JPH09221070A - Crawler vehicle - Google Patents
Crawler vehicleInfo
- Publication number
- JPH09221070A JPH09221070A JP3086696A JP3086696A JPH09221070A JP H09221070 A JPH09221070 A JP H09221070A JP 3086696 A JP3086696 A JP 3086696A JP 3086696 A JP3086696 A JP 3086696A JP H09221070 A JPH09221070 A JP H09221070A
- Authority
- JP
- Japan
- Prior art keywords
- crawler
- vehicle body
- crawler belt
- vehicle
- support
- 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.)
- Pending
Links
Landscapes
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は履帯走行車に係るも
のである。TECHNICAL FIELD The present invention relates to a crawler track vehicle.
【０００２】[0002]
【従来の技術及び発明が解決しようとする課題】従来の
履帯走行車は車体の左右に履帯を配設し、この履帯を機
械的な終減速駆動装置や油圧駆動装置により駆動して走
行していたが、この方式による履帯走行車は、オフロー
ドのような起伏の激しいところやぬかるみなどでは履帯
が地面にスリップして履帯が地面を十分にグリップする
ことができず、折角の駆動力が地面に伝わらないで走行
が困難になったり、登板能力や超濠能力が落ちる欠点が
あった。2. Description of the Related Art A conventional crawler track vehicle has crawler tracks arranged on the left and right sides of a vehicle body, and the crawler track is driven by a mechanical final deceleration drive device or a hydraulic drive device for traveling. However, the tracked vehicle using this method cannot slip on the ground because the track slips on the ground when it is rugged, such as off-road, or when it is muddy. There was a drawback that it became difficult to travel without being transmitted to, and the climbing ability and super moat ability deteriorated.
【０００３】また、旋回するときには、機械的な終減速
装置の場合には履帯を駆動する一方の動力を切って制動
しながら他方の履帯を駆動して信地旋回するか、油圧駆
動装置の場合には履帯を駆動する一方の油圧モータを正
回転させ他方の履帯を駆動する油圧モータを逆転させて
超信地旋回していたが、いずれも履帯が地面にスリップ
して履帯を傷めたり道路を傷めたりする欠点があった。Further, when turning, in the case of a mechanical final reduction gear, one power for driving the crawler is turned off to brake while driving the other crawler, or in the case of a hydraulic drive. In this case, one hydraulic motor that drives the crawler belt was rotated forward and the hydraulic motor that drives the other crawler belt was rotated in the reverse direction to make a supercritical turn, but in both cases, the crawler track slipped on the ground and damaged the crawler track and the road. There was a drawback that it was damaged.
【０００４】また、地面との抵抗を少なくして荒地での
走行を容易にしたり、雪上での走行を可能にするため、
車巾に対して履帯の接地長をいたずらに長くして接地圧
を少なくした場合には旋回性能が悪くなる欠点があっ
た。Further, in order to reduce the resistance to the ground to facilitate running on a wasteland and to enable running on snow,
If the track length of the track is unnecessarily increased relative to the vehicle width to reduce the ground pressure, there is a drawback that the turning performance is deteriorated.
【０００５】本発明は車体の左右に設ける履帯を前後に
分割し、この左右前後の履帯を夫々回動機構により車体
に対して上下回動可能に、可変調節機構により左右回動
可能に設けることにより、上記欠点を解決した履帯走行
車を提供することを技術的課題とするものである。According to the present invention, the crawler belts provided on the left and right of the vehicle body are divided into front and rear parts, and the front and rear crawler belts are provided so as to be vertically rotatable with respect to the vehicle body by a rotating mechanism and horizontally rotatable by a variable adjusting mechanism. Therefore, it is a technical object to provide a crawler track vehicle that solves the above-mentioned drawbacks.
【０００６】[0006]
【課題を解決するための手段】添付図面を参照して本発
明の要旨を説明する。The gist of the present invention will be described with reference to the accompanying drawings.
【０００７】車体１の左右に設ける履帯２，３を前後に
分割して前側左右の履帯Ｆ２，Ｆ３と後側左右の履帯Ｒ
３，Ｒ３を車体１の左右前後に配設し、夫々の履帯Ｆ
２，Ｆ３，Ｒ２，Ｒ３の履帯支持体４の途中部を車体１
に突設した支持腕体５の先端部に軸着して夫々の履帯Ｆ
２，Ｆ３，Ｒ２，Ｒ３を車体１に対して左右回動可能に
設け、履帯支持体４と支持腕体５との間に履帯支持体４
の向きを変えることができる可変調節機構６を設け、車
体１と支持腕体５との間に夫々の履帯支持体４を車体１
に対して上下回動可能ならしめる回動機構７を設けたこ
とを特徴とする履帯走行車に係るものである。The crawler belts 2 and 3 provided on the left and right of the vehicle body 1 are divided into front and rear so that the front and left crawler belts F2 and F3 and the rear left and right crawler belts R are separated.
3 and R3 are arranged on the left, right, front and rear of the vehicle body 1, and each track C
2, F3, R2, R3 crawler belt support 4 in the middle of the vehicle body 1
Each track C is pivotally attached to the tip of the supporting arm 5 protruding from the
2, F3, R2, R3 are provided so as to be rotatable left and right with respect to the vehicle body 1, and the crawler belt support 4 is provided between the crawler belt support 4 and the support arm 5.
A variable adjustment mechanism 6 capable of changing the direction of the vehicle body is provided, and each crawler belt support 4 is provided between the vehicle body 1 and the support arm 5.
The present invention relates to a crawler belt traveling vehicle characterized by being provided with a turning mechanism 7 for turning up and down.
【０００８】また、車体１の左右に設ける履帯２，３を
前後に分割して前側左右の履帯Ｆ２，Ｆ３と後側左右の
履帯Ｒ３，Ｒ３を車体１の左右前後に配設し、夫々の履
帯Ｆ２，Ｆ３，Ｒ２，Ｒ３の履帯支持体４の途中部を車
体１に突設した支持腕体５の先端部に軸着して夫々の履
帯Ｆ２，Ｆ３，Ｒ２，Ｒ３を車体１に対して左右回動可
能に設け、履帯支持体４と支持腕体５との間に履帯支持
体４の向きを変えることができる可変調節機構６を設け
たことを特徴とする履帯走行車に係るものである。Further, the crawler belts 2 and 3 provided on the left and right of the vehicle body 1 are divided into front and rear, and front and left crawler belts F2 and F3 and rear left and right crawler belts R3 and R3 are arranged on the left and right and front and rear sides of the vehicle body 1, respectively. Crawler tracks F2, F3, R2, R3 are attached to the vehicle body 1 by axially attaching the middle part of the crawler belt support body 4 of the crawler belts F2, F3, R2, R3 to the tip of the support arm 5 projecting from the vehicle body 1. A track traveling vehicle characterized in that a variable adjustment mechanism 6 capable of turning the crawler belt support 4 and the support arm 5 is provided between the crawler belt support 4 and the support arm 5 so that the direction can be changed. Is.
【０００９】また、可変調節機構６に油圧シリンダ装置
ａを採用し、履帯Ｆ２，Ｆ３，Ｒ２，Ｒ３を運行させる
駆動走行機構８に油圧走行装置ｂを採用し、車体１に油
圧シリンダ装置ａと油圧走行装置ｂを作動させる油圧ポ
ンプ装置ｃを設けたことを特徴とする請求項１，２のい
ずれか１項に記載の履帯走行車に係るものである。Further, a hydraulic cylinder device a is adopted as the variable adjusting mechanism 6, a hydraulic traveling device b is adopted as a drive traveling mechanism 8 for operating the crawler belts F2, F3, R2, R3, and a hydraulic cylinder device a is provided for the vehicle body 1. The crawler track vehicle according to any one of claims 1 and 2, further comprising a hydraulic pump device c for operating the hydraulic travel device b.
【００１０】[0010]
【発明の実施の形態】本発明の実施の形態を作用効果を
示して実施の一例である図面に基づいて簡単に説明す
る。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be briefly described with reference to the drawings, which are examples of embodiments, showing the functions and effects.
【００１１】請求項１の実施の形態について説明する。An embodiment of the present invention will be described.
【００１２】履帯Ｆ２，Ｆ３，Ｒ２，Ｒ３を車体１に対
して夫々独立して設けたので、履帯走行車がオフロード
のような起伏の激しい地面を走行するときには、左右前
後の履帯Ｆ２，Ｆ３，Ｒ２，Ｒ３が回動機構７により夫
々独立して上下に回動して夫々の履帯接地面が連続的に
地面に追従しながら走行するため、乗り心地が良いうえ
に、履帯の接地面積が従来の履帯走行車に比し著しく向
上して履帯の地面に対するグリップ力が平均化し、エン
ジンよりの駆動力が履帯に充分伝達できるためオフロー
ドを容易に走破することができる。Since the crawler tracks F2, F3, R2, R3 are provided independently of the vehicle body 1, when the crawler track vehicle runs on the ground with severe undulations such as off-road, the crawler tracks F2, F3 on the left, right, front and rear. , R2, R3 independently rotate up and down by the rotating mechanism 7 and run while each crawler belt ground surface continuously follows the ground, so that the riding comfort is good and the ground contact area of the crawler belt is Compared with the conventional crawler track vehicle, the grip force of the crawler track on the ground is averaged, and the driving force from the engine can be sufficiently transmitted to the crawler track, so that it is possible to easily drive off-road.
【００１３】また、本履帯走行車の走行方向を変えると
きには、履帯支持体４と支持腕体５との間に設けた可変
調節機構６を作動して前側左右の履帯支持体４・４と後
側左右の履帯支持体４・４を例えば図５の（ロ）のよう
に回動したり、また前後の履帯支持体４・４を逆位相に
回動して履帯走行車をスムースに旋回せしめることがで
きるので、履帯や道路を傷めることがなく旋回できる。When the traveling direction of the crawler belt traveling vehicle is changed, the variable adjusting mechanism 6 provided between the crawler belt support 4 and the support arm 5 is operated to move the front and left crawler belt supports 4 and 4 to the rear. The left and right crawler belt supports 4 and 4 are rotated, for example, as shown in FIG. 5B, and the front and rear crawler belt supports 4 and 4 are rotated in opposite phases to smoothly turn the crawler track vehicle. Therefore, it is possible to turn without damaging the tracks and roads.
【００１４】また、前側の左右の履帯支持体４・４と後
側の左右の履帯支持体４・４を図５の（ハ）のように同
位相に回動すると履帯走行車の車寄せが容易となる。Further, when the left and right crawler belt supports 4.4 on the front side and the left and right crawler belt supports 4.4 on the rear side are rotated in the same phase as shown in FIG. Becomes
【００１５】請求項２の実施の形態について説明する。An embodiment of claim 2 will be described.
【００１６】履帯Ｆ２，Ｆ３，Ｒ２，Ｒ３を車体１に対
して夫々独立して設け、この夫々の履帯Ｆ２，Ｆ３，Ｒ
２，Ｒ３の履帯支持体４を可変調節機構６により支持腕
体５の先端部を軸として所望の向きに変えることができ
るので、前側左右の履帯４・４と後側左右の履帯４・４
とを逆位相に回動したり、同位相に回動したりして履帯
走行車を所望の方向へスムースに旋回せしめることが可
能となる。Crawler tracks F2, F3, R2, R3 are provided independently of each other with respect to vehicle body 1, and crawler tracks F2, F3, R are respectively provided.
The crawler belt supports 4 of 2 and R3 can be changed in a desired direction with the tip end portion of the support arm 5 as an axis by the variable adjustment mechanism 6, so that the front and left crawler belts 4.4 and the rear left and right crawler belts 4.4 can be changed.
It is possible to smoothly rotate the crawler belt traveling vehicle in a desired direction by rotating and in opposite phases or in the same phase.
【００１７】請求項３の実施の形態について説明する。An embodiment of claim 3 will be described.
【００１８】履帯Ｆ２，Ｆ３，Ｒ２，Ｒ３を運行させる
駆動走行機構８に油圧走行装置ｂを採用したため、地形
により例えばぬかるみや起伏があって左右前側の履帯Ｆ
２，Ｆ３がスリップして履帯Ｆ２，Ｆ３が地面をグリッ
プすることが困難な場合でも、後側の履帯Ｒ２，Ｒ３が
地面をグリップして駆動力により後押しして走破するこ
とができるため従来の履帯走行車に比し容易にオフロー
ドを走破することができる。Since the hydraulic traveling device b is adopted as the drive traveling mechanism 8 for operating the crawler belts F2, F3, R2, R3, the crawler belt F on the left and right front side due to, for example, mud or undulation depending on the terrain.
Even when it is difficult for the crawler belts F2 and F3 to grip the ground due to slippage of the crawler belts F2 and F3, the rear crawler belts R2 and R3 can grip the ground and can be pushed by the driving force to drive and run. You can easily drive off-road compared to a tracked vehicle.
【００１９】また、坂道や濠を乗り越える場合にはオフ
ロードの地形に合わせて例えば後側の履帯Ｒ２，Ｒ３の
駆動力により履帯走行車を後押しして濠を乗り越えた後
前側の履帯Ｆ２，Ｆ３の駆動力により坂道や濠を乗り越
えることができる。Further, when riding over a slope or a moat, in accordance with the off-road terrain, for example, the driving force of rear crawler tracks R2, R3 pushes the crawler track vehicle over the moat and the front crawler tracks F2, F3 are overcome. You can get over the slopes and moats with the driving force.
【００２０】また、可変調節機構６に油圧シリンダ装置
ａを採用したので、構造が簡単となると共に操作が容易
となる。Further, since the hydraulic cylinder device a is adopted for the variable adjusting mechanism 6, the structure is simple and the operation is easy.
【００２１】[0021]
【実施例】添付図面は本発明に好適な実施の一例を図示
したもので、車体１の左右に設ける履帯２，３を前後に
分割して前側左右の履帯Ｆ２，Ｆ３と後側左右の履帯Ｒ
３，Ｒ３を車体１の左右前後に配設し、夫々の履帯Ｆ
２，Ｆ３，Ｒ２，Ｒ３の履帯支持体４の途中部を車体１
に突設した支持腕体５の先端部に軸着して夫々の履帯Ｆ
２，Ｆ３，Ｒ２，Ｒ３を車体１に対して左右回動可能に
設け、履帯支持体４と支持腕体５との間に履帯支持体４
の向きを変えることができる可変調節機構６を設け、車
体１と支持腕体５との間に夫々の履帯支持体４を車体１
に対して上下回動可能ならしめる回動機構７を設ける。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The accompanying drawings show an example of a preferred embodiment of the present invention. The crawler belts 2 and 3 provided on the left and right of the vehicle body 1 are divided into front and rear parts to form front and left crawler tracks F2 and F3 and rear left and right crawler tracks. R
3 and R3 are arranged on the left, right, front and rear of the vehicle body 1, and each track C
2, F3, R2, R3 crawler belt support 4 in the middle of the vehicle body 1
Each track C is pivotally attached to the tip of the supporting arm 5 protruding from the
2, F3, R2, R3 are provided so as to be rotatable left and right with respect to the vehicle body 1, and the crawler belt support 4 is provided between the crawler belt support 4 and the support arm 5.
A variable adjustment mechanism 6 capable of changing the direction of the vehicle body is provided, and each crawler belt support 4 is provided between the vehicle body 1 and the support arm 5.
A turning mechanism 7 is provided for turning up and down.
【００２２】また、車体１の左右に設ける履帯２，３を
前後に分割して前側左右の履帯Ｆ２，Ｆ３と後側左右の
履帯Ｒ３，Ｒ３を車体１の左右前後に配設し、夫々の履
帯Ｆ２，Ｆ３，Ｒ２，Ｒ３の履帯支持体４の途中部を車
体１に突設した支持腕体５の先端部に軸着して夫々の履
帯Ｆ２，Ｆ３，Ｒ２，Ｒ３を車体１に対して左右回動可
能に設け、履帯支持体４と支持腕体５との間に履帯支持
体４の向きを変えることができる可変調節機構６を設け
る。Further, the crawler belts 2 and 3 provided on the left and right of the vehicle body 1 are divided into front and rear, and the front left and right crawler belts F2 and F3 and the rear left and right crawler belts R3 and R3 are arranged on the left and right front and rear sides of the vehicle body 1, respectively. Crawler tracks F2, F3, R2, R3 are attached to the vehicle body 1 by axially attaching the middle part of the crawler belt support body 4 of the crawler belts F2, F3, R2, R3 to the tip of the support arm 5 projecting from the vehicle body 1. A variable adjustment mechanism 6 is provided between the crawler belt support 4 and the support arm 5 so as to be rotatable left and right.
【００２３】また、可変調節機構６に油圧シリンダ装置
ａを採用し、履帯Ｆ２，Ｆ３，Ｒ２，Ｒ３を運行させる
駆動走行機構８に油圧走行装置ｂを採用し、車体１に油
圧シリンダ装置ａと油圧走行装置ｂを作動させる油圧ポ
ンプ装置ｃを設ける。Further, a hydraulic cylinder device a is adopted as the variable adjusting mechanism 6, a hydraulic traveling device b is adopted as a drive traveling mechanism 8 for operating the crawler belts F2, F3, R2, R3, and a hydraulic cylinder device a is provided for the vehicle body 1. A hydraulic pump device c for operating the hydraulic traveling device b is provided.
【００２４】図示した履帯支持体４について詳述する。The illustrated crawler belt support 4 will be described in detail.
【００２５】中空矩形形状のフレーム10・10を所定の間
隔をおいて左右に対設し、この左右のフレーム10・10の
上・下面を適宜なプレートで強固に連結して履帯支持フ
レーム11を四個形成し、この夫々の履帯支持フレーム11
の所定間隔内に駆動スプロケット12，誘導輪13，転輪14
を回動可能に付設し、履帯支持フレーム11の途中より上
方に二個のガイド輪24を突設して四個の履帯支持体４を
構成し、この夫々の履帯支持体４の車輪間に夫々履帯Ｆ
２，Ｆ３，Ｒ２，Ｒ３を架け渡して四個の履帯走行部15
を構成する。The hollow rectangular frames 10 and 10 are arranged side by side at predetermined intervals, and the upper and lower surfaces of the left and right frames 10 and 10 are firmly connected by an appropriate plate to form the crawler belt support frame 11. Formed in four, each track support frame 11
Drive sprocket 12, guide wheel 13, rolling wheel 14 within the specified interval
Is rotatably attached, and two guide wheels 24 are projected above the middle of the crawler belt support frame 11 to form four crawler belt supports 4. Between the wheels of the respective crawler belt supports 4. Tracks F respectively
Four crawler track running parts 15, spanning 2, F3, R2, R3
Is configured.
【００２６】支持腕体５及び回動機構７について詳述す
る。The support arm 5 and the rotating mechanism 7 will be described in detail.
【００２７】車体１の左右の前後部の下面に懸架装置
（図示省略）を介して四個の支持体16を設け、この夫々
の支持体16に支持軸17の基部を止着して他端を左右に突
設し、この支持軸17にスラスト軸受18を介して基端がフ
ランジ形状の支持腕体５を被嵌し、支持腕体５のフラン
ジ部に二つ割り形状の押さえ金19を被嵌して支持腕体５
のフランジ部を押さえ金19と支持体16の側板とで挟み込
み、押さえ金19と支持体16とを綴じボルト20で止着して
支持腕体５を支持軸17に抜き止め状態で回動可能に軸着
して回動機構７を構成する。Four supports 16 are provided on the lower surfaces of the left and right front and rear parts of the vehicle body 1 via suspension devices (not shown), and the bases of the support shafts 17 are fixed to the respective supports 16 to fix the other ends. And a supporting arm 5 having a flange-shaped base end is fitted to the supporting shaft 17 via a thrust bearing 18, and a presser bar 19 having a split shape is fitted to the flange portion of the supporting arm 5. And support arm 5
The flange portion of is clamped between the presser bar 19 and the side plate of the support body 16, and the presser bar 19 and the support body 16 are fastened with the binding bolts 20 so that the support arm body 5 can be rotated with the support shaft 17 in a state in which it is not pulled out. The rotation mechanism 7 is configured by being pivotally attached to.
【００２８】前記支持腕体５の先端部に上下方向に軸着
孔を穿孔し、この軸着孔に軸着ピンボルト21を嵌入し、
この軸着ピンボルト21の先端部にスラスト軸受22を介し
て履帯支持体４の途中部を軸着して止着ナット23で止着
して夫々の履帯Ｆ２，Ｆ３，Ｒ２，Ｒ３を車体１に対し
て左右回動可能に設ける。A shaft mounting hole is vertically formed at the tip of the support arm 5, and a shaft mounting pin bolt 21 is fitted into the shaft mounting hole.
The midway portion of the crawler belt support 4 is axially attached to the tip end portion of the axle pin bolt 21 via a thrust bearing 22 and fixed by a fastening nut 23 to attach the respective crawler belts F2, F3, R2, R3 to the vehicle body 1. It is provided so as to be rotatable left and right.
【００２９】可変調節機構６について説明する。The variable adjustment mechanism 6 will be described.
【００３０】図示した可変調節機構６は支持腕体５の基
部寄りに油圧シリンダ25のシリンダ端部を球面で支承す
るブラケット26を突設し、このブラケット26の球面支承
部に対向する履帯支持体４の位置に、油圧シリンダ25の
ピストンロッドの先端を球面で支承する支承ブラケット
27を設け、このブラケット26，支承ブラケット27間に夫
々の端部が球面形状の油圧シリンダ25を設けて可変調節
機構６を構成する。In the illustrated variable adjustment mechanism 6, a bracket 26 for supporting the cylinder end of the hydraulic cylinder 25 on a spherical surface is provided near the base of the support arm 5, and a crawler belt support member facing the spherical support portion of the bracket 26 is provided. A bearing bracket that supports the tip of the piston rod of the hydraulic cylinder 25 in a spherical position at position 4.
The variable adjusting mechanism 6 is constituted by providing the hydraulic cylinder 25 having a spherical end at each end between the bracket 26 and the support bracket 27.
【００３１】また、履帯Ｆ２，Ｆ３，Ｒ２，Ｒ３を運行
させる駆動走行機構８として夫々の駆動スプロケット12
を駆動する駆動軸12'に減速機構付の油圧モータ30を連
結し、この減速機構付の油圧モータ30を履帯支持体４に
止着して油圧走行装置ｂを構成する。Each drive sprocket 12 is used as a drive traveling mechanism 8 for operating the crawler belts F2, F3, R2, R3.
A hydraulic motor 30 with a speed reduction mechanism is connected to a drive shaft 12 ′ that drives the hydraulic drive device 12 and the hydraulic motor 30 with a speed reduction mechanism is fixed to the crawler belt support 4 to form a hydraulic traveling device b.
【００３２】また、図２のようにエンジン31の動力によ
り駆動される第一油圧ポンプ32，第二油圧ポンプ33，操
舵用油圧ポンプ34よりなる油圧ポンプ装置ｃを直列に配
設し、この第一油圧ポンプ32で前側左右の履帯Ｆ２・Ｆ
３を，第二油圧ポンプ33で後側左右の履帯Ｒ２・Ｒ３を
駆動する油圧モータ30を回動し、操舵用油圧ポンプ34で
油圧シリンダ装置ａを作動せしめて履帯走行車を走行せ
しめる。As shown in FIG. 2, a hydraulic pump device c composed of a first hydraulic pump 32, a second hydraulic pump 33 and a steering hydraulic pump 34 driven by the power of the engine 31 is arranged in series. Tracks F2 and F on the front left and right with one hydraulic pump 32
3, the second hydraulic pump 33 rotates the hydraulic motor 30 for driving the left and right crawler tracks R2 and R3, and the steering hydraulic pump 34 operates the hydraulic cylinder device a to drive the crawler track vehicle.
【００３３】本発明を上記のように構成したので、請求
項１の発明では車体１の左右の前後部に突設した支持軸
17に回動機構７を介して支持腕体５を回動可能に軸着
し、この夫々の支持腕体５の先端部に履帯Ｆ２，Ｆ３，
Ｒ２，Ｒ３の履帯支持体４の途中を軸着したので、履帯
Ｆ２，Ｆ３，Ｒ２，Ｒ３が車体１に対して夫々独立し、
夫々の履帯が回動機構７により夫々の接地面が上下に回
動して走行中の地面にしなやかに対応しながら走行でき
るので、乗り心地が良いうえに履帯の地面に対するグリ
ップ力が均一になり、エンジン31よりの駆動力がそのま
ま履帯走行車を走行せしめるため、オフロードであって
も容易に走破することが可能となる。Since the present invention is configured as described above, in the invention of claim 1, the support shafts projecting from the left and right front and rear portions of the vehicle body 1 are provided.
The support arm 5 is rotatably attached to 17 via a rotation mechanism 7, and the crawler belts F2, F3, and C3 are attached to the tip ends of the respective support arm 5.
Since the midway of the crawler belt support 4 of R2 and R3 is axially attached, the crawler belts F2, F3, R2 and R3 are independent of the vehicle body 1,
The rotation mechanism 7 allows each crawler belt to rotate up and down so that it can flexibly respond to the ground on which the vehicle is running, so that the ride comfort is good and the grip force of the crawler track on the ground is uniform. Since the driving force from the engine 31 allows the crawler track vehicle to travel as it is, it is possible to easily run even on off-road.
【００３４】また、履帯支持体４と支持腕体５との間に
可変調節機構６を設けたので、この可変調節機構６によ
り前側左右の履帯Ｆ２・Ｆ３，後側左右の履帯Ｒ２・Ｒ
３の向きを所望の向きに変えることができるので、より
適確な履帯走行車の操舵が可能となる。Further, since the variable adjustment mechanism 6 is provided between the crawler belt support 4 and the support arm 5, the variable adjustment mechanism 6 allows the front left and right crawler belts F2 and F3 and the rear left and right crawler belts R2 and R.
Since the direction of 3 can be changed to a desired direction, it is possible to more accurately steer the crawler belt vehicle.
【００３５】請求項２の発明では、履帯Ｆ２，Ｆ３，Ｒ
２，Ｒ３を車体１に対して夫々独立して設け、この夫々
の履帯Ｆ２，Ｆ３，Ｒ２，Ｒ３を可変調節機構６により
支持腕体５の先端部を軸として所望の向きに旋回できる
ため、地形に合った操縦が可能となる。In the invention of claim 2, crawler belts F2, F3, R
2 and R3 are provided independently of the vehicle body 1, and the respective crawler belts F2, F3, R2, and R3 can be swung in a desired direction with the tip end portion of the support arm 5 as an axis by the variable adjustment mechanism 6. It is possible to control in accordance with the terrain.
【００３６】また、請求項３の発明では、車体１に油圧
シリンダ装置ａと油圧走行装置ｂを作動させる油圧ポン
プ装置ｃを設けたので、機械式の駆動装置と異なり構造
が簡単となり操作し易いうえに、油圧シリンダ装置ａに
より履帯走行車を操舵できるため、より安定した走行が
可能となる。According to the third aspect of the invention, since the vehicle body 1 is provided with the hydraulic pump device c for operating the hydraulic cylinder device a and the hydraulic traveling device b, unlike the mechanical drive device, the structure is simple and easy to operate. In addition, since the crawler track vehicle can be steered by the hydraulic cylinder device a, more stable running becomes possible.
【００３７】この場合、より適確な操舵をするため、履
帯走行車の車速に合わせて左右前後の履帯Ｆ２，Ｆ３，
Ｒ２，Ｒ３の向きをコンピュータにより算出して油圧シ
リンダ装置ａの作動を制御することが望ましい。In this case, in order to carry out more accurate steering, the crawler belts F2, F3 on the left, right, front and rear are adjusted in accordance with the vehicle speed of the crawler traveling vehicle.
It is desirable to control the operation of the hydraulic cylinder device a by calculating the directions of R2 and R3 by a computer.
【００３８】[0038]
【発明の効果】本発明は上述のように構成したので、請
求項１の発明では、左右前後の履帯を車体に対して夫々
独立して配設し回動機構により夫々の履帯が地面状況に
しなやかに追従しながら走行できるので、履帯の地面に
対するグリップ力が平均化し、履帯走行車のエンジンの
駆動力がしっかりと履帯に伝達され、オフロードのよう
な起伏の激しいところであっても容易に走破が可能とな
る。Since the present invention is constituted as described above, in the invention of claim 1, the crawler belts on the left, right, front and rear are arranged independently of each other with respect to the vehicle body, and each of the crawler belts is brought into the ground condition by the turning mechanism. Since it can run while following the suppleness, the grip force of the track on the ground is averaged, the driving force of the engine of the track running vehicle is firmly transmitted to the track, and it is easy to run even in rough areas such as off-road. Is possible.
【００３９】また、可変調節機構により前側左右の履帯
支持体と後側左右の履帯支持体の向きを所望の向きに変
えて走行することができるため、従来のこの種の履帯走
行車のように、履帯を駆動する一方の動力を切って制動
しながら他方の履帯を駆動して信地旋回したり、左右の
履帯を相互に逆回動して超信地旋回したりして履帯や道
路を傷めたりする欠点がなくなり、より安定した操舵が
可能となる秀れた実用性を発揮できる履帯走行車とな
る。Further, since the front and right crawler belt supports and the rear left and right crawler belt supports can be changed to a desired direction by the variable adjustment mechanism, the vehicle can be driven like a conventional crawler track vehicle of this type. , While driving the other crawler by braking while turning the other crawler to drive the other crawler, or turning the left and right crawler tracks in the opposite direction to make a super-critical turn to track the crawler track or road. It will be a crawler track vehicle that has excellent practicality and is capable of more stable steering without the drawbacks of damage.
【００４０】また、請求項２の発明では左右前後の履帯
を車体に対して夫々独立して設け、この夫々の履帯を可
変調節機構により支持腕体の先端部を軸として所望の向
き、例えば逆位相や同位相に回動して履帯走行車を走行
せしめることができるため、従来のこの種の履帯走行車
のように、履帯や道路を傷めることなく履帯走行車を旋
回せしめたり、車寄せが容易な実用的で操舵性の良い履
帯走行車となる。According to the second aspect of the invention, the crawler belts on the left, right, front and rear are provided independently of each other with respect to the vehicle body, and each of these crawler belts is rotatably moved in a desired direction, for example, in the reverse direction, by means of a variable adjusting mechanism. As the tracked vehicle can be driven by rotating in phase or in-phase, it can easily turn the tracked vehicle without damaging the track or the road, and can easily pull the car like a conventional tracked vehicle of this type. It will be a practical tracked vehicle with good steering characteristics.
【００４１】また、請求項３の発明では左右前後の履帯
を運行させる駆動走行機構に夫々独立した油圧走行装置
を採用したので、夫々の履帯が夫々独立して走行するた
め、地形により例えばぬかるみや起伏や坂道や濠があっ
て前後の履帯のどちらかに地面をグリップすることが困
難な場合であっても、前後の履帯のどちからに駆動力を
与え、この駆動力による履帯のグリップ力により履帯走
行車を走行させることが可能となるので、荒地の走行に
秀れた実用性が発揮できる。Further, in the invention of claim 3, since independent hydraulic traveling devices are used for the drive traveling mechanisms for operating the left and right front and rear crawler belts, each crawler belt travels independently, so that, for example, depending on the terrain, muddy or Even when it is difficult to grip the ground on one of the front and rear tracks due to undulations, slopes, or moats, the driving force is applied from either side of the front and rear tracks, and the track's grip force by this drive force allows the tracks to be tracked. Since it is possible to drive a traveling vehicle, it is possible to demonstrate excellent practicality for traveling in rough terrain.
【００４２】また、車体に油圧シリンダ装置と油圧走行
装置を作動させる油圧ポンプ装置を設けたので、駆動装
置の構造が簡単で操舵性が容易となり操作性の良い履帯
走行車となる。Further, since the vehicle body is provided with the hydraulic cylinder device and the hydraulic pump device for actuating the hydraulic traveling device, the structure of the drive device is simple, and the steerability is facilitated, and the crawler track vehicle is excellent in operability.
【図１】本発明の実施例の一部を省略した側面図であ
る。FIG. 1 is a side view with a part of an embodiment of the present invention omitted.
【図２】本発明の実施例の説明用平面図である。FIG. 2 is a plan view for explaining an embodiment of the present invention.
【図３】本発明の実施例の回動機構と履帯支持体の途中
部を支持腕体の先端部に左右回動可能に設けた構成を示
す説明用側面図である。FIG. 3 is an explanatory side view showing a configuration in which a rotating mechanism and an intermediate portion of a crawler belt support according to an embodiment of the present invention are rotatably provided on a front end of a support arm.
【図４】本発明の履帯走行車の走行状態を示す説明用側
面図で、（イ）は地面が凹状の場合，（ロ）は地面が凸
状の場合，（ハ）は超濠状態の場合の状態を示す図面で
ある。FIG. 4 is a side view for explaining a traveling state of the crawler track vehicle of the present invention, in which (a) shows a concave surface, (b) shows a convex surface, and (c) shows a super moat state. It is drawing which shows the state in a case.
【図５】本発明の履帯走行車の走行状態を示す説明用平
面図で、（イ）は直進の場合，（ロ）は左折の場合，
（ハ）は車寄せの状態を示す図面である。FIG. 5 is an explanatory plan view showing a traveling state of the crawler track vehicle of the present invention, in which (a) is straight ahead, (b) is left turn,
(C) is a drawing showing a state of a vehicle approaching.
ａ 油圧シリンダ装置 ｂ 油圧走行装置 ｃ 油圧ポンプ装置 Ｆ２・Ｆ３ 履帯 Ｒ２・Ｒ３ 履帯 １ 車体 ２，３ 履帯 ４ 履帯支持体 ５ 支持腕体 ６ 可変調節機構 ７ 回動機構 ８ 駆動走行機構 a hydraulic cylinder device b hydraulic traveling device c hydraulic pump device F2 / F3 crawler track R2 / R3 crawler track 1 vehicle body 2,3 crawler track 4 crawler track support 5 support arm 6 variable adjustment mechanism 7 turning mechanism 8 drive travel mechanism
Claims (3)
て前側左右の履帯と後側左右の履帯を車体の左右前後に
配設し、夫々の履帯の履帯支持体の途中部を車体に突設
した支持腕体の先端部に軸着して夫々の履帯を車体に対
して左右回動可能に設け、履帯支持体と支持腕体との間
に履帯支持体の向きを変えることができる可変調節機構
を設け、車体と支持腕体との間に夫々の履帯支持体を車
体に対して上下回動可能ならしめる回動機構を設けたこ
とを特徴とする履帯走行車。1. Crawler tracks provided on the left and right of the vehicle body are divided into front and rear, front and left crawler belts and rear left and right crawler belts are arranged on the left and right front and rear sides of the vehicle body, and a middle portion of the crawler belt support of each crawler belt is used as a vehicle body. It is possible to pivotally attach each crawler belt to the tip of the projecting support arm so as to be rotatable left and right with respect to the vehicle body, and change the direction of the crawler belt support between the crawler belt support and the support arm. A crawler belt traveling vehicle comprising a variable adjustment mechanism, and a rotation mechanism that allows the crawler belt supports to be vertically rotatable with respect to the vehicle body between the vehicle body and the support arms.
て前側左右の履帯と後側左右の履帯を車体の左右前後に
配設し、夫々の履帯の履帯支持体の途中部を車体に突設
した支持腕体の先端部に軸着して夫々の履帯を車体に対
して左右回動可能に設け、履帯支持体と支持腕体との間
に履帯支持体の向きを変えることができる可変調節機構
を設けたことを特徴とする履帯走行車。2. The crawler belts provided on the left and right of the vehicle body are divided into front and rear, front and left crawler belts and rear left and right crawler belts are arranged on the left and right front and rear sides of the vehicle body, and an intermediate part of the crawler belt support body of each crawler belt is set on the vehicle body It is possible to pivotally attach each crawler belt to the tip of the projecting support arm so as to be rotatable left and right with respect to the vehicle body, and change the direction of the crawler belt support between the crawler belt support and the support arm. Tracked vehicle equipped with a variable adjustment mechanism.
し、履帯を運行させる駆動走行機構に油圧走行装置を採
用し、車体に油圧シリンダ装置と油圧走行装置を作動さ
せる油圧ポンプ装置を設けたことを特徴とする請求項
１，２のいずれか１項に記載の履帯走行車。3. A hydraulic cylinder device is adopted as the variable adjustment mechanism, a hydraulic traveling device is adopted as a drive traveling mechanism for operating the crawler belt, and a hydraulic pump device for operating the hydraulic cylinder device and the hydraulic traveling device is provided on the vehicle body. The crawler belt traveling vehicle according to any one of claims 1 and 2, characterized in that.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3086696A JPH09221070A (en) | 1996-02-19 | 1996-02-19 | Crawler vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3086696A JPH09221070A (en) | 1996-02-19 | 1996-02-19 | Crawler vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH09221070A true JPH09221070A (en) | 1997-08-26 |
Family
ID=12315659
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3086696A Pending JPH09221070A (en) | 1996-02-19 | 1996-02-19 | Crawler vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH09221070A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001097255A (en) * | 1999-10-01 | 2001-04-10 | Japan Science & Technology Corp | All terrain vehicle |
| JP2010089776A (en) * | 2008-09-22 | 2010-04-22 | Manitowoc Crane Companies Ltd | Trunnion transportation system and crane using same |
| JP2010235020A (en) * | 2009-03-31 | 2010-10-21 | Hitachi Constr Mach Co Ltd | Working machine |
| JP2015501254A (en) * | 2011-10-26 | 2015-01-15 | アイエイチシー エンジニアリング ビジネス リミテッドＩｈｃ Ｅｎｇｉｎｅｅｒｉｎｇ Ｂｕｓｉｎｅｓｓｌｉｍｉｔｅｄ | Steerable underwater ditcher |
| RU2641951C1 (en) * | 2016-12-28 | 2018-01-23 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Пензенский государственный университет" (ФГБОУ ВО "Пензенский государственный университет") | Multifunctional vehicle |
| CN115230834A (en) * | 2022-09-05 | 2022-10-25 | 苏州瑞奇安机电科技有限公司 | High-trafficability chassis, forest rescue, fire extinguishing and fire fighting water supply robot |
-
1996
- 1996-02-19 JP JP3086696A patent/JPH09221070A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001097255A (en) * | 1999-10-01 | 2001-04-10 | Japan Science & Technology Corp | All terrain vehicle |
| JP2010089776A (en) * | 2008-09-22 | 2010-04-22 | Manitowoc Crane Companies Ltd | Trunnion transportation system and crane using same |
| JP2010235020A (en) * | 2009-03-31 | 2010-10-21 | Hitachi Constr Mach Co Ltd | Working machine |
| JP2015501254A (en) * | 2011-10-26 | 2015-01-15 | アイエイチシー エンジニアリング ビジネス リミテッドＩｈｃ Ｅｎｇｉｎｅｅｒｉｎｇ Ｂｕｓｉｎｅｓｓｌｉｍｉｔｅｄ | Steerable underwater ditcher |
| RU2641951C1 (en) * | 2016-12-28 | 2018-01-23 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Пензенский государственный университет" (ФГБОУ ВО "Пензенский государственный университет") | Multifunctional vehicle |
| CN115230834A (en) * | 2022-09-05 | 2022-10-25 | 苏州瑞奇安机电科技有限公司 | High-trafficability chassis, forest rescue, fire extinguishing and fire fighting water supply robot |
| CN115230834B (en) * | 2022-09-05 | 2024-05-14 | 苏州瑞奇安机电科技有限公司 | High-trafficability chassis, forest rescue, fire extinguishment and fire-fighting water supply robot |
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