JPH061116U - Self-propelled vehicle - Google Patents

Abstract

(57) [Summary] [Structure] Drive wheels 2 driven by motors M1 and M2
The moving cylinder 60 is attached to the lower surface of the vehicle body 1 which can be driven by the piston rod 60 of the moving cylinder 60.
Attach the sensor 25 to the tip of the a through the support rod 61,
By the action of the cylinder 60, the sensor 25 is moved to the detection position A in front of the drive wheel 2 and the retracted position B sandwiched between the drive wheels 2. [Effect] Even if unevenness exists on the road surface, the sensor can be prevented from interfering with the road surface.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a self-propelled vehicle.

[0002]

[Prior art]

 In a conventional self-propelled vehicle, a sensor is fixed to the lower front portion of a vehicle body that can be driven by traveling wheels, and this sensor detects a guide wire provided on a traveling surface to guide the vehicle. .

[0003]

[Problems to be solved by the device]

 In the above-mentioned conventional self-propelled vehicle, the fixed sensor is located at a height of about 3 cm above the traveling surface so that the guide wire can be detected. Therefore, there is no problem when this traveling vehicle travels along the work surface along the guide line, but when the operator manually transports the traveling vehicle to the garage after finishing the work, the If the running surface had irregularities, undulations, or slopes, there was a problem that the sensor would collide with and damage the running surface.

[0004]

[Means for Solving the Problems]

 In order to solve the above-mentioned problems, in the present invention, in a self-propelled vehicle equipped with a sensor for detecting a guide wire provided on a traveling surface of a vehicle body that can be traveled by running wheels, the sensor detects the guide wire. It is characterized in that the sensor is movably provided between a detection position in front of the running wheels and a retracted position where the sensor does not interfere with the running surface due to unevenness of the running surface.

[0005]

[Action]

 When the traveling vehicle travels along the guide surface along the guide line, the sensor is located at the detection position in front of the traveling wheel that detects the guide line, and when the traveling vehicle is transported to the garage, etc. Position it in a retracted position where it does not interfere with the road surface due to the unevenness of the running surface.

[0006]

【Example】

 Next, an embodiment in which the self-propelled vehicle of the present invention is applied to a self-propelled road cleaning vehicle 30 will be described with reference to the drawings. 1 and 2, left and right drive wheels 2 driven by motors M1 and M2, respectively, are attached to a vehicle body 1 via L-shaped brackets 15. Further, the driven wheel 3 including casters is attached to the vehicle body 1. In the drawing, 4 is a steering handle, 5 is a forward / backward movement lever, and 14 is a side brush, which are constructed in a known manner. Further, 6 is a dust sweeping chamber provided in the lower portion of the vehicle body 1, 7 is a dust collecting chamber provided in the rear portion of the vehicle body 1, both of which are communicated via an opening 8. Reference numeral 9 denotes a hopper that constitutes the lower portion of the dust collection chamber 7, and is provided integrally with or detachably from the vehicle body 1 as is well known. Reference numeral 10 is a well-known main brush that is vertically movable in the dust sweeping chamber 6, and its brush shaft 10b is rotatably supported by a support arm 11 pivotally attached to the vehicle body 1. Thus, when the main brush 10 is lowered onto the road surface, it is rotated in the arrow direction by a drive mechanism (not shown), and when the main brush 10 is lifted from the road surface, the rotation is stopped. Reference numerals 12, 16 and 18 denote front and rear flaps and side flaps which are integrally attached to the vehicle body. In addition, 20 is a well-known filter and 21 is a blower.

In the road cleaning vehicle 30 as described above, the present invention is further characterized by the following configuration. A base portion of a mounting frame 23 extending forward is welded to a central portion of the vehicle body 1 forming the opening 8. An upper end of a swing rod 24 is swingably supported on a lower surface of a front portion of the mounting frame 23, and a sensor 25 is attached to a lower end of the swing rod 24. The sensor 25 detects the guide wire 26 provided on the road surface and sends a detection signal to a control device (not shown) connected to the sensor 25, and the control device causes the motors M1 and M2 of the drive wheels 2 to operate. Is controlled to guide the road cleaning vehicle 30 along the guide wire 26.

A downward moving cylinder 29 is swingably supported on a front upper surface of the mounting frame 23 via a support member 28. The piston rod 29a of the moving cylinder 29 projects downward through a notch portion 32 formed in the mounting frame 23, and its tip is rotatably supported by the swing rod 24 at a substantially central portion thereof. . This moving cylinder 29 is adapted to be operated by an operator operating the operation lever 33 (shown in FIG. 1), so that the sensor 25 can detect the guide wire 26 by its operation. The detection position A close to the road surface and the retreat position B away from the road surface where the sensor 25 does not interfere with the road surface due to the unevenness of the road surface or the like are moved.

As a guide system of the road cleaning vehicle 30 by the guide wire 26 and the sensor 25, there are an electromagnetic induction system in which an induction cable buried under the road surface is used and a magnetic tape in which a magnetic tape attached on the road surface is used. The guide system or the optical guide system in which a metal tape attached on the road surface is detected by an optical sensor and guided is selected according to the condition of the work road surface.

Next, the operation of the self-propelled road surface cleaning vehicle 30 configured as described above will be described. First, a description will be given of the case where the road cleaning vehicle 30 performs cleaning on the cleaning road surface on which the guide wire 26 is arranged. At the cleaning start position, the operator operates the operation lever 33 in advance to project the moving cylinder 29. Then, the sensor 25 is positioned at the detection position A, and the main brush 10, the side brush 14, and the blower 21 are driven in this state. Then, the sensor 25 detects the guide wire 26, the control device drives the motors M1 and M2 of the drive wheels 2 by the detection signal, and the road cleaning vehicle 30 travels along the guide wire 26. During this traveling, dust on the road surface is swept up to the center of the vehicle body 1 by the side brush 14, and then swept up by the main brush 10 and collected in the hopper 9.

Next, when the operator manually conveys the road cleaning vehicle 30 to the garage or another cleaning road surface after finishing the cleaning work as described above, the worker operates the operation lever 33. By operating the moving cylinder 29, the sensor 25 is moved to the retracted position B. After that, the operator manually pushes the steering handle 4 to transport the road cleaning vehicle 30 to the destination. At this time, even if there are irregularities, undulations, slopes, etc. on the road surface during transportation, the sensor 25 does not interfere with the road surface because it is located at the retracted position B at a height relatively distant from the road surface.

Next, a second embodiment of the road cleaning vehicle 30 will be described with reference to FIGS. 3, 4 and 5. The structure of the rear portion of the vehicle body such as the main brush is substantially the same as that of the first embodiment, The description is omitted. The road cleaning vehicle 30 is provided with a moving mechanism 40 that allows the side brushes 14 to move left and right with respect to the traveling direction of the road cleaning vehicle 30 so as to clean the corners surrounded by the wall surface without sweeping. First, the moving mechanism 40 will be described. A support bracket 41 is mounted on the vehicle body 1, and a base portion of a swing cylinder 42 is swingably supported by the support bracket 41. Between the U-shaped members 43 at the tip of the swing cylinder 42, one end of a connecting lever 44 is swingably supported. The other end of the connecting lever 44 is fixed to one end of a swing rod 45 extending in the machine width direction, and the swing rod 45 is freely rotatable via left and right brackets 47 provided on the vehicle body 1. Supported by. Left and right mounting members 48 are fixed to both ends of the swing rod 45, and a push rod 49 is laterally mounted between the tips of the left and right mounting members 48.

A support rod 52 is fixed between the brackets 51 on the vehicle body 1, and the base of the support arm 53 is swingable in the support rod 52 in the left-right direction (vertical direction in FIG. 4). It is movably supported by. The side brush 14 is rotatably attached to the tip of the support arm 53 via a motor M3. Further, the base end of the support arm 53 contacts the push rod 49 and its swing is restricted. Therefore, when the swing cylinder 42 is operated to project from the normal retracted state as shown in the drawing, the push rod 49 swings counterclockwise around the swing rod 45 as a fulcrum, and the base end of the support arm 53 moves downward. When pushed in, the support arm 53 swings clockwise with the support rod 52 as a fulcrum, and the side brush 14 at the tip of the support arm 53 is separated from the road surface.

A pair of driven sheaves 54 are rotatably supported on the left and right sides of the vehicle body 1, and a drive sheave 55 is rotatably supported by a motor M4 at the center of the vehicle body 1. Has been. A wire 57 wound around the drive pulley 55 several times is wound around the driven pulley 54. The wire 57 is attached to the attachment piece at the upper end of the support arm 53 by a bolt 58 (shown in FIG. 4). Therefore, when the drive pulley 55 is driven by the action of the motor M4, the wire 57 rotates between the three pulleys 54, 54, 55, and moves the side brush 14 together with the support arm 53 in the left-right direction (upward and downward in FIG. 4). It is designed to be moved.

Next, the second embodiment as described above is characterized in that the present invention is configured as follows. At the center of the lower surface of the vehicle body 1, there is attached a moving cylinder 60 whose piston rod 60a projects forward in the traveling direction of the road cleaning vehicle 30. An upper end of a support rod 61 having a sensor 25 fixed to the lower end is attached to the tip of the piston rod 60a. Therefore, due to the action of the moving cylinder 60, the sensor 25 is sandwiched between the detection position A in front of the drive wheel 2 where the guide wire 26 can be detected and the left and right drive wheels 2 where the sensor 25 does not interfere with the road surface due to the unevenness of the road surface or the like. It moves to the retracted position B.

The sensor 25 detects the guide wire 26 in the state of being located at the detection position A, and sends this detection signal to the control device 100 (shown in FIG. 5) so that the control device 100 can control each of the left and right drive wheels 2. The road cleaning vehicle 30 is guided along the guide line 26 by controlling the motors M1 and M2. The control device 100 is also connected to the moving cylinder 60, the swing cylinder 42, the motor M4, and distance sensors 67 and 68 provided on both sides and the front of the vehicle body 1 of the road cleaning vehicle 30. . The distance sensor 67 detects whether or not the vehicle body 1 is traveling near the side wall surface W1. When traveling near the wall surface W1, the distance sensor 68 moves the front wall surface W2 forward by a certain distance L1. When the arrival is detected, first, the moving cylinder 60 is operated to position the sensor 25 at the retracted position B and the control by the sensor 25 is released. L2), the vehicle body is stopped and the motor M4 is operated to laterally move the side brush 14 left and right with respect to the traveling direction to sweep out the dust on the wall sideways, and while repeating this, move forward to the corner portion. After sweeping out the dust in the corners to the side, it moves back to the original position (distance L1) and is again under the control of the sensor 25.

Next, the operation of the road cleaning vehicle 30 configured as described above will be described. First, the operation of the road cleaning vehicle 30 performing the cleaning work on the cleaning road surface 3 having the corners will be described. At the cleaning start position, the sensor 25 is located at the detection position A by the movement cylinder 60. The sensor 25 detects the guide wire 26. Then, the control device 100 drives the motors M1 and M2 of the drive wheels 2 by the detection signal, and the road cleaning vehicle 30 runs along the guide line 26 while cleaning. When the distance sensor 67 detects that the wall surface is near the wall surface W1 during this traveling, and when the distance sensor 67 reaches the front surface L1 of the wall surface W2, the control device 100 determines that the road surface cleaning vehicle has come to the front of the corner portion. The moving cylinder 60 is controlled to position the sensor 25 at the retracted position B, the control of the sensor 25 is released, and the vehicle continues to move forward. At the position of the distance L2, the motors M1, M2, M4 are controlled from this point, and as shown in FIG. 5, the road surface cleaning vehicle 30 is temporarily stopped at the position L2 before the corner, and the side brush 14 is moved laterally. It is moved and dust is swept away from the wall surface W1.

Next, the side brush 14 is returned to its original position, the road cleaning vehicle 30 is advanced to a position where the side brush 14 overlaps the front portion of the cleaning mark of the first side brush 14, and the same operation is performed. Then, this operation is repeated until the innermost portion of the corner portion is reached, all the dust in the corner portion is swept out to the center, and the road surface cleaning vehicle 30 is retracted to the distance L1, and the control device 100 is again moved to the moving cylinder 60. Is operated to position the sensor 25 at the detection position A, the road cleaning vehicle 30 runs along the guide line 26 while cleaning, and collects dust swept from the corners.

Next, when the operator manually transports the road cleaning vehicle 30 to a garage or the like after finishing the cleaning work as described above, the moving cylinder 60 is operated to move the sensor 25 to the retracted position B. Located in. After that, the operator manually pushes the steering handle 4 to carry the road cleaning vehicle 30. At this time, since the sensor 25 is located at the retracted position B sandwiched between the drive wheels 2 even if there are irregularities, swells, slopes, etc. on the road surface during the conveyance, the drive wheels 2 move up and down due to the irregularities. At the same time, the sensor 25 also moves up and down, so the sensor 25 does not interfere with the road surface.

In the second embodiment, when irregularities are present on the cleaning road surface, a sensor for detecting the irregularities is provided on the road cleaning vehicle 30, and when the sensor detects the irregularities, the control device moves. When the sensor cylinder 25 is controlled to temporarily position the sensor 25 at the retracted position B, it is possible to prevent the sensor 25 from interfering with the road surface due to unevenness or the like on the cleaning road surface.

As described above, in the road cleaning vehicle of the type in which the side brush 14 of the second embodiment moves laterally, the sensor 25 is attached to the tip of the piston rod 60a of the moving cylinder 60 via the support rod 61. Since it is movable to the detection position A in front of the drive wheel 2 and the retracted position B sandwiched between the drive wheels 2 by the action of 60, the sensor 25 is retracted when cleaning the corner portion during cleaning. If it is located at the position B, the side brush 14 can be moved in the lateral direction, cleaning can be performed without sweeping the corners, and the sensor 25 is retracted when the operator manually conveys it after cleaning. If the sensor 25 is located at the position B, it is possible to prevent the sensor 25 from interfering with unevenness of the road surface.

In each of the first and second embodiments, the sensor 25 is configured to move by the operation of the moving cylinders 29, 60. However, when the cylinders 29, 60 are stopped, the operator manually operates the sensor 25. 25 may be moved to the detection position A and the retracted position B, and in order to hold the sensor 25 at each position, a hooking mechanism or the like that can engage with the sensor and the vehicle body may be provided. . Further, in the present embodiment, the self-propelled road cleaning vehicle is exemplified as the self-propelled traveling vehicle, but the present invention is not limited to this, and a sensor is also provided in the self-propelled floor cleaning vehicle, an unmanned transport vehicle, etc. It may be configured to be movably provided at the position B.

[0023]

[Effect of device]

 As described above, in the self-propelled vehicle of the present invention, the sensor is provided so as to be movable between the detection position for detecting the guide wire and the retracted position where the sensor does not interfere with the traveling surface due to the unevenness of the traveling surface. When the operator manually transports the self-propelled vehicle after the work is completed, even if the traveling surface has irregularities during the transportation, it is possible to prevent the sensor from interfering with the traveling surface and damaging it.

[Brief description of drawings]

FIG. 1 is a side view with a part of a cross section of a self-propelled road surface cleaning vehicle according to a first embodiment.

FIG. 2 is a P view of FIG.

FIG. 3 is a side sectional view of a self-propelled road surface cleaning vehicle according to a second embodiment.

FIG. 4 is a Q view of FIG. 3.

FIG. 5 is an operation explanatory view.

[Explanation of symbols]

1 vehicle body, 2 drive wheels, 25 sensors, 26
Guidance line, 30 self-propelled road cleaning vehicle, A detection position,
B retracted position

Claims (1)

[Scope of utility model registration request] 1. A self-propelled vehicle in which a vehicle for traveling with traveling wheels is provided with a sensor for detecting a guide line provided on a traveling surface, the sensor being provided with a detection position for detecting the guide line and a traveling surface. A self-propelled traveling vehicle characterized in that a sensor is provided so as to be movable between an evacuation position where the sensor does not interfere with the traveling surface due to unevenness or the like.