Running system

Abstract

To meet a desire for a running system capable of improving a work efficiency without disadvantages, such as making a structure complicated and making a running management, etc., difficult.SOLUTION: In a running system that includes a plurality of work devices includes: a first work device W1; and a second work device W2 separated from the first work device W1; and a connecting body T which connects the first work device W1 and the second work device W2 with each other, and which actuates the second work device W2 based on the operation of the first work device W1.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a traveling system suitable for traveling on, for example, slopes and uneven ground with bumps. [Background technology]

[0002] Conventionally, four running wheels were supported on the vehicle body via a support mechanism that could be extended or retracted, and by changing the height of the running wheels, a work vehicle could run while maintaining the posture of the vehicle body even on slopes, etc., and the work vehicle was configured to run on its own (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2022-93124 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above conventional configuration, the work vehicle is equipped with a support mechanism and a driving mechanism for driving the running wheels, and the work vehicle runs alone, so the configuration of the work vehicle becomes complex and heavy. And, for example, when using multiple work vehicles to improve work efficiency, each work vehicle must be run while being managed separately, which makes the running management troublesome and may not improve work efficiency. Also, multiple large work vehicles with complex configurations must be prepared, and when loading cargo, the load weight of each vehicle is restricted, which may not improve work efficiency overall.

[0005] Therefore, there has been a demand for a traveling system that can improve work efficiency without disadvantages such as a complicated configuration or difficulty in managing traveling. [Means for solving the problem]

[0006] A characteristic feature of the present invention is that a traveling system equipped with a plurality of working devices includes a first working device, a second working device separated from the first working device, and a connecting body that connects the first working device and the second working device.

[0007] According to the present invention, the first working device and the second working device are connected by a connecting member. In this way, by connecting a plurality of working devices and traveling in series, it is possible to improve work efficiency. Furthermore, by connecting them by the connecting member, it is possible to operate the second working device based on the operation of the first working device.

[0008] As a result, for example, it is possible to eliminate the hassle of managing the travel of the system as a whole by having the first working device manage the traveling state of the second working device. Also, in the second working device, it is possible to omit devices and members that control operations that are performed based on the movement of the first working device, making it possible to simplify the configuration.

[0009] As a result, it has become possible to provide a traveling system that can improve work efficiency without disadvantages such as a complicated configuration or difficulty in managing traveling.

[0010] In the present invention, it is preferable that the second working device includes an operating lever for operating the travel of the second working device, and the connector connects the operating lever to the first working device.

[0011] With this configuration, for example, it is possible to manage the traveling state of the second working device by operating the control lever of the second working device from the first working device side. Also, the connection body can be achieved with a simple configuration in which the control lever is operated.

[0012] In the present invention, it is preferable that the first working device includes a vehicle body and a traveling device that causes the vehicle body to travel, and the connecting body connects the operating lever of the second working device to the vehicle body.

[0013] The first working device can operate the operating lever via the connecting body by traveling the host vehicle, and therefore the connecting body can be a simple structure in which the operating lever is merely pulled to operate it.

[0014] In the present invention, it is preferable that each of the first working device and the second working device is provided with the traveling device and a drive source for driving the traveling device, at least the second working device of the first working device and the second working device is provided with the operating lever, and the connecting body operates the operating lever based on the traveling motion of the first working device traveling ahead.

[0015] With this configuration, each of the first working device and the second working device can be self-propelled by the drive source driving the traveling device, and the first working device, traveling ahead, can operate the operating lever via the connecting body, making it easy to manage the traveling of the second working device, such as traveling while following the first working device.

[0016] In the present invention, it is preferable that the operation of the multiple traveling devices is controlled so that when the operating lever swings in the forward / backward direction by pulling the connecting body accompanying the traveling of the first working device, the second working device travels straight in a direction corresponding to the swing direction of the operating lever.

[0017] According to this configuration, the second working device can be caused to travel straight ahead by a simple configuration in which the operating lever is pulled via the connector.

[0018] In the present invention, it is preferable that a steering mechanism capable of changing the orientation of the traveling devices is provided, and that the multiple traveling devices and the steering mechanism are operated so that when the operating lever is swung to the left or right by pulling the connecting body in conjunction with the traveling of the first working device, the vehicle body turns and travels in a direction corresponding to the swing direction of the operating lever.

[0019] According to this configuration, the second working device can be caused to rotate by simply pulling the operating lever via the connector.

[0020] In the present invention, it is preferable that the connecting body is configured to transmit the operating states of the plurality of traveling devices and the support mechanism in the first working device to the second working device, and the second working device corrects the operating states of the traveling devices and the steering mechanism based on the operating states of the first working device transmitted via the connecting body.

[0021] According to this configuration, the operating state of the first working device, for example, the traveling speed, turning direction, and other operating states, are transmitted to the second working device via the connector. The second working device can then correct its own traveling state in response to the transmitted operating state. As a result, for example, if the traveling motion of the first working device is not transmitted well due to an obstacle, it is possible to take measures such as stopping or slowing down the second traveling device.

[0022] In the present invention, it is preferable that the second working device is provided with a plurality of hydraulically driven traveling devices, the first working device is provided with a hydraulic supply source capable of discharging and supplying hydraulic oil, and the connecting body operates the second working device by supplying the hydraulic oil based on the operation of the first working device.

[0023] According to this configuration, the hydraulic oil is supplied to the second working device by the hydraulic supply source provided in the first working device, and the second working device has a plurality of traveling devices driven by the hydraulic oil.

[0024] The second working device is capable of effectively driving the hydraulically driven traveling device, and does not require a hydraulic pump, drive device, etc., making it possible to simplify the configuration and reduce the weight.

[0025] In the present invention, it is preferable that the second working device is provided with a luggage placement section capable of carrying luggage, and a support mechanism that supports the luggage placement section so as to be able to move around with the luggage placed on it while maintaining the luggage placement section in a horizontal position.

[0026] According to this configuration, the second working device can be made lighter in weight, so that it can be moved with a load of luggage smoothly loaded on the luggage placement section, and the amount of luggage that can be loaded can be increased, improving work efficiency.

[0027] In the present invention, it is preferable that the second working device is configured so that the hydraulic supply source provided in the first working device can be attached to and detached from it, and the connector connects the second working device to the hydraulic supply source when the hydraulic supply source is detached from the second working device.

[0028] According to this configuration, the second working device can be used selectively between a state in which it travels with the hydraulic mechanism source attached, and a state in which the hydraulic mechanism source is detached and connected via the connector, making it easy to use depending on the usage situation.

[0029] In the present invention, it is preferable that a plurality of the second working devices are provided, and the first working device supplies the hydraulic oil to each of the plurality of second working devices.

[0030] According to this configuration, the hydraulic oil can be supplied from the first working device to the plurality of second working devices, thereby making it possible to further improve the work efficiency.

[0031] In the present invention, it is preferable that the first working device is movable following the movement and travel of the second working device.

[0032] According to this configuration, the first working device can supply hydraulic oil while moving in a manner following the movement of the second working device, so that the connecting body for supplying hydraulic oil can be made short and simple. [Brief description of the drawings]

[0033] [Figure 1] FIG. [Diagram 2] FIG. [Diagram 3] FIG. [Figure 4] FIG. [Diagram 5] FIG. [Figure 6] FIG. [Figure 7] FIG. [Figure 8] FIG. 11 is a side view of the traveling system according to the second embodiment. [Figure 9] FIG. 4 is a side view of a second working device. [Figure 10] FIG. 4 is a control block diagram of a second working device. [Figure 11] FIG. 4 is a block diagram of a first working device. [Figure 12] FIG. 11 is a side view of a traveling system according to another embodiment. [Figure 13] FIG. 11 is a side view of a traveling system according to another embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0034] An embodiment of the traveling system of the present invention will be described with reference to the drawings. In the following description, the direction of the arrow FW shown in the drawings is defined as "forward", the direction of the arrow BK is defined as "backward", the direction of the arrow RH is defined as "right", the direction of the arrow LH is defined as "left", the direction of the arrow UP is defined as "up", and the direction of the arrow DW is defined as "down".

[0035] [First embodiment] The first embodiment will be described below.

[0036] The traveling system according to the present invention includes a first working device W1, a second working device W2 separate from the first working device W1, and a connector T that connects the first working device W1 and the second working device W2.

[0037] As shown in Fig. 1, this traveling system includes a first work vehicle SV1 as a first working implement W1 and a second work vehicle SV2 as a second working implement W2. The first work vehicle SV1 and the second work vehicle SV2 have the same configuration. Below, the first work vehicle SV1 will be described, and a description of the second work vehicle SV2 will be omitted.

[0038] (First work vehicle) As shown in Figures 2 to 4, the first work vehicle SV1 is equipped with a vehicle body 1 which is approximately rectangular in plan view and supports the entire vehicle, a plurality of running wheels 2 which serve as a running device supporting the vehicle body 1, a plurality of auxiliary wheels 3 provided corresponding to each of the plurality of running wheels 2, a support mechanism A which supports the plurality of running wheels 2 so that their position can be changed relative to the vehicle body 1, and a plurality of hydraulic motors 4 which drive each of the plurality of running wheels 2.

[0039] The traveling wheels 2 are located at the front and rear on both the left and right sides of the vehicle body 1. In this embodiment, the work vehicle is equipped with four traveling wheels 2, located at the left front, right front, left rear, and right rear. It also has four support mechanisms A, located at the left front, right front, left rear, and right rear. The support mechanisms A include a bending link mechanism 5 as a vehicle body support section, and a plurality of hydraulic cylinders 6, 7 as attitude changing actuators that can individually change the attitude of the bending link mechanism 5.

[0040] The vehicle body 1 is generally rectangular in plan view, and a flat luggage carrying section 8 capable of carrying luggage is provided on the upper surface of the vehicle body 1. The luggage carrying section 8 is generally rectangular in plan view, and extends from the right end to the left end of the vehicle body 1. The luggage carrying section 8 is configured so that luggage can be placed thereon. Examples of luggage that can be placed on the luggage carrying section 8 include agricultural machinery, agricultural supplies such as fertilizer and medicine, harvested crops and harvesting baskets, and pallets on which these are placed.

[0041] The vehicle body 1 is provided, below the luggage loading area 8, with a hydraulic supply source 9 as a drive source that sends hydraulic oil toward the hydraulic cylinders 6, 7 and the hydraulic motor 4, a control device C that adjusts the supply state of hydraulic oil from the hydraulic supply source 9 to control the operation of the hydraulic cylinders 6, 7 and the hydraulic motor 4, and a battery 11 for power supply.

[0042] The hydraulic supply source 9 includes an engine 9a, a hydraulic pump 9b driven by the engine 9a, a hydraulic oil tank 9c, a fuel tank 9d for storing fuel for the engine 9a, etc. The hydraulic supply source 9 is supported by an underframe 10. The fuel tank 9e is provided at a high position on the front side of the vehicle body 1. The battery 11 is charged by a generator driven by the power of the engine 9a.

[0043] The control device C includes a hydraulic control mechanism 12 that adjusts the supply state of hydraulic oil from the hydraulic supply source 9, and an ECU (Electronic Control Unit) 13 that controls the operation of the hydraulic control mechanism 12. The ECU 13 includes a microcomputer and is capable of executing various controls according to a control program. The hydraulic control mechanism 12 includes a plurality of control valves corresponding to each hydraulic device (hydraulic cylinder, etc.).

[0044] As described above, the support mechanism A includes the bending link mechanism 5 and the hydraulic cylinders 6, 7. As shown in Fig. 1, the four traveling wheels 2 are supported by the bending link mechanism 5 so as to be able to rise and fall individually with respect to the vehicle body 1.

[0045] As shown in Figures 5 and 6, the bending link mechanism 5 includes a base end 14 supported by the vehicle body 1, a first link 15 having an upper end supported on a lower part of the base end 14 so as to be rotatable about a horizontal axis X1, and a second link 16 having one end supported on a lower end of the first link 15 so as to be rotatable about a horizontal axis X2 and having the running wheel 2 supported at the other end.

[0046] A support bracket 17 that supports the traveling wheel 2 is supported by a boss portion 18 provided at the swing side end of the second link 16 so as to be swingable around the vertical axis Y. A hydraulic cylinder 20 (hereinafter referred to as a swing cylinder) for swing operation as a steering mechanism is provided between a bracket 19 on one end side of the second link 16 and an arm portion 17a provided on the support bracket 17.

[0047] A plurality of hydraulic cylinders 6, 7 capable of individually changing the posture of each of the bending link mechanisms 5 are provided corresponding to the plurality of bending link mechanisms 5. That is, a first hydraulic cylinder 6 capable of changing the swing posture of the first link 15 relative to the vehicle body 1, and a second hydraulic cylinder 7 capable of changing the swing posture of the second link 16 relative to the first link 15 are provided.

[0048] When the first hydraulic cylinder 6 is extended or retracted with the second hydraulic cylinder 7 stopped, the first link 15, the second link 16, and the traveling wheel 2 swing together around the horizontal axis X1 of the pivot connection point with respect to the base end 14 while maintaining a constant relative posture. When the second hydraulic cylinder 7 is extended or retracted with the first hydraulic cylinder 6 stopped, the second link 16 and the traveling wheel 2 swing together around the horizontal axis X2 of the connection point between the first link 15 and the second link 16 while maintaining a constant posture of the first link 15.

[0049] An auxiliary wheel 3 is rotatably supported at an intermediate bent portion of each of the multiple bent link mechanisms 5. The auxiliary wheel 3 is configured as a wheel having a smaller diameter than the traveling wheel 2. A support shaft that pivotally connects the first link 15 and the second link 16 is extended so as to protrude outward in the vehicle body width direction, and the auxiliary wheel 3 is rotatably supported at the extended protruding portion of the support shaft.

[0050] By operating the turning cylinder 20, the traveling wheel 2 can be turned around the vertical axis Y relative to the articulating link mechanism 5, thereby enabling the vehicle to be turned.

[0051] The position of each traveling wheel relative to the vehicle body can be changed by supplying and discharging hydraulic oil with the control valves corresponding to the above-mentioned multiple first hydraulic cylinders 6, multiple second hydraulic cylinders 7, and the turning cylinder. Also, the flow rate of hydraulic oil is adjusted with the control valve corresponding to the hydraulic motor 4, so that the rotation speed of the hydraulic motor 4, i.e., the rotation speed of the traveling wheels 2, can be changed.

[0052] 7, each of the four second hydraulic cylinders 7 is provided with a head side pressure sensor S1 and a cap side pressure sensor S2. The head side pressure sensor S1 detects the internal pressure of the oil chamber in the head side chamber of the second hydraulic cylinder 7. The cap side pressure sensor S2 detects the internal pressure of the oil chamber in the cap side chamber of the second hydraulic cylinder 7.

[0053] A plurality of stroke sensors S3 capable of detecting the amount of extension / retraction operation are provided for each of the four first hydraulic cylinders 6 and the four second hydraulic cylinders 7. The amount of extension / retraction operation of each hydraulic cylinder 6, 7 is a detection value corresponding to the swing position of the first link 15 and the second link 16 that are the objects of operation.

[0054] The vehicle body 1 is provided with a tilt sensor S4 that detects the tilt state of the vehicle body. The tilt sensor S4 is configured using an Inertial Measurement Unit (IMU) that is a well-known configuration. The IMU has a three-axis acceleration sensor and a gyro sensor, and can detect the change in the attitude of the vehicle body 1, specifically, the tilt in the front-rear and left-right directions.

[0055] A rotation sensor S5 is provided near the traveling wheels 2 to detect the rotation speed of the traveling wheels 2 driven by the hydraulic motor 4. Based on the rotation speed of the traveling wheels 2 detected by the rotation sensor S5, the supply of hydraulic oil to the hydraulic motor 4 is controlled so that the rotation speed of the traveling wheels 2 becomes a target value. A pressure sensor S6 is provided to detect the pressure of the hydraulic oil supplied to the hydraulic motor 4. Based on the pressure of the hydraulic oil detected by the pressure sensor S6, the supply (pressure) of hydraulic oil to the hydraulic motor 4 is controlled so that the drive torque of the traveling wheels 2 becomes a target value. A stroke sensor S7 capable of detecting the extension / retraction operation amount is provided for each of the four swing cylinders 20.

[0056] A driving operation unit 21 is provided behind the luggage placement section 8 of the vehicle body 1. The driving operation unit 21 can be manually operated by an operator from outside the vehicle. The vehicle can be driven by the operator operating the driving operation unit 21. In addition to operating the driving operation unit 21, the vehicle can also be driven by remote control using a wireless remote control device RC.

[0057] The driving operation unit 21 is supported by a support frame 22. The support frames 22 are located on both the left and right sides and extend rearward in a cantilever manner from the rear end of the vehicle body 1. A storage case 23 having a substantially rectangular box shape is provided across the left and right support frames 22.

[0058] A handle section 24 that can be manually gripped and operated by an operator from the outside of the vehicle body is fixed to the rear end of the support frame 22. The handle section 24 is formed by bending a round pipe material into a loop shape when viewed from the front. The operator can support the vehicle while gripping and operating the handle section 24 with one hand, and can operate switches, which will be described later, with the other hand.

[0059] An operation panel 25 tilted downward toward the rear is provided at the rear end of the storage case 23. The operation panel 25 has a plurality of operation switches and has a function of switching various modes when the vehicle is traveling.

[0060] An operating lever 29 for commanding the movement of the vehicle is provided on the upper side of the front-rear intermediate portion of the storage case 23. The operating lever 29 is composed of a rod-shaped member extending in the vertical direction. The operating lever 29 is a so-called joystick-type operating tool, and is supported so as to be swingable in the front-rear direction and the left-right direction from a neutral position in an upright state. The operating lever 29 is biased by a spring (not shown) to return to the neutral position. Therefore, when the operator releases his / her hand, the operating lever 29 returns to the neutral position and the movement of the vehicle stops.

[0061] 6, the base end of the operating lever 29 is provided with a front-rear position sensor 30 capable of detecting forward and rearward swinging of the operating lever 29 from the neutral position, and a left-right position sensor 31 capable of detecting left-right swinging of the operating lever 29 from the neutral position. The detection results of these sensors 30, 31 are input to the ECU 13, which will be described later. The front-rear position sensor 30 and the left-right position sensor 31 are configured using potentiometers, and can detect whether the operating lever 29 has been swung forward, backward, left, or right from the neutral position by determining the level of the potentiometer corresponding to the amount of operation of the operating lever 29.

[0062] As shown in Fig. 2, the operating lever 29 is provided at its upper and lower intermediate portion with a connecting portion 32 to which one end of a string member can be connected. The connecting portion 32 is formed in a ring shape. A string member can be connected to the connecting portion 32 so that the operator can pull the string member from a position away from the vehicle body. The configuration of the connecting portion 32 is not limited to this, and it may be configured such that, for example, one end of the string member is directly tied to a connecting portion such as a hole or hook (neither of which are shown) provided in the operating lever 29, or a connecting portion provided at one end of the string member is connected to the connecting portion.

[0063] The ECU 13 includes a non-volatile memory (not shown) that stores programs corresponding to functional units described below, and a CPU (not shown) that executes the programs. The programs are executed by the CPU to realize the functions of the functional units. The ECU 13 includes a posture control unit 100 and a driving control unit 101 as functional units.

[0064] The attitude control unit 100 executes attitude control for controlling the attitude of the vehicle body to a desired state based on detection information from various sensors. The attitude control has a position control mode and a pressure control mode.

[0065] In the position control mode, the operation of the four first hydraulic cylinders 6 and the four second hydraulic cylinders 7 is controlled based on the detection information of the tilt sensor S4 and the detection information of the stroke sensor S3 so that the vehicle body 1's luggage carrying section 8 is in a horizontal position, and the vehicle body 1's forward / rearward tilt angle and left / right tilt angle from the horizontal position are set to values ​​corresponding to the horizontal position. Specifically, the control valves corresponding to the four first hydraulic cylinders 6 and the four second hydraulic cylinders 7 are switched and controlled. As a result, even when traveling on a slope, the vehicle body can maintain a substantially horizontal position, and can move without tipping over even if harvesting containers, equipment, etc. are loaded on the luggage carrying section.

[0066] In the pressure control mode, the thrust of the second hydraulic cylinders 7 is calculated based on the detection value of the head side pressure sensor S1 and the detection value of the cap side pressure sensor S2. Then, the corresponding control valves are switched to control the operation of the four second hydraulic cylinders 7 so that the detected thrust becomes a target value that is set and stored in advance. By controlling in this way, the ground reaction force of the traveling wheels 2 is maintained at an appropriate value. As a result, the traveling wheels 2 move up and down while following the unevenness of the ground, and each of the multiple traveling wheels 2 does not spin freely or have its rotation impeded, and the vehicle can run smoothly on uneven ground while maintaining an appropriate ground contact state and supporting the vehicle body 1.

[0067] The driving control unit 101 switches the driving state of the vehicle to a desired driving state based on an operation command from the driving operation unit 21. The remote control device RC is provided with an operation tool having a function similar to that of the operation lever 29 in the driving operation unit 21, and can remotely control the movement of the vehicle body.

[0068] The driving control unit 101 switches the driving state of the vehicle based on the operation state of the operating lever 29 provided in the driving operation unit 21, i.e., the detection results of the front-rear position sensor 30 and the left-right position sensor 31. Specifically, when the front-rear position sensor 30 detects that the operating lever 29 has been operated forward, the vehicle drives straight ahead. When the front-rear position sensor 30 detects that the operating lever 29 has been operated rearward, the vehicle drives straight ahead. When the left-right position sensor 31 detects that the operating lever 29 has been operated to the right, the vehicle turns to the right. When the left-right position sensor 31 detects that the operating lever 29 has been operated to the left, the vehicle turns to the left.

[0069] The travel control unit 101 controls the operation of the multiple hydraulic motors 4 and the multiple swing cylinders 20 so as to perform swing traveling in a commanded traveling mode.

[0070] (Running system) In this traveling system, the second working device includes an operating lever for operating the traveling of the second working device, and the connecting member is configured to connect the operating lever and the first working device. The first working device also includes a vehicle body and a traveling device for traveling the vehicle body, and the connecting member is configured to connect the operating lever of the second working device and the vehicle body.

[0071] Specifically, each of the first work vehicle SV1 (first work device) and the second work vehicle SV2 (second work device) is equipped with a plurality of running wheels 2 as running devices located at the front and rear on both the left and right sides of the vehicle body 1, a plurality of support mechanisms A that support the plurality of running wheels 2 so that their positions can be changed individually relative to the vehicle body 1, and a hydraulic supply source 9 as a drive source that drives the running wheels 2 and the support mechanisms A, and each of the first work vehicle SV1 and the second work vehicle SV2 is equipped with an operating lever 29 that can be manually operated from the outside of the vehicle body 1, and a control device C that controls the operation of the plurality of running wheels 2 and the support mechanisms A based on operation information from the operating lever 29.

[0072] 1, the traveling system travels in a tandem state with the first work vehicle SV1 traveling ahead and the second work vehicle SV2 following the first work vehicle SV1. The first work vehicle SV1 traveling ahead and the operating lever 29 of the second work vehicle SV2 traveling behind are connected via a connecting member T, and the connecting member T is configured to operate the operating lever 29 based on the traveling motion of the first work vehicle SV1.

[0073] One end of the first string member HU1 is connected to a connecting portion 32 of the operating lever 29 of the first work vehicle SV1. When the operator pulls the other end of the first string member HU1 from a position distant from the front of the vehicle body 1, the operating lever 29 is swung forward. When the first string member HU1 is pulled from a position distant from the right lateral side of the vehicle body 1, the operating lever 29 is swung to the right. When the first string member HU1 is pulled from a position distant from the left lateral side of the vehicle body 1, the operating lever 29 is swung to the left. The operating lever 29 can also be swung rearward.

[0074] Similarly, one end of a second string member HU2 is connected to the connecting portion 32 of the operation lever 29 of the second work vehicle SV2. The other end of this second string member HU2 is connected to the rear end of the vehicle body 1 of the first work vehicle SV1. The second string member HU2 that connects the operation lever 29 of the first work vehicle SV1 and the second work vehicle SV2 corresponds to a connecting body T.

[0075] In this traveling system, when the operator pulls the first string member HU1 to swing the operating lever 29 forward, the first work vehicle SV1 travels straight ahead. When the operating lever 29 is swung to the right, the first work vehicle SV1 turns to the right. When the operating lever 29 is swung to the left, the first work vehicle SV1 turns to the left.

[0076] When the second tying member HU2 is pulled in conjunction with the movement of the first work vehicle SV1, the second work vehicle SV2 follows and moves in the direction in which the second tying member HU2 is pulled. In other words, the operator can move the two work vehicles SV1, SV2 in the commanded direction by pulling one tying member HU1. At this time, each work vehicle SV1, SV2 executes the posture control as described above, so that it can travel while maintaining the load placement unit 8 in a horizontal posture even on uneven ground.

[0077] The following second work vehicle SV2 is not limited to one vehicle, but may be two or more vehicles connected in tandem.

[0078] Second Embodiment Next, a second embodiment will be described.

[0079] In the traveling system according to the second embodiment, the second working device W2 is provided with a hydraulically driven traveling device 2, and the first working device W1 is provided with a hydraulic supply source 9 capable of discharging and supplying hydraulic oil.

[0080] Specifically, the second working device W2 is equipped with a plurality of hydraulically driven running wheels 2 as running devices located at the front and rear on both the left and right sides of the vehicle body 1, and a plurality of hydraulically driven support mechanisms A that support the plurality of running wheels 2 individually so that their positions can be changed relative to the vehicle body 1.

[0081] On the other hand, the first working device W1 is equipped only with a hydraulic supply source 9. As shown in Fig. 11, the hydraulic supply source 9 includes a hydraulic pump 9b capable of discharging and supplying hydraulic oil, an engine 9a as a drive device for driving the hydraulic pump 9b, a hydraulic oil tank 9c, and a fuel tank 9d for storing fuel for the engine 9a. The connecting body T is configured to operate the second working device W2 by supplying hydraulic oil based on the operation of the first working device W1.

[0082] The second working device W2 is also provided with a luggage placement section 8 capable of carrying luggage, and a control device C that controls the operation of the multiple running wheels 2 and the support mechanism A. The control device C is configured to control the operation of the multiple running wheels 2 and the support mechanism A so that the luggage placement section 8 can be maintained in a horizontal position while moving with luggage loaded on it.

[0083] As shown in FIGS. 9 and 10, the second working device W2 is configured as a work vehicle SV3 that is equipped with devices other than the hydraulic supply source 9.

[0084] Although not shown, the hydraulic supply source 9 constituting the first working device W1 has each device supported by a support frame. The first working device W1 having the hydraulic supply source 9 is configured as a stationary type.

[0085] The hydraulic oil discharged from the hydraulic pump 9b is supplied to the second working device W2 via the supply pipe 40. That is, in this embodiment, the supply pipe 40 that supplies the hydraulic oil corresponds to the connector T.

[0086] The second working device W2 (work vehicle SV3) can move around with luggage loaded on it while maintaining the luggage loading section 8 in a horizontal position by operating the multiple traveling wheels 2 and multiple support mechanisms A using hydraulic oil supplied from a hydraulic supply source 9.

[0087] [Another embodiment] Other embodiments are listed below.

[0088] (1) In the first embodiment, the operating lever 29 is operated by pulling the second string member HU2 serving as the connecting body T. However, the connecting body T may be configured to transmit the operating states of the multiple traveling wheels 2 and the support mechanism A of the first working device W1 to the second working device W2, and the control device C of the second working device W2 may be configured to correct the operating states of the traveling wheels 2 and the swivel cylinder 20 (steering mechanism) based on the operating state of the first working device W1 transmitted via the connecting body T.

[0089] That is, the connecting body T is configured to be capable of transmitting information indicating the operating state of the first work vehicle SV1. The control device C of the second work vehicle SV2 compares the actual operating state of the first work vehicle SV1, which is managed by pulling and operating the operating lever 29 via the connecting body T, with the actual operating state of the second work vehicle SV2, and corrects the operating state of the traveling wheels 2 and the swivel cylinder 20 (steering mechanism), making it possible to take safety measures, such as stopping or slowing down the vehicle, or turning to avoid obstacles.

[0090] In this case, the connecting body T may include a transmission line for transmitting the operating states of the multiple traveling wheels 2 and support mechanism A of the first working device W1 to the second working device W2, separate from the second string member HU2 for pulling the operating lever 29, and the connecting body T may be configured by the second string member HU2 and multiple transmission lines. Also, the transmission line for transmitting the operating states of the multiple traveling wheels 2 and support mechanism A of the first working device W1 to the second working device W2 may also be configured to serve as a member for pulling the operating lever 29. Furthermore, while the operating lever 29 is configured to be pulled by the second string member HU2, a wireless device for wirelessly transmitting the operating states of the multiple traveling wheels 2 and support mechanism A of the first working device W1 to the second working device W2 may be provided.

[0091] (2) In the first embodiment, the operator pulls the first string member HU1 to command the direction of movement of the first work vehicle SV1. However, instead of using a string member, the first work equipment W1 may be driven by remote control using a wireless remote control device RC, or the operator may manually operate the operating lever 29 of the first work equipment W1.

[0092] (3) In the second embodiment, the first working device W1 is configured as a stationary device, but it may be configured to be movable so as to follow along with the movement and travel of the second working device W2 (SV3). That is, as shown in Fig. 12, the first working device W1 may be configured to be movably supported by a movable carriage 50.

[0093] (4) In the second embodiment, one second working device W2 is provided for one first working device W1, but a configuration may be adopted in which a plurality of second working devices W2 are provided as shown in Fig. 13. In this case, hydraulic oil may be supplied from the first working device W1 to the plurality of second working devices W2 simultaneously, or hydraulic oil may be supplied to each of the second working devices W2 in a switching manner.

[0094] Furthermore, the second working device W2 may be configured so that the hydraulic supply source 9 provided on the first working device W1 can be attached and detached, and the connector T may be configured to connect the second working device W2 and the hydraulic supply source 9 when the hydraulic supply source 9 is detached from the second working device W2.

[0095] (5) The connecting portion 32 may be formed in a hook shape or a hook-like shape, or may be configured in other shapes.

[0096] (6) The support mechanism A may be a mechanism having one link or three or more links, and may be equipped with an electric actuator as a device for changing the posture of the support mechanism A.

[0097] (7) The connector T is not limited to a string member, but may be a rod-shaped member, a wire, or the like.

[0098] (8) Instead of the hydraulic motor 4, an electric motor or an engine may be used.

[0099] (9) The steering mechanism may be driven by a hydraulic motor or an electric motor instead of a hydraulic cylinder. [Industrial Applicability]

[0100] The present invention can be applied to a traveling system suitable for traveling on, for example, slopes or uneven ground with bumps. [Explanation of symbols]

[0101] 1 Vehicle body 2 Running gear 8 Luggage storage area 9a Drive unit 9b Hydraulic pump 20 Swivel cylinder (steering mechanism) 29 Operating lever A Support mechanism C Control device T connector W1 First working device W2 Second working device

Claims

1. A traveling system having a plurality of working implements, A traveling system comprising: a first working device; a second working device separate from the first working device; and a connector that connects the first working device and the second working device.

2. the second working device includes an operation lever for operating a travel of the second working device, The traveling system according to claim 1 , wherein the connector connects the operating lever and the first working device.

3. The first working device includes a vehicle body and a traveling device that causes the vehicle body to travel, The traveling system according to claim 2 , wherein the connector connects the operation lever of the second working device to the vehicle body.

4. The first working device and the second working device each include The traveling device and a drive source that drives the traveling device are provided, At least the second working device of the first working device and the second working device is provided with the operation lever, The traveling system according to claim 3 , wherein the connecting body operates the operating lever based on the traveling motion of the first working device traveling ahead of the connecting body.

5. 5. The traveling system according to claim 4, wherein when the operating lever swings in a forward / backward direction by pulling the connecting body associated with traveling of the first working device, the plurality of traveling devices are actuated so that the second working device travels straight in a direction corresponding to the swing direction of the operating lever.

6. A steering mechanism capable of changing the orientation of the traveling device is provided, 6. The traveling system according to claim 4 or 5, wherein when the operating lever is swung to the left or right by pulling the connecting body accompanying the traveling of the first working device, the traveling device and the steering mechanism are actuated so that the vehicle body turns and travels in a direction corresponding to the swing direction of the operating lever.

7. the connecting body is configured to transmit an operating state of the traveling device and the steering mechanism of the first working device to the second working device, The traveling system according to claim 6 , wherein the second working device corrects the operating states of the traveling device and the steering mechanism based on the operating state of the first working device transmitted via the connecting body.

8. The second working device is provided with a hydraulically driven traveling device, The first working device is provided with a hydraulic supply source capable of discharging and supplying hydraulic oil, The traveling system according to claim 1 , wherein the connecting body operates the second working device by supplying the hydraulic oil based on an operation of the first working device.

9. 9. The traveling system according to claim 8, wherein the second working device is provided with a luggage placement section capable of carrying luggage, and a support mechanism that supports the luggage placement section so as to be capable of moving and traveling with the luggage placed thereon while maintaining the luggage placement section in a horizontal position.

10. The second working device is configured to be able to attach and detach the hydraulic supply source provided in the first working device, The traveling system according to claim 8 , wherein the connector connects the second working device to the hydraulic supply source when the hydraulic supply source is detached from the second working device.

11. A plurality of the second working devices are provided, The traveling system according to claim 8 , wherein the first working device supplies the hydraulic oil to each of the second working devices.

12. The traveling system according to claim 8 , wherein the first working device is capable of moving in a manner following the movement and traveling of the second working device.

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