KR102228013B1 - Mud-flats escape and lifting apparatus for caterpillar track vehicle and caterpillar tracks track vehicle having this Mud-flats escape and lifting apparatus - Google Patents

Abstract

Disclosed is a tidal flat escape and lifting device for a tracked vehicle, and a tracked vehicle provided with the tidal flat escape and lifting device. The disclosed tidal flat escape and lifting device for a tracked vehicle is configured to rotate a pair of tracks on both left and right sides to enable rotational drive in a downward direction at the front and rear ends of a body frame of a tracked vehicle traveling. In the case of a vehicle, the tidal-flat mud is collected and compressed under the track according to the downward rotation, and the floor under the track is compacted to enable the tidal-flat escape of the tracked vehicle that fell into the tidal flat. In this case, it is characterized in that it is configured to be in a repairable state by raising the tracked vehicle from the ground according to the downward rotation.

Description

Tidal flat escape and lifting device for tracked vehicles, and track vehicle equipped with this tidal flat escape and lifting device {Mud-flats escape and lifting apparatus for caterpillar track vehicle and caterpillar tracks track vehicle having this Mud-flats escape and lifting apparatus}

In the present invention, when the tracked vehicle falls into the tidal flat, the tracked vehicle can escape from the tidal flat by collecting the tidal-flat mud around the track and compacting the floor under the track, and when the track breaks down in the field work situation, the tracked vehicle is raised from the ground. It relates to a tidal flat escape and lifting device for a tracked vehicle that can enable track repair at the site itself, and a tracked vehicle equipped with the tidal flat escape and lifting device.

In general, a tracked vehicle is a vehicle that is driven by the propulsion force of a caterpillar track by constituting continuous tracks on both sides of a vehicle body frame.

Here, a caterpillar track, also called a caterpillar track, is a device that rotates by attaching a belt-shaped belt to the driving wheel of a vehicle instead of a tire, and the belt-shaped belt is made of prefabricated steel plate in the case of a general military vehicle. For agricultural and construction vehicles, rubber plates reinforced with wire are sometimes used.

Tracked vehicles applied with such a caterpillar have a longer folding length than a wheel type, so they are excellent in field driving ability and are widely applied to industrial sites such as bulldozers, excavators, loaders, tanks, tractors, etc., and to distribute the weight of the vehicle rather than tires. Because of its ease of use, it has excellent driving performance on tidal flats or wetlands, and is widely used as a tidal flat work vehicle that works on a soft ground, such as a tidal flat, compared to the general ground.

However, no matter how excellent the running performance of such a tracked tracked vehicle in the tidal flat, it is impossible not to completely fall into the tidal flat, and once it occurs, it is very important to escape from the tidal flat. It was difficult.

In addition, caterpillar vehicles such as bulldozers, excavators, loaders, tractors, etc. that are applied in the general ground, not in the tidal flat, cannot be repaired on-site if a track breakdown occurs during field work, and must be transported to the factory for repair. Therefore, there was a problem that the repair time was high and the repair cost increased.

Registered Patent No. 10-1973176 Registered Patent No. 10-1527437

The present invention was devised to solve the conventional problems as described above, and is installed at the front and rear ends of a caterpillar vehicle, and is configured to rotate and drive. In the case of a tracked vehicle for tidal flat work, the track while the tracked vehicle is submerged in the tidal flat It is possible to escape the tidal flat of tracked vehicles by collecting the surrounding mud mud and compacting the bottom of the track, or in the case of a ground tracked vehicle used in the general ground, the track is repaired at the site by raising the tracked vehicle from the ground. It is an object of the present invention to provide a tidal flat escape and lifting device for a tracked vehicle that makes it possible, and a tracked vehicle equipped with the tidal flat escape and lifting device.

The tidal flat escape and lifting device for a tracked vehicle of the present invention for achieving the above object is to enable rotational drive in a downward direction at the front and rear ends of the body frame of a tracked vehicle traveling by rotating a pair of tracks on both left and right sides. Consisting, in case the tracked vehicle is a tidal-flat working vehicle, the surrounding tidal-flat mud is collected and compressed under the track according to the downward rotation to compact the bottom of the track to enable the tidal-flat escape of the tracked vehicle drowned in the tidal flat. In the case of a ground work vehicle working on the ground, it is characterized in that it is configured to be in a repairable state by raising the tracked vehicle from the ground according to the downward rotation.

The tidal flat escape and lifting device for the tracked vehicle may be configured as a pair of front and rear of the vehicle body frame, and may be configured to rotate downward in a direction facing each other.

The tidal flat escape and lifting device for a tracked vehicle includes: a rotating frame part rotatably configured on the vehicle body frame; A rotation consisting of a hydraulic cylinder that connects the rotation frame part and the vehicle body frame and causes the rotation frame part to move downwardly with respect to the vehicle body frame in accordance with an expansion and contraction operation and to a standby position rotated upward to the rotation position. Driving means; It is installed on both sides of the distal end of the rotating frame, and according to the downward rotation of the rotating frame, the tidal mud is pushed and the surrounding mud-flat mud is collected and compressed under the track, or the support surface is pushed in contact with the support surface on the ground. It may be configured to include; a pair of push plates for raising the tracked vehicle from the ground while giving.

The rotation frame unit includes: a rotation frame body having one end rotatably installed on the vehicle body frame and connected to the rotation driving means to be rotationally driven; It is formed extending from the distal end of the rotating frame body to both sides, is formed to extend to a position facing each of the pair of tracks, and the pair of push plates are installed at both side ends so that the pair of push plates is the length of the track It may be configured to include an extension beam to be disposed on the extension line in the direction.

On the other hand, in the tracked vehicle equipped with the tidal flat escape and lifting device of the present invention, in the tracked vehicle running on the track by configuring the track portions that are rotationally driven on both sides of the left and right vehicle body frames, each of the front and rear ends of the vehicle body frame rotates downward. When the tracked vehicle is a tidal-flat working vehicle, the tidal-flat mud is collected and compressed under the track according to the downward rotation to compact the bottom of the track to allow the tracked vehicle to escape the tidal flat. In the case of a ground-working vehicle that is not working on the general ground, the tidal flat escape and lifting device configured to be in a repairable state by raising the tracked vehicle according to the downward rotation from the ground; characterized by including.

The tidal flat escape and lifting device for a tracked vehicle may be configured as a pair of front and rear of the vehicle body frame, and may be configured to rotate downward in a direction facing each other.

The tidal flat escape and lifting device for a tracked vehicle includes: a rotating frame part rotatably configured on the vehicle body frame; A rotation consisting of a hydraulic cylinder that connects the rotation frame part and the vehicle body frame and causes the rotation frame part to move downwardly with respect to the vehicle body frame in accordance with an expansion and contraction operation and to a standby position rotated upward to the rotation position. Driving means; It is installed on both sides of the distal end of the rotating frame, and according to the downward rotation of the rotating frame, the tidal mud is pushed and the surrounding mud-flat mud is collected and compressed under the track, or the support surface is pushed in contact with the support surface on the ground. It may be configured to include; a pair of push plates for raising the tracked vehicle from the ground while giving.

The rotation frame unit includes: a rotation frame body having one end rotatably installed on the vehicle body frame and connected to the rotation driving means to be rotationally driven; It is formed extending from the distal end of the rotating frame body to both sides, is formed to extend to a position facing each of the pair of tracks, and the pair of push plates are installed at both side ends so that the pair of push plates is the length of the track It may be configured to include an extension beam to be disposed on the extension line in the direction.

A sliding frame installed on the vehicle body frame so as to be slidable back and forth and having a cab fixed at an upper end thereof, and a sliding drive that connects the sliding frame and the vehicle body frame to move the cab position together with the sliding frame according to the expansion and contraction operation A posture correction device configured to include a means, wherein when the tracked vehicle is inclined off the tidal flat, the cab moves toward an upper portion of the inclined vehicle body frame so that the tracked vehicle on the tidal flat is in a horizontal state by the load of the cab. It may be configured to further include;

According to the above, when the tidal flat evacuation and lifting device of the present invention is applied to a tidal flat working track vehicle, when the track vehicle falls into the tidal flat, the tidal flat mud around the track is collected and compressed to compact the floor under the track, so that the track vehicle is a tidal flat. It allows you to easily escape from the missing part of the vehicle, and in the case of a tracked vehicle for ground work that works on the general ground rather than on the tidal flat, the tracked vehicle can be lifted from the ground, so that the track of the tracked vehicle can be repaired and replaced directly at the site. There is an effect that allows you to do it.

In particular, by adding the posture correction device of the tracked vehicle of the present invention, if the tidal flat is in an inclined state, the posture is corrected so that it becomes a horizontal posture, and then the tidal flat mud is collected under the track and compressed to make it easier. There is an effect that allows one tidal flat escape to be carried out.

1 is a perspective view showing a tracked vehicle equipped with a tidal flat escape and lifting device according to a first embodiment of the present invention,
2 is a perspective view showing a rotating state in which the tidal flat escape and lifting device of FIG. 1 is operated,
Figure 3 is a perspective view showing only the tidal flat escape and lifting device of the present invention in Figure 1,
4 is a view showing a state in which the tidal flat escape and lifting device of the present invention is installed on its own frame,
5 is a view showing a state viewed from the rear of the tracked vehicle of FIG. 2,
6 is a view showing an operating state when a tracked vehicle equipped with a tidal flat escape and lifting device according to the first embodiment of the present invention is for tidal flat work,
Figure 7 is a tracked vehicle equipped with a tidal flat escape and lifting device according to the first embodiment of the present invention is not a soft ground such as a bulldozer, excavator, loader, tractor, etc. ) It is a drawing showing the operation state of the ground work vehicle used on the platform,
8 is a schematic perspective view showing a tracked vehicle equipped with a tidal flat escape and lifting device according to a second embodiment of the present invention,
9 and 10 are views showing the operating state of the tracked vehicle according to the second embodiment of the present invention,
11 is a control block diagram of a tracked vehicle according to a second embodiment of the present invention.

The above objects, other objects, features, and advantages of the present invention will be easily understood through the following preferred embodiments related to the accompanying drawings. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided so that the disclosed contents may be thorough and complete, and the spirit of the present invention may be sufficiently conveyed to those skilled in the art.

In the present specification, when a component is referred to as being on another component, it means that it may be formed directly on the other component or that a third component may be interposed therebetween. In addition, in the drawings, the thickness of the components is exaggerated for effective description of the technical content.

Embodiments described in the present specification will be described with reference to cross-sectional views and/or plan views, which are ideal exemplary diagrams of the present invention. In the drawings, thicknesses of films and regions are exaggerated for effective description of technical content. Therefore, the shape of the exemplary diagram may be modified by manufacturing technology and/or tolerance. Accordingly, embodiments of the present invention are not limited to the specific form shown, but also include a change in form generated according to a manufacturing process. For example, an etched area shown at a right angle may be rounded or may have a shape having a predetermined curvature. Accordingly, the regions illustrated in the drawings have properties, and the shapes of the regions illustrated in the drawings are for illustrating a specific shape of the region of the device and are not intended to limit the scope of the invention. In various embodiments of the present specification, terms such as first and second are used to describe various components, but these components should not be limited by these terms. These terms are only used to distinguish one element from another element. The embodiments described and illustrated herein also include complementary embodiments thereof.

The terms used in this specification are for describing exemplary embodiments, and are not intended to limit the present invention. In this specification, the singular form also includes the plural form unless specifically stated in the phrase. As used in the specification, "comprises" and/or "comprising" does not exclude the presence or addition of one or more other components.

In describing the specific embodiments below, a number of specific contents have been prepared to more specifically describe the invention and to aid understanding. However, readers who have knowledge in this field to the extent that they can understand the present invention can recognize that it can be used without these various specific contents. In some cases, it is mentioned in advance that parts that are commonly known in describing the invention and are not largely related to the invention are not described in order to prevent confusion without any reason in describing the invention.

Hereinafter, a tidal flat escape and lifting device for a tracked vehicle according to a first embodiment of the present invention and a tracked vehicle including the tidal flat escape and lifting device will be described with reference to FIGS. 1 to 7.

The tidal flat escape and lifting devices 100 and 100 of the present invention are configured to be installed on the front and rear sides of the vehicle body frame 11 of a conventional tracked vehicle 10, respectively.

Here, the tracked vehicle 10 refers to all tracked vehicles in a form in which a tracked track section 13 is configured on both sides of the body frame 11, and the vehicle is propelled as the track section 13 rotates. . Accordingly, the tracked vehicle 10 may be a tracked tidal flat working vehicle that works on a tidal flat, or a ground made of harder soil than a tidal flat rather than a soft ground, such as a bulldozer, an excavator, a loader, and a tractor, or an asphalt ground. In addition, it may be a caterpillar type ground vehicle that works on general ground such as cement ground.

Therefore, although not shown, the body frame 11 includes a gripper, a top plate (bulldozer), a bucket (bulldozer), and other functional members suitable for the functions of various working vehicles, and a cab for driving operation and operation of the functional members. I can.

Each of the tidal flat escape and lifting devices 100 and 100 ′ of the present invention are respectively installed on the front and rear sides of the vehicle body frame 11 and are installed symmetrically to each other, but the configuration is the same, so that only one configuration will be described.

Referring to Figures 1 to 5, the tidal flat escape and lifting device (100, 100') is configured to include a rotating frame unit 110, a push plate 130, a rotation driving means 140.

The rotating frame unit 110 has one end rotatably installed on the vehicle body frame 11 by a hinge unit 114, and is rotatably installed with respect to the hinge unit 114.

Specifically, the rotation frame unit 110 is configured to include the rotation frame body 115 and the extension beam 120, and the side end of the rotation frame body 115 is attached to the body frame 11 by the hinge portion 114. It is rotatably installed, and is configured to be coupled to the extension beam 120 so as to extend to both sides at the distal end of the rotating frame body 115.

A pair of push plates 130 are configured to be pivotably installed at both left and right side ends of the extension beam 120 by a hinge pin p.

A pair of push plates 130 push the tidal mud under the track part 13 in the case of the tidal flat when the rotating frame part 110 rotates downward, and push the tracked vehicle up from the ground while pushing the ground on the ground. Functions.

To this end, the push plate 130 of the tidal flat escape and lifting device 110' installed in the front portion of the vehicle body frame 11 is preferably disposed to face the front of the track portion 13, and the vehicle body frame 11 ) It is preferable that the push plate 130 of the tidal flat escape and lifting device 110 installed in the front portion of the tidal flat is disposed to face the rear of the track portion 13.

In this way, in order for each push plate 130 to be disposed in the front or rear of each track part 13, the extension beam 120 is configured to extend to both sides from the distal end of the rotating frame body 115, and both ends of each track It is configured to extend to the position facing the portion 13, so that each push plate 130 is arranged to face the track portion 13.

On the other hand, the front two push plates 130 are the front of the track portion 13, the rear two push plates 130 are arranged in the rear of the track portion 13 to explain differently, the tidal flat escape and lifting device ( It can be described that the two front and rear two push plates 130 of 110 and 110') are disposed on an extension line of each track part 13 in the longitudinal direction.

In addition, as described above, in the present invention, each push plate 130 is disposed to face the voltage of each track part 13 or to the rear, so that the efficiency of pushing the tidal mud under the track part 13 can be increased. In addition, the effect of raising the tracked vehicle from the ground in a more stable and balanced sense is exhibited, and this effect has the highest effect when each push plate 130 is designed to be disposed in the middle of the width direction of the track part 13 Will appear.

The rotation driving means 140 is made of a hydraulic cylinder, and is configured to connect the vehicle body frame 11 and the rotating frame body 115. Specifically, one end of the rotation drive means 140 is connected to the body frame 11 by a first hinge shaft 144 to be rotatable, and the other end of the rotation drive means 140 is a second hinge shaft 146 ) May be configured to be rotatable on the circumference frame body 115.

With the above-described configuration, the rotation drive means 140 allows the rotation frame unit 110 to be in a standby position as shown in FIGS. 1 and 6 (a), or in FIGS. 2 and 6 (b) according to the expansion and contraction operation. As described above, the rotation frame unit 110 may be rotated downward from the standby position so that the position may be moved to the rotation position.

Hereinafter, the operation of the tracked vehicle 10 provided with the tidal flat escape and lifting devices 100 and 100' according to the first embodiment of the present invention will be described with reference to FIGS. 1 to 6.

When the tracked vehicle 10 is working on the tidal flat and falls into the tidal flat as shown in (b) of FIG. 6 and becomes incapable of driving, the rotational drive means 140 of the respective tidal flat escape and lifting devices 100 and 100' is extended. When it is driven so that each of the front and rear rotation frames 110 rotate downward in a direction facing each other, the front two push plates 130 and the rear two push plates 130 are shown in FIG. 6(b) and Likewise, by gathering and compressing the surrounding mud flat under the track part 13, the floor under the track part 13 is compacted to increase the density, so that the tracked vehicle 10 will be able to escape from the part of the tidal-flat. I can.

In this state, according to the driving of the rotation driving means 140, the rotating frame unit 110 is brought to the standby position as shown in FIG. 6, and then the track unit 13 is driven to drive the track vehicle 10. You can escape from the tidal flat that fell.

In particular, the present invention is configured such that the front two push plates 130 and the rear two push plates 130 are disposed in front and rear of the track portion 13 on both sides, respectively, so that the surrounding mud flat mud is stored in the track portion 13 It is possible to increase the efficiency of compacting the floor under the track part 13 by collecting and compressing it underneath.

On the other hand, the tracked vehicle 10 equipped with the tidal flat escape and lifting devices 100 and 100 ′ according to the first embodiment of the present invention is not intended for tidal flat work, but is not for tidal flats, which is soft ground, but general land, asphalt. , The operation in the case of ground work that works on a general ground (ga) such as a cement ground will be described with reference to FIG. 7 as follows.

As shown in Fig. 7 (a), when the tracked vehicle 10 is working on the general ground (ga) and a failure of the track part 13 occurs, each tidal flat escape and rotational drive of the lifting devices 100, 100' When the means 140 is driven to be elongated, and each of the front and rear rotation frames 110 is rotated downward in a direction facing each other, the front two push plates 130 and the rear two push plates 130 are brought to the ground. The front push plate and the rear push plate are moved to be close to each other while pushing the ground, thereby raising the tracked vehicle 10 from the ground as shown in (b) of FIG. 7.

In this way, according to the tidal flat escape and the driving of the lifting devices 100, 100', the track part 13 can be repaired directly at the site while the tracked vehicle 10 is raised from the ground.

In particular, the present invention is configured such that the front two push plates 130 and the rear two push plates 130 are disposed in front and rear of the track portion 13 on both sides, respectively, so that the rising track vehicle 10 is balanced. It allows a stable ascend without losing the tracked vehicle 10, and maintains a stable horizontal posture while the tracked vehicle 10 is elevated from the ground, thereby enabling safe repair work.

Hereinafter, a tracked vehicle equipped with a tidal flat escape and lifting device according to a second embodiment of the present invention will be described with reference to FIGS. 8 to 11.

The tracked vehicle of the second embodiment has the same configuration of the tidal flat escape and lifting device compared to the tracked vehicle of the first embodiment, and is different in that it additionally includes a posture correction device 150, so only the different configurations will be described. Description of the same configuration will be omitted.

When the tracked vehicle 10 is installed on the self-frame 11 of the posture correction device 150 and falls into the tidal flat in an inclined state from the tidal flat, the tracked vehicle 10 first before the tidal flat escape and driving the lifting devices 100, 100' ) After correcting the posture in a horizontal state, by driving the tidal flat escape and lifting devices (100, 100') so that it can escape from the missing tidal flat.

The posture correction device 150 is installed to connect the sliding frame 155 and the sliding frame 155 and the vehicle body frame 11, which are installed to be slidable back and forth along the length direction of the vehicle body frame 11, according to the expansion and contraction operation. It is configured to include a sliding drive means 160 consisting of a hydraulic cylinder for moving the sliding frame 155 back and forth.

At the top of the sliding frame 155, the cab 20 of the tracked vehicle 10 is fixedly installed, and the cab 20 together with the sliding frame 155 are also positioned in front and rear positions according to the expansion and contraction operation of the sliding driving means 160. It is configured to be moved.

When working on the tidal flat of the tracked vehicle 10 and falling into the tidal flat in an inclined state as shown in (a) of FIG. 9, the sliding driving means 160 is operated, as shown in (b) of FIG. 9, By allowing the cab 20 together with the sliding frame 155 to move toward the upper side of the inclined body frame 11, the upper side of the inclined body frame 11 by the load of the cab 20 is larger toward the tidal flat. By applying a load, the posture of the tracked vehicle 10 can be corrected in a horizontal state as shown in FIG. 10C.

In the state in which the posture of the tracked vehicle 10 is corrected in a horizontal state by the driving of the posture correcting device 150, as shown in FIG. 10(d), the tidal flat escape and lifting devices 100, 100' ) Is driven to compact the floor under the track 13, and escape from the missing tidal flat.

On the other hand, in the present invention, the rotating drive means 140 and the sliding drive means 160 may be configured to be operated manually by an operator through an operation unit provided in the cab 20, but the tracked vehicle 10 of the present invention The control unit 180 automatically drives the rotation driving means 140 and the sliding driving means 160 in accordance with the detection signals through the various detection units 182 and 184, thereby enabling the tidal flat to escape.

Specifically, the tracked vehicle 10 of the present invention includes a driving state detection unit 182 and an inclination detection unit 184, and information detected from the driving state detection unit 182 and the inclination detection unit 184 Accordingly, the controller 180 may be configured to drive the rotation driving means 140 and the sliding driving means 160 in an automatic mode.

The driving state detection unit 182 is composed of a sensor that detects the rotational state of each of the track portions 13 on both sides and a sensor that detects whether the tracked vehicle 10 is running, and the tracked vehicle 10 falls into the tidal flat and is unable to travel. It can be configured to detect if it is in a state.

For example, the driving state detection unit 182 includes a track rotation detection sensor composed of a camera means, an encoder, a gyro sensor, an angular velocity sensor, and a proximity sensor capable of detecting whether or not the track unit 13 rotates, and a track vehicle ( 10) may include a vehicle driving detection sensor consisting of a camera means, a gyro sensor, and an angular velocity sensor capable of detecting whether or not the vehicle is driven.

The inclination detection unit 184 is composed of an ultrasonic sensor, a camera means, an infrared sensor, a gyro sensor, and the like, and may be configured to measure the inclination of the tracked vehicle 10.

The control unit 180 receives rotation information and driving information of the track unit from the driving state detection unit 182, and when the track unit 13 is in a rotating state, and the tracked vehicle is in a non-driving state, the tracked vehicle is in a tidal flat and incapable of driving. By determining that it is, the rotation driving means 140 and the sliding driving means 155 can be automatically driven so that the tidal flat can be escaped.

Specifically, the controller 180 receives the tracked vehicle inclination information received from the inclination detection unit 184 in a state in which the corresponding tracked vehicle 10 is determined to be in a non-driving state, so that the tracked vehicle 10 is in a horizontal state. In this case, the sliding drive means 155 is not driven, but the rotation drive means 140 is driven so that the tidal flat escape and lifting devices 100 and 100' are operated. The compacted tracked vehicle can be in a state in which it is possible to escape from the part of the tidal flat.

On the other hand, the controller 180 receives the tracked vehicle inclination information received from the inclination detection unit 184 in a state in which the corresponding tracked vehicle 10 is determined to be in a non-driving state, so that the tracked vehicle 10 is not horizontally inclined. In the case of a state, the sliding drive means 155 is driven to cause the posture correction device 150 to be operated so that the tracked vehicle 10 is first brought into a horizontal state, and then, the rotary drive means 140 is driven to escape the tidal flat. And by allowing the lifting devices (100, 100') to operate, as shown in Fig. 10, it is possible to compact the floor under the track part 13 so that the tracked vehicle can escape from the part of the tidal flat.

As described above, the present invention has been illustrated and described in connection with preferred embodiments for illustrating the principles of the present invention, but the present invention is not limited to the configuration and operation as shown and described as such. Rather, it will be well understood by those skilled in the art that many changes and modifications can be made to the present invention without departing from the spirit and scope of the appended claims. Accordingly, all such appropriate changes and modifications and equivalents should be considered to be within the scope of the present invention.

10...tracked vehicle
11...body frame
13... orbit
100,100'...tidal flat escape and lifting device
110...rotation frame part
115...Rotating frame body
120... extension beam
130... push plate
140...Rotating drive means
150... posture correction device
155...sliding frame
160...sliding drive means

Claims (9)

delete delete delete delete In a tracked vehicle running on a track by configuring a track portion that is rotationally driven on both sides of a left and right body frame,
It is configured to be able to rotate downward at the front and rear ends of the body frame, and when the track vehicle is a tidal-flat working vehicle, the tidal-flat by compacting the floor under the track by collecting and compressing the surrounding mud flat under the track according to the downward rotation. A tidal flat escape and lifting device configured to allow the tracked vehicle to escape from the tidal flat, and in the case of a ground-working vehicle that works on the general ground rather than the tidal flat, to raise the tracked vehicle from the ground according to the downward rotation to become a repairable state. Including ;,
The tidal flat escape and lifting device for the tracked vehicle is composed of a pair of front and rear of the vehicle body frame, and is configured to rotate downward in a direction facing each other,
The tidal flat escape and lifting device for the tracked vehicle,
A rotating frame part rotatably configured on the vehicle body frame;
A rotation consisting of a hydraulic cylinder that connects the rotation frame part and the vehicle body frame and causes the rotation frame part to move downwardly with respect to the vehicle body frame and to a standby position rotated upward to the rotational position according to an expansion and contraction operation. Driving means;
It is installed on both sides of the distal end of the rotating frame, and according to the downward rotation of the rotating frame, the tidal mud is pushed and the surrounding mud-flat mud is collected and compressed under the track, or the support surface is pushed in contact with the support surface on the ground. Includes; a pair of push plates for raising the tracked vehicle from the ground while giving,
A sliding frame installed on the vehicle body frame so as to be slidable back and forth and having a cab fixed at the top, and a sliding drive that connects the sliding frame and the vehicle body frame to position the cab together with the sliding frame according to the expansion and contraction operation It is configured to include a means, and when the tracked vehicle is obliquely fallen into the tidal flat, the cab moves toward the upper side of the inclined body frame, so that the upper side of the inclined body frame is increased toward the tidal flat by the load of the cab. A posture correction device for correcting the posture of the tracked vehicle in a horizontal state by making it actuate; further comprising,
The posture correction device,
A sliding frame installed to be slidable back and forth along the longitudinal direction of the vehicle body frame;
It is configured to include; a sliding drive means installed to connect the sliding frame and the vehicle body frame and consisting of a hydraulic cylinder for moving the sliding frame back and forth according to the expansion and contraction operation,
A driving state detection unit configured to include a sensor for detecting a rotational state of the track unit and a sensor for detecting whether the tracked vehicle is running, and configured to detect whether the tracked vehicle is in a state of being unable to travel by falling into the tidal flat;
A slope detection unit for measuring the slope of the tracked vehicle;
Receiving the rotation information and driving information of the track unit from the driving state detection unit, and when the track unit is in a rotating state and the tracked vehicle is in a non-driving state, it is determined that the tracked vehicle is in a state of being unable to travel by falling into the tidal flat, and the tracked vehicle When it is determined that the tracked vehicle is in a state of being unable to travel by falling into the tidal flat, the tracked vehicle inclination information received from the inclination detection unit is received, and when the tracked vehicle is in a horizontal state, the sliding drive means is not driven and the rotational drive means is driven. When the tracked vehicle is in an inclined state other than a horizontal state by receiving the tracked vehicle inclination information received from the tidal flat by compacting the floor under the track part, the sliding drive By driving the means, the posture correction device is operated to bring the tracked vehicle into a horizontal state, and thereafter, the rotary drive means is driven to compact the floor under the track so that the tracked vehicle can escape from the tidal flat. It further includes;
The driving state detection unit includes a camera means, an encoder, a gyro sensor, an angular velocity sensor, a proximity sensor, and a camera means for detecting whether the tracked vehicle is running, a gyro sensor, and an angular velocity. A tracked vehicle, characterized in that it is configured to include a vehicle driving detection sensor made of a sensor.
delete delete The method of claim 5,
The rotating frame part,
A rotation frame body having one end rotatably installed on the vehicle body frame and connected to the rotation driving means to be driven to rotate;
It is formed extending from the distal end of the rotating frame body to both sides, is formed to extend to a position facing each of the pair of tracks, the pair of push plates are installed at both ends of the pair of push plates is the length of the track A tracked vehicle comprising: an extension beam to be disposed on an extension line in the direction.

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