JP4824341B2 - Self-propelled working machine - Google Patents

Self-propelled working machine Download PDF

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JP4824341B2
JP4824341B2 JP2005149210A JP2005149210A JP4824341B2 JP 4824341 B2 JP4824341 B2 JP 4824341B2 JP 2005149210 A JP2005149210 A JP 2005149210A JP 2005149210 A JP2005149210 A JP 2005149210A JP 4824341 B2 JP4824341 B2 JP 4824341B2
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operating means
valve
upper working
self
lower traveling
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JP2006328639A (en
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直廣 小林
省三 藤原
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Kobelco Construction Machinery Co Ltd
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Kobelco Construction Machinery Co Ltd
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Description

本発明は、油圧ショベル等の自走式作業機械であって、上部作業体を略水平な状態に保ちながら階段や急斜面等の傾斜路を昇降可能な機能を有するものに関する。   The present invention relates to a self-propelled working machine such as a hydraulic excavator, which has a function capable of moving up and down ramps such as stairs and steep slopes while keeping an upper working body in a substantially horizontal state.

従来、階段や急斜面を安定した状態で走行できるようにした自走式作業機械として、特許文献１に記載されるものが知られている。この作業機械は、クローラ式の走行車において、その下部走行体上に対して上部作業体を前端側の支軸回りに回動可能（すなわち上部作業体の後端が起伏可能）となるように連結し、その回動により、前記上部作業体が前記下部走行体に対して略平行な通常姿勢と前傾姿勢とをとり得るようにしたものである。このような作業機械によれば、前記上部作業体を前記傾斜路の傾斜角度と略等しい角度まで前傾させながら当該傾斜路を走行させることにより、当該傾斜路の傾きにかかわらず前記上部作業体が略水平状態に維持される安定した姿勢で前記傾斜路の昇降を行うことが可能になる。
特開平１１−３３４６５６号公報 Conventionally, as a self-propelled working machine capable of traveling on stairs and steep slopes in a stable state, one described in Patent Document 1 is known. In this work machine, in the crawler type traveling vehicle, the upper working body can be rotated around the support shaft on the front end side with respect to the lower traveling body (that is, the rear end of the upper working body can be raised and lowered). By connecting and rotating, the upper working body can take a normal posture and a forward leaning posture substantially parallel to the lower traveling body. According to such a working machine, the upper working body is caused to travel forward while the upper working body is inclined forward to an angle substantially equal to the inclination angle of the inclined road, so that the upper working body is independent of the inclination of the inclined road. It is possible to raise and lower the ramp with a stable posture that is maintained in a substantially horizontal state.
JP-A-11-334656

前記特許文献１に記載される走行車では、模擬的に図１２に示すように、走行車２００が前記傾斜路２０２からその上端につながる上側目標地（例えば階段頂上）２０４に乗り上げる際、それまでの傾斜姿勢（実線で図示）から水平姿勢（二点鎖線で図示）に急変する。その際、前記走行車２００における下部走行体２０６の上端は前記上側目標地２０４に対して相当の高さ位置から急激に着地することになる。このような姿勢の急変は、走行車２００に大きな衝撃を与えるおそれがある。また、前記上側目標地２０４の奥行きが狭くて当該上側目標地２０４の前方に例えば図示のような壁２０８が迫っている場合には、前記下部走行体２０６に対して前傾姿勢にある上部作業体２１０が前記壁２０８に接触するおそれもある。   In the traveling vehicle described in Patent Document 1, as shown in FIG. 12, when the traveling vehicle 200 rides on the upper target site (for example, the top of the stairs) 204 connected to the upper end of the ramp 202, Suddenly changes from an inclined posture (shown by a solid line) to a horizontal posture (shown by a two-dot chain line). At that time, the upper end of the lower traveling body 206 in the traveling vehicle 200 suddenly lands with respect to the upper target place 204 from a considerable height position. Such a sudden change in posture may give a large impact to the traveling vehicle 200. In addition, when the depth of the upper target place 204 is narrow and a wall 208 as shown in the drawing is approaching the front of the upper target place 204, the upper work in a forward leaning posture with respect to the lower traveling body 206 There is also a risk that the body 210 contacts the wall 208.

このような不都合を回避する手段として、例えば特開平７−８１６３４号公報に記載されるようなフロントアタッチメントを前記下部走行体２０６に設け、前記走行車２００が前記上側目標地２０４に乗り上げる手前の位置で前記フロントアタッチメントを前記上側目標地２０４上に張出させ、その後に下部走行体２０６を徐行させながら前記フロントアタッチメントを少しずつ格納させて当該下部走行体２０６の前端を前記上側目標地２０４に静かに着地させることが考えられる。   As a means for avoiding such inconvenience, for example, a front attachment as described in Japanese Patent Application Laid-Open No. 7-81634 is provided in the lower traveling body 206, and a position before the traveling vehicle 200 rides on the upper target place 204 is provided. Then, the front attachment is extended over the upper target place 204, and then the lower attachment 206 is gradually stored while the lower running body 206 is slowly moved so that the front end of the lower running body 206 is quietly placed on the upper target place 204. It is possible to land on.

しかしながら、このような着地を実現するためには、前記フロントアタッチメントの格納操作と並行して前記上部作業体２１０を前傾姿勢から通常姿勢に戻す操作をしなければならず、オペレータの負担が大きくなる。   However, in order to realize such landing, it is necessary to perform an operation of returning the upper work body 210 from the forward tilted posture to the normal posture in parallel with the storing operation of the front attachment, which places a heavy burden on the operator. Become.

本発明は、このような事情に鑑み、オペレータの負担の軽減を図りながら傾斜路から上側目標地への円滑な乗り上げを可能にする自走式作業機械の提供を目的とする。   In view of such circumstances, an object of the present invention is to provide a self-propelled working machine that enables a smooth ride from an inclined road to an upper target site while reducing the burden on an operator.

前記課題を解決するための手段として、本発明は、下部走行体及びその上に搭載される上部作業体を備え、前記下部走行体の走行により傾斜路の昇降が可能な自走式作業機械において、前記下部走行体に対して前記上部作業体が通常位置とこの通常位置から前記傾斜路の上り側に傾斜する傾斜位置との間で相対移動可能となるように当該下部走行体に支持されるとともに、この上部作業体を前記通常位置と前記傾斜位置との間で移動させる上部作業体操作手段と、前記下部走行体の下面よりも下方に張出して当該下部走行体を傾斜状態に支持する張出し位置とこの張出し位置から上側に待避して前記下部走行体の通常走行を可能にする格納位置とに切換可能な張出し部材と、この張出し部材を前記張出し位置と前記格納位置との間で移動させる張出し部材操作手段と、前記張出し部材が前記張出し位置から前記格納位置へ格納される際に前記上部作業体が略水平状態を維持するように、前記上部作業体操作手段による前記傾斜位置から前記通常位置への前記上部作業体の戻し操作と前記張出し部材操作手段による前記張出し位置から前記格納位置への格納操作とを同調させる操作制御手段とを備え、前記操作制御手段は、前記同調の制御を行う同調制御モードと、前記上部作業体操作手段及び前記張出し部材操作手段をそれぞれ相互独立して作動させる独立制御モードとに切換可能であるものである。 As a means for solving the above-mentioned problems, the present invention provides a self-propelled working machine including a lower traveling body and an upper working body mounted thereon, and capable of moving up and down an inclined road by traveling the lower traveling body. The upper working body is supported by the lower traveling body so as to be relatively movable with respect to the lower traveling body between a normal position and an inclined position inclined from the normal position to the upside of the slope. And an upper working body operating means for moving the upper working body between the normal position and the inclined position, and an overhang that projects downward from the lower surface of the lower traveling body to support the lower traveling body in an inclined state. A projecting member that can be switched between a position and a retracted position that is retracted upward from the projecting position to enable normal travel of the lower traveling body, and the projecting member is moved between the projecting position and the retracted position. The overhang member operating means and the normal position from the inclined position by the upper work body operating means so that the upper work body maintains a substantially horizontal state when the overhang member is stored from the overhang position to the retracted position. Operation control means for synchronizing the return operation of the upper working body to a position and the storage operation from the extended position to the storage position by the extension member operating means , and the operation control means controls the tuning. The tuning control mode to be performed and the independent control mode in which the upper work body operating means and the overhang member operating means are operated independently of each other can be switched .

この構成によれば、上部作業体操作手段により上部作業体を傾斜位置まで傾斜させた状態で、当該上部作業体を略水平な状態に維持したまま傾斜路を昇降することができる。そして、前記傾斜路の登坂時において、前記下部走行体が前記傾斜路の上端に続く略水平な上側目標地に乗り上げる直前の位置まで到達した時点で、その張出し部材を張出し位置まで張出した後、この張出し部材をその張出し位置から格納位置まで格納する格納操作と、前記上部作業体を前記傾斜位置から前記通常位置まで戻す戻し操作とを同調させる制御を操作制御手段に行わせながら、前記上側目標地に向けて下部走行体を徐行させることにより、オペレータの大きな負担を伴うことなく、前記上部作業体を略水平な状態に維持しながら下部走行体を前記傾斜路から前記上側目標地へ静かに乗り上げさせることができる。   According to this configuration, it is possible to move up and down the ramp while maintaining the upper working body in a substantially horizontal state in a state where the upper working body is inclined to the inclined position by the upper working body operating means. And at the time of climbing the ramp, when the lower traveling body has reached the position just before riding on the substantially horizontal upper target land following the upper end of the ramp, after projecting the projecting member to the projecting position, While the operation control means performs control to synchronize the storing operation of storing the protruding member from the extended position to the storage position and the returning operation of returning the upper working body from the inclined position to the normal position, the upper target By slowly moving the lower traveling body toward the ground, the lower traveling body is gently moved from the ramp to the upper target place while maintaining the upper working body in a substantially horizontal state without causing a heavy burden on the operator. You can get on.

また、前記操作制御手段が、前記同調の制御を行う同調制御モードと、前記上部作業体操作手段及び前記張出し部材操作手段をそれぞれ相互独立して作動させる独立制御モードとに切換可能なものであるので、オペレータにその好みに応じた操作を提供することができる。例えば、前記同調制御の使用が苦手なオペレータは、前記独立制御モードを選択することにより、自らの感覚で前記上部作業体操作手段による上部作業体の戻し操作と前記張出し部材操作手段による張出し部材の格納操作とをそれぞれ個別に行いながら上側目標地への乗り上げを行うことも可能になる。 Further, the operation control means, and a tuning control mode for controlling the tuning, is capable switched to the independent control mode to operate with each other independently of the upper work member operating means and the overhanging member operating means Therefore, an operation according to the preference can be provided to the operator. For example, an operator who is not good at using the synchronization control selects the independent control mode, so that the upper work body return operation by the upper work body operation means and the overhang member operation by the overhang member operation means can be performed with his / her own sense. It is also possible to get on the upper target place while performing the storing operation individually.

より具体的な態様としては、前記同調を指令する同調指令と、前記張出し部材操作手段とは独立した前記上部作業体操作手段の作動を指令する上部作業体操作指令と、前記上部作業体操作手段とは独立した前記張出し部材操作手段の作動を指令する張出し部材操作指令とが入力可能な指令入力手段を備え、前記操作制御手段は、前記同調指令が入力されたときには前記同調制御モードに切換えられ、前記上部作業体操作指令または前記張出し部材操作指令が入力されたときは前記独立制御モードに切換えられてその操作指令に基づいて前記上部作業体操作手段または前記張出し部材操作手段を個別に作動させるものが、好適である。     More specifically, as a tuning command for commanding the tuning, an upper work body operation command for commanding an operation of the upper work body operating means independent of the overhang member operating means, and the upper work body operating means Command input means capable of inputting an extension member operation command for commanding the operation of the extension member operation means independent of the operation control means, and the operation control means is switched to the tuning control mode when the tuning command is input. When the upper work body operation command or the overhang member operation command is input, the operation mode is switched to the independent control mode, and the upper work body operation means or the overhang member operation means is individually operated based on the operation command. Those are preferred.

また本発明は、下部走行体及びその上に搭載される上部作業体を備え、前記下部走行体の走行により傾斜路の昇降が可能な自走式作業機械において、前記下部走行体に対して前記上部作業体が通常位置とこの通常位置から前記傾斜路の上り側に傾斜する傾斜位置との間で相対移動可能となるように当該下部走行体に支持されるとともに、この上部作業体を前記通常位置と前記傾斜位置との間で移動させる上部作業体操作手段と、前記下部走行体の下面よりも下方に張出して当該下部走行体を傾斜状態に支持する張出し位置とこの張出し位置から上側に待避して前記下部走行体の通常走行を可能にする格納位置とに切換可能な張出し部材と、この張出し部材を前記張出し位置と前記格納位置との間で移動させる張出し部材操作手段と、前記張出し部材が前記張出し位置から前記格納位置へ格納される際に前記上部作業体が略水平状態を維持するように、前記上部作業体操作手段による前記傾斜位置から前記通常位置への前記上部作業体の戻し操作と前記張出し部材操作手段による前記張出し位置から前記格納位置への格納操作とを同調させる操作制御手段とを備え、前記上部作業体操作手段及び前記張出し部材操作手段はそれぞれ作動流体の供給を受けて作動する流体圧アクチュエータであり、前記操作制御手段は、前記上部作業体操作手段及び前記張出し部材操作手段に共通して設けられる流体圧供給源と、この流体圧供給源と前記上部作業体操作手段との間に介在する上部作業体操作制御弁と、前記流体圧供給源と前記張出し部材操作手段との間に介在する張出し部材操作制御弁と、前記上部作業体操作手段と前記張出し部材操作手段との同調時に両操作手段に前記流体圧供給源から当該同調を実現する流量で作動流体が同時供給されるように前記上部作業体操作制御弁と前記張出し部材操作制御弁とを作動させる弁制御手段とを備えたものである。 The present invention also includes a lower traveling body and an upper working body mounted on the lower traveling body, and a self-propelled working machine capable of moving up and down an inclined road by traveling of the lower traveling body. The upper working body is supported by the lower traveling body so as to be relatively movable between a normal position and an inclined position inclined from the normal position to the uphill side of the ramp. An upper working body operating means that moves between a position and the inclined position; an overhanging position that projects downward from the lower surface of the lower traveling body and supports the lower traveling body in an inclined state; A projecting member that can be switched to a retracted position that enables normal travel of the lower traveling body, a projecting member operating means that moves the projecting member between the projecting position and the retracted position, and the projecting member. The upper working body is moved from the inclined position by the upper working body operating means to the normal position so that the upper working body maintains a substantially horizontal state when the member is stored from the extended position to the storage position. Operation control means for synchronizing the return operation and the retracting operation from the extended position to the retracted position by the extended member operating means, and the upper working body operating means and the extended member operating means respectively supply working fluid. A fluid pressure actuator that operates in response to the operation control means, wherein the operation control means includes a fluid pressure supply source provided in common to the upper work body operation means and the overhang member operation means, and the fluid pressure supply source and the upper work body. An upper work body operation control valve interposed between the operation means and an extension member operation control valve interposed between the fluid pressure supply source and the extension member operation means The upper work body operation control valve is configured such that when the upper work body operation means and the overhang member operation means are synchronized, the working fluid is simultaneously supplied to both operation means from the fluid pressure supply source at a flow rate realizing the synchronization. wherein also because a valve control means for actuating the overhanging member operating control valve there.

この構成によれば、共通の流体圧供給源を用いて、前記上部作業体操作制御弁を用いた上部作業体操作手段の作動制御と、前記張出し部材操作制御弁を用いた張出し部材操作手段の作動制御の双方を行うことができるとともに、両操作制御弁を開弁作動させることによって前記同調制御も簡単な構成で行うことができる。   According to this configuration, using a common fluid pressure supply source, the operation control of the upper work body operation means using the upper work body operation control valve, and the extension member operation means using the overhang member operation control valve Both the operation control can be performed, and the tuning control can also be performed with a simple configuration by opening both the operation control valves.

ここで、前記上部作業体操作制御弁と張出し部材操作制御弁とは相互全く独立して構成されたものでもよいが、両操作制御弁に共用される共通制御弁を導入すれば、構成の簡素化を進めることができる。例えば、前記流体圧供給源と前記上部作業体操作手段及び前記張出し部材操作手段との間には、前記流体圧供給源につながる共通油路と、この共通油路から分岐して前記上部作業体操作手段と前記張出し部材操作手段とに至る分岐油路とが介在し、前記共通油路に前記上部作業体操作手段及び前記張出し部材操作手段に対する作動流体の給排の向きを切換える共通制御弁が設けられるとともに、前記上部作業体操作手段に至る分岐油路に、この分岐油路を流通させる位置と遮断する位置とに切換可能な切換弁であって前記共通制御弁とともに前記上部作業体操作制御弁を構成する上部作業体側切換弁が設けられ、前記張出し部材操作手段に至る分岐油路に、この分岐油路を流通させる開弁位置と遮断する閉弁位置とに切換可能な切換弁であって前記共通制御弁とともに前記張出し部材操作制御弁を構成する張出し部材側切換弁が設けられ、前記弁制御手段が、前記上部作業体操作手段と前記張出し部材操作手段との同調時に前記上部作業体側切換弁と前記張出し部材側切換弁の双方を開弁位置に切換えるものとすれば、前記両切換弁の開弁によって上部作業体操作手段による戻し操作と前記張出し部材操作手段による格納操作とが同調制御可能な状態にすることができるとともに、その開弁時に前記共通制御弁を用いて前記上部作業体操作手段及び張出し部材操作手段への作動流体の給排方向の切換を一括して行うことが可能になる。   Here, the upper work body operation control valve and the overhang member operation control valve may be configured independently of each other. However, if a common control valve shared by both operation control valves is introduced, the configuration can be simplified. Can be promoted. For example, between the fluid pressure supply source and the upper working body operating means and the overhang member operating means, a common oil passage connected to the fluid pressure supply source, and the upper working body branched from the common oil passage A common control valve for switching a supply / discharge direction of the working fluid with respect to the upper working body operating means and the overhang member operating means is interposed in the common oil path with a branch oil path leading to the operating means and the overhang member operating means. And a switching valve that is switchable between a branch oil passage leading to the upper work body operation means and a position where the branch oil passage is allowed to flow and a position where the branch oil passage is cut off, and the upper work body operation control together with the common control valve. An upper working body side switching valve that constitutes a valve is provided, and is a switching valve that can be switched between a valve opening position for circulating the branch oil passage and a valve closing position for blocking the branch oil passage leading to the overhang member operating means. An overhang member side switching valve that constitutes the overhang member operation control valve together with the common control valve is provided, and the valve control means switches the upper work body side when the upper work body operation means and the overhang member operation means are synchronized. If both the valve and the overhanging member side switching valve are switched to the open position, the return operation by the upper work body operating means and the retracting operation by the overhanging member operating means are synchronized by opening both the switching valves. It is possible to change the supply / discharge direction of the working fluid to the upper working body operating means and the extension member operating means at the same time using the common control valve when the valve is opened. become.

さらに、前記上部作業体操作手段及び張出し操作手段のうちのいずれか一方の操作手段について単独操作指令が入力されたときにその一方の操作手段に対応する切換弁を開弁させて他方の操作手段に対応する切換弁を閉弁させるとともに、その単独操作指令に対応して前記共通制御弁を作動させるようにすることにより、前記の簡素な構成で上部作業体操作手段または張出し操作手段の単独操作にも対応することが可能になる。   Further, when a single operation command is input to any one of the upper working body operating means and the overhang operating means, the other operating means is opened by opening the switching valve corresponding to the one operating means. The switching valve corresponding to the above is closed and the common control valve is operated in response to the single operation command, so that the upper work body operation means or the overhang operation means can be operated alone with the above simple configuration. It becomes possible to cope with.

以上のように、本発明は、上部作業体操作手段による傾斜位置から通常位置への上部作業体の戻し操作と、張出し部材操作手段による張出し位置から格納位置への張出し部材の格納操作とを同調させる同調制御手段を備えたものであるので、オペレータの負担の軽減を図りながら傾斜路から上側目標地への円滑な乗り上げを実現することができる効果がある。   As described above, the present invention synchronizes the return operation of the upper work body from the inclined position to the normal position by the upper work body operation means and the retracting operation of the overhang member from the overhang position to the storage position by the overhang member operation means. Therefore, there is an effect that it is possible to realize a smooth ride from the ramp to the upper target place while reducing the burden on the operator.

本発明の好ましい実施の形態を図面を参照しながら説明する。なお、この実施の形態に示す自走式作業機械１０は、作業用アタッチメントとしてスクレーパー（掻き均し板部材）１２が装備されたものを示すが、本発明はこれに限らず、油圧ショベルや破砕機等、種々の自走式作業機械について適用が可能である。   A preferred embodiment of the present invention will be described with reference to the drawings. Note that the self-propelled working machine 10 shown in this embodiment is one equipped with a scraper (scraping plate member) 12 as a work attachment, but the present invention is not limited to this, and a hydraulic excavator or crusher It can be applied to various self-propelled working machines such as machines.

図１〜図７に示す自走式作業機械１０は、下部走行体１４と上部作業体１６とを備えている。   A self-propelled working machine 10 shown in FIGS. 1 to 7 includes a lower traveling body 14 and an upper working body 16.

前記下部走行体１４は、図４及び図５に示す車体フレーム１８と、その左右両側に設けられた走行用のクローラ２０Ｌ，２０Ｒとを備えている。これらのクローラ２０Ｌ，２０Ｒは、前後に配される図略の鉄輪と、これらの鉄輪の間に掛け渡されるクローラベルトとを有し、側方からみて前後方向に延びる略小判状をなしている。   The lower traveling body 14 includes a vehicle body frame 18 shown in FIGS. 4 and 5 and traveling crawlers 20L and 20R provided on the left and right sides thereof. These crawlers 20L and 20R have iron rings (not shown) arranged in the front and rear, and crawler belts stretched between these iron rings, and have a substantially oval shape extending in the front-rear direction when viewed from the side. .

前記車体フレーム１８にはその進行方向前端に設けられた左右方向の支軸２２回りに起伏フレーム２４の前端が回動可能に連結され、この起伏フレーム２４上に前記図１〜図３に示す上部作業体１６が搭載されている。   A front end of a undulation frame 24 is pivotally connected to the body frame 18 around a support shaft 22 provided in the front end in the traveling direction, and the upper portion shown in FIGS. A work body 16 is mounted.

図４及び図５に示すように、前記起伏フレーム２４と前記車体フレーム１８との間には、油圧シリンダからなる上部作業体操作シリンダ２６が設けられている。この上部作業体操作シリンダ２６の一方の端部は左右方向のピン２５を介して前記車体フレーム１８の前端部に回動可能に枢支され、他方の端部は前記起伏フレーム２４の前後方向略中間部に左右方向のピン２７を介して回動可能に連結されており、この上部作業体操作シリンダ２６の伸縮によって前記起伏フレーム２４が起伏し、この起伏フレーム２４上に搭載されている前記上部作業体１６が図３に示すような通常位置と図１及び図２に示すような傾斜位置とに切換えられるようになっている。   As shown in FIGS. 4 and 5, an upper working body operating cylinder 26 made of a hydraulic cylinder is provided between the hoisting frame 24 and the vehicle body frame 18. One end of the upper work body operating cylinder 26 is pivotally supported on the front end of the body frame 18 via a pin 25 in the left-right direction, and the other end is substantially in the front-rear direction of the hoisting frame 24. The upper and lower frames 24 are undulated by the expansion and contraction of the upper work body operation cylinder 26 and are mounted on the undulation frame 24. The work body 16 is switched between a normal position as shown in FIG. 3 and an inclined position as shown in FIGS. 1 and 2.

ここで、前記通常位置は、前記下部走行体１４に対して前記上部作業体１６が略水平な姿勢で支持される位置であり、この位置で通常走行が可能となる。これに対して前記傾斜位置は、前記下部走行体１４に対して前記上部作業体１６が所定角度θだけ前下がりに傾斜した位置であり、その所定角度θはこの自走式作業機械１０の昇降が想定される傾斜路（図例では階段２８）の傾斜角度と略同等の角度（図例では約４５°）に設定されている。   Here, the normal position is a position where the upper working body 16 is supported in a substantially horizontal posture with respect to the lower traveling body 14, and normal traveling is possible at this position. On the other hand, the inclined position is a position where the upper working body 16 is inclined forward and downward by a predetermined angle θ with respect to the lower traveling body 14, and the predetermined angle θ is an elevation of the self-propelled working machine 10. Is set to an angle (about 45 ° in the example) substantially equal to the inclination angle of the ramp (step 28 in the example).

なお、図１〜図３のうち、図１は前記自走式作業機械１０が階段２８上を昇降している状態を示し、図２は後に詳述するように前記自走式作業機械１０が前記階段２８の上端に続く上側目標地（同図の例では踊り場２９）に乗り上げる直前の状態を示し、図３は前記自走式作業機械１０が前記踊り場２９に完全に乗り上げた後の状態を示している。   1 to 3, FIG. 1 shows a state where the self-propelled working machine 10 is moving up and down on the stairs 28, and FIG. 2 shows the self-propelled working machine 10 as described in detail later. FIG. 3 shows a state immediately before riding on the upper target site (the landing 29 in the example of the figure) following the upper end of the staircase 28, and FIG. 3 shows a state after the self-propelled working machine 10 has completely climbed on the landing 29. Show.

なお、本発明に係る「上側目標地」は前記踊り場２９に限らず、例えば急斜面の上端に続く広い平坦面であってもよい。   The “upper destination” according to the present invention is not limited to the landing 29 but may be a wide flat surface that continues to the upper end of a steep slope, for example.

前記起伏フレーム２４は、その前後方向の略中間部に図４及び図５に示すような旋回軸
受部３０を有しており、この旋回軸受部３０上に前記図１〜図３に示す上部作業体１６が鉛直軸回りに旋回可能に支持されている。 The undulating frame 24 has a slewing bearing portion 30 as shown in FIGS. 4 and 5 at a substantially middle portion in the front-rear direction, and the upper work shown in FIGS. 1 to 3 on the slewing bearing portion 30. The body 16 is supported so as to be able to turn around a vertical axis.

この上部作業体１６は、運転席３２が搭載された旋回本体部３４を備え、この旋回本体部３４の前端に垂直軸３５回りに回動（スイング）可能となるようにブーム支持部材３６が設けられている。そして、このブーム支持部材３６に左右方向の軸３７回りに回動可能（起伏可能）となるようにブーム３８が取付けられ、このブーム３８の先端部に左右方向の軸３９回りに回動可能となるようにアーム４０が取付けられており、このアーム４０の先端部に同じく左右方向の軸回りに回動可能となるように前記スクレーパー１２が設けられている。   The upper working body 16 includes a turning body 34 on which a driver's seat 32 is mounted, and a boom support member 36 is provided at the front end of the turning body 34 so as to be rotatable (swing) around a vertical axis 35. It has been. A boom 38 is attached to the boom support member 36 so as to be rotatable (can be raised and lowered) about a left-right axis 37, and can be rotated about a left-right axis 39 at the tip of the boom 38. An arm 40 is attached so that the scraper 12 is provided at the tip of the arm 40 so as to be rotatable about a left-right axis.

なお、前記ブーム３８の起伏、このブーム３８に対する前記アーム４０の回動、及びこのアーム４０に対する前記スクレーパー１２の回動は、それぞれ、油圧シリンダからなるブームシリンダ４２、アームシリンダ４４、及びアタッチメントシリンダ４６の伸縮により実現される。   The boom 38 is raised and lowered, the arm 40 is rotated with respect to the boom 38, and the scraper 12 is rotated with respect to the arm 40. The boom cylinder 42, the arm cylinder 44, and the attachment cylinder 46 are hydraulic cylinders, respectively. Realized by expansion and contraction.

この自走式作業機械１０の特徴として、前記車体フレーム１８の前後部には、それぞれ、図４〜図６に示すような前側張出し部材５０及び後側張出し部材５２が取付けられている。これらの張出し部材５０，５２は、図４に実線で示す格納位置と、同図に二点鎖線で示す張出し位置とに切換可能となっている。   As a feature of the self-propelled working machine 10, a front projecting member 50 and a rear projecting member 52 as shown in FIGS. 4 to 6 are attached to the front and rear portions of the body frame 18, respectively. These overhang members 50 and 52 can be switched between a storage position indicated by a solid line in FIG. 4 and an overhang position indicated by a two-dot chain line in FIG.

このうち、前側張出し部材５０は、その張出しによって、自走式作業機械１０が前記階段２８から踊り場２９へ静かに乗り上げるのを援助するものであって、本発明に係る「張出し部材」に相当するものである。これに対して、後側張出し部材５２は、その張出しによって、下部走行体１４がその左側クローラ２０Ｌの前端または右側クローラ２０Ｒの前端を中心として小回り旋回することを実現するためのものであって、本発明では特に必須の要素ではない。   Among these, the front side overhang member 50 assists the self-propelled working machine 10 to silently run from the stairs 28 to the landing 29 by the overhang, and corresponds to the “overhang member” according to the present invention. Is. On the other hand, the rear projecting member 52 is for realizing that the lower traveling body 14 turns slightly around the front end of the left crawler 20L or the front end of the right crawler 20R by the projecting, It is not a particularly essential element in the present invention.

前記前側張出し部材５０は、回動アーム５３と、この回動アーム５３の端部に取付けられる転動体である左右一対のキャスター５４とを備えている。   The front projecting member 50 includes a rotating arm 53 and a pair of left and right casters 54 that are rolling elements attached to the end of the rotating arm 53.

前記回動アーム５３は、左右一対の回動側板５６と、キャスター支持板５８とを備えている。前記両回動側板５６は、前記車体フレーム１８の前半部分に回動可能に取付けられ、これらの回動側板５６同士を連結するように前記キャスター支持板５８が設けられている。詳しくは、前記両回動側板５６の回動基端部が、前記車体フレーム１８の前半部に設けられた左右方向の支軸６０を中心として回動可能となるように当該支軸６０に枢支され、回動先端部同士が左右方向に延びる前記キャスター支持板５８によって相互連結されている。   The pivot arm 53 includes a pair of left and right pivot side plates 56 and a caster support plate 58. Both the rotating side plates 56 are rotatably attached to the front half portion of the vehicle body frame 18, and the caster support plate 58 is provided so as to connect these rotating side plates 56 to each other. Specifically, the pivot base end portions of both the pivot side plates 56 are pivoted on the pivot shaft 60 so as to be pivotable about a pivot shaft 60 provided in the front half of the body frame 18 in the left-right direction. The pivot tip portions are supported by the caster support plate 58 extending in the left-right direction.

前記各キャスター５４は、前記キャスター支持板５８の下側にキャスターブラケット６２を介して取付けられている。これらのキャスターブラケット６２は、前記キャスター支持板５８の板厚方向に延びる図略の軸回りに回転可能となるように当該キャスター支持板５８に取付けられ、かつ、前記キャスター５４を前記キャスター支持板５８と平行な方向の軸６４を介して回転可能に保持している。   Each of the casters 54 is attached to the lower side of the caster support plate 58 via a caster bracket 62. These caster brackets 62 are attached to the caster support plate 58 so as to be rotatable about an unillustrated axis extending in the thickness direction of the caster support plate 58, and the caster 54 is attached to the caster support plate 58. It is rotatably held via an axis 64 in a direction parallel to the axis.

前記回動側板５６と車体フレーム１８との間には、油圧シリンダからなる前側張出し部材操作シリンダ６６が介設され、この前側張出し部材操作シリンダ６６の伸縮によって前記前側張出し部材５０が前記格納位置と前記張出し位置との間で回動操作されるようになっている。   A front projecting member operating cylinder 66 made of a hydraulic cylinder is interposed between the rotating side plate 56 and the vehicle body frame 18, and the front projecting member 50 is brought into the retracted position by expansion and contraction of the front projecting member operating cylinder 66. Rotation operation is performed between the overhang positions.

詳しくは、前記車体フレーム１８においてその前後方向中間位置よりも後方の部分に当該車体フレーム１８の下面から下方に突出するシリンダブラケット６８が設けられ、このシリンダブラケット６８に前記前側張出し部材操作シリンダ６６のへッド側端部が左右方向のピン７０を介して相対回動可能に連結されるとともに、この前側張出し部材操作シリンダ６６のロッド側端部が左右方向のピン７２を介して前記両回動側板５６の回動基端部近傍部位に相対回動可能に連結されている。   Specifically, a cylinder bracket 68 that protrudes downward from the lower surface of the vehicle body frame 18 is provided at a portion of the vehicle body frame 18 that is behind the intermediate position in the front-rear direction, and the cylinder bracket 68 is provided with a front extension member operation cylinder 66. The head-side end portion is connected to the left and right pins 70 so as to be relatively rotatable, and the rod-side end portion of the front projecting member operating cylinder 66 is turned to the both directions via the left and right pins 72. The side plate 56 is connected to the vicinity of the rotation base end portion so as to be relatively rotatable.

そして、前記前側張出し部材操作シリンダ６６が伸長した状態で、図４の実線に示すように前側張出し部材５０全体が側方からみて前記クローラ２０Ｌ，２０Ｒの外形の内側に収まる格納位置に収められる一方、前記前側張出し部材操作シリンダ６６が収縮することにより同図二点鎖線に示すように前記前側張出し部材５０が前記クローラ２０Ｌ，２０Ｒの下面から大きく突出する張出し位置まで張出されるようになっている。その張出し量は、前記図２に示すように、自走式作業機械１０が踊り場２９に到達する直前の到達直前位置において、前記張出し位置にある前側張出し部材５０のキャスター５４が前記踊り場２９に着地するような張出し量もしくはそれに近い張出し量に設定されている。   Then, in a state where the front projecting member operating cylinder 66 is extended, the entire front projecting member 50 is stored in a storage position that fits inside the outer shape of the crawlers 20L and 20R as seen from the side as shown by a solid line in FIG. When the front projecting member operating cylinder 66 contracts, the front projecting member 50 is projected to a projecting position that largely protrudes from the lower surfaces of the crawlers 20L and 20R, as indicated by a two-dot chain line in FIG. . As shown in FIG. 2, the amount of overhang is such that the caster 54 of the front overhang member 50 in the overhang position lands on the landing 29 just before the self-propelled working machine 10 reaches the landing 29. The overhang amount is set at or near the overhang amount.

なお、本発明において前記格納位置は少なくとも下部走行体１４の通常走行を可能にする位置であればよく、必ずしもクローラ２０Ｌ，２０Ｒの外形内に収められていなくてもよい。   In the present invention, the storage position may be at least a position that allows the lower traveling body 14 to normally travel, and does not necessarily have to be stored in the outer shape of the crawlers 20L and 20R.

一方、前記後側張出し部材５２は、前記前側張出し部材５０と同様、回動アーム７３と、この回動アーム７３の端部に取付けられる転動体である左右一対のキャスター７４とを備えている。   On the other hand, the rear projecting member 52 includes a rotating arm 73 and a pair of left and right casters 74 which are rolling elements attached to the end of the rotating arm 73, as with the front projecting member 50.

前記回動アーム７３は、左右一対の回動側板７６と、キャスター支持板７８とを備えている。前記両回動側板７６は、前記車体フレーム１８の後端部に回動可能に取付けられ、これらの回動側板７６同士を連結するように前記キャスター支持板７８が設けられている。詳しくは、前記車体フレーム１８の後端から後方にブラケット７９が突設され、このブラケット７９に前記両回動側板７６の回動基端部が左右方向の支軸８０を中心として回動可能となるように当該支軸８０に枢支され、両回動側板７６の回動先端部同士が左右方向に延びる前記キャスター支持板７８によって相互連結されている。   The pivot arm 73 includes a pair of left and right pivot side plates 76 and a caster support plate 78. Both the rotation side plates 76 are rotatably attached to the rear end portion of the vehicle body frame 18, and the caster support plate 78 is provided so as to connect the rotation side plates 76 to each other. Specifically, a bracket 79 projects rearward from the rear end of the vehicle body frame 18, and the rotation base end portions of the both rotation side plates 76 can rotate about the support shaft 80 in the left-right direction. The pivot tips of the pivot side plates 76 are connected to each other by the caster support plate 78 extending in the left-right direction.

前記各キャスター７４は、前記キャスター５４と同様にして、前記キャスター支持板７８の下側にキャスターブラケット８２を介して取付けられている。すなわち、左右のキャスターブラケット８２は、前記キャスター支持板７８の板厚方向に延びる図略の軸回りに回転可能となるように当該キャスター支持板７８に取付けられ、かつ、前記キャスター７４を前記キャスター支持板７８と平行な方向の軸８４を介して回転可能に保持している。   Each caster 74 is attached to the lower side of the caster support plate 78 through a caster bracket 82 in the same manner as the caster 54. That is, the left and right caster brackets 82 are attached to the caster support plate 78 so as to be rotatable about an unillustrated axis extending in the thickness direction of the caster support plate 78, and the caster 74 is supported by the caster. It is rotatably held via an axis 84 in a direction parallel to the plate 78.

前記回動側板７６と車体フレーム１８との間にも、油圧シリンダからなる後側張出し部材操作シリンダ８６が介設され、この後側張出し部材操作シリンダ８６の伸縮によって前記後側張出し部材５２が前記格納位置と前記張出し位置との間で回動操作されるようになっている。   A rear projecting member operating cylinder 86 made of a hydraulic cylinder is also interposed between the rotating side plate 76 and the vehicle body frame 18, and the rear projecting member 52 is moved by the expansion and contraction of the rear projecting member operating cylinder 86. A rotation operation is performed between the storage position and the overhang position.

詳しくは、前記後側張出し部材操作シリンダ８６のへッド側端部が前記シリンダブラケット６８において前記ピン７０よりも僅かに後側に位置する左右方向のピン９０を介して当該シリンダブラケット６８に相対回動可能に連結されるとともに、この後側張出し部材操作シリンダ８６のロッド側端部が左右方向のピン９２を介して前記両回動側板７６の回動基端部近傍部位に相対回動可能に連結されている。そして、前記後側張出し部材操作シリンダ８６が伸長した状態で、図４の実線に示すように後側張出し部材５２全体が側方からみて前記クローラ２０Ｌ，２０Ｒの外形の内側に収まる格納位置に収められる一方、前
記後側張出し部材操作シリンダ８６が収縮することにより同図二点鎖線に示すように前記後側張出し部材５２が前記クローラ２０Ｌ，２０Ｒの下面から下方に突出する張出し位置まで張出されるようになっている。 Specifically, the head side end portion of the rear extension member operating cylinder 86 is relative to the cylinder bracket 68 via a left and right pin 90 positioned slightly rearward of the pin 70 in the cylinder bracket 68. The rod-side end of the rear-side extending member operating cylinder 86 can be relatively rotated to a portion in the vicinity of the rotation base end portions of the both rotation-side plates 76 via a pin 92 in the left-right direction. It is connected to. Then, in a state where the rear side extension member operating cylinder 86 is extended, the rear side extension member 52 as a whole is stored in a retracted position that fits inside the outer shape of the crawlers 20L and 20R as seen from the side as shown by the solid line in FIG. On the other hand, when the rear side extension member operating cylinder 86 contracts, the rear side extension member 52 is extended to the extension position protruding downward from the lower surfaces of the crawlers 20L and 20R, as shown by the two-dot chain line in FIG. It is like that.

この後側張出し部材５２の張出し量は、前記前側張出し部材５０の張出し量よりも小さく、かつ、その張出しによって前記キャスター５４の転動に伴う下部走行体１４の小回り旋回が可能となる量に設定されている。すなわち、この後側張出し部材５２が張出し位置にある状態で、例えば右側のクローラ２０Ｒを停止させたまま左側のクローラ２０Ｌを前進方向に作動させることにより、当該右側のクローラ２０Ｒの前端位置を右側旋回中心として下部走行体１４が右向きに小回り旋回し、逆に左側のクローラ２０Ｌを停止させたまま右側のクローラ２０Ｒを前進方向に作動させることにより、当該左側のクローラ２０Ｌの前端位置を左側旋回中心として下部走行体１４が左向きに小回り旋回するようになっている。   The overhang amount of the rear side overhanging member 52 is set to an amount that is smaller than the overhanging amount of the front side overhanging member 50 and that allows the undercarriage 14 to turn in a small direction as the caster 54 rolls. Has been. That is, in the state in which the rear side extension member 52 is in the extension position, for example, by operating the left crawler 20L in the forward direction while the right crawler 20R is stopped, the front end position of the right crawler 20R is turned to the right. The lower traveling body 14 turns slightly clockwise as a center, and conversely, the left crawler 20L is operated in the forward direction while the left crawler 20L is stopped, so that the front end position of the left crawler 20L is set as the left turning center. The lower traveling body 14 is turned slightly to the left.

図７は、前記小回り旋回を利用して前記踊り場２９で自走式作業機械１０全体を１８０°転回させる例を示したものであり、この例では、左側クローラ２０Ｌのみの作動によって右側クローラ２０Ｒの前端部位を旋回中心Ｏとして小回り旋回を繰り返すことにより、狭い踊り場２９内での転回が可能となっている。   FIG. 7 shows an example in which the entire self-propelled work machine 10 is turned 180 ° at the landing 29 using the small turn, and in this example, only the left crawler 20L is operated by the left crawler 20L. By repeating the small turn with the front end portion as the turning center O, the turning within the narrow landing 29 is possible.

また、この実施の形態では、前側張出し部材５０の張出し量が後側張出し部材５２の張出し量よりも大きい点に鑑み、両張出し部材５０，５２の操作手段である張出し部材操作シリンダ６６，８６のへッド側端部が連結されるシリンダブラケット６８の位置を下部走行体１４の前後方向中心位置よりも後側にシフトさせて両操作シリンダ６６，８６の十分なシリンダストロークを確保するように配慮がなされている。さらに、後側張出し部材５２については、その回動側板７６の形状をその途中部分で下向きに屈曲する形状とすることにより、前記後側張出し部材操作シリンダ８６のシリンダストロークを十分に確保しながら、前記格納位置にある後側張出し部材５２全体が側方からみてクローラ２０Ｌ，２０Ｒの外形の内側に収められるように設計がなされている。   Further, in this embodiment, in consideration of the fact that the extension amount of the front extension member 50 is larger than the extension amount of the rear extension member 52, the extension member operation cylinders 66 and 86 that are the operation means of the both extension members 50 and 52 are provided. Consideration is given to ensure sufficient cylinder stroke of both operating cylinders 66 and 86 by shifting the position of the cylinder bracket 68 to which the head side end is coupled to the rear side of the center position in the front-rear direction of the lower traveling body 14. Has been made. Further, with respect to the rear extension member 52, by making the shape of the rotating side plate 76 bent downward at the middle portion thereof, while sufficiently securing the cylinder stroke of the rear extension member operation cylinder 86, The entire rear projecting member 52 in the retracted position is designed to be accommodated inside the outer shape of the crawlers 20L and 20R when viewed from the side.

また、前記キャスター５４，７４の転動面については、当該キャスター５４，７４及びキャスター保持部材６２，８２が容易に回転（キャスター５４，７４の向きを変えるような回転）をするように幅方向中央部が径方向外側に膨らむ面とされている。さらに、これらのキャスター５４，７４の保護のため、各回動アーム５３，７３の外側端部には泥除け板５５，７５が取付けられている。   The rolling surfaces of the casters 54 and 74 are centered in the width direction so that the casters 54 and 74 and the caster holding members 62 and 82 can be easily rotated (rotation that changes the direction of the casters 54 and 74). The part is a surface that swells radially outward. Further, mudguard plates 55 and 75 are attached to the outer end portions of the respective rotating arms 53 and 73 in order to protect these casters 54 and 74.

なお、各張出し部材５０，５２に設けられる転動体としては、前記キャスター５４，７４の他、球体を自由回転可能となるように回動アーム５３，７３に保持するようにしてもよい。また、前側張出し部材５０については、その着地部分が踊り場２９上を滑り易い形状にしておけば、転動体を適宜省略することも可能である。   In addition to the casters 54 and 74, the rolling members provided on the overhang members 50 and 52 may be held on the rotating arms 53 and 73 so as to be freely rotatable. In addition, as for the front projecting member 50, if the landing portion has a shape that allows easy sliding on the landing 29, the rolling elements can be appropriately omitted.

次に、前記各油圧シリンダ及び図略の走行モータや旋回モータを作動させるために自走式作業機械１０に搭載される流体圧回路（図例では油圧回路）を図８〜図１０を参照しながら説明する。   Next, referring to FIGS. 8 to 10, fluid pressure circuits (hydraulic circuits in the illustrated example) mounted on the self-propelled work machine 10 to operate the hydraulic cylinders and the travel motors and swing motors (not shown) will be described. While explaining.

この油圧回路は、その油圧供給源として、油圧ポンプからなるメインポンプ１０１，１０２及びパイロット用ポンプ１０４を備えている。これらのポンプ１０１，１０２，１０４はエンジン１００の出力軸に連結され、その駆動により作動油を吐出する。   The hydraulic circuit includes main pumps 101 and 102 including a hydraulic pump and a pilot pump 104 as a hydraulic pressure supply source. These pumps 101, 102, 104 are connected to the output shaft of the engine 100, and discharge hydraulic fluid when driven.

前記両メインポンプ１０１，１０２は、自走式作業機械１０に搭載される各油圧アクチュエータに作動油を供給する。具体的には、上述の上部作業体操作シリンダ２６、ブーム
シリンダ４２、アームシリンダ４４、アタッチメントシリンダ４６、及び両張出し部材操作シリンダ６６，８６の他、左右クローラ２０Ｌ，２０Ｒのスパンを拡縮させるスパンシリンダ１０６、さらに、図示はしていないが左右クローラ２０Ｌ，２０Ｒをそれぞれ作動させるための左右走行モータ、上部作業体１６を旋回させる旋回モータ、ブーム支持部材３６を左右に回動させるためのスイングシリンダ等に作動油を供給する。 Both the main pumps 101 and 102 supply hydraulic oil to each hydraulic actuator mounted on the self-propelled work machine 10. Specifically, in addition to the upper work body operation cylinder 26, the boom cylinder 42, the arm cylinder 44, the attachment cylinder 46, and the both overhang member operation cylinders 66 and 86, the span cylinder that expands and contracts the spans of the left and right crawlers 20L and 20R. 106, although not shown, a left and right traveling motor for operating the left and right crawlers 20L and 20R, a turning motor for turning the upper working body 16, a swing cylinder for turning the boom support member 36 to the left and right, etc. Supply hydraulic oil to

前記メインポンプ１０１，１０２と前記各油圧アクチュエータとの間には、制御弁ブロック１１０が介在している。この制御弁ブロック１１０は、前記メインポンプ１０１から供給油路１２１を通じて供給される作動油をタンク１０８に導くセンターバイパス流路１１１と、前記メインポンプ１０２から供給油路１２２を通じて供給される作動油をタンク１０８に導くセンターバイパス流路１１２とを有するとともに、これらのセンターバイパス流路１１１，１１２に沿って複数の制御弁が直列に配されている。   A control valve block 110 is interposed between the main pumps 101 and 102 and the hydraulic actuators. The control valve block 110 includes a center bypass passage 111 that guides hydraulic oil supplied from the main pump 101 through the supply oil passage 121 to the tank 108, and hydraulic oil supplied from the main pump 102 through the supply oil passage 122. A center bypass passage 112 leading to the tank 108 and a plurality of control valves are arranged in series along the center bypass passages 111 and 112.

具体的に、前記センターバイパス流路１１１側には、前記アームシリンダ４４に接続されるアーム制御弁１１３と、前記旋回モータに接続される旋回制御弁１１４と、左走行モータに接続される左走行制御弁１１５とが配列され、前記センターバイパス流路１１２側には、前記アタッチメントシリンダ４６に接続されるアタッチメント制御弁１１６と、前記ブームシリンダ４２に接続されるブーム制御弁１１７と、前記スイングシリンダに接続されるスイング制御弁１１８と、右走行モータに接続される右走行制御弁１１９と、前記スパンシリンダ１０６、上部作業体操作シリンダ２６、及び前後張出し部材操作シリンダ６６，８６について共通して設けられる共通制御弁１２０とが配列されている。   Specifically, on the side of the center bypass passage 111, an arm control valve 113 connected to the arm cylinder 44, a swing control valve 114 connected to the swing motor, and a left travel connected to the left travel motor. The control valve 115 is arranged, and on the center bypass passage 112 side, an attachment control valve 116 connected to the attachment cylinder 46, a boom control valve 117 connected to the boom cylinder 42, and the swing cylinder The swing control valve 118 to be connected, the right travel control valve 119 connected to the right travel motor, the span cylinder 106, the upper work body operation cylinder 26, and the front and rear extension member operation cylinders 66 and 86 are provided in common. A common control valve 120 is arranged.

これらの制御弁１１３〜１２０は、流量調節機能をもった３位置方向切換弁（スイング制御弁１１７は手動切換弁、それ以外の制御弁は油圧パイロット切換弁）により構成されており、その中立位置（図では中段位置）では、前記メインポンプ１０１またはメインポンプ１０２から供給される作動油をそのままタンク１０８側にバイパスさせる一方、当該中立位置から前記パイロット用ポンプ１０４のパイロット圧によるパイロット操作または手動操作を受けると、その操作量に見合った流量で、接続されている油圧アクチュエータに前記作動油を導くものとなっている。   These control valves 113 to 120 are each constituted by a three-position direction switching valve having a flow rate adjusting function (the swing control valve 117 is a manual switching valve, and the other control valves are hydraulic pilot switching valves). In the middle position in the figure, the hydraulic oil supplied from the main pump 101 or the main pump 102 is bypassed to the tank 108 side as it is, while the pilot operation or the manual operation by the pilot pressure of the pilot pump 104 is performed from the neutral position. The hydraulic fluid is guided to the connected hydraulic actuator at a flow rate corresponding to the operation amount.

前記パイロット用ポンプ１０４と各走行制御弁１１５，１１８との間には、走行リモコン弁１２４が介在している。この走行リモコン弁１２４は、図１１（ａ）（ｂ）に示すような左右走行レバー１２５Ｌ，１２５Ｒを有し、その走行レバーに対応する走行制御弁に対し、その操作方向に対応するパイロット部にその操作量に対応する大きさのパイロット圧を導くように構成されている。従って、この走行リモコン弁１２４の走行レバー１２５Ｌ，１２Ｒを操作することにより、その操作量に見合った速度で左右クローラ２０Ｌ，２０Ｒをそれぞれ走行動作させることが可能となっている。   A travel remote control valve 124 is interposed between the pilot pump 104 and the travel control valves 115 and 118. The travel remote control valve 124 has left and right travel levers 125L and 125R as shown in FIGS. 11 (a) and 11 (b), and a travel control valve corresponding to the travel lever serves as a pilot portion corresponding to the operation direction. A pilot pressure having a magnitude corresponding to the operation amount is introduced. Therefore, by operating the travel levers 125L and 12R of the travel remote control valve 124, the left and right crawlers 20L and 20R can be traveled at a speed corresponding to the operation amount.

また、この実施の形態では、前記供給油路１２１，１２２からタンク１０８側にそれぞれ逃がし油路１２６Ａ，１２６Ｂが分岐しており、各逃がし油路１２６Ａ，１２６Ｂには流量調整弁１２７Ａ，１２７Ｂ及び切換弁１２８Ａ，１２８Ｂがそれぞれ直列に配されている。   Further, in this embodiment, relief oil passages 126A and 126B branch from the supply oil passages 121 and 122 to the tank 108 side, respectively, and flow relief valves 127A and 127B and switching are provided in the relief oil passages 126A and 126B, respectively. Valves 128A and 128B are arranged in series, respectively.

両切換弁１２８Ａ，１２８Ｂは、前記逃がし油路１２６Ａ，１２６Ｂをそれぞれ遮断する遮断位置（図の左位置）と同油路１２６Ａ，１２６Ｂを連通する逃がし位置（図の右位置）とに切換可能であり、これらの遮断位置と逃がし位置とに互いに連動して切換操作されるようになっている。従って、両切換弁１２８Ａ，１２８Ｂが前記遮断位置に切換えられたときには、メインポンプ１０１，１０２の吐出油全量が前記制御弁ブロック１１０に送られることにより、前記走行レバーの操作量に対応する正規の作動油供給流量及び正規の走行速度が確保される一方、前記両切換弁１２８Ａ，１２８Ｂが前記逃がし位置に切換
えられたときには、その逃がし量分だけ作動油供給流量が減り、走行レバーをフル操作したときの走行速度すなわち最高速度が制限されるようになっている。 Both switching valves 128A and 128B can be switched between a shut-off position (left position in the figure) for blocking the escape oil paths 126A and 126B and a release position (right position in the figure) communicating with the oil paths 126A and 126B. There is a switching operation in conjunction with the blocking position and the escape position. Therefore, when both the switching valves 128A and 128B are switched to the shut-off position, the total amount of oil discharged from the main pumps 101 and 102 is sent to the control valve block 110, so that the normal amount corresponding to the operation amount of the travel lever is reached. While the hydraulic oil supply flow rate and the normal running speed are ensured, when the switching valves 128A and 128B are switched to the escape position, the hydraulic oil supply flow rate is reduced by the relief amount and the travel lever is fully operated. The traveling speed at the time, that is, the maximum speed is limited.

次に、前記メインポンプ１０２から前記共通制御弁１２０を経由してのシリンダ１０６，２６，６６，８６に対する油圧供給系統について説明する。   Next, a hydraulic pressure supply system from the main pump 102 to the cylinders 106, 26, 66, 86 via the common control valve 120 will be described.

前記共通制御弁１２０は、パイロット部１３１，１３２を有し、これらのパイロット部１３１，１３２と前記パイロット用ポンプ１０４との間にはそれぞれ電磁切換弁１３３，１３４が設けられている。各電磁切換弁１３３，１３４は、それぞれソレノイドｂ１，ｂ２を有し、当該ソレノイドｂ１，ｂ２が通電されていないオフ状態では前記パイロット用油を前記パイロット部１３１，１３２に導いてパイロット圧を発生させる一方、当該ソレノイドｂ１，ｂ２が通電されたオン状態では前記パイロット用ポンプ１０４からのパイロット用油をタンク１０８に逃がすように構成されている。   The common control valve 120 has pilot portions 131 and 132, and electromagnetic switching valves 133 and 134 are provided between the pilot portions 131 and 132 and the pilot pump 104, respectively. The electromagnetic switching valves 133 and 134 have solenoids b1 and b2, respectively. When the solenoids b1 and b2 are not energized, the pilot oil is guided to the pilot parts 131 and 132 to generate a pilot pressure. On the other hand, when the solenoids b1 and b2 are energized, the pilot oil from the pilot pump 104 is allowed to escape to the tank 108.

共通制御弁１２０は、両パイロット部１３１，１３２にパイロット圧が供給されず、あるいは同等のパイロット圧が供給されたときには、中立位置（センターバイパス位置）を保持する一方、パイロット部１３１にのみパイロット圧が供給されたときにはポンプ吐出油を油路１３７に導いて油路１３８をタンク１０８側に接続する位置（図の下段位置）に切換えられ、パイロット部１３２にのみパイロット圧が供給されたときにはポンプ吐出油を油路１３８に導いて油路１３７をタンク１０８側に接続する位置（図の上段位置）に切換えられる。   The common control valve 120 maintains a neutral position (center bypass position) when pilot pressure is not supplied to both pilot parts 131 and 132 or when equivalent pilot pressure is supplied, while pilot pressure is applied only to the pilot part 131. Is supplied to the oil passage 137 and switched to a position (lower position in the figure) where the oil passage 138 is connected to the tank 108 side. When pilot pressure is supplied only to the pilot section 132, the pump discharge oil is discharged. The oil is guided to the oil passage 138 and switched to the position (the upper position in the figure) where the oil passage 137 is connected to the tank 108 side.

前記油路１３７は２つの分岐油路１４１，１４２に分岐し、前記油路１３８は２つの分岐油路１４４，１４５に分岐している。その下流側には、前記スパンシリンダ１０６または上部作業体操作シリンダ２６を作動状態と停止状態とに切換えるための電磁切換弁（上部作業体側切換弁）１４８と、前記前側張出し部材操作シリンダ６６または後側張出し部材操作シリンダ８６を作動状態と停止状態とに切換えるための電磁切換弁（張出し部材側切換弁）１４７と、手動操作によって前記スパンシリンダ１０６と上部作業体操作シリンダ２６とを択一的に作動可能状態に切換えるための選択弁１５０と、手動操作によって前記前側張出し部材操作シリンダ６６と後側張出し部材操作シリンダ８６とを択一的に作動可能状態に切換えるための前後切換弁１５２，１５４とが設けられている。   The oil passage 137 branches into two branch oil passages 141 and 142, and the oil passage 138 branches into two branch oil passages 144 and 145. On the downstream side thereof, an electromagnetic switching valve (upper working body side switching valve) 148 for switching the span cylinder 106 or the upper working body operating cylinder 26 between an operating state and a stopped state, and the front projecting member operating cylinder 66 or the rear An electromagnetic switching valve (overhanging member side switching valve) 147 for switching the side extending member operating cylinder 86 between an operating state and a stopped state, and the span cylinder 106 and the upper work body operating cylinder 26 are alternatively selected by manual operation. A selection valve 150 for switching to an operable state, and front / rear switching valves 152 and 154 for switching the front-side extending member operating cylinder 66 and the rear-side extending member operating cylinder 86 alternatively to an operable state by manual operation. Is provided.

具体的に、前記分岐油路１４１，１４２，１４４，１４５のうち、分岐油路１４１は電磁切換弁１４７を通じて前記前後切換弁１５２に至っており、この手動切換弁１５２は、その手動操作により、前記分岐油路１４１を前側張出し部材操作シリンダ６６のへッド側室に接続する前側選択位置（図の下側位置）と後側張出し部材操作シリンダ８６のへッド側室に接続する後側選択位置（図の上側位置）とに択一的に切換えられる。また、分岐油路１４２は、電磁切換弁１４８を通じて前記選択弁１５０に至っており、この選択弁１５０は、その手動操作により、前記分岐油路１４２を前記スパンシリンダ１０６のロッド側室に接続するスパン選択位置（図の左側位置）と前記各上部作業体操作シリンダ２６のロッド側室に接続する上部作業体操作選択位置（図の右側位置）とに択一的に切換えられる。   Specifically, of the branch oil passages 141, 142, 144, and 145, the branch oil passage 141 reaches the front / rear switching valve 152 through an electromagnetic switching valve 147, and the manual switching valve 152 is operated by the manual operation. A front selection position (lower position in the figure) for connecting the branch oil passage 141 to the head side chamber of the front extension member operation cylinder 66 and a rear selection position for connecting to the head side chamber of the rear extension member operation cylinder 86 ( (The upper position in the figure). Further, the branch oil passage 142 reaches the selection valve 150 through an electromagnetic switching valve 148, and the selection valve 150 manually selects the span to connect the branch oil passage 142 to the rod side chamber of the span cylinder 106. The position is selectively switched between the position (left position in the figure) and the upper work body operation selection position (right position in the figure) connected to the rod side chamber of each upper work body operation cylinder 26.

一方、前記分岐油路１４４は、前記電磁切換弁１４７を通じて前記前後切換弁１５４に至っている。この前後切換弁１５４は、その手動操作により、前記分岐油路１４４を前記前側張出し部材操作シリンダ６６のロッド側室に接続する前側選択位置（図の下側位置）と後側張出し部材操作シリンダ８６のロッド側室に接続する後側選択位置（図の上側位置）とに択一的に切換えられる。また、前記分岐油路１４５は、前記電磁切換弁１４８を通じて前記各上部作業体操作シリンダ２６のへッド側室と前記スパンシリンダ１０６のへッド側室とに至っている。   On the other hand, the branch oil passage 144 reaches the front / rear switching valve 154 through the electromagnetic switching valve 147. The front / rear switching valve 154 is manually operated so that the branch oil passage 144 is connected to the rod side chamber of the front extension member operation cylinder 66 at the front selection position (lower position in the figure) and the rear extension member operation cylinder 86. It is alternatively switched to a rear selection position (upper position in the figure) connected to the rod side chamber. Further, the branch oil passage 145 reaches the head side chamber of each upper work body operating cylinder 26 and the head side chamber of the span cylinder 106 through the electromagnetic switching valve 148.

前記電磁切換弁１４７は、ソレノイドａ１を有し、このソレノイドａ１が通電していないオフ状態では前記分岐油路１４１，１４４をともに遮断する閉弁位置（図の右側位置）に切換えられる一方、前記ソレノイドａ１が通電しているオン状態では前記分岐油路１４１，１４４をともに開通する開弁位置（図の左側位置）に切換えられる。同様に、前記電磁切換弁１４８は、ソレノイドａ２を有し、このソレノイドａ２が通電していないオフ状態では前記分岐油路１４２，１４５をともに遮断する閉弁位置（図の右側位置）に切換えられる一方、前記ソレノイドａ２が通電しているオン状態では前記分岐油路１４２，１４５をともに開通する開弁位置（図の左側位置）に切換えられる。   The electromagnetic switching valve 147 has a solenoid a1, and when the solenoid a1 is not energized, the electromagnetic switching valve 147 is switched to a valve closing position (right side position in the figure) that shuts off both the branch oil passages 141 and 144. In the ON state in which the solenoid a1 is energized, the valve is switched to the valve opening position (left position in the figure) where both the branch oil passages 141 and 144 are opened. Similarly, the electromagnetic switching valve 148 has a solenoid a2, and when the solenoid a2 is not energized, the electromagnetic switching valve 148 is switched to a valve closing position (right position in the figure) that shuts off both the branch oil passages 142 and 145. On the other hand, in the ON state in which the solenoid a2 is energized, the valve is switched to the valve opening position (left position in the figure) where both the branch oil passages 142 and 145 are opened.

この油圧回路にはマイクロコンピュータ等からなるコントローラ（弁制御手段）１５６が付設され、このコントローラ１５６の出力する制御信号により、前記電磁切換弁１３３，１３４のソレノイドｂ１，ｂ２及び前記電磁切換弁１４７，１４８のソレノイドａ１，ａ２のオンオフ切換が行われるようになっている。   A controller (valve control means) 156 comprising a microcomputer or the like is attached to the hydraulic circuit, and the solenoids b1 and b2 of the electromagnetic switching valves 133 and 134 and the electromagnetic switching valve 147, in accordance with a control signal output from the controller 156. 148 solenoids a1 and a2 are switched on and off.

前記走行リモコン弁１２４は、図１１（ａ）（ｂ）に示すような操作ボックス１６０に組み込まれ、この操作ボックス１６０とともに前記運転席３２の近傍部位に着脱可能に装着されている。この操作ボックス１６０は図略の配線を介して前記コントローラ１５６に接続されている。そして、階段２８の昇降時には、当該走行リモコン弁１２４及び操作ボックス１６０を上部作業体１６から外して当該走行リモコン弁１２４及び操作ボックス１６０から図略の油圧ホース及び前記配線を介して自走式作業機械１０を遠隔操作することが可能となっている。   The travel remote control valve 124 is incorporated in an operation box 160 as shown in FIGS. 11 (a) and 11 (b), and is detachably attached to the vicinity of the driver's seat 32 together with the operation box 160. The operation box 160 is connected to the controller 156 through a wiring not shown. When the stairs 28 is raised or lowered, the traveling remote control valve 124 and the operation box 160 are removed from the upper work body 16 and the traveling remote control valve 124 and the operation box 160 are self-propelled through the hydraulic hose and the wiring not shown. The machine 10 can be remotely operated.

なお、前記コントローラ１５６は前記操作ボックス１６０側に設けられていてもよい。   The controller 156 may be provided on the operation box 160 side.

前記操作ボックス１６０には、その中央に前記走行リモコン弁１２４が格納可能な空間１６２が確保されるとともに、その左右の上面適所にドロー（上部作業体起伏）／スパン操作スイッチ１６３、キャスター操作（張出し部材操作）スイッチ１６４、同調切換スイッチ１６６、及び非常停止ボタン１６８が設けられている。   The operation box 160 has a space 162 in the center where the travel remote control valve 124 can be stored, and a draw (upper work body undulation) / span operation switch 163, caster operation (extension) A member operation) switch 164, a tuning switch 166, and an emergency stop button 168 are provided.

前記ドロー／スパン操作スイッチ１６３は、通常保持されている中立位置からその上側または下側に操作されることにより、上部作業体１６の上げ下げ（すなわち傾斜位置と通常位置との間での起伏）指令またはクローラ２０Ｌ，２０Ｒ同士の幅の拡縮指令を前記コントローラ１５６に出力するものである。   The draw / span operation switch 163 is operated from the normally held neutral position to the upper side or the lower side thereof, thereby raising or lowering the upper work body 16 (that is, raising / lowering between the inclined position and the normal position). Alternatively, an instruction to enlarge / reduce the width between the crawlers 20L and 20R is output to the controller 156.

前記キャスター操作スイッチ１６４は、通常保持されている中立位置から上側または下側に操作されることにより、前側張出し部材５０または後側張出し部材５２の上げ下げ（すなわち格納位置と張出し位置との間での回動）指令を前記コントローラ１５６に出力するものである。   The caster operation switch 164 is operated from the normally held neutral position to the upper side or the lower side to raise or lower the front extension member 50 or the rear extension member 52 (that is, between the retracted position and the extension position). Rotation) command is output to the controller 156.

同調切換スイッチ１６６は、そのオンオフ操作により、前記コントローラ１５６の制御モードを同調制御モードと独立制御モードとに切換える指令を出力する。ここで、同調制御モードとは、次のような同調制御を実行するモードである。   The tuning switch 166 outputs a command to switch the control mode of the controller 156 between the tuning control mode and the independent control mode by the on / off operation. Here, the tuning control mode is a mode for executing the following tuning control.

ａ）階段上昇時において、図２に示すように自走式作業機械１０が階段２８からその上端に続く踊り場２９に到達する直前の到達直前位置（両クローラ２０Ｌ，２０Ｒの前端が階段２８の領域よりも踊り場２９側に突出していてかつ当該踊り場２９上には両クローラ２０Ｌ，２０Ｒが乗り上げていない位置）において、前記前側張出し部材５０が前記張出し位置に張出されてそのキャスター５４が前記踊り場２９上に着地している状態から、当該前側張出し部材５０がその格納位置へ格納される際に前記上部作業体１６が略水平状態
を維持するように、前記上部作業体操作シリンダ２６の収縮による前記傾斜位置から前記通常位置への前記上部作業体１６の戻し操作と前記前側張出し部材操作シリンダ６６の伸長による前記張出し位置から前記格納位置への格納操作とを同調させる。 a) When the stairs rise, as shown in FIG. 2, the position immediately before reaching the landing 29 immediately before the self-propelled working machine 10 reaches the landing 29 that is located at the upper end of the stairs 28 (the front ends of both the crawlers 20L and 20R are the regions of the stairs 28). The front projecting member 50 is projected to the projecting position and the caster 54 is projected to the projecting field 29 at the position where both the crawlers 20L and 20R are not on the landing 29). When the front projecting member 50 is retracted to its retracted position from the grounded state, the upper working body operation cylinder 26 contracts to reduce the upper working body operation cylinder 26 so that the upper working body 16 maintains a substantially horizontal state. The upper working body 16 is returned from the inclined position to the normal position, and the front side extension member operating cylinder 66 is extended from the extension position to the front. Tuning the store to the storage position.

ｂ）逆に階段降下時において、自走式作業機械１０を後退させながらそのクローラ２０Ｌ，２０Ｒの後端が踊り場２９から階段２８側に突出する位置まで移動させた状態において、前記前側張出し部材５０が前記格納位置から前記張出し位置へ張出されることにより自走式作業機械１０の両クローラ２０Ｌ，２０Ｒが階段２８上に乗る角度まで傾斜する際に、その傾斜にかかわらず前記上部作業体１６が略水平状態を維持するように、前側張出し部材操作シリンダ６６の収縮による前記前側張出し部材５０の前記格納位置から張出し位置への張出し操作と、前記上部作業体操作シリンダ６６による前記通常位置から前記傾斜位置への前記上部作業体１６の傾き操作とを同調させる。   b) On the contrary, when the self-propelled working machine 10 is moved backward to the position where the rear ends of the crawlers 20L and 20R protrude from the landing 29 to the stairway 28 side when the stairs descend, When the two crawlers 20L and 20R of the self-propelled work machine 10 are tilted to the angle at which the crawlers 20L and 20R ride on the stairs 28 by being extended from the retracted position to the extended position, the upper working body 16 is In order to maintain a substantially horizontal state, the front side extension member 50 is extended from the retracted position to the extended position by contraction of the front side extension member operation cylinder 66, and the upper work body operation cylinder 66 is inclined from the normal position. The tilting operation of the upper working body 16 to the position is synchronized.

また、非常停止ボタン１６８は、作業中に何らかのアクシデントが生じたときに各アクチュエータの動きを緊急停止させるために押圧操作されるものである。   The emergency stop button 168 is pressed to stop the movement of each actuator in an emergency when an accident occurs during the work.

このような操作ボックス１６０においてなされる指令操作に基づき、コントローラ１５６は、電磁切換弁１４７，１４８のソレノイドａ１，ａ２及び電磁切換弁１３３，１３４のソレノイドｂ１，ｂ２のオンオフ制御を行う。その内容は次のとおりである。   Based on such a command operation performed in the operation box 160, the controller 156 performs on / off control of the solenoids a1 and a2 of the electromagnetic switching valves 147 and 148 and the solenoids b1 and b2 of the electromagnetic switching valves 133 and 134. The contents are as follows.

まず、ソレノイドａ１，ａ２については、同調切換スイッチ１６６がオンの場合にはソレノイドａ１，ａ２をともにオンにする。同調切換スイッチ１６６がオフの場合、ドロー／スパン操作スイッチ１６３が操作されるとソレノイドａ２をオンにし、キャスター操作スイッチ１６４が操作されるとソレノイドａ１をオンにする。それ以外はソレノイドａ１，ａ２をオフに保つ。   First, for the solenoids a1 and a2, when the tuning switch 166 is on, both the solenoids a1 and a2 are turned on. When the tuning switch 166 is off, the solenoid a2 is turned on when the draw / span operation switch 163 is operated, and the solenoid a1 is turned on when the caster operation switch 164 is operated. Otherwise, solenoids a1 and a2 are kept off.

一方、ソレノイドｂ１，ｂ２については、ドロー／スパン操作スイッチ１６３が「下げ」側に操作され、あるいはキャスター操作スイッチ１６４が「上げ」側に操作されると、ソレノイドｂ１をオンにし、逆に、ドロー／スパン操作スイッチ１６３が「下げ」側に操作され、あるいはキャスター操作スイッチ１６４が「上げ」側に操作されると、ソレノイドｂ２をオンにする。それ以外はソレノイドｂ１，ｂ２をオフに保つ。   On the other hand, for the solenoids b1 and b2, when the draw / span operation switch 163 is operated to the “down” side or the caster operation switch 164 is operated to the “up” side, the solenoid b1 is turned on, and conversely, the draw When the / span operation switch 163 is operated to the “down” side or the caster operation switch 164 is operated to the “up” side, the solenoid b2 is turned on. Otherwise, solenoids b1 and b2 are kept off.

次に、この自走式作業機械１０を階段２８に沿って上昇させる際の運転要領及びその運転に伴う作用について説明する。   Next, an operation procedure for raising the self-propelled working machine 10 along the stairs 28 and an operation associated with the operation will be described.

Ａ．登坂準備
まず、自走式作業機械１０に階段２８を昇らせる前に、次のような準備作業を行う。 A. Preparation for climbing First, before ascending the stairs 28 to the self-propelled work machine 10, the following preparation work is performed.

１）クローラ２０Ｌ，２０Ｒ間の幅（スパン）を最小にする。この操作をするには、図８に示す油圧回路中の選択弁１５０を手動で同図左側のスパン選択位置に切換え、かつ、操作ボックス１６０の同調切換スイッチ１６６をオフに切換えた上で、ドロー／スパン操作スイッチ１６３を「下げ」側に操作すればよい。このスイッチ操作により出力される指令信号を受けたコントローラ１５６は、電磁切換弁１４７，１４８のソレノイドａ１，ａ２のうちのソレノイドａ２のみをオンにして電磁切換弁１４８を開弁するとともに、電磁切換弁１３３，１３４のソレノイドｂ１，ｂ２のうちのソレノイドｂ１のみをオンに切換える。これにより、共通制御弁１２０は図８の中立位置から上段位置に切換えられ、メインポンプ１０２から吐出される作動油がセンターバイパス流路１１２から前記共通制御弁１２０及び前記電磁切換弁１４８を順に経由してスパンシリンダ１０６のロッド側室に導入される。この油圧供給によって前記スパンシリンダ１０６が収縮し、クローラ２０Ｌ，２０Ｒ間が縮幅される。   1) Minimize the width (span) between the crawlers 20L and 20R. In order to perform this operation, the selection valve 150 in the hydraulic circuit shown in FIG. 8 is manually switched to the left span selection position and the tuning switch 166 of the operation box 160 is turned off, / Span operation switch 163 may be operated to the “down” side. Upon receiving the command signal output by the switch operation, the controller 156 opens the electromagnetic switching valve 148 by turning on only the solenoid a2 of the solenoids a1 and a2 of the electromagnetic switching valves 147 and 148. Of the solenoids b1 and b2 of 133 and 134, only the solenoid b1 is switched on. As a result, the common control valve 120 is switched from the neutral position to the upper position in FIG. 8, and the hydraulic oil discharged from the main pump 102 passes through the common control valve 120 and the electromagnetic switching valve 148 sequentially from the center bypass passage 112. Then, it is introduced into the rod side chamber of the span cylinder 106. With this hydraulic pressure supply, the span cylinder 106 contracts, and the width between the crawlers 20L and 20R is reduced.

２）アーム４０をフルに引き、かつ、ブーム３８をフルに上げてから、これらのアーム４０及びブーム３８をブーム支持部材３６とともに左方向にフルにスイングさせる。この操作により、ブーム３８及びアーム４０の前方への突出量を最小にする。ただし、図１〜図３では便宜上、前記スイングをしていない状態が描かれている。   2) After fully pulling the arm 40 and raising the boom 38 fully, the arm 40 and the boom 38 are fully swung leftward together with the boom support member 36. By this operation, the forward protrusion amount of the boom 38 and the arm 40 is minimized. However, in FIG. 1 to FIG. 3, for convenience, the state where the swing is not performed is illustrated.

３）前後の張出し部材５０，５２をいずれも格納位置まで引き上げておく。前側張出し部材５０の格納は、前記同調切換スイッチ１６０をオフにした状態（すなわち独立制御モードに切換えた状態）で、手動により両前後切換弁１５２，１５４をともに前側選択位置（図９の下段位置）に切換えておいた上で、キャスター操作スイッチ１６４を「上げ」側に操作すればよい。これにより当該スイッチ１６４から出力される指令信号を受けたコントローラ１５６は、前記ソレノイドａ１，ａ２，ｂ１，ｂ２のうちのソレノイドａ１，ｂ１のみをオンに切換える。これにより、共通制御弁１２０は、図９の中立位置から下段位置に切換えられ、電磁切換弁１４７が開弁位置に切換えられて、同図太線で示されるように、メインポンプ１０２から吐出される作動油がセンターバイパス流路１１２から前記共通制御弁１２０、前記電磁切換弁１４７、および前記前後切換弁１５２を順に経由して前側張出し部材操作シリンダ６６のへッド側室に導入される。この油圧供給によって前記前側張出し部材操作シリンダ６６が伸長し、前側張出し部材５０が図４の実線で示す格納位置に切換えられる。   3) Both the front and rear projecting members 50 and 52 are pulled up to the retracted position. The front projecting member 50 is stored in a state in which both the front and rear switching valves 152 and 154 are manually set to the front side selected position (the lower position in FIG. 9) with the tuning switch 160 turned off (ie, switched to the independent control mode). ) And then the caster operation switch 164 may be operated to the “up” side. Thus, the controller 156 that receives the command signal output from the switch 164 switches on only the solenoids a1 and b1 of the solenoids a1, a2, b1, and b2. As a result, the common control valve 120 is switched from the neutral position to the lower position in FIG. 9, and the electromagnetic switching valve 147 is switched to the valve opening position, and is discharged from the main pump 102 as shown by the bold line in FIG. The hydraulic oil is introduced from the center bypass passage 112 into the head side chamber of the front extension member operation cylinder 66 through the common control valve 120, the electromagnetic switching valve 147, and the front / rear switching valve 152 in order. By the supply of the hydraulic pressure, the front projecting member operating cylinder 66 extends, and the front projecting member 50 is switched to the storage position indicated by the solid line in FIG.

また、この状態から前記前後切換弁１５２，１５４を同図上段の後側選択位置に切換えれば、前記作動油は後側張出し操作シリンダ８６のへッド側室に供給されるため、これにより同シリンダ８６が伸長して後側張出し部材５２も図４に実線で示す格納位置に切換えられる。   Further, if the front / rear switching valves 152, 154 are switched to the rear selected position in the upper stage of the figure from this state, the hydraulic oil is supplied to the head side chamber of the rear extension operating cylinder 86. As the cylinder 86 extends, the rear projecting member 52 is also switched to the storage position shown by the solid line in FIG.

これら張出し部材５０，５２の格納位置は、図例では、いずれも側方からみてクローラ２０Ｌ，２０Ｒの外形の内側に収まっており、当該クローラ２０Ｌ，２０Ｒによる走行を可能にするとともに、その走行中に他の障害物等を接触しにくい位置となっている。   In the illustrated example, the storage positions of these overhanging members 50 and 52 are all within the outer shape of the crawlers 20L and 20R when viewed from the side, and the crawlers 20L and 20R can be run while being run. It is difficult to touch other obstacles.

なお、この格納操作が終了した後は、予め前記前後切換弁１５２，１５４を前側切換位置に切換えておくようにする。   In addition, after this storing operation is completed, the front / rear switching valves 152 and 154 are switched to the front switching position in advance.

４）走行リモコン弁１２４を操作ボックス１６０とともに運転席３２から取外し、所定の遠隔操作位置まで移動させる。   4) The traveling remote control valve 124 is removed from the driver's seat 32 together with the operation box 160 and moved to a predetermined remote operation position.

５）切換弁１２８Ａ，１２８Ｂを逃がし位置（図８〜図１０の右側位置）に切換えて両逃がし油路１２６Ａ，１２６Ｂを開通しておく。   5) The switching valves 128A and 128B are switched to the escape position (right side position in FIGS. 8 to 10), and both relief oil passages 126A and 126B are opened.

Ｂ．階段登坂
前記準備作業が終了した後、次の手順で階段２８の登坂を行う。 B. Stair Climbing After the preparation work is completed, the stairs 28 are climbed in the following procedure.

１）自走式作業機械１０を階段２８と直交する方向に向ける。   1) Orient the self-propelled work machine 10 in a direction perpendicular to the stairs 28.

２）両走行レバー１２５Ｌ，１２５Ｒを前進方向に操作する。この操作により、左走行制御弁１１５及び右走行制御弁１１８の前進側パイロット部にパイロット用ポンプ１０４からのパイロット圧が供給されて両制御弁１１５，１１８が前進位置側（図では上段位置側）に切換えられ、メインポンプ１０１，１０２の吐出油が前記走行制御弁１１５，１１８を通じて左右の走行モータに供給される。このとき、前記切換弁１２８Ａ，１２８Ｂが開弁していれば各逃がし油路１２６Ａ，１２６Ｂから両メインポンプ１０１，１０２の吐出油の一部がタンク１０８に逃がされるため、走行リモコン弁１２４の走行レバー１２５
Ｌ，１２５Ｒをフル操作しても、その時の速度（最高速度）は階段昇降に適した低い速度に頭打ちされることになる。従って、両走行レバー１２５Ｌ，１２５Ｒをフル操作しながらもゆっくりと階段２８を登坂することが可能であり、これによりオペレータの負担が軽減されるとともに高い安全性が確保される。 2) Operate both travel levers 125L, 125R in the forward direction. By this operation, the pilot pressure from the pilot pump 104 is supplied to the forward pilot portions of the left travel control valve 115 and the right travel control valve 118 so that both control valves 115 and 118 are in the forward position side (upper position side in the figure). The oil discharged from the main pumps 101 and 102 is supplied to the left and right traveling motors through the traveling control valves 115 and 118. At this time, if the switching valves 128A and 128B are open, a part of the oil discharged from the main pumps 101 and 102 is released to the tank 108 from the relief oil passages 126A and 126B. Lever 125
Even if L and 125R are fully operated, the speed (maximum speed) at that time will reach a low speed suitable for stair climbing. Therefore, it is possible to slowly climb the stairs 28 while fully operating both the travel levers 125L and 125R, thereby reducing the burden on the operator and ensuring high safety.

３）前記要領でクローラ２０Ｌ，２０Ｒが最初の階段２８に乗り上げると、自走式作業機械１０全体が前上がりに傾斜し始めるが、この時点から上部作業体１６を下部走行体１４に対して少しずつ前下がりに傾けさせて（いわゆるドロー操作して）、下部走行体１４の傾斜にかかわらず上部作業体１６を略水平に保つようにする。このようなドロー操作をするには、予め図８に示す油圧回路中の選択弁１５０を手動で同図右側のドロー選択位置に切換えておき、その状態で、操作ボックス１６０の同調切換スイッチ１６６をオフにしたままドロー／スパン操作スイッチ１６３を「上げ」側に操作すればよい。   3) When the crawlers 20L and 20R ride on the first staircase 28 in the above-described manner, the entire self-propelled work machine 10 starts to tilt upward. From this point, the upper work body 16 is slightly moved with respect to the lower travel body 14. The upper work body 16 is kept substantially horizontal regardless of the inclination of the lower traveling body 14 by inclining forwardly downward (so-called draw operation). In order to perform such a drawing operation, the selection valve 150 in the hydraulic circuit shown in FIG. 8 is manually switched to the drawing selection position on the right side of the drawing, and in that state, the tuning switch 166 of the operation box 160 is turned on. The draw / span operation switch 163 may be operated to the “up” side with the switch off.

このスイッチ操作により出力される指令信号を受けたコントローラ１５６は、電磁切換弁１４７，１４８のソレノイドａ１，ａ２のうちのソレノイドａ２のみをオンにして電磁切換弁１４８を開弁位置に切換えるとともに、電磁切換弁１３３，１３４のソレノイドｂ１，ｂ２のうちのソレノイドｂ２のみをオンに切換える。これにより、共通制御弁１２０は図８の中立位置から下段位置に切換えられ、同図太破線で示されるように、メインポンプ１０２から吐出される作動油がセンターバイパス流路１１２から前記共通制御弁１２０、前記電磁切換弁１４８、および前記選択弁１５０を順に経由して上部作業体操作シリンダ２６のへッド側室に導入される。この油圧供給によって当該上部作業体操作シリンダ２６が伸長して上部作業体１６の後部を持ち上げ、当該上部作業体１６を下部走行体１４に対して前下がりに傾斜させる。   The controller 156 that has received the command signal output by the switch operation turns on only the solenoid a2 of the solenoids a1 and a2 of the electromagnetic switching valves 147 and 148 to switch the electromagnetic switching valve 148 to the valve open position. Of the solenoids b1 and b2 of the switching valves 133 and 134, only the solenoid b2 is switched on. As a result, the common control valve 120 is switched from the neutral position to the lower position in FIG. 8, and the hydraulic oil discharged from the main pump 102 flows from the center bypass passage 112 to the common control valve 112 as indicated by the thick broken line in FIG. 120, the electromagnetic switching valve 148, and the selection valve 150 are sequentially introduced into the head side chamber of the upper work body operating cylinder 26. By supplying the hydraulic pressure, the upper working body operating cylinder 26 extends to lift the rear part of the upper working body 16 and tilt the upper working body 16 forward and downward relative to the lower traveling body 14.

このようなドロー操作と下部走行体１４の前進操作との並行操作が完了してクローラ２０Ｌ，２０Ｒの全体が階段２８に完全に乗り上がると、図１に示すように階段２８の傾斜角度と略同等の角度θだけ上部作業体１６が下部走行体１４に対して傾く傾斜位置に至る。この状態で、前記上部作業体１６を略水平に維持しながら階段２８の登坂を行うことができる。   When the parallel operation of the draw operation and the forward operation of the lower traveling body 14 is completed and the entire crawlers 20L and 20R completely ride on the staircase 28, as shown in FIG. The upper working body 16 reaches an inclined position where it is inclined with respect to the lower traveling body 14 by an equivalent angle θ. In this state, the stairs 28 can be climbed while maintaining the upper working body 16 substantially horizontally.

Ｃ．踊り場への乗上げ
前記登坂が進み、踊り場２９に乗り上げる直前の位置（すなわち、図２に示すようにクローラ２０Ｌ，２０Ｒの前端が階段２８の領域を過ぎてその上側に突出しているがまだ踊り場２９側に重心は移動していない位置）に到達した段階で、一旦クローラ２０Ｌ，２０Ｒの駆動を止めて自走式作業機械１０を停止させ、以下の手順で踊り場２９への乗上げを行う。 C. Riding onto the landing area The position just before the climbing and the landing on the landing area 29 (that is, the front ends of the crawlers 20L and 20R pass over the area of the stairway 28 and protrude above it as shown in FIG. When the position reaches the position where the center of gravity has not moved to the side), the crawlers 20L and 20R are temporarily stopped to stop the self-propelled work machine 10 and are then taken on the landing 29 in the following procedure.

１）前側張出し部材５０を前記格納位置から張出し位置まで下げ、そのキャスター５４を図２に示すように踊り場２９上に着地させる。このような張出し操作をするには、予め手動で前後切換弁１５２，１５４を前側切換位置（図９の下段位置）に切換えておいた状態で、操作ボックス１６０の同調切換スイッチ１６６をオフにしたままキャスター操作スイッチ１６３を「下げ」側に操作すればよい。   1) The front projecting member 50 is lowered from the retracted position to the projecting position, and the caster 54 is landed on the landing 29 as shown in FIG. In order to perform such an overhanging operation, the tuning switch 166 of the operation box 160 is turned off while the front and rear switching valves 152 and 154 are manually switched to the front switching position (lower position in FIG. 9) in advance. The caster operation switch 163 may be operated to the “down” side as it is.

このスイッチ操作により出力される指令信号を受けたコントローラ１５６は、電磁切換弁１４７，１４８のソレノイドａ１，ａ２のうちのソレノイドａ１のみをオンにして電磁切換弁１４７を開弁位置に切換えるとともに、電磁切換弁１３３，１３４のソレノイドｂ１，ｂ２のうちのソレノイドｂ２のみをオンに切換える。これにより、共通制御弁１２０は図９の中立位置から上段位置に切換えられ、同図太破線で示されるように、メインポンプ１０２から吐出される作動油がセンターバイパス流路１１２から前記共通制御弁１２０及び前記電磁切換弁１４７を順に経由して前側張出し部材操作シリンダ６６のロッド側室
に導入される。この油圧供給によって当該前側張出し部材操作シリンダ６６が収縮し、前側張出し部材５０を図４に実線で示される格納位置から同図二点鎖線で示される張出し位置まで引き下げる。 The controller 156 that has received a command signal output by this switch operation turns on only the solenoid a1 of the solenoids a1 and a2 of the electromagnetic switching valves 147 and 148 to switch the electromagnetic switching valve 147 to the valve open position. Of the solenoids b1 and b2 of the switching valves 133 and 134, only the solenoid b2 is switched on. As a result, the common control valve 120 is switched from the neutral position to the upper position in FIG. 9, and the hydraulic oil discharged from the main pump 102 flows from the center bypass passage 112 to the common control valve 112 as indicated by the thick broken line in FIG. 9. 120 and the electromagnetic switching valve 147 are sequentially introduced into the rod side chamber of the front extending member operating cylinder 66. By this hydraulic pressure supply, the front overhang member operating cylinder 66 contracts, and the front overhang member 50 is pulled down from the retracted position shown by the solid line in FIG. 4 to the overhang position shown by the two-dot chain line in FIG.

なお、この張出し位置は必ずしも前記キャスター５４が着地するまで下方に張出した位置でなくてもよく、ある程度まで当該踊り場２９の上面までキャスター５４が近づく位置であればよい。この時点でキャスター５４が着地しない場合は、次の徐行前進時に着地することになる。   It should be noted that this overhanging position does not necessarily have to be a position that projects downward until the caster 54 has landed, as long as the caster 54 approaches the upper surface of the landing 29 to some extent. If the caster 54 does not land at this time, it will land at the next slow advance.

２）前記図２に示す状態から、走行レバー１２５Ｌ，１２５Ｒを僅かずつ操作して下部走行体１４を徐行前進させる一方、操作ボックス１６０の同調切換スイッチ１６６をオンに切換えて（すなわち同調制御モードに切換えて）、スパン／ドロー操作スイッチ１６３を「下げ」側に操作するかもしくはキャスター操作スイッチ１６４を「上げ」側に操作する（自動同調運転）。   2) From the state shown in FIG. 2, the traveling levers 125L and 125R are operated little by little to gradually advance the lower traveling body 14, while the tuning switch 166 of the operation box 160 is switched on (that is, the tuning control mode is set). Then, the span / draw operation switch 163 is operated to the “down” side or the caster operation switch 164 is operated to the “up” side (automatic tuning operation).

この操作による指令信号を受けたコントローラ１５６は、電磁切換弁１４７，１４８のソレノイドａ１，ａ２をともにオンにして両切換弁１４７，１４８を開弁位置に切換え、かつ、電磁切換弁１３３，１３４のソレノイドｂ１，ｂ２のうちのソレノイドｂ１のみをオンにする。これにより、共通制御弁１２０は、図１０の中立位置から下段位置に切換えられ、同図太線で示されるように、メインポンプ１０２から吐出される作動油がセンターバイパス流路１１２から前記共通制御弁１２０、前記電磁切換弁１４７、および前記前後切換弁１５２を順に経由して前側張出し部材操作シリンダ６６のロッド側室に導入されるのと同時に、前記共通制御弁１２０から電磁切換弁１４８及び前記選択弁１５０を経由して上部作業体操作シリンダ２６のロッド側室に供給される。   The controller 156 that receives the command signal by this operation turns on both the solenoids a1 and a2 of the electromagnetic switching valves 147 and 148 to switch both the switching valves 147 and 148 to the open position, and the electromagnetic switching valves 133 and 134 Of the solenoids b1 and b2, only the solenoid b1 is turned on. As a result, the common control valve 120 is switched from the neutral position to the lower position in FIG. 10, and the hydraulic oil discharged from the main pump 102 flows from the center bypass passage 112 to the common control valve 112 as shown by the bold line in FIG. 120, the electromagnetic switching valve 147, and the front / rear switching valve 152 are sequentially introduced into the rod side chamber of the front extension member operation cylinder 66, and at the same time, the common control valve 120 to the electromagnetic switching valve 148 and the selection valve. 150 is supplied to the rod side chamber of the upper work body operating cylinder 26 via 150.

このような上部作業体操作シリンダ２６と張出し部材操作シリンダ６６とへの同時油圧供給によって、前記上部作業体操作シリンダ２６の収縮による傾斜位置（図２）から通常位置（図３）への上部作業体１６の戻し操作と、前記前側張出し部材操作シリンダ６６の伸長による前側張出し部材５０の張出し位置から格納位置へ格納操作とが同調して行われることになり、この同調操作と並行して下部走行体１４を徐行前進させることにより、上部作業体１６を略水平な状態に維持しつつ、前記下部走行体１４を静かに（すなわちそのクローラ２０Ｌ，２０Ｒの上端が踊り場２９上に急激に着地するのを避けながら）図３に示すように踊り場２９上に完全に乗り上げさせることが可能になる。   By such simultaneous hydraulic pressure supply to the upper work body operation cylinder 26 and the overhang member operation cylinder 66, the upper work from the inclined position (FIG. 2) to the normal position (FIG. 3) due to the contraction of the upper work body operation cylinder 26. The return operation of the body 16 and the storage operation from the extension position of the front extension member 50 by the extension of the front extension member operation cylinder 66 to the storage position are performed in synchronization. By slowly moving the body 14 forward, the upper working body 16 is maintained in a substantially horizontal state, while the lower traveling body 14 is quietly (that is, the upper ends of the crawlers 20L and 20R suddenly land on the landing 29). As shown in FIG. 3, it is possible to completely get on the landing 29.

このとき、前記のように同調切換スイッチ１６６をオンに切換えておけば、オペレータは、ドロー／スパン操作スイッチ１６３の下げ操作またはキャスター操作スイッチ１６４の上げ操作のいずれかをするだけで前記同調操作を自動的に行わせることが可能であり、その負担が軽減されることになるが、もしオペレータの好みで前記同調操作を手動で行いたい場合には、同調切換スイッチ１６６をオフにしたまま、ドロー／スパン操作スイッチ１６３の下げ操作及びキャスター操作スイッチ１６４の上げ操作を適宜並行して進めればよい。   At this time, if the tuning switch 166 is switched on as described above, the operator can perform the tuning operation only by either lowering the draw / span operation switch 163 or raising the caster operation switch 164. However, if it is desired to perform the tuning operation manually according to the operator's preference, the drawing can be performed with the tuning switch 166 turned off. The lowering operation of the / span operation switch 163 and the raising operation of the caster operation switch 164 may be appropriately performed in parallel.

この場合、オペレータがキャスター操作スイッチ１６４を上げ操作している期間のみ電磁切換弁１３３のソレノイドｂ１及び電磁切換弁１４７のソレノイドａ１がオンに切換えられて前側張出し部材操作シリンダ６６が伸長し、また、ドロー／スパン操作スイッチ１６３を下げ操作している期間のみ電磁切換弁１３３のソレノイドｂ１及び電磁切換弁１４８のソレノイドａ２がオンに切換えられて上部作業体操作シリンダ２６が収縮する。また、前記ドロー／スパン操作スイッチ１６３の下げ操作と前記キャスター操作１６４の上げ操作とを同時に行った時には、前記ソレノイドａ１，ａ２，ｂ１が同時にオンに切換えられて前側張出し部材操作シリンダ６６の伸長と上部作業体操作シリンダ２６の収縮とが同
時に行われることになる。 In this case, the solenoid b1 of the electromagnetic switching valve 133 and the solenoid a1 of the electromagnetic switching valve 147 are switched on only during a period in which the operator raises the caster operation switch 164, the front extension member operation cylinder 66 extends, The solenoid b1 of the electromagnetic switching valve 133 and the solenoid a2 of the electromagnetic switching valve 148 are switched on only during the period during which the draw / span operation switch 163 is lowered, and the upper work body operating cylinder 26 contracts. Further, when the lowering operation of the draw / span operation switch 163 and the raising operation of the caster operation 164 are simultaneously performed, the solenoids a1, a2 and b1 are simultaneously turned on, and the extension of the front extension member operation cylinder 66 is increased. The upper work body operation cylinder 26 is contracted simultaneously.

なお、この作業と逆に踊り場２９から階段２８に降りるときには、基本的に前記と逆の操作を行えばよい。すなわち、次のような操作を順に行えばよい。   In contrast to this work, when going down from the landing 29 to the stairs 28, basically the reverse operation may be performed. That is, the following operations may be performed in order.

１′）下部走行体１４を踊り場２９から階段２８側へ後退させる。   1 ') The lower traveling body 14 is moved backward from the landing 29 to the stairs 28 side.

２′）前記下部走行体１４のクローラ２０Ｌ，２０Ｒが踊り場２９から階段２８側に突出する位置であってかつ自走式作業機械１０の重心が階段２８側に移る手前の位置で当該下部走行体１４の後退を一旦止める。   2 ') The lower traveling body is located at a position where the crawlers 20L, 20R of the lower traveling body 14 protrude from the landing 29 toward the stairway 28 and before the center of gravity of the self-propelled work machine 10 moves toward the staircase 28. Stop 14 backwards.

３′）下部走行体１４を後退側に徐行させながら、同調切換スイッチ１６６をオンにし、ドロー／スパン操作スイッチ１６３を「上げ」側に操作するか、もしくは、キャスター操作スイッチ１６４を「下げ」側に操作する。これにより、電磁切換弁１４７のソレノイドａ１、電磁切換弁１４８のソレノイドａ２、及び電磁切換弁１３４のソレノイドｂ２が同時にオンに切換えられ、上部作業体操作シリンダ２６の伸長による上部作業体１６の傾き操作と、前側張出し操作シリンダ６６の収縮による前側張出し部材５０の張出し操作とが同時に行われる。これにより、自走式作業機械１０はその上部作業体１６を略水平な状態に維持しながら図３に示す踊り場２９上の位置から図２に示すように階段２８に沿って傾斜する位置へ静かに移行することとなる。   3 ′) While slowly moving the lower traveling body 14 backward, the tuning switch 166 is turned on and the draw / span operation switch 163 is operated to the “up” side, or the caster operation switch 164 is set to the “down” side. To operate. As a result, the solenoid a1 of the electromagnetic switching valve 147, the solenoid a2 of the electromagnetic switching valve 148, and the solenoid b2 of the electromagnetic switching valve 134 are simultaneously turned on, and the upper work body 16 is tilted by the extension of the upper work body operation cylinder 26. And the extension operation of the front extension member 50 by the contraction of the front extension operation cylinder 66 is performed simultaneously. Thereby, the self-propelled working machine 10 is quietly moved from the position on the landing 29 shown in FIG. 3 to the position inclined along the stairs 28 as shown in FIG. 2 while maintaining the upper working body 16 in a substantially horizontal state. Will be transferred to.

４′）同調切換スイッチ１６６をオフに切換え、キャスター操作スイッチ１６４を「上げ」側に操作して前側張出し部材５０を格納位置に格納する。この状態で下部走行体１４を後進させることにより、階段２８を降りることができる。   4 ') The tuning switch 166 is turned off, and the caster operation switch 164 is operated to the "up" side to store the front projecting member 50 in the storage position. By moving the lower traveling body 14 backward in this state, the stairs 28 can be lowered.

Ｄ．踊り場での転回
前記Ｃ．の作業で下部走行体１４が踊り場２９に完全に乗り上げた後は、自走式作業機械１０の通常走行が可能であるが、この自走式作業機械１０の向きを狭所で大きく変えたい場合、例えば図７に示すようにきわめて限られた踊り場２９のスペース内で自走式作業機械１０を１８０°転回させたいような場合には、後側張出し部材５２を格納位置から張出し位置まで下げるようにする。この操作は、予め手動で前後切換弁１５２，１５４を後側切換位置（図９の上段位置）に切換えておいた状態で、操作ボックス１６０の同調切換スイッチ１６６をオフにしたままキャスター操作スイッチ１６３を「下げ」側に操作すればよい。 D. Turn at the landing After the lower traveling body 14 has completely landed on the landing 29 in the above operation, the normal traveling of the self-propelled working machine 10 is possible, but when the direction of the self-propelled working machine 10 is to be largely changed in a narrow place. For example, when it is desired to turn the self-propelled working machine 10 180 ° within a very limited landing space 29 as shown in FIG. 7, the rear projecting member 52 is lowered from the retracted position to the projecting position. To do. In this operation, the caster operation switch 163 is turned off with the tuning switch 166 of the operation box 160 turned off while the front and rear switching valves 152 and 154 are manually switched to the rear switching position (upper position in FIG. 9) in advance. Can be operated to the “down” side.

このスイッチ操作により出力される指令信号を受けたコントローラ１５６は、電磁切換弁１４７，１４８のソレノイドａ１，ａ２のうちのソレノイドａ１のみをオンに切換えるとともに、電磁切換弁１３３，１３４のソレノイドｂ１，ｂ２のうちのソレノイドｂ２のみをオンに切換える。これにより、共通制御弁１２０は図９の中立位置から下段位置に切換えられ、メインポンプ１０２から吐出される作動油がセンターバイパス流路１１２から前記共通制御弁１２０、前記電磁切換弁１４７、及び前後切換弁１５４を順に経由して後側張出し部材操作シリンダ８６のロッド側室に導入される。この油圧供給によって当該後側張出し部材操作シリンダ８６が収縮し、後側張出し部材５２を図４に実線で示される格納位置から同図二点鎖線で示される張出し位置まで引き下げる。   The controller 156 that receives the command signal output by the switch operation turns on only the solenoid a1 of the solenoids a1 and a2 of the electromagnetic switching valves 147 and 148, and the solenoids b1 and b2 of the electromagnetic switching valves 133 and 134. Only the solenoid b2 is switched on. As a result, the common control valve 120 is switched from the neutral position to the lower position in FIG. 9, and hydraulic oil discharged from the main pump 102 flows from the center bypass passage 112 to the common control valve 120, the electromagnetic switching valve 147, and the front and rear It is introduced into the rod side chamber of the rear extension member operating cylinder 86 via the switching valve 154 in order. The supply of the hydraulic pressure causes the rear side extension member operation cylinder 86 to contract, and the rear side extension member 52 is pulled down from the retracted position indicated by the solid line in FIG. 4 to the extended position indicated by the two-dot chain line in FIG.

このように後側張出し部材５２が下方に張出すことにより、そのキャスター７４が踊り場２９上に着地し、かつ、その張出し分だけ下部走行体１４の後部が持ち上げられて前下がりに傾いた状態となる。この状態で、例えば右走行レバー１２５Ｒは中立位置のままにして右側クローラ２０Ｒを停止させたまま、左走行レバー１２５Ｌのみを前進方向に操作して左側クローラ２０Ｌを前進方向に作動させると、図７に示すように前記右側クローラ
２０Ｒの前端部位を旋回中心Ｏとして、前記キャスター７４の転動を伴いながら自走式作業機械１０全体が小回り旋回することとなり、これにより狭所で自走式作業機械１０の向きを変えることができる。この小回り旋回を利用して、同図に示すように自走式作業機械１０を狭い踊り場２９内で１８０°転回させるといったことが可能になる。 In this way, the rear projecting member 52 projects downward, so that the caster 74 is landed on the landing 29, and the rear portion of the lower traveling body 14 is lifted and tilted forward by the amount of the projection. Become. In this state, for example, when the right traveling lever 125R remains in the neutral position and the right crawler 20R is stopped, only the left traveling lever 125L is operated in the forward direction to operate the left crawler 20L in the forward direction. As shown in FIG. 4, the entire self-propelled work machine 10 turns around the front end portion of the right crawler 20R as the turning center O while the caster 74 rolls, and this causes the self-propelled work machine to turn in a narrow space. 10 directions can be changed. Using this small turn, the self-propelled work machine 10 can be turned 180 ° within a narrow landing 29 as shown in FIG.

ただし、この後側張出し部材５２は上述のように本発明において必須のものではなく、適宜省略が可能である。   However, the rear projecting member 52 is not essential in the present invention as described above, and can be omitted as appropriate.

その他、本発明は例えば次のような実施の形態をとることが可能である。   In addition, the present invention can take the following embodiments, for example.

・図例では、共通制御弁１２０を上部作業体操作制御弁と張出し部材操作制御弁とに共用するものを示したが、本発明では、前記上部作業体操作制御弁と張出し部材操作制御弁とを相互全く独立して構成してもよい。また、上部作業体操作シリンダ２６と前側張出し部材操作シリンダ６６とにそれぞれ別の油圧ポンプを接続するようにしてもよい。   In the illustrated example, the common control valve 120 is shared by the upper work body operation control valve and the overhang member operation control valve. However, in the present invention, the upper work body operation control valve, the overhang member operation control valve, May be configured completely independently of each other. Further, separate hydraulic pumps may be connected to the upper work body operation cylinder 26 and the front projecting member operation cylinder 66, respectively.

・本発明では上部作業体操作手段及び張出し部材操作手段の具体的な構成は問わず、その少なくとも一方に例えば電動モータ等の電気アクチュエータを適用することも可能である。   In the present invention, an electric actuator such as an electric motor can be applied to at least one of the upper work body operating means and the overhang member operating means regardless of specific configurations.

本発明の実施の形態に係る自走式作業機械が階段を登坂している状態を示す側面図である。It is a side view which shows the state which the self-propelled working machine which concerns on embodiment of this invention is climbing up stairs. 前記自走式作業機械が前記階段から踊り場に乗り上げる直前の位置にある状態を示す側面図である。It is a side view which shows the state in which the said self-propelled working machine exists in the position just before riding on a landing from the said stairs. 前記自走式作業機械が前記踊り場に乗り上げた後の状態を示す側面図である。It is a side view which shows the state after the said self-propelled working machine gets on the said landing. 前記自走式作業機械の車体フレーム及びこれに取付けられる前側張出し部材及び後側張出し部材を示す側面図である。It is a side view which shows the vehicle body frame of the said self-propelled working machine, the front side extension member attached to this, and the rear side extension member. 前記車体フレーム及び張出し部材を示す平面図である。It is a top view which shows the said vehicle body frame and an overhang | projection member. （ａ）は前記前側張出し部材の要部を示す正面図、（ｂ）は前記後側張出し部材の要部を示す正面図である。(A) is a front view which shows the principal part of the said front side extension member, (b) is a front view which shows the principal part of the said back side extension member. 前記自走式作業機械が踊り場内で転回する例を示す平面図である。It is a top view which shows the example which the said self-propelled working machine turns in a landing. 前記自走式作業機械に搭載される油圧回路において上部作業体操作シリンダのロッド側室に作動油が供給される状態を示す回路図である。It is a circuit diagram which shows the state by which hydraulic fluid is supplied to the rod side chamber of an upper work body operation cylinder in the hydraulic circuit mounted in the said self-propelled working machine. 前記自走式作業機械に搭載される油圧回路において前側張出し部材操作シリンダのへッド側室に作動油が供給される状態を示す回路図である。It is a circuit diagram which shows the state by which hydraulic fluid is supplied to the head side chamber of a front side extension member operation cylinder in the hydraulic circuit mounted in the said self-propelled working machine. 前記自走式作業機械に搭載される油圧回路において同調制御時に前記上部作業体操作シリンダのロッド側室と前記張出し部材操作シリンダのへッド側室の双方に作動油が供給される状態を示す回路図である。The circuit diagram which shows the state by which hydraulic fluid is supplied to both the rod side chamber of the said upper working body operation cylinder and the head side chamber of the said extension member operation cylinder at the time of synchronous control in the hydraulic circuit mounted in the said self-propelled working machine It is. （ａ）は前記自走式作業機械に装備される操作ボックスの平面図、（ｂ）はその正面図である。(A) is a top view of the operation box with which the said self-propelled working machine is equipped, (b) is the front view. 従来の自走式作業機械において階段からこれに続く上側目標地に乗り上げる際に起り得る状態を示す模式図である。It is a schematic diagram which shows the state which can occur when it rides on the upper side target site which follows this from the stairs in the conventional self-propelled working machine.

１０ 自走式作業機械
１２ スクレーパー
１４ 下部走行体
１６ 上部作業体
１８ 車体フレーム
２０Ｌ 左側クローラ
２０Ｒ 右側クローラ
２４ 起伏フレーム
２６ 上部作業体操作シリンダ
２８ 階段（傾斜路）
２９ 踊り場（上側目標地）
５０ 前側張出し部材
５４ キャスター
６６ 前側張出し部材操作シリンダ
１０２ メインポンプ（流体圧供給源）
１２０ 共通制御弁
１３７，１３８ 共通油路
１４１，１４２，１４４，１４５ 分岐油路
１４７ 電磁切換弁（張出し部材側切換弁）
１４８ 電磁切換弁（上部作業体側切換弁）
１５６ コントローラ（弁制御手段）
１６０ 操作ボックス（指令入力手段）
１６３ ドロー／スパン操作スイッチ
１６４ キャスター操作スイッチ
１６６ 同調切換スイッチ DESCRIPTION OF SYMBOLS 10 Self-propelled working machine 12 Scraper 14 Lower traveling body 16 Upper working body 18 Body frame 20L Left side crawler 20R Right side crawler 24 Relief frame 26 Upper working body operation cylinder 28 Stairs (slope)
29 landing (upper target)
50 Front projecting member 54 Caster 66 Front projecting member operating cylinder 102 Main pump (fluid pressure supply source)
120 Common control valve 137,138 Common oil passage 141,142,144,145 Branch oil passage 147 Electromagnetic switching valve (overhang member side switching valve)
148 Solenoid switching valve (Upper working side switching valve)
156 Controller (valve control means)
160 Operation box (command input means)
163 Draw / Span operation switch 164 Caster operation switch 166 Tuning switch

Claims (5)

下部走行体及びその上に搭載される上部作業体を備え、前記下部走行体の走行により傾斜路の昇降が可能な自走式作業機械において、前記下部走行体に対して前記上部作業体が通常位置とこの通常位置から前記傾斜路の上り側に傾斜する傾斜位置との間で相対移動可能となるように当該下部走行体に支持されるとともに、この上部作業体を前記通常位置と前記傾斜位置との間で移動させる上部作業体操作手段と、前記下部走行体の下面よりも下方に張出して当該下部走行体を傾斜状態に支持する張出し位置とこの張出し位置から上側に待避して前記下部走行体の通常走行を可能にする格納位置とに切換可能な張出し部材と、この張出し部材を前記張出し位置と前記格納位置との間で移動させる張出し部材操作手段と、前記張出し部材が前記張出し位置から前記格納位置へ格納される際に前記上部作業体が略水平状態を維持するように、前記上部作業体操作手段による前記傾斜位置から前記通常位置への前記上部作業体の戻し操作と前記張出し部材操作手段による前記張出し位置から前記格納位置への格納操作とを同調させる操作制御手段とを備え、前記操作制御手段は、前記同調の制御を行う同調制御モードと、前記上部作業体操作手段及び前記張出し部材操作手段をそれぞれ相互独立して作動させる独立制御モードとに切換可能であることを特徴とする自走式作業機械。 In a self-propelled working machine having a lower traveling body and an upper working body mounted thereon, and capable of moving up and down an inclined path by traveling of the lower traveling body, the upper working body is usually Is supported by the lower traveling body so as to be relatively movable between the position and the inclined position inclined from the normal position to the upstream side of the ramp, and the upper working body is moved to the normal position and the inclined position. An upper working body operating means that moves between the lower traveling body and a lower position that projects downward from the lower surface of the lower traveling body and supports the lower traveling body in an inclined state, and retracts upward from the projecting position to the lower traveling body. A projecting member that can be switched to a retracted position that enables normal body travel, a projecting member operating means that moves the projecting member between the projecting position and the retracted position, and the projecting member includes the projecting member. A return operation of the upper working body from the inclined position to the normal position by the upper working body operating means so that the upper working body is maintained in a substantially horizontal state when being stored from the first position to the storage position. Operation control means for synchronizing the storage operation from the extended position to the storage position by the extended member operating means , the operation control means includes a tuning control mode for performing the tuning control, and the upper work body operation. The self-propelled working machine can be switched to an independent control mode in which the means and the projecting member operating means are operated independently of each other . 請求項１記載の自走式作業機械において、前記同調を指令する同調指令と、前記張出し部材操作手段とは独立した前記上部作業体操作手段の作動を指令する上部作業体操作指令と、前記上部作業体操作手段とは独立した前記張出し部材操作手段の作動を指令する張出し部材操作指令とが入力可能な指令入力手段を備え、前記操作制御手段は、前記同調指令が入力されたときには前記同調制御モードに切換えられ、前記上部作業体操作指令または前記張出し部材操作指令が入力されたときは前記独立制御モードに切換えられてその操作指令に基づいて前記上部作業体操作手段または前記張出し部材操作手段を個別に作動させるものであることを特徴とする自走式作業機械。 2. The self-propelled work machine according to claim 1 , wherein a tuning command for commanding the tuning, an upper work body operation command for commanding an operation of the upper work body operating means independent of the overhang member operating means, and the upper part Command input means capable of inputting an extension member operation command for instructing the operation of the extension member operation means independent of the work body operation means, and the operation control means is configured to perform the tuning control when the tuning command is input. When the upper work body operation command or the overhang member operation command is input, the mode is switched to the independent control mode, and the upper work body operation means or the overhang member operation means is changed based on the operation command. A self-propelled work machine characterized by being operated individually. 下部走行体及びその上に搭載される上部作業体を備え、前記下部走行体の走行により傾斜路の昇降が可能な自走式作業機械において、前記下部走行体に対して前記上部作業体が通常位置とこの通常位置から前記傾斜路の上り側に傾斜する傾斜位置との間で相対移動可能となるように当該下部走行体に支持されるとともに、この上部作業体を前記通常位置と前記傾斜位置との間で移動させる上部作業体操作手段と、前記下部走行体の下面よりも下方に張出して当該下部走行体を傾斜状態に支持する張出し位置とこの張出し位置から上側に待避して前記下部走行体の通常走行を可能にする格納位置とに切換可能な張出し部材と、この張出し部材を前記張出し位置と前記格納位置との間で移動させる張出し部材操作手段と、前記張出し部材が前記張出し位置から前記格納位置へ格納される際に前記上部作業体が略水平状態を維持するように、前記上部作業体操作手段による前記傾斜位置から前記通常位置への前記上部作業体の戻し操作と前記張出し部材操作手段による前記張出し位置から前記格納位置への格納操作とを同調させる操作制御手段とを備え、前記上部作業体操作手段及び前記張出し部材操作手段はそれぞれ作動流体の供給を受けて作動する流体圧アクチュエータであり、前記操作制御手段は、前記上部作業体操作手段及び前記張出し部材操作手段に共通して設けられる流体圧供給源と、この流体圧供給源と前記上部作業体操作手段との間に介在する上部作業体操作制御弁と、前記流体圧供給源と前記張出し部材操作手段との間に介在する張出し部材操作制御弁と、前記上部作業体操作手段と前記張出し部材操作手段との同調時に両操作手段に前記流体圧供給源から当該同調を実現する流量で作動流体が同時供給されるように前記上部作業体操作制御弁と前記張出し部材操作制御弁とを開弁作動させる弁制御手段とを備えたことを特徴とする自走式作業機械。 In a self-propelled working machine having a lower traveling body and an upper working body mounted thereon, and capable of moving up and down an inclined path by traveling of the lower traveling body, the upper working body is usually Is supported by the lower traveling body so as to be relatively movable between the position and the inclined position inclined from the normal position to the upstream side of the ramp, and the upper working body is moved to the normal position and the inclined position. An upper working body operating means that moves between the lower traveling body and a lower position that projects downward from the lower surface of the lower traveling body and supports the lower traveling body in an inclined state, and retracts upward from the projecting position to the lower traveling body. A projecting member that can be switched to a retracted position that enables normal body travel, a projecting member operating means that moves the projecting member between the projecting position and the retracted position, and the projecting member includes the projecting member. A return operation of the upper working body from the inclined position to the normal position by the upper working body operating means so that the upper working body is maintained in a substantially horizontal state when being stored from the first position to the storage position. Operation control means for synchronizing the storage operation from the extended position to the storage position by the extended member operating means, and the upper work body operating means and the extended member operating means are each operated by receiving a supply of working fluid. The operation control means includes a fluid pressure supply source provided in common to the upper work body operation means and the overhang member operation means, and the fluid pressure supply source and the upper work body operation means. An upper work body operation control valve interposed between the fluid pressure supply source and the overhang member operation means, and the upper operation valve. The upper working body operation control valve and the overhanging member are simultaneously supplied to the operation means from the fluid pressure supply source at a flow rate that realizes the synchronization when the body operation means and the overhanging member operation means are synchronized. A self-propelled working machine comprising valve control means for opening the operation control valve. 請求項３記載の自走式作業機械において、前記流体圧供給源と前記上部作業体操作手段及び前記張出し部材操作手段との間には、前記流体圧供給源につながる共通油路と、この共通油路から分岐して前記上部作業体操作手段と前記張出し部材操作手段とに至る分岐油路とが介在し、前記共通油路に前記上部作業体操作手段及び前記張出し部材操作手段に対する作動流体の給排の向きを切換える共通制御弁が設けられるとともに、前記上部作業体操作手段に至る分岐油路に、この分岐油路を流通させる位置と遮断する位置とに切換可能な切換弁であって前記共通制御弁とともに前記上部作業体操作制御弁を構成する上部作業体側切換弁が設けられ、前記張出し部材操作手段に至る分岐油路に、この分岐油路を流通させる開弁位置と遮断する閉弁位置とに切換可能な切換弁であって前記共通制御弁とともに前記張出し部材操作制御弁を構成する張出し部材側切換弁が設けられ、前記弁制御手段は、前記上部作業体操作手段と前記張出し部材操作手段との同調時に前記上部作業体側切換弁と前記張出し部材側切換弁の双方を開弁位置に切換えるものであることを特徴とする自走式作業機械。 4. The self-propelled working machine according to claim 3 , wherein a common oil passage connected to the fluid pressure supply source is connected between the fluid pressure supply source and the upper working body operation means and the overhang member operation means. A branch oil passage is branched from an oil passage to reach the upper working body operating means and the overhang member operating means, and a working fluid for the upper working body operation means and the overhang member operating means is interposed in the common oil passage. A common control valve for switching the direction of supply and discharge, and a switching valve that is switchable between a position for distributing the branch oil passage and a position for blocking the branch oil passage leading to the upper working body operating means, An upper working body side switching valve that constitutes the upper working body operation control valve together with a common control valve is provided, and a closing valve that shuts off a branch oil passage leading to the overhang member operating means from a valve opening position through which the branch oil passage flows. And a switching member side switching valve that constitutes the extension member operation control valve together with the common control valve, and the valve control means includes the upper work body operation means and the extension member. A self-propelled working machine characterized by switching both the upper work body side switching valve and the overhanging member side switching valve to a valve open position when synchronized with the operating means. 請求項４記載の自走式作業機械において、前記弁制御手段は、前記上部作業体操作手段及び張出し操作手段のうちのいずれか一方の操作手段について単独操作指令が入力されたときにその一方の操作手段に対応する切換弁を開弁位置に切換えて他方の操作手段に対応する切換弁を閉弁位置にするとともに、その単独操作指令に対応して前記共通制御弁を作動させることを特徴とする自走式作業機械。
5. The self-propelled working machine according to claim 4 , wherein when the single operation command is input to any one of the upper working body operating means and the overhang operating means, the valve control means The switching valve corresponding to the operating means is switched to the open position, the switching valve corresponding to the other operating means is set to the closed position, and the common control valve is operated in response to the single operation command. Self-propelled working machine.
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