JPH11301534A - Stabilization device for running on sloped ground - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable a track type vehicle to run with no shock even at the time of running from the sloped ground to the flat ground. SOLUTION: Measurement data from a distance sensor 20 detecting the distance to the ground becomes larger when a track type vehicle begins to move from the sloped ground R1 to the flat ground R2. As a result, a controller 22 judges that the track type vehicle 1 is beginning to move from the sloped ground R1 to the flat ground R2. At this time, a plate tip portion 11a of a slope stabilizing device 10 pushes downward below bottom part of the vehicle. This eliminates the shock when the track type vehicle 1 moves from the sloped ground R1 to the flat ground R2. The plate tip portion 11a is then housed within the vehicle when the track type vehicle moves to the flat ground R2.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for stabilizing a road on a slope applied to a tracked vehicle traveling on a slope.
The device is designed so that the vehicle can travel without receiving a strong impact when traveling from a slope to a flat surface.

[0002]

2. Description of the Related Art A conventional tracked vehicle traveling on a slope will be described with reference to FIGS. Both figures show a state in which the tracked vehicle 01 climbs up a slope 02 and moves to a flat ground 03. While the center of gravity of the tracked vehicle 01 is on the sloped ground 02 side, the tracked vehicle 01 travels along the sloped ground 02 as shown in FIG. The vehicle further travels from this state, and the center of gravity of the tracked vehicle 01 shifts from the sloped ground 02 to the side of the flat ground 03, and at the same time, the tracked vehicle 01 is placed on the flat ground 03 as shown in FIG. And continue to run.

Accordingly, the center of gravity of the tracked vehicle 01 is
When moving from the sloped land 02 side to the flat ground 03 side, the attitude of the tracked vehicle 01 rapidly changes from the inclined attitude to the horizontal attitude.

[0004]

As described above, when the tracked vehicle 01 travels from an uphill slope to a flat ground, the attitude of the tracked vehicle 01 changes rapidly. He was receiving a strong shock.

SUMMARY OF THE INVENTION In view of the above prior art, the present invention is intended to alleviate a change in posture when a tracked vehicle travels from a sloped ground to a flat ground, and to prevent the occurrence of an impact, thereby ensuring stable running. It is an object of the present invention to provide a device for stabilizing traveling on inclined terrain.

[0006]

According to the present invention, a distance sensor for measuring a distance from a front portion of a tracked vehicle to a road surface and a tilt sensor for measuring a pitch angle of the tracked vehicle are provided. A sensor, a plate rotatably supported by the vehicle body of the tracked vehicle, and a tip end portion of the plate extending forward from the rotation support point by driving the plate to be rotated, into the vehicle body. Based on the measurement data obtained by the distance sensor and the inclination sensor, the tracked vehicle moves uphill, based on measurement data obtained by the distance sensor and the tilt sensor. When it is determined that the vehicle is going to move from a sloping terrain to a flat terrain, the tip is pushed out below the bottom of the vehicle, and based on the measurement data obtained by the distance sensor and the sloping sensor. When it is determined that the center of gravity of the tracked vehicle has moved from the sloping ground that has been climbing to a flat ground, a control device that performs drive control of the plate drive mechanism so as to retract and store the tip portion in the vehicle body. , Characterized by the following.

[0007]

Embodiments of the present invention will be described below in detail with reference to the drawings.

FIG. 1 is a side view showing a tracked vehicle 1 on which an apparatus for stabilizing a slope 10 according to an embodiment of the present invention is mounted, FIG. 2 is a bottom view showing the tracked vehicle 1, and FIG. FIG. 4 is a configuration diagram illustrating the slope running stability stabilizing device 10 in a plate storage state, and FIG. 4 is a configuration diagram illustrating the slope running stability stabilizing device 10 in a plate pushed state.

The tracked vehicle 1 has a crawler 4 wound around a starting wheel 2 and an induction wheel 3, and runs in accordance with the rotational movement of the crawler 4. The vehicle body 5 of the tracked vehicle 1 is provided with a stabilizing device 10 for traveling on a slope. The position of the stabilizing device 10 on a slope is located at the position surrounded by the left and right crawlers 4 and 4, the front starting wheel 2 and the rear guiding wheel 3, that is, the lower center position of the tracked vehicle 1. It is.

Plate 11 of stabilizing device 10 for running on sloping ground
Has a central portion 11a rotatably supported by the vehicle body 5, and a distal end portion 11b extending forward.
A roller 12 is provided at a tip position of the tip portion 11b. Also, the rear end portion 11c of the plate 11
It is bent with respect to the tip portion 11b.

The jack 13, the chain 14, and the electric motor 15 constitute a plate driving mechanism of the device 10 for stabilizing running on a slope. More specifically, the jack 13 is supported by a bracket 6 provided on the vehicle body 5, and the output shaft 13 a of the jack 13 is connected to the plate 11.
To the rear end 11c. The electric motor 15 is provided in the vehicle body 5, and the driving force of the electric motor 15 is supplied to the input shaft 13 b of the jack 13 via the chain 14.
It is transmitted to. The rotation amount of the electric motor 15 is measured by the encoder 15a.

When the electric motor 15 rotates forward, the forward rotation driving force is transmitted to the jack 13 via the chain 14 and the input shaft 13b, and the output shaft 13a of the jack 13 is pushed out. For this reason, the plate 11 rotates, and its tip 11b is pushed out below the bottom of the vehicle (see FIG. 4). Conversely, when the electric motor 15 reverses, the reverse driving force is transmitted to the jack 13 via the chain 14 and the input shaft 13b, and the output shaft 13a of the jack 13 moves backward. For this reason, the plate 11 rotates in the reverse direction, and the distal end portion 11b is drawn into the vehicle body 5 and stored therein (see FIG. 3).

The distance sensor 20 is attached to the tracked vehicle 1 and has an opening 7 formed in the front of the tracked vehicle 1.
The distance from the front part of the tracked vehicle 1 to the road surface R is measured via the.

The inclination sensor 21 is attached to the tracked vehicle 1 and measures the inclination angle (that is, “pitch angle”) of the tracked vehicle 1 in the front-rear direction.

The tracked vehicle 1 is equipped with a control device 22. This control device 22 includes a distance sensor 20
, The pitch angle data measured by the inclination sensor 21 and the motor rotation amount data measured by the encoder 15a, and the drive operation of the electric motor 15 is controlled by performing a determination operation described later.

Next, FIG. 5 sequentially shows the operation states when the vehicle travels uphill on a slope R1 and travels to a flat ground R2.
The operation state will be described with reference to (a), (b) and FIGS. 6 (a) and (b) and FIG. 7 showing a control procedure in the control device 22.

As shown in FIG. 5 (a), when the tracked vehicle 1 travels uphill on the slope R1, the control device 22 determines the tracked vehicle 1 from the measured value (pitch angle) of the tilt sensor 21. It is determined that the vehicle is traveling on the slope R1 (step 1 in FIG. 7).

At this time, the tip 1 of the plate 11
1b is in a state of being drawn into the vehicle body 5 and stored (see FIG. 3).

Next, as shown in FIG. 5B, when the tracked vehicle 1 is about to move from the sloping ground R1 to the flat ground R2, the measured value of the distance sensor 20 indicates the vehicle body of the tracked vehicle 1. This value is larger than when the whole is on the sloped land R1 or the flat ground R2. The control device 22 controls the distance sensor 2
From the increase in the measured value of 0, it is determined that the tracked vehicle 1 is about to move from the sloped land R1 to the flat ground R2 (step 2 in FIG. 7).

The control device 22 controls the sloped road R of the tracked vehicle 1.
1 to the flat ground R2, the electric motor 1
Then, a drive signal for rotating the lens 5 forward is output (step 3 in FIG. 7). As a result, the electric motor 15 rotates forward, and the forward rotation driving force is transmitted to the jack 13 via the chain 14 and the input shaft 13b, the output shaft 13a of the jack 13 is pushed out, and the plate 11 rotates, and The portion 11b is pushed out below the bottom of the vehicle (see FIG. 4). In this case, the drive command amount by the drive signal (this is the electric motor 1
5 is calculated from the pitch angle. On the other hand, the actual driving amount (the rotation amount of the electric motor 15) is detected from the value measured by the encoder 15a, and the electric motor 15 is driven to rotate forward until the actual driving amount matches the command driving amount.

When the vehicle continues traveling from the state shown in FIG. 5B, the center of gravity of the tracked vehicle 1 shifts from the sloping ground R1 to the flat ground R2, and the state shown in FIG. 6A is obtained. In this case, since the tip portion 11b of the plate 11 is pushed out below the bottom of the vehicle, the change in the attitude of the tracked vehicle 1 is small and the impact is extremely small. In addition, since the roller 12 is provided at the tip end position of the plate 11, even if the tracked vehicle 1 travels in the state of FIG.

At this time (in the state of FIG. 6A)
, The pitch angle measured by the inclination sensor 21 changes (decreases). When detecting that the pitch angle has changed (decreased), the control device 22 determines that the center of gravity of the tracked vehicle 1 has moved from the sloped land R1 to the flat ground R2 (Step 4 in FIG. 7).

When the controller 22 determines that the center of gravity of the tracked vehicle 1 has moved from the sloping ground R1 to the flat terrain R2, it outputs a drive signal for reversing the electric motor 15 (step 5 in FIG. 7). As a result, the electric motor 15 rotates in the reverse direction, and this reverse rotation driving force is transmitted to the jack 13 via the chain 14 and the input shaft 13b, the output shaft 13a of the jack 13 retreats, and the plate 11 rotates in the reverse direction. The tip portion 11b is retracted and stored in the vehicle body 5. (See FIG. 3). In this case, the actual drive amount (the amount of rotation of the electric motor 15) is detected from the value measured by the encoder 15a,
The drive command for reverse rotation is output until the distal end portion 11b is completely housed in the vehicle body 5.

When the tip portion 11b is completely stored in the vehicle body 5, the tracked vehicle 1 is in a state shown in FIG. 6 (b).

Thus, in the tracked vehicle 1 on which the stabilizing device 10 for slopes according to the present embodiment is mounted, when the vehicle climbs up the slope R1 and moves to the flat R2, the flat R2 is automatically detected. Thus, the tracked vehicle 1 can travel from the sloped land R1 to the flat ground R2 without receiving an impact.

[0026]

As described above in detail with the embodiments, according to the present invention, the distance sensor for measuring the distance from the front portion of the tracked vehicle to the road surface and the pitch angle of the tracked vehicle are determined. A tilt sensor to be measured, a plate rotatably supported by the vehicle body of the tracked vehicle, and a tip end portion of the plate extending forward from the rotation support point by driving the plate to rotate. A drive device consisting of a plate drive mechanism for rotating from a position where it is drawn into and stored to a position where it is pushed downward from the bottom of the vehicle, and a track-mounted type based on measurement data obtained by the distance sensor and the tilt sensor. When it is determined that the vehicle is going to move from a sloping hill to a flat terrain, the tip portion is pushed out below the bottom of the vehicle, and the distance sensor and the tilt sensor measure. When it is determined based on the data that the center of gravity of the tracked vehicle has moved from a sloping hill to a flat terrain, the drive control of the plate driving mechanism is performed so as to retract the leading end portion into the vehicle body and store it. And a control device for performing the control.

With the above configuration, the front end of the plate is pushed downward from the bottom of the vehicle when the tracked vehicle attempts to move from a sloping hill on an uphill to a flat ground. Even if the center of gravity moves from the sloping ground to the flat ground, the amount of change in the attitude of the tracked vehicle is small, and almost no impact acts on the tracked vehicle. As a result, stable running of the tracked vehicle can be ensured.

[Brief description of the drawings]

FIG. 1 is a side view showing a tracked vehicle equipped with an apparatus for stabilizing running on an inclined road according to an embodiment of the present invention.

FIG. 2 is a bottom view showing a tracked vehicle equipped with the slope stability control device according to the embodiment of the present invention.

FIG. 3 is a configuration diagram showing the stabilizing device for slope running on an inclined road according to the embodiment of the present invention in a state where a plate is stored.

FIG. 4 is a configuration diagram showing a slope running stabilization device according to an embodiment of the present invention in a state where a plate is pushed out.

FIG. 5 is a side view showing an operation state of the tracked vehicle equipped with the slope stability control device according to the embodiment of the present invention.

FIG. 6 is a side view showing the operation state of the tracked vehicle equipped with the slope stability control device according to the embodiment of the present invention.

FIG. 7 is an explanatory diagram showing a control procedure of the control device of the slope stability control device according to the embodiment of the present invention.

FIG. 8 is a side view showing a conventional tracked vehicle in a running state on an inclined road.

FIG. 9 is a side view showing a conventional tracked vehicle in a running state on flat ground.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 tracked vehicle 2 starting wheel 3 guide wheel 4 crawler 5 vehicle body 6 bracket 7 opening 10 slope stabilization device 11 plate 11a central portion 11b tip portion 11c rear end portion 12 roller 13 jack 13a output shaft 13b input shaft 14 Chain 15 Electric motor 15a Encoder 20 Distance sensor 21 Incline sensor 22 Controller R Road surface R1 Inclined surface R2 Flat surface

Claims (1)

[Claims] 1. A distance sensor for measuring a distance from a front portion of a tracked vehicle to a road surface, an inclination sensor for measuring a pitch angle of the tracked vehicle, and a rotatable vehicle body of the tracked vehicle. A position where a supported plate and a tip end portion of a plate extending forward from a rotation support point by being rotationally driven are pulled downward from a position where the plate is drawn into the vehicle body and stored below the bottom of the vehicle. And a drive device comprising a plate drive mechanism for rotating the vehicle up to, based on measurement data by the distance sensor and the inclination sensor, determine that the tracked vehicle is going to move from a sloping hill to a flat terrain When the front end is pushed out below the bottom of the vehicle, the center of gravity of the tracked vehicle is flattened from the sloping land where the center of gravity of the tracked vehicle is climbing based on the measurement data by the distance sensor and the inclination sensor. And a control device for controlling the driving of the plate driving mechanism so as to retract the tip portion into the vehicle body when it is determined that the vehicle has moved to the ground, and a stabilizing device for slope running on a slope.