JP4033726B2 - Crawler type vehicle running inspection device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crawler-type vehicle running inspection apparatus that mainly inspects the running performance of a crawler-type vehicle, and more specifically to a crawler-type vehicle running inspection apparatus that measures a running speed and a running bend in a crawler-type vehicle such as a hydraulic excavator or a bulldozer. It is about.
[0002]
[Prior art]
Conventionally, as a means for inspecting the traveling curve of a crawler type vehicle such as a hydraulic excavator, there is a method in which the vehicle travels a predetermined distance (for example, 30 m) on the field and the traveling curve amount at that time is measured. Such a measuring method requires a wide space field that can be actually traveled, and it is necessary to create a solid horizontal surface that extends over several tens of meters in the field, which is very large and troublesome.
[0003]
As an apparatus capable of solving such a drawback, there is an inspection apparatus already proposed by the present applicant in Japanese Patent Publication No. 61-34084. This inspection device has Doppler radars arranged on both the left and right sides of the vehicle, and is configured to measure the amount of traveling bend by individually and simultaneously measuring the ground speed on both sides of the vehicle by the Doppler radar, and is relatively short. The travel bend amount can be measured by the travel distance. However, even with this inspection device, although a relatively short traveling distance is required, a corresponding field is necessary, and in order to further rationalize, an inspection device capable of performing an actual traveling test on the device stand has been demanded.
[0004]
In order to meet such a demand, for example, there is an inspection apparatus proposed in Japanese Patent Publication No. 2-31815. This inspection device has a lift means for lifting the vehicle, and measures the amount of running bend from the cycle difference between the left and right crawler belts when the left and right crawler belts are floated and the crawler belts are operated without load (empty operation). It is configured. As another example of an inspection apparatus that can perform an actual traveling test on the apparatus stand, there is an inspection apparatus proposed in Japanese Patent Publication No. Sho 54-124401. This inspection apparatus is mainly used for running on rough terrain. In addition, this prior art relates to the structure of the irregular ground reproduction means, and is different in its gist.
[0005]
[Problems to be solved by the invention]
In general, the running performance of a crawler type vehicle is mainly determined by the running speed and the running bend. Here, the causes of running bends are as follows: (1) rotational difference between left and right drive parts around the undercarriage, (2) poor frame accuracy (poor parallelism of left and right drive system support parts), and (3) crawler track support parts A straightness (alignment) defect etc. are mentioned. However, when these three factors work so as to cancel each other with respect to the traveling curve, the traveling curve does not occur and the vehicle may go straight in actual traveling. This indicates that even if one of the causes (1) to (3) of the driving curve is measured, the correlation with the driving curve is difficult to match, especially in a small model with a small track contact area. There is no correlation.
[0006]
However, in the inspection apparatus configured to measure the amount of travel bend from the period difference between the left and right crawler belts in the state where the left and right crawler tracks are floated, only the elements related to (1) among the causes of the travel bend are detected and traveled. It is related to the bending, and it is impossible to measure the traveling bending amount in consideration of factors such as poor frame accuracy and poor alignment. In general, the left and right crawler tracks are driven by independent hydraulic actuators, and the rotation difference between the left and right crawler tracks in a no-load state where no load such as vehicle weight is applied and the rotation difference between the left and right crawler tracks in a state where a load such as vehicle weight is applied. Therefore, it is necessary to say that it is inaccurate to set the travel curve amount measured in a state where the vehicle is lifted, that is, in a no-load state, as the travel curve amount during actual running. Therefore, there is a problem that the inspection apparatus cannot obtain data close to actual running.
[0007]
Although a track support structure using a special taper shim (see Japanese Patent No. 3142291) has been devised so that the vehicle travels straight, it is difficult to adopt this support structure from the viewpoint of cost effectiveness. Yes, it can be said that it is a rational method to reliably detect a vehicle having a defect by the traveling bend inspection device and to take specific measures individually.
[0008]
The present invention has been made in view of the above-described problems and the like, and is capable of measuring a traveling speed and traveling bend amount in consideration of all factors such as a rotation difference of a drive unit, a frame accuracy, and an alignment. It is an object of the present invention to provide a crawler-type vehicle running inspection device capable of measuring
[0009]
[Means for solving the problems and actions / effects]
In order to achieve the above object, a crawler type vehicle traveling inspection apparatus according to the present invention includes:
A crawler-type vehicle traveling inspection apparatus having crawler belts on both the left and right sides of the vehicle, the apparatus including a copying rotation apparatus configured to include a rotating body that rotates following the circular movement of the crawler belt. A measuring unit that is arranged to support the vehicle via the body and is movable at least in the thrust direction of the rotating body, and that measures the amount of movement of the scanning rotating device or a load during the movement, and the rotation Detection means for detecting the rotational speed of the body is provided.
[0010]
In the present invention, when the vehicle is placed on the inspection device, the crawler tracks on both sides of the vehicle are supported by the copying rotation device via the rotating body, and the vehicle does not move back and forth by a fixing means such as a wire rope. To be fixed. In such a fixed state, the crawler belt is driven so as to advance the vehicle straight forward or backward, and the rotating body is rotated following the circular motion of the crawler belt at this time. Then, the detection means for detecting the rotational speed of the rotating body obtains the rotational difference between the left and right crawler belt drive units in a state in which a load such as the vehicle weight is applied as well as the traveling speed of the vehicle. A running bend amount is calculated from the difference.
[0011]
On the other hand, the amount of travel bend caused by a frame accuracy defect or alignment defect is calculated based on a measurement result by a measuring unit that measures a movement amount of the scanning rotation device or a load at the time of movement. In other words, the traveling direction of the crawler belt alone and the straight traveling direction of the vehicle are shifted due to the frame accuracy or alignment failure, but the thrust direction component force from the track to the rotating body caused by this shift is used as the movement amount of the copying rotation device. The travel bend amount is calculated from the movement amount of the copying rotating device or the measurement result of the moving load indirectly or indirectly as a load when the copying rotating device moves.
[0012]
From the travel bend amounts calculated in this way, the travel bend amount when factors causing the travel bend (such as a difference in rotation of the left and right drive units, poor frame accuracy, poor alignment of the crawler belt support portion) are obtained simultaneously. Therefore, according to the present invention, it is possible to measure the running bend amount that takes into account all factors such as the rotation difference of the left and right drive unit, the frame accuracy, the alignment of the crawler belt support portion, and the actual running inspection in the running test on the device. You can get the data of the near running curve. In addition, a wide field required in the conventional actual running inspection is not required, and the inspection space is small, and it is possible to install in the middle of the assembly line and perform in-line inspection.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Next, a specific embodiment of a crawler type vehicle traveling inspection apparatus according to the present invention will be described with reference to the drawings. In this embodiment, a hydraulic excavator (hereinafter simply referred to as “vehicle”), which is a type of crawler type vehicle, is an inspection target.
[0014]
FIG. 1 shows an external perspective view of a crawler-type vehicle running inspection apparatus according to an embodiment of the present invention. FIG. 2 is an explanatory diagram of the structure of the crawler-type vehicle running inspection device of this embodiment.
[0015]
As shown in FIG. 2, the vehicle 1 according to the present embodiment is provided so as to be turnable with respect to the lower traveling body 2 and the lower traveling body 2, and the cab 4, the work machine 5, and the like are attached. The upper revolving body 3 is configured. On both the left and right sides of the lower traveling body 2, crawler belts 6A and 6B for moving the vehicle body forward and backward or turning are provided. The crawler belts 6A and 6B are wound around the idler of the driven wheel and the sprocket of the driving wheel (both not shown) around the undercarriage, and the idler and the sprocket are driven by the rotation of the sprocket driven by the driving unit. In this way, the vehicle body runs or turns.
[0016]
As shown in FIG. 1 and FIG. 2, the crawler-type vehicle running inspection device 10 of the present embodiment has two units of the same structure provided independently so as to correspond to the left and right crawler belts 6 </ b> A and 6 </ b> B in the vehicle 1. Scanning rotation devices 11A and 11B. Each of the scanning rotation devices 11A and 11B is a device having a structure similar to a free conveyor, and includes trough-like support tables 21 and 21 and a rotating body 22A that is rotatably attached to the support tables 21 and 21. , 22B. In the copying rotation devices 11A and 11B, when the crawler belts 6A and 6B are driven on the copying rotation devices 11A and 11B, the crawler belts 6A are in uniform rolling contact with the ground contact surfaces of the crawler belts 6A and 6B. , 6B and the required number of rotating bodies 22A, 22B are arranged in tandem on the support bases 21, 21 so as to rotate following the circular motion of 6B, and the vehicle 1 is supported by the support bases 21, 21 via the rotary bodies 22A, 22B. Have been to.
[0017]
Each of the rotating bodies 22A and 22B is capable of rotating a support shaft 23, a plurality of (four in the present embodiment) rotating wheels 24 arranged in the axial direction of the support shaft 23, and the support shaft 23. Are provided with bearing devices 25, 25 for supporting the above. Here, the rotating wheel 24 includes a wheel portion 24a and a relatively small tire 24b fitted on the wheel portion 24a. The wheel portion 24a and the support shaft 23 are torque transmission means such as a key or a spline. Are bound by. The bearing devices 25 and 25 are fixed to a bracket provided on the support base 21 by bolt fastening. Further, in order to restrict the movement of the rotating bodies 22A and 22B in the thrust direction with respect to the support base 21, spacers 26 are provided between the adjacent rotating wheels 24 and between the rotating wheels 24 and the bearing device 25, respectively. Each spacer 26 is mounted so as to be fitted to the outside of the support shaft 23.
[0018]
Sprockets 27 are attached to the support shafts 23, and the sprockets 27 are connected by a chain 28. In this way, a rotation difference is prevented from occurring in the plurality of rotating bodies 22A and 22B arranged in tandem.
[0019]
In addition, a required number of linear guides 29, which are a kind of linear motion guide mechanism interposed between the support table 21 and the floor 35, are attached to the support table 21 at a required position. , 11B are movable in the thrust direction of the rotating bodies 22A, 22B. Unless otherwise specified, the “thrust direction” means “the thrust direction of the rotating bodies 22A and 22B”.
[0020]
In the present embodiment, there is provided measuring means for measuring the amount of movement in the thrust direction of each of the scanning rotation devices 11A and 11B. That is, the linear displacement measuring devices 30 and 30 are attached to the respective support bases 21 and 21, and the linear displacement measuring devices 30 and 30 can measure the amount of movement in the thrust direction of the copying rotation devices 11A and 11B. Yes. Here, as the linear displacement measuring instrument 30, for example, a linear scale adopted in the present embodiment, a linear displacement type potentiometer, or the like is used.
[0021]
In the present embodiment, detection means for detecting the rotational speeds of the rotating bodies 22A and 22B in the scanning rotation devices 11A and 11B is provided. That is, encoders 31 and 31 are connected to any one of the support shafts 23 and 23 in each of the scanning rotation devices 11A and 11B, and the rotary body is detected by detecting the rotation speed of the support shafts 23 and 23 with the encoders 31 and 31. The rotational speeds of 22A and 22B are detected.
[0022]
Next, regarding the traveling inspection by the crawler-type vehicle traveling inspection apparatus 10 of the present embodiment, (A) the cause of the traveling bend, (B) the bend inspection principle, and (C) the formation of the inspection method will be described. I will make it clear.
[0023]
(A) Cause of traveling bend Since the vehicle 1 is steered by the rotation difference between the left and right crawler belts 6A and 6B, the left and right drive units always have independent speed conversion mechanisms. Therefore, when driving straight, it is necessary for the left and right drive units to rotate at the same rotational speed. In addition to the difference in rotation of the drive unit, the frame 2a that supports the left and right crawler belts 6A and 6B has an inaccuracy (displacement indicated by symbols L and L 'in FIG. Even the straightness, that is, the deviation of the straight line (alignment) connecting the drive unit and the driven unit (the shift indicated by the symbol α in FIG. 3B) also results in a running curve.
[0024]
(B) Bending Inspection Principle When the vehicle 1 is placed so as to straddle the left and right scanning rotation devices 11A and 11B and the crawler belts 6A and 6B are driven in a state where the vehicle 1 is fixed so as not to move back and forth, the left and right scanning rotations The rotating bodies 22A and 22B in the devices 11A and 11B are rotated following the circular motion of the crawler belts 6A and 6B. The rotation difference between the rotating bodies 22A and 22B in the left and right scanning rotation devices 11A and 11B at that time appears as a rotation difference between the left and right drive units of the vehicle 1. If the frame 2a has poor accuracy or misalignment, the copying rotation devices 11A and 11B try to shift in the thrust direction. A malfunction of the frame system is detected based on the amount of deviation at that time.
[0025]
The inspection method in the present embodiment is based on the following three points of view based on the inspection principle (B) based on the cause of the traveling bend (A).
[0026]
(C) Establishment of inspection method (concept (1))
The suspension part including the left and right crawler belts 6A and 6B is inspected as separate left and right driving bodies. That is, as shown in FIG. 4A, for example, when the crawler belt 6A is driven in the forward direction (the direction of arrow P in the figure) with the undercarriage portion including the right crawler belt 6A fixed so as not to move in the front-rear direction. The right scanning rotating device 11A has a thrust indicated by an arrow Q due to a thrust direction component force generated by a deviation angle α between the traveling direction of the right driver and the straight traveling direction of the vehicle 1 due to the accuracy failure or alignment failure of the frame 2a. The amount of movement at this time is measured. The amount of movement of the left driver is also measured, and the amount of bending during actual running is calculated from the difference between the two measured values. As a measurement example, for example, when the relationship between the movement amount CR of the right-hand scanning rotation device 11A and the movement amount CL of the left-hand scanning rotation device 11B shown in FIG. 4B is CR> CL, the vehicle bends in the A direction. When CR <CL, the vehicle bends in the B direction, and when CR = CL, the vehicle goes straight.
[0027]
(Concept ▲ 2 ▼)
The rotational speeds of the rotating bodies 22A and 22B that rotate following the crawler belts 6A and 6B are measured separately corresponding to the left and right crawler belts 6A and 6B. At this time, the rotational difference between the left and right crawler belts 6A and 6B in a state where a load such as a vehicle weight is applied is measured. In the prior art, when the left and right crawler belts 6A and 6B are floated, when the crawler belts 6A and 6B are operated without load (empty operation), the difference in rotation between the left and right crawler belts 6A and 6B is obtained to determine the rotation difference of the drive unit. Although there is a measuring method, it is not possible to accurately measure the rotational difference of the drive unit in the actual running state. The reason is that the left and right crawler belts 6A and 6B are generally driven by independent hydraulic actuators, and the rotation difference between the left and right crawler belts 6A and 6B and the load such as the vehicle weight in an unloaded state where no load such as the vehicle weight is applied. This is because the difference in rotation between the left and right crawler belts 6A and 6B in the applied state does not necessarily match. As a measurement example, for example, the relationship between the rotational speed DR of the rotating body 22A in the right-handed scanning rotating device 11A shown in FIG. 4B and the rotational speed DL of the rotating body 22B in the left-handed scanning rotating device 11B is based on CR = CL. As a condition, when DR> DL, the vehicle turns in the A direction, when DR <DL, the vehicle turns in the B direction, and when DR = DL, the vehicle goes straight.
[0028]
(Concept ▲ 3 ▼)
In order to determine the total traveling bend from the above ideas (1) and (2), a combined inspection of the movement amount of the copying rotation devices 11A and 11B and the rotation difference of the drive unit is performed. This is because, during actual driving, the accuracy and alignment of the frame 2a, the difference in rotation of the drive unit, and the like are intricately involved. For example, the relationship between CR and CL shown in FIG. When the relationship between DL and DL is DR <DL and the traveling bend caused by each relationship acts simultaneously, the vehicle 1 may go straight. Even if conditions such as the actual problem, the accuracy and alignment of the frame 2a, and the synchronization performance of the left and right drive units are bad, if the bad conditions work together to cancel each other and the vehicle 1 goes straight in actual driving, it is a good product and there is no problem, On the contrary, if it works so that bad conditions overlap, the vehicle 1 may bend greatly and it becomes a bad product. Therefore, the amount of travel bend is determined comprehensively from the measurement results brought about by the ideas (1) and (2).
[0029]
Based on the above ideas (1) to (3), in the present embodiment, the running inspection is performed as follows. First, the crawler belts 6A and 6B on both the left and right sides of the vehicle 1 are placed on the copying rotation devices 11A and 11B so as to be supported by the support bases 21 and 21 via the rotating bodies 22A and 22B, respectively, for example, wire ropes (not shown). ) Is fixed so as not to move back and forth, and the crawler belts 6A and 6B are driven so that the vehicle 1 moves straight forward or backward. At this time, the rotating bodies 22A and 22B are rotated following the circular motion of the crawler belts 6A and 6B, and the rotation speeds are detected by the encoders 31 and 31. Based on the number of revolutions detected by the encoders 31 and 31, a rotational speed of the vehicle 1 and a rotational difference between the driving units of the left and right crawler tracks 6A and 6B in a state where a load such as a vehicle weight is applied are obtained. Calculate the amount. On the other hand, the travel bend amount resulting from the accuracy failure or alignment failure of the frame 2a is calculated from the measurement result of the thrust direction movement amount of each of the scanning rotation devices 11A, 11B by the linear scales 30, 30. From the travel bend amounts thus calculated, the travel bend amount when factors causing travel bend (rotational difference of the left and right drive parts, poor accuracy of the frame 2a, poor alignment of the crawler belt support portion, etc.) are obtained simultaneously.
[0030]
According to the present embodiment, it is possible to measure the amount of travel bend taking into account all factors such as the rotation difference of the left and right drive unit, frame accuracy, alignment of the crawler belt support portion, etc. You can get the data of the near running curve. Therefore, the wide field required in the conventional actual running inspection becomes unnecessary, and in-line inspection is also possible.
[0031]
In the present embodiment, when the travel bend amount due to the accuracy failure or alignment failure of the frame 2a is obtained, the movement amount in the thrust direction of the scanning rotation devices 11A and 11B is measured. It is not limited to this, and the load during movement of the scanning rotation devices 11A and 11B in the thrust direction may be measured, and the travel bend amount may be calculated from the obtained load measurement value. For example, a load cell is used to measure the load in this case.
[0032]
Further, in this embodiment, in the copying rotation devices 11A and 11B, the portions that rotate following the crawler belts 6A and 6B are configured by rotating bodies 22A and 22B formed by combining small-diameter tires in tandem arrangement. However, the portion that rotates following the crawler belts 6A and 6B may be configured as an endless belt.
[0033]
In addition, a known rotation mechanism, swing mechanism, or a combination of both mechanisms is provided between the support base 21 and the linear guide 29 so that the support base 21 can rotate and swing with respect to the linear guide 29. It is good also as a structure to accept | permit. By doing so, the scanning rotation devices 11A and 11B can be smoothly moved without being disturbed, and the travel bend amount can be measured more accurately.
[0034]
Further, instead of the linear guide 29, a resin or metal sliding material may be used, and the copying rotation devices 11A and 11B may be provided so as to be movable with respect to the sliding material.
[Brief description of the drawings]
FIG. 1 is an external perspective view of a crawler-type vehicle running inspection apparatus according to an embodiment of the present invention.
FIG. 2 is an explanatory diagram of the structure of the crawler-type vehicle running inspection device of the present embodiment.
FIG. 3 is a diagram for explaining a cause of traveling bend;
FIG. 4 is a diagram for explaining the formation of an inspection method according to the present embodiment.
[Explanation of symbols]
1 Vehicle 2 Lower traveling body 6A, 6B Crawler track (right, left)
10 crawler-type vehicle running inspection devices 11A, 11B copying and rotating devices (right, left)
22A, 22B Rotating body (right, left)
29 Linear guide 30 Linear displacement measuring instrument (linear scale)
31 Encoder

Claims (1)

A crawler-type vehicle traveling inspection apparatus having crawler belts on both the left and right sides of the vehicle, the apparatus including a copying rotation apparatus configured to include a rotating body that rotates following the circular movement of the crawler belt. A measuring unit that is arranged to support the vehicle via the body and is movable at least in the thrust direction of the rotating body, and that measures the amount of movement of the scanning rotating device or a load during the movement, and the rotation A crawler-type vehicle running inspection device, characterized by comprising a detecting means for detecting the rotational speed of the body.

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