JPH0880879A - Vehicle for traveling on sharply inclined ground - Google Patents
Vehicle for traveling on sharply inclined groundInfo
- Publication number
- JPH0880879A JPH0880879A JP24688594A JP24688594A JPH0880879A JP H0880879 A JPH0880879 A JP H0880879A JP 24688594 A JP24688594 A JP 24688594A JP 24688594 A JP24688594 A JP 24688594A JP H0880879 A JPH0880879 A JP H0880879A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- support frame
- motion connecting
- traveling
- connecting portion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Body Structure For Vehicles (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、車体の前後左右に４つ
の足回り装置を持つ急傾斜地走行車両に係わり、特に不
整地凹凸路や、急傾斜地や、階段等を走行するとき運転
席を水平に保持して、斜面での作業を安全にかつ、運転
容易化にした急傾斜地走行車両に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle running on steep slopes having four undercarriage devices on the front, rear, left and right sides of the vehicle body, and particularly for driving a driver's seat when traveling on uneven terrain roads, steep slopes, stairs, etc. The present invention relates to a vehicle that runs on a steep slope in which the work is performed horizontally and the work on a slope is performed safely and easily.
【０００２】[0002]
【従来の技術】車体の前後左右に４つの走行クローラも
しくは車輪式走行装置を持つ急傾斜地走行車両として
は、図９に例示する特開昭６０−１７４３６７号があ
る。この構成は、車台１０２の前部又は後部の一方の下
端に突設されたサドル１０３ａ、１０３ｂを設けてい
る。前記車台１０２の前部又は、後部の他方の上端に、
鉛直方向に貫通し、かつ車台１０２の下端にサドル１０
３ａ、１０３ｂを突設する昇降ポスト１０６を設けてい
る。サドル１０３ａ、１０３ｂは、それぞれ縦方向に伸
び、横方向の中心ピン１０５で枢着した左右一対の自走
無限軌道履帯を有する前部クローラ１０４ａおよび後部
クローラ１０４ｂを設けている。2. Description of the Related Art A steeply sloping ground traveling vehicle having four traveling crawlers or wheel type traveling devices on the front, rear, left and right sides of a vehicle body is disclosed in Japanese Unexamined Patent Publication No. 60-17467 shown in FIG. In this configuration, saddles 103a and 103b are provided so as to project from the lower end of one of the front portion and the rear portion of the chassis 102. At the other end of the front or rear of the chassis 102,
The saddle 10 extends vertically and is attached to the lower end of the chassis 102.
An elevating post 106 is provided which projects 3a and 103b. The saddles 103a and 103b are provided with a front crawler 104a and a rear crawler 104b each having a pair of left and right self-propelled endless track tracks that extend in the vertical direction and are pivotally supported by a lateral center pin 105.
【０００３】また、前記台車１０２に付設された水平セ
ンサー１０７を介して上記昇降ポスト１０６を昇降する
ことにより、前記台車１０２を水平に保持する水平制御
装置と、上記前部クローラ１０４ａおよび後部クローラ
１０４ｂを、それぞれ上記中心ピン１０５の周りに所望
の角度回動すると共に、ロックするクローラロック手段
とを具えた自走作業車１００がある。A horizontal control device for holding the carriage 102 horizontally by raising and lowering the raising / lowering post 106 via a horizontal sensor 107 attached to the carriage 102, the front crawler 104a and the rear crawler 104b. There is a self-propelled work vehicle 100 including crawler locking means for locking and rotating each of them around the center pin 105 by a desired angle.
【０００４】[0004]
【発明が解決しようとする課題】ところが、図９の自走
作業車１００においては、例えば、油圧ショベルの様な
作業機と共に上部が３６０°旋回する車両に適用しよう
とすると、作業機を有する上部旋回体１０８が昇降ポス
ト１０６に干渉するために、昇降ポスト１０６を避けた
揺動運動しか出来ず、３６０°全旋回出来ない。また、
干渉を防止しようとするとサドル１０３ｂの昇降ポスト
１０６を設置するスペースが無い問題点がある。However, in the self-propelled work vehicle 100 shown in FIG. 9, when it is applied to a vehicle whose upper portion turns 360 ° together with a work implement such as a hydraulic excavator, an upper part having the work implement is provided. Since the revolving unit 108 interferes with the elevating post 106, only a swinging motion that avoids the elevating post 106 can be performed, and 360 ° full swing cannot be performed. Also,
In order to prevent the interference, there is a problem that there is no space for installing the lifting post 106 of the saddle 103b.
【０００５】本発明は、車体の前後左右に４つの足回り
装置を持つ急傾斜地走行車両に係わり、特に、サドルの
昇降ポストを用いないで不整地凹凸路や、急傾斜地や、
段差斜面や、階段等を走行するとき運転席を水平に保持
して、斜面での作業を安全にかつ、運転容易化にした急
傾斜地走行車両を提供することを目的とする。The present invention relates to a vehicle running on a steep terrain having four undercarriage devices on the front, rear, left and right sides of the vehicle body, and in particular, on an uneven terrain road or a steep terrain without using a saddle lifting post.
An object of the present invention is to provide a steep slope traveling vehicle in which a driver's seat is held horizontally when traveling on a stepped slope or stairs so that work on the slope is safe and driving is facilitated.
【０００６】[0006]
【課題を解決するための手段】上記目的を達成するため
に、本発明では、車体の前後左右に４つの足回り装置を
有する急傾斜地走行車両において、支持フレーム３０側
面前方には第一揺動運動連結部３１を、側面後方には第
二揺動運動連結部３２を、後端には、第四揺動運動連結
部３５を設けた支持フレーム３０と、足回り装置１５、
５１を第三揺動運動連結部３４にて回転自在に連結懸架
させた連結リンク３３と、前記連結リンク３３の左右の
連結部に設けた第五揺動運動連結部３６に連結した、一
本以上の揺動ジャッキ３７とで構成している。In order to achieve the above object, according to the present invention, in a steeply sloping ground traveling vehicle having four undercarriage devices on the front, rear, left and right sides of the vehicle body, a first swing is made in front of the side surface of the support frame 30. The movement connecting portion 31, the second swinging movement connecting portion 32 at the rear side of the side surface, and the support frame 30 provided with the fourth swinging movement connecting portion 35 at the rear end, and the suspension device 15,
One connecting 51 connected to a connecting link 33 in which 51 is rotatably connected and suspended by a third oscillating motion connecting part 34 and a fifth oscillating motion connecting part 36 provided on the left and right connecting parts of the connecting link 33. It is composed of the swing jack 37 described above.
【０００７】また、前記支持フレーム３０の第一揺動運
動連結部３１には、足回り装置１５、５１を回転自在に
連結懸架し、前記第二揺動運動連結部３２には、連結リ
ンク３３の他端を回転自在に連結し、前記第四揺動運動
連結部３５との間に揺動ジャッキ３７を連結すると共
に、一本以上の揺動ジャッキ３７の伸縮により、前記支
持フレーム３０が足回り装置１５、５１に対して、上下
方向へ変位自在に連結懸架させたことを特徴としてい
る。Further, the suspension devices 15, 51 are rotatably connected and suspended to the first swing motion connecting portion 31 of the support frame 30, and the connecting link 33 is connected to the second swing motion connecting portion 32. The other end of the swing frame is rotatably connected, and the swing jack 37 is connected to the fourth swing motion connecting portion 35, and the support frame 30 is supported by expanding and contracting one or more swing jacks 37. It is characterized in that it is connected to and suspended from the turning devices 15 and 51 so as to be vertically displaceable.
【０００８】第１の発明を主体とする第２の発明は、前
記第一、第三揺動運動連結部３１、３４が、足回り装置
１５、５１に固着した、ブラケット２３によって、履帯
２７または、車輪５３の上面側１７に、位置したことを
特徴としている。A second aspect of the invention, which is mainly based on the first aspect, is that the first and third oscillating motion connecting portions 31, 34 are fixed to the underbody devices 15, 51 by the bracket 23, and the crawler belt 27 or , Is located on the upper surface side 17 of the wheel 53.
【０００９】第１の発明を主体とする第３の発明は、前
記支持フレーム３０の、第一揺動運動連結部３１と、連
結リンク３３の第三揺動運動連結部３４には、足回り装
置１５、５１の揺動運動を制限するストッパ３９を設け
たことを特徴としている。A third aspect of the invention, which is mainly based on the first aspect, is that the first swinging motion connecting portion 31 of the support frame 30 and the third swinging motion connecting portion 34 of the connecting link 33 are provided with underbody suspensions. It is characterized in that a stopper 39 for limiting the swinging movement of the devices 15, 51 is provided.
【００１０】第１の発明を主体とする第４の発明は、前
記支持フレーム３０に、旋回サークル台３８を設け、上
部旋回体１４を設置したことを特徴としている。A fourth aspect of the invention, which is mainly based on the first aspect, is characterized in that a swivel circle base 38 is provided on the support frame 30, and an upper swivel body 14 is installed.
【００１１】[0011]
【作用】上記のように構成した急傾斜地走行車両におい
て、凹凸路、傾斜路の走行、作業時、足回り装置１５、
５１を、支持フレーム３０と、連結リンク３３に設けた
第一揺動運動連結部３１と、第三揺動運動連結部３４
に、連結したことで、凹凸路、傾斜路、段差斜面、階段
等に追従する。In the vehicle running on a steep slope constructed as described above, the undercarriage device 15, when traveling on uneven roads or slopes, during work,
51 is a support frame 30, a first swinging motion connecting portion 31 provided on the connecting link 33, and a third swinging motion connecting portion 34.
By connecting to, it can follow uneven roads, slopes, slopes, stairs, etc.
【００１２】また、支持フレーム３０の後端に設けた、
第四揺動運動連結部３５と、連結リンク３３の左右の連
結部の、第五揺動運動連結部３６との間を、一本以上の
揺動ジャッキ３７にて連結し、伸長、収縮、ロック制御
することで、支持フレーム３０を、第一揺動運動連結部
３１を支点に、後部を上下方向へ変位させることが出来
る。その結果、傾斜角Ｂの傾斜路Ａにあっても、支持フ
レーム３０を水平に保持する。Further, provided at the rear end of the support frame 30,
The fourth rocking motion connecting portion 35 and the fifth rocking motion connecting portions 36 of the left and right connecting portions of the connecting link 33 are connected by one or more rocking jacks 37 to extend, contract, By performing lock control, the rear portion of the support frame 30 can be displaced in the vertical direction with the first swing motion connecting portion 31 as a fulcrum. As a result, the support frame 30 is held horizontally even on the slope A having the slope angle B.
【００１３】また、足回り装置１５、５１の第一揺動運
動連結部３１と、第三揺動運動連結部３４を、ブラケッ
ト２３にて、履帯２７または車輪５３の上面側１７に設
けたから、車体支持下部フレーム３０と、地表面Ｇ．Ｌ
との距離である最低地上高を大きくしている。Further, since the first swinging motion connecting portion 31 and the third swinging motion connecting portion 34 of the underbody devices 15, 51 are provided on the crawler belt 27 or the upper surface side 17 of the wheel 53 by the bracket 23, The vehicle body supporting lower frame 30 and the ground surface G. L
The minimum ground clearance, which is the distance from, is increased.
【００１４】また、前記支持フレーム３０の第一揺動運
動連結部３１と、連結リンク３３の第三揺動運動連結部
３４には、ストッパ３９を設けたから、足回り装置１
５、５１の揺動運動が制限されることにより、凹凸路の
走行が安定している。Further, since the stopper 39 is provided at the first swinging motion connecting portion 31 of the support frame 30 and the third swinging motion connecting portion 34 of the connecting link 33, the suspension device 1 is provided.
By restricting the swinging movements of 5, 51, the traveling on the uneven road is stable.
【００１５】そして、前記支持フレーム３０に、旋回サ
ークル台３８を設け、上部旋回体１４を設置したから、
急傾斜地での走行と、３６０°水平旋回作業ができる。Since the supporting frame 30 is provided with the turning circle base 38 and the upper turning body 14 is installed,
You can run on steep slopes and perform 360 ° horizontal turning work.
【００１６】[0016]
【実施例】実施例について図面を参照して説明すると、
図１は、本発明の急傾斜地走行車両１０の第一実施例で
ある全体側面図である。図２は、本発明の急傾斜地走行
車両１０のＡ・Ａ線断面図を示す。図３は、本発明の急
傾斜地走行車両１０の第二実施例である全体側面図であ
る。図４は、図３のＢ・Ｂ線断面図であり、足回り装置
の平面図を示す。図５は、図４のＣ・Ｃ線断面図であ
る。図６は、第一実施例の急傾斜地走行車両１０の急傾
斜地での走行、及び作業姿勢を示す全体側面図である。
図７は、第二実施例の急傾斜地走行車両１０の急傾斜地
での走行、及び作業姿勢を示す全体側面図である。図８
は、本発明の第三実施例である車輪式の急傾斜地走行車
両５０である全体側面図である。EXAMPLES Examples will be described with reference to the drawings.
FIG. 1 is an overall side view showing a first embodiment of a vehicle 10 running on a steep slope according to the present invention. FIG. 2 is a sectional view taken along the line AA of the vehicle 10 running on a steep slope according to the present invention. FIG. 3 is an overall side view showing a second embodiment of the vehicle 10 running on a steep slope according to the present invention. FIG. 4 is a cross-sectional view taken along the line BB of FIG. 3, showing a plan view of the undercarriage device. FIG. 5 is a sectional view taken along the line C-C of FIG. FIG. 6 is an overall side view showing the traveling and working posture of the steep slope traveling vehicle 10 of the first embodiment.
FIG. 7 is an overall side view showing the traveling and working posture of the steeply sloping ground traveling vehicle 10 of the second embodiment. FIG.
FIG. 4 is an overall side view of a wheel-type steep slope traveling vehicle 50 that is a third embodiment of the present invention.
【００１７】図１、２において、履帯式の急傾斜地走行
車両１０には、エンジン等の駆動源１１とキャブ１２と
作業機１３とが組み込まれている上部旋回体１４と、前
後左右の４つの履帯式足回り装置１５と、支持フレーム
３０等を含む下部走行体１６とで構成している。その詳
細は以下の通りである。In FIGS. 1 and 2, a crawler type vehicle 10 running on steep slopes has an upper revolving structure 14 in which a drive source 11 such as an engine, a cab 12 and a working machine 13 are incorporated, and four front, rear, left and right. It is composed of a crawler type underbody device 15 and a lower traveling body 16 including a support frame 30 and the like. The details are as follows.
【００１８】履帯式足回り装置１５は、前部を１５ａ、
後部を１５ｂの符号を付けている。その構成は、トラッ
クフレーム２０にアイドラ２１、キャリアローラ２２、
トラックローラ２４、フアイナルドライブ２５が組み込
まれている。スプロケット２６に咬合した履帯２７を、
図示しない駆動装置にて駆動し、作業現場に多々有る不
整地、急傾斜地、または階段等の走行を可能にしてい
る。Ｇ．Ｌは、地上面を表している。The track type underbody device 15 has a front portion 15a,
The rear part is labeled 15b. The structure is such that a track frame 20, an idler 21, a carrier roller 22,
A track roller 24 and a final drive 25 are incorporated. Crawler track 27 that is engaged with sprocket 26
Driven by a drive device (not shown), it enables traveling on rough terrain, steep slopes, stairs, etc. that are often found at work sites. G. L represents the ground surface.
【００１９】また、前部履帯式足回り装置１５ａは、履
帯長手方向の中央部位に、図２のＡ・Ａ線断面に示す通
り、トラックフレーム２０に固着したブラケット２８か
らなる連結穴２８ａを有し、支持フレーム３０の前方両
側面に設けた第一揺動運動連結部３１と、連結ピン３１
ａを介し、回転自在に連結させて、車体前部懸架として
ある。Further, the front crawler type underbody device 15a has a connecting hole 28a made of a bracket 28 fixed to the track frame 20 at a central portion in the crawler belt longitudinal direction as shown in a cross section taken along the line AA of FIG. Then, the first swing motion connecting portion 31 provided on both front side surfaces of the support frame 30 and the connecting pin 31
It is rotatably connected to the front part of the vehicle body via a.
【００２０】また、支持フレーム３０の、後方両側に
は、第二揺動運動連結部３２に、左右コの字状に連結
し、上下に揺動する連結リンク３３の一端を、回動自在
に連結してある。連結リンク３３の他端には、第三揺動
運動連結部３４を設けてある。後部履帯式足回り装置１
５ｂ、のトラックフレーム２０に固着したブラケット２
８からなる第三揺動運動連結部３４と、連結ピン３１ａ
を介して、回転自在に連結させてある。履帯式足回り装
置１５の回動運動を規制するために、前記第一揺動運動
連結部３１と、第三揺動運動連結部３４とには、連結ピ
ン３１ａの回りに、ストッパー３９が固着してある。Further, on both rear sides of the support frame 30, one end of a connecting link 33 which is connected to the second swinging motion connecting portion 32 in a left-right U-shape and swings up and down is rotatable. It is connected. At the other end of the connecting link 33, a third swinging motion connecting portion 34 is provided. Rear crawler suspension system 1
Bracket 2 fixed to the track frame 20 of 5b
And a connecting pin 31a.
Is rotatably connected via. In order to regulate the rotational movement of the crawler type underbody device 15, a stopper 39 is fixed around the connecting pin 31a to the first swinging motion connecting portion 31 and the third swinging motion connecting portion 34. I am doing it.
【００２１】さらに、支持フレーム３０の後方中央に設
けた、第四揺動運動連結部３５と、連結リンク３３の中
央に設けた第五揺動運動連結部３６との間を、伸縮自在
な揺動ジャッキ３７にて連結している。そして、後部履
帯式足回り装置１５ｂを、支持フレーム３０に対して、
一体拘束するとともに、前記揺動ジャッキ３７の伸縮に
よって、支持フレーム３０を、第四揺動運動連結部３５
の連結ピン３１ａを中心に、上下方向へ、揺動変位出来
るようにしてある。前記上部旋回体１４と、支持フレー
ム３０との間には旋回サークル台３８が設けられてい
る。Further, a telescopic swing is provided between the fourth swinging motion connecting portion 35 provided at the rear center of the support frame 30 and the fifth swinging motion connecting portion 36 provided at the center of the connecting link 33. It is connected by a moving jack 37. Then, the rear crawler type underbody device 15b is attached to the support frame 30.
The support frame 30 is integrally restrained and the support frame 30 is expanded and contracted by the fourth swing motion connecting portion 35.
The connecting pin 31a is used as a center for swinging displacement in the vertical direction. A swivel circle base 38 is provided between the upper swing body 14 and the support frame 30.
【００２２】図３は、下部走行体１６を構成している支
持フレーム３０の、第一揺動運動連結部３１と、連結リ
ンク３３の第三揺動運動連結部３４の上部に、への字状
のストッパー３９を固着して、トラックフレーム２０に
固着したブラケット２３の端面２３ａ、２３ｂ接当する
ようにし、前部履帯式足回り装置１５ａと、後部履帯式
足回り装置１５ｂの回転運動の制限を図る。そして、図
１の前部履帯式足回り装置１５ａと、後部履帯式足回り
装置１５ｂの第一揺動運動連結部３１、第三揺動運動連
結部３４を、履帯２７の上面側１７に、位置する様に、
トラックフレーム２０から、ブラケット２３にて上げて
ある。また、図１の第一実施例と同じ構成部位には、同
一符号をつけており説明は省略する。FIG. 3 shows a V-shape on the upper part of the first oscillating motion connecting part 31 of the support frame 30 which constitutes the lower traveling body 16 and the third oscillating motion connecting part 34 of the connecting link 33. -Shaped stopper 39 is fixed so that the end faces 23a and 23b of the bracket 23 fixed to the track frame 20 are brought into contact with each other, and the rotational movement of the front crawler type suspension device 15a and the rear crawler type suspension device 15b is restricted. Plan. Then, the first crawler type suspension device 15a of FIG. 1 and the first swing motion connecting part 31 and the third swing motion connecting part 34 of the rear crawler type underbody device 15b are provided on the upper surface side 17 of the crawler belt 27. To be located,
It is raised by a bracket 23 from the track frame 20. Further, the same components as those in the first embodiment of FIG. 1 are designated by the same reference numerals and the description thereof will be omitted.
【００２３】図４は、前部履帯式足回り装置１５ａと、
後部履帯式足回り装置１５ｂと、支持フレーム３０と、
上下に揺動するコの字状の連結リンク３３と、揺動ジャ
ッキ３７の取り付け関係を明確にしている平面図。旋回
サークル台３８は、車体中心に位置し、支持フレーム３
０に装着してある。尚、揺動ジャッキ３７は、支持フレ
ーム３０の後方中央と、連結リンク３３の中央を結ぶ位
置に一本で図示してあるが、揺動ジャッキの能力に応じ
て、一本以上の複数個の揺動ジャッキを用いて支持フレ
ーム３０と、連結リンク３３の任意の位置に設けても良
いこと明らかである。また、図１と同じ構成部位には同
一符号をつけており説明は省略する。FIG. 4 shows a front crawler type suspension device 15a,
A rear track type underbody device 15b, a support frame 30, and
FIG. 6 is a plan view showing a mounting relationship between a U-shaped connecting link 33 that swings up and down and a swing jack 37 for clarity. The turning circle base 38 is located at the center of the vehicle body and supports the support frame 3
It is attached to 0. Although the swinging jack 37 is illustrated as one at a position connecting the rear center of the support frame 30 and the center of the connecting link 33, one or more swinging jacks 37 may be provided depending on the capability of the swinging jack. Obviously, a swinging jack may be used to provide the support frame 30 and the connecting link 33 at any position. Further, the same components as those in FIG. 1 are designated by the same reference numerals and the description thereof will be omitted.
【００２４】また、図５の構成は、図４の、前部履帯式
足回り装置１５ａのキャリアローラ２２の位置にて断面
したものである。トラックフレーム２０上に固着した、
ブラケット４０に、片持ち回動保持したキャリアローラ
２２の上を、履帯２７が、移動している。一方、トラッ
クフレーム２０上に固着したブラケット２３は、第一揺
動運動連結部３１を構成する、連結ピン３１ａを介し
て、支持フレーム３０の連結穴３０ａと、回転自在に連
結している。The configuration of FIG. 5 is a cross-section taken at the position of the carrier roller 22 of the front crawler type suspension device 15a of FIG. Fixed on the track frame 20,
The crawler belt 27 is moving on the carrier roller 22 which is cantilevered and held by the bracket 40. On the other hand, the bracket 23 fixed on the track frame 20 is rotatably connected to the connection hole 30a of the support frame 30 via the connection pin 31a that constitutes the first swing motion connection portion 31.
【００２５】以上の様に構成したから、図６、７に示す
急傾斜地Ａにおける、急傾斜地走行車両１０は、前部履
帯式足回り装置１５ａと、後部履帯式足回り装置１５ｂ
とが、連結ピン３１ａを支点に、傾斜角Ｂに倣って傾
き、揺動ジャッキ３７を伸長、収縮、ロック等の制御を
行えば、支持フレーム３０を傾斜角Ｂに対して、水平状
態になるよう前後チルトして保持すると、連結リンク３
３は、矢印４１の方向に、傾斜角Ｂに対して、追従運動
４１するから急傾斜地走行車両１０の上部旋回体１４
は、３６０°全旋回しても、いつも水平に保たれる。With the above construction, the vehicle 10 running on a steep slope on the steep slope A shown in FIGS. 6 and 7 has a front crawler type suspension device 15a and a rear crawler type suspension device 15b.
Is tilted with the connecting pin 31a as a fulcrum according to the inclination angle B, and the swing jack 37 is extended, contracted, locked, or the like, so that the support frame 30 becomes horizontal with respect to the inclination angle B. When tilted back and forth like this, the connection link 3
3 makes a follow-up motion 41 with respect to the inclination angle B in the direction of the arrow 41.
Keeps horizontal even after making a full 360 ° turn.
【００２６】また、急傾斜地Ａ内の凹凸に対しても、前
後部の履帯式足回り装置１５は、前記第一、第三揺動運
動連結部３１、３４である連結ピン３１ａにて矢印４２
の方向に揺動運動出来るので、斜面の凹凸を乗り越えで
きる。さらに、走行不能な斜面の凹凸に対しては、支持
フレーム３０の第一揺動運動連結部３１と、連結リンク
３３の第三揺動運動連結部３４の上部に、への字状のス
トッパー３９を設けてあるから履帯式足回り装置１５が
一回転しないように止められる。Even with respect to the unevenness in the steep slope A, the crawler belt type underbody device 15 in the front and rear portions has the arrow 42 at the connecting pin 31a which is the first and third swing motion connecting portions 31 and 34.
Since it can swing in the direction of, it can overcome unevenness on the slope. Further, with respect to the unevenness of the slope that cannot run, a V-shaped stopper 39 is provided above the first swinging motion connecting portion 31 of the support frame 30 and the third swinging motion connecting portion 34 of the connecting link 33. Since the crawler type underbody device 15 is provided, it can be stopped so as not to make one rotation.
【００２７】また、図８は、前部車輪式足回り装置５１
ａと、後部車輪式足回り装置５１ｂを、支持フレーム３
０の第一揺動運動連結部３１と、連結リンク３３の第三
揺動運動連結部３４へ連結している。また、図１から図
７までと同じ構成部位には同一符号をつけており説明は
省略する。車輪式足回り装置５１の構成は、車軸５２に
組み込まれた図示しない駆動源である油圧ポンプモータ
等で駆動する車輪５３を前記部ブラケット毎にに２個装
着すればよい。Further, FIG. 8 shows a front wheel type underbody device 51.
a and the rear wheel type underbody device 51b to the support frame 3
It is connected to the first swinging motion connecting portion 31 of 0 and the third swinging motion connecting portion 34 of the connecting link 33. Further, the same components as those in FIGS. 1 to 7 are designated by the same reference numerals, and the description thereof will be omitted. The wheel-type underbody device 51 may be configured by mounting two wheels 53, which are driven by a hydraulic pump motor or the like, which is a drive source (not shown) incorporated in the axle shaft 52, for each of the brackets.
【００２８】以上の様に車輪式の足回り装置５１を持っ
た急傾斜地走行車両５０の様に構成したから、図６、７
に示す急傾斜地Ａにおいて、急傾斜地走行車両５０は、
履帯式の急傾斜地走行車両１０と同様に、前部車輪式足
回り装置５１ａと、後部車輪式足回り装置５１ｂとが、
連結ピン３１ａを支点に、傾斜角Ｂに倣って傾き、揺動
ジャッキ３７を伸長、収縮、ロック等の制御を行えば、
支持フレーム３０を傾斜角Ｂに対して、水平状態になる
よう前後チルトして保持すると、連結リンク３３は、矢
印４１の方向に、傾斜角Ｂに対して、追従運動４１する
から急傾斜地走行車両５０の上部旋回体１４は、３６０
°全旋回しても、いつも水平に保たれる。As described above, since the vehicle 50 is constructed as a vehicle 50 running on a steep slope having the wheel-type undercarriage device 51, as shown in FIGS.
In the steep slope A shown in, the steep slope traveling vehicle 50 is
Similar to the crawler type steep slope traveling vehicle 10, the front wheel type underbody device 51a and the rear wheel type underbody device 51b are
When the connecting pin 31a is used as a fulcrum, the swing jack 37 is tilted according to the tilt angle B, and the swing jack 37 is extended, contracted, locked, or the like.
When the support frame 30 is tilted back and forth so as to be in a horizontal state with respect to the inclination angle B, the connecting link 33 makes a follow-up motion 41 with respect to the inclination angle B in the direction of the arrow 41. The upper revolving structure 14 of 50 is 360
° Even if you make a full turn, it will always remain horizontal.
【００２９】また、急傾斜地Ａ内の凹凸に対しても、前
後部の車輪式足回り装置５１は、前記第一、第三揺動運
動連結部３１、３４である連結ピン３１ａにて矢印４２
の方向に揺動運動出来るので、斜面の凹凸を乗り越えで
きる。さらに、走行不能な斜面の凹凸に対しては、支持
フレーム３０の第一揺動運動連結部３１と、連結リンク
３３の第三揺動運動連結部３４の上部に、への字状のス
トッパー３９を設けてあるから車輪式足回り装置５１が
一回転しないように止められる。Further, even with respect to the unevenness in the steep slope A, the wheel-type suspension device 51 at the front and rear portions has the arrow 42 at the connecting pin 31a which is the first and third swing motion connecting portions 31 and 34.
Since it can swing in the direction of, it can overcome unevenness on the slope. Further, with respect to the unevenness of the slope that cannot run, a V-shaped stopper 39 is provided above the first swinging motion connecting portion 31 of the support frame 30 and the third swinging motion connecting portion 34 of the connecting link 33. Since the wheel suspension device 51 is provided, the wheel type suspension device 51 can be stopped so as not to make one rotation.
【００３０】[0030]
【発明の効果】本発明は、以上説明したように構成され
ているので、以下に記載されるような効果を奏した急傾
斜地走行車両１０、５０を提供している。Since the present invention is constructed as described above, it provides a steep slope traveling vehicle 10, 50 having the effects as described below.
【００３１】凹凸路、傾斜路、段差斜面、階段等の走
行、作業時、足回り装置１５、５１を、支持フレーム３
０と、連結リンク３３に設けた第一揺動運動連結部３１
と、第三揺動運動連結部３４に、連結したことで、階段
や、段差斜面や、不整地での凹凸路、傾斜路に追従でき
るので、走行、作業範囲が広がる。When traveling or working on uneven roads, slopes, slopes, stairs, etc., the suspension devices 15, 51 are attached to the support frame 3.
0 and the first swing motion connecting portion 31 provided on the connecting link 33.
By connecting to the third swinging motion connecting portion 34, it is possible to follow stairs, step slopes, uneven roads on uneven terrain, and slopes, so that the traveling and working range is expanded.
【００３２】また、支持フレーム３０後端に設けた、第
四揺動運動連結部３５と、連結リンク３３の左右の連結
部の、第五揺動運動連結部３６との間を、一本以上の揺
動ジャッキ３７にて連結し、伸長、収縮、ロック制御す
ることで、支持フレーム３０を、第一揺動運動連結部３
１を支点に、後部を上下方向へ変位させることが出来
る。その結果、傾斜角Ｂの傾斜路Ａにあっても、支持フ
レーム３０を水平に保持できるから、上部旋回体１４も
水平姿勢に保持できて、段差のある現場や、車両の許容
傾斜角以上の傾斜地での作業が可能である。Further, at least one is provided between the fourth swinging motion connecting portion 35 provided at the rear end of the support frame 30 and the fifth swinging motion connecting portions 36 of the left and right connecting portions of the connecting link 33. The supporting frame 30 is connected by the swinging jack 37 of FIG.
With 1 as the fulcrum, the rear part can be displaced in the vertical direction. As a result, even on the slope A having the inclination angle B, the support frame 30 can be held horizontally, so that the upper revolving structure 14 can also be held in a horizontal posture, so that there is a step or the allowable inclination angle of the vehicle or more. It is possible to work on slopes.
【００３３】また、足回り装置１５、５１の第一揺動運
動連結部３１と、第三揺動運動連結部３４を、ブラケッ
ト２３にて、履帯２７または車輪５３の上面側１７に設
けたから、車体支持下部フレーム３０と、地表面Ｇ．Ｌ
との距離である最低地上高を大きくできる。この結果、
支持フレーム３０が土砂で突き上げされて、履帯２７、
または、車輪５３の空転による走行不能になることも少
ない。さらに、土砂による突き上げでの支持フレーム３
０の破損が防げる。Further, since the first swinging motion connecting portion 31 and the third swinging motion connecting portion 34 of the underbody devices 15, 51 are provided on the crawler belt 27 or the upper surface side 17 of the wheel 53 by the bracket 23, The vehicle body supporting lower frame 30 and the ground surface G. L
The minimum ground clearance, which is the distance from, can be increased. As a result,
The support frame 30 is pushed up by the earth and sand, and the track 27,
Alternatively, it is unlikely that the wheel 53 will be unable to run due to idling. Furthermore, the support frame 3 by thrusting up with earth and sand
0 damage can be prevented.
【００３４】また、前記支持フレーム３０の第一揺動運
動連結部３１と、連結リンク３３の第三揺動運動連結部
３４部にストッパ３９を設けたから、足回り装置１５、
５１の揺動運動の制限により、凹凸路の安定走行ができ
ると共に、車両の転倒を、防止出来る。Further, since the stopper 39 is provided at the first swinging motion connecting portion 31 of the support frame 30 and the third swinging motion connecting portion 34 of the connecting link 33, the underbody device 15,
By restricting the swinging motion of 51, the vehicle can run stably on a bumpy road and can prevent the vehicle from falling over.
【００３５】そして、前記支持フレーム３０に、旋回サ
ークル台３８を設け、上部旋回体１４を設置したから、
急傾斜地での走行と、掘削作業と、３６０°水平旋回作
業ができ、許容旋回可能角以上の傾斜地での作業ができ
る。この結果、作業効率の向上が図れると共に、オペレ
ータの疲労が軽減も図れるSince the supporting frame 30 is provided with the turning circle base 38 and the upper turning body 14 is installed,
It is possible to run on steep slopes, excavation work, and 360 ° horizontal turning work, and work on slopes with an allowable turning angle or more. As a result, work efficiency can be improved and operator fatigue can be reduced.
【図１】本発明の急傾斜地走行車両の第一実施例である
全体側面図である。FIG. 1 is an overall side view showing a first embodiment of a vehicle traveling on a steep slope according to the present invention.
【図２】本発明の図１のＡ・Ａ線断面図を示す。FIG. 2 shows a sectional view taken along the line AA of FIG. 1 of the present invention.
【図３】本発明の急傾斜地走行車両の第二実施例である
全体側面図である。FIG. 3 is an overall side view showing a second embodiment of the vehicle traveling on a steep slope according to the present invention.
【図４】本発明の図３のＢ・Ｂ線断面図であり、足回り
装置の平面図を示す。FIG. 4 is a sectional view taken along the line BB of FIG. 3 of the present invention, showing a plan view of the underbody device.
【図５】本発明図４のＣ・Ｃ線断面図である。5 is a sectional view taken along the line C-C of FIG. 4 of the present invention.
【図６】本発明の第一実施例の急傾斜地での走行、及び
作業姿勢を示す全体側面図である。FIG. 6 is an overall side view showing traveling and working postures on a steep slope according to the first embodiment of the present invention.
【図７】本発明の第二実施例の急傾斜地での走行、及び
作業姿勢を示す全体側面図FIG. 7 is an overall side view showing traveling and working posture on a steep slope according to a second embodiment of the present invention.
【図８】本発明の急傾斜地走行車両の第三実施例である
全体側面図である。FIG. 8 is an overall side view showing a third embodiment of a vehicle traveling on a steep slope according to the present invention.
【図９】従来技術の自走作業車の側面図である。FIG. 9 is a side view of a conventional self-propelled work vehicle.
１０、５０ 急傾斜地走行車両、 １４ 上部
旋回体、１５、５１ 足回り装置、 １５
ａ 前部履帯式足回り装置、１５ｂ 後部履帯式足回り
装置、 １７ 上面側、２３ ブラケット、
２７ 履帯、３０ 支持フレー
ム、 ３１ 第一揺動運動連結部、３
２ 第二揺動運動連結部、 ３３ 連結リ
ンク、３４ 第三揺動運動連結部、 ３５
第四揺動運動連結部、３６ 第五運動連結部、
３７ 揺動ジャッキ、３８ 旋回サーク
ル台、 ３９ ストッパ、５１ 車輪
式足回り装置、 ５３ 車輪、５１ａ 前
部車輪式足回り装置、 ５１ｂ 後部車輪式足回
り装置10, 50 Vehicle running on steep slope, 14 Upper revolving structure, 15, 51 Undercarriage device, 15
a front crawler type underbody device, 15b rear crawler type underbody device, 17 upper surface side, 23 bracket,
27 crawler belt, 30 support frame, 31 first swing motion connecting portion, 3
2 2nd oscillating motion connecting part, 33 connecting link, 34 3rd oscillating motion connecting part, 35
Fourth swing motion connection part, 36 fifth motion connection part,
37 swinging jack, 38 swivel circle stand, 39 stopper, 51 wheel type underbody device, 53 wheels, 51a front wheel type underbody device, 51b rear wheel type underbody device
Claims (4)
する急傾斜地走行車両において、支持フレーム(30)側面
前方には第一揺動運動連結部(31)を、側面後方には第二
揺動運動連結部(32)を、後端には、第四揺動運動連結部
(35)を設けた支持フレーム(30)と、足回り装置(15 、5
1) を第三揺動運動連結部(34)にて回転自在に連結懸架
させた連結リンク(33)と、前記連結リンク(33)の左右の
連結部に設けた第五揺動運動連結部(36)に連結した、一
本以上の揺動ジャッキ(37)とで構成し、前記支持フレー
ム(30)の第一揺動運動連結部(31)には、足回り装置(15
、51) を回転自在に連結懸架し、前記第二揺動運動連
結部(32)には、連結リンク(33)の他端を回転自在に連結
し、前記第四揺動運動連結部(35)との間に揺動ジャッキ
(37)を連結すると共に、一本以上の揺動ジャッキ(37)の
伸縮により、前記支持フレーム(30)が足回り装置(15 、
51) に対して、上下方向へ変位自在に連結懸架させたこ
とを特徴とする急傾斜地走行車両(10 、50)1. In a steeply sloping ground vehicle having four undercarriage devices on the front, rear, left and right sides of a vehicle body, a first swing motion connecting portion (31) is provided in front of a side surface of a support frame (30) and a second swing motion connecting portion (31) is provided at a rear surface of a side surface. The rocking motion connecting part (32) is provided at the rear end with the fourth rocking motion connecting part.
Support frame (30) with (35) and undercarriage device (15, 5
A connecting link (33) in which 1) is rotatably connected and suspended by a third oscillating motion connecting part (34), and a fifth oscillating motion connecting part provided on the left and right connecting parts of the connecting link (33). (36) is connected to one or more rocking jacks (37), and the first rocking motion connecting portion (31) of the support frame (30) has a suspension device (15).
, 51) are rotatably connected and suspended, and the other end of the connecting link (33) is rotatably connected to the second swinging motion connecting part (32), and the fourth swinging motion connecting part (35 ) And rocking jack
The support frame (30) is connected to the underbody device (15,
51), which is connected and suspended so that it can be displaced in the vertical direction.
4) は、足回り装置(15 、51) に固着したブラケット(2
3)によって、履帯(27)または、車輪(53)の上面側(17)に
位置したことを特徴とする請求項１の急傾斜地走行車両
(10 、50)2. The first and third oscillating motion connecting portions (31, 3)
4) is a bracket (2) attached to the undercarriage (15, 51).
The steep slope traveling vehicle according to claim 1, wherein the vehicle is located on the crawler belt (27) or on the upper surface side (17) of the wheel (53) by 3).
(10, 50)
結部(31)と、連結リンク(33)の第三揺動運動連結部(34)
には、足回り装置(15 、51) の揺動運動を制限するスト
ッパ(39)を設けたことを特徴とする請求項１の急傾斜地
走行車両(10、50)3. A first swinging motion connecting part (31) of the support frame (30) and a third swinging motion connecting part (34) of the connecting link (33).
The steep slope traveling vehicle (10, 50) according to claim 1, characterized in that a stopper (39) for restricting the swinging motion of the undercarriage device (15, 51) is provided on the vehicle.
(38)を設け、上部旋回体(14)を設置したことを特徴とす
る請求項１の急傾斜地走行車両(10 、50)4. A swivel circle base on the support frame (30)
The vehicle (10, 50) traveling on a steep slope according to claim 1, characterized in that the upper revolving structure (14) is provided with (38).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP24688594A JP3460743B2 (en) | 1994-09-14 | 1994-09-14 | Vehicles traveling on steep slopes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP24688594A JP3460743B2 (en) | 1994-09-14 | 1994-09-14 | Vehicles traveling on steep slopes |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0880879A true JPH0880879A (en) | 1996-03-26 |
| JP3460743B2 JP3460743B2 (en) | 2003-10-27 |
Family
ID=17155199
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP24688594A Expired - Fee Related JP3460743B2 (en) | 1994-09-14 | 1994-09-14 | Vehicles traveling on steep slopes |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3460743B2 (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0982259A2 (en) | 1998-08-24 | 2000-03-01 | Daido-Kogyo Kabushiki Kaisha | Self-propelled stair-climbing unit |
| JP2009084898A (en) * | 2007-09-30 | 2009-04-23 | Hokuto Kenki Service Kk | Work vehicle for steep slope |
| JP2011111034A (en) * | 2009-11-26 | 2011-06-09 | Hitachi Constr Mach Co Ltd | Working machine |
| JP2012046080A (en) * | 2010-08-27 | 2012-03-08 | Hitachi Constr Mach Co Ltd | Working machine |
| EP3103928A1 (en) * | 2015-06-09 | 2016-12-14 | Wacker Neuson Linz GmbH | Construction vehicle with tipping chassis |
| CN116163651A (en) * | 2023-04-24 | 2023-05-26 | 北京欧钻科技有限公司 | Rotary drilling rig |
| JP2024039711A (en) * | 2022-09-12 | 2024-03-25 | 有限会社長若建設 | Crawler work vehicle of lifting type |
-
1994
- 1994-09-14 JP JP24688594A patent/JP3460743B2/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0982259A2 (en) | 1998-08-24 | 2000-03-01 | Daido-Kogyo Kabushiki Kaisha | Self-propelled stair-climbing unit |
| JP2009084898A (en) * | 2007-09-30 | 2009-04-23 | Hokuto Kenki Service Kk | Work vehicle for steep slope |
| JP2011111034A (en) * | 2009-11-26 | 2011-06-09 | Hitachi Constr Mach Co Ltd | Working machine |
| JP2012046080A (en) * | 2010-08-27 | 2012-03-08 | Hitachi Constr Mach Co Ltd | Working machine |
| EP3103928A1 (en) * | 2015-06-09 | 2016-12-14 | Wacker Neuson Linz GmbH | Construction vehicle with tipping chassis |
| US10131387B2 (en) | 2015-06-09 | 2018-11-20 | Wacker Neusen Linz GmbH | Construction vehicle having a tippable chassis |
| JP2024039711A (en) * | 2022-09-12 | 2024-03-25 | 有限会社長若建設 | Crawler work vehicle of lifting type |
| CN116163651A (en) * | 2023-04-24 | 2023-05-26 | 北京欧钻科技有限公司 | Rotary drilling rig |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3460743B2 (en) | 2003-10-27 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |