JPH0634736A - Support device for automatic tracking unit for moving vehicle - Google Patents

Abstract

(57) [Summary] [Purpose] When vibrations are applied to a moving vehicle in the front-rear, left-right direction, the automatic tracking unit of the automatic tracking device mounted on the moving vehicle always faces the automatic tracking device on the fixed station side. (EN) Provided is a supporting device for an automatic tracking unit for a moving vehicle, which can be made to operate. A first rotating body 53 rotatable around a support pin 513 extending on a horizontal plane, and a first rotating body 53 rotatable about a support pin 555 extending on a horizontal plane and orthogonal to the support pin 513. A second rotating body 55 supported by the rotating body 53 is provided, the automatic tracking unit 1 is supported by the second rotating body 55, and the weight 9 is provided on the bottom surface 553 of the second rotating body 55. The center of gravity of the first and second rotating bodies 53 and 55 is supported by the support pin 5
Set below 13,555, support pins 513,555
The bearing 533 of the first rotating body 53, which is supported by, is provided with a damping mechanism such as a hydraulic damper for damping the rotational force of the first and second rotating bodies 53 and 55.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a support device for an automatic tracking unit mounted on a moving vehicle.

[0002]

2. Description of the Related Art In recent years, automation of construction machines used for various works has been promoted at the construction site in order to save labor.
In order to automatically drive these construction machines according to a predetermined route, an automatic tracking device is mounted on each of the fixed station and the construction machine installed at a predetermined location on the construction site.
Two-way automatic tracking is performed by receiving the light waves output from the automatic tracking units of both automatic tracking devices while tracking each other.

In order to cope with a gradual change in the relative direction between the two automatic tracking units, an actuator is provided in at least the automatic tracking device on the construction machine side, and the operation of this actuator causes the mutual automatic tracking units to operate. The orientation of the automatic tracking unit on the construction machine side is corrected so that they always face each other. Therefore, the gradual change in the horizontal direction of the automatic tracking unit due to the traveling of the construction machine can be sufficiently coped with by the correction operation of the actuator.

[0004]

By the way, since a construction site on which a construction machine travels is generally undulated, a large vibration may be applied to the construction machine in the front-rear, left-right direction as the construction machine travels. In this case, the orientation of the automatic tracking unit on the construction machine side changes abruptly. However, in the conventional correction operation by the actuator, unless the large motor is used as the actuator, the direction of the automatic tracking unit cannot be corrected immediately in response to the rapid change in the direction as described above, and Therefore, there is a problem that the automatic tracking of the construction machine is disabled, and it takes a long time until both the automatic tracking devices come to face each other again.

The present invention has been made in view of the above circumstances, and when the moving vehicle is vibrated in the front, rear, left, and right directions, the automatic tracking unit of the automatic tracking device mounted on the moving vehicle is mounted on the fixed station side. An object of the present invention is to provide a support device for an automatic tracking unit for a moving vehicle, which can always face the automatic tracking device.

[0006]

In order to achieve the above object, the present invention is mounted on a mobile vehicle moving in a construction site and communicates with an automatic tracking device of a fixed station installed in the construction site. A support device for an automatic tracking unit, comprising: a first rotating body rotatable about a first axis extending on a horizontal plane; and a second axis extending on the horizontal plane and orthogonal to the first axis. A support mechanism composed of a second rotating body rotatably supported by the first rotating body, the automatic tracking unit being supported by the second rotating body, and the automatic tracking unit and the second rotating body. An actuator that corrects the direction of the automatic tracking unit so that the automatic tracking unit points the automatic tracking device of the fixed station is provided between the body and the body, and the center of gravity of the first rotating body and the second rotating body is The first axis and the second axis, respectively. A damping mechanism is set below the shaft, and a damping mechanism is provided between the first shaft and the first rotating body and between the second shaft and the second rotating body. To do. Further, according to the present invention, a weight is attached to a lower portion of the second rotating body, and the center of gravity of the second rotating body is set below the second shaft by the weight.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a front view showing an automatic tracking device including a supporting device for an automatic tracking unit for a moving vehicle according to an embodiment of the present invention, and FIG. 2 is a side view of the same.

1 and 2, an automatic tracking device mounted on a construction machine (corresponding to a moving vehicle) (not shown) that moves inside a construction site is an automatic tracking system for a fixed station (not shown) installed on the construction site. An automatic tracking unit 1 that communicates with the tracking device,
A support device 3 that supports the automatic tracking unit 1 is provided.

On the front surface 11 of the automatic tracking unit 1, a reflecting mirror 13 for reflecting the tracking light sent from a fixed station side automatic tracking device (not shown) and a parallel light from the fixed station side automatic tracking device. A light receiving sensor 15 for receiving the other tracking light is provided.

The support device 3 is rotatably rotatable about two axes which are orthogonal to each other on a horizontal plane.
A support mechanism 5 for supporting the automatic tracking unit 1 and a support body 7 interposed between the support mechanism 5 and the automatic tracking unit 1 are provided. The support mechanism 5 is, as shown in FIG. A pedestal 51 erected on the upper part, a first rotary body 53 supported by the gantry 51, and a second rotary body 5 supported by the first rotary body 53.
5 and.

As shown in FIG. 2, the pedestal 51 is provided with a pair of legs 511 facing each other, and each leg 511 is provided with a support pin 513 projecting inward. Further, the first rotating body 53 has a substantially rectangular shape in a plane and is installed between the pair of legs 511 of the mount 51 as shown in FIG. 2, and the first rotating body 53 as shown in FIGS. 1 and 2. Bearings 533 are provided on the four peripheral portions 531 of the above.

As shown in FIG. 2, the axis A of the support pin 513 extends on a horizontal plane and on the same straight line, and
The support pin 513 is supported by bearings 533 provided on a pair of peripheral edge portions 531 facing each other out of the four peripheral edge portions of the first rotating body 53. Therefore, the first rotating body 53
Is supported by a pedestal 51 so as to be rotatable around the axis A of the support pin 513. The bearing 533 that supports the support pin 513 has a built-in damping mechanism (not shown) such as a hydraulic damper that damps the rotational force of the first rotating body 53 when the first rotating body 53 rotates about the axis A. There is.

On the other hand, as shown in FIG. 1, the second rotating body 55 is provided with a pair of vertical pieces 551 facing each other and a bottom surface 553 connecting the vertical pieces 551 at their lower ends.
At the upper end of 51, support pins 555 are provided so as to project outward.

As shown in FIG. 1, the axis B of the support pin 555 extends on the horizontal plane and on the same straight line orthogonal to the axis A of the support pin 513, and also the support pin 555.
Of the bearings 533 provided on the four peripheral portions of the first rotating body 53 are supported by two bearings 533 that do not support the support pins 513 of the gantry 51. Therefore, the second
The rotating body 55 is supported by the first rotating body 53 so as to be rotatable around the axis B of the support pin 555. The bearing 533 that supports the support pin 555 includes the second rotating body 5
A damping mechanism (not shown), such as a hydraulic damper, which damps the rotational force when 5 rotates around the axis B is built in.

Further, as shown in FIG. 1, the second rotating body 5
A weight 9 is provided on the bottom surface 553 of the reference numeral 5, and the support 7 is provided on the weight 9. The automatic tracking unit 1 is rotatably supported by the support shaft 73 extending on a horizontal plane in the notch 71 in the upper portion of the support 7.
An actuator (not shown) is provided inside the support body 7, and the automatic tracking unit 1 is supported so as to rotate around the support shaft 73 by the operation of the actuator.

A motor, cylinder, solenoid or the like can be used as the actuator. Further, regarding the weight of the weight 9, the center of gravity of the second rotary body 55 that supports the automatic tracking unit 1 and an actuator (not shown) is the support pin 555.
And the center of gravity of the first rotating body 53 that supports the second rotating body 55 is set below the support pin 513. Further, in this embodiment, the support pin 513 corresponds to the first shaft and the support pin 555 corresponds to the second shaft.

Since the supporting device 3 of the present embodiment is constructed as described above, even if a large vibration in the front-rear, left-right direction is applied to the automatic tracking device mounted on the construction machine, the first and second rotating bodies are rotated. 53 and 55 are rotated about axes A and B orthogonal to each other by the action of gravity, so that the support body 7 to the automatic tracking unit 1 are always supported horizontally. Therefore, even if the construction machine travels in a place with severe undulations such as a construction site, the automatic tracking unit 1 can always be directly opposed to the automatic tracking device on the fixed station side.

Further, since the bearing 533 is provided with a damping mechanism such as a hydraulic damper, when the first and second rotating bodies 53 and 55 rotate about the axes A and B, the rotational force thereof, that is, the first and second rotating bodies 53 and 55. The swing width of the second rotating bodies 53, 55 is damped by the damping mechanism, so that the swinging of the first and second rotating bodies 53, 55 becomes large, and the automatic tracking unit 1 directly faces the automatic tracking device on the fixed station side. It is possible to prevent not to come.

In this embodiment, the damping mechanism is provided with the bearing 533.
However, it may be installed between the pedestal 51 and the first rotating body 53 or between the first rotating body 53 and the second rotating body 55. Further, the damping mechanism can be configured by using various ones such as a hydraulic cylinder, an air cylinder, a spring mechanism and the like.

Further, in this embodiment, the support between the pedestal 51 and the first rotating body 53 and between the first rotating body 53 and the second rotating body 55 is carried out by the pin and the bearing. Between the gantry 51 and the first rotating body 53, and between the first rotating body 53 and the second rotating body 53
The shaft may be supported by penetrating the shaft with the rotating body 55. The center of gravity of the second rotary body 55 is below the support pin 555 only by the weights of the automatic tracking unit 1 and the support body 7, and the center of gravity of the first rotary body 53 is the support pin 513.
The weight 9 may be omitted when the weight 9 is located below.

[0021]

As described above, according to the present invention, due to the action of gravity, the first and second rotating bodies are rotated about the two axes orthogonal to each other due to the action of gravity, so that the construction site is A moving vehicle runs in a place with severe undulations,
When vibration in the front-back, left-right direction is applied to the moving vehicle,
The automatic tracking unit of the automatic tracking device mounted on the mobile vehicle can always be directly opposed to the automatic tracking device on the fixed station side.

[Brief description of drawings]

FIG. 1 is a front view showing an automatic tracking device including a support device for an automatic tracking unit for a moving vehicle according to an embodiment of the present invention.

FIG. 2 is a side view of the automatic tracking device shown in FIG.

[Explanation of symbols]

 1 Automatic Tracking Unit 3 Support Device 5 Support Mechanism 53 First Rotating Body 55 Second Rotating Body 513 Support Pin (First Axis) 555 Support Pin (Second Axis) 9 Weight

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Minoru Mano 4-6-15 Sendagaya, Shibuya-ku, Tokyo Inside Fujita Co., Ltd.

Claims (2)

[Claims] 1. A support device for an automatic tracking unit, which is mounted on a mobile vehicle moving in a construction site and communicates with an automatic tracking device of a fixed station installed in the construction site, the supporting device extending on a horizontal plane. A first rotating body rotatable about a first axis, and a second rotating body extending on a horizontal plane and orthogonal to the first axis.
A support mechanism composed of a second rotating body supported by the first rotating body so as to be rotatable around an axis of, the automatic tracking unit is supported by the second rotating body, and the automatic tracking unit and the second rotating body are supported. An actuator that corrects the direction of the automatic tracking unit so that the automatic tracking unit points to the automatic tracking device of the fixed station is provided between the two rotary bodies, and the automatic tracking unit includes a first rotary body and a second rotary body. Centers of gravity are set below the first shaft and the second shaft, respectively, and between the first shaft and the first rotating body, and between the second shaft and the second rotating body. A support device for an automatic tracking unit for a moving vehicle, characterized in that a damping mechanism is provided between them. 2. A weight is attached to a lower portion of the second rotating body, and a center of gravity of the second rotating body is set below the second shaft by the weight. Support device for automatic tracking unit for mobile vehicles.