JP3282548B2 - Crawler vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crawler vehicle which travels by driving and rotating a driving wheel to move a crawler wound around the driving wheel, a front rolling wheel, and a rear rolling wheel in a winding direction. About.

[0002]

2. Description of the Related Art As a method of changing a normal vehicle equipped with tires to a crawler vehicle, there is a method of mounting a crawler unit having an isosceles triangular shape in a side view instead of tires. A configuration applicable as a crawler unit of this type is disclosed in Japanese Utility Model Laid-Open No. 25286/1987.
This will be described below.

As shown in FIG. 18, a crawler unit 100 includes a sprocket-shaped drive wheel 104 detachably mounted on a drive shaft 102 of a vehicle, and the drive wheel 104.
And a pair of substantially inverted T-shaped frames 108 which support the driving wheels 104 and the pair of rolling wheels 106 and mutually connect the driving wheels 104 and the pair of rolling wheels 106, respectively.
And a pair of intermediate rolling wheels 110 arranged at predetermined intervals on the lower edge side of the frame 108 as main components.

More specifically, a plurality of engaging holes 116 with which the teeth 114 of the driving wheel 104 are engaged are formed at predetermined intervals in the center of the crawler 112. Also, protrusions 118 are provided on both sides of the engagement hole 116 in the crawler 112.
Are formed at predetermined intervals, and a pair of front and rear rolling wheels 106 and an intermediate rolling wheel 110 are rolled between these projections 118 (that is, on the engagement holes 116) (FIG. 19). reference). Further, the rolling center shafts 120 of the intermediate rolling wheels 110 are connected to each other by a leaf spring 122, and the pair of intermediate rolling wheels 110 are constantly pressed and urged by the urging force of the leaf spring 122.

According to the above configuration, the tooth portion 1 of the driving wheel 104
14 is engaged with the engagement hole 116 of the crawler 112, and when the drive wheel 104 is driven to rotate, the crawler 112 moves while being guided by the rolling wheel 106 and the intermediate rolling wheel 110 arranged in front and rear. At this time, the leaf spring 12
Because only the bottom center of the crawler 112 is swelled downward via the intermediate rolling wheel 110 receiving the urging force of 2, the contact area of the crawler 112 is reduced even if the vehicle weight is added. Therefore, turning of the vehicle is facilitated. In addition, if the intermediate rolling wheel 110 is directly supported on the lower edge side of the frame 108 described above, the frame 108 vibrates up and down when the intermediate rolling wheel 110 gets over the engaging hole 116 of the crawler 112. Although disadvantageous, according to the above configuration, the vertical movement of the intermediate rolling wheel 110 can be absorbed by the elastic deformation of the leaf spring 122, so that the vibration of the intermediate rolling wheel 110
To be transmitted to the vehicle. The above is the main content of the configuration disclosed in the above publication.

[0006]

However, in the case of the configuration disclosed in the above-mentioned publication, the frame 108 that supports the driving wheel 104 and the rolling wheels 106 disposed in front and rear and connects them to each other is rigidly integrated. When the rolling wheel 106 gets over the unevenness of the road surface, the frame 108 must swing in a pendulum motion around the drive shaft 102 which is a swing center axis of the frame 108 because the rolling wheel 106 gets over the unevenness of the road surface. No. In other words, in the case of the above configuration, in order to get over the unevenness of the road surface, it is necessary to get over the crawler shape (isosceles triangular shape) in a side view formed by the driving wheel 104 and the pair of rolling wheels 106 without deforming. There is. For this reason, the frame 108 is
When swinging about two turns, the front rolling wheel 106 or the rear rolling wheel 106 protrudes greatly to the front side or the rear side, and the protruding rolling wheel 106 (to be more precise, to the rolling wheel 106 in the crawler 112). Wrapped portion) easily interferes with the vehicle body.

Therefore, when the above configuration is adopted, the installation space of the crawler unit 100 (the tire installation space in consideration of the compatibility with the tire) is set in advance (at the design stage) in the swinging direction of the frame 108 (vehicle longitudinal direction). ), It is necessary to take measures such as providing a large stopper, and providing a stopper for preventing interference between the vehicle body and the crawler 112.

In view of the above, it is an object of the present invention to provide a crawler vehicle in which it is not necessary to increase the installation space of the crawler unit in the longitudinal direction of the vehicle or to provide a stopper for preventing interference with the vehicle body. .

[0009]

According to a first aspect of the present invention, there is provided a crawler vehicle fixed to a drive shaft which is driven and rotated by receiving a driving force, and a drive wheel which rotates together with the drive shaft, and a lower portion of the drive wheel. A front rolling wheel and a rear rolling wheel disposed in front and rear, a crawler wound around the driving wheel, the front rolling wheel, and the rear rolling wheel, and moved in a winding direction by rotating the driving wheel, and a driving shaft. The front rolling wheel and the rear rolling wheel are connected to the fixed frame supported on the vehicle body in a state where the front rolling wheel and the rear rolling wheel are not rotatable around the drive shaft, and the front rolling wheel and the rear rolling wheel are respectively supported. It has, a swing frame which is swingably connected to the fixed frame so as to be positioned lower than the swing center axis drive shaft, pre-viewed from the side
Connect the rolling center axis of the side rolling wheel and the rolling center axis of the rear rolling wheel.
The swing center axis is arranged in a region below the line segment .

According to a second aspect of the present invention, there is provided a crawler vehicle fixed to a drive shaft which is driven and rotated by receiving a driving force, and
Drive wheels that rotate with the drive shaft, and
Front and rear rolling wheels arranged, drive wheels, front side
The driving wheel is wound around the rolling wheel and the rear rolling wheel.
Crawler that moves in the winding direction by rotating
And the drive shaft is supported and cannot rotate around the drive shaft.
Frame and the front rolling wheels
Connects the rear rolling wheel and the front rolling wheel and rear rolling
Each wheel is supported, and the swing center axis is below the drive shaft.
Swingably connected to a fixed frame to be positioned
A swinging frame, and a front rolling wheel and a rear rolling wheel.
Intermediate rolling wheels are placed between them, and while the intermediate rolling wheels are rolling
The center position and the swing center position of the swing frame are matched.
It is characterized by:

According to a third aspect of the present invention, there is provided a crawler vehicle which is fixed to a drive shaft which is driven and rotated by receiving a driving force.
Drive wheels that rotate with the drive shaft, and
Front and rear rolling wheels arranged, drive wheels, front side
The driving wheel is wound around the rolling wheel and the rear rolling wheel.
Crawler that moves in the winding direction by rotating
And the drive shaft is supported and cannot rotate around the drive shaft.
Frame and the front rolling wheels
Connects the rear rolling wheel and the front rolling wheel and rear rolling
Each wheel is supported, and the swing center axis is below the drive shaft.
Swingably connected to a fixed frame to be positioned
Swinging frame, and when the front rolling wheel is rolling in a side view
Below the line connecting the center axis and the center axis of the rear rolling wheel.
The swing center axis is located in the area, and the front rolling wheel and rear rolling
An intermediate rolling wheel is placed between the wheel and the intermediate rolling wheel.
Make sure that the rolling center position matches the swing center position of the swing frame.
So was, it is characterized in that.

According to a fourth aspect of the present invention, there is provided the crawler vehicle according to any one of the first to third aspects, wherein the fixed frame is supported on the drive shaft on both sides of the drive wheel. It is characterized by:

According to a fifth aspect of the present invention, there is provided the crawler vehicle according to any one of the first to fourth aspects, wherein at least one of the front rolling wheel and the rear rolling wheel includes:
It is characterized in that it has an annular shape that can be elastically deformed in the radial direction.

According to a sixth aspect of the present invention, in the crawler vehicle according to the fifth aspect, the swing angle of the swing frame is limited to a certain range by contacting the front rolling wheel or the rear rolling wheel. It is characterized by having a limiting member that performs the following.

According to a seventh aspect of the present invention, in the crawler vehicle according to the sixth aspect, the limiting member is rotatable around a rotation axis parallel to a rotation center of the front rolling wheel or the rear rolling wheel. It is characterized by being a rotating body.

According to an eighth aspect of the present invention, there is provided the crawler vehicle according to any one of the first to seventh aspects, wherein the fixed frame is in contact with the swing frame and the swing angle of the swing frame. The contact member is provided to limit the pressure to a certain range.

According to the first aspect of the present invention, when the driving shaft is driven to rotate by receiving the driving force, the driving wheels are rotated accordingly. For this reason, the crawler wound around the driving wheel and the front rolling wheel and the rear rolling wheel disposed before and after the driving wheel move in the winding direction. As a result, the crawler vehicle runs.

Here, according to the present invention, the driving wheel, the front rolling wheel, and the rear rolling wheel are not supported by a single frame that is integral and rigid, but a fixed frame that supports the driving wheel. Dividing the frame into a swing frame that pivotally supports the front rolling wheel and the rear rolling wheel and connects the both,
Further, the fixed frame is supported on the vehicle body in a state where it cannot rotate around the drive shaft, and the swing frame is swingably connected to the fixed frame such that the swing center axis is located below the drive shaft. The crawler frame is composed of a driving wheel, a front rolling wheel, and a rear rolling wheel in side view by swinging the swing frame around the swing center axis according to the unevenness of the road surface during running. (Triangular shape). Therefore, by utilizing this deformation, the amount of front or rear rolling wheels projecting forward or rearward can be reduced. Moreover, the front rolling wheel in side view
Line connecting the rolling center axis of the rear wheel and the rolling center axis of the rear rolling wheel.
The pivot center axis is located in the area below
The line connecting the rolling center axis and the swing center axis of the driving wheel and the rear side
The line connecting the rolling center axis of the rolling wheel and the swing center axis
It is inclined toward one side. For this reason, when riding over bumps on the road
An example where a load is input to the center axis of the front rolling wheel
Then, place this on the load input side end of the swing frame
In addition, a component force for rearward displacement is generated. Conversely, the convexity of the road surface
Load is applied to the rolling center axis of the rear rolling wheel when
For example, when force is applied, the load input side of the swing frame
A component force is generated at the end of this to displace it upward and forward
You. Therefore, according to the present invention, the swing frame has swung.
To the front or rear of the front or rear rolling wheel
The extension amount can be minimized, that is, the overhang amount can be eliminated.

According to the second aspect of the present invention, the driving force is reduced.
As a result, the drive shaft rotates and the drive wheels
Rotate. For this reason, the drive wheels and the
Claw wrapped around the front and rear rolling wheels
Moves in the winding direction. This allows crawler vehicles
Both run. Here, in the present invention, an integral and rigid body
Single frame to drive wheels, front rolling wheels, and rear
Fixed not to support side rolling wheels but to drive wheels
Support the frame and the front and rear rolling wheels
The frame is divided into a swing frame that connects the two.
And the fixed frame cannot be rotated around the drive shaft.
While supporting it on the vehicle body side, the swing center axis is
Swivel frame to fixed frame so that it is located below
Swiveling connection allows for uneven road surfaces during travel
The swing frame swings around the swing center axis.
To the driving wheel, front rolling wheel, and rear rolling wheel in side view.
The crawler shape (triangular shape)
Can be Therefore, use this variant
And tensioning the front or rear rolling wheels forward or backward
The delivery amount can be reduced. Moreover, the front rolling wheel
Rolling center of the intermediate rolling wheel arranged between the rear rolling wheel and
Position and the swing center position of the swing frame
In this case, the center positions of both are coaxially located (that is, both
The center position of the driver is not eccentrically arranged), drive wheel, front
Side rolling wheel, rear rolling wheel, crawler, fixed frame, swing
Frame, intermediate rolling wheels
The system (unit) is downsized.

According to the third aspect of the present invention, the driving force is reduced.
As a result, the drive shaft rotates and the drive wheels
Rotate. For this reason, the drive wheels and the
Claw wrapped around the front and rear rolling wheels
Moves in the winding direction. This allows crawler vehicles
Both run. Here, in the present invention, an integral and rigid body
Single frame to drive wheels, front rolling wheels, and rear
Fixed not to support side rolling wheels but to drive wheels
Support the frame and the front and rear rolling wheels
The frame is divided into a swing frame that connects the two.
And the fixed frame cannot be rotated around the drive shaft.
While supporting it on the vehicle body side, the swing center axis is
Swivel frame to fixed frame so that it is located below
Swiveling connection allows for uneven road surfaces during travel
The swing frame swings around the swing center axis.
To the driving wheel, front rolling wheel, and rear rolling wheel in side view.
The crawler shape (triangular shape)
Can be Therefore, use this variant
And tensioning the front or rear rolling wheels forward or backward
The delivery amount can be reduced. Moreover, when viewed from the side
Connect the rolling center axis of the side rolling wheel and the rolling center axis of the rear rolling wheel.
The pivot center axis is located in the area below the line segment.
Is a line segment connecting the rolling center axis of the front rolling wheel and the swing center axis.
And a line connecting the rolling center axis of the rear rolling wheel and the swing center axis
Minutes always have an upward slope. For this reason, ride on bumps on the road surface
A load was input to the rolling center axis of the front rolling wheel when passing
Taking the case as an example, the end of the swing frame on the load input side
A component force is generated to displace this upward and backward. Reverse
The center of rolling of the rear rolling wheel when riding over a bump on the road
For example, when a load is input to the shaft, the swing frame
Displace it upward and forward to the load input side end of
A component force occurs. Therefore, according to the present invention, the swing frame
Forward or rearward of the front or rear rolling wheels when the
Minimize the amount of rearward protrusion, that is, eliminate the amount of protrusion
Can be. Also, it is arranged between the front rolling wheel and the rear rolling wheel.
Rolling center position of the mounted intermediate rolling wheel and rocking of the rocking frame
The center positions of the two are the same,
The upper part (that is, the center position of both parts is eccentrically arranged)
Fraction not location), driving wheels, front side driven wheels, the rear rolling wheel, click
Rollers, fixed frames, swing frames, intermediate rolling wheels
System (unit) composed of different elements is downsized
It is.

The operation of the present invention described in claim 4 is as follows. The road surface load when the vehicle travels is input to the swing frame from the bottom of the crawler via the front rolling wheels or the rear rolling wheels, and then transmitted to the fixed frame. Finally, the load is transmitted to the support point of the fixed frame toward the vehicle body.

Here, in the present invention, the fixed frame is supported on the drive shaft, which is an element on the vehicle body side, on both sides of the drive wheel. Will be supported.

According to the fifth aspect of the present invention, a crawler shape (triangular shape) constituted by three members of a driving wheel, a front rolling wheel, and a rear rolling wheel in side view by swinging of the swing arm. Is deformed and the crawler winding length changes, at least one of the front rolling wheel and the rear rolling wheel is elastically deformed in the radial direction, so that the difference between the crawler itself length and the crawler winding length is increased. Absorb. Thereby, it is possible to prevent the crawler from coming off the drive wheel, the front rolling wheel, and the rear rolling wheel.

According to the present invention, since the swing angle of the swing frame is limited to a certain range and does not swing excessively, the driving wheel, the front rolling wheel, and the rear rolling wheel of the crawler are driven. Can be prevented from coming off. In addition, the limiting member contacts the front rolling wheel or the rear rolling wheel which is formed into an annular shape that can be elastically deformed in the radial direction, and limits the swing angle of the swing frame to a certain range. Shock is reduced. Thereby, the durability of the limiting member is improved, and generation of abnormal noise at the time of contact can be prevented.

According to the present invention, when the restricting member comes into contact with the front rolling wheel or the rear rolling wheel, the restricting member rotates together with the front rolling wheel or the rear rolling wheel. This eliminates friction between the rotating body (restriction member) and the front rolling wheel or the rear rolling wheel, so that the rotational resistance of the front rolling wheel or the rear rolling wheel does not increase. Further, damage to the limiting member, the front rolling wheel, and the rear rolling wheel, and generation of rubbing noise can be prevented.

According to the present invention, since the swing angle of the swing frame is limited to a certain range and does not swing excessively, the driving wheel, the front rolling wheel, and the rear rolling wheel of the crawler are driven. Can be prevented from coming off.

[0027]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS First Embodiment Hereinafter, a first embodiment will be described with reference to FIGS. Note that the first embodiment corresponds to claims 1 and 4
And an embodiment of the present invention described in claim 8.

FIG. 3 is a schematic configuration diagram of a crawler vehicle 10 according to the present embodiment. As shown in FIG. 1, a crawler vehicle 10 includes a normal vehicle body 12 such as an RV vehicle and a crawler unit mounted in a tire installation space 14 of the vehicle body 12 in place of front and rear tires. 16.

FIG. 1 is a schematic diagram showing an enlarged configuration of a main part of the crawler unit 16 described above, and FIG. 2 is a central longitudinal sectional view thereof. Hereinafter, the configuration of the crawler unit 16 will be described with reference to these drawings.

The crawler unit 16 is mainly composed of components such as a driving wheel 18, a front rolling wheel 20, a rear rolling wheel 22, an intermediate rolling wheel 24, a crawler 26, a fixed frame 28, and a swing frame 30. . Hereinafter, each component will be described in this order.

A drive shaft 32 which is driven and rotated by receiving a driving force.
Is supported by a hub bearing case 34 disposed on the vehicle body side. On the distal end portion 32A side of the drive shaft 32,
A sprocket-shaped drive wheel 18 is coaxially fixed. Therefore, when the drive shaft 32 is driven and rotated, the drive wheels 18 are rotated.
Also drive rotation. The tip 32A of the drive shaft 32 is
Drive wheel 18 is penetrated. The drum brake 36 for driving wheel braking is disposed adjacent to the inside of the driving wheel 18.

A pair of front rolling wheels 20 having a smaller diameter than the driving wheels 18 and juxtaposed in the vehicle width direction are arranged on the lower front side of the driving wheels 18. In addition, a pair of rear rolling wheels 22 having the same diameter as the front rolling wheels 20 and arranged in parallel in the vehicle width direction are disposed below and behind the driving wheels 18.
Furthermore, between the front rolling wheel 20 and the rear rolling wheel 22,
A pair of front and rear intermediate rolling wheels 24 each having a smaller diameter than the front rolling wheels 20 and the rear rolling wheels 22 and arranged side by side in the vehicle width direction.
Is arranged. The driving wheel 18 and the front rolling wheel 2
0, the rear rolling wheel 22, and the intermediate rolling wheel 24 are represented by a reduction ratio, that is, a gear ratio (element for the driving wheel 18), riding over a step (element for the front rolling wheel 20, and the rear rolling wheel 22), contact It is appropriately changed from the viewpoint of stability to the ground (element for the intermediate rolling wheel 24), interference with other members, that is, mountability, and the like. Further, the front rolling wheel 20, the rear rolling wheel 22, and the intermediate rolling wheel 24 are juxtaposed in the vehicle width direction because the front rolling wheel 20 swings when the swing frame 30 swings with respect to a fixed frame 28 described later. 20, rear rolling wheel 2
2, in order to prevent the intermediate rolling wheels 24 from interfering with the driving wheels 18 and to evenly distribute the pressing points (pressing areas) on the crawler 26 in the vehicle longitudinal direction and the vehicle width direction to stabilize the ground contact surface. is there.

An endless belt-shaped crawler 26 is wound around the outer peripheral portions of the driving wheel 18, the front rolling wheel 20, the rear rolling wheel 22, and the intermediate rolling wheel 24 under a predetermined tension. ing. Accordingly, in side view, the crawler 26 forms a closed roof having an isosceles triangle shape.

A convex portion 38 having a predetermined width-wise dimension shorter than the crawler width is integrally formed at the widthwise intermediate portion of the inner peripheral surface of the crawler 26. A front rolling wheel 20, a rear rolling wheel 22, and an intermediate rolling wheel 24 which are respectively provided side by side.
Are located on both sides of the projection 38. Therefore, the convex portion 38 is formed between the front rolling wheel 20 and the rear rolling wheel 2.
2, and functions as a means for positioning the intermediate rolling wheel 24 in the width direction and also as a means for restricting the movement in the width direction. Further, a plurality of rectangular parallelepiped engaging recesses 40 capable of engaging the tooth portions 18A of the sprocket-shaped drive wheel 18 are provided at predetermined intervals in the widthwise intermediate portion of the protrusion 38 in accordance with the pitch of the drive wheel 18. Is formed. Therefore, the tooth portion 18A of the driving wheel 18 is always engaged with the engaging concave portion 40 of the crawler 26, and when the driving wheel 18 is driven to rotate, the crawler 26 receives the driving torque and moves in the winding direction. The moving direction is changed by the front rolling wheel 20 and the rear rolling wheel 22, respectively.

Here, in the present embodiment, the above-described driving wheel 18, front rolling wheel 20, rear rolling wheel 22, intermediate rolling wheel 2
4 is divided into a fixed frame 28 and an oscillating frame 30, which will be described in detail below.

The fixed frame 28 has a substantially rectangular frame-shaped open cross section. Specifically, the fixed frame 28
Is a shaft-shaped bottom portion 28 </ b> A that is disposed below the drive wheel 18 and has a longitudinal direction that is the axial direction of the drive wheel 18.
A corresponds to the "swinging center axis" in the first aspect of the present invention) and a pair of sides which are bent upward from both ends in the longitudinal direction of the bottom portion 28A and arranged in parallel with the driving wheel 18 interposed therebetween. And a pair of tops 28D and 28E that are bent from the upper ends of the side parts 28B and 28C to the drive wheel 18 side and arranged in parallel with the bottom part 28A.

The top 28D inside the fixed frame 28 is
It is fixed to the lower end of the hub bearing case 34 described above. Further, a cylindrical bearing housing portion 42 is integrally formed on the inner end side of the top portion 28E outside the fixed frame 28, and the drive shaft 32
A bearing 44 (an inner race and an outer race are not shown) which press-fits the front end portion 32A of the base member and supports it is accommodated. Accordingly, the drive shaft 32 for transmitting the driving force to the drive wheels 18 is provided at the tops 28D, 28E of the fixed frame 28.
(I.e., at the upper end of the fixed frame 28) via the hub bearing case 34 and the bearing 44.

Further, as can be seen from the above configuration, in the assembled state, the fixed frame 28 does not rotate around the drive shaft 32, and the fixed frame 28 is Two-sided support (that is, double-sided support) is provided on both sides of the drive wheel 18 (the portion where the hub bearing case 34 and the portion where the bearing 44 are provided on the drive shaft 32).

Also, as shown in FIG.
A plate-like support plate 29 protruding in the vehicle front direction and the vehicle rear direction is formed integrally with the fixed frame 28 from substantially the center in the vertical direction of 8. A rubber body 31 as a contact member is fixed to the bottom surface of the support plate 29 on the vehicle front side and the vehicle rear side. Therefore, the rubber body 31 is provided on the fixed frame 28 via the support plate 29.

The rubber body 31 is formed of rubber in a substantially inverted conical shape tapering toward the lower end.

When the swing frame 30 is not swinging, the lower end of the rubber body 31 is opposed to the upper surface of the swing frame 30 at a predetermined interval, but when the swing frame 30 swings. Since the upper surface of the swing frame 30 presses the rubber body 31, the rubber body 31 is elastically deformed. By this elastic deformation, the rotational kinetic energy due to the swing of the swing frame 30 is absorbed, and the swing angle is limited to a certain range.

If the swinging angle can be limited to a certain range by contacting the swinging frame 30, the mounting structure of the rubber body 31 is not limited to the above. For example, it may be directly attached to the fixed frame 28 without the support plate 29 therebetween. In addition, the contact member is not limited to the rubber member 31 made of rubber described above, and may be made of a material that can be elastically deformed. Further, the shape of the contact member is not limited to the above.

On the other hand, the swing frame 30 is a long member having a longitudinal direction extending in the vehicle front-rear direction, and includes a base 30A horizontally disposed orthogonal to the side portion 28C of the fixed frame 28 in a side view. A front inclined portion 30B bent from the front end side of the base 30A and extending obliquely upward and forward;
A rear inclined portion 30C which is bent from the rear end side of A and extends obliquely rearward and upward.

A front rolling shaft 46 as a rolling center axis of the front rolling wheel 20 is supported at the tip of the front inclined portion 30B. Similarly, a rear rolling shaft 48 as a rolling center axis of the rear rolling wheel 22 is pivotally supported at a tip end of the rear inclined portion 30C. Further, an intermediate rolling shaft 5 serving as a rolling center axis of the intermediate rolling wheel 24 is provided on the front end side and the rear end side of the base 30A.
0 are respectively supported. Therefore, the front rolling wheel 20, the rear rolling wheel 22, and the intermediate rolling wheel 24 are connected by the swing frame 30.

Further, the swing frame 30 is pivotally supported on the bottom 28A of the fixed frame 28 via a bearing 54. Therefore, the bottom 2 of the fixed frame 28
8A functions as a swing center axis of the swing frame 30. Further, the swing center axis of the swing frame 30 (that is, the bottom portion 28A of the fixed frame 28) is disposed close to the bottom portion 26A of the crawler 26 that forms the ground contact surface. Accordingly, the swing center axis (bottom portion 28A) of the swing frame 30, the front rolling shaft 46 which becomes the center of the rolling of the front rolling wheel 20, and the rear rolling shaft 48 which becomes the rolling center of the rear rolling wheel 22 are provided. Is more or less horizontal when viewed from the side. More specifically, the swing center axis of the swing frame 30 is defined by a line segment P connecting the front rolling shaft 46 and the rear rolling shaft 48. Are also offset downward by a predetermined distance.

The operation and effect of the present embodiment will be described below. When the drive shaft 32 is driven to rotate by receiving the drive force,
The drive wheel 18 fixed to the drive shaft 32 rotates. Since the tooth portion 18A of the driving wheel 18 is engaged with the engaging recess 40 of the crawler 26, when the driving wheel 18 rotates, the driving wheel 18, the front rolling wheel 20, the rear rolling wheel, and the intermediate rolling wheel. The crawler 26 wound around 24 moves in the winding direction (along the crawler closed roof having an isosceles triangle shape in side view) to be in a running state.

Here, when traveling on a flat road surface,
The crawler vehicle 10 according to the present embodiment has a crawler shape in a normal state (an isosceles triangular shape) as shown by a solid line in FIG.
It will run while maintaining. On the other hand, when traveling on a road surface with a lot of unevenness such as snowy land, cultivated land, sandy land such as a beach, wetland, muddy, etc., the crawler vehicle 10 according to the present embodiment changes the crawler shape from an isosceles triangular shape. It runs while transforming it into a scalene triangle. Hereinafter, description will be made with emphasis on this point.

For example, as shown in FIG.
8, front rolling wheel 20, rear rolling wheel 22, intermediate rolling wheel 24
In the case of the crawler unit 58 in which the frame 56 which supports and connects the two to each other is formed as a rigid unitary component as shown in the figure (in the case of a configuration corresponding to the conventional structure), the convex portion located in front of the road surface is used. In this case, since the swing center axis of the frame 56 is the drive shaft 32, the frame 56 swings clockwise in a pendulum motion around the drive shaft 32 to raise the front rolling wheel 20. become. Moreover, in this case, the line Q connecting the front rolling shaft 46, which is the center of rolling of the front rolling wheel 20, and the drive shaft 32, which is the center of swinging of the frame 56, has a relatively large downward slope. From these facts, the movement trajectory of the front rolling wheel 20 accompanying the swing of the frame 56 is always forward of the vehicle (and above the vehicle), and the amount of the front rolling wheel 20 projecting forward increases. For this reason, the crawler unit 58 having the above-described frame structure is connected to the crawler vehicle 10 according to the present embodiment.
When mounted in the tire installation space 14 of the vehicle body 12, the front rolling wheel 20 (accurately, the crawler 26 wound around the front rolling wheel 20) interferes with a vehicle-side component such as a wheel house. The above description also applies to the rear rolling wheel 22. Therefore, in order to solve the above problem, the tire installation space 14 is expanded in advance in the swinging direction of the frame 56 (vehicle longitudinal direction),
It is necessary to take measures such as providing a stopper for restricting the swing of the crawler 26 before interfering with the vehicle-side component,
This is disadvantageous in that respect.

On the other hand, in the present embodiment, the driving wheels 18
The frame is divided into a fixed frame 28 for pivotally supporting the front rolling wheel 20 and a swinging frame 30 for pivotally supporting the front rolling wheel 20 and the rear rolling wheel 22, respectively. The swing frame 30 can be swung by the fixed frame 28 such that the bottom 28A of the fixed frame 28 serving as the swing center axis is positioned below the drive shaft 32, while being supported on the vehicle body in a non-rotatable state. When the vehicle travels over unevenness of the road surface, the fixed frame 28 is not moved, and only the swing frame 30 swings around the swing center axis (bottom portion 28A) located close to the ground contact surface of the crawler 26. By moving the crawler, the crawler shape can be changed from an isosceles triangle to an inequilateral triangle to get over the crawler. Therefore, by utilizing the deformation of the crawler shape, the amount of the front rolling wheel 20 or the rear rolling wheel 22 projecting forward or rearward can be reduced. As a result, according to the present embodiment, the normal tire installation space 1
Even when the crawler unit 16 is mounted on the front wheel 4, the front rolling wheel 20 or the rear rolling wheel 22 does not interfere with the vehicle body side component. Therefore, according to the present embodiment, the tire installation space 14 can be reduced and the stopper can be eliminated as compared with the case where the above-described conventional structure is employed.

Further, since the stopper can be eliminated, the number of parts and the cost can be reduced, and abnormal noise and vibration due to contact with the stopper can be prevented.
In addition, when a configuration is adopted in which the stopper is provided without expanding the tire installation space 14, the height of the unevenness that the crawler unit 58 can get over is limited as a result (that is, when the crawler unit 58 gets over a large unevenness). Can not be)
However, according to the present embodiment, such disadvantage does not occur.

Further, in the present embodiment, a front rolling shaft 46 serving as a rolling center axis of the front rolling wheel 20 and a rear rolling shaft 48 serving as a rolling center axis of the rear rolling wheel 22 in side view. Since the bottom portion 28A of the fixed frame 28 serving as the swing center axis is arranged in a region below the connecting line segment P, the line connecting the swing center axis and the front rolling shaft 46 and the swing center axis Any line segment connecting the rear rolling shaft 48 is inclined upward. Therefore, for example, when a load is input to the rolling center shaft 46 of the front rolling wheel 20 when climbing over the convex portion of the road surface, the load is input upward to the end of the swing frame 30 on the load input side. A component force that displaces backward is generated. Conversely, for example, when a load is input to the rolling center shaft 48 of the rear rolling wheel 22 when riding over the convex portion of the road surface, the load is applied to the end of the swing frame 30 on the load input side. In addition, a component force for displacing forward is generated. Therefore, according to the present embodiment, the swing frame 3
It is possible to minimize the amount of forward or rearward protrusion of the front rolling wheel 20 or the rear rolling wheel 22 when 0 is swung, that is, eliminate the protrusion amount. As a result, the above-described effects (reduction of the tire installation space 14 and elimination of the stopper) can be ensured.

According to the present embodiment, the fixed frame 28 that supports the drive wheel 18 and supports the swing frame 30 so as to be able to swing is mounted on the drive wheel 1 with respect to the vehicle body side (drive shaft 32).
Since both ends are supported on both sides of the fixed frame 8, the rigidity of the fixed frame 28 and thus the crawler unit 16 against swinging (wobble) in the vehicle width direction can be improved. In other words, the road surface load acting when the crawler vehicle 10 travels from the bottom 26A of the crawler 26 to the front drive wheels 18,
After being input to the swing frame 30 via the rear drive wheel 18 and the intermediate drive wheel 18, it is transmitted to the fixed frame 28 to which the swing frame 30 is connected, and finally to the vehicle body side of the fixed frame 28. Is transmitted to the supporting point. Here, if the fixed frame is cantilevered on the vehicle body, the transmission of the load from the fixed frame to the vehicle body becomes unstable. However, as in the present embodiment, the fixed frame 28 is If both ends of the drive shaft 32 are supported with respect to the drive shaft 32 as one element, the load transmission path of the load transmitted from the fixed frame 28 to the vehicle body is stabilized. Therefore, the fixed frame 28 and thus the crawler unit 16
Can be improved with respect to rocking (wobble) in the vehicle width direction.

Further, according to the present embodiment, the swing frame 30 is swingably connected to the fixed frame 28 so that the crawler shape can be changed from an isosceles triangle to an inequilateral triangle. Therefore, even when the convex portion of the road surface is a right-angled step 60 as shown in FIG. 5, the step 60 can be surely overcome.

That is, as shown in FIG. 6, when the frame for interconnecting the drive wheel 18, the front rolling wheel 20 and the rear rolling wheel 22 is a rigid integral component (shown in FIG. 4 described above). When the driving wheel 18 moves along the traveling direction A (see FIG. 4A) and the front rolling wheel 20 abuts on a step 60 at a right angle, the front rolling wheel 20 Apply a relatively large pushing force F in the traveling direction A
And in the opposite direction. For this reason, the crawler unit 58
Receives a reversing moment M around the drive shaft 32 which is the center of swinging of the frame. As a result, as shown in FIG. 3B, it becomes difficult for the crawler unit 58 to rotate in the direction in which the reversing moment M acts and to get over the step 60.

On the other hand, in the present embodiment, the swing frame 30 is swingably connected to the fixed frame 28 so that the crawler shape can be changed from an isosceles triangle to an inequilateral triangle. Therefore, as shown in FIG. 5 (A), when the front drive wheel 20 abuts on the step 60, the front rolling wheel 20 receives the pushing force F from the step 60. Moving frame 30
Swings in the B direction. As a result, according to the present embodiment,
The crawler unit 16 can easily get over the step 60 as shown in FIG.

Further, in this embodiment, the fixed frame 2
Since the bottom 28A of 8 is also used as the swing center axis of the swing frame 30, the structure can be simplified as compared with the case where a dedicated swing center axis is set.

In the present embodiment, since the crawler unit 16 is formed in an isosceles triangular shape that is entirely flat in a side view, the bottom portion 26A that forms the ground surface of the crawler 26 is formed.
Can be secured long. Therefore, the contact pressure of the bottom 26A of the crawler 26 can be reduced.

Further, in this embodiment, the swing frame 3
When the swing angle of 0 reaches a certain amount, the upper surface of the swing frame 30 contacts the rubber body 31 to limit the swing. For this reason, the swing frame 30 swings excessively, and the crawler 26
Does not come off the crawler unit 16. Second Embodiment Next, a second embodiment will be described with reference to FIGS. This second embodiment corresponds to one embodiment of the present invention described in claims 1 to 4 (particularly, claim 2 or claim 3). The same components as those in the first embodiment described above are denoted by the same reference numerals, and description thereof will be omitted.

As shown in these figures, in the crawler unit 70 according to the present embodiment, a fixed frame 72 having an asymmetrical cross section with respect to the drive wheels 18 is used. More specifically, by arranging the outer side portion 72C of the fixed frame 72 close to the drive wheel 18 side, the bottom portion 72A of the fixed frame 72 functioning as the swing center axis of the swing frame 76 is positioned on the outer side. The protruding portion protrudes outward from the side portion 72C (hereinafter, the protruding portion is referred to as a "protruding portion 72A '"). In addition, the fixed frame 72
Is arranged closer to the drive wheel 18 side, so that the dimension of the outer top 72E in the vehicle width direction is also reduced. The other parts of the fixed frame 72 (the inner side part 72B and the inner top part 72D) are the same as in the case of the fixed frame 28 described above.

In this embodiment, the intermediate rolling wheel 24 disposed between the front rolling wheel 20 and the rear rolling wheel 22 has a bearing 74 on the protruding portion 72A 'of the bottom 72A of the fixed frame 72 described above. Is pivoted through.
That is, in the present embodiment, a single intermediate rolling wheel 24 is provided between the front rolling wheel 20 and the rear rolling wheel 22,
The intermediate rolling wheel 24 is fixed to the bottom 72 of the fixed frame 72.
It is characterized in that it is pivotally supported together with the swing frame 76 by using A.

Although the shape of the swing frame 76 is slightly changed due to the above-described configuration, the function is the same as that of the swing frame 30 in the first embodiment.

According to the above configuration, since all the configurations adopted in the above-described first embodiment are provided, the same operation and effect as in the first embodiment can be obtained. That is, also in the present embodiment, the amount of forward or rearward protrusion of the front rolling wheel 20 or the rear rolling wheel 22 when the swing frame 76 swings can be minimized (that is, eliminated).

In addition, according to the present embodiment, since the single intermediate rolling wheel 24 is arranged between the front rolling wheel 20 and the rear rolling wheel 22, the intermediate rolling wheel is arranged in the front-rear direction of the vehicle. The crawler unit 70 can be downsized in the front-rear direction of the vehicle as compared with the case where 24 are provided side by side. Therefore, a line segment P ′ connecting the front rolling shaft 46 and the rear rolling shaft 48 is
The length is shorter than the line segment P shown in the first embodiment. Accordingly, the manner in which the crawler shape is deformed when the swing frame 76 swings is also reduced as a whole, and the possibility of interference with vehicle body side components such as a wheel house is further reduced. Therefore, the tire contact space 14 can be further reduced, and in that sense, the crawler unit 70 according to the present embodiment generally has a smaller wheel house than the RV type crawler vehicle 10 shown in FIG. It is suitable for such as.

Further, according to the present embodiment, not only the number of the intermediate rolling wheels 24 disposed is reduced, but also
Since the second bottom 72A can be used also as the rolling center axis of the intermediate rolling wheel 24, there is no need to separately provide a rolling center axis. Therefore, the number of parts can be further reduced, which can contribute to cost reduction.

In each of the above-described embodiments, the intermediate rolling wheel 24 is disposed between the front rolling wheel 20 and the rear rolling wheel 22. However, in relation to the present invention described in claim 1, the intermediate rolling wheel is not necessarily provided. There is no need to arrange the rolling wheels 24. For example,
Instead of the intermediate rolling wheel 24, a biasing means such as a leaf spring which accommodates a ball at the curved top so as to be able to roll is disposed on the swing frames 30 and 76 so that the stability of the bottom 26A serving as the ground surface of the crawler 26 is improved. May be secured. Third Embodiment Next, a crawler unit 130 according to a third embodiment will be described with reference to FIGS. In this third embodiment, according to claim 1, claims 5 to 7 (particularly claims 5 to 7) corresponds to an embodiment of the invention described. Further, the same components as those in the above-described first embodiment or the second embodiment are denoted by the same reference numerals, and description thereof is omitted.

As shown in FIGS. 9 and 10, an outer fixed frame member 132 is pivotally supported at the upper end of the distal end portion 32A of the drive shaft 32 via a bearing 44. The outer fixed frame member 132 has a substantially cylindrical drive shaft accommodating portion 134 formed at the upper end, and the drive shaft accommodating portion 134 accommodates the distal end portion 32A of the drive shaft 32. The outer fixed frame member 132 is formed in a substantially wedge shape in a side view from a substantially central portion to a lower end in a vertical direction, and has holes 136 and 138 formed therein. Thus, the weight of the outer fixed frame member 132 is reduced.

Support holes 140 and 142 formed substantially at the center of the outer fixed frame member 132 in the vertical direction and at the front and rear sides of the vehicle, and support holes 144 formed at the lower end of the outer fixed frame member 132. Have support bolts 146 and 14 with external threads 152 cut only near the tip.
8, 150 are inserted toward the vehicle body side (the left side in FIG. 10). Further, the support bolts 146, 14
8, 150 male screw 152, the inner fixed frame member 1
54 is fixed by a nut 156 so as to be parallel to the outer fixed frame member 132. Then, the outer fixed frame member 132, the support bolts 146, 148,
150 and the inner fixed frame member 154
A fixed frame 158 having the same function as the fixed frame 28 according to the embodiment is configured.

At the upper end of the inner fixed frame member 154,
The engagement piece 160 is fixed by a bolt. The engagement piece 160 is engaged with the drum brake 36 for driving wheel braking or the vehicle body, so that the fixed frame 158 cannot swing with respect to the vehicle body.

The portion of the support bolt 150 located between the outer fixed frame member 132 and the inner fixed frame member 154 (the portion where the male screw 152 is not cut) is provided on both sides in the width direction of the swing frame 168 described later. A pair of torsion bushes 162 integrally formed with the swing frame 168 at the position are fixed. Torsion bush 162
As shown in FIG. 12, a rubber 164 formed in a substantially cylindrical shape and an outer cylinder 16 fixed to the outer periphery of the rubber 164 are provided.
The support bolt 150 is inserted and fixed inside the rubber 164. Support bolt 15
When the outer cylinder 166 and the outer cylinder 166 relatively rotate (twist) in the radial direction, shear forces in opposite directions act on the inner peripheral surface and the outer peripheral surface of the rubber 164 along the circumferential direction, respectively. Here, the elastic characteristic of the rubber 164 is a characteristic indicated by a curve L1 in FIG. (In FIG. 13, the horizontal axis represents the displacement angle between the inner peripheral surface and the outer peripheral surface of the rubber 164, the vertical axis represents the elastic force of the rubber 164, and the outer peripheral surface rotates clockwise in FIG. 10 with respect to the inner peripheral surface. The case where the rotation is performed is indicated as “+”, and the case where the rotation is in the counterclockwise direction is indicated as “−”.
As the relative rotational difference between the inner peripheral surface and the outer peripheral surface increases, the elastic force acting in the direction to eliminate the rotational difference increases nonlinearly. For this reason, the support bolt 150 and the outer cylinder 166
The larger the difference between the rotations is, the greater the resistance acts, and the more the rotation is suppressed, the more the rotation is suppressed. (Note that
FIG. 13 shows the relationship between the amount of torsion and the frictional resistance to the torsion when a bearing is used in place of the rubber 164 by a straight line L2. As can be seen from the straight line L2, in the case of the bearing, the frictional resistance of the bearing against the torsion is constant regardless of the change in the amount of torsion. Also, due to the internal resistance of the rubber 164, the rubber 164 has an attenuation component indicated by a dot D in FIG. Due to this damping component, when relative rotation at a high angular velocity occurs between the inner peripheral surface and the outer peripheral surface of the rubber 164, a large resistance acts on this rotation, and the rotation is suppressed.

A swing frame 168 formed integrally with the torsion bush 162 is disposed between the pair of torsion bushes 162, and is inserted into an insertion hole 170 formed in the swing frame 168. , The support bolt 150 is inserted. Accordingly, the swing frame 168 is supported by the support bolt 150 and the torsion bush 1 with respect to the fixed frame 158.
It is pivotally supported via 62. Then, the elastic force of the rubber 164 causes the support bolt 150
Large swing of the swing frame 168 around the center and a fast swing of the angular velocity are suppressed.

The swing frame 168 is formed in a substantially elongated shape when viewed from the side, and its upper surface is gradually tapered downward from the approximate center in the vehicle front-rear direction toward the front end and becomes tapered. Further, the swing frame 168 is bent upward at an obtuse angle at a position near the center rearward.

As shown in FIG. 11, the swing frame 168
At the rear end, there is a shaft hole 17
0 is formed, and the bearing 1
The support shaft 174 is inserted through 72. Support shaft 17
A disk-shaped mounting plate portion 176 is formed at each end of the mounting plate 4, and a metal wheel 180 is mounted on the mounting plate portion 176 by bolts 178.

The wheel 180 includes a disk 182 formed in a disk shape, a cylindrical rim 184 extending from the outer periphery of the disk 182 toward both sides in the thickness direction of the disk 182, and swinging of the rim 184. An annular guide plate 186 extending radially outward from the frame side end.
And are integrally formed. A plurality of (four in the present embodiment) mounting holes are formed in the disk 182, and bolts 178 are inserted through the mounting holes, and
Are attached to the attachment plate 176.

On the outer periphery of the rim 184, a tire 188 as a rear rolling wheel is mounted coaxially with the wheel 180, and the tire 188 and the wheel 180 rotate integrally. The tire 188 is formed of rubber, is filled with air therein, has a bag shape, and is formed in a ring shape as a whole. The outer periphery of the tire 188 is in contact with the inner periphery of the crawler 26 to form a substantially isosceles triangle around which the crawler 26 is wound, and supports a load from a road surface.

The guide board 186 is formed to have a smaller diameter than the tire 188, and a predetermined gap shorter than the height of the projection 38 is provided between the guide board 186 and the inner surface of the crawler 26. Further, the axial lengths of the support shaft 174 and the rim 184 are determined so that a predetermined gap is also provided between the guide plate 186 and the convex portion 38 of the crawler 26. Therefore,
The two guide boards 186 are arranged facing the projection 38 at a predetermined interval, and are located on both sides of the projection 38.
Thus, the guide plate 186 does not contact the inner peripheral surface of the crawler 26 and the convex portion 38 during normal running, but the crawler 26 is relatively moved relative to the tire 188 in the axial direction of the support shaft 174 depending on the road surface condition or the like. When it moves, the convex portion 38 hits the guide plate 186, and this relative movement is restricted within a certain range.

A protruding shaft 190 projects from the front end of the swing frame 168 toward the outside in the thickness direction (toward the front side in FIG. 9), and this protruding shaft 190 is formed at the lower end of the support arm 192. The support arm 19 is inserted through the shaft hole 194.
2 is rotatable.

The support arm 192 is formed in a substantially triangular shape in a side view, and has a front end portion formed of a tire 196 at a front end portion thereof by a shaft supporting structure similar to the rear side rolling wheel. Is supported. That is, as shown in FIG. 14, a support shaft 174 is rotatably inserted through a bearing 172 into a support hole 170 formed in the front end of the support arm 192 in the plate thickness direction. The disk 182 of the wheel 180 is mounted on the mounting plate 176 by bolts 178. Further, a tire 188 is attached to the rim 184 of the wheel 180.
The same tire 196 is mounted coaxially to form a front rolling wheel. The outer periphery of the tire 196 is in contact with the inner periphery of the crawler 26 to form a substantially triangular shape around which the crawler 26 is wound together with the tire 196, and supports a load from a road surface.

The guide plate 186 of the wheel 180 of the front rolling wheel has a smaller diameter than the tire 196 like the wheel 180 of the rear rolling wheel.
A predetermined gap shorter than the height of the convex portion 38 is provided between the inner surface of the first and second surfaces. Also, a support shaft 174 is provided so that a predetermined gap is also provided between the guide plate 186 and the protrusion 38 of the crawler 26.
And the axial length of the rim 184 is determined. When the crawler 26 moves relative to the tire 196 in the axial direction due to the condition of the road surface or the like, the protrusion 38 hits the guide plate 186, and the relative movement of the crawler 26 to the tire 196 is limited to a certain range.

A support plate 198 projects upward from the upper surface of the swing frame 168. Support plate 198
, A female screw 200 is cut along the vehicle front-rear direction, and an adjusting bolt 202 is inserted into the female screw 200 from the vehicle rear side to the front side. This allows
The adjustment bolt 202 is movable in the vehicle front-rear direction. In addition, the nut 204 as a double nut screwed to the adjustment bolt 202 is moved forward by the support plate 198.
Is restricted in

At the tip of the adjusting bolt 202, a pin 204 is projected substantially horizontally toward the outside in the radial direction, and a pressing plate 206 is supported by the pin 204.
The front surface 206A of the pressing plate 206 has a support arm 192.
9 against the rotational force in the clockwise direction of FIG. 9 received by the support arm 192 from the tire 196 elastically recessed by the crawler 26 having a predetermined length wound around the rear surface 192A. 192 is maintained in place. Then, as shown by a two-dot chain line in FIG. 9, when the adjustment arm 202 is rotated to move the support arm 192 in the front-rear direction of the vehicle, the support arm 192 rotates about the protruding shaft 190, and as a result, the tire 196 is rotated. (In FIG. 9, the support arm 192 is moved to the rear of the vehicle and the tire 196 is moved to the rear of the vehicle.) As a result, the predetermined wrapping length adapted to the crawler 26 becomes
Drive wheel 18, tire 188 (rear rolling wheel) and tire 1
As a result, the crawler 26 can be wound with a predetermined tension by finely adjusting the tension of the crawler 26 while keeping the amount of depression of the tire 196 constant.

Further, since the swing frame 168 and the support arm 192 have the above-described configuration, the swing center axis (support bolt 150) of the swing frame 168 can be adjusted to the tires 199 and 196 as in the first embodiment. It is arranged in a region below the line segment P ″ connecting the rolling center axis (the shaft 174 on the front and rear sides of the vehicle). Further, the line segment R ″ connecting the support bolt 150 and the front and rear shafts 174. Is substantially horizontal in a side view, and more specifically, the support bolt 150 is offset downward by a predetermined distance from a line segment P ″ connecting the front and rear shafts 174.

At the center of the support bolt 146 on the front side of the vehicle (portion where the male screw 152 is not cut), a collar 208 as a swing angle limiting member formed of resin and coaxial with the support bolt 146 is coaxial. And rotatably mounted. Rubber 164 of torsion bush 162
When the swing frame 168 swings in the clockwise direction in FIG. 9 around the support bolt 150 against the elastic force of the damper body 212 described later and the tire 196 swings at a predetermined angle, the collar 208 The swing is limited during the operation. Since the tire 196 is made of elastically deformable rubber,
Even if the tire 196 vigorously hits the collar 208, the tire 196 is elastically deformed, and the impact force is reduced. Therefore, it is not necessary to form the collar 208 and the support bolt 146 firmly in consideration of the impact force, and a strong impact input to the fixed frame 158 is reduced, and the durability of the fixed frame 158 is improved. Further, the impact sound when the tire 196 hits the collar 208 is also reduced.

Since the collar 208 is rotatable, when the rotating tire 196 is hit, the collar 208 is also rotated by the frictional force with the tire 196. As a result, the tire 196 and the collar 208 do not rub against each other, thereby preventing the tire 196 from being worn or damaged. Also, no rubbing noise is generated.

A cylindrical collar 210 made of resin is coaxially and rotatably mounted also at the center of the support bolt 148 on the rear side of the vehicle (portion where the male screw 152 is not cut). The collar 210 is divided into two parts at the center in the axial direction.
A damper body 212 as a swing damping means is provided between
Is rotatably mounted.

As shown in FIG. 15, the damper body 212
Has a piston rod 216 protruding radially outward from the cylindrical portion 214, and a cylinder 218 into which the piston rod 216 is inserted. Cylinder 2
A viscous fluid is sealed inside 18, and the axial movement of the piston rod 216 receives a resistance due to the viscous resistance of the viscous fluid. The tip of the cylinder 218 is fixed to the upper surface of the swing frame 168. Accordingly, the damper body 212 includes the fixed frame 158 and the swing frame 16.
That is, it is hung between 8 and.

When the swing frame 168 swings clockwise or counterclockwise in FIG. 9 around the support bolt 150 against the elastic force of the rubber 164 of the torsion bush 162, the damper body 212 This oscillation is suppressed by the viscous resistance of the viscous fluid in the cylinder 218. When the swing frame 168 swings a predetermined angle in the clockwise direction against the elastic force of the rubber 164 and the resistance force of the viscous fluid of the damper body 212, the tire 196 hits the collar 210 to limit the swing. Even if the tire 196 vigorously hits the collar 210, the tire 196 is elastically deformed and the impact force is reduced, so that it is not necessary to form the collar 208 and the support bolt 148 firmly in consideration of the impact force, and the fixed frame The strong shock input to 158 is reduced, and the durability of fixed frame 158 is improved. Further, the impact sound when the tire 196 hits the collar 210 is also reduced. Since the rotating tire 196 hits the collar 208 and the collar 208 also rotates by the frictional force with the tire 196, the tire 196 and the collar 208 do not rub against each other, thereby preventing the tire 196 from being worn or damaged. Also, no rubbing noise is generated.

Next, the operation of the present embodiment will be described. FIG.
As shown in FIG. 7, the crawler 26 is wound around the drive wheel 18, the tire 196 (front rolling wheel), and the tire 188 (front rolling wheel) in a substantially isosceles triangle shape in a side view. Here, by rotating the adjustment bolt 202 to change the position of the tire 196, the predetermined winding length corresponding to the crawler 26 can be adjusted to the drive wheel 18, the tire 196 (front rolling wheel), and the tire 188 (rear rolling wheel). ) So that the tension of the crawler 26 can be finely adjusted. That is, crawler 2
6, the elastic deformation of the rubber tires 196, 188 also varies due to variations in the actual length of the crawler 26 (actual length of the crawler 26), and the wrapping length of the crawler 26 (drive wheel 1).
8, the length of the tire 196 and the tire 188 around which the crawler 26 is wound) changes.
By changing the position of the tire 196, the tire 19
6 and 188, the wrapping length of the crawler 26 is made to match the actual length of the crawler 26, and the crawler 26 can be wrapped with an appropriate tension.

The crawler 26 receives the driving force of the driving wheel 18.
Circulates, the crawler vehicle (see FIG. 3) travels.
When traveling on an uneven road surface, FIG. 16 or FIG.
As shown in FIG.
Swinging around the swing center axis, the contact area of the crawler 26 with the road surface increases, and stable running can be maintained.
The support bolt 15 which is the pivot axis of the pivot frame 168
0 is located below the drive shaft 32, so that even when the crawler unit 130 is mounted in a normal tire installation space, the crawler 26, the tires 196, and 1
Crawler 2 without interfering with the vehicle body side components.
6, the installation area can be increased, and there is no need to provide a stopper or the like for preventing interference with the vehicle body.

Further, the support bolt 150 is
6 and 188, which are arranged in a region below the line segment P ″ connecting the rolling center shafts (shaft support shafts 174). When a load is input, the support shaft 1 on the front side of the vehicle
A component force is generated that displaces 74 upward and backward. Conversely, when a load from the rear to the front is input to the shaft 174 on the vehicle rear side, a component force that displaces the shaft 174 upward and forward is generated. Thereby, the tire 196 when the swing frame 168 swings,
The amount of extension of the 188 and the crawler 26 forward or backward can be eliminated.

Here, for example, if the front rolling wheel and the rear rolling wheel are formed of a material such as metal which cannot be elastically deformed,
When the swing frame 168 swings as described above and the crawler shape becomes a trapezoidal triangular shape as shown in FIG. 16 or 17, the winding length of the crawler 26 becomes shorter than the actual length of the crawler 26. . Therefore, there is a possibility that the crawler 26 is loosened and the teeth of the driving wheel 18 are disengaged from the concave portion of the crawler 26, and further, the crawler 26 is disengaged from the crawler unit 130. However, in the crawler unit according to the present embodiment, the front rolling wheel is configured by the tire 196, and the rear rolling wheel is configured by the tire 188.
When the tires 196 and 188 are elastically deformed (more specifically, by recovering the depression), the change in the wrapping length of the crawler 26 is absorbed, and the wrapping length is determined by the actual length of the crawler 26. Can be matched. For this reason, the crawler 26 is wound with an appropriate tension,
The teeth of the driving wheel 18 do not come off from the concave portions of the crawler unit 130 and the crawler 26 does not come off the crawler unit 130.
Also, the above-described operation (absorption of the change in the crawler 26 winding length due to the swing of the swing frame 168) is achieved only by forming the front rolling wheel with the tire 196 and the rear rolling wheel with the tire 188. There is no increase in the number of points and no complicated structure.

The swing of the swing frame 168 is suppressed by the elastic force of the rubber 164 forming the torsion bush 162 and the resistance force of the viscous fluid forming the damper body 212. In particular, since the rubber 164 has an elastic characteristic in which the elastic force increases non-linearly as shown by a curve L1 in FIG. 13, large swing of the swing frame 168 is suppressed.
Further, since the rubber 164 has the damping component D shown in FIG. 13, the swing of the swing frame 168 at a high angular velocity is suppressed.

Further, when the front rolling wheel is constituted by the tire 196 and the rear rolling wheel is constituted by the tire 188 as in the crawler unit 130 according to the present embodiment, the elastic constants of the tires 196 and 188 are low. Tire 19
6, 188 with the swing frame 168, the tire 196,
A spring-mass system 188 acts as a spring. Therefore, when the crawler unit 130 passes over unevenness on a road surface, or when the vehicle is accelerating or decelerating, the swing frame 168 tends to swing at a low frequency having a resonance point. However, even in this case, the damper body 212 suppresses the vibration, and the vibration converges in a short time. Therefore, the swing of the swing frame 168 and the swing of the entire vehicle due to the vibration are prevented.

Further, since the swing frame 168 is pivotally supported on the fixed frame 158 by using the torsion bush 162 and no bearing is required, the support structure of the swing frame 168 is simplified. In addition, since it is not necessary to perform a seal (sealing) that is usually performed when a bearing is used, the structure is further simplified, and the manufacturing cost can be reduced. Since no bearing is used, no foreign matter such as water or sand enters the bearing, and the reliability and durability of the crawler unit 130 are improved.

When the swing frame 168 swings largely in the clockwise direction, as shown in FIG.
Hits the collar 210, and further swinging is prevented. Since the tire 188 is made of rubber, even if the tire 196 vigorously hits the collar 208, the tire 188 is elastically deformed to reduce the impact force, and the strong impact input to the fixed frame 158 is reduced. Thereby, the fixed frame 15
8, and the impact noise is reduced. It is not necessary to form the fixed frame 158 firmly in consideration of the impact input.

Conversely, even if the swing frame 168 further swings further counterclockwise from the state shown in FIG. 17, the tire 188 hits the collar 208 to prevent further swing. Since the tire 188 is made of rubber, the impact force is reduced, and a strong impact input to the fixed frame 158 is reduced. Thereby, the durability of the fixed frame 158 is improved, and the impact noise is reduced.

When the crawler unit 130 impacts a bump on the road surface, the tire 196 is elastically deformed and absorbs this load, so that the load acting on the vehicle body is reduced. Therefore, it is not necessary to increase the strength of the vehicle body in consideration of a large load. Also, the riding comfort is improved.

The crawler 26 is provided in the width direction (drive shaft 32
In the axial direction of the tire 19), the crawler 26
6, 188, the guide plate 186 hits the convex portion 38, so that this movement is restricted. As a result, the tires 196 and 188 do not ride on the protrusion 38, so that the crawler 26 can be prevented from being damaged, laterally displaced, and coming off.

In the crawler unit 130 according to the third embodiment, the torsion bush 162 and the damper 21
2, but the swing frame 16
As long as the large swing and the fast swing of 8 can be suppressed, only one of them may be provided.

The tire 196 constituting the front rolling wheel
The tire 188 constituting the rear rolling wheel does not need to be the pneumatic tire described above. In short, the material and structure are not particularly limited as long as it is formed in an elastically deformable annular shape. For example, it may be a total rubber tire in which the inside is formed of rubber without being formed in a bag shape. In addition, even if only one of the front rolling wheel and the rear rolling wheel is formed in an elastically deformable annular shape such as rubber, the swing frame 168 may be used.
Elastically deforms at the time of swinging, so that the wrapping length of the crawler 26 can match the actual length of the crawler 26.

Further, the collars 208, 210 need not be mounted on the support bolts 146, 148. In short, even if the swing frame 168 swings, it is attached to a position where it does not swing together with the swing frame 168. It should just be. For example, a shaft is protruded directly from the vehicle body toward the outside in the vehicle width direction, and the collar 208 is rotatably mounted on the shaft.
When the swing frame 168 swings, the swing frame 168 may be attached to the tires 196 and 188 to limit the swing. In addition, in order to limit the swing angle of the swing frame 168 to a certain range, as a swing angle limiting member,
It is not necessary to provide the rotatable collars 208 and 210, and non-rotatable members (for example, a rod or a block)
It may be.

In each of the above embodiments, the front rolling shaft 46 of the front rolling wheel 20 (the support shaft 174 of the tire 196 on the front side of the vehicle in the third embodiment) and the rear rolling wheel 22 Line segments P, P ′ connecting the side rolling shaft 48 (the support shaft 174 of the tire 188 on the vehicle rear side in the third embodiment),
In a region below P ″, a bottom portion 28 serving as a swing center axis is provided.
A, 72A, or a configuration in which the support bolt 150 is disposed (the line segments P, P ′, P ″ and the bottom portions 26A, 7 of the crawler 26).
2A or between the front rolling shaft 46 and the support bolt 150
(Or tire 196), rear rolling shaft 48 (or tire 1)
88), and all the configurations in which the line segments R, R ′, and R ″ connecting the three axes of the swing center axes (bottoms 28A, 72A, support bolt 150) of the swing frames 30, 76, 168 fit. It should be noted that, although the arrangement relationship of the respective axes should be originally taken as described above, as a practical matter, the swing center axis is located slightly above the line segments P and P '. Even if such a configuration is adopted, it is considered that the effect of reducing the overhang amount can be obtained as compared with the conventional structure, and accordingly, the configuration is included in the present invention to that extent.

In addition, the rubber body 31 according to the first embodiment
To the crawler unit 70 according to the second embodiment,
It may be provided in the crawler unit 130 according to the embodiment. In particular, the crawler unit 130 according to the third embodiment
In this case, since the tire 196 hits the collar 210 and the upper surface of the swing frame 168 hits the rubber body 31, even if the swing frame 168 swings vigorously, the swing angle is reliably fixed. Can be limited to a range.

[0103]

As described above, in the crawler vehicle according to the first aspect of the present invention, the fixed frame that supports the drive wheels is supported on the vehicle body in a state that the fixed frame cannot rotate around the drive shaft, and the front frame is fixed. Since the swing center axis of the swing frame that supports the rolling wheels and the rear rolling wheels and connects them is positioned below the drive shaft, the drive wheels and the front wheels are rotated according to the unevenness of the road surface during running. By deforming the crawler shape (triangular shape) formed by the three members of the driving wheel and the rear rolling wheel, the amount of front or rear projection of the front rolling wheel or the rear rolling wheel can be reduced, and as a result, the crawler can be reduced. It has an excellent effect that there is no need to increase the installation space of the unit in the front-rear direction of the vehicle or to provide a stopper for preventing interference with the vehicle body. Furthermore, the rolling of the front rolling wheel in side view
Below the line connecting the center axis and the rolling center axis of the rear rolling wheel
The swing center axis is located in the area of
The front rolling wheel protrudes forward or rear even if
There can be no overhang of the rolling wheels
It has an excellent effect of cutting.

A crawler vehicle according to the present invention as set forth in claim 2.
Rotates the fixed frame that supports the drive wheels around the drive shaft
In the disabled state, support the vehicle body side, and
Swinging wheel that pivotally supports the rear and rear rolling wheels and connects them.
The pivot axis of the arm is located below the drive shaft.
In accordance with the road surface unevenness during driving, drive wheels, front rolling wheels,
Crawler shape composed of three rear rolling wheels (3
Square shape) to transform the front rolling wheel or rear rolling wheel
Can reduce the amount of frontward or rearward overhang
The crawler unit installation space in front of the vehicle
Stopper to increase rearward or prevent interference with the vehicle
It has an excellent effect that there is no need to provide a
In addition, it is arranged between the front rolling wheel and the rear rolling wheel.
Rolling center position of rolling wheel and rocking center position of rocking frame
And when the intermediate rolling wheel is added,
To reduce the installation space for crawler units
It has an excellent effect that it can be produced.

Crawler vehicle according to the third aspect of the present invention.
Rotates the fixed frame that supports the drive wheels around the drive shaft
In the disabled state, support the vehicle body side, and
Swinging wheel that pivotally supports the rear and rear rolling wheels and connects them.
The pivot axis of the arm is located below the drive shaft.
In accordance with the road surface unevenness during driving, drive wheels, front rolling wheels,
Crawler shape composed of three rear rolling wheels (3
Square shape) to transform the front rolling wheel or rear rolling wheel
Can reduce the amount of frontward or rearward overhang
The crawler unit installation space in front of the vehicle
Stopper to increase rearward or prevent interference with the vehicle
It has an excellent effect that there is no need to provide a
In addition, the rolling center axis of the front rolling wheel and the rear rolling wheel in side view
The swing center is located in the area below the line connecting the rolling center axis.
With the shaft arranged, the front side rolls even if the swing frame swings
The amount of frontward extension of the wheel or the rearward extension of the rear rolling wheel
Excellent effect that there is no dispensing amount
Having. In addition, it is arranged between the front rolling wheel and the rear rolling wheel.
Rolling center position of the mounted intermediate rolling wheel and rocking of the rocking frame
Since the center of the running center was matched, an intermediate rolling wheel was added.
The crawler unit installation space.
It has an excellent effect that it can be reduced.

According to a fourth aspect of the present invention, there is provided the crawler vehicle according to any one of the first to third aspects, wherein the fixed frame is supported on the drive shaft on both sides of the drive wheel. Therefore, the fixed frame can be supported on both sides of the vehicle body with the driving wheels interposed therebetween, and as a result, the rigidity of the fixed frame and thus the crawler unit against rocking (wobble) in the vehicle width direction can be improved. Has an effect.

According to a fifth aspect of the present invention, there is provided the crawler vehicle according to any one of the first to fourth aspects, wherein at least one of the front rolling wheel and the rear rolling wheel comprises:
Since it is an annular shape that can be elastically deformed in the radial direction, the driving wheel, front rolling wheel,
Even if the crawler shape (triangular shape) formed by the three members of the rear rolling wheel and the crawler is deformed and the crawler winding length changes, at least one of the front rolling wheel and the rear rolling wheel is elastic in the radial direction. The deformation has an excellent effect of absorbing the difference between the length of the crawler itself and the crawler winding length, and preventing the crawler from coming off the driving wheel, the front rolling wheel, and the rear rolling wheel.

According to a sixth aspect of the present invention, in the crawler vehicle according to the fifth aspect, the swing angle of the swing frame is limited to a certain range by contacting the front rolling wheel or the rear rolling wheel. Since the swing member has a limiting member, the swing angle of the swing frame is limited to a certain range, and the crawler driving wheel, the front rolling wheel, and the rear rolling wheel can be prevented from coming off.
The restricting member comes into contact with the front rolling wheel or the rear rolling wheel, which is formed into an annular shape that can be elastically deformed in the radial direction, and limits the swing angle of the swing frame to a certain range. It has an excellent effect of being relaxed.

According to a seventh aspect of the present invention, in the crawler vehicle according to the sixth aspect, the limiting member is rotatable around a rotation axis parallel to the rotation center of the front rolling wheel or the rear rolling wheel. Since the rotating body is a rotating body, there is no friction between the rotating body and the front rolling wheel or the rear rolling wheel, and the rotational resistance of the front rolling wheel or the rear rolling wheel does not increase. It has an excellent effect that damage to the limiting member, the front rolling wheel, and the rear rolling wheel and the generation of rubbing noise can be prevented.

According to the eighth aspect of the present invention, there is provided the crawler vehicle according to any one of the first to seventh aspects, wherein the fixed frame is in contact with the swing frame so that the swing angle of the swing frame is constant. Since the contact member is limited to the range, the swing angle of the swing frame is limited to a certain range and does not swing excessively, and the crawler deviates from the driving wheel, the front rolling wheel, and the rear rolling wheel. Has an excellent effect that it can be prevented.

[Brief description of the drawings]

FIG. 1 is an enlarged configuration diagram of a main part of a crawler unit in a crawler vehicle according to a first embodiment.

FIG. 2 is a sectional view taken along line 2-2 of the crawler unit shown in FIG.

FIG. 3 is a schematic configuration diagram of a crawler vehicle including the crawler unit shown in FIG.

FIG. 4 is an enlarged configuration diagram of a main part of a crawler unit for describing an effect of the first embodiment in comparison with a conventional type.

FIG. 5 is an explanatory diagram for explaining another effect of the first embodiment.

FIG. 6 is an explanatory diagram corresponding to FIG. 5 for describing another effect of the first embodiment in comparison with a conventional type.

FIG. 7 is an enlarged configuration diagram of a main part of a crawler unit in a crawler vehicle according to a second embodiment.

FIG. 8 is a sectional view taken along line 8-8 of the crawler unit shown in FIG. 7;

FIG. 9 is a side view showing a crawler unit according to a third embodiment.

FIG. 10 shows a crawler unit 10-1 shown in FIG.
It is a sectional view taken along the line 0.

11 is a diagram showing a crawler unit 11-1 shown in FIG.
It is a 1-line sectional view.

FIG. 12 is an enlarged perspective view showing a torsion bush of a crawler unit according to a third embodiment.

FIG. 13 is a graph showing elastic properties of rubber constituting a torsion bush of the crawler unit according to the third embodiment.

FIG. 14 shows a crawler unit 14-1 shown in FIG.
FIG. 4 is a sectional view taken along line 4.

FIG. 15 is an enlarged perspective view showing a damper body of a crawler unit according to a third embodiment.

FIG. 16 is a side view showing a state where a swing arm of a crawler unit according to a third embodiment swings.

FIG. 17 is a side view illustrating a state where a swing arm of a crawler unit according to a third embodiment swings.

FIG. 18 is a side view of a crawler unit according to a conventional example.

FIG. 19 is a perspective view of the crawler unit shown in FIG.
FIG. 19 is a sectional view taken along line 19.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Crawler vehicle 16 Crawler unit 18 Drive wheel 20 Front rolling wheel 22 Rear rolling wheel 24 Intermediate rolling wheel 26 Crawler 28 Fixed frame 28A Bottom (oscillation center axis) 30 Oscillating frame 31 Rubber body (contact member) 32 Drive shaft 46 Front rolling shaft (rolling center shaft) 48 Rear rolling shaft (rolling center shaft) 70 Crawler unit 72 Fixed frame 72A Bottom (swing center shaft) 76 Swing frame 130 Crawler unit 132 Outer fixed frame member (fixed) 146 Support bolt (fixed frame) 148 Support bolt (fixed frame) 150 Support bolt (fixed frame) 154 Inner fixed frame member (fixed frame) 158 Fixed frame 168 Swing frame 188 Tire (rear rolling wheel) 196 Tire ( Front rolling wheel) 208 Collar (Rotation) , Limiting member) 210 Color (rotating body, limiting member)

──────────────────────────────────────────────────の Continued on front page (58) Field surveyed (Int.Cl. ⁷ , DB name) B62D 55/065 B62D 55/104 B62D 55/14

Claims (8)

(57) [Claims] 1. A driving wheel fixed to a driving shaft that rotates by receiving a driving force and rotates together with the driving shaft; a front rolling wheel and a rear rolling wheel disposed below and before the driving wheel; A crawler that is wound around the front rolling wheel and the rear rolling wheel and moves in the winding direction by the rotation of the driving wheel; and a crawler that supports the drive shaft and cannot rotate around the drive shaft. The supported fixed frame, the front rolling wheel and the rear rolling wheel are connected, and the front rolling wheel and the rear rolling wheel are respectively supported so that the swing center axis is located below the drive shaft. A swinging frame that is swingably connected to the fixed frame, wherein the rolling center axis of the front rolling wheel and the rolling of the rear rolling wheel in side view
Arrange the swing center axis in the area below the line connecting the center axis.
A crawler vehicle characterized by being placed . 2. A drive shaft which is driven and rotated by receiving a driving force.
Drive wheels that are fixed and rotate together with the drive shaft, and front rolling wheels and rear wheels disposed in front and rear below the drive wheels.
Wraps around rolling wheels, drive wheels, front rolling wheels, and rear rolling wheels
As the drive wheels rotate, they move in the winding direction.
With a crawler that supports the drive shaft and cannot rotate around the drive shaft.
A fixed frame supported on the vehicle body, a front rolling wheel and a rear rolling wheel are connected and a front rolling wheel is connected.
And the rear rolling wheels are respectively supported, and the swing center axis is the drive shaft.
Swingable to fixed frame so that it is located below
Anda swing frame connected to, disposed intermediate rolling wheel between the front driven wheels and the rear driven wheels, further, the rolling center position and the swing frame of the intermediate rolling wheel rocking
A crawler vehicle characterized by matching a moving center position . 3. A drive shaft which is driven and rotated by receiving a driving force.
Drive wheels that are fixed and rotate together with the drive shaft, and front rolling wheels and rear wheels disposed in front and rear below the drive wheels.
Wraps around rolling wheels, drive wheels, front rolling wheels, and rear rolling wheels
As the drive wheels rotate, they move in the winding direction.
With a crawler that supports the drive shaft and cannot rotate around the drive shaft.
A fixed frame supported on the vehicle body is connected to the front rolling wheel and the rear rolling wheel, and the front rolling wheel is connected.
And the rear rolling wheels are respectively supported, and the swing center axis is the drive shaft.
Swingable to fixed frame so that it is located below
Anda swing frame connected to, during rolling of the rolling center axis and a rear roller rings of the front rolling wheel in a side view
Arrange the swing center axis in the area below the line connecting the center axis.
And an intermediate rolling wheel is arranged between the front rolling wheel and the rear rolling wheel. Further, the rolling center position of the intermediate rolling wheel and the swing frame
A crawler vehicle characterized by matching a moving center position . 4. The crawler vehicle according to claim 1, wherein a fixed frame is supported on a drive shaft on both sides of the drive wheel. 5. The crawler vehicle according to claim 1, wherein at least one of the front rolling wheel and the rear rolling wheel has an annular shape that is elastically deformable in a radial direction. . 6. The crawler vehicle according to claim 5, further comprising a limiting member that contacts the front rolling wheel or the rear rolling wheel to limit the swing angle of the swing frame to a predetermined range. 7. The crawler vehicle according to claim 6, wherein the limiting member is a rotating body rotatable about a rotation axis parallel to a rotation center of the front rolling wheel or the rear rolling wheel. 8. The fixed frame according to claim 1, further comprising a contact member that contacts the swing frame and limits a swing angle of the swing frame to a predetermined range. A crawler vehicle according to any of the claims.