JP2021091323A - Work vehicle - Google Patents

Work vehicle Download PDF

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JP2021091323A
JP2021091323A JP2019223724A JP2019223724A JP2021091323A JP 2021091323 A JP2021091323 A JP 2021091323A JP 2019223724 A JP2019223724 A JP 2019223724A JP 2019223724 A JP2019223724 A JP 2019223724A JP 2021091323 A JP2021091323 A JP 2021091323A
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main body
wheel support
body side
side portion
support portion
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JP7224279B2 (en
Inventor
平岡　実
Minoru Hiraoka
実 平岡
石川　淳一
Junichi Ishikawa
石川　　淳一
拓也 玉井
Takuya TAMAI
拓也 玉井
坂野　倫祥
Tomoyoshi Sakano
倫祥 坂野
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Kubota Corp
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Kubota Corp
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Abstract

To realize a vehicle height adjustment mechanism of a work vehicle at low cost and with a simple structure.SOLUTION: A work vehicle includes a body portion 1, a plurality of wheel support mechanisms 2 disposed on the body portion 1, and wheels 3 for travelling respectively supported by lower portions of the wheel support mechanisms 2. A body side portion 13 attached to the body portion 1 and extending downward from the body portion 1, a wheel support portion 14 supporting the wheel 3 and supported by the body side portion 13 so as to slide in an extension direction of the body side portion 13, and fixing portions 15 that can fix the wheel support portion 14 to the body side portion 13 and release the wheel support portion from the body side portion are disposed in the wheel support mechanism 2.SELECTED DRAWING: Figure 1

Description

本発明は、車高調整可能な作業車に関する。 The present invention relates to a work vehicle whose vehicle height can be adjusted.

前述のような作業車の一例が特許文献１に開示されている。特許文献１の作業車は、本体部の左右両側に位置する複数の油圧駆動式の走行装置と、走行装置を支持する脚部とが設けられており、脚部の各々において、走行装置を各別に昇降可能に本体部に支持する屈折リンク機構が設けられ、屈折リンク機構の一端側が本体部に支持されて、他端側に走行用の車輪が取り付けられている。
支持アームが本体部に対して上下に揺動操作されることにより、本体部に対する車輪の位置が変更されるのであり、作業地や作業状態に適した車高が設定される。 An example of the work platform as described above is disclosed in Patent Document 1. The work vehicle of Patent Document 1 is provided with a plurality of hydraulically driven traveling devices located on the left and right sides of the main body portion and legs supporting the traveling devices, and each of the leg portions has a traveling device. Separately, a refraction link mechanism that can be raised and lowered and supported on the main body is provided, one end side of the refraction link mechanism is supported by the main body, and a traveling wheel is attached to the other end side.
By swinging the support arm up and down with respect to the main body, the position of the wheel with respect to the main body is changed, and the vehicle height suitable for the work place and working condition is set.

特開２０１８−１０３６８１号公報JP-A-2018-103681

しかしながら特許文献１の技術では、走行装置を支持する脚部の各々に、屈折リンク機構が設けられているので、低コスト化、構造の簡素化及び重量の軽減という面で改善の余地がある。
本発明は、作業車の車高調整機構を低コスト且つ簡素な構成で実現することを目的としている。 However, in the technique of Patent Document 1, since the refraction link mechanism is provided for each of the legs supporting the traveling device, there is room for improvement in terms of cost reduction, structural simplification, and weight reduction.
An object of the present invention is to realize a vehicle height adjusting mechanism for a work vehicle at a low cost and with a simple configuration.

本発明の一態様にかかる作業車は、本体部と、前記本体部に設けられた複数の車輪支持機構と、前記車輪支持機構の各々の下部に支持された走行用の車輪とが備えられ、前記車輪支持機構に、前記本体部に取り付けられて、前記本体部から下側に延出されるように配置された本体側部と、前記車輪を支持して、前記本体側部の延伸方向に沿ってスライド可能に、前記本体側部に支持された車輪支持部と、前記車輪支持部を前記本体側部に固定及び固定解除可能な固定部とが設けられている。 The work vehicle according to one aspect of the present invention is provided with a main body portion, a plurality of wheel support mechanisms provided on the main body portion, and running wheels supported under each lower portion of the wheel support mechanism. The wheel support mechanism supports the main body side portion which is attached to the main body portion and is arranged so as to extend downward from the main body portion, and the wheel is supported along the extending direction of the main body side portion. A wheel support portion supported on the side portion of the main body and a fixing portion capable of fixing and releasing the wheel support portion on the side portion of the main body are provided so as to be slidable.

上記の構成によると、車輪支持機構において、車輪支持部（車輪）が、本体側部の延伸方向に沿って上側にスライド操作されて、固定部により本体側部に固定されると、低い車高の状態が得られる。車輪支持部（車輪）が、本体側部の延伸方向に沿って下側にスライド操作されて、固定部により本体側部に固定されると、高い車高の状態が得られる。
これにより、車高調整機構を低コストで実現することができ、構造の簡素化及びこれに基づく重量の軽減を図った構成で、車高調整機構を実現することができる。 According to the above configuration, in the wheel support mechanism, when the wheel support portion (wheel) is slid upward along the extending direction of the main body side portion and fixed to the main body side portion by the fixing portion, the vehicle height is low. State is obtained. When the wheel support portion (wheel) is slid downward along the extending direction of the main body side portion and fixed to the main body side portion by the fixing portion, a high vehicle height state can be obtained.
As a result, the vehicle height adjustment mechanism can be realized at low cost, and the vehicle height adjustment mechanism can be realized with a configuration aimed at simplifying the structure and reducing the weight based on the structure.

本発明において、前記本体側部は、前記本体部から上下方向に沿って下側に延伸され、前記車輪支持部は、上下方向に沿ってスライド可能に、前記本体側部に支持されていると好適である。 In the present invention, the main body side portion is extended downward from the main body portion in the vertical direction, and the wheel support portion is slidably supported by the main body side portion in the vertical direction. Suitable.

上述した特許文献１の技術では、前後方向に屈折する屈折リンク機構の先端部に車輪が支持されているので、低い車高状態のときには車輪が本体部に対して前後方向で離れてホイルベースが長くなり、高い車高状態のときには車輪が本体部に対して前後方向で接近してホイルベースが短くなる。 In the technique of Patent Document 1 described above, since the wheels are supported by the tip of the refractory link mechanism that bends in the front-rear direction, the wheels are separated from the main body in the front-rear direction when the vehicle height is low, and the wheelbase is long. Therefore, when the vehicle height is high, the wheels approach the main body in the front-rear direction and the wheelbase becomes shorter.

これに対して上記の構成によると、車輪支持部（車輪）の位置は、上下方向に沿って直線的に変化するので、本体部に対する車輪支持部（車輪）の前後方向での位置の変化は、小さいものとなるのであり、車高の変更に伴うホイルベースの変化が抑えられる。これにより、作業車において、作業地や作業状態に応じて車高が変更されても、ホイルベースの変化が抑えられるのであり、走行特性の変化が抑えられる。 On the other hand, according to the above configuration, the position of the wheel support portion (wheel) changes linearly along the vertical direction, so that the change in the position of the wheel support portion (wheel) with respect to the main body portion in the front-rear direction is , It becomes smaller, and the change of the wheelbase due to the change of the vehicle height is suppressed. As a result, in the work vehicle, even if the vehicle height is changed according to the work site and the work condition, the change in the wheelbase is suppressed, and the change in the traveling characteristics is suppressed.

本発明において、前記本体側部及び前記車輪支持部のうちの少なくとも一方が、パイプ状に構成され、前記本体側部及び前記車輪支持部のパイプ状の一方に、前記本体側部及び前記車輪支持部の他方が挿入されることにより、前記車輪支持部が、前記本体側部の延伸方向に沿ってスライド可能に、前記本体側部に支持されていると好適である。 In the present invention, at least one of the main body side portion and the wheel support portion is configured in a pipe shape, and the main body side portion and the wheel support portion are formed on one of the main body side portion and the wheel support portion in a pipe shape. It is preferable that the wheel support portion is supported by the main body side portion so as to be slidable along the extending direction of the main body side portion by inserting the other portion of the portion.

上記の構成によると、車輪支持機構において、本体側部及び車輪支持部のパイプ状の一方に、本体側部及び車輪支持部の他方が挿入されることにより、車輪支持部のスライド構造が容易に得られるので、構造の簡素化の面で有利である。 According to the above configuration, in the wheel support mechanism, the slide structure of the wheel support portion can be easily formed by inserting the other of the main body side portion and the wheel support portion into the pipe-shaped one of the main body side portion and the wheel support portion. Since it is obtained, it is advantageous in terms of simplification of the structure.

本発明において、前記本体側部及び前記車輪支持部の一方が、角パイプ状に構成され、前記本体側部及び前記車輪支持部の他方が、丸パイプ状に構成され、前記本体側部及び前記車輪支持部の角パイプ状の一方に、前記本体側部及び前記車輪支持部の丸パイプ状の他方が挿入されることにより、前記車輪支持部が、前記本体側部の延伸方向に沿ってスライド可能に、前記本体側部に支持されていると好適である。 In the present invention, one of the main body side portion and the wheel support portion is formed in a square pipe shape, and the other of the main body side portion and the wheel support portion is formed in a round pipe shape. By inserting the main body side portion and the round pipe-shaped other of the wheel support portion into one of the square pipe-shaped wheel support portions, the wheel support portion slides along the extending direction of the main body side portion. It is preferable that it is supported by the side portion of the main body as much as possible.

上記の構成によると、車輪支持機構において、本体側部及び車輪支持部の角パイプ状の一方に、本体側部及び車輪支持部の丸パイプ状の他方が挿入されることにより、車輪支持部のスライド構造が得られる。 According to the above configuration, in the wheel support mechanism, the wheel support portion is provided by inserting the other round pipe shape of the main body side portion and the wheel support portion into one of the square pipe shapes of the main body side portion and the wheel support portion. A slide structure is obtained.

上記の構成によると、丸パイプに丸パイプが挿入される構成に比べて、角パイプの内面と丸パイプの外面との接触面積が小さなものとなるのであり、角パイプの角部において角パイプの内面と丸パイプの外面との間に隙間が生じる。
これにより、土や泥が角パイプの内部に侵入しても、前述の接触面積が小さい点によって、土や泥が角パイプの内面と丸パイプの外面との間に咬み込まれ難いのであり、前述の隙間が生じる点によって、土や泥が排出され易くなる。 According to the above configuration, the contact area between the inner surface of the square pipe and the outer surface of the round pipe is smaller than that in which the round pipe is inserted into the round pipe. There is a gap between the inner surface and the outer surface of the round pipe.
As a result, even if soil or mud invades the inside of the square pipe, it is difficult for soil or mud to be bitten between the inner surface of the square pipe and the outer surface of the round pipe due to the small contact area mentioned above. The above-mentioned gaps make it easier for soil and mud to be discharged.

本発明において、前記本体側部が、前記本体側部の延伸方向に沿ったステアリング軸芯周りに揺動可能に前記本体部に支持され、前記本体側部を前記本体部に対して前記ステアリング軸芯周りに揺動操作可能なステアリングアクチュエータが設けられていると好適である。 In the present invention, the main body side portion is supported by the main body portion so as to swing around the steering axis along the extending direction of the main body side portion, and the main body side portion is supported by the main body portion with respect to the main body portion. It is preferable that a steering actuator capable of swinging is provided around the core.

上記の構成によると、車輪支持機構において、固定部により車輪支持部が本体側部に固定されていることによって、ステアリングアクチュエータにより本体側部がステアリング軸芯周りに揺動操作されると、車輪支持部（車輪）が本体側部と一体で揺動操作されるのであり、作業車の向きの変更が無理なく行われる。 According to the above configuration, in the wheel support mechanism, since the wheel support portion is fixed to the main body side portion by the fixed portion, when the main body side portion is swung around the steering axis by the steering actuator, the wheel support is performed. Since the part (wheel) is oscillated integrally with the side part of the main body, the direction of the work vehicle can be changed without difficulty.

本発明において、前記車輪を駆動する駆動モータが、前記車輪支持部に設けられていると好適である。 In the present invention, it is preferable that the drive motor for driving the wheels is provided on the wheel support portion.

上記の構成によると、車輪支持機構において、車輪と駆動モータとが互いに接近して配置されるのであり、車輪支持部が本体側部の延伸方向に沿ってスライド操作されても、車輪と駆動モータとの位置関係は変化しないので、駆動モータによる車輪の駆動構造の簡素化の面で有利である。 According to the above configuration, in the wheel support mechanism, the wheels and the drive motor are arranged close to each other, and even if the wheel support portion is slid along the extending direction of the main body side portion, the wheels and the drive motor are operated. Since the positional relationship with the wheel does not change, it is advantageous in terms of simplifying the drive structure of the wheel by the drive motor.

本発明において、フェンダが、前記車輪に対して上側に配置されるように、前記車輪支持部に固定又は着脱可能に装着されていると好適である。 In the present invention, it is preferable that the fender is fixedly or detachably attached to the wheel support portion so as to be arranged on the upper side of the wheel.

上記の構成によると、車輪支持機構において、車輪支持部が本体側部の延伸方向に沿ってスライド操作されても、車輪とフェンダとの位置関係は変化しないので、フェンダの機能が安定して発揮されるようになる。
フェンダが車輪支持部に着脱可能に装着されていると、フェンダが不要な場合に、フェンダを車輪支持部から取り外すことができる。 According to the above configuration, in the wheel support mechanism, even if the wheel support portion is slid along the extending direction of the main body side portion, the positional relationship between the wheel and the fender does not change, so that the function of the fender is stably exhibited. Will be done.
When the fender is detachably attached to the wheel support, the fender can be removed from the wheel support when the fender is not needed.

本発明において、前記固定部は、前記本体側部の延伸方向に沿った任意の位置又は複数の位置で、前記車輪支持部を前記本体側部に固定及び固定解除可能であると好適である。 In the present invention, it is preferable that the fixing portion can fix and release the wheel supporting portion to the main body side portion at an arbitrary position or a plurality of positions along the extending direction of the main body side portion.

上記の構成によると、任意の車高又は複数段階の車高に調整可能な車高調整機構を低コストで実現することができ、構造の簡素化及びこれに基づく重量の軽減を図った構成で、車高調整機構を実現することができる。 According to the above configuration, a vehicle height adjustment mechanism that can be adjusted to an arbitrary vehicle height or a vehicle height in multiple stages can be realized at low cost, and the structure is simplified and the weight is reduced based on the structure. , Vehicle height adjustment mechanism can be realized.

本発明において、前記本体側部は、前記本体部に対して着脱可能であると好適である。 In the present invention, it is preferable that the main body side portion is removable from the main body portion.

上記の構成によると、車高調整機構において、本体側部を本体部から着脱可能に構成にすることにより、長さの異なる本体側部に交換して、作業車の車高を容易に調整することができる。 According to the above configuration, in the vehicle height adjustment mechanism, by making the main body side portion removable from the main body portion, it can be replaced with a main body side portion having a different length, and the vehicle height of the work vehicle can be easily adjusted. be able to.

作業車の右側面図である。It is a right side view of the work platform. 作業車の平面図である。It is a top view of a work platform. 右前の車輪支持機構の正面図である。It is a front view of the front right wheel support mechanism. 車輪支持機構の本体側部の分解斜視図である。It is an exploded perspective view of the main body side part of a wheel support mechanism. 車輪支持機構の本体側部の接続部と車輪支持部の接続部との固定状態を示す断面図である。It is sectional drawing which shows the fixed state of the connection part of the main body side part of the wheel support mechanism, and the connection part of a wheel support part. 車輪支持機構の車輪支持部の斜視図である。It is a perspective view of the wheel support part of a wheel support mechanism.

（作業車の全体構成）
図１〜図６に、本実施形態にかかる作業車が示されており、Ｆは前方向を示し、Ｂは後方向を示し、Ｕは上方向を示し、Ｄは下方向を示し、Ｒは右方向を示し、Ｌは左方向を示している。
本実施形態では、本発明をＧＰＳに基づく自律走行及び無線操縦による走行を行う作業車に適用する場合の実施例について説明するが、本発明の適用対象はこれに限るものではない。 (Overall configuration of work platform)
1 to 6 show the work vehicle according to the present embodiment, where F indicates a forward direction, B indicates a rear direction, U indicates an upward direction, D indicates a downward direction, and R indicates a downward direction. It indicates the right direction, and L indicates the left direction.
In the present embodiment, an example in which the present invention is applied to a work vehicle that performs autonomous traveling based on GPS and traveling by radio control will be described, but the application target of the present invention is not limited to this.

図１及び図２に示すように、作業車は、本体部１と、本体部１の前部及び後部における右部及び左部に設けられた４個の車輪支持機構２と、車輪支持機構２の各々の下部に支持された４個の走行用の車輪３とが備えられている。 As shown in FIGS. 1 and 2, the work vehicle includes a main body portion 1, four wheel support mechanisms 2 provided on the right and left portions in the front and rear portions of the main body portion 1, and a wheel support mechanism 2. There are four running wheels 3 supported at the bottom of each of the wheels.

（本体部の構成）
図１，２，３に示すように、本体部１において、左右方向に沿った上及び下の前フレーム４と、左右方向に沿った上及び下の後フレーム５と、前後方向に沿った上及び下の右の横フレーム６と、前後方向に沿った上及び下の左の横フレーム６とが設けられている。 (Structure of the main body)
As shown in FIGS. 1, 2 and 3, in the main body 1, the upper and lower front frames 4 along the left-right direction, the upper and lower rear frames 5 along the left-right direction, and the upper and lower frames 5 along the front-rear direction. The lower right horizontal frame 6 and the upper and lower left horizontal frames 6 along the front-rear direction are provided.

上の前フレーム４、後フレーム５、右及び左の横フレーム６が、平面視で四角形の枠状に連結されており、下の前フレーム４、後フレーム５、右及び左の横フレーム６が、平面視で四角形の枠状に連結されている。前述のように構成された上の枠状の構造物と、下の枠状の構造物とが、上下方向に沿った４個の縦フレームに７より連結されている。 The upper front frame 4, rear frame 5, right and left horizontal frames 6 are connected in a quadrangular frame shape in a plan view, and the lower front frame 4, rear frame 5, right and left horizontal frames 6 are connected. , It is connected in a quadrangular frame shape in a plan view. The upper frame-shaped structure and the lower frame-shaped structure configured as described above are connected by 7 to four vertical frames along the vertical direction.

下の右及び左の横フレーム６に支持フレーム８が連結されており、油圧供給部９が支持フレーム８に支持されている。油圧供給部９には、エンジン（図示せず）、及びエンジンにより駆動される油圧ポンプ（図示せず）等が設けられている。 The support frame 8 is connected to the lower right and left horizontal frames 6, and the flood control unit 9 is supported by the support frame 8. The hydraulic supply unit 9 is provided with an engine (not shown), a hydraulic pump driven by the engine (not shown), and the like.

複数の電磁操作型式の制御弁（図示せず）が収納された制御弁部１０が、上の右及び左の横フレーム６に支持されている。ＣＰＵ（図示せず）や各種のセンサー（図示せず）及び受信機（図示せず）等が設けられた制御部１１が、制御弁部１０に支持されている。
前及び後の上フレーム１２が、制御弁部１０及び制御部１１の上側を覆うように、上の前フレーム４及び後フレーム５に連結されている。 A control valve unit 10 in which a plurality of electromagnetically operated control valves (not shown) are housed is supported by the upper right and left horizontal frames 6. A control unit 11 provided with a CPU (not shown), various sensors (not shown), a receiver (not shown), and the like is supported by the control valve unit 10.
The front and rear upper frames 12 are connected to the upper front frame 4 and the rear frame 5 so as to cover the upper side of the control valve unit 10 and the control unit 11.

（車輪支持機構における本体側部）
図１，２，３に示すように、車輪支持機構２に、本体側部１３と、車輪支持部１４と、固定ピン１５（固定部に相当）とが設けられている。 (Main body side in wheel support mechanism)
As shown in FIGS. 1, 2 and 3, the wheel support mechanism 2 is provided with a main body side portion 13, a wheel support portion 14, and a fixing pin 15 (corresponding to the fixing portion).

図１〜図４に示すように、本体側部１３において、角パイプ状の基部１６が設けられており、基部１６の上部及び下部に、連結孔１６ａが開口されている。上及び下のボス部１７が基部１６に連結され、アーム部１８が基部１６に連結されている。 As shown in FIGS. 1 to 4, a square pipe-shaped base portion 16 is provided on the main body side portion 13, and connecting holes 16a are opened in the upper portion and the lower portion of the base portion 16. The upper and lower boss portions 17 are connected to the base portion 16, and the arm portion 18 is connected to the base portion 16.

本体側部１３において、丸パイプ状に構成された接続部１９が設けられており、接続部１９の上部に、２個の連結孔１９ａが開口され、接続部１９の下部に６個の固定孔１９ｂが開口されている。 A connection portion 19 formed in a round pipe shape is provided on the main body side portion 13, two connecting holes 19a are opened in the upper portion of the connecting portion 19, and six fixing holes are opened in the lower portion of the connecting portion 19. 19b is open.

接続部１９が基部１６に上側から挿入され、基部１６の連結孔１６ａと接続部１９の連結孔１９ａとに亘って、連結ピン２０が挿入されることにより、基部１６と接続部１９とが連結されている。
以上のように、本体側部１３に、基部１６、ボス部１７、アーム部１８、接続部１９及び連結ピン２０等が設けられている。 The connecting portion 19 is inserted into the base portion 16 from above, and the connecting pin 20 is inserted over the connecting hole 16a of the base portion 16 and the connecting hole 19a of the connecting portion 19, whereby the base portion 16 and the connecting portion 19 are connected. Has been done.
As described above, the base portion 16, the boss portion 17, the arm portion 18, the connecting portion 19, the connecting pin 20, and the like are provided on the main body side portion 13.

図１，２，３に示すように、上の右及び左の横フレーム６の前部及び後部に、正面視でチャンネル状の支点部２１が連結され、下の右及び左の横フレーム６の前部及び後部に、正面視でチャンネル状の支点部２１が連結されている。 As shown in FIGS. 1, 2 and 3, a channel-shaped fulcrum portion 21 is connected to the front and rear portions of the upper right and left horizontal frames 6 in a front view, and the lower right and left horizontal frames 6 are connected. A channel-shaped fulcrum portion 21 is connected to the front portion and the rear portion in a front view.

基部１６のボス部１７が、上下方向（本体側部１３の延伸方向）に沿ったステアリング軸芯Ｐ１周りに揺動可能に、支点部２１に支持されている。上の右及び左の横フレーム６に、ブラケット２２が連結されており、復動型の油圧シリンダ２３（ステアリングアクチュエータに相当）が、アーム部１８とブラケット２２とに亘って接続されている。 The boss portion 17 of the base portion 16 is supported by the fulcrum portion 21 so as to be swingable around the steering shaft core P1 along the vertical direction (extending direction of the main body side portion 13). Brackets 22 are connected to the upper right and left horizontal frames 6, and a reactive hydraulic cylinder 23 (corresponding to a steering actuator) is connected to the arm portion 18 and the bracket 22.

以上のように、本体側部１３（基部１６及び接続部１９）が、本体部１に取り付けられて、本体部１から上下方向（本体側部１３の延伸方向）に沿って下側に延伸された状態となる。 As described above, the main body side portion 13 (base portion 16 and connection portion 19) is attached to the main body portion 1 and is extended downward from the main body portion 1 along the vertical direction (extension direction of the main body side portion 13). It will be in a state of being.

本体側部１３（基部１６及び接続部１９）が、上下方向に沿ったステアリング軸芯Ｐ１周りに揺動可能に本体部１に支持され、油圧シリンダ２３の伸縮作動により、本体側部１３（基部１６及び接続部１９）が本体部１に対してステアリング軸芯Ｐ１周りに揺動操作される。 The main body side portion 13 (base portion 16 and connection portion 19) is supported by the main body portion 1 so as to be swingable around the steering shaft core P1 along the vertical direction, and the main body side portion 13 (base portion) is expanded and contracted by the expansion and contraction operation of the hydraulic cylinder 23. 16 and the connecting portion 19) are swung around the steering shaft core P1 with respect to the main body portion 1.

（車輪支持機構における車輪支持部）
図１，３，６に示すように、車輪支持部１４において、角パイプ状に構成された接続部２４が設けられており、接続部２４に２個の固定孔２４ａが開口されている。ボス部２５が、接続部２４の下部の横部に連結されており、正面視でアングル状の支持部２６が、ボス部２５の下部に連結されている。 (Wheel support part in wheel support mechanism)
As shown in FIGS. 1, 3 and 6, the wheel support portion 14 is provided with a connecting portion 24 formed in a square pipe shape, and two fixing holes 24a are opened in the connecting portion 24. The boss portion 25 is connected to the lateral portion of the lower portion of the connecting portion 24, and the angle-shaped support portion 26 is connected to the lower portion of the boss portion 25 when viewed from the front.

車輪支持部１４において、車輪３が、接続部２４の下部の下方に位置するように、支持部２６に回転可能に支持されており、車輪３を駆動する油圧モータ型式の駆動モータ２７が、支持部２６における車輪３の反対側の部分に連結されている。板材が折り曲げられて構成されたフェンダ２８が、車輪３に対して上側に配置されるように、接続部２４の下部に連結されている。 In the wheel support portion 14, the wheel 3 is rotatably supported by the support portion 26 so as to be located below the lower portion of the connection portion 24, and the drive motor 27 of the hydraulic motor type that drives the wheel 3 supports the wheel 3. It is connected to the opposite portion of the wheel 3 in the portion 26. The fender 28 formed by bending the plate material is connected to the lower part of the connecting portion 24 so as to be arranged on the upper side with respect to the wheel 3.

以上のように、車輪支持部１４に、接続部２４、ボス部２５及び支持部２６等が設けられおり、車輪３が車輪支持部１４に支持されている。
車輪３を駆動する駆動モータ２７が、車輪支持部１４に設けられており、フェンダ２８が、車輪３に対して上側に配置されるように車輪支持部１４に固定されている。 As described above, the wheel support portion 14 is provided with the connection portion 24, the boss portion 25, the support portion 26, and the like, and the wheel 3 is supported by the wheel support portion 14.
A drive motor 27 for driving the wheels 3 is provided on the wheel support portion 14, and the fender 28 is fixed to the wheel support portion 14 so as to be arranged above the wheel 3.

（車輪支持機構における本体側部と車輪支持部との接続）
本体側部１３（図４参照）と車輪支持部１４（図６参照）とにおいて、図１，３，５に示すように、車輪支持部１４の角パイプ状の接続部２４に、本体側部１３の丸パイプ状の接続部１９が挿入されることによって、車輪支持部１４（接続部２４）が、本体側部１３（接続部１９）に上下方向（本体側部１３の延伸方向）に沿ってスライド可能に支持される。 (Connection between the main body side and the wheel support in the wheel support mechanism)
In the main body side portion 13 (see FIG. 4) and the wheel support portion 14 (see FIG. 6), as shown in FIGS. 1, 3 and 5, the main body side portion is connected to the square pipe-shaped connecting portion 24 of the wheel support portion 14. By inserting the round pipe-shaped connecting portion 19 of 13, the wheel supporting portion 14 (connecting portion 24) moves along the main body side portion 13 (connecting portion 19) in the vertical direction (extending direction of the main body side portion 13). It is supported so that it can slide.

本体側部１３（接続部１９）の２個の固定孔１９ｂと、車輪支持部１４（接続部２４）の固定孔２４ａとに亘って、固定ピン１５が挿入されることにより、車輪支持部１４（接続部２４）が本体側部１３（接続部１９）に固定されて、作業車（本体部１）の車高が設定される。 The wheel support portion 14 is formed by inserting the fixing pin 15 over the two fixing holes 19b of the main body side portion 13 (connection portion 19) and the fixing holes 24a of the wheel support portion 14 (connection portion 24). (Connecting portion 24) is fixed to the main body side portion 13 (connecting portion 19), and the vehicle height of the work vehicle (main body portion 1) is set.

固定ピン１５が取り外されることにより、車輪支持部１４（接続部２４）が本体側部１３（接続部１９）に上下方向（本体側部１３の延伸方向）に沿ってスライド可能となる。本体側部１３（接続部１９）の別の２個の固定孔１９ｂと、車輪支持部１４（接続部２４）の固定孔２４ａとに亘って、固定ピン１５が挿入されることにより、車輪支持部１４（接続部２４）が本体側部１３（接続部１９）に固定されて、作業車（本体部１）の車高が変更される。 By removing the fixing pin 15, the wheel support portion 14 (connecting portion 24) can slide in the vertical direction (extending direction of the main body side portion 13) in the main body side portion 13 (connecting portion 19). The wheel is supported by inserting the fixing pin 15 over the other two fixing holes 19b of the main body side portion 13 (connecting portion 19) and the fixing holes 24a of the wheel supporting portion 14 (connecting portion 24). The portion 14 (connecting portion 24) is fixed to the main body side portion 13 (connecting portion 19), and the vehicle height of the work vehicle (main body portion 1) is changed.

作業車が法面等の斜面を等高線に沿って走行する場合、右の前及び後の車輪支持機構２と、左の前及び後の車輪支持機構２とにおいて、車輪支持部１４（接続部２４）を本体側部１３（接続部１９）の異なる位置に固定すればよい。これにより、作業車（本体部１）の右部及び左部の車高を異なるものになり、作業車は本体部１を水平に維持しながら等高線に沿って走行することができる。 When the work vehicle travels on a slope such as a slope along a contour line, the wheel support portion 14 (connection portion 24) is used in the front and rear wheel support mechanisms 2 on the right and the front and rear wheel support mechanisms 2 on the left. ) May be fixed at different positions on the main body side portion 13 (connecting portion 19). As a result, the heights of the right and left portions of the work vehicle (main body 1) are different, and the work vehicle can travel along the contour lines while keeping the main body 1 horizontal.

作業車（本体部１）の車高を大きく変更する場合、図４に示すように、作業者は、連結ピン２０を取り外し、接続部１９を基部１６から取り外して、長さの異なる別の接続部１９を基部１６に挿入し、基部１６の連結孔１６ａと接続部１９の連結孔１９ａとに亘って連結ピン２０を挿入して、基部１６と接続部１９とを連結すればよい。 When the vehicle height of the work vehicle (main body 1) is significantly changed, as shown in FIG. 4, the operator removes the connecting pin 20 and the connecting portion 19 from the base 16, and another connection having a different length. The portion 19 may be inserted into the base portion 16, and the connecting pin 20 may be inserted over the connecting hole 16a of the base portion 16 and the connecting hole 19a of the connecting portion 19 to connect the base portion 16 and the connecting portion 19.

以上のように、本体側部１３において接続部１９が基部１６に取り付け及び取り外し可能であることにより、本体側部１３（接続部１９）が本体部１に対して着脱可能となる。本体側部１３において基部１６に本体部１に残っても、接続部１９が長さの異なる接続部１９に交換されることにより、本体側部１３が交換されたことになる。 As described above, since the connection portion 19 can be attached to and detached from the base portion 16 in the main body side portion 13, the main body side portion 13 (connection portion 19) can be attached to and detached from the main body portion 1. Even if the main body side portion 13 remains on the main body portion 1 at the base portion 16, the main body side portion 13 is replaced by replacing the connecting portion 19 with a connecting portion 19 having a different length.

（作業車の走行）
図１及び図２に示すように、油圧供給部９の作動油が、制御弁部１０の制御弁を介して４個の駆動モータ２７に供給されて、駆動モータ２７により車輪３が正方向及び逆方向に駆動される。 (Running work platform)
As shown in FIGS. 1 and 2, the hydraulic oil of the hydraulic supply unit 9 is supplied to the four drive motors 27 via the control valve of the control valve unit 10, and the drive motor 27 causes the wheels 3 to move in the forward direction and in the forward direction. It is driven in the opposite direction.

油圧供給部９の作動油が、制御弁部１０の制御弁を介して油圧シリンダ２３に供給されて、油圧シリンダ２３の伸縮作動により、本体側部１３（基部１６及び接続部１９）が本体部１に対してステアリング軸芯Ｐ１周りに揺動操作される。固定ピン１５により車輪支持部１４（接続部２４）が本体側部１３（接続部１９）に固定されていることによって、車輪支持部１４及び車輪３が、本体側部１３（基部１６及び接続部１９）と一体で、ステアリング軸芯Ｐ１周りに揺動操作（操向操作）される。 The hydraulic oil of the hydraulic supply unit 9 is supplied to the hydraulic cylinder 23 via the control valve of the control valve unit 10, and the main body side portion 13 (base 16 and connection 19) is moved to the main body by the expansion and contraction operation of the hydraulic cylinder 23. It is swung around the steering shaft core P1 with respect to 1. By fixing the wheel support portion 14 (connection portion 24) to the main body side portion 13 (connection portion 19) by the fixing pin 15, the wheel support portion 14 and the wheel 3 are separated from the main body side portion 13 (base portion 16 and connection portion). Integral with 19), a swing operation (steering operation) is performed around the steering shaft core P1.

ＧＰＳによる位置データ、又は作業者が操作する送信機（図示せず）からの操縦信号に基づいて、制御部１１は制御弁部１０の制御弁を操作するのであり、前述のように車輪３の駆動及び操向操作が行われる。 The control unit 11 operates the control valve of the control valve unit 10 based on the position data by GPS or the control signal from the transmitter (not shown) operated by the operator, and as described above, the wheel 3 Drive and steering operations are performed.

（発明の実施の第１別形態）
図１〜図６では、本体側部１３が本体部１から上下方向に沿って下側に延伸されている構成について説明したが、本体側部１３の延伸方向は必ずしも鉛直方向の下方でなくてもよく、鉛直方向に対して前後方向又は左右方向に傾斜していてもよい。
この構成において、車輪支持部１４が、本体側部１３に対して本体側部１３の延伸方向に沿ってスライド可能に構成されるとよい。 (First alternative form of carrying out the invention)
In FIGS. 1 to 6, the configuration in which the main body side portion 13 is extended downward from the main body portion 1 along the vertical direction has been described, but the extension direction of the main body side portion 13 is not necessarily downward in the vertical direction. It may be inclined in the front-rear direction or the left-right direction with respect to the vertical direction.
In this configuration, it is preferable that the wheel support portion 14 is slidable with respect to the main body side portion 13 along the extending direction of the main body side portion 13.

（発明の実施の第２別形態）
本体側部１３の接続部１９が角パイプ状に構成され、車輪支持部１４の接続部２４が丸パイプ状に構成されて、本体側部１３の角パイプ状の接続部１９に、車輪支持部１４の丸パイプ状の接続部２４が挿入されるように構成されてもよい。 (Second alternative form of carrying out the invention)
The connection portion 19 of the main body side portion 13 is formed in a square pipe shape, the connection portion 24 of the wheel support portion 14 is formed in a round pipe shape, and the wheel support portion is connected to the square pipe-shaped connection portion 19 of the main body side portion 13. The 14 round pipe-shaped connecting portions 24 may be configured to be inserted.

図１〜図６に示す構成、並びに、前述の構成によって、本体側部１３及び車輪支持部１４の一方が、上下方向に沿った角パイプ状に構成され、本体側部１３及び車輪支持部１４の他方が、上下方向に沿った丸パイプ状に構成され、本体側部１３及び車輪支持部１４の角パイプ状の一方に、本体側部１３及び車輪支持部１４の丸パイプ状の他方が挿入されることにより、車輪支持部１４が本体側部１３に上下方向（本体側部１３の延伸方向）に沿ってスライド可能に支持される。 According to the configurations shown in FIGS. 1 to 6 and the above-described configuration, one of the main body side portion 13 and the wheel support portion 14 is formed in a square pipe shape along the vertical direction, and the main body side portion 13 and the wheel support portion 14 are formed. The other is configured in a round pipe shape along the vertical direction, and the other round pipe shape of the main body side portion 13 and the wheel support portion 14 is inserted into one of the square pipe shapes of the main body side portion 13 and the wheel support portion 14. By doing so, the wheel support portion 14 is slidably supported by the main body side portion 13 along the vertical direction (extending direction of the main body side portion 13).

（発明の実施の第３別形態）
本体側部１３の接続部１９及び車輪支持部１４の接続部２４の一方が、中実の丸棒状に構成され、本体側部１３の接続部１９及び車輪支持部１４の接続部２４の他方が、角パイプ状又は丸パイプ状に構成されて、角パイプ又は丸パイプに中実の丸棒が挿入されるように構成されてもよい。 (Third alternative form of carrying out the invention)
One of the connection portion 19 of the main body side portion 13 and the connection portion 24 of the wheel support portion 14 is formed in the shape of a solid round bar, and the other of the connection portion 19 of the main body side portion 13 and the connection portion 24 of the wheel support portion 14 is formed. , It may be configured in the shape of a square pipe or a round pipe so that a solid round bar is inserted into the square pipe or the round pipe.

本体側部１３の接続部１９及び車輪支持部１４の接続部２４の一方が、角パイプ状又は中実の角棒状に構成され、本体側部１３の接続部１９及び車輪支持部１４の接続部２４の他方が、角パイプ状に構成されて、角パイプに角パイプ又は中実の角棒が挿入されるように構成されてもよい。 One of the connection portion 19 of the main body side portion 13 and the connection portion 24 of the wheel support portion 14 is formed in the shape of a square pipe or a solid square bar, and the connection portion 19 of the main body side portion 13 and the connection portion 14 of the wheel support portion 14 are formed. The other of 24 may be configured in the shape of a square pipe so that a square pipe or a solid square bar is inserted into the square pipe.

本体側部１３の接続部１９及び車輪支持部１４の接続部２４の一方が、丸パイプ状又は中実の丸棒状に構成され、本体側部１３の接続部１９及び車輪支持部１４の接続部２４の他方が、丸パイプ状に構成されて、丸パイプに丸パイプ又は中実の丸棒が挿入されるように構成されてもよい。 One of the connection portion 19 of the main body side portion 13 and the connection portion 24 of the wheel support portion 14 is formed in the shape of a round pipe or a solid round bar, and the connection portion 19 of the main body side portion 13 and the connection portion 14 of the wheel support portion 14 are formed. The other of 24 may be configured in the shape of a round pipe so that a round pipe or a solid round bar is inserted into the round pipe.

図１〜図６に示す構成、並びに、前述の構成によって、本体側部１３及び車輪支持部１４のうちの少なくとも一方が、上下方向に沿ったパイプ状に構成され、本体側部１３及び車輪支持部１４のパイプ状の一方に、本体側部１３及び車輪支持部１４の他方が挿入されることにより、車輪支持部１４が本体側部１３に上下方向（本体側部１３の延伸方向）に沿ってスライド可能に支持される。 According to the configurations shown in FIGS. 1 to 6 and the above-described configuration, at least one of the main body side portion 13 and the wheel support portion 14 is formed in a pipe shape along the vertical direction, and the main body side portion 13 and the wheel support are supported. By inserting the other of the main body side portion 13 and the wheel support portion 14 into one of the pipe-shaped portions 14, the wheel support portion 14 is vertically aligned with the main body side portion 13 (extension direction of the main body side portion 13). It is supported so that it can slide.

（発明の実施の第４別形態）
固定ピン１５に代えて、固定ボルト（図示せず）やバックル（図示せず）、固定フック（図示せず）等が、固定部として使用されてもよい。本体側部１３において、接続部１９に７個以上の固定孔１９ｂが開口されてもよい。 (Fourth alternative form of carrying out the invention)
Instead of the fixing pin 15, a fixing bolt (not shown), a buckle (not shown), a fixing hook (not shown), or the like may be used as the fixing portion. In the main body side portion 13, seven or more fixing holes 19b may be opened in the connecting portion 19.

（発明の実施の第５別形態）
本体側部１３の接続部１９の固定孔１９ｂ、及び車輪支持部１４の接続部２４の固定孔２４ａを廃止して、ベルト状の固定部（図示せず）により、本体側部１３の接続部１９と車輪支持部１４の接続部２４とを締め付けて、車輪支持部１４の接続部２４を本体側部１３の接続部１９に固定するように構成してもよい。
この構成によると、車輪支持部１４の接続部２４の固定位置を、連続的に任意の位置に設定することができる。 (Fifth alternative form of carrying out the invention)
The fixing hole 19b of the connecting portion 19 of the main body side portion 13 and the fixing hole 24a of the connecting portion 24 of the wheel support portion 14 are abolished, and the connecting portion of the main body side portion 13 is provided by a belt-shaped fixing portion (not shown). 19 and the connection portion 24 of the wheel support portion 14 may be tightened so that the connection portion 24 of the wheel support portion 14 is fixed to the connection portion 19 of the main body side portion 13.
According to this configuration, the fixed position of the connecting portion 24 of the wheel supporting portion 14 can be continuously set to an arbitrary position.

（発明の実施の第６別形態）
本体側部１３において、接続部１９が基部１６に固定されたり、接続部１９と基部１６とが一体的に構成されて、基部１６に対して接続部１９が取り付け及び取り外しできないように構成されてもよい。
この構成によると、本体側部１３（基部１６のボス部１７）を、本体部１の支点部２１に対して着脱可能に構成すればよい。これにより、本体側部１３の全体が、接続部１９の長さの異なる別の本体側部１３に交換される。 (Sixth Alternative Form of Implementation of the Invention)
In the main body side portion 13, the connecting portion 19 is fixed to the base portion 16, or the connecting portion 19 and the base portion 16 are integrally configured so that the connecting portion 19 cannot be attached to or detached from the base portion 16. May be good.
According to this configuration, the main body side portion 13 (boss portion 17 of the base portion 16) may be detachably configured with respect to the fulcrum portion 21 of the main body portion 1. As a result, the entire main body side portion 13 is replaced with another main body side portion 13 having a different length of the connecting portion 19.

（発明の実施の第７別形態）
車輪支持部１４において、フェンダ２８が、車輪支持部１４に着脱可能に構成されてもよい。 (7th alternative form of carrying out the invention)
In the wheel support portion 14, the fender 28 may be configured to be detachably attached to the wheel support portion 14.

（発明の実施の第８別形態）
油圧シリンダ２３に代えて、電動シリンダ（図示せず）や電動モータ（図示せず）が、ステアリングアクチュエータとして使用されてもよい。油圧モータ型式の駆動モータ２７に代えて、電動モータ型式の駆動モータ２７が使用されてもよい。
この構成によると、油圧供給部９に代えて、バッテリー（図示せず）が備えられると良いのであり、制御弁部１０に代えて、電流用のコントローラ（図示せず）が備えられるとよい。 (Eighth alternative form of carrying out the invention)
Instead of the hydraulic cylinder 23, an electric cylinder (not shown) or an electric motor (not shown) may be used as the steering actuator. Instead of the hydraulic motor type drive motor 27, an electric motor type drive motor 27 may be used.
According to this configuration, a battery (not shown) may be provided in place of the hydraulic supply unit 9, and a controller for electric current (not shown) may be provided in place of the control valve unit 10.

（発明の実施の第９別形態）
４個の車輪支持機構２及び車輪３ではなく、６個又は８個の車輪支持機構２及び車輪３が本体部１に設けられてもよい。 (9th alternative form of carrying out the invention)
Instead of the four wheel support mechanisms 2 and the wheels 3, six or eight wheel support mechanisms 2 and the wheels 3 may be provided on the main body 1.

本発明は、作業車に適用できる。 The present invention can be applied to a work vehicle.

１ 本体部
２ 車輪支持機構
３ 車輪
１３ 本体側部
１４ 車輪支持部
１５ 固定ピン（固定部）
２３ 油圧シリンダ（ステアリングアクチュエータ）
２７ 駆動モータ
２８ フェンダ
Ｐ１ ステアリング軸芯 1 Main body 2 Wheel support mechanism 3 Wheels 13 Main body side 14 Wheel support 15 Fixing pin (fixing part)
23 Hydraulic cylinder (steering actuator)
27 Drive Motor 28 Fender P1 Steering Shaft Core

Claims (9)

本体部と、前記本体部に設けられた複数の車輪支持機構と、前記車輪支持機構の各々の下部に支持された走行用の車輪とが備えられ、
前記車輪支持機構に、
前記本体部に取り付けられて、前記本体部から下側に延出されるように配置された本体側部と、
前記車輪を支持して、前記本体側部の延伸方向に沿ってスライド可能に、前記本体側部に支持された車輪支持部と、
前記車輪支持部を前記本体側部に固定及び固定解除可能な固定部とが設けられている作業車。 A main body portion, a plurality of wheel support mechanisms provided on the main body portion, and running wheels supported under each lower portion of the wheel support mechanism are provided.
To the wheel support mechanism
A main body side portion attached to the main body portion and arranged so as to extend downward from the main body portion,
A wheel support portion supported on the main body side portion and a wheel support portion supported on the main body side portion so as to support the wheel and slide along the extending direction of the main body side portion.
A work vehicle provided with a fixing portion capable of fixing and releasing the wheel support portion on the side portion of the main body. 前記本体側部は、前記本体部から上下方向に沿って下側に延伸され、
前記車輪支持部は、上下方向に沿ってスライド可能に、前記本体側部に支持されている請求項１に記載の作業車。 The main body side portion is extended downward from the main body portion along the vertical direction.
The work vehicle according to claim 1, wherein the wheel support portion is slidably slidable in the vertical direction and is supported on the side portion of the main body. 前記本体側部及び前記車輪支持部のうちの少なくとも一方が、パイプ状に構成され、
前記本体側部及び前記車輪支持部のパイプ状の一方に、前記本体側部及び前記車輪支持部の他方が挿入されることにより、前記車輪支持部が、前記本体側部の延伸方向に沿ってスライド可能に、前記本体側部に支持されている請求項１又は２に記載の作業車。 At least one of the main body side portion and the wheel support portion is configured in a pipe shape.
By inserting the other of the main body side portion and the wheel support portion into the pipe-shaped one of the main body side portion and the wheel support portion, the wheel support portion is formed along the extending direction of the main body side portion. The work vehicle according to claim 1 or 2, which is slidably supported on the side of the main body. 前記本体側部及び前記車輪支持部の一方が、角パイプ状に構成され、
前記本体側部及び前記車輪支持部の他方が、丸パイプ状に構成され、
前記本体側部及び前記車輪支持部の角パイプ状の一方に、前記本体側部及び前記車輪支持部の丸パイプ状の他方が挿入されることにより、前記車輪支持部が、前記本体側部の延伸方向に沿ってスライド可能に、前記本体側部に支持されている請求項３に記載の作業車。 One of the main body side portion and the wheel support portion is configured in the shape of a square pipe.
The other side of the main body and the wheel support is formed in a round pipe shape.
By inserting the other of the main body side portion and the wheel support portion into the square pipe shape of the main body side portion and the wheel support portion, the wheel support portion becomes the main body side portion. The work vehicle according to claim 3, which is supported on the side of the main body so as to be slidable along the stretching direction. 前記本体側部が、前記本体側部の延伸方向に沿ったステアリング軸芯周りに揺動可能に前記本体部に支持され、
前記本体側部を前記本体部に対して前記ステアリング軸芯周りに揺動操作可能なステアリングアクチュエータが設けられている請求項１〜４のうちのいずれか一項に記載の作業車。 The main body side portion is supported by the main body portion so as to be swingable around the steering axis along the extending direction of the main body side portion.
The work vehicle according to any one of claims 1 to 4, wherein a steering actuator capable of swinging the main body side portion around the steering shaft core is provided with respect to the main body portion. 前記車輪を駆動する駆動モータが、前記車輪支持部に設けられている請求項１〜５のうちのいずれか一項に記載の作業車。 The work vehicle according to any one of claims 1 to 5, wherein the drive motor for driving the wheels is provided on the wheel support portion. フェンダが、前記車輪に対して上側に配置されるように、前記車輪支持部に固定又は着脱可能に装着されている請求項１〜６のうちのいずれか一項に記載の作業車。 The work vehicle according to any one of claims 1 to 6, wherein the fender is fixedly or detachably attached to the wheel support portion so as to be arranged on the upper side with respect to the wheel. 前記固定部は、前記本体側部の延伸方向に沿った任意の位置又は複数の位置で、前記車輪支持部を前記本体側部に固定及び固定解除可能である請求項１〜７のうちのいずれか一項に記載の作業車。 Any of claims 1 to 7, wherein the fixing portion can fix and release the wheel support portion to the main body side portion at an arbitrary position or a plurality of positions along the extending direction of the main body side portion. The work vehicle described in item 1. 前記本体側部は、前記本体部に対して着脱可能である請求項１〜８のうちのいずれか一項に記載の作業車。 The work vehicle according to any one of claims 1 to 8, wherein the main body side portion is removable from the main body portion.
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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5671410U (en) * 1979-11-06 1981-06-12
JPH07276966A (en) * 1994-04-15 1995-10-24 Toyota Autom Loom Works Ltd Suspension device for vehicle
JP2005178492A (en) * 2003-12-18 2005-07-07 Nissan Motor Co Ltd Wheel independent suspension device
KR20150099911A (en) * 2014-02-24 2015-09-02 대동공업주식회사 Steering connected type front unit wheel fender of a agricultural vehicle
JP2015189441A (en) * 2014-03-28 2015-11-02 株式会社ショーワ Vehicle height adjustment device, control device and program for vehicle height adjustment device
JP2016113756A (en) * 2014-12-11 2016-06-23 岡本　俊仁 Service car for slope frame
JP2018103681A (en) * 2016-12-22 2018-07-05 株式会社クボタ Oil hydraulic robot
JP2018167689A (en) * 2017-03-29 2018-11-01 株式会社クボタ Work vehicle

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5671410U (en) * 1979-11-06 1981-06-12
JPH07276966A (en) * 1994-04-15 1995-10-24 Toyota Autom Loom Works Ltd Suspension device for vehicle
JP2005178492A (en) * 2003-12-18 2005-07-07 Nissan Motor Co Ltd Wheel independent suspension device
KR20150099911A (en) * 2014-02-24 2015-09-02 대동공업주식회사 Steering connected type front unit wheel fender of a agricultural vehicle
JP2015189441A (en) * 2014-03-28 2015-11-02 株式会社ショーワ Vehicle height adjustment device, control device and program for vehicle height adjustment device
JP2016113756A (en) * 2014-12-11 2016-06-23 岡本　俊仁 Service car for slope frame
JP2018103681A (en) * 2016-12-22 2018-07-05 株式会社クボタ Oil hydraulic robot
JP2018167689A (en) * 2017-03-29 2018-11-01 株式会社クボタ Work vehicle

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