JP6309853B2 - Crawler type traveling device - Google Patents

Description

  The present invention relates to a crawler type traveling device including a driving wheel, a driven wheel, a guide roller, and a crawler belt wound around the driving wheel, the driven wheel, and the guide roller.

  2. Description of the Related Art Conventionally, a crawler type traveling device is used for a traveling vehicle that travels on rough terrain such as a soft ground or an inclined land so that the traveling vehicle can stably travel. As a crawler type traveling device, Patent Document 1 provides a lug protruding at a predetermined height on the outer peripheral surface (grounding surface) of a crawler belt in which a core member is embedded, and the lug is the width of the crawler belt. A crawler type traveling device is disclosed which is formed at a central portion in a direction perpendicular to the longitudinal direction and formed on a V-shaped strip which is bifurcated into bifurcated strips whose ends are widened on both sides in the width direction. And the crawler type traveling device of patent document 1 is said that while performing a big resistance action with respect to a skid, the performance equivalent to the past can be exhibited also in the case of normal driving | running | working.

  Further, in Patent Document 2, a crawler belt having shoe elements connected endlessly is mounted, and a claw in a direction perpendicular to the traveling direction is attached to a ground surface of a shoe element made of hard rubber. There is disclosed a crawler type traveling device in which a protrusion having a long shape is provided in an independent vertical direction, and the height of the protrusion is greater than the height of a claw. And it is supposed that the crawler type traveling apparatus of patent document 2 can drive | work horizontally on a slope, without raising a side slip.

Japanese Patent Application Laid-Open No. 09-109950 JP 2001-180545 A

  Here, in the crawler type traveling devices of Patent Literature 1 and Patent Literature 2, the ground contact surface of the crawler belt is along the slope when traveling across the slope. The crawler belt is prevented from slipping between the ground contact surface and the slope by a lug provided on the outer peripheral surface (ground contact surface) of the crawler belt. However, as in the case of the crawler type traveling devices of Patent Document 1 and Patent Document 2, when traveling along the inclined surface of the crawler belt when traveling across the slope, sufficient grounding is possible when the width of the crawler belt is narrow. Therefore, it is highly probable that a side slip will occur and the effect of preventing a side slip when traveling across a slope is desired.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a crawler type traveling device capable of traveling across a slope with an improved skid prevention effect.

Therefore, a crawler type traveling device according to the present invention includes a driving wheel, a driven wheel, a guide roller, and a crawler belt wound around the driving wheel, the driven wheel, and the guide roller. In the traveling device,
The crawler type traveling device is connected to the left and right sides of the body frame so that the grounding surface of the crawler belt is maintained parallel to the body frame and can swing up and down or ascend and descend.
An extending portion extending at least in the width direction end of the guide roller on the vehicle body frame side in correspondence with the width direction end of the crawler belt ;
A chamfered portion that is chamfered is formed between the end surface of the crawler belt in the width direction and the outer peripheral surface corresponding to the extended portion,
Characterized Rukoto includes a projecting portion on the chamfer.

Furthermore, the crawler type traveling device according to the present invention is characterized in that the protruding portion has a columnar shape, a male screw is formed at an end, and is screwed into the chamfered portion of the crawler belt .

Furthermore, the crawler type traveling device according to the present invention is characterized in that the protruding portion does not protrude outward from the outer peripheral surface of the crawler belt .

According to the crawler type traveling device of the present invention, the crawler type traveling includes a driving wheel, a driven wheel, a guide roller, and a crawler belt wound between the driving wheel, the driven wheel, and the guide roller. In the apparatus, the crawler type traveling device is connected to the left and right sides of the vehicle body frame such that the grounding surface of the crawler belt is maintained in parallel to the vehicle body frame and can swing up and down or move up and down. At least at an end portion in the width direction on the vehicle body frame side, an extension portion extending corresponding to the end portion in the width direction of the crawler belt, and an end surface of the end in the width direction of the crawler belt corresponding to the extension portion; between the outer peripheral surface, chamfering is formed a chamfered portion was made, Runode includes a projecting portion on the chamfer, during slope transverse running edge in the width direction end portions of the crawler belt And it is possible to bite into effective on the slopes, it is possible to improve the anti-skid effect. Therefore, it is possible to provide a crawler type traveling device that enables traveling across a slope with improved skid prevention effect. Further, it is possible to prevent the crawler belt from being damaged in the width direction when traveling across the slope, and the protruding portion can be effectively caught on the slope, thereby further improving the skid prevention effect. Further, the contact of the projecting portion with the ground during traveling on flat ground is reduced, and durability is improved.

Furthermore, according to the crawler type traveling device according to the present invention, the projecting portion has a columnar shape, and a male screw is formed at an end thereof, and is screwed into the chamfered portion of the crawler belt, so that it can be detached. It can be easily replaced when worn or damaged, improving maintainability.

Furthermore, according to the crawler type traveling device according to the present invention, the protrusions do not protrude outward from the outer peripheral surface of the crawler belt, reducing the ground contact of the protruding portion during flat travel, Durability is improved.

It is a left side view showing an example of a vehicle provided with a crawler type travel device concerning an embodiment of the present invention. It is a left view which mainly shows the structure of a vehicle body frame and a suspension apparatus. It is a perspective view of a body frame. It is a left view of a rear crawler type traveling device. It is a principal part enlarged view of a back crawler type traveling apparatus. It is the sectional view on the AA line of FIG. It is a left view of a front crawler type traveling device. It is a rear view explaining a rear suspension apparatus. It is a perspective view of a traction arm. It is a perspective view of a rocking arm. It is a rear view explaining the state of the rear suspension device at the time of rough terrain traveling. It is a schematic diagram explaining the state of the rear suspension apparatus at the time of crossing the slope. It is a fragmentary sectional view which shows another embodiment of a back crawler type traveling apparatus. It is a fragmentary sectional view which shows another embodiment of a back crawler type traveling apparatus. It is a fragmentary sectional view which shows another embodiment of a back crawler type traveling apparatus. It is a fragmentary sectional view which shows another embodiment of a back crawler type traveling apparatus. It is a fragmentary sectional view which shows another embodiment of a back crawler type traveling apparatus.

  Hereinafter, the best mode for carrying out the present invention will be described in detail with reference to the drawings. In this specification, “front” refers to the forward direction of the traveling vehicle, “rear” refers to the reverse direction, “left / right” refers to “left / right” toward the forward direction, and “up / down” refers to each. It shall mean the “up and down” direction of the traveling vehicle. FIG. 1 is a left side view illustrating an example of a traveling vehicle (hereinafter referred to as a traveling vehicle) including a crawler traveling device according to an embodiment of the present invention. FIG. 2 is a left side view mainly showing the configuration of the body frame and the suspension device. FIG. 3 is a perspective view of the vehicle body frame as viewed from the rear and obliquely above.

  As shown in FIGS. 1 and 2, the traveling vehicle 1 includes a body frame 10, a pair of left and right front crawler traveling devices 30 provided at the front, and the pair of left and right front crawler traveling devices 30. And a pair of left and right rear crawler type traveling devices 70 provided at the rear, and a rear suspension device 90 for suspending the pair of left and right rear crawler type traveling devices 70 on the vehicle body frame 10. The traveling vehicle 1 also includes an engine E as a prime mover, a variable displacement pump P that operates by a driving force of the engine E, a control unit C that controls each device, and the like.

  A body cover 110 is placed on the body frame 10. The main body cover 110 covers the vehicle body frame 10. The main body cover 110 includes a front fender 111 above the front crawler type traveling device 30 and a rear fender 112 above the rear crawler type traveling device 70. An operation seat 113 is provided on the main body cover 110 between the front crawler type traveling device 30 and the rear crawler type traveling device 70.

  In front of the driving seat 113, a steering wheel 114 for operating the traveling vehicle 1 is provided. The steering 114 includes a steering shaft 115, a steering bar 116 provided at the upper end of the steering shaft 115 that protrudes to the left and right, an accelerator grip 117 provided at one end of the steering bar 116, and the like.

  The steering shaft 115 is rotatably supported with respect to the vehicle body frame 10. A steering sensor 118 that detects the rotation angle of the steering shaft 115 is provided at the lower end of the steering shaft 115.

  The accelerator grip 117 is rotatably supported on the steering bar 116. The accelerator grip 117 includes an accelerator grip sensor (not shown) that detects the rotation angle of the accelerator grip.

  Left and right step floors 119 are provided between the driving seat 113 and the steering wheel 114. The traveling vehicle 1 is a straddle-type traveling vehicle. The occupant sits on the driving seat 113 and gets on the left and right step floors 119 with his / her feet on. The traveling vehicle is not limited to the saddle riding type traveling vehicle, and may be, for example, a traveling vehicle including a cabin and seated by a passenger sitting on the seat when riding, although not shown here. .

  Next, the body frame 10 will be described. In addition, since the vehicle body frame 10 has a left-right symmetrical shape, a member constituting the right side is appropriately given a symbol R and a member constituting the left side is suitably given a symbol L as necessary.

  As shown in FIGS. 2 and 3, the vehicle body frame 10 is configured by joining a plurality of steel materials by welding or the like. The steel material is a cylindrical pipe. The body frame 10 includes a pair of left and right main frames 11 (11R, 11L) extending in the front-rear direction, a front frame 12, a rear frame 13, a pair of left and right front upper frames 14 (14R, 14L), and a pair of left and right bodies. Rear upper frame 15 (15R, 15L), front lower frame 16, rear lower frame 17, front support frame 18 to which front suspension device 50 is attached, rear support frame 19 to which rear suspension device 90 is attached, and the like. Prepare.

  The left and right front upper frames 14R, 14L and the front frame 12 secure a rotational space for a swing arm 52 of the front suspension device 50, which will be described later, and protect the front suspension device 50. Further, the left and right rear upper frames 15R and 15L and the rear frame 13 secure a rotation space for a swing arm 92 of a rear suspension device 90, which will be described later, and protect the rear suspension device 90.

  The front support frame 18 includes a support portion 25 that is suspended in the center, and the front suspension device 50 is attached to the support portion 25. Further, the rear support frame 19 includes a support portion 26 that hangs down in the center, and the rear suspension device 90 is attached to the support portion 26.

  Note that the body frame 10 is not limited to the above-described configuration. The vehicle body frame 10 only needs to be capable of being attached to the front suspension device 50 and the rear suspension device 90 and having sufficient rigidity as a traveling vehicle. For example, the vehicle body frame 10 may be formed of a hollow quadrangular prism member or a steel material having an L-shaped or H-shaped cross section instead of a cylindrical pipe.

  Next, the pair of left and right rear crawler type traveling devices 70 will be described. Since the left and right rear crawler type traveling devices 70 have a bilaterally symmetric shape, the left rear crawler type traveling device 70 will be described below. Description of the configuration of the right rear crawler type traveling device 70 is omitted. Further, as necessary, the right rear crawler type traveling device is appropriately denoted with the symbol R, and the left rear crawler type traveling device is denoted with the symbol L as appropriate. 4 is a left side view of the rear crawler type traveling device 70, FIG. 5 is an enlarged view of a main part of the rear crawler type traveling device 70 as viewed from the rear, and FIG. 6 is a cross-sectional view taken along line AA in FIG. is there. In FIG. 6, the right side is the vehicle inner side and the left side is the vehicle outer side.

  As shown in FIGS. 4 and 5, the rear crawler type traveling device 70 includes a driving wheel 71 at the upper part, two driven wheels 72 at the lower part, and three guide rollers 73 between the two driven wheels 72, A crawler belt 74, a mounting frame 75, a hydraulic motor 76, a cylinder 77, and the like are provided. The crawler belt 74 is made of rubber made of natural rubber or synthetic rubber, and is wound around the drive wheel 71, the two driven wheels 72, and the three guide rollers 73, and circumscribes each. The mounting frame 75 has a substantially triangular shape, and the driving wheel 71, the driven wheel 72, and the guide roller 73 are rotatably supported.

  The hydraulic motor 76 as a driving device of the rear crawler type traveling device 70 is positioned inside the vehicle of the driving wheel 71, and the driving shaft of the hydraulic motor 76 is connected to the driving wheel 71. The drive wheel 71 is rotated by the hydraulic motor 76. The hydraulic motor 76 is fixed to the U-shaped bracket 120, and the rear suspension device 90 is connected to the bracket 120.

  In addition, the connection interlocking | linkage with the driving wheel 71 and the hydraulic motor 76 is not limited to the above-mentioned structure. For example, a configuration in which the hydraulic motor 76 is disposed on the vehicle outer side of the drive wheel 71 may be employed, and the arrangement position of the hydraulic motor 76 can be designed as appropriate. Further, a transmission device may be provided between the drive wheel 71 and the hydraulic motor 76, and the driving force of the hydraulic motor 76 may be transmitted to the drive wheel 71 via the transmission device. With such a configuration, the rear crawler type traveling device 70 can be easily driven with a desired output.

  Further, the driving device of the rear crawler type traveling device 70 is not limited to the hydraulic motor 76. For example, the drive wheel 71 may be rotated by an electric motor instead of the hydraulic motor 76. In addition, when using a hydraulic motor for the drive device of the rear crawler type traveling device 70, it can be easily driven with high output. Further, when an electric motor is used for the drive device of the rear crawler type traveling device 70, control is easy and responsiveness is improved.

  The cylinder 77 includes a piston rod having a piston head at one end, a cylinder liner, and the like. One end of the cylinder 77 is supported by the mounting frame 75 so as to be rotatable about the left-right direction, and the other end is supported by the bracket 120 so as to be rotatable about the left-right direction.

  The cylinder 77 suppresses the rotation of the rear crawler type traveling device 70 itself with the left-right direction as an axis. The rear crawler type traveling device 70 includes the cylinder 77 as the restraining member, so that the rear crawler type traveling device 70 can be stably grounded and traveling performance is improved. Further, when the rear crawler type traveling device 70 comes into contact with the unevenness of the rough terrain, loads such as torsion and impact on the connecting portion with the rear suspension device 90 can be reduced by the cylinder 77, and durability is improved. In addition, the suppressing member that suppresses the rotation of the rear crawler type traveling device 70 itself about the left-right direction is not limited to the configuration of the cylinder 77, and may be configured by, for example, a spring. .

  In the rear crawler type traveling device 70, the crawler belt 74 between the two driven wheels 72 is in contact with the ground. That is, the rear crawler type traveling device 70 has an upward triangular shape whose bottom is the ground contact portion 78. Three guide rollers 73 are located at locations corresponding to the grounding portion 78. This triangular shape is a shape in which the apex where the driving wheel 71 is located is biased forward. The rear crawler type traveling device 70 is configured as described above, whereby the ground contact portion 78 of the crawler belt 74 can be widened in the circumferential direction of the crawler belt 74, and stable traveling is possible.

  The driving wheel 71 is positioned above the rear crawler type traveling device 70, and a hydraulic motor 76 for rotating the driving wheel 71 is disposed coaxially with the driving wheel 71. There are few protrusions. That is, the hydraulic motor 76 is disposed in-wheel with respect to the drive wheel 71. Therefore, a large space can be formed below the body frame 10 between the left and right rear crawler type traveling devices 70R and 70L. And it can reduce that the connection part of the hydraulic motor 76 and the rear suspension apparatus 90 contact | abuts a slope at the time of the crossing slope mentioned later.

  The shape of the rear crawler type traveling device 70 in a side view is not limited to a triangular shape, and may be a crawler type traveling device having a square shape or a trapezoidal shape, for example.

  Further, the rear crawler type traveling device 70 adjusts the tension of the crawler belt 74 by moving the position of the driven wheel 72 with respect to the mounting frame 75, and a brake (not shown) that stops the rotation of the driving wheel 71. Also equipped with devices.

  Here, as shown in FIG. 6, the guide roller 73 is composed of left and right rollers 79A and 79B and a rotation shaft 80 to which the left and right rollers 79A and 79B are fixed at the ends, respectively. 80 is rotatably supported by the mounting frame 75. The guide roller 73 is rotatably supported by the mounting frame 75, and the inner peripheral surface 81 of the crawler belt 74 is in contact with the left and right rollers 79 </ b> A and 79 </ b> B to guide the rotation of the crawler belt 74. In addition, the crawler belt 74 where the guide roller 73 is located is in contact with the ground (grounding portion 78).

  The support structure of the guide roller 73 is not limited to the above-described structure. For example, the left and right rollers 79A and 79B may be rotatably supported by the attachment frame 75, respectively. Moreover, the structure which supports the guide roller 73 rotatably may be sufficient as the support member rotatably supported by the attachment frame 75. FIG. In other words, the guide roller 73 may be connected to the mounting frame 75 via the support member. With such a configuration, the guide roller 73 follows the unevenness of the ground, the grounding property of the crawler belt 74 is improved, and the traveling property is improved.

  The roller 79A located inside the vehicle includes a cylindrical extending portion 82 at the right end (the end inside the vehicle in the width direction). The outer diameter of the roller 79A and the outer diameter of the extending portion 82 are the same, and the extending portion 82 continuously extends from the roller 79A to the right end portion (the end portion on the vehicle inner side in the width direction) of the crawler belt 74. .

  The extending portion 82 is not limited to a cylindrical shape as long as it is formed at the widthwise end of the guide roller 73 and extends corresponding to the widthwise end of the crawler belt 74. For example, a cylindrical shape may be used.

  A chamfered chamfered portion 85 is formed between the right end surface 83 (the end surface on the vehicle inner side in the width direction) of the crawler belt 74 and the outer peripheral surface 84. That is, the chamfered portion 85 is formed at the end in the width direction of the crawler belt 74 on the side where the extending portion 82 of the guide roller 73 is located. As illustrated in FIG. 5, the chamfered portion 85 is formed continuously over the entire circumference of the crawler belt 74.

  A spike 86 as a protruding portion is attached to the chamfered portion 85. Therefore, the spike 86 is attached at a position corresponding to the extending portion 82 of the guide roller 73 in the width direction of the crawler belt 74. The spike 86 is made of a columnar steel material, and has one end with a conical tapered shape. A male screw is formed at the other end of the spike 86. The spike 86 is attached by engaging a male screw with a nut 87 embedded in the chamfered portion 85 of the crawler belt 74. That is, the spike 86 is detachably attached to the crawler belt 74 by a screw structure.

  The spike 86 is attached in a state where one end of the conical shape protrudes vertically from the chamfered portion 85. That is, the spike 86 is attached to the chamfered portion 85 of the crawler belt 74 in a state where one end portion protrudes outward. As shown in FIG. 5, a plurality of spikes 86 are attached at substantially equal intervals in the circumferential direction of the crawler belt 74.

Further, a gap CL is provided between the tip of the spike 86 and a line extending from the outer peripheral surface 84 of the crawler belt 74 to the vehicle inner side. That is, the spike 86 does not protrude outward from the outer peripheral surface 84 of the crawler belt .

  The attachment of the spike 86 to the chamfered portion 85 of the crawler belt 74 is not limited to the above-described configuration. For example, a configuration in which the spike 86 is directly fixed to the crawler belt 74 without using a screw structure. It may be. Moreover, when the crawler belt 74 has an iron core inside, the structure which attaches the spike 86 to this iron core using the screw structure similar to the above may be sufficient. The spike 86 is preferably detachably attached to the crawler belt 74. For example, the spike 86 can be easily replaced when the spike 86 is worn or damaged, and the maintainability is improved. Further, the interval between adjacent spikes 86 is not limited to an equal interval, and can be appropriately designed.

  A plurality of lugs (not shown) having a groove structure extending in a direction substantially perpendicular to the circumferential direction of the crawler belt 74 are formed on the outer peripheral surface 84 of the crawler belt 74. The lugs are for gripping the soil to ensure propulsion when the crawler belt 74 contacts the ground. Note that the shape and arrangement pattern of the lugs are not particularly limited, and for example, the lugs may be configured by protruding members that protrude outward from the outer peripheral surface 84 of the crawler belt 74.

  In addition, a plurality of fitting teeth 88 projecting inward are formed at the center in the width direction of the inner peripheral surface 81 of the crawler belt 74. The fitting teeth 88 are arranged in two rows in the circumferential direction of the crawler belt 74. The fitting teeth 88 are located between the left and right rollers 79 </ b> A and 79 </ b> B of the guide roller 73. The fitting teeth 88 are for fitting with the fitting teeth 89 formed on the driving wheel 71 to transmit the rotational force of the driving wheel 71 to the crawler belt 74. The configuration of the engagement teeth 88 formed on the crawler belt 74 and the engagement teeth 89 formed on the drive wheels 71 is a configuration that can transmit the rotational force of the drive wheels 71 to the crawler belt 74. Well, not particularly limited.

  Next, the pair of left and right front crawler type traveling devices 30 will be described. Since the left and right front crawler type traveling devices 30 have a bilaterally symmetrical shape, the left front crawler type traveling device 30 will be described below. Description of the configuration of the right front crawler type traveling device 30 is omitted. Further, as necessary, the right rear crawler type traveling device is appropriately denoted with the symbol R, and the left rear crawler type traveling device is denoted with the symbol L as appropriate. FIG. 7 is a left side view of the front crawler type traveling device 30.

  As shown in FIG. 7, the front crawler type traveling device 30 includes a driving wheel 31 at an upper portion, two driven wheels 32 at a lower portion, three guide rollers 33 between the two driven wheels 32, and a crawler belt 34. A mounting frame 35, a hydraulic motor 36, a cylinder 37, and the like. Here, the front crawler type traveling device 30 is different from the above-described rear crawler type traveling device 70 in a side view shape. Similarly to the rear crawler type traveling device 70, the driving wheel 31 is formed with a fitting tooth 49, the guide roller 33 is provided with an extending portion (not shown), and the crawler belt 74 is provided with the fitting tooth 48 and the drawing. A chamfered portion is formed, and a plurality of spikes (not shown) as protrusions are attached to the chamfered portion (not shown). In addition, description is abbreviate | omitted about the same structure as the back crawler type traveling apparatus 70 containing these structures.

  The front crawler type traveling device 30 has a shape in which a space between two driven wheels 32 is bent downward. The drive wheel 31 is located at the center in the front-rear direction of the front crawler type traveling device 30. Then, the crawler belt 34 between the two driven wheels 32 bent downward is in contact with the ground. That is, the front crawler type traveling device 30 has a configuration in which the ground contact portion 38 is narrower in the circumferential direction than the rear crawler type traveling device 70. Further, the front driven wheel 32 is positioned above the ground contact portion 38.

  When the front crawler type traveling device 30 is configured as described above, the crawler belt 34 is easily caught on the convex portion when the convex portion protruding above the ground is climbed, and the traveling is stabilized.

  The shape of the front crawler type traveling device 30 in a side view is not limited to the above-described shape, and may be, for example, a square shape or a trapezoidal shape, and the same shape as the above-described rear crawler type traveling device 70. It may be. When the front crawler type traveling device 30 and the rear crawler type traveling device 70 have the same shape, the number of parts is reduced and productivity is improved.

  Here, the front and rear crawler type traveling devices 30 and 70 are driven by the driving force of the engine E. The driving force of the engine E is transmitted to the pump P provided in the vehicle body frame 10 and further transmitted to the hydraulic motors 36 and 76 via a proportional electromagnetic valve (not shown). By driving the hydraulic motors 36 and 76, the front and rear crawler type traveling devices 30 and 70 are driven, and the traveling vehicle 1 can travel. Hydraulic motors 36 and 76 as driving devices for the front and rear crawler type traveling devices 30 and 70 are provided in the front and rear crawler type traveling devices 30 and 70, respectively. Therefore, it is not necessary to have a transmission mechanism such as a drive shaft between the vehicle body frame 10 and the front and rear crawler type traveling devices 30, 70, the transmission configuration of the driving force can be simplified, the number of parts is reduced, Good productivity and maintainability.

  The transmission of the driving force to the front and rear crawler type traveling devices 30 and 70 is not limited to the above-described configuration. For example, a configuration may be adopted in which four proportional solenoid valves corresponding to each of the crawler type traveling devices 30R, 30L, 70R, and 70L are provided, and the four proportional solenoid valves are controlled.

  Further, the driving force may be transmitted to the front and rear crawler type traveling devices 30 and 70 using a drive shaft. That is, the front and rear crawler type traveling devices 30 and 70 may not be provided with the hydraulic motors 36 and 76 as drive devices, and the drive shaft and the drive wheels 31 and 71 may be linked and interlocked.

  Here, in order to improve traveling on rough terrain, the front and rear crawler type traveling devices 30 and 70 can be largely swung up and down by front and rear suspension devices 50 and 90, which will be described later. That is, it is preferable that the transmission of the driving force between the vehicle body frame 10 and the front and rear crawler type traveling devices 30 and 70 is performed without hindering the vertical swing. Therefore, as described above, the front and rear crawler type traveling devices 30 and 70 are provided with hydraulic motors 36 and 76 as driving devices, and are configured to transmit driving force using flexible members, for example, flexible hoses. It is preferable. With such a configuration, the driving force can be transmitted with a simple configuration even when the front and rear crawler type traveling devices 30 and 70 are largely swung in the vertical direction.

  Next, the front suspension device 50 and the rear suspension device 90 will be described. Since the front suspension device 50 and the rear suspension device 90 are symmetrical in the longitudinal direction, the rear suspension device 90 will be described below, and the description of the configuration of the front suspension device 50 will be omitted. Further, since the rear suspension device 90 has a bilaterally symmetric shape, the member constituting the right side is appropriately given the symbol R and the member constituting the left side is suitably given the symbol L as necessary. FIG. 8 is a rear view for explaining the rear suspension device 90, FIG. 9 is a perspective view of the pulling arm 91 as seen from the rear and obliquely upward, and FIG. 10 is a perspective view of the swing arm 92 as seen from the obliquely upward and forward direction. FIG.

  The rear suspension device 90 includes a pair of left and right pulling arms 91 (91R, 91L), a swing arm 92, a pair of left and right connecting arms 93 (93R, 93L), and the like (see FIGS. 2 and 8).

  As shown in FIG. 9, the front end of the left and right traction arms 91 </ b> R, 91 </ b> L is supported by the body frame 10 by the rotation shaft 97 so as to be rotatable about the left-right direction as an axis.

  As shown in FIG. 5, the rear end of the left pulling arm 91L is supported by the rear crawler type traveling device 70L so as to be rotatable about the left and right direction by the rotation shaft 98L. Here, the rotating shaft 98L is attached to the bracket 120L that supports the hydraulic motor 76L of the left rear crawler type traveling device 70L via the bracket 122L. The rotation shaft 98L is positioned coaxially with the rotation shaft of the hydraulic motor 76L of the left rear crawler type traveling device 70L. The right traction arm 91R is attached to a bracket 120R that supports the hydraulic motor 76R of the right rear crawler type traveling device 70R, similarly to the left traction arm 91L described above. Accordingly, the left and right traction arms 91R and 91L are supported by the rear crawler type traveling devices 70R and 70L so as to be rotatable about the left and right directions, respectively.

  Here, the pulling arm 91 is not limited to the above-described configuration. The pulling arm 91 is extended in the front-rear direction, and one end is rotatably supported on the body frame 10 about the left-right direction, and the other end is supported on the rear crawler type traveling device 70 so as to be rotatable about the left-right direction. Anything can be used.

  As shown in FIG. 10, the swing arm 92 is a prismatic member extending in the left-right direction, and is moved back and forth with respect to the vehicle body frame 10 at the center in the left-right direction by a rotating shaft 99 suspended from the rear support frame 19. It is supported rotatably about the direction.

  Here, the swing arm 92 is not limited to the above-described configuration. The swing arm 92 may be any member that extends in the left-right direction and is pivotally supported by the body frame 10 about the front-rear direction at the center in the left-right direction.

  The connecting arm 93 is an elastic rod-shaped vibration isolator composed of a spring 100 and a cylinder 101, and is a so-called damper. One end of the connecting arm 93 is connected to the swing arm 92 via the ball joint 102, and the other end is connected to the rear crawler type traveling device 70 via the ball joint 103.

  Here, the connecting arm 93 is not limited to the above-described configuration. The connecting arm 93 only needs to have one end connected to the swing arm 92 via a universal joint and the other end connected to the rear crawler traveling device 70 via a universal joint.

  Next, operations of the front suspension device 50 and the rear suspension device 90 will be described. Since the front suspension device 50 and the rear suspension device 90 are symmetrical in the front-rear direction, the rear suspension device 90 will be described below, and the description of the front suspension device 50 will be omitted.

  FIG. 11 is a rear view for explaining the state of the rear suspension device 90 when traveling on rough terrain having a difference in height between the left and right sides. The ground G1 has a reference surface G2 and a convex portion protruding upward from the reference surface G2, and the height difference between the reference surface G2 and the upper surface G3 of the convex portion is H. The reference surface G2 and the upper surface G3 of the convex portion are horizontal. FIG. 12 is a schematic diagram for explaining the state of the rear suspension device 90 when traveling on a slope. The ground G4 is a slope whose right side is a mountain and whose left side is a valley.

  As shown in FIG. 11, on rough terrain having a height difference in the left-right direction, the left and right rear crawler type traveling devices 70R, 70L suspended by the rear suspension device 90 swing in conjunction with each other in the up-down direction. Move. This is because the left and right rear crawler type traveling devices 70R and 70L are connected to the vehicle body frame 10 via a swing arm 92 that is rotatably supported around a rotation shaft 99 extending in the front-rear direction. It is.

  Further, the rear crawler type traveling device 70 swings in the vertical direction without moving in the left-right direction with respect to the vehicle body frame 10 and without rotating about the front-rear direction. The ground contact portion 78 of the rear crawler type traveling device 70 is always kept parallel to the body frame 10. That is, the rear crawler type traveling device 70 slides in the vertical direction with respect to the vehicle body frame 10 in the rear view. This is because the left and right rear crawler type traveling devices 70R and 70L are supported so as to be rotatable about one end of the rotating shaft 97 extending in the left and right direction on the body frame 10 and the other end of the rear crawler type traveling device 70. This is because they are connected to traction arms 91R and 91L that are rotatably supported around a rotation shaft 98 extending in the left-right direction.

  Accordingly, the rear crawler type traveling device 70 can follow the up and down direction quickly with respect to irregularities on rough terrain, and the traveling performance and the ride comfort are good.

  Here, as described above, the gap 86 is formed between the tip portion of the spike 86 attached to the crawler belt 74 and the outer peripheral surface 84 of the crawler belt 74 (see FIG. 6). Therefore, when traveling with the outer peripheral surface 84 of the crawler belt 74 in contact with the ground such as a flat ground or uneven terrain having a height difference in the left-right direction, the spike 86 does not contact the ground. Therefore, during such traveling, the spike 86 does not become a resistance to traveling, and traveling performance does not deteriorate.

  Next, as shown in FIG. 12, when traveling across a slope, the occupant moves his / her weight to the right side of the body frame 10 and applies a load, so that the horizontal tilt of the body frame 10 is eliminated (approach to be horizontal). To) to operate.

  At this time, since the ground contact portion 78 of the rear crawler type traveling device 70 is always kept parallel to the vehicle body frame 10, the mountain side portion of the ground contact portion 78 of the rear crawler type traveling device 70 bites into the slope as an edge. Become. And by making the rear crawler type traveling device 70 bite into the inclined surface as an edge, the rear crawler type traveling device 70 is caught on the inclined surface, and can hardly slide. In addition, the left and right rear crawler type traveling devices 70R and 70L swing in reverse in the up-and-down direction in conjunction with each other, so that they can be brought close to the horizontal quickly. Therefore, the horizontal inclination of the vehicle body frame 10 can be reduced, the rear crawler type traveling device 70 is less likely to skid sideways, and the cross-slope traveling can be stabilized, and the traveling performance, operability and riding comfort are good.

  Here, since the left rear crawler type traveling device 70L is located on the valley side, the left rear crawler type traveling device 70L has a force (toward the valley side) than the right rear crawler type traveling device 70R. A force in the direction of skidding) is easily applied.

  The guide roller 73L of the left rear crawler type traveling device 70L includes an extending portion 82L that extends to the inner end of the crawler belt 74L in the width direction at the end on the inner side of the vehicle in the width direction (see FIG. 6). Therefore, this extended portion 82L allows the end (mountain side) of the left rear crawler type traveling device 70L to bite into the slope effectively as an edge, and the left rear crawler type traveling device 70 The catching effect on the force in the side-sliding direction is increased, and the side-sliding can be made difficult. That is, when traveling across the slope as described above, the extension portion 82L improves the skid prevention effect of the left rear crawler traveling device 70L.

  Further, when the vehicle inner end (mountain side portion) of the left rear crawler type traveling device 70L is bitten into the slope as an edge, the extended portion 82 is such that the end of the crawler belt 74 on the vehicle inner side faces upward. It can prevent bending and dripping. Therefore, the end of the crawler belt 74L on the vehicle inner side can be prevented from being damaged, and the durability of the crawler belt 74L is improved. This is because the extending portion 82L extends to the end of the crawler belt 74L on the vehicle inner side.

  Further, the rear crawler type traveling device 70 includes a spike 86 attached to the crawler belt 74. Then, when traveling across the slope as described above, the spike 86L of the left rear crawler traveling device 70L is pushed into the ground G4, which is a slope. Therefore, when the spike 86L is pushed into the slope, the effect of catching the left rear crawler type traveling device 70 against the force in the side-sliding direction is increased, and the side-sliding can be further prevented. That is, when traveling across the slope as described above, the spike 86L improves the skid prevention effect of the left rear crawler traveling device 70L.

  The spike 86L is attached at a position corresponding to the extended portion 82L, and is pressed by the extended portion 82L and pushed into the slope. Therefore, the spike 86L can be surely pushed into the slope, and a catching effect on the force in the side-sliding direction can be achieved.

  Further, since the spike 86L has a conical tapered shape at the tip, it is easily pushed into the slope. Therefore, even if the slope is hard, the spike 86L can be pushed in, and a catching effect on the force in the side-sliding direction can be achieved.

  Further, since the spike 86L is attached to a chamfered portion 85 formed on the crawler belt 74, the spike 86L is pushed in a state near to the inclined surface. Therefore, the spike 86L is easily pushed into the slope and can be pushed deeply. Then, when the spike 86L is pushed deeply into the slope, the catching effect on the force in the side-sliding direction is increased, and the side-sliding can be made more difficult.

  Further, by attaching the spike 86L to the chamfered portion 85, a clearance CL is formed between the tip end portion of the spike 86L and the outer peripheral surface 84 of the crawler belt 74, and the protruding height (tip and chamfered portion 85) of the spike 86L is formed. Distance). Therefore, it is possible to increase the pushing amount of the spike 86L into the inclined surface without lowering the traveling performance when the outer peripheral surface 84 of the crawler belt 74 is grounded along the ground, and further improves the skid prevention effect. Can be made.

  Further, the spike 86L is attached to the chamfered portion 85, and a structure in which dirt is likely to accumulate during traveling, for example, a depression or the like is not formed around the spike 86L. Therefore, soil adheres around the spike 86L, and the spike 86L is not buried by the adhered soil.

  Note that the spike 86L is pushed into the ground when traveling across the slope and acts as a catch against the force in the side-sliding direction, so it is more likely to be worn than other members. However, the spike 86L is detachably attached to the crawler belt 74 by a screw structure. Therefore, it is possible to easily replace the spike 86L that is worn away by running, the maintenance is good, and the durability of the crawler belt 74 is improved.

  Note that, for cross-slope travel in which the slope direction of the slope is reversed, that is, when the ground G4 in FIG. 12 is cross-travel where the right side is a valley and the left side is a mountain, the left and right rear crawler type travel devices 70R and 70L They are simply replaced, and the description in that case is omitted.

  Here, the front and rear suspension devices 50 and 90 that connect the front and rear crawler type traveling devices 30 and 70 to the vehicle body frame 10 are not limited to the above-described configuration. As described above, it is only necessary to use a coupling mechanism that can travel with the end in the width direction of the crawler type traveling device biting into the slope as an edge when traveling across the slope. That is, the crawler type traveling device may be configured to be connected to the vehicle body frame, the grounding surface of the crawler belt is maintained parallel to the vehicle body frame, and can be connected so as to be able to swing up and down or ascend and descend.

  For example, the above-described rear suspension device 90 may be configured not to include the swing arm 92 and the connecting arm 93. That is, the rear crawler type traveling devices 70R and 70L may be suspended from the vehicle body frame 10 only by the traction arms 91R and 91L, and a damper as a shock absorber may be connected between the vehicle body frame 10 and the traction arm 91. Therefore, the left and right rear crawler type traveling devices 70R and 70L are configured to be suspended from the body frame 10 independently. With such a configuration, the rear suspension device has a simple configuration, and productivity and maintainability are improved. The same applies to the front suspension device 50.

  Further, one end of the pulling arm 91 in the rear suspension device 90 is supported by the vehicle body frame 10 and the other end is supported by the rear crawler type traveling device 70. However, in the rear suspension device 90, instead of the pulling arm 91, two upper and lower arms (upper arm and lower arm) used in a known double wishbone suspension are used as the body frame 10 and the rear crawler type traveling device 70. The structure provided in between may be sufficient. With such a configuration, the strength of the connection between the vehicle body frame 10 and the rear crawler type traveling device 70 is increased. However, with such a configuration, the up-and-down swingable amount (the up-and-down movable amount) of the rear crawler type traveling device 70 becomes small. Is preferred. The same applies to the front suspension device 50.

  The crawler type traveling device is connected to the vehicle body frame so that the crawler type traveling device can be moved up and down by, for example, a cylinder composed of a piston rod and a cylinder liner. Also good. By extending and contracting this cylinder, the crawler traveling device can be moved up and down. Moreover, the structure which connects a crawler type traveling apparatus to a vehicle body frame so that raising / lowering is possible by link mechanisms like a pantograph mechanism may be sufficient.

  Further, the rear crawler type traveling device 70 is not limited to the above-described configuration. The rear crawler type traveling device 70 may be configured to include an extending portion 82 extending at the width direction end portion of the guide roller 73 corresponding to the width direction end portion of the crawler belt 74. The guide roller 73 is provided with the extending portion 82, whereby the widthwise end portion of the crawler belt 74 can be effectively bited into the slope as an edge during crossing the slope, thereby improving the skid prevention effect. it can. Further, it is possible to prevent the end portion in the width direction of the crawler belt 74 from being damaged during cross-slope travel, and durability is improved.

  Further, like the rear crawler type traveling device 70, the front crawler type traveling device 30 is not limited to the above-described configuration, and a width direction end of the crawler belt 34 is provided at a width direction end portion of a guide roller (not shown). Any configuration including an extension portion (not shown) extending corresponding to the portion may be used, and the same effect as that of the rear crawler type traveling device 70 can be obtained. Here, since the front crawler type traveling device 30 is the same as the rear crawler type traveling device 70, in the following example of another embodiment, the rear crawler type traveling device 70 will be described and explained. The description of the device 30 is omitted. And the front crawler type traveling apparatus 30 may be the same form as another embodiment of the rear crawler type traveling apparatus described later.

  As another embodiment of the rear crawler type traveling device 70, for example, the above-described rear crawler type traveling device 70 may be configured not to include the chamfered portion 85 and the spike 86 as the protruding portion. However, from the viewpoint of improving the skid prevention effect, a configuration including spikes 86 as protrusions is preferable.

  Similarly to the guide roller 73, the driven wheel 72 may include the above-described extending portion. Depending on the configuration of the crawler type traveling device, the crawler belt corresponding to the position of the driven wheel may be in contact with the ground together with the guide roller. Therefore, in the case of such a configuration, it is preferable that the driven wheel also includes an extended portion similar to the guide roller.

  Further, a rear crawler type traveling device 270 as shown in FIG. 13 may be used. Here, FIG. 13 is a partial cross-sectional view of a rear crawler type traveling device 270 of another embodiment, and is a partial cross-sectional view of the same portion as FIG. The rear crawler type traveling device 270 is different from the above-described rear crawler type traveling device 70 in the form of the guide roller 273 and the crawler belt 274, and the other components are the same. And description is abbreviate | omitted about the structure similar to the above-mentioned rear crawler type traveling apparatus 70. FIG.

  The guide roller 273 includes left and right rollers 279A and 279B, a rotation shaft 280, and the like, like the guide roller 73 described above, and is rotatably supported by the mounting frame 75. The roller 279A located inside the vehicle includes a cylindrical extending portion 282A at the right end (end inside the vehicle in the width direction). The extending portion 282A extends continuously from the roller 279A to the right end portion (end portion on the vehicle inner side in the width direction) of the crawler belt 274. The roller 279B located outside the vehicle includes a cylindrical extending portion 282B at the left end portion (end portion outside the vehicle in the width direction). The extending portion 282B continuously extends from the roller 279B to the left end portion (end portion on the vehicle outer side in the width direction) of the crawler belt 274. That is, the guide roller 273 is configured to include the extending portions 282A and 282B at both end portions in the width direction.

  A chamfered portion 285A is formed at the right end portion (end portion inside the vehicle in the width direction) of the crawler belt 274, and a chamfered portion 285B is formed at the left end portion (end portion outside the vehicle in the width direction) of the crawler belt 274. Is formed. That is, chamfered portions 285A and 285B are formed at both ends of the crawler belt 274 corresponding to the extending portions 282A and 282B provided at both ends of the guide roller 273, respectively. Spikes 286A and 286B as protrusions are attached to the chamfered portions 285A and 285B, respectively. Therefore, the rear crawler type traveling device 270 is configured such that, in the above-described rear crawler type traveling device 70, an extended portion, a chamfered portion, and a spike are provided at the end portion on the outer side in the width direction vehicle as well as the inner end portion.

  With such a configuration, when traveling across a slope as shown in FIG. 12, in addition to the left rear crawler type traveling device located on the valley side, the right rear crawler type located on the mountain side. Also in the traveling device, the catching effect on the force in the side-sliding direction is increased, and it is possible to make the side-sliding difficult.

  More specifically, the extension portion 282B of the right rear crawler type traveling device 270R can effectively bite the end portion (mountain side portion) of the right rear crawler type traveling device 270R on the slope as an edge. It is possible to increase the catching effect of the right rear crawler type traveling device 270R against the force in the side-sliding direction, and to further prevent the side-sliding.

  In addition, when the vehicle outer end (mountain side) of the right rear crawler type traveling device 270L is bitten into the slope as an edge, the extended portion 282B is configured so that the end of the crawler belt 74 on the vehicle outer side faces upward. It is possible to prevent bending and bending.

  Furthermore, when the spike 286B of the right rear crawler type traveling device 270R is pushed into the slope, the effect of the right rear crawler type traveling device 270R to catch on the force in the side slip direction is increased, and it is further difficult to make a side slip. it can.

  And, when traveling across the slope, the side slip prevention effect of both the left rear crawler type traveling device 270L located on the valley side and the right rear crawler type traveling device 270R located on the mountain side is improved. The traveling vehicle 1 is further improved in traveling performance.

  Further, by adopting such a configuration, the side slip prevention effect can be improved not only in the vehicle having the crawler type traveling device on the left and right like the above-described traveling vehicle 1 but also in the traveling vehicle having the crawler type traveling device in the center of the vehicle. it can. Such a traveling vehicle is, for example, a traveling vehicle that includes one rear crawler traveling device 270 instead of the left and right rear crawler traveling devices 70R and 70L in the traveling vehicle 1, although not shown here. . This traveling vehicle has a configuration in which one rear crawler traveling device 270 is disposed at the center in the left-right direction of the rear portion of the body frame 10 in the traveling vehicle 1 and travels by three crawler traveling devices. In addition, the suspension device of the rear crawler type traveling device 270 in this traveling vehicle is not particularly limited, but it is preferable that the suspension device is suspended so as to be swingable up and down with respect to the vehicle body frame. For example, the rear crawler type traveling device may be suspended by a traction arm whose one end is connected to the body frame so as to be pivotable about the left-right direction and the other end is connected to the rear crawler type traveling device.

  In the cross-slope traveling by this traveling vehicle, the right end or the left end (the end located on the mountain side) in the width direction of the rear crawler type traveling device 270 is effectively used as the slope according to the inclination direction of the slope. As a result, the rear crawler type traveling device 270 can be more easily engaged with the force in the side-sliding direction, and the side-sliding can be made difficult.

  Further, a rear crawler type traveling device 370 as shown in FIG. 14 may be used. Here, FIG. 14 is a partial cross-sectional view of a rear crawler type traveling device 370 of still another embodiment, and is a partial cross-sectional view of the same portion as FIG. The rear crawler type traveling device 370 includes the thick portion 390 on the inner peripheral surface of the crawler belt 374 in the above-described rear crawler type traveling device 70, and other configurations are the same. And description is abbreviate | omitted about the structure similar to the above-mentioned rear crawler type traveling apparatus 70. FIG. In FIG. 14, the roller 379A and the extension 382 are indicated by a two-dot broken line.

  The guide roller 373 includes left and right rollers 379A and 379B, a rotation shaft 380, and the like, like the guide roller 73 described above, and is rotatably supported by the mounting frame 75. Further, the roller 379A located inside the vehicle includes a cylindrical extending portion 382 at the right end portion (end portion inside the vehicle in the width direction).

  Similar to the crawler belt 74 described above, the crawler belt 374 includes spikes 386 as projecting portions. The spikes 386 are attached to the chamfered portion 385, and a plurality of spikes 386 are attached at substantially equal intervals in the circumferential direction of the crawler belt 374.

  The inner peripheral surface of the crawler belt 374 includes a thick portion 390 that protrudes inward. The thick part 390 is formed corresponding to each of the plurality of spikes 386. That is, a plurality of thick portions 390 are formed in the circumferential direction of the crawler belt 374. Further, the thick portion 390 is formed at a position corresponding to the chamfered portion 385 in the width direction of the crawler belt 374. That is, the thick portion 390 is located between the ridge line between the outer peripheral surface 384 and the chamfered portion 385 and the vehicle inner end in the width direction of the crawler belt 374.

  By adopting such a configuration, the pressing force when pushing the spike 386 into the slope increases during the crossing slope as shown in FIG. Therefore, the spike 386 can be reliably pushed into the slope. In addition, the spike 386 can be pressed down more strongly by the slope, the effect of catching on the force in the side-slip direction can be increased, and the side-slip prevention effect can be further improved.

  As shown in FIG. 11, when running with the outer peripheral surface 384 of the crawler belt 374 grounded along the ground, such as flat ground or rough terrain having a height difference in the horizontal direction, the crawler belt 374 is caused by the thick portion 390. The chamfered portion 385 bends outward (downward in FIG. 14). At this time, since the spike 386 is attached to the chamfered portion 385, the spike 386 is in a form that hardly touches the ground. Further, the thick portion 390 is formed at a position corresponding to the chamfered portion 385 (between the ridge line between the outer peripheral surface 384 and the chamfered portion 385 and the end on the vehicle inner side) in the width direction of the crawler belt 374. Therefore, the outer peripheral surface 384 on the center side in the width direction from the ridge line of the chamfered portion 385, which is a portion corresponding to the ground contact portion of the crawler belt 374, is not affected by the thick portion 390. Therefore, by providing the thick portion 390, the traveling performance during traveling as shown in FIG. 11 is unlikely to deteriorate.

  The thick portion 390 may be formed corresponding to the spike 386 serving as the protruding portion, and may be formed continuously over the entire circumference of the inner peripheral surface 381 of the crawler belt 374, for example. By adopting such a configuration, even when the interval between the spikes 386 is changed, it is not necessary to change the position of the thick portion 390 corresponding to this change. That is, since the interval between the spikes 386 can be arbitrarily changed later, the degree of freedom in design is improved.

  Further, a rear crawler type traveling device 470 as shown in FIG. 15 may be used. Here, FIG. 15 is a partial cross-sectional view of a rear crawler type traveling device 470 of still another embodiment, and is a partial cross-sectional view of the same portion as FIG. The rear crawler type traveling device 470 is different from the above-described rear crawler type traveling device 70 in the form of the extending portion 482, and the other configurations are the same. And description is abbreviate | omitted about the structure similar to the above-mentioned rear crawler type traveling apparatus 70. FIG. In FIG. 15, the crawler belt 474 is indicated by a two-dot broken line.

  The guide roller 473 includes left and right rollers 479A and 479B, a rotation shaft 480, and the like, like the above-described guide roller 73, and is rotatably supported by the mounting frame 75. In addition, the roller 479A located inside the vehicle includes a cylindrical extending portion 482 at the right end (end inside the vehicle in the width direction).

  The extending portion 482 continuously extends from the roller 479A to the right end portion (end portion on the vehicle inner side in the width direction) of the crawler belt 474. The extending portion 482 includes a large diameter portion 490 having an outer diameter larger than that of the roller 479A. The large diameter portion 490 is formed corresponding to the spike 486 as the protruding portion. The large diameter portion 490 is formed at a position corresponding to the chamfered portion 485 in the width direction of the crawler belt 474. That is, the large diameter portion 490 is located between the ridge line between the outer peripheral surface 484 and the chamfered portion 485 and the vehicle inner end in the width direction of the crawler belt 474.

  With such a configuration, the pressing force when the spike 486 is pushed into the slope is increased during the crossing slope as shown in FIG. Therefore, the spike 486 can be surely pushed into the slope. In addition, the spike 486 can be strongly pressed by the slope, and the catching effect on the force in the side-sliding direction can be increased, and the side-slip preventing effect can be further improved.

  As shown in FIG. 11, when traveling with the outer peripheral surface 484 of the crawler belt 474 grounded along the ground, such as flat ground or rough terrain having a height difference in the left-right direction, the crawler belt 474 is caused by the large-diameter portion 490. The chamfered portion 485 bends outward. At this time, since the spike 486 is attached to the chamfered portion 485, the spike 486 is not easily in contact with the ground. Further, the large diameter portion 490 is formed at a position corresponding to the chamfered portion 485 (between the ridge line between the outer peripheral surface 484 and the chamfered portion 485 and the vehicle inner end) in the width direction of the crawler belt 474. Therefore, the outer peripheral surface 484 on the center side in the width direction from the ridge line of the chamfered portion 485, which is a portion corresponding to the ground contact portion of the crawler belt 474, is not affected by the large-diameter portion 490. Therefore, by providing the large diameter portion 490, the traveling performance during traveling as shown in FIG. 11 is unlikely to deteriorate. The large-diameter portion 490 only needs to be formed corresponding to the spike 486 as the protruding portion. For example, the large-diameter portion 490 may have a shape that increases in diameter toward the vehicle inner end in the width direction. The whole 482 may be the large diameter portion 490.

  Further, the protruding portion is not limited to the configuration of the spikes 86, 286, 386, and 486 described above. The projecting portion may correspond to the extended portion and may project outward from the outer peripheral surface of the crawler belt. The protrusion is pushed into the slope when traveling across the slope, and the hooking effect on the force in the side-sliding direction of the crawler type traveling device can be increased.

  Therefore, the protrusion may be a protrusion 586 as shown in FIG. 16, for example. Here, FIG. 16 is a partial cross-sectional view of a rear crawler type traveling device 570 of still another embodiment, and is a partial cross-sectional view of the same portion as FIG. The rear crawler type traveling device 570 is different from the above-described rear crawler type traveling device 70 in the form of the protruding portion (spike 86), and the other configurations are the same. And description is abbreviate | omitted about the structure similar to the above-mentioned rear crawler type traveling apparatus 70. FIG.

  The protrusion 586 as a protrusion corresponds to the extended portion 582 formed on the guide roller 573 and is a protrusion formed on the chamfered portion 585 of the crawler belt 574 so as to extend in the circumferential direction of the crawler belt 574. The cross section of the protruding portion 586 has a substantially triangular shape protruding in a direction perpendicular to the chamfered portion 585, and is tapered outward. A plurality of protrusions 586 are formed at substantially equal intervals in the circumferential direction of the crawler belt 574. The protruding height of the protruding portion 586, that is, the height from the chamfered portion 585 to the tip of the protruding portion 586 is gradually increased toward the center in the rotating direction at both end portions of the crawler belt 574 in the rotating direction. Then, it is almost constant.

  By adopting such a configuration, the projecting portion 586 is pushed into the slope when traveling across the slope as shown in FIG. 12, and the catching effect on the force in the side-slip direction is increased, thereby further improving the side-slip prevention effect. Can do. Further, the protruding portion 586 has a tapered shape, and the height of the protruding portion 586 gradually increases from the end portion toward the center in the circumferential direction, and thus is easily pushed into the inclined surface.

  The protrusions 586 may have a continuous shape over the entire circumference of the crawler belt 574, but in order to make it easier to push the protrusions 586 into the inclined surface, a plurality of protrusions 586 are formed at predetermined intervals. It is preferable to use the configuration.

  As shown in FIG. 11, when traveling with the outer peripheral surface 584 of the crawler belt 574 in contact with the ground along the ground, such as flat ground or uneven terrain having a height difference in the horizontal direction, the tip of the protrusion 586 and the crawler belt 574 are driven. Since the clearance CL is formed between the outer peripheral surface 584 and the outer peripheral surface 584, the protrusion 586 does not contact the ground. Therefore, during traveling as shown in FIG. 11, the protrusion 586 does not serve as traveling resistance, and traveling performance does not deteriorate.

  Further, the protrusion may be a protrusion 686 as shown in FIG. Here, FIG. 17 is a partial cross-sectional view of a rear crawler type traveling device 670 of still another embodiment, and is a partial cross-sectional view of a portion similar to FIG. The rear crawler type traveling device 670 is different from the above-described rear crawler type traveling device 70 in the form of the protruding portion (spike 86), and the other configurations are the same. And description is abbreviate | omitted about the structure similar to the above-mentioned rear crawler type traveling apparatus 70. FIG.

  The protruding portion 686 as the protruding portion corresponds to the extending portion 682 of the guide roller 673 and is formed to extend in the circumferential direction of the crawler belt 674 at the right end portion (end portion on the vehicle inner side in the width direction) of the crawler belt 674. It is a protrusion to be done. The cross section of the protruding portion 686 is the same as the right end surface 683 of the crawler belt 674 (the end surface on the vehicle inner side in the width direction), and has a substantially triangular shape that protrudes outward from the outer peripheral surface 684 of the crawler belt 674. . A plurality of protrusions 686 are formed at substantially equal intervals in the circumferential direction of the crawler belt 674. The protruding height of the protruding portion 686, that is, the height from the outer peripheral surface 684 to the tip of the protruding portion 686 is gradually increased toward the center in the rotating direction at both ends in the rotating direction of the crawler belt 674. Then, it is almost constant.

  By adopting such a configuration, the projecting portion 686 is pushed into the slope during traveling across the slope as shown in FIG. 12, and the catching effect on the force in the side-slip direction is increased, thereby further improving the side-slip prevention effect. Can do. Further, the protruding portion 686 has a tapered shape, and the height of the protruding portion 686 gradually increases from the end portion toward the center in the circumferential direction, and thus is easily pushed into the inclined surface.

  The protrusions 686 may have a continuous shape over the entire circumference of the crawler belt 674, but in order to make it easier to push the protrusions 686 into the inclined surface, a plurality of protrusions 686 are formed at predetermined intervals. It is preferable to use the configuration.

  It should be noted that the front and rear crawler type traveling devices are not limited to the above-described embodiments, and can take any form without departing from the spirit of the invention. It is good also as a structure which combined the above-mentioned embodiment. For example, the rear crawler type traveling device 470 shown in FIG. 15 may include a protrusion 586 as a protrusion shown in FIG. 16 instead of the spike 486 as a protrusion.

  With such a configuration, even if the protrusion 586 is formed to extend in the circumferential direction of the crawler belt, the pressing force for pressing the protrusion 586 into the inclined surface increases, and the protrusion 586 can be surely pressed into the inclined surface.

  The crawler type traveling device of the present invention includes, for example, a working vehicle that operates on rough terrain such as a tractor, a combiner, a transplanter, a construction machine, and a forestry machine, a transport vehicle such as a forklift, a traveling vehicle capable of unmanned traveling by remote control, etc. The present invention can be applied to a traveling device of any crawler traveling vehicle.

DESCRIPTION OF SYMBOLS 1 Traveling vehicle 10 Body frame 30 Front crawler type traveling device 31 Driving wheel 32 Driven wheel 33 Guide roller 34 Crawler belt 50 Front suspension device 70,270,370,470,570,670 Rear crawler type traveling device 71 Driving wheel 72 Driven wheel 73,273,373,473,573,673 Guide roller 74,274,374,474,574,674 Crawler belt 82,282,382,482,582,682 Extension 85,285,385,485,585 Chamfer 86,286,386,486,586,686 Projection 90 Rear suspension

Claims (3)

In a crawler type traveling device including a driving wheel, a driven wheel, a guide roller, and a crawler belt wound around the driving wheel, the driven wheel, and the guide roller.
The crawler type traveling device is connected to the left and right sides of the body frame so that the grounding surface of the crawler belt is maintained parallel to the body frame and can swing up and down or ascend and descend.
An extending portion extending at least in the width direction end of the guide roller on the vehicle body frame side in correspondence with the width direction end of the crawler belt ;
A chamfered portion that is chamfered is formed between the end surface of the crawler belt in the width direction and the outer peripheral surface corresponding to the extended portion,
Characterized Rukoto includes a projecting portion on the chamfer, the crawler type traveling device. The protrusion is cylindrical,
The crawler type traveling device according to claim 1 , wherein a male screw is formed at an end, and the crawler traveling device is screwed into the chamfered portion of the crawler belt . The projecting portion may not protrude outward from the outer peripheral surface of the crawler belt, the crawler type traveling device according to claim 1 or 2.

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