JPS6226292Y2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to a traveling truck equipped with a manipulator that is excellent in running stability and has a wide working range.

Conventional trolleys equipped with manipulators include large ones and ones equipped with a platform for raising and lowering the manipulator, but these trolleys have a high center of gravity and are prone to tipping over or overcoming obstacles while running. It was difficult.

The object of the present invention is to provide a traveling cart equipped with a manipulator that has excellent running stability, has a large ability to overcome obstacles, and has a wide working range.
an auxiliary truck frame to which a proximal end of a manipulator is rotatably connected and a storage portion capable of accommodating the manipulator is formed on one end side; a drive mechanism for rotating the manipulator relative to the frame; a pair of belt running mechanisms provided on both sides of the auxiliary truck frame; and one end of the auxiliary truck frame rotatably connected to the other end of the auxiliary truck frame; A main bogie frame in which a storage portion capable of accommodating the auxiliary bogie frame together with the belt traveling mechanism is formed, and a auxiliary bogie frame provided between the main bogie frame and the auxiliary bogie frame, with respect to the main bogie frame. The vehicle is characterized by having a rotating mechanism for rotating the main bogie frame, and a pair of belt running mechanisms provided on both sides of the main bogie frame.

Hereinafter, the present invention will be explained in detail based on examples. FIGS. 1 to 4 show an embodiment of a traveling vehicle equipped with a manipulator of the present invention.

The traveling truck consists of a main truck 1 and an auxiliary truck 6,
Belt traveling mechanisms are provided on both sides of each of the carts 1 and 6, respectively. That is, the main bogie 1 includes a frame 2, a plurality of wheels 3 are attached to both sides of the frame 2, and crawlers (infinite tracks) 4a, 4b are stretched between the wheels 3 on both sides. A housing portion 2b having a concave cross-sectional shape for housing the auxiliary trolley 6 is formed in the frame 2. Among the wheels 3, the wheels 3a, 3b at the front end of the main bogie 1 and the wheels 3c, 3d at the rear end have a larger diameter than the intermediate wheels.
d includes a motor 5a that drives the belt running mechanism;
5b is provided. On the other hand, the wheels 3a, 3 at the front end
b is a pair of wheels having wheels on the inside and outside of the side surface of the frame 2, respectively, and is rotatably supported on the side surface of the frame 2a. The wheels 3a, 3b serve as running wheels for the main bogie 1 and also serve as running wheels for the auxiliary bogie 6.

Next, the auxiliary truck 6 is also provided with a frame 7, and a belt running mechanism is provided on both sides of the frame 7, and one end of the auxiliary truck 6 is connected to the main truck so that it can be stored in the storage section 2b of the main truck. The main truck 1 and the auxiliary truck 6 are integrally connected to each other. That is, the auxiliary truck 6 has the wheels 3a, 3
It is pivotally connected to the main bogie 1 via b. Wheels 8c and 8d are further provided at the other end of the auxiliary truck frame 7, and the wheels 8c and 8d are connected to the wheels 3a and 3b.
Crawler (infinite track) 9a, 9b is extended between c and 8d to form a traveling machine groove for the auxiliary truck 6.

Further, a motor 10 for rotating the auxiliary truck 6 relative to the main truck 1 is provided inside the wheel 3b.
The motor 10 is supported within a wheel 3b via a bearing and is attached to a flange 2a on a frame 2 of the main bogie 1.
The rotating shaft of the motor 10 is fixed to the frame 7 of the auxiliary truck 6. As a result, the auxiliary truck 6 is rotatable relative to the main truck 1 around the rotation axes of the wheels 3a and 3b, and the auxiliary truck 6
The belt running mechanism of the main truck 1 and the belt running mechanism of the main truck 1 rotate in the same direction. Further, the frame 7 of the auxiliary truck 6 is formed with a housing portion 7b having a concave cross-sectional shape for housing a manipulator 11, which will be described later. A manipulator 11 stored in the storage section 7b of the auxiliary truck 6 is attached to the auxiliary truck 6. That is, the manipulator 11 has a gripping portion at its tip, and its base end is rotatably supported by wheels 8c and 8d provided on the other end side of the auxiliary truck 6.

Further, a motor (not shown) for rotating the manipulator 11 relative to the auxiliary truck 6 is provided inside the wheel 8d. The motor is supported within the wheel 8d via a bearing and is fixed to the frame 7 via a flange 7a, and the rotating shaft of the motor is fixed to the manipulator 11. When the traveling bogie 12 equipped with the manipulator according to the present invention having the above configuration runs on flat ground, the auxiliary bogie 6 and the manipulator 11 are folded into the storage part 2b of the main bogie 1, so the center of gravity is low and the stability is extremely good. . That is, the manipulator 11 rotates around its base end and is stored in the storage section 7b of the auxiliary truck 6, while the auxiliary truck 6 continues to store the manipulator 11.
The storage section 2b of the main truck 1 rotates around one end of the storage section 2b.
is stored in. Furthermore, the traveling trolley 12 has a great ability to climb stairs and overcome obstacles such as weirs. In other words, as shown in FIG. 3 showing the belt running cart 12 climbing the stairs 13, the stored auxiliary cart 6 rotates around the tip of the main cart 1 on flat ground and is placed on the stairs 13, and the auxiliary cart 6 is placed on the stairs 13. Since the belt traveling mechanisms on both sides of the main truck 6 rotate in the same direction as the belt traveling mechanism of the main truck 1, the auxiliary truck 6 can pull the main truck 1 onto the stairs 13. Therefore, the traveling cart 12 can climb even stairs with large steps or stairs with a steep slope. Also, when going over a weir, the traveling bogie 12 rides on the weir in the same manner as above, and when going down further, the auxiliary bogie 6 is further moved around the tip of the main bogie 1 that has run over the weir 14 as shown in FIG. By rotating it, the auxiliary trolley 6 can land on the flat ground on the opposite side and get off. Therefore, there is no risk that the traveling trolley 12 will fall when getting off the weir 14.

In this way, the auxiliary trolley 6 serves as an auxiliary belt traveling mechanism when overcoming obstacles, etc., and also serves as an extension member of the manipulator 11. In other words, when the traveling trolley 12 reaches the work place etc., it can extend the auxiliary trolley 6 and the manipulator 11, which had been folded into the storage section 2b of the main trolley 1, and perform work over a sufficiently wide range, especially when working in a high position. It is suitable for cases where

As described above in detail based on the embodiments, the present invention provides a traveling trolley equipped with a manipulator that has excellent running stability, has a great ability to overcome obstacles, and has a wide working range. can do. Furthermore, since the motor for rotating the auxiliary truck is mounted on the wheels, the traveling truck can be made more compact.

[Brief explanation of the drawing]

Figures 1 to 4 relate to an embodiment of a running trolley equipped with a manipulator of the present invention, in which Figure 1 is a cross-sectional view, Figure 2 is a top view, and Figure 3 is a side view when climbing stairs. FIG. 4 is a side view showing the case of going over a weir. In the drawing, 1 is the main truck, 2 and 7 are the frames, 2
a, 7a are flanges, 2b, 7b are storage parts, 3,
3a, 3b, 3c, 3d, 8c, 8d are wheels, 4
a, 4b, 9a, 9b are crawlers (infinite tracks),
5a, 5b, 10 are motors, 6 is an auxiliary trolley, 11
12 is a manipulator, 12 is a running cart equipped with the manipulator, 13 is a staircase, and 14 is a weir.

Claims (1)

[Scope of utility model registration request] an auxiliary truck frame to which a proximal end of a manipulator is rotatably connected and a storage portion capable of accommodating the manipulator is formed on one end side; a drive mechanism for rotating the manipulator relative to the frame; a pair of belt running mechanisms provided on both sides of the auxiliary truck frame; and one end of the auxiliary truck frame rotatably connected to the other end of the auxiliary truck frame; A main bogie frame in which a storage portion capable of accommodating the auxiliary bogie frame together with the belt traveling mechanism is formed, and a auxiliary bogie frame provided between the main bogie frame and the auxiliary bogie frame, with respect to the main bogie frame. A traveling truck equipped with a manipulator, characterized in that it has a rotation mechanism for rotating the main truck frame, and a pair of belt traveling mechanisms provided on both sides of the main truck frame.