JPS60116571A - Crawler-run vehicle - Google Patents

Abstract

PURPOSE:To enable the easy steering of a crawler-run vehicle to turn it, by shaping the floor contact portion of the tread of each crawler unit to extend at small inclination angles as to the floor, as the form of the bottom of a boat, to put the running crawler of the unit almost in point contact with the floor. CONSTITUTION:In each of crawler units 5, an endless running crawler or caterpillar 6 is rotatably supported by guide wheels 7 and a guide frame 8. The floor contact portion 9 of the tread of the crawler 6 is shaped as the bottom of a boat so that the portion 9 consists of a central contact part 9a, which is located near the center of steered turn and comes almost into point contact with the floor A, and nearly flat parts 9b extending forward and backward from the central contact part. Since each crawler unit 5 has its contact part 9a brought almost into point contact with the floor A, the steering on the floor can be smoothly effected by low motive power.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a crawler-type traveling vehicle that freely travels on the floor surface including stairs in the blunt for the main purpose of maintenance and inspection in various plans 1 to 4. .

[Technical background of the invention and its problems]

As shown in FIG. 1, the above-mentioned crawler type traveling vehicle is a combination comprising 814 crawlers 242.2, one pair each on the left and right at the front and rear of the lower part of the frame of the vehicle body 1, and each of the crawler devices 2
The system travels by rotating an endless running track 3 like a caterpillar on a nocoid frame, guide wheels, etc. By touching the floor A at the lowest center point 4a of the lower ground plane 4, it is possible to easily steer the vehicle, and it is possible to smoothly pass through the narrow corner of the swing 1. , there is no need to control the attitude of the vehicle body 1 or the crawler device 2 when traveling from the level ground part to the level ground part from the stair B part shown by the imaginary line or the positive step B part, and especially during automatic operation, the m-stage This has the advantage that accurate position detection at part B is not required.

However, in a vehicle using the crawler device 2 in which the lower ground plane 4 has a semicircular arc shape, the vertical movement width 1 of the vehicle body 1 in the normal direction of the slope is quite large when traveling on stairs. Also, the distance between the front and rear crawler devices 2゜2 or IP/
1- of the car body 1 due to a change in the pitch P between the etched parts of the
The downward dynamic characteristics, that is, the stair running characteristics change greatly, and the load distribution of the front and rear crawler devices 2, 2 also changes greatly.
There are considerable problems in running stability of stairs, and there are also various problems such as large load fluctuations on the running drive unit while running stairs, requiring a running drive source with a larger output.

(Object of the Invention) The present invention was made in view of the above circumstances, and an object of the present invention is to provide a crawler vehicle that can exhibit more stable stair running characteristics without impairing steering performance.

[Summary of the invention]

The crawler vehicle of the present invention is a crawler vehicle having a pair of steerable roller devices running on a floor surface including stairs on the left and right sides at the front and rear of the lower part of the vehicle body, in which the crawler lower ground plane of each crawler device is connected to each other. A grounding part that contacts the floor at approximately one point near the center of rotation of the steering wheel, and a substantially flat projecting part that is higher than the grounding part but extends back and forth as close to the floor as possible within a range that does not impair steering performance. It is composed of
In other words, the shape of the lower contact surface of the crawler device is approximately the shape of the bottom of a ship with a small angle of inclination to the floor surface, making it easy to steer.
In addition, when running on stairs, the width of vertical movement of the vehicle body in the normal direction of the slope is small, and load fluctuations on the running drive source are reduced and can be approximately equalized, resulting in excellent stability when running on stairs. be.

In addition, the term "steering performance" here refers to the fact that the contact area between the running layer and the floor surface, which constitutes the crawler's lower ground contact surface, is a very small part, approximately to a point, so that steering can be performed easily with little steering resistance. This refers to the fact that the vehicle body turns in a direction that follows the steering direction.

[Embodiments of the invention]

A first embodiment of the present invention will be described below with reference to FIG. In the figure, reference numeral 1 denotes a conventional vehicle body, and crawler devices 5 are attached to the front, rear, left, and right sides of the lower portion of the vehicle body 1 along with steering devices (not shown) in the same manner as in the prior art, so that they can be steered individually. Here, each of the crawler devices 5 has a configuration in which an endless running belt 6 such as a Yatapella is guided and supported rotatably by guide wheels 7, a guide frame 8, etc., and the lower part of the crawler of each crawler device 5 is The ground plane 9 does not have a semicircular arc shape as in the conventional case, but has a substantially ship bottom shape. That is, by forming the lower guide frame 8 that guides and supports the traveling belt 6 into the shape of a ship's bottom, the crawler lower ground plane 9 is formed into a ground contact area that touches the floor surface A at approximately one point in the approximate center near the steering turning center. 9a, and a substantially flat overhanging part 9b extending in front and behind the grounding part 9a, and the overhanging part 9b is raised as high as possible from the floor surface A than the central grounding part 9a. It extends long and flat in the front and back as close as possible to the floor surface A without impairing steering performance.

More specifically, the overhanging portion 9b connects the central grounding portion 9a to the apex (
The lowermost point) is inclined upward at a slight angle θ and extends in a long and flat shape from front to back.

Note that the longitudinal length of the overhanging portion 9b is set to be greater than or equal to the pitch P between the etched portions of the stairs B shown in the illustration on which this vehicle runs.

Therefore, in a crawler-type traveling vehicle equipped with the crawler devices 5 of the above configuration on the front, rear, left, and right sides of the lower part of the vehicle body 1, the crawler lower contact surface 9 of each crawler device 5 is approximately in the shape of the bottom of a ship, and its steering rotation center is Since the nearby ground-contacting part 9a contacts the floor surface A at approximately one point, and the other front and rear overhanging parts 9b are slightly floating from the floor surface A, it is possible to steer each crawler device 5 on the floor surface A. can be done smoothly with less power.

In addition, since the projecting portion 9b extending forward and backward of the ground contact portion 9a has a nearly flat shape inclined at a slight angle θ, the vehicle body in the normal direction of the slope when going up and down the stairs B. 1 up and down i! The JI width is h in Figure 2, i.e. →-・
p - tan θ, and the conventional crawler device u2 in Fig. 1
This is significantly smaller than the vertical movement width 1'' of the vehicle body 1 on the semicircular arc-shaped lower contact surface 4, and the vehicle can stably travel up and down the floor IB. In other words, while driving on stairs, the center of gravity of the vehicle body 1 moves depending on the inclination angle of stairs B, so the stability of the vehicle C is lower than when driving on flat ground.
As described above, by reducing the vertical movement width of the vehicle body 1 in the normal direction of the slope to h, the stability of the vehicle body 1 is improved, which is effective in preventing overturning. In addition, when the vertical movement width of the vehicle body 1 in the normal direction of the slope is large, such as in the semicircular arc-shaped track device 2 shown in FIG. Although the vertical dynamic characteristics of the vehicle body 1 change greatly depending on the change in the edge-to-edge bit P, with the configuration of this embodiment shown in FIG. The change in the vertical characteristics of the vehicle body 1 due to the change is small, and as a result, the front and rear crawler devices 5.5
Changes in load distribution are also extremely small, allowing for extremely stable stair running.

Furthermore, the range of load fluctuation that occurs in the travel drive unit during stair travel is small, making it possible to travel up and down using a travel drive source with a small output.

In addition, since the stair running is performed by the contact of the crawler belt 6 of each crawler device 5 with the etched portion of the stairs B, the climbing force is increased to 19, so by increasing the contact portion between the two, that is, the lower part of the crawler device 5 The front and back length L of the contact surface 9 is the staircase B
By making the pitch P between the edge parts larger than the pitch P between the edge parts of Since the difference from the pitch P can be increased, the stability of stair running is further improved. Note that the front and rear ends of the crawler lower ground plane 9 of each of the above-mentioned crawler devices 5 are mounted on a normal tank (raised at a steep angle like a pull-up crawler) to attach the running track 6.
By arranging them in an endless manner, the longitudinal length L' of each crawler device 5 can be shortened as shown in FIG.
You can easily navigate around narrow corners.

FIG. 3 shows a second embodiment of the present invention, in which one crawler lower ground plane of the crawler device 15 is attached to a lower guide frame 18 in the shape of an arc with a radius R as large as possible, and a running crawler track 6 Avoid guiding and supporting r m m 6:P+
, T IZ) - nll R, /y D - Ra bottom F! I
i Je Trace surface 19 is the center ground contact part I near the steering rotation center
The overhanging portion 19b extending forward and backward of Qa is connected to the grounding portion 19a.
It is composed of a circular arc surface with a large radius R that passes through. The radius R is made as large as possible without impairing steering performance, as described above, so that the projecting portion 19b is substantially flat and floats a little above the floor surface A.

FIG. 4 shows a third practical example of the present invention, in which the crawler lower ground plane 29 of the crawler device 25 is horizontally rotated around the lower guide frame 28 that guides and supports the traveling track 6. The frame 28 is formed into a substantially flat shape, and a protruding portion 2 is formed by bending a portion of the medium flame downwardly into a small shape.
8a. In other words, the running crawler belt 6 guided and supported by the lower kite frame j228 having the above-mentioned shape constitutes a grounding part 29a that contacts the floor surface A at approximately one point at the central protrusion 28a, and from there, the grounding part 29a is flat in the front and rear directions. The overhanging portion 29 extends to the guide frame 28).
b is 1M.

Furthermore, diagram m5 shows a fourth embodiment of the present invention, where the crawler if? The lower crawler ground plane 39 of J35 is
A horizontal flat lower guide frame 38 that guides and supports the traveling crawler track 6, and a sub-block h37 (simply referred to as the lower guide frame h37) that is disposed in a substantially medium position with a part protruding downwardly and meshes with the running crawler belt 6. (It may be a roller that guides and supports the wheel.) In other words, the place where the running belt 6 meshes with the sprockets 1 to 37 is a ground contact part 39'a that contacts the floor surface A at approximately one point, and extends from there along the flat lower guide frame 38 in the front and rear directions. The part is the overhanging part 39b
It is composed of

Therefore, even in cases j of these second to fourth practical addition examples, the first
Approximately the same effects as those of the embodiment can be obtained.

〔Effect of the invention〕

Since the present invention is made as described above, it is possible to obtain more stable stair running characteristics with less power without impairing the steering performance on the floor surface, and it is possible to obtain more stable stair running characteristics with less power, and to operate on floor surfaces including stairs such as inside the stairs. As the inspection path above is automatically run 1"7, reliability can be significantly improved.

[Brief explanation of drawings]

Figure 1 is a schematic configuration diagram of a crawler type vehicle using a conventional crawler device having a semi-circular lower ground plane, and Figure 2 is a schematic configuration diagram of a crawler type vehicle showing the first embodiment of Kikomei. Figure 3 shows a second embodiment of the present invention (a schematic configuration diagram of only the coke device), and Figure 4 shows a crawler device (a schematic configuration diagram of the third embodiment of the invention). Fig. 5 shows the fourth embodiment of the present invention and is a schematic diagram of only the J-crawler device.1...Vehicle body, 2.5.15.25.35...Crawler device,3. 6... Traveling layer?1, 7... Guide shaft, 8, 18.28°38... Lower kite frame,
213a...Protrusion, 9,19°2'll, 39.
... Crawler lower ground plane, 9. a, , 19a,
29a. 39a--Grounding part,',) l) t'? 9b,
29b, 39b--projection, 37--sprocket. Applicant's representative Patent attorney Takehiko Suzue Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 / Figure 5 c11

Claims (6)

[Claims] (1) In a crawler-type traveling vehicle that has a pair of roller devices on the left and right at the front and rear of the lower part of the vehicle body, which travels on the floor surface including stairs in each weighing plant, etc., the crawler lower ground plane of each crawler device is A grounding part that contacts the floor at approximately one point near each steering center of rotation fi1, and a substantially flat shape that is higher than the grounding part but extends back and forth as close to the floor as possible within a range that does not impair steering performance. A crawler vehicle characterized by a (π) structure with an overhang. (2) The overhanging part of the lower ground plane of the crawler device should be tilted upward at a slight angle of 0 to the horizontal floor surface with the ground plane as the apex (:
1. A single-column traveling vehicle according to claim 1, characterized in that the single-column traveling vehicle is constructed as a single-wheel drive vehicle. (3) The protruding part of the lower ground plane of the crawler device should be 4nS11+- in an arcuate plane with the largest possible radius that passes through the ground plane.
-L-f, Masu*+1'+1--yl-2-Koku 1&*t
@+IR'1=1111 packets 11r? Crawler-type traveling vehicle described. (4) The protruding portion of the lower ground plane of the crawler device is configured such that the lower guide frame supporting the traveling belly band has a substantially flat shape, and the ground contact portion has the center of the guy 1-frame partially protruding downward. 1. A crawler-type traveling vehicle according to claim 1, characterized in that the crawler-type traveling vehicle is constructed as follows. (5) The protruding portion of the lower ground plane of the crawler device is formed by a lower guide frame that supports the traveling crawler track in a substantially flat JFL shape, and the ground contact portion has a sprocket or a roller that engages with the traveling belt. 2. A crawler-type traveling vehicle according to claim 1, wherein the crawler-type traveling vehicle is constructed by being arranged in a central portion of a guide frame so as to protrude slightly downward. (6) Claw, C5. The device is characterized in that the front-rear length of the lower ground plane is greater than or equal to the pitch between one leg of the stairs on which it runs. La type running car.