when the vehicle is tilted in the left or right lateral direction orthogonal to the second carriage 8 while traveling, the second carriage 8 and the third vehicle mounted on the second carriage 8 are opposed to the right or left lateral direction. By oscillating the carriage 10, the center of gravity does not deviate from side to side and becomes unstable.

Further, the third carriage 10 is used with respect to the second carriage 8.
Is reciprocally movable in the traveling direction via the linear drive mechanism 9.
Since it is supported by the carriage 8, the third carriage 10 is linearly moved in the traveling direction or in the opposite traveling direction with respect to the second carriage 8, and thus the first carriage 6, when the vehicle is inclined upward or downward during traveling. By driving, the center of gravity does not deviate in the opposite traveling direction or the traveling direction and becomes unstable.

Finally, according to the first aspect of the invention, the swing drive mechanism 7 interposed between the first carriage 6 and the second carriage 8 is provided.
And the action of the linear drive mechanism 9 interposed between the second trolley 8 and the third trolley 10 allows the material W mounted on the third trolley 10 to pass through a difficult place where unevenness and inclination are severe. It is possible to prevent the center of gravity from fluctuating as much as possible when transporting to the destination and to enable stable transport without falling.

According to the carrying device of the invention of claim 2,
Each wheel mechanism 2 is provided between each wheel mechanism 2 to 5 and the first carriage 6.
To load sensors 11a to 1 for detecting the load applied to
Since 1d is interposed, while traveling on a traveling path inclined in the traveling direction or the left-right direction orthogonal to this,
When the center of gravity moves to the first to sixth trolleys 6 to 10 in the traveling / counter-traveling direction or to the left and right lateral directions, and each wheel mechanism 2 to 5 receives an unbalanced load, the load sensor provided for each of them. An unbalanced load is detected by 11a to 11d, and this detection signal is sent to the swing drive mechanism 7 or ... And the linear drive mechanism 9
To the drive mechanism 7, 9 based on the detection signal.
If you control, the center of gravity that moved automatically can be brought back to its original stable position.

According to the carrying device of the invention of claim 3,
When traveling on a flat ground, the traveling shoes 1a of each of the wheel mechanisms 2 to 5 described above are provided in order to reduce the ground resistance as much as possible.
Each small diameter sprocket 15 side of 1d is lifted by contraction operation of the lifting hydraulic cylinder 16. As a result, only the large-diameter sprockets 12a to 12d of the traveling shoes 1a to 1d come into contact with the ground to travel, so that the ground resistance can be reduced and the vehicle can travel lightly. On the other hand, when traveling on a ground with a steep slope, the traveling hydraulic shoe 16 is suspended between the large diameter sprockets 12a to 12d by lowering the small diameter sprockets 15 to the same level by the extension operation of the lifting hydraulic cylinder 16. 1a-1
Ground the entire surface of d to the ground, and apply running resistance to the ground as much as possible. As a result, the vehicle can smoothly run on the slope without slipping.

According to claim 4, each of the wheel mechanisms 2 to 5
Since the vehicle has the steering mechanism 17, it is of course possible to easily change the direction on the way of traveling, but it also makes it possible to make a sharp turn on a traveling ground where unevenness and inclination are severe.

According to a fifth aspect, the steering mechanism 1
7 by operating both the front and rear steering hydraulic cylinders 22 or the front and rear steering hydraulic cylinders 22.
The steering operation is easy because the left and right running shoes 1a, 1c or 1b, 1d on the front side or the rear side can be turned to the left and right respectively at the same time.

According to the sixth aspect, the pivot points 21a and 21b at both ends of the connecting rod 20 are respectively provided on the left and right vertical shafts 18.
The running shoes 1a-1 shown in (a) of FIG. 9 are provided by being provided at positions deviated in a direction opposite to each other with respect to an imaginary line L passing through the axis O of a, 18c or 18b, 18d.
From the state of the steering rods 19a and 19c in which d is directed in the traveling direction, as shown in FIG.
When the steering lever 19c is steered to the left in conjunction with the connecting rod 20, the right steering rod 19c turns in a direction away from the dead point P passing through the virtual line L, so that a large turning amount L1 can be obtained. On the other hand, since the left steering rod 19a turns in the direction approaching the dead point P passing through the imaginary line L, the turning amount L2 is cos θL1, and the turning amount L1 of the right steering rod 19c is the left steering. A larger amount than the turning amount L2 of the rod 19a can be taken. Therefore, when the traveling shoes 1a to 1d turn left, the traveling shoes 1a, 1 on the inner side, that is, the left side, of the traveling shoes 1a to 1d are rotated.
By reducing the turning amount of b, the turning amount of the outer traveling shoes 1c and 1d on the right side can be increased, whereby the left turning can be smoothly performed.

Similarly, the running shoe 1a shown in FIG. 9 (a).
~ 1d from the state of the steering rods 19a, 19c facing the traveling direction, as shown in (c) of FIG.
When 9c is steered to the right in conjunction with the connecting rod 20, the left steering rod 19a turns in a direction away from the dead point P passing through the virtual line L, so that a large turning amount L3 can be obtained. However, since the right steering rod 19c turns in a direction approaching the dead point P passing through the imaginary line L, the turning amount L4 is cos θL3, and the turning amount L3 of the left steering rod 19a is set to the right side. A larger amount than the turning amount L4 of the steering rod 19c can be taken. Therefore, when the traveling shoes 1a to 1d turn right, the traveling shoe 1 on the inner side, that is, the right side, of the traveling shoes 1a to 1d is rotated.
The turning amount of c and 1d can be reduced, and the turning amount of the traveling shoes 1c and 1d on the left side, that is, the left running shoe 1c can be increased, whereby the right turning can be smoothly performed.

Further, according to the seventh aspect, the fuel tank 23 and the driving oil tank 2 are provided in the second carriage 8 which corrects the displacement of the center of gravity due to the swinging in the lateral direction during traveling.
4 is provided, fuel and driving oil in the tank are less likely to undulate, and unstable traveling due to this can be prevented as much as possible.

Further, according to the eighth aspect, since the auxiliary engaging wheels 57 are provided so as to face the small-diameter sprockets 15, when the vehicle travels on a steep slope, the auxiliary engaging wheels 57 are applied to the ground by an engaging action. In addition to being able to run more stably, it can be folded into a position that does not hinder running when not needed.

[0025]

1 is an overall side view of the left side of a carrying device according to an embodiment of the present invention. In the figure, the front, rear, left and right wheel mechanisms 2 are shown.
5 to 5 show front and rear wheel mechanisms 2 and 3 on the left side, and a first carriage 6 supported by the wheel mechanisms 2 to 5, and a swing drive mechanism 7 to the first carriage 6 Supported by the second
The dolly 8 and the third dolly 10 supported by the second dolly 8 via the linear drive mechanism 9 are disclosed.

The wheel mechanisms 2-5 have the following structure. That is, as shown in FIGS. 1, 5 and 6, the first carriage 6 is provided with the vertical shafts 18a to 18d (FIG. 5) rotatably horizontally via the thrust bearing 25 (FIGS. 5 and 6), The vertical axis 1
Bogie shafts 13a-1 which are axles at the lower ends of 8a-18d
3d is indirectly attached as described later, the large diameter sprockets 12a to 12d are attached to the bogie shafts 13a to 13d, and the large diameter sprockets 12a to 12d.
As shown in FIG. 2, a driving hydraulic motor 51 is connected to each d directly or via an appropriate transmission means. One end of a lifting arm 14 provided in the traveling direction is rotatably connected to each of the bogie shafts 13a to 13d, and a small diameter sprocket 15 is attached to the other end of the lifting arm 14 by a pivot shaft 26. However, both large and small sprockets 12a, 12b, 12c or 12d
Between the small sprocket 15 and the running shoes 1a to 1d
Is suspended. And the lifting arm 14 and the vertical axis 1
The lifting hydraulic cylinder 16 is pivotally connected between the lifting hydraulic cylinder 16 and the support bracket 27 integrally attached to the 8a to 18d.

Also, as shown in FIG. 5, and particularly in FIG.
A load flacket 28 having a rectangular hollow portion 28a is integrally attached to the lower end portions of 8a to 18d,
A bogie shaft support bracket 29 is integrally attached to the bogie shafts 13a to 13d. The bogie shaft support bracket 29 is housed in the hollow portion 28a of the load bracket 28 and is supported by a plurality of guide rods 30. Hollow part 2
It is possible to finely move up and down in 8a.
Load sensors 11a to 1a such as load cells are provided between the load bracket 28 and the bogie shaft support bracket 29 inside.
1d is deployed.

Accordingly, the load on the side of the first carriage 6, that is, the load on the first carriage 6, the second carriage 8, the third carriage 10, members related thereto and the third carriage 10 are mounted. The load of the material W to be applied is applied to the load sensors 11a to 11d between the load bracket 28 and the bogie shaft support bracket 29.

The swing drive mechanism 7 interposed between the first carriage 6 and the second carriage 8 is fixed to both front and rear ends of the first carriage 6 as shown in FIGS. It is a downward arcuate guide bar that is provided, and is pivotally supported by a swing guide member 31 having a substantially L-shaped cross section and both end side plates 32 of the second carriage 8 as shown in FIG. As shown, an arc-shaped swing guide member 31
A large number of guide rollers 33 arranged vertically along the guide surface 31a of the guide member 31 with a sandwiching therebetween, and a rack provided on the swing guide member 31 of the first carriage 6 attached to the second carriage 8. 34 (FIG. 3), a pinion 35 meshing with the pinion 35, and a swing drive hydraulic motor 39 for transmitting a rotational drive force to the pinion 35 via a transmission chain 36 and a transmission means 38 such as an intermediate sprocket 37. As shown in FIG. 5, the front side intermediate sprocket 37 has a long interlocking shaft 4
0 is axially supported in the front-rear direction, and the transmission chain 36 and the intermediate sprocket 37 are also attached to the interlocking shaft 40 on the rear side.
The rotational driving force is transmitted to the pinion 35 via the transmission means 38 such as the above, whereby the front and rear pinions 35, 35 are smoothly driven in synchronization. Further, the rotational driving force of the pinion 35 may directly connect the rotating shaft of the hydraulic motor 39 to the pinion 35, for example, without interposing a transmission unit.

The linear drive mechanism 9 interposed between the second carriage 8 and the third carriage 10 is mounted on the second carriage 8 as shown in FIG. 1, FIG. 2, FIG. 4 or FIG. A long bolt 41 that is axially supported in the front and rear thereof, and a nut 42 that is provided in the center portion of the third carriage 10 in the front-rear direction and that is screwed into the long bolt 41.
(FIG. 5) and the transmission chain 4 provided on the second carriage 8.
3. A linear drive hydraulic motor 46 that rotationally drives the long bolt 41 via a transmission means 45 such as a transmission sprocket 44. The linear drive mechanism 9 directly mounts a long hydraulic cylinder across the second carriage 8 and the third carriage 10 without interposing the motion converting means such as the bolts and nuts as described above. Of course, the third carriage 10 may be linearly driven with respect to the second carriage 8 by expanding and contracting the hydraulic cylinder. Further, as shown in FIGS. 2 and 5, guide rails 47 extending in the front-rear direction are provided at both widthwise ends of the second carriage 8, and the third carriage 10 has guides rolling on the guide rails 47. Roller 48
Is pivotally supported. In addition, the third carriage 10 is provided with a device accommodating room such as an engine, a hydraulic pump or the like or an operation panel or an operation room 49 for operation, and is equipped with an antenna 50 for remote operation.

As shown in FIGS. 7 to 9, each wheel mechanism 2 to 5 is provided with a steering mechanism 17.

The steering mechanism 17 has the following structure.
That is, the steering rods 19a to 19d are integrally and horizontally projected on the vertical shafts 18a to 18d for supporting the large-diameter sprockets 12a to 12d.
Steering rods 19a, which are provided on 8c or 18b, 18d,
The tip ends of 19c or 19b and 19d are pivotally connected by a connecting rod 20 so as to be interlocked with each other. At this time, the most important thing is that, as shown in FIG. 9, the pivot points 21a and 21b at both ends of the connecting rod 20 are respectively the left and right vertical shafts 18.
That is, they are provided at positions deviated in directions opposite to each other with respect to an imaginary line L parallel to the traveling direction passing through the axis O of a, 18c or 18b, 18d.

One end 2 of the steering hydraulic cylinder 22
2a to the left and right steering rods 19a, 19c or 19b, 19
In addition to being pivotally attached to either one of d, the other end 22b is pivotally attached to the first carriage 6.

Since the wheel mechanisms 2 to 5 are provided with the steering mechanism 17 as described above, it is of course possible to easily change the direction while the vehicle is traveling, but it is also possible that the road surface is highly uneven or has a steep slope. Allows for sharp turns.

The front and rear traveling shoes 1a to 1d can be operated simultaneously by operating the steering hydraulic cylinder 22 that steers the front and rear traveling shoes 1a to 1d or the front and rear traveling shoes 1a to 1d. The left and right running shoes 1a, 1c or 1b, 1d on the rear side can be individually turned to the left and right, and the steering operation is easy.

In particular, as described above, the pivot points 21a and 21b at both ends of the connecting rod 20 have the right and left vertical shafts 18a and 1b, respectively.
By providing the positions 8c or 18b, 18d that are offset from each other in a direction opposite to an imaginary line L parallel to the traveling direction passing through the axis O of 8c or 18b, 18d, the action as described with reference to FIG. 9 is exerted.

That is, the running shoe 1a shown in FIG. 9 (a).
From the state of the steering rods 19a, 19c in which ~ 1d is oriented in the traveling direction, the steering hydraulic cylinder 22 shown in Fig. 8 is contracted to operate the steering rods 19a, 19c as shown in Fig. 9B.
When c is interlocked with the connecting rod 20 and steered to the left, the right steering rod 19c turns in a direction away from the dead point P passing through the virtual line L, so that a large turning amount L1 can be obtained. However, the steering rod 19a on the left side is the imaginary line L
Since the vehicle turns in a direction approaching the dead point P passing through, the turning amount L2 is cos θL1, and the turning amount L1 of the right steering rod 19c can be larger than the turning amount L2 of the left steering rod 19a. Because of this, when the traveling shoes 1a to 1d turn left, the traveling shoes 1a on the inner side, that is, on the left side,
The turning amount of 1b can be reduced to increase the turning amount of the outer running shoes 1c and 1d, that is, the left turning can be smoothly performed.

Similarly, the running shoe 1a shown in FIG. 9 (a).
The steering hydraulic cylinders 22 are extended from the state of the steering rods 19a and 19c in which 1d is oriented in the traveling direction, and the steering rods 19a and 19c are connected to each other as shown in (c) of FIG.
When steering to the right in conjunction with 0, the left steering rod 19
Since a turns in a direction away from the dead point P passing through the imaginary line L, a large turning amount L3 can be obtained, while the steering rod 19c on the right side is at the dead point P passing through the imaginary line L. Since it turns in the direction of approaching, the turning amount L4 is
cos θL3, and the turning amount L3 of the left steering rod 19a can be set larger than the turning amount L4 of the right steering rod 19c. For this reason, when the traveling shoes 1a to 1d turn right, the turning amount of the inside, that is, the traveling shoes 1c and 1d on the right side is reduced, and the traveling shoes 1c and 1d on the outside, that is, the left side.
A large turning amount of 1d can be obtained, which allows a smooth right turn.

That is, by the structure of the steering mechanism 17,
When turning left and right, it is possible to turn smoothly and in a small turning range with almost no ground resistance.

Further, a fuel tank 23 for containing fuel for a hydraulic pump drive engine for operating the above-mentioned hydraulic cylinder and hydraulic motor, and a drive oil tank 2 for containing drive oil.
4 is installed on the second carriage 8 among the first carriage 6, the second carriage 8 and the third carriage 10, and as shown in FIG.
Although it may be provided separately in the front and rear of the carriage 8 in the longitudinal direction, it may be provided separately in the left and right in the width direction.

As described above, since the fuel tank 23 and the driving oil tank 24 are provided on the second carriage 8, the fuel and the driving oil in the tank are less likely to undulate, and the unstable traveling can be carried out. As long as it can be prevented. In FIG. 1, 52 is a valve unit.

Further, as shown in FIGS. 11 and 12, a holding bracket 54 which radially projects in an orthogonal direction to an extension shaft 53 extending from the pivot shaft 26 for supporting the small diameter sprocket 15 is provided. And a small diameter sprocket 15 is supported on the holding bracket 54 by a pivot 55.
Auxiliary engaging wheel 57 is provided which is provided in a direction facing the vertical direction and which is provided with axially foldable engaging teeth 56. For example, when traveling on a steep slope, the engaging teeth 56 of the auxiliary engaging wheel 57 are shown by a solid line in the figure. By thus standing up and running so that the engaging teeth 56 bite into the ground, it is possible to reliably run without slipping. When unnecessary, the interlocking teeth 56 are folded in the axial direction as shown by the chain double-dashed line so that they do not interfere. Reference numeral 58 is an engagement pin for engaging the engaging tooth 56 with the holding bracket 54 when the engaging tooth 56 is raised and folded.

However, as shown in FIG. 13, when traveling on a flat ground, the lifting hydraulic cylinder 16 connected to the lifting arm 14 is contracted so that the running shoes 1a to 1d are moved toward the small diameter sprocket 15 side. Lift and run shoe 1a-1d
By grounding only the large diameter sprockets 12a to 12d side to travel, the grounding resistance of the traveling shoes 1a to 1d can be reduced and the vehicle can travel lightly.

Further, as shown in FIG. 14, when traveling on a steeply inclined surface, the lifting hydraulic cylinder 16 is extended to ground the entire surfaces of the traveling shoes 1a to 1d to provide sufficient ground resistance. By traveling, it is possible to reduce the occurrence of slip, and at this time, as described above, the auxiliary engaging wheel 57 is used.
As described above, it is possible to prevent the occurrence of slip more effectively by using together.

Also, as shown in FIG. 14, when the vehicle travels on a traveling road steeply climbing in the traveling direction, the center of gravity tries to move in the opposite traveling direction. A load sensor 11a interposed between the left and right bogie shafts 13a to 13d and the first carriage 6 facing the bogie shafts 13a to 13d.
Of the load sensors 11b, 11d on the rear side
The load sensor 11a, 11c on the front side reduces the load applied thereto.
The load sensors 11a to 11d detect this pressure change, drive the linear drive mechanism 9 based on this detection signal to move the third carriage 10 forward as shown in the drawing, and load the load sensors 11a to 11d. By stopping the driving of the linear drive mechanism 9 at the position where the pressure becomes uniform, the center of gravity can be returned to a stable original position.

Further, as shown in FIG. 15, when the vehicle travels on a traveling road steeply descending in the traveling direction, a linear drive is performed so as to move the third carriage 10 to the opposite traveling direction side as shown in the figure. The mechanism 9 may be controlled.

Further, as shown in FIG. 16, when the vehicle travels on a traveling road that is steeply descending to the right and is orthogonal to the traveling direction, the center of gravity tends to move to the right from the center. Unbalanced load due to
Of the load sensors 11a to 11d interposed between the first to the trolleys 6 to 13d and the first trolley 6 facing thereto, the load sensors 11c and 11d on the front and rear of the right side are intensively loaded, and the load sensor on the left side thereof The load applied to 11a-11b is reduced. The load sensors 11a to 11d detect this pressure change, and based on this detection signal, drive the swing drive mechanism 7 to swing the second carriage 8 to the left as shown in the drawing, and the load sensors 11a to 11d. It is possible to bring the center of gravity to a stable original position by stopping the driving of the swing drive mechanism 7 at a position where the load pressure against is uniform.

Further, as shown in FIG. 17, when the vehicle is traveling on a traveling road that is steeply inclined to the left and is orthogonal to the traveling direction, the third carriage 10 is shaken to the right as shown. The swing drive mechanism 7 may be controlled to move.

As described above, even if the traveling road is inclined in various directions, the combined unbalanced loads of these are applied to the load sensor 11a.
It is possible to drive the swing drive mechanism 7 and the linear drive mechanism 9 at the same time by detecting with 11d to bring the center of gravity to the stable lower side of the central portion as indicated by the arrow.

[0050]

According to the carrying device of the first aspect of the present invention, it is possible to control each wheel mechanism. Each of the left and right wheel mechanisms can be exerted independently of each other, so that it can be efficiently configured as a transport vehicle for traveling in difficult places.

Further, according to the invention of claim 1, a swing drive mechanism interposed between the first carriage and the second carriage;
By the action of the linear drive mechanism interposed between the trolley and the third trolley, when the materials to be mounted on the third trolley are transported to the destination through a difficult place where unevenness and slope are severe, It is possible to prevent fluctuations in the center of gravity as much as possible and enable stable transportation.

According to the carrying device of the invention of claim 2,
Since a load sensor for detecting a load applied to each wheel mechanism is interposed between each of the front, rear, left and right wheel mechanisms and the first bogie, the vehicle travels on a traveling path inclined in the traveling direction or in the lateral direction orthogonal to the traveling direction. On the way, when an eccentric load is applied to each wheel mechanism, the eccentric load is detected by the load sensor provided for each wheel mechanism, and this detection signal is sent to the swing drive mechanism and / or the linear drive mechanism to detect the eccentric load. By controlling these oscillating or / and linear drive mechanisms based on, it is possible to bring the automatically moved center of gravity to the original stable position, and to drive in difficult places with severe unevenness and inclination. It is possible to guarantee a stable running even when.

According to the carrying device of the invention of claim 3,
When traveling on flat ground, the ground contact area of the traveling shoe can be reduced to reduce the ground resistance as much as possible and the vehicle can travel lightly. The vehicle can be grounded to exert a running resistance on the ground as much as possible, and as a result, it is possible to smoothly run on the inclined surface without slipping.

According to claim 4, since each of the wheel mechanisms has a steering mechanism, it is of course possible to easily change the direction on the way of traveling. Allows for sharp turns.

According to the fifth aspect of the present invention, the front and rear traveling shoes are simultaneously operated, or the front and rear left and right traveling shoes are simultaneously operated by operating both or one of the front and rear steering hydraulic cylinders 22 of each steering mechanism 17. The running shoes can be turned to the left and right separately, and the steering operation is easy.

According to the sixth aspect of the present invention, the turning angle of the running shoe on the turning direction side can be automatically reduced during turning, and the turning angle of the traveling shoe on the opposite side can be automatically increased. Can be reduced and the turning operation can be performed extremely smoothly.

Further, according to the seventh aspect, the fuel and the driving oil in the tank are less likely to undulate greatly even when the vehicle is swung laterally in the lateral direction or the center of gravity is displaced due to the lateral sway. Driving can be prevented as much as possible.

Further, according to the eighth aspect, the engaging action of the auxiliary engaging wheel with the ground enables more reliable traveling even on a steeply inclined surface, and at a position where traveling is not hindered when unnecessary. It can be folded and will not hinder driving.

[Brief description of drawings]

FIG. 1 is an overall side view of a carrying device according to the present invention.

FIG. 2 is a front view of the same.

3 is a cross-sectional view of a main part of FIG.

FIG. 4 is an exploded perspective view of the same.

FIG. 5 is a vertical sectional side view of the main part.

FIG. 6 is an enlarged side view of the main part.

FIG. 7 is a plan view of another main part of the same.

8 is a front view of FIG. 7. FIG.

9 (a) to 9 (c) are explanatory views showing an operating state of a main part.

FIG. 10 is a plan view showing the arrangement of the main parts.

FIG. 11 is an enlarged vertical sectional front view of the other main part.

FIG. 12 is a side view of FIG. 11.

FIG. 13 is a side view showing an operating state of the main part.

FIG. 14 is a side view showing an operating state of the main part.

FIG. 15 is a side view showing an operating state of the main part.

FIG. 16 is a side view showing an operating state of the main part.

FIG. 17 is a side view showing an operating state of the main part.

[Explanation of symbols]

 1a Traveling shoe 1b Traveling shoe 1c Traveling shoe 1d Traveling shoe 2 Wheel mechanism 3 Wheel mechanism 4 Wheel mechanism 5 Wheel mechanism 6 1st truck 7 Swing drive mechanism 8 2nd truck 9 Linear drive mechanism 10 3rd truck 11a Load Sensor 11b Load sensor 11c Load sensor 11d Load sensor 12a Main sprocket 12b Main sprocket 12c Main sprocket 12d Main sprocket 13a Axle 13b Axle 13c Axle 13d Axle 14 Lifting arm 15 Small diameter sprocket 16 Lift hydraulic cylinder 17b Steering mechanism 18a Drive oil tank 18c Drive oil tank 18d Drive oil tank 19a Steering rod 19b Steering rod 19c Steering rod 19d Steering rod 20 Link rod 21a Support shaft 21b Support shaft 21c Support shaft 21d Support shaft 22 Steering hydraulic pressure Cylinder 23 Fuel tank 24 Driving oil tank

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI technical display location B62D 57/028

Claims (8)

[Claims] Claims: 1. Front and rear left and right wheel mechanisms provided with front and rear running shoes, a first carriage supported by these wheel mechanisms, and a left and right direction orthogonal to the running direction by a swing drive mechanism. A carrier device comprising a second carriage that is swingably supported by a first carriage and a third carriage that is supported by a second carriage so as to reciprocate in the traveling direction by a linear drive mechanism. 2. The carrying device according to claim 1, wherein a load sensor for detecting a load applied to each wheel mechanism is interposed between each wheel mechanism and the first carriage. 3. Each of the wheel mechanisms includes a large-diameter sprocket pivotally supported by an axle on a first bogie, a lifting arm rotatably supported on the axle, and a free end side of the lifting arm. 3. A small diameter sprocket that is axially supported, a traveling shoe suspended between both large and small sprockets, and a lifting hydraulic cylinder for lifting the small diameter sprocket side of the traveling shoe. Carrier. 4. The carrying device according to claim 1, wherein each of the wheel mechanisms has a steering mechanism. 5. The steering mechanism is capable of interlocking a steering rod integrally projecting in a horizontal direction with a vertical shaft supporting each large-diameter sprocket and a steering rod projecting with left and right vertical shafts. 5. A connecting rod that is pivotally connected, and a steering hydraulic cylinder that has one end pivotally attached to one of the left and right steering rods and the other end pivotally attached to the first carriage. Any one of the carrying devices. 6. The pivot points of both ends of the connecting rod are provided at positions offset in directions opposite to each other with respect to an imaginary line parallel to the traveling direction passing through the axis of the left and right vertical axes. The transportation device according to any one of 1 to 5. 7. A fuel tank and a driving oil tank are provided in a second carriage of the first carriage to the third carriage.
6. The carrying device according to any one of 6. 8. An engagement shaft, which is formed by extending one end of an axle for pivotally supporting each small-diameter sprocket, can stand upright so as to face each small-diameter sprocket and engage with the ground, and can be folded axially when not needed. The carrying device according to any one of claims 1 to 7, wherein an auxiliary engaging wheel having teeth is provided.