JP2008213730A - Travelling vehicle for irregular ground - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a travelling vehicle for irregular ground devised to be capable of easily securing ground pressure of the travelling parts and moving only on the left and right front side travelling parts or on the left and right rear side travelling parts, while being capable of easily reducing the turning resistance of left and right front side travelling parts and left and right rear side travelling parts. <P>SOLUTION: This travelling vehicle for the irregular ground is constituted so that front end sides of the left and right front side travelling parts 3a, 3b and rear end sides of the left and right rear side travelling parts 2a, 2b vertically move around left and right front side foot joint axes 11 and left and right rear side foot joint axes 10 by connecting the rear end sides of the left and right front side travelling parts 3a, 3b and the front end sides of the left and right rear side travelling parts 2a, 2b to lower end sides of left and right leg bodies 5a, 5b through the left and right front side foot joint axes 11 and the left and right rear side foot joint axes 10. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a traveling vehicle for rough terrain, such as a transport vehicle for transporting timber cut down in a forest or a work vehicle for cutting waterside algae, and more specifically, the working machine body via left and right legs on a traveling portion. The present invention relates to a traveling vehicle for rough terrain that supports the vehicle.

As shown in Patent Document 1, this type of rough terrain traveling vehicle includes left and right front traveling units and left and right rear traveling units, and left and right front traveling units and left and right rear traveling units. The body (working machine body) was supported through the link mechanism. Further, a technique for horizontally holding an operation cabin (work machine body) on which an operator or the like boardes is also known (see Patent Document 2).
JP 63-203483 A JP-A-5-77618

  By the way, as in Patent Document 1 or Patent Document 2, when the left and right and front and rear traveling units are connected by a frame, the ground contact width in the front-rear direction of the left traveling unit or the right traveling unit cannot be easily changed. There is a problem that the turning resistance cannot be easily reduced in a place where the road surface resistance is large. In addition, since the front and rear traveling units cannot be moved up and down individually, there is a problem that the ground pressure of the traveling unit cannot be easily secured while reducing the turning resistance of the traveling unit. Also, since the ground contact pressure of the front and rear traveling units cannot be reduced while moving the center of gravity of the aircraft in the front-rear direction, either the front or rear traveling unit is lifted to the ground, and the left or right front traveling unit or the left or right rear traveling unit There are problems such as being unable to move.

  It is an object of the present invention to easily reduce the turning resistance of the left and right front running units and the left and right rear running units, while easily ensuring the ground pressure of the running unit, and to the left and right front running units or the left and right running units. The present invention provides a rough terrain vehicle that can be moved only by a rear traveling part.

  In order to achieve the above object, the rough terrain vehicle of the invention according to claim 1 includes a left and right front traveling unit, a left and right rear traveling unit, a working machine body in which a drive source and a work implement are disposed, and the front side In a traveling vehicle for rough terrain comprising left and right legs that support the work machine body in a traveling part and a rear traveling part, and the left and right legs are configured to be bendable, on the lower end side of the left and right legs The left and right front running parts and the left and right rear running parts are connected to the front end sides of the left and right front running parts via the left and right front foot joint axes and the left and right rear foot joint axes. And the rear end side of the left and right rear running parts is configured to move up and down around the left and right front foot joint axes and the left and right rear foot joint axes.

  According to a second aspect of the present invention, in the rough terrain vehicle according to the first aspect, the left and right front lifting mechanisms that vertically move the front end sides of the left and right front traveling portions around the left and right front ankle joint axes; And a left and right rear elevating mechanism for moving the rear end side of the left and right rear running parts up and down around the left and right rear ankle joint axes.

  According to a third aspect of the present invention, in the traveling vehicle for rough terrain according to the first aspect, the left and right legs include left and right front foot frames that support the left and right front traveling portions, and the left and right rear sides. Left and right rear foot frames that support the traveling portion, and the left and right foot frames are connected to the left and right front foot frames via the left and right front foot joint axes, and the left and right rear foot frames The left and right foot frame is connected via the left and right rear foot joint axes.

  According to the first aspect of the present invention, the left and right front traveling parts, the left and right rear traveling parts, the work machine body in which the drive source and the work machine are arranged, and the work machine body in the front running part and the rear running part. In a rough terrain vehicle comprising left and right legs that support the left and right legs, the right and left front ankle joint shafts and the left and right rear legs are disposed at the lower ends of the left and right legs. The rear end side of the left and right front running parts and the front end side of the left and right rear running parts are connected via the side foot joint shaft, and the front end side of the left and right front running parts and the rear end side of the left and right rear running parts are The left and right front foot joint axes and the left and right rear foot joint shafts are configured to move up and down. The turning resistance in a place with a large resistance can be easily reduced. When moving on soft roads, the ground contact width in the front-rear direction of the traveling part can be increased to reduce the ground pressure, and in places where the turning resistance increases, the grounding width in the front-rear direction of the traveling part can be shortened to reduce the turning resistance. The driving performance on rough terrain can be improved.

  According to the second aspect of the present invention, the left and right front elevating mechanisms that vertically move the front end sides of the left and right front running portions around the left and right front ankle joint axes, and the rear end sides of the left and right rear running portions With the left and right rear lifting mechanisms that move up and down around the left and right rear foot joint axes, the front and rear traveling parts can be individually moved up and down while reducing the turning resistance of the traveling part, The ground pressure of the traveling part can be easily secured.

  According to a third aspect of the present invention, the left and right legs include left and right front foot frames that support the left and right front running portions, and left and right rear foot frames that support the left and right rear running portions. The left and right foot frames are connected to the left and right front foot frames via the left and right front foot joint axes, and the left and right rear foot frames are connected to the left and right rear foot joint shafts via the left and right rear foot joint shafts. Since the left and right foot frames are connected, the ground pressure of at least one or both of the left and right front running parts and the left and right rear running parts can be easily changed while moving the center of gravity of the aircraft in the front-rear direction. Can be reduced. With either one of the left and right front running units or the left and right rear running units lifted to the ground, the vehicle uses only the other of the left and right front running units or the left and right rear running units. It is something that can be done.

  DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, drawings when an embodiment of the present invention is applied to a timber transport vehicle as a rough terrain vehicle will be described. 1 is a perspective view of a timber transporter, FIG. 2 is a side view of the timber transporter 1, FIG. 3 is a plan view thereof, and FIG. 4 is a perspective view of rear travel units 2a and 2b and front travel units 3a and 3b. 5 is a side view of the legs 5a and 5b, FIG. 6 is a perspective view of the left and right legs 5a and 5b as viewed from above, and FIG. 7 is a perspective view of the left and right legs 5a and 5b as viewed from below. In the following description, the left side in the forward direction of the timber transport vehicle 1 is simply referred to as the left side, and the right side in the forward direction is also simply referred to as the right side.

  As shown in FIGS. 1 to 3, the timber transport vehicle 1 includes a left and right rear traveling units 2 a and 2 b, left and right front traveling units 3 a and 3 b, an engine 20 as a drive source described later, and a hydraulic device 21. , And a work machine body 4 in which a log gripping arm 22 or the like as a work machine is arranged, and left and right legs 5a and 5b that support the work machine body 4 on the rear traveling units 2a and 2b and the front traveling units 3a and 3b. I have.

  As shown in FIG. 2, the work machine body 4 includes an operation cabin 23 on which an operator gets on, and a loading platform 25 on which a log 24 is placed by a log holding arm 22. The driving cabin 23 is configured to change the course by making the control seat 26 on which the operator sits, the left front traveling unit 2a and the rear traveling unit 3a, the right front traveling unit 2b and the rear traveling unit 3b differential. (Steering) the steering handle 27, the driving speed of the left and right rear traveling units 2a, 2b and the left and right front traveling units 3a, 3b (change in vehicle speed) and the rotation direction (switching between forward and reverse) And a brake pedal 29 for braking the left and right rear running portions 2a and 2b or the left and right front running portions 3a and 3b. Further, the remote controller 99 is detachably disposed on the installation table 98 in the operation cabin 23. The timber transport vehicle 1 is mainly operated by the remote controller 99 to perform operations such as loading and unloading of timber, but the operator can sit on the control seat 26 to load and unload timber. Yes.

  As shown in FIGS. 3 and 4, the left and right rear running units 2 a and 2 b and the left and right front running units 3 a and 3 b rotate around the track frame 31 and a track frame 31 that supports a plurality of track rollers 30. A drive sprocket 32 movably disposed, a tension roller 34 disposed on the track frame 31 via a tension adjusting mechanism 33, a travel drive hydraulic motor 35 for driving the drive sprocket 32, and a crawler-shaped travel crawler made of synthetic rubber 36. A travel crawler 36 is supported on the track frame 31 via a drive sprocket 32, tension rollers 34, and a plurality of track rollers 30. The travel crawler 36 is driven in the forward direction or the reverse direction by the travel drive hydraulic motor 35.

  As shown in FIGS. 5 to 7, the left and right legs 5 a and 5 b are configured to be individually bent by a plurality of first to tenth shafts to change their postures. That is, left and right hip joint shafts 7 described later as first and second axes, left and right knee joint shafts 6 described later as third and fourth axes, and left and right ankles described later as fifth and sixth axes. It includes a joint shaft 5, left and right rear foot joint shafts 10 to be described later as seventh and eighth axes, and left and right front foot joint shafts 11 to be described later as ninth and tenth axes.

  As shown in FIGS. 5 to 7, the left and right legs 5 a and 5 b each have an ankle joint shaft 5, a knee joint shaft 6, and a hip joint shaft 7 extending in the horizontal direction (lateral direction). The left and right rear running portions 2a and 2b and the left and right front running portions 3a and 3b are connected to the left and right legs 5a and 5b via the ankle joint shaft 5, respectively. The work machine body 4 is connected to the left and right legs 5a, 5b via the hip joint shaft 7. The left and right legs 5a and 5b are configured to be bent in a side view through the knee joint shaft 6.

  As shown in FIGS. 5 to 7, the left and right legs 5 a and 5 b are configured to be individually bent by a plurality of first to tenth frames and change their postures. That is, left and right rear foot frames 8a and 8b, which will be described later as first and second frames, left and right front foot frames 9a and 9b, which will be described later as third and fourth frames, and fifth and sixth frames. Left and right foot frames 12a and 12b, which will be described later, left and right shin frames 13a and 13b which will be described later as seventh and eighth frames, and left and right thigh frames 14a and 14b which will be described later as ninth and tenth frames, respectively. It has.

  As shown in FIGS. 5 to 7, the left and right legs 5 a and 5 b include left and right rear foot frames 8 a and 8 b that support the left and right rear running portions 2 a and 2 b, and left and right front running portions 3 a and Left and right front foot frames 9a and 9b that support 3b, and left and right rear foot joint shafts 10 (on the rear end sides of the left and right front foot frames 9a and 9b) on the front end sides of the left and right rear foot frames 8a and 8b. The left and right foot frames 12a and 12b that connect the rear end side (front end side) via the front foot joint shaft 11) and the left and right ankle joints at the upper end in the middle of the front and rear width of the left and right foot frames 12a and 12b Left and right tibial frames 13a, 13b connecting the lower end side via the shaft 5, and left and right thigh frames 14a connecting the lower end side via the left and right knee joint shafts 6 to the upper end side of the left and right tibial frames 13a, 13b, 14b. The left and right legs 5a and 5b are configured to have a symmetrical structure.

  As shown in FIGS. 2 to 5, left and right front running units 3a and 3b, left and right rear running units 2a and 2b, an engine 20 as a drive source, and a log gripping arm 22 as a working machine are arranged. And the left and right legs 5a and 5b for supporting the work machine body 4 on the front side travel parts 3a and 3b and the rear side travel parts 2a and 2b. The left and right legs 5a, 5b have an ankle joint axis 5, a knee joint axis 6, and a hip joint axis 7. The left and right front running parts 3a are connected to the left and right legs 5a, 5b via the ankle joint axis 5. , 3b and the left and right rear running portions 2a, 2b, the left and right legs 5a, 5b are connected to the work machine body 4 via the hip joint shaft 7, and the left and right legs 5a, 5k are connected via the knee joint shaft 6. 5b is configured to be bent. Therefore, the center of gravity of the machine body can be moved in the front-rear direction, the left-right direction, and the up-down direction with the left and right front running units 3a and 3b and the left and right rear running units 2a and 2b being grounded, and the ground height of the work machine 4 can be easily Can be changed. In addition, the left and right legs 5a and 5b are staggered so that the maximum ground contact width in the front-rear direction of the front and rear traveling portions 2a, 2b, 3a, 3b can be easily increased, and the depression in which the width in the traveling direction is large. Can be easily overcome.

  As shown in FIGS. 5 to 7, the working machine body 4 has a seat frame 15, and the seat frame is interposed between the upper and lower widths of the thigh frames 14 a and 14 b of the left and right legs 5 a and 5 b via the hip joint shaft 7. The middle of 15 front and rear widths are connected. By rotating the seat frame 15 around the hip joint axis 7, the front end side (rear end side) of the seat frame 15 moves upward (downward) or downward (upward), and the seat frame 15 tilts in the front-rear direction. The corner will be changed.

  As shown in FIGS. 5 to 7, the left and right legs 5 a and 5 b are configured to be individually bent by a plurality of first to tenth hydraulic cylinders to change their postures. That is, left and right hip joint hydraulic cylinders 44a and 44b, which will be described later as first and second hydraulic cylinders, left and right knee joint hydraulic cylinders 48a and 48b, which will be described later as third and fourth hydraulic cylinders, and a fifth hydraulic pressure. Left and right ankle joint hydraulic cylinders 52a and 52b, which will be described later as cylinders and sixth hydraulic cylinders, left and right heel joint hydraulic cylinders 56a and 56b, which will be described later as seventh hydraulic cylinders and eighth hydraulic cylinders, ninth hydraulic cylinders and tenth hydraulic cylinders Left and right toe joint hydraulic cylinders 60a and 60b, which will be described later, are provided as hydraulic cylinders.

  A pitch arm 40 that is fitted to the hip joint shaft 7 so as to be rotatable in the middle of the L shape in a side view and a pitch hydraulic cylinder 16 as a horizontal mechanism for adjusting the tilt angle in the front-rear direction of the seat frame 15 are provided. A pitch hydraulic cylinder 16 is connected to the front end side of the seat frame 15 via a shaft body 41. The L-shaped one end side of the pitch arm 40 is connected to the tip end side of the piston 16 a of the pitch hydraulic cylinder 16 via the shaft body 42. In addition, left and right hip joint hydraulic cylinders 44a and 44b are connected to the lower ends of the left and right thigh frames 14a and 14b via a shaft body 43. The other end side of the L-shape of the pitch arm 40 is connected to the tip end side of the piston 45 of the hip joint hydraulic cylinders 44 a and 44 b via the shaft body 46.

  As a result, the seat frame 15 is rotated around the hip joint axis 7 by the pitch hydraulic cylinder 16, and the tilt of the seat frame 15 in the front-rear direction is corrected and horizontally supported in the front-rear direction. Further, the seat frame 15 is rotated around the hip joint axis 7 by the left and right hip joint hydraulic cylinders 44a and 44b, and the relative connection angle between the seat frame 15 and the left and right thigh frames 14a and 14b is changed.

  That is, by operating the pitch hydraulic cylinder 16 while operating the left and right hip joint hydraulic cylinders 44a, 44b, the seat frame 15 and the left and right thighs are maintained in a state where the tilt in the front-rear direction of the seat frame 15 is maintained substantially horizontal. The relative angle with the frames 14a and 14b is changed. By operating the left and right hip joint hydraulic cylinders 44a and 44b separately, the relative angles of the left and right thigh frames 14a and 14b with respect to the seat frame 15 are independently changed.

  As shown in FIGS. 2 to 5, the left and right legs 5 a and 5 b have tibial frames 13 a and 13 b that are connected to the foot frames 12 a and 12 b via the ankle joint shaft 11, and knees to the tibial frames 13 a and 13 b. The working machine body 4 has a seat frame 15 and is connected to the thigh frames 14a and 14b of the left and right legs 5a and 5b via the hip joint shaft 7. The seat frame 15 is connected, and a pitch hydraulic cylinder 16 is provided as a horizontal mechanism for adjusting the tilt angle of the seat frame 15 in the front-rear direction, and is configured to support the seat frame 15 horizontally. Therefore, while ensuring the ground clearance of the work machine body 4, the tilt angles in the left-right direction and the front-rear direction of the work machine body 4 can be easily changed, and the work machine body 4 can be supported in a stable posture.

  Left and right knee joint hydraulic cylinders 48a and 48b are connected to upper end sides of the left and right thigh frames 14a and 14b via left and right shaft bodies 47, respectively. Intermediate portions of the shin frames 13a and 13b are connected to the distal end sides of the pistons 49 of the left and right knee joint hydraulic cylinders 48a and 48b via left and right shaft bodies 50, respectively. As a result, by operating the left and right knee joint hydraulic cylinders 48a and 48b, the left and right thigh frames 14a and 14b rotate around the left and right knee joint axes 6, and the left and right tibial frames 13a and 13b and the left and right thigh frames are rotated. The relative connection angles with the frames 14a and 14b are respectively changed. By operating the left and right knee joint hydraulic cylinders 48a and 48b separately, the relative angles of the left and right thigh frames 14a and 14b with respect to the left and right tibial frames 13a and 13b are independently changed.

  Left and right ankle joint hydraulic cylinders 52a and 52b are connected to upper end sides of the left and right shin frames 13a and 13b via left and right shaft bodies 51, respectively. The front end sides of the left and right foot frames 12a and 12b are connected to the distal end sides of the pistons 53 of the left and right ankle joint hydraulic cylinders 52a and 52b via left and right shaft bodies 54, respectively. As a result, by operating the left and right ankle joint hydraulic cylinders 52a and 52b, the left and right tibial frames 13a and 13b rotate around the left and right ankle joint axes 5, and the left and right foot frames 12a and 12b The relative connection angles with the shin frames 13a and 13b are respectively changed. By operating the left and right ankle joint hydraulic cylinders 52a and 52b separately, the relative angles of the left and right shin frames 13a and 13b with respect to the left and right foot frames 12a and 12b are independently changed.

  Left and right heel joint hydraulic cylinders 56a and 56b are connected to the rear end sides of the left and right foot frames 12a and 12b via left and right shaft bodies 55, respectively. The left and right rear foot frames 8a and 8b are connected to the front ends of the pistons 57 of the left and right heel joint hydraulic cylinders 56a and 56b via left and right shaft bodies 58, respectively. As a result, by operating the left and right heel joint hydraulic cylinders 56a and 56b, the left and right rear foot frames 8a and 8b rotate around the left and right rear foot joint shafts 10, and the left and right rear foot frames 8a. , 8b and the right and left foot frames 12a, 12b are respectively changed in relative connection angle. By operating the left and right heel joint hydraulic cylinders 56a and 56b separately, the relative angles of the left and right rear foot frames 8a and 8b with respect to the left and right foot frames 12a and 12b are independently changed.

  Left and right toe joint hydraulic cylinders 60a and 60b are connected to the front end sides of the left and right foot frames 12a and 12b via left and right shaft bodies 59, respectively. The front end sides of the left and right front foot frames 9a and 9b are connected to the distal ends of the pistons 61 of the left and right toe joint hydraulic cylinders 60a and 60b via the left and right shaft bodies 62, respectively. As a result, by operating the left and right toe joint hydraulic cylinders 60a and 60b, the left and right front foot frames 9a and 9b rotate around the left and right front foot joint shafts 11, and the left and right front foot frames 9a and 9b The relative connection angles with the left and right foot frames 12a and 12b are respectively changed. By operating the left and right toe joint hydraulic cylinders 60a and 60b separately, the relative angles of the left and right front foot frames 9a and 9b with respect to the left and right foot frame 12a and 12b are independently changed.

  As shown in FIGS. 2 to 5, the left and right legs 5a and 5b are composed of front foot frames 9a and 9b that support the front traveling portions 3a and 3b, and rear foot that support the rear traveling portions 2a and 2b. Frames 8a and 8b, and the foot frames 12a and 12b are connected to the front foot frames 9a and 9b via the front foot joint shaft 11, and the rear foot joint shaft 10 is connected to the rear foot frames 8a and 8b. The foot frames 12a and 12b are connected. Therefore, since the angle of attack can be increased by moving the front side of the front side traveling parts 3a, 3b or the rear side of the rear side traveling parts 2a, 2b in the vertical direction, it is possible to easily move a large level difference. Further, since the front side of the front running parts 3a, 3b and the rear side of the rear running parts 2a, 2b can be simultaneously moved downward to lift the foot frames 12a, 12b, the left and right legs 5a, The work machine body 4 can be raised higher than the total length of 5b. Moreover, since the front side of the front traveling units 3a and 3b and the rear side of the rear traveling units 2a and 2b can be simultaneously moved upward to reduce the front and rear contact width, it is possible to make U-turns or beliefs even in narrow spaces The direction change such as turning can be executed easily.

  FIG. 8 shows a hydraulic circuit 70 of the timber transport vehicle 1 (a rough terrain vehicle) according to this embodiment. The hydraulic circuit 70 of the timber transport vehicle 1 includes a traveling hydraulic pump 71 that drives each of the left and right rear traveling units 2a and 2b and the left and right front traveling units 3a and 3b. For the right leg of the output variable capacity type that operates the hydraulic cylinders 44a, 48a, 52a, 56a, 60a of the left leg 5a and the charge hydraulic pump 72 for supplying the charge pressure oil to each part of the hydraulic equipment 21 The hydraulic pump 73 and an output variable displacement left leg hydraulic pump 74 that operates the hydraulic cylinders 44b, 48b, 52b, 56b, 60b of the right leg 5b are provided. The traveling hydraulic pump 71, the charging hydraulic pump 72, the right leg hydraulic pump 73, and the left leg hydraulic pump 74 are operated by the rotational force of the engine 20. The hydraulic circuit 70 includes a relief valve, a flow rate adjustment valve, a check valve, an oil cooler, an oil filter, and the like.

  The right leg hydraulic pump 73 is connected to the right hip joint hydraulic cylinder 44a via a diversion valve 75a and a right hip joint control valve 76a. A right knee joint hydraulic cylinder 48a is connected to the right leg hydraulic pump 73 via a diversion valve 77a and a right knee joint control valve 78a. A right ankle joint hydraulic cylinder 52a is connected to the right leg hydraulic pump 73 via a diversion valve 79a and a right ankle joint control valve 80a. A right toe joint hydraulic cylinder 56a is connected to the right leg hydraulic pump 73 via a diversion valve 81a and a right toe joint control valve 82a. A right heel joint hydraulic cylinder 60a is connected to the right leg hydraulic pump 73 via a diversion valve 83a and a right heel joint control valve 84a. The pitch hydraulic cylinder 16 is connected to the right leg hydraulic pump 73 via a flow dividing valve 85 and a pitch control valve 86 (electromagnetic proportional hydraulic control valve).

  Similarly to the right leg hydraulic pump 73 described above, the left leg hydraulic pump 74 is connected to the left hip joint hydraulic cylinder 44b via the diversion valve 75b and the left hip joint control valve 76b. Yes. A left knee joint hydraulic cylinder 48b is connected to the right leg hydraulic pump 73 via a diversion valve 77b and a left knee joint control valve 78b. The left ankle joint hydraulic cylinder 52b is connected to the right leg hydraulic pump 73 via a diversion valve 79b and a left ankle joint control valve 80b. A left toe joint hydraulic cylinder 56b is connected to the right leg hydraulic pump 73 via a diversion valve 81b and a left toe joint control valve 82b. A left heel joint hydraulic cylinder 60b is connected to the right leg hydraulic pump 73 via a diversion valve 83b and a left heel joint control valve 84b.

  Each of the hydraulic cylinders 44a, 48a, 52a, 56a, 60a, 44b, 48b, 52b, 56b, and 60b is provided with a hydraulic sensor 87 that detects their hydraulic pressures. The control valves 76a, 78a, 80a, 82a, 84a, 76b, 78b, 80b, 82b, 84b described above are formed by electromagnetic directional flow control hydraulic switching valves, and position control and force control (impedance control). Thus, the application direction and flow rate of the hydraulic oil supplied to each hydraulic cylinder can be controlled.

  Further, the left front travel drive hydraulic motor 35 is connected to the travel hydraulic pump 71 via a left front shift control valve 88a. A steering hydraulic cylinder 89 that changes the output (rotational speed) of the left front travel drive hydraulic motor 35 is provided. A steering hydraulic cylinder 89 is connected to the left front shift control valve 88a via a steering control valve 90a. A right front travel drive hydraulic motor 35 is connected to the travel hydraulic pump 71 via a right front shift control valve 88b. A steering hydraulic cylinder 89 that changes the output (rotational speed) of the right front travel drive hydraulic motor 35 is provided. A steering hydraulic cylinder 89 is connected to the right front shift control valve 88b via a steering control valve 90b.

  Further, the left rear travel drive hydraulic motor 35 is connected to the travel hydraulic pump 71 via a left rear shift control valve 88c. A steering hydraulic cylinder 89 that changes the output (rotational speed) of the left rear traveling drive hydraulic motor 35 is provided. A steering hydraulic cylinder 89 is connected to the left rear shift control valve 88c via a steering control valve 90c. A right rear traveling drive hydraulic motor 35 is connected to the traveling hydraulic pump 71 via a right rear shift control valve 88d. A steering hydraulic cylinder 89 that changes the output (rotational speed) of the right rear traveling drive hydraulic motor 35 is provided. A steering hydraulic cylinder 89 is connected to the right rear shift control valve 88d via a steering control valve 90d. A left front vehicle speed sensor 91, a right front vehicle speed sensor 91, a left rear vehicle speed sensor 91, and a right rear vehicle speed sensor 91 that detect the rotational speed of the output shaft of each travel drive hydraulic motor 35 are provided.

  Next, traveling control of the timber transport vehicle 1 of the present embodiment will be described. FIG. 9 is a functional block diagram of the travel control means of the timber transport vehicle 1. The travel controller 100 such as a microcomputer includes a ROM storing a control program and a RAM storing various data. As shown in FIG. 9, on the input side of the travel controller 100, a roll sensor 101 that detects the horizontal tilt angle of the seat frame 15 and a roll angular velocity sensor 102 that detects the horizontal tilt angular velocity of the seat frame 15. A pitch sensor 103 that detects the tilt angle of the seat frame 15 in the front-rear direction, a left lower limit sensor 104 that detects a limit position for reducing the right leg 5a (downward movement on the right side of the seat frame 15), and a left leg 5b. Reduction (downward movement of the left side of the seat frame 15), a lower right limit sensor 105 for detecting a limit position, the hydraulic sensors 87 described above, and a turning angle of the steering handle 27 operated by the operator (a left turn operation amount and a right turn). A steering angle sensor 106 for detecting the operation amount), and a travel shift sensor 1 for detecting the operation position (forward operation position and reverse operation position) of the travel shift lever 28. 7, are connected with each vehicle speed sensor 91 described above. In addition, the steering angle sensor 106 and the travel speed change sensor 107 are configured to receive a radio control signal from the remote controller 99.

  Further, as shown in FIG. 9, on the output side of the travel controller 100, the control valves 76a, 78a, 80a, 82a, 84a, 76b, 78b for controlling the postures of the left and right legs 5a, 5b described above are provided. 80b, 82b, 84b, a pitch control valve 86 for controlling the forward / backward inclination of the seat frame 15, and the above-described travel drive hydraulic motors 35 for the left and right rear travel units 2a, 2b and the left and right front travel units 3a, 3b. The control valves 88a, 88b, 88c, 88d, 90a, 90b, 90c, 90d to be controlled are connected.

  With the above configuration, when the timber transport vehicle 1 is moving in the forward or reverse direction, the control valves 76a, 78a, 80a, 82a, 84a, 76b, 78b, and 80b are based on the detection results of the roll angular velocity sensor 102. , 82b, 84b are activated, and control for expanding and contracting the left and right legs 5a, 5b separately is started at a height that is not less than the height limited by the left lower limit sensor 104 and the right lower limit sensor 105. Based on the detection result of the roll sensor 101, the operation of each control valve 76a, 78a, 80a, 82a, 84a, 76b, 78b, 80b, 82b, 84b is stopped, and the horizontal inclination of the seat frame 15 is corrected. Further, based on the detection result of the pitch sensor 103, the pitch control valve 86 is operated to correct the inclination of the seat frame 15 in the front-rear direction.

  As a result, the seat frame 15 is held substantially horizontally via the left and right legs 5a and 5b. Further, during horizontal control of the left and right legs 5a, 5b (seat frame 15), based on the detection result of the hydraulic sensor 87, each hydraulic cylinder 44a, 48a, 52a, 56a, 60a, 44b, 48b, 52b, 56b, 60b. Is controlled to absorb the impact force from the road surface transmitted from the running portions 2a, 2b, 3a, 3b to the left and right legs 5a, 5b. It is possible to prevent the impact force from the traveling parts 2a, 2b, 3a, 3b from being transmitted to the seat frame 15.

  In addition, when the operator operates the remote controller 99 outside the timber transport vehicle 1 or the operator gets on the timber transport vehicle 1 and operates the steering handle 27 or the travel shift lever 28, the timber transport vehicle 1 moves forward. Alternatively, when the vehicle is moving in the reverse direction, each control valve is operated based on the detection result of the steering angle sensor 106 or the traveling shift sensor 107 by operating the remote controller 99, the steering handle 27, or the traveling shift lever 28 by the operator. 88a, 88b, 88c, 88d or the control valves 90a, 90b, 90c, 90d are operated to control the drive hydraulic pressure or the output rotational speed of each travel drive hydraulic motor 35. As a result, the traveling crawlers 36 of the left and right rear traveling units 2a, 2b and the traveling crawlers 36 of the left and right front traveling units 3a, 3b are driven and controlled separately to move forward, reverse, U-turn or spin-turn ( And the like, and the operator can move in a desired direction at a desired speed.

  Next, the bending operation of the left and right legs 5a and 5b will be described with reference to FIGS. As shown in FIG. 10, the seat frame 15 is moved forward by moving the thigh frames 14a and 14b toward the front of the machine body in a horizontal posture while moving the upper ends of the left and right shin frames 13a and 13b forward. Move to. That is, the center of gravity of the aircraft moves to the forefront. Accordingly, the aircraft posture is stabilized during forward traveling on a steep slope and reverse traveling on a steep slope.

  As shown in FIG. 11, by moving the upper end sides of the left and right thigh frames 14a and 14b rearward while moving the upper end sides of the left and right tibial frames 13a and 13b rearward, the seat frame 15 is moved rearward. Moving. In other words, the center of gravity of the aircraft moves to the end. Accordingly, the aircraft posture is stabilized when the vehicle is traveling backward on a steep slope or traveling forward on a steep slope.

  As shown in FIG. 12, the left and right thigh frames 13a and 13b are moved to a substantially upright posture while the left and right thigh frames 14a and 14b are moved to a substantially upright posture, and the rear running portions 2a and 2b are The ground height of the seat frame 15 is increased by lowering the end side and lowering the front end side of the front running portions 3a and 3b to increase the ground height of the foot frames 12a and 12b. That is, the seat frame 15 moves up to a height obtained by adding the connection length of the shin frames 13a and 13b, the connection length of the thigh frames 14a and 14b, and the height of the foot frames 12a and 12b to the ground. Therefore, the support height of the seat frame 15 (the length of the legs 5a and 5b) necessary for working at a high place, or the support height of the seat frame 15 required to move underwater while supporting the seat frame 15 on the water. The length (the length of the legs 5a, 5b) can be easily secured.

  As shown in FIG. 13, by raising the front end side of the front traveling units 3a, 3b, a step in the traveling direction of the road surface that is larger than the angle of attack of the traveling crawler 36 of the front traveling units 3a, 3b is changed to the front traveling unit 3a. , 3b can move up and down. Further, as shown in FIG. 14, by lowering the rear end side of the rear traveling units 2a and 2b, a step in the traveling direction of the road surface that is larger than the angle of attack of the traveling crawler 36 of the rear traveling units 2a and 2b. The rear traveling units 2a and 2b can move up and down.

  As shown in FIG. 15, the right leg 5a (left leg 5b) is expanded (reduced) while the left leg 5b (right leg 5a) is contracted (expanded). The left front side traveling unit 3b and the rear side traveling unit 2b are moved to the higher step in the left and right direction of the road surface while the front traveling unit 3a and the rear side traveling unit 2a are moved to the lower level step in the left and right direction of the road surface. Can be made. That is, the height of the right front traveling unit 3a and the rear traveling unit 2a and the height of the left front traveling unit 3b and the rear traveling unit 2b are made to be different from each other by following the steps in the left and right direction of the road surface. it can. Therefore, the vehicle can be easily moved while maintaining a stable body posture in a traveling state over the bank of the road shoulder or a traveling state across a mountain slope.

  As shown in FIG. 16, the left leg 5b (right leg 5a) is moved rearward (forward) while the right leg 5a (left leg 5b) is moved forward (rear). While moving the front right traveling unit 3a and the rear traveling unit 2a in advance, the left front traveling unit 3b and the rear traveling unit 2b can be moved later with a delay. That is, the right leg 5a and the left leg 5b are alternately extended in the front-rear direction so that the right front running unit 3a and the rear running unit 2a, the left front running unit 3b, and the rear running unit are extended. The ground contact width in the front-rear direction with 2b can be maximized. Therefore, when the road surface has a large recess, or the road surface is extremely uneven, it can easily move while maintaining a stable body posture by following the unevenness of the road surface. You can get over.

  As shown in FIG. 17, with the left and right rear running units 2a, 2b lifted to the ground, only the left and right front running units 3a, 3b can be grounded and moved. That is, the ground contact width in the front-rear direction of the traveling portions 2a, 2b, 3a, 3b can be formed to a minimum. Therefore, the timber transporter 1 can be easily turned in a narrow place, or the timber transporter 1 can be easily stored in a confined place. In addition, the timber transporter 1 can be compactly mounted on the loading platform of a truck having a small landing place, and can be easily transported to a remote place. Contrary to the above, in the state where the left and right front running units 3a and 3b are lifted to the ground, only the left and right rear running units 2a and 2b can be grounded and moved.

  Next, a second embodiment of the left and right front running units 3a and 3b and the left and right rear running units 2a and 2b will be described with reference to FIG. As shown in FIG. 17, instead of the traveling crawler 36, a plurality of traveling wheels 36a are taken as a set, and a plurality of traveling wheels 36a are provided on the left and right front traveling portions 3a, 3b and the left and right rear traveling portions 2a, 2b. Each is arranged. A plurality of traveling wheels 36a of each set are rotatably assembled to the track frames 31 of the left and right front traveling units 3a and 3b and the left and right rear traveling units 2a and 2b. Each traveling wheel 36 a may be independently suspended from the track frame 31. Further, at least one or all of the traveling wheels 36 a may be driven simultaneously by the traveling drive hydraulic motor 35.

  As is clear from the above description and FIGS. 2 to 5, the left and right front running units 3a and 3b, the left and right rear running units 2a and 2b, the engine 20 as a driving source, and the log gripping as a working machine. The work machine body 4 on which the arm 22 is arranged, and the left and right legs 5a and 5b are provided with left and right legs 5a and 5b that support the work machine body 4 on the front running parts 3a and 3b and the rear running parts 2a and 2b. In a rough terrain vehicle configured to be bendable, left and right front side travels via left and right front foot joint shafts 11 and left and right rear foot joint shafts 10 on the lower ends of the left and right legs 5a and 5b. The rear end side of the parts 3a, 3b and the front end side of the left and right rear running parts 2a, 2b are connected, and the front end side of the left and right front running parts 3a, 3b and the rear end side of the left and right rear running parts 2a, 2b are , Move up and down around left and right front ankle joint axis 11 and left and right rear ankle joint axis 10 Therefore, by changing the ground contact width in the front-rear direction of the left traveling units 2b and 3b or the right traveling units 2a and 3a, it is possible to easily reduce the turning resistance at a place where the road surface resistance is large. . When moving on a soft road surface, the grounding width in the front-rear direction of the traveling parts 2a, 2b, 3a, 3b can be lengthened to reduce the ground pressure, and in places where the turning resistance increases, the traveling parts 2a, 2b, 3a, 3b The ground contact width in the front-rear direction can be shortened to reduce turning resistance, and the running performance on rough terrain can be improved.

  As apparent from the above description and FIGS. 2 to 5, the toe joint hydraulic cylinder as a left and right front lifting mechanism that moves up and down the left and right front running portions 3 a and 3 b around the left and right front foot joint shafts 11. 60a, 60b, and heel joint hydraulic cylinders 56a, 56b as left and right rear raising / lowering mechanisms for moving the rear end sides of the left and right rear running portions 2a, 2b up and down around the left and right rear foot joint shaft 10. Therefore, the front and rear traveling units 2a, 2b, 3a, 3b can be moved up and down individually, and the traveling units 2a, 2b, 3a, 3b can be reduced while reducing the turning resistance of the traveling units 2a, 2b, 3a, 3b. The grounding pressure can be easily secured.

  As is clear from the above description and FIGS. 2 to 5, the left and right legs 5a and 5b are provided with left and right front foot frames 9a and 9b that support the left and right front running portions 3a and 3b, and the left and right rear legs, respectively. Left and right rear foot frames 8a and 8b that support the side running portions 2a and 2b, and left and right foot frame frames 12a and 12b via left and right front foot joint shafts 11 to the left and right front foot frames 9a and 9b, respectively. 12b and left and right rear foot frames 8a. 8b is connected to the left and right foot frames 12a and 12b via the left and right rear foot joint shafts 10, so that the left and right front running parts 3a and 3b or It is possible to easily reduce the ground pressure of at least one or both of the rear traveling units 2a and 2b. Either of the left and right front running units 3a, 3b or the left and right rear running units 2a, 2b in a state where one of the left and right front running units 3a, 3b or the left and right rear running units 2a, 2b is lifted to the ground. It is possible to move using only the other.

It is a perspective view of a timber transporter. 1 is a side view of a timber transport vehicle 1. It is the same top view. It is a perspective view of rear side travel parts 2a and 2b and front side travel parts 3a and 3b. It is a side view of legs 5a and 5b. It is the perspective view which looked at right and left leg 5a, 5b from the upper part. It is the perspective view which looked at right and left leg 5a, 5b from the lower part. It is a hydraulic circuit diagram of the timber transport vehicle 1 (travel vehicle for rough terrain). It is a functional block diagram of the travel control means of the timber transporter 1. It is explanatory drawing which moves a body gravity center forward. It is explanatory drawing which moves back the body gravity center. It is explanatory drawing which raises the body height. It is explanatory drawing which goes up and down the big level | step difference of a road surface. It is explanatory drawing which goes up and down the big level | step difference of a road surface. It is explanatory drawing which moves on the road surface with a big level | step difference in the left-right direction. It is explanatory drawing which moves the road surface with a big depression. It is explanatory drawing which lifts and moves a rear side travel part on the ground. It is explanatory drawing which shows the deformation | transformation structure of a driving | running | working part.

Explanation of symbols

2a, 2b Rear side running part 3a, 3b Front side running part 4 Work machine body 5a, 5b Leg body 5 Ankle joint axis 6 Knee joint axis 7 Hip joint axis 8a, 8b Rear side foot frame 9a, 9b Front side foot frame 10 Rear side foot joint Axis 11 Anterior foot joint axis 12a, 12b Tarsal frame 20 Engine (drive source)
22 Log gripping arm (work machine)
56a, 56b Heel joint hydraulic cylinder (rear lifting mechanism)
60a, 60b toe joint hydraulic cylinder (front lifting mechanism)

Claims (3)

Left and right front running units, left and right rear running units, a working machine body in which a drive source and a work machine are arranged, and left and right leg bodies that support the work machine body in the front running unit and the rear running unit. , In the rough terrain vehicle configured to bend the left and right legs,
The rear end side of the left and right front running parts and the front end side of the left and right rear running parts are connected to the lower end sides of the left and right leg bodies via left and right front foot joint axes and left and right rear foot joint axes. Concatenate,
The front end side of the left and right front running parts and the rear end side of the left and right rear running parts are configured to move up and down around the left and right front foot joint axes and the left and right rear foot joint axes. A rough running vehicle.   Left and right front elevating mechanisms that move the front end side of the left and right front running parts up and down around the left and right front ankle joint axes, and the rear end side of the left and right rear running parts around the left and right rear ankle joint axes The uneven terrain vehicle according to claim 1, further comprising left and right rear lifting mechanisms that move up and down.   The left and right legs include left and right front foot frames that support the left and right front running portions, and left and right rear foot frames that support the left and right rear running portions, and the left and right front foot frames. The left and right foot frames are connected via the left and right front foot joint axes, and the left and right foot frames are connected to the left and right rear foot frames via the left and right rear foot joint axes. The traveling vehicle for rough terrain according to claim 2, wherein:

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