JP6335084B2 - Traveling vehicle - Google Patents

Description

  The present invention relates to a traveling vehicle, and more particularly to a traveling vehicle including a vehicle body frame, at least a pair of right and left traveling devices on the left and right sides, and a suspension device that suspends the pair of left and right traveling devices on the body frame. .

  2. Description of the Related Art Conventionally, a crawler type traveling device is used for a work vehicle that travels on rough terrain such as a soft ground or an inclined land so that it can travel stably. Then, a pair of left and right crawler travel devices are connected by an equalizer bar, and this equalizer bar is suspended from the body frame so as to be rotatable about the front-rear direction, thereby tilting the crawler travel device in accordance with the inclination of the ground in the left-right direction. There is one (for example, Patent Document 1) that is capable of improving the grounding property of the crawler traveling device. In addition, four telescopic arms having a crawler traveling device for traveling are provided at the lower ends of the chassis frame on which the upper revolving body equipped with a work machine and a driver's cab is rotatably mounted. In accordance with the above, there is one (for example, Patent Document 2) that can extend and contract each of the four extendable arms to hold the upper swing body horizontally.

JP 11-291960 A JP 2000-335457 A

  However, in Patent Document 1, there is a high risk that the crawler traveling device cannot ensure sufficient grounding property when traveling on a slope, and there is a high risk of skidding or rollover, and operability and traveling properties may be reduced. In addition, since Patent Document 2 expands and contracts each of the four telescopic arms according to the unevenness of the rough terrain, the operation is complicated and the follow-up performance of the crawler traveling device with respect to the unevenness of the rough terrain is slow. The operability and running performance may be reduced.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a traveling vehicle that can travel stably and improve traveling performance on sloping terrain and uneven terrain.

For this reason, the traveling vehicle according to the present invention is a traveling vehicle comprising a body frame, at least a pair of right and left traveling devices on the left and right sides, and a suspension device that suspends the pair of right and left traveling devices on the body frame. ,
The suspension device is
A rotating arm that extends in the left-right direction and is rotatably supported by the body frame at the center in the left-right direction;
And right swing arm as the shaft is supported freely swing in the lateral direction on the body frame,
A left side pivot arm which is supported in the lateral direction freely in the axial rocking on the body frame,
A right connection arm having one end connected to the right end of the pivot arm;
A left connection arm having one end connected to the left end of the pivot arm ;
The right swing arm is
A right side support portion rotatably supported about the left and right direction on the body frame;
A right first arm that extends from the right support, has an end branched in the vertical direction, and the right traveling device is connected to a rotation shaft fixed between the branches;
A right second arm extending from the right support and having the right connecting arm connected to an end thereof;
The left swing arm is
A left side support portion rotatably supported about the left and right direction on the body frame;
A left first arm that extends from the left support, has an end branched in the vertical direction, and the left traveling device is connected to a rotation shaft fixed between the branches;
The extended from left support portion, and wherein Rukoto which have a and the left second arm is the left connection arm end is connected.

Furthermore, the traveling device is characterized Rukoto includes a suppress buffering mechanism swing in the front-rear direction.

Furthermore, the distance from the rotation center of the right support portion to the connecting portion between the right first arm and the right traveling device is the distance between the rotation center of the right support portion and the right second arm and the right connection arm. Greater than the distance to the connection,
The distance from the rotation center of the left support portion to the connection portion between the left first arm and the left traveling device is the connection portion between the left second arm and the left connection arm from the rotation center of the left support portion. It is characterized by being larger than the distance up to.

Further, the right side support part and the left side support part are rotatably supported at a substantially center in the front-rear direction of the body frame,
The right first arm and the left first arm extend in the front-rear direction.

Furthermore, the right side support part and the left side support part are rotatably supported at the lower part of the body frame,
The right second arm extends downward from the right support part,
The left second arm extends downward from the left support part,
The pivot arm, the right connection arm, and the left connection arm are located below the body frame.

Furthermore, the right side support part and the left side support part are rotatably supported at the lower part of the body frame,
The right second arm extends upward from the right support part,
The left second arm extends upward from the left support portion.

  Further, the right connection arm and the left connection arm are each provided with a buffer mechanism.

  Furthermore, a rotation device for rotating the rotation arm with respect to the vehicle body frame is provided.

  Furthermore, the driving device for driving the traveling device is provided in each of the traveling devices.

  Furthermore, an angle sensor for detecting a rotation angle of the right swing arm and the left swing arm with respect to the vehicle body frame is provided.

  In addition, an inclination sensor for detecting an inclination angle of the body frame with respect to the horizontal is provided.

An angle sensor for detecting a rotation angle of each of the right swing arm and the left swing arm with respect to the vehicle body frame;
An inclination sensor that detects an inclination angle of the body frame with respect to the horizontal,
A control unit that controls the rotating device is provided based on a detection value of the angle sensor or detection values of the angle sensor and the tilt sensor.

Further, the suspension device and the pair of right and left right and left traveling devices suspended on the vehicle body frame by the suspension device are respectively provided at the front and rear portions of the traveling vehicle,
The suspension device in the front part and the suspension device in the rear part are arranged symmetrically in the front-rear direction.

According to the traveling vehicle of the present invention, in the traveling vehicle comprising a body frame, at least a pair of left and right right and left traveling devices, and a suspension device that suspends the pair of left and right right and left traveling devices on the body frame, suspension system is stretched in the lateral direction, a rotating arm which is rotatably supported by the body frame in the lateral direction of the center, right swinging are supported freely swing in the axial and lateral directions on the body frame arm and a left side pivot arm which is supported in the lateral direction freely in the axial rocking on the body frame, and a right connecting arm one end of which is connected to the right end of the pivot arm, wherein one end pivoted arm and a left connection arm connected to the left end of the right swing arm, a right support portion which is rotatably supported as an axis in the lateral direction on the body frame, extending from the right support portion A right side first arm that is connected to the rotating shaft fixed between the branches, and a right side first arm that extends from the right side support part; A second arm on the right side to which a connecting arm is connected, and the left swing arm is supported on the vehicle body frame so as to be rotatable about a left-right direction, and extends from the left support portion. A left arm that is connected to the rotating shaft fixed between the branches, and a left arm that extends from the left support, and has an end that extends to the left side. that having a and the left second arm connecting arm is connected.

  As a result, the right and left traveling devices can be made to quickly follow the change in unevenness in the vertical direction of the rough terrain and the inclination of the slope, and the running performance, operability and riding comfort on uneven terrain with unevenness are improved. Further, it is possible to reduce the side slip of the traveling device during traveling on the slope, and the traveling performance during traveling on the slope is improved. Therefore, it is possible to provide a traveling vehicle that can travel stably and have improved traveling performance on sloped terrain and uneven terrain.

Furthermore, according to the traveling vehicle of the present invention, the travel device, Ru includes a suppress buffering mechanism swing in the front-rear direction.

  As a result, the right and left traveling devices can be made to quickly follow the change in unevenness in the vertical direction of the rough terrain and the inclination of the slope, and the running performance, operability and riding comfort on uneven terrain with unevenness are improved. Further, it is possible to reduce the side slip of the traveling device during traveling on the slope, and the traveling performance during traveling on the slope is improved.

  Further, according to the traveling vehicle of the present invention, the distance from the rotation center of the right support portion to the connecting portion between the right first arm and the right traveling device is from the rotation center of the right support portion to the right side. The distance between the second arm and the connecting portion between the right connecting arm and the connecting portion between the left first arm and the left traveling device is greater than the distance from the turning center of the left supporting portion. Since the distance from the center of rotation of the support portion to the connecting portion of the left second arm and the left connecting arm is larger, the left and right traveling devices are largely swung up and down by a small amount of rotation of the rotating arm. And the suspension device can be miniaturized.

  Further, according to the traveling vehicle of the present invention, the right support portion and the left support portion are rotatably supported at a substantially center in the front-rear direction of the body frame, and the right first arm and the left first arm. Since it extends in the front-rear direction, the overall length of the vehicle can be shortened, and the running performance is improved.

  Further, according to the traveling vehicle of the present invention, the right support portion and the left support portion are rotatably supported at the lower portion of the body frame, and the right second arm is directed downward from the right support portion. The left second arm extends downward from the left support, and the pivot arm, the right connection arm, and the left connection arm are located below the body frame, The main components of the suspension device are arranged below the vehicle body frame, the suspension device does not occupy the interior of the vehicle body frame, can effectively use the space inside the vehicle body frame, and shortens the overall length of the traveling vehicle. be able to. For example, a battery or the like can be disposed inside the body frame.

  Further, according to the traveling vehicle of the present invention, the right support portion and the left support portion are rotatably supported at the lower portion of the body frame, and the right second arm is directed upward from the right support portion. Since the left second arm extends upward from the left support portion, the right and left second arms do not protrude below the vehicle body frame and are obstructed. Contact with an object can be prevented. In addition, since the vehicle height of the traveling vehicle can be lowered to lower the center of gravity, the traveling performance is improved.

  Furthermore, according to the traveling vehicle of the present invention, since the right connection arm and the left connection arm are each provided with a buffer mechanism, it is possible to buffer an impact between the vehicle body frame and the right traveling device and the left traveling device. In addition, the right traveling device and the left traveling device are each stably grounded, and traveling performance and ride comfort are improved.

  Furthermore, according to the traveling vehicle of the present invention, since the pivoting device that pivots the pivoting arm with respect to the vehicle body frame is provided, the right and left traveling devices can be easily swung in the vertical direction. The burden on the driving operation of the occupant is reduced, and driving can be continued comfortably for a long time.

  Furthermore, according to the traveling vehicle of the present invention, since the driving device for driving the traveling device is provided in the traveling device, the transmission structure of the driving force between the vehicle body frame and the traveling device can be simplified. The number of parts is reduced, and productivity and maintainability are good.

  Furthermore, according to the traveling vehicle of the present invention, since the right sensor and the left swing arm are provided with angle sensors that respectively detect the rotation angles of the right swing arm and the left swing arm with respect to the vehicle body frame, The position in the vertical direction with respect to can be detected, and the state of the slope or rough terrain can be accurately grasped.

  Furthermore, according to the traveling vehicle of the present invention, since the inclination sensor that detects the inclination angle of the body frame with respect to the horizontal is provided, the traveling posture of the traveling vehicle can be accurately grasped.

  Furthermore, according to the traveling vehicle of the present invention, the angle sensor that detects the rotation angle of the right swing arm and the left swing arm with respect to the body frame, and the tilt that detects the tilt angle of the body frame with respect to the horizontal. And a control unit that controls the rotation device based on the detection value of the angle sensor or the detection value of the angle sensor and the tilt sensor. While being able to grasp the running posture accurately, it is possible to control the vehicle body frame to be kept horizontal, and the running performance and riding comfort on sloped and uneven terrain are improved.

  Furthermore, according to the traveling vehicle of the present invention, the suspension device and the pair of right and left right and left traveling devices suspended on the vehicle body frame by the suspension device are provided at the front portion and the rear portion of the traveling vehicle, respectively. Since the front suspension device and the rear suspension device are arranged symmetrically in the front-rear direction, the number of parts is reduced, and productivity and maintenance are good.

It is a right view which shows the traveling vehicle as an example of embodiment of this invention. It is a right view of a vehicle body frame. It is a perspective view of a body frame. It is a right view of a front crawler traveling device. It is a partial expanded sectional view of a front crawler traveling device. It is a partial expanded sectional view of a front crawler traveling device. It is a right view of a rear crawler traveling device. It is a partial expanded sectional view of a back crawler traveling device. It is a right view of a front suspension apparatus. It is an A direction arrow directional view of FIG. It is a perspective view of a front suspension apparatus. It is a right view of a rear suspension apparatus. It is a B direction arrow line view of FIG. It is a right view explaining the operation state of a front suspension apparatus. It is a C direction arrow directional view of FIG. It is a block diagram which shows an example of a structure of a control part.

  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 right side view showing a traveling vehicle as an example of an embodiment of the present invention. FIG. 2 is a right side view of the vehicle body frame. FIG. 3 is a perspective view of the vehicle body frame as seen from the diagonally upper front.

  As shown in FIGS. 1 to 3, the traveling vehicle 1 includes a vehicle body frame 10, a front crawler traveling device 30 as a pair of left and right traveling devices provided at the front, and the pair of left and right front crawler traveling devices 30. A front suspension device 50 suspended from the frame 10, a rear crawler traveling device 70 as a pair of left and right traveling devices provided at the rear, and a rear suspension device 90 that suspends the pair of left and right rear crawler traveling devices 70 from the vehicle body frame 10. Prepare. The traveling vehicle 1 also includes a battery B that stores electricity, a control unit C that is configured by a calculation unit, a storage unit, and the like, and controls each device.

  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 traveling device 30 and a rear fender 112 above the rear crawler traveling device 70. A driving seat 113 is provided between the front crawler traveling device 30 and the rear crawler traveling device 70. The driving seat 113 is attached to the vehicle body frame 10.

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

  The steering shaft 115 is rotatably supported with respect to the vehicle body frame 10. A steering wheel sensor (not shown) 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 by the handle bar 116. The accelerator grip 117 includes an accelerator grip sensor (not shown) that detects the rotation angle of the accelerator grip 117.

  Below the operation seat 113, left and right step floors 118 are provided. The traveling vehicle 1 is a straddle-type traveling vehicle. The occupant sits on the driver's seat 113 and gets on the left and right step floors 118 with their feet.

  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 or a plate-like plate. The body frame 10 includes a base frame portion 11 that extends in the front-rear direction and has a bottom portion that has a bottom shape, a front frame portion 12 that extends upward from the front portion of the base frame portion 11, and a rear frame portion that extends upward from the rear portion of the base frame portion 11. 13 etc.

  The base frame portion 11 constitutes a main part of the vehicle body frame 10, and a front suspension device 50, a rear suspension device 90 and the like which will be described later are attached thereto. The base frame portion 11 is attached with a pair of left and right main frames 14 (14R, 14L) extending in the front-rear direction, a pair of left and right lower frames 15 (15R, 15L), and a part of a front suspension device 50 described later. A plate-like front support plate 16, a plate-like rear support plate 17 to which a part of a rear suspension device 90 to be described later is attached, a plurality of reinforcing frames 20, 21, 22, 23 and the like are provided.

  The front end portions of the left and right main frames 14R and 14L are curved inward in the width direction of the traveling vehicle 1, and the front ends are connected to each other. In addition, the rear end portions of the left and right main frames 14R and 14L are curved inward, and the rear ends are connected to each other.

  The left and right lower frames 15R and 15L are positioned below the left and right main frames 14R and 14R, respectively, and extend in the front-rear direction substantially parallel to the left and right main frames 14R and 14L, respectively. Both ends of the left and right lower frames 15R and 15L are inclined upward and connected to the left and right main frames 14R and 14L, respectively.

  Between the central parts of the left and right lower frames 15R, 15L, two rotating shafts 18, 19 extending in the left-right direction are disposed. The rotary shafts 18 and 19 are positioned in parallel with a predetermined distance between the front and rear, and both end portions protrude outward from the lower frames 15R and 15L. The rotating shafts 18 and 19 are used for connecting a front suspension device 50 and a rear suspension device 90, which will be described later, to the vehicle body frame 10, respectively.

The rotating shafts 18 and 19 between the left and right lower frames 15R and 15L are formed with a larger diameter than other members, for example, the main frame 14 and the lower frame 15.
Therefore, the rotating shafts 18 and 19 firmly connect the left and right lower frames 15R and 15L, and reinforce the rigidity of the vehicle body frame 10.

  Two reinforcing frames 20 and 21 are formed between the right main frame 14R and the right lower frame 15R and between the left main frame 14L and the left lower frame 15L, respectively. More specifically, the reinforcing frame 20 extends upward and rearward from the vicinity of the connecting portion between the rotating shaft 18 and the lower frame 14, and is connected to the center of the main frame 14 in the front-rear direction. The reinforcing frame 21 extends upward and forward from the vicinity of the connecting portion between the rotating shaft 19 and the lower frame 15, and is connected to the center of the main frame 14 in the front-rear direction. The reinforcing frames 20 and 21 improve the strength of the vicinity where the rotating shafts 18 and 19 are disposed.

  Note that the base frame portion 11 has a symmetric shape. And the above-mentioned two rotating shafts 18 and 19 are arrange | positioned in the symmetrical position. The base frame portion 11 has a structure similar to the truss structure by the main frame 14, the lower frame 15, and the reinforcement frames 20 and 21 in a side view. Therefore, the base frame portion 11 is effectively reinforced in the vicinity of the rotary shafts 18 and 19 and is equalized in strength and has high strength.

  The front support plate 16 is a rectangular plate-shaped member, has a through hole 24 in the center, and is disposed between the left and right lower frames 15R and 15L and on the front inclined portion. The left and right ends of the front support plate 16 are connected to the left and right lower frames 15R and 15L, respectively. Reinforcing frames 22 are formed at both front and rear ends of the front support plate 16 so as to extend along the ends and connect to the left and right lower frames 15R and 15L. A part of the front suspension device 50 described later is attached to the front support plate 16.

  The rear support plate 17 has the same form as the front support plate 16, is differently arranged, and is arranged at a symmetrical position. The rear support plate 17 is a rectangular plate-like member, has a through hole 25 in the center, and is disposed between the left and right lower frames 15R and 15L and on the rear inclined portion. The left and right ends of the rear support plate 17 are connected to the left and right lower frames 15R and 15L, respectively. Reinforcing frames 23 are formed at both front and rear ends of the rear support plate 17 so as to extend along the ends and connect to the left and right lower frames 15R and 15L. A part of a rear suspension device 90 to be described later is attached to the rear support plate 17.

  The front frame portion 12 is composed of a plurality of cylindrical steel materials and has a substantially rectangular shape extending upward in a side view. The front frame portion 12 is for rotatably supporting a handle 114 (not shown) here. The front frame portion 12 includes a head pipe 26 at the top. The head pipe 26 is a cylindrical pipe having openings at both ends, and is disposed so as to incline from front to back and back to high. The head pipe 26 is located at the center in the left-right direction of the body frame 10. A steering shaft 115 is inserted into the head pipe 26 from above, and the handle 114 is rotatably supported.

  The rear frame part 13 is comprised from several cylindrical steel materials, and is a substantially rectangular parallelepiped shape. An operation seat 113 (not shown) is attached to the upper portion of the rear frame portion 13. Various devices such as a battery B (not shown) are accommodated in the rear frame portion 13.

  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 body frame 10 may be formed of a hollow quadrangular column member or a steel material having a L-shaped or H-shaped cross section instead of a cylindrical pipe. In addition, in order to improve strength and place various devices, a configuration in which plate-like members are arranged between frames may be employed.

  Next, the front crawler traveling device 30 as a pair of left and right traveling devices will be described. Since the left and right front crawler traveling devices 30 have a bilaterally symmetrical shape, the right front crawler traveling device 30 will be described below. The description of the configuration of the left front crawler traveling device 30 is omitted. Further, as necessary, the right front crawler traveling device is appropriately denoted by reference symbol R, and the left front crawler traveling device is appropriately denoted by reference symbol L. FIG. 4 is a right side view of the front crawler traveling device 30. FIG. 5 is a partially enlarged cross-sectional view of the front crawler traveling device 30 for explaining the drive wheel mounting configuration, where the right side is the vehicle outer side, the left side is the vehicle inner side, the upper side is the front side of the vehicle, and the lower side is the rear side of the vehicle. On the side. FIG. 6 is a partial enlarged cross-sectional view of the front crawler travel device 30 for explaining the drive wheel mounting configuration. The right side is the vehicle outer side, the left side is the vehicle inner side, the upper side is the upper side of the vehicle, and the lower side is the lower side of the vehicle. On the side.

  As shown in FIG. 4, the front crawler traveling device 30 includes a drive wheel 31 at the top, a driven wheel 32 below the drive wheel 31, a front wheel and a rear wheel 32, and a space between two driven wheels 32. Two auxiliary rollers 33, a crawler belt 34, a mounting frame 35, a motor 36 as a driving device for driving the crawler traveling device, and a gear case 37 are provided.

  The crawler belt 34 is wound around the drive wheel 31, the two driven wheels 32, and the four auxiliary rollers 33. The mounting frame 35 is composed of three cylindrical pipes or the like, and has an upward triangular shape. A driving wheel 32 is rotatably supported at the upper apex of the triangular shape of the mounting frame 35. In the vicinity of the two apexes on the lower side of the triangular shape of the mounting frame 35, driven wheels 32 are rotatably supported, and four auxiliary rollers 33 are rotatably supported between the two driven wheels 32. . The motor 36 and the gear case 37 are located inside the mounting frame 35 and the driving force of the motor 36 is transmitted to the drive wheels 31 via the gear case 37, so that the front crawler traveling device 30 is driven.

  More specifically, as shown in FIG. 5, a motor 36 is fixed on the vehicle inner side of the front end portion of the gear case 37 that extends in the front-rear direction, and the drive shaft 38 of the motor 36 projects to the inside of the gear case 37. The driving wheel 31 is located outside the vehicle at the rear end of the gear case 37, and the end of the rotating shaft 39 fixed to the driving wheel 31 on the vehicle inner side protrudes into the gear case 37. Inside the gear case 37, sprockets (not shown) are respectively fixed to the drive shaft 38 of the motor 36 and the rotation shaft 39 of the drive wheel 31. The sprockets are interlocked and connected by an endless chain (not shown).

  Thus, the front crawler traveling device 30 is configured such that the power of the motor 36 is transmitted to the drive shaft 38, the sprocket, the chain, and the rotation shaft 39. The front crawler traveling device 30 is driven by the driving wheels 31 rotating by the power transmitted to the rotation shaft 39.

  Note that the end of the drive wheel 31 on the outer side of the rotation shaft 39 extends to the attachment frame 35, and the attachment frame 35 is rotatably connected to the rotation shaft 39. That is, the front crawler traveling device 30 is configured to be swingable in the front-rear direction around the rotation shaft 39.

  As shown in FIGS. 5 and 6, a bracket 40 composed of two upper and lower plate-like members protruding toward the vehicle inner side is formed on the vehicle inner side of the rear end portion of the gear case 37. The two upper and lower plate-like members of the bracket 40 have through holes 41 penetrating in the vertical direction. The front crawler traveling device 30 is connected to a front suspension device 50, which will be described later, via the bracket 40 so as to be rotatable in the left-right direction with the vertical direction as an axis. The bracket 40R of the right crawler traveling device 30R is connected to one end of a steering device (not shown) disposed on the body frame 10, and the other end of the steering device is connected to the bracket 40L of the left crawler traveling device 30L. Link. The traveling vehicle 1 can be steered by rotating the left and right front crawler travel devices 30R and 30L in conjunction with the left and right directions by this steering device.

  In the front crawler traveling device 30, the crawler belt 34 between the two driven wheels 32 is in contact with the ground. That is, the front crawler traveling device 30 has an upward triangular shape whose bottom is a ground contact portion, and this triangular shape is a shape in which the bottom is curved downward. In this triangular shape, the top vertex where the driving wheel 31 is located is biased backward, and the vertex where the front driven wheel 32 is located is located above the vertex where the rear driven wheel 32 is located. .

  When the front crawler traveling device 30 is configured as described above, the crawler belt 34 is easily caught by the convex portion when the convex portion protruding above the ground is climbed, and the traveling is stabilized. Further, since the front crawler traveling device 30 is supported so as to be swingable in the front-rear direction, the ground contact with the ground is improved, and a buffering effect due to the swinging of the front crawler traveling device 30 is generated and stably. Along with being able to run, ride comfort is improved.

  The front crawler travel device 30 adjusts the tension of the crawler belt 34 by moving the position of the driven wheel 32 with respect to the mounting frame 35, and the brake device (not shown) that stops the rotation of the drive wheel 31. Also, a buffer mechanism or the like that suppresses the forward and backward swing of the front crawler traveling device 30 about the rotation shaft 39 is provided. This buffer mechanism is provided between the mounting frame 35 and the gear case 37, and the front crawler traveling device 30 is stably grounded, and traveling performance and riding comfort are improved. In addition, when the front crawler traveling device 30 comes into contact with unevenness on the rough terrain, the shock absorbing mechanism can reduce a load such as a twist or an impact on a connecting portion with the front suspension device 50, thereby improving durability. .

  Next, a pair of left and right rear crawler travel devices 70 as travel devices will be described. Since the left and right rear crawler traveling devices 70 have a symmetrical shape, the right rear crawler traveling device 70 will be described below. The description of the configuration of the left rear crawler traveling device 70 is omitted. Further, as necessary, the right rear crawler traveling device is appropriately denoted by reference symbol R, and the left rear crawler traveling device is appropriately denoted by reference symbol L. FIG. 7 is a right side view of the rear crawler traveling device 70, and FIG. 8 is a partial enlarged sectional view of the rear crawler traveling device 70 for explaining the mounting structure of the drive wheels. The left side is the vehicle inner side, the upper side is the vehicle front side, and the lower side is the vehicle rear side.

  As shown in FIG. 7, the rear crawler traveling device 70 includes a driving wheel 71 at the top, a driven wheel 72 below the driving wheel 71 and between the front wheel and the rear wheel, and between the two driven wheels 72. Two auxiliary rollers 73, a crawler belt 74, a mounting frame 75, a motor 76 as a drive device for driving the crawler traveling device, and the like.

  Here, the rear crawler traveling device 70 has a triangular shape in the side view as in the above-described front crawler traveling device 30. Unlike the above-described front crawler traveling device 30, the connection between the rear crawler traveling device 70 and a rear suspension device 90 described later is performed without using the bracket 40. Further, the arrangement position of the motor 76 of the rear crawler traveling device 70 is different. The description of the same configuration as that of the front crawler traveling device 30 is omitted as appropriate.

  As shown in FIG. 8, the motor 76 is positioned inside the mounting frame 75 and is fixed to a swing arm 94 (a flange portion 102 of the first arm 100) of the rear suspension device 90 described later. A drive wheel 71 is fixed to a drive shaft 78 of the motor 76. The rear crawler traveling device 70 is driven by the rotation of the drive shaft 78 of the motor 76.

  The end of the drive shaft 78 of the motor 76 on the vehicle outer side extends to the mounting frame 75, and the mounting frame 75 is rotatably connected to the drive shaft 78. That is, the rear crawler traveling device 70 is configured to be swingable in the front-rear direction around the drive shaft 78.

  In the rear crawler traveling device 70, like the front crawler traveling device 30, the crawler belt 74 between the two driven wheels 72 is in contact with the ground. The rear crawler traveling device 70 has a configuration in which the ground contact portion is wider than the front crawler traveling device 30. Therefore, by making the grounding portion of the crawler belt 74 wide, stable traveling is possible.

  Further, since the rear crawler traveling device 70 is supported so as to be swingable in the front-rear direction, the ground contact with the ground is improved, and a buffering effect due to the swinging of the front crawler traveling device 30 is generated and stably. Along with being able to run, ride comfort is improved.

  The rear crawler traveling device 70, as with the above-described front crawler traveling device 30, drives a tension adjusting device (not shown) that adjusts the tension of the crawler belt 74 by moving the position of the driven wheel 72 with respect to the mounting frame 75. A brake device (not shown) that stops the rotation of the wheel 71, a buffer mechanism that suppresses swinging of the rear crawler traveling device 70 in the front-rear direction around the drive shaft 78, and the like are also provided. This shock absorbing mechanism is provided between the mounting frame 75 and a swing arm 94 of a rear suspension device 90 to be described later. The rear crawler traveling device 70 is stably grounded, and traveling performance and riding comfort are improved. To do. In addition, when the rear crawler traveling device 70 comes into contact with the unevenness of the rough terrain, the shock absorbing mechanism can reduce a load such as a twist or an impact on a connecting portion with the rear suspension device 90, thereby improving durability. .

  Here, the motors 36 and 76 as driving devices for driving the front and rear crawler traveling devices 30 and 70 are electric motors driven by the electric power of the battery B, and are controlled by the control unit C. Electricity (electric power) from the battery B to the motors 36 and 76 and a control signal from the control unit C are transmitted by a flexible flexible wire harness. Then, by driving the motors 36 and 76 with the electric power of the battery B, the front and rear crawler traveling devices 30 and 70 are driven, and the traveling vehicle 1 can travel. Motors 36 and 76 as driving devices for the front and rear crawler traveling devices 30 and 70 are provided in the front and rear crawler 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 traveling devices 30 and 70, the transmission configuration of the driving force can be simplified, the number of parts is reduced, and the production is reduced. Good maintainability.

  Further, the front and rear crawler travel devices 30 and 70 can be largely swung in the vertical direction by front and rear suspension devices 50 and 90 described later. Therefore, it is preferable that the power supply from the battery B disposed on the vehicle body frame 10 to the motors 36 and 76 in the front and rear crawler traveling devices 30 and 70 is performed without hindering the vertical swinging. By using a flexible wire harness having a characteristic, it is possible to drive the front and rear crawler traveling devices 30 and 70 without hindering the swinging in the vertical direction.

  Further, the front and rear crawler traveling devices 30 and 70 are not limited to the above-described configuration. For example, the crawler traveling device may have a square shape or a trapezoidal shape when viewed from the side. In addition, the front crawler traveling device 30 and the rear crawler traveling device 70 may have the same shape. With such a configuration, the number of parts is reduced and productivity is improved.

  Further, a transmission device may be provided between the drive wheels 31 and 71 and the motors 36 and 76, and the driving force of the motors 36 and 76 may be transmitted to the drive wheels 31 and 71 via the transmission device. With such a configuration, it is possible to further easily drive the front and rear crawler traveling devices 30 and 70 with a desired output.

  Further, the interlocking connection between the motors 36 and 76 of the front and rear crawler traveling devices 30 and 70 and the drive wheels 31 and 71 is not limited to the above-described configuration. For example, the motor 36 is disposed outside the drive wheels 31 and 71 on the vehicle. , 76 may be arranged, or the motors 36, 76 may be arranged in-wheel in the drive wheels 31, 71. Further, similarly to the front crawler traveling device 30, the rear crawler traveling device 70 may be configured to interlock the motor 76 and the driving wheel 71 via a gear case. With such a configuration, the degree of freedom in arranging the motor is improved.

  Further, the front crawler traveling device 30 may have a configuration in which driving wheels 31 are fixed to the driving shaft 38 of the motor 36 as in the case of the rear crawler traveling device 70. The front crawler traveling device 30 described above offsets the position of the motor 36 forward by interlockingly connecting the motor 36 and the drive wheels 31 via the gear case 37. With such a configuration, a space is secured that allows the front crawler traveling device 30 to be pivotable in the left-right direction. Therefore, from the viewpoint of the steering mechanism, a configuration in which the position of the motor 36 is offset forward as described above is preferable, and the traveling vehicle 1 can be prevented from becoming large.

  Further, the motors 36 and 76 as driving devices for the front and rear crawler traveling devices 30 and 70 are not limited to electric motors, and may be hydraulic motors driven by fluid pressure, for example. When this hydraulic motor is used, for example, the traveling vehicle 1 includes an engine as a prime mover, a pump driven by the engine, a tank for storing oil as a working fluid, and the like inside the body frame 10. The pump and the hydraulic motors provided in the front and rear crawler traveling devices 30 and 70 are connected to each other by a flexible flexible hose via the hydraulic device. Then, the driving force of the engine is transmitted to the hydraulic motor via the pump, and the front and rear crawler traveling devices 30 and 70 are driven. The hydraulic device includes a hydraulic device such as a switching valve, a relief valve, a flow rate control valve, and a filter, and a control unit C that controls various valves to control the flow rate of hydraulic oil to each hydraulic motor, the hydraulic pressure. The inflow direction and the like can be changed. Then, hydraulic motors as drive devices for the front and rear crawler traveling devices 30 and 70 are provided in the front and rear crawler traveling devices 30 and 70, respectively.

  Therefore, with such a configuration, 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 travel devices 30 and 70, and the transmission configuration of the driving force can be simplified. The number of parts is reduced, and productivity and maintenance are good.

  Further, as described above, the front and rear crawler travel devices 30 and 70 can be largely swung in the vertical direction by front and rear suspension devices 50 and 90 described later. Therefore, it is preferable that the hydraulic oil is transmitted from the pump disposed in the vehicle body frame 10 to each hydraulic motor in the front and rear crawler traveling devices 30 and 70 without hindering the vertical swinging. By using such a flexible hose, the front and rear crawler traveling devices 30 and 70 can be driven without hindering the swinging in the vertical direction.

  In addition, when a hydraulic motor is used for the driving device of the front and rear crawler traveling devices 30 and 70, it can be easily driven at a high output. On the other hand, when an electric motor is used for the driving devices of the front and rear crawler traveling devices 30 and 70, the control is easy and the responsiveness is improved.

  Next, the front suspension device 50 will be described. In addition, since the front suspension apparatus 50 is a right-and-left symmetrical shape, the code | symbol R is suitably attached | subjected to the member which comprises the right side, and the code | symbol L is attached to the member which comprises the left side as needed. FIG. 9 is a right side view of the front suspension device 50. 10 is a view in the direction of arrow A in FIG. FIG. 11 is a perspective view of the front suspension device 50 as viewed from the front obliquely downward.

  As shown in FIGS. 9 to 11, the front suspension device 50 includes a turning arm 51, a motor 52 as a turning device for turning the turning arm 51, and a pair of left and right connecting arms 53 (53R, 53L). And a pair of left and right swing arms 54 (54R, 54L). In FIG. 11, the description of the body frame 10 is omitted. 9 to 11, the straight line L <b> 1 is a straight line passing through the center of the rotation shaft 18, and the straight line L <b> 2 is a straight line passing through the rotation center of the rotation arm 51.

  The rotation arm 51 is a prismatic member extending in the left-right direction, and has a rotation shaft 55 at the center in the left-right direction. The rotating arm 51 is rotatably supported by the bracket 56 about the rotating shaft 55 (straight line L2). The bracket 56 is fixed to the lower surface of the front support plate 16 of the body frame 10. Therefore, the rotation arm 51 is supported by the vehicle body frame 10 via the bracket 56 so as to be rotatable about the substantially vertical direction. The rotating shaft 55 is perpendicular to the front support plate 16, and the rotating shaft 55 is inclined in the front-rear direction.

  The motor 52 is fixed to the upper surface of the front support plate 16 of the vehicle body frame 10 with a drive shaft (not shown) facing downward. The drive shaft of the motor 52 is connected to the rotation shaft 55 of the rotation arm 51 via a transmission (not shown) having gears. Therefore, the motor 52 can rotate the rotation arm 51 around the rotation shaft 55.

  Here, the rotating arm 51 is not limited to the above-described configuration. The rotation arm 51 may be any one that extends in the left-right direction and is rotatably supported by the vehicle body frame 10 at the center in the left-right direction. For example, the rotation shaft 55 may not be inclined in the front-rear direction, that is, the rotation shaft 55 may be vertical, or the rotation shaft 55 may be horizontal. Note that, from the viewpoint of effectively using the space inside the vehicle body frame 10, the rotation arm 51 is preferably arranged so that the rotation shaft 55 is in a substantially vertical direction. With this configuration, the front suspension device 50 can be disposed along the vehicle body frame 10, and the space inside the vehicle body frame 10 can be effectively used.

Further, the connection between the rotation arm 51 and the drive shaft of the motor 52 is not particularly limited, and the rotation shaft 55 and the drive shaft of the motor 52 may be directly connected.
Here, the motor 52 is an electric motor driven by the electric power of the battery B, and is controlled by the control unit C. The device for rotating the rotating arm 51 is not limited to an electric motor as long as the rotating arm 51 can be rotated by a predetermined angle in a predetermined rotation direction.

  For example, a hydraulic motor driven by fluid pressure may be used. When this hydraulic motor is used, the traveling vehicle 1 includes an engine as a prime mover and the engine as in the case where the motors 36 and 76 as the driving devices of the front and rear crawler traveling devices 30 and 70 are hydraulic motors. A pump for driving, a tank for storing oil as working fluid, and the like are connected, and a pump and a hydraulic motor as a device for rotating the rotating arm 51 are connected via a hydraulic device including a hydraulic device such as a switching valve. Then, by controlling the switching valve and the like of the hydraulic device by the control unit C, the hydraulic motor is rotated in a desired direction and angle. And the rotation arm 51 is rotated by rotation of this hydraulic motor.

  Further, the device for rotating the rotating arm 51 may be a hydraulic cylinder including a piston rod and a cylinder liner, instead of the above-described hydraulic motor. When using a hydraulic cylinder, one end is connected to the rotating arm 51 and the other end is connected to the vehicle body frame 10. Then, similarly to the hydraulic motor, the control valve C and the like of the hydraulic device are controlled by the control unit C to extend and contract the hydraulic cylinder. And the rotation arm 51 is rotated by expansion and contraction of this hydraulic cylinder.

  From the standpoints of reducing the number of parts, ease of manufacture, reducing vehicle weight, and the like, the drive sources of the front and rear crawler travel devices 30 and 70 and the drive source of the rotation device that rotates the rotation arm 51 are the same. It is preferable to make it. That is, when the motors 36 and 76 as the driving devices of the front and rear crawler traveling devices 30 and 70 are electric motors, the rotating device that rotates the rotating arm 51 is an electric motor that is driven by electric power. Is preferred. On the other hand, when the motors 36 and 76 are hydraulic motors, the rotation device that rotates the rotation arm 51 is preferably a hydraulic motor or a hydraulic cylinder that is driven by fluid pressure.

  The connection arm 53 (53R, 53L) is a telescopic bar-shaped buffer mechanism composed of a cylinder or the like, and is a so-called damper. One end of the right connecting arm 53R is connected to the right end of the rotating arm 51 via a ball joint 57R as a universal joint. The other end of the right connection arm 53R is connected to the right swing arm 54R via a ball joint 58R as a universal joint.

  One end of the left connecting arm 53L is connected to the left end portion of the rotating arm 51 via a ball joint 57L as a universal joint, like the right connecting arm 53R. The other end of the left connecting arm 53L is connected to the left swing arm 54L via a ball joint 58L as a universal joint. That is, one end of the connecting arm 53 is connected to the rotating arm 51 via the ball joint 57, and the other end is connected to the swing arm 54 via the ball joint 58.

  Here, the connecting arm 53 is not limited to the above-described configuration. The connecting arm 53 only needs to have one end connected to the rotating arm 51 and the other end connected to the swing arm 54. For example, instead of a ball joint of a universal joint, a configuration in which a cross shaft type universal joint is used may be used. Further, the connecting arm 53 may not be a telescopic bar-shaped buffer mechanism, and may be an arm made of steel. However, in order to travel stably and improve riding comfort, the connecting arm 53 is preferably provided with a buffer mechanism, and is preferably a telescopic rod-shaped buffer mechanism that functions as a damper.

  The swing arm 54 (54R, 54L) includes a support portion 59, a first arm 60, a second arm 61, and the like. The swing arm 54 has a first arm 60 and a second arm 61 extending from the support portion 59 and is formed in a substantially L shape in side view.

The support portion 59 has a cylindrical shape extending in the left-right direction, and is rotatably supported by the rotation shaft 18 of the vehicle body frame 10.
The first arm 60 is a rod-like member that extends forward from the outer periphery of the support portion 59, and the front crawler traveling device 30 is connected to an end portion of the first arm 60. The end of the first arm 60 is bifurcated into upper and lower forks, and a rotating shaft 62 is fixed between the branches. The rotating shaft 62 is inserted into the through hole 41 of the bracket 40 of the front crawler traveling device 30 described above. Therefore, the front crawler traveling device 30 is connected to the end portion of the first arm 60 via the bracket 40 so as to be rotatable in the left-right direction with the vertical direction as an axis (rotating shaft 62). Note that the rotation shaft 62 passes through the center of the rotation shaft 39 of the front crawler traveling device 30 in a side view.

  The second arm 61 is a rod-like member extending downward from the outer periphery of the support portion 59, and one end of the connection arm 53 is connected to the end portion via a ball joint 58 as a universal joint. Note that the second arm 61 is located inward of the vehicle from the first arm 60. Further, the length of the second arm 61 is smaller than the length of the first arm 60. Accordingly, the swing arm 54 is configured to be supported by the support portion 59 so as to be swingable up and down about the left and right direction as an axis (straight line L1). Further, the swing arm 54 is configured such that the front crawler traveling device 30 is connected by the first arm 60. Further, the swing arm 54 is configured such that one end of the connection arm 53 is connected by the second arm 61.

  Here, the swing arm 54 is not limited to the above-described configuration. The swing arm 54 may be supported by the vehicle body frame 10 so as to be swingable up and down about the left and right direction, the front crawler traveling device 30 is connected to the end, and the end of the connection arm 53 is connected. . For example, the swing arm 54 may be configured such that the first arm 60 and the second arm 61 are positioned on a straight line in a side view. Further, the second arm 61 may be extended from the first arm 60. In consideration of transmission of force to the connecting arm 53 to be described later, the first arm 60 and the second arm 61 are extended from the support portion 59, and the connection between the second arm 61 and the connecting arm 53 is seen in a side view. A configuration that is substantially perpendicular is preferable.

  Moreover, the shape of the 1st arm 60 and the 2nd arm 61 is not limited, For example, the curved shape may be sufficient. Further, the second arm 61 may be configured to extend upward from the outer periphery of the support portion 59. In consideration of the operation of the swing arm 54 to be described later, the distance from the rotation shaft 18 serving as the rotation center of the swing arm 54 to the connecting portion between the front crawler travel device 30 of the first arm 60 is determined by the rotation. It is preferable that the distance is larger than the distance to the connecting portion between the shaft 18 and the connecting arm 53 of the second arm 61. That is, it is preferable that the distance to the connecting portion between the rotating shaft 18 and the front crawler traveling device 30 is larger than the distance to the connecting portion between the rotating shaft 18 and the connecting arm 53.

  Next, the rear suspension device 90 will be described. In addition, since the rear suspension apparatus 90 is a left-right symmetric shape, the code | symbol R is suitably attached | subjected to the member which comprises the right side, and the code | symbol L is attached to the member which comprises the left side as needed. FIG. 12 is a right side view of the rear suspension device 90. FIG. 13 is a view in the direction of arrow B in FIG. 12 and 13, the straight line L3 is a straight line passing through the center of the rotation shaft 19, and the straight line L4 is a straight line passing through the rotation center of the rotation arm 91.

  As shown in FIGS. 12 and 13, the rear suspension device 90 includes a turning arm 91, a motor 92 as a turning device for turning the turning arm 91, and a pair of left and right connecting arms 93 (93 </ b> R and 93 </ b> L). And a pair of left and right swing arms 94 (94R, 94L).

  Here, the rear suspension device 90 has a longitudinally symmetrical configuration with respect to the above-described front suspension device 50 and the straight line L1 except for the shape of the swing arm 94. Unlike the connection between the swing arm 54 and the front crawler travel device 30 in the front suspension device 50 described above, the swing arm 94 and the rear crawler travel device 70 are connected without using the bracket 40. . That is, only the shape of the end of the first arm 100 of the swing arm 94 is different, and the description of the same configuration as that of the front suspension device 50 is omitted as appropriate.

  The rotating arm 91 is rotatably supported by the bracket 96 around the rotating shaft 95, and the bracket 96 is fixed to the lower surface of the rear support plate 17 of the body frame 10. The pivot arm 91 is supported by the vehicle body frame 10 via the bracket 96 so as to be pivotable about the substantially vertical direction. The rotating shaft 95 is inclined in the front-rear direction.

  The motor 92 is fixed to the upper side surface of the rear support plate 17 of the body frame 10. A drive shaft (not shown) of the motor 92 is connected to a rotation shaft 95 of the rotation arm 91 via a transmission (not shown) having gears and the like. The motor 92 can rotate the rotation arm 91 about the rotation shaft 95.

  The connecting arm 93 is a damper of a telescopic bar-shaped buffer mechanism. One end of the connecting arm 93 is connected to the rotating arm 91 via the ball joint 97. The other end of the connecting arm 93 is connected to the swing arm 94 via a ball joint 98. The swing arm 94 has a first arm 100 and a second arm 101 extending from the support portion 99, and is formed in a substantially L shape in side view. The support portion 99 has a cylindrical shape extending in the left-right direction, and is rotatably supported by the rotation shaft 19 of the body frame 10. The first arm 100 is a rod-like member extending rearward from the outer periphery of the support portion 99, and a flange portion 102 having a vertical and flat surface is formed at an end portion. Then, the motor 76 of the rear crawler traveling device 70 is fixed to the inner surface of the flange portion 102 (see FIG. 8). Therefore, the rear crawler traveling device 70 is connected to the end of the first arm 100.

  In addition, the connection between the first arm 100 and the rear crawler traveling device 70 is not limited to the above-described configuration. For example, the structure by which the edge part of the 1st arm 100 is fixed to the motor 76 main body of the back crawler traveling apparatus 70 may be sufficient. Further, when the rear crawler traveling device 70 includes a gear case similarly to the front crawler traveling device 30, the end portion of the first arm 100 may be fixed to the gear case.

  The second arm 101 is a rod-like member extending downward from the outer periphery of the support portion 99, and one end of the connection arm 93 is connected to the end via a ball joint 98 as a universal joint. The swing arm 94 is supported by the support unit 99 so as to be swingable up and down about the left and right direction as an axis. Further, the swing arm 94 is configured such that the rear crawler traveling device 70 is connected by the first arm 100. Further, the swing arm 94 is configured such that one end of the connection arm 93 is connected by the second arm 101.

  Next, operations of the front suspension device 50 and the rear suspension device 90 will be described. The front suspension device 50 and the rear suspension device 90 are symmetrical in shape except for the connection structure with the respective crawler traveling devices 30 and 70. Therefore, the front suspension device 50 will be described below for explanation. The description of the rear suspension device 90 is omitted. FIG. 14 is a right side view for explaining the operating state of the front suspension device 50. FIG. 15 is a view in the direction of the arrow C in FIG. FIG. 14 shows a state in which the right front crawler traveling device 30R swings downward and the left front crawler traveling device 30L swings upward. The description of the swing arm 54L is omitted.

  The above-described front suspension device 50 can swing the left and right front crawler traveling devices 30R and 30L in conjunction with each other in the up and down directions in opposite directions. In the state of FIG. 10, when the rotating arm 51 is rotated counterclockwise (counterclockwise) by the motor 52, the right front crawler traveling device 30 </ b> R pivots the rotating shaft 18 as shown in FIGS. 14 and 15. The left front crawler traveling device 30L is swung upward about the rotation shaft 18 as an axis.

  More specifically, as shown in FIG. 15, when the rotating arm 51 is rotated counterclockwise (counterclockwise) by an angle θ, the right connecting arm 53R is moved rearward as shown in FIG. When the right connection arm 53R moves rearward, the second arm 61R of the right swing arm 54R is rotated backward (clockwise in FIG. 14) about the rotation shaft 18. Since the right second arm 61R rotates together with the right first arm 60R together with the right support portion 59R, when the right second arm 61R rotates backward, the right first arm 60R The crawler travel device 30R is pivoted downward with the pivot shaft 18 as an axis and rotated downward (clockwise in FIG. 14).

  On the other hand, when the rotating arm 51 is rotated counterclockwise (counterclockwise) by the angle θ by the motor 52, the left connecting arm 53L is moved forward. When the left connection arm 53L moves forward, the second arm 61L of the left swing arm 54L is rotated forward (counterclockwise in FIG. 14) about the rotation shaft 18 as an axis. . When the left second arm 61L is rotated forward, the left first arm 60L is rotated upward (counterclockwise in FIG. 14) about the rotation shaft 18 and left The crawler traveling device 30L is swung upward. Note that when the rotating arm 51 is rotated clockwise (clockwise) by the motor 52, the front suspension device 50 operates in the reverse direction to that described above, and thus the description thereof is omitted.

Therefore, the left and right front crawler travel devices 30R and 30L suspended by the front suspension device 50 swing in conjunction with each other in the vertical direction. This left and right front crawlers 3 0R, 3 0L is because being connected via a pivot arm 51 which pivots substantially vertically as the shaft to the body frame 10.

  Here, the front crawler traveling device 30 swings in the vertical direction without moving in the left-right direction and without rotating about the front-rear direction. The grounding portion of the front crawler traveling device 30 is always kept parallel to the body frame 10 and slides in the vertical direction with respect to the body frame 10. Therefore, the left and right front crawler traveling devices 30R and 30L can be made to quickly follow the change in the unevenness in the vertical direction of the rough terrain and the inclination of the slope, and the traveling performance, operability, and riding comfort are good.

  Further, since the motor 52 swings the left and right front crawler travel devices 30R, 30L in the vertical direction, the occupant does not need to perform operations such as weight shift. Therefore, the occupant can easily swing the left and right front crawler travel devices 30R, 30L in the vertical direction, and the burden on the occupant's driving operation can be reduced, and the driving can be continued comfortably for a long time.

  Further, the front suspension device 50 has a configuration in which the left and right front crawler travel devices 30R and 30L are integrally suspended on the vehicle body frame 10, and is simpler than the configuration in which the respective crawler travel devices are suspended independently, and has a reduced number of parts. Is reduced, and productivity and maintainability are good.

  Further, when the vehicle travels on the slope, even if the left and right front crawler travel devices 30R and 30L are swung up and down in accordance with the inclination of the slope, the grounding portion of the front crawler travel device 30 is in contact with the vehicle body frame 10. Always kept parallel. Therefore, the mountain side portion of the ground contact portion of the front crawler traveling device 30 can be bitten into the slope as an edge. For example, when traveling on the slope where the right side of the traveling vehicle 1 is a mountain and the left side is a valley, the right side portion of the ground contact portion of the front crawler traveling device 30 can be bitten into the slope as an edge. Therefore, the front crawler traveling device 30 is less likely to skid on the slope, and the traveling performance and riding comfort when traveling on the slope are good.

  Here, as shown in FIG. 9, the connecting arm 53 and the second arm 61 are connected at a substantially right angle in a side view. Therefore, the force generated by the rotation of the rotating arm 51 can be effectively transmitted from the connecting arm 53 as the force of the swinging of the swinging arm 54 in the vertical direction (rotating about the rotating shaft 18). The heavy front crawler traveling device 30 can be easily swung up and down. The motor 52 can be reduced in size.

  The distance (the length of the first arm 60) from the rotation center of the support portion 59 (center L1 of the rotation shaft 18) to the connecting portion between the first arm 60 and the front crawler travel device 30 is the support portion 59. Is greater than the distance (the length of the second arm 61) from the rotation center (the center L1 of the rotation shaft 18) to the connection portion between the second arm 61 and the connection arm 53. Therefore, even if the movement amount of the connecting arm 53 in the front-rear direction, that is, the rotation amount of the rotation arm 51 is small, the rotation amount about the rotation shaft 18 of the swing arm 54 can be increased. That is, the front crawler traveling device 50 can be swung up and down largely by the small rotation of the rotation arm 51, and the suspension device 50 can be downsized.

  Further, the rotation shaft 18 is positioned substantially at the center in the front-rear direction of the vehicle body frame 10, and the connecting arm 53 and the swing arm 54 are arranged to extend forward from the rotation shaft 18. That is, the front suspension device 50 is configured such that it is bent at the connecting portion between the connecting arm 53 and the swing arm 54 (the end of the second arm), and the connecting arm 53 and the swing arm 54 are arranged side by side in plan view. ing. Therefore, the length of the front suspension device 50 in the front-rear direction can be shortened, and the overall length of the traveling vehicle 1 can be shortened, so that traveling performance is improved.

  Further, the rotation shaft 18 is located at the approximate center of the body frame 10 in the front-rear direction. That is, the support portion 59 is rotatably supported at the approximate center of the vehicle body frame 10 in the front-rear direction, and the swing arm 54 is disposed so as to extend forward from the approximate center of the vehicle body frame 10 in the front-rear direction. Therefore, the suspension device 50 (the swing arm 54) does not protrude greatly to the front of the traveling vehicle 1, the overall length of the traveling vehicle 1 can be shortened, and traveling performance is improved.

Further, the swing arm 54 of the front suspension device 50 and the swing arm 94 of the rear suspension device 90 are rotatably supported adjacent to each other at substantially the center in the front-rear direction of the body frame 10. The force applied to the vehicle body frame 10 from the front suspension device 50 and the rear suspension device 90 tends to concentrate in the vicinity of the center.
Here, the base frame portion 11 on which the rotating shafts 18 and 19 are formed has a symmetrical shape, and a structure similar to the truss structure is provided by the reinforcing frames 20 and 21 connected in the vicinity of the rotating shafts 18 and 19. Is formed. In other words, the base frame portion 11 has a high strength because the portion where the force tends to concentrate is effectively reinforced and the strength is equalized. Therefore, the body frame 10 has sufficient strength and can suppress an increase in weight.

  Further, the rotation shaft 18 is positioned at a substantially central lower portion in the front-rear direction of the body frame 10, the second arm 61 is suspended downward from the support portion 59, and the rotation arm 51 and the connection arm 53 are further provided. The configuration is located below the body frame 10. That is, the main constituent members of the suspension device 50 are located below the body frame 10. The swing arm 53 is located on the side of the body frame 10. Therefore, the suspension device 50 does not occupy the interior of the body frame 10, the space inside the body frame 10 can be used effectively, and the overall length of the traveling vehicle 1 can be shortened. For example, a battery or the like can be disposed inside the body frame 10.

  The left and right connecting arms 53R and 53L are dampers of a telescopic rod-like buffer mechanism composed of a cylinder or the like, and the left and right front crawler travel devices 30R and 30L are suspended from the vehicle body frame 10 via the dampers. This is a configuration. Therefore, the impact between the vehicle body frame 10 and the left and right front crawler travel devices 30R and 30L can be buffered by the left and right connecting arms 53R and 53L, respectively. Then, the left and right front crawler traveling devices 30R and 30L are stably grounded, and traveling performance and riding comfort are improved.

  Here, the front crawler traveling device 30 may swing in the vertical direction, that is, the motor 52 may be rotated according to the operation of the occupant. It is often difficult to swing the left and right front crawler travel devices 30 along Therefore, the structure which controls the motor 52 as a rotation apparatus with the various sensors mentioned later and a control part is preferable. As a configuration in which the motor 52 operates according to the operation of the occupant, for example, a configuration in which the operation device is provided in the vicinity of the accelerator grip 117 of the handle lever 116 and the motor 52 operates according to the operation of the operation device by the occupant. It is also good. As the operation device, for example, a switch mechanism such as a toggle switch or a push switch can be used. With such a configuration, the occupant can operate the vehicle while holding the accelerator clip 117, so that the traveling operation of the traveling vehicle 1 and the operation of the operation device can be performed at the same time, so that safety and operability are good. The operating device is not particularly limited, and is preferably configured and arranged so that the occupant can operate the operating device while operating the traveling vehicle 1.

  Next, traveling and steering of the traveling vehicle 1 will be described. As described above, the front and rear crawler travel devices 30 and 70 are driven by rotating the drive wheels 31 and 71 by the motors 36 and 76 provided therein, respectively. And driving | running | working forward and backward of the traveling vehicle 1 is possible by driving the front and rear crawler traveling devices 30 and 70. Further, the traveling vehicle 1 can be steered by rotating the left and right front crawler travel devices 30R, 30L in conjunction with the vehicle body frame 10 in the left-right direction by a steering device (not shown). The traveling vehicle 1 is traveled and steered by controlling the front and rear crawler traveling devices 30 and 70 and the steering device by the control unit.

  More specifically, the steering device is controlled based on the detection value of the steering wheel sensor that detects the rotation angle of the steering shaft 115 to perform steering, and the detection value of the accelerator grip sensor that detects the rotation angle of the accelerator grip 117 is used. Based on this, the front and rear crawler travel devices 30, 70 are controlled.

  In the above-described configuration, the front and rear crawler travel devices 30 and 70 are controlled based on the detected value of the accelerator grip sensor, which is the operation amount of the accelerator grip 117 of the occupant, but is not limited to this configuration. . The front and rear crawler traveling devices 30 and 70 may be controlled based on at least a detection value of an accelerator grip sensor that is an operation amount of an occupant. For example, the front and rear crawler traveling devices 30 and 70 may be configured to be controlled based on the detected value of the handle sensor and the detected value of the accelerator grip sensor. In other words, the crawler travel devices 30R, 30L, 70R, 70 may be driven at different speeds in the turning travel state. By adopting such a configuration, it is possible to perform turning traveling in consideration of the difference between the inner wheels, and it is possible to smoothly turn. Moreover, as shown in FIG. 16, the structure which is equipped with the various sensors which detect the driving state of the traveling vehicle 1, and is controlled based on the detected value of these various sensors may be sufficient. Note that the steering shaft 115 and the steering device may be interlocked and connected, and the steering device may be operated according to the operation of the steering shaft 115.

  As sensors for detecting the traveling state of the traveling vehicle 1, the angle sensor S <b> 1 that detects the rotation angle of the rotation arm 51 of the front suspension device 50 with respect to the vehicle body frame 10, and the vehicle body frame 10 of the swing arm 54 of the front suspension device 50. An angle sensor S2 that detects a rotation angle with respect to the vehicle body frame 10, an angle sensor S3 that detects a rotation angle of the rotation arm 91 of the rear suspension device 90 with respect to the vehicle body frame 10, and a vehicle body frame 10 of the swing arm 94 of the rear suspension device 90. An angle sensor S4 that detects a rotation angle with respect to the crawler, a crawler rotation sensor S5 that detects the number of rotations of the drive wheels 31 and 71 of the front and rear crawler travel devices 30 and 70, and motors of the front and rear crawler travel devices 30 and 70L. A torque sensor S6 for detecting the output torque of 36 and 76, and a tilt sensor for detecting the tilt angle of the body frame 10 with respect to the horizontal. Configured to include The S7 like. Then, the control unit C, together with the handle sensor S8 and the accelerator grip sensor S9, based on the detection values of the various sensors described above, the crawler travel devices 30R, 30L, 70R, and 70L, and the motors 52 and 92 as the rotation devices. To control.

  Here, the control unit C calculates the vertical swing state (position) of the crawler travel devices 30R, 30L, 70R, and 70L with respect to the vehicle body frame 10 based on the rotation angles of the angle sensors S1 to S4. Therefore, it is possible to detect the swinging state (vertical position) of the crawler travel devices 30R, 30L, 70R, and 70L in the vertical direction with respect to the vehicle body frame 10 based on the detection values (rotation angles) of the angle sensors S1 to S4. In addition, the crawler rotation sensor S5 and the torque sensor S6 can detect the ground contact state (road surface condition) of each of the crawler travel devices 30R, 30L, 70R, and 70L. Further, the inclination angle of the traveling vehicle 1 with respect to the horizontal, that is, the traveling posture of the traveling vehicle 1 can be detected by the inclination sensor S7. Moreover, a passenger | crew's driving | running | working operation can be detected by steering wheel sensor S8 and accelerator grip sensor S9.

  Therefore, the traveling state of the traveling vehicle 1 can be grasped in detail by various sensors. And the control part C can control each crawler traveling apparatus 30R, 30L, 70R, 70L according to the driving | running | working state of the traveling vehicle 1 with respect to a passenger | crew's handle | steering-wheel and accelerator operation. Will improve. Further, the body frame 10 is held horizontally by controlling the motors 52 and 92 as the rotation devices based on the detection values of the angle sensors S1 to S4 or the detection values of the angle sensors S1 to S4 and the inclination sensor S7. This improves the driving performance and riding comfort on rough terrain.

  In addition, the kind of various sensors is not specifically limited, For example, a potentiometer, an encoder, etc. are used for the detection of a rotation angle. A gyro sensor or the like is used as the inclination sensor S7. The tilt sensor S7 may be any sensor that can detect at least the roll angle of the tilt in the left-right direction, and may be capable of detecting the pitch angle of the tilt in the front-rear direction. With such a configuration, the inclination angle of the traveling vehicle 1 with respect to the horizontal can be grasped in more detail, and the traveling performance and stability of the traveling vehicle 1 can be improved.

  Moreover, the control part C may be the structure which memorize | stores the detection value of various sensors continuously, and controls each apparatus based on the detection value of various sensors, and its variation | change_quantity. For example, the control unit C calculates the vertical swing state (vertical position) of the crawler travel devices 30R, 30L, 70R, and 70L with respect to the vehicle body frame 10 based on the detection values of the angle sensors S1 to S4. A configuration may be used in which the swing speed (vertical speed) of each of the crawler travel devices 30R, 30L, 70R, and 70L is calculated from the change over time of the swing displacement. With such a configuration, the swinging state of each of the crawler traveling devices 30R, 30L, 70R, and 70L can be grasped by the swinging displacement and the swinging speed. Therefore, a more detailed traveling state of the traveling vehicle 1 can be grasped, and the traveling performance of the traveling vehicle 1 is improved.

  Moreover, the structure of the various sensors for grasping | ascertaining a driving state is not specifically limited. For example, the sensor that detects the swinging state of each crawler traveling device 30R, 30L, 70R, 70L in the vertical direction may be a sensor that detects the distance between the vehicle body frame 10 and the ground. As a sensor for detecting such a distance, an ultrasonic distance sensor or an infrared distance sensor can be used. The sensors that detect the swinging state are preferably the angle sensors S1 to S4 described above, and the vertical swinging state of each of the crawler traveling devices 30R, 30L, 70R, and 70L can be grasped more accurately than the distance sensor. can do.

  Moreover, it is good also as a structure provided with an acceleration sensor in the vehicle body frame 10 or each crawler traveling apparatus 30R, 30L, 70R, 70L. With such a configuration, the traveling state of the traveling vehicle 1 can be grasped more accurately.

  Moreover, the structure provided with two or more various sensors may be sufficient, and the number of sensors is not limited. For example, the angle sensors S1 to S4 described above as the swing sensors that detect the swing state of the crawler travel devices 30R, 30L, 70R, and 70L with respect to the vehicle body frame 10 in the vertical direction are S1 and S3, or S2 and S4. The structure which consists of may be sufficient. In addition, the structure which provides multiple various sensors is preferable, and it can grasp | ascertain the driving | running state of the traveling vehicle 1 more correctly by setting it as such a structure.

  The arrangement of various sensors is not particularly limited. For example, the angle sensors S1 to S4 are preferably fixed to the body frame 10 side. With this configuration, the wire harness connected to the angle sensors S1 to S4 is not affected by the rotation of the rotation arms 51 and 91 and the swing of the swing arms 54 and 94, and the wire harness Wire breakage can be prevented and wire harnessing is easy. In addition, the inclination sensor S7 is preferably arranged at the center in the width direction of the traveling vehicle 1, and further preferably has a configuration provided at the center in the front-rear direction of the traveling vehicle 1 or at the front and rear portions of the traveling vehicle 1, respectively. That is, it is preferable that the inclination sensor S7 is provided at the center of the traveling vehicle 1 in the front-rear direction, or provided at the front suspension device 50 and the rear suspension device 90, respectively. In the case where the inclination sensor S7 is provided at the center in the front-rear direction of the traveling vehicle 1, the inclination angle of the traveling vehicle 1 with respect to the horizontal (the traveling posture of the traveling vehicle 1) can be effectively detected by one inclination sensor S7. Further, when the inclination sensor S7 is provided corresponding to each of the front suspension device 50 and the rear suspension device 90, the inclination angle (traveling posture of the traveling vehicle 1) of the traveling vehicle 1 with respect to the horizontal can be detected more accurately.

  Moreover, it is good also as a structure provided with the alarm device controlled by the control part C based on the detection value of various sensors. For example, you may provide the alarm device controlled based on the detected value of inclination sensor S7. With such a configuration, it is possible to warn the occupant that the running slope is steep, and it is possible to prevent a situation in which a skid or rollover is likely to occur, so that safety is improved. improves. The alarm device is not particularly limited as long as it can warn an occupant. For example, an alarm sound generating device or a lamp blinking device that warns an occupant with sound or light may be used. Further, the alarm device may be an emergency stop device that stops the front and rear crawler traveling devices 30 and 70.

  Moreover, the traveling control of the traveling vehicle 1 by the control unit C is not limited to the above-described control configuration. For example, based on the roll angle of the left-right inclination of the traveling vehicle 1 detected by the inclination sensor S7, the swing displacement of each of the crawler traveling devices 30R, 30L, 70R, 70L detected by the angle sensors S1 to S4, and the like. A control configuration including ON / OFF control of driving of the motors 52 and 92 as the rotation device may be used. That is, a control configuration including ON / OFF control of driving of the motors 52 and 92 according to the traveling state may be used.

  By adopting such a control configuration, for example, when the inclination or unevenness of the travel path is smaller than a predetermined value, the motor 52, 92 is driven with the drive stopped, and only when the motor 52 is larger than the predetermined value, the motor 52 , 92 can be driven, and by reducing the drive time of the motors 52, 92 during traveling, the traveling vehicle 1 can travel with good energy efficiency. In addition, ON / OFF of the drive of the motors 52 and 92 is not limited to control by the control part C, The structure which can be turned ON / OFF according to a passenger | crew's operation may be sufficient.

  Note that the front suspension device 50 is not limited to the above-described configuration. The front suspension device 50 extends in the left-right direction and is rotatably supported by the body frame 10 at the center in the left-right direction. And a right swing arm 54R that is supported by the right front crawler travel device 30R at the end and swings up and down around the left and right direction as an axis. A left swing arm 54L that is freely supported and has a left front crawler travel device 30L connected to the end, one end connected to the right end of the rotating arm 51, and the other end to the right swing arm 54R. What is necessary is just to include the right connecting arm 53R to be connected and the left side connecting arm 53L having one end connected to the left end of the rotating arm 51 and the other end connected to the left swing arm 54L. .

  For example, the second arm 61 of the swing arm 54 in the above-described front suspension device 50 is configured to extend downward from the support portion 59, but may be configured to extend upward. Good. By adopting such a configuration, the second arm 61 does not protrude below the body frame 10, and the second arm 61 can be prevented from coming into contact with an obstacle during traveling. In addition, since the vehicle height of the traveling vehicle 1 can be lowered to lower the center of gravity, the traveling performance is improved. In order to lower the center of gravity, it is preferable to place a heavy battery or fuel tank below the body frame 10. Note that the rear suspension device 90 may have the same form as the front suspension device 50, and has the same effect as described above.

  Here, the above-described buffer mechanism is not limited to a damper configured from a cylinder or the like, and may be configured to buffer an impact. For example, the buffer mechanism includes a spring and a cylinder. May be.

  Further, the front and rear suspension devices 50 and 90 may be configured not to include the motors 52 and 92 as the rotation devices. In such a configuration, the occupant can swing the front and rear crawler travel devices 30 and 70 up and down by tilting the body frame to either the left or right. For example, when the occupant moves his / her weight to the right side and tilts the vehicle body frame 10 to the right side, the front and rear crawler travel devices 30R and 70R swing upward and the left front and rear crawler travel devices 30L and 70L Swings downward.

  Accordingly, when traveling on a slope, the traveling vehicle 1 is tilted toward the mountain side of the slope to bring the vehicle body frame 10 closer to the horizontal, so that the mountain side portion of the ground portion of the front crawler traveling device 30 and the ground portion of the rear crawler traveling device 70 The side of the mountain can be cut into the slope as an edge. The front and rear crawler traveling devices 30 and 70 are less likely to skid on the slope, and the traveling performance and riding comfort during the slope traveling are good.

  Here, in the case of such a configuration, the occupant always moves in the left-right direction and travels while keeping the balance of the body frame 10 in the left-right direction. Therefore, in consideration of operability when continuously driving for a long time, a configuration including the motors 52 and 92 as rotating devices is preferable, and the occupant can drive more comfortably for a long time.

  Further, the traveling vehicle is not limited to one that travels by the four crawler traveling devices 30R, 30L, 70R, and 70L as in the traveling vehicle 1 described above. It is sufficient to travel with at least a pair of left and right traveling devices. For example, although not shown here, the traveling vehicle 1 may have a configuration in which the number of rear crawler traveling devices 70R and 70L in the traveling vehicle 1 is one. This traveling vehicle has a configuration in which one rear crawler traveling device 70 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. The suspension device for the rear crawler traveling device in this traveling vehicle is not particularly limited, but a suspension device that can be swung up and down with respect to the vehicle body frame is preferable. For example, the rear crawler traveling device may be suspended by a traction arm whose one end is connected to the body frame so as to be rotatable about the left-right direction and the other end is connected to the rear crawler traveling device. By adopting such a configuration, even three traveling devices can stably travel on slopes and rough terrain. In addition, the number of parts can be reduced, and productivity and maintainability are improved.

  The traveling device in the traveling vehicle 1 is not limited to a crawler traveling device, and may be a wheel traveling device. With such a configuration, the traveling device has a simple configuration, the number of parts can be reduced, and productivity and maintainability are improved. In addition, when driving on soft ground or the like, the above-described crawler type traveling device having a high grip with the ground is preferable.

  The traveling vehicle 1 is not limited to the saddle riding type traveling vehicle. Although not shown here, a traveling vehicle or the like that includes a cabin and in which a passenger sits on a seat while riding may be used. A steering having a circular steering bar at the upper end of the steering shaft is provided in front of the seat. An accelerator pedal operated by a foot is provided below the steering. By adopting such a configuration, the safety of the passenger is ensured by the cabin.

  Further, instead of the steering wheel and the accelerator pedal, one end may be rotatably supported by the vehicle body frame, and a pair of left and right operation levers that can tilt in the front-rear direction may be provided. The operation levers are respectively disposed on the right side and the left side of the occupant when riding. The occupant operates the right operating lever with the right hand and the left operating lever with the left hand.

  The drive of the right front / rear crawler travel device 30R, 70R is controlled based on the front-rear tilt (rotation angle) of the right operation lever, and the front-rear tilt (rotation angle) of the left operation lever is controlled. The left front and rear crawler travel devices 30L and 70L are controlled. Accordingly, since the occupant can perform the traveling operation of the work vehicle only by tilting the left and right operation levers, the traveling operation can be easily performed.

  Note that when a traveling operation is performed using such left and right operation levers, it is difficult for the occupant to hold the posture by holding the operation lever. Therefore, it is preferable to use it for a traveling vehicle in which an occupant sits on a seat while riding.

  Steering of the traveling vehicle 1 is performed by a so-called well-known steering mechanism in which left and right front crawler traveling devices as a traveling device are rotated by a steering device in conjunction with the left-right direction. It is not limited. For example, the structure which steers a vehicle by making a difference in the drive speed of each traveling apparatus may be sufficient.

  In addition, the traveling vehicle is not limited to a vehicle on which an occupant rides as described above, and may be a traveling vehicle capable of unmanned traveling by remote control. For example, a communication device connected to the control unit C of the traveling vehicle 1 may be provided so that the traveling vehicle 1 can be remotely operated by an external operation device. Here, the communication device transmits and receives information wirelessly, and can transmit and receive information to and from an external operation device. By adopting such a configuration, the worker can remotely operate the traveling vehicle 1 to improve work efficiency and to ensure the safety of the worker.

  In the case of such a configuration that enables remote operation, an imaging device that can capture at least an image in the traveling direction is provided in the traveling vehicle 1 so that an image captured by the external operation device can be confirmed. good. With such a configuration, the worker can perform a remote operation by confirming the traveling state of the traveling vehicle 1 even at a remote place where the traveling vehicle 1 cannot be visually observed.

  Further, the present invention is not limited to the above-described examples, and can take various forms within a range not departing from the gist of the invention.

  The traveling vehicle of the present invention is not particularly limited. For example, a working vehicle that works 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, and an automobile. It can be applied to any traveling vehicle.

DESCRIPTION OF SYMBOLS 1 Traveling vehicle 10 Body frame 30 Front crawler traveling device (traveling device)
36 Motor (drive device)
50 Front suspension device 51 Rotating arm 52 Motor (rotating device)
53 connecting arm 54 swinging arm 59 support portion 60 first arm 61 second arm 70 rear crawler traveling device (traveling device)
76 Motor (drive device)
90 Rear suspension device 91 Rotating arm 92 Motor (rotating device)
93 connecting arm 94 swinging arm 99 support part 100 first arm 101 second arm

Claims (13)

Body frame,
At least a pair of left and right right and left side travel devices;
In a traveling vehicle comprising a suspension device that suspends the pair of left and right right and left traveling devices on the vehicle body frame,
The suspension device is
A rotating arm that extends in the left-right direction and is rotatably supported by the body frame at the center in the left-right direction;
And right swing arm as the shaft is supported freely swing in the lateral direction on the body frame,
A left side pivot arm which is supported in the lateral direction freely in the axial rocking on the body frame,
A right connection arm having one end connected to the right end of the pivot arm;
A left connection arm having one end connected to the left end of the pivot arm ;
The right swing arm is
A right side support portion rotatably supported about the left and right direction on the body frame;
A right first arm that extends from the right support, has an end branched in the vertical direction, and the right traveling device is connected to a rotation shaft fixed between the branches;
A right second arm extending from the right support and having the right connecting arm connected to an end thereof;
The left swing arm is
A left side support portion rotatably supported about the left and right direction on the body frame;
A left first arm that extends from the left support, has an end branched in the vertical direction, and the left traveling device is connected to a rotation shaft fixed between the branches;
The extended from left support portion, and wherein Rukoto which have a and the left second arm is the left connection arm end is connected, the traveling vehicle. The traveling device is characterized Rukoto includes a suppress buffering mechanism swing in the front-rear direction,
The traveling vehicle according to claim 1. The distance from the rotation center of the right support portion to the connection portion between the right first arm and the right traveling device is the connection portion of the right second arm and the right connection arm from the rotation center of the right support portion. Is greater than the distance to
The distance from the rotation center of the left support portion to the connection portion between the left first arm and the left traveling device is the connection portion between the left second arm and the left connection arm from the rotation center of the left support portion. It is characterized by being greater than the distance to
The traveling vehicle according to claim 2. The right side support part and the left side support part are rotatably supported at a substantially center in the front-rear direction of the body frame,
The right first arm and the left first arm extend in the front-rear direction,
The traveling vehicle according to claim 2 or 3. The right support part and the left support part are rotatably supported at the lower part of the body frame,
The right second arm extends downward from the right support part,
The left second arm extends downward from the left support part,
The rotating arm, the right connecting arm, and the left connecting arm are located below the body frame,
The traveling vehicle according to any one of claims 2 to 4. The right support part and the left support part are rotatably supported at the lower part of the body frame,
The right second arm extends upward from the right support part,
The left second arm extends upward from the left support part,
The traveling vehicle according to any one of claims 2 to 4.   The traveling vehicle according to claim 1, wherein each of the right connection arm and the left connection arm includes a buffer mechanism.   The traveling vehicle according to any one of claims 1 to 7, further comprising a rotation device that rotates the rotation arm with respect to the vehicle body frame.   The traveling vehicle according to any one of claims 1 to 8, further comprising a driving device that drives the traveling device in the traveling device. An angle sensor for detecting a rotation angle of each of the right swing arm and the left swing arm with respect to the vehicle body frame;
The traveling vehicle according to any one of claims 1 to 9. An inclination sensor that detects an inclination angle of the vehicle body frame with respect to the horizontal is provided.
The traveling vehicle according to any one of claims 1 to 10. Angle sensors for detecting rotation angles of the right swing arm and the left swing arm with respect to the vehicle body frame,
An inclination sensor that detects an inclination angle of the body frame with respect to the horizontal,
The traveling vehicle according to claim 8, further comprising a control unit that controls the rotating device based on a detection value of the angle sensor or detection values of the angle sensor and the tilt sensor. The suspension device, and the pair of left and right right and left traveling devices suspended on the vehicle body frame by the suspension device, respectively, are provided at a front portion and a rear portion of the traveling vehicle,
The front suspension device and the rear suspension device are arranged symmetrically in the front-rear direction,
The traveling vehicle according to any one of claims 1 to 12.

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