JPS5950872A - Steering device for crawler type travelling car - Google Patents

Abstract

PURPOSE:To improve the turning capacity of a travelling car by providing a steering drive mechanism to move linearly in parallel with the running parts of a crawler for connecting right and left running parts of the crawler via a connecting rod. CONSTITUTION:When an electric motor 3 is driven to rotate a ball screw 4, a nut 8 is moved linearly on the axis of the screw 4 by the rotation of the screw 4. As the nut 8 is moved, a fixed link 7 is given a force to be pushed, for example, to the side of the electric motor 3 via connecting links 9a and 9b. Meanwhile, the reaction of this pushing force worsks to a crawler running part 1a on one side to support a steering drive mechanism A as the movement of rotations. In this construction, as the crawler running part 1a on one side changes its direction, the crawler running part 1a on another side changes its direction together via a connecting rod 13.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a steering device for a crawler-type running rhinoceros.

[Technical background of the invention]

Passages for maintenance and inspection in plants such as 90e V, U raw squid power generation 70 rand, etc. In order to have a road and pj!, t, a Qr person point inspection vehicle running on such a passage should use a general button as shown in Figure 1. I'm here.

This crawler-type traveling vehicle has a pair of left and right crawler traveling sections 1h, Ib in the hlIg, and travels by driving each crawler traveling section 1ts, 1b. Each of the sections 1a and 1h is equipped with a crawler drive device and is driven to run independently, and the change of running direction during the gutter row is performed by the front crawler running section 1a and the rear crawler section 1a. Crawler running part 1
This is done by controlling the direction of each a by a steering device.

By the way, when driving in a narrow passageway with a bend angle of 20 degrees, as described above, the entire body of the vehicle is restricted by [1] of the passageway, and due to sharp direction changes.
4j Body length is also a constraint, and when building 71 rows of steep slopes and stairs, the height of the vehicle's center of gravity must be adjusted to improve stability when going up and down slopes and stairs. Wara Kodaka will also be subject to restrictions. This pukome, IJ! J
In the crawler type running month 1, the steering device that changes the direction of the front and rear moving section is used as a steering device that changes the direction of the front and rear moving parts.
The placement of #tl becomes a big problem/l:
, Since the traveling vehicle used as an in-plant inspection vehicle has a manibulator and other inspection and repair equipment mounted on the vehicle body, it is difficult to place a steering drive mechanism on the top of the vehicle body. The front and rear clone running parts Ja are limited in length.

1b cannot be provided with a large interval, it is also difficult to distribute the steering μ movement P between the front and rear crawler running sections 1g and lbO. Therefore, in the above-mentioned crawler type running funeral, the steering drive Uib side of the front and rear crawler running parts Ja, Jb is set within the projection plane of the crawler running parts seen from the side of the running vehicle, that is, between the pair of left and right crawler running parts. It is considered to be placed.

[Problems with I-scene technology]

However, in a crawler-type traveling vehicle where the vehicle body 1J is restricted as described above, the distance between the left and right crawler traveling sections is small, so a steering device is installed between the left and right crawler traveling T-1 sections. When distributed, when the direction of the crawler traveling section is changed by the steering device ゛q, is the crawler traveling section and the steering device dry? ++・17- There is a risk that the vehicle will be unable to drive.
f; Steering angle rl of the rudder device! =: Since it is not possible to make it too large, a small steering gear is placed between the crawler running section on the right side of /L.
Therefore, the direction change performance of &j-71,: line, 11() is restricted.

[Purpose of the invention]

The present invention was made in full view of the above-mentioned circumstances, and its purpose is to provide a steering drive mechanism disposed between the crawler running sections on the left and right sides of the vehicle body, while increasing the steering angle. To provide a steering device for a crawler traveling vehicle that can greatly improve the direction change performance of the traveling vehicle without causing any interference between a steering drive mechanism and a crawler traveling section.゛ [Summary of the Invention] That is, the present invention provides a straight F! The moving steering drive mechanism is supported, and the operating part of the steering system is connected to a single frame.
5, the tV
#11', Steering force f/Bot + Flare 1 due to direct movement of the operating part of the kite motion wheel. The reaction force is used to change the direction of the crawler traveling section together with the steering drive mechanism.

[Examples of inventions]

J]), Do, 1゛1' of the present invention! Rudder device 1. CB11.v and its embodiment with reference to the drawings. I will clarify.

1-rs 21 Shu~264 vn it wood 'A Q)
jn 1 (2) 4. '', fabric example 1 is shown in Figure 9.The steering device of the front crawler running section IA of the cloned running vehicle shown in Figure 1 will be explained in section 9. However, the rear crawler running section 1 b (7,) The steering device I/7 also has a completely different configuration.

pQ In Figure 2, 11L and lh in the figure are a pair of left and right crawler running sections at the front of the vehicle. Between these two lff-la running parts In and lh, there is an electric motor with a reducer for driving the steering wheel, 7
And this'? ii. Sol screw 4 rotated by motive 3 through joint 6°6. I:, this one? - Screwed together with screw 4 and νJ? - Rotation 1 of the screw 4 (Turn the screw 4 1)
A helm seat motor is disposed on the axis of the helm, consisting of an actuation nut 8 which is linearly fed and driven.
The writing mechanism 3 has a pair of crawler running parts Ja, l.
It is supported by the crawler support frame 28 of the crawler striking part 1B on one side of the ridge a. 1, the four ball screws, one crawler running section 1a supporting the electric motor 3;
A pair of front and rear ball screw support frames 5h and 5bK attached to the crawler support frame 2a are horizontally supported and provided parallel to the one crawler running section 1a. On the other hand, as shown in FIG. 3, the actuating nut 8 is connected to a fixed link 7 attached to the body frame of the traveling vehicle via two upper and lower connecting links 9a and 9b, and the connecting link 9m , 9b so as not to rotate together with the sol screw 4, and the nut 8 and the connecting link 9a
, 9b and the connecting link 9a.

9b and fixed link 7 are vertical pivot vias 1
0 a , 10 b and ]ig*iib are rotatably and pivotally connected. Further, each of the pair of crawler running parts ja, lh has its own crawler support frame 2.
a, 21) Vertical support shaft 12 provided at the center in the length direction
It is rotatably attached to the vehicle body frame of the traveling vehicle via a and j2b, and furthermore, both crawler traveling parts 1a and lh
That time qI! They are connected to the respective crawler support frames 2a and 2b at a position P shifted from the center by a connecting rod 13 whose both ends are pivotally connected so as to rotate integrally.

Next, the steering operation of the steering device having the above configuration will be explained.

1. When the electric motor 3 of the steering gear reducer is driven to rotate the ball screw 4, the rotation of the ball screw 4 causes the nut 8 to rot directly on the axis of the ball screw 4! move in a specific manner. Fourth
The figure shows the state in which the nut 8 is moved in the direction closer to the electric motor 3. At this time, as the nut 8 moves, it is connected to the fixed link 7 via the connecting links 9Q and 9b. A pushing force acts on the third side. And the rigid drink 2 is fixed to the heavy frame (6M)
, the reaction force of the force pushing the 1^1 constant link 7 is the connecting link 9a
, 9h, nut 8, ball screw 4, and ball screw support frame 5h, 5b. As a result, one crawler running section 1a changes direction to the right in the figure, and the other crawler running section 1a also changes direction together via the connecting rod 13. In addition, Fig. 5 shows that the electric motor 3 is driven to rotate in the reverse direction to
This figure shows a state in which the crawler is moved in the direction away from the electric motor 3, and in this case, contrary to the above, the crawler running portions 1a and I
A changes direction to the left in the diagram.

Note that the above-mentioned steering can be performed even when the crawler running sections 1n and 1t* are stopped, or when both the crawler running sections la and la are driven in synchronism. If both crawler running parts 1a and la are driven individually by a drive mechanism and differentially driven according to the turning radius of the traveling vehicle during steering, the crawler and the passage floor surface will be easily controlled when the traveling vehicle changes direction. The vehicle can easily turn by reducing the resistance caused by slipping. In addition, when the direction of the traveling vehicle is changed KE+, the front and rear crawlers a=, the striking part 7 a * i b (f,
If the 1,000 YI rudders (see Figure L1) are performed at the same time, the vehicle can change direction with a smaller turning diameter.

7.The steering device consists of 1, a drive source for the M rudder, and a linear motion mechanism for linearly moving the rotating C nut 8 of the ball screw 4. The rudder drive westward is supported by the crawler support frame 2a of one crawl 71 row section Ja, and the steering force due to the movement of the nut 8 described in 01J is received by the vehicle body frame. Mark 4'71j Since the direction of the crawler traveling section a is changed together with A, the steering drive depends on the steering drive during steering.47? A and one of the crawler running Fli J a supporting it, the position 1 i T l town staff has not changed, and the linear motion machine '41 q of the steering drive mechanism still remains.
is for moving the nut 8 parallel to the crawler running section 1a along the long diameter direction of the one crawler running section 1a, and the capacity of the crawler running section 1a is the connecting frame J, ? '
i - C front n + 2 Since the direction is changed in conjunction with one of the crawler running parts 1a, there is no interference with the steering wheel 51 during steering, and therefore the steering angle is increased to change the direction of the traveling vehicle. Performance can be greatly improved.

By the way, in the above-mentioned example steering system, 7j? −
The screw 4 and nut 8 are a ball screw support frame of 5 m,
5b to the crawler running section 1a,
Since the fixed link 7 is fixed to the vehicle body frame in order to receive the steering force from the nut 8, it supports the vehicle body frame via the crawler running section la, la vibration isolator and spring type suspension device n. In the case of a running vehicle, when the relative position between the fixed link 7 and the nut 8 changes vertically due to the vertical movement of the vehicle body frame, an excessive moment load is applied to the nut 8, causing the nut 8 and the ball screw 4 to move. There is a risk that the vehicle will become unable to steer.

The second embodiment of the present invention shown in FIG.
It is designed to be received by a single frame via a connecting link 9 connected to a nut 8, an L-shaped sunk 14 and a rod 18 that can freely rotate vertically and horizontally. That is, in this embodiment, the central part (bent part) of the L-shaped sunk 14 is supported on the vehicle body frame by the freely rotating support shaft 16,
One end of this L-shaped sink 14 is freely connected to the connecting link 9 which is pivotally connected to the nut 8.
K Yacht Pivoting - 7 - Both bolts and front N6 The other end of the L-shaped sunk 14 is pivoted with the -; is pivotally connected to the vehicle body frame via a free rotation point llll119, and is otherwise the same as the first embodiment.It should be noted that the free rotation shafts 15, 16.
Noah 19 has a structure in which the spindle is held by a spherical bush, for example.

Therefore, in the steering system of this embodiment as well, the nut 8
When you move it, the free rotation point ill 1 will appear on the L-shaped sunk J4.
A moment about 6 acts, and the force is applied to rod 18
Because it is received by the car body frame through the reaction force (
The crawler traveling portion 1a does not change direction in relation to the steering mechanism A, so that the same steering as in the first embodiment can be performed. In this embodiment, the connecting link 9 connected to the nut 8 and the L-shaped sink 14, the L-shaped sink 14 and the rod 18, and the rod hole 8 and the vehicle body frame can be rotated up and down, respectively. Connected by freely rotating support shafts 15, 17, 19, and further L
The center of rotation of the shape sink 14 is also supported on the vehicle body frame by a freely rotating support shaft 16 so that it can rotate up and down. Even if the supported body frame moves up and down,
Since the L-shaped frame 14 and the rod 18 rotate up and down in response to the vertical movement of the vehicle body frame and absorb the displacement of the vehicle body frame, an excessive moment load is not applied to the nut 8.

The length of the rod 18 is adjustable, and by adjusting the length of the rod J8, the relationship between the movement position of the nut 8 and the steering angle can be arbitrarily adjusted.

FIG. 7 shows a third embodiment of the present invention, in which the rod 18 connected to the heavy flenor in the second embodiment is connected to the steering wheel b fj&ti9.
It is pivotally connected to the crawler support frame 2b of the crawler running section 1a on the right side of the figure, which does not support A, via a freely rotating shaft J9. is the same as

Then, when the steering device stops rotating the pole screw 4 and moves the C operation nut 8 B'+b-a, as the nut 8 moves, the B-shaped link J4 moves around the support shaft 16. However, this L-shaped link J4 is connected to the crawler running section Jn on the right side via the rod 18, so the L-shaped link J4 receives resistance to its rotation, and is therefore pivotally connected to the vehicle body frame. The left crawler running section Ja supports the steering drive mechanism A by receiving a steering reaction force from the shaped frame 14.
At the same time, the right crawler running portion Ja also changes direction due to the rotation of the hinge link 14. The left and right crawler running sections rotate by the same angle by the action of the connecting rod 13.

FIG. 8 and FIG. 9 show the state when the crawler traveling parts 1a, 1a are steered rightward and the state when they are steered leftward. In the steering system of this third embodiment, na.
Since the L-shaped link 14 rotates with the movement of l. Compared to the first and second embodiments of 011, since the angle of movement of the nut 8 (I clause 11) is smaller, the movement stroke of the nut 8 must be larger; On the other hand Natsuto 8
Since the propelling force of the drive is small, a small 21-stroke motor can be used as the drive motor 3, and the ball screw 4 also has the advantage of having a small rated load.

FIG. 10 shows a fourth embodiment of the present invention, in which a cylinder is used as the steering drive mechanism A in the steering system t of this embodiment. In other words, this steering device has a central part that supports II! tB2a.

A cylinder 20 (hydraulic cylinder or 17f, EQIJ cylinder) is disposed between a pair of left and right crawler running parts Jan1 and 12b rotatably attached to the vehicle body frame, and this cylinder 20 connects to one of the crawler running parts. The steering force receiver, in which the tip of the actuating rod 20a of the cylinder 20 is attached to the vehicle body frame, is pivoted and supported in parallel to the crawler running section 1a by the sill support frame 2 fixed to the crawler support frame 2IL of 1a. The crawler support frames 2m and 2bf of the left and right crawler running sections 1a and 1a are pivotally connected, and are connected via a connecting rod 13. This steering device drives the cylinder 20 and operates the actuating rod 20a. By expanding and contracting ξ, the direction of the cylinder 20 and the running part 11L can be changed by 1% due to the steering reaction force, compared to the first to third embodiments. This can greatly simplify the structure, and since the cylinder 20 changes direction together with the crawler running parts 11L and 1a while being parallel to the crawler running parts J^ and I11, the cylinder 20 can be easily moved during edge steering. Crawler running section 1m
, will not interfere with Ja.

〔Effect of the invention〕

As described above, the present invention supports one of a pair of left and right crawler running sections (((() supporting a steering drive mechanism that moves linearly in parallel with the crawler running section, and connecting the operating section of this steering drive mechanism to a vehicle body frame. Since the left and right crawler running sections are connected via a connecting rod, the steering drive mechanism is arranged between the left and right crawler running sections of the vehicle body, but even if the steering angle is large, the IIvI size drive mechanism is There is no interference between the sides and the crawler traveling section, and therefore, the steering angle can be increased to improve the direction change performance of the traveling vehicle.

[Brief explanation of the drawing]

FIG. 1 is a side view of a general roller running vehicle. 2 to 5 show a first embodiment of the present invention,
Fig. 2 is a plan view, Fig. 3 is an enlarged perspective view of the connecting mechanism between the f'''!'It) l nut and the vehicle body frame, and Figs. 4 and 5 are the thousand-faced 1 in the steering state. Fig. 6 is a plan view showing a second embodiment of the invention. Fig. 7 is a plan view showing a third embodiment of the invention; It is a top view of a steering state similarly. FIG. 10 shows the fourth embodiment of the present invention.
FIG. A... For steering; ~ motion 1t <W'), jh... Crawler traveling section, 3-''71f, '1fil+4
;、′! , 4 ・-yl? -René U, 7- r+'-
ll 'i"jl') y ri, 8...operating nut, 9, 9 a, , Q b...see continuation link, ノ, ゛l...zljl, thread 1°I.":, 14 ...■
, shape link, 18...Lot 1,', 20...Cylinder, 20a...Made IQ Cll'. De M (Imishi) 116 Benke 10 names) Jiang ll-1
,ν 1st figure 1” lb 2nd F
! ! 3rd S1 1a Figure 4 1a Figure 5 Figure 6 Figure 7 Figure 421-M8 Figure T)9 Figure

Claims (1)

[Claims] (1) A pair of left and right crawlers travel 1° in the front and rear, respectively.
71-, and is located between the left and right crawler running parts. ! Change the direction of the crawler running section and move it in the direction φpej(,Q), then turn to the steering device N of the crawler type vehicle, and turn it to one of the right pair of crawler running sections. On the steering drive that moves linearly parallel to the row part,'
The J tri was supported, the operating part of this steering drive mechanism was connected to the vehicle body frame, and the left and right crawler running parts were connected via a connecting rod! Characteristics of the steering device i for crawler type vehicles. (2) The operation 92 drive mechanism includes a ball screw rotated by an electric motor, and the rotation of this ball screw. −
A steering system member for a crawler-type traveling vehicle according to claim 1, characterized in that the steering device member comprises an actuating member that is driven in the direction +hh. [3] The steering device for a crawler-type traveling vehicle according to claim (2), wherein the operating nut is connected to a fixed link attached to the short frame via a connecting link. (4) The operating nut is connected to one end of an L-shaped link pivotally connected to the vehicle body frame via a connecting link, and the other end of the L-shaped link is connected to the vehicle body frame via a rod. A 41% rudder device for a crawler type inspection vehicle according to claim (2). (5) The L-shaped link and rod are capable of rotating up and down.Claim No. (4)
A steering device for a crawler vehicle as described in . (6) The operating nut is connected to one end of an L-shaped link pivotally connected to the vehicle body plate via a connecting link, and the other end of the L-shaped link is connected to the other crawler running section via a rod. Characteristic Claim No. (2)
A steering device for a crawler-type traveling vehicle as described in . (7) A crawler-type traveling vehicle according to claim (1), wherein the steering drive mechanism is not a cylinder, and its operating rod is connected to a single frame.
Rudder device.