JPS6212449A - Mobile car - Google Patents

Abstract

PURPOSE:To perform the descent of a stabilizing leg in a proper manner, by installing a mechanism buffering a degree of reaction force from a grounding surface of the stabilizing leg which liftably grounds via a driving gear and prevent a car body from turning over, as well as installing a sensor device operating to stop the driving gear during operation of this buffering mechanism. CONSTITUTION:When a stabilizing leg 12 is grounded in order to prevent a mobile car 11 from turning over, first a control unit inside a car body 11A is operated, driving a driving gear and this stabilizing leg 12 is made to go down via a gear 16. If so, a grounding leg 19 of the stabilizing leg 12 touches the ground, and a main arm 17 goes down outside an auxiliary arm 19 while an auxiliary arm 18 goes up inside the main arm 17, whereby a gap L as a buffering mechanism between a main arm lower end 17A and a grounding leg upper end 19A becomes narrowed, and when the gap L reaches to a fixed value, a limit switch 23 operates, and the signal is transmitted to the driving gear 13 via the control unit inside the car body 17A, so that while the gap L exists, the driving gear 13 comes to a stop.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a mobile vehicle equipped with stabilizing legs that are attached to the vehicle body so as to be movable up and down in order to prevent the vehicle body from overturning.

[Technical background and problems of the invention]

Mobile work towers such as crane trucks and mobile robots are equipped with stabilizing legs that are attached to the vehicle body so that they can be raised and lowered to prevent them from falling due to the load on the mobile vehicle or external forces during work. It is designed to stably support mobile vehicles at wide intervals during work, and is narrow enough to be stored on the grass side so as not to interfere with the vehicle's movement.

A mobile vehicle equipped with this kind of conventional stabilizing legs has, for example, a fifth
As shown in the figure, the arm body 1a is swingably swung out to the side of the moving vehicle 1, and the arm body 1a is provided with a stabilizing leg 2 provided at the tip of the arm body 1a so as to be vertically movable.
The turning movement of the stabilizer leg 2 is controlled by a worm mechanism 1d driven by a motor 1b via a decelerator 1c, and the vertical movement of the stabilizing leg 2 is controlled by a motor 3 provided at the head of the arm body 1a. It is configured.

Note that hydraulic cylinders are used for each of the above drive sources in crane trucks, etc., but in industrial robots, etc.
For reasons such as maintaining the cleanliness of the working environment and the ease of obtaining a power source, there is a tendency to use motors exclusively as a drive source, as described above.

By the way, the stabilizing leg 2 is lowered by the drive of the motor 3.
-r h LmsuZ 4< r! :L's MW
Q! < ,,! J WB Ij! As shown in FIG. 6, the vehicle continues to descend until it reaches a state where it can support the weight of the vehicle 1, and then the drive of the motor 3 is stopped. This causes problems such as the motor 3 being seized and damaged. Moreover, since the stabilizing legs 2 must support the moving vehicle 1 under its own weight, especially when the lowered lengths of the stabilizing legs 2 at the four corners are different, the moving vehicle 1
There were problems in that not only the support became unstable, but also the strength decreased and the service life was shortened.

[Purpose of the invention]

This invention was devised in view of the above-mentioned actual situation and to eliminate the problem, and prevents a large load from being applied to the drive device by restricting the descending of the stabilizing leg by more than the required M. The purpose is to provide a mobile vehicle that can

[Summary of the invention]

The present invention provides a mobile vehicle equipped with stabilizing legs that are attached to a vehicle body and that are movable up and down via a drive device to touch the ground and prevent the vehicle from falling over. In addition to providing a ttE mechanism, a sensing device that operates to stop the driving of the drive device while the slow IH mechanism is in operation is provided.

〔Effect of the invention〕

According to this invention, the drive device that raises and lowers the stabilizing leg is stopped while the buffer mechanism that absorbs the reaction force from the ground contact surface is in operation, and the stabilizing leg continues to descend until it is in a state of supporting the weight of the moving vehicle. Since there is no load on the drive device, accidents such as seizure are prevented. Moreover, there is no excessive load on the drive unit, so
The drive device can be made smaller, and furthermore, the power of the drive device can be saved and the battery in the vehicle body, which is the power source of the drive device, can be made smaller. In addition, the stabilizing legs are not subject to excessive load from the moving vehicle, so even if the descending length of the stabilizing legs is slightly different, the moving vehicle can be reliably supported and stabilized, and its service life can be extended. can be achieved.

〔Example〕

The structure of this invention will be explained based on an embodiment shown in FIGS. 1 to 4.

The vehicle body 11A is equipped with a motor, a battery, a control device, etc. (not shown) that can remotely drive the moving vehicle 11 and the stabilizing legs 12, and running wheels 14A are attached to the lower part of the vehicle body 11A. Moreover, an inspection device 14B for inspecting an inspection target such as a nuclear reactor can be placed on the top.

Stabilizing legs 12 for preventing the vehicle 11 from falling are provided at the four corners of the vehicle body 11A via hollow attachment members 15.

That is, the stabilizing legs 12 are installed through through holes formed in the upper and lower surfaces of the mounting member 15 so that they can be raised and lowered while being high on the inside of the vehicle body and low on the outside. The formed gear 12A meshes with a gear 16 disposed inside the mounting member 15, and is driven by a drive device 13 consisting of a motor and a speed reducer connected to a pivot shaft of the gear 16, and by a braking device (not shown). It is designed to be raised and lowered in a controlled manner.・The drive device 13 has a control device stabilizing leg 12 provided inside the vehicle body 11A, which has a hollow main arm 17 with the gear teeth 12A formed on the outside, and a pin at the tip on the ground side of the cough main arm 17. The main arm 17 includes a grounding leg 19 rotatably supported via a shaft 19B, and a hollow sub arm 18 inserted into the main arm 17 so as to be movable in the axial direction. The sub arm 18 is elastically biased toward the ground side by a spring 21 interposed between a fixing plate 20 interposed on the ground side of the hollow part of the main arm 17 and the bottom surface 18A of the hollow part. In this state, a gap L is formed between the lower end 17A of the main arm and the upper end L9A of the grounding leg. This gap serves as a buffer mechanism when the stabilizing leg 12 touches the ground. Although the length of the gap L is approximately 1 mm in this embodiment, it can be changed at any time by adjusting the position of a dog 22 or a limit switch 23, which will be described later. Note that from the viewpoint of the supporting function of the stabilizing legs 12, it is desirable that this gap be as small as possible. In addition, the grounding leg 19 is connected to pin 1.
It is now possible to respond to requests via 9B.

A vertically elongated hole 17B is opened at the lower end of the main arm 17, and a dog 22 provided on the outer surface of the sub arm 18 protrudes outward from the elongated hole 17A through the elongated hole 22. It is movable up and down within the hole 17.

This dog 22 prevents the sub-arm 18 from being pulled out from the main arm 17, and also comes into contact with a limit switch 23 provided on the outer surface of the main arm 17 so as to be able to come into contact with and separate from it to operate it.

This limit switch 23 is connected to a control device disposed in the vehicle body 11A, and in response to a signal from the limit switch 23, the ground leg 19 provided at the lower end of the sub arm 18 is grounded, and the sub arm 18 is the main arm 17
After a while, with a certain gap L left between the lower end of the main arm 17A and the upper end of the ground leg 19A,
That is, the driving device 13 is configured to stop driving while the reaction force from the ground plane against the main arm 17 is buffered.

Next, the present invention will be explained in detail starting from the configuration of the above embodiment.

By the inspection device 214B placed on the upper part of the vehicle body 11A,
When inspecting a nuclear reactor, etc. that is subject to inspection, mobile vehicle 11
To ground the stable side 12 to prevent it from falling over,
First, the control device in the vehicle body 11A is activated by remote control, and if the drive device 13 is driven to the lowering side of the stable side 12 under the control from this control device, the power of the drive device 13 is transferred to the stable side via the gear 16. 12, and the stable side 12 will descend. As the stable side 12 descends, its grounding leg 19 comes into contact with the ground, but due to the grounding of the grounding leg 19, the main arm 17 first descends outside the sub-arm 19, and the sub-arm 18 relatively touches the main arm 17. The gap L between the main arm lower end 17A and the ground leg upper end 19A narrows. When the gap L is pinched and eventually reaches a preset certain amount, the limit switch 23 is activated, and the signal from this limit switch 23 is transmitted to the drive device 13 via the control device in the vehicle body 11A, and the gap is reduced. While L exists, that is, while the reaction force from the ground plane is being buffered, the motor of the drive device 13 is decelerated by the speed reducer and stops driving.

When the driving device 13 stops driving, the main arm 17 further descends due to inertia, and the main arm lower end 17A and the ground leg upper end 1
9A and the gap between them disappears. At this point, the drive device ° 13 is already not driven, and the stable side 12 does not continue to descend further, that is, the stable side 12 does not continue to descend until it is in a state where it supports the weight of the mobile vehicle 11. Therefore, a large load is not applied to the drive device 13, and accidents such as seizure are prevented. Moreover, since an excessive load is not applied to the drive device 13, the drive device 13 can be downsized, and furthermore,
It is possible to save the power of the drive device 13 and downsize the battery and the like in the vehicle body 11A, which is the power source of the drive device 13.

When the stable side 12 touches the ground, the mobile vehicle 11 is supported by the stable side 12 and becomes stable, but the stable side IQ I-? a&
Sora + + -h,? -: IR+Srself-thousand (meeting, 1 L!<+,-) Since it is possible to support the mobile vehicle 11, if an overturning moment such as from the outside in the lateral direction is applied to the mobile vehicle 11, Even if the product is used, the product will not overcome the moment in the direction of the product and fall, and its service life can be extended.

When the grounding leg 19 is grounded as described above, since the grounding leg 19 is pivotally supported to the sub arm 18 via the pin 19B,
There are cases where the grounding leg 19 touches the ground in an inclined state without being in close contact with the grounding surface, but in this case, the lower end 17 of the main arm 17
A gap L will remain between A and the upper &il 19 A of the grounding leg 19.

However, in this case, if a moment in the same overturning direction as described above acts on the moving vehicle 11, the acting force of the overturning moment acts on the stable side 12, and the grounding leg 19 overcomes the biasing force of the spring 21 and moves slightly. Since the above-mentioned gap is eliminated and they are in close contact, it is possible to withstand a large moment in the direction of overturning.

At this time, the moving vehicle 11 will be slightly tilted by the gap, but the maximum gap length is 1 m as described above.
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! There is no problem in supporting IJ + Sora +1.

When the control of the control device 14B is finished and the mobile vehicle 11 is to be moved, the stabilizing leg 12 can be raised by performing the procedure opposite to the above-described lowering operation. In other words, the vehicle body 1 can be controlled by remote control.
1A is actuated, and the drive device 13 is activated.
All you have to do is drive it upward.

Note that the present invention is not fixed to the embodiments described above, and the cross-sectional shapes of the main arm 17 and the sub-arm 19, their durable strength, the strength of the spring 21, etc. can be arbitrarily set according to the specifications. It is something.

In addition, in the above embodiment, the limit switch 23
is provided on the outer surface of the main arm 17, but
The limit switch 23 may be provided on the inner surface of the main arm 17 so that the sub arm 18 operates the limit switch 23 .

Further, in the above embodiment, a spring 21 is provided between the main arm 17 and the sub arm 18, and the biasing force of the spring 21 creates a gap L between the main arm lower end 17A and the ground leg upper end 19A as a buffer mechanism. is formed, but the invention is not limited to this. For example, the gap L may be formed by the self-m of the sub arm 18 without providing the spring 21, and a linear bearing or the like may be interposed between the inner surface of the main arm 17 and the outer surface of the sub arm 18. Due to the weight of the secondary arm 18 through the sliding movement of the bearing,
It may be a structure in which a gap L is formed, or a structure in which an elastic member such as a sponge or an air cushion is interposed as a kN tE mechanism.In short, any structure may be used as long as a reaction force does not act on the main arm 17 from the ground surface immediately upon contact with the ground.

Furthermore, the braking device for the drive device 13 may be a brake, a self-locking speed reducer, or the like.

[Brief explanation of drawings]

FIG. 1 is an overall perspective view of a mobile vehicle according to an embodiment of the present invention;
FIG. 2 is an enlarged side view of the main parts, FIGS. 3 and 4 are action explanatory views, FIG. 5 is a perspective view of the main parts of the conventional example, and FIG. 6 is an action explanatory view of the conventional example. 11...Moving vehicle 11A...Vehicle body 12...Stable 1! ! l 13...Drive device 23...
・Limit switch (sensing device) L...Gap (loose 1
11 Mechanism) Fig. 1 13-11 Drive device 23 ---- Limit) M (S knowledge) L ---- Gap (Hime #E Kaffashi) Fig. 2 + 15A I Sob 31 Figure 4 Figure 5

Claims (1)

[Claims] In a mobile vehicle equipped with a stabilizing leg that is attached to a vehicle body and that can be raised and lowered via a drive device to ground and prevent the vehicle body from overturning, the stabilizing leg is provided with a buffer mechanism that buffers the reaction force from the ground surface, A mobile vehicle characterized in that a sensing device is provided that operates to stop the drive of the drive device while the buffer mechanism is in operation.