JP2008000026A - Crawler traveling device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a crawler traveling device capable of switching a lifting height specification providing a large lifting height, and a lifting power specification providing a large lifting power by using the same hydraulic cylinder and the same stroke. <P>SOLUTION: Pins 25 and 27 capable of connecting the hydraulic cylinder 15 so as to change the turning radius centering a turning axis 22R are installed in a driving arm part 14R of a link 12R. The link 12R can be set to the first specification of dividing the driving arm part 14R to the front and the rear of the driving shaft 22R, and the second specification of carrying out the turning only at the rear part of the driving shaft 22R. In the lifting power specification, the link 12R is set to the second specification, and the hydraulic cylinder 15 is connected to the pin 25 with a long turning radius of the driving arm part 14R, and in the lifting height specification, the link 12R is set to the first specification, and the hydraulic cylinder 15 is connected to the pin 27 of the driving arm part 14R. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a crawler traveling device that travels while supporting an airframe such as a combine, and more particularly to a mechanism for adjusting the relative height of the airframe with respect to a track frame.

  Combines equipped with a crawler traveling device that offsets the inclination of the left and right crawler traveling surfaces to hold the aircraft horizontally or cancels the sinking amount of the crawler traveling surfaces to maintain the aircraft height from the ground surface have been put into practical use. ing.

  Patent Document 1 discloses a crawler traveling device including a link member that has a drive arm portion and an action arm portion and is rotatably supported by a rotation shaft on the machine body side. Here, the action arm portion is attached to the track frame, and the cylinder device drives the drive arm portion to apply a torque around the rotation axis to the link member. Then, the relative height of the airframe with respect to the track frame is set according to the rotation position of the link member.

  In addition, a rod member is provided that connects the drive arm portions of the front and rear link members arranged along the track frame to link the rotation of the front and rear link members, and is transmitted to the rear link member. The driving force of the device rotates the front link member through the rod member. Since the front and rear link members constitute a parallel link mechanism, the front and rear link members rotate equally, and as the link member rotates, the airframe moves up and down while being held horizontally.

Japanese Patent Laid-Open No. 7-274670

  In the combine, the amount of subtraction of the crawler travel device varies depending on the softness of the field and the weight of the aircraft, so if the field is soft or the weight of the aircraft is large, the lift of the aircraft ( It is desirable to set a large maximum lifting width.

  However, in the crawler traveling device shown in Patent Document 1, when changing the amount of elevation of the airframe, either change to a cylinder device with a different stroke length (stroke) or change to a link member with a different arm length. Parts must be replaced.

  Therefore, it is necessary to prepare several types of parts with different dimensions and stroke lengths in order to finely set the amount of lifting according to the installation conditions of auxiliary equipment such as air conditioning cabins and knotters and the field environment of the shipping destination. .

  An object of the present invention is to provide a crawler traveling device that can set different lifting amounts using common parts and can change the lifting amount without replacement.

  The crawler traveling device according to claim 1 includes a track frame (11) that supports the wheel (19), a drive arm portion (14R), and an action arm portion (13R), and is turned on the side of the machine body (1). A link member (12R), which is rotatably supported by a shaft (22R), and the working arm portion (13R) is attached to the track frame (11), drives the drive arm portion (14R) and the link. A cylinder device (15) for applying a torque around the rotation shaft (22R) to the member (12R), and the track frame (11) and the machine body (12) according to the rotation position of the link member (12R). In the crawler travel device (2R, 2L) in which the relative height to 1) is set, the connecting structure (25, 27) for attaching the cylinder device (15) to the drive arm portion (14R) A plurality of arrangements are arranged on the drive arm portion (14R) with different turning radii around the shaft (22R), and a connection structure (27) having a small turning radius is selected, and a connection having a large turning radius is selected. A larger amount of lifting is ensured than when the structure (25) is selected.

  The crawler traveling device according to claim 2 includes a track frame (11) that supports the wheels (19), a drive arm portion (14R), and an action arm portion (13R), and is turned on the side of the machine body (1). A link member (12R), which is rotatably supported by a shaft (22R), and the working arm portion (13R) is attached to the track frame (11), drives the drive arm portion (14R) and the link. A cylinder device (15) for applying a torque around the rotation shaft (22R) to the member (12R), and the track frame (11) and the machine body (12) according to the rotation position of the link member (12R). In the crawler travel device (2R, 2L) in which the relative height with respect to 1) is set, the link member (12R) rotates the drive arm portion (14R) in accordance with the operation of the cylinder device (15). It is configured to be switchable between a first specification in which the enclosure is distributed before and after the rotation shaft (22R) and a second specification in which the rotation range is only on one side of the rotation shaft (22R). The first specification is selected to ensure a larger lifting amount than when the second specification is selected.

  In addition, although the code | symbol in the said parenthesis is for contrast with drawing, it does not have any influence on a claim by this.

  According to the first aspect of the present invention, since the same link member can be used with a plurality of drive arm lengths by changing the connection structure prepared in advance, the rotation of the link member by the same stroke by the cylinder device can be used. By changing the moving angle, it is possible to set a plurality of ascending / descending amounts for the airframe by combining the same link member and cylinder device.

  Therefore, parts of the cylinder device and link member can be shared between the lifting / lowering priority specification that sets a large lifting / lowering amount corresponding to the wet field and the lifting / lowering priority priority specification that provides a sufficient lifting force. The design and prototyping period can be shortened, and the part cost, assembly cost, and part storage cost can be reduced.

  According to the second aspect of the present invention, the same link member can be selectively used for the first specification and the second specification. For example, by reassembling the link member, a plurality of intersection angles between the drive arm portion and the action arm portion can be set. In the specification in which the rotation range of the drive arm portion is distributed before and after the rotation shaft, a large rotation angle of the drive arm portion using the same stroke by the cylinder device can be secured, so that a large rotation angle is set in the working arm portion. To secure a large amount of lift of the aircraft.

  On the other hand, the specification for rotating the drive arm part only on one side of the rotation axis, in particular, as will be described later, the state where the action arm part is leveled is the lowered position, and the drive arm part and the action arm part When the crossing angle is set to 90 degrees or less and is rotated on the 90-degree side, the working arm can exert the maximum torque against the horizontal maximum load (the lowered state of the aircraft), thus increasing the margin of lifting force. It can be secured. That is, the burden on the cylinder device when starting to raise the machine body from the lowered position is reduced. Since it is only necessary to select the cylinder device based on the reduced burden and the stress state and to design the strength of the link member, the cylinder device and the link member are reduced in size and weight, and through the expansion of the degree of assembly freedom due to the reduction in size, A crawler traveling device that is low in cost and excellent in maintainability can be provided.

  Hereinafter, a combine according to an embodiment of the present invention will be described with reference to the drawings. The crawler traveling device of the present invention is not limited to the limited configuration of the embodiments described below. As long as the airframe 1 is supported so as to be able to move up and down and the crawler travels, another embodiment in which a part or all of the configuration of the embodiment is replaced with the alternative configuration can be realized. The equipment for the combine 10 is not limited.

<Combine>
FIG. 1 is an external view of a combine according to an embodiment of the present invention viewed obliquely from the front. As shown in FIG. 1, the body 1 of the combine 10 of this embodiment is supported by a pair of left and right crawler travel devices 2L, 2R, and can travel even in a wetland or an uneven planting field.

  A threshing machine 5 that separates grains and the like from the harvested culm is mounted at the rear part of the machine body 1, and a pre-processing unit 3 that harvests the planted corn straw is disposed at the front part of the machine body 1. A driver's seat 4 is arranged at the right side in the traveling direction of the combine 10, and a storage tank 6 for temporarily storing grains separated by the threshing machine 5 is provided behind the driver's seat 4.

  The pair of left and right crawler traveling devices 2L, 2R support the left and right sides of the body 1 by independent lifting mechanisms, and the amount of lifting of the lifting mechanisms of the left and right crawler traveling devices 2L, 2R depends on the inclination and height of the body 1. It is automatically adjusted based on the detection result. Thereby, the body 1 is held horizontally at a certain height from the planting field scene regardless of the unevenness of the planting field, the difference in the amount of subsidence of the crawler travel devices 2L, 2R, and the like. Since the crawler traveling devices 2L and 2R are mechanically the same, the crawler traveling device 2L disposed on the left side in the traveling direction of the body 1 will be described below.

<Crawler traveling device>
FIG. 2 is an explanatory diagram of the configuration of the crawler traveling device in a state where the airframe is lowered, and FIG. 3 is an explanatory diagram of the configuration of the crawler traveling device in a state where the airframe is raised. As shown in FIG. 2, the crawler traveling device 2 </ b> L guides the inner circumference of the crawler 20 that is driven and circulated by the drive wheels 18 to a plurality of roller wheels 19 that are rotatably supported by the track frame 11. The track frame 11 is attached to the main frame 9 of the machine body 1 (FIG. 1) via front and rear links 12F and 12R that are pivotally supported by front and rear rotation shafts 22F and 22R, respectively.

  The main frame 9 of the airframe 1 (FIG. 1) is located at the interval between the left and right crawler travel devices 2L (2R), supports the front link 12F with the front rotation shaft 22F, and the rear rotation shaft. The rear link 12R is pivotally supported by 22R. The link 12F is a crank mechanism having a rotating shaft 22F as a rotating shaft, and the working arm portion 13F arranged outside and the driving arm 14F arranged inside are fixed by the rotating shaft 22F and rotated together. Move. Similarly, the link 12R is a crank mechanism having a rotation shaft 22R as a rotation shaft, and an action arm portion 13R arranged outside and a drive arm portion 14R arranged inside are fixed by the rotation shaft 22R. Rotate together.

  The action arm portion 13F of the link 12F is attached to the track frame 11 with a rotation shaft 23F, and the action arm portion 13R of the link 12R is attached to the track frame 11 with a rotation shaft 23R. As shown in FIG. 2, the state in which the action arm portions 13F and 13R are horizontally rotated is the state in which the airframe 11 is lowered most. And as shown in FIG. 3, the state which turned the front end side of the action | operation arm parts 13F and 13R about 40 degree | times is the state which raised the body 11 most.

  An output shaft 26 of the hydraulic cylinder 15 is connected to the distal end side of the rear drive arm portion 14R using a pin 25. The attachment portion 21 of the hydraulic cylinder 15 is attached to the main frame 9 so as to be rotatable. As shown in FIG. 2, the hydraulic cylinder 15 pushes the drive arm portion 14R horizontally to start raising the main body 1 (FIG. 1), and pushes the drive arm portion 14R diagonally downward as shown in FIG. Complete the rise of Figure 1).

  The rod 16 disposed by connecting the drive arm portions 14F, 14R of the front and rear links 12F, 12R transmits the rotation of the rear drive arm portion 14R driven by the hydraulic cylinder 15 to the front drive arm portion 14F. Then, the front and rear links 12F and 12R are linked together. Since the pin 24R for attaching the rod 16 to the rear drive arm portion 14R is disposed away from the center line of the drive arm portion 14R to the front side, a virtual link connecting the pin 24R and the rotation shaft 22R is The front drive arm 14F is substantially parallel to the front drive arm 14F. As a result, the front and rear links 12F and 12R rotate in the same direction at the same angular velocity and by the same angle even though the front and rear drive arm portions 14F and 14R are not parallel, and the front and rear of the airframe 1 (FIG. 1) in the ascending / descending process. Does not cause direction tilt or swing.

  The rod 16 has a right screw and a left screw formed at the front and rear ends of the round bar, a cap 28F formed with a right screw formed on the front side, and a cap 28R formed with a left screw formed on the rear side. Assembled. The caps 28F and 28R are prevented from being loosened by lock nuts 29F and 29R. When adjusting the distance between the pin 24F and the pin 24R regulated by the rod 16, the distance between the pin 24F and the pin 24R is shortened by loosening the lock nuts 29F and 29R and rotating the rod 16 to the right. Increased by turning counterclockwise. After the distance adjustment, the lock nuts 29F and 29R are tightened again toward the caps 28F and 28R.

<Link>
FIG. 4 is an explanatory diagram of the assembly structure of the links in the lift specifications and the lift specifications. In FIG. 4, (a) is a lift specification and (b) is a lift specification. Since the left and right crawler travel devices 2L, 2R of the airframe 1 (FIG. 1) are configured symmetrically, the front and rear links 12F, 12R are also reversed symmetrically, and originally it is necessary to prepare separate parts. is there. Also, the front and rear links 12F and 12R in the left and right crawler travel devices 2L and 2R are separate parts having different appearances. However, in the present embodiment, the links 12F and 12R are assembled, and the sharing ratio of the parts of the links 12F and 12R is increased.

  As shown in FIG. 4 (a), the drive arm portion 12R is configured to be connected to the rotating shaft 22R by the spline 34. Therefore, the intersection angle between the drive arm portion 12R and the action arm portion 13R is determined for each pitch of the spline. The parts in which the rotation shaft 22R and the action arm portion 13R are integrally fixed can be commonly used by the left and right crawler traveling devices 2L and 2R.

  The drive arm portion 12R also has a bilaterally symmetric appearance with a straight line 35 connecting the pin 25 connecting the hydraulic cylinder 15 and the center of the spline 34 into which the rotating shaft 22R is inserted, so the left and right crawler travel devices 2L 2R can be used in common. In other words, the pins 24R, 32R and the pins 24M, 32M for connecting the rod 16 are prepared at symmetrical positions with the straight line 35 in between, and the pins 24R, 32R are used in the crawler travel device 2L on the left side. The pins 24M and 32M are used in the right crawler traveling device 2R. Grooves are formed in the outer periphery of the tips of the pins 24R, 32R, 24M, and 32M, and a C-ring is fitted into the grooves to prevent the drive arm portion 14R from falling off. Also, rubber pins (not shown) are attached to pins that are not used to avoid mud adhesion and rust generation.

  As shown in FIGS. 2, 3, and 4 (a), the drive arm portion 14 </ b> R and the working arm portion 13 </ b> R are assembled at an acute angle, the pin 25 is selected, and the hydraulic cylinder 15 is attached. When 24R is selected and the rod 16 is assembled, the crawler traveling device 2L is lifted. 2 and 3, the pins 32R, 24M, and 32M in the drive arm portion 14R are not shown.

  On the other hand, as shown in FIG. 4B, the drive arm portion 14R and the working arm portion 13R are assembled at an obtuse angle, the pin 27 is selected and the hydraulic cylinder 15 is attached, and then the pin 32R is selected. When the rod 16 is assembled, the crawler traveling device 2L becomes the lift specification. The attachment portion 21 of the hydraulic cylinder 15 is rotatably attached to a pin 33 prepared on the main frame 9 in accordance with the lift specification.

  As shown in FIG. 4B, the pin 32R has the same position as the pin 24R in FIG. 4A when the crossing angle between the drive arm portion 14R and the action arm portion 13R is set to an obtuse angle. Designed to be Since the straight line connecting the pin 32R and the rotation shaft 22R forms a virtual link parallel to the drive arm portion 14F, the lifting force shown in FIG. Similar to the specification, the link 12F rotates following the rotation of the link 12R.

  In the lift specification shown in FIG. 4B, a larger lift can be secured by using the same stroke of the hydraulic cylinder 15 that is the same as the lift specification shown in FIG. This is because the pin 27 having a small turning radius centered on the turning shaft 22R is used, so that a larger turning angle of the link 12R can be obtained by the same stroke of the hydraulic cylinder 15. In addition, since the drive arm portion 14R is rotated in the front / rear sorting region, as shown in FIG. 4A, the hydraulic cylinder 15 is compared with a case where the drive arm portion 14R is rotated only in the region behind the rotation shaft 22R. This is because a larger rotation angle of the link 12R can be obtained by the same stroke.

  On the other hand, in the lift specification shown in FIG. 4 (a), a lift higher than the lift specification shown in FIG. 4 (b) can be obtained by turning the head upside down. That is, when the working arm portions 13F and 13R are leveled, the entire length of the working arm portions 13F and 13R becomes the effective load radius as it is, so that the load torque acting on the rotating shafts 22F and 22R becomes maximum. However, since the drive direction of the hydraulic cylinder 15 and the angle of the drive arm portion 14R are the maximum angle close to 90 degrees, the substantially entire length of the drive arm portion 14R becomes the effective drive radius as it is to generate the maximum drive torque. Thereby, even if the output of the hydraulic cylinder 15 is small, it is possible to overcome the load torque and start to raise the machine body 1 and to secure a large drive torque margin when starting to raise the machine body 1 from the lowered position.

  In the ascending process from FIG. 2 to FIG. 3, the driving direction of the hydraulic cylinder 15 and the angle of the driving arm portion 14R monotonously decrease from the maximum angle, so that the effective driving radius gradually decreases and the driving torque by the hydraulic cylinder 15 decreases. Gradually decreases. However, in parallel, the working arm portions 13F and 13R gradually stand up to reduce the effective load radius, so the load torque acting on the rotating shafts 22F and 22R also monotonously decreases.

  Therefore, the increase / decrease of the drive torque and the increase / decrease of the load torque are offset, and the fluctuation of the required drive force of the hydraulic cylinder 15 through the lifting / lowering process is reduced. By reversing the fluctuation of the driving force, the change in the lifting speed when the hydraulic cylinder 15 is operated at a constant speed is also reduced. As a result, in the lift specification, the vibration and swinging of the airframe 1 due to the lifting and lowering are reduced, and the change in speed does not cause the driver to feel uncomfortable.

  In the crawler traveling device 2L of the present embodiment, the same link 12R can be used with two drive arm portions 14R by changing the pins 25 and 27 prepared in advance, so that the same stroke of the hydraulic cylinder 15 can be used. By changing the rotation angle of the link 12 </ b> R according to the above, it is possible to set two types of ascending / descending amounts in the body 1 by combining the same link 12 </ b> R and the hydraulic cylinder 15.

  Accordingly, the hydraulic cylinder 15 and the link 12R can be shared by a lift specification with priority for lift amount that sets a large lift amount corresponding to a wetland field, and a lift specification with priority for lift force that gives a margin to the lift force. By sharing parts, the design and prototyping period of new products can be shortened, and parts costs, assembly costs, and parts storage costs can be reduced.

  In addition, even in the same field and the same equipment, the amount of crawler travel subsidence changes depending on the season and the growth stage, so it is desirable for the customer to be able to adjust the lift of the aircraft according to the season and the growth stage. It was. However, replacement of the cylinder device and replacement of the link member requires specialized knowledge and advanced technology, so far, it has been difficult to perform at the customer site. Preparing and storing the removed replacement parts so as not to rust was also a heavy burden on the customer. On the other hand, in the crawler traveling device 2L of the present embodiment, such parts replacement and parts storage are not required. Therefore, even at the customer, according to the season and the field, the lifting priority priority specification and the lifting priority priority specification are provided. It's no longer impossible to switch finely.

  In addition, since the sinking amount of the airframe 1 is small in a small and light model, the pin 27 may be selected to have a lift specification, and a hydraulic cylinder 15 having a small diameter and a small diameter may be employed. In this way, not only the links 12R and 12F but also a large number of rotating shafts, pins, and arms can be shared between the large and heavy weight models.

  In addition, when large lift is required for a large machine, it was necessary to use expensive equipment with high output such as hydraulic cylinders 15 and hydraulic pumps, but by using the lift specification, the output is small. It has become possible to produce large lift with an inexpensive one.

  In addition, the pins 25 and 27 as the connection structure may be pin holes into which pins on the hydraulic cylinder 15 side are inserted. The number of pin holes is not limited to two, and a more detailed switching of lift / lift may be performed by arranging a large number of different rotation radii.

  In addition, the same link 12R can be reassembled, and a plurality of intersection angles between the drive arm portion 14R and the action arm portion 13R can be set. When the crossing angle exceeding 90 degrees is set, the drive arm portion 14R is distributed to the front and rear of the rotation shaft 22R, and the drive arm portion 14R is rotated using the same stroke by the hydraulic cylinder 15. Since a large angle can be secured, in combination with selecting the pin 27 and setting the turning radius to be small, it is possible to secure a larger amount of elevation of the airframe 1.

  On the other hand, when the crossing angle is 90 degrees or less, the working arm portion 13R can exert the maximum torque with respect to the horizontal maximum load (the lowered state of the machine body 1), so that a larger allowance for the lifting force can be ensured. The burden on the hydraulic cylinder 15 when starting to raise the machine body 1 from the lowered position is reduced. Since the hydraulic cylinder 15 is selected based on the reduced burden and the stress state and the link 12R is designed to be strong, the hydraulic cylinder 15 and the link 12R are reduced in size and weight, and the degree of assembly is increased by downsizing. Thus, it is possible to provide the crawler travel devices 2R and 2L that are low in cost and excellent in maintainability.

  In addition, the method of using the link (equivalent to 12R) of the same component separately for a lift specification and a lift specification is not limited to the change of the crossing angle by reassembly. The hydraulic cylinder 15 may be switchably connectable between a position where the drive arm portion (corresponding to 14R) is distributed back and forth and a position where the drive arm portion is rotated on one side of the front and back.

<Modification of this embodiment>
FIG. 5 is an explanatory diagram of an operation when the modified crawler traveling device has a lift specification, and FIG. 6 is an explanatory diagram of an operation when the modified crawler traveling device has a lift specification. 5 and 6, (a) shows a comparison at the time of descent, (b) at the time of ascent, and (c) a comparison between the time of ascent and descent.

  The crawler traveling device 2H of the modified example can be mounted on the combine 10 by replacing the crawler traveling device 2L of FIG. Then, without changing the crossing angle between the drive arm portion 14R and the action arm portion 13R as shown in FIG. 4, the lift specification and the lift specification are set only by switching between the pin 25 and the pin 27 shown in FIG. Yes. The mounting position of the hydraulic cylinder 15 on the main frame 9 is common to both specifications.

  As shown in FIG. 5A, the virtual link connecting the pin 24R of the drive arm portion 14R and the rotating shaft 22R is arranged in parallel to the drive arm portion 14F and is mutually connected by the rod 16. Thus, the link 12R and the link 12F are linked and rotate at the same speed and the same angle. The drive arm portion 14R and the action arm portion 13R of the link 12R are fixed at an acute angle and a crossing angle is fixed. In the lift specification, the pin 27 having a short turning radius is selected and the hydraulic cylinder 15 is connected. The hydraulic cylinder 15 starts ascending the airframe 1 (FIG. 1) at an acute angle α1 from the lowered state in which the working arm portions 13F and 13R are horizontal and have the maximum load torque, and the raised state shown in FIG. 5 (b). The angle is gradually decreased to the angle α2. As a result, as shown in FIG. 5C, the amount of increase in the distance h1 can be secured using the stroke of the hydraulic cylinder 15.

  As shown in FIG. 6 (a), in the lift specification, the drive arm portion 14R and the action arm portion 13R of the link 12R are fixed at the same crossing angle as the lift specification of FIG. 25 is selected and the hydraulic cylinder 15 is connected. The hydraulic cylinder 15 starts to raise the fuselage 1 (FIG. 1) at an acute angle β1 from the lowered state where the working arm portions 13F and 13R are horizontal and have the maximum load torque, and the raised state shown in FIG. 6B. The angle is gradually decreased to the angle β2. As a result, as shown in FIG. 6C, the same stroke of the same hydraulic cylinder 15 can be used to secure the amount of increase of the distance h2 shorter than the distance h1 in the lift specifications.

  According to the crawler traveling device 2H of the modified example, the lift specifications and the lift specifications can be changed only by switching the pins 25 and 27 without reassembling the links 12R of the left and right crawler traveling devices 2R and 2L. Therefore, although the head (lifting amount) in the head specifications is reduced as compared with the embodiment shown in FIG. 4, the specification switching operation is simple and there are few errors. Also in the lift specifications, the maximum output torque can be secured at the start of ascent from the lowered position, and the speed fluctuation caused by the sorting operation of the drive arm 14R does not occur, so the speed change through the ascending / descending process is small and natural. .

It is the external view which looked at the combine which is one Embodiment of this invention from diagonally forward. It is explanatory drawing of a structure of the crawler traveling apparatus of the state which lowered | hung the body. It is explanatory drawing of a structure of the crawler traveling apparatus of the state which raised the body. It is explanatory drawing of the assembly structure of the link in a lift specification and a lift specification. It is explanatory drawing of operation | movement at the time of setting the crawler traveling apparatus of a modification to a head specification. It is explanatory drawing of operation | movement at the time of making the crawler traveling apparatus of a modification into a lift specification.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Airframe 2R, 2L Crawler traveling device 3 Pre-processing part 10 Combine 11 Track frame 12F, 12R Link member (link)
13F, 13R Action arm part 14F, 14R Drive arm part 15 Cylinder device (hydraulic cylinder)
16 Rod member (rod)
19 Rolling wheel 20 Crawler 21 Main body attachment portion 22F, 22R Rotating shaft 23F, 23R Rotating shaft 24F 24R, 24M Pins 25, 27 Connecting structure (pin)
32R, 32M Pin 34 Configuration that can change the crossing angle (spline)

Claims (2)

A track frame that supports the wheels,
A link member having a drive arm portion and an action arm portion and rotatably supported by a rotation shaft on the airframe side, and the action arm portion attached to the track frame;
A cylinder device that drives the drive arm portion to apply a torque around the rotation axis to the link member,
In the crawler traveling device in which the relative height between the track frame and the airframe is set according to the rotation position of the link member,
A plurality of connecting structures for attaching the cylinder device to the drive arm portion are arranged in the drive arm portion with different turning radii around the turning shaft,
A crawler traveling device that selects a connecting structure having a small turning radius and secures a larger lifting amount than when a connecting structure having a large turning radius is selected. A track frame that supports the wheels,
A link member having a drive arm portion and an action arm portion and rotatably supported by a rotation shaft on the airframe side, and the action arm portion attached to the track frame;
A cylinder device that drives the drive arm portion to apply a torque around the rotation axis to the link member,
In the crawler traveling device in which the relative height between the track frame and the airframe is set according to the rotation position of the link member,
The link member includes a first specification that distributes a rotation range of the drive arm portion in accordance with the operation of the cylinder device to the front and rear of the rotation shaft, and the rotation range on only one of the front and rear sides of the rotation shaft. The second specification is configured to be switchable,
The crawler traveling device is characterized in that the first specification is selected to ensure a larger lifting amount than when the second specification is selected.

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