JPS6243884Y2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to an attitude control device for a trackless vehicle for tunnels with a circular section.

In tunnels with large diameter cross sections that allow workers to stand and work freely, tunnel construction equipment and vehicles for carrying out earth removal can easily lay rails and run on them. Therefore, in that case, there is no need to control the attitude of the vehicle. However, it is not easy to lay rails in tunnels with small diameter cross sections that workers cannot stand in. Therefore, it is desirable to allow vehicles to travel without tracks through remote control in such small-section tunnels. However, if there are steps, obstacles, or curves on the road surface inside the tunnel, or if there is an imbalance in the weight distribution of the load on the vehicle, the vehicle may roll if it is driven without tracks, causing the vehicle body to roll. will be inclined.
If this happens, the cargo may fall from the vehicle, or
In extreme cases, the vehicle may overturn or be unable to enter the lower part of the earth removal conveyor, making it impossible to excavate and construct tunnels by remote control.

Conventionally, as a track running vehicle that autonomously corrects its posture when the vehicle body is tilted while running, a system has been developed in which an axis in the wheel, which is perpendicular to the axis of the wheel, can rotate in the tire of the wheel. Some tires have rollers that are supported and whose outer periphery coincides with the outer periphery of the tire, and are provided at multiple locations on the tire. However, in this type of tire, the attitude is controlled exclusively by the action of the rollers mentioned above, so the attitude is not corrected when any part of the tire other than the rollers is in contact with the ground, and the attitude cannot be corrected unless the tire is running at low speed. Since the rollers do not touch the ground, it cannot be applied to high-speed driving. Furthermore, if the center of gravity changes depending on the state of the load, sufficient attitude control cannot be achieved, which makes it unsatisfactory for use in tunnels such as those described above.

In view of the above points, the present invention reliably detects when the vehicle body is tilted and drives the direction change mechanism using the control circuit to adjust the wheels so that the vehicle travels in the direction in which the vehicle body returns to horizontal. By changing the direction and returning the vehicle body to near horizontal, the redirected wheels are returned to the same direction as the longitudinal direction of the vehicle body, regardless of the traveling speed or even if the center of gravity changes due to the load. To provide an attitude control device for a trackless vehicle for a circular cross-section tunnel that can always reliably and accurately control the attitude of the vehicle body,
The drawings will be explained in detail below.

FIG. 1 shows an embodiment, in which reference numeral 1 denotes a traveling vehicle, which is a towing vehicle, and has fixed drive wheels 2 whose direction cannot be changed, and guide wheels 3 whose direction can be changed. Reference numeral 4 denotes a traveling vehicle which is a towed vehicle for loading materials, excavated earth, etc., and has fixed wheels 5 and guide wheels 6 whose direction can be changed.
These guide wheels 3 and 6 are rotatably fitted into holes in the lower part of the vehicle body by means of pins 8 fixedly protruding upward from the center of a bracket 7 that supports the respective shafts. The guide wheels 3, 6 can thus be deflected relative to the respective vehicle body 1', 4'. Reference numeral 9 denotes a direction changing mechanism for the guide wheels 3 and 6, and as shown in detail in FIGS. A pin 15 that protrudes downward and has a protrusion 14 that fits into a bifurcated portion formed at the lower end of the bracket 7 is rotatably inserted into a hole located at a portion away from the center of the bracket 7, and is attached to the guide wheels on both sides. A link mechanism 1 consisting of a steering rod 13 spanning between brackets 7, 7.
1 and the output shaft of a drive motor 10 having a speed reducer, the angle of rotation from the original position and the direction of rotation, and therefore the direction from the same direction as the longitudinal direction of the vehicle bodies 1', 4' of the guide wheels 3, 6. A potentiometer 16 detects the angle at which the angle is changed and the direction thereof. By rotating the drive motor 10 forward or reverse, the bracket 7 and the guide wheels 3 and 6 are rotated through the link mechanism 11 to the vehicle body 1',
The direction can be changed to the right or left with respect to the direction of 4'. Drive motor 10, potentiometer 16
The case is fixed to a part of the vehicle body 1', 4'. 17 is a weight, and as shown in detail in FIGS. 4 and 5, a shaft 19 fixed to the upper end of the support rod portion 18 is attached to the lower part of the horizontal portion of the vehicle body 1', 4'. It is supported by a bearing 21 provided on a fixing bracket 20, and is configured to maintain a vertically hanging state regardless of whether the vehicle bodies 1', 4' are tilted in the left-right direction. The case 22 is fixed to the fixing bracket 20, and the vehicle body 1',
4' is a potentiometer that detects the tilt angle and the direction of the tilt in the left-right direction.

FIG. 6 shows a control circuit, 25 and 26 are amplifiers, 27 and 28 are rectifiers, 29 is a guide wheel 3,
30 is an input from the rectifier 27; the output is zero when the direction of 6 is within the range of approximately the same direction as the direction of the vehicle bodies 1', 4', and outputs an output signal when it is larger than that range; Comparators 31 and 32 output signal currents when the angle of inclination of the vehicle bodies 1' and 4' exceeds the set value, that is, when the angle of inclination of the vehicle bodies 1' and 4' exceeds the set value. Comparators 33 and 34 output signals when the voltage is low, e.g., depending on the output current of comparators 29 and 30, respectively.
A 15V power circuit is configured, which connects relay 3
Buffer amplifiers 5 and 36 are operated respectively, and 38 is operated by the output signal of the comparator 32 when the buffer amplifier 34 is operated and the changeover switch 37 is closed to the mn side, and is switched when the buffer amplifier 34 is not operated. switch 37
This buffer amplifier is operated by the output of the comparator 31 when connected to the lm side, closes the low voltage power supply circuit, and operates the relay 39.
Also, this buffer amplifier 38 is connected to the comparator 3.
Relay 39 depending on whether the output voltage of 1 or 32 is positive or negative.
It acts to close either of the two contacts, thereby causing the drive motor 10 to rotate forward or reverse as described below. Reference numeral 40 denotes a switch box, which is equipped with a switch for opening and closing a high-voltage, for example, 200V, power supply circuit that controls the control package 41 by means of relays 35, 36, and 39, and contacts for each of the above-mentioned relays. The actuation of the control package 41 causes the drive motor 10 to rotate. Reference numeral 42 denotes a power distribution device having a transformer that steps down a high voltage such as 200V to a low voltage such as 15V in order to supply the buffer amplifiers 33, 34, and 38.

Next, the operation of the present invention will be explained. When a vehicle is traveling in a tunnel with a circular cross section, if the vehicle leans to either the left or right side of the tunnel, the vehicle body tilt angle potentiometer 22 will indicate a positive or negative (inclination direction) corresponding to the tilt. A signal output (determined by ) is obtained, and the signal output is amplified by an amplifier 26 and rectified by a rectifier 28 to obtain a DC output. If the DC output becomes larger than the set value, that is, if the inclination of the vehicle bodies 1', 4' becomes larger than the set value, the output signal from the comparator 30 operates the relay 36 via the buffer amplifier 34, and the switch box is activated. 40 is closed, and on the other hand, the output of the amplifier 26 enters the comparator 32, passes through the changeover switch 37 switched to the m and n sides by the operation of the buffer 34 as described above, and activates the buffer amplifier 38. Operate 39. At this time, depending on whether the output of the potentiometer 22 is positive or negative, one of the two contacts of the relay 39 closes, and the corresponding switch of the switch box 40 and the switch of the switch box 40, which is closed by the relay 36 as described above, are closed. By closing the two switches, the control package 41 causes the motor 10 to rotate the guide wheels 3, 6 so as to displace the vehicle bodies 1', 4' back to the horizontal direction. For example, as shown in FIG. 7, when the vehicle moves forward and the vehicle bodies 1', 4' tilt to the right, the motor 10 is rotated in a direction that directs the guide wheels 3, 6 to the right. . As the guide wheels 3 and 6 turn to the right in this way, the vehicle descends from the left side of the tunnel toward the center of the tunnel, and the inclination angle of the vehicle bodies 1' and 4' falls below the set value. When the output of the comparator 30 becomes zero, the buffer amplifier 34 and the relay 36 are restored.
The rotation of the motor 10 in that direction is temporarily stopped, and the directions of the guide wheels 3 and 6 are changed by the angle that the motor 10 has rotated. When the buffer amplifier 34 returns as described above, the changeover switch 37 also returns and switches to the l and n sides. At that time, motor 1
0 has been rotated by the corresponding angle, the potentiometer 1 for detecting the orientation angle of the wheel and its direction.
Since there is a corresponding output from 6 and therefore an output from comparator 29, buffer amplifier 3
3. Relay 35 operates and the corresponding switch of switch box 40 closes. There is also an output from a comparator 31, which passes through a changeover switch 37 that switches to the l and n sides, operates a buffer 38, operates a relay 39, and switches the corresponding switch box 40 (previously the comparator 32, the buffer amplifier 34 operates to close one other relay contact different from the one used when operating this relay 39, and causes the control package 41 to output an output in the direction in which the motor 10 rotates in the opposite direction to the forward direction. The control package 41 rotates the motor 10 in the opposite direction to the forward direction by closing the two switches, the switch that closes the circuit that closes the motor 10 and the switch of the switch box 40 that corresponds to the relay 35. is returned to the same direction as the longitudinal direction of the vehicle bodies 1', 4'. When the rotation angle of the motor 10 returns to the original position, the guide wheels 3 and 6 also return to the same direction as the longitudinal direction of the vehicle bodies 1' and 4', and accordingly the potentiometer 16
The output of comparators 29 and 31 becomes zero, and
The output of buffer amplifiers 33, 38,
Relays 35 and 39 are also restored, and motor 10 is stopped. Note that since a part of the output of the potentiometer 22 is directly applied to the control package 41, the output of the control package is adjusted according to the magnitude of the inclination of the vehicle bodies 1' and 4' as described above, and the rotation of the motor 10 is controlled. Control speed. When traveling in the same direction as shown in FIG. 7a, the vehicle bodies 1',
When 4' is tilted to the left, which is opposite to b in the figure, the potentiometer 22 outputs an output with a positive and negative opposite to that when tilting to the right, so the motor 10 rotates in the opposite direction to that when tilting to the right, and the guide Wheels 3 and 6 will be turned to the left.

When the vehicle is traveling backwards as shown in FIG. 8a, if the vehicle bodies 1', 4' lean to the right, the guide wheels 3, 6 may be moved in the direction shown in FIG. 8b. However, in this case, the direction of the guide wheels 3 and 6 is opposite to that shown in FIG. When the motor 10 switches the guide wheels 3 and 6 to move in the reverse direction, the switch box 40 is switched in conjunction with the switch so that the motor 10 rotates the guide wheels 3 and 6 in the opposite direction to that shown in FIG. There is.

As described above, the present invention uses a potentiometer to detect the tilt angle and direction of the vehicle body, and when the tilt angle of the vehicle body exceeds a set value, the output of the potentiometer is used to control the driving body through the control circuit. The direction of the wheels is changed so that the vehicle runs in the direction in which the tilt of the vehicle body returns to horizontal, and when the tilt angle of the vehicle body becomes less than the set value, the orientation angle of the wheels and the output of the potentiometer that detects the direction are changed. The driving body is driven through the control circuit so that the direction of the wheel returns to the same direction as the longitudinal direction of the vehicle body, and when the direction of the wheel returns to a range that is very close to the longitudinal direction of the vehicle body, the driving body Since the system is designed to stop the movement of the vehicle, if the vehicle body is tilted, it can be accurately returned to within a range that is extremely close to horizontal, regardless of the center of gravity fluctuation due to traveling speed or load condition. , posture control can be performed.

[Brief explanation of the drawing]

1 to 6 show embodiments of the present invention,
Figure 1 is an overall side view, Figure 2 is a side view of the wheel direction conversion mechanism, Figure 3 is a front view of the same, Figure 4 is a front view of the weight suspension part, and Figure 5 is a side view of the same. , FIG. 6 is a control circuit diagram, and FIGS. 7 and 8 are explanatory diagrams showing the direction in which the wheels are directed relative to the direction in which the vehicle body is tilted. 1, 4... Running vehicle, 1', 4'... Vehicle body of the running vehicle, 3, 6... Wheels that can change direction, 10... Motor, 16... Wheel orientation angle and detection potential for that direction. Meter, 22... Potentiometer for detecting the tilt angle and direction of the vehicle body in the left-right direction.

Claims (1)

[Scope of utility model registration request] A direction changing mechanism for a pair of wheels of a traveling vehicle, a potentiometer for detecting a longitudinal inclination angle and direction of the traveling vehicle for driving the direction changing mechanism, and a left and right deflection angle of the traveling vehicle. A comparator that compares each output signal of a potentiometer that detects the direction with a voltage value corresponding to a preset amount of inclination, a comparator output amplifier, a rectifier for the signal, and a comparison between the rectified output and a reference voltage. When the tilt detection output exceeds the set value by a control circuit that operates a relay in a control package by passing a comparator and its output through a buffer amplifier for relay drive, and switches a motor drive switch based on the combination of the relay contacts. In this case, the direction changing mechanism unit is moved so that the inclination of the vehicle returns to horizontal, and when the detection output becomes equal to or less than the set value, the direction of the wheels of the vehicle is changed approximately to the direction of travel of the vehicle body. 1. An attitude control device for a trackless vehicle for a tunnel with a circular cross section, characterized in that the direction changing mechanism is controlled so as to coincide with each other.