Slope working device

Abstract

To improve the operational efficiency of a slope working machine.SOLUTION: In a slope working device 1 comprising a support machine 3 traveling alongside, and a slope machine 2 suspended from a support rope 17 possessed by the support machine 3 and traveling autonomously along the slope, the slope machine 2 is provided with a steering drive unit 111 that operates a steering wheel 25, and the support machine 3 is provided with a remote control unit 112 that operates the steering drive unit 111.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a slope work device. [Background technology]

[0002] Patent Document 1 discloses a slope work device that includes an accompanying support machine and a slope machine such as an asphalt finisher that is suspended from a support rope attached to the support machine and self-propels down a slope to pave it. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 1-260103 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in Patent Document 1, in slope work, one worker operates the support machine and another worker operates the slope machine. An object of the present invention is to improve the operating efficiency of a slope machine. [Means for solving the problem]

[0005] The present invention relates to a slope work device comprising an accompanying support machine and a slope working machine that is suspended from a support rope carried by the support machine and self-propels up a slope, wherein the slope working machine is provided with a steering drive unit that operates the steering, and the support machine is provided with a remote control unit that operates the steering drive unit. With this, when one operator operates the support machine, he or she can operate the steering of the slope machine by operating the remote control unit. [Effects of the Invention]

[0006] According to the present invention, the operating efficiency of a slope machine can be improved. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. [Figure 2] FIG. 1 is a side view of a slope cutting machine. [Figure 3] FIG. [Figure 4] FIG. [Figure 5] FIG. [Figure 6] FIG. [Figure 7] FIG. 7 is a cross-sectional view taken along the line VII-VII in FIG. 6. [Figure 8] FIG. 8 is a cross-sectional view taken along line VIII-VIII in FIG. 7. [Figure 9] FIG. 1 is a system diagram showing an automatic traveling mechanism of a slope machine. [Figure 10] FIG. 1 is a system diagram showing an automatic traveling mechanism of a slope machine. [Figure 11] FIG. 1 is a system diagram showing an automatic traveling mechanism of a slope machine. [Figure 12] FIG. 2 is a block diagram of a control system. DETAILED DESCRIPTION OF THE INVENTION

[0008] [Embodiment] [1-1.Configuration] FIG. 1 is a side view of the slope work device 1. FIG. The slope work device 1 is equipped with a slope machine 2 such as an asphalt finisher or compaction roller that travels on an inclined slope S on a test course, athletic field, etc. and paves the slope S, and a support machine 3 that travels alongside the slope machine 2 on a flat road G located below the slope S. The slope work device 1 can also be called a slope work system.

[0009] [1-1-1. Support Machines] The support machine 3 includes a traveling unit 4, a rotating body 5 rotatably disposed on the upper part of the traveling unit 4, and a vehicle body 6 connected to the upper part of the rotating body 5. The traveling unit 4 includes wheels 7 and a drive unit (not shown) that drives the wheels 7. A driver's cab 8 is arranged in the vehicle body 6. An operator gets into the operator's cab 8 and operates the support machine 3, which can travel freely on a flat road G.

[0010] The support machine 3 is provided with a boom 9 that extends upward from the vehicle body 6. The boom 9 comprises a lower boom 9A, a middle boom 9B, and an upper boom 9C. A hydraulic cylinder (not shown) for raising and lowering the boom 9A is connected to the lower boom 9A, and the lower boom 9A is supported so as to be able to raise and lower relative to the vehicle body 6. A hydraulic cylinder (not shown) for extension and contraction is connected to the middle boom 9B and the upper boom 9C, and the middle boom 9B and the upper boom 9C are configured to be able to extend and contract relative to the lower boom 9A.

[0011] The tip of the upper boom 9C is provided with an arm section 10. The arm section 10 is rotatably connected to a boom shaft section 11 at the tip of the upper boom 9C.

[0012] The support machine 3 is equipped with a winch 16 . The winch 16 is configured to be able to take up or pay out a support rope 17. The support rope 17 is wound around the winch 16. The support rope 17 is wound around a pulley 12A arranged at the lower end of the lower boom 9A, a pulley 12B arranged at the upper end of the upper boom 9C, and a pulley 12C arranged at the tip of the arm section 10, and is further wound around the movable pulley 13. The tip of the support rope 17 is fixed to a rope fixing section 18. An engaging portion 14 is connected to the movable pulley 13, and the engaging portion 14 engages with an engaged portion 19 of the slope machine 2. The movable pulley 13 and the engaging portion 14 form a connecting device 15, and the connecting device 15 connects the support machine 3 and the slope machine 2.

[0013] [1-1-2. Slope Machinery] FIG. 2 is a side view of the slope machine 2. The slope machine 2 is a compaction roller or the like that is suspended from a support rope 17 provided on an accompanying support machine 3 and that self-propels over the slope S to pave it. The slope machine 2 includes a vehicle body 20, a front wheel support portion 21 that supports three front wheels 28, and a rear wheel support portion 22 that supports four rear wheels 29.

[0014] The vehicle body 20 is equipped with a drive device (not shown) such as a diesel engine or an electric motor, which functions as a weight for the compaction roller. A drive unit (not shown) drives a hydraulic pump and supplies hydraulic pressure to a steering hydraulic actuator that steers front wheels 28 and a hydraulic motor that drives rear wheels 29. In the driver's seat 23 of the vehicle body 20, there are arranged a seat 24 on which the operator sits, a steering wheel 25 for steering, an operation panel 26 on which pedals, levers, switches, instruments, etc. are attached, and a canopy 27.

[0015] The vehicle body 20 has an engaged portion 19 on the left side thereof. As described above, the engaged portion 19 is connected to the connector 15 (see FIG. 1).

[0016] [1-1-2-1. Front wheel support part] Fig. 3 is a plan view of the front wheel support part 21 as seen from above. Fig. 4 is a front view of the front wheel support part 21 as seen from the front. 3 and 4, the front wheel support portion 21 includes a first support member 31 that is a frame-like member that is substantially U-shaped in plan view. The first support member 31 is connected to the vehicle body 20 via a first swing shaft 30 of a steering arm 36 of the vehicle body 20. It is desirable that the first swing shaft 30 be located in the center of the vehicle body 20 in the left-right direction.

[0017] A rectangular frame-shaped second support member 33 for supporting the two front wheels 28 and a frame-shaped third support member 40 for supporting the remaining front wheel 28 are arranged inside the first support member 31. The second support member 33 is connected to the first support member 31 via a second swing shaft 32.

[0018] The second support member 33 is divided by a partition 33A. One front wheel 28A is disposed on the right side of the partition 33A in the figure, and the front wheel 28A is supported by the second support member 33 via a rotation shaft 41. A frame-shaped fourth support member 42 is disposed on the left side of the partition portion 33A in the drawing. The fourth support member 42 is connected to the second support member 33 via a fourth swing shaft 43. One front wheel 28B is disposed inside the fourth support member 42. This front wheel 28B is supported by the fourth support member 42 via a rotation shaft 41.

[0019] The above-mentioned third support member 40 is connected to the first support member 31 via a third swing shaft 39. One front wheel 28C is disposed inside the third support member 40. The front wheel 28C is supported by the third support member 40 via a rotation shaft 41.

[0020] Furthermore, if the distance between the first oscillating shaft 30 and the third oscillating shaft 39 is L1, and the distance between the first oscillating shaft 30 and the second oscillating shaft 32 and the distance between the second oscillating shaft 32 and the fourth oscillating shaft 43 is L2, the distance L2 is 1 / 2 of the distance L1.

[0021] According to the above configuration, the rolling load from the vehicle body 20 acts on the first support member 31 via the first swing shaft 30, and also acts on the fourth support member 42 via the second swing shaft 32. This distributes the rolling load so that it acts evenly on the three front wheels 28, preventing a large load from acting on any particular front wheel 28. Furthermore, equalizing the rolling load acting on each front wheel 28 can improve the compaction accuracy of the asphalt mixture paved on a curved surface.

[0022] Of the two front wheels 28 located at the outermost positions in the left-right direction, one front wheel 28C can swing about a third swing shaft 39 via a third support member 40, and the other front wheel 28B can swing about a fourth swing shaft 43 via a fourth support member 42. Therefore, when compacting the asphalt mixture paved on a slope S, the two front wheels 28 swing further due to the normal force received from the slope S, and attempt to become perpendicular to the slope S. As a result, the lower surfaces of the three front wheels 28 follow the shape of the slope S that they abut, further improving the compaction accuracy of the paved asphalt mixture.

[0023] [1-1-2-2. Rear wheel support part] Fig. 5 is a plan view of the rear wheel support portion 22 as seen from above. Fig. 6 is a view of the rear wheel support portion 22 as seen from behind. Fig. 7 is a cross-sectional view taken along line VII-VII in Fig. 6. Fig. 8 is a cross-sectional view taken along line VIII-VIII in Fig. 7. As shown in Fig. 5, the rear wheel support section 22 includes a rectangular frame-shaped base member 50. As shown in Fig. 6, the upper ends of brackets 58 (hereinafter referred to as 58A and 58B) are fixed to the base member 50. Support frames 53 (hereinafter referred to as 53A and 53B) are connected to the lower ends of the brackets 58A and 58B via a fifth swing shaft 52. As shown in Fig. 5, the support frames 53A and 53B are generally U-shaped in plan view.

[0024] Two rectangular frame-shaped rear wheel support members 59 are disposed inside each of the support frames 53A and 53B. The rear wheel support members 59 are connected to the support frames 53A and 53B via sixth swing shafts 61, respectively. The rear wheels 29 are disposed inside the rear wheel support members 59 , and the rear wheels 29 are supported by the rear wheel support members 59 via rotation shafts 60 .

[0025] As shown in Figures 6 and 7, the rear wheel support part 22 is connected to the vehicle body 20 via a fixing part 65, a vehicle body bracket 66, and a main swing shaft 51. It is desirable that the main swing shaft 51 be located in the center of the vehicle body 20 in the left-right direction. As shown in Figure 7, the upper end of the vehicle body bracket 66 is fixed to the lower part of the vehicle body 20, and the lower end extends inside the base member 50, and the fixing part 65 is fixed to the outside of the base member 50. In this state, the fixing part 65 and the vehicle body bracket 66 are connected via the main swing shaft 51. Therefore, the vehicle body 20 is tiltably supported by the rear wheel support part (wheel support part) 22.

[0026] If the distance between the main oscillation shaft 51 and the fifth oscillation shaft 52 is L3 and the distance between the fifth oscillation shaft 52 and the sixth oscillation shaft 61 is L4, the distance L4 is 1 / 2 of the distance L3.

[0027] According to the above configuration, the rolling pressure load from the vehicle body 20 acts on the base member 50 via the main swing shaft 51, on the support frames 53A and 53B via the fifth swing shaft 52, and on the rear wheel support member 59 via the sixth swing shaft 61. This distributes the rolling load so that an even rolling load acts on the four rear wheels 29, preventing a large load from acting on any particular rear wheel 29. Furthermore, equalizing the rolling load acting on each rear wheel 29 improves the compaction accuracy of the asphalt mixture paved on a curved surface.

[0028] The four rear wheels 29 are also capable of swinging via a sixth swing shaft 61. When compacting the asphalt mixture paved on the slope S, the four rear wheels 29 swing due to the normal force received from the slope S, and attempt to become perpendicular to the slope S. Therefore, the lower surfaces of the four rear wheels 29 follow the shape of the slope S, further improving the compaction accuracy of the paved asphalt mixture.

[0029] [1-1-2-3. Spring mechanism and displacement sensor] As shown in FIG. 6, the vehicle body 20 and the base member 50 are connected by spring mechanisms 70 on both left and right side surfaces of the vehicle body 20. The spring mechanism 70 includes a fixed plate 71. As shown in FIG. 7 , the fixed plate 71 is fixed to the vehicle body 20 by fasteners 74. A pair of second plates 76 are fixed to both edges of the fixed plate 71, and a pair of first plates 75 are fixed to the inside of the pair of second plates 76. Link members 73 are disposed between the first plate 75 and the second plate 76, and one end of each link member 73 is connected to the first plate 75 and the second plate 76 via a first pin 85.

[0030] The other end of each link member 73 is disposed between a third plate 83 and a fourth plate 88, and is connected to the third plate 83 and the fourth plate 88 via a second pin 89. The third plate 83 and the fourth plate 88 are fixed to the base member 50, as shown in FIG. 6. The upper ends of the pair of first plates 75 are connected by an upper connector 78, and the lower ends of the pair of third plates 83 are connected by a lower connector 84, as shown in FIG. 7. The upper connector 78 is supported so as to be swingable about an upper rotation shaft 78A, and the lower connector 84 is supported so as to be swingable about a lower rotation shaft 84A. The spring support rod 77 is disposed so as to pass through the upper connector 78 and the lower connector 84. The lower end of the spring support rod 77 is fixed to the lower connector 84.

[0031] 8, a spring seat 79 is fixed to the lower region of the spring support rod 77, and a compression spring 72 is disposed between the spring seat 79 and an upper connecting member 78. An upper piece 92 is fixed to the upper connecting member 78, and a lower piece 91 is fixed to the lower connecting member 84. A differential transformer type displacement sensor 93 is disposed between the upper piece 92 and the lower piece 91. The displacement sensor 93 is a cylindrical body, and is supported between the upper piece 92 and the lower piece 91 by a lower rod 94 and an upper rod 95. A piston (not shown) is connected to the lower end of the upper rod 95. The piston is slidable within the cylinder of the displacement sensor 93. The displacement sensor 93 detects the up and down movement of the piston based on the principle of a differential transformer, and detects the distance between the upper piece 92 and the lower piece 91. The displacement sensor 93 is not limited to a differential transformer type sensor, and it is sufficient if it can measure the distance between the upper piece 92 and the lower piece 91.

[0032] As shown in Fig. 6, the vehicle body 20 is connected to the base member 50 so as to be able to tilt. Therefore, when the vehicle body 20 tilts, the vehicle body 20 approaches or moves away from the base member 50, as shown by the reciprocating arrows in Fig. 8, and the distance between the upper piece 92 and the lower piece 91 changes, and the displacement sensor 93 detects the distance between the upper piece 92 and the lower piece 91.

[0033] [1-1-2-4. Prohibited section] When the slope machine 2 is moved to a work site, it is driven on a flat road, but in this embodiment, the vehicle body 20 tilts, making it difficult to drive. The slope climbing machine 2 is provided with a link member 73 as a prohibiting part that temporarily prohibits tilting of the vehicle body 20. The link member 73 is rotatably fixed by a first pin 85 to a first plate 75 and a second plate 76 that are fixed to the vehicle body 20.

[0034] 6 and 7, by fixing link member 73 with second pin 89 to third plate 83 and fourth plate 88 that are fixed to base member 50, tilting of vehicle body 20 can be prohibited. That is, by fixing one end of link member 73 as a prohibiting member to base member 50, rotation about upper rotation shaft 78A and lower rotation shaft 84A can be prohibited. On the other hand, as shown in FIG. 8, when the other end of the link member 73 is fixed to the first plate 75 by a second pin 89, the vehicle body 20 can tilt.

[0035] [1-1-3. Automatic driving mechanism, automatic steering mechanism] [1-1-3-1.Automatic driving mechanism] 9 to 11 are system diagrams showing the automatic traveling mechanism of the slope machine 2, with FIG. 9 being a plan view, FIG. 10 being a side view, and FIG. 11 being a front view of the locking member. 9, a support shaft 171 is arranged on the vehicle body 20 of the slope machine 2, and a substantially L-shaped arm member (follower member) 172 that can swing substantially horizontally is attached to the support shaft 171. The arm member 172 includes a long first arm 173 and a second arm 174 that bends from the base end of the first arm 173. A wire (interlocking member) 175 is connected to the tip of second arm 174, and wire 175 extends to a fixture 176 of vehicle body 20. First arm 173 and second arm 174 are configured to have a substantially L-shape in a plan view, as shown in FIG.

[0036] 10, a link member 177 is disposed on the fixture 176. The base of the link member 177 is supported on the fixture 176 by a shaft 178, and a wire 175 is connected to the tip of the link member 177. The link member 177 is a lever that moves the vehicle body 20 forward and backward, and is connected to a forward and backward movement mechanism (not shown) of the vehicle body 20. When the link member 177 swings to the left in the figure, the vehicle body 20 moves forward, and when it swings to the right in the figure, the vehicle body 20 moves backward.When the link member 177 is in the neutral position, the vehicle body 20 stops and does not move forward or backward.

[0037] First arm 173 includes a base 173A connected to support shaft 171, and a main body 173B connected to base 173A via shaft 178. Main body 173B is capable of swinging around shaft 178 in the vertical direction. Main body 173B has a connecting portion 179 midway, and the length of main body 173B can be freely extended or contracted in the longitudinal direction via connecting portion 179. A locking member 181 is disposed at the tip of main body 173B. As shown in FIG. 11 , locking member 181 has a bifurcated claw portion 181A. Main body 173B is swung from top to bottom, and support rope 17 is hooked between claw portions 181A of locking member 181. After being hooked onto support rope 17, main body 173B swings under its own weight and follows the movement of support rope 17. Main body 173B can be freely raised up to position A, and when the automatic traveling mechanism is not used, first arm 173 is raised to position A and stored on the vehicle main body 20 side.

[0038] The operation of the automatic driving mechanism will now be described. The slope machine 2 is capable of automatic travel on the slope S. Referring to Fig. 1, the support rope 17 extends from the support machine 3 side. When the support machine 3 moves forward (direction f), the support rope 17 swings, for example, in the directions of arrows F1, F2, and F3, as shown in Fig. 9. When the support rope 17 swings, the first arm 173 swings integrally, and the second arm 174 rotates clockwise in the figure around the support shaft 171 together with the first arm 173. Accordingly, the wire 175 is pushed to the right in the figure, and the link member 177 swings to the left in the figure (direction F), as shown in Fig. 9. The link member 177 is connected to a forward / backward movement mechanism (not shown) of the vehicle body 20, thereby causing the vehicle body 20 to move forward.

[0039] When the support machine 3 moves backward (direction R), the support rope 17 swings, for example, in the directions of arrows R1, R2, and R3. When the support rope 17 swings, the first arm 173 swings integrally with the support rope 17, as shown in Fig. 9, and the second arm 174 rotates integrally with the first arm 173 in the counterclockwise direction in the figure around the support shaft 171. Accordingly, the wire 175 is pulled to the left in the figure, and the link member 177 swings to the right in the figure (backward R) as shown in Fig. 9. The link member 177 is connected to a forward / reverse movement mechanism (not shown) of the vehicle body 20, thereby moving the vehicle body 20 backward. When the link member 177 is in the neutral position, the vehicle body 20 stops and does not move forward or backward.

[0040] In the embodiment, the forward and backward movement mechanism of the slope machine 2 operates in conjunction with the movement of the support rope 17, which allows for automation of the forward and backward movement of the slope machine 2, reducing the workload of the driver of the slope machine 2 and improving the operating efficiency of the slope machine 2.

[0041] In the embodiment, when the support machine 3 moves forward, the slope machine 2 moves forward, and when the support machine 3 moves backward, the slope machine 2 moves backward, so that the slope machine 2 follows the movement of the support machine 3 and can automatically travel on the slope S.

[0042] [1-1-3-2. Automatic steering mechanism] In this embodiment, as shown in Fig. 1, a remote control unit 112 is disposed in the driver's cab 8 of the support machine 3. Also, as shown in Fig. 2, the slope machine 2 is provided with a steering drive unit 111 that drives the steering wheel 25. Although not shown, the steering drive unit 111 includes a drive motor, a gear mechanism, etc. that drive the steering wheel 25, and receives steering information from the remote control unit 112 of the support machine 3 to turn the steering wheel 25 left and right for automatic steering.

[0043] The remote control unit 112 is an operation unit operated by the driver of the support machine 3, and although not shown in the figures, it is equipped with, for example, a swingable lever that indicates the steering direction of the slope machine 2. The remote control unit 112 is not limited to a lever, and may be configured with software buttons arranged on a display, etc.

[0044] [1-1-4. Control system] FIG. 12 is a block diagram of the control system. [1-1-4-1. Slope side control device] The slope machine 2 includes a slope side control device 210 , a slope side communication unit 224 , and a steering drive unit 111 that drives the steering wheel 25 . The slope-side control device 210 is a control device that controls each part of the slope machine 2. The slope-side control device 210 includes a slope-side processor 212, which is a processor such as a CPU, a slope-side memory 211, and an interface circuit for connecting other devices and sensors, and controls each part of the slope-side control device 210. The slope side memory 211 is a memory that stores programs and data. The slope side memory 211 stores a slope side program 221 and data to be processed by the slope side processor 212. The slope side memory 211 has a non-volatile storage area. The slope side memory 211 may also have a volatile storage area and may constitute a work area for the slope side processor 212. The slope side memory 211 is constituted by, for example, a ROM or a RAM.

[0045] The slope side communication unit 224 communicates with a support side communication unit 324 provided in the support machine 3. The slope side communication unit 224 and the support side communication unit 324 transmit and receive data and signals via a wireless communication line. For example, the slope side communication unit 224 and the support side communication unit 324 are connected by a wireless communication line that complies with Bluetooth (registered trademark), Wi-Fi (registered trademark), or other wireless communication standards. Alternatively, the slope side communication unit 224 and the support side communication unit 324 may be connected by a USB (Universal Serial Bus) cable or other data communication cable.

[0046] The slope-side processor 212 reads and executes the slope-side program 221 stored in the slope-side memory 211, thereby functioning as a sensor control unit 222 and a communication control unit 223. The communication control unit 223 uses the slope-side communication unit 224 to communicate with a support-side communication unit 324 on the support machine 3 side.

[0047] The sensor control unit 222 converts the displacement data acquired from the displacement sensor 93 to generate a displacement value, and stores the displacement value in the slope-side memory 211 . The sensor control unit 222 executes zero-point correction in response to operation of the slope-side control device 210 when the displacement sensor 93 is in the initial state. The zero-point correction corrects the displacement value to zero when displacement data is in a certain state. For example, a correction switch may be provided on the operation panel 26 connected to the slope-side control device 210 of the slope machine 2. In this case, when the displacement sensor 93 is in the initial state, the sensor control unit 222 executes zero-point correction in response to the user pressing the correction switch on the operation panel 26.

[0048] The initial state is the state of the displacement sensor 93 when the vehicle body 20 is parallel to the axle direction of the rear wheels 29, that is, when tilting of the vehicle body 20 is prohibited by the link member 73. At this time, the displacement value is 0.

[0049] The displacement value can be either positive or negative. Referring to Figure 1, when the tension in the support rope 17 is large, the vehicle body 20 is pulled by the support rope 17 and tilts to the left (to the right in the plane of Figure 1) relative to the forward movement direction. In this case, the distance between the upper piece 92 and the lower piece 91 provided on the left side of the vehicle body 20 decreases, and the displacement value takes a negative value. A negative displacement value corresponds to a state in which the vehicle body 20 is tilting in the direction of ascending the slope S.

[0050] 1, when the tension in the support rope 17 is small, the vehicle body 20 tilts to the right (left side of the paper in FIG. 1) with respect to the forward movement direction due to gravity. In this case, the distance between the upper piece 92 and the lower piece 91 provided on the left side of the vehicle body 20 increases, and the displacement value becomes a positive value. A positive displacement value corresponds to a state in which the vehicle body 20 is tilting downward down the slope S.

[0051] [1-1-4-2. Support side control device] The support machine 3 includes a support side control device 310, a support side communication unit 324, and a remote control unit 112 operated by the driver of the support machine 3. The support side control device 310 is a control device that controls each part of the support machine 3. The support side control device 310 includes a support side processor 312 which is a processor such as a CPU, a support side memory 311, and an interface circuit for connecting other devices and sensors, and controls each part of the support side control device 310. The support side memory 311 is a memory that stores programs and data. The support side memory 311 stores the support side program 321 and data to be processed by the support side processor 312 . The support side memory 311 has a non-volatile storage area. The support side memory 311 may also have a volatile storage area and constitute a work area for the support side processor 312. The support side memory 311 is constituted by, for example, a ROM or a RAM.

[0052] The support-side processor 312 reads and executes the support-side program 321 stored in the support-side memory 311 , thereby functioning as a winch control unit 322 and a communication control unit 323 .

[0053] The communication control unit 323 uses the support side communication unit 324 to communicate with the slope side communication unit 224 on the support machine 3 side.

[0054] The winch control unit 322 drives the winch 16 based on the displacement value received by the support side communication unit 324. The winch control unit 322 drives the winch 16 to either wind or unwind the support rope 17 so that the displacement value falls within a predetermined range. For example, the predetermined range is a range in which the displacement value is equal to or greater than -X and equal to or less than +X. A large absolute value X of the displacement value corresponds to a large tilt of the vehicle body 20.

[0055] The winch 16 has a minimum payout amount that can pay out the support rope 17 at one time and a minimum reeling amount that can reel in the support rope 17 at one time. If the minimum payout amount or the minimum reeling amount causes the vehicle body 20 to tilt, and the predetermined range is much larger than the change in the displacement value that changes due to the tilt, it will be difficult to keep the displacement value within the predetermined range by paying out or reeling in the support rope 17 by the winch control unit 322. The predetermined range is appropriately determined in advance from the above viewpoints. The smaller the minimum amount of payout or the minimum amount of winding of the support rope 17 by the winch 16 of the support machine 3, the smaller the predetermined range can be set.

[0056] When the displacement value is a negative value outside the predetermined range, the winch control unit 322 drives the winch 16 to pay out the support rope 17. As a result, the vehicle body 20 tilts downward down the slope S, and the displacement value increases. When the displacement value is a positive value outside the predetermined range, the winch control unit 322 drives the winch 16 to reel in the support rope 17. As a result, the vehicle body 20 tilts upward up the slope S, and the displacement value decreases.

[0057] With this configuration, the winch control unit 322 controls the payout or reeling of the winch 16 so that the displacement value approaches 0 as much as possible. In other words, the winch control unit 322 controls the payout or reeling of the winch 16 so that the vehicle body 20 does not tilt with respect to the front wheel support unit 21 and the rear wheel support unit 22.

[0058] As described above, the support machine 3 is equipped with the remote control unit 112. When the driver of the support machine 3 operates the remote control unit 112, operation information is input to the support-side control device 310, and the information is transmitted to the slope machine 2 by the communication control unit 323. In the slope machine 2, the slope-side control device 210 receives the operation information, and the steering drive unit 111 of the slope machine 2 is driven based on the operation information.

[0059] [1-2. Effects, etc.] In this embodiment, the slope work device 1 is equipped with an accompanying support machine 3 and a slope work machine 2 that is suspended from a support rope 17 carried by the support machine 3 and moves up the slope by itself, in which the slope work device 1 is equipped with a steering drive unit 111 that operates the steering wheel 25, and the support machine 3 is equipped with a remote control unit 112 that operates the steering drive unit 111. According to this configuration, when the driver of the support machine 3 operates the remote control unit 112 and indicates the steering direction of the slope machine 2, operation information is transmitted to the slope machine 2, and the steering drive unit 111 of the slope machine 2 is driven based on the operation information. Therefore, according to this configuration, the slope machine 2 is automatically steered in the direction indicated by the driver of the support machine 3, improving the operating efficiency of the slope machine 2. When one operator operates the support machine 3, this operator can operate the steering of the slope machine 2 by operating the remote control unit 112.

[0060] The slope machine 2 also includes an arm member 172 (following member) that follows the movement of the support rope 17, a wire 175 (linking member) that moves in conjunction with the movement of the arm member 172, and a link member 177 that moves in conjunction with the movement of the wire 175, and the link member 177 is connected to the forward and backward movement mechanism of the slope machine 2. According to this configuration, when the support machine 3 moves forward, the slope machine 2 moves forward, and when the support machine 3 moves backward, the slope machine 2 moves backward. Therefore, the operating efficiency of the slope machine 2 is improved.

[0061] In addition, the arm member 172 has a first arm 173 (arm member), and the base end of the first arm 173 is supported on the support shaft 171 of the vehicle body 20 so as to be swingable in an approximately horizontal direction, and the free end of the first arm 173 has a locking member 181 that is hooked onto the support rope 17. According to this configuration, the follow-up ability of the follow-up member to the support rope 17 is improved.

[0062] The slope machine 2 also includes a front wheel support section 21 (wheel support section) and a rear wheel support section 22 (wheel support section), a vehicle body 20 that is tiltably supported by the front wheel support section 21 and the rear wheel support section 22 and to which a support rope 17 is connected, a displacement sensor 93 (sensor that detects the tilt state) of the vehicle body 20, and a winch control section 322 that controls the reeling out or winding of the support rope 17 so that the displacement value (detection value) of the displacement sensor 93 falls within a predetermined range. According to this, if the inclination of the vehicle body 20 deviates from a predetermined range, the stability of the slope machine 2's travel can be ensured by controlling the payout or winding of the support rope 17 so that it falls within the predetermined range. Unlike conventional methods, there is no need to monitor the tension of the support rope 17. Therefore, even if the distance between the slope-mounting machine 2 and the support machine 3 changes and the tension of the support rope 17 changes suddenly, the slope-mounting machine 2 can travel stably on the slope S.

[0063] In addition, a spring mechanism 70 that expands and contracts in response to the inclination of the vehicle body 20 is provided between the rear wheel support portion 22 and the vehicle body 20. This makes it possible to reduce the force with which the vehicle body 20 tilts, thereby ensuring the stability of the slope machine 2 as it travels.

[0064] Also, a link member 73 (prohibition portion) that prohibits the vehicle body 20 from tilting is provided. According to this, when there is no need for the vehicle body 20 to tilt relative to the wheel support portion, tilting of the vehicle body 20 can be prohibited.

[0065] The displacement sensor 93 is a displacement sensor that measures the displacement of the gap between the rear wheel support portion 22 and the vehicle body 20 . According to this, the stability of the slope machine 2's running can be ensured by controlling the payout or winding of the support rope 17 so that the value measured by the displacement sensor 93 for the displacement of the distance between the rear wheel support part 22 and the vehicle body 20 falls within a predetermined range.

[0066] According to this embodiment, the slope-growing machine 2 is equipped with a steering drive unit 111 that operates the steering wheel 25, the support machine 3 is equipped with a remote control unit 112 that operates the steering drive unit 111, and the slope-growing machine 2 is equipped with an arm member 172 that follows the movement of the support rope 17, a wire 175 that moves in conjunction with the movement of the arm member 172, and a link member 177 that moves in conjunction with the movement of the wire 175, and the link member 177 is connected to the forward and backward movement mechanism of the slope-growing machine 2, so that the slope-growing machine 2 is automatically steered in the direction indicated by the driver of the support machine 3, and when the support machine 3 moves forward, the slope-growing machine 2 moves forward, and when the support machine 3 moves backward, the slope-growing machine 2 moves backward, and therefore the slope-growing machine 2 is capable of automatic steering and automatic travel, and automatic operation can be achieved.

[0067] According to this embodiment, if the slope-mounting machine 2 is equipped with a front wheel support section 21 and a rear wheel support section 22, a vehicle body 20 that is tiltably supported by the front wheel support section 21 and the rear wheel support section 22 and to which a support rope 17 is connected, a displacement sensor 93 of the vehicle body 20, and a winch control section 322 that controls the reeling out or winding of the support rope 17 so that the displacement value of the displacement sensor 93 falls within a predetermined range, in addition to the automatic steering and automatic traveling of the slope-mounting machine 2, the stability of the traveling of the slope-mounting machine 2 can be ensured.

[0068] (Other embodiments) The above embodiment shows a specific example to which the present invention is applied, and does not limit the form to which the invention is applied. The displacement sensor 93 only needs to be able to detect the angle of inclination of the vehicle body 20. A distance measuring sensor (not shown) may be arranged on the vehicle body 20 to detect the inclination of the vehicle body 20 from the amount of phase change between the light irradiated onto the base member 50 and the light reflected from the base member 50. The distance measuring sensor may be a millimeter wave sensor that utilizes radio waves or an ultrasonic sensor. In the above embodiment, when the remote control unit 112 is operated, operation information is input to the support-side control device 310, and the information is transmitted to the slope machine 2 by the communication control unit 323, but this is not limiting. The remote control unit 112 may be configured to include a remote control control unit and a remote control communication unit, and to communicate with the slope machine 2 and transmit operation information without going through the support machine 3. The communication line may be a wireless communication line conforming to Bluetooth (registered trademark), Wi-Fi (registered trademark), or other wireless communication standards, or a wired line connected by a USB (Universal Serial Bus) cable or other data communication cable. Furthermore, although a crane vehicle that travels on its own on the flat road G located below the slope S has been exemplified as the support machine 3, the support machine 3 is not limited to this. The support machine 3 may also be a support vehicle that travels on its own on the flat road located above the slope S and is equipped with a winch. [Explanation of symbols]

[0069] 1 Slope work equipment 2 Slope cutting machine 3 Support Machine 9. Boom 15 Connector 16 winch 17 Support rope 19 Engaged part 20 Vehicle body 21 Front wheel support section 22 Rear wheel support section 28 front wheel 29 rear wheel 50 Base member 70 Spring mechanism 93 Displacement Sensor 111 Steering drive unit 112 Remote control unit 171 Support shaft 172 Arm member (following member) 173 First arm (arm member) 174 Second Arm 175 Wire (interlocking member) 177 Link member

Claims

1. Accompanying support machines and A slope work device comprising: a slope machine suspended from a support rope provided on the support machine and self-propelled on a slope; The slope machine includes a steering drive unit that operates steering, The support machine includes a remote control unit that operates the steering drive unit. Slope work equipment.

2. The slope machine, The slope machine includes a following member that follows the movement of the support rope, an interlocking member that interlocks with the movement of the following member, and a link member that interlocks with the movement of the interlocking member, and the link member is connected to a forward / backward movement mechanism of the slope machine. The slope work device according to claim 1.

3. the follower member comprises an arm member; The base end of the arm member is supported on a support shaft of a vehicle body of the slope machine so as to be swingable in a substantially horizontal direction, and a locking member is provided at the free end of the arm member to be hooked onto the support rope. The slope work device according to claim 2.

4. The slope machine, A wheel support portion; a vehicle body tiltably supported by the wheel support portion and connected to the support rope; a sensor that detects a tilt state of the vehicle body relative to the wheel support portion; A control unit that controls the payout or winding of the support rope so that the detection value of the sensor falls within a predetermined range. The slope work device according to claim 1 or 2.

5. Between the wheel support portion and the vehicle body, a spring mechanism that expands and contracts in response to the inclination of the vehicle body; The slope working device according to claim 4.

6. a prohibition unit that prohibits tilting of the vehicle body; The slope working device according to claim 4.

7. The wheel support portion includes a base member, the sensor is a displacement sensor that measures the distance between the base member and the vehicle body; The slope working device according to claim 4.

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