JP2022065479A - Off-road travel vehicle - Google Patents

Abstract

To provide an off-road travel vehicle which can continuously perform flatland travel, uphill travel, downhill travel, slope traverse travel and the like and allows a user to take a proper riding posture in any travel state.SOLUTION: An off-road travel vehicle comprises: a vehicle body frame 10; right and left crawlers 2a, 2b which are connected to the vehicle body frame 10; a boarding part 3 on which a user can stand-ride; a handle post 43 which extends upward from the vehicle body frame 10; a handle bar 44 which is provided on the upper part of the handle post 43; a support part 50 which supports the handle post 43 so as to be movable in the front-rear and left-right directions on the vehicle body frame 10; and handle post movement control means 60 which controls the movement of the handle post 43.SELECTED DRAWING: Figure 11

Description

The present invention relates to a vehicle traveling on rough terrain, and the present invention relates to a vehicle traveling on rough terrain, which is capable of standing and traveling on rough terrain such as forests.

Forests in Japan are required to be cultivated, maintained and managed as sustainable environmental resources. However, most of them are in steep and rugged mountains. There is a need for a means of transportation in rough terrain such as steep and undulating forests.

Patent Document 1 proposes a vehicle traveling on rough terrain that is capable of standing and suitable for traveling on rough terrain such as forests. The rough terrain traveling vehicle disclosed in Patent Document 1 includes a vehicle body frame, left and right crawlers connected to the vehicle body frame, a standable boarding portion, and a handle extending upward from the vehicle body frame. The vehicle body frame is interlocked with a crawler support portion that supports the crawler so as to be swingable up and down via a first support shaft extending in the left and right direction of the vehicle body, and the crawler on the left and right are interlocked and connected so as to be swingable in the vertical direction. The left and right crawlers have a connecting mechanism, and the first connecting portion provided on the rear side of the track frame is connected to the vehicle body frame via the first support shaft, and the track frame has a connecting mechanism. A second connecting portion provided on the front side is connected to the vehicle body frame via the interlocking connecting mechanism.

According to the above configuration, for example, when one of the left and right crawlers rides on a raised portion on rough terrain, one of the crawlers attaches the first fulcrum to the vehicle body frame according to the riding at that time. The crawler on the opposite side swings up and down with the first fulcrum as the fulcrum with respect to the vehicle body frame. When either the left or right crawler enters the subsidence portion of rough terrain, one of the crawlers descends and swings with respect to the vehicle body frame with the first fulcrum as a fulcrum according to the entry at that time. , The other crawler on the opposite side rises and swings with respect to the vehicle body frame with the first fulcrum as a fulcrum.

In this way, when either the left or right crawler rides on a raised portion or enters a settling portion, the left and right crawlers swing up and down in a rebellious manner with respect to the vehicle body frame. While suppressing vertical swing, it is possible to suppress the left-right tilt of the vehicle body caused by one crawler riding on a raised portion or the like or entering a settling portion or the like.

By the way, the vehicle body of a vehicle traveling on rough terrain tilts during climbing, descending, and traversing a slope, and its gravity direction changes. The occupant tries to maintain his / her posture so as to balance his / her body with the axis of gravity regardless of the inclination of the vehicle body.

In the above-mentioned vehicle traveling on rough terrain described in Patent Document 1, a handle post having a handle bar connected to the upper end is attached to the vehicle body so as to be swingable back and forth, and an angle adjusting mechanism is provided on the handle post in the front-rear direction of the handle post. The angle of is adjustable.

Japanese Unexamined Patent Publication No. 2020-5416

The angle adjusting mechanism in the rough terrain traveling vehicle of Patent Document 1 described above includes a plurality of recesses and engaging claws that engage with the recesses, and by operating the operation lever, the recesses and the engaging claws are engaged with each other. After releasing and adjusting the angle, the operation of the operation lever is released to engage the concave portion with the engaging claw.

In the above-mentioned vehicle traveling on rough terrain described in Patent Document 1, in order to adjust the angle of the handle post in the front-rear direction, it is necessary to get off the vehicle and operate the operation lever, which is troublesome. For this reason, when shifting from flat ground running to uphill running and downhill running, the vehicle is stopped each time and the angle of the handle post in the front-rear direction is adjusted, so that continuous running cannot be performed.

Further, when traveling on a slope, the direction of gravity changes in the left-right direction of the vehicle body. However, simply adjusting the angle of the handle post in the front-rear direction cannot cope with the change in gravity of the vehicle body in the left-right direction, and it is difficult to take an appropriate riding posture.

The present invention provides a vehicle traveling on rough terrain, which is capable of continuously traveling on flat ground, climbing a slope, descending a slope, traversing a slope, etc., and can take an appropriate riding posture in any traveling state. Is the subject.

The present inventor examined the riding posture of a vehicle traveling on rough terrain. The basic riding posture is a standing position, and the occupant grasps the posture by the handlebar in order to drive on an unstable rough terrain slope. We considered a configuration in which the occupant can easily maintain the riding posture while holding the handlebar without requiring excessive labor.

The direction of gravity of the vehicle body changes significantly when traveling on flat ground, climbing a slope, descending a slope, or traversing a slope.

By the way, when humans stand on a slope, they balance their bodies along the axis of gravity. The occupant in the vehicle on rough terrain attempts to maintain his / her posture so as to balance his / her body with the axis of gravity regardless of the inclination of the vehicle body.

However, if the angle of the handle post is fixed perpendicular to the vehicle body, the handle post will stand perpendicular to the slope. For this reason, the balance of the occupant gripped by the handlebar attached to the handle post is lost. Therefore, the present inventor has found that by keeping the handle post in the direction along the axis of gravity, the occupant can maintain the balance even when the vehicle body is tilted back and forth and left and right.

In consideration of this, the present inventor has found that an appropriate riding posture can be obtained by fixing the handlebar at an appropriate angle according to the posture.

As a result of diligent studies, this inventor came up with the following configuration.

The rough terrain traveling vehicle according to the embodiment of the present invention includes a vehicle body frame, left and right crawlers connected to the vehicle body frame, a standable boarding portion, a handle post extending upward from the vehicle body frame, and the above. Has a handlebar provided at the top of the handlepost,
A support portion that movably supports the handle post on the vehicle body frame in the front-rear direction, the left-right direction, or the front-back / left-right direction.
The handle post movement control means for controlling the movement of the handle post is provided.

According to the rough terrain traveling vehicle according to the embodiment of the present invention, the handle post is movably supported on the vehicle body frame in the front-rear direction, the left-right direction, or the front-back left-right direction, and the handle post movement control means is used to support the handle post. The movement of the handle post is stopped in a state where the handle post is moved in the front-rear direction, the left-right direction, or the front-back left-right direction by a predetermined amount. For example, by moving the handle post in a direction along the axis of gravity and stopping the handle post in that state, the occupant can maintain balance.

The handle post can be moved and stopped without stopping the vehicle traveling on rough terrain. This enables continuous running such as flat ground running, uphill running, downhill running, and slope traversing running.

From another viewpoint, it is preferable that the rough terrain traveling vehicle according to the embodiment of the present invention includes the following configuration. The handle post movement control means includes an actuator unit that moves the handle post in the front-rear direction, the left-right direction, or the front-back / left-right direction.

According to the above configuration, by moving the handle post in the front-rear direction, the left-right direction, or the front-back left-right direction by the actuator portion, continuous running such as flat ground running, uphill running, downhill running, and slope traversing running is possible. Become.

Further, by supporting the handle post on the vehicle body frame so as to be movable in the front-rear and left-right directions and moving the handle post in the front-rear and left-right directions by the actuator unit, an appropriate riding posture can be obtained in any running state. Can be taken.

From another viewpoint, it is preferable that the rough terrain traveling vehicle according to the embodiment of the present invention includes the following configuration. The support portion has a universal joint that rotates and tilts back and forth and left and right, and supports the handle post so as to be movable in the front-back and left-right directions. It includes a left-right actuator that moves the post in the left-right direction, and a control device that controls driving of the front-rear actuator and the left-right actuator.

According to the above configuration, by controlling the drive of the front-rear actuator and the left-right actuator, it is possible to take an appropriate riding posture in any running state.

From another viewpoint, it is preferable that the rough terrain traveling vehicle according to the embodiment of the present invention includes the following configuration. The handlebar is provided with a switch means for giving an instruction signal to the control device, and the control device controls the drive of the front-rear actuator and the left-right actuator by the instruction input by the switch means.

According to the above configuration, the switch means provided on the handlebar can move the handlepost to an appropriate angle and keep the handlebar gripped by the occupant in an appropriate position. As a result, it is possible to take an appropriate riding posture in any running state.

From another viewpoint, it is preferable that the rough terrain traveling vehicle according to the embodiment of the present invention includes the following configuration. The switch means comprises a joystick, and when the joystick is moved in the front-rear direction of the vehicle, the control device controls the drive of the front-rear actuator, the handle post moves in the front-rear direction, and the joystick is moved in the front-rear direction of the vehicle. When moved in the left-right direction, the control device controls the drive of the left-right actuator, and the handle post is moved in the left-right direction.

As described above, by configuring the switch means with a joystick, the occupant can easily instruct the movement of the handle post in the desired front-back and left-right directions.

From another viewpoint, it is preferable that the rough terrain traveling vehicle according to the embodiment of the present invention includes the following configuration. An inclination sensor is provided on the handle post, and the control device controls driving of the front-rear actuator and the left-right actuator so that the handle post is along the direction of the gravity axis.

According to the above configuration, the handle post can be moved back and forth and left and right to an optimum angle by the tilt sensor. As a result, it is possible to take an appropriate riding posture in any running state.

From another viewpoint, it is preferable that the rough terrain traveling vehicle according to the embodiment of the present invention includes the following configuration. The control device controls the drive of the front-rear actuator and the left-right actuator so that the handle post is maintained in a state of overshooting a predetermined angle toward the mountain side from the direction of gravity.

According to the above configuration, by maintaining the handle post in a state of overshooting a predetermined angle toward the mountain side from the direction of gravity, a margin for maneuvering is created. The occupant's driving becomes easier.

In the present specification, an embodiment of an all-terrain vehicle according to the present invention will be described.

The following description provides a number of specific examples to provide a complete understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without these specific examples.

Therefore, the following disclosure should be considered as an example of the invention and is not intended to limit the invention to the particular embodiments set forth in the drawings or description below.

[Handle post movement control means]
In the present specification, the handle post movement control means moves the handle post in the front-rear direction, the left-right direction, or the front-back left-right direction, which is movably supported by the vehicle body frame in the front-rear direction, the left-right direction, or the front-back left-right direction. Control. The handle post movement control means includes those that mechanically control the movement of the handle post or those that electrically control the movement of the handle post. For example, in the handle post movement control means that mechanically controls the movement of the handle post, a stretchable member is attached between the handle post and the vehicle body frame, and the handle post moves in the front-rear direction, the left-right direction, or the front-back-left-right direction. It can be configured by a brake or the like that stops the expansion and contraction of the expansion and contraction member. For example, the handle post movement control means that electrically controls the movement of the handle post is a load resistance of the actuator unit in a state where the movement operation of the actuator unit that moves the handle post in the front-rear direction, the left-right direction, or the front-back / left-right direction is stopped. It can be composed of ingredients.

According to the rough terrain traveling vehicle of the present invention, the handle post is movably supported on the vehicle body frame in the front-rear direction, the left-right direction, or the front-back left-right direction, and the handle post is supported in the front-rear direction or by the handle post movement control means. The movement of the handle post can be stopped in a state of moving a predetermined amount in the left-right direction or the front-back left-right direction, so that the occupant can maintain the balance. The handle post can be moved and stopped without stopping the vehicle traveling on rough terrain. This enables continuous running such as flat ground running, uphill running, downhill running, and slope traversing running. In addition, it is possible to take an appropriate riding posture in any running state.

FIG. 1 is a side view of a vehicle traveling on rough terrain according to an embodiment of the present invention in a state where the crawler cover is removed. FIG. 2 is a front view of a vehicle traveling on rough terrain according to an embodiment of the present invention. FIG. 3 is an enlarged perspective view showing a handlebar portion of a vehicle traveling on rough terrain according to an embodiment of the present invention. FIG. 4 is a perspective view showing a state in which one of the crawlers of the rough terrain traveling vehicle according to the embodiment of the present invention is removed from the rear side. FIG. 5 is a perspective view showing a state in which one of the crawlers of the rough terrain traveling vehicle according to the embodiment of the present invention is removed from the front side. FIG. 6 is a front view of the vehicle traveling on rough terrain according to the embodiment of the present invention, in which the left-right swing link is visible. FIG. 7 is a rear view of the rough terrain traveling vehicle according to the embodiment of the present invention in a state where the crawler is removed. FIG. 8 is a perspective view showing a vehicle traveling on rough terrain according to an embodiment of the present invention, showing a state in which the handle post is tilted forward. FIG. 9 is an enlarged perspective view of a portion A surrounded by the alternate long and short dash line of FIG. FIG. 10 is an enlarged perspective view of the portion A surrounded by the alternate long and short dash line in FIG. 8, and shows a state seen from the rear side of the vehicle body. FIG. 11 is a perspective view showing a running state of the rough terrain traveling vehicle according to the embodiment of the present invention and showing a running state on a flat ground. FIG. 12 is a side view showing a running state of a vehicle traveling on rough terrain according to an embodiment of the present invention, and showing a state of traveling on level ground. FIG. 13 is a front view showing a running state of a vehicle traveling on rough terrain according to an embodiment of the present invention, and showing a state of traveling on level ground. FIG. 14 is a side view showing a running state of the rough terrain traveling vehicle according to the embodiment of the present invention, and showing a climbing running state. FIG. 15 is a side view showing a traveling state of the rough terrain traveling vehicle according to the embodiment of the present invention, and showing a downhill traveling state. FIG. 16 is a front view showing a traveling state of a vehicle traveling on rough terrain according to an embodiment of the present invention, and showing a traveling state on a slope. FIG. 17 is a perspective view showing a running state of a vehicle traveling on rough terrain according to an embodiment of the present invention, and showing a state of climbing a slope diagonally. FIG. 18 is a front view of the state of the rough terrain traveling vehicle according to the second embodiment of the present invention. FIG. 19 is an enlarged perspective view showing a handlebar portion of a vehicle traveling on rough terrain according to a third embodiment of the present invention. FIG. 20 is a top view of the rough terrain traveling vehicle according to the third embodiment of the present invention. FIG. 21 is a front view of the rough terrain traveling vehicle according to the third embodiment of the present invention.

Hereinafter, each embodiment will be described with reference to the drawings. The dimensions of the constituent members in each drawing do not faithfully represent the actual dimensions of the constituent members and the dimensional ratio of each constituent member.

Hereinafter, the arrow F in the figure indicates the front direction of the vehicle traveling on rough terrain. RR in the figure indicates the rear direction of the vehicle traveling on rough terrain. The arrow U in the figure indicates the upward direction of the vehicle traveling on rough terrain. Further, the front / rear / left / right directions mean the front / rear / left / right directions when viewed from the occupant driving the vehicle traveling on rough terrain, respectively.

FIG. 1 is a side view of the rough terrain traveling vehicle according to the embodiment of the present invention with the crawler cover removed, FIG. 2 is a front view of the rough terrain traveling vehicle according to the embodiment of the present invention, and FIG. , Is an enlarged perspective view showing a handlebar portion of a vehicle traveling on rough terrain according to an embodiment of the present invention. FIG. 4 is a perspective view showing a state in which one crawler of the rough terrain traveling vehicle according to the embodiment of the present invention is removed from the rear side, and FIG. 5 is one of the rough terrain traveling vehicles according to the embodiment of the present invention. A perspective view showing a state in which the crawler is removed from the front side, FIG. 6 is a front view of a vehicle traveling on rough terrain according to an embodiment of the present invention, and the front member is removed so that the left-right swing link can be seen. There is. FIG. 7 is a rear view of the rough terrain traveling vehicle according to the embodiment of the present invention in a state where the crawler is removed.

As shown in FIGS. 1 to 7, the rough terrain traveling vehicle 100 in this embodiment has a vehicle body 1, a left crawler 2a and a right crawler 2b, and a steering wheel portion 4. The handle portion 4 includes a handle post 43 and a handle bar 44.

The left crawler 2a and the right crawler 2b are driven independently on the left and right by the drive sprocket 22. The left and right drive sprockets 22 are driven by their respective electric motors 21. In this embodiment, the drive sprocket 22 is directly attached to the electric motor 21. The left crawler 2a and the right crawler 2b, including the drive mechanism, are housed at a height of about 30 cm above the ground, and realize a drive mechanism with an ultra-low center of gravity.

The vehicle body 1 has a vehicle body frame 10. The left crawler 2a and the right crawler 2b are rotatably supported behind the vehicle body 1 with respect to the vehicle body frame 10 via the crawler support portions 18a and 18b, respectively. The left crawler 2a and the right crawler 2b are suspended via a left-right swing link 17 attached to a vehicle body frame 10 at the front of the vehicle body 1. As a result, the ability to get over steps and the ability to touch rough terrain are improved, and the ability to run on rough terrain with severe unevenness is ensured.

In this embodiment, the handle post 43 is attached to the vehicle body frame 10 by a support portion 50 so as to be angled freely in the front-rear and left-right directions. The handle post 43 can be fixed at any angle along the direction along the axis of gravity by the handle post movement control means 60. As a result, it is possible to assist the weight balance of the occupant D who grips the handle bar 44 attached to the handle post 43. As a result, the occupant D can get on the rough terrain vehicle 100 without feeling the anxiety of falling while satisfying the necessary requirements for traveling on a slope. Hereinafter, the vehicle traveling on rough terrain according to this embodiment will be further described with reference to the drawings.

As shown in FIGS. 1 to 7, the rough terrain traveling vehicle 100 according to this embodiment has a vehicle body frame 10 forming a framework of the vehicle body 1, a left crawler 2a and a right crawler and 2b connected to the vehicle body frame 10. A boarding section 3 capable of standing on the vehicle and a handle section 4 attached to the vehicle body frame 10 are provided.

The handle portion 4 includes a handle post 43 extending above the vehicle body frame 10 and a handle bar 44 provided on the upper portion of the handle post 43. The handle post 43 is movably supported by the vehicle body frame 10 via the support portion 50 in the front-rear and left-right directions. The support portion 50 and the handle post 43 will be described later.

As shown in FIGS. 4 and 5, the vehicle body frame 10 includes left and right side members 11 extending in the front-rear direction of the vehicle body 1, first cross members 12 extending to the front side of the left and right side members 11, and left and right sides. By welding the second cross member 13 extending to the rear end portion of the member 11, the member 11 is formed into a substantially rectangular shape in a plan view. A central member 14 extending forward from the center of the left and right sides of the first cross member 12 is fixed to the upper surface of the first cross member 12.

At the front end of the upper surface of the central member 14, a handle support 15 fixed so as to be orthogonal to the central member 14 is provided. A lower member 16 fixed so as to be orthogonal to the central member 14 is provided at the front end portion of the lower surface of the central member 14.

The handle support base 15 is provided with a support portion 50 that supports the handle post 43 in the front-rear and left-right directions, and a left-right actuator 61 and a front-rear actuator 62 that constitute the handle post movement control means 60.

As shown in FIGS. 1, 2, 4 to 7, the vehicle body frame 10 has a support shaft 5a extending to the left side of the vehicle body 1 and a support shaft 5b extending to the right of the vehicle body 1. The vehicle body frame 10 swings the crawler support portions 18a and 18b that vertically swing the left crawler 2a and the right crawler 2b via the support shafts 5a and 5b, and the left crawler 2a and the right crawler 2b in the vertical direction. It has a left-right swing link 17 that is movably interlocked and connected.

The left crawler support portion 18a is provided on the left bracket 180a protruding from the rear side of the left side member 11 to the left laterally outward, the support shaft 5a attached to the left bracket 180a, and the left crawler frame 20. It also has a bearing portion 19a that rotatably supports the support shaft 5a.

The right crawler support portion 18b is provided on the right bracket 180b protruding from the rear side of the right side member 11 to the right laterally outward, the support shaft 5b attached to the right bracket 180b, and the right crawler frame 20. It also has a bearing portion 19b that rotatably supports the support shaft 5b.

As shown in FIGS. 1, 2, 4 to 7, the left crawler 2a and the right crawler 2b have an electric motor 21 at the rear end of the crawler frame 20 extending in the front-rear direction of the vehicle body 1, respectively. The drive sprocket 22 supported by the crawler frame 20, the tension type idler 23 supported by the front end of the crawler frame 20 via a tension mechanism (not shown), and the equalizer arm 24 supported by the front and rear intermediate portions of the crawler frame 20. It has front and rear wheels 25 and 26, a crawler belt 27 spanned by a drive sprocket 22, a play wheel 23, and front and rear wheels 25 and 26. Each electric motor 21 is an in-wheel motor attached to the drive sprocket 22, and is provided with an inverter (not shown), a deceleration mechanism (not shown), and the like inside them.

Further, in FIGS. 1, 4, and 5, the crawler cover 29 is not shown. As shown in FIG. 8, the left crawler 2a and the right crawler 2b are configured such that a crawler cover 29 is attached and the drive sprocket 22, the idler wheel 23, and the rolling wheels 25 and 26 are covered from the outside.

The left crawler 2a and the right crawler 2b are electrically driven by the left and right electric motors 21 respectively. As will be described later, the drive of the electric motor 21 is controlled by the instruction of the joystick 66 as the operation operation unit attached to the handlebar 44. As a result, the vehicle 100 traveling on rough terrain travels straight in the forward direction by driving the left crawler 2a and the right crawler 2b at a constant speed in the forward rotation direction, and the left crawler 2a and the right crawler 2b are driven at a constant speed in the reverse rotation direction. By being done, it goes straight in the reverse direction.

The rough terrain traveling vehicle 100 turns to the left or right in the forward direction by driving the left crawler 2a and the right crawler 2b at non-constant speeds in the forward rotation direction. The left crawler 2a and the right crawler 2b are driven at a non-constant speed in the reverse rotation direction, so that the crawler 2a and the right crawler 2b turn to the left or right in the reverse direction. The rough terrain vehicle 100 pivotally turns by driving the other crawler 2 while one of the left crawler 2a and the right crawler 2b is stopped, and the left crawler 2a and the right crawler 2b rotate in the forward direction. It spins by being driven at a constant speed in the opposite direction of rotation.

Further, in the rough terrain traveling vehicle 100, the left crawler 2a and the right crawler 2b can be braked and stopped by the left and right disc brakes (not shown), whereby when the left crawler 2a and the right crawler 2b are used on rough terrain such as steep mountainous areas. However, it is possible to reliably maintain the braking stop state.

As shown in FIGS. 1, 2 and 8, the boarding section 3 is formed by a floor panel 30 supported by a vehicle body frame 10. The floor panel 30 is bent so as to have step portions 30a on both left and right end sides thereof and pedestal portions 30b on the left and right center sides thereof. A seat 8 is detachably attached to the rear side of the pedestal portion 30b via a plurality of springs 7 that function as cushioning members. The floor panel 30 is attached with left and right fenders 31 extending from both left and right ends thereof toward the upper side of the left crawler 2a and the right crawler 2b.

As shown in FIGS. 1 to 7, the left crawler 2a and the right crawler 2b are connected to the vehicle body frame 10 via bearing portions 19a and 19b provided on the rear side of the crawler frame 20 and support shafts 5a and 5b. In addition, the connecting portion 20b provided on the front side of the crawler frame 20 is connected to the vehicle body frame 10 via the left-right swing link 17. Between the bearing portions 19a and 19b and the support shafts 5a and 5b, bearings and the like that allow their relative rotation are provided.

As shown in FIGS. 4 and 6, the left-right swing link 17 swings vertically on the support shaft 70 extending in the front-rear direction of the vehicle body 1 and the support shaft 70 on the first cross member 12 of the vehicle body frame 10. It has a balance arm 71 that is movably supported, and left and right dampers 72 that extend from the left and right free ends of the balance arm 71 to the connecting portions 20a and 20b of the crawler frame 20. Universal joints 73 are provided on the left and right free ends of the balance arm 71, and the balance arm 71 is connected to the left and right side members 11 of the vehicle body frame 10.

With the above configuration, the vehicle body 100 has the above-mentioned crawler support portions 18a and 18b and the left-right swing link 17 on the vehicle body frame 10, so that, for example, the left crawler 2a on the left side of the vehicle body is on rough terrain. When riding on a raised portion or the like, the left crawler 2a on the left side of the vehicle body swings up and down with the support shaft 5a as a fulcrum with respect to the vehicle body frame 10, and the right crawler 2b on the right side of the vehicle body moves up and down according to the ride. It swings downward with respect to the frame 10 with the support shaft 5b as a fulcrum (see FIG. 4).

Further, for example, when the left crawler 2a on the left side of the vehicle body enters the subsidence portion of the rough terrain, the left crawler 2a on the left side of the vehicle body uses the support shaft 5a as a fulcrum with respect to the vehicle body frame 10 according to the entry at that time. Along with the downward swing, the right crawler 2b on the right side of the vehicle body swings upward with the support shaft 5b as a fulcrum with respect to the vehicle body frame 10.

In this way, when one of the left crawler 2a or the right crawler 2b rides on the raised portion or enters the settling portion, the left crawler 2a or the right crawler 2b swings up and down reciprocally with respect to the vehicle body frame 10. Therefore, while suppressing the vertical swing of the left crawler 2a or the right crawler 2b with respect to the vehicle body frame 10, one of the left crawler 2a or the right crawler 2b rides on the raised portion or the like or enters the settling portion or the like. It is possible to suppress the left-right tilt of the crawler. As a result, it is possible to improve the running performance on rough terrain such as a mountainous forest with many undulations, and it is possible to give a sense of security to the occupant D of the boarding unit 3.

Next, the support portion 50 and the handle post 43 will be described with reference to FIGS. 8 to 10. FIG. 8 is a perspective view showing a vehicle traveling on rough terrain according to an embodiment of the present invention, showing a state in which the handle post 43 is tilted forward. 9 is an enlarged perspective view of the A portion surrounded by the alternate long and short dash line of FIG. 8, and FIG. 10 is an enlarged perspective view of the A portion surrounded by the alternate long and short dash line of FIG. Shows.

As shown in FIGS. 8 to 10, the lower end portion of the handle post 43 is movably supported on the front portion side of the vehicle body frame 10 via the support portion 50 in the front-rear and left-right directions. A handlebar 44 is attached to the upper end of the handlepost 43.

The support portion 50 includes a first support portion 50a and a second support portion 50b that form a universal joint. The first support portion 50a is fixed to the handle support base 15, and the second support portion 50b is movably attached to the first support portion 50a in the left-right direction. The second support portion 50b is movably attached to the handle support base 15 in the left-right direction of the vehicle body frame 10.

The lower end of the handle post 43 is fixed to the second support portion 50b. The second support portion 50b supports the fixed handle post 43 so as to be movable in the front-rear direction with respect to the vehicle body frame 10. Since the second support portion 50b is movably attached to the handle support base 15 in the left-right direction of the vehicle body frame 10, the handle post 43 fixed to the second support portion 50b is attached to the second support portion 50b. It will be movably supported in the left-right direction with respect to the vehicle body frame 10 via the above.

In this way, the handle post 43 is movably supported with respect to the vehicle body frame 10 via the first support portion 50a and the second support portion 50b constituting the support portion 50.

The handle post 43 is controlled to move forward, backward, left and right by the handle post movement control means 60. The handle post movement control means 60 stops the movement of the handle post 43 in a state where the handle post 43 is moved in the front-rear direction or the left-right direction by a predetermined amount.

In this embodiment, the handle post movement control means 60 is composed of a left-right actuator 61 for moving the handle post 43 in the left-right direction and a front-rear actuator 62 for moving the handle post 43 in the front-rear direction.

The left and right actuator 61 has a main body portion 61d, a rod portion 61a that moves in and out of the main body portion 61d, and an actuator drive portion 61b that moves the rod portion 61a in a direction extending or contracting from the main body portion 61d. The actuator drive portion 61b and the main body portion 61d are attached to the base portion 61c. For example, the left and right actuator 61 has an actuator composed of trapezoidal threads in the main body portion 61d, and drives the actuator drive portion 61b composed of a motor. The trapezoidal thread is rotated to move the rod portion 61a connected to the trapezoidal screw in the extending direction from the main body portion 61d or in the contracting direction.

The base 61c is swingably attached to the handle support base 15. The tip of the rod portion 61a is swingably attached to the handle post 43.

The handle post 43 moves left and right by extending or contracting the rod portion 61a from the main body portion 61d by driving the actuator drive portion 61b. When the rod portion 61a extends from the length of the rod portion 61a at a position orthogonal to the left-right direction of the vehicle body 1 of the handle post 43, the handle post 43 moves so as to tilt to the left with respect to the vehicle body 1. On the contrary, when the rod portion 61a moves in the contracting direction, the handle post 43 moves so as to tilt to the right with respect to the vehicle body 1. That is, when the rod portion 61a extends, the handle post 43 moves to the left with respect to the vehicle body 1, and when the rod portion 61a contracts, the handle post 43 moves to the right.

The front-rear actuator 62 has a main body portion 62d, a rod portion 62a that moves in and out of the main body portion 62d, and an actuator drive portion 62b that moves the rod portion 62a in a direction extending or contracting from the main body portion 62d. The actuator drive portion 62b and the main body portion 62d are attached to the base portion 62c. For example, the front-rear actuator 62 also includes an actuator portion having a trapezoidal thread or the like in the main body portion 62d, similarly to the left and right actuator 61.

The base 62c is swingably attached to the handle support base 15. The tip of the rod portion 62a is swingably attached to the handle post 43.

By driving the actuator drive unit 62b, the rod portion 62a is extended or contracted from the main body portion 62d, so that the handle post 43 moves back and forth. When the rod portion 62a extends from the length of the rod portion 62a at a position orthogonal to the front-rear direction of the vehicle body 1 of the handle post 43, the handle post 43 moves so as to tilt forward with respect to the vehicle body 1. On the contrary, when the rod portion 62a moves in the contracting direction, the handle post 43 moves so as to tilt backward with respect to the vehicle body 1. That is, when the rod portion 62a extends, the handle post 43 moves forward with respect to the vehicle body 1, and when the rod portion 62a contracts, the handle post 43 moves backward.

In this embodiment, the switch means attached to the handlebar 44 gives an instruction to move the handle post 43 back and forth or left and right. In this embodiment, the switch means is composed of a joystick 67. The joystick 66 is attached in the vicinity of the brake lever 69 on the left side of the handlebar 44, and is operated by, for example, the thumb or index finger of the left hand of the occupant D. By operating the joystick 66, a signal is given to the control device 63 described later, and based on this instruction signal, the control device 63 controls the drive of the actuator drive units 61b and 62b, and the rod units 61a and 62a have a predetermined length. The drive of the actuator drive portions 61b and 62b is stopped by infesting the main body portions 61d and 62d.

The movement of the handle post 43 is stopped while the handle post 43 is moved back and forth or left and right by a predetermined amount. For example, by moving the handle post 43 in a direction along the axis of gravity and stopping the handle post 43 in that state, the occupant D can maintain the balance. When the drive of the actuator drive units 61b and 62b is stopped, the movement stop state of the handle post 43 is maintained by the load resistance component of the actuator drive units 61b and 62b, for example, the load resistance for rotating the trapezoidal thread.

Since the handlebar 44 only guides the inclination of the body of the occupant D, the driving force of the left and right actuator 61 and the front-rear actuator 62 for moving the handle post 43 may be a structure that can be locked (not reversely driven) even if it is not driven. .. As a result, the actuator drive units 61b and 62b can be supported by a motor having a small output or the like.

As described above, in this embodiment, the joystick 67 attached in the vicinity of the brake lever 69 on the left side is used as the switch means. When the switch means is composed of the joystick 67, when the joystick 67 is moved back and forth or left and right, the handle post 43 can be stopped in a state of being moved back and forth or left and right by a predetermined amount. When the joystick 67 is moved in an oblique direction, the handle post 43 can be stopped in a state of being moved by a predetermined amount back and forth and left and right.

In this way, by the operation of the joystick 67, the movement of the handle post 43 can be stopped in a state of being moved by a predetermined amount in the front-rear direction, the left-right direction, or the front-back left-right direction. As a result, the occupant D who puts his foot on the step portion 30a and grips the handlebar 44 while standing on the step portion 30a stands on the step portion 30a so that his / her body follows the axis of gravity. As a result, the occupant D can maintain the balance regardless of the inclination of the vehicle body 1. Further, the handle post 43 can be moved and stopped by operating the joystick 67 without stopping the rough terrain traveling vehicle 100. This enables continuous running such as flat ground running, uphill running, downhill running, and slope traversing running. In addition, it is possible to take an appropriate riding posture in any running state.

As shown in FIGS. 4 and 5, the vehicle body frame 10 has a battery mounting portion 80 on which a battery (not shown) for supplying electric power to each electric motor 21 is mounted. The battery mounting portion 80 is provided at an intermediate position between the left crawler 2a and the right crawler 2b in the vehicle body frame 10.

As a result, a relatively heavy battery can be mounted at an intermediate position between the left crawler 2a and the right crawler 2b in the vehicle body frame 10, that is, at the center of the left and right of the rough terrain traveling vehicle 100. As a result, the left-right balance of the rough terrain traveling vehicle 100 can be improved, and the stability of the vehicle body 1 can be improved.

As shown in FIG. 1, a control device 63 for controlling the operation of each electric motor 21, left and right actuators 61, and front and rear actuators 62 is arranged at the rear end of the battery mounting portion 80. The control device 63 includes an electronic control unit including a microprocessor and the like, a memory for storing various control programs, and the like. The control device 63 is provided at the left and right intermediate positions of the vehicle body frame 10 together with the battery mounting portion 80 and the battery. The battery and the control device 63 are covered by a pedestal portion 30b of the floor panel 30 located above them.

As shown in FIG. 3, on the handlebar 44, a display device 65 for displaying the remaining battery level and the like, a joystick 66 as an operation unit for instructing the operation of the crawler, and a handle post 43 are moved back and forth or left and right. It is equipped with a joystick 67 as a switch means for issuing an instruction, and left and right brake levers 69 and 69.

The joystick 66 that instructs the maneuvering operation and the joystick 67 that instructs the movement control of the steering wheel post 43 are connected to the control device 63 via a communication cable (not shown), respectively.

The control device 63 controls the rotation direction and the rotation speed of each electric motor 21 in response to an operation command based on the operation of the joystick 66, thereby controlling the vehicle speed of the rough terrain vehicle 100, forward / backward switching control, steering control, and the like. I do. Further, the control device 63 controls the operation of the left / right actuator 61 and the front / rear actuator 62 based on the operation command of the joystick 67, and moves the handle post 43 in the front-rear direction, the left-right direction, or the front-back / left-right direction.

The left and right brake levers 69 and 69 are linked to the left and right disc brakes via a cable (not shown), and when the occupant D grabs the left and right brake levers 69 and 69, the disc brakes act and the vehicle travels on rough terrain. Braking is applied to 100.

As shown in FIGS. 1 to 7, each crawler belt 27 is formed into an endless shape having a predetermined peripheral length by connecting a predetermined number of belt components 27a with a predetermined number of connecting pins 27b. There is. Five non-slip protrusions are formed on the ground side of each belt component 27a. As a result, it is possible to improve the running performance of each crawler 2 in steep forest areas, soft rough terrain, and the like.

Next, the traveling state of the rough terrain traveling vehicle 100 and the postures of the handle post 43 and the occupant D according to the embodiment of the present invention will be described with reference to FIGS. 11 to 18. In FIGS. 11 to 18, a display device 65 provided on the handlebar portion for displaying the remaining battery level and the like, a joystick 66 as an operation unit for instructing the operation of the crawler, and an instruction to move the handle post 43 are instructed. The joystick 67 as the switching means to be performed is not shown.

11 to 13 show a state of traveling on a flat ground of the rough terrain traveling vehicle 100 according to the embodiment of the present invention, FIG. 11 is a perspective view, FIG. 12 is a side view, and FIG. 13 is a front view.

As shown in FIGS. 11 to 13, the occupant D puts his / her foot on the step portion 30a and grips the grip of the handlebar 44 with both hands while standing. In the case of traveling on level ground, the handle post 43 is orthogonal to the vehicle body 1 so as to be along the axis of gravity. Crew D puts the joystick 67 in a neutral state. When the joystick 67 is in the neutral state, the handle post 43 keeps the state orthogonal to the vehicle body 1. Since the left and right actuators 61 and the front and rear actuators 62 as the handle post movement control means 60 are stopped, the handle post 43 is maintained in an upright and fixed state, and the occupant D grips the handle bar 44. As a result, the boarding posture along the axis of gravity can be maintained, and the vehicle can run on level ground while maintaining balance.

Next, the uphill traveling of the rough terrain traveling vehicle 100 according to the embodiment of the present invention will be described. FIG. 14 is a side view showing a state of uphill traveling of the rough terrain traveling vehicle 100 according to the embodiment of the present invention.

When shifting from flat ground traveling or downhill traveling to uphill traveling, the occupant D moves the joystick 67 forward, drives the front-rear actuator 62, and tilts the handle post 43 forward. The occupant D moves the handle post 43 forward and drives the front-rear actuator 62 until the handle post 43 is along the axis of gravity. When the handle post 43 is in a state along the axis of gravity, the occupant D releases his finger from the joystick 67. By releasing the finger from the joystick 67, the drive of the front-rear actuator 62 is stopped.

Since the left and right actuators 61 and the front and rear actuators 62 as the handle post movement control means 60 are stopped, the handle post 43 is fixed along the axis of the center of gravity, and the occupant D is the handle bar 44 in the climbing run. By grasping, the boarding posture along the axis of gravity can be maintained. As a result, the occupant D grips the handlebar 44 and is guided to an appropriate posture according to the inclination of the slope S, and can travel uphill while maintaining a balance.

Next, the downhill traveling of the rough terrain traveling vehicle 100 according to the embodiment of the present invention will be described. FIG. 15 is a side view showing a state of downhill traveling of the rough terrain traveling vehicle 100 according to the embodiment of the present invention.

When shifting from flat ground traveling or uphill traveling to downhill traveling, the occupant D moves the joystick 67 rearward, drives the front-rear actuator 62, and tilts the steering wheel post 43 rearward. The occupant D drives the front-rear actuator 62 until the handle post 43 is in a state along the axis of gravity. When the handle post 43 is moved backward by the drive of the front-rear actuator 62 and is in a state along the gravity axis, the occupant D releases his finger from the joystick 67. By releasing the finger from the joystick 67, the drive of the front-rear actuator 62 is stopped.

Since the left and right actuators 61 and the front and rear actuators 62 as the handle post movement control means 60 are stopped, the handle post 43 is fixed along the axis of the center of gravity, and the occupant D is the handle bar when traveling downhill. By grasping the 44, the boarding posture along the axis of gravity can be maintained, and the vehicle can travel downhill while maintaining the balance.

Next, the slope traversing state of the rough terrain traveling vehicle 100 according to the embodiment of the present invention will be described. FIG. 16 is a side view showing a slope traversing state of the rough terrain traveling vehicle 100 according to the embodiment of the present invention.

In the case of shifting from flat ground running, uphill running, downhill running, etc. to slope traversing running, the occupant D moves the joystick 67 in the lateral direction, and in the state shown in FIG. 16, to the left, and drives the left and right actuators 61. And tilt the handle post 43 to the left. Crew D drives the left and right actuators 61 until the handle post 43 is along the axis of gravity. When the handle post 43 is in a state along the axis of gravity, the occupant D releases his finger from the joystick 67. By releasing the finger from the joystick 67, the drive of the left and right actuators 61 is stopped.

Since the left and right actuators 61 and the front and rear actuators 62 as the handle post movement control means 60 are stopped, the handle post 43 is fixed along the axis of the center of gravity, and the occupant D is the handle bar in the slope traverse travel. By gripping the 44, the boarding posture along the axis of gravity can be maintained, and the vehicle can traverse the slope S while maintaining the balance.

Next, the traveling of the slope S of the rough terrain traveling vehicle 100 according to the embodiment of the present invention will be described. FIG. 17 is a perspective view showing a state of traveling in which the slope S of the rough terrain traveling vehicle 100 according to the embodiment of the present invention is climbed in an oblique direction.

In the case of shifting from flat ground running, uphill running, downhill running, etc. to running on a slope in an oblique direction, the occupant D moves the joystick 67 diagonally forward to drive the left and right actuators 61 and the front and rear actuators 62. Tilt the handle post 43 diagonally forward. The occupant D drives the left and right actuators 61 and the front and rear actuators 62 until the handle post 43 is along the axis of gravity. When the handle post 43 moves diagonally forward and follows the axis of gravity, the occupant D releases his finger from the joystick 67. By releasing the finger from the joystick 67, the driving of the left and right actuator 61 and the front and rear actuator 62 is stopped.

Since the left and right actuators 61 and the front and rear actuators 62 as the handle post movement control means 60 are stopped, the handle post 43 is fixed along the axis of the center of gravity, and the occupant D climbs the slope in an oblique direction. By gripping the handlebar 44 during traveling, the boarding posture along the axis of gravity can be maintained, and traveling can be performed in a balanced state.

As mentioned above, when standing on a slope, humans balance their bodies along the axis of gravity. The occupant riding on the rough terrain vehicle 100 attempts to maintain his / her posture so as to balance his / her body with the gravity axis regardless of the inclination of the vehicle body.

As described above, in the rough terrain traveling vehicle 100 of this embodiment, the occupant D uses the joystick 67 to move the handle post 43 in a desired direction to keep the handle post 43 in the direction along the axis of gravity. be able to. As a result, the occupant D can maintain the balance even when the vehicle body 1 is tilted back and forth and left and right.

The angle of the handle post 43 does not have to be perfectly aligned with the axis of gravity, and the occupant D may remove his finger from the joystick 67 while recognizing that the balance can be maintained. Therefore, the angle of the handle post 43 with respect to the vehicle body 1 may be stopped at an angle preferred by the occupant D.

FIG. 18 is a front view of the rough terrain traveling vehicle 100 according to the second embodiment of the present invention. The same parts as those in the first embodiment are designated by the same reference numerals, and the description thereof will be omitted.

In this second embodiment, the tilt sensor 91 is provided on the handle post 43. Further, the tilt sensor 92 is also provided on the vehicle body 1. The outputs of the tilt sensors 91 and 92 are given to the control device 63.

The control device 63 determines the traveling state of the rough terrain traveling vehicle 100 from the inclination of the vehicle body 1 by the inclination sensor 92 provided on the vehicle body 1. The control device 63 determines a state in which the running state is flat ground running, climbing board running, downhill running, slope traversing running, etc., calculates the front-back and left-right angles of the handle post 43 according to the state, and calculates the calculated angle. The drive of the left and right actuator 61 and the front and rear actuator 62 is controlled according to the above, the angle of the handle post 43 is moved to a predetermined angle, and then the drive of the left and right actuator 61 and the front and rear actuator 62 is stopped. The handle post 43 is maintained at a predetermined angle.

With this configuration, the occupant D can travel at the optimum position of the handlebar 44 without operating the joystick 67.

Further, the control device 63 is configured to control the drive of the left and right actuator 61 and the front-rear actuator 62 so that the handle post 43 is maintained in a state of overshooting by a predetermined angle (α) toward the mountain side from the gravity direction P. May be good.

By maintaining the handle post 46 in a state of overshooting a predetermined angle toward the mountain side from the direction of gravity, a margin for maneuvering is created. The operation of the occupant D becomes easy. The handlebar is fixed vertically and there is no problem in terms of balance. By the way, when standing on a slope, human beings are afraid of the slope toward the valley. The present inventor has found that the inclination to the mountain side creates a sense of security. Therefore, by tilting the handle post 43 toward the mountain side rather than vertically, the occupant D's sense of stability and security can be enhanced, and a margin is created for maneuvering. It overshoots for a minute to give a sense of security and allow for maneuvering.

The offset angle is calculated by the control device 63 based on the tilt angle of the slope S, and the control device 63 responds to the output of the tilt sensor 91 provided on the handle post 43 so that the angle corresponds to the calculation result. The drive of the left and right actuator 61 and the front and rear actuator 62 may be controlled.

When the handle post 43 is automatically controlled to a position along the gravity axis, the tilt sensor 91 may be provided on the handle post 43, and the tilt sensor 92 of the vehicle body 1 may be omitted.

Next, a third embodiment of the present invention will be described with reference to FIGS. 19 to 21. FIG. 19 is an enlarged perspective view showing a handlebar portion of the rough terrain traveling vehicle according to the third embodiment of the present invention, and FIG. 20 is a top view of the rough terrain traveling vehicle according to the third embodiment of the present invention. FIG. 21 is a front view of the rough terrain traveling vehicle according to the third embodiment of the present invention. The same parts as those in the first embodiment are designated by the same reference numerals, and the description thereof will be omitted.

In the above-described embodiment, the drive instruction of the left crawler 2a and the right crawler 2b is given by operating the joystick 66. On the other hand, in the third embodiment, instead of the joystick 66, a left switch 66L and a right switch 66R are provided near the left and right grips of the handlebar 44.

The left switch 66L and the right switch 66R are provided with levers 66LD and 66RD that can be moved back and forth, respectively. The left crawler 2a and the right crawler 2b are controlled by the left switch 66L and the right switch 66R.

The occupant D grips the left and right grip portions of the handlebar 44 with his / her right hand and his / her left hand, respectively, and operates the lever 66LD of the left switch 66L with the index finger or thumb of the left hand. Similarly, the lever 66RD of the right switch 66R is operated by the index finger or thumb of the right hand.

When the lever 66LD of the left switch 66L is pulled back by a finger, the electric motor 21 rotates so that the left crawler 2a moves forward. Further, when the lever 66LD of the left switch 66L is pushed forward by a finger, the electric motor 21 rotates so that the left crawler 2a moves backward.

Similarly, when the lever 66RD of the right switch 66R is pulled back by a finger, the electric motor 21 rotates so that the right crawler 2b moves forward. Further, when the lever 66RD of the right switch 66R is pushed forward by a finger, the electric motor 21 rotates so that the right crawler 2b moves backward.

The rotation speed of each of the electric motors 21 for driving the left crawler 2a and the right crawler 2b is controlled by the size of pulling in or pushing out the levers 66LD and 66RD. By adjusting the pull-in amount or the push-out amount of the levers 66LD and 66RD with a finger, the traveling speed, forward movement, reverse movement, left turn, right turn and the like of the rough terrain traveling vehicle 100 are controlled.

Further, when the finger is released from the levers 66LD and 66RD, the electric motor 21 stops, and the rotation of the left crawler 2a and the right crawler 2b is stopped. That is, when the levers 66LD and 66RD are not pushed forward or pulled back, the left crawler 2a and the right crawler 2b are stopped and maintained in the same state as when the brake is applied. Therefore, in this third embodiment, the disc brake and the brake lever for driving the disc brake are not provided.

The left and right actuator 61 for moving the handle post 43 back and forth and left and right and the joystick 67a for controlling the drive of the front and rear actuator 62 are provided on the right switch 66R.

Using the joystick 67a, the occupant D controls the movement of the handle post 43.

By operating the lever 66LD of the left switch 66L, the lever 6666RD of the right switch 66R, and the joystick 67a, the vehicle 100 is not stopped on rough terrain, and the vehicle is running on level ground, climbing a slope, descending a slope, traversing a slope, etc. Continuous running is possible. In addition, it is possible to take an appropriate riding posture in any running state.

[Another Embodiment]
Another embodiment of the present invention will be described.
It should be noted that the configurations of each of the different embodiments described below are not limited to being applied independently, but can also be applied in combination with the configurations of other other embodiments.

The above-mentioned rough terrain traveling vehicle 100 is provided with a seat 8 in the boarding section 3, but may be configured exclusively for standing riding without the seat 8.

Further, a dolly may be attached to the rough terrain traveling vehicle 100.

Further, in the above-described embodiment, the handle post 43 is movably supported by the support portion 50 in the front-rear and left-right directions with respect to the vehicle body 1, but the handle post 43 is supported only in the front-rear direction or only in the left-right direction with respect to the vehicle body 1. It may be configured to be movablely supported. In the case of only front and back, it is possible to easily take the optimum riding posture when traveling uphill or downhill, and in the case of only left and right, it is easy to take the optimum riding posture when traveling on a slope. Can be done.

In the above-described embodiment, the handle post movement control means 60 is a load resistance when the left-right actuator 61 and the front-rear actuator 62 that electrically move the handle post 43 in the front-rear direction, the left-right direction, or the front-back left-right direction are stopped. Although composed of components, the handle post movement control means 60 is not limited to electrical means. For example, in the handle post movement control means 60 that mechanically controls the movement of the handle post, a stretchable member that can be expanded and contracted is attached between the handle post and the vehicle body frame, and the handle post is in the front-rear direction, the left-right direction, or the front-back / left-right direction. It can be configured by a brake or the like that stops the expansion and contraction of the expansion and contraction member that expands and contracts due to movement.

In the third embodiment described above, the left switch 66L and the right switch 66R are provided near the left and right grips of the handlebar 44, the left switch 66L controls the drive of the left crawler 2a, and the right switch 66R controls the drive. Controls the drive of the right crawler 2b. The left switch 66L and the right switch 66R can also be configured to perform travel control of the rough terrain traveling vehicle 100 different from the third embodiment. For example, the right switch 66R can be used as an accelerator switch, and the left switch 66L can be used as a steering switch.

When the right switch 66R is used as an access switch, for example, when the lever 66RD is pulled back by a finger, the electric motor 21 rotates in the positive direction, and the left crawler 2a and the right crawler 2b are driven at a constant speed in the forward rotation direction. By doing so, it goes straight in the forward direction. When the lever 66RD is pushed forward by the finger, the electric motor 21 rotates in the reverse direction, and the left crawler 2a and the right crawler 2b are driven at a constant speed in the reverse rotation direction to move straight in the reverse direction.

The rotation speed of each of the electric motors 21 for driving the left crawler 2a and the right crawler 2b is controlled by the size of pulling in or pushing out the lever 66RD. By adjusting the pull-in amount or the push-out amount of the lever 66RD with a finger, the running speed, forward movement, and reverse movement of the rough terrain traveling vehicle 100 are controlled.

When the left switch 66L is used as a steering switch, for example, by pulling the lever 66LD backward or pushing it forward with a finger, in the rough terrain traveling vehicle 100, the left crawler 2a and the right crawler 2b are unequal in the forward rotation direction. Driven fast. For example, by pulling the lever 66LD backward with a finger, the left crawler 2a rotates faster than the right crawler 2b, and the rough terrain traveling vehicle 100 turns to the left. On the contrary, by pushing the lever 66LD forward with a finger, the right crawler 2b rotates faster than the left crawler 2a, and the rough terrain traveling vehicle 100 turns to the right. The speed difference between the left crawler 2a and the right crawler 2b is controlled by the size of pulling in or pushing out the lever 66LD. By adjusting the pull-in amount or the push-out amount of the lever 66LD with a finger, the turning angle of the rough terrain traveling vehicle 100 can be controlled.

Further, when the finger is released from the levers 66LD and 66RD, the electric motor 21 stops, and the rotation of the left crawler 2a and the right crawler 2b is stopped.

1: Body 2a: Left crawler 2b: Right crawler 3: Boarding part 4: Handle part 5a: Support shaft 5b: Support shaft 10: Body frame 15: Handle support base 17: Left and right swing link 18a: Crawler support part 18b: Crawler Support portion 20: Crawler frame 21: Electric motor 22: Drive sprocket 23: Free wheel 43: Handle post 44: Handle bar 50: Support portion 50a: First support portion 50b: Second support portion 60: Handle post movement control means 61: Left and right actuator 62: Front and rear actuator 63: Control device 66: Joystick 66L: Left switch 66LD: Lever 66R: Right switch 66RD: Lever 67: Joystick 67a: Joystick

Claims (7)

It has a vehicle body frame, left and right crawlers connected to the vehicle body frame, a standable boarding section, a handle post extending upward from the vehicle body frame, and a handle bar provided on the upper portion of the handle post. ,
A support portion that movably supports the handle post on the vehicle body frame in the front-rear direction, the left-right direction, or the front-back / left-right direction.
The handle post movement control means for controlling the movement of the handle post is provided.
Rough terrain vehicle. The handle post movement control means includes an actuator unit that moves the handle post in the front-rear direction, the left-right direction, or the front-back / left-right direction.
The vehicle traveling on rough terrain according to claim 1. The support portion has a universal joint that rotates and tilts in the front-back and left-right directions, and supports the handle post so as to be movable in the front-back and left-right directions.
The actuator unit includes a front-rear actuator that moves the handle post in the front-rear direction, a left-right actuator that moves the handle post in the left-right direction, and a control device that controls driving of the front-rear actuator and the left-right actuator.
The vehicle traveling on rough terrain according to claim 2. The handlebar is provided with a switch means for giving an instruction signal to the control device, and the control device controls the drive of the front-rear actuator and the left-right actuator by the instruction input by the switch means.
The vehicle traveling on rough terrain according to claim 3. The switch means consists of a joystick.
When the joystick is moved in the front-rear direction of the vehicle, the control device controls the drive of the front-rear actuator, and the handle post moves in the front-rear direction.
When the joystick is moved in the left-right direction of the vehicle, the control device controls the drive of the left-right actuator, and the handle post is moved in the left-right direction.
The vehicle traveling on rough terrain according to claim 4. An inclination sensor is provided on the handle post.
The control device controls the drive of the front-rear actuator and the left-right actuator so that the handle post is along the direction of gravity.
The vehicle traveling on rough terrain according to claim 3. The control device controls the drive of the front-rear actuator and the left-right actuator so that the handle post is maintained in a state of overshooting a predetermined angle toward the mountain side from the direction of gravity.
The rough terrain traveling vehicle according to claim 6.

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