Crawler travel device and working machine equipped with the same

Abstract

The crawler travel device (20) is provided with a first wheel (22), a second wheel (23) arranged separately from the first wheel (22), a support frame (24) supporting the first wheel (22) and the second wheel (23), a third wheel (25) arranged above the support frame (24), an annular crawler (21) wound around the first wheel (22), the second wheel (23) and the third wheel (25), and a vehicle height changing mechanism (30) for changing the vertical position of the support frame (24) relative to the third wheel (25). In addition, the vehicle height changing mechanism (30) has an actuator (31) that can shrink in the vertical direction and change the vertical position of the support frame (24) relative to the third wheel (25).

Description

Technical Field

[0001] The present invention relates to a crawler travel device and a working machine such as a tractor equipped with the crawler travel device. Background Art

[0002] In the past, the crawler travel device disclosed in Patent Document 1 includes: a first wheel (front and rear driven wheels); a second wheel (front and rear driven wheels) arranged separately from the first wheel; a support frame (track frame) supporting the first wheel and the second wheel; a third wheel (drive wheel) arranged above the support frame; and an annular crawler track wound around the first wheel, the second wheel and the third wheel, the support frame having a tension adjustment mechanism for supporting the first wheel and adjusting the tension of the crawler track.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Publication "Japanese Patent Application Laid-Open No. 2015-155302" Summary of the invention

[0006] Problems that the invention will solve

[0007] In the crawler travel device of Patent Document 1, stabilization of the first wheel and the like can be achieved.

[0008] However, in the crawler travel device such as Patent Document 1, since the height of the working machine equipped with the crawler travel device is constant, when steps or obstacles such as ridges are relatively large, the lower surface of the working machine may come into contact and cannot be crossed. In addition, the vertical position needs to be adjusted according to the operation of the working machine.

[0009] The present invention has been made to solve the problems of the prior art, and an object of the present invention is to provide a crawler travel device capable of improving travel performance and workability, and a work machine including the crawler travel device.

[0010] Means for solving problems

[0011] A crawler travel device according to one embodiment of the present invention comprises a first wheel, a second wheel arranged separately from the first wheel, a support frame supporting the first wheel and the second wheel, a third wheel arranged above the support frame, an annular crawler track wound around the first wheel, the second wheel and the third wheel, and a vehicle height changing mechanism for changing the position of the support frame in the vertical direction relative to the third wheel.

[0012] In addition, the vehicle height changing mechanism includes a first actuator that is capable of contracting in the vertical direction and changing the position of the support frame relative to the third wheel in the vertical direction.

[0013] The first actuator of the crawler travel device is a hydraulic cylinder that is extended and retracted by hydraulic oil discharged from a hydraulic pump.

[0014] In addition, the crawler travel device has a mounting frame supporting the third wheel, and the first actuator is extended in the vertical direction to connect the supporting frame and the mounting frame. The first actuator changes the distance between the supporting frame and the mounting frame to change the vertical position of the supporting frame relative to the third wheel.

[0015] In addition, the crawler travel device includes a third shaft that supports the third wheel on the mounting frame, and a pair of first actuators are arranged on the front and rear sides of the third shaft.

[0016] The first wheel and the second wheel are driven wheels that apply tension to the crawler belt, and the third wheel is a driving wheel that is rotationally driven to which power is transmitted.

[0017] Furthermore, the crawler track travel device includes a distance changing mechanism that is provided on the support frame and that changes the distance between the first wheel and the second wheel.

[0018] In addition, the distance changing mechanism includes a second actuator that can be contracted in the front-rear direction and that causes the support frame to expand and contract in the front-rear direction to change the distance between the first wheel and the second wheel.

[0019] The second actuator of the crawler travel device is a hydraulic cylinder that is extended and retracted by hydraulic oil discharged from a hydraulic pump.

[0020] The crawler travel device includes a plurality of rollers mounted on the support frame and arranged separately from each other, wherein the distance between the roller on the first wheel side and the first wheel is longer than the distance between the roller on the second wheel side and the second wheel.

[0021] The working machine includes a plurality of crawler travel devices and a machine body having a mounting portion on which the working devices can be mounted. The plurality of crawler travel devices include a crawler travel device provided on one side in the width direction of the machine body and a crawler travel device provided on the other side in the width direction.

[0022] In addition, the working machine includes a plurality of crawler travel devices and a machine body having a mounting portion on which the working devices can be mounted, the plurality of crawler travel devices including a pair of crawler travel devices separated in the width direction of the machine body and arranged at the front of the machine body, and a pair of crawler travel devices separated in the width direction and arranged at the rear of the machine body.

[0023] In addition, the working machine has a battery unit for storing electricity and a charging display unit that can display information related to the charging of the battery unit. The machine body has an outer body that accommodates equipment and devices installed in the machine body. The charging display unit is installed in the outer body to report the status of the battery unit to the outside.

[0024] In addition, the working machine has a battery unit for storing electric power and a charging display unit capable of displaying information related to the charging of the battery unit. The machine body has an outer body that accommodates equipment and devices provided on the machine body. The charging display unit is provided on the outer body and is arranged between a pair of crawler travel devices provided on the front of the machine body and a pair of crawler travel devices provided on the rear of the machine body to report the status of the battery unit to the outside.

[0025] In addition, the vehicle height changing mechanisms independently change the positions of the support frames in the vertical direction relative to the third wheels.

[0026] Effects of the Invention

[0027] According to the crawler travel device and the work machine equipped with the crawler travel device, the travel performance and workability can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic side view showing the working machine in the first embodiment.

[0029] Figure 2 It is a schematic plan view showing the working machine in the first embodiment.

[0030] Figure 3 It is a diagram for explaining the system of the working machine in the first embodiment.

[0031] Figure 4 It is a perspective view showing the crawler travel device in the first embodiment.

[0032] Figure 5 It is a top view showing the crawler travel device in the first embodiment.

[0033] Figure 6 This is a side view showing a state in which the vertical length of the crawler travel device in the first embodiment is shortened (a state in which the vehicle height is low).

[0034] Figure 7 This is a side view showing a state in which the vertical length of the crawler travel device in the first embodiment is lengthened (a state in which the vehicle height is high).

[0035] Figure 8 It is a diagram for explaining the transition of the display mode of the charging display unit in the first embodiment.

[0036] Fig. 9 It is a schematic side view showing a working machine in the second embodiment.

[0037] Fig.10 It is a schematic plan view showing a working machine in a second embodiment.

[0038] Fig.11 It is a schematic side view showing a modified example of the working machine in the second embodiment.

[0039] Fig.12 It is a schematic plan view showing a modified example of the working machine in the second embodiment. DETAILED DESCRIPTION

[0040] [First embodiment]

[0041] Below, while referring to the attached Figure 1 One embodiment of the present invention will be described.

[0042] Figure 1 as well as Figure 2 A tractor is shown as an example of the working machine 1. The working machine 1 is described by taking the tractor as an example, but the working machine 1 is not limited to the tractor, and may be a backhoe, a wheel loader or other construction machine having a mounting portion on which a working device can be mounted, a combine harvester, a rice transplanter or other agricultural machine, or various vehicles. Figure 1 , Figure 2 The arrow A1 direction is the front direction. Figure 1 , Figure 2 The direction of arrow A2 is the rear direction. Figure 1 The front side of Figure 2 The arrow B1 direction is the left direction, Figure 1 The inside of Figure 2 The direction of arrow B2 is described as the right side. In addition, the horizontal direction, which is perpendicular to the front-rear direction of the work machine 1, is described as the width direction. The direction from the center of the width direction toward the right or left is described as the width direction outer side. The direction opposite to the width direction outer side is described as the width direction inner side.

[0043] like Figure 1 As shown in FIG. 1 , the working machine 1 includes a machine body (traveling body) 2 and a traveling device 3 that supports the machine body 2 so that it can travel. Figure 3 As shown, the working machine 1 includes a prime mover 4 and a transmission 6. The travel device 3 is a device for traveling the machine body 2, and applies a propulsion force to the machine body 2. For example, a plurality of travel devices 3 are provided on the machine body 2.

[0044] The prime mover 4 is an electric motor 4a, a diesel engine, etc. The prime mover 4 drives, for example, a hydraulic pump 10 for operating a hydraulic device provided in the working machine 1, and the hydraulic pump 10 discharges hydraulic oil using power output by the prime mover 4. In the present embodiment, the electric motor 4a is driven by electric power stored in a battery unit 5 provided in the machine body 2.

[0045] The transmission 6 can switch the propulsion force of the travel device 3 by changing the speed, and can switch the travel device 3 between forward movement and reverse movement.

[0046] like Figure 1 , Figure 2 As shown, the machine body 2 has an outer body 7, and the outer body 7 accommodates the equipment and devices (such as the prime mover 4, the battery unit 5, etc.) provided in the machine body 2. Figure 1 , Figure 2 As shown, the outer casing 7 extends from the front to the rear of the body 2, and accommodates the prime mover 4 and the battery unit 5 in the space (accommodation space) formed inside. The outer casing 7 has a front wall 7a forming the front of the accommodation space, a rear wall 7b forming the rear of the accommodation space, a pair of side walls 7c forming the side of the accommodation space, and an upper wall 7d forming the upper part of the accommodation space.

[0047] The front wall 7a is arranged at the front of the body 2, and is provided with, for example, a headlight unit. The rear wall 7b is arranged at the rear of the body 2 and is separated from the front wall 7a in the front-to-back direction, and is provided with, for example, a taillight unit. The left side wall 7c of the pair of side walls 7c is arranged at the left side of the body 2, and connects the left end of the front wall 7a with the left end of the rear wall 7b. The right side wall 7c of the pair of side walls 7c is arranged at the right side of the body 2, and connects the right end of the front wall 7a with the right end of the rear wall 7b. Therefore, the pair of side walls 7c are arranged separately in the width direction. The upper wall 7d extends from the front to the rear of the body 2 and is arranged at the top. In addition, the upper wall 7d connects the upper end of the front wall 7a, the upper end of the rear wall 7b, and the upper ends of the pair of side walls 7c.

[0048] In addition, if Figure 1 , Figure 2 As shown, the machine body 2 has a mounting portion 8. The mounting portion 8 can mount a working device and connect the working device to the machine body 2. The mounting portion 8 is, for example, provided at the rear of the machine body 2, and is a lifting device that lifts and lowers the working device instead of a swing drawbar or a three-point linkage mechanism. By connecting the working device to the mounting portion 8, the machine body 2 can tow the working device. In addition, the position of the mounting portion 8 is not limited to the rear of the machine body 2, and can also be provided at the front of the machine body (swing base) like a backhoe, and its structure is not limited to the above structure.

[0049] The working device is a device installed on the mounting portion 8 and performs a predetermined operation. The working device includes: a tilling device for tilling, a transplanting device for planting seedlings, a cutting device for cutting grass, etc., a spreading device for spreading grass, etc., a grass collecting device for collecting grass, etc., a shaping device for shaping grass, etc., a fertilizing device (spreader), a pesticide spreading device for spreading pesticides, a watering device for watering, etc.

[0050] The following describes the travel device 3 in detail. Figure 1 , Figure 2 As shown, the traveling device 3 is provided in plurality on the machine body 2, and is a crawler traveling device 20 (loop track traveling device) having a crawler 21 and cyclically driving the crawler 21. The crawler 21 is an iron crawler formed of iron or a rubber crawler formed of rubber as an elastic body, and imparts a propulsion force to the machine body 2 by cyclically driving.

[0051] like Figure 1 , Figure 2 As shown, the plurality of crawler travel devices 20 include a pair of crawler travel devices 20 separated in the width direction of the machine body 2 and provided at the front portion of the machine body 2, and a pair of crawler travel devices 20 separated in the width direction and provided at the rear portion of the machine body 2. That is, a pair of crawler travel devices 20 are arranged at the front portion of the machine body 2 along the width direction, and a pair are arranged at the rear portion of the machine body 2 along the width direction.

[0052] like Figure 2 As shown, among the plurality of crawler travel devices 20, the crawler travel device 20 disposed on one side (left side) in the width direction of the front portion of the machine body 2 and the crawler travel device 20 disposed on the other side (right side) in the width direction of the front portion of the machine body 2 have the same structure and are symmetrical in the width direction. Among the plurality of crawler travel devices 20, the crawler travel device 20 disposed on one side (left side) in the width direction of the rear portion of the machine body 2 and the crawler travel device 20 disposed on the other side (right side) in the width direction of the rear portion of the machine body 2 have the same structure and are symmetrical in the width direction.

[0053] In addition, if Figure 1 As shown, the crawler travel device 20 disposed at the front of the machine body 2 has the same structure as the crawler travel device 20 disposed at the rear of the machine body 2. Hereinafter, the crawler travel device 20 disposed at the left side of the rear of the machine body 2 is used as an example to explain the crawler travel device 20, and the description of other crawler travel devices 20 is omitted.

[0054] like Figures 4 to 7 As shown, the crawler travel device 20 includes a first wheel 22, a second wheel 23, a support frame 24, a third wheel 25, and a plurality of rollers 26. The crawler belt 21 is wound around the first wheel 22 to the third wheel 25 and the plurality of rollers 26.

[0055] like Figures 4 to 7 As shown, the first wheel 22 is disposed at the front of the crawler travel device 20 and is rotatable around a first support shaft 22a extending in the width direction. The first wheel 22 is, for example, a driven wheel that applies tension in the front and lower direction to the crawler 21 and rotates as the crawler 21 is driven and circulated.

[0056] like Figures 4 to 7As shown, the second wheel 23 is arranged at the rear of the crawler travel device 20, and is arranged separately from the first wheel 22 in the front-rear direction. The second wheel 23 can rotate around a second support shaft 23a extending in the width direction and parallel to the first support shaft 22a. In addition, the second wheel 23 is, for example, a driven wheel that applies tension in the rear-downward direction to the crawler 21 and rotates with the circulation drive of the crawler 21.

[0057] like Figures 4 to 7 As shown, the support frame 24 is a longitudinal frame member extending in the front-rear direction and supporting the first wheel 22 and the second wheel 23. The support frame 24 supports the first wheel 22 and the second wheel 23 separately in the front-rear direction.

[0058] like Figure 4 , Figure 6 , Figure 7 As shown, the third wheel 25 is arranged above the support frame 24 and is arranged vertically apart from the first wheel 22 and the second wheel 23. That is, the first wheel 22 to the third wheel 25 respectively form the vertices of a triangle, and the crawler 21 wound around the first wheel 22 to the third wheel 25 describes a substantially triangle in a side view.

[0059] like Figure 5 As shown, the third wheel 25 can rotate around a third support shaft 25a extending in the width direction and parallel to the first support shaft 22a and the second support shaft 23a. Specifically, the third wheel 25 is a driving wheel that is driven to rotate by power transmission, for example, it applies tension in the upward direction to the crawler 21 and drives the crawler 21 in a circular manner. The third wheel 25 is, for example, a drive transmission body formed with teeth on the outer circumference of a disc, i.e., a sprocket. The third support shaft 25a is connected to the speed change device 6, and power is transmitted from the speed change device 6, and the third wheel 25 is driven by the power. The third support shaft 25a (third wheel 25) is installed on the machine body 2 via a mounting frame 27. The mounting frame 27 is formed of square materials, plates, pipes, etc., and supports the third wheel 25 on the outer side of the width direction of the machine body 2. That is, the third wheel 25 on the left side is supported on the left side of the left side of the machine body 2 by the mounting frame 27.

[0060] A plurality of rollers (idling wheels) 26 are mounted on the support frame 24 and apply downward tension to the crawler 21. The plurality of rollers 26 can rotate around a support shaft (not shown) extending in the width direction and parallel to the first support shaft 22a to the third support shaft 25a. The plurality of rollers 26 are arranged and supported between the first wheel 22 and the second wheel 23 on the lower side of the support frame 24 and are separately arranged in the front-rear direction. The distance between the roller 26 (front roller 26a) on the first wheel 22 side of the plurality of rollers 26 and the first wheel 22 is longer than the distance between the roller 26 (rear roller 26b) on the second wheel 23 side and the second wheel 23.

[0061] In this embodiment, if Figure 5 As shown in FIG. 1 , the front roller 26a is arranged to be separated from the first wheel 22 by a predetermined distance (separation distance La) in the front-rear direction, and the rear roller 26b is arranged to overlap with the rear roller 26b by a predetermined distance (overlap distance Lb) in the front-rear direction. In addition, in the rear crawler travel device 20, the number of the plurality of rollers 26 is three, but it may also be as follows: Figure 1 Although there are two front crawler track devices 20 as shown, the number may be four and is not limited to the above number.

[0062] like Figures 4 to 7 As shown, the crawler travel device 20 has a vehicle height changing mechanism 30. The vehicle height changing mechanism 30 changes the vertical position of the support frame 24 relative to the third wheel 25. That is, the vehicle height changing mechanism 30 can change the distance from a specified position of the work machine 1 to the ground, that is, the vehicle height. The vehicle height changing mechanism 30 has an actuator (first actuator) 31 that can shrink in the vertical direction and change the vertical position of the support frame 24 relative to the third wheel 25. The first actuator 31 is a hydraulic cylinder that can be extended and driven by the working oil discharged by the hydraulic pump 10. In addition, the first actuator 31 is not limited to a hydraulic cylinder, and can also be a hydraulic jack or the like. As shown in FIG. Figure 3 As shown, the first actuator 31 is connected to the hydraulic pump 10 via the first control valve 11. The first control valve 11 is a solenoid valve or the like, and expands and contracts the first actuator 31 by adjusting the hydraulic oil supplied to the first actuator 31.

[0063] like Figure 6 , Figure 7 As shown, the first actuator 31 is arranged to extend in the vertical direction, and connects the support frame 24 to the mounting frame 27. That is, the first actuator 31, the support frame 24, and the mounting frame 27 constitute a crawler frame that mounts the first wheel 22 to the third wheel 25, the roller 26, and the crawler 21 to the machine body 2. The upper end of the first actuator 31 is connected to the mounting frame 27 in a manner that allows it to swing around a support shaft in the width direction, and the lower end of the first actuator 31 is connected to the support frame 24 in a manner that allows it to swing around a support shaft in the width direction.

[0064] like Figure 6 , Figure 7As shown, a pair of first actuators 31 are arranged on the front and rear sides of the third support shaft 25a, and the first actuator 31 on the front side connects the front side of the support frame 24 with the front side of the mounting frame 27. Specifically, the upper end of the first actuator 31 on the front side (in this embodiment, the upper end of the rod 31a of the first actuator 31 on the front side) is swingably connected to the first upper bracket 27a arranged on the front upper part of the mounting frame 27. In addition, the lower end of the first actuator 31 on the front side (in this embodiment, the lower end of the cylinder 31b of the first actuator 31 on the front side) is swingably connected to the first lower bracket 24a on the front side arranged on the inner side of the width direction of the support frame 24.

[0065] On the other hand, Figure 6 , Figure 7 As shown, the first actuator 31 on the rear side connects the rear side of the support frame 24 to the rear side of the mounting frame 27. Figure 5 As shown, the first actuator 31 on the front side and the first actuator 31 on the rear side are arranged offset in the width direction, for example. In this embodiment, the first actuator 31 on the rear side is arranged on the outer side (left side) of the first actuator 31 on the front side in the width direction. In detail, the upper end of the first actuator 31 on the rear side (in this embodiment, the upper end of the rod 31a of the first actuator 31 on the rear side) is swingably connected to the second upper bracket 27b arranged on the upper rear side of the mounting frame 27. The second upper bracket 27b is located on the outer side (left side) of the first upper bracket 27a in the width direction. In addition, the lower end of the first actuator 31 on the rear side (in this embodiment, the lower end of the cylinder 31b of the first actuator 31 on the rear side) is swingably connected to the second lower bracket 24b arranged on the rear side of the inner side of the support frame 24 in the width direction. The second lower bracket 24b is located on the outer side (left side) of the first lower bracket 24a in the width direction.

[0066] If the hydraulic oil supplied from the hydraulic pump 10 to the first actuator 31 is controlled, the first actuator 31 is moved from Figure 6 Transformed into Figure 7 , the distance (first distance L1) between the support frame 24 and the mounting frame 27 increases, that is, the position of the support frame 24 in the vertical direction relative to the third wheel 25 moves downward.

[0067] On the other hand, if the hydraulic oil supplied from the hydraulic pump 10 to the first actuator 31 is controlled, the first actuator 31 is caused to move from Figure 7 Transformed into Figure 6 , the distance (first distance L1) between the support frame 24 and the mounting frame 27 is reduced, that is, the support frame 24 moves upward relative to the vertical position of the third wheel 25.

[0068] In addition, if the working oil supplied from the hydraulic pump 10 to the first actuator 31 is controlled so that one of the front first actuator 31 and the rear first actuator 31 is extended and the other is contracted, the support frame 24 is tilted relative to the body 2, and the distance between the support frame 24 and the mounting frame 27 is increased, that is, the support frame 24 moves downward in the vertical direction relative to the third wheel 25.

[0069] like Figure 5 to Figure 7 As shown, the support frame 24 has a front support portion 40 as a part supporting the first wheel 22 and a rear support portion 45 as a part supporting the second wheel 23. By changing the positions of the front support portion 40 and the rear support portion 45, the distance between the first wheel 22 and the second wheel 23 can be changed.

[0070] like Figure 5 to Figure 7 As shown, the front support portion 40 is, for example, a tension adjustment mechanism for adjusting the tension applied by the first wheel 22 to the track 21, and comprises a support body 41 for supporting the first support shaft 22a, a tension applying device 42 connected to the support body 41 and applying tension on the track 21 side (front side) to the support body 41, an inclined platform 43 for supporting the tension applying device 42 at an inclination forward and downward, and a tension cover 44 for covering the tension applying device 42.

[0071] like Figure 5 to Figure 7 As shown, the support body 41 and the tilting platform 43 are formed of square materials, plates, pipes, etc. and are arranged apart in the front-to-back direction and connected via the tension applying device 42. The front end of the support body 41 is formed with a two-fork bearing body separated in the width direction, and the first support shaft 22a is rotatably supported by the bearing body. The tension applying device 42 is an elastic body, and in this embodiment, it is a spring. The tension cover 44 is formed of square materials, plates, etc., and covers one side (left side) and the other side (right side) and the top of the tension applying device 42 in the width direction.

[0072] like Figure 5 to Figure 7 As shown, the rear support 45 is a longitudinal frame arranged to extend in the front-rear direction, and supports the plurality of rollers 26 in a row. The rear support 45 includes support columns 46 extending in the front-rear direction and a plurality of swing brackets 47 supporting the plurality of rollers 26.

[0073] The support column 46 is formed of, for example, a square material, a plate material, or a pipe material, and supports the second support shaft 23a at the rear end. A two-pronged bearing body separated in the width direction is formed at the rear end of the support column 46, and the second support shaft 23a is rotatably supported via the bearing body. The front side of the support column 46 supports the front support portion 40 slidably in the front-to-back direction. Specifically, a guide rail extending in the front-to-back direction is formed at the front side of the support column 46, and the tilting platform 43 is slidably mounted on the guide rail. Since the first wheel 22 and the front roller 26a are configured separately, the tilting platform 43 mounted on the support column 46 can slide a distance until the first wheel 22 contacts the front roller 26a.

[0074] The plurality of swing brackets 47 are formed of, for example, square materials, plates, etc., and can respectively support at least one or more rollers 26 among the plurality of rollers 26. In the present embodiment, the plurality of swing brackets 47 can support two rollers 26. The lower ends of the plurality of swing brackets 47 are formed with two fork-shaped bearing bodies separated in the width direction, and the support shaft of one roller 26 is supported on the front side and the support shaft of the other roller 26 is supported on the rear side via the bearing bodies. The plurality of swing brackets 47 are protrudingly arranged downward from the lower side of the front portion to the rear on the lower side of the support column 46, and in detail, are pivotally supported on the lower side of the support column 46 so as to be swingable around an axis extending in the width direction.

[0075] In addition, in the present embodiment, the front support portion 40 is a tension adjustment mechanism, but the rear support portion 45 may also be a tension adjustment mechanism, and the support frame 24 may also be a structure without a tension adjustment mechanism, and its structure is not limited to the above-mentioned structure. In addition, the support frame 24 only needs to be configured to be able to change the distance between the first wheel 22 and the second wheel 23, and may be a structure in which the front side of the support column 46 is formed into a tubular shape extending forward, and the tilting platform 43 slides on the tube in the front-rear direction, and its structure is not limited to the above-mentioned structure.

[0076] like Figures 4 to 7 As shown, the crawler travel device 20 has a distance changing mechanism 50 that is provided on the support frame 24 and changes the distance between the first wheel 22 and the second wheel 23. The distance changing mechanism 50 has a second actuator 51 that can be retracted in the front-rear direction and causes the support frame 24 to retract in the front-rear direction, and a cylinder cover 52 that covers the second actuator 51. The second actuator 51 is a hydraulic cylinder that can be extended and retracted by the working oil discharged by the hydraulic pump 10. In addition, the second actuator 51 is not limited to a hydraulic cylinder, and can also be a hydraulic jack, etc. Figure 3 As shown, the second actuator 51 is connected to the hydraulic pump 10 via the second control valve 12. The second control valve 12 is a solenoid valve or the like, and adjusts the hydraulic oil supplied to the second actuator 51 to cause the second actuator 51 to expand and contract.

[0077] like Figure 5 to Figure 7As shown, the second actuator 51 is arranged to extend in the front-rear direction, connecting the front support portion 40 and the rear support portion 45. Specifically, the front end of the second actuator 51 (the rod 51a of the second actuator 51 in this embodiment) is connected to the tilting table 43, and the rear end of the second actuator 51 (the cylinder 51b of the second actuator 51 in this embodiment) is connected to the rear end of the rear support portion 45.

[0078] Therefore, if the hydraulic oil supplied from the hydraulic pump 10 to the second actuator 51 is controlled, the second actuator 51 is caused to move from Figure 7 Transformed into Figure 6 If the crawler track 21 is extended in a forward and backward manner, the distance between the first wheel 22 and the second wheel 23 (the fourth distance L4) increases, that is, the tension of the crawler track 21 in the front-rear direction increases.

[0079] On the other hand, if the hydraulic oil supplied from the hydraulic pump 10 to the second actuator 51 is controlled, the second actuator 51 is caused to move from Figure 6 Transformed into Figure 7 , the distance between the first wheel 22 and the second wheel 23 (the fourth distance L4) is reduced, that is, the tension of the crawler track 21 in the front-rear direction is reduced.

[0080] like Figure 4 As shown in FIG. 1 , the cylinder cover 52 is formed of a square material, a plate, etc. and covers at least a portion of the second actuator 51. In the present embodiment, the cylinder cover 52 covers the width direction outer side (left side), the front side, and the top side of the front end of the second actuator 51. In addition, the rear crawler travel device 20 is provided with the cylinder cover 52 and the tension cover 44 separately, but it may also be provided as Figure 1 As in the front crawler travel device 20 shown in the figure, the tension cover 44 also serves as the cylinder cover, or the cylinder cover also serves as the tension cover.

[0081] like Figure 3 As shown, the working machine 1 includes a control device 60, and the control device 60 controls the vehicle height changing mechanism 30 and the distance changing mechanism 50 to change the vertical position of the support frame 24 relative to the third wheel 25 and change the distance between the first wheel 22 and the second wheel 23, thereby appropriately maintaining the tension applied to the crawler 21 and changing the vertical length of the crawler 21. Therefore, the machine body 2 equipped with the crawler travel device 20 can change the vehicle height.

[0082] In addition, the control device 60 can independently control the first control valve 11 and the second control valve 12 of the working machine 1, that is, can independently control the first actuator 31 and the second actuator 51 of the plurality of crawler travel devices 20 of the working machine 1. In other words, the vehicle height changing mechanism 30 can independently change the vertical position of the support frame 24 relative to the third wheel 25.

[0083] Furthermore, control device 60 can control vehicle-height changing mechanism 30 and distance changing mechanism 50 in either or both of the cases where crawler travel device 20 is driven and work machine 1 is traveling and crawler travel device 20 is stopped and work machine 1 is parked.

[0084] The control device 60 is a device composed of programs stored in an electric or electronic circuit, a CPU, etc., and controls various devices of the working machine 1. For example, the control device 60 can control the rotation speed of the electric motor 4a, the speed and steering of the travel device 3, etc. unmanned or autonomously. In addition, the control device 60 can also control the rotation speed of the electric motor 4a, the speed and steering of the travel device 3, etc. according to the operation of the operating device provided on the working machine 1.

[0085] like Figure 3 As shown, a plurality of detection devices 61 are connected to the control device 60. The plurality of detection devices 61 are devices for detecting the state of the working machine 1, and in this embodiment, include a first extension sensor 61a for detecting the extension (stroke) of the first actuator 31 and a second extension sensor 61b for detecting the extension (stroke) of the second actuator 51. The first extension sensor 61a and the second actuator 51 are respectively provided on the first actuator 31 and the second actuator 51 of the plurality of crawler travel devices 20 provided on the working machine 1.

[0086] The first extension sensor 61a and the second extension sensor 61b output detection signals to the control device 60. The control device 60 can obtain the stroke of the first actuator 31 and the second actuator 51 based on the detection signals output from the first extension sensor 61a and the second extension sensor 61b, that is, obtain the vertical position of the support frame 24 relative to the third wheel 25 and the distance between the first wheel 22 and the second wheel 23.

[0087] like Figure 3As shown, the control device 60 has a storage unit 60a storing programs and tables related to the control. The storage unit 60a is a non-volatile memory or the like. The control device 60 controls the equipment based on signals input from the outside, and the programs and tables stored in the storage unit 60a. Specifically, for example, the control device 60 obtains a signal sent from a terminal such as a personal computer (PC), a smart phone (multifunctional mobile phone), a tablet, or a server that is communicatively connected to the working machine 1, and controls the first control valve 11 and the second control valve 12 to control the vehicle height changing mechanism 30 and the distance changing mechanism 50 based on the signal, the table stored in the storage unit 60a, and the detection signal output from the first extension sensor 61a and the second extension sensor 61b. Hereinafter, the case where the control device 60 controls the first control valve 11 and the second control valve 12 based on the signal output from the terminal to control the vehicle height changing mechanism 30 and the distance changing mechanism 50 to change the vehicle height of the machine body 2 is described as an example.

[0088] The terminal is an operable device having a display unit composed of a liquid crystal panel, a touch panel, or other panels. The terminal displays a predetermined setting screen on the display unit, and can input the vehicle height (set vehicle height) of the machine body 2, and outputs the set vehicle height as a signal (setting signal) to the control device 60. In detail, the setting screen can independently set the vehicle height at each position of the plurality of crawler travel devices 20.

[0089] In addition, in the present embodiment, the case where the terminal outputs a setting signal to the control device 60 is used as an example for explanation, but the terminal may also be able to accept the operation of raising and lowering the vehicle height, and output a signal (raising signal) to raise the vehicle height and a signal (lowering signal) to lower the vehicle height to the control device 60, and the control device 60 changes the vehicle height of the machine body 2 based on the raising signal and the lowering signal. The method of controlling the vehicle height by operating the control device 60 is not limited to the above method. In addition, the working machine 1 may also be provided with a position detection device for detecting the position of the working machine 1, and the control device 60 may change the vehicle height based on the position detected by the position detection device and the position information stored in the storage unit 60a. Moreover, in the case where an operating device for operating the working machine 1 is provided on the working machine 1, the control device 60 may also change the vehicle height based on the operating signal output from the operating device.

[0090] The following describes the control of the vehicle height changing mechanism 30 and the distance changing mechanism 50 by the control device 60. When the control device 60 obtains the setting signal from the terminal, the control device 60 obtains the set vehicle height based on the setting signal and the table in the storage unit 60a. When the control device 60 obtains the set vehicle height, it obtains the detection signal from the first extension sensor 61a, and obtains the vertical position of the support frame 24 relative to the third wheel 25, in other words, the current vehicle height (actual vehicle height) of the vehicle body.

[0091] When the control device 60 obtains the actual vehicle height, it compares the set vehicle height with the actual vehicle height. When the set vehicle height is higher than the actual vehicle height, the control device 60 controls the first control valve 11 to control the hydraulic oil supplied from the hydraulic pump 10 to the first actuator 31, thereby extending the first actuator 31. That is, the vertical position of the support frame 24 relative to the third wheel 25 is adjusted from Figure 6 Transformed into Figure 7 The third wheel 25 moves downward in a manner, and the distance (first distance L1) from the support frame 24 increases. Therefore, the distance (second distance L2) between the axis of the third support shaft 25a and the ground contact surface of the crawler 21 increases, and the distance (third distance L3) between the upper end of the crawler 21 and the ground contact surface of the crawler 21 increases.

[0092] In addition, the control device 60 controls the second control valve 12 based on the setting signal, the table in the storage unit 60a, and the detection signal output from the second extension sensor 61b to control the hydraulic oil supplied from the hydraulic pump 10 to the second actuator 51, thereby contracting the second actuator 51. That is, the distance (the fourth distance L4) between the first wheel 22 and the second wheel 23 is changed from Figure 6 Transformed into Figure 7 Therefore, the distance between the first support shaft 22a and the second support shaft 23a (the fifth distance L5) is reduced, and the distance between the front end of the crawler 21 and the rear end of the crawler 21 (the sixth distance L6) is reduced. As a result, the vertical length of the crawler 21 can be increased, that is, the vehicle height can be increased, and the tension of the crawler 21 can be maintained at a certain level to avoid excessive tension on the crawler 21.

[0093] On the other hand, when the set vehicle height is lower than the actual vehicle height, the control device 60 controls the first control valve 11 to control the hydraulic oil supplied from the hydraulic pump 10 to the first actuator 31, thereby contracting the first actuator 31. That is, the vertical position of the support frame 24 relative to the third wheel 25 is adjusted from Figure 7 Transformed into Figure 6 The third wheel 25 moves upward in a manner, and the distance (first distance L1) from the third wheel 25 to the support frame 24 is reduced. Therefore, the distance (second distance L2) between the axis of the third support shaft 25a and the ground contact surface of the crawler 21 is reduced, and the distance (third distance L3) between the upper end of the crawler 21 and the ground contact surface of the crawler 21 is reduced.

[0094] In addition, the control device 60 controls the second control valve 12 based on the setting signal, the table in the storage unit 60a, and the detection signal output from the second extension sensor 61b to control the hydraulic oil supplied from the hydraulic pump 10 to the second actuator 51, thereby extending the second actuator 51. That is, the distance (the fourth distance L4) between the first wheel 22 and the second wheel 23 is changed from Figure 7 Transformed into Figure 6 Therefore, the distance between the first support shaft 22a and the second support shaft 23a (the fifth distance L5) increases, and the distance between the front end of the crawler 21 and the rear end of the crawler 21 (the sixth distance L6) increases. As a result, the vertical length of the crawler 21 can be reduced, that is, the vehicle height can be lowered, and the tension of the crawler 21 can be maintained above a certain level to prevent the crawler 21 from falling off.

[0095] That is, if the first actuators 31 of the vehicle height changing mechanism 30 at the front and rear sides of the vehicle body 2 are extended to increase the vertical length of the crawler 21, the vehicle body 2 can be kept horizontal relative to the ground and the vehicle height can be raised. On the other hand, if the first actuators 31 of the vehicle height changing mechanism 30 at the front and rear sides of the vehicle body 2 are contracted to reduce the vertical length of the crawler 21, the vehicle body 2 can be kept horizontal relative to the ground and the vehicle height can be lowered.

[0096] Furthermore, if the first actuator 31 of the vehicle height changing mechanism 30 on the front side of the vehicle body 2 is contracted to reduce the vertical length of the crawler 21, and the first actuator 31 of the vehicle height changing mechanism 30 on the rear side of the vehicle body 2 is extended to increase the vertical length of the crawler 21, the vehicle height of the front side of the vehicle body 2 is lowered than the vehicle height of the rear side of the vehicle body 2, and the vehicle body 2 can be tilted forward relative to the ground. On the other hand, if the first actuator 31 of the vehicle height changing mechanism 30 on the front side of the vehicle body 2 is extended to increase the vertical length of the crawler 21, and the first actuator 31 of the vehicle height changing mechanism 30 on the rear side of the vehicle body 2 is contracted to reduce the vertical length of the crawler 21, the vehicle height of the front side of the vehicle body 2 is lowered than the vehicle height of the rear side of the vehicle body 2, and the vehicle body 2 can be tilted backward relative to the ground.

[0097] Furthermore, if the first actuator 31 of the vehicle height changing mechanism 30 on the left side of the machine body 2 is contracted to reduce the vertical length of the crawler 21, and the first actuator 31 of the vehicle height changing mechanism 30 on the right side of the machine body 2 is extended to increase the vertical length of the crawler 21, the vehicle height on the left side of the machine body 2 is lower than the vehicle height on the right side of the machine body 2, and the machine body 2 can be tilted to the left relative to the ground. On the other hand, if the first actuator 31 of the vehicle height changing mechanism 30 on the left side of the machine body 2 is extended to increase the vertical length of the crawler 21, and the first actuator 31 of the vehicle height changing mechanism 30 on the right side of the machine body 2 is contracted to reduce the vertical length of the crawler 21, the vehicle height on the right side of the machine body 2 is lower than the vehicle height on the left side of the machine body 2, and the machine body 2 can be tilted to the right relative to the ground.

[0098] The battery unit 5 and the charging of the battery unit 5 are described below. The battery unit 5 is a structure that can store electricity and output the stored electricity. The battery unit 5 has a battery 5a inside a housing (frame). The battery 5a can store electricity, and is, for example, a secondary battery such as a lithium-ion battery or a lead-acid battery. The battery 5a has a plurality of battery cells inside, and the plurality of battery cells are electrically connected in series and in parallel. The battery unit 5 is connected to a charger 15 provided in the working machine 1. The charger 15 includes a socket 15a for connecting a cable for charging the battery unit 5, a power supply unit 15b for so-called contactless charging that obtains electricity by force output from the outside, and the like. The power supply unit 15b is composed of a power receiving antenna coil, a power regeneration circuit that regenerates power from the current generated by the power receiving antenna coil, a boost circuit, and the like.

[0099] like Figure 1 As shown, the power supply unit 15b (power receiving antenna coil) is provided, for example, at the lower part of the machine body 2, and generates current by the magnetic force output from the power transmitting antenna coil of the outside (charging station). The power transmitting antenna coil is provided, for example, on the ground, and the working machine 1 moves to the charging station in a manner such that the power receiving antenna coil is located above the power transmitting antenna coil, and the vehicle height is changed by controlling the crawler travel device 20 in a manner such that the distance between the power receiving antenna coil and the power transmitting antenna coil is within a predetermined range. Therefore, the battery unit 5 can be charged by being supplied with power from the outside via the charger 15 including the power supply unit 15b.

[0100] In addition, if Figure 3 As shown, the charger 15 may include a solar panel 15c in addition to the socket 15a, the power supply unit 15b, etc. The solar panel 15c can convert light energy into electrical energy (electricity) and output it, for example Figure 1 , Figure 2 As shown, the battery unit 5 is arranged from the front end to the rear end of the upper wall 7d in the outer casing 7. Thus, the battery unit 5 can be charged by using the power output from the solar panel 15c instead of or in addition to the power output from the socket 15a and the power supply unit 15b.

[0101] like Figure 1 , Figure 3 As shown, the working machine 1 is provided with a charging display unit 70, and the control device 60 controls the display of the charging display unit 70 based on the state of the battery 5a. Specifically, the control device 60 obtains information related to the charging of the battery 5a from the detection device 61, i.e., the state detection unit, provided in the working machine 1. The state detection unit is composed of an electric / electronic circuit, a program, etc., and can detect the state related to the charging of the battery 5a. In this embodiment, the state detection unit is, for example, a BMU (battery management unit) 5a1 provided in the battery 5a and monitoring and controlling the battery 5a.

[0102] The BMU 5a1 obtains the voltage, temperature, current, terminal voltage of the internal battery cell, etc. of the battery 5a, and calculates the remaining capacity of the battery 5a. For example, the BMU 5a1 detects the remaining capacity of the battery 5a using the terminal voltage of the internal battery cell of the battery 5a and the voltage measurement method. In addition, the detection method of the remaining capacity of the battery 5a is not limited to the voltage measurement method, and can also be a coulomb counter method, a battery cell modeling method, an impedance tracking method, etc.

[0103] In addition, the BMU 5a1 can control the opening and closing of the internal relay of the battery 5a, and can control the start and stop of the power supply of the battery 5a. In other words, it can obtain whether the battery 5a is in a charging state or a discharging state without charging. Thus, the BMU 5a1 outputs information including the remaining capacity of the battery 5a and whether the battery 5a is in a charging state or a discharging state to the control device 60. In addition, the state detection unit is not limited to the BMU 5a1 as long as it can detect the state related to the charging of the battery 5a.

[0104] The charging display unit 70 can display information related to the charging of the battery 5a under the control of the control device 60. The charging display unit 70 is connected to the control device 60, and changes the display mode based on the signal output from the control device 60. Specifically, the charging display unit 70 can change the display mode to display the remaining capacity of the battery 5a, and display the charging state and discharging state of the battery 5a.

[0105] The charging display unit 70 is provided, for example, on the outer casing 7 of the working machine 1 to report the state of the battery 5a to the outside. Figure 1 As shown, the charging display unit 70 is respectively arranged on the outer side of a pair of side walls 7c in the outer body 7, specifically, between the front crawler travel device 20 and the rear crawler travel device 20, and in the middle of the vertical direction. Thus, the operator can visually confirm the charging display unit 70 by observing the side wall 7c. In addition, the charging display unit 70 can also be arranged on other parts of the outer body 7 (such as the front wall 7a, the rear wall 7b, etc.) on the basis of or instead of the side wall 7c.

[0106] like Figure 1 As shown, the charging display unit 70 is a rod-shaped indicator (level indicator) extending in the front-to-back direction, which can display the remaining capacity of the battery 5a in stages. In this embodiment, the charging display unit 70 includes a plurality of LED light sources 71 arranged in a row in a predetermined direction. The LED light source 71 can be lit in blue or green, for example. The charging display unit 70 lights up or turns off the LED light source 71 based on a signal output from the control device 60, so that the display mode is different. Figure 8As shown, the plurality of LED light sources 71 include, for example, a first light source 71a, a second light source 71b, a third light source 71c, a fourth light source 71d, a fifth light source 71e, a sixth light source 71f, a seventh light source 71g, an eighth light source 71h, a ninth light source 71i, and a tenth light source 71j, which are a total of 10 light sources, in order from the front side. In addition, the number of light sources of the plurality of LED light sources 71 is not limited to 10 and can be appropriately changed.

[0107] The first light source 71a indicates the stage where the remaining capacity of the battery 5a is the smallest. If the remaining capacity of the battery 5a is less than a specified value (e.g., 10%), the control device 60 turns off the first light source 71a. In addition, if the remaining capacity of the battery 5a is more than 10%, the control device 60 turns on the first light source 71a. The tenth light source 71j indicates the stage where the remaining capacity of the battery 5a is the largest. If the remaining capacity of the battery 5a is less than a specified value (e.g., 90%), the control device 60 turns off the tenth light source 71j. In addition, if the remaining capacity of the battery 5a is more than 90%, the control device 60 turns on the tenth light source 71j. The second light source 71b to the ninth light source 71i indicate the stage between the stage where the remaining capacity of the battery 5a is the smallest (less than 10%) and the stage where the remaining capacity is the largest (more than 90%). If the remaining capacity of the battery 5a is less than a specified value, the control device 60 turns off the second light source 71b to the ninth light source 71i, respectively. Furthermore, when the remaining capacity of the battery 5a is equal to or greater than a predetermined value, the control device 60 turns on each of the second light source 71b to the ninth light source 71i.

[0108] That is, when the remaining capacity of the battery 5a detected by the BMU 5a1 is zero, Figure 8 As shown in the figure above, the control device 60 turns off all the LED light sources 71. When the remaining capacity of the battery 5a is half (the remaining capacity is greater than 40% and less than 50%), as shown in FIG. Figure 8 As shown in the middle figure, the first light source 71a to the fifth light source 71e of the plurality of LED light sources 71 are turned on, and the sixth light source 71f to the tenth light source 71j are turned off. When the remaining capacity of the battery 5a is sufficient (the remaining capacity is more than 90%), as shown in FIG. Figure 8 As shown in the figure below, multiple LED light sources 71 are all lit.

[0109] In addition, when the battery 5a is in the charging state, the control device 60 makes the LED light source 71, which is lit based on the remaining capacity of the battery 5a in the discharge state, repeatedly light up and turn off (flicker) at predetermined intervals, unlike when the battery 5a is in the discharge state. Specifically, the control device 60 slowly switches the lighting and extinguishing of the LED light source 71.

[0110] In addition, the charging display unit 70 is not limited to a plurality of LED light sources 71 as long as it can display information related to the charging of the battery 5a through the control of the control device 60. For example, it can also be a display screen that can display various information, and the display method can be changed by switching colors through a plurality of LED light sources 71. Its structure, display method, and position are not limited to the above-mentioned structure.

[0111] For example Figure 1 , Figure 2 As shown, taking the case where the working machine 1 has a direction indicator (flash light) 16 and the direction indicator 16 also serves as a charging display unit 70 as an example, the control device 60 can also be constructed so that when the battery 5a is in a charging state, the direction indicator 16 is illuminated in green, when the battery 5a is in a discharging state and the remaining capacity of the battery 5a is above a specified value, the direction indicator 16 is illuminated in blue, and when the battery 5a is in a discharging state and the remaining capacity of the battery 5a is less than a specified value, the direction indicator 16 is illuminated in red.

[0112] In addition, the control device 60 may flash the first light source 71a to the tenth light source 71j in the order of the first light source 71a to the tenth light source 71j (or in the opposite order) when the battery 5a is in the charging state, which is different from the case where the battery 5a is in the discharging state.

[0113] The crawler travel device 20 described above includes a first wheel 22, a second wheel 23 disposed separately from the first wheel 22, a support frame 24 supporting the first wheel 22 and the second wheel 23, a third wheel 25 disposed above the support frame 24, an endless crawler 21 wound around the first wheel 22, the second wheel 23, and the third wheel 25, and a vehicle height changing mechanism 30 for changing the vertical position of the support frame 24 relative to the third wheel 25. According to the above configuration, the crawler travel device 20 can change the vertical position of the support frame 24 relative to the third wheel 25 to change the vertical length of the crawler 21. Therefore, the vehicle height of the work machine 1 or the like provided with the crawler travel device 20 can be changed, and the positional relationship with the ground can be adjusted to improve the travelability and workability.

[0114] The vehicle height changing mechanism 30 includes an actuator 31 that can contract in the vertical direction and change the vertical position of the support frame 24 relative to the third wheel 25. With the above configuration, the vehicle height can be easily changed by the crawler travel device 20.

[0115] In addition, the first wheel 22 and the second wheel 23 are driven wheels that apply tension to the crawler belt 21, and the third wheel 25 is a driving wheel that is driven and rotated by power transmission. According to the above configuration, the first wheel 22 and the second wheel 23 are grounded via the crawler belt 21, and the third wheel 25 is not grounded. Therefore, by arranging the third wheel 25 as a driving wheel away from the ground, it is possible to prevent the third wheel 25 from being damaged by obstacles such as stones and deteriorating due to dust and dirt.

[0116] In addition, the crawler travel device 20 includes a distance changing mechanism 50 provided on the support frame 24 and changing the distance between the first wheel 22 and the second wheel 23. According to the above configuration, by changing the vertical position of the support frame 24 relative to the third wheel 25 by the vehicle height changing mechanism 30, the tension of the changed crawler 21 can be adjusted. Therefore, the tension of the crawler 21 can be maintained at a certain level or more, and the crawler 21 can be prevented from falling off. In addition, it is possible to prevent the crawler 21 from being given excessive tension.

[0117] In addition, the crawler travel device 20 includes a plurality of rollers 26 mounted on the support frame 24 and separately arranged, and the distance between the roller 26 on the first wheel 22 side and the first wheel 22 is longer than the distance between the roller 26 on the second wheel 23 side and the second wheel 23. According to the above configuration, the distance changing mechanism 50 can change at least the distance between the roller 26 on the first wheel 22 side and the first wheel 22. Therefore, the ground contact pressure of the crawler 21 can be improved by the roller 26, the crawler 21 can be prevented from falling off, and the tension of the crawler 21 can be adjusted at the same time.

[0118] In addition, the working machine 1 includes a plurality of crawler travel devices 20 and a machine body 2 having a mounting portion 8 on which the working device can be mounted, and the plurality of crawler travel devices 20 include a pair of crawler travel devices 20 separated in the width direction of the machine body 2 and provided at the front of the machine body 2, and a pair of crawler travel devices 20 separated in the width direction and provided at the rear of the machine body 2. According to the above configuration, a pair of crawler travel devices 20 capable of changing the vehicle height of the machine body 2 is provided at the front of the machine body 2, and a pair is provided at the rear of the machine body 2, thereby stably supporting the machine body 2, and by changing the vehicle height, the lower surface of the machine body 2 can be prevented from contacting with steps such as ridges and relatively large obstacles, and the ridges and obstacles can be easily crossed.

[0119] In addition, the vehicle height changing mechanism 30 independently changes the vertical position of the support frame 24 relative to the third wheel 25. According to the above configuration, by independently changing the vertical position of the support frame 24 relative to the third wheel 25, the vehicle height of a part can be changed to be higher, and the vehicle height of other parts can be changed to be lowered. Therefore, the horizontal state of the working machine 1 relative to the ground can be simply maintained without depending on the state of the ground, and the posture of the machine body 2 can be flexibly changed. In addition, the ground pressure of the crawler 21 can be appropriately maintained, and the working machine 1 can be driven stably.

[0120] [Second Embodiment]

[0121] Fig. 9 as well as Fig.10 Another embodiment (second embodiment) of the working machine 1 is shown. Hereinafter, the working machine 1 of the second embodiment will be described mainly with respect to the configuration different from the above-mentioned embodiment (first embodiment), and the configuration common to the first embodiment will be marked with the same reference numerals and detailed description will be omitted. Fig. 9 , Fig.10 As shown, in the second embodiment, the plurality of crawler travel devices 20 provided in the working machine 1 include a crawler travel device 20 provided on one side (left side) in the width direction of the machine body 2 and a crawler travel device 20 provided on the other side (right side) in the width direction. That is, a pair of crawler travel devices 20 are arranged in the width direction. The crawler 21 is arranged from the front end to the rear end of the machine body 2, and the first wheel 22 is located at the front part of the machine body 2. In addition, the second wheel 23 is located at the rear part of the machine body 2.

[0122] In this case, if the first actuators 31 of the vehicle height changing mechanisms 30 on the left and right sides of the vehicle body 2 are extended to increase the vertical length of the crawler 21, the vehicle height can be raised while the vehicle body 2 is maintained horizontally relative to the ground. On the other hand, if the first actuators 31 of the vehicle height changing mechanisms 30 on the left and right sides of the vehicle body 2 are contracted to reduce the vertical length of the crawler 21, the vehicle height can be lowered while the vehicle body 2 is maintained horizontally relative to the ground.

[0123] Furthermore, if the first actuator 31 of the vehicle height changing mechanism 30 on the left side of the vehicle body 2 is contracted to reduce the length of the crawler 21 in the vertical direction, and the first actuator 31 of the vehicle height changing mechanism 30 on the right side of the vehicle body 2 is extended to increase the length of the crawler 21 in the vertical direction, the vehicle height on the left side of the vehicle body 2 is lowered than the vehicle height on the right side of the vehicle body 2, and the vehicle body 2 can be tilted to the left relative to the ground. On the other hand, if the first actuator 31 of the vehicle height changing mechanism 30 on the left side of the vehicle body 2 is extended to increase the length of the crawler 21 in the vertical direction, and the first actuator 31 of the vehicle height changing mechanism 30 on the right side of the vehicle body 2 is contracted to reduce the length of the crawler 21 in the vertical direction, the vehicle height on the right side of the vehicle body 2 is lowered than the vehicle height on the left side of the vehicle body 2, and the vehicle body 2 can be tilted to the right relative to the ground.

[0124] In addition, in the above-mentioned embodiment, the crawler 21 is arranged from the front end to the rear end of the machine body 2, the first wheel 22 is located at the front part of the machine body 2, and the second wheel 23 is located at the rear part of the machine body 2, but it is sufficient to arrange a pair of crawler travel devices 20 in the width direction, and a pair of crawler travel devices 20 may be arranged in the width direction at one of the front and rear parts of the machine body 2. In addition, a travel device 3 having a different structure and construction from the crawler travel device 20 may be provided at the other of the front and rear parts of the machine body 2.

[0125] Specifically, for example Fig.11 , Fig.12 As shown, the crawler travel device 20 may be provided at the rear of the machine body 2, and a pair of wheels 80 separated in the width direction may be provided at the front of the machine body 2. Fig.11 As shown, the wheel 80 is a tire type having a wheel and a tire assembled to the wheel, but as a travel device 3 different from the crawler travel device 20, a crawler 21 type travel device 3 without the vehicle height changing mechanism 30 may also be used.

[0126] In this case, if the first actuators 31 of the vehicle height changing mechanisms 30 on the left and right sides of the vehicle body 2 are extended to increase the length of the crawler 21 in the vertical direction, the vehicle height of the front side of the vehicle body 2 is lowered than the vehicle height of the rear side of the vehicle body 2, so that the vehicle body 2 can be tilted forward relative to the ground. On the other hand, if the first actuators 31 of the vehicle height changing mechanisms 30 on the left and right sides of the vehicle body 2 are contracted to reduce the length of the crawler 21 in the vertical direction, the vehicle height of the rear side of the vehicle body 2 is lowered than the vehicle height of the front side of the vehicle body 2, so that the vehicle body 2 can be tilted backward relative to the ground.

[0127] The above-mentioned working machine 1 includes a plurality of crawler travel devices 20 and a machine body 2 having a mounting portion 8 on which the working device can be mounted, wherein the plurality of crawler travel devices 20 include a crawler travel device 20 provided on one side in the width direction of the machine body 2 and a crawler travel device 20 provided on the other side in the width direction. According to the above-mentioned configuration, by providing a pair of crawler travel devices 20 capable of changing the vehicle height of the machine body 2 on the machine body 2, the machine body 2 can be stably supported in the width direction, and by changing the vehicle height, the lower surface of the machine body 2 can be prevented from contacting with steps such as ridges and relatively large obstacles, and the ridges and obstacles can be easily crossed.

[0128] Although the present invention has been described above, the embodiments disclosed herein are illustrative in all aspects and are not restrictive. The scope of the present invention is indicated by the claims rather than the above description, and is intended to include all modifications within the scope and meaning equivalent to the claims.

[0129] Description of Reference Numerals

[0130] 1 Operating machine

[0131] 2 Body

[0132] 8 Installation

[0133] 20 Tracked device

[0134] 21 Tracks

[0135] 22 First wheel (driven wheel)

[0136] 23 Second wheel (driven wheel)

[0137] 24 Support frame

[0138] 25 Third wheel (driving wheel)

[0139] 26 Roller (idle wheel)

[0140] 30 Vehicle height change mechanism

[0141] 31 First actuator (actuator)

[0142] 50 Distance Change Agency

Claims

1. A crawler travel device, characterized in that: have: First wheel; a second wheel, which is configured separately from the first wheel; a support frame supporting the first wheel and the second wheel relative to the machine body; a third wheel, which is disposed above the support frame; an annular crawler track wound around the first wheel, the second wheel and the third wheel; as well as a vehicle height changing mechanism for changing a vertical position of the support frame relative to the third wheel; a distance changing mechanism, the distance changing mechanism being provided on the support frame and changing the distance between the first wheel and the second wheel; The vehicle height changing mechanism includes a pair of first actuators, which are arranged at the front and rear sides of the support shaft of the third wheel and can be contracted in the vertical direction to change the position of the support frame relative to the third wheel in the vertical direction. The first actuator on the front side of the support shaft and the first actuator on the rear side of the support shaft are arranged to be offset in the width direction. The support frame includes a front support portion for supporting the first wheel and a rear support portion for supporting the second wheel. The distance changing mechanism includes a second actuator that connects the front support portion and the rear support portion and contracts the support frame in the front-rear direction. The first actuator on the front side of the support shaft is arranged at a position offset from the front support portion in the width direction, and has a positional relationship overlapping with the front support portion in the width direction when viewed from the side in a state where the second actuator is most retracted.

2. The crawler travel device according to claim 1, characterized in that: The front support portion includes a support body that supports a first support shaft of the first wheel, and a tension applying device that applies tension on the front side to the support body.

3. The crawler travel device according to claim 1 or 2, characterized in that: Mounting frames for supporting the third wheel on the outer side in the width direction of the machine body are mounted on the front and rear sides of the support shaft of the third wheel. The first actuator on the front side of the support shaft is configured to connect the front side of the support frame and the front side of the mounting frame and extend in the vertical direction. The first actuator on the rear side of the support shaft is arranged to connect the rear side of the support frame and the rear side of the mounting frame and extends in the vertical direction.

4. The crawler travel device according to claim 1 or 2, characterized in that: The first wheel and the second wheel are driven wheels that apply tension to the crawler belt. The third wheel is a driving wheel to which power is transmitted and rotationally driven.

5. The crawler travel device according to claim 1 or 2, characterized in that: A plurality of rollers are mounted on the support frame and are separately arranged. A distance between a roller on the first wheel side of the plurality of rollers and the first wheel is longer than a distance between a roller on the second wheel side and the second wheel.

6. A working machine, characterized in that: have: A plurality of crawler track devices according to any one of claims 1 to 5; and The machine body has a mounting portion capable of mounting a working device, The plurality of crawler travel devices include a crawler travel device provided on one side in a width direction of the machine body and a crawler travel device provided on the other side in the width direction.

7. A working machine, characterized in that: have: A plurality of crawler track devices according to any one of claims 1 to 5; and The machine body has a mounting portion capable of mounting a working device, The plurality of crawler travel devices include a pair of crawler travel devices that are separated in the width direction of the machine body and provided at the front portion of the machine body, and a pair of crawler travel devices that are separated in the width direction and provided at the rear portion of the machine body.

8. The working machine according to claim 6 or 7, characterized in that: have: a battery unit that stores electric power; and a charging display unit capable of displaying information related to the charging of the battery unit, The machine body has an outer casing, and the outer casing houses the equipment and devices installed in the machine body. The charging display unit is provided on the exterior body and reports the state of the battery unit to the outside.

9. The working machine according to claim 7, characterized in that: have: a battery unit that stores electric power; and a charging display unit capable of displaying information related to the charging of the battery unit, The machine body has an outer casing, and the outer casing houses the equipment and devices installed in the machine body. The charging display unit is provided on the exterior body and disposed between a pair of crawler traveling devices provided at the front portion of the machine body and a pair of crawler traveling devices provided at the rear portion of the machine body, and reports the state of the battery unit to the outside.

10. The working machine according to claim 6 or 7, characterized in that: The vehicle height changing mechanisms independently change the positions of the support frames in the vertical direction relative to the third wheels.

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