JP3338487B2 - 4-wheel drive crawler work 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 swing lock device which locks the left and right swings of a front left and right crawler.
The present invention relates to a four-wheel drive crawler-type work vehicle configured to be capable of release switching.

[0002]

2. Description of the Related Art Conventionally, as shown in FIG. 8, a track frame 103 having front, rear, left and right crawlers 101, 102 is stretched substantially at the center thereof, so that the vehicle can travel up and down even in a place with severe irregularities such as stairs. The support shaft 104 supports and supports the machine base so that it can rotate in the front-rear direction.
A pipe 108 for supporting 101a and 101b is connected to and supported by a center pin 109 provided at the lower part of the base via a pivot plate 110,
The front left and right crawlers 101a and 101b are configured to be swingable,
In addition, there is a four-wheel drive crawler-type work vehicle employing a four-wheel drive system.

[0003]

However, the above-mentioned 4
The wheel-driven crawler type working vehicle still has the following problems to be solved.

[0004] That is, when the above four-wheel drive crawler-type work vehicle is to be turned, for example, to the left on a step surface or a road surface with a rough road surface or soft soil, as shown in FIG. In addition, the right side 101b of the front left and right crawlers 101 rises, and the left side 101a is buried in the soil to increase the turning resistance and reduce the turning performance.

On the stairs or the like, the crawler in the turning direction does not become buried, but the crawler on one side (the right side 101b in FIG. 8) hardly receives a load, so that a differential action of rotating at a high speed occurs. Therefore, the drive is performed only by the heavy load side crawler (left side 101a in FIG. 8) that is in contact with the ground, and there is a problem that the driving force is insufficient.

An object of the present invention is to provide a four-wheel drive crawler type working vehicle that can solve the above-mentioned problems.

[0007]

According to the present invention, a cabin supported so as to be able to swing back and forth is mounted on a machine base, and the machine base is provided with front and left and right crawlers which can be driven, respectively. In a four-wheel drive crawler-type work vehicle in which each of the crawlers can swing back and forth and the front left and right crawlers can swing left and right, a swing lock device is provided for locking the left and right swings of the front left and right crawlers. A control unit connected to the swing lock device, wherein the control unit is configured to switch the swing lock device to a locked state when idle rotation of the crawler is detected. It will not be provided.

[0008] Further, according to the present invention, when the crawler detects that the crawler is in contact with the ground, the control unit is configured to switch the swing lock device to a release state, and the swing lock device is locked and released. Another feature is that the switching can be manually performed.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be specifically described below with reference to _the drawings.

FIG. 1 is an explanatory side view of a four-wheel drive crawler type working vehicle A according to the present invention. The working vehicle A is used for fire extinguishing work. For example, it is necessary to go up and down stairs in an underground mall. It is used when there is a fire in a place where there is a problem, on soft ground, or where it is necessary to drive on a steep road surface.

The overall configuration of the working vehicle A will be described below.

The work vehicle A supports the front left and right crawlers 2, 3 and the rear left and right crawlers 4, 5 as traveling devices on the machine base 1, and has a driver's seat 6, a control unit 7, etc. on the machine base 1. Is provided.

The floor surface 15 of the cabin 8 is formed with irregularities. The driver's seat 6 is provided on the upper surface of the front convex portion 15a, and the rear seat is provided on the upper surface of the rear convex portion 15b. 15a, 15
At the bottom of b, a hydraulic tank, battery, etc. (not shown) are provided.

An engine room 9 is provided at a lower rear portion of the cabin 8, and an engine 1 is provided in the engine room 9.
0, a fuel tank 11, a water pump 12 for fire extinguishing and discharging, and the like.

An upper cover of the engine room 9
13 is also used as a work machine installation stand, and a fire hose device 14 as a work machine is installed on the upper cover 13.

A lower portion of the cabin 8 has a second cabin table 16 fixed to the floor 15 of the cabin 8 and a first cabin table rotatably connected to a rear portion of the second cabin table 16. 17 and the first and second cabin tables
The cabin 8 itself is supported on the machine base 1 so as to be able to swing back and forth by 16,16.

That is, the front end of the first cabin base 17 is connected to the front end of the machine base 1 via the front fulcrum shaft 18, and the rear end of the first cabin base 17 is connected to the second end via the rear fulcrum shaft 19. The cabin stand 16 is connected.

The first lifting cylinder 22 is supported between the machine base 1 and the first cabin base 17 at substantially the center inside through the support shafts 20 and 21.
And the cabin 8 can be tilted forward.

Also, a first cabin table 17 and a second cabin table
A second elevating cylinder 25 is mounted between support members 23 and 24 at a substantially central portion of the outside of the cylinder 16 so that the cabin 8 can be tilted rearward.

Therefore, by extending the cylinders 22 and 25, the cabin 8 can be tilted forward and backward about the front and rear fulcrum shafts 18 and 19. In addition, each such cylinder 2
The operations of 2, 25 are easily operable by the driver using an operation lever (not shown) provided on the control unit 7 in the cabin 8.

Further, in this embodiment, a balance weight 26 is attached to the front end of the machine base 1 so as to balance the work machine A while traveling.

This is a rear balance in the above-described configuration of the working machine A (the driver's seat is at the front position, and the position of the heavy object such as the working machine and the engine 10 is at the rear side).
Since the load applied to the rear axle increases when climbing stairs or the like, the balance weight 26 prevents a decrease in the traction force of the front left and right crawlers 2 and 3, and furthermore, a danger of falling.

When the front left and right crawlers 2 and 3 are tilted upward at the maximum swing angle, the balance weights 26 are mounted at positions where they protrude beyond the crawlers 2 and 3 and do not interfere with the ground. I have.

Referring to FIGS. 1 and 2, the front, rear, left and right crawlers 2, 3, 4, and 5 as a traveling device will be described.

As shown in FIG. 2, each of the crawlers 2, 3, 4, and 5 is configured to be drivable by a four-wheel drive structure of a two-pump four-motor type, and a two-tandem tandem connected to the engine 10. Hydraulic motors 31, 32, 33, and 34 for driving the crawlers 2, 3, 4, and 5 are connected to the hydraulic pumps P1 and P2, respectively.

Further, as shown in FIG. 1, the front left and right crawlers 2, 3 are respectively provided with floating sprockets 35, 36 and driving sprockets 37, 38 provided in front and rear with respect to the traveling direction, and a left and right track mounted between them. They are stretched over the rollers 39, 40 and are rotatably connected and supported via pivot shafts 43, 44 provided substantially at the center of the track frames 41, 42.

Similarly to the front left and right crawlers 2 and 3, the rear left and right crawlers 4 and 5 are connected to the floating sprockets 45 and 46, the drive sprockets 47 and 48, and the track rollers 49 and 50, respectively. In addition to being stretched, it is configured to be rotatable via pivot shafts 51 and 52.

As shown in FIG. 2, the front left and right crawlers 2 and 3 support a horizontal pipe 53 on a center pin 54 provided at the center of the machine base 1 via a pivot plate 55 so as to be able to swing left and right. It is configured to be able to swing left and right.

The working machine A has the above-described configuration.
It can be easily driven even on uneven surfaces such as stairs or on soft ground, and when climbing up and down slopes,
By appropriately tilting the cabin 8 with respect to the aircraft,
The driver can always run while maintaining a horizontal position.

In the working machine A having the above-described structure, the gist of the present invention is that a swing lock device B for locking the left and right swings of the front left and right crawlers 2 and 3 is attached, and the swing lock device B has a control unit 63. And when the control unit 63 detects idle rotation of any of the crawlers 2, 3, 4, and 5, the swing lock device B is configured to switch to the locked state. 2,3,4,5
The controller 63 is configured to switch the swing lock device B to the unlocked state when it detects that the swing lock device B is in contact with the ground, and it is possible to manually switch the lock / release of the swing lock device B. It has been done.

In the present embodiment, as shown in FIG.
A stroke sensor 61 is attached to the cylinder 60, and a control unit 63 comprising an automatic switch 62 and a microcomputer is provided as shown in FIG.

In addition to the stroke of the lock hydraulic cylinder 60 described above, the number of rotations of the drive sprockets 37, 38, 47, 48 of the traveling device is constantly input to the control unit 63.

Thus, in accordance with the stroke detection signal of the sensor 61 and the rotation speed of each of the sprockets 37, 38, 47, and 48, an output signal from the control unit 63 is sent to a solenoid c, which will be described later. Lock cylinder by operation
60 stroke movements are fixed. As a result, the left and right swings of the front left and right crawlers 2 and 3 are automatically locked.

That is, in the control section 63, the front left and right crawlers 2,
When any of 3 is lifted, the difference from the stroke length of the locking hydraulic cylinder 60 at the horizontal position is calculated, and each driving sprocket 37, 38, 47, 48 at that time is calculated.
The start of idling of the sprocket can be determined based on the change in the number of revolutions of the sprocket, and an instruction signal is output to the solenoid c to lock at the stroke position of the locking hydraulic cylinder 60 immediately before the start of idling. ing.

As shown by the solid frame in FIG. 5, in this embodiment, a manual swing lock switch 65 and cylinder operation switches sa and sb are provided in addition to the automatic switch 62 for performing the above-mentioned automatic lock operation. When the automatic switch 62 is turned off, the swing lock switch 65
, The front left and right crawlers 2 and 3 can be manually swing-locked.

In the case of manual operation, for example, even when locking is performed by the swing lock switch 65, the stroke amount of the locking hydraulic cylinder 60 can be changed by appropriately operating the cylinder operation switches sa and sb. The swing amount can be changed.

FIG. 4 is a hydraulic circuit diagram for operating the locking hydraulic cylinder 60. Solenoids a, b, and c are interposed between the hydraulic cylinder 60 and the locking hydraulic pump P3. In the drawing, 66 is a hydraulic oil tank, and 67 is a relief valve.

Here, referring to FIGS. 2, 4 and 5,
The actual operation of the swing lock in the automatic case and the manual case will be described.

(In the case of automatic operation) When the work machine A tries to make a turn while traveling on a rough road, or when one of the front left and right crawlers falls into the concave portion, as shown in FIG. , 3 are designed to be able to swing freely, and try to keep the aircraft horizontal with one side floating.

At this time, as shown in FIG. 5, a stroke sensor 61 attached to the lock hydraulic cylinder 60 detects a change in the stroke length of the cylinder 60 and outputs a detection signal to the control unit 63. In addition, the control unit 63 receives the rotation speeds of the driving sprockets 37, 38, 47, and 48.

Accordingly, when it is determined from the change in the stroke length and the number of revolutions at this time that the floating sprocket starts idling, that is, the control unit 63 determines that any of the crawlers 2, 3, 4, 5 If a slip is detected,
The control unit 63 switches the swing lock device B to the locked state by exciting and operating the solenoid c shown in FIG. 4 to lock the locking hydraulic cylinder 60 at its stroke position.

Thereafter, when the control unit 63 determines that the crawler in the state of swinging upward is sufficiently grounded from the detected value of the number of rotations, that is, all the crawlers 2, 3, 4, 5
When it is detected that is grounded, the solenoid c
Is operated to release the lock, thereby switching the swing lock device B to the unlocked state.

(In the case of manual operation) When the swing lock switch 65 is operated by the driver's judgment in the state where the automatic switch 62 is turned off, the solenoid c is excited to perform the swing lock.

Further, even during such locking, the driver can adjust the swing amount. In this case, when the cylinder operation switch sa in FIG. 5 is operated, the solenoid c is de-energized and the solenoid a is turned off. When excited, the hydraulic oil acts on the locking hydraulic cylinder 60 to perform a stroke.

Similarly, when the cylinder operation switch sb is operated, the solenoid c is de-energized and the solenoid b
Is excited, and a stroke operation is performed on the opposite side to the above case, so that the driver can freely adjust the swing.

As described above, the swing performance of the work machine A is improved by attaching the swing lock device B to the work machine A and switching the right and left crawlers 2 and 3 to lock and release the left and right swings. Can be.

In the case of automatic operation, no extra operation is required.
The driver can drive safely.

On the other hand, in the case of the manual operation, the stroke length of the locking hydraulic cylinder 60 can be adjusted even during the locking, so that the swing lock can be performed according to the driving skill of the driver, and the individual driver can perform the swing lock. It does not hinder usability.

Next, another embodiment will be described below.

This is to mechanically lock the front horizontal pipe 53, which is swingably attached, with a fixed rod 71. A swing lock lever 72 is provided on the control unit 7, and the lever 72 and the fixed rod 71 are fixed. To the lever 72
The lock / release operation can be performed by means of.

That is, as shown in FIGS. 6 and 7, a hook having a fixed rod insertion hole 74 on the top surface on one side of the front horizontal pipe 53.
75, and a fixed rod 71 is disposed in front of the horizontal pipe 53.

The fixed rod 71 is connected to a distal end of a link mechanism 77 attached to a horizontal frame 76 provided in front of the horizontal pipe 53. The link mechanism 77 includes a first link 77a and a first link 77a. And a second link 77b connected to the second link 77b.

Then, the first link 77a is connected to the first spring
The second link 77b is connected to a wire 73 connected to the lock lever 72 via
Through the horizontal frame 76.

Accordingly, by operating the lock lever 72, the fixed rod 71 is mechanically moved into and out of the fixed rod insertion hole 74 of the hook 75, and the swing of the horizontal pipe 53 can be locked and released.

In the figure, reference numeral 80 denotes a bracket for mounting the link mechanism 77, 81 and 82 brackets for mounting the second spring 79 on the side of the second link 77b and the side of the horizontal frame 76, and 83 a wire 73. It is a bracket for supporting on the fuselage side.

Further, the lock lever 72 may be a switch type, and the fixed rod 71 may be operated using a hydraulic cylinder as an actuator.

[0057]

According to the present invention, the swing lock device for locking the front left and right crawlers is provided.
The turning performance of the working machine can be improved.

Further, since the switching between the lock and the release of the swing lock device is automatically enabled, no extra operation is required, and the operability is improved.

Further, since the switching between the locking and the unlocking of the swing lock device is manually enabled, even if the driver changes, the driver can perform the locking / unlocking operation according to his / her own judgment and driving skill. As it becomes possible, it does not hinder usability.

[Brief description of the drawings]

FIG. 1 is an explanatory side view of a four-wheel drive crawler type working vehicle according to the present invention.

FIG. 2 is a schematic explanatory diagram of front and rear crawlers as a traveling device.

FIG. 3 is an explanatory diagram of a swing lock device.

FIG. 4 is an explanatory diagram of a hydraulic circuit of the swing lock device.

FIG. 5 is an explanatory diagram showing a control circuit of the swing lock device.

FIG. 6 is an explanatory plan view of a swing lock device according to another embodiment.

FIG. 7 is an explanatory front view of a swing lock device according to another embodiment.

FIG. 8 is an explanatory diagram of front, rear, left and right crawlers showing a conventional technique.

[Explanation of symbols]

 B swing lock device 1 machine stand 2 front left and right crawlers 3 front left and right crawlers 4 rear crawler 5 rear crawler 8 cabin

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-58-71277 (JP, A) JP-A-59-2974 (JP, A) JP-A-5-294267 (JP, A) 105281 (JP, U) Japanese Utility Model Application 1-89279 (JP, U) Japanese Utility Model Application 4-87586 (JP, U) Japanese Utility Model Application 63-172786 (JP, U) (58) Fields surveyed (Int. ⁷ , DB name) B62D 55/065 B62D 55/116

Claims (3)

(57) [Claims] A cabin (8) supported so as to be able to swing back and forth.
The front left and right crawlers (2) and (3) and the rear left and right
(4), (5), and each crawler (2), (3), (4),
(5) can be swung back and forth, and the front left and right crawlers
(4) A four-wheel drive crawler-type work vehicle in which (2) and (3) are freely swingable left and right, comprising a swing lock device (B) for locking the left and right swings of the front left and right crawlers (2) and (3). And the same swing
The controller (63) is connected to the glock device (B), and the controller (63)
Indicates that the crawlers (2), (3), (4), and (5) are idle
Then, the swing lock device (B) is switched to the locked state.
4 wheel drive crawler type working vehicle, characterized by being configured to. 2. The control unit (63) includes a crawler (2), (3),
When it is detected that (4) and (5) are grounded,
The four-wheel drive crawler type working vehicle according to claim 1, wherein the glock device (B) is configured to be switched to a release state . 3. The lock of the swing lock device (B).
3. The four-wheel drive crawler type working vehicle according to claim 1, wherein the switching of the release is manually enabled.