JPH11227643A - Soft suspension device for lower rolling wheel of crawler type vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a soft suspension device for lower rolling wheel with which the costs are reduced and effective use of the space is established for enhancement of the ground grading accuracy. SOLUTION: A soft suspension device for a lower rolling wheel is configured so that a single type lower rolling wheel 21, etc., borne by a single type arm member 24, etc., supported on a truck frame 1 is installed between an idler 2 and that wheel 11 among a plurality of swing type lower rolling wheel units 10 which is located closest to the idler 2 or/and between a sprocket 3 and that wheel 12 among a plurality of swing type lower rolling wheel units 10 which is positioned closest to the sprocket 3.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a suspension device for a lower rolling wheel in a tracked vehicle.

[0002]

2. Description of the Related Art As shown in FIG. 6 and a detailed view Q of FIG. 6 of FIG. Idler 2 and track frame 1
A sprocket 3 arranged near the other end of the
Crawler track 6 wound around the sprocket 3 and the idler 2
Between the sprocket 3 and the track frame 1
Oscillating lower rollers 11 and 12 pivotally supported by oscillating arm members 4 and 5 slidably mounted on the oscillating arm members 4 and 5.
5 and three oscillating lower wheel units 10a, 10b, 10 having cushioning elastic members A, B between the track frame 1 and 5
c (generally referred to as 10) is generally used for a rocking type lower wheel suspension of a tracked vehicle.

As an example of a conventional swing type lower wheel unit 10, Japanese Patent Application Laid-Open No. 55-148661 discloses an arm member provided on a shaft pin 7 provided on a track frame 1 as shown in FIG. 4 and the other arm member 5 are provided so as to be able to swing, respectively. A swing type lower wheel 11 is pivotally supported on one end side of one arm member 4 and a swing type lower wheel 11 is provided on one end side of the other arm member 5. The lower rolling wheel 12 is pivotally supported, and the receiving portion 8 on the other end of the one arm member 4 is positioned above the rolling wheel mounting portion 9 of the other arm member 5. 9, an elastic member A is interposed therebetween, and the receiving portion 13 on the other end side of the other arm member 5 is positioned above the wheel mounting portion 14 of the one arm member 4, and the receiving portion 13 and Wheel mounting part 1
4 discloses a lower wheel suspension device having an elastic member B interposed therebetween. Japanese Patent Application Laid-Open No. Sho 49-58540 also discloses a technique of a suspension device for a track-type vehicle, but the description thereof is omitted. Next, in the arrangement of the cushioning elastic members A and B of each of the oscillating lower wheel units 10a to 10c shown in FIG.
10 shows the relationship between the upper and lower static spring constants k0 when received by one lower rolling wheel of -10c and the static spring constant kx when received by two lower rolling wheels 11 and 12, respectively. FIG.
It is known that when each of the oscillating lower wheel units 10a to 10c is of the X bogie type as shown in FIG. 8, it is represented by kx = 4k0.

[0004]

The above prior art has the following problems. (1) In FIG. 8, when the distance L1 between the idler 2 and the sprocket 3 is determined, the oscillating lower wheel unit 10
Is small, the distance LE between the oscillating lower wheel 11 of the oscillating lower wheel unit 10a closest to the idler 2 and the idler 2 or the oscillating lower wheel closest to the sprocket 3 Swing type lower wheel 12 of wheel unit 10c
And the distance LE between the sprockets 3 increases. In such a case, as shown in FIG.
And the vehicle body becomes unstable in the front-rear direction and pitches. For this reason, as shown by the line A in the figure comparing the leveling accuracy of the first embodiment of the present invention shown in FIG. 5 with the leveling accuracy of the prior art, the leveling accuracy at the time of the leveling work using the blade working machine decreases. (2) Swing type lower wheel unit 1 closest to idler 2
0a, or the distance between the oscillating lower rolling wheel 12 and the sprocket 3 of the oscillating lower rolling wheel unit 10c closest to the sprocket 3, or There is a method of increasing the actual contact length L2 by keeping three swinging lower wheel units 10, but in this case, the distance LB between the swinging lower rolling wheels of the adjacent swinging lower wheel units 10 is reduced. Too big. That is, in general, LP
Is the pitch of the crawler belt 6, in order to avoid vibrations caused by the backlash of the crawler belt 6, the distance LA between the oscillating lower roller units of the oscillating lower roller unit 10 = (1.3 to 1.7). LP, while LA + LB = (2.9-3.1) LP
It is known that it is necessary to arrange the oscillating lower wheel so as to avoid the
However, it is not possible to use three wheels, and it is necessary to increase the number of oscillating lower wheels. Therefore, adding one of the oscillating lower wheel units 10 is less effective in preventing pitching of the vehicle body, etc., although the cost is increased and the space is increased.

The present invention pays attention to the above-mentioned conventional problems, and arranges a single lower wheel between an idler (or a sprocket) and an oscillating lower wheel unit to improve the leveling accuracy without increasing the space. It is an object of the present invention to provide a flexible suspension device for a lower rolling wheel in a tracked vehicle that effectively improves the manufacturing cost and reduces the manufacturing cost.

[0006]

In order to achieve the above object, a first invention of a flexible suspension for a lower rolling wheel in a tracked vehicle according to the present invention is characterized in that a shaft is provided at one end of a track frame. A supported idler, a sprocket disposed near the other end of the track frame, a crawler belt around which the idler and the sprocket are wound, and a swinging mechanism mounted between the idler and the sprocket and swingably mounted on the track frame. A tracked vehicle comprising: a swingable lower wheel pivotally supported by a movable arm member; and a plurality of swingable lower wheel units including a swingable arm member and a cushioning elastic member between track frames. In the soft suspension device for the lower rolling wheel in the above, between the oscillating lower rolling wheel and the idler closest to the idler of the plurality of oscillating lower rolling wheel units, or / and
Between the oscillating lower wheel closest to the sprocket and the sprocket of the plurality of oscillating lower wheel units,
In addition, the single arm roller is supported by a single arm member supported by the track frame.

According to the configuration of the first aspect of the invention, when the distance L1 between the idler and the sprocket is determined, the contact length (actual contact length L3) that works effectively at the time of work is the swing type closest to the idler. The swing center of the lower wheel unit and / or the swing center of the oscillating lower wheel unit closest to the sprocket and the distance ΔL between the independent lower wheel and the swing center are increased. For this reason, the pitching of the vehicle body is reduced, the terrain is improved, and the riding comfort is also improved. Further, cost and space can be effectively reduced as compared with the case where another swing type lower wheel unit is added.

[0008] According to a second aspect of the present invention, in the configuration of the first aspect, one end of the independent arm member is connected to the track frame by a swing fulcrum G1,
It is supported so as to be able to swing up and down by G2, and the other contact portion between the independent arm member and the track frame is provided with an elastic member.

According to the configuration of the second invention, the vehicle travels on a flat ground or uneven ground with the idler side or the sprocket side as the traveling direction, and the idler or the sprocket temporarily floats on the ground. In addition, the independent type down-roller, which is located at the leading end or the rearmost end of each down-wheel, securely supports the crawler belt by the repulsion of the elastic member between the abutment with the track frame. 2, the pitching of the vehicle body is reduced while maintaining the actual ground contact length L3 as shown in FIG. Further, the impact when the crawler belt rides on the convex portion of the ground is reduced by the elastic member at the contact portion between the independent arm member and the track frame. As described above, since the pitching of the vehicle body is reduced, the line B (test 1) and the line C (test 2) shown in FIG. 5 comparing the leveling accuracy of the first embodiment of the present invention and the prior art are shown. As shown, the leveling accuracy is improved. Furthermore, the ride comfort of the operator is improved because the impact when the crawler belt rides on the convex portion of the ground is reduced.

In a third aspect of the present invention, there is provided a flexible suspension device for a lower rolling wheel in a tracked vehicle according to the second invention, wherein the pivot of the independent lower rolling wheel is directly below the swinging fulcrum of the independent arm member. It is configured to be disposed on the opposite side to the idler or / and on the opposite side of the sprocket from directly below the swing fulcrum of the independent arm member.

According to the third aspect of the invention, the vehicle travels with the idler side or the sprocket side as the traveling direction,
If the crawler belt moves on a convex part of the ground and moves, the sole type of the lower rolling wheel that receives the impact of pushing up from the ground first will swing upward in the direction of relative movement with the crawler belt. Therefore, it is possible to smoothly reduce the impact while securing the actual ground contact length. Therefore, the ride comfort of the operator is further improved.

In a fourth aspect of the present invention, there is provided a flexible suspension device for a lower rolling wheel in a tracked vehicle according to at least one of the first to third inventions, wherein a pivot point of the independent lower rolling wheel is a truck. In the front-back direction of the frame, almost halfway between the pivot point of the oscillating lower rolling wheel closest to the idler and the pivot point of the idler,
And / or is located approximately halfway between the pivot point of the swinging lower wheel closest to the sprocket and the pivot point of the sprocket.

According to the fourth aspect of the present invention, the forces acting on the oscillating lower rolling wheel and the idler closest to the idler and / or the oscillating lower rolling wheel and the sprocket closest to the sprocket are equal. Be transformed into Therefore, the oscillating lower wheel closest to the idler and the idler, or /
In addition, since excessive force does not act on one of the swing type lower wheel and the sprocket closest to the sprocket, the durability of the parts is improved.

According to a fifth aspect of the present invention, there is provided a flexible suspension device for a lower rolling wheel in a tracked vehicle according to at least one of the second to fourth aspects, wherein The static spring constant is calculated from the vertical static spring constant of the swinging lower wheel closest to the idler and / or the vertical static spring constant of the swinging lower wheel closest to the sprocket. It is configured to be large.

According to the fifth aspect of the invention, the vehicle travels on a flat ground or uneven ground with the idler side or the sprocket side as the traveling direction, and the idler or the sprocket temporarily floats on the ground. In addition, a single type lower rolling wheel disposed at the foremost portion or a rearmost end of each lower rolling wheel has a larger upper and lower static spring constant than an adjacent swing type lower rolling wheel. Therefore, since the repulsive force is large with respect to the ground via the crawler belt, the crawler belt beneath the sole type lower wheel can be reliably supported and the actual contact length can be secured. For this reason, pitching of the vehicle body and vibration and impact are further alleviated, so that the grounding property by the blade and the ride comfort of the operator are improved.

In a sixth aspect of the present invention, there is provided a flexible suspension device for a lower rolling wheel in a tracked vehicle according to at least one of the second to fifth aspects of the present invention, wherein the set height position of the independent lower rolling wheel is adjusted. It is configured to include a position adjusting means for adjusting.

According to the sixth aspect, the height position of the independent lower roller is adjusted by the position adjusting means. For this reason, it is easy to change the contact amount and the lift amount. That is, it is easy to reduce the amount of contact to improve the leveling property, or to increase the amount of contact to improve the riding comfort.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. In the following description, the same members as those in the related art are denoted by the same reference numerals, and description thereof will be omitted.

A tracked vehicle equipped with a flexible suspension device for a lower rolling wheel according to the present invention will be described with reference to FIG. A crawler belt 6 is wound around an idler 2 pivotally supported at one end of a track frame 1 of a tracked vehicle and a sprocket 3 pivotally supported at the other end of the track frame 1. Between the idler 2 and the sprocket 3, the oscillating lower wheel 1 of the oscillating lower wheel units 10a to 10c similar to the prior art shown in FIGS.
1, 12 and the independent lower rolling wheel 2 of the present invention shown in FIGS.
The crawler belt 6 is supported by 1 and 22 (not shown in FIG. 1).

The first embodiment of the lower suspension type flexible suspension system according to the present invention.
An embodiment will be described with reference to FIG. The details of the oscillating lower wheel unit 10 (10a to 10c) are the same as those of the prior art shown in FIG. The oscillating lower wheel 11 and the idler 2 which are closest to the idler 2 among the plurality of oscillating lower wheel units 10 (10a to 10c).
A single lower rolling wheel 21 pivotally supported by a single arm member 24, which is supported by the track frame 1 so as to be swingable about a swing fulcrum G1, is disposed between the two. At the contact portion between the independent arm member 24 and the track frame 1, an elastic member C is attached to each of the independent arm member 24 and the track frame 1.
Is installed. The fulcrum of the independent lower rolling wheel 21 is located below the swing fulcrum G1 of the independent arm member 24 from the idler 2.
Oscillating lower rolling wheel 1 which is arranged on the opposite side to the tracker 1 and is closest to the idler 2 in the front-rear direction of the track frame 1.
It is arranged so as to be located at an intermediate position between the first fulcrum and the idler 2. Swing fulcrum G1 and independent lower roller 21
A straight line passing through the fulcrum is set to be approximately 45 degrees or less with respect to the longitudinal direction of the crawler belt 6. The static spring constant in the vertical swing direction of the elastic member C of the independent lower rolling wheel 21 is set to the static spring constant in the vertical direction of the elastic member of the swing lower wheel 11 closest to the idler 2, and / or The elastic spring member of the oscillating lower roller 12 closest to the sprocket 3 has a larger static spring constant in the vertical direction. Further, FIG.
As shown in (1), between the independent arm member 24 and the elastic member C, there is provided a position adjusting means 26 for adjusting the set height position of the independent lower roller 21.

Next, the operation of the first embodiment shown in FIG. 2 will be described. When the distance L1 between the idler 2 and the sprocket 3 is fixed, the actual contact length L3 that works effectively during work is smaller than the actual contact length L2 in the prior art, and the swing type lower wheel closest to the idler 2 is used. It increases by the distance ΔL between the swing center of the unit 10a and the shaft fulcrum of the independent lower roller 21. Therefore, the pitching of the vehicle body is reduced, the ground preparation is improved, and the riding comfort is also improved. Further, the cost can be reduced and the space can be effectively used as compared with a case where another swing type lower wheel unit is added.

Further, even if the vehicle travels on flat or uneven ground with the idler 2 or sprocket 3 side as the traveling direction and the idler 2 or sprocket 3 temporarily floats on the ground, Stand-alone lower wheel 2 located at the forefront or rearmost end of the wheel
1 and 22, the crawler belt 6 is reliably supported by the repulsive action of the elastic member C between the contact portions with the track frame 1, and FIGS.
The pitching of the vehicle body is reduced by maintaining the actual contact length L3 as shown in FIG. Further, the impact when the crawler belt rides on the convex portion of the ground is reduced by the elastic member C at the contact portion between the independent arm members 24 and 25 and the track frame 1. As described above, since the pitching of the vehicle body is reduced, the line B (test 1) and the line C (test 2) shown in FIG. 5 comparing the leveling accuracy of the first embodiment of the present invention and the prior art are shown. As shown, the leveling accuracy is improved.

Further, the impact when the crawler belt 6 rides on the convex portion of the ground is alleviated by the elastic member C at the contact portion between the independent arm member 24 and the track frame 1, and the independent lower wheel 21 is lifted from the ground. When a lifting force is applied to
Since the independent lower roller 21 moves in the direction opposite to the lifting force by the amount of deflection of the elastic member C, the effect of relieving the impact when the crawler belt 6 rides on the convex portion of the ground is large.

The pivot point of the independent lower roller 21 is located substantially at the center between the pivot point of the swinging lower roller 11 closest to the idler 2 and the pivot point of the idler 2. The forces acting on the closest swinging lower wheel 11 and idler 2 are equalized so that no excessive force acts on one of them. Therefore, an excessive force may act on one of the oscillating lower rolling wheel 11 and the idler 2 closest to the idler and / or the oscillating lower rolling wheel 12 and the sprocket 3 closest to the sprocket. Since there is no component, the durability of the component is improved.

Further, the static spring constant in the vertical swinging direction of the elastic member C of the independent lower rolling wheels 21 and 22 is determined by changing the static spring constant of the swinging lower rolling wheel 11 closest to the idler 2 in the vertical direction. The spring constant or / and the static spring constant in the vertical direction of the elastic member of the oscillating lower roller 12 closest to the sprocket 3 are set larger. In this case, the cushioning elastic members A, of the swing type lower wheel units 10a to 10c described with reference to FIG.
In the arrangement of B, when a reaction force of the ground is received by one lower rolling wheel of each of the oscillating lower rolling wheel units 10a to 10c, a static spring constant k0 above and below the lower rolling wheel, and two lower spring constants, respectively. Wheel 11,
The relationship with the static spring constant kx when received at 12 is shown, and as shown in FIG. 8, in the case of the X bogie type oscillating lower wheel units 10a to 10c, it is represented by kx = 4k0. Therefore, it is preferable that the optimum value of the static spring constant kS of the single type lower rolling wheels 21 and 22 is kS = (1.2 to 1.5) k0. As a result, even if the vehicle travels on flat or uneven ground with the idler side or sprocket side as the traveling direction, and the idler or sprocket temporarily floats on the ground, The independent lower rolling wheel located at the front end or the rearmost end has a larger upper and lower static spring constant than the adjacent swinging lower rolling wheel. Since the repulsive force is large, it is possible to reliably support the crawler belt directly below the independent type down-wheel and secure the actual ground contact length. For this reason, pitching of the vehicle body and vibration and impact are further alleviated, so that the grounding property by the blade and the ride comfort of the operator are improved.

Furthermore, if the set height position of the independent lower wheel 21 is adjusted by the position adjusting means 26, the amount of contact can be easily reduced to improve the leveling ability, or the amount of contact can be increased to increase ride comfort. Performance can be improved. Further, since a straight line passing through the swing fulcrum G1 and the shaft fulcrum of the independent lower wheel 21 is 45 degrees or less with respect to the longitudinal direction of the crawler belt 6,
Slip in the vehicle front-rear direction with the crawler belt 6 due to the vertical movement of the independent lower wheel 21 decreases.

Referring to FIG. 4, a description will be given of a second embodiment of the lower suspension type flexible suspension device according to the present invention. In the first embodiment shown in FIG. 2, the independent lower roller 21 pivotally supported by the independent arm member 24 is disposed between the swing lower roller 11 closest to the idler 2 and the idler 2. In the second embodiment, the track frame 1 swings between the sprocket 3 and the swingable lower wheel 12 closest to the sprocket 3 among the plurality of swingable lower wheel units 10 (10a to 10c). A single lower rolling wheel 22 pivotally supported by a single arm member 25 supported to be swingable about a fulcrum G2 is arranged. Other configurations and operations are the same as those of the first embodiment, and thus description thereof is omitted. Note that the first embodiment is effective when the vehicle body advances from the idler 2 side, that is, when the vehicle body moves forward,
The second embodiment is effective when the vehicle body moves from the sprocket 3 side, that is, when the vehicle body moves backward. Also, the first
The embodiment and the second embodiment may be used in combination. In this case, it is effective in both forward and backward directions of the vehicle body.

FIG. 5 is a diagram comparing the leveling accuracy of the first embodiment shown in FIG. 2 with the prior art in the flat portion of the sandy ground. The horizontal axis indicates the leveling work distance, and the vertical axis indicates the leveling accuracy ( (Ratio of difference between unevenness). In the prior art shown by the line A, the leveling accuracy (ratio of unevenness difference) at the time of the leveling operation due to the pitching of the vehicle body becomes the maximum at the point of the leveling operation distance of 17 m, and this is shown as the ratio 1.0. In comparison with this, the spring constant ks = k of the elastic member C in the first embodiment shown by the line B
1 (= 0.5k0), leveling accuracy (ratio of unevenness difference)
Is about 0.62 at the point where the leveling work distance is 20 m, and the leveling accuracy is improved over the prior art. Also,
The spring constant k of the elastic member C in the first embodiment indicated by the line C
At s = k2 (= 1.25k0), the maximum value of the leveling accuracy (ratio of unevenness) is about 0.2 at the point of the leveling work distance of 12 m.
7, which indicates that the leveling accuracy was remarkably improved from the conventional technology. As described above, the independent swing type lower wheel 2
The larger the spring constant of the elastic member C supporting the first and second 22 was effective in improving the leveling accuracy.

[Brief description of the drawings]

FIG. 1 is a side view of a tracked vehicle equipped with a flexible suspension device for a lower rolling wheel according to the present invention.

FIG. 2 is a view showing a first embodiment of a soft suspension device for a lower rolling wheel according to the present invention.

FIG. 3 is a detailed view of a part P in FIG. 2;

FIG. 4 is a view showing a second embodiment of the flexible suspension device for a lower roller according to the present invention.

FIG. 5 is a diagram comparing the leveling accuracy of the first embodiment shown in FIG. 2 and a conventional technique.

FIG. 6 is a diagram showing a conventional technique.

FIG. 7 is a detailed view of a part Q in FIG. 6;

FIG. 8 is a diagram showing a vertical static spring constant of an X bogie type lower wheel.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Track frame, 2 ... Idler, 3 ... Sprocket, 4 ... One arm member, 5 ... The other arm member, 6
... Crawler belt, 7 ... Axle pin, 8,13 ... Receiving part, 9,14 ... Roller mounting part, 10,10a, 10b, 10c ... Oscillating lower wheel unit, 11,12 ... Oscillating lower wheel Reference numerals 21, 22,... A single lower wheel, 24, 25 a single arm member, 26 a position adjusting means, A, B an elastic member, C an elastic member.

Claims (6)

[Claims] 1. An idler pivotally supported at one end of a track frame, a sprocket disposed near the other end of the track frame, a crawler belt around which the idler and the sprocket are wound, and between the idler and the sprocket. A plurality of oscillating lower wheels having an oscillating lower rolling wheel pivotally supported by an oscillating arm member pivotally mounted on a track frame and an elastic member for cushioning between the oscillating arm member and the track frame. A soft suspension device for a lower rolling wheel in a tracked vehicle having a rolling wheel unit, the idler of the plurality of oscillating lower wheel units (10).
Between the swinging lower wheel (11) closest to (2) and the idler (2), and / or to the sprocket (3) of the plurality of swinging lower wheel units (10). A single arm member (24,2) supported between the nearest swinging lower wheel (12) and sprocket (3) and supported by the track frame (1)
5) A soft suspension device for a lower rolling wheel in a tracked vehicle, comprising one independent lower rolling wheel (21, 22) pivotally supported by (5). 2. The independent arm member (2) according to claim 1,
One end of (4,25) is attached to the track frame (1) by the swing fulcrum (G1, G
2) is supported to be able to swing up and down, and the independent arm member (2
A flexible suspension device for a lower rolling wheel in a tracked vehicle, characterized in that an elastic member (C) is provided at another contact portion between the track frame (1) and the track frame (1). 3. The independent lower wheel (21, 2) according to claim 2,
2) is the pivot point (G1) of the independent arm member (24).
On the other side of the idler (2), and / or
A soft suspension device for a lower rolling wheel in a tracked vehicle, which is disposed immediately below a swing fulcrum (G2) of a single arm member (25) and on a side opposite to a sprocket (3). 4. The at least one of the independent rolling wheels (21, 22) according to at least one of claims 1 to 3, wherein the pivot point of the independent lower rolling wheel (21, 22) is located closest to the idler (2) in the front-rear direction of the track frame (1). The shaft fulcrum and the sprocket of the oscillating type lower wheel (12) which is almost halfway between the shaft fulcrum of the dynamic lower wheel (11) and the shaft fulcrum of the idler (2) and / or the closest to the sprocket (3). (3) A soft suspension device for a lower rolling wheel in a tracked vehicle, which is located substantially in the middle of the shaft fulcrum. 5. The method according to claim 2, wherein the static spring constant in the vertical swing direction of the independent lower rolling wheel (21, 22) is set to a value corresponding to the swing type lower wheel closest to the idler (2). The vertical static spring constant of the rolling wheel (11) or / and the vertical static spring constant of the oscillating lower rolling wheel (12) closest to the sprocket (3) is made larger. Suspension device for a lower rolling wheel in a tracked vehicle. 6. A track-mounted type according to at least one of claims 2 to 5, further comprising a position adjusting means (26) for adjusting a set height position of the independent lower roller (21, 22). A soft suspension device for a lower rolling wheel in a vehicle.