KR100421085B1 - Transporter - Google Patents

Abstract

The present invention discloses a transporter that can travel on roads, ramps, stairs, and the like. The carrier of the present invention extends in parallel with the frame, a stage arranged to move on the upper part of the frame, a pair of main crawlers installed to be parallel to each other on the left and right sides of the frame, and parallel to each other toward the front on the left and right sides of the frame. A pair of front arms, a pair of front crawlers mounted on the front arm to move together with the main crawler, a front arm operating means for operating the front arms, and a stage that moves the stage relative to the frame to maintain a horizontal plane. A horizontal adjusting means, a pair of rear arms extending parallel to the rear left and right at the rear end of the frame, a pair of rear crawlers mounted on the rear arm to move together with the main crawler, and a rear for operating the rear arms. It consists of arm operating means. According to the present invention, by the cooperation of the main crawler, the front crawler and the rear crawler can smoothly and safely run the ramps, stairs, etc., the climbing performance is very excellent. In addition, since the stage is always horizontal, it is possible to ensure the safety of the cargo and the occupant, there is an advantage that the loading of the cargo and the human riding is easy. And, while being accurately grounded to the edge of the ground or stairs are transported to improve the driving performance, to prevent damage to the crawler belt, it is possible to prevent the fall to maintain the balance of the frame stable.

Description

Transporter {TRANSPORTER}

The present invention relates to a transporter, and more particularly, to a transporter capable of smoothly and safely traveling on roads, ramps, stairs, and the like.

Various types of vehicles and transporters (hereinafter referred to as "carriers") have been developed that can travel on roads, slopes, stairs, etc. with cargo or people, and safety is ensured when carrying ramps and stairs using transporters. It is important. On the other hand, an elevator, a lifter, etc. for carrying a user on a wheelchair for a wheelchair user who cannot walk the stairs due to a physical disability has been developed. These elevators and lifters are used only in a limited place because it involves a lot of difficulties in installation and maintenance by a fixed structure. Therefore, researches on a transporter that can guarantee the safety of the user in the transportation of ramps and stairs, etc. have been actively conducted.

Looking at the carrier of US Patent No. 5,676,215 as an example, both sides of the body is equipped with a pair of crawlers consisting of a drive wheel, an idle wheel, a grounding wheel and a crawler belt wound around the wheels for driving. In addition, the belt supporting unit is configured to support the crawler belt in conjunction with the gas spring.

The transporter of this technology can climb stairs by the operation of the crawler and the belt supporting unit. However, since the upper surface of the body is inclined by the belt supporting unit and the gas spring which interlock with the crawler belt when the carrier climbs and descends the stairs, there is a high possibility that the cargo or the occupant may be separated from the body. In particular, as the crawler belt between the idle wheel and the grounding wheel collides with the ground when descending the lowermost stairs, the landing of the carrier becomes unstable and the driving becomes difficult, which may cause a fatal safety accident. In addition, as the length of the crawler belt of the crawler increases, the ground area with the stairs increases to ensure stability, while the overall length of the transporter increases, and the running resistance increases due to the increase of the ground area when driving on the road. It largely entails the problem that a lot of power is required to drive a crawler.

The present invention has been made to solve the various problems of the prior art as described above, an object of the present invention is to provide a transporter that can smoothly and safely drive roads, ramps, stairs and the like.

Another object of the present invention is to provide a transporter having excellent climbing performance such as a ramp and a staircase.

It is another object of the present invention to provide a transporter that can ensure safety by keeping the stage always horizontal.

Still another object of the present invention is to provide a carrier that is easy to load and carry a person.

Still another object of the present invention is to provide a transporter which is transported while the crawler belt is accurately grounded at the edge of the ground or stairs, thereby improving the driving performance and effectively preventing the crawler belt from being damaged.

Still another object of the present invention is to provide a transporter that can stably maintain the balance of the frame and prevent the fall.

Features of the present invention for achieving this object, the frame; A stage arranged to move on the upper part of the frame; A pair of main crawlers installed to be parallel to each other on the left and right of the frame; A pair of front arms extending parallel to each other toward the front left and right of the front end of the frame; A pair of front crawlers mounted on the front arm to move together with the main crawler; Front arm operating means for operating the front arm; Horizontal adjustment means for maintaining a horizontal plane by moving the stage relative to the frame; A pair of rear arms extending parallel to each other toward the rear at the rear left and right of the frame; A pair of rear crawlers mounted on the rear arm to move together with the main crawler; There is a vehicle including a rear arm operating means for operating a rear arm.

1 is a perspective view showing the overall configuration of a transporter according to the present invention,

2 is a side view showing a carrier according to the present invention;

3 is a perspective view showing the stage separated from the transporter according to the present invention,

4 is a perspective view showing the configuration of a main crawler, a front crawler, a rear crawler according to the present invention;

5 is a cross-sectional view showing a drive wheel of a main crawler, a drive wheel of a front crawler, a driving motor, a reducer, a rear arm and a rear crawler according to the present invention;

6 is a cross-sectional view showing a driven wheel of the main crawler, a front arm and a driven wheel of the front crawler according to the present invention;

7 is a cross-sectional view showing an outer idle wheel of the main crawler according to the present invention;

8 is a cross-sectional view showing the configuration of the main belt support apparatus according to the present invention;

9 is a cross-sectional view showing the configuration of the front belt support apparatus according to the present invention;

10a to 10c schematically show the operation of the tailgate, the rear arm, the rear crawler and the rear arm operating device according to the present invention;

11 is a view schematically showing the operation of the stage and the rear arm operating device according to the present invention,

12 is a block diagram illustrating a control means of a transporter according to the present invention;

13a to 13c is a side view showing the operation of the tailgate according to the invention,

Figure 14a to 14c is a side view showing to explain the operation of the carriage according to the present invention climbs the stairs,

15a to 15c is a side view showing for explaining the operation of the transporter descends the stairs according to the present invention,

16A and 16B are side views schematically showing a state in which the main crawler belt of the main crawler operates in the corner of the stairs according to the present invention.

♣ Explanation of symbols for the main parts of the drawing ♣

10: frame 20: stage

30: main crawler 34: main crawler belt

40: front arm 50: front crawler

53: front crawler belt 60: driving motor

70: front arm operating device 71: arm hydraulic actuator

80: main belt support device 90: front belt support device

100: horizontal adjusting device 101: front hydraulic actuator

102: rear hydraulic actuator 105: support bar

110: tailgate 114: gate hydraulic actuator

120: rear arm 130: rear crawler

133: rear crawler belt 140: rear arm operating device

147: compression spring 150: controller

160: control panel 190: hydraulic supply device

Hereinafter, preferred embodiments of a transporter according to the present invention will be described in detail with reference to the accompanying drawings.

First, referring to Figures 1 to 4, the carrier of the present invention is provided with a frame 10. The frame 10 includes a pair of side frames 11 arranged side by side in the longitudinal direction on the left and right sides, and first to fifth cross members 12a to 12e for fixedly connecting the pair of side frames 11 to each other. Consists of A recess 11a is formed in the front of the lower surface of the side frame 11 by ablation so as to exclude interference with the ground, the edges of the stairs, and the jaws, and the second cross member 12b and the third cross member 12c are removed. The battery 13 is mounted as a power source. In the upper part of the frame 10, a flat stage 20 which can freely move and load cargo or people is arranged, and in front and side of the stage 20, a pan for protecting cargo and occupants (Fence: 21) is surrounded.

In addition, the side frame 11 of the frame 10 is configured with a pair of main crawlers 30 driven independently of each other for traveling of the transporter. The main crawler 30 is rotatably mounted around the driving wheel 31 mounted at the rear of the side frame 11 and the fixed shaft 32a fixed at the front of the side frame 11. Intermediate wheels 33 mounted on the side frame 11 between the drive wheels 31 and the driven wheels 32 so as to be aligned with the driven wheels 32 and the driven wheels 32 at predetermined intervals. And a main crawler belt 34 wound around the drive wheel 31, the driven wheel 32, and the intermediate wheel 33. As shown in FIG.

As shown in FIG. 2 and FIG. 7, the outer idle wheel 35 is mounted to rotate about the fixed shaft 35a at a position close to the recess 11a of the side frame 11. The outer idle wheel 35 guides the running of the main crawler belt 34 between the driven wheel 32 and the intermediate wheel 33, and at the same time the main crawler belt 34 has a reverse V-shaped recess. Support the outer surface of the main crawler belt 34 to form a portion (34a). The side frame 11 between the intermediate wheel 33 and the outer idle wheel 35 is equipped with a belt guide 36 for supporting the inner surface of the main crawler belt 33 to guide the transfer.

1 to 4 and 6, the front end of the side frame 11 is a pair of front arms 40 extending in parallel to each other toward the front, the boss formed on the rear end of the front arm 40 The 41 is attached so that it may rotate about the fixed shaft 32a. The front ends of the pair of front arms 40 are fixedly connected by the arm cross members 42. On the outer surface of the front arm 40, a pair of independent front crawlers 50 are configured. The front crawler 50 is coaxially mounted to the rear of the front arm 40 to move like the driven wheel 32 of the main crawler 30, and the front of the front arm 40. And a front crawler belt 53 wound around the drive wheel 51 and the driven wheel 52. FIG. 6 shows that the driven wheel 32 of the main crawler 30 and the driving wheel 51 of the front crawler 50 are integrally formed, but this is merely an example of the driven wheel of the main crawler 30. (32) and the drive wheel 51 of the front crawler 50 can also be comprised separately.

As shown in Figures 3 and 5, the carrier of the present invention is a drive means for driving the drive wheel 31 of the main crawler 30 to drive the drive motor 60, and the driving force of the drive motor 60 A reduction gear 61 for decelerating and a brake 62 for braking the traveling motor 60 are provided. The traveling motor 60 and the reduction gear 61 are fixedly mounted to the side frame 11 of the frame 10. The drive wheel 31 of the main crawler 30 is fixed to the output shaft 61a of the reduction gear 61.

1 and 3, the arm cross member 42 of the front arm 40 is operatively connected to the front arm operating device 70, the front arm operating device 70 is It consists of a pair of arm hydraulic actuators 71 arrange | positioned at the front left and right. The cylinder 71a of the arm hydraulic driver 71 is pivotably connected to the frame 10 by the first joint 72a and the cylinder rod 71b is the arm cross member (2) by the second joint 72b. It is connected to turn to 42.

3 to 5 and 8, the transporter of the present invention supports the transport of the main crawler belt 34 grounded to the ground between the drive wheel 31 and the intermediate wheel 33 of the main crawler 30. The main belt support device 80 is configured. The main belt support device 80 is a roller chain 83 wound around the first wheel 81 and the second wheel 82 formed on the driving wheel 31 and the intermediate wheel 33 of the main crawler 30. And a chain cover 84 attached to the roller chain 83 so as to support the inner surface of the main crawler belt 34. In addition, a slip pad 86 having a guide groove 85 for guiding the transfer of the roller chain 83 is mounted between the driving wheel 31 and the intermediate wheel 33 of the main crawler 30. The 86 is fixed to the side frame 11 of the frame 10 by the bracket 87.

The roller chain 83 and the chain cover 84 of the main belt support device 80 are transported along the guide groove 85 of the slip pad 86 while supporting the inner surface of the main crawler belt 34 to deform. Prevent it. Therefore, the main crawler belt 34 can maintain a stable transport state without deformation even when passing through the edge of the stairway or uneven road, and can prevent vibration and damage due to the deformation of the main crawler belt 34.

3, 4, 6, and 9, the front crawler belt 53 is grounded to the ground between the drive wheel 51 and the driven wheel 52 of the front crawler 50. The front belt support device 90 which supports the conveyance of () is comprised. The front belt support device 90 has a first wheel 91 and a second wheel formed on the driving wheel 51 and the driven wheel 52 of the front crawler 50 similarly to the main belt support device 80. A roller chain 93 wound around 92 and a chain cover 94 mounted on the roller chain 93 so as to support the inner surface of the front crawler belt 53. In addition, between the drive wheel 51 and the driven wheel 52 of the front crawler 50, a slip pad 96 having a guide groove 95 for guiding the transfer of the roller chain 93 is mounted. The pad 96 is fixed to the front arm 40 by the interposition of the bracket 97.

3, 14A to 14C and 15A to 15C together, the transporter of the present invention moves the stage 20 with respect to the frame 10 so as to always maintain the horizontal plane of the stage 20 100 is provided. The horizontal adjusting device 100 is disposed at the front left and right of the frame 10 and is operatively connected to the front of the stage 20, and the stage is disposed at the rear left and right of the frame 10 and is arranged on the stage. It consists of a pair of rear hydraulic actuators 102 which are operatively connected to the rear of 20. The cylinders 101a and 102a of each of the front and rear hydraulic actuators 101 and 102 are connected to the frame 10 by the first joints 103a and 104a so that the cylinder rods 101b and 102b It is connected so that it may turn to the stage 20 by 2 joints 103b and 104b. In addition, the horizontal adjustment device 100 is provided with a pair of support bars 105 for constraining the movement of the stage 20 by connecting the frame 10 and the rear left and right of the stage 20. The lower end of the support bar 105 is pivotally connected to the third crossmember 12c of the frame 10 by the first joint 106a and the upper end of the support bar 105 by the second joint 106b. Connected to turn on. As shown in FIG. 2 and FIG. 3, a pair of stoppers 107 are mounted on the rear left and right of the frame 10 to support and restrain the rear lower surface of the stage 20.

1 to 3 and 13A to 13C, the hinge 112 of the tailgate 110 of the tailgate is mounted to the rear end of the stage 20 at the rear of the stage 20. Is installed so as to be opened and closed around the center, the side of the tailgate 110 is surrounded by the fan 113. Tail gate 110 is configured to be opened and closed by the operation of the gate hydraulic driver 114 as a drive means. The cylinder 114a of the gate hydraulic driver 114 is pivotally connected to the lower surface of the stage 20 by the first joint 115a, and the cylinder rod 114b is tailgate by the second joint 115b. It is connected to the lower end of the 110 to turn. The upper end of the tailgate 110 is a free end and is supported by the ground 1 when it is opened, thereby creating a bridge between the ground 1 and the stage 20 and assisting a person in boarding. When the tailgate 110 is closed, the rear of the fan 21 is blocked by the tailgate 110, thereby protecting the cargo and the occupant of the stage 20 safely.

1 to 5, a pair of rear arms 120 extending rearward are mounted on the rear end of the side frame 11 of the frame 10. The front end of the rear arm 120 is a free end and the boss 121 of the rear end is mounted so as to rotate about the boss 61b of the reducer 61. On the outer surface of the rear arm 120, a pair of rear crawlers 130 are mounted. The rear crawler 130 includes a driving wheel 131 mounted to move together with the driving wheel 31 of the main crawler 30, and a driven wheel 132 mounted to the front of the rear arm 120. And a rear crawler belt 133 wound around the drive wheel 131 and the driven wheel 132. The rear arm 120 between the drive wheel 131 and the driven wheel 132 is equipped with a belt guide 134 for supporting the inner surface of the rear crawler belt 133 so that the rear crawler belt 133 is in close contact with the ground. have. 5 illustrates that the driving wheel 31 of the main crawler 30 and the driving wheel 131 of the rear crawler 130 are integrally formed, but the driving wheel 31 of the main crawler 30 is illustrative. ) And the driving wheel 131 of the rear crawler 130 may be configured to be separated.

1, 10A to 10C, and 11, the carrier of the present invention includes a rear arm operating device 140 for interlocking a stage 20, a tailgate 110, and a rear arm 120. . The rear arm operating device 140 is mounted on the rear upper portion of the side frame 11 of the frame 10 and has a pair of guides 141 having an approximately vertical slot 141a and one side of the rear arm 120. A first link 143 having a second pivot 142b, one end of which is connected by a first pivot 142a and the other end of which is fitted to move along the slot 141a of the guide 141, and the first link 143b; A second link 144 in which one end is in sliding contact with the second pivot 142b of the link 143 and a slot 144a is formed to approach the other end, and a slot of the second link 144. A third link 145 having one end with a third pivot 143c moving along 144a, and one end connected to the other end of the third link 145 by a fourth pivot 142d, and the other end of the tail The fourth link 146 is fixed to the lower end of the gate 110. Although the fourth link 146 of the rear arm operating device 140 is fixed to the lower end of the tail gate 110, it may be connected to the rear end of the stage 20.

The rear arm operating device 140 also includes a compression spring 147 for returning the rear arm 120 to the raised position. One end of the compression spring 147 is connected to the side frame 11 of the frame 10 and the other end is connected to the rear arm 120. Here, the raised position of the rear arm 120 refers to a position inclined at an angle of about 45 degrees with respect to the frame 10, the rear arm 120 is the rear crawler belt 133 of the rear crawler 130 is the main It is aligned with the main crawler belt 34 of the crawler 30 to move between the raised position and the ground position to be in contact with the ground.

12 is a block diagram for controlling the carrier of the present invention. Referring to FIG. 12, the transporter of the present invention outputs and controls a control signal for driving the travel motor 60, a control panel 160 that can be operated by a driver or a passenger, and a traveler of the transporter. A sensing unit 170 for sensing a state and inputting it to the controller 150, a display unit 180 such as a liquid crystal display, a monitor, etc. to display the driving state of the transporter, and an audio output unit 181 such as a speaker for outputting sound It is provided. In FIG. 12, the traveling motor 60 is represented by a left driving motor 60-1 and a space running motor 60-2 which independently drive a pair of left and right main crawlers 30.

As shown in FIG. 2, the control panel 160 and the display unit 180 are installed in the fan 21 and have a power switch for turning the power of the battery 13 on and off, forward, backward, leftward rotation and For example, a joystick, a control lever, a button switch, and the like can be used to input a direction control signal such as a right turn. The sensing unit 170 detects the rotational speeds of the left traveling motor 60-1 and the space running motor 60-2, and detects the traveling speed of the transporter, and the left speed sensor 171a and the right speed sensor 171b. And a pair of tilt sensors 172 mounted on the front and rear surfaces of the stage 20 to sense an angle of the stage 20 with respect to the frame 10. In this embodiment, the tilt sensor 172 is configured as a two-axis sensor for detecting the angle of the stage 20 with respect to the horizontal plane on one axis and the speed on the other axis. Since the configuration and operation of such a two-axis sensor is well known, a detailed description thereof will be omitted.

3 and 12, the carrier of the present invention according to the control signal of the controller 150, the arm hydraulic driver 71, the front hydraulic driver 101, the rear hydraulic driver 102 and the gate hydraulic driver 114 It is provided with a hydraulic pressure supply device 190 for controlling. The hydraulic controller 191 of the hydraulic pressure supply device 190 is connected to a hydraulic pump unit 192 for generating hydraulic pressure, a valve unit 193, and an accumulator 194. The hydraulic pressure supply device 190 is mounted between the second cross member 12b and the third cross member 12c of the frame 10, and the construction and operation of the hydraulic pressure supply device 190 are well known and thus detailed Description is omitted.

The following describes the operation of the transporter according to the present invention having such a configuration.

Referring to FIGS. 13A to 13C, in order to load a person or board a person on the stage 20 of the carrier of the present invention, first, the tailgate 110 that is closed by the operation of the gate hydraulic driver 114 is rotated. Open it. Since the free end of the tail gate 110 is supported on the ground (1) to create a bridge, the loading of the cargo and the boarding of the person becomes easier. In particular, the wheelchair user may climb to the tailgate 110 in a state of being in the wheelchair 3, and the stage 20 and the tailgate 110 are horizontally aligned by the operation of the gate hydraulic driver 114. If you move to the stage 20 can be easily boarded.

As shown in FIGS. 10A to 10C, when the tail gate 110 is opened, the fourth link 146 and the third link 146 of the rear arm operating device 140 connected to the rear end of the tail gate 110 may be connected. The second link 144, which was folded while the 145 is moved, is extended upward, and the restraint of the first link 143 that is pressed by the contact with the second link 144 is released. At the same time, as the compression spring 147 is expanded, the rear arm 120 is pushed and rotated toward the ground, such that the rear crawler belt 133 of the rear crawler 130 abuts on the ground. Therefore, while the tailgate 110 is opened, the center of gravity of the transporter is moved backwards, or the front of the frame 10 is prevented from being lifted when the cargo is mounted or the person is boarded through the tailgate 110.

As shown in FIG. 2, when the transporter travels on the road, the main crawler belt 34 of the main crawler 30 is grounded on the road surface, and the front arms 40 and the rear arms 120 have the front ends. It is heard from the road surface. Therefore, the front crawler belt 53 of the front crawler 50 and the rear crawler belt 133 of the rear crawler 130 are not grounded on the road surface. When the driving motor 60 is driven by the control panel 160, the driving force of the driving motor 60 is decelerated by the reducer 61, and the driving force of the driving motor 60 is decelerated by the reducer 61. The driving wheel 31 of the main crawler 30, the driving wheel 51 of the front crawler 50, and the driving wheel 131 of the rear crawler 130 are rotated together. By the rotation of the drive wheel 51 of the front crawler 50, the main crawler belt 34 drives the conveyer while passing through the driven pulley 32, the intermediate pulley 33 and the outer idle wheel 35. Referring to FIG. 12, when the left running motor 60-1 and the space running motor 60-2 are driven in parallel, the carrier is moved forward and backward. When the left traveling motor 60-1 is stopped and the space running motor 60-2 is driven, the transporter turns left. When the space motor 60-2 is stationary and the left driving motor 60-1 is driven, the carrier turns right.

Next, with reference to Figs. 14A to 14C, the operation when the carrier of the present invention climbs the stairs will be described. When the carrier is advanced by the main crawler belt 34 of the main crawler 30 in the raised state of the front arm 40 and the rear arm 120, the front crawler of the front crawler 50 as shown in Fig. 14A. The belt 53 comes into contact with the edge 2a of the lowermost staircase 2-1 and climbs the lowermost staircase 2-1. When the front crawler belt 53 of the front crawler 50 passes the lower step 2-1 and climbs the second step 2-2, the front arm 40 is rotated by the operation of the arm hydraulic actuator 71. Gradually descend. In response to the lowering of the front arm 40, the front crawler belt 53 of the front crawler 50 and the main crawler belt 34 of the main crawler 30 are aligned with each other to climb the second staircase 2-2. As shown in FIG. 14B, when the main crawler belt 34 of the main crawler 30 crosses the second step 2-2 through the second staircase 2-2, the main crawler belt of the main crawler 30 ( 34) and the front crawler belt 53 of the front crawler 50 are completely aligned and grounded at a plurality of points of the staircase 2, so that the conveyor climbs the staircase 2 smoothly and stably.

Referring to FIGS. 14C and 16A, the front crawler belt 53 of the front crawler 50 passes through the edge 2a of the second staircase 2-3 and the top staircase 2-4 from the top stage. In the recess 34a of the main crawler belt 34 of 30, the edge 2a of the uppermost staircase 2-4 is positioned. At this time, the main crawler belt 34 of the main crawler 30 is grounded at two points of the ground (1) and the stairway (2) while the sudden slope of the transporter passing through the corner (2a) of the uppermost staircase (2-4) It prevents the change and prevents the pitching of the conveyer with the corner 2a of the uppermost step 2-4. Therefore, the conveyer smoothly and stably passes through the edge 2a of the uppermost staircase 2-4, and in particular, can prevent the conveyance of the conveyer. Thereafter, when the front arm 40 is gradually lowered by the driving of the arm hydraulic driver 71 in parallel with the forward of the transporter, the front crawler belt 53 of the front crawler 50 is grounded to the ground and the forward of the transporter is carried out. Lead.

On the other hand, the stage 20 is inclined with respect to the horizontal plane when the carrier climbs the stairs 2 or the slope. The angle of the stage 20 is detected by the tilt sensor 172, the controller 150 outputs a control signal of the rear hydraulic actuator 102 in accordance with the detection signal input from the tilt sensor 172 to the rear hydraulic driver ( Operate 102). The cylinder rod 102b is extended by the operation of the rear hydraulic actuator 102 to lift the rear of the stage 20 with respect to the frame 10 so that the stage 20 forms a horizontal plane. Therefore, the cargo and the occupant of the stage 20 can maintain a stable posture even when the transporter climbs the stairs 2.

As shown in FIG. 11, when the rear of the stage 20 is lifted by the rear hydraulic actuator 102, the link movement and compression of the first to third links 143 to 145 of the rear arm operating device 140 are carried out. The rear arm 120 is rotated from the raised position to the ground position by the spring 147. Therefore, both the main crawler belt 34 of the main crawler 30, the front crawler belt 53 of the front crawler 50, and the rear crawler belt 133 of the rear crawler 130 are located at plural points of the staircase 2. By being grounded, the transporter can smoothly and stably climb or descend the stairs 2.

15A to 15C, the operation of the carrier of the present invention when going down the stairs will be described. When the front crawler 50 enters the corner 2a of the uppermost staircase 2-4, the front crawler belt 53 of the front crawler 50 is the uppermost staircase 2-4 as shown in FIG. 15A. The front arm 40 is gradually lowered by driving the arm hydraulic driver 71 so as to be grounded at the edge 2a of the head. The front crawler belt 53 of the front crawler 50, which is grounded at the edge 2a of the uppermost staircase 2-4, has the main crawler belt 34 of the subsequent main crawler 30 being the uppermost staircase 2-4. Lead to enter.

As shown in FIG. 16B, the front crawler belt 53 of the front crawler 50 passes through the top stairs 2-4 and the second stairs 2-3 from the top, and the main crawler 30 of the main crawler 30. In the concave portion 34a of the belt 34, the corner 2a of the uppermost step 2-4 is positioned. The concave portion 34a of the main crawler 30 prevents the pitching of the conveyer with the corner 2a of the uppermost staircase 2-4 as in the step climbing operation of the conveyer. By the concave portion 34a of the main crawler 30, the pitching of the transporter can be prevented even when the transporter runs on the uneven road or crosses the jaw.

As shown in FIG. 15B, when the main crawler belt 34 of the main crawler 30 passes the uppermost staircase 2-4, the front arm 40 is gradually driven by driving the arm hydraulic actuator 71. By lowering, the main crawler belt 34 of the main crawler 30 and the front crawler belt 53 of the front crawler 50 are aligned. Therefore, the main crawler belt 34 of the main crawler 30 and the front crawler belt 53 of the front crawler 50 are grounded at a plurality of points of the staircase 2 to keep the step down operation of the transporter smooth and stable. .

Subsequently, after the front end of the front crawler belt 53 of the front crawler 50 passes through the lowest step 2-1 and contacts the ground, the front arm 40 is raised by driving the arm hydraulic driver 71. In order to reduce the ground area between the front crawler belt 53 and the ground, the ground area between the main crawler belt 34 and the ground is increased. As shown in FIG. 15C, in the last step of the step lowering operation, the rear crawler belt 133 of the rear crawler 130 is supported by the edge 2a of the lowermost staircase 2-1 to support the main crawler 30. The main crawler belt 34 assists in landing on the ground. Therefore, the transporter of the present invention is landed on the ground in a stable posture without colliding with the ground, and can prevent falling due to landing instability of the transporter.

The above embodiments are merely illustrative of preferred embodiments of the present invention, and the scope of the present invention is not limited to the described embodiments, and various modifications may be made by those skilled in the art within the spirit and scope of the present invention. Modifications, variations, or substitutions may be made, and such embodiments are to be understood as being within the scope of the present invention.

As described above, according to the carrier according to the present invention, the main crawler, the front crawler and the rear crawler can smoothly and safely drive roads, ramps, stairs, etc., and have excellent climbing performance of ramps and stairs. It works. In addition, the stage is always horizontal in response to the inclination of the frame, it is possible to ensure the safety of the cargo and the occupant, there is an advantage that the loading of the cargo and the human riding is easy. And, while being accurately grounded to the edge of the ground or stairs are transported to improve the running, can effectively prevent damage to the crawler belt, it is effective to prevent the fall to maintain the balance of the frame stable.

Claims (8)

A frame; A stage disposed to be able to move on an upper portion of the frame; A pair of main crawlers installed to be parallel to each other on the left and right of the frame; A pair of front arms extending parallel to each other toward the front left and right of the front end of the frame; A pair of front crawlers mounted on the front arm to move together with the main crawler; Front arm operating means for operating the front arm; Horizontal adjusting means for maintaining the horizontal plane by moving the stage with respect to the frame; A pair of rear arms extending parallel to each other toward the rear at the rear left and right of the frame; A pair of rear crawlers mounted on the rear arm to move together with the main crawler; And a rear arm operating means for operating the rear arm. The carrier according to claim 1, wherein the main crawler belt of the main crawler has a reverse v-shaped recess by an outer idle wheel. 2. The transporter of claim 1 wherein said front arm actuating means comprises a pair of arm hydraulic actuators operatively connected to said pair of front arms. According to claim 1, wherein the horizontal adjustment means, A pair of front hydraulic actuators disposed on the front left and right sides of the frame and operatively connected to the front of the stage; A pair of rear hydraulic actuators disposed on the rear left and right sides of the frame and operatively connected to the rear of the stage; And a pair of support bars connecting the frame and the rear left and right of the stage. According to claim 1, The rear arm operating means, A pair of guides mounted on the rear left and right sides of the frame and having a slot; A first link having one end connected to one side of the rear arm and the other end fitted to move along a slot of the guide; A second link having one end in sliding contact with the other end of the first link and having a slot formed close to the other end; A third link having one end fitted to move along a slot of the second link; A fourth link having one end connected to the other end of the third link and the other end connected to a rear end of the stage; And a carrier comprising elastic means for operating said rear arm from a raised position to a ground position. 5. The transporter of claim 1 or 4 further comprising a tailgate behind the stage, the tailgate being opened and closed to form a bridge between the stage and the ground and connected to the rear arm operating means. The main chain according to claim 1 or 2, further comprising: a roller chain for supporting the transport of the main crawler belt grounded to the ground between the driving wheel and the intermediate wheel of the main crawler, and a main pad having a slip pad for guiding the transport of the roller chain. Transporter further comprising a belt support means. 8. The front belt support means according to claim 7, further comprising: a roller chain for supporting the transport of the front crawler grounded to the ground between the drive wheel and the driven wheel of the front crawler; and a front belt support means having a slip pad for guiding the transport of the roller chain. Carrier containing more.