JPS58170675A - Moving vehicle - Google Patents

Abstract

PURPOSE:To enable the changing of the direction of a vehicle at a small radius of turning, by making wheels or crawlers movable back and forth relative to the frame of the vehicle. CONSTITUTION:Axles 5a, 5b are horizontally supported on the tips of piston rods 7a, 7b of air cylinders 6a, 6b so that the axles can be horizontally turned about their central parts. Wheels 2a, 2b are provided at the front and rear of a frame 1 so that the wheels can be displaced back and forth relative to the frame by the air cylinders 6a, 6b provided on the frame. The front wheels 2a and the rear wheels 2b are displaced forward and backward relative to the frame 1 by protruding the piston rods 7a, 7b of the air cylinders 6a, 6b.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a vehicle that travels not only on horizontal surfaces but also on steep slopes and stair pipes.

[Technical background of the invention]

Currently, inspections and repairs of various equipment and piping inside the reactor containment vessel are carried out by workers, but in order to keep the radiation exposure of workers below the permissible level, it is necessary to carry out work inside the containment vessel. Due to the town's measures to limit the time and change the workers, the problem is that the work must be repeated for short periods of time to perform inspections and repairs, resulting in very low work efficiency. There is.

Therefore, recently, it has been considered that self-propelled vehicles can be equipped with inspection equipment such as ITV cameras, and the vehicles can be driven to various locations within the reactor containment vessel to perform inspection work unmanned. , *tAs a route for this traveling vehicle, it is considered to use an inspection passage for workers provided inside the reactor containment vessel.

Figure 1 shows what has been conventionally considered as a traveling vehicle for inspecting the inside of a nuclear reactor inspection spring. This traveling vehicle is of a four-wheeled type with single wheels and 2bf provided on both front and rear sides of the underframe 1, respectively, and the underframe I and C are equipped with a support stand 3
An ITV camera 4 is mounted on the +fi via the VC.This vehicle is also equipped with a VC so that it can change direction and travel in any direction, similar to the general 4-width automatic prison.

By the way, the inspection passage provided inside the reactor containment vessel has many bends, and some of these bends are at right angles and have steep angles.
In order to enable a vehicle to travel through such bends, it is necessary to improve the ability of the vehicle to change direction. Make the distance between the front wheel 2b and the rear wheel 2b as much as possible/J
S is narrowed to reduce the turning radius of the vehicle.

[Background technology interset]

However, as described above, driving with the distance between the front wheel 2a and the VK unit single wheel 2b set small] 11L#'i,
There is no particular problem when driving on horizontal surfaces, but there are slopes and stairs.
Running the vehicle up and down requires stability, and there is a risk of falling while running, especially on steep slopes or stairs.

In other words, when considering the case where the next vehicle is traveling on a slope as shown in FIG.
It can be determined from the distance to the center G and the cylindrical height H of the center of gravity G using the following equation. Assume that the center G of the vehicle is located at the center PC between the front wheels 2& and the rear wheels 2b. Therefore F
The distance between the side wheels and the center of gravity G is ij V2.

However, the angular limit of the slope in which the vehicle shown in Fig. 1 can move up and down is determined by the position of the center of gravity of the vehicle and the distance between the wheels, and the angle of the slope exceeds θ-L, /2H'1. Then, the entire load W of the traveling vehicle will be applied only to the lower wheels due to the slope of 1 c% J (and the inspection vehicle will lose its stability).

(The inspection passageway KFi inside the reactor containment vessel is not a horizontal passageway, but also a sloped passageway. To ensure that all vehicles travel to various locations within the reactor containment vessel, the vehicles must be able to move up and down steep slopes and stairs, but conventional vehicles have limited turning radius. Since the wheel spacing Lt is made small in order to reduce the wheel spacing Lt-, if the vehicle is driven up and down steep slopes or stairs, it will lose stability and fall. If the distance V2 from the center of gravity G to the front wheels 2a and rear wheels 2b is large, it is possible to move up and down steep slopes and stairs while maintaining stability, but if the distance between the wheels is increased in this way, it is difficult to turn As the radius becomes larger, the ability to change direction becomes worse, thus making it difficult to navigate around bends on a horizontal inspection path.Also, these problems can be solved by using crawlers instead of wheels. The same can be said for the uncle of a running car.

[Purpose of the invention]

The present invention was developed in view of the above-mentioned circumstances, and its purpose is to be able to move up and down not only on horizontal surfaces but also on steep slopes and on floors R4 with good stability, and to The object of the present invention is to provide a traveling vehicle that can change direction with a small turning radius.

[Summary of the invention]

That is, according to the present invention, a single-wheel crawler at the front and rear of the traveling vehicle is provided so as to be movable in the front and rear directions with respect to the underframe, and when traveling up and down stairs during an inclined curve, the single-wheel straddle crawler is moved to the center of gravity of the traveling vehicle. The wheel or crawler is placed far away from the vehicle to improve stability. (7) When changing direction on a horizontal plane, the wheels or crawlers are moved closer to the center of gravity of the vehicle to reduce the turning radius.

[Embodiments of the invention]

Embodiments of the present invention will now be described with reference to the present invention.

FIGS. 2 to 8 show a first embodiment of the present invention. The traveling vehicle of this embodiment is of a four-wheeled vehicle type, with wheels of 2m and 2bk on both sides of the front ridge of the underframe 1, respectively.
An ITV camera 4 is mounted on the d-frame 1 via a rotatable support 3 (7).In addition, in the figure, 6m and 6b are provided under the frame 1 facing forward and backward. A pair of wheel moving air cylinders 7h and 7b are piston rods thereof, and are actuated by the air cylinders 6a, 6b4'1 cylinder actuating devices #a, &b, respectively.Then, both air cylinders 6ar6Tb piston rod 7a.

Axles 5a and 5b are each supported horizontally and horizontally rotatably about the center at the tip of 7b,
The two wheels on both sides of the front part of the underframe are attached to both ends of the axle 5i, and the two wheels jb#'i on both sides of the rear part of the underframe are respectively attached to both ends of the axle 5b. In other words, the wheels 2a at the front of the 11th frame
and the rear single wheel 2b, and the underframe IVC is provided and the air cylinder for constant wheel movement 6 a T 6 b f: through the under frame 1
The front single wheel 21 and the rear wheel 2a are provided so as to be movable in the front and back directions, and the front single wheel 21 and the rear wheel 2a are projected forward and backward of the underframe 1 by the piston rod extrusion operation of the air cylinders 6h and 6b, respectively. It is about to be moved. #g3 figure shows rear wheel 2b at maximum protrusion length Lr
Fig. 4 shows a state in which the front wheel 2a is extended to the maximum projection length Lf, and the maximum projection lengths Lf and Lr of both axles 2a and 2b are L.
The setting formula is set so that f = Lr. Also, the second
In the figure, the center of gravity of the G#''i running vehicle (one center with the ITV camera Oi installed), the L front wheel 2 & and the removed wheel 2.
The wheel spacing is shown in the state in which the front S* wheel 2a and the rear wheel 2b are pulled back to the underframe 1@, and the distance between them is the minimum, and the distance between the front S* wheel 2a and the rear wheel 2b is set to be the minimum distance from the traveling vehicle 1. It has become. This minimum wheel spacing is the same as the wheel spacing of the conventional vehicle shown in FIG.

Friend, in Fig. 2, L' indicates the wheel spacing in a state where the front wheel 21L and rear wheel 2b are protruded to the maximum protruding lengths i Lf and Lr, respectively, and the state V where the wheel spacing is the maximum is shown. Also in this case, the front single wheel 21 and the rear wheel 2a are traveling at equal distance from the center of gravity G7 and V1. It is located in

The front wheel 2a and the rear wheel are respectively -;
The direction is changed by a steering mechanism (not shown, but similar to the steering mechanism of a general four-wheeled vehicle) that rotates the vehicle axles 5* and 5b fully horizontally, and the front wheels 2a and the rear wheel 2b have their axles 5*,
5b A drive device that rotates seven times (as shown in the figure, for example, there is an axle 5aL5 at the tip of the piston lower door a r 7b).
It is installed so that it can horizontally rotate integrally with b) and is driven to travel.

Therefore, when this vehicle runs on a horizontal inspection passage inside the reactor containment vessel, the distance between the front wheels 21 and the rear wheels 2b is set to the minimum distance, as shown by +i in FIG. Drive in a state where you can change direction within the turning radius. Therefore, this inspection vehicle can travel around bends in a horizontal passage without any problems. Note that even when traveling on a horizontal passage, the distance between the wheels may be increased in places where the passage is straight to increase stability.

On the other hand, when traveling up and down an inclined passageway or a staircase, the front wheels 2a and the rear wheels 2b are each set to the maximum protrusion length Lf.
, protrude to Lr and drive with maximum wheel spacing. Increasing the wheel spacing in this way increases stability when traveling on slopes or stairs.
It is possible to go up and down steep slopes or stairs that conventional vehicles could not travel on without falling.

That is, FIG. 5 and FIG. 6 show the up-and-down traveling state of the inclined passageway of 1°. When traveling up and down an inclined passage 10 as shown in Fig. 5, if the total maximum wheel spacing is L', the wheels (front wheels) 2& on the lower side with respect to the inclination are as shown by chain lines when traveling on a horizontal passage. Since the wheel position of (the distance from the center of gravity G is about L/2 &) is farther from the center of gravity G of the vehicle by a distance Lf, the limit of the inclination angle θ at which this vehicle can move up and down while maintaining stability is This also applies to the inclined passageway 10 with a reverse slope as shown in FIG. , is expressed as . If the height H of the center of gravity G of the vehicle is constant, the distance from the center of gravity G to the lower wheels increases, and the entire load W of the vehicle will be applied only to the lower wheels. Since the angle θ becomes larger, the wider the distance between the wheels, the more stable the vehicle can move up and down steep slopes.

Makoto, Figure 7 and! Figure 8 shows the state of ascent/descendability of the first stairway, and in this case as well, if the wheel distance is widened, the stability of the stairway can be improved in the same way as the ascent/descendability of the inclined passage shown in Fig. 5 and Fig. 6. 11t - Can run up and down.

Figures 9 to f1g11 are the second 5j of the present invention! It shows treatment. This traveling vehicle has an underframe 1 on which an ITV camera 4 is mounted via a support stand 3, and instead of nine wheels on both front and rear sides, crawlers 12 and 12bf are arranged.
h and 12b are respectively provided so as to be movable in the front and rear directions with respect to the underframe 1. Said crawler 12*, 12b#'
i. A driving wheel and a driven wheel are provided at both ends of the support frame, and an endless belt or endless chain, etc., wrapped around the driving wheel and driven wheel is fed and driven by the rotation of the driving wheel. . The principle #lv of this crawler is widely known in bulldozers and the like, so a detailed explanation thereof will be omitted. Further, each of the crawlers 12h and I2b has a drive device (a motor and a speed reducer) and is driven to run individually. .13 respectively. The front crawler 12 and the rear crawler 11b are attached to a slide frame 14a provided at the bottom of the underframe 1 so as to be slidable in the front and rear directions.

14b to the support frame 13. through the support pin 15.15't.
13t- By installing the slide frames J4a, J
4b, and horizontally rotates about the support pin 15 as a pivot. The slide frame 14
h, 14b has idle rails 1 provided on both sides of the underframe 1.
6￥rRail holding members 17a, 17 that are slidably held
b is integrally attached, and the slide frame 14*
, 14b and the rail holding member 17a.

It is slidably attached to the underframe 1 via 11b. Maft, I II a #18b is a locking mechanism that locks to the slide frame 14*, 14bf underframe 1;

18b, as shown in FIG.
0 and the front and rear crawlers 12*, 12
When the crawler interval is set to the minimum interval b and when the crawler interval is set to the maximum interval L', the recess 21 formed on the side surface of the underframe is opened.

The slide frame 14*, 14b is designed to be locked by fitting the spindle 19 into the slide frame 14*, 14b. Therefore, the front crawler 12a
and the rear crawler 12b are both crawlers 12*,
12bf When running in the same direction at a constant speed, the minimum interval or maximum interval L' is maintained. In addition, when increasing or decreasing the crawler interval, the front and rear crawlers 12a
.

12b'z may be driven in mutually opposite directions, or one crawler may be stopped and only the other crawler may be driven to travel.In this way, the lock pin 19 will absorb the force that causes the slide frames 14a and z4b to move. Since it is pulled out from the recess 2 against the spring 20, the crawlers 12h and 12b can be moved back and forth with their own running force together with the slide frames 14a and 14b to change the crawler spacing.

The crawler spacing increasing/reducing means of this second embodiment can also be used to expand/reducing the wheel spacing of a traveling vehicle equipped with wheels, and the wheel spacing expanding/reducing means of the first embodiment also can be used for expanding/reducing the wheel spacing of a traveling vehicle equipped with wheels. It can be used to expand or shorten the crawler spacing of a traveling vehicle. Mayu: In the first embodiment, the wheel spacing is expanded/reduced using an air cylinder, but instead of this, it is also possible to adopt a screw feeding system using a scree rod or the like. Also in the embodiment, it is possible to use a zlFl tongue tag type or link type bending arm in place of the slide frame. Moreover, the traveling vehicle Fi of the present invention can be used not only for inspection inside the reactor containment vessel but also for other purposes.

〔Effect of the invention〕

Since the traveling vehicle of the present invention is as described above, it can run up and down not only horizontally but also steeply sloped surfaces and stairs with good stability, and can also travel in the direction with a small turning radius on the water XfI plane. Can be converted.

[Brief explanation of the drawing]

FIG. 1 is a @ side view of a conventional traveling vehicle. Figures 2 to 8 show the 10th application of the present invention, and Figure 2F! side view, Figure 3, and Figure 4 respectively show the ll1i with only one wheel protruding. ] Figures 5 and 6 are side views of the vehicle running on an inclined path, and Figures 7 and 8 are side views of the vehicle running on stairs. Figures 9 to 111
Figure 1 shows an embodiment of m2 of the present invention, Figures 9 and 10 are side and front views, and Figure 11 is the mouth. FIG. 1 Underframe, 2 sections, 2b...Axle, 6*r6b...Air cylinder for wheel movement% 12 m, 1 l b.
... Crawler, 14 m, 14 b =-Slide frame, 18&. 18b... Lock Machine Hinoki 6 Applicant's Representative Patent Attorney Takehiko Suzue Figure 5 Figure 6 Figure 8 Figure 9. . Figure 11

Claims (3)

[Claims] (1) Wheels or crawlers are provided in front of the underframe, and in a vehicle that travels on flat surfaces, slopes, and stairs by driving these wheels or crawlers, the wheels or crawlers move in the front and rear directions with respect to the underframe. A traveling vehicle characterized by being provided with the following features: (2) Claim I characterized in that the wheels or crawlers are provided on the underframe and are moved by a t-moving mechanism.
IK The vehicle described in item (1). (3) The 11-wheeled crawler moves using its own running power! The traveling vehicle according to claim 4 (1), which is mold.