JPS5920777A - Transport vehicle - Google Patents

Transport vehicle

Info

Publication number
JPS5920777A
JPS5920777A JP12912182A JP12912182A JPS5920777A JP S5920777 A JPS5920777 A JP S5920777A JP 12912182 A JP12912182 A JP 12912182A JP 12912182 A JP12912182 A JP 12912182A JP S5920777 A JPS5920777 A JP S5920777A
Authority
JP
Japan
Prior art keywords
vehicle
inclination
transport vehicle
truck
loading platform
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP12912182A
Other languages
Japanese (ja)
Inventor
Masayoshi Ito
正義 伊東
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Furukawa Mining Co Ltd
Furukawa Kogyo Co Ltd
Original Assignee
Furukawa Mining Co Ltd
Furukawa Kogyo Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Furukawa Mining Co Ltd, Furukawa Kogyo Co Ltd filed Critical Furukawa Mining Co Ltd
Priority to JP12912182A priority Critical patent/JPS5920777A/en
Publication of JPS5920777A publication Critical patent/JPS5920777A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D55/00Endless track vehicles
    • B62D55/06Endless track vehicles with tracks without ground wheels
    • B62D55/075Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Handcart (AREA)

Abstract

PURPOSE:To prevent impact shocks and collapse of freight from being generated due to an abrupt change in the inclination of a vehicle body at an inclination change point on a road, by a method wherein an auxiliary strut provided with a wheel and operated for securing safety of a truck at an inclination change point is provided at the forward end of a frame for the truck. CONSTITUTION:When the transport vehicle 1 ascends or descends a slope or stairway 12, if the inclination of the vehicle body is abruptly changed at the inclination change point A, the freight 14 on the vehicle may be collapsed or a floor surface 15 may be damaged. To avoid this trouble, when the vehicle 1 ascends the slope or stairway 12 to come onto the horizontal floor surface 15, the auxiliary strut 17 is depressed by an actuator therefor, the wheel 16 is seated on the flat floor surface 15 to support a front part of the truck 4, and the vehicle is moved while controlling the elevation of the strut 17 so that the truck 4 maintains the angle of inclination of the slope or stairway 12. After the center of gravity of the vehicle 1 passes the inclination change point A, the strut 17 is slowly returned to a stored position, thereby correcting the pose of the vehicle 1 to horizontal running pose. When the vehicle 1 starts descending from the flat ground surface 15, operations reverse to the above are conducted.

Description

【発明の詳細な説明】 この発明は、小型の運搬車に関し、特に、突起を有する
履帯を装着した小型台車に、俯仰可能な荷台と、傾斜変
更点における安定確保のだめの補助支脚とを設けて傾斜
路の小運搬を容易にする。
[Detailed Description of the Invention] The present invention relates to a small-sized transport vehicle, and in particular, a small-sized trolley equipped with crawler tracks having protrusions is provided with a cargo platform that can be lifted up and down, and auxiliary support legs to ensure stability at points where the slope changes. Facilitates small transportation on ramps.

一般に、工場、倉庫等の荷物の運搬には、貨物用エレベ
ータ、コンベヤなどの運搬設備が用いられるが、このよ
うな運搬設備のないところでは、フォークリフトや、手
押車が、簡易な運搬手段として多用されている。しかし
ながら、フォークリフトや手押車は、平和路上の荷物の
運搬には有効であるが、急傾斜路や階段の走行かできな
いため、倉庫やスーパーマーケットの階層間あるいは、
団地の引越しなどでは、末だに荷物を人力運搬に依存し
ているところが多く、作業者は、多大な労力を要し、非
能率である。
Generally, transportation equipment such as freight elevators and conveyors are used to transport goods in factories, warehouses, etc., but in places where such transport equipment is not available, forklifts and handcarts are often used as simple means of transportation. has been done. However, while forklifts and handcarts are effective for transporting goods on Heiwa Road, they can only be used on steep slopes and stairs, so they can be used between floors of warehouses and supermarkets,
In many cases, such as when moving housing complexes, people still rely on manual transportation of luggage, which requires a great deal of labor and is inefficient.

この発明は、傾剰路7階段等での小規模運搬作業におけ
る上記問題を解決するものである。
This invention solves the above-mentioned problems in small-scale transportation work on sloping roads with 7 stairs, etc.

而して、この発明の目的は、傾斜路や階段を走行して荷
物を運搬することのできる小型簡易な運搬車を提供する
にあシ、また、この発明の目的は、傾斜変更点における
積荷の荷崩れを防ぎ安定した傾斜変更を行うことのでき
る運搬車を提供するにあり、さらに、この発明の目的は
、運搬設備のない階層間においても人力に依存せず能率
的運搬が可能で作業者の労力を軽減する運搬車を提供す
るにある。
SUMMARY OF THE INVENTION An object of the present invention is to provide a small and simple transport vehicle that can transport cargo by running on slopes and stairs; Another object of the present invention is to provide a transport vehicle that can prevent cargo from collapsing and change the slope in a stable manner.Furthermore, it is an object of the present invention to provide a transport vehicle that can perform efficient transport without depending on human power even between floors without transport equipment. The purpose of the present invention is to provide a transport vehicle that reduces the labor of workers.

すなわち、この発明は、図示する実施例の如く、突起2
を有する履帯ろを装着した走行台車4のフレーム5に、
俯仰可能な荷台7と、先端に車輪2を具備し傾斜変更点
Aにおける走行台車4の安定を確保するだめの補助支脚
17とを設けたことを特徴とする運搬車1に係る。
That is, the present invention, as in the illustrated embodiment, has a protrusion 2
On the frame 5 of the traveling bogie 4 equipped with a track roller having
The present invention relates to a transport vehicle 1 characterized in that it is provided with a loading platform 7 that can be lifted up and down, and an auxiliary support leg 17 equipped with a wheel 2 at the tip and used to ensure stability of the traveling vehicle 4 at an inclination change point A.

以下図面を参照してこの発明を説明する。The present invention will be explained below with reference to the drawings.

第1図は、この発明の一実施例である運搬車の平和路上
の状態を示す側面図、第2図は、階段走行状態、第3図
は、階段から平担床面への傾斜変更点における状態を示
す側面図である。運搬車1は、突起2を有する履帯3を
装着した走行台車4のフレーム5の端部6に荷台7を枢
着し、油圧シリンダ等の荷台用アクチュエータ8を設け
て荷台7を俯仰可能としている。履帯ろは、屋内での使
用を目的とするときには、階段や通路を破損させないよ
うに弾性履帯を装着するのがよい。フレーム5には、操
作枠9を設け、操作枠の先端VCけ操作盤10と把手1
1を取付けている。また、このフレーム5には、先端に
車輪16を具備する補助支脚17を枢着し、支脚用アク
チュエータ(I21中略)で俯仰可能としている。畢@
16も、履帯6と同様に弾性車輪とするのがよい。走行
台車4は、軽量の動力源を具備しており、自走すること
ができる。
Fig. 1 is a side view showing the state of a transport vehicle according to an embodiment of the present invention on a peace road, Fig. 2 is a state in which it is running on stairs, and Fig. 3 is a change in inclination from a staircase to a flat floor surface. FIG. In the transport vehicle 1, a loading platform 7 is pivotally connected to an end 6 of a frame 5 of a traveling cart 4 equipped with a crawler track 3 having projections 2, and a loading platform actuator 8 such as a hydraulic cylinder is provided to enable the loading platform 7 to be raised or raised. . When the crawler track is intended for indoor use, it is best to attach an elastic track to prevent damage to stairs or passageways. The frame 5 is provided with an operation frame 9, and an operation panel 10 with a VC at the tip of the operation frame and a handle 1.
1 is installed. Further, an auxiliary support leg 17 having a wheel 16 at its tip is pivotally attached to the frame 5, and can be raised and lowered by a support leg actuator (I21 omitted). Bi @
16 is also preferably an elastic wheel like the crawler belt 6. The traveling trolley 4 is equipped with a lightweight power source and can be self-propelled.

運搬車1は、第2図に示す如く、履帯6の突起2が階段
12の縁部床面16に接触するためスリップすることな
く、階段12を昇降走行することができる。ここで荷台
Z上の積荷14を水平に保持する必要がちる場合、荷台
用アクチュエータ8により荷台7を俯仰させる。
As shown in FIG. 2, the transport vehicle 1 can travel up and down the stairs 12 without slipping because the protrusions 2 of the crawler belt 6 come into contact with the edge floor 16 of the stairs 12. Here, if it is necessary to hold the load 14 on the loading platform Z horizontally, the loading platform 7 is raised or raised by the loading platform actuator 8.

運搬車1は、傾斜路または階段12を昇降走行する場合
、傾斜変更点Aにおいて、車体傾斜を急激に変更すると
積荷14の荷崩れを生じたり、床面15を破損した9す
るため、第3図に示す如く、ノ 昇りから水平に移る際には補助支脚17を支脚用アクチ
ュエータで押し下げ、車輪16を平担な床面15に着床
させて台車4の前部を支持し、台車4が階段12の傾斜
角αえを保つよう補助支脚17の俯仰を制御しながら移
動する。運搬車10重心が完全に傾斜変更点Aを通過し
た後1で、補助支脚17を緩かに格納位置へ戻し、運搬
車1を水平の走行姿勢に修正する。平担な床面1!5か
ら下降に移る際には、上記と逆の操作を行なう。
When the transport vehicle 1 travels up and down a ramp or stairs 12, at the slope change point A, if the vehicle body slope is suddenly changed, the cargo 14 may collapse or the floor surface 15 may be damaged. As shown in the figure, when moving from a vertical position to a horizontal position, the auxiliary support leg 17 is pushed down by the support leg actuator, the wheels 16 are placed on the flat floor 15, and the front part of the trolley 4 is supported. The stairs 12 are moved while controlling the elevation and elevation of the auxiliary support legs 17 so as to maintain the inclination angle α. After the center of gravity of the transport vehicle 10 has completely passed through the slope change point A, the auxiliary support legs 17 are gently returned to the storage position, and the transport vehicle 1 is corrected to a horizontal running posture. When moving down from the flat floor surface 1!5, perform the operation opposite to the above.

第4図は、この発明の運搬車10制御系統を示すブロッ
ク図である。運搬車1に設けられた荷台7の傾斜角度検
知器19と荷台7の傾斜角度設定器20とは、比較演算
器21に接続されておシ、荷台7の傾斜角度を一定に保
持する時には、傾斜角度検知器19よシの検知信号θと
傾斜角度設定器20よりの設定信号θ。とを比較演算器
21で比較演q−シ、差信号(θ−θ。)を荷台用アク
チュエータ8の制御器22に送って伸縮を制御すること
シてよシ荷台7を設定角度に保持する。この場合、水準
制限器を利用して簡易に荷台7を水平保持制御してもよ
い。
FIG. 4 is a block diagram showing the control system of the transport vehicle 10 of the present invention. The inclination angle detector 19 of the loading platform 7 and the inclination angle setting device 20 of the loading platform 7 provided on the transport vehicle 1 are connected to a comparator 21, and when the inclination angle of the loading platform 7 is held constant, A detection signal θ from the tilt angle detector 19 and a setting signal θ from the tilt angle setter 20. A comparison calculation unit 21 performs a comparison operation on q-shi, and sends a difference signal (θ-θ.) to the controller 22 of the loading platform actuator 8 to control expansion and contraction.The loading platform 7 is held at a set angle. . In this case, the loading platform 7 may be simply controlled to be held horizontally using a level limiter.

まだ、台車フレーム5の傾斜角度検知器26と台車フレ
ーム5の角度設定器24とは、比較演算器25に接続さ
れており、傾斜変更点Aで昇りから平坦な床面15へ移
行する時には、補助支脚17の車輪16が着床したとき
の台車フレーム5の傾斜角度αAを角度設定器24で設
定し、傾斜角度検知器26よりの検知信号αと設定信号
α、とを比較演算器25で比較演算し、差信号(α−α
A)を支脚用アクチュエータの制御器26に送って補助
支脚17の俯仰を制御し、台車フレームらの傾斜を一定
に保持して移行させる。運搬車10重心が傾斜変更点A
を通過しだら、角度設定器24で平坦床面15の角度α
。を設定することにより台車フレーム5の傾斜はα。に
修正され、次いで補助支脚17を格納位置に戻す。
The tilt angle detector 26 of the truck frame 5 and the angle setter 24 of the truck frame 5 are still connected to the comparator 25, and when transitioning from an ascending position to a flat floor surface 15 at the slope change point A, The inclination angle αA of the trolley frame 5 when the wheels 16 of the auxiliary support legs 17 land on the floor is set by the angle setter 24, and the detection signal α from the inclination angle detector 26 and the setting signal α are compared and calculated by the comparator 25. Compare and calculate the difference signal (α−α
A) is sent to the controller 26 of the supporting leg actuator to control the elevation and elevation of the auxiliary supporting leg 17, thereby maintaining the inclination of the truck frame and the like at a constant level. Transport vehicle 10 center of gravity changes inclination point A
After passing through the angle α of the flat floor surface 15, use the angle setting device 24.
. By setting , the inclination of the truck frame 5 is α. and then return the auxiliary support leg 17 to the retracted position.

角度設定等の運搬操作は、操作盤10によって行なわれ
るが、操作盤10を操作枠9から取外して、遠隔操作を
行なうようにすることもできる。
Transport operations such as angle setting are performed using the operation panel 10, but the operation panel 10 can also be removed from the operation frame 9 for remote control.

この発明の運搬車は、階段や傾斜路の走行が可能であり
、傾斜走行時に荷台を水平に保持し、さらに、傾斜変更
点における車体の傾斜の急激な変化(、・こよる衝撃と
荷崩れを防止することかできる。従って、運搬設備のな
い階層間でも人力に依存ぜず簡易に能率的荷物運搬作業
を行なうことができ、作業者の労力を軽減することがで
きる。
The transport vehicle of this invention is capable of traveling on stairs and slopes, holds the loading platform horizontally when traveling on an incline, and also prevents sudden changes in the slope of the vehicle body at slope change points (... Therefore, even between floors where there is no transport equipment, it is possible to carry out cargo transport work easily and efficiently without depending on human power, and the labor of the worker can be reduced.

【図面の簡単な説明】[Brief explanation of the drawing]

第1図e」:、この発明の一実施例である運搬車の平坦
路上の状態を示す側面図、第2図、第3図は、第1mの
運搬車の階段走行状態、および、階段から平坦床面への
傾斜変更点における状態を示す側面図、÷春毒モ第4図
1オ利1貯ブロック1工であう。 図中、1は運搬車、2は突起、3は履帯、4は走行台車
、5は走行台車のフレーム、7は荷台、8は荷台用アク
チュエータ、16は車輪、17は補助支脚、19は荷台
の傾斜角度検知器、20は荷台の傾斜角度設定器、21
.25は比較演算器、22は荷台用アクチュエータの制
御器、23は台車フレームの傾斜角度検知器、24は台
車フレームの傾斜角度設定器、26は支脚用アクチュエ
ータの制御器、Aは傾斜変更点である。 特許出願人  古河鉱業株式会社 代理人 弁理士   森     哲   也弁理士 
  内  藤°  嘉  昭 弁理士   清  水     正 弁理士   梶  山  桔  是
Figure 1 e'': A side view showing the state of the transport vehicle on a flat road, which is an embodiment of the present invention, Figures 2 and 3 show the state of the transport vehicle running on stairs at 1 m, and A side view showing the state at the point where the slope changes to a flat floor surface. In the figure, 1 is a transport vehicle, 2 is a protrusion, 3 is a crawler track, 4 is a running cart, 5 is a frame of the running cart, 7 is a loading platform, 8 is an actuator for the loading platform, 16 is a wheel, 17 is an auxiliary support leg, and 19 is a loading platform. 20 is a loading platform tilt angle setting device, 21
.. 25 is a comparison calculator, 22 is a controller for the actuator for the loading platform, 23 is a tilt angle detector for the truck frame, 24 is a tilt angle setter for the truck frame, 26 is a controller for the supporting leg actuator, and A is a tilt change point. be. Patent applicant: Furukawa Mining Co., Ltd. Agent Patent attorney: Tetsuya Mori, patent attorney
Yoshiaki Uchifuji, Patent Attorney, Shimizu, Patent Attorney, Kaji Yama, Kore

Claims (3)

【特許請求の範囲】[Claims] (1)  突起を有する履帯を装着した走行台車のフレ
ームに、俯仰可能な荷台と、先端に車輪を具備し傾斜変
更点における台車の安全を確保するための補助支脚とを
設けたことを特徴とする運搬車。
(1) The frame of the running bogie is equipped with a crawler track having protrusions, and is equipped with a platform that can be lifted up and down, and auxiliary support legs equipped with wheels at the tip to ensure the safety of the bogie at points where the inclination changes. transport vehicle.
(2)  荷台が、荷台の傾斜角度検知器の検知信号と
荷台の傾斜角度設定器の設定信号とを1、し較演算する
比較演算器から送られる差信号によって制御され、  
る荷台用アクチュエータを具備してなる特許請求の範囲
第1項記載の運搬車。
(2) The loading platform is controlled by a difference signal sent from a comparator that compares and calculates the detection signal of the loading platform inclination angle detector and the setting signal of the loading platform inclination angle setting device;
A transport vehicle according to claim 1, comprising a loading platform actuator.
(3)  補助支脚が、台車フレームの傾斜角度検知器
の検知信号と台車フレー−ムの角度設定器の設定信号と
を比較演算する比較演算器から送られる差信号によって
制御される皮脂用アクチュエータを具備してなる特許請
求の範囲第1項または第2項記載の運搬車。
(3) The auxiliary support leg is a sebum actuator that is controlled by a difference signal sent from a comparator that compares and calculates the detection signal of the inclination angle detector of the truck frame and the setting signal of the angle setting device of the truck frame. A transport vehicle according to claim 1 or 2, comprising:
JP12912182A 1982-07-24 1982-07-24 Transport vehicle Pending JPS5920777A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP12912182A JPS5920777A (en) 1982-07-24 1982-07-24 Transport vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP12912182A JPS5920777A (en) 1982-07-24 1982-07-24 Transport vehicle

Publications (1)

Publication Number Publication Date
JPS5920777A true JPS5920777A (en) 1984-02-02

Family

ID=15001590

Family Applications (1)

Application Number Title Priority Date Filing Date
JP12912182A Pending JPS5920777A (en) 1982-07-24 1982-07-24 Transport vehicle

Country Status (1)

Country Link
JP (1) JPS5920777A (en)

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61175090U (en) * 1985-04-20 1986-10-31
FR2581610A1 (en) * 1985-05-13 1986-11-14 Niel Yves Stabilising device, which can be fitted onto caterpillar tracks for transporting loads in stairways
FR2652925A1 (en) * 1989-10-09 1991-04-12 Protee Cie SYSTEM FOR CONTROLLING A MOBILE ARM DEPENDENT OF A VEHICLE AND USED FOR CROSSING CREES.
JPH04154493A (en) * 1990-10-18 1992-05-27 Sanwa Sharyo Kk Device for elevating wheelchair on stairway
JPH0476585U (en) * 1990-11-19 1992-07-03
JPH0582766U (en) * 1991-05-20 1993-11-09 セイレイ工業株式会社 Auxiliary wheels for the crawler running part of a carrier
JPH06171561A (en) * 1992-12-04 1994-06-21 Takaoka Electric Mfg Co Ltd Off-road mobile vehicle
KR100686982B1 (en) 2005-08-30 2007-02-26 한국원자력연구소 Climbing method for a large step with double track mechanism and structure of mobile platform for irregular terrain
ITUB20161038A1 (en) * 2016-02-24 2017-08-24 Big Astor S R L MONTASCALE ARMCHAIR WITH TILTING PLATFORM
CN107745753A (en) * 2017-10-24 2018-03-02 浙江海洋大学 A kind of transport vehicle of climbing stairs
CN107776691A (en) * 2017-10-24 2018-03-09 浙江海洋大学 A kind of movable bearing chassis and application method
JP2018188095A (en) * 2017-05-11 2018-11-29 株式会社ジェイアール東日本物流 Stairway raising/lowering apparatus
CN109533055A (en) * 2018-10-22 2019-03-29 西南石油大学 A kind of leveling transfer robot
CN110972672A (en) * 2019-12-31 2020-04-10 山东大学 Potato combined harvester with self-adjusting balance system and application thereof
IT202100025121A1 (en) * 2021-09-30 2023-03-30 Measy S R L TILTING VEHICLE WITH TWO OR MORE WHEELS FOR THE TRANSPORT OF GOODS AND PRODUCTS, IN PARTICULAR FOR THE TRANSPORT OF FOOD

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5222752U (en) * 1975-08-01 1977-02-17
JPS5222749U (en) * 1975-08-02 1977-02-17

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5222752U (en) * 1975-08-01 1977-02-17
JPS5222749U (en) * 1975-08-02 1977-02-17

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61175090U (en) * 1985-04-20 1986-10-31
FR2581610A1 (en) * 1985-05-13 1986-11-14 Niel Yves Stabilising device, which can be fitted onto caterpillar tracks for transporting loads in stairways
FR2652925A1 (en) * 1989-10-09 1991-04-12 Protee Cie SYSTEM FOR CONTROLLING A MOBILE ARM DEPENDENT OF A VEHICLE AND USED FOR CROSSING CREES.
JPH04154493A (en) * 1990-10-18 1992-05-27 Sanwa Sharyo Kk Device for elevating wheelchair on stairway
JPH0476585U (en) * 1990-11-19 1992-07-03
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CN107776691A (en) * 2017-10-24 2018-03-09 浙江海洋大学 A kind of movable bearing chassis and application method
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CN110972672B (en) * 2019-12-31 2024-04-02 山东大学 Potato combine harvester with self-adjusting balance system and application thereof
IT202100025121A1 (en) * 2021-09-30 2023-03-30 Measy S R L TILTING VEHICLE WITH TWO OR MORE WHEELS FOR THE TRANSPORT OF GOODS AND PRODUCTS, IN PARTICULAR FOR THE TRANSPORT OF FOOD
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