JPH09256230A - Device for attitude control of working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an inexpensive attitude control device simple in structure and not causing the slippage of a wheel on a attitude controlling operation. SOLUTION: Guide rollers 5 guided on the guide rail 4 of a frame 3 are disposed on the side surface of a main body 2, and a support device 19 is disposed in the lower part of the main body 2. The support device 19 is disposed by swingably linking one end of the link member 17 to an attaching member 18. Wheels 14 are rotatably disposed on the other end of the support device 19. A hydraulic cylinder 8 capable of vertically moving the main body 2 relative to the wheels 14 is disposed between the support device 19 and the main body 2. A linkage support point 28 of the link member 17 to the main body 2 is set to such a place that a circle locus C1 countering the contact point 29 of the guide roller 5 with the guide rail 4 and a circle locus C2 centering the linkage point 28 approximately coincide with each other within the range of a difference between the high and low positions of a floor surface GL.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention maintains a substantially horizontal state in which a working machine that moves along a spinning machine stand and carries out work such as doffing does not lose its running posture due to the height or unevenness of the floor surface. The present invention relates to a posture control device for a working machine.

[0002]

2. Description of the Related Art As shown in FIG. 2, the working machine is engaged with a guide rail 4 of a spinning machine stand 3 and is rolled by a guide roller 5.
It is equipped with and is moved along the machine base 3 to perform work such as doffing. An example of such an attitude control device for a working machine is disclosed in Japanese Utility Model Publication No. 7-48681. This is the main body 2 of the working machine 1 as shown in FIG.
Support bracket 3 on the bottom of the side opposite to the guide roller 5
0 is projectingly provided, and a support arm 32 is rotatably supported on a shaft 31 fixed to the support bracket 30, and a piston rod 20 of a hydraulic cylinder 8 rotatably supported on a front end of the working machine 1. Is rotatably connected to one end of the support arm 32. A support shaft 33 is rotatably supported on the other end of the support arm 32. A running wheel (wheel) 14 made of urethane is supported on the support shaft 33 through a metal 34 so that the traveling wheel (wheel) 14 made of urethane can relatively move in the axial direction of the support shaft 33 and can rotate integrally with the support shaft 33. Further, the support arm 32 is provided with a spring 35 for holding the traveling wheel 14 in a predetermined state when sandwiching the traveling wheel 14 in a horizontal state. When the work implement 1 tilts due to the height of the floor GL or the unevenness, the running wheels 1
4 can move relative to the support shaft 33,
Does not slip in the direction (main body width direction) orthogonal to the moving direction of the working machine 1 and the supporting shaft 33 slides in the axial direction so that the working machine 1 is centered on the fitting portion of the guide rail 4 and the guide roller 5. As a result, the braking force due to the slip of the traveling wheels 14 in the width direction of the main body does not act on the working machine 1 that is traveling,
Further, the force due to the friction between the running wheels 14 and the floor surface does not act on the guide rail 4.

Further, in Japanese Patent Publication No. 2-32369, as shown in FIG. 7, a hydraulic cylinder 8 is rotated on a side surface of the main body 2 opposite to the guide roller 5 in a direction orthogonal to the traveling direction of the working machine 1. A bar 36 is fixed to the piston rod 20 of the hydraulic cylinder 8, one end of levers 37 and 38 is pivotally attached to the bottom surface 12 of the main body so as to be rotatable in the same direction as the cylinder 8, and the bar 36 and the lever are attached to the axle 13. The link mechanism 39 is pivotally connected to the other ends of 37 and 38, and the attitude of the working machine 1 is controlled by the hydraulic cylinder 8. This is because when the floor surface changes from GL to GL1 and the main body tilts, if the posture control is performed while the work machine 1 is stopped, the action of the link mechanism 39 does not cause the traveling wheels 14 to slip in the machine width direction. Attitude control can be performed.

Further, there is one disclosed in Japanese Utility Model Laid-Open No. 1-157183. In this publication, as shown in FIG. 8, a drive source 40 and a pair of wheels 14 are provided in the lower portion of the working machine body 2.
Is provided, and one end of an L-shaped lever 41 is rotatably supported at both ends of an expansion and contraction mechanism that is expanded and contracted by a screw feed mechanism by a drive source 40, and an intermediate portion of the L-shaped lever 41 is attached to a bracket 42.
Is pivotally supported on the bottom surface 12 at the other end of the L-shaped lever 41.
A vertical movement mechanism 44 for vertically moving the wheels 14 with respect to the bottom surface 12 of the main body by a driving source 40 is provided on the support member 43. The support arm 45 is rotatably supported by the support arm 45, the wheel 14 is supported by the support arm 45 at a position deviated from the axis of rotation, and the vertical movement mechanism 44 is operated by the drive source 40 when the main body 2 tilts in the width direction. Let me work machine 1
An attitude control device that corrects the attitude of the device is disclosed. In this device, the wheels 14 turn around the turning axis when the work implement 1 is tilted due to the height of the floor or when the posture is controlled, the traveling direction of the wheels 14 is switched, and the wheels 14 move on the floor GL in the width direction of the main body 2. Move without slipping into.

[0005]

In the above-mentioned conventional apparatus, when the working machine is tilted due to the height difference of the floor surface and when the posture is controlled, the supporting shaft is relatively supported while the grounding position of the wheel with respect to the floor surface remains unchanged. Slides in the machine width direction to prevent wheel slip, but since the wheel shares the work machine load with the guide rollers, a large load is always applied between the wheel and the support shaft, and the wheel Since it moves up relatively, there is a frictional resistance between the wheel and the support shaft both during tilting and attitude control. In particular, there is a problem that the frictional resistance during traveling is large. In addition, there is a problem that the structure is complicated. In addition, the attitude control is performed by using the link mechanism so that the wheel moves along the same locus as the circular arc locus drawn when the working machine is tilted around the contact point between the guide rail and the guide roller. Therefore, there is a problem that the link calculation at the time of design is troublesome, and when the positional relationship between the wheels of the working machine and the guide rail is changed, a complicated link calculation must be performed each time corresponding to the change. Further, there is a problem that the structure is complicated and the number of parts is large. Further, the structure and the positional relationship of the link mechanism are determined by calculation, and there is a problem that it is difficult to fit the link mechanism in the lower part of the main body when the height of the main body is low. Also,
Then, the wheel changes the traveling direction around the turning axis at the time of tilting and at the time of attitude control, but there is a problem that a space for turning the wheel is required. Also, when the attitude control is performed in a stopped state, the turning axis moves and the center of contact between the wheel and the floor surface slips, and the reaction of the force that tilts the work machine by overcoming the frictional resistance between the wheel and the floor surface at this time. As a result, since a lateral pulling load is applied to the guide rail, there is a problem that the strength of the guide rail and its supporting member must be increased.

[0006]

In order to solve the above problems, in the present invention, the working machine main body is provided with a support roller guided by a support rail on the front surface of the spinning machine stand, and is supported at the lower part of the working machine main body. A device is provided, and the supporting device is configured by swingably connecting the other end of a link member having a wheel rotatably provided at one end to the main body, and a wheel rolling on the floor surface is formed by the supporting device. An elevating and lowering drive device is provided between the supporting device and the main body so that the working machine main body can be moved up and down relatively to the wheels, and the connecting fulcrum of the link member with the main body is defined by a supporting roller and a supporting rail. Move it as close as possible to the contact point, detect the inclination of the main body with respect to the floor in the width direction, and operate the lifting drive device,
Prevents slippage of the wheels in the machine width direction with respect to the floor surface during attitude control.

[0007]

BEST MODE FOR CARRYING OUT THE INVENTION According to the present invention, a support roller guided by a support rail on the front of a spinning machine base is provided in a working machine main body, and a wheel rolling on a floor is provided at a lower portion of the working machine main body by a supporting device. An elevator drive device that can move up and down relative to the wheels is installed between the support device and the support device to detect the inclination of the work machine body in the width direction with respect to the floor surface. In the attitude control device for the working machine, which operates the lifting drive device to control the attitude of the working machine, the other end of the link member having the wheel rotatably provided at one end is swingable in the width direction with respect to the main body. The supporting member was connected to the main body of the link member, and the fulcrum of connection of the link member to the main body was brought as close as possible to the contact point between the support roller and the support rail. Specifically, the connection fulcrum has a floor height difference between the arc locus of the wheel centered on the contact point between the support roller and the support rail caused by the height of the floor and the arc locus drawn by the wheel centered on the connection fulcrum. The positions are set so as to substantially coincide with each other within the range. In addition, a support roller guided by a support rail is provided on the spinning machine side of the main body, an axle is provided on the lower side of the bottom surface of the main body, and a wheel is rotatably attached to one axle end of the axle. A link member is integrally fixed to the main body to form a link member.One end of the cylinder is swingably attached to the main body in the width direction opposite side to the support roller, and the piston rod of the cylinder is connected to the axle. The connecting member and the cylinder are provided so as to be above the bottom surface of the work machine main body, and the lower side of the bottom surface of the main body is provided with position regulating members facing each other in front and behind the traveling direction of the work machine. The restricting member restricts the shake of the shaft with respect to the traveling direction of the working machine. It is preferable that the connecting member has an elastic portion that can bend in the machine width direction.

[0008]

Embodiments Next, an embodiment of the attitude control device for a working machine according to the present application will be described with reference to FIGS. A guide roller (support roller) 5 fitted to and guided by a guide rail (support rail) 4 on the front surface of the spinning frame 3 is provided on the side surface of the main body 2 of the working machine 1. Guide pins are provided on the outer side of the guide rail 4 at predetermined intervals, and the chrome cam 7 of the working machine 1 engages with this guide pin to travel on the floor surface GL, and the working machine 1 is a known ball. It is designed to perform work such as lifting. Further, when the working machine 1 is tilted due to the height difference or unevenness of the floor surface GL, the tilt is detected by an appropriate detection device 48 disclosed in Japanese Utility Model Laid-Open No. 1-157183, and the hydraulic cylinder 8 that is a lifting drive source is drive-controlled. It is supposed to be done.

A plate member 10 having elasticity is integrally fixed to the connecting piece 9 to form a connecting member 11. The bottom surface 1 of the main body 2
2 an axle 13 is provided on the lower side, and an attachment ring 15 is fitted to one end of the axle 13 and the beam 16 is attached to the attachment ring 15.
Is provided so as to be swingable, and wheels 14a and 14c are rotatably attached to both ends of the beam 16, and the wheels 1a and 14c are arranged in parallel with each other and are directly attached to the tip of the axle 13.
4b is rotatably attached to the wheel 14 (14a, 1
A protective member 46 is attached to the outer side surface of 4b, 14c). Further, the plate member 10 of the connecting member 11 is integrally fixed to the side of the axle 13 opposite to the wheel 14, and the L-shaped link member 1 is provided.
7 are configured. A mounting member 18 is provided in the working machine main body 2 in the width direction of the main body 2, and an upper end of a connecting piece 9 of the link member 17 is pin-connected to the mounting member 18 so as to be swingable in the main body 2 width direction. It constitutes the device 19. Further, one end of the hydraulic cylinder 8 is attached to the mounting member 18 on the side opposite to the guide roller 5 in the width direction of the main body 2 so as to be swingable in the width direction of the main body 2. The piston rod 20 of the hydraulic cylinder 8
A U-shaped connecting metal fitting 21 is fixed to the connecting bracket 21, and the connecting metal fitting 21 is rotatably connected to a connecting bracket 22 fitted to the mounting ring 15 by a shaft 6. It is parallel to the GL.
The hydraulic cylinder 8 allows the main body 2 to move vertically with respect to the wheels 14. The connecting member 11 and the hydraulic cylinder 8 are provided so as to be located inside the main body 2 above the bottom surface 12 of the main body.

Further, below the bottom surface 12 of the main body, a lower bracket 47 having an L-shaped cross section is inserted in front of and behind the axle 13 so as to sandwich the axle 13.
Are arranged side by side, and the position restricting member 23 is fixed to each wall surface of the lower bracket 47 that faces each other. The rollers 24, 25 sliding and rolling on the position regulating member 23 are
It is provided on both sides of 3. The roller 24 is provided on a bracket 26 provided at the other end of the axle 13 so as to be rotatable about a vertical axis, and the roller 25 is provided on a bracket 27 on the mounting ring 15 side so as to be rotatable about a vertical axis. When the working machine 1 is traveling, the link member 17 of the working machine 1 receives a force backward in the traveling direction, but the position regulating member 23 provided on the lower side of the bottom surface 12 of the main body 2 and the roller 2 provided on the axle 13 are provided.
Since the wheels 4 and 25 are engaged with each other, the axle 13 does not move rearward in the traveling direction, and the position of the link member 17 is restricted to a fixed position. During the attitude control, the rollers 24 and 25 roll while sliding on the position regulating member 23, and the link member 17 moves to the main body 2
Rotate in the width direction.

A connecting fulcrum 28 between the connecting piece 9 and the main body 2.
2 is an arc locus C1 of the wheel 14 centering on a contact point 29 between the guide rail 4 and the guide roller 5 caused by the height of the floor surface GL and an arc locus drawn by the wheel 14 centering on the connection fulcrum 28 as shown in FIG. It is provided at a position as close as possible to the contact point 29 between the guide rail 4 and the guide rail 5 such that C2 substantially coincides with each other within the range of the height difference of the floor surface GL. The allowable widthwise slip amount of the wheel 14 is about 5 mm, and the connection fulcrum 28 is provided at a position where the deviation of the arc locus when the floor surface GL changes by 25 mm in the vertical direction is about 1 mm. In this embodiment, the floor surface GL is 25 m downward
The deviations of the arc loci C1 and C2 in the range of m and 5 mm upward change are such that the arc loci C1 and C2 are drawn with the working machine 1 on the floor surface GL and the connection fulcrum 28 and the contact point 29 in that state as centers. A connecting fulcrum 28 is provided at a position where it is sometimes about 0.2 mm.

Since the working machine 1 travels along the spinning machine stand 3 with the guide rollers 5 fitted to the guide rails 4, the work machine 1 is always kept horizontal in the forward and backward directions. Floor GL
Is flat, both the wheels 14 and the bottom surface 12 of the main body 2 are traveling in a state parallel to the floor surface GL as shown in FIG. When the floor surface GL is lowered to GL1 as shown in FIG. 4, the wheels 14 are lowered, and the working machine 1 moves away from the spinning machine base 3 around the contact point 29 between the guide rail 4 and the guide roller 5 (clockwise direction in FIG. 2). ), The wheel 14 slips on the floor surface while drawing a circular arc locus C1 having a radius from the ground contact point P1 with the floor surface GL to the ground contact point P1 and the contact point 29, and the ground contact point P2. Then, the main body 2 tilts as shown by the phantom line in FIG. At this time, the bottom surface 12 of the main body 2
And the axle 13 are parallel. The wheel 1 is drawn while drawing an arc locus C1 centered on the contact point 29 depending on the height of the floor surface 12.
The slip of 4 is unavoidable due to its structure.
When the main body 2 tilts, the detection device 48 detects it and operates the hydraulic cylinder 8. The hydraulic cylinder 8 operates and the piston rod 20 is extended to move the main body 2 to the floor surface G.
Make horizontal to L. At this time, the wheel 14 tries to rotate on an arc locus C2 centered on the connection fulcrum 28 with respect to the main body 2, but cannot rotate because the floor surface exists in the rotational direction, so that the main body 2 is not rotated. At 4, it rotates counterclockwise from the virtual line to the solid line. The main body 2 tries to rotate about the connection fulcrum 28, but the guide rail 4 and the guide roller 5
Are engaged, so that they rotate about the contact point 29. At this time, the arc locus C2 in which the wheel 14 relatively rotates with respect to the main body 2 substantially coincides with the arc locus C1 within the range of the height difference of the floor surface, so that the wheel 14 almost slips in the width direction of the main body. The main body 2 can be kept horizontal.
Further, since the connecting member 11 has elasticity, a slight slip in the width direction of the main body 2 of the wheel 14 is absorbed by this elasticity, and the main body without changing the ground contact point P2 between the wheel 14 and the floor surface GL1. The position of the wheel 2 can be controlled horizontally, and the structure for absorbing the slip of the wheel 14 is simpler than the conventional structure.

When the floor surface GL rises to the floor surface GL2, the inclination of the working machine 1 is opposite to the above, and the movement of each component machine is similarly moved in the opposite direction to the above.

[0014]

As described above, according to the present invention, the working fulcrum changes in height of the floor surface by making the connecting fulcrum of the link member and the main body as close as possible to the contact point of the support rail and the support roller. When performing posture control to correct this inclination, the wheels rotate relative to the main body on an arc locus about a connecting fulcrum that substantially matches the arc locus about the contact point. The wheel hardly slips on the floor surface, friction resistance does not occur between the wheel and the spindle as in the past, and the braking force generated during attitude control does not act and the driving force is small. It is capable of traveling, and a large force does not act on the guide rail, so there is no need to increase the strength of the guide rail and its supporting member. In addition, there is no need for complicated link calculation, and the structure is simple and inexpensive. Further, unlike the conventional case, there is no need for a space for turning the wheels, and since the raising / lowering drive source and the connecting member are housed in the lower part of the working machine, it can be installed in a low working machine.

[Brief description of drawings]

FIG. 1 is a front view of an attitude control device for a work machine.

FIG. 2 is a side view of an attitude control device for a work machine.

FIG. 3 is a perspective view of FIG.

FIG. 4 is an operation explanatory view.

FIG. 5 is a sectional view taken along line VV of FIG. 2;

FIG. 6 is a conventional attitude control device for a working machine.

FIG. 7 is a conventional attitude control device for a working machine.

FIG. 8 is a conventional attitude control device for a working machine.

[Explanation of symbols]

1 Working Machine 2 Main Body 4 Support Rail 5 Support Roller 8 Elevating Drive Device 11 Connecting Member 12 Bottom 13 Axle 14 Wheel 17 Link Member 19 Support Device 20 Piston Rod 23 Position Limiting Member 28 Connection Support Point 29 Contact Points C1, C2 Arc Trajectory

Claims (4)

[Claims] 1. A work machine main body is provided with a support roller guided by a support rail on a front surface of a spinning machine base, and a wheel rolling on a floor surface is provided at a lower portion of the work machine main body so as to be vertically movable by a support device and supported. An elevator drive device that can move the work machine body up and down relative to the wheels is installed between the device and the body, and the elevator drive device is activated by detecting the widthwise inclination of the work machine body with respect to the floor surface. In a posture control device for a working machine configured to control the posture of the working machine, a support device is provided by connecting the other end of a link member having a wheel rotatably provided at one end to the main body so as to be swingable in the width direction. A posture control device for a working machine, wherein a fulcrum of connection of the link member with the main body is brought as close as possible to a contact point between the support roller and the support rail. 2. The level difference between the arc locus of the wheel centering on the contact point between the support roller and the support rail and the arc locus drawn by the wheel centering on the coupling fulcrum is the difference in height of the floor. The posture control device for a working machine according to claim 1, wherein the positions are set so as to substantially coincide with each other. 3. A support roller guided by a support rail is provided on the spinning machine side of the main body, an axle is provided on the lower side of the bottom surface of the main body, and a wheel is rotatably attached to one shaft end of the axle. A link member is integrally fixed to the opposite side to form a link member.One end of the cylinder is swingably attached to the body on the side opposite to the support roller in the width direction, and the piston rod of the cylinder is connected to the axle. The connecting member and the cylinder are provided so as to be above the bottom surface of the working machine main body, and the lower side of the bottom surface of the main body is provided with the position restricting members facing each other in front of and behind the axle in the traveling direction of the working machine. The posture control device for a working machine according to claim 2, wherein the position regulating member regulates the displacement of the axle in the traveling direction of the working machine. 4. The attitude control device for a working machine according to claim 3, wherein the connecting member has an elastic portion that can bend in the machine width direction.