JP2002227246A - Operating vehicle available on irregular ground - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an operating vehicle available on irregular ground, which can stably carry out operation even on inclined irregular ground, and can hold a revolving superstructure in a horizontal position. SOLUTION: According to the operating vehicle available on the irregular ground, right and left caterpillar frames (4b, 4a) of right and left caterpillar devices (3b, 3a) are rockably connected to right and left sides of a center base frame (2), respectively, by a plurality of four-node link devices (11) which implement rotatable connection via spherical joints (16) at both ends of the respective link devices (11). Then, the right and left caterpillar frames (4b, 4a) are rotatably connected to the center base frame (2) by a pair of rocking hydraulic cylinders (20, 20) which are diagonally arranged at front and rear locations of the base frame in a mutually facing manner, via spherical joints at both ends of the respective cylinders (20, 20). Further, a revolving superstructure mounting table (31) with the revolving superstructure (2) revolvingly mounted thereon is mounted on an upper surface of the center base frame (2), via a position control device (30) which is tiltable in all directions.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an attitude control device for leveling an upper revolving structure of an endless track type work vehicle having an upper revolving structure on an irregular or inclined surface.

[0002]

2. Description of the Related Art There have been proposed various types of attitude control devices for leveling an upper revolving structure of a revolving excavator on uneven terrain or sloping terrain. One example is Japanese Patent Application Laid-Open No. 55-138523. No. and JP-A-63-227
No. 481.

FIG. 10 shows a first example of Japanese Patent Laid-Open No. 55-13852.
Crawler-type turning excavator attitude control device 5 disclosed in No. 3
0 is a front sectional view. In FIG. 10, an outer drum 52 surrounding the center of rotation of the upper swing body 6 is fixed to a track frame 51 around the underbody, and an inner drum 53 is swayed to the left and right by a horizontal shaft 54 provided in the front and rear direction on the outer drum 52. Mounted freely. A swivel ring support drum 55 to which the swivel ring 7 on which the upper swing body 6 is mounted is attached to the inner drum 53 so as to be swingable in the front-rear direction by a horizontal shaft 56 provided in the left-right direction. The track frame 51 and the inner drum 53 are the first
The inner drum 5 is connected by a posture control cylinder 57.
3 and the turning ring support drum 55 are connected by a second attitude control cylinder 58. Therefore, the first and second
By expanding and contracting the attitude control cylinders 57 and 58, the upper swing body 6 can be inclined in an arbitrary direction. Therefore, when the turning excavator works on an inclined ground or the like, even if the track frame 51 is inclined, the turning ring 7 can be horizontal, and the turning moment of the upper turning body 6 can be reduced. According to the present proposal, a tilt sensor (not shown) is provided to detect the tilt angle of the upper-part turning body 6, and a signal is sent to the servo valve via a discriminating circuit and an amplifier. The horizontal control of the upper-part turning body 6 is automatically performed by expanding and contracting the upper part 58 by a predetermined amount.

FIG. 11 shows a second example of Japanese Patent Application Laid-Open No. 63-22748.
1 is a front sectional view of a backhoe horizontal control device 60 disclosed in No. 1 and FIG. 12 is a plan view. 11 and 12
, A pair of crawler devices 62, 62 are disposed on the left and right sides of the body 61, and a parallel link device 65 including upper and lower parallel link members 64 connecting the body 61 and the track frame 63 of the crawler device 62 is provided at a plurality of front and rear positions. They are arranged in parallel. A pair of right and left hydraulic cylinders 66, 66 for connecting the body 61 in the left-right direction and a substantially central portion of a connecting member 65 for connecting the front and rear link members 64 are provided. Therefore, by expanding and contracting the left and right hydraulic cylinders 66, 66, the parallel link device 65 is swung, and as shown in FIG. 11, the ground contact surface height of the left and right crawler devices 62, 62 can be changed. Therefore, the body 61 can be held horizontally on a slope.

[0005]

However, in both the first and second examples, the left and right crawlers are always held parallel to each other. Therefore, when there is a difference between the angles of the grounding surfaces of the right and left endless tracks, it becomes unstable.
FIG. 13 is an explanatory diagram of a vehicle unstable state. In FIG. 13, the angle of the ground inclined surface of the right endless track 5b of the rough terrain vehicle 1 is set to β, the angle of the ground inclined surface of the left endless track 5a is set to γ, and β <γ, as shown in FIG. Is ahead,
When the position of the center of gravity is forward, the right endless device 5b touches the ground at the front and rear M and N2 points, but the left endless track 5a touches only the front M point and the N point floats. That is, the uneven terrain vehicle 1 is brought into a three-point contact state, and if the center of gravity moves during the operation, the balance is lost, and there is a danger that the vehicle will become unstable. Although the figure shows a state in which the vehicle is rising forward, a similar phenomenon occurs even when the vehicle is inclined sideways.

The present invention has been made in view of the above-mentioned problems, and enables four-point grounding of the crawler track even on uneven terrain to provide good stability. It aims to provide a possible off-road vehicle.

[0007]

SUMMARY OF THE INVENTION In order to achieve the above object, a first aspect of the present invention is to provide a crawler type irregular terrain work vehicle provided with an upper revolving structure having a working machine. Left and right endless track running devices of left and right endless track running devices are swingably connected to left and right sides, respectively, so that the left and right endless track running devices can move and swing in the vertical direction respectively. An upper revolving body mounting table for mounting a revolving ring for rotatably supporting the upper revolving body on the upper side of the center base frame is provided with a swingable connecting mechanism provided with a joint link device. A configuration is provided with a posture control device that enables tilting.

According to the first aspect of the present invention, since the endless track traveling device is provided with a swingable connecting mechanism for swinging, the endless track on the right and left endless tracks is formed on four points on an irregular slope where the grounding surfaces are not plane. It can be grounded, and the stability of the work vehicle can be ensured. In addition, since the attitude control device of the upper revolving body mounting table is provided, the upper revolving superstructure can be made horizontal after the endless track is grounded at four points on an inclined ground or the like, and work can be performed in a stable state. Can be reduced.

According to a second aspect based on the first aspect, the swingable connection mechanism includes a plurality of sets of four-joint link devices for connecting the center base frame and the left and right endless track frames via ball joints. And a pair of telescopic rocking hydraulic cylinders, which are disposed diagonally opposite each other at the front and rear positions of the left and right sides and connect the center base frame and the left and right endless track frames via ball joints, respectively. The left and right endless track traveling devices can be moved vertically by the simultaneous expansion and contraction of the pair of telescopic rocking hydraulic cylinders, and the left and right endless track hydraulic cylinders can be moved by the relative expansion and contraction of the pair of telescopic rocking hydraulic cylinders. , And the right endless track traveling device can swing vertically.

According to the second aspect of the present invention, the endless track traveling device can be moved up and down by expanding and contracting or contracting both of the pair of front and rear hydraulic cylinders. By extending or contracting one of the cylinders, or extending one of the cylinders and contracting the other, the endless track traveling device can be swung up and down, and a swingable connection mechanism with a simple structure can be obtained. Also,
Since the oscillating hydraulic cylinder is disposed obliquely, the overall length can be increased, a sufficient stroke can be secured, and the oscillating angle of the endless track traveling device can be increased.

According to a third aspect of the present invention, there is provided a horizontal detector mounted on the upper revolving unit, an operating oil pressure detector provided on each of the swing hydraulic cylinders, and detection signals from the horizontal detector and the operating oil pressure detector. And a controller that outputs a control signal to the attitude control device and / or each swing hydraulic cylinder after a predetermined calculation.

According to the third aspect, the level of the upper revolving superstructure can be detected by the horizontal detector, and the upper revolving superstructure can be automatically leveled by controlling the attitude control device according to a control signal from the controller. Also, by detecting the operating oil pressure of each swing hydraulic cylinder by the operating oil pressure detector, it is possible to determine whether or not the endless track traveling device is at four-point grounding, and automatically and surely at four-point grounding. Can be done.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, an embodiment of an irregular terrain vehicle according to the present invention will be described in detail with reference to the drawings.

FIG. 1 is a side view of the lower part of an example of an uneven terrain work vehicle 1 provided with a swingable connecting mechanism 10 and a posture control device 30 according to the present invention, FIG. 2 is a plan view, and FIG. FIG. In FIGS. 1, 2 and 3, the left and right endless track frames 4a and 4b of the left and right endless track traveling devices 3a and 3b are connected to the left and right sides of the center base frame 2 via a swingable connecting mechanism 10 on the left and right sides. Each is mounted to be movable and swingable in the vertical direction. On the upper side of the center base frame 2, an upper revolving body mounting table 31 having a revolving ring 7 for rotatably supporting the upper revolving body 6 is mounted via a posture control device 30 so as to be tiltable in any of front, rear, left and right directions. ing. Left and right endless tracks 5a, 5b are wound around the left and right endless track frames 4a, 4b.

The swingable connecting mechanism 10 is a four-joint link device for connecting the left and right endless track frames 4a, 4b to the center base frame 2 in four sets of one row, two rows, three rows, and four rows, respectively. 11, 11, 11, 11, and a four-node link device 11 having one and two rows on the left and right, and three and four rows,
11, a pair of left and right swing hydraulic cylinders 20, 2 arranged diagonally opposite to each other and connecting the center base frame 2 and the left and right endless track frames 4 a, 4 b.
Consists of zero. The four-bar linkage device 11 includes a first bracket 12 fixed to a side surface of the center base frame 2.
And two parallel links 14, 14 connecting the second bracket 13 fixed to the endless track frames 4a, 4b.
And consists of

FIG. 4 is a cross-sectional view of the link 14. Both ends of the link 14 have the first bracket 12 and the second bracket 1.
3 are rotatably attached to the base 3 by connecting pins 15, 15 via ball joints 16, 16.

FIG. 5 is a partial sectional view of the swing hydraulic cylinder 20. The distal end of the rod 21 of the swing hydraulic cylinder 20 is rotatably attached to a third bracket 22 fixed to the center base frame 2 via a ball joint 16 with a connecting pin 15. A ball joint 23 provided at the rear end of the oscillating hydraulic cylinder 20 is rotatably mounted on ball bearings 24 fixed to the left and right endless track frames 4a, 4b. As shown in FIG. 5, the center of the ball joint 16 at the tip of the rod 21 of the rocking hydraulic cylinder 20 is located at the center of the lower connection pin 15 of the first bracket 12 of the center base frame 2 of the four-joint link device 11. It is located on the line. Also, the ball joint 2 at the rear end of the swing hydraulic cylinder 20
The center of 3 is located on the center line of the upper connecting pin 15 of the second bracket 13 of the endless track frames 4a, 4b.

FIG. 6 is a partial cross-sectional side view of an example of the attitude control device 30, and FIG. 7 is a view taken along the line BB of FIG. 6 and 7, an annular body 33 is provided on the center base frame 2 by a pair of first pins 32, 32 arranged on the left and right.
Are mounted to be swingable in the front-rear direction. Annular body 33
The upper revolving unit mounting table 31 is attached to the first swinging member 31 so as to be swingable in the left-right direction by a pair of second pins 34 arranged in front and rear. The center base frame 2 is located close to the inside of the first pins 32, 32 and the second pins 34, 34.
There are provided four attitude control hydraulic cylinders 35, 35, 35, 35 for connecting the upper revolving structure mounting table 31 to the upper structure. The upper and lower ends of the attitude control hydraulic cylinder 35 are rotatably mounted via ball joints 36 and 37, respectively. The revolving ring 7 is mounted on the upper surface of the upper revolving unit mounting table 31, and the upper revolving unit 6 is mounted on the upper surface of the revolving ring 7.

Next, the operation of the swingable coupling mechanism 10 will be described. FIG. 8 is an explanatory diagram of the operation. In FIG.
First, when the rear swing hydraulic cylinder 20 on the left endless track traveling device 3a side is extended and the front swing hydraulic cylinder 20 is contracted, as shown in FIG.
a is a slope that rises in front and descends in back
-Ground to a. Next, the front swing hydraulic cylinder 20 on the right endless track traveling device 3b side is extended and the rear swing hydraulic cylinder 20 is contracted, so that the right endless track traveling device 3b falls forward, rises rearward, and falls forward. Inclined plane bb
Connect to ground. Accordingly, in this state, the left and right endless track traveling devices 3a and 3b can contact the ground having different inclinations by the angle α. As described above, the swing hydraulic cylinder 20
The left and right endless track traveling devices 3a,
3b can be grounded on the ground having different inclinations and directions. When the front and rear contact surfaces of the left and right endless track traveling devices 3a and 3b are in contact with the ground, that is, when they are in contact with four points, the operating hydraulic pressure of the front and rear swing hydraulic cylinders 20 is a predetermined hydraulic pressure. Are equal. However, when any one of the parts is not grounded, that is, in the case of three-point grounding, the operating hydraulic pressure of the rocking hydraulic cylinder 20 at the part that is not grounded is low. Therefore, by detecting the operating oil pressure of the swing hydraulic cylinder 20, it is possible to determine the contact state of the left and right endless track traveling devices 3a and 3b. Further, when the rear swing hydraulic cylinder 20 on the left endless track traveling device 3a side is extended and the front swing hydraulic cylinder 20 is extended at the same time, the left track traveling device 3a rises upward, and the left track traveling device 3a rises. When the rear swing hydraulic cylinder 20 on the 3a side is reduced, and simultaneously the front swing hydraulic cylinder 20 is reduced, the left endless track traveling device 3a is lowered.

Next, the operation of the attitude control device 30 will be described. 6 and 7, if one of the front and rear posture control hydraulic cylinders 35, 35 is extended and the other is contracted, the annular body 33 swings back and forth around the first pins 32, 32. The upper revolving body mounting table 31 also swings back and forth. If one of the left and right attitude control hydraulic cylinders 35, 35 is extended and the other is contracted, the upper swing body mounting table 31 swings left and right about the second pins 34, 34. Therefore, by extending and retracting the four attitude control hydraulic cylinders 35, the upper swing body mounting table 31 can be tilted in any of the front, rear, left and right directions. Therefore, when the center base frame 2 is inclined on a slope, the upper swing body 6 can be made horizontal.

FIG. 9 is a control system diagram of the swingable coupling mechanism 10 and the attitude control device 30. In FIG. 9, a horizontal detector 40 is provided on the upper turning body 6 of the rough terrain vehicle 1. Four oscillating hydraulic syringes 20, 20, 20, 2
An operation oil pressure detector 41 is attached to each of the zeros. The swing solenoid valve 42 is connected to each swing hydraulic cylinder 20, and the attitude control solenoid valve 43 is connected to each attitude control hydraulic cylinder 35. Each valve is connected to a hydraulic source (not shown). The controller 44 is connected to the horizontal detector 40 and the operating oil pressure detector 41, inputs a detection signal, performs a predetermined calculation, and performs a predetermined operation.
2 and a control signal to the attitude control electromagnetic valve 43.

Next, the control will be described. On uneven terrain, the controller 44 receives a detection signal from the operating oil pressure detector 41 and outputs a control signal to the oscillating solenoid valve 42 when there is the oscillating hydraulic cylinder 20 that does not reach a predetermined operating pressure. The predetermined hydraulic cylinders 20 are controlled so that the operating hydraulic pressure of each hydraulic cylinder 20 becomes a predetermined pressure. Next, the controller 44
Receives a detection signal from the horizontal detector 40, and when the upper swing body 6 is not horizontal, a predetermined attitude control electromagnetic valve 43
To control the upper revolving unit 6 horizontally by extending and retracting the attitude control hydraulic cylinder 35. The above control is automatically performed.

Since the irregular terrain vehicle according to the present invention is configured as described above, the following effects can be obtained. The center base frame and the left and right endless track running device are connected by a four-joint link with ball joints at both ends, and the hydraulic cylinder for swinging is connected and disconnected, so that the left and right endless track running device can be moved and swung up and down. Thus, four-point grounding is possible even on the ground where the angles of the grounding surfaces of the left and right endless tracks are different, and the stability of the vehicle can be improved.
In addition, since the center base frame and the left and right endless track traveling devices are connected by the swinging hydraulic cylinders that face each other diagonally, a large cylinder stroke can be obtained. With the attitude control device that makes the upper revolving structure horizontal in accordance with the swingable connection mechanism, the vehicle is stabilized on uneven terrain and the upper revolving structure is made horizontal to reduce the turning moment of the upper revolving structure. Can be smaller. A horizontal detector is provided on the upper revolving unit, an operating oil pressure detector is provided on the swing hydraulic cylinder, a detection signal is input and operated, and a controller is provided to output a control signal to each operating hydraulic cylinder. The four-point grounding of the track running device and the horizontal control of the upper revolving superstructure can be automatically performed, and the operation becomes extremely easy.

Although the above-described control has been described as an example in which the control is automatically performed, the operator operates the hydraulic control valve by looking at the detection signals from the horizontal detector and the operating hydraulic pressure detector without using the controller. You may do it.

In the present embodiment, four sets of four-link units are used on one side, but other sets may be used.

[Brief description of the drawings]

FIG. 1 is a side view of a lower part of an all-terrain vehicle equipped with a swingable coupling mechanism and a posture control device according to the present invention.

FIG. 2 is a plan view of a lower part of an all-terrain vehicle equipped with the swingable connection mechanism and the attitude control device of the present invention.

FIG. 3 is a view as viewed in the direction of arrows AA in FIG. 1;

FIG. 4 is a sectional view of a link.

FIG. 5 is a partial sectional view of a swing hydraulic cylinder.

FIG. 6 is a partial side sectional view of the attitude control device.

FIG. 7 is a view taken in the direction of arrows BB in FIG. 6;

FIG. 8 is an operation explanatory view of the swingable connection mechanism.

FIG. 9 is a control system diagram of the swingable connection mechanism and the attitude control device.

FIG. 10 is a cross-sectional view of a first example of a conventional attitude control device of a turning excavator.

FIG. 11 is a front sectional view of a second example of a conventional backhoe horizontal control device.

FIG. 12 is a plan view of a second conventional backhoe horizontal control device.

FIG. 13 is an explanatory diagram of a problem of the conventional turning excavator.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Uneven ground work vehicle, 2 ... Center base frame, 3a ... Left endless track running device, 3b ... Right endless track running device, 4a ...
Left endless track frame, 4b ... Right endless track frame, 5a
... Left endless track, 5b ... Right endless track, 6 ... Top revolving superstructure, 7
... Revolving ring, 10... Swingable connecting mechanism, 11... Four-link device, 12... First bracket, 13.
6, 37 ... ball joint, 20 ... swing hydraulic cylinder, 22 ...
Third bracket, 24: ball bearing, 30: attitude control device,
31: Upper revolving body mounting table, 33: Annular body, 35 ...
Attitude control hydraulic cylinder, 40: horizontal detector, 41: operating oil pressure detector, 42: swing solenoid valve, 43: attitude control solenoid valve, 44: controller.

Claims (3)

[Claims] In a crawler type irregular terrain work vehicle (1) provided with an upper rotating body (6) having a working machine, a left and right endless track traveling device (3a) is provided on both left and right sides of a center base frame (2). , 3b)
The left and right endless track frames (4a, 4b) are swingably connected, and the left and right endless track traveling devices (3a, 3b) can move and swing in the vertical direction, respectively. A swingable connecting mechanism (10) provided with a link device (11) is provided, and an upper revolving unit is provided above the center base frame (2).
The revolving body mounting table (31) to which a revolving ring (7) for revolvingly supporting the (6) is attached is provided with a posture control device (30) capable of tilting freely in front, rear, left and right directions. And rough terrain work vehicle. 2. The work vehicle according to claim 1, wherein the swingable connection mechanism (10) includes a center base frame (2).
Sets of four-bar linkages (11) that connect the left and right endless track frames (4a, 4b) via ball joints (16), respectively
And the center base frame (2) and the left and right endless track frames (4a, 4b) are connected via ball joints (16, 23) respectively. A pair of telescopic swing hydraulic cylinders (20)
Simultaneous expansion and contraction of the pair of telescopic rocking hydraulic cylinders (20) enables the left and right endless track traveling devices (3a, 3b) to move up and down, respectively, and the pair of telescopic rocking hydraulic cylinders. An uneven terrain vehicle wherein the left and right endless track traveling devices (3a, 3b) can swing up and down, respectively, by the relative expansion and contraction of (20). 3. The irregular terrain vehicle according to claim 2, wherein a horizontal detector (40) attached to the upper swing body (6);
An operating oil pressure detector (41) provided for each swing hydraulic cylinder (20), a horizontal detector (40) and an operating oil pressure detector (41)
And after a predetermined calculation, the attitude control device (30) and / or the respective swing hydraulic cylinder
An uneven terrain vehicle comprising: (20) a controller (44) for outputting a control signal.