JPH07187029A - 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 vertical shafts 7a-7d for supporting traveling shoes capable of expansion and contraction for supporting traveling shoes 1a-1d, a first truck 6 supported by these wheel mechanisms, a second truck 8 being supported by the first truck 6 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 device according to the invention of claim 1, the traveling shoe support which can be extended / contracted can be provided if the reference numerals of the embodiments are attached. Running shoes 1a supported by vertical shafts 7a to 7d
Front and rear and left and right wheel mechanisms with 1d 2
5, a first carriage 6 supported by these wheel mechanisms 2 to 5, and a second carriage 8 supported by the first carriage 6 so as to be reciprocable in the traveling direction by a linear drive mechanism 9. Is adopted.

According to the second aspect of the present invention, there is provided a supporting device for supporting a traveling shoe which is extendable and retractable along the vertical shafts 7a to 7d for supporting the traveling shoe which can be extended and contracted by the wheel mechanisms 2 to 5. The configuration according to claim 1 having the vertical axis 10 is adopted.

In the transport apparatus according to the third aspect of the present invention, the load sensor 11 for detecting the load applied to each wheel mechanism 2-5 between each wheel mechanism 2-5 and the first carriage 6 is provided.
The structure according to claim 1 or 2 in which a to 11d are interposed is adopted.

Further, in the carrying device according to the invention of claim 4, each of the wheel mechanisms 2 to 5 is mounted on the first carriage 6 on the axle 1
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
The lifting hydraulic cylinder 16 for lifting the side of the small diameter sprocket 15 of 1d to 1d is employed.

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

In the sixth aspect, the steering mechanism 1
Reference numeral 7 denotes steering rods 19a to 19d integrally projecting in the horizontal direction on vertical shafts 7a to 7d supporting the large-diameter sprockets 12a to 12d, and left and right vertical shafts 7a, 7c or 7b, 7d. A connecting rod 20 for connecting the projecting steering rods 19a, 19c or 19b, 19d so as to interlock with each other.
And one end of the left and right steering rods 19a, 19c or 19
The steering hydraulic cylinder 22 pivotally attached to either one of b and 19d and the other end pivotally attached to the first bogie 6 is adopted, and the constitution according to any one of claims 1 to 5 is adopted. is there.

Further, according to the present invention, the pivot points 21a and 21b at both ends of the connecting rod 20 are respectively provided on the left and right vertical shafts 7.
The configuration according to any one of claims 1 to 6, wherein the a, 7c or 7b, 7d 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, 7c or 7b, 7d. To do.

[0012] In the eighth aspect, the first carriage 6
Of the second truck 8 and the first truck 6, the fuel tank 23 and the driving oil tank 24 are provided in the first truck 6, and the configuration according to any one of claims 1 to 7 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 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 8 is adopted.

According to the tenth aspect of the present invention, the second carriage 8 is provided.
An aerial work platform 18 which can be expanded and contracted is attached to the.
9 to 9 are adopted.

[0015]

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 traveling shoes 1a of the wheel mechanisms 2 to 5 are
1d is a vertical shaft 7a for supporting a traveling shoe, which can be driven to expand and contract.
Since it is supported by 7d, when the vehicle is inclining to the left or right lateral direction orthogonal to this while traveling, the front and rear traveling shoe supporting vertical shafts 7a, 7b on the left side of the traveling shoe supporting vertical shafts 7a to 7d or the right side. By extending the vertical axes 7c and 7d for supporting the running shoes in the front and rear of the vehicle, the second carriage 8 and the material W mounted on the second carriage 8 can be held horizontally, and the center of gravity shifts to the left and right and becomes unstable. Never be.

Further, the second carriage 8 is provided with respect to the first carriage 6.
Is reciprocally movable in the traveling direction via the linear drive mechanism 9.
Since the trolley 6 is supported, the center of gravity of the second trolley 8 is linearly driven in the traveling direction or the anti-traveling direction with respect to the first trolley 6 when the vehicle is inclined upward or downward during traveling. It does not become unstable due to deviation in the opposite running direction or the running direction.

After all, according to the invention of claim 1, a straight line interposed between the running shoe supporting vertical shafts 7a to 7d of the wheel mechanisms 2 to 5 and the first carriage 6 and the second carriage 8. Drive mechanism 9
By the action of and, when the material W to be mounted on the second trolley 8 is transported to the destination through a difficult place where unevenness and sloping are steep, fluctuation of the center of gravity is prevented as much as possible and stable transportation without falling. Can be enabled.

According to the carrying device of the invention of claim 2,
Since the wheel mechanisms 2 to 5 have the traveling shoe supporting auxiliary vertical shafts 10 that extend and contract along the traveling shoe supporting vertical shafts 7a to 7d according to the expansion and contraction driving of the vertical shafts 7a to 7d.
Both vertical shafts 7a, 7 during traveling or during expansion and contraction operation
The running shoes 1a to 1d can be strongly supported by the mutual reinforcing effect of b, 7c or 7d and 10 and can be transported safely.

According to the carrying device of the invention of claim 3,
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 4,
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 the fifth aspect, each of the wheel mechanisms 2 to 5 described above.
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 the sixth aspect of the present invention, the steering mechanism 17 is provided in both the front and rear directions or the front and rear steering hydraulic cylinders 2.
The front and rear traveling shoes 1a to 1d can be simultaneously turned, or the front and rear traveling shoes 1a, 1c or 1b, 1d can be individually turned to the left and right by simply operating 2. Is easy.

According to claim 7, the pivot points 21a and 21b at both ends of the connecting rod 20 are respectively provided with the left and right vertical shafts 7a and 7c.
Alternatively, by arranging them at positions deviated in directions opposite to each other with respect to the virtual line L passing through the axis O of 7b and 7d
From the state of the steering rods 19a and 19c in which the traveling shoes 1a to 1d shown in FIG.
The steering rods 19a and 19c are connected to each other as shown in FIG.
When steering to the left in conjunction with
Turns in a direction away from the dead point P passing through the imaginary line L, so that the turning amount L1 can be made large,
On the other hand, the left steering rod 19a has a dead point P passing through the imaginary line L.
Since it turns in the direction approaching, the turning amount L2 is cos
θL1, and the turning amount L1 of the right steering rod 19c can be set larger than the turning amount L2 of the left steering rod 19a. For this reason, when the traveling shoes 1a to 1d turn left, the turning amount of the inside, that is, the left traveling shoes 1a and 1b is reduced, and the outside, that is, the right traveling shoes 1c and 1b.
It is possible to obtain a large turning amount of d, which allows a smooth left turn.

Similarly, the running shoe 1 shown in FIG.
steering rods 19a and 19c in which a to 1d are oriented in the traveling direction
From the state shown in FIG. 10 (c), the steering rod 19
When a and 19c are interlocked with the connecting rod 20 and steered to the right, the left steering rod 19a turns in a direction away from the dead point P passing through the imaginary line L, so that a large turning amount L3 should be taken. However, since the right steering rod 19c turns in the direction approaching the dead point P passing through the virtual line L,
The turning amount L4 is cos θL3, and the left steering rod 19
The turning amount L3 of “a” can be set larger than the turning amount L4 of the right steering rod 19c. This is why the running shoe 1a
When 1d turns right, the turning amount of the inside, that is, the right running shoes 1c, 1d can be reduced, and the turning amount of the outside, that is, the left running shoes 1c, 1d can be increased.
This allows a smooth right turn.

Further, according to the eighth aspect, the fuel tank 23 and the driving oil tank 2 are provided in the first carriage 6 which corrects the displacement of the center of gravity caused by the lateral swinging 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 ninth aspect, since the auxiliary engaging wheels 57 are provided so as to face each small-diameter sprocket 15, when the vehicle travels on a steep inclined surface, 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.

Further, according to the tenth aspect, since the second carriage 8 is provided with the extendable work platform 18, the wheel mechanisms 2 to 2 are provided.
By extending all the vertical shafts 7a to 7d and 10 of 5 and the work table 18 at a high position, it is possible to work at a considerably high place.

[0029]

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.
1 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 linear drive mechanism for the first carriage 6 (FIG. 2). And a second carriage 8 supported via.

The wheel mechanisms 2-5 have the following structure. That is, as shown in FIGS. 1 to 5, running shoe supporting vertical shafts 7a to 7d (FIGS. 5 and 6) that can extend and contract horizontally with respect to the first carriage 6 via thrust bearings 25 (FIG. 5). Is provided.

As shown in FIG. 6A, the vertical shafts 7a to 7d are formed by expanding and contracting by sequentially fitting a cylindrical shaft member 31 in a multistage nesting manner. As shown in FIG. 7, a key 33 and a key groove 34 with which the key 31 engages are provided on the side surface 31 so as not to rotate in the circumferential direction. However, it is not necessary when the shaft members are polygons whose rotation in the circumferential direction is restricted. A hollow upper end shaft member 34 is supported at the upper end by a thrust bearing 25 provided on the first carriage 6 so as to be horizontally rotatable, and the upper end shaft member 34 is supported by an upper support plate 35 (a steering wheel described later). Rod 19a-1
9d) and the uppermost shaft member 31 of the vertical shafts 7a to 7d is attached to the vertical shafts 7a to 7d.
The lowermost shaft member 31 is fixed to the lower end shaft member 37 by overlapping the lower support plate 36.

The auxiliary vertical shaft 10 for supporting the running shoe, which is provided adjacent to the vertical shafts 7a to 7d and in parallel with the vertical shafts 7a to 7d, has the same cylindrical shaft member 3 as the vertical shafts 7a to 7d.
8 is formed in such a way that it can be expanded and contracted by sequentially fitting in a multi-stage nesting manner, and the shaft members 36 at the upper and lower ends thereof are fixed to the upper side support plate 35 and the lower side support plate 36, respectively.

The auxiliary vertical shaft 10 for supporting the running shoe
May be formed such that a large-diameter shaft member having the vertical shafts 7a to 7d as an axial center is fitted in the outer periphery of each of the vertical shafts 7a to 7d in a multistage nested manner so as to be expandable and contractable.

Inside the vertical shafts 7a to 7d, a long hydraulic cylinder 39 is fixed by penetrating through the first carriage 6 and protruding upward, and its piston rod 40 is attached to the lower end shaft member 3.
7 through a thrust bearing 41 so as to be rotatable horizontally or integrally. Bogie shafts 13a to 13d, which are axles, are indirectly attached to the lower ends of the vertical shafts 7a to 7d via a lower end shaft member 34 as described later, and the large diameter sprocket 12 is attached to the bogie shafts 13a to 13d.
a to 12d are attached, and a hydraulic motor 51 for driving is connected to each large-diameter sprocket 12a to 12d directly or via an appropriate transmission means, as shown in FIG. 2 or FIG. And each bogie axis 13
One end of the lifting arm 14 provided in the traveling direction is rotatably connected to the a to 13d in the vertical direction.
A small-diameter sprocket 15 is attached to the other end of the sprocket by a pivot 26.
Running shoes 1a to 1d are suspended between 2b, 12c or 12d and the small diameter sprocket 15. The lifting hydraulic cylinder 1 is provided between the lifting arm 14 and the support bracket 27 integrally attached to the vertical shafts 7a to 7d.
6 are pivotally connected.

As shown in FIG. 5 or 6, the vertical shafts 7a ...
A load flacket 28 having a rectangular hollow portion 28a is integrally attached to a lower end portion of 7d via a lower end shaft member 37, and a bogie shaft support bracket 29 is integrally attached to the bogie shafts 13a to 13d. Is attached to the
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 so that it can be finely moved up and down within the hollow portion 28a. Load sensors 11a to 11d such as load cells are provided between the 28 and the bogie shaft support bracket 29.

Therefore, the load on the side of the first carriage 6, that is, the second carriage 8 on which the load is applied to the first carriage 6, the members related thereto and the load of the material W mounted on the second carriage 8. Is designed to load the load sensors 11a to 11d between the load bracket 28 and the bogie shaft support bracket 29.

The linear drive mechanism 9 interposed between the first carriage 6 and the second carriage 8 is, as shown in FIG. 2 or 3, a first carriage 6 and a second carriage 8. It is composed of a long hydraulic cylinder 42 interposed between the two. However, linear drive mechanism 9
Is not limited to the above structure. For example, a long bolt that is axially supported by the first carriage 6 in the front and rear thereof and a screw provided on the long bolt that is provided at the center of the second carriage 8 in the front-rear direction. It is composed of a mating nut and a linear drive hydraulic motor which is provided on the first carriage 6 and which rotationally drives the long bolt via a transmission means such as a transmission chain and a transmission sprocket. It may be configured such that the carriage 8 is reciprocally operated. Further, as shown in FIGS. 2 and 3, guide rails 43 and 44 extending in the front-rear direction are provided on both sides of the first and second carriages 6 and 8 in the width direction, and the second carriage 8 is formed by a synergistic effect of both. Guide the reciprocating movement on the first carriage 6.

Further, as shown in FIG. 1, the fuel tank 23 for containing the fuel for the hydraulic pump drive engine for operating the above-mentioned hydraulic cylinder and hydraulic motor and the drive oil tank 24 for containing the drive oil are the first carriage. It is arranged in the central part on the back side of 6. Since there is a lot of space in the central portion on the back surface side, an engine room or hydraulic equipment may be installed. In this way, the fuel tank 23 and the drive oil tank 24 are
Since it is provided on the trolley 6, the 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, the second carriage 8 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 45 for operation, and an antenna for remote operation is provided on the top of the operation room 45. Equipped with 46. Further, as shown in FIG. 1, the second carriage 8 is provided with an aerial work platform 18, which is supported by a pantograph lifting / lowering body 48 which is extended / contracted by a hydraulic cylinder 47 so as to be able to move up and down. The lifting support is not limited to the pantograph type, and may be, for example, a multistage hydraulic cylinder.

As shown in FIGS. 3 and 5 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 7a to 7d supporting the large-diameter sprockets 12a to 12d, of which the left and right vertical shafts 7a, 7c or 7b, 7d are projected. The leading ends of the steering rods 19a, 19c or 19b, 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, as shown in FIG. 9, the pivot points 21 at both ends of the connecting rod 20.
a and 21b are provided at positions offset 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 left and right vertical shafts 7a and 7c or 7b and 7d, respectively. .

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.

As described above, since the steering mechanisms 17 are provided on the wheel mechanisms 2 to 5, it is possible to easily change the direction on the way of traveling. Allows for sharp turns.

The front and rear traveling shoes 1a to 1d can be operated simultaneously by operating the steering hydraulic cylinders 22 for steering the steering mechanism 17 both front and rear or one of 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 respectively have the right and left vertical shafts 7a and 7c.
Alternatively, by providing the positions 7b and 7d at positions that are offset from each other with respect to an imaginary line L that is parallel to the traveling direction passing through the axis O of 7b and 7d, the action described with reference to FIG.

That is, the running shoe 1 shown in FIG.
steering rods 19a and 19c in which a to 1d are oriented in the traveling direction
From this state, the hydraulic steering cylinder 22 shown in FIG. 8 is contracted to move the steering rod 19a, as shown in FIG.
When 19c is steered to the left in conjunction with the linkage rod 20, the right steering rod 19c turns in a direction away from the dead point P passing through the imaginary line L, so that a large turning amount L1 can be obtained. However, on the other hand, since the left steering rod 19a turns in a 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 set to the left. A larger amount than the turning amount L2 of the steering rod 19a can be taken. Because of this, the running shoes 1a-1d
When turning left, the running shoe 1 on the inside, that is, the left side
The turning amount of a and 1b can be reduced to increase the turning amount of the traveling shoes 1c and 1d on the outer side, that is, the right side, so that the left turning can be smoothly performed.

Similarly, the running shoe 1 shown in FIG.
steering rods 19a and 19c in which a to 1d are oriented in the traveling direction
From this state, when the steering hydraulic cylinder 22 is extended and the steering rods 19a, 19c are interlocked with the connecting rod 20 and steered to the right as shown in FIG. 10C, the left steering rod 19a is , The turning amount L3 can be large because the vehicle turns in a direction away from the dead point P passing through the virtual line L, whereas the right steering rod 19c approaches the dead point P passing through the virtual line L. Since it turns in the direction, the turning amount L4
Is cos θL3, and is the turning amount L3 of the left steering rod 19a.
Is 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 right traveling shoes 1c and 1d is reduced, and the outer, that is, the left traveling shoe 1 is reduced.
A large turning amount of c and 1d can be obtained, and thus a right turn can be smoothly performed.

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, as shown in FIGS. 12 and 13, a holding bracket 54 is provided that radially extends in a direction orthogonal to an extension shaft 53 extending from the pivot shaft 26 that supports the small diameter sprocket 15. 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.

As shown in FIG. 14, 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. 15, when traveling on a steep slope, 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.

Similarly, as shown in FIG. 15, when the vehicle travels on a traveling road that is steeply climbed in the traveling direction, the center of gravity tends to move in the opposite traveling direction, so that an unbalanced load due to this is generated. 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 second carriage 8 forward as shown in the figure, 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. 16, when the vehicle travels on a traveling road steeply descending in the traveling direction, linear drive is performed so as to move the second carriage 8 to the opposite traveling direction side as shown in the figure. The mechanism 9 may be controlled.

Further, as shown in FIG. 17, 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, the front and rear running shoe support vertical shafts 7 on the right side of the wheel mechanisms 2 to 5.
a and 7b are extended and driven to maintain the first carriage 6 and the second carriage 8 in the horizontal state as shown in the drawing, and the load sensor 1
It is possible to bring the center of gravity to a stable original position by stopping the extension drive of the running shoe supporting vertical shafts 7a to 7d at the position where the load pressure on 1a to 11d becomes uniform.

Further, as shown in FIG. 18, when the vehicle travels on a traveling road which is steeply inclined to the left and is orthogonal to the traveling direction, traveling on the left side of the wheel mechanisms 2 to 5 as shown in the figure. The shoe supporting vertical shafts 7a and 7b may be driven to extend, and similarly, the first carriage 6 and the second carriage 8 may be controlled to be maintained in a horizontal state.

As described above, even if the traveling road is inclined in various directions, the combined unbalanced load of these is applied to the load sensor 11a.
By detecting with 11d, the running shoe supporting vertical shafts 7a to 7d of the wheel mechanisms 2 to 5 and the linear drive mechanism 9 are simultaneously driven, so that the center of gravity is always below the stable central portion as indicated by the arrow. It is possible to bring it.

[0057]

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.

According to the first aspect of the invention, the traveling shoes of the wheel mechanisms that support the first truck are supported by the traveling shoe supporting vertical shaft that can be extended and contracted, and the first truck and Since the linear drive mechanism of the second truck is interposed between the second cart and the second truck, the second vertical movement of the auxiliary vertical shaft for supporting the traveling shoe and the reciprocating linear movement of the linear drive mechanism cause the second linear movement of the second vertical axis. It is possible to prevent fluctuations in the center of gravity as much as possible when transporting the materials mounted on the trolley of the vehicle to a destination through a difficult place where unevenness and slope are severe and to enable stable transportation.

According to the carrying device of the invention of claim 2,
Since the wheel mechanism has the auxiliary vertical shaft for supporting the traveling shoe, which extends and contracts along the vertical shaft for supporting the traveling shoe in accordance with the expansion and contraction driving of the vertical shaft, the two vertical shafts of the traveling shoe and The reinforcing effect strongly supports the traveling shoe, and it can be safely transported even in difficult areas with severe irregularities.

According to the carrying device of the invention of claim 3,
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 4,
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 the fifth aspect of the invention, 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 sixth aspect, 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 in 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 present invention, the turning angle of the running shoe on the turning direction side can be automatically reduced at the time of turning, and the turning angle of the running 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 eighth aspect, the fuel and the driving oil in the tank are less likely to undulate when the vehicle is traveling, even if the center of gravity is displaced due to the lateral rocking, which causes instability. Driving can be prevented as much as possible.

Further, according to the ninth 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.

Further, according to the tenth aspect, since the second carriage is provided with the extendable work platform, it is possible to extend all the vertical shafts of the wheel mechanism and also extend the work platform. It is possible to work at high places such as considerable power line work.

[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.

FIG. 3 is an exploded perspective view of the same.

FIG. 4 is a vertical sectional side view of the main part.

FIG. 5 is an enlarged side view of the main part.

FIG. 6A is an enlarged side view showing an operating state of the main part, and FIG. 6B is an enlarged side view showing another embodiment of the main part.

7 is a cross section taken along the line AA of FIG.

FIG. 8 is a plan view of another main part.

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

10 (a) to 10 (c) are explanatory views showing an operating state of a main part.

FIG. 11 is a plan view showing the arrangement of the main parts.

FIG. 12 is an enlarged vertical sectional front view of the other main part.

FIG. 13 is a side view of FIG.

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.

FIG. 18 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 first bogie 7a vertical axis for supporting traveling shoe 7b vertical axis for supporting traveling shoe 7c vertical axis for supporting traveling shoe 7d Vertical axis for running shoe support 8 Second carriage 9 Linear drive mechanism 10 Auxiliary vertical axis for running shoe support 11a Load sensor 11b Load sensor 11c Load sensor 11d Load sensor 12a Large diameter sprocket 12b Large diameter sprocket 12c Large diameter sprocket 12d Large Diameter sprocket 13a Axle 13b Axle 13c Axle 13d Axle 14 Lifting arm 15 Small diameter sprocket 16 Lifting hydraulic cylinder 17 Steering mechanism 18 High platform 19a Steering rod 19b Steering rod 19c Steering rod 19d Steering rod 20a Joint rod 21 21b fulcrum shaft 21c supporting shaft 21d pivot shaft 22 steering hydraulic cylinder 23 the fuel tank 24 drive oil tank

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

Claims (10)

[Claims] 1. A front and rear left and right wheel mechanism having traveling shoes supported by a vertical shaft for supporting a traveling shoe capable of extending and contracting, a first carriage supported by these wheel mechanisms, and a linear drive mechanism. And a second trolley supported by the first trolley so as to be able to reciprocate in the traveling direction. 2. The transporting apparatus according to claim 1, wherein the wheel mechanism has a traveling shoe supporting auxiliary vertical shaft which is capable of expanding and contracting along a traveling shoe supporting vertical shaft which can be expanded and contracted. 3. 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. 4. 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. 4. 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. Or the carrying device described. 5. The carrying device according to claim 1, wherein each of the wheel mechanisms has a steering mechanism. 6. 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. 6. A connecting rod which is pivotally connected, and a steering hydraulic cylinder which 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. 7. The pivot points at 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 axial centers of the left and right vertical axes. The carrying device according to any one of 1 to 6. 8. A fuel tank and a driving oil tank are provided on the first carriage of the first carriage and the second carriage.
7. The carrying device according to any one of 7. 9. 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 unnecessary. The carrying device according to any one of claims 1 to 8, wherein an auxiliary engaging wheel having teeth is provided. 10. The carrying device according to claim 1, wherein a work platform for high places which can be expanded and contracted is attached to the second carriage.