JPH1044987A - Round trip rolling stock - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accomplish stable travel not only on a going way but also on a coming way. SOLUTION: A front rolling stock 1 provided with a power means 3 is positioned in the front, a rear rolling stock 2 provided with a power means 17 is positioned in the rear, and intermediate rolling stocks 9-1, 9-2 serving as towed rolling stocks are arranged between the front rolling stock 1 and the rear rolling stock 2, while each of the front rolling stock 1, the rear rolling stock 2, and the intermediate rolling stocks 9-1, 9-2 is provided with a steering controlling means. In this case, the intermediate rolling stocks 9-1, 9-2 may be dispensed with, and both of the front rolling stock 1 and the rear rolling stock 2 may well be provided with the steering controlling means individually. The steering controlling means which can control the front wheels and the rear wheels separately is available. Alternatively, a steering controlling means, by which a copying steering and a fixed steering are selectively actuated, may be used.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a reciprocating vehicle for transporting materials which is used, for example, in shield tunnel construction and the like, and travels unmanned along a predetermined route by a wall copying steering system or a guide line steering system. Concerning a suitable round-trip vehicle,
In particular, the present invention relates to a reciprocating vehicle that is devised so that stable traveling can be performed during both forward and backward movements.

[0002]

2. Description of the Related Art For example, when performing shield tunnel construction, an unmanned traveling vehicle such as a wall copying steering system is used to transport materials, for example, segments constituting a circumferential wall. This type of traveling vehicle has, for example, a configuration as shown in FIG. First, there is a power wheel 101 located at the head, and the power wheel 101 includes power means 103 such as a motor for transmitting power to driving wheels. Behind the motor vehicle 101, three towed vehicles 105 are connected to the coupler 1
06. The motor vehicle 101 and the towed vehicle 105 have four wheels 107 at the front, rear, left and right, respectively.
It has. The traveling vehicle having such a configuration transports a segment or the like as a material to a desired place.

[0003]

However, according to the above-described conventional configuration, there are the following problems. For example, considering the case of transporting a segment constituting the peripheral wall of a tunnel, the peripheral wall is composed of a plurality of units, and the peripheral wall of one unit is composed of, for example, 12 segments. On the other hand, as described above, the traveling vehicle is composed of a total of four motor vehicles 101 and the towed vehicle 105, and each of them can accommodate one segment. Therefore, when trying to transport the above 12 segments, it is 4 at a time,
You need to make three round trips.

[0004] At this time, when the vehicle moves forward,
There is no particular problem because the vehicle is towed by the towing vehicle 105. However, when the vehicle is to return, the towed vehicle 105, which is located at the rear end, is driven by the last towed vehicle 105 at the front.
As a result, there is a problem that the vehicle runs while being pushed, and the traveling becomes unstable. Note that such an unstable state is not so problematic in the case of a rail car because it is constrained by a track, but it is remarkable in the case of a reciprocating vehicle that runs in a trackless state like the unmanned vehicle. Therefore, this measure has been demanded.

[0005] The present invention has the above problems (problems) of the prior art.
It is an object of the present invention to provide a reciprocating vehicle capable of performing stable traveling not only on the outbound route but also on the return route.

[0006]

SUMMARY OF THE INVENTION In order to solve the above problems, a reciprocating vehicle according to the present invention comprises a leading vehicle having a power means and a rear vehicle having a power means. And a steering control means is provided in each of the leading vehicle and the rear vehicle.
It should be noted that instead of this, a leading vehicle equipped with power means, a rear vehicle equipped with power means, and an intermediate vehicle are provided, and the steering control means is provided in each of the leading vehicle, the rear vehicle, and the intermediate vehicle. You may comprise. In these cases, it is conceivable that the steering control means steers the front wheel and the rear wheel separately, and that the steering control means is selectively operated in the copying steering state and the fixed steering state.

That is, in the reciprocating vehicle according to the present invention, since the power means is provided for the leading vehicle and the rear vehicle, the respective power units are provided with the leading vehicle at the head or the rear vehicle at the head. The vehicle can be driven in a stable state in any direction, and each vehicle is provided with steering control means, which is steered by the steering control means. Traveling along the intended predetermined route can be performed in a stable state. If the steering control means is capable of steering the front wheels and the rear wheels separately, so-called two-wheel steering and four-wheel steering can be selectively used. In addition, when the steering control means selectively causes the copying steering and the fixed steering to function, the copying steering can be performed in each of two-wheel steering and four-wheel steering.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Referring to FIGS.
An embodiment of the present invention will be described. As shown in FIG.
First, there is a powered vehicle 1 as a leading vehicle, and the powered vehicle 1 is disposed at the beginning as a leading vehicle. This motor vehicle 1
Is equipped with a power means 3 such as a motor for applying power to the driving wheels, and four wheels 5 on the front, rear, left and right of the vehicle body. Further, the motor vehicle 1 includes steering devices 7 and 7. Towed vehicles 9-1 and 9-2 as two intermediate vehicles are connected to the motor vehicle 1. Each of these towed vehicles 9-1 and 9-2 is attached to the front, rear, left and right
And the steering wheel 1
3 and 13 are provided. The two towed vehicles 9-
Another power vehicle 2 as a rear vehicle is connected to 1, 9-2. The power vehicle 2 includes power means 17 and four wheels 19 on the front, rear, left and right sides of the vehicle body.
Further, the power vehicle 2 includes steering devices 21 and 21. In addition, the power vehicles 1 and 2, which are the leading vehicles,
It is assumed that the vehicle is provided with route line steering means for performing unmanned traveling, such as wall copying steering means or guidance line steering means. or,
It is assumed that the motor vehicle 1 or 2 and the intermediate towed vehicles 9-1 and 9-2 are connected by the coupler 16.

The towed vehicles 9-1 and 9-2 have the same configuration, and the configuration on the bottom side thereof is as shown in FIG. The steering mechanism 23 and the steering fixed link 25 are provided respectively. Then, by operating the steering fixed link 25, the steering function of the steering section 13 is set to the fixed steering state, and conversely, the steering function of the steering section 13 is set to follow the steering function without operating the fixed link 25. be able to. The steering mechanism 23, the fixed steering link 25, and the steering section 13 constitute a steering control means. Note that the powered vehicle 1 and the powered vehicle 2 also have the same configuration as the towed vehicles 9-1 and 9-2 as the steering control means.

Based on the above-described configuration, the operation as the basic operation of the present invention will be described with reference to FIGS. First, a case in which the vehicle is driven by two-wheel steering will be described. In FIG. 1, a signal informing the traveling direction is transmitted from an external control device such as a microcomputer (not shown) to each vehicle, and when traveling to the left in FIG. And the power means 17 of the power vehicle 2 located at the right end is set in a free state. Conversely, FIG.
When the vehicle travels to the right side, the power means 17 of the power vehicle 2 located at the right end is operated, and the power means 3 of the power vehicle 1 located at the left end is brought into a free state.

Next, in the two towed vehicles 9-1 and 9-2 and the powered vehicle 2 (or 1) located rearward in the traveling direction, the phase of the rear wheels is adjusted to 0 degree. The lock state is set and the fixed steering state is set. This is adjusted to 0 degree by each of the steering units 7, 13, 21.
This is locked by the steering fixed link 25 shown in FIG. On the other hand, the front wheels of the towed vehicles 9-1 and 9-2 and the power vehicle 2 (or 1) as the rear vehicle are not in such a locked state, but are in a copying steering state. Therefore, each succeeding vehicle travels by the power means 3 (or 17) of the power vehicle 1 (or 2) as the leading vehicle, and follows each vehicle so as to follow the unmanned steering control of the leading vehicle 1 (or 2). The vehicle is operated by steering the vehicle.

Next, the state of control of the reciprocating running of the coupled vehicle shown in FIG. 1 according to the present invention will be described with reference to FIGS. In FIGS. 3 and 4, for simplicity, the two towed vehicles 9-1 and 9-2 in FIG. 1 are represented by a single towed vehicle 9, but as shown in FIG. Two towed vehicles 9-1,
This operation is the same even when 9-2 is used. First, as shown in FIG. 3, when the vehicle travels to the right in the figure, the vehicle travels by the power means 17 of the power vehicle 2 shown in FIG.
Is in a copying steering state, and the rear wheel side is in a fixed steering state. The same applies to the power vehicle 1 located rearward. Next, as shown in FIG. 4, when the running direction is reversed, the vehicle is driven by the power means 3 of the power vehicle 1 shown in FIG.
The front wheel side of the towed vehicle 9 located behind is in the copying steering state, and the rear wheel side is in the fixed steering state. The same applies to the power vehicle 2 located rearward.

Next, a case where the vehicle is driven by four-wheel steering will be described. As described above, the towed vehicle 9 shown in FIG.
In this case, the steering mechanism 23 for the front wheels and the rear wheels of the power vehicle 1 (or 2) positioned at the head is also provided in the power vehicles 1 and 2 as the leading vehicles. Is stored in a storage device (not shown). The towed vehicle 9 and the powered vehicle 2 (or 1) located behind are also controlled to have the same steering angle as the stored steering angle of the powered vehicle 1 (or 2) at the same passing position. It is good to run while running.

Note that the present invention is not limited to the above embodiment. For example, in the above-described embodiment shown in the drawings, a case where a towed vehicle is provided as an intermediate vehicle has been described, but a leading vehicle that is located at the head and has a power unit and a vehicle that is located rearward and has a power unit are provided. A combination of two rear vehicles may be provided, and the steering control means may be provided in each of the leading vehicle and the rear vehicle. In the case where the towed vehicle is provided as an intermediate vehicle, the number of the towed vehicles is exemplified as one or two, but may be set to an arbitrary number. In addition, various known configurations can be applied as specific configurations of the power unit and the steering control unit. For example, in the embodiment shown in FIG. 2, the mechanical mechanism is shown, but this is configured by an electrical mechanism, and a signal that the rear wheel steering mechanism of each towing vehicle has a phase of 0 degree is sent to the steering steering unit. Various modifications in accordance with the technical concept of the present invention, such as electrically locking the steering mechanism while continuing to feed, are possible.

[0015]

As described above, according to the reciprocating vehicle according to the present invention, the following effects can be obtained. (1) Since the power means is provided for both the leading vehicle and the rear vehicle, it is possible to use the respective power means to run with the front vehicle at the head on the outward path and the rear vehicle on the return path. Even in the case of traveling in a trackless state by using the steering control means provided in the vehicle, it is possible to follow the steering of the power vehicle as the leading vehicle and perform appropriate steering similar to that in the case of the track state, so that it is stable. Reciprocating traveling can be performed. (2) In this case, when the steering control means can separately steer the front wheel and the rear wheel, so-called two-wheel steering and four-wheel steering can be selectively used. (3) In the case where the steering control means is made to selectively function in the copying steering state and the fixed steering state, in each of two-wheel steering and four-wheel steering, the steering of the motor vehicle as the leading vehicle is performed. Follow-up scanning steering operation can be performed accurately.

[Brief description of the drawings]

FIG. 1 is a side view showing a configuration of a reciprocating vehicle according to an embodiment of the present invention.

FIG. 2 is a view showing one embodiment of the present invention, and is a bottom view showing a configuration of a towed vehicle on the bottom side of a reciprocating vehicle.

FIG. 3 is a bottom view of the reciprocating vehicle traveling on an outbound journey when the vehicle is traveling to explain the operation in a diagram showing an embodiment of the present invention.

FIG. 4 is a bottom view of the reciprocating vehicle at the time of return traveling when the vehicle is traveling, for illustrating the operation in a diagram showing an embodiment of the present invention.

FIG. 5 is a side view showing a configuration of a reciprocating vehicle in a diagram showing a conventional example.

[Explanation of symbols]

1: Powered vehicle (leading vehicle) 2: Powered vehicle (rear vehicle) 3, 17: Power means 7, 13, 21: Steering steering unit 9, 9-1, 9-2: Towed vehicle (intermediate vehicle) 23: Steering mechanism 25: Steering lock mechanism (steering fixed link)

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁶ Identification number Agency reference number FI Technical display location E21F 13/02 E21F 13/02 // B62D 13/02 B62D 13/02 (72) Inventor Kakebayashi Yasunori 100, Takegahanacho, Ise City, Mie Prefecture Shinko Electric Co., Ltd.

Claims (4)

[Claims] 1. A front vehicle having a power means positioned at the head, and a rear vehicle having a power means positioned rearward,
A reciprocating vehicle, wherein steering control means is provided for each of a leading vehicle and a rear vehicle. 2. A leading vehicle having a power means positioned at the front, a rear vehicle having a power means positioned rearward, and an intermediate vehicle serving as a towed vehicle disposed between the front vehicle and the rear vehicle. And a steering control means is provided for each of the leading vehicle, the rear vehicle, and the intermediate vehicle. 3. The reciprocating vehicle according to claim 1, wherein the steering control means can separately steer a front wheel and a rear wheel. 4. The reciprocating vehicle according to claim 3,
A reciprocating vehicle, wherein the steering control means selectively functions between a copying steering state and a fixed steering state.