WO2015166866A1 - 走行車両 - Google Patents
走行車両 Download PDFInfo
- Publication number
- WO2015166866A1 WO2015166866A1 PCT/JP2015/062293 JP2015062293W WO2015166866A1 WO 2015166866 A1 WO2015166866 A1 WO 2015166866A1 JP 2015062293 W JP2015062293 W JP 2015062293W WO 2015166866 A1 WO2015166866 A1 WO 2015166866A1
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- WIPO (PCT)
- Prior art keywords
- arm
- body frame
- traveling
- crawler traveling
- crawler
- Prior art date
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M27/00—Propulsion devices for sledges or the like
- B62M27/02—Propulsion devices for sledges or the like power driven
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
- B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
- B60G21/04—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically
- B60G21/05—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically between wheels on the same axle but on different sides of the vehicle, i.e. the left and right wheel suspensions being interconnected
- B60G21/055—Stabiliser bars
- B60G21/0551—Mounting means therefor
- B60G21/0553—Mounting means therefor adjustable
- B60G21/0555—Mounting means therefor adjustable including an actuator inducing vehicle roll
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60G5/00—Resilient suspensions for a set of tandem wheels or axles having interrelated movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/116—Attitude or position control of chassis by action on suspension, e.g. to compensate for a slope
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K25/00—Axle suspensions
- B62K25/04—Axle suspensions for mounting axles resiliently on cycle frame or fork
- B62K25/12—Axle suspensions for mounting axles resiliently on cycle frame or fork with rocking arm pivoted on each fork leg
- B62K25/14—Axle suspensions for mounting axles resiliently on cycle frame or fork with rocking arm pivoted on each fork leg with single arm on each fork leg
- B62K25/20—Axle suspensions for mounting axles resiliently on cycle frame or fork with rocking arm pivoted on each fork leg with single arm on each fork leg for rear wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K25/00—Axle suspensions
- B62K25/04—Axle suspensions for mounting axles resiliently on cycle frame or fork
- B62K25/12—Axle suspensions for mounting axles resiliently on cycle frame or fork with rocking arm pivoted on each fork leg
- B62K25/22—Axle suspensions for mounting axles resiliently on cycle frame or fork with rocking arm pivoted on each fork leg with more than one arm on each fork leg
- B62K25/24—Axle suspensions for mounting axles resiliently on cycle frame or fork with rocking arm pivoted on each fork leg with more than one arm on each fork leg for front wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K25/00—Axle suspensions
- B62K25/04—Axle suspensions for mounting axles resiliently on cycle frame or fork
- B62K25/12—Axle suspensions for mounting axles resiliently on cycle frame or fork with rocking arm pivoted on each fork leg
- B62K25/22—Axle suspensions for mounting axles resiliently on cycle frame or fork with rocking arm pivoted on each fork leg with more than one arm on each fork leg
- B62K25/26—Axle suspensions for mounting axles resiliently on cycle frame or fork with rocking arm pivoted on each fork leg with more than one arm on each fork leg for rear wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/30—Spring/Damper and/or actuator Units
- B60G2202/31—Spring/Damper and/or actuator Units with the spring arranged around the damper, e.g. MacPherson strut
- B60G2202/312—The spring being a wound spring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/40—Type of actuator
- B60G2202/41—Fluid actuator
- B60G2202/413—Hydraulic actuator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/40—Type of actuator
- B60G2202/42—Electric actuator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/10—Mounting of suspension elements
- B60G2204/12—Mounting of springs or dampers
- B60G2204/128—Damper mount on vehicle body or chassis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/10—Mounting of suspension elements
- B60G2204/12—Mounting of springs or dampers
- B60G2204/129—Damper mount on wheel suspension or knuckle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/40—Auxiliary suspension parts; Adjustment of suspensions
- B60G2204/421—Pivoted lever mechanisms for mounting suspension elements, e.g. Watt linkage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/32—Track vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/50—Electric vehicles; Hybrid vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/05—Attitude
- B60G2400/051—Angle
- B60G2400/0511—Roll angle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/05—Attitude
- B60G2400/051—Angle
- B60G2400/0516—Angular position of a suspension element
- B60G2400/05162—Angular position of a suspension element the element being a suspension arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/20—Speed
- B60G2400/208—Speed of wheel rotation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/30—Propulsion unit conditions
- B60G2400/34—Accelerator pedal position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/90—Other conditions or factors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/01—Attitude or posture control
- B60G2800/012—Rolling condition
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/02—Understructures, i.e. chassis frame on which a vehicle body may be mounted comprising longitudinally or transversely arranged frame members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M27/00—Propulsion devices for sledges or the like
- B62M27/02—Propulsion devices for sledges or the like power driven
- B62M2027/026—Snow mobiles characterised by the suspension means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M27/00—Propulsion devices for sledges or the like
- B62M27/02—Propulsion devices for sledges or the like power driven
- B62M2027/027—Snow mobiles characterised by the tracks
Definitions
- the present invention relates to a traveling vehicle, and more particularly to a traveling vehicle including a body frame, at least a pair of left and right traveling devices, and a suspension device that suspends the pair of left and right traveling devices on the body frame.
- a crawler-type traveling device is used for a work vehicle that travels on rough terrain such as soft ground and sloping ground 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.
- Patent Document 1 is one that is capable of improving the grounding property of the crawler traveling device.
- 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.
- Patent Document 2 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.
- 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.
- 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.
- an object of the present invention is to provide a traveling vehicle that can travel stably and have improved traveling performance on sloped terrain or uneven terrain.
- a traveling vehicle includes a vehicle body frame, a pair of left and right front crawler traveling devices, a pair of left and right rear crawler traveling devices, and a front suspension that suspends the pair of left and right front crawler traveling devices on the vehicle body frame. And a rear suspension device that suspends the pair of left and right rear crawler travel devices on the vehicle body frame,
- the front suspension unit integrally suspends the pair of left and right front crawler travel devices on the vehicle body frame, and can swing or elevate the pair of left and right front crawler travel devices vertically with respect to the vehicle body frame. It is characterized by.
- the front suspension device includes: A swing support portion supported by the body frame so as to be swingable up and down around the left-right direction; A rotating arm that extends in the left-right direction and is rotatably supported by the swing support portion at the center in the left-right direction; A right-hand swing arm that is supported by the body frame so as to be swingable up and down around the left-right direction, and the right front crawler travel device is connected to an end portion; A left swing arm that is supported by the body frame so as to be swingable up and down about the left and right direction, and is connected to the left front crawler travel device at the end; A right connection arm having one end connected to the right end of the pivot arm and the other end connected to the right swing arm; A left connection arm having one end connected to the left end of the pivot arm and the other end connected to the left swing arm; A buffer mechanism is provided between the vehicle body frame and the swing support portion.
- the front suspension device includes: A bogie frame that is rotatably supported by the vehicle body frame about a vertical steering shaft; A pair of left and right connecting mechanisms for connecting the pair of left and right front crawler traveling devices to the left and right of the bogie frame, The pair of left and right coupling mechanisms can move the pair of left and right front crawler travel devices up and down in the steering shaft direction.
- the front suspension device includes: A bogie frame that is rotatably supported by the vehicle body frame about a vertical steering shaft; A pair of left and right connecting mechanisms that connect the pair of left and right front crawler travel devices in the left and right sides of the bogie frame so as to be movable up and down in the steering axis direction; And a lifting device that lifts and lowers the front crawler traveling device.
- the front suspension device includes: 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; A right-hand swing arm that is supported by the body frame so as to be swingable up and down around the left-right direction, and the right front crawler travel device is connected to an end portion; A left swing arm that is supported by the body frame so as to be swingable up and down about the left and right direction, and is connected to the left front crawler travel device at the end; A right connection arm having one end connected to the right end of the pivot arm and the other end connected to the right swing arm; And a left connection arm having one end connected to the left end of the pivot arm and the other end connected to the left swing arm.
- a body frame a pair of left and right front crawler traveling devices, a pair of left and right rear crawler traveling devices, and a front suspension device that suspends the pair of left and right front crawler traveling devices on the body frame.
- the pair of left and right front crawler traveling devices can be swung up and down in the vertical direction with respect to the body frame, so that a traveling vehicle that can travel stably and improve traveling performance on uneven terrain with slopes and irregularities. Can be provided.
- the configuration is simple, the number of parts is reduced, and productivity and maintainability are good.
- the front suspension device is supported by the body frame so as to be swingable up and down about the left and right direction as an axis, and is extended in the left and right direction and rotated to the swing support portion at the center in the left and right direction.
- a pivot arm that is movably supported; a right pivot arm that is supported by the body frame so as to be pivotable up and down about a left-right direction; and the right front crawler travel device is coupled to an end;
- a left-hand swing arm that is supported by the body frame so as to be swingable up and down around the left-right direction, the left front crawler traveling device is connected to the end, and one end is connected to the right end of the rotating arm,
- the left and right front crawler traveling devices can be made to quickly follow the change in unevenness in the vertical direction
- the front suspension device includes a bogie frame that is rotatably supported by the vehicle body frame around a vertical steering shaft, and a left and right front crawler travel device that connects the left and right front crawler travel devices to the left and right of the bogie frame, respectively.
- a pair of left and right connecting mechanisms, and the pair of left and right connecting mechanisms are configured to allow the pair of left and right front crawler travel devices to move up and down in the direction of the steering shaft. .
- the overall length of the vehicle can be shortened, and traveling performance is further 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.
- the front suspension device includes a bogie frame that is rotatably supported on the body frame with a vertical steering shaft as an axis, and the pair of left and right front crawler travel devices on the left and right sides of the bogie frame, respectively.
- the traveling property on uneven terrain is good.
- the left and right front crawler travel devices can be raised and lowered according to the slope of the sloping ground and the unevenness of the rough terrain, and the traveling performance is further 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.
- the front suspension device extends in the left-right direction and is supported so as to be swingable up and down about the left-right direction on the body frame, and a pivot arm that is pivotally supported by the body frame at the center in the left-right direction.
- a right swing arm having the right front crawler travel device connected to an end portion, and a swingable up and down support supported by the vehicle body frame about a left-right direction, and a left front crawler travel device at an end portion. Is connected to the right end of the pivot arm, the other end is connected to the right swing arm, and the other end is connected to the left end of the pivot arm.
- the left and right front crawler traveling devices can be quickly moved against the change in the unevenness in the vertical direction of the rough terrain and the inclination of the slope.
- Can follow Traveling and operability and ride comfort in an uneven rough terrain can be improved.
- FIG. 10 is a view in the direction of the arrow X in FIG. 9. It is a perspective view of a front suspension apparatus. It is a right view of a rear suspension apparatus.
- FIG. It is a XXIV direction arrow directional view of FIG. It is a right view explaining the operation state of a front suspension apparatus. It is a XXVI direction arrow line view of FIG. It is a right view explaining the operation state of a buffer mechanism. It is a right view explaining the operation state of a buffer mechanism. It is a schematic diagram explaining the operating state of a buffer mechanism. It is the right view by which an example of the traveling vehicle which concerns on another embodiment was shown. It is a top view of FIG. It is a right view which mainly shows the structure of a vehicle body frame and a suspension apparatus. It is a top view of FIG. It is a perspective view of a body frame. It is a right view of a front crawler traveling device.
- FIG. 39A is a view for explaining the operation of the front suspension device of FIG. 38
- FIG. 39A is a state in which the link mechanism in FIG. 38 is extended
- FIG. 39B is a state in which the link mechanism in FIG.
- It is a right view of a rear crawler traveling device.
- It is a rear view of a rear crawler traveling device and a rear suspension device.
- It is a schematic right view explaining the turning operation of the traveling vehicle.
- It is a schematic plan view in FIG. It is a schematic right view explaining the turning operation of the traveling vehicle.
- FIG. 49A and 49B are diagrams for explaining the operation of the front suspension apparatus of FIG. 48, FIG. 49A shows a state in which the link mechanism in FIG. 48 is extended, and FIG. 49B shows a state in which the link mechanism in FIG.
- FIG. 49A shows a state in which the link mechanism in FIG. 48 is extended
- FIG. 49B shows a state in which the link mechanism in FIG.
- FIG. 49A shows a state in which the link mechanism in FIG. 48 is extended
- FIG. 49B shows a state in which the link mechanism in FIG.
- FIG. 49A shows a state in which the link mechanism in FIG. 48 is extended
- FIG. 49B shows a state in which the link mechanism in FIG.
- It is a block diagram which shows an example of a structure of the control part which concerns on another embodiment.
- a traveling vehicle includes a body frame, at least a pair of left and right traveling devices, and a suspension device that suspends the pair of left and right traveling devices on the body frame, and the suspension device integrally includes the pair of left and right traveling devices.
- the pair of left and right traveling devices can swing or move up and down with respect to the body frame.
- FIG. 1 is a right side view showing a traveling vehicle 1A as an example of an embodiment of the present invention.
- FIG. 2 is a right side view of the body frame 10A.
- FIG. 3 is a perspective view of the vehicle body frame 10 ⁇ / b> A as viewed from the front obliquely upward.
- the traveling vehicle 1A includes a vehicle body frame 10A, a front crawler traveling device 30A as a pair of left and right traveling devices provided at the front, and the pair of left and right front crawler traveling devices 30A.
- the traveling vehicle 1A also includes a battery BA that stores electricity, a control unit CA that is configured by a calculation unit, a storage unit, and the like and controls each device, and the like inside the body frame 10A.
- the body cover 110A is placed on the body frame 10A.
- the main body cover 110A covers the body frame 10A.
- the main body cover 110A includes a front fender 111A above the front crawler traveling device 30A, and a rear fender 112A above the rear crawler traveling device 70A.
- An operation seat 113A is provided between the front crawler traveling device 30A and the rear crawler traveling device 70A.
- the driving seat 113A is attached to the vehicle body frame 10A.
- a handle 114A for operating the traveling vehicle 1A is provided in front of the driving seat 113A.
- the handle 114A includes a steering shaft 115A, a left and right handle bar 116A provided at the upper end of the steering shaft 115A, an accelerator grip 117A as an accelerator provided at one end of the handle bar 116A, and the like.
- the steering shaft 115A is rotatably supported with respect to the vehicle body frame 10A.
- a steering wheel sensor (not shown) that detects the rotation angle of the steering shaft 115A is provided at the lower end of the steering shaft 115A.
- Accelerator grip 117A is rotatably supported by handlebar 116A.
- the accelerator grip 117A includes an accelerator grip sensor (not shown) that detects the rotation angle of the accelerator grip 117A.
- the left and right step floors 118A are provided below the operation seat 113A.
- the traveling vehicle 1A is a straddle-type traveling vehicle. The occupant sits on the driving seat 113A and gets on the left and right step floors 118A.
- the body frame 10A has a symmetrical shape, and accordingly, as necessary, a member constituting the right side is appropriately denoted by reference numeral R, and a member constituting the left side is appropriately denoted by reference numeral L.
- the body frame 10A 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 10A includes a base frame portion 11A that extends in the front-rear direction and has a bottom portion that has a bottom shape, a front frame portion 12A that extends upward from the front portion of the base frame portion 11A, and a rear frame portion that extends upward from the rear portion of the base frame portion 11A. 13A and the like.
- the base frame portion 11A constitutes a main part of the vehicle body frame 10A, and a front suspension device 50A, a rear suspension device 90A and the like to be described later are attached thereto.
- the base frame portion 11A is attached with a pair of left and right main frames 14A (14AR, 14AL) extending in the front-rear direction, a pair of left and right lower frames 15A (15AR, 15AL), and a part of a front suspension device 50A described later.
- a plate-like front support plate 16A, a plate-like rear support plate 17A to which a later-described rear suspension device 90A is attached, and a plurality of reinforcing frames 20A, 21A, 22A, 23A, and the like are provided.
- the front end portions of the left and right main frames 14AR and 14AL are curved toward the inside in the width direction of the traveling vehicle 1A, and the front ends are connected to each other.
- the rear ends of the left and right main frames 14AR and 14AL are curved inward, and the rear ends are connected to each other.
- the left and right lower frames 15AR and 15AL are positioned below the left and right main frames 14AR and 14AL, respectively, and extend in the front-rear direction substantially parallel to the left and right main frames 14AR and 14AL, respectively. Both end portions of the left and right lower frames 15AR and 15AL are inclined upward and connected to the left and right main frames 14AR and 14AL, respectively.
- the rotation shafts 18A and 19A are used to connect a front suspension device 50A and a rear suspension device 90A, which will be described later, to the vehicle body frame 10A.
- the rotating shafts 18A and 19A between the left and right lower frames 15AR and 15AL are formed with a larger diameter than other members, for example, the main frame 14A and the lower frame 15A. Therefore, the rotating shafts 18A and 19A firmly connect the left and right lower frames 15AR and 15AL, and reinforce the rigidity of the vehicle body frame 10A.
- Two reinforcing frames 20A and 21A are formed between the right main frame 14AR and the right lower frame 15AR and between the left main frame 14AL and the left lower frame 15AL, respectively. More specifically, the reinforcing frame 20A extends upward and rearward from the vicinity of the connecting portion between the rotating shaft 18A and the lower frame 14A, and is connected to the center of the main frame 14A in the front-rear direction. The reinforcing frame 21A extends upward and forward from the vicinity of the connecting portion between the rotating shaft 19A and the lower frame 15A, and is connected to the center of the main frame 14A in the front-rear direction. The reinforcement frames 20A and 21A improve the strength in the vicinity of the rotation shafts 18A and 19A.
- the base frame portion 11A has a symmetric shape.
- the two rotating shafts 18A and 19A described above are arranged at symmetrical positions.
- the base frame portion 11A has a structure similar to the truss structure by the main frame 14A, the lower frame 15A, and the reinforcement frames 20A and 21A in a side view. Accordingly, the base frame portion 11A has high strength because the vicinity of the rotating shafts 18A and 19A is effectively reinforced and the strength is equalized.
- the front support plate 16A is a rectangular plate-like member, has a through hole 24A in the center, and is disposed between the left and right lower frames 15AR and 15AL and on the front inclined portion.
- the left and right ends of the front support plate 16A are connected to the left and right lower frames 15AR and 15AL, respectively.
- Reinforcing frames 22A are formed at both front and rear ends of the front support plate 16A so as to extend along the ends and connect to the left and right lower frames 15AR and 15AL.
- a part of a front suspension device 50A which will be described later, is attached to the front support plate 16A.
- the rear support plate 17A has the same form as the front support plate 16A, is arranged differently, and is arranged at a symmetrical position.
- the rear support plate 17A is a rectangular plate-like member, has a through hole 25A in the center, and is disposed between the left and right lower frames 15AR and 15AL and on the rear inclined portion.
- the left and right ends of the rear support plate 17A are connected to the left and right lower frames 15AR and 15AL, respectively.
- reinforcing frames 23A extending along the ends and connected to the left and right lower frames 15AR and 15AL are formed.
- a part of a rear suspension device 90A which will be described later, is attached to the rear support plate 17A.
- the front frame portion 12A is made of a plurality of cylindrical steel materials and has a substantially rectangular shape extending upward in a side view.
- the front frame portion 12A is for rotatably supporting a handle 114A (not shown) here.
- the front frame portion 12A includes a head pipe 26A at the top.
- the head pipe 26 ⁇ / b> A is a cylindrical pipe having openings at both ends, and is disposed so as to be inclined to the front low and the rear high.
- the head pipe 26A is located at the center in the left-right direction of the body frame 10A.
- a steering shaft 115A is inserted into the head pipe 26A from above, and the handle 114A is rotatably supported.
- the rear frame portion 13A is composed of a plurality of cylindrical steel materials and has a substantially rectangular parallelepiped shape.
- a driving seat 113A (not shown) is attached to the upper portion of the rear frame portion 13A.
- Various devices such as a battery BA (not shown) are accommodated in the rear frame portion 13A.
- the body frame 10A is not limited to the above-described configuration.
- the vehicle body frame 10A only needs to have sufficient rigidity as a traveling vehicle to which the front suspension device 50A and the rear suspension device 90B can be attached.
- the body frame 10A may be formed of a hollow quadrangular prism member or a steel material having a L-shaped or H-shaped cross section instead of a cylindrical pipe.
- a configuration in which plate-like members are arranged between frames may be employed.
- FIG. 4 is a right side view of the front crawler traveling device 30A.
- FIG. 5 is a partially enlarged cross-sectional view of the front crawler traveling device 30A for explaining the mounting structure of the drive wheels 31A.
- FIG. 6 is a partial enlarged cross-sectional view of the front crawler traveling device 30A for explaining the mounting configuration of the drive wheels 31A.
- the right side is the vehicle outer side
- the left side is the vehicle inner side
- the upper side is the vehicle upper side
- the lower side is the vehicle. On the bottom.
- the front crawler traveling device 30A includes a driving wheel 31A at the top, a driven wheel 32A below the driving wheel 31A and between the front and rear portions, and between the two driven wheels 32A.
- Two auxiliary rollers 33A, a crawler belt 34A, an attachment frame 35A, a motor 36A as a driving device for driving the crawler traveling device, and a gear case 37A are provided.
- the crawler belt 34A is wound around the drive wheel 31A, the two driven wheels 32A, and the four auxiliary rollers 33A.
- the mounting frame 35A is composed of three cylindrical pipes or the like, and has a substantially upward triangular shape.
- the driving wheel 32A is rotatably supported on the upper apex of the triangular shape of the mounting frame 35A.
- driven wheels 32A are rotatably supported, and four auxiliary rollers 33A are rotatably supported between the two driven wheels 32A.
- the motor 36A and the gear case 37A are located inside the mounting frame 35A, and the driving force of the motor 36A is transmitted to the drive wheels 31A via the gear case 37A, so that the front crawler traveling device 30A is driven.
- a motor 36A is fixed on the vehicle inner side of the front end portion of the gear case 37A extending forward and backward, and the drive shaft 38A of the motor 36A projects to the inside of the gear case 37A.
- the drive wheel 31A is located on the vehicle outer side of the rear end portion of the gear case 37A, and the end on the vehicle inner side of the rotation shaft 39A fixed to the drive wheel 31A protrudes to the inside of the gear case 37A.
- sprockets (not shown) are respectively fixed to the drive shaft 38A of the motor 36A and the rotation shaft 39A of the drive wheel 31A.
- the sprockets are interlocked and connected by an endless chain (not shown).
- the front crawler traveling device 30A is configured such that the power of the motor 36A is transmitted to the drive shaft 38A, the sprocket A, the chain A, and the rotating shaft 39A.
- the front crawler traveling device 30A is driven by rotation of the drive wheels 31A by the power transmitted to the rotation shaft 39A.
- the vehicle outer end of the rotation shaft 39A of the drive wheel 31A extends to the attachment frame 35A, and the attachment frame 35A is rotatably connected to the rotation shaft 39A. That is, the front crawler traveling device 30A is configured to be swingable in the front-rear direction around the rotation shaft 39A.
- a bracket 40 ⁇ / b> A 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 ⁇ / b> A.
- the upper and lower two plate-like members of the bracket 40A have through holes 41A penetrating in the vertical direction.
- the front crawler traveling device 30A is connected to a front suspension device 50A, which will be described later, via the bracket 40A so as to be rotatable in the left-right direction about the vertical direction.
- One end of a steering device (not shown) disposed on the vehicle body frame 10A is connected to the bracket 40AR of the right front crawler traveling device 30AR, and other than the steering device is connected to the bracket 40AL of the left front crawler traveling device 30AL. The ends are connected.
- this steering device By turning the left and right front crawler travel devices 30AR and 30AL in the left-right direction by this steering device, the traveling vehicle 1A can be steered.
- the crawler belt 34A between the two driven wheels 32A is in contact with the ground. That is, the front crawler traveling device 30 ⁇ / b> A 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 31A is located is biased backward, and the vertex where the front driven wheel 32A is located is located above the vertex where the rear driven wheel 32A is located. .
- the crawler belt 34A 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 30A is supported so as to be swingable in the front-rear direction, the ground contact with the ground is improved, and a buffering effect is generated due to the swing of the front crawler traveling device 30A. Along with being able to run, ride comfort is improved.
- the front crawler traveling device 30A is a tension adjusting device (not shown) that adjusts the tension of the crawler belt 34A by moving the position of the driven wheel 32A relative to the mounting frame 35A, and a brake device (not shown) that stops the rotation of the driving wheel 31A. Further, a buffer mechanism or the like that suppresses swinging of the front crawler traveling device 30A about the rotation shaft 39A in the front-rear direction is also provided. This buffer mechanism is provided between the mounting frame 35A and the gear case 37A, and the front crawler traveling device 30A is stably grounded, and traveling performance and riding comfort are improved. Further, with this buffer mechanism, when the front crawler traveling device 30A comes into contact with the unevenness of the rough terrain, it is possible to reduce a load such as a twist or an impact on the connecting portion with the front suspension device 50A, thereby improving durability. .
- FIG. 7 is a right side view of the rear crawler traveling device 70A
- FIG. 8 is a partial enlarged cross-sectional view of the rear crawler traveling device 70A for explaining the mounting configuration of the drive wheels 71A.
- the outer side, the left side is the vehicle inner side
- the upper side is the vehicle front side
- the lower side is the vehicle rear side.
- the rear crawler traveling device 70A includes a driving wheel 71A at the top, a driven wheel 72A below the driving wheel 71A and between the front wheel and the rear wheel 72A, and between the two driven wheels 72A.
- the rear crawler traveling device 70A has a triangular shape in a side view. Unlike the above-described front crawler traveling device 30A, the connection between the rear crawler traveling device 70A and a later-described rear suspension device 90A is performed without using the bracket 40A. Further, the arrangement position of the motor 76A of the rear crawler traveling device 70A is different. And description is abbreviate
- the motor 76A is located on the vehicle inner side of the mounting frame 75A, and is fixed to a swing arm 94A (a flange portion 102A of the first arm 100A) of the rear suspension device 90A described later.
- a drive wheel 71A is fixed to a drive shaft 78A of the motor 76A.
- the rear crawler traveling device 70A is driven by the rotation of the drive shaft 78A of the motor 76A.
- the end of the drive shaft 78A of the motor 76A on the vehicle outer side extends to the mounting frame 75A, and the mounting frame 75A is rotatably connected to the drive shaft 78A. That is, the rear crawler traveling device 70A is configured to be swingable in the front-rear direction around the drive shaft 78A.
- the crawler belt 74A between the two driven wheels 72A contacts the ground.
- the rear crawler traveling device 70A has a configuration in which the ground contact portion is wider than the front crawler traveling device 30A. Therefore, stable traveling is possible by widening the ground contact portion of the crawler belt 74A.
- the rear crawler traveling device 70A is supported so as to be swingable in the front-rear direction, the ground contact with the ground is improved, and a buffering effect is generated by the swing of the front crawler traveling device 30A. Along with being able to run, ride comfort is improved.
- the rear crawler traveling device 70A drives a tension adjusting device (not shown) that adjusts the tension of the crawler belt 74A by moving the position of the driven wheel 72A with respect to the mounting frame 75A.
- a brake device (not shown) that stops the rotation of the wheel 71A, a buffer mechanism that suppresses swinging of the rear crawler traveling device 70A about the drive shaft 78A in the front-rear direction, and the like are also provided.
- This shock absorbing mechanism is provided between the mounting frame 75A and a swing arm 94A of a later-described rear suspension device 90A.
- the rear crawler traveling device 70A is stably grounded, and traveling performance and riding comfort are improved. To do. Further, with this buffer mechanism, when the rear crawler traveling device 70A comes into contact with irregularities on uneven terrain, it is possible to reduce the load such as twisting and impact on the connecting portion with the rear suspension device 90A, and the durability is improved. .
- the motors 36A and 76A as drive devices for driving the front and rear crawler travel devices 30A and 70A are electric motors driven by the power of the battery BA, and are controlled by the controller CA. Electricity (electric power) from the battery BA to the motors 36A and 76A and a control signal from the control unit CA are transmitted by a flexible flexible wire harness. Then, by driving the motors 36A and 76A with the electric power of the battery BA, the front and rear crawler traveling devices 30A and 70A are driven, and the traveling vehicle 1A can travel. Motors 36A and 76A as driving devices for the front and rear crawler traveling devices 30A and 70A are provided in the front and rear crawler traveling devices 30A and 70A, respectively.
- the front and rear crawler travel devices 30A and 70A can be largely swung in the vertical direction by front and rear suspension devices 50A and 90A described later. Therefore, it is preferable that the power supply from the battery BA disposed on the vehicle body frame 10A to the motors 36A and 76A in the front and rear crawler travel devices 30A and 70A is performed without hindering the vertical swinging.
- a flexible wire harness having a characteristic it is possible to drive the front and rear crawler travel devices 30A and 70A without hindering the swinging in the vertical direction.
- the front and rear crawler traveling devices 30A and 70A are not limited to the above-described configuration.
- the crawler traveling device may have a square shape or a trapezoidal shape when viewed from the side.
- the front crawler traveling device 30A and the rear crawler traveling device 70A may have the same shape, and by adopting such a configuration, the number of parts is reduced and productivity is improved.
- a transmission device may be provided between the drive wheels 31A and 71A and the motors 36A and 76A, and the driving force of the motors 36 and 76 may be transmitted to the drive wheels 31A and 71A via the transmission device.
- the interlocking connection between the motors 36A and 76A of the front and rear crawler traveling devices 30A and 70A and the drive wheels 31A and 71A is not limited to the above-described configuration.
- the motor 36A is provided outside the drive wheels 31A and 71A.
- 76A may be arranged, and the motors 36A, 76A may be arranged in-wheel in the drive wheels 31A, 71.
- the rear crawler traveling device 70A may be configured to interlock and connect the motor 76A and the drive wheels 71A via a gear case. With such a configuration, the degree of freedom in arranging the motor is improved.
- the front crawler traveling device 30A may be configured such that the drive wheels 31A are fixed to the drive shaft 38A of the motor 36A, similarly to the rear crawler traveling device 70A.
- the front crawler traveling device 30A described above offsets the position of the motor 36A forward by interlockingly connecting the motor 36A and the drive wheels 31A via the gear case 37A. With such a configuration, a space that allows the front crawler traveling device 30 ⁇ / b> A to rotate in the left-right direction is secured. Therefore, from the viewpoint of the steering mechanism, as described above, a configuration in which the position of the motor 36A is offset forward is preferable, and the traveling vehicle 1A can be prevented from becoming large.
- the motors 36A and 76A as drive devices for the front and rear crawler travel devices 30A and 70A are not limited to electric motors, and may be hydraulic motors that are driven by fluid pressure, for example.
- the traveling vehicle 1A 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 10A.
- the pump and the hydraulic motors respectively provided in the front and rear crawler traveling devices 30A and 70A are connected to each other by a flexible flexible hose via the hydraulic device.
- the driving force of the engine is transmitted to the hydraulic motor via the pump, and the front and rear crawler traveling devices 30A and 70A are driven.
- the hydraulic device is provided with hydraulic equipment such as a switching valve, a relief valve, a flow rate adjusting valve and the like and a filter, and the various valves are controlled by the control unit CA, whereby the flow rate of hydraulic oil to each hydraulic motor, the hydraulic pressure is controlled.
- the inflow direction and the like can be changed.
- hydraulic motors as drive devices for the front and rear crawler traveling devices 30A and 70A are provided in the front and rear crawler traveling devices 30A and 70A, respectively.
- the front and rear crawler travel devices 30A and 70A can be largely swung in the vertical direction by front and rear suspension devices 50A and 90A described later. Therefore, it is preferable that the hydraulic oil is transmitted from the pump disposed in the vehicle body frame 10A to each hydraulic motor in the front and rear crawler travel devices 30A and 70A without hindering the vertical swinging. By using such a flexible hose, the front and rear crawler traveling devices 30A and 70A can be driven without hindering the vertical swing.
- FIG. 9 is a right side view of the front suspension apparatus 50A.
- 10 is a view taken in the direction of the arrow X in FIG.
- FIG. 11 is a perspective view of the front suspension device 50 ⁇ / b> A as viewed from the front obliquely lower side.
- the front suspension device 50A includes a turning arm 51A, a motor 52A as a turning device for turning the turning arm 51A, and a pair of left and right connecting arms 53A (53AR, 53AL). And a pair of left and right swing arms 54A (54AR, 54AL).
- a straight line L1A is a straight line passing through the center of the rotation shaft 18A
- a straight line L2A is a straight line passing through the rotation center of the rotation arm 51A.
- Rotating arm 51A is a prismatic member extending in the left-right direction, and has a rotating shaft 55A at the center in the left-right direction.
- the turning arm 51A is rotatably supported by the bracket 56A with the turning shaft 55A as an axis (straight line L2A).
- the bracket 56A is fixed to the lower surface of the front support plate 16A of the body frame 10A. Accordingly, the turning arm 51A is supported by the body frame 10A via the bracket 56A so as to be rotatable about the substantially vertical direction.
- the rotating shaft 55A is perpendicular to the front support plate 16A, and the rotating shaft 55A is inclined in the front-rear direction.
- the motor 52A is fixed to the upper side surface of the front support plate 16A of the vehicle body frame 10A with a drive shaft (not shown) facing downward.
- the drive shaft of the motor 52A is connected to a rotation shaft 55A of the rotation arm 51A via a transmission (not shown) having gears and the like. Therefore, the motor 52A can rotate the rotation arm 51A about the rotation shaft 55A.
- the rotating arm 51A is not limited to the above-described configuration.
- the rotating arm 51A may be any one that extends in the left-right direction and is rotatably supported by the body frame 10A at the center in the left-right direction.
- the rotation shaft 55A may not be inclined in the front-rear direction, that is, the rotation shaft 55A may be vertical, or the rotation shaft 55A may be horizontal.
- the rotation arm 51A is preferably arranged so that the rotation shaft 55A is in a substantially vertical direction. With such a configuration, the front suspension device 50A can be disposed along the vehicle body frame 10A, and the space inside the vehicle body frame 10A can be used effectively.
- connection between the rotation arm 51A and the drive shaft of the motor 52A is not particularly limited, and the rotation shaft 55A and the drive shaft of the motor 52A may be directly connected.
- the motor 52A is an electric motor driven by the power of the battery BA, and is controlled by the control unit CA.
- the device for rotating the rotation arm 51A is not limited to an electric motor as long as the rotation arm 51A can be rotated by a predetermined angle in a predetermined rotation direction.
- a hydraulic motor driven by fluid pressure may be used.
- the traveling vehicle 1A includes an engine as a prime mover and the engine.
- a pump for driving, a tank for storing oil as a working fluid, and the like are provided.
- a pump and a hydraulic motor as a device for rotating the rotation arm 51A are connected via a hydraulic device including a hydraulic device such as a switching valve. Then, the hydraulic motor is rotated in a desired direction and angle by controlling the switching valve and the like of the hydraulic device by the control unit CA. Then, the rotation arm 51A is rotated by the rotation of the hydraulic motor.
- the device for rotating the rotation arm 51A may be a hydraulic cylinder including a piston rod and a cylinder liner, instead of the above-described hydraulic motor.
- a hydraulic cylinder When using a hydraulic cylinder, one end is connected to the turning arm 51A and the other end is connected to the vehicle body frame 10A. Then, as with the hydraulic motor, the hydraulic cylinder is expanded and contracted by controlling the switching valve of the hydraulic device by the control unit CA. The rotating arm 51A is rotated by the expansion and contraction of the hydraulic cylinder.
- the drive sources of the front and rear crawler travel devices 30A and 70A and the drive source of the rotation device that rotates the rotation arm 51A are the same. It is preferable to make it. That is, when the motors 36A and 76A as the driving devices of the front and rear crawler traveling devices 30A and 70A are electric motors, the rotating device that rotates the rotating arm 51A is an electric motor that is driven by electric power. Is preferred. On the other hand, when the motors 36A and 76A are hydraulic motors, the rotation device that rotates the rotation arm 51A is preferably a hydraulic motor or a hydraulic cylinder that is driven by fluid pressure.
- the connecting arm 53A (53AR, 53AL) is a telescopic rod-like buffer mechanism composed of a cylinder or the like, and is a so-called damper.
- One end of the right connecting arm 53AR is connected to the right end of the turning arm 51A via a ball joint 57AR as a universal joint.
- the other end of the right connection arm 53AR is connected to the right swing arm 54AR via a ball joint 58AR as a universal joint.
- the left connecting arm 53AL is connected to the left end of the rotating arm 51A through a ball joint 57AL as a universal joint, like the right connecting arm 53AR.
- the other end of the left connecting arm 53AL is connected to the left swing arm 54AL via a ball joint 58AL as a universal joint. That is, one end of the connecting arm 53A is connected to the rotating arm 51A via the ball joint 57A, and the other end is connected to the swinging arm 54A via the ball joint 58A.
- the connecting arm 53A is not limited to the above-described configuration.
- the connecting arm 53A only needs to have one end connected to the turning arm 51A and the other end connected to the swing arm 54A.
- a configuration in which a cross shaft type universal joint is used may be used.
- the connecting arm 53A may not be a telescopic bar-shaped buffer mechanism, but may be an arm made of steel.
- the connecting arm 53A preferably includes a buffer mechanism, and is preferably a telescopic rod-shaped buffer mechanism that functions as the above-described damper.
- the swing arm 54A (54AR, 54AL) includes a support portion 59A, a first arm 60A, a second arm 61A, and the like.
- the swing arm 54A has a first arm 60A and a second arm 61A extending from the support portion 59A, and is formed in a substantially L shape in side view.
- the support portion 59A has a cylindrical shape extending in the left-right direction and is rotatably supported by the rotation shaft 18A of the body frame 10A.
- the first arm 60A is a rod-like member extending forward from the outer periphery of the support portion 59A, and the front crawler traveling device 30A is connected to the end portion.
- the end of the first arm 60A is bifurcated into upper and lower forks, and a rotating shaft 62A is fixed between the branches.
- the rotating shaft 62A is inserted into the through hole 41A of the bracket 40A of the front crawler traveling device 30A described above. Accordingly, the front crawler traveling device 30A is connected to the end of the first arm 60A via the bracket 40A so as to be rotatable in the left-right direction with the vertical direction as the axis (rotating shaft 62A).
- the rotation shaft 62A passes through the center of the rotation shaft 39A of the front crawler traveling device 30A in a side view.
- the second arm 61A is a rod-like member extending downward from the outer periphery of the support portion 59A, and one end of the connection arm 53A is connected to the end portion via a ball joint 58A as a universal joint.
- the second arm 61A is located inward of the vehicle from the first arm 60A.
- the length of the second arm 61A is smaller than the length of the first arm 60A. Therefore, the swing arm 54A is configured to be supported by the support portion 59A so as to be swingable up and down about the left and right direction as an axis (straight line L1A). Further, the swing arm 54A is configured such that the front crawler traveling device 30A is connected by the first arm 60A. Further, the swing arm 54A is configured such that one end of the connection arm 53A is connected by the second arm 61A.
- the swing arm 54A is not limited to the above-described configuration.
- the swing arm 54A is supported by the vehicle body frame 10A so as to be swingable up and down about the left and right direction, and the front crawler travel device 30A is connected to the end and the end of the connection arm 53A is connected.
- the swing arm 54A may be configured such that the first arm 60A and the second arm 61A are positioned on a straight line in a side view.
- the second arm 61A may extend from the first arm 60A.
- the first arm 60A and the second arm 61A are extended from the support portion 59A, and the connection between the second arm 61A and the connecting arm 53A is seen in a side view.
- a configuration that is substantially perpendicular is preferable.
- the shapes of the first arm 60A and the second arm 61A are not limited, and may be, for example, curved shapes.
- the second arm 61 ⁇ / b> A may be configured to extend upward from the outer periphery of the support portion 59.
- the distance from the rotation shaft 18A as the rotation center of the swing arm 54A to the connecting portion between the first crawler traveling device 30A of the first arm 60A is It is preferable that the distance is larger than the distance to the connecting portion between the shaft 18A and the connecting arm 53A of the second arm 61A. That is, in the swing arm 54A, it is preferable that the distance to the connecting portion between the rotating shaft 18A and the front crawler traveling device 30A is larger than the distance to the connecting portion between the rotating shaft 18A and the connecting arm 53A. .
- FIG. 12 is a right side view of the rear suspension device 90A.
- 13 is a view taken in the direction of the arrow XIII in FIG. 12 and 13
- a straight line L3A is a straight line passing through the center of the rotating shaft 19A
- a straight line L4A is a straight line passing through the rotating center of the rotating arm 91A.
- the rear suspension device 90A includes a rotating arm 91A, a motor 92A as a rotating device that rotates the rotating arm 91A, and a pair of left and right connecting arms 93A (93AR, 93AL). And a pair of left and right swing arms 94A (94AR, 94AL).
- the rear suspension device 90A has a symmetric configuration with respect to the above-described front suspension device 50A and the straight line L1A except for the shape of the swing arm 94A.
- the connection between the swing arm 94A and the rear crawler travel device 70A is different from the connection between the swing arm 54A and the front crawler travel device 30A in the above-described front suspension device 50A, and the connection is made without using the bracket 40A. . That is, only the shape of the end of the first arm 100A of the swing arm 94A is different, and the description of the same configuration as that of the front suspension device 50A is omitted as appropriate.
- Rotating arm 91A is rotatably supported by bracket 96A about rotating shaft 95A, and bracket 96A is fixed to the lower surface of rear support plate 17A of body frame 10A.
- the pivot arm 91A is supported by the body frame 10A via the bracket 96A so as to be pivotable about the substantially vertical direction.
- the rotating shaft 95A is inclined in the front-rear direction.
- the motor 92A is fixed to the upper side surface of the rear support plate 17A of the body frame 10A.
- a drive shaft (not shown) of the motor 92A is connected to a turning shaft 95A of the turning arm 91A via a transmission (not shown) having gears and the like.
- the motor 92A can rotate the rotation arm 91A about the rotation shaft 95A.
- the connecting arm 93A is a damper of a telescopic bar-shaped buffer mechanism.
- One end of the connecting arm 93A is connected to the rotating arm 91A via a ball joint 97A.
- the other end of the connecting arm 93A is connected to the swing arm 94A via a ball joint 98A.
- the swing arm 94A has a first arm 100A and a second arm 101A extending from the support portion 99A, and is formed in a substantially L shape in side view.
- the support portion 99A has a cylindrical shape extending in the left-right direction, and is rotatably supported by the rotation shaft 19A of the body frame 10A.
- the first arm 100A is a rod-like member extending from the outer periphery of the support portion 99A toward the rear, and a vertical and flat plate-like flange portion 102A is formed at the end portion. Then, the motor 76A of the rear crawler traveling device 70A is fixed to the inner surface of the flange portion 102A (see FIG. 8). Therefore, the rear crawler traveling device 70A is connected to the end of the first arm 100A.
- connection between the first arm 100A and the rear crawler traveling device 70A is not limited to the above-described configuration.
- a configuration in which the end of the first arm 100A is fixed to the motor 76A main body of the rear crawler traveling device 70A may be employed.
- the rear crawler traveling device 70A includes a gear case similarly to the front crawler traveling device 30A, the end portion of the first arm 100A may be fixed to the gear case.
- the second arm 101A is a rod-like member extending downward from the outer periphery of the support portion 99A, and the end of the second arm 101A is connected to one end of the connecting arm 93A via a ball joint 98A as a universal joint.
- the swing arm 94A is supported by the support portion 99A so as to be swingable up and down about the left and right direction as an axis. Further, the swing arm 94A is configured such that the rear crawler traveling device 70A is connected by the first arm 100A. Further, the swing arm 94A is configured such that one end of the connection arm 93A is connected by the second arm 101A.
- FIG. 14 is a right side view for explaining the operating state of the front suspension device 50A.
- 15 is a view taken in the direction of the arrow XV in FIG. 14 shows a state in which the right front crawler traveling device 30AR swings downward and the left front crawler traveling device 30AL swings upward.
- the left connecting arm 53AL of the front suspension device 50A and the left The description of the swing arm 54AL is omitted.
- the above-described front suspension device 50A can swing the suspended left and right front crawler travel devices 30AR, 30AL in conjunction with each other in the vertical direction.
- the rotating arm 51A is rotated counterclockwise (counterclockwise) by the motor 52A
- the right front crawler traveling device 30AR is pivoted on the rotating shaft 18A as shown in FIGS.
- the left front crawler traveling device 30AL is swung upward about the rotation shaft 18A.
- the rotating arm 51A when the rotating arm 51A is rotated counterclockwise (counterclockwise) by the angle ⁇ A by the motor 52A, the left connecting arm 53AL is moved forward.
- the second arm 61AL of the left swing arm 54AL is rotated forward (counterclockwise in FIG. 14) about the rotation shaft 18A.
- the left second arm 61AL When the left second arm 61AL is rotated forward, the left first arm 60AL is rotated upward (counterclockwise in FIG. 14) about the rotation shaft 18A, and the left second arm 61AL is rotated leftward.
- the front crawler traveling device 30L is swung upward. Note that when the rotating arm 51A is rotated clockwise (clockwise) by the motor 52A, the front suspension device 50A operates in the opposite direction to that described above, and thus the description thereof is omitted.
- the left and right front crawler travel devices 30AR and 30AL suspended by the front suspension device 50A swing in the up and down directions in reverse directions. This is because the left and right front crawler travel devices 30AR, 30AL are connected to the vehicle body frame 10A via a rotating arm 51A that rotates about the vertical direction.
- the front crawler traveling device 30A 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 30A is always kept parallel to the body frame 10A, and slides up and down with respect to the body frame 10A. Therefore, the left and right front crawler traveling devices 30AR, 30AL 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.
- the occupant since the vertical swing of the left and right front crawler travel devices 30AR, 30AL is performed by the motor 52A, 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 30AR, 30AL 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.
- the front suspension device 50A has a configuration in which the left and right front crawler travel devices 30AR and 30AL are integrally suspended on the vehicle body frame 10A, and is simpler than the configuration in which each crawler travel device is suspended independently, and the number of parts is reduced. Is reduced, and productivity and maintainability are good.
- the grounding portion of the front crawler travel device 30A is in contact with the vehicle body frame 10A. 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.
- the front crawler traveling device 30A is less likely to skid on the slope, and the traveling performance and riding comfort when traveling on the slope are good.
- the connecting arm 53A and the second arm 61A are connected at a substantially right angle in a side view. Therefore, the force generated by the rotation of the rotating arm 51A can be effectively transmitted from the connecting arm 53A as the force of the swinging of the swinging arm 54A in the vertical direction (turning about the rotating shaft 18A).
- the heavy front crawler traveling device 30A can be easily swung up and down. And it is possible to reduce the size of the motor 52A.
- the distance (the length of the first arm 60A) from the rotation center of the support portion 59A (straight line L1A passing through the center of the rotation shaft 18A) to the connecting portion between the first arm 60A and the front crawler traveling device 30A is as follows. This is larger than the distance (the length of the second arm 61A) from the rotation center of the support portion 59A (straight line L1A passing through the center of the rotation shaft 18A) to the connection portion between the second arm 61A and the connection arm 53A. Therefore, even if the movement amount of the connecting arm 53A in the front-rear direction, that is, the rotation amount of the rotation arm 51A is small, the rotation amount about the rotation shaft 18 of the swing arm 54A can be increased. That is, the front crawler traveling device 30A can be largely swung up and down by a small amount of rotation of the rotation arm 51A, and the size of the front suspension device 50A can be reduced.
- the rotation shaft 18A is positioned substantially at the center in the front-rear direction of the vehicle body frame 10A, and the connection arm 53A and the swing arm 54A are arranged to extend forward from the rotation shaft 18A. That is, the front suspension device 50A has a configuration in which the connecting arm 53A and the swinging arm 54A are bent at the connecting portion (the end portion of the second arm 61A) between the connecting arm 53A and the swinging arm 54A, and the connecting arm 53A and the swinging arm 54A are arranged side by side in plan view. is doing. Accordingly, the length of the front suspension device 50A in the front-rear direction can be shortened, and the overall length of the traveling vehicle 1A can be shortened, so that traveling performance is improved.
- the rotation shaft 18A is located at the approximate center in the front-rear direction of the body frame 10A. That is, the support portion 59A is rotatably supported at a substantially center in the front-rear direction of the body frame 10A, and the swing arm 54A is disposed so as to extend forward from a substantially center in the front-rear direction of the body frame 10A. Therefore, the front suspension device 50A (swinging arm 54A) does not protrude significantly forward of the traveling vehicle 1A, the overall length of the traveling vehicle 1A can be shortened, and traveling performance is improved.
- the swing arm 54A of the front suspension apparatus 50A and the swing arm 94A of the rear suspension apparatus 90A are rotatably supported adjacent to each other at substantially the center in the front-rear direction of the body frame 10A. And the force applied to the vehicle body frame 10A from the front suspension device 50A and the rear suspension device 90A tends to concentrate in the vicinity of the center.
- the base frame portion 11A on which the rotating shafts 18A and 19A are formed has a longitudinally symmetrical shape, and has a structure similar to the truss structure by the reinforcing frames 20A and 21A connected in the vicinity of the rotating shafts 18A and 19A. Is formed. That is, the base frame portion 11A 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 10A has sufficient strength and can suppress an increase in weight.
- the rotation shaft 18A is positioned at a substantially central lower portion in the front-rear direction of the body frame 10A, the second arm 61A is suspended downward from the support portion 59A, and the rotation arm 51A and the connecting arm 53A are
- the configuration is located below the body frame 10A. That is, the main components of the front suspension device 50A are located below the body frame 10A.
- the swing arm 53A is located on the side of the body frame 10A. Therefore, the front suspension device 50A does not occupy the interior of the body frame 10A, the space inside the body frame 10A can be used effectively, and the overall length of the traveling vehicle 1A can be shortened.
- a battery or the like can be arranged inside the body frame 10A.
- the left and right connecting arms 53AR and 53AL are dampers of a telescopic bar-shaped buffer mechanism composed of cylinders or the like, and the left and right front crawler travel devices 30AR and 30AL are suspended from the body frame 10A via the dampers. This is a configuration. Therefore, the impact between the vehicle body frame 10A and the left and right front crawler travel devices 30AR and 30AL can be buffered by the left and right connecting arms 53AR and 53AL, respectively. Then, the left and right front crawler travel devices 30AR, 30AL are each stably grounded, and traveling performance and ride comfort are improved.
- the front crawler traveling device 30A may swing in the vertical direction, that is, the motor 52A may be rotated according to the operation of the occupant. It is often difficult to swing the left and right front crawler travel devices 30AR, 30AL along Therefore, a configuration in which the motor 52A as the rotation device is controlled by various sensors and a control unit described later is preferable.
- the configuration in which the motor 52A operates according to the operation of the occupant is provided, for example, in the operating device in the vicinity of the accelerator grip 117A of the handle lever 116A, and the motor 52A operates according to the operation of the operating device by the occupant. It is also good.
- a switch mechanism such as a toggle switch or a push switch can be used.
- the occupant can operate while holding the accelerator clip 117A. Therefore, the traveling operation of the traveling vehicle 1A and the operation of the operating device can be performed at the same time, so that safety and operability are good.
- the operating device is not particularly limited, and it is preferable that the operating device be configured and arranged so that the occupant can operate the operating device while operating the traveling vehicle 1A.
- the front and rear crawler travel devices 30A and 70A are driven by rotating the drive wheels 31A and 71A by the motors 36A and 76A included therein. And driving
- the steering device is controlled based on the detection value of the steering wheel sensor that detects the rotation angle of the steering shaft 115A to perform steering, and the detection value of the accelerator grip sensor that detects the rotation angle of the accelerator grip 117A is used. Based on this, the front and rear crawler travel devices 30A and 70A are controlled.
- the front and rear crawler traveling devices 30A and 70A are controlled based on the detected value of the accelerator grip sensor that is the operation amount of the accelerator grip 117A of the occupant, but the configuration is not limited to this configuration. .
- the front and rear crawler traveling devices 30A and 70A may be controlled based on at least the detected value of the accelerator grip sensor that is the operation amount of the occupant.
- the front and rear crawler travel devices 30A and 70A may be configured to be controlled based on the detected value of the handle sensor and the detected value of the accelerator grip sensor.
- the crawler traveling devices 30AR, 30AL, 70AR, and 70AL may be driven at different speeds in the turning traveling state.
- the traveling vehicle 1A can turn while considering the inner wheel difference, and can smoothly turn.
- working state of 1 A of traveling vehicles, and is controlled based on the detected value of these various sensors may be sufficient.
- the steering shaft 115A and the steering device may be interlocked and connected, and the steering device may be operated according to the operation of the steering shaft 115A.
- an angle sensor S1A that detects a rotation angle of the rotation arm 51A of the front suspension device 50A relative to the vehicle body frame 10A, and a vehicle body frame 10A of the swing arm 54A of the front suspension device 50A.
- An angle sensor S2A for detecting a rotation angle relative to the vehicle body an angle sensor S3A for detecting a rotation angle of the rotation arm 91A of the rear suspension device 90A relative to the vehicle body frame 10A, and a vehicle body frame 10A of the swing arm 94A of the rear suspension device 90A.
- An angle sensor S4A for detecting a rotation angle with respect to the crawler a crawler rotation sensor S5A for detecting the rotational speeds of the drive wheels 31A and 71A of the front and rear crawler travel devices 30A and 70A, and motors of the front and rear crawler travel devices 30A and 70A.
- Torque sensor S6A for detecting the output torque of 36A and 76A A structure comprising a tilt sensor S7A for detecting a tilt angle with respect to the horizontal frame 10A.
- control unit CA together with the handle sensor S8A and the accelerator grip sensor S9A, based on the detection values of the various sensors described above, the crawler travel devices 30AR, 30AL, 70AR, 70AL and the motors 52A, 92A as the rotation devices. To control.
- the control unit CA calculates the vertical swing state (position) of the crawler travel devices 30AR, 30AL, 70AR, and 70AL with respect to the vehicle body frame 10A based on the rotation angles of the angle sensors S1A to S4A. Therefore, the vertical swing state (vertical position) of each of the crawler travel devices 30AR, 30AL, 70AR, and 70AL with respect to the vehicle body frame 10A can be detected based on the detection values (rotation angles) of the angle sensors S1A to S4A. Further, the crawler rotation sensor S5A and the torque sensor S6A can detect the ground contact state (road surface condition) of each of the crawler travel devices 30AR, 30AL, 70AR, and 70AL.
- the inclination angle of the traveling vehicle 1A with respect to the horizontal that is, the traveling posture of the traveling vehicle 1A can be detected by the inclination sensor S7A. Further, the occupant's travel operation can be detected by the handle sensor S8A and the accelerator grip sensor S9A.
- the control unit CA can control the crawler traveling devices 30AR, 30AL, 70AR, and 70AL in accordance with the traveling state of the traveling vehicle 1A with respect to the occupant's steering wheel and accelerator operation. Will improve. Further, the body frame 10A is held horizontally by controlling the motors 52A and 92A as the rotation devices based on the detection values of the angle sensors S1A to S4A or the detection values of the angle sensors S1A to S4A and the inclination sensor S7A. This improves the driving performance and riding comfort on rough terrain.
- 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 S7A.
- the tilt sensor S7A only needs to be able to 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 1A with respect to the horizontal can be grasped in more detail, and the traveling performance and stability of the traveling vehicle 1A can be improved.
- the controller CA may be configured to store the detection values of various sensors over time and control each device based on the detection values of the various sensors and the amount of change thereof.
- the control unit CA calculates the vertical swing state (vertical position) of the crawler travel devices 30AR, 30AL, 70AR, and 70AL with respect to the vehicle body frame 10A based on the detection values of the angle sensors S1A to S4A.
- the configuration may be such that the swing speed (vertical speed) of each of the crawler travel devices 30AR, 30AL, 70AR, 70AL is calculated from the change over time of the swing displacement. With such a configuration, the swinging state of each crawler traveling device 30AR, 30AL, 70AR, 70AL can be grasped by the swinging displacement and the swinging speed. Therefore, a more detailed traveling state of the traveling vehicle 1A can be grasped, and traveling performance of the traveling vehicle 1A is improved.
- the configuration of various sensors for grasping the running state is not particularly limited.
- the sensor that detects the vertical swing state of each of the crawler travel devices 30AR, 30AL, 70AR, and 70AL may be a sensor that detects the distance between the body frame 10A and the ground.
- a sensor for detecting such a distance an ultrasonic distance sensor or an infrared distance sensor can be used.
- the sensors that detect the swing state are preferably the angle sensors S1A to S4A described above, and the swing state in the vertical direction of each of the crawler travel devices 30AR, 30AL, 70AR, and 70AL can be grasped more accurately than the distance sensor. can do.
- vehicle body frame 10A and the crawler travel devices 30AR, 30AL, 70AR, and 70AL may be configured to include an acceleration sensor. With such a configuration, the traveling state of the traveling vehicle 1A can be grasped more accurately.
- the configuration may include a plurality of various sensors, and the number of sensors is not limited.
- the angle sensors S1A to S4A described above as the swing sensors that detect the swing state of the crawler travel devices 30AR, 30AL, 70AR, and 70AL in the vertical direction with respect to the vehicle body frame 10A are S1A and S3A, or S2A and S4A.
- the structure which consists of may be sufficient.
- the structure which provides multiple various sensors is preferable, and it can grasp
- the arrangement of various sensors is not particularly limited.
- the angle sensors S1A to S4A are preferably fixed to the body frame 10A side.
- the wire harness connected to the angle sensors S1A to S4A is not affected by the rotation of the rotation arms 51A and 91A and the swing of the swing arms 54A and 94A, and the wire harness Wire breakage can be prevented and wire harnessing is easy.
- position inclination sensor S7A in the center of the width direction of the traveling vehicle 1A, and also the structure with which each is provided in the center of the front-back direction of the traveling vehicle 1A, or the front part and rear part of the traveling vehicle 1A is preferable.
- the tilt sensor S7A has a configuration provided in the center in the front-rear direction of the traveling vehicle 1A or a configuration provided corresponding to each of the front suspension device 50A and the rear suspension device 90A.
- the inclination sensor S7A is provided at the center in the front-rear direction of the traveling vehicle 1A, the inclination angle (the traveling posture of the traveling vehicle 1A) with respect to the horizontal of the traveling vehicle 1A can be effectively detected by one inclination sensor S7A.
- the inclination sensor S7A is provided corresponding to each of the front suspension device 50A and the rear suspension device 90A, the inclination angle of the traveling vehicle 1A with respect to the horizontal (the traveling posture of the traveling vehicle 1A) can be detected more accurately.
- the alarm device controlled by the control part CA 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 S7A. 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 travel devices 30A and 70A.
- the traveling control of the traveling vehicle 1A by the control unit CA is not limited to the above-described control configuration.
- the traveling control of the traveling vehicle 1A by the control unit CA is not limited to the above-described control configuration.
- the traveling control of the traveling vehicle 1A by the control unit CA is not limited to the above-described control configuration.
- a control configuration including ON / OFF control of driving of the motors 52A and 92A as the rotation device may be used. That is, a control configuration including ON / OFF control of driving of the motors 52A and 92A according to the traveling state may be used.
- the motor 52A, 92A travels with the drive stopped, and only when the motor 52A is larger than the predetermined value, the motor 52A. , 92A can be driven, and by reducing the drive time of the motors 52A, 92A during traveling, the traveling vehicle 1A can travel with energy efficiency.
- ON / OFF of the drive of motor 52A, 92A is not limited to control by control part CA, The structure which can be turned on / off according to a passenger
- the front suspension device 50A is not limited to the above-described configuration, and a rotation arm 51A that extends in the left-right direction and is rotatably supported by the body frame 10A at the center in the left-right direction, and the body frame 10A.
- a right swing arm 54AR that is supported by the right front crawler travel device 30AR at the end and swings up and down around the left and right direction as an axis.
- a left swing arm 54AL that is freely supported and has a left front crawler travel device 30AL connected to the end, one end connected to the right end of the rotating arm 51A, and the other end to the right swing arm 54AR.
- a right connection arm 53AR to be connected, and a left side connection arm 53AL having one end connected to the left end of the turning arm 51A and the other end connected to the left swing arm 54AL. It may be Re.
- the second arm 61A of the swing arm 54A in the above-described front suspension device 50A is configured to extend downward from the support portion 59A, but may be configured to extend upward. Good. With such a configuration, the second arm 61A does not protrude below the vehicle body frame 10A, and the second arm 61A can be prevented from coming into contact with an obstacle during traveling. Moreover, since the vehicle height of the traveling vehicle 1A can be lowered and the center of gravity can be lowered, 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 10A. Note that the rear suspension device 90A may have the same form as the front suspension device 50A, and has the same effect as described above.
- 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.
- the buffer mechanism includes a spring and a cylinder. May be.
- the front and rear suspension devices 50A and 90A may be configured not to include the motors 52A and 92A as the rotation devices.
- the occupant can swing the front and rear crawler travel devices 30A and 70A up and down by tilting the body frame 10A to the left or right. For example, when the occupant moves his / her weight to the right side and tilts the body frame 10A to the right side, the front and rear crawler travel devices 30AR and 70AR swing upward, and the left and front crawler travel devices 30AL and 70AL Swings downward.
- the traveling vehicle 1A when traveling on a slope, the traveling vehicle 1A is tilted toward the mountain side of the slope to bring the vehicle body frame 10A closer to the horizontal, thereby causing the mountain side portion of the grounding portion of the front crawler traveling device 30A and the grounding portion of the rear crawler traveling device 70A.
- the side of the mountain can be cut into the slope as an edge.
- the front and rear crawler traveling devices 30A and 70A are less likely to skid on the slope, and the traveling performance and riding comfort when traveling on the slope are good.
- the occupant in the case of such a configuration, the occupant always moves in the left-right direction and travels with a balance in the left-right direction of the body frame 10A. Therefore, in consideration of operability when continuously driving for a long time, a configuration including the motors 52A and 92A as the rotation devices is preferable, and the occupant can drive more comfortably for a long time.
- the traveling vehicle 1A is not limited to one that travels with the four crawler traveling devices 30AR, 30AL, 70AR, and 70AL in the front, rear, left, and right. It is sufficient to travel with at least a pair of left and right traveling devices.
- a traveling vehicle having a configuration in which the number of rear crawler traveling devices 70AR and 70AL in the traveling vehicle 1A is one may be used.
- one rear crawler traveling device 70A is arranged at the center in the left-right direction of the rear portion of the body frame 10A, and the traveling vehicle travels by three crawler traveling devices.
- the suspension device of the rear crawler traveling device 70A in this traveling vehicle is not particularly limited, but it is preferable that the suspension device is suspended so as to be swingable up and down with respect to the body frame 10A.
- the rear crawler traveling device 70A may be suspended by a traction arm whose one end is connected to the body frame 10A so as to be rotatable about the left-right direction and the other end is connected to the rear crawler traveling device 70A.
- the traveling vehicle according to the present embodiment may be a traveling vehicle 1B as shown in FIGS. 17 is a right side view showing an example of a traveling vehicle 1B according to another embodiment
- FIG. 18 is a right side view of a body frame 10B of the traveling vehicle 1B in FIG. 17, and
- FIG. 19 is a perspective view of the vehicle body frame 10B of FIG. 18 viewed from above.
- a traveling vehicle 1B according to another embodiment is different in the configuration of the body frame 10A, the front and rear suspension devices 50A, 90A, and the like in the above-described traveling vehicle 1A.
- the description is abbreviate
- the traveling vehicle 1B includes a vehicle body frame 10B, a front crawler traveling device 30A as a pair of left and right traveling devices provided at the front, and the pair of left and right front crawler traveling devices 30A.
- the traveling vehicle 1B also includes a battery BB that stores electricity, a control unit CB that is configured by a calculation unit, a storage unit, and the like and controls each device, and the like inside the body frame 10B.
- the traveling vehicle 1B includes a main body cover 110B including a front fender 111B and a rear fender 112B, a driving seat 113B, a steering shaft 115B, a handle bar 116B, an accelerator grip 117B, a handle 114B, a handle sensor (not shown), An accelerator grip sensor (not shown) and left and right step floors 118B are provided.
- Battery BB control unit CB, main body cover 110B, front fender 111B, rear fender 112B, operation seat 113B, handle 114B, steering shaft 115B, handle bar 116B, accelerator grip 117B, handle sensor, accelerator grip sensor, left and right step floor 118B
- the battery BA the control unit CA, the main body cover 110A, the front fender 111A, the rear fender 112A, the driving seat 113A, the steering wheel 114A, the steering shaft 115A, the steering bar 116A, the accelerator grip 117A, the steering sensor, the accelerator grip.
- the body frame 10B will be described.
- the body frame 10B has a symmetrical shape, and accordingly, a member constituting the right side is appropriately denoted by reference symbol R and a member constituting the left side is appropriately denoted by reference symbol L as necessary.
- the body frame 10B is different in the mounting structure of the front and rear suspension devices 50A and 90A in the body frame 10A of the traveling vehicle 1A described above.
- the vehicle body frame 10B 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 vehicle body frame 10B includes a base frame portion 11B that extends in the front-rear direction and has a bottom that has a bottom shape, a front frame portion 12B that extends upward from the front portion of the base frame portion 11B, and a rear frame portion that extends upward from the rear portion of the base frame portion 11B. 13B and the like.
- the base frame portion 11B constitutes a main portion of the vehicle body frame 10B, and a front suspension device 50B, a rear suspension device 90B and the like which will be described later are attached thereto.
- the base frame portion 11B includes a pair of left and right main frames 14B (14BR, 14BL) extending in the front-rear direction, a pair of left and right lower frames 15B (15BR, 15BL), a plurality of reinforcing frames 16B, 17B, 24B, 25B, and the like. Is provided.
- the front end portions of the left and right main frames 14BR and 14BL are connected by a reinforcing frame 16B extending left and right.
- the rear end portions of the left and right main frames 14BR and 14BL are connected by a reinforcing frame 17B extending in the left and right direction.
- the left and right lower frames 15BR and 15BL are respectively positioned below the left and right main frames 14BR and 14BL, and extend in the front-rear direction substantially parallel to the left and right main frames 14BR and 14BL, respectively. Both ends of the left and right lower frames 15BR and 15BL are inclined upward and connected to the left and right main frames 14BR and 14BL, respectively.
- the rotating shafts 18B and 19B are positioned in parallel with a predetermined distance between the front and rear, and both end portions protrude outward from the lower frames 15BR and 15BL.
- the rotating shafts 18B and 19B are used for connecting a front suspension device 50B and a rear suspension device 90B, which will be described later, to the vehicle body frame 10B, respectively.
- the rotation shafts 18B and 19B between the left and right lower frames 15BR and 15BL are formed to have a larger diameter than other members such as the main frame 14B and the lower frame 15B. Therefore, the rotating shafts 18B and 19B firmly connect the left and right lower frames 15BR and 15BL, and reinforce the rigidity of the vehicle body frame 10B.
- rocker shafts 20B and 21B extending in the left-right direction parallel to the rotation shafts 18B and 19B are respectively provided in front of the rotation shaft 18B and behind the rotation shaft 19B. Both end portions of the rocker shafts 20B and 21B are fixed to the left and right lower frames 15BR and 15BL, respectively.
- the rocker shafts 20B and 21B are used to support the rotation of rocker arms 212B and 232B, which will be described later.
- a support shaft 22B extending in the left-right direction parallel to the rotary shafts 18B, 19B is provided in the vicinity of the front end portions of the left and right main frames 14BR, 14BL and the front end portions of the left and right lower frames 15BR, 15BL being connected. Have. Both end portions of the support shaft 22B are fixed to the left and right main frames 14BR and 14BL, respectively. On the other hand, in the vicinity of the rear end portions of the left and right main frames 14BR and 14BL and in the vicinity where the rear end portions of the left and right lower frames 15BR and 15BL are connected, the left and right main frames 14BR and 14BL extend in the left and right directions parallel to the rotary shafts 18B and 19B.
- a support shaft 23 is provided. Both end portions of the support shaft 23B are fixed to the left and right main frames 14BR and 14BL, respectively. The support shafts 22B and 23B are used to support the rotation of motor cases 200B and 220B as swing support portions described later.
- Two reinforcing frames 24B and 25B are formed between the right main frame 14BR and the right lower frame 15BR and between the left main frame 14BL and the left lower frame 15BL, respectively. More specifically, the reinforcing frame 24B extends upward and rearward from the vicinity of the connecting portion between the rotating shaft 18B and the lower frame 15B, and is connected to the center of the main frame 14B in the front-rear direction.
- the reinforcing frame 25B extends upward and forward from the vicinity of the connecting portion between the rotating shaft 19B and the lower frame 15B, and is connected to the center of the main frame 14B in the front-rear direction. And the strength of the vicinity in which the rotating shafts 18B and 19B are arrange
- the base frame portion 11B has a longitudinally symmetrical shape.
- the two rotation shafts 18B and 19B, the two rocker shafts 20B and 21B, and the two support shafts 22B and 23B are respectively disposed at symmetrical positions.
- the truss structure is formed in the base frame portion 11B by the main frame 14B, the lower frame 15B, and the reinforcing frames 24B and 25B in a side view. Therefore, the base frame portion 11B has high strength because the vicinity of the rotating shafts 18B and 19B is effectively reinforced and the strength is equalized.
- the front frame portion 12B is composed of a plurality of cylindrical steel materials, and has a substantially rectangular shape that inclines from front to back and low in a side view.
- the front frame portion 12B is for rotatably supporting a handle 114B (not shown) here.
- the front frame portion 12B includes a head pipe 26B at the top.
- the head pipe 26B is a cylindrical pipe having openings at both ends, and is disposed so as to be inclined to the front low and the rear high.
- the head pipe 26B is located at the center in the left-right direction of the body frame 10B.
- a steering shaft 115B is inserted into the head pipe 26B from above, and the handle 114B is rotatably supported.
- various devices such as a battery BB (not shown) are accommodated in the front frame portion 12B.
- the rear frame portion 13B is composed of a plurality of cylindrical steel materials and has a substantially rectangular parallelepiped shape.
- An operation seat 113B (not shown) is attached to the upper portion of the rear frame portion 13B. Further, various devices such as a battery BB (not shown) are accommodated in the rear frame portion 13B.
- the body frame 10B is not limited to the above-described configuration.
- the vehicle body frame 10B only needs to have sufficient rigidity as a traveling vehicle to which the front suspension device 50B and the rear suspension device 90B can be attached.
- the body frame 10B may be formed of a hollow quadrangular prism member or a steel material having a L-shaped or H-shaped cross section instead of a cylindrical pipe.
- a configuration in which plate-like members are arranged between frames may be employed.
- FIG. 20 is a right side view of the front suspension device 50B.
- 21 is a view taken in the direction of the XXI arrow in FIG.
- FIG. 22 is a perspective view of the front suspension device 50B as seen from the diagonally lower front side.
- the front suspension device 50B includes a rotation arm 51B, a motor 52B as a rotation device for rotating the rotation arm 51B, a motor case 200B as a swing support portion, A pair of left and right connecting arms 53B (53BR, 53BL), a pair of left and right swing arms 54B (54BR, 54BL), a damper 210B as a buffer mechanism, and the like are provided.
- the description of the body frame 10B is omitted.
- a straight line L1B is a straight line passing through the center of the rotation shaft 18B
- a straight line L2B is a straight line passing through the rotation center of the rotation arm 51B
- a straight line L3B is the center of the support shaft 22B.
- the straight line L4B is a straight line passing through the center of the rocker shaft 20B.
- the rotation arm 51B, the motor 52B, the pair of left and right connecting arms 53B, and the pair of left and right swing arms 54B are the rotation arm 51A, the motor 52A, and the pair of left and right in the front suspension device 50A of the traveling vehicle 1A. This corresponds to the connecting arm 53A and the pair of left and right swing arms 54A, and a description of the same configuration will be omitted as appropriate.
- the motor case 200B is a bottomed, substantially rectangular tube-shaped casing, and includes a substantially rectangular bottom wall 201B, four side walls 202B, and the like. On the lower surface of the bottom wall 201B, there is a bracket 203B having a U-shape in side view.
- the bracket 203B includes a bottom wall 204B and front and rear side walls 205B and 206B, and upper ends of the front and rear side walls 205B and 206B are fixed to the bottom wall 201B.
- the motor 52B is inserted into the motor case 200B from above with the drive shaft (not shown) facing downward, and is fixed to the bottom wall 201B of the motor case 200B.
- the left and right side walls 202B of the motor case 200B have through holes 207B penetrating in the left-right direction on the rear side of the upper part.
- the support shaft 22B of the vehicle body frame 10B is inserted through the through hole 207B. Therefore, the motor case 200B is supported by the body frame 10B so as to be swingable up and down about the left and right direction as an axis (straight line L3B).
- the motor case 200B is arranged with the upper part tilted backward.
- Rotating arm 51B is a prismatic member extending in the left-right direction, and has a rotating shaft 55B at the center in the left-right direction.
- the rotation arm 51B is positioned between the bottom wall 201B of the motor case 200B and the bottom wall 204B of the bracket 203B, and is rotatably supported by the bottom wall 204B of the bracket 203B with the rotation shaft 55B as an axis. That is, the rotation arm 51B is rotatably supported by the motor case 200B with the substantially vertical direction as an axis (straight line L2B).
- the rotating shaft 55B is perpendicular to the bottom wall 201B of the motor case 200B, and the rotating shaft 55B is inclined in the front-rear direction.
- the bottom wall 201B of the motor case 200B has a through hole (not shown), and the drive shaft of the motor 52B is connected to a rotation shaft 55B of the rotation arm 51B via a transmission (not shown) having gears. ing.
- the motor 52B can rotate the rotation arm 51B about the rotation shaft 55B.
- the motor case 200B as the swing support portion is not limited to the above-described configuration.
- the motor case 200B only needs to be supported by the vehicle body frame 10B so as to be swingable up and down about the left-right direction.
- the motor case 200B may be a bottomed cylindrical housing.
- the motor case 200B and the bracket 203B may be integrally formed.
- the rotating arm 51B is not limited to the above-described configuration.
- the rotating arm 51B may be anything that extends in the left-right direction and is rotatably supported by the motor case 200B as a swing support portion at the center in the left-right direction.
- the rotating arm 51B extends in the left-right direction. It may be a member.
- connection between the rotation arm 51B and the drive shaft of the motor 52B is not particularly limited, and the rotation shaft 55B and the drive shaft of the motor 52B may be directly connected.
- the motor 52B is an electric motor driven by the electric power of the battery BB, and is controlled by the control unit CB.
- the device for rotating the rotation arm 51B is not limited to the electric motor as long as the rotation arm 51B can be rotated by a predetermined angle in a predetermined rotation direction.
- the motor 52B may be a hydraulic motor that is driven by a fluid pressure, similarly to the motor 52A of the traveling vehicle 1A described above.
- the connecting arm 53B (53BR, 53BL) is a cylindrical member. One end of the right connecting arm 53BR is connected to the right end of the rotating arm 51B via a ball joint 57BR as a universal joint. The other end of the right connecting arm 53BR is connected to the right swing arm 54BR via a ball joint 58BR as a universal joint.
- the left connecting arm 53BL has one end connected to the left end of the rotating arm 51B via a ball joint 57BL as a universal joint, like the right connecting arm 53BR described above.
- the other end of the left connecting arm 53BL is connected to the left swing arm 54BL via a ball joint 58BL as a universal joint. That is, one end of the connecting arm 53B is connected to the rotating arm 51B via the ball joint 57B, and the other end is connected to the swing arm 54B via the ball joint 58B.
- the connecting arm 53B is not limited to the above-described configuration.
- the connecting arm 53B only needs to have one end connected to the turning arm 51B and the other end connected to the swing arm 54B.
- a configuration in which a cross shaft type universal joint is used may be used.
- the swing arm 54B (54BR, 54BL) includes a support portion 59B, a first arm 60B, a second arm 61B, and the like.
- the swing arm 54B has the same configuration as the swing arm 54A in the traveling vehicle 1A described above.
- the swing arm 54B has a first arm 60B and a second arm 61B extending from the support portion 59B, and is formed in a substantially L shape in side view.
- the support portion 59B has a cylindrical shape extending in the left-right direction and is rotatably supported by the rotation shaft 18B of the vehicle body frame 10B.
- the first arm 60B is a rod-like member that extends forward from the outer periphery of the support portion 59B, and a rotation shaft 62B is fixed to the end portion. Then, similarly to the connection between the front crawler traveling device 30A and the front suspension device 50A in the traveling vehicle 1A described above, the front crawler traveling device 30A has a vertical direction at the end of the first arm 60B via the bracket 40A.
- the shaft (rotation shaft 62B) is connected so as to be rotatable in the left-right direction (see FIG. 5).
- the second arm 61B is a rod-like member extending downward from the outer periphery of the support portion 59B, and one end of the connection arm 53B is connected to the end via a ball joint 58B as a universal joint.
- the swing arm 54B is configured to be supported by the support portion 59B so as to be swingable up and down about the left and right direction as an axis (straight line L1B). Further, the swing arm 54B is configured such that the front crawler traveling device 30A is connected by the first arm 60B. Further, the swing arm 54B is configured such that one end of the connection arm 53B is connected by the second arm 61B.
- the damper 210B is an elastic rod-like buffer mechanism composed of a cylinder or the like, and is arranged extending in the front-rear direction at the center in the left-right direction of the body frame 10B.
- One end of the damper 210B is connected to the rear wall 206B of the bracket 203B so as to be rotatable about the left and right direction.
- the other end of the damper 210B is connected to the rocker arm 212B of the link mechanism 211B.
- the damper 210B has a configuration in which one end is connected to a motor case 200B as a swing support portion and the other end is connected to the vehicle body frame 10B via a link mechanism 211B.
- the link mechanism 211B includes a rocker arm 212B and a pair of left and right pull rods 213B (213BR, 213BL).
- the upper end of the rocker arm 212B is rotatably supported by the body frame 10B about the rocker shaft 20B as an axis (straight line L4B).
- the other end of the damper 210B is connected to the lower end of the rocker arm 212B so as to be rotatable about the left-right direction.
- the pair of left and right pull rods 213B (213BR, 213BL) are arranged symmetrically on the left and right sides of the rocker arm 212B.
- One end of the pull rod 213B is connected between the upper end and the lower end of the rocker arm 212B so as to be rotatable about the left-right direction as an axis.
- the other end of the pull rod 213B is connected to the rear wall 206B of the bracket 203B so as to be rotatable about the left-right direction.
- the rotation axis of the rear wall 206B of the pull rod 213B is coaxial with the rotation axis of the rear wall 206B of the damper 210B.
- damper 210B and the pull rod 213B are connected coaxially with the rear wall 206B.
- the damper 210B arranged as described above can buffer an impact between the vehicle body frame 10B and the left and right front crawler travel devices 30AR and 30AL, details of which will be described later.
- FIG. 23 is a right side view of the rear suspension device 90B.
- 24 is a view taken in the direction of the arrow XXIV in FIG.
- the rear suspension device 90B includes a rotation arm 91B, a motor 92B as a rotation device for rotating the rotation arm 91B, a motor case 220B as a swing support portion, A pair of left and right connecting arms 93B (93BR, 93BL), a pair of left and right swing arms 94B (94BR, 94BL), a damper 230B as a buffer mechanism, and the like are provided.
- the straight line L5B is a straight line passing through the center of the rotating shaft 19B
- the straight line L6B is a straight line passing through the rotating center of the rotating arm 91B
- the straight line L7B is the center of the support shaft 23B.
- the straight line L8B is a straight line passing through the center of the rocker shaft 21B.
- the rear suspension device 90B has a longitudinally symmetrical configuration with respect to the above-described front suspension device 50B and the straight line L1B except for the shape of the swing arm 94B.
- the connection between the swing arm 94B and the rear crawler travel device 70A is different from the connection between the swing arm 54B and the front crawler travel device 30A in the front suspension device 50B described above, and is connected without the bracket 40A. . That is, only the shape of the end of the first arm 100B of the swing arm 94B is different, and the description of the same configuration as that of the front suspension device 50B will be omitted as appropriate.
- the motor case 220B is supported by the vehicle body frame 10B so as to be swingable up and down around the support shaft 23B.
- the motor 92B is fixed to the motor case 220B.
- the rotation arm 91B is supported by the bracket 223B of the motor case 220B so as to be rotatable about the rotation shaft 95B.
- the rotating shaft 95B is inclined in the front-rear direction.
- a drive shaft (not shown) of the motor 92B is connected to a rotation shaft 95B of the rotation arm 91B via a transmission (not shown) having gears and the like.
- the motor 92B can rotate the rotation arm 91B about the rotation shaft 95B.
- the connecting arm 93B is connected to the rotating arm 91B via the ball joint 97B.
- the other end of the connecting arm 93B is connected to the swing arm 94B via a ball joint 98B.
- the swing arm 94B has the same configuration as the swing arm 94A in the traveling vehicle 1A described above.
- the swing arm 94B has a first arm 100B and a second arm 101B extending from the support portion 99B, and is formed in a substantially L shape in side view.
- the support portion 99B has a cylindrical shape extending in the left-right direction, and is rotatably supported by the rotation shaft 19B of the vehicle body frame 10B.
- the first arm 100B is a rod-like member extending rearward from the outer periphery of the support portion 99B, and a flange portion 102B having a vertical and flat surface is formed at the end portion. Then, similarly to the connection between the rear crawler traveling device 70A and the rear suspension device 90A in the traveling vehicle 1A described above, the motor 76A of the rear crawler traveling device 70A is fixed to the inner surface of the flange portion 102B (see FIG. 8). Therefore, the rear crawler traveling device 70A is connected to the end of the first arm 100B.
- the second arm 101B is a rod-like member extending downward from the outer periphery of the support portion 99B, and one end of the connection arm 93B is connected to the end via a ball joint 98B as a universal joint.
- the swing arm 94B is configured to be supported by the support frame 99B so as to be swingable up and down about the left and right direction as an axis. Further, the swing arm 94B is configured such that the rear crawler traveling device 70A is connected by the first arm 100B. Further, the swing arm 94B is configured such that one end of the connection arm 93B is connected by the second arm 101B.
- the rear suspension device 90B includes a damper 230B and a link mechanism 231B for buffering an impact between the vehicle body frame 10B and the left and right rear crawler travel devices 70AR and 70AL.
- the link mechanism 231B includes a rocker arm 232B and a pair of left and right pull rods 233B (233BR, 233BL).
- One end of the damper 230B is connected to the bracket 223B so as to be rotatable about the left-right direction as an axis.
- the other end of the damper 230B is connected to the rocker arm 232B.
- the upper end of the rocker arm 232B is rotatably supported by the rocker shaft 21B of the vehicle body frame 10B.
- the other end of the damper 230B is coupled to the lower end of the rocker arm 232B so as to be rotatable about the left-right direction.
- One end of the pull rod 233B is rotatably connected between the upper end and the lower end of the rocker arm 232B with the left-right direction as an axis.
- the other end of the pull rod 233B is connected to the bracket 223B so as to be rotatable about the left and right direction.
- the damper 230B and the pull rod 233B are connected on the same axis of the bracket 223B.
- FIG. 25 is a right side view for explaining the operating state of the front suspension apparatus 50B.
- 26 is a view taken in the direction of the arrow XXVI in FIG.
- FIG. 25 shows a state in which the right front crawler traveling device 30AR swings downward and the left front crawler traveling device 30AL swings upward, and the left connecting arm 53BL of the front suspension device 50B and the left
- the description of the swing arm 54BL is omitted.
- the above-described front suspension device 50B can swing the left and right front crawler travel devices 30AR and 30AL in conjunction with each other in the opposite directions in the vertical direction.
- the rotating arm 51B is rotated counterclockwise (counterclockwise) by the motor 52B
- the right front crawler traveling device 30AR is pivoted about the rotating shaft 18B as shown in FIGS.
- the left front crawler traveling device 30AL is swung upward about the rotation shaft 18B.
- the left and right front crawler travel devices 30AR and 30AL suspended by the front suspension device 50B swing in conjunction with each other in the vertical direction. This is because the left and right front crawler travel devices 30AR and 30AL are connected to a motor case 200B as a swing support portion via a rotation arm 51B that is rotatably supported at the center in the left-right direction. .
- the front crawler traveling device 30A 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 30A is always kept in parallel with the vehicle body frame 10B, and slides up and down with respect to the vehicle body frame 10B. Therefore, the left and right front crawler traveling devices 30AR, 30AL 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.
- the occupant since the vertical swing of the left and right front crawler travel devices 30AR, 30AL is performed by the motor 52B, 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 30AR, 30AL 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.
- the front suspension device 50B has a configuration in which the left and right front crawler travel devices 30AR and 30AL are integrally suspended on the vehicle body frame 10B, and is simpler than the configuration in which each crawler travel device is suspended independently, and the number of parts is reduced. Is reduced, and productivity and maintainability are good.
- the grounding portion of the front crawler traveling device 30A is in contact with the vehicle body frame 10B. Always kept parallel. Therefore, the mountain side portion of the ground contact portion of the front crawler traveling device 30A can be bitten into the slope as an edge. For example, when traveling on the slope where the right side of the traveling vehicle 1B 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 30A can be bitten into the slope as an edge. Accordingly, the front crawler traveling device 30A is less likely to skid on the slope, and the traveling performance and riding comfort when traveling on the slope are good.
- the connecting arm 53B and the second arm 61B are connected at a substantially right angle in a side view. Therefore, the force generated by the rotation of the rotation arm 51B can be effectively transmitted from the connecting arm 53B as the force for the vertical swing of the swing arm 54B (rotation about the rotation shaft 18B).
- the heavy front crawler traveling device 30A can be easily swung up and down. And it is possible to reduce the size of the motor 52B.
- the distance (the length of the first arm 60B) from the rotation center of the support portion 59B (straight line L1B passing through the center of the rotation shaft 18B) to the connecting portion between the first arm 60B and the front crawler travel device 30A is as follows. This is larger than the distance (the length of the second arm 61B) from the rotation center of the support portion 59B (straight line L1B passing through the center of the rotation shaft 18B) to the connection portion between the second arm 61B and the connection arm 53B. Therefore, even if the movement amount of the connecting arm 53B in the front-rear direction, that is, the rotation amount of the rotation arm 51B is small, the rotation amount about the rotation shaft 18B of the swing arm 54B can be increased. That is, the front crawler traveling device 30A can be swung up and down largely by the small rotation of the rotation arm 51B, and the front suspension device 50B can be downsized.
- the rotation shaft 18B is positioned substantially at the center in the front-rear direction of the vehicle body frame 10B, and the connecting arm 53B and the swing arm 54B are arranged to extend forward from the rotation shaft 18B. That is, the front suspension device 50B has a configuration in which the connection arm 53B and the swing arm 54B are bent at the connection portion (the end portion of the second arm 61B) between the connection arm 53B and the swing arm 54B, and the connection arm 53B and the swing arm 54B are side by side in plan view. is doing. Accordingly, the length of the front suspension device 50B in the front-rear direction can be shortened, and the overall length of the traveling vehicle 1B can be shortened, so that traveling performance is improved.
- the rotation shaft 18B is located at the approximate center in the front-rear direction of the body frame 10B. That is, the support portion 59B is rotatably supported at the approximate center in the front-rear direction of the body frame 10B, and the swing arm 54B is disposed so as to extend forward from the approximately center in the front-rear direction of the body frame 10B. Therefore, the front suspension device 50B (swinging arm 54B) does not protrude greatly to the front of the traveling vehicle 1B, the overall length of the traveling vehicle 1B can be shortened, and traveling performance is improved.
- the swing arm 54B of the front suspension device 50B and the swing arm 94B of the rear suspension device 90B are rotatably supported adjacent to each other at substantially the center in the front-rear direction of the body frame 10B.
- the force applied to the vehicle body frame 10B from the front suspension device 50B and the rear suspension device 90B tends to concentrate in the vicinity of the center.
- the base frame portion 11B on which the rotating shafts 18B and 19B are formed has a symmetrical shape, and a truss structure is formed by the reinforcing frames 24B and 25B connected in the vicinity of the rotating shafts 18B and 19B. . That is, the base frame portion 11B 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 10B has sufficient strength and can suppress an increase in weight.
- the rotation shaft 18B is located at a substantially central lower portion in the front-rear direction of the body frame 10B, and the second arm 61B is suspended downward from the support portion 59B.
- the rotating arm 51B, the connecting arm 53B, the damper 210B, and the link mechanism 211B are configured to be positioned below the vehicle body frame 10B. That is, the main components of the front suspension device 50B are located below the vehicle body frame 10B.
- the swing arm 54B is located on the side of the vehicle body frame 10B. Accordingly, the front suspension device 50B does not occupy the interior of the vehicle body frame 10B, the space inside the vehicle body frame 10B can be used effectively, and the overall length of the traveling vehicle 1B can be shortened. And a battery etc. can be arrange
- the front crawler traveling device 30A may swing in the vertical direction, that is, the motor 52B may be rotated according to the operation of the occupant.
- the motor 52B may be rotated according to the operation of the occupant.
- crew's operation it can be set as the structure similar to the structure which the motor 52A in the above-mentioned traveling vehicle 1A act
- FIG. 27 shows a state in which the traveling vehicle 1B is traveling on a flat ground.
- FIG. 28 shows a state in which the front crawler traveling device 30A gets over the ground bump, and the front crawler traveling device 30A swings upward and the swing arm 54B swings upward.
- FIG. 27 shows a state in which the traveling vehicle 1B is traveling on a flat ground.
- FIG. 28 shows a state in which the front crawler traveling device 30A gets over the ground bump, and the front crawler traveling device 30A swings upward and the swing arm 54B swings upward.
- FIG. 29 schematically shows the damper 210B before and after swinging of the front crawler traveling device 30A, where the before-swing is indicated by a broken line, and after the swing is indicated by a solid line. Is denoted by a, and the member after swinging is denoted by b.
- one end of the damper 210B is connected to the motor case 200B as the swing support portion, and the other end is connected to the vehicle body frame 10B via the link mechanism 211B.
- the damper 210B can buffer an impact between the vehicle body frame 10B and the left and right front crawler travel devices 30AR, 30AL.
- an impact load is applied to the front crawler traveling device 30A upward and rearward due to the rising of the ground during forward traveling.
- the left and right front crawler travel devices 30AR, 30AL are swung upward about the rotation shaft 18B (straight line L1B) by an impact load.
- the left and right swing arms 54B swing upward as shown in FIG. In FIG. 28, the left and right swing arms 54B are rotated counterclockwise by an angle ⁇ B with the rotation shaft 18B as an axis (straight line L1B).
- the other end of the damper 210B is connected to the link mechanism 211B. Since one end of the left and right pull rods 213B of the link mechanism 211B is connected to the motor case 200B, the motor case 200B swings upward and moves forward. As the left and right pull rods 213B move forward, the rocker arm 212B swings forward and upward about the rocker shaft 20B (straight line L4B). Then, the damper 210B connected to the end of the rocker arm 212B is pushed forward. Therefore, the front end (the connection portion with the motor case 200B) of the damper 210B is pulled forward, and the rear end (the connection portion with the rocker arm 212B) is pushed forward.
- the left and right pull rods 213B that exert a force on the rear end of the damper 210B have one end connected to the front end of the damper 210B and the coaxial motor case 200B, and the other end connected between the upper end and the lower end of the rocker arm 212B. It is a configuration. That is, the distance D1 from the pivot center of the rocker arm (straight line L4B passing through the center of the rocker shaft 20B) to the connecting portion between the rocker arm 212B and the damper 210B passes through the pivot center of the rocker arm (the center of the rocker shaft 20). It is larger than the distance D2 from the straight line L4B) to the connecting portion between the rocker arm 212B and the left and right pull rods 213B.
- each of the left and right pull rods 213B and the damper 210B is connected to a coaxial motor case 200B. Therefore, the damper 210B is contracted when the left and right front crawler travel devices 30AR, 30AL are swung upward. The damper 210B cushions the impact when the left and right front crawler travel devices 30AR, 30AL are swung upward by buffering the force acting in the contraction direction.
- the shock between the vehicle body frame 10B and the left and right front crawler travel devices 30AR, 30AL can be buffered by the damper 210B. Then, the left and right front crawler traveling devices 30AR, 30AL are stably grounded, and traveling performance and riding comfort are improved. Further, since the damper 210B has a simple configuration that is a telescopic rod-like member, the number of parts is reduced, and productivity and maintainability are good.
- the link mechanism 211B contracts the damper 210B when the left and right front crawler travel devices 30AR, 30AL are swung upward and the motor case 200B is swung upward and forward. Therefore, the damper 210B as the buffer mechanism may be configured to effectively cushion the shock when contracted. That is, the damper 210B only needs to have a buffering function in one direction, and can have a simple configuration, and productivity and maintainability are good.
- the damper 210B as the buffer mechanism is not limited to the above-described configuration, and may be any configuration as long as the shock is buffered.
- the damper 210B may be configured by a spring and a cylinder. .
- the link mechanism 211B is not limited to the above-described configuration.
- the damper 210B is Any structure that contracts may be used.
- the pull shaft 213B and the damper 210B may have a configuration in which the rotation axes of the motor case 200B are different axes.
- the structure with one pull rod 213B may be sufficient.
- the arrangement of the damper 210B is not limited to the above-described configuration, and any arrangement may be used as long as the damper 210B is connected to the vehicle body frame 10B and the motor case 200B as the swing support portion.
- one end of the damper 210B may be connected to the vehicle body frame 10B without the link mechanism 211B.
- the rear end of the damper 210B is the rocker shaft.
- the structure connected with 20B may be sufficient.
- the damper 210B needs to be configured to cushion an impact when extended, and the configuration of the damper 210B becomes complicated.
- the damper 210B may be arranged in front of the motor case 200B.
- one end of the damper 210B is coupled to the front wall 205B of the bracket 203B of the motor case 200B, and the other end of the damper 210B is coupled to the vehicle body frame 10B at a position in front of and above the coupling portion with the bracket 203B at one end.
- It may be a configuration.
- the damper 210B can be configured to cushion an impact when contracted.
- the damper 210B is disposed so as to extend forward from the motor case 200B, the overall length of the vehicle body frame 10B is increased, and traveling performance is degraded. Therefore, the damper 210B is preferably connected to the vehicle body frame 10B via the link mechanism 211B as described above from the viewpoints of productivity, maintainability, and travelability.
- traveling and steering of the traveling vehicle 1B are the same as those of the traveling vehicle 1A described above, and thus the description thereof is omitted.
- the front suspension device 50B is not limited to the above-described configuration, and includes a motor case 200B as a swinging support portion that is supported by the vehicle body frame 10B so as to be swingable up and down about the left and right direction, and the left and right direction.
- a pivot arm 51B that is pivotally supported by the motor case 200B at the center in the left-right direction, and is supported by the vehicle body frame 10B so as to be swingable up and down about the left-right direction, and at the end on the right front
- a swing arm 54BR to which the crawler travel device 30AR is connected and a swing arm 54BL that is supported by the vehicle body frame 10B so as to be swingable up and down about the left and right direction and to which the left front crawler travel device 30AL is connected at the end.
- a right connection arm 53BR having one end connected to the right end of the rotation arm 51B and the other end connected to the right swing arm 54BR, and one end being the rotation arm 51B. It has a left connecting arm 53BL connected to the left end and the other end connected to the left swing arm 54BL, and has a damper 210B as a buffer mechanism between the vehicle body frame 10B and the motor case 200B. It ’s fine.
- the second arm 61B of the swing arm 54B in the above-described front suspension device 50B is configured to extend downward from the support portion 59B, but may be configured to extend upward. Good. With this configuration, the second arm 61B does not protrude below the vehicle body frame 10B, and the second arm 61B can be prevented from coming into contact with an obstacle during traveling. Moreover, since the vehicle height of the traveling vehicle 1B 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 10B. Note that the rear suspension device 90B may have the same form as the front suspension device 50B, and has the same effect as described above.
- the front and rear suspension devices 50B and 90B may be configured not to include the motors 52B and 92B as the rotation devices, like the front and rear suspension devices 50A and 90A of the traveling vehicle 1A. Since such a configuration is the same as that of the traveling vehicle 1A described above, the description thereof is omitted. Similarly to the traveling vehicle 1A, the traveling vehicle 1B only needs to travel with at least a pair of left and right traveling devices, and configurations other than the front and rear suspension devices 50B and 90B are exemplified in the traveling vehicle 1A described above. Can be.
- the traveling vehicle 1B may be a traveling vehicle having one rear crawler traveling device 70AR, 70AL in the traveling vehicle 1B, similar to the traveling vehicle 1A described above.
- the steering of the traveling vehicles 1A and 1B is based on a so-called well-known steering mechanism in which the left and right front crawler traveling devices 70AR and 70AL as the traveling devices are rotated in conjunction with the left and right directions by a steering device.
- a steering device it is not limited to this configuration.
- the structure which steers a vehicle by making a difference in the drive speed of each traveling apparatus may be sufficient.
- the traveling vehicle according to the present embodiment may be a traveling vehicle 1C as shown in FIGS.
- FIG. 30 is a right side view showing an example of a traveling vehicle 1C according to another embodiment.
- 31 is a plan view of FIG. 30
- FIG. 32 is a right side view mainly showing the configuration of the vehicle body frame 10C and the suspension devices 50C and 90C
- FIG. 33 is a plan view of FIG. 32
- FIG. It is a perspective view of the vehicle body frame 10C seen from diagonally above.
- the traveling vehicle 1C includes a vehicle body frame 10C, a front crawler traveling device 30C as a pair of left and right traveling devices provided at the front, and the pair of left and right front crawler traveling devices 30C.
- the traveling vehicle 1C includes an engine EC as a prime mover, a pump (not shown) driven by the engine EC, a calculation unit, a storage unit, and the like, and includes a control unit (not shown) that controls each device. .
- the body cover 110C is put on the body frame 10C.
- the main body cover 110C covers the vehicle body frame 10C.
- the main body cover 110C includes a front fender 111C above the front crawler traveling device 30C, and a rear fender 112C above the rear crawler traveling device 70C.
- a driving seat 113C is provided on the main body cover 110 between the front crawler traveling device 30C and the rear crawler traveling device 70C.
- a handle 114C for operating the traveling vehicle 1C is provided in front of the driving seat 113C.
- the handle 114C includes a steering shaft 115C, a handle bar 116C protruding left and right provided at the upper end of the steering shaft 115C, an accelerator grip 117C as an accelerator provided at one end of the handle bar 116C, and the like.
- the steering shaft 115C is rotatably supported with respect to the vehicle body frame 10C.
- a steering wheel sensor (not shown) for detecting the rotation angle of the steering shaft 115C is provided at the lower end of the steering shaft 115C.
- the accelerator grip 117C is rotatably supported by the handle bar 116C.
- the accelerator grip 117C includes an accelerator grip sensor (not shown) that detects the rotation angle of the accelerator grip 117C.
- the left and right step floors 118C are provided below the operation seat 113C.
- the traveling vehicle 1C is a straddle-type traveling vehicle. The occupant sits across the driving seat 113C and gets on the left and right step floors 118C.
- the body frame 10C Since the body frame 10C has a bilaterally symmetric 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.
- the vehicle body frame 10C is configured by joining a plurality of steel materials by welding or the like.
- the steel material is a pipe having a cylindrical shape or a rectangular tube shape.
- the body frame 10C includes a main frame 11C extending in the front-rear direction, a pair of left and right side frames 12C (12CR, 12CL) extending in the front-rear direction substantially parallel to the left and right sides of the main frame 11C, and the main frame 11C. And a plurality of reinforcing frames 13C, 14C, 15C, 16C, and 17C spanned between the left and right side frames 12CR and 12CL, and a plate-like front support plate 18C to which the front suspension device 50C is attached.
- the main frame 11C and the side frame 12C include a front portion 19C that extends horizontally in the front-rear direction, a front slope portion 20C that slopes front and rear from the front portion 19C, and front and rear portions from the front slope portion 20C.
- the center portion 21C extends in the horizontal direction
- the rear slope portion 22C is inclined from the center portion 21C to the front low and rear height
- the rear portion 23C is inclined from the rear slope portion 22C to the front low and rear height.
- the left and right side frames 12CR and 12CL have their front ends connected to each other and their rear ends connected to each other, and this connecting portion has a U-shape in plan view.
- the front and rear ends of the main frame 11C are connected to the front and rear connecting portions, respectively.
- the reinforcing frame 13C has a substantially U shape in plan view and is disposed substantially horizontally. One end is connected to the right side frame 12CR of the rear slope portion 22C and the other end is connected to the left side frame 12CL of the rear slope portion 22C. .
- the reinforcing frame 13C is also connected to the main frame 11C of the front slope portion 20C and the left and right side frames 12CR and 12CL.
- the reinforcing frame 14C is substantially U-shaped in plan view, and is disposed substantially horizontally above the reinforcing frame 13C. One end is connected to the right side frame 12CR of the rear slope portion 22C, and the other end is the left side of the rear slope portion 22C. Connected to the side frame 12CL. The reinforcing frame 14C is also connected to the main frame 11C of the front slope portion 20C and the left and right side frames 12CR and 12CL.
- the reinforcing frame 15C has an annular shape extending in the front-rear direction in plan view, is disposed substantially horizontally above the reinforcing frame 14C, and is connected to the center frame 11C and the left and right side frames 12CR and 12CL of the front slope portion 20C.
- the center frame 11C of the portion 23C and the left and right side frames 12CR and 12CL are also connected.
- the reinforcing frame 16C has an inverted U shape when viewed from the back, and is disposed substantially vertically. One end is connected to the right side frame 12CR of the rear slope portion 22C, and the other end is connected to the left side frame 12CL of the rear slope portion 22C. .
- the reinforcing frame 16C is also connected to the reinforcing frames 14C and 15C.
- the reinforcing frame 17C is a plate-like member and has an annular shape extending in the left-right direction when viewed from the back.
- the reinforcing frame 17C is disposed substantially vertically behind the reinforcing frame 16C, and the left and right end portions are respectively provided on the left and right side frames 12CR and 12CL.
- the lower center part is connected to the center frame 11C.
- the reinforcing frame 17C is also connected to the reinforcing frame 15C.
- a rotation shaft 24C extending in the left-right direction is attached to the center frame 11C of the rear slope portion 22C, and both ends of the rotation shaft 24C are connected to the reinforcement frame 13C.
- a rotation shaft 25C extending in the left-right direction and parallel to the rotation shaft 24C is attached to the center frame 11C of the rear slope portion 22C above the rotation shaft 24C, and both ends of the rotation shaft 25C are reinforced. It is connected to the frame 14C.
- a rotating shaft 26C extending in the front-rear direction and connected to the upper portions of the reinforcing frame 16C and the reinforcing frame 17C.
- the rotating shafts 24C, 25C, and 26C are used for connecting a rear suspension device 90C described later.
- the front support plate 18C has a substantially rectangular shape extending in the front-rear direction in plan view, and the upper surface is fixed to the center frame 11C and the side frame 12C of the front portion 19C.
- the front support plate 18C includes a through hole 27C penetrating in the vertical direction. And this through-hole 27C is used for the connection of the front suspension apparatus 50C mentioned later.
- the body frame 10C is not limited to the above-described configuration.
- the body frame 10C only needs to be able to attach the front suspension device 50C and the rear suspension device 90C and have sufficient rigidity as a traveling vehicle.
- the body frame 10C may be formed of a hollow quadrangular prism member or a steel material having a L-shaped or H-shaped cross section instead of a cylindrical pipe.
- FIG. 35 is a right side view of the front crawler traveling device 30C
- FIG. 36 is a side view (left side view) of the front crawler traveling device 30C viewed from the inside of the vehicle.
- FIG. 37 is a partially enlarged cross-sectional view of the front crawler traveling device 30C for explaining the mounting configuration of the drive wheels 31C, with the right side being the inside of the vehicle and the left side being the outside of the vehicle.
- the front crawler traveling device 30C includes a driving wheel 31C at the top, a driven wheel 32C at the front and the rear, four auxiliary rollers 33C between the two driven wheels 32C, A crawler belt 34C, a mounting frame 35C, a connecting frame 36C, a hydraulic motor 37C, and the like are provided.
- the crawler belt 34C is wound around the drive wheel 31C, the two driven wheels 32C, and the four auxiliary rollers 33C.
- the follower wheel 32C and the auxiliary roller 33C are rotatably supported on the attachment frame 35C, and a hydraulic motor 37C is attached to the attachment frame 35C.
- the connecting frame 36C has an upward triangular shape, is located on the vehicle inner side of the mounting frame 35C, and a through hole 38C is provided near the upper apex of the triangular shape.
- the hydraulic motor 37C as a drive device of the front crawler traveling device 30C is located on the vehicle inner side of the drive wheels 31C and is attached to the attachment frame 35C.
- a drive wheel 31C is fixed to the tip of the drive shaft 39C of the hydraulic motor 37C.
- the drive wheels 31C are rotated by the hydraulic motor 37C.
- the mounting frame 35C includes a rotation shaft 40C coaxially with the drive shaft 39C of the hydraulic motor 37C.
- the rotating shaft 40C is inserted into the through hole 38C of the connecting frame 36C.
- the attachment frame 35C is rotatably supported by the connecting frame 36C with the rotation shaft 40C as an axis. Therefore, the front crawler traveling device 30C is supported by the connecting frame 36C so as to be swingable in the front-rear direction around the rotation shaft 40C.
- the mounting frame 35C has an arc-shaped cutout 41C centering on the rotation shaft 40C, and a pin 42C suspended from the connection frame 36C is inserted into the cutout 41C.
- the pin 42C slides in the notch 41C. Therefore, the pin 42C and the notch 41C serve as the axis of rotation 40C of the mounting frame 35C.
- the pivotable range is restricted. That is, the range in which the front crawler traveling device 30C can swing in the front-rear direction around the rotation shaft 40C is restricted.
- the front crawler traveling device 30C has a substantially rhombus shape with apexes located front and rear and up and down and extending in the front and rear direction.
- the crawler belt 34C in the vicinity of the apex located below serves as a ground contact portion 43C that contacts the ground.
- this rhombus shape is a shape in which the front vertex is biased upward from the rear vertex.
- Rotating shafts 44C and 45C are provided in the vicinity of the two apexes on the lower side of the triangular shape of the connecting frame 36C.
- the two rotation shafts 44C and 45C are used for connecting a front suspension device 50C described later.
- the crawler belt 34C is easily caught by the convex portion when the convex portion protruding above the ground is overcome, and the traveling is stabilized. Further, by reducing the ground contact portion 43C, the frictional resistance with the ground at the time of turning traveling described later is reduced, and turning traveling is improved.
- the front crawler traveling device 30C 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 30C is generated and stably. Along with being able to run, ride comfort is improved.
- the drive wheel 31C is positioned above the front crawler traveling device 30C, and the drive wheel 31C is attached to the tip of the drive shaft 39C of the hydraulic motor 37C that rotates the drive wheel 31C, so that the hydraulic motor 37C moves inward of the vehicle.
- the protrusion of is reduced. That is, the hydraulic motor 37C is disposed in an in-wheel shape. Therefore, a large space can be formed below the body frame 10 between the left and right front crawler travel devices 30CR and 30CL. And in this space, the connection mechanism of the front suspension apparatus 50C mentioned later can be arrange
- the front crawler traveling device 30C has a restricted range in which it can swing in the front-rear direction around the rotation shaft 40C, and therefore can prevent excessive swinging. Failure of the suspension device 50C can be prevented.
- the front crawler traveling device 30C is a tension adjusting device (not shown) that adjusts the tension of the crawler belt 34C by moving the position of the driven wheel 32C with respect to the mounting frame 35C, and a brake device (not shown) that stops the rotation of the driving wheel 31C.
- a damper or the like is provided as a buffer mechanism that suppresses the swing of the front crawler traveling device 30C in the front-rear direction with respect to the connecting frame 36C.
- This damper is provided between the attachment frame 35C and the connecting frame 36C, and the front crawler traveling device 30C is stably grounded, and traveling performance and riding comfort are improved. Further, with this damper, when the front crawler traveling device 30C comes into contact with the unevenness of the rough terrain, it is possible to reduce a load such as a twist or an impact on a connection portion with the front suspension device 50C, and durability is improved.
- FIG. 38 is a side view (left side view) of the front crawler traveling device 30C and the front suspension device 50C as viewed from the inside of the vehicle.
- FIG. 39 is a diagram for explaining the operation of the front suspension device 50C of FIG. 38, FIG. 39A shows a state in which the link mechanism in FIG. 38 is extended, and FIG. 39B shows a state in which the link mechanism in FIG.
- the front suspension device 50 ⁇ / b> C is a bogie frame 51 ⁇ / b> C and a pair of left and right front crawler travel devices 30 ⁇ / b> CR and 30 ⁇ / b> CL that are connected to the left and right sides of the bogie frame 51 ⁇ / b> C, respectively.
- a link mechanism 52C and the like are provided.
- descriptions of the left link mechanism 52CL and the left front crawler travel device 30CL are omitted.
- the bogie frame 51C has a substantially rectangular parallelepiped shape extending in the front-rear direction in plan view, and a rotation shaft 53C as a steering shaft is suspended from the center of the upper surface in the left-right direction.
- the rotation shaft 53C is inserted through the through hole 27C of the front support plate 18C.
- the bogie frame 51C is connected to the front support plate 18C so as to be rotatable about the rotation shaft 53C. That is, the bogie frame 51C is supported by the body frame 10C so as to be rotatable about the vertical direction.
- a straight line L1C in FIGS. 35, 38, and 39 is the center of the rotation shaft 53C (the rotation center of the bogie frame 51C) and indicates the axial direction of the steering shaft and is vertical.
- Rotating shafts 54C (54CR, 54CL) and rotating shafts 55C (55CR, 55CL) are suspended from the left and right side surfaces of the bogie frame 51C.
- the rotation shaft 54C and the rotation shaft 55C are provided at positions symmetrical with respect to the straight line L1C.
- the bogie frame 51C is not limited to the above-described configuration, and any bogie frame may be supported by the vehicle body frame 10C so as to be rotatable about a vertical steering shaft.
- the rotation shaft 53C as the steering shaft of the bogie frame 51C is not limited to a vertical one, and the rotation shaft 53C may have a caster angle tilted to the front low and rear high. Good. As described above, when the rotation shaft 53C has a caster angle, traveling performance and durability are improved. In addition, when the rotating shaft 53C is vertical, the configuration of the front suspension device 50C is simple and the productivity is high.
- the link mechanism 52C includes a first link member 56C, a second link member 57C, a third link member 58C, a fourth link member 59C, and a fifth link member 60C.
- the first link member 56C, the second link member 57C, the third link member 58C, and the fourth link member 59C are rod-shaped members having the same shape and curved in a substantially arc shape.
- the fifth link member 60C is a straight bar-shaped member that does not curve.
- a link mechanism 52C is configured by connecting ends of these five link members 56C, 57C, 58C, 59C, and 60C.
- first link member 56C is connected to the rotating shaft 54C of the bogie frame 51C.
- second link member 57C is connected to the other end of the first link member 56C, and the other end is connected to the rotation shaft 44C of the connection frame 36C of the front crawler traveling device 30C.
- One end of the third link member 58C is connected to the rotation shaft 55C of the bogie frame 51C.
- the fourth link member 59C has one end connected to the other end of the third link member 58C and the other end connected to the rotation shaft 45C of the connection frame 36C of the front crawler traveling device 30C.
- the fifth link member 60C is connected to a connecting portion 61C between the first link member 56C and the second link member 57C, and the other end is connected to a connecting portion 62C between the third link member 58C and the fourth link member 59C. To do.
- the fifth link member 60C is disposed on the vehicle inner side of the first link member 56C, the second link member 57C, the third link member 58C, and the fourth link member 59C.
- the link mechanism 52C has a vertically symmetrical structure around the fifth link member 60C. Then, the distance between the rotating shaft 54C and the connecting portion 61C, the distance between the connecting portion 61C and the rotating shaft 44C, the distance between the rotating shaft 55C and the connecting portion 62C, the connecting portion 62C and the rotating shaft 45C. The distance is the same. Further, the distance between the rotation shaft 44C connected to the second link member 57C and the rotation shaft 45C connected to the fourth link member 59C is the same as the distance between the rotation shaft 54C and the rotation shaft 55C of the bogie frame 51C. It is. Further, the first link member 56C, the second link member 57C, the third link member 58C, and the fourth link member 59C are connected in a state in which the curved shape protrudes forward.
- Dampers 63C and 64C are provided between the first link member 56C and the fifth link member 60C and between the second link member 57C and the fifth link member 60C, respectively.
- the dampers 63 ⁇ / b> C and 64 ⁇ / b> C are telescopic rod-like buffer mechanisms composed of a spring and a cylinder.
- One end of the damper 63C is rotatably attached to the bracket 65C of the first link member 56C, and the other end is rotatably attached to the bracket 66C of the fifth link member 60C.
- One end of the damper 64C is rotatably attached to the bracket 67C of the second link member 57C, and the other end is rotatably attached to the bracket 68C of the fifth link member 60C.
- the two dampers 63C and 64C are arranged at symmetrical positions, and the buffering force generated when the two dampers 63C and 64C expand and contract is the same.
- the rotation shaft 40C of the front crawler traveling device 30C is located, and the center of the ground contact portion 43C of the front crawler traveling device 30C is also located.
- the link mechanism 52C is bent forward and deformed to expand and contract in the vertical direction so that the front crawler traveling device 30C can be moved up and down.
- the link mechanism 52C can move the front crawler traveling device 30C up and down along the straight line L1C (steering shaft).
- the front crawler traveling device 30C can be moved up and down with respect to changes in unevenness on uneven terrain, and traveling performance on uneven terrain is good. Further, since the link mechanism 52C as the coupling mechanism includes the dampers 63C and 64C as the buffer mechanism, the impact between the vehicle body frame 10C and the front crawler traveling device 30C is buffered, and the front crawler traveling device 30C is stabilized. In addition to grounding, driving and riding comfort are improved.
- the front suspension device 50C allows the front crawler traveling device 30C to be moved up and down. Unlike the rear suspension device 90C described later, which can swing up and down, the front suspension device 50C can be moved forward and backward. No extended member is provided. Accordingly, the overall length of the traveling vehicle 1C can be shortened, turning traveling is facilitated, and traveling performance is improved.
- FIG. 40 is a right side view of the rear crawler traveling device 70C
- FIG. 41 is a rear view of the rear crawler traveling device 70C and the rear suspension device 90C.
- the rear crawler traveling device 70C includes a driving wheel 71C at the upper part, a driven wheel 72C below the driving wheel 71C and at the front part and the rear part, and between the two driven wheels 72C.
- auxiliary rollers 73C, a crawler belt 74C, a mounting frame 75C, a hydraulic motor 77C, and the like are provided.
- the rear crawler traveling device 70C is different from the above-described front crawler traveling device 30C in a side view shape.
- the connection between the rear crawler traveling device 70C and the rear suspension device 90C is performed without using the connection frame 36C as described above. And description is abbreviate
- the hydraulic motor 77C as a driving device of the rear crawler traveling device 70C is located on the vehicle inner side of the driving wheel 71C and is attached to the mounting frame 75C, similarly to the hydraulic motor 37C of the front crawler traveling device 30C described above.
- a drive wheel 71C is fixed to the tip of the drive shaft 79C of the hydraulic motor 77C.
- the drive wheels 71C are rotated by the hydraulic motor 77C.
- the mounting frame 75C includes a rotation shaft 80C coaxially with the drive shaft 79C of the hydraulic motor 77C, similarly to the mounting frame 35C of the front crawler traveling device 30C described above.
- the rotating shaft 80C is used for connecting a rear suspension device 90C, which will be described later, and the rear crawler traveling device 70C is configured to swing freely in the front-rear direction around the rotating shaft 80C.
- the suspension device 90C is connected.
- the mounting frame 75C has an arc-shaped notch 81C centering on the rotation shaft 80C, and a pin 82C provided on a rear suspension device 90C described later is inserted into the notch 81C.
- the pin 82C slides in the notch 81C, so that the pivot 82C of the mounting frame 75C is pivoted by the pin 82C and the notch 81C.
- the pivotable range is restricted. That is, similarly to the front crawler traveling device 30C, the range in which the front crawler traveling device 70C can swing in the front-rear direction around the rotation shaft 80C is restricted.
- the front driven wheel 72C is positioned above the rear driven wheel 72C.
- the crawler belt 74C where the rear driven wheel 72C and the four auxiliary rollers 73C are located serves as a ground contact portion 83C that contacts the ground. That is, the rear crawler traveling device 70C has a configuration in which the ground contact portion 83C is wider than the front crawler traveling device 30C.
- the rear crawler traveling device 70C is configured as described above, so that the crawler belt 74C is easily caught by the convex portion when the convex portion protruding above the ground is overcome, and the traveling is stabilized. In addition, by making the ground contact portion 83C of the crawler belt 74C wider, stable traveling is possible.
- the rear crawler traveling device 70C is connected to the rear suspension device 90C so as to be swingable in the front-rear direction, the ground contact with the ground is improved and a buffering effect is generated by the swinging of the rear crawler traveling device 70C.
- the ride is stable and the ride comfort is improved.
- this buffering effect it is possible to reduce loads such as torsion and impact on the connecting portion with the rear suspension device 90C, and durability is improved.
- the driving wheel 71C is positioned above the rear crawler traveling device 70C, and the driving wheel 71C is attached to the tip of the driving shaft 79C of the hydraulic motor 77C that rotates the driving wheel 71C.
- the protrusion of is reduced. That is, the hydraulic motor 77C is arranged in an in-wheel shape. Therefore, a large space can be formed below the body frame 10C between the left and right rear crawler travel devices 70CR and 70LC.
- a connecting mechanism for the rear suspension device 90C described later can be disposed in this space, and the vehicle width does not increase by effectively using the space.
- the rear crawler traveling device 70C is restricted in the range in which the rear crawler can swing in the front-rear direction around the rotation shaft 80C, excessive swinging can be prevented, and the rear crawler traveling device 70C and the rear crawler traveling device 70C can be prevented. A failure of the suspension device 90C can be prevented.
- the rear crawler traveling device 70C drives a tension adjusting device (not shown) that adjusts the tension of the crawler belt 74C by moving the position of the driven wheel 72C with respect to the mounting frame 75C.
- a brake device (not shown) that stops the rotation of the wheel 71C, a damper as a buffer mechanism that suppresses swinging of the rear crawler traveling device 70C in the front-rear direction with respect to the rear suspension device 90C, and the like are also provided.
- This damper is provided between the mounting frame 75C and the rear suspension device 90C, and the rear crawler traveling device 70C is stably grounded, and traveling performance and riding comfort are improved.
- the damper can reduce a load such as a twist or an impact on a connecting portion with the rear suspension device 90C, thereby improving durability.
- the front and rear crawler travel devices 30C and 70C are driven by the driving force of the engine EC.
- the driving force of the engine EC is transmitted to a pump (not shown) provided in the vehicle body frame 10C, and further transmitted to the hydraulic motors 37C and 77C via a proportional electromagnetic valve (not shown). Then, by driving the hydraulic motors 37C and 77C, the front and rear crawler traveling devices 30C and 70C are driven, and the traveling vehicle 1C can travel.
- the front and rear crawler travel devices 30C and 70C can be largely moved up and down or swinged by the front and rear suspension devices 50C and 90C. Therefore, it is preferable that the driving force is transmitted between the vehicle body frame 10C and the front and rear crawler traveling devices 30C and 70C without hindering the vertical movement or swinging. By using such a member, it is possible to transmit the driving force to the front and rear crawler traveling devices 30C and 70C without hindering the vertical movement or swinging.
- transmission of the driving force to the front and rear crawler travel devices 30C and 70C is not limited to the above-described configuration.
- a configuration may be adopted in which four proportional solenoid valves corresponding to each of the crawler traveling devices 30CR, 30CL, 70CR, and 70CL are provided, and the four proportional solenoid valves are controlled.
- the front and rear crawler traveling devices 30C and 70C are not limited to the above-described configuration.
- the crawler traveling device may have a square shape or a trapezoidal shape when viewed from the side.
- the front crawler traveling device 30C and the rear crawler traveling device 70C may have the same shape, and with such a configuration, the number of parts is reduced and productivity is improved.
- a transmission device may be provided between the drive wheels 31C and 71C and the hydraulic motors 37C and 77C, and the driving force of the hydraulic motors 37C and 77C may be transmitted to the drive wheels 31C and 71C via the transmission device. Good. With such a configuration, it is possible to more easily drive the front and rear crawler travel devices 30C and 70C with a desired output.
- connection between the hydraulic motors 37C and 77C of the front and rear crawler traveling devices 30C and 70C and the drive wheels 31C and 71C is not limited to the above-described configuration.
- the hydraulic motor is disposed outside the drive wheels 31C and 71C in the vehicle.
- positions 37C and 77C may be sufficient, and it is good also as a structure connected via a gear. With such a configuration, the degree of freedom of arrangement of the hydraulic motors 37C and 77C is improved.
- the driving devices of the front and rear crawler traveling devices 30C and 70C are not limited to those by the hydraulic motors 37C and 77C.
- the drive wheels 31C and 71C may be rotated by an electric motor instead of the hydraulic motor.
- the driving force from the engine EC to the crawler traveling device is transmitted by electricity (electric power), and is transmitted using a flexible member, for example, a flexible wire harness.
- the rear suspension device 90C since the rear suspension device 90C has a left-right symmetric shape, members R constituting the right side are appropriately denoted by symbol R, and members constituting the left side are appropriately denoted by symbol L as necessary.
- the rear suspension device 90C includes two traction arms 91C and 92C (91CR, 91CL, 92CR, and 92CL) in total on the left and right sides, a swing arm 93C, and left and right dampers.
- 94C 94CR, 94CL
- the pulling arm 91C is composed of two rectangular pipes (hereinafter referred to as square pipes) extending in the front-rear direction.
- One of the square pipes of the pulling arm 91C is bent in the opposite direction twice at the approximate center in the front-rear direction, and the portion from the bent portion to the front end is offset inward of the vehicle.
- the other square pipe of the pulling arm 91 ⁇ / b> C extends straight without having a fold, and is disposed outside the square tubular pipe having the fold.
- the two square pipes of the pulling arm 91C are joined from the rear end to the crease of one of the square pipes.
- a through hole penetrating in the left-right direction is formed at both front and rear ends of the pulling arm 91C.
- the pulling arm 92C has the same shape, and the description thereof is omitted.
- the rotation shaft 24C of the vehicle body frame 10C is inserted through the through hole at the front end of the pulling arm 91C.
- the front end portion of the pulling arm 91C is supported by the body frame 10C so as to be rotatable about the rotation shaft 24C.
- the rotation shaft 25C is inserted through the through hole at the front end portion of the pulling arm 92C.
- the front end portion of the pulling arm 92C is supported by the vehicle body frame 10C so as to be rotatable about the rotation shaft 25C.
- the connecting pin 95C is inserted through the through hole at the rear end of the pulling arm 91C. Then, one end of a connecting member 96C of a square cylindrical pipe having through holes at both ends is connected to the rear end portion of the pulling arm 91C via the connecting pin 95C.
- Rotating shaft 80C provided on attachment frame 75C of rear crawler traveling device 70C is inserted through the through hole at the rear end of pulling arm 92C and the through hole at the other end of connecting member 96C. Then, the rear crawler traveling device 70C is rotatably connected to the rear end portion of the pulling arm 92C around the rotation shaft 80C.
- the pin 82C of the rear crawler travel device 70C described above is suspended from the vehicle outer end portion of the connecting pin 95C. As described above, the pin 82C and the notch 81C restrict the range in which the rear suspension device 90C can swing in the front-rear direction about the rotation shaft 80C of the rear crawler traveling device 70C.
- the pulling arms 91C and 92C are not limited to the above-described configuration.
- One end may be supported by the body frame 10C so as to be rotatable about the left-right direction, and the other end may be connected to the rear crawler travel device 70C so as to be rotatable about the left-right direction.
- each of the pulling arms 91C and 92C may be composed of one square pipe.
- the configuration may be such that the vehicle body frame 10C and the rear crawler traveling device 70C are connected only by the pulling arm 92C. With such a configuration, the number of parts can be reduced, and the productivity is increased. However, since the strength is reduced in such a configuration, it is preferable that the configuration has a strength required as a mechanism for connecting the rear crawler traveling device 70C to the vehicle body frame 10C.
- the swing arm 93C is fixed to the lower end of the plate 97C, a triangular plate-like plate 97C facing upward, a cylindrical pipe 98C extending in the front-rear direction from the center in the left-right direction of the plate-like plate 97C. It is comprised from the cylindrical shaft 99C etc. which were extended in the right and left.
- the rotating shaft 26C of the vehicle body frame 10C is inserted through the cylindrical pipe 98C.
- the swing arm 93C is supported by the body frame 10C so as to be rotatable about the rotation shaft 26C.
- the swing arm 93C is not limited to the above-described configuration.
- the swing arm 93 ⁇ / b> C may be any member that extends in the left-right direction and is rotatably supported by the body frame 10 ⁇ / b> C about the front-rear direction at the center in the left-right direction.
- the damper 94C is a telescopic rod-shaped buffer mechanism composed of a spring and a cylinder.
- One end of the left damper 94CL is connected to the left end portion of the shaft 99C of the swing arm 93C via a ball joint 100CL as a universal joint.
- the other end of the left damper 94CL is connected to the left pulling arm 91CL via a ball joint 101CL as a universal joint.
- One end of the right damper 94CR is connected to the right end portion of the shaft 99C of the swing arm 93C through a ball joint 100CR as a universal joint.
- the other end of the right damper 94CR is connected to the right traction arm 91CL via a ball joint 101CR as a universal joint.
- the damper 94C is not limited to the above-described configuration.
- the damper 94C only needs to have one end connected to the swing arm 93C via a universal joint and the other end connected to the rear crawler traveling device 70C via a universal joint.
- the above-described configuration is a configuration in which one end of the damper 94C is coupled to the rear crawler traveling device 70C via the pulling arm 91C.
- a cross shaft type universal joint may be used instead of the universal joint ball joint.
- the damper 94C may replace with the damper 94C as an elastic buffer mechanism, and the structure using the arm which consists of steel materials may be sufficient.
- a damper 94C which is a telescopic shock absorbing mechanism.
- a separate buffer mechanism is not provided between the vehicle body frame 10C and the rear crawler traveling device 70C, the number of parts is reduced, and productivity is improved.
- the left and right rear crawler travel devices 70CR and 70CL suspended by the rear suspension device 90C as described above are oscillated in the opposite directions in the vertical direction. This is because the left and right rear crawler travel devices 70CR and 70CL are connected to the vehicle body frame 10C via a swing arm 93C that is rotatably supported around a rotation shaft 26C extending in the front-rear direction. is there.
- the rear crawler traveling device 70C swings in the vertical direction without moving in the left-right direction and without rotating about the front-rear direction.
- the ground contact portion 83C of the rear crawler traveling device 70C is always kept parallel to the vehicle body frame 10C. That is, the rear crawler traveling device 70C slides in the vertical direction with respect to the body frame 10C in the rear view.
- the left and right rear crawler travel devices 70CR and 70LC are rotatably supported around one end of the rotation shaft 24C and the rotation shaft 25C that extend in the left-right direction on the body frame 10C, and the other end is the rear crawler travel.
- the device 70C is connected to the traction arms 91CR, 92CR, 91CL, and 92CL that are rotatably supported around the rotation shaft 80C that extends in the left-right direction.
- the rear crawler traveling device 70C quickly follows up and down with respect to irregularities on rough terrain, and travelability and ride comfort are good.
- the rear suspension device 90C has a configuration in which the left and right rear crawler travel devices 70CR and 70CL are integrally suspended on the vehicle body frame 10C, and is simpler than the configuration in which each of the crawler travel devices is independently suspended, and has a component constant. Is reduced, and productivity and maintainability are good.
- the rear suspension device 90C is not limited to the above-described configuration, and may be any configuration as long as the rear crawler traveling device 70C can be suspended on the vehicle body frame 10C, and more preferably, the rear crawler traveling device 70C is moved in the vertical direction. Any configuration that can swing is acceptable.
- the above-described rear suspension device 90C may be configured not to include the pulling arm 91C, the swing arm 93C, the damper 94C, and the connecting member 96C.
- the left and right rear crawler travel devices 70CR, 70CL are suspended from the vehicle body frame 10C only by the traction arms 92CR, 92CL as the connecting members, and the same damper as the above-described damper 94C is provided between the vehicle body frame 10C and the traction arm 92C. It is good also as a structure which connected. Therefore, the left and right rear crawler travel devices 70CR and 70CL are configured to be suspended from the body frame 10C independently. With such a configuration, the rear suspension device 90C has a simple configuration, and productivity and maintainability are improved.
- one end of the pulling arm 92C in the rear suspension device 90C is supported by the vehicle body frame 10C, and the other end is supported by the rear crawler traveling device 70C.
- the rear suspension device 90C instead of the pulling arm 92C, two upper and lower arms (upper arm and lower arm) used in a known double wishbone suspension are connected between the vehicle body frame 10C and the rear crawler traveling device 70C.
- the structure provided in may be sufficient. With such a configuration, the strength of the connection between the vehicle body frame 10C and the rear crawler traveling device 70C is increased.
- the swingable amount in the vertical direction (movable amount in the vertical direction) of the rear crawler traveling device 70C becomes small, so the configuration with the above-described pulling arm 92C is more preferable. preferable.
- each of the crawler traveling devices 30CR, 30CL, 70CR, and 70CL is driven by rotating the driving wheels 31CR, 31CL, 71CR, and 71CL by the hydraulic motors 37CR, 37CL, 77CR, and 77CL included therein. .
- the hydraulic motors 37CR, 37CL, 77CR, 77CL are driven by a pump (not shown) that is driven by the driving force of the engine EC. Further, a proportional solenoid valve (not shown) provided between the hydraulic motors 37CR, 37CL, 77CR, 77CL and the pump is controlled by a control unit (not shown) so that each hydraulic motor 37CR, 37CL, 77CR, 77CL is controlled. Are controlled independently. That is, the driving force of the engine EC is transmitted independently from the pump to each of the hydraulic motors 37CR, 37CL, 77CR, 77CL via the proportional solenoid valve.
- each of the crawler traveling devices 30CR, 30CL, 70CR, and 70CL can be independently driven, and the traveling vehicle 1C can be moved forward, backward, turned, and the like.
- the front, rear, left and right crawler travel devices 30CR, 30CL, 70CR, 70CL are driven in the same direction and at the same speed.
- the right front crawler travel device 30CR and the left front crawler travel device 30CL are driven at different speeds. Due to the speed difference between the left and right front crawler travel devices 30CR, 30CL, the front crawler travel device 30C and the front suspension device 50C rotate integrally with respect to the vehicle body frame 10C about the rotation shaft 53C of the front suspension device 50C. To do. That is, the front crawler traveling device 30C and the front suspension device 50C rotate about the rotation shaft 53C. Therefore, the direction of the front crawler traveling device 30C with respect to the vehicle body frame 10C is changed, and the traveling direction of the traveling vehicle 1C can be changed.
- the traveling direction of the traveling vehicle 1C is changed, so that the traveling direction of the traveling vehicle 1C can be reliably changed.
- the left and right rear crawler travel devices 70CR, 70CL may be driven at different speeds.
- the traveling vehicle 1 ⁇ / b> C can turn with a smaller radius, and the turning operation can be accelerated. Furthermore, the traveling vehicle 1 ⁇ / b> C can perform zero turn, and traveling performance is improved.
- the front crawler traveling device 30C is suspended on the vehicle body frame 10C by the front suspension device 50C so as to be able to move up and down greatly.
- the rear crawler traveling device 70C is suspended by the rear suspension device 90C so as to be able to largely swing in the vertical direction on the vehicle body frame 10C. Therefore, the front crawler traveling device 30C and the rear crawler traveling device 70C can move or swing in the vertical direction following the unevenness and slope of the rough terrain, and the traveling performance on rough terrain is improved.
- the crawler traveling devices 30CR, 30CL, 70CR, and 70CL are in different states in the vertical direction, but even in such a state, they easily turn. It is possible. Then, the turning operation of the traveling vehicle 1C will be described.
- FIG. 42 is a schematic right side view of the state in which the left front and rear crawler travel devices 30CL and 70CL are positioned above the right front and rear crawler travel devices 30CR and 70CR.
- FIG. 42 descriptions of the dampers 63C and 64C of the front suspension device 50C, the pulling arm 91C, the swing arm 93C, the damper 94C, and the like of the rear suspension device 90C are omitted.
- 43 is a schematic plan view of FIG. In FIG.
- a circle C1C is a circle centering on the rotation shaft 53C
- a straight line L2C indicates the center of the front crawler traveling device 30C in the front-rear direction
- a straight line L3C is the left front crawler traveling
- the center in the width direction of the device 30CL is shown
- the straight line L4C shows the center in the width direction of the right front crawler traveling device 30CR.
- the left and right rear crawler traveling devices 70CR, 70CL are different in vertical position, so that the left rear crawler traveling device 70CL is rearward with respect to the right rear crawler traveling device 70CR. positioned.
- left and right front crawler travel devices 30CR and 30CL are not displaced in the front-rear direction even when the positions in the vertical direction are different. That is, the left and right front crawler traveling devices 30CR and 30CL are always positioned symmetrically with respect to the rotation shaft 53C in plan view. This is due to the coupling mechanism 52C of the front suspension device 50C.
- the left and right crawler traveling devices 70CL are driven to rotate at different speeds, and the left and right crawler traveling devices are positioned to be displaced in the front-rear direction, it may be difficult to turn.
- the left rear crawler traveling device 70CL is positioned rearward with respect to the right rear crawler traveling device 70CR as in the left and right rear crawler traveling devices 70CR and 70CL
- the right crawler travel device 70CR is to turn right.
- the rear crawler traveling device 70CR on the right may be in the way and cannot turn smoothly.
- it is attempted to turn left in such a state it may turn more easily than usual (when the left and right rear crawler travel devices 70CR and 70CL have the same vertical position). . Therefore, there are cases where the desired turning operation cannot be performed, and the control becomes complicated.
- the left and right front crawler travel devices 30CR and 30CL are not displaced in the front-rear direction even when the positions in the vertical direction are different, and are always axially symmetrical with respect to the rotation shaft 53C in plan view. Accordingly, when the left and right front crawler travel devices 30CR, 30CL are driven at different speeds to rotate the front crawler travel device 30C and the front suspension device 50C with respect to the rotation shaft 53C, the left and right front crawler travel devices 30CR, It is difficult to be affected by the position of 30CL in the vertical direction, and a desired rotation operation can be performed.
- the directions of the forces transmitted to the ground of the left front crawler traveling device 30CL and the right front crawler traveling device 30CR are the directions of the straight line L3C and the straight line L4C, respectively, and the straight line L3C and the straight line L4C rotate at the intersection of the straight line L2C. It contacts a circle C1C centering on the axis 53C. Therefore, the force transmitted to the ground in the direction of the straight line L3C and the straight line L4C can be used without waste for rotation around the rotation shaft 53C, and a desired rotation operation can be easily performed.
- the ascending / descending direction of the front crawler traveling device 30C is regulated in the direction of the straight line L1C which is the steering shaft direction by the connecting mechanism 52C of the front suspension device 50C. 43C moves up and down along the straight line L1C.
- the straight line L2C is configured to always pass through the center (straight line L1C) of the rotation shaft 53C.
- FIG. 44 is a schematic right side view in which the front crawler traveling device 30C and the front suspension device 50C are rotated 90 ° leftward (counterclockwise) about the rotation shaft 53C from the state of FIG. Show.
- FIG. 45 shows a schematic plan view of FIG. In addition, the arrow in FIG. 45 shows the direction of the force transmitted to the ground of the front crawler traveling apparatus 30C at the time of this rotation.
- the right front crawler traveling device 30CR rotates the crawler belt 34CR in the forward direction when rotating leftward. Since the force transmitted to the ground of the right front crawler traveling device 30CR is in a direction in contact with the circle C1C centering on the rotation shaft 53C, most of the force is used for rotation in the left direction (counterclockwise). Can do. Conversely, the left front crawler travel device 30CL rotates the crawler belt 34CL in the reverse direction when rotating leftward. Since the force transmitted to the ground of the left front crawler traveling device 30CL is in a direction in contact with the circle C1C around the rotation shaft 53C, most of the force is used for rotation in the left direction (counterclockwise). Can do.
- the left and right front crawler traveling devices 30CR and 30CL can be easily rotated, and the traveling direction of the traveling vehicle 1C can be changed. Can be changed. That is, it is easy to change the direction of the front crawler traveling device 30C with respect to the vehicle body frame 10C to a desired direction on an uneven terrain having an inclined surface or unevenness, and traveling performance is improved.
- the link mechanism 52C of the front suspension device 50C is configured to be bent outwardly of the bogie frame 51C and forward of the vehicle body frame 10C. That is, the link mechanism 52C is configured to bend outward from the traveling vehicle 1C. Therefore, it is not necessary to secure a space for bending the link mechanism 52C inside the vehicle, and the entire length of the traveling vehicle 1C can be shortened.
- the traveling vehicle 1C can reduce the side slip of the front and rear crawler traveling devices 30C and 70C during cross-slope travel, and has good traveling performance during cross-slope travel.
- the front suspension device 50C allows the front crawler traveling device 30C to move up and down without moving in the left-right direction and without rotating about the front-rear direction.
- the ground contact portion 43C of the front crawler traveling device 30C is always kept parallel to the vehicle body frame 10C. That is, the front crawler traveling device 30C slides in the vertical direction with respect to the vehicle body frame 10C.
- the rear suspension device 90C can swing the rear crawler traveling device 70C in the vertical direction without moving in the left-right direction and without rotating about the front-rear direction.
- the ground contact portion 83C of the rear crawler traveling device 70C is always kept parallel to the vehicle body frame 10C. That is, the rear crawler traveling device 70C slides in the vertical direction with respect to the vehicle body frame 10C.
- the ground contact portion 43C of the front crawler traveling device 30C is always with respect to the vehicle body frame 10C. Keep in parallel. Further, the ground contact portion 83C of the rear crawler traveling device 70C is always kept in parallel with the vehicle body frame 10C, similarly to the front crawler traveling device 30C. Accordingly, by tilting the traveling vehicle 1C toward the mountain side of the slope and bringing the vehicle body frame 10C closer to the horizontal, the mountain side of the grounding portion 43C of the front crawler traveling device 30C and the mountain side of the grounding portion 83C of the rear crawler traveling device 70C. Can be cut into the slope as an edge. The front and rear crawler traveling devices 30C and 70C are less likely to skid on the slope, and the traveling performance and ride comfort during the cross-slope traveling are good.
- the traveling vehicle 1C performs forward movement, backward movement, turning, and the like by independently controlling the crawler traveling apparatuses 30CR, 30CL, 70CR, and 70CL by the control unit.
- the proportional solenoid valve is controlled based on the detection value of the steering wheel sensor that detects the rotation angle of the steering shaft 115C and the detection value of the accelerator grip sensor that detects the rotation angle of the accelerator grip 117C.
- the driving direction and speed of the traveling devices 30CR, 30CL, 70CR, and 70CL are changed. Therefore, since the traveling operation of the traveling vehicle 1C can be performed by the control of the proportional solenoid valve, productivity and maintainability are good.
- each of the crawler traveling devices 30CR, 30CL, 70CR, and 70CL is controlled based on detection values of the handle sensor and the accelerator grip sensor that are the operation amounts of the occupant's handle 114C and the accelerator grip 117C. It is not limited to this configuration.
- the crawler traveling devices 30CR, 30CL, 70CR, and 70CL may be controlled based on at least the detection values of the handle sensor and the accelerator grip sensor that are the operation amount of the occupant.
- it may be configured to include various sensors that detect the traveling state of the traveling vehicle 1C and to be controlled based on the detection values of these various sensors.
- the steering angle sensor S1C for detecting the rotation angle of the front suspension device 50C with respect to the vehicle body frame 10C, and the first link member 56C for the first link member 56C in the connecting portion 61C of the left and right link mechanisms 52C.
- Two first link sensors S2CR and S2CL that detect the rotation angle of the two link members 57C, respectively, and the rotation angle of the fourth link member 59C with respect to the third link member 58C in the connecting portion 62C of the left and right link mechanisms 52C, respectively.
- S5CR, S5CL and each crawler running Four torque sensors S6CR, S6CL, S7CR, S7CL and the like for detecting the output torque of the hydraulic motors 37CR, 37CL, 77CR, 77CL of the devices 30CR, 30CL, 70CR, 70CL are provided.
- control part CC controls each crawler running device 30CR, 30CL, 70CR, and 70CL based on the detection value of the above-mentioned various sensors with handle sensor S8C and accelerator grip sensor S9C.
- the traveling direction of the traveling vehicle 1C can be detected by the steering angle sensor S1C.
- the first link sensors S2CR, S2CL and the second link sensors S3CR, S3CL can detect the up / down state of each crawler traveling device 30CR, 30CL, 70CR, 70CL in the vertical direction.
- the control unit CC calculates the vertical displacement of each crawler travel device 30CR, 30CL, 70CR, 70CL.
- the first link sensors S2CR, S2CL and the second link sensors S3CR, S3CL can detect the vertical expansion / contraction state of the link mechanism 52C, and the respective crawler travel devices 30CR, 30CL, 70CR are based on the state of the link mechanism 52C.
- 70CL is a lift sensor that detects the lift state.
- the crawler rotation sensors S4CR, S4CL, S5CR, S5CL and the torque sensors S6CR, S6CL, S7CR, S7CL can detect the ground contact state (road surface condition) of each of the crawler travel devices 30CR, 30CL, 70CR, 70CL.
- the occupant's travel operation can be detected by the handle sensor S8C and the accelerator grip sensor S9C.
- the traveling state of the traveling vehicle 1C can be grasped in detail by various sensors.
- the control part CC can control each crawler driving
- 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.
- control unit CC may be configured to store the detection values of the various sensors over time and control based on the detection values of the various sensors and the amount of change thereof. For example, the controller CC calculates the vertical displacement of each of the crawler travel devices 30CR, 30CL, 70CR, 70CL based on the detection values of the first link sensors S2CR, S2CL and the second link sensors S3CR, S3CL, and the vertical displacement
- the structure which calculates the raising / lowering speed of each crawler traveling apparatus 30CR, 30CL, 70CR, 70CL from the time change of this may be sufficient.
- the configuration of various sensors for grasping the running state is not particularly limited.
- the lift sensor that detects the vertical lift state of each of the crawler travel devices 30CR, 30CL, 70CR, and 70CL may be a sensor that detects the distance between the body frame 10C and the ground.
- a sensor for detecting such a distance an ultrasonic distance sensor or an infrared distance sensor can be used.
- the lift sensors are preferably the first link sensors S2CR, S2CL and the second link sensors S3CR, S3CL described above, and more accurately in the vertical direction of each crawler travel device 30CR, 30CL, 70CR, 70CL than the distance sensor.
- the lift state can be grasped.
- vehicle body frame 10C, the bogie frame 51C, and the crawler travel devices 30CR, 30CL, 70CR, and 70CL may be configured to include an acceleration sensor. With such a configuration, a more detailed traveling state of the traveling vehicle 1C can be grasped.
- the structure further provided with the inclination sensor which detects the inclination angle with respect to the horizontal of the traveling vehicle 1C may be sufficient.
- a tilt sensor a gyro sensor or the like can be used.
- the tilt sensor only needs to be able to 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.
- the configuration may include a plurality of various sensors, and the number of sensors is not limited.
- the first link sensors S2CR and S2CL as the lift sensors and the second link sensors S3CR and S3CL may be configured by any one.
- the structure provided with the sensor which detects a moving angle may be sufficient.
- the structure which provides multiple various sensors is preferable, and it can grasp
- the alarm device controlled by the control part CC based on the detection value of various sensors. For example, you may provide the alarm device controlled based on the detected value of an inclination sensor. With this configuration, it is possible to warn the occupant that the running slope is dangerous, accidents such as skidding and rollover can be prevented, and safety is improved.
- 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.
- the front suspension device 50C is not limited to the above-described configuration, and can be moved up and down along the rotation shaft 53C (on the straight line L1C) that is the steering shaft of the front crawler traveling device 30C. Good.
- the ascending / descending direction of the front crawler traveling device 30C is determined by the configuration of the link mechanism 52C as a coupling mechanism.
- the connecting mechanism may be configured not to include the fifth link member 60C in the above-described link mechanism 52C.
- the dampers 63C and 64C one end is rotatably connected to the bogie frame 51C, the other end is rotatably connected to the third link member 58C, and is extended in the vertical direction.
- the damper includes a damper, one end rotatably connected to the connecting frame 36C, the other end rotatably connected to the fourth link member 59C, and a damper that extends in the vertical direction.
- the connecting mechanism replaces the dampers 63C and 64C with one end rotatably connected to the first link member 56C and the other end rotatably connected to the second link member 57C. It is good also as a structure which provided the damper connected and extended
- the connecting mechanism may be configured such that in the above-described link mechanism 52C, the connecting portion 62 between the third link member 58C and the fourth link member 59C bends backward. That is, the connection mechanism is a link mechanism having a substantially rhombus shape in a side view, and may be a so-called pantograph mechanism. With such a configuration, the coupling mechanism is simplified, and productivity and maintainability are improved. Further, the expansion and contraction stability of the link mechanism is improved.
- connection mechanism 52C is such that the first link member 56C and the second link member 57C are connected to the fifth link member 60C, respectively, and the third link member 58C and the fourth link member 59C are respectively fifth.
- the structure connected with 60 C of link members may be sufficient. That is, the 1st link member 56C, the 2nd link member 57C, the 3rd link member 58C, and the 4th link member 59C may be connected via the 5th link member 60C.
- the coupling mechanism is a telescopic cylinder composed of a piston rod having a piston head and a bottomed cylindrical cylinder liner or the like that allows the piston head to be inserted therein.
- One end of the cylinder is a bogie. The other end may be fixed to the frame 51C and attached to the connecting frame 36C of the front crawler traveling device 30C so as to be rotatable about the left-right direction.
- this cylinder is good also as a structure provided with a spring similarly to the above-mentioned dampers 63C and 64C. With such a configuration, the coupling mechanism is simplified, and productivity and maintainability are improved.
- dampers 63C and 64C as the buffer mechanism are not limited to the above-described configuration. Any structure that cushions the impact between the vehicle body frame 10 ⁇ / b> C and the front crawler traveling device 30 ⁇ / b> C may be used, and only a spring or a cylinder may be used.
- the front suspension device 50C may include a lifting device that lifts and lowers the left and right front crawler travel devices 30R and 30L.
- a front suspension device 50D as shown in FIGS. 47, 48, and 49 may be used.
- FIG. 47 is a right side view showing an example of a front suspension apparatus 50D according to another embodiment
- FIG. 48 is a side view of the front suspension apparatus 50D of FIG. 47 as viewed from the inside of the vehicle.
- 49 is a diagram for explaining the operation of the front suspension device 50D of FIG. 48.
- FIG. 49A is a state in which the link mechanism in FIG. 48 is extended
- FIG. 49B is a state in which the link mechanism in FIG. .
- the front suspension device 50D includes a bogie frame 51D and a link mechanism 52D as a pair of left and right connection mechanisms that connect the left and right front crawler travel devices 30CR and 30CL to the left and right of the bogie frame 51D.
- cylinders 400DR, 400DL and the like as lifting devices that lift and lower the left and right front crawler traveling devices 30CR, 30CL, respectively. 47 and 48, descriptions of the left link mechanism 52DL, the left front crawler traveling device 30CL, and the left cylinder 400DL are omitted.
- the bogie frame 51D has the same form as the bogie frame 51C in the above-described front suspension device 50C.
- the bogie frame 51D has a substantially rectangular parallelepiped shape extending in the front-rear direction in plan view, and a rotation shaft 53D as a steering shaft is suspended from the center of the upper surface in the left-right direction.
- the rotation shaft 53D is inserted through the through hole 27C of the front support plate 18C.
- the bogie frame 51D is connected to the front support plate 18C so as to be rotatable about the rotation shaft 53D. That is, the bogie frame 51 is supported by the vehicle body frame 10C so as to be rotatable about the vertical direction.
- a straight line L1D in FIGS. 47, 48, and 49 is the center of the rotation shaft 53D (the rotation center of the bogie frame 51D) and indicates the axial direction of the steering shaft and is vertical.
- Rotating shafts 54D (54DR, 54DL) and rotating shafts 55D (55DR, 55DL) are suspended from the left and right side surfaces of the bogie frame 51D.
- the rotation shaft 54D and the rotation shaft 55D are provided at positions symmetrical with respect to the straight line L1D.
- the bogie frame 51D is not limited to the above-described configuration, and any bogie frame may be supported by the vehicle body frame 10C so as to be rotatable about a vertical steering shaft.
- the rotation shaft 53D as the steering shaft of the bogie frame 51D is not limited to a vertical one, and the rotation shaft 53D may have a caster angle tilted to the front low and rear high. Good. As described above, when the rotation shaft 53D has a caster angle, traveling performance and durability are improved. When the rotation shaft 53D is vertical, the configuration of the front suspension device 50D is simple and the productivity is high.
- the link mechanism 52D includes a first link member 56D, a second link member 57D, a third link member 58D, a fourth link member 59D, and a fifth link member 60D.
- the first link member 56D, the second link member 57D, the third link member 58D, and the fourth link member 59D have the same shape and are rod-shaped members that are curved in a substantially arc shape.
- the fifth link member 60D is composed of two substantially rectangular plate-like members extending in the front-rear direction in a side view. The link mechanism 52D is configured by connecting these five link members 56D, 57D, 58D, 59D, and 60D.
- the first link member 56D has one end connected to the rotating shaft 54D of the bogie frame 51D and the other end connected to the connecting portion 61D near the front end of the fifth link member 60D.
- One end of the second link member 57D is connected to the connecting portion 62D in the vicinity of the front end portion of the fifth link member 60D, and the other end is connected to the rotating shaft 44C of the connecting frame 36C of the front crawler traveling device 30C.
- One end of the third link member 58D is connected to the rotation shaft 55D of the bogie frame 51D, and the other end is connected to a connection portion 63D at a substantially central portion in the front-rear direction of the fifth link member 60D.
- the fourth link member 59D has one end connected to the connecting portion 64D at the substantially central portion in the front-rear direction of the fifth link member 60D, and the other end connected to the rotating shaft 45C of the connecting frame 36C of the front crawler travel device 30C.
- the fifth link member 60D is composed of a plate-like member arranged inside the vehicle and a plate-like member arranged outside the vehicle.
- the two plate-like members of the fifth link member 60D sandwich the ends of the other link members 56D, 57D, 58D, 59D, and the fifth link member 60D and the other link members 56D, 57D, 58D, 59D is connected.
- Each of the link members 56D, 57D, 58D, 59D is rotatable about the respective connecting portions 61D, 62D, 63D, 64D.
- the two plate-like members of the fifth link member 60D are coupled by welding a coupling member (not shown) between the front end portion, the rear end portion, and the coupling portion 61D and the coupling portion 63D.
- the link mechanism 52D has a vertically symmetric structure around the fifth link member 60D.
- the distance between the rotation shaft 54D and the connection portion 61D, the distance between the connection portion 62D and the rotation shaft 44C, the distance between the rotation shaft 55D and the connection portion 63D, the connection portion 64D and the rotation shaft 45C. Is the same as the distance.
- the distance is the same.
- the first link member 56D, the second link member 57D, the third link member 58D, and the fourth link member 59D are connected in a state in which the curved shape protrudes forward.
- a cylinder 400D as an elevating device includes a piston rod 401D having a piston head (not shown) and a bottomed cylindrical cylinder liner 402D that allows the piston head to be inserted therein.
- the cylinder 400D is attached by extending in the front-rear direction at the center in the up-down direction of the plate-like member disposed inside the fifth link member 60D.
- the cylinder liner 402D has a bracket 403D in the vicinity of the bottom and the opening, and the bracket 403D and a plate-like member disposed on the vehicle inner side of the fifth link member 60D are fastened by bolts.
- the bottom of the cylinder liner 402D is located in the vicinity of the rear portion of the fifth link member 60D, and the cylinder 400D is extendable in the front-rear direction along the fifth link member 60D.
- the cylinder 400D is attached to the fifth link member 60D via a rubber sheet (not shown).
- the end of the piston rod 401D opposite to the piston head is connected to the first link member 56D and the second link member 57D via a damper 404D and a link mechanism 405D as a connecting member.
- the damper 404D is a telescopic bar-shaped buffer mechanism composed of a spring and a cylinder, and one end is fixed to the end of the piston rod 401D.
- the link mechanism 405D has a vertically symmetric structure, and includes an arc-shaped support member 406D curved forward, two link bars 407D and 408D connected to the support member 406D, and the like.
- the support member 406D is fixed to the damper 404D.
- link bar 407D is connected to the upper end of the support member 406D, and the other end is connected to the bracket 65D of the first link member 56D.
- link bar 408D is connected to the lower end of the support member 406D, and the other end is connected to the bracket 66D of the second link member 57D.
- the two link bars 407D and 408D are arranged in a vertically symmetrical position, and the link mechanism 405D is configured to be vertically symmetrical about the fifth link member 60D.
- the link mechanism 405D has a structure that can transmit the force generated by the expansion and contraction of the cylinder 400D to the first link member 56D and the second link member 57D evenly and vertically.
- the rotation shaft 40C of the front crawler traveling device 30C is located, and the center of the ground contact portion 43C of the front crawler traveling device 30C is also located.
- the link mechanism 405D expands and contracts in the vertical direction
- the link mechanism 52D that bends forward further deforms in the front-rear direction to expand and contract in the vertical direction.
- the front crawler traveling device 30C moves up and down.
- the link mechanism 52D can move the front crawler traveling device 30C up and down along the straight line L1D (steering shaft).
- the front suspension device 50D allows the front crawler traveling device 30C to be moved up and down. Unlike the above-described rear suspension device 90C, which can swing up and down, the front suspension device 50D can be moved forward and backward. No extended member is provided. Accordingly, the overall length of the traveling vehicle 1C can be shortened, turning traveling is facilitated, and traveling performance is improved.
- the cylinder 400D as a lifting device that lifts and lowers the front crawler traveling device 30C is driven by the driving force of the engine EC.
- the driving force of the engine EC is transmitted to a pump (not shown) provided in the body frame 10C, and further transmitted to the cylinder 400D via a proportional solenoid valve (not shown). And by controlling this proportional solenoid valve, the cylinder 400D can be expanded and contracted to move the front crawler traveling device 30C up and down.
- the front crawler traveling device 30C can be moved up and down along the unevenness and slope of the rough terrain, and the same effect as the above-described front suspension device 50C can be obtained, and the rough terrain can be stably traveled. Is possible.
- description about the effect similar to the front suspension apparatus 50C is abbreviate
- the raising / lowering apparatus which raises / lowers the front crawler traveling apparatus 30C is a simple structure by one cylinder 400D, productivity and maintainability are good. Further, the lifting device is a cylinder 400D, and even the heavy front traveling device 30C can be lifted and lowered easily. Further, since the cylinder 400D is connected to the link mechanism 52D via a damper 404D as a buffer mechanism, the cylinder 400D buffers the impact between the vehicle body frame 10C and the front crawler traveling device 30C, and the front crawler traveling device 30C is stabilized. In addition to grounding, driving and riding comfort are improved. Further, the cylinder 400D is attached to the link mechanism 52D via a rubber sheet as an elastic body, and this rubber sheet, like the damper 404D, applies an impact between the vehicle body frame 10C and the front crawler traveling device 30C. Buffer.
- the cylinder 400D may be configured to operate according to the operation of the occupant.
- a pedal is provided on each of the left and right step floors 118C, and the cylinder 400D operates according to the depression of the left and right pedals by the occupant. It is good also as composition to do.
- the cylinder 400D is controlled as a lifting device by various sensors and a control unit is preferable.
- various sensors that detect the traveling state of the traveling vehicle 1 ⁇ / b> C may be provided and controlled based on the detection values of these various sensors.
- a steering angle sensor S1D for detecting the rotation angle of the front suspension device 50D with respect to the body frame 10C
- a second link member 57D for the first link member 56D in the left and right link mechanisms 52D.
- the left and right first link sensors S2DR and S2DL that detect the rotation angle of the left and right, and the left and right second link sensors that detect the rotation angle of the fourth link member 59D with respect to the third link member 58D in the left and right link mechanism 52D.
- the two left and right first link sensors S2DR and S2DL and the two left and right second link sensors S3DR and S3DL are the two left and right first link sensors S2SR and S2SL and the two left and right second link sensors shown in FIG. It corresponds to S3SR and S3SL.
- the configuration shown in FIG. 50 further includes an inclination sensor S10D and 400D as a lifting device in addition to the configuration shown in FIG.
- the control unit CC controls the crawler travel devices 30CR, 30CL, 70CR, 70CL, and the cylinder 400D as the lifting device based on the detection values of the various sensors described above together with the handle sensor S8 and the accelerator grip sensor S9.
- the traveling state of the traveling vehicle 1C can be grasped in detail by various sensors.
- the control part CC can control each crawler driving
- the traveling control of the traveling vehicle 1C by the control unit CC is not limited to the above-described control configuration.
- the traveling vehicle 1C can travel with good energy efficiency by reducing the driving time of the cylinder 400D during traveling.
- ON / OFF of the drive of cylinder 400D is not limited to control by the control part CC, The structure which can be turned ON / OFF according to a passenger
- the front suspension device 50D including the lifting device that lifts and lowers the left and right front crawler traveling devices 30CR and 30CL is not limited to the above-described configuration, and the front crawler traveling device 30C is a rotation shaft 53D that is a steering shaft. Any structure that can be moved up and down along the straight line L1D may be used.
- the raising / lowering direction of the front crawler traveling device 30C is determined by the configuration of the link mechanism 52D as the connecting mechanism, the configuration of the cylinder 400D as the lifting device, and the like.
- the first link member 56D and the second link member 57D are connected via the fifth link member 60D, and the third link member 58D and the fourth link member 59D connect the fifth link member 60D. It is the structure connected via.
- the respective members may be directly connected without using the fifth link member 60D.
- the connecting mechanism may be configured such that the third link member 58D and the fourth link member 59D bend toward the rear in the above-described link mechanism 52D. That is, the connection mechanism is a link mechanism having a substantially rhombus shape in a side view, and may be a so-called pantograph mechanism. With such a configuration, the coupling mechanism is simplified, and productivity and maintainability are improved. Further, the expansion and contraction stability of the link mechanism is improved.
- the front suspension device 50D may be configured such that a damper as a buffer mechanism is provided instead of the link bars 407D and 408D in the above-described link mechanism 405D. That is, a damper may be provided between the support member 406D and the bracket 65D and between the support member 406D and the bracket 66D. With such a configuration, the impact between the vehicle body frame 10C and the front crawler traveling device 30C can be buffered more effectively, and the riding comfort can be improved while traveling stably.
- the lifting device is not limited to the above-described cylinder 400D.
- the lifting device may include a cylinder 410D provided between the bogie frame 51D and the front crawler traveling device 30C.
- One end of the cylinder 410D is attached to the bogie frame 51D so as to be rotatable about the left-right direction as an axis.
- the other end of the cylinder 410D is rotatably attached to the connecting frame 36C of the front crawler traveling device 30C via a damper 411D serving as a shock absorber.
- dampers 412D and 413D are provided as buffer mechanisms.
- One end of the damper 412D is rotatably attached to the bracket 65D of the first link member 56D, and the other end is rotatably attached to the fifth link member 60D.
- One end of the damper 413D is rotatably attached to the bracket 66D of the second link member 57D, and the other end is rotatably attached to the fifth link member 60D.
- the two dampers 412D and 413D are arranged at positions that are vertically symmetrical about the fifth link member 60D, and the buffering force generated when the two dampers 412D and 413D extend and contract is the same.
- the front crawler traveling device 30C can be moved up and down along the rotation shaft 53D (on the straight line L1D) that is a steering shaft. And by setting it as such a structure, the force by expansion / contraction of the cylinder 410D as a raising / lowering apparatus works to an up-down direction, and can raise / lower the front crawler traveling apparatus 30C more effectively. Therefore, the configuration of the cylinder 410D can be reduced, and productivity is improved.
- dampers 411D, 412D, and 413D as the buffering mechanism buffer the impact between the vehicle body frame 10C and the front crawler traveling device 30C, and the front crawler traveling device 30C is stably grounded, and travelability and riding comfort are also improved. Will improve.
- the fifth link member 60D in this example is shortened by partially removing the rear side to which the cylinder liner 402D is attached.
- the lifting device may be configured by two cylinders 420D, 421D and the like.
- One end of the cylinder 420D is rotatably attached to the bracket 65D of the first link member 56D via a damper 422D as a buffer mechanism, and the other end is rotatably attached to the fifth link member 60D.
- One end of the cylinder 421D is rotatably attached to the bracket 66D of the second link member 57D via a damper 423D as a buffer mechanism, and the other end is rotatably attached to the fifth link member 60D.
- the two cylinders 420D and 421D are arranged at symmetrical positions around the fifth link member 60D.
- the two cylinders 420D and 421D are connected in parallel in the hydraulic circuit, and the expansion and contraction operations of the two cylinders 420D and 421D are always the same.
- the front crawler traveling device 30C is moved up and down along the rotation shaft 53D (on the straight line L1D) which is a steering shaft.
- the configuration of the cylinders 420D and 421D can be reduced, and productivity is improved.
- the cylinders 420D and 421D are connected in parallel in the hydraulic circuit, it is not necessary to control them separately, and the control configuration is simple.
- the dampers 422D and 423D as the buffering mechanism buffer the impact between the vehicle body frame 10C and the front crawler traveling device 30C, and the front crawler traveling device 30C is stably grounded, and the traveling performance and riding comfort are improved. To do.
- the lifting device may be configured by a first motor 430D, which is an electric motor, a second motor 431D, and the like.
- the first motor 430D and the second motor 431D are connected to a battery (not shown) and the control unit CC.
- the first motor 430D and the second motor 431D are driven by the battery power and controlled by the control unit CC.
- 1st motor 430D is attached to the plate-shaped member arrange
- the drive shaft 432D of the first motor 430D protrudes into a gear box 433D provided between the two plate-like members of the fifth link member 60D.
- the drive shaft 432D of the first motor 430D is interlockedly connected to the connecting portion 61D of the first link member 56D and the connecting portion 62D of the second link member 57D by a plurality of gears (not shown) in the gear box 433D. Yes.
- the first link member 56D When the drive shaft 432D of the first motor 430D is rotated, the first link member 56D is rotated with respect to the fifth link member 60D around the connecting portion 61D, and the second link member 57D is connected to the connecting portion. It rotates with respect to the fifth link member 60D around 62D.
- the rotation directions of the first link member 56D and the second link member 57D according to the rotation of the drive shaft 432D of the first motor 430D are opposite directions, and the rotation amount (rotation angle) is the same. It is. That is, in FIG. 53, for example, when the first link member 56D rotates counterclockwise by an angle ⁇ D about the connecting portion 61D, the second link member 57D rotates clockwise by the angle ⁇ D about the connecting portion 62D. It is a configuration.
- 2nd motor 431D is attached to the plate-shaped member arrange
- the drive shaft 434D of the second motor 431D protrudes into a gear box 435D provided between the two plate-like members of the fifth link member 60D.
- the drive shaft 434D of the second motor 431D is interlocked and connected to the connecting portion 63D of the third link member 58D and the connecting portion 64D of the fourth link member 59D by a plurality of gears (not shown) in the gear box 435D. Yes.
- the third link member 58D rotates with respect to the fifth link member 60D around the connecting portion 63D, and the fourth link member 59D is connected to the connecting portion. It rotates with respect to the fifth link member 60D around 64D.
- the rotation directions of the third link member 58D and the fourth link member 59D according to the rotation of the drive shaft 434D of the second motor 431D are opposite directions, and the rotation amount (rotation angle) is the same. It is. That is, in FIG.
- dampers 436D and 437D similar to the dampers 412D and 413D shown in FIG. 51 are provided between each of the first link member 56D and the second link member 57D and the fifth link member 60D.
- the link mechanism 52D expands and contracts in the vertical direction, and the front crawler traveling device 30C is rotated by a rotation shaft 53D (straight line). Up and down along L1D). And by setting it as such a structure, while being able to control an raising / lowering apparatus, the responsiveness of an raising / lowering apparatus is quick, and a desired raising / lowering operation
- the up-and-down direction of the front crawler traveling device 30C is determined by the length and arrangement of the link members 56D, 57D, 58D, 59D, and 60D, the configuration of the first motor 430D and the second motor 431D as the lifting device, and the like. Each configuration is appropriately designed so that the front crawler traveling device 30C can be moved up and down along the rotation shaft 53D (on the straight line L1D) as a steering shaft.
- positioning of 1st motor 430D and 2nd motor 431D is not limited to the above-mentioned structure.
- positioned at the vehicle outer side may be sufficient.
- the first motor 430D and the second motor 431D do not protrude, space can be used effectively, and the vehicle does not increase in size. Further, the first motor 430D and the second motor 431D can be protected by the fifth link member 60D.
- the motor as the lifting device may be configured by any one of the first motor 430D and the second motor 431D.
- the first motor 430D can rotate the first link member 56D and the second link member 57D in opposite directions with respect to the fifth link member 60D, respectively, and the rotation amount (rotation angle) is the same. Therefore, only the first motor 430D allows the front crawler traveling device 30C to move up and down along the rotation shaft 53D (on the straight line L1D) that is a steering shaft.
- the second motor 431D can rotate the third link member 58D and the fourth link member 59D in the opposite directions with respect to the fifth link member 60D, respectively, and the rotation amount (rotation angle) is the same.
- the second motor 431D allows the front crawler traveling device 30C to move up and down along the rotation shaft 53D (on the straight line L1D) that is a steering shaft. Therefore, either the first motor 430D or the second motor 431D can move the front crawler traveling device 30C up and down. With this configuration, the front crawler traveling device 30C can be moved up and down by the control of one motor. And control becomes simple.
- first motor 430D or the second motor 431D as an elevating device may operate as a generator and can be stored in a battery. With such a configuration, it is possible to regenerate energy in the elevation of the front crawler traveling device 30C as electric energy, and the traveling vehicle 1C can travel with energy efficiency.
- the first motor 430D operates as a generator and stores in a battery
- the second motor 431D operates as an electric motor.
- the front crawler traveling device 30C is lowered, that is, when the link mechanism 52D is extended in the vertical direction
- the first motor 430D is stopped and the second motor 431D is operated as an electric motor
- the driving force of the second motor 431D To extend the link mechanism 52D.
- the front crawler traveling device 30C is raised, that is, when the link mechanism 52D is contracted in the vertical direction
- the first motor 430D is operated as a generator and the second motor 431D is stopped to be in a passive state (torque-free state).
- the link mechanism 52D is contracted.
- the first motor 430D is operated as a generator to regenerate energy.
- first motor 430D and the second motor 431D may be configured to be switchable between operation as an electric motor and operation as a generator.
- the front crawler traveling device 30C can be lowered and the energy can be regenerated by two motors, the front crawler traveling device 30C can be quickly lowered, and the energy regeneration efficiency can be improved. Go up. Further, the operation of the two motors as an electric motor and the operation as a generator can be switched in accordance with the traveling state, and the traveling vehicle 1C can travel more efficiently.
- the control of driving the first motor 430D and the second motor 431D and switching between the electric motor and the generator is not particularly limited, and any configuration may be used as long as it is controlled according to the traveling state.
- a control configuration that performs ON / OFF control of the drive of the first motor 430D and the second motor 431D as the electric motor and switching control of the electric motor and the generator according to the traveling state may be employed.
- the front crawler traveling device 30C is driven as the electric motors of the first motor 430D and the second motor 431D only when the front crawler traveling device 30C is largely moved up and down, and in other cases, the driving is stopped to be in a passive state (torque free state).
- the traveling vehicle 1C can travel with high energy efficiency.
- the link mechanism 52D is supported by the dampers 436D and 437D as the buffer mechanisms.
- the first motor 430D and the second motor 431D may be operated as a generator.
- the impact due to the unevenness is buffered by the dampers 436D and 437D, but the link mechanism 52D expands and contracts according to the unevenness. Therefore, energy can be regenerated by operating the first motor 430D and the second motor 431D as a generator.
- the first motor 430D and the second motor 431D are not limited to the control by the control unit CC, and can be configured to be able to turn on / off the drive or switch between the electric motor and the generator according to the operation of the occupant. Also good.
- the lifting device may be configured by combining the lifting devices described above.
- the cylinder 400D shown in FIG. 48 may be combined with the first motor 430D and the second motor 431D shown in FIG.
- the front crawler travel device 30C can be raised and lowered by the cylinder 400D, the first motor 430D, and the second motor 431D, and energy can be regenerated by the first motor 430D and the second motor 431D.
- first motor 430D and the second motor 431D described above are not limited to electric motors, and may be hydraulic motors.
- energy regeneration can be performed by using one as a hydraulic motor as a lifting device that lifts and lowers the front crawler traveling device 30C and the other as an electric motor as a generator. it can.
- the buffer mechanism is not limited to the damper composed of the spring and the cylinder as described above. Any structure that cushions the impact between the vehicle body frame 10 ⁇ / b> C and the front crawler traveling device 30 ⁇ / b> C may be used, and only a spring or a cylinder may be used.
- the link mechanism may be configured to include a neutral position maintaining mechanism that applies a force to the front crawler traveling device 30C in a direction opposite to the ascending / descending direction.
- the link mechanism 152D shown in FIG. 54 is configured to include three springs 500D, 501D, and 502D as elastic members in the link mechanism 52D in FIG.
- a bracket 503D extending upward and a bracket 504D extending downward are provided at the front portion of the fifth link member 60D.
- the spring 500D is provided in place of the cylinder 400D, and has one end attached to the fifth link member 60D and the other end attached to the support member 407D.
- the spring 500D is arranged at the center in the vertical direction of the fifth link member 60D, that is, at the center in the vertical direction of the link mechanism 152D.
- One end of the spring 501D is attached to the bracket 503D, and the other end is attached to the connecting portion between the link bar 407D and the bracket 65D.
- One end of the spring 502D is attached to the bracket 504D, and the other end is attached to the connecting portion between the link bar 408D and the bracket 66D.
- the two springs 501D and 502D are disposed at positions that are vertically symmetrical about the fifth link member 60D.
- the three springs 500D, 501D, and 502D are all extendable in the front-rear direction, and extendable rod-like members 505D, 506D, and 507D are inserted into the springs 500D, 501D, and 502D, respectively.
- the rod-shaped members 505D, 506D, and 507D are guides when the springs 500D, 501D, and 502D expand and contract, and prevent the springs 500D, 501D, and 502D from bending when contracted.
- the three springs 500D, 501D, and 502D are all attached in a contracted state, and generate a stretching force (elastic force).
- the lifting device is a first motor 430D and a second motor 431D that are arranged between a plate-like member arranged inside the vehicle of the fifth link member 60D and a plate-like member arranged outside the vehicle.
- FIG. 54 shows a state where the traveling vehicle 1C is stopped on a flat ground, and the front crawler traveling device 30C is located at a neutral position in the vertical direction.
- the elastic force of the spring 500D balances with the resultant force of the load of the traveling vehicle 1C applied to the link mechanism 152D and the elastic force of the two springs 501D and 502D, and the link mechanism 152D is supported.
- the neutral position is the center in the vertical direction of the up and down range of the front crawler traveling device 30C.
- the link mechanism 152D when the link mechanism 152D is contracted vertically from the state of FIG. 54 and the front crawler traveling device 30C is raised, the spring 500D contracts and its elastic force increases and the two springs 501D and 502D extend. The elastic force becomes smaller. Accordingly, the balance of the forces of the springs 500D, 501D, and 502D applied to the link mechanism 152D is lost, and the link mechanism 152D has a force that extends the link mechanism 152D in the vertical direction, that is, a direction that lowers the front crawler traveling device 30C. The force of acts.
- the above-described mechanism constituted by the springs 500D, 501D, 502D and the like applies a force to the front crawler traveling device 30C in a direction opposite to the ascending / descending direction, and this force neutralizes the front crawler traveling device 30C. Acts to return to position. That is, the above-described mechanism is a neutral position maintaining mechanism that maintains the front crawler traveling device 30C at the neutral position in the vertical direction. By providing such a neutral position maintaining mechanism, excessive traveling of the front crawler traveling device 30 ⁇ / b> C to uneven surface irregularities is prevented during traveling on uneven uneven surfaces, and traveling performance is improved. Furthermore, the energy can be effectively regenerated by operating the first motor 430D and the second motor 431D as a generator in accordance with the elevation of the front crawler traveling device 30C, that is, the expansion and contraction of the link mechanism 152D.
- the neutral position maintaining mechanism is not limited to the above-described configuration, and may be a mechanism that applies a force in the direction opposite to the ascending / descending direction in accordance with the ascent / descent of the front crawler traveling device 30C.
- it is good also as a structure combined with the damper as a buffer mechanism.
- the two springs 501D and 502D described above may be used as one new spring and may be configured by two springs.
- the new spring is on the same axis as the spring 500D and is symmetrical with the spring 500D about the support member 406D, with one end attached to the support member 406D and the other end attached to the fifth connecting member 60D. Is.
- the configuration of the neutral position maintaining mechanism is simplified, and productivity and maintainability are improved.
- the force acting on the first link member 56D by the spring 501D and the force acting on the second link member 57D by the spring 502D can be adjusted separately.
- the vertical contraction operation of the link mechanism 152D can be easily adjusted.
- the connecting mechanism may be composed of a retractable cylinder instead of the link mechanism 52D shown in FIG.
- This cylinder is arranged along the straight line L1D in a side view, and one end is fixed to the bogie frame 51D, and the other end is rotatably attached to the connecting frame 36C of the front crawler traveling device 30C with the left-right direction as an axis.
- the cylinder may be provided with a damper serving as a buffer mechanism at one end and attached to the front crawler traveling device 30C via the damper.
- the rear crawler traveling device 70C may include a swinging device that swings in the vertical direction, similarly to the lifting device of the front crawler traveling device 30C.
- a cylinder that forcibly rotates the swing arm 93C of the rear suspension device 90C shown in FIGS. 40 and 41 with respect to the vehicle body frame 10C is provided as the swing device.
- the left and right rear crawler traveling devices 70CR and 70CL are connected via the swing arm 93C, the left and right rear crawler travel devices 70CR and 70CL are moved in the vertical direction by rotating the swing arm 93C. Can be swung.
- the cylinder as the swinging device is disposed so as to extend in a substantially vertical direction, and one end of the cylinder is attached to the swinging arm 93C so as to be rotatable about the front-rear direction. The other end of the cylinder is attached to the body frame 10C so as to be rotatable about the front-rear direction. Then, by extending and contracting this cylinder, the swing arm 93C is rotated with respect to the vehicle body frame 10C.
- the left and right rear crawler travel devices 70CR, 70CL are swung in the vertical direction so as to match the slope of the slope and the unevenness of the ground. This can further improve the running performance on rough terrain.
- the traveling vehicle travels the rear crawler traveling device 70C and the rear suspension device 90C of the traveling vehicle 1C in the same configuration as the front crawler traveling device 30C and the front suspension device 50C.
- the vehicle 2C may be used. With such a configuration, the number of parts is reduced and productivity is improved. Further, the traveling vehicle 2C can perform various traveling, for example, turning with a smaller radius, traveling in the lateral direction without changing the direction of the body frame 210C, and the like.
- the rear suspension device of the traveling vehicle 2C is arranged so that the link mechanism 52C bends in the opposite direction to the front suspension device 50C. That is, the link mechanism 52C is bent outward from the bogie frame 51C and toward the rear of the vehicle body frame 210C. Accordingly, the link mechanisms 52C and 52C in the front and rear suspension devices are both configured to bend outward from the traveling vehicle 2C, and it is necessary to secure a space for the link mechanisms 52C and 52C to be bent inside the vehicle. And the overall length of the traveling vehicle 2C can be shortened.
- the front and rear suspension devices in the traveling vehicle 2C may be the front suspension device 50D including the above-described lifting device.
- the traveling vehicle according to the present embodiment is not limited to the traveling vehicle such as the traveling vehicles 1C and 2C described above that travels with the four front and rear, right and left crawler traveling devices 30CR, 30CL, 70CR, and 70CL. It is sufficient to travel with at least a pair of left and right traveling devices.
- a configuration such as a traveling vehicle 3C having one rear crawler traveling device 70CR, 70CL in the traveling vehicle 1C may be used.
- the traveling vehicle 3C has a configuration in which, in the traveling vehicle 1C, one rear crawler traveling device 70C is disposed at the center in the left-right direction of the rear portion of the body frame 10C.
- the rear crawler traveling device 70C in the traveling vehicle 3C is positioned between a pair of left and right traction arms 391C, 391C extending in the front-rear direction, and is suspended from the body frame 310C by the traction arms 391C, 391C.
- One end of each of the left and right traction arms 391C and 391C is rotatably connected to the vehicle body frame 310C with the left-right direction as an axis (rotation shaft 324C), and the other end is connected to the rear crawler travel device 70C as an axis (rotation axis).
- 380C is connected rotatably. Accordingly, the left and right traction arms 391C, 391C suspend the rear crawler traveling device 70C on the vehicle body frame 310C so as to be swingable in the vertical direction.
- dampers 394C and 394C similar to the damper 94C are connected between the left and right pulling arms 391C and 391C and the vehicle body frame 310C, respectively.
- the traveling vehicle 3C is configured to travel by three crawler traveling devices including a pair of left and right front crawler traveling devices 30C at the front portion and one rear crawler traveling device 70C at the rear portion.
- the traveling device in the traveling vehicles 1A, 1B, 1C, 2C, and 3C according to the present embodiment is not limited to the 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.
- traveling vehicles 1A, 1B, 1C, 2C, and 3C are not limited to saddle riding type traveling vehicles, and include traveling vehicles in which cabins are provided and passengers sit on the seats when riding. It may be.
- a handle having a circular handle bar at the upper end of the steering shaft is provided in front of the seat.
- An accelerator pedal operated with a foot is provided below the handle.
- a structure may be provided that includes a pair of left and right operation levers that are rotatably supported at one end by the body frame and can be tilted in the front-rear direction.
- 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 driving of the right front and rear crawler travel devices 30AR and 70AR is controlled based on the front-rear tilt (rotation angle) of the right operation lever, and the left operation lever tilts in the front-rear direction. Based on the (rotation angle), the driving of the left and right crawler travel devices 30AL and 70AL is controlled.
- the occupant can perform the traveling operation of the work vehicle only by tilting the left and right operation levers, so that the traveling operation can be easily performed.
- the traveling vehicles 1A, 1B, 1C, 2C, and 3C are not limited to those on which passengers get on as described above, but are traveling vehicles that can be unmanned by remote operation. May be.
- a communication device connected to the control unit CA of the traveling vehicle 1A may be provided so that the traveling vehicle 1A can be remotely operated by an external operation device.
- the communication device transmits and receives information wirelessly, and can transmit and receive information to and from an external operation device.
- an imaging device that can capture at least an image in the traveling direction is provided in the traveling vehicle 1A so that an image captured by the external operation device can be confirmed. good.
- the worker can perform a remote operation by confirming the traveling state of the traveling vehicle 1A even at a distant place where the traveling vehicle 1A cannot be seen.
- the present invention is not limited to the above-described example, and can take any form within a range not departing from the gist of the invention.
- the traveling vehicle of the present invention is not particularly limited.
- a working vehicle that operates on rough terrain such as a tractor, a combiner, a transplanter, a construction machine, and a forestry machine, a transport vehicle such as a forklift, and an automobile. It can be applied to any traveling vehicle.
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Abstract
Description
前記前懸架装置は、前記左右一対の前クローラ走行装置を一体的に前記車体フレームに懸架するとともに、前記左右一対の前クローラ走行装置を前記車体フレームに対してそれぞれ上下方向に揺動または昇降可能とすることを特徴とする。
前記車体フレームに左右方向を軸として上下に揺動自在に支持される揺動支持部と、
左右方向に延伸され、左右方向の中心で前記揺動支持部に回動自在に支持される回動アームと、
前記車体フレームに左右方向を軸として上下に揺動自在に支持され、端部に右の前記前クローラ走行装置が連結される右側揺動アームと、
前記車体フレームに左右方向を軸として上下に揺動自在に支持され、端部に左の前記前クローラ走行装置が連結される左側揺動アームと、
一端が前記回動アームの右側端に連結され、他端が前記右側揺動アームに連結される右側連結アームと、
一端が前記回動アームの左側端に連結され、他端が前記左側揺動アームに連結される左側連結アームとを備え、
前記車体フレームと前記揺動支持部との間に緩衝機構を有することを特徴とする。
前記車体フレームに上下方向の操舵軸を軸として回動自在に支持されるボギーフレームと、
前記ボギーフレームの左右に前記左右一対の前クローラ走行装置をそれぞれ連結する左右一対の連結機構とを備え、
前記左右一対の連結機構は、前記左右一対の前クローラ走行装置をそれぞれ前記操舵軸方向に昇降可能とすることを特徴とする。
前記車体フレームに上下方向の操舵軸を軸として回動自在に支持されるボギーフレームと、
前記ボギーフレームの左右において前記左右一対の前クローラ走行装置をそれぞれ前記操舵軸方向に昇降可能に連結する左右一対の連結機構と、
前記前クローラ走行装置を昇降する昇降装置とを備えることを特徴とする。
左右方向に延伸され、左右方向の中心で車体フレームに回動自在に支持される回動アームと、
前記車体フレームに左右方向を軸として上下に揺動自在に支持され、端部に右の前記前クローラ走行装置が連結される右側揺動アームと、
前記車体フレームに左右方向を軸として上下に揺動自在に支持され、端部に左の前記前クローラ走行装置が連結される左側揺動アームと、
一端が前記回動アームの右側端に連結され、他端が前記右側揺動アームに連結される右側連結アームと、
一端が前記回動アームの左側端に連結され、他端が前記左側揺動アームに連結される左側連結アームとを備えることを特徴とする。
10A,10B,10C,210C,310C 車体フレーム
30A,30C 前クローラ走行装置(走行装置)
50A,50B,50C,50D 前懸架装置
51A,51B 回動アーム
51C,51D ボギーフレーム
52C,52D リンク機構(連結機構)
53A,53B 連結アーム
54A,54B 揺動アーム
70A,70C 後クローラ走行装置(走行装置)
90A,90B,90C 後懸架装置
91A,91B 回動アーム
93A,93B 連結アーム
94A,94B 揺動アーム
200B,220B モータケース(揺動支持部)
210B,230B ダンパ(緩衝機構)
400D,410D,420D,421D シリンダ(昇降装置)
430D 第1モータ(昇降装置)
431D 第2モータ(昇降装置)
Claims (5)
- 車体フレームと、
左右一対の前クローラ走行装置と、
左右一対の後クローラ走行装置と、
前記左右一対の前クローラ走行装置を前記車体フレームに懸架する前懸架装置と、
前記左右一対の後クローラ走行装置を前記車体フレームに懸架する後懸架装置とを備え、
前記前懸架装置は、前記左右一対の前クローラ走行装置を一体的に前記車体フレームに懸架するとともに、前記左右一対の前クローラ走行装置を前記車体フレームに対してそれぞれ上下方向に揺動または昇降可能とすることを特徴とする、走行車両。 - 前記前懸架装置は、
前記車体フレームに左右方向を軸として上下に揺動自在に支持される揺動支持部と、
左右方向に延伸され、左右方向の中心で前記揺動支持部に回動自在に支持される回動アームと、
前記車体フレームに左右方向を軸として上下に揺動自在に支持され、端部に右の前記前クローラ走行装置が連結される右側揺動アームと、
前記車体フレームに左右方向を軸として上下に揺動自在に支持され、端部に左の前記前クローラ走行装置が連結される左側揺動アームと、
一端が前記回動アームの右側端に連結され、他端が前記右側揺動アームに連結される右側連結アームと、
一端が前記回動アームの左側端に連結され、他端が前記左側揺動アームに連結される左側連結アームとを備え、
前記車体フレームと前記揺動支持部との間に緩衝機構を有することを特徴とする、請求項1に記載の走行車両。 - 前記前懸架装置は、
前記車体フレームに上下方向の操舵軸を軸として回動自在に支持されるボギーフレームと、
前記ボギーフレームの左右に前記左右一対の前クローラ走行装置をそれぞれ連結する左右一対の連結機構とを備え、
前記左右一対の連結機構は、前記左右一対の前クローラ走行装置をそれぞれ前記操舵軸方向に昇降可能とすることを特徴とする、請求項1に記載の走行車両。 - 前記前懸架装置は、
前記車体フレームに上下方向の操舵軸を軸として回動自在に支持されるボギーフレームと、
前記ボギーフレームの左右において前記左右一対の前クローラ走行装置をそれぞれ前記操舵軸方向に昇降可能に連結する左右一対の連結機構と、
前記前クローラ走行装置を昇降する昇降装置とを備えることを特徴とする、請求項1に記載の走行車両。 - 前記前懸架装置は、
左右方向に延伸され、左右方向の中心で車体フレームに回動自在に支持される回動アームと、
前記車体フレームに左右方向を軸として上下に揺動自在に支持され、端部に右の前記前クローラ走行装置が連結される右側揺動アームと、
前記車体フレームに左右方向を軸として上下に揺動自在に支持され、端部に左の前記前クローラ走行装置が連結される左側揺動アームと、
一端が前記回動アームの右側端に連結され、他端が前記右側揺動アームに連結される右側連結アームと、
一端が前記回動アームの左側端に連結され、他端が前記左側揺動アームに連結される左側連結アームとを備えることを特徴とする、請求項1に記載の走行車両。
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CA2946369A CA2946369C (en) | 2014-04-28 | 2015-04-22 | Traveling vehicle |
US15/307,272 US10053166B2 (en) | 2014-04-28 | 2015-04-22 | Traveling vehicle |
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JP2014-092252 | 2014-04-28 | ||
JP2014092252A JP6280432B2 (ja) | 2014-04-28 | 2014-04-28 | 走行車両 |
JP2014-199464 | 2014-09-29 | ||
JP2014199464A JP6335084B2 (ja) | 2014-09-29 | 2014-09-29 | 走行車両 |
JP2014-199465 | 2014-09-29 | ||
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RU204054U1 (ru) * | 2021-02-02 | 2021-05-05 | Виктор Николаевич Мальцев | Подвеска гусеничной машины |
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US10053166B2 (en) | 2018-08-21 |
CA2946369A1 (en) | 2015-11-05 |
CN106458276A (zh) | 2017-02-22 |
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US20170043818A1 (en) | 2017-02-16 |
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