Crawler vehicle

Abstract

To provide a crawler travelling vehicle capable of improving adaptability to various irregular grounds by increasing a minimum ground clearance.SOLUTION: Left and right crawler units 2a and 2b have a crawler frame 20, and crawler belts 27 bridged between drive sprockets supported by the crawler frame 20 and idling wheels, wherein the left crawler unit 2a is swingably supported through a left crawler support part 18a that is provided between a vehicle body frame 10 and a crawler frame 2 and is rotatable around an X axis and a Z axis, the right roller unit 2b is swingably supported through a right crawler support part 18b that is provided between the vehicle body frame 10 and the crawler frame 20 and is rotatable around the X axis and the Z axis, and the crawler units 2a and 2b are linked and connected to the vehicle body frame 10 so as to be swingable oppositely in a vertical direction through a linking and connection mechanism.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to a crawler vehicle that is suitable for traveling on rough terrain such as forest land, and particularly to a crawler vehicle that is suitable for use as an rough terrain vehicle that an occupant rides on and drives, or a transport vehicle that travels while carrying luggage. [Background technology]

[0002] Japan's forests are required to be cultivated, maintained, and managed as sustainable environmental resources. However, many of them are located in steep, undulating mountainous areas. There is a demand for a means of transportation on rough terrain such as these steep, undulating mountain forests.

[0003] A crawler vehicle (rough terrain vehicle) suitable for traveling on rough terrain such as forest land is proposed in Patent Document 1. The rough terrain vehicle disclosed in Patent Document 1 includes a body frame, left and right crawlers connected to the body frame, a riding section that allows a person to stand on the vehicle, and a handle extending upward from the body frame, the body frame includes a crawler support section that supports the crawlers so that they can swing up and down via a first support shaft that penetrates the body frame and extends in the left and right direction, and an interlocking connection mechanism that interlocks and connects the left and right crawlers so that they can swing back and forth in the up and down direction, and the left and right crawlers are connected to the body frame via the first support shaft at the rear side of their track frames, and via the interlocking connection mechanism at the second connection section that is provided on the front side of the track frame.

[0004] According to the above configuration, for example, when one of the left and right crawlers climbs onto a raised portion on rough ground, the one crawler oscillates upward with the first support shaft as a fulcrum relative to the vehicle body frame in response to the climbing up, while the other crawler on the opposite side oscillates downward with the first support shaft as a fulcrum relative to the vehicle body frame. Also, when one of the left and right crawlers enters a sunken portion on rough ground, the one crawler oscillates downward with the first support shaft as a fulcrum relative to the vehicle body frame in response to the climbing up, while the other crawler on the opposite side oscillates upward with the first support shaft as a fulcrum relative to the vehicle body frame.

[0005] In this way, when one of the left or right crawlers rides over a raised portion or enters a sunken portion, the left and right crawlers oscillate up and down in opposite directions relative to the vehicle frame, thereby suppressing the up and down oscillation of each crawler relative to the vehicle frame while suppressing the lateral tilt of the vehicle body caused by one of the crawlers riding over a raised portion or entering a sunken portion.

[0006] Meanwhile, crawler vehicles can handle a variety of rough terrain better if they have a high ground clearance. In other words, there is more room for the vehicle to get under raised areas. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] JP 2020-59416 A Summary of the Invention [Problem to be solved by the invention]

[0008] In the crawler vehicle described in the above-mentioned Patent Document 1, the crawler is supported so as to be able to swing up and down via a first support shaft that penetrates the body frame and extends in the left-right direction. Therefore, the first support shaft is located below the body frame between the left and right crawlers, and the ground clearance is lowered by the first support shaft.

[0009] An object of the present invention is to provide a crawler vehicle that can increase the minimum ground clearance and improve its ability to handle various rough terrains. [Means for solving the problem]

[0010] The inventors have studied the minimum ground clearance of crawler-traveling vehicles and have come up with a structure to support the left and right crawlers so that they can swing up and down in an opposite direction, instead of a support shaft that penetrates the vehicle body frame, in a crawler-traveling vehicle in which the left and right crawlers are linked together so that they can swing up and down in opposite directions.

[0011] By eliminating the support shaft that penetrates the body frame, it is possible to raise the ground clearance to near the bottom of the body frame. Therefore, the inventors came up with the idea of ​​providing crawler support parts on the left and right sides of the body frame that support the crawlers so that they can swing up and down.

[0012] In a crawler vehicle, when the drive speeds of the left and right crawlers are different, a rotational moment is applied to the crawler support parts that support the crawlers so that they can swing up and down. In order to handle this rotational moment, the strength of the crawler support parts needs to be increased. For this reason, measures such as making the crawler support parts larger are required.

[0013] The present inventors have conducted extensive research into a configuration that can handle a rotational moment applied to the support portion without increasing the size of the crawler support portion. As a result of extensive research, the present inventors have come up with the following configuration.

[0014] A crawler vehicle according to one embodiment of the present invention includes a vehicle body frame and left and right crawler units connected to the vehicle body frame. Left and right Crawler Unit Each ofThe crawler unit has a crawler frame extending in the fore-and-aft direction of the vehicle body frame, a drive sprocket supported at the rear end of the crawler frame, an idler wheel supported at the front end, and a crawler belt suspended between the drive sprocket and the idler wheel, and when the fore-and-aft direction of the vehicle body frame is defined as the Y axis, the direction perpendicular to the Y axis is defined as the X axis, and the axis perpendicular to the XY plane is defined as the Z axis, the left crawler unit is supported swingably via a left crawler support part provided between the vehicle body frame and the crawler frame and rotatable about the X axis and the Z axis, and the right crawler unit is supported swingably via a left crawler support part provided between the vehicle body frame and the crawler frame and rotatable about the X axis and the Z axis, Be The right and left crawler units are supported so as to be swingable via a right crawler support part which is rotatable around an X-axis and a Z-axis. Each of is interlocked to the vehicle body frame via an interlocking mechanism so as to be able to swing counter-rotatingly in the up and down direction.

[0015] According to a crawler traveling vehicle according to one embodiment of the present invention, the left crawler support part or the right crawler support part rotates the crawler unit about the Z axis in response to a rotational moment about the Z axis applied due to the drive state of the crawler unit. This reduces the force based on the rotational moment applied to the left crawler support part or the right crawler support part, and makes it possible to accommodate the rotational moment without increasing the size of the left crawler support part and the right crawler support part.

[0016] From another viewpoint, it is preferable that a crawler traveling vehicle according to an embodiment of the present invention includes the following configuration: the vehicle body frame includes left and right side members extending in a front-rear direction of the crawler traveling vehicle; The above Left and right The above A first cross member extending across a front side of the side member; The above Left and right The above a second cross member extending across the rear end of the side member; The above Side members and The left side of The above The left crawler support portion is provided between the right crawler unit and the left crawler support portion. The above Side members and The right sideThe right crawler support portion is provided between the first cross member and the crawler unit. Materials And the left and right The above The interlocking mechanism is provided between the crawler units.

[0017] From another viewpoint, it is preferable that the crawler traveling vehicle according to the embodiment of the present invention includes the following configuration: The interlocking connection mechanism is provided in a center portion of the first cross member, and Body frame the left and right crawler frames are connected to each other via a ball joint.

[0018] According to the above configuration, the left and right free ends of the balance arm are connected to the crawler frame via ball joints, whereby the balance arm suppresses left and right swinging of the crawler unit.

[0019] From another viewpoint, it is preferable that the crawler traveling vehicle according to the embodiment of the present invention includes the following configuration. The above The right crawler support portion is Left and right Crawler Frame Each of A first support shaft supported by a fixed first support portion so as to be rotatable around an X-axis, a second support shaft perpendicular to the first support shaft, Left and right Side member Each of The second support portion is fixed and supports the second support shaft so as to be rotatable around the Z axis.

[0020] From another viewpoint, it is preferable that a crawler traveling vehicle according to an embodiment of the present invention includes the following configuration: The left crawler support portion and the right crawler support portion are provided in a central portion of the crawler frame in the front-rear direction.

[0021] According to the above configuration, the crawler vehicle can achieve the same crawler behavior regardless of which side of the crawler vehicle is driven forward.

[0022] In this specification, an embodiment of a crawler traveling vehicle according to the present invention will be described.

[0023] In the following description, numerous specific examples are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one skilled in the art that the present invention may be practiced without these specific examples.

[0024] The following disclosure is therefore to be considered as illustrative of the present invention and is not intended to limit the invention to the specific embodiments illustrated in the following drawings or description. Effect of the Invention

[0025] According to the crawler traveling vehicle of the present invention, the minimum ground clearance can be increased, and the vehicle can be improved in its ability to navigate various rough terrains. [Brief description of the drawings]

[0026] [Figure 1] FIG. 1 is a perspective view showing a crawler traveling mechanism of a crawler traveling vehicle according to one embodiment of the present invention. [Diagram 2] FIG. 2 is a plan view showing a crawler traveling mechanism of a crawler traveling vehicle according to one embodiment of the present invention. [Diagram 3] FIG. 3 is a side view showing a crawler traveling mechanism of a crawler traveling vehicle according to one embodiment of the present invention. [Figure 4] FIG. 4 is a front view showing a crawler traveling mechanism of a crawler traveling vehicle according to one embodiment of the present invention. [Diagram 5] FIG. 5 is a rear view showing the crawler traveling mechanism of the crawler traveling vehicle according to one embodiment of the present invention. [Figure 6] FIG. 6 is a cross-sectional view taken along line VI-VI in FIG. [Figure 7] FIG. 7 is an enlarged perspective view showing a crawler unit support portion of a crawler traveling vehicle according to one embodiment of the present invention. [Figure 8]FIG. 8 is an enlarged cross-sectional view showing a crawler unit support portion of a crawler traveling vehicle according to one embodiment of the present invention. [Figure 9] FIG. 9 is a perspective view showing a state in which the left crawler unit of the crawler traveling vehicle according to one embodiment of the present invention is lowered. [Figure 10] FIG. 10 is a front view showing a state in which the left crawler unit of the crawler traveling vehicle according to one embodiment of the present invention is lowered. [Figure 11] FIG. 11 is a perspective view showing a state in which the right crawler unit of the crawler traveling vehicle according to one embodiment of the present invention is raised. [Figure 12] FIG. 12 is a side view showing a state in which the right crawler unit of the crawler traveling vehicle according to one embodiment of the present invention is raised. [Figure 13] FIG. 13 is a front view showing an example in which a crawler traveling vehicle according to an embodiment of the present invention is applied to a transport vehicle. [Figure 14] FIG. 14 is a side view showing an example in which a crawler traveling vehicle according to an embodiment of the present invention is applied to a transport vehicle. [Figure 15] FIG. 15 is a perspective view showing another example in which a crawler traveling vehicle according to an embodiment of the present invention is applied to a transport vehicle. [Figure 16] FIG. 16 is a side view showing an example in which a crawler vehicle according to an embodiment of the present invention is applied to an off-road vehicle. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0027] Hereinafter, each embodiment will be described with reference to the drawings. Note that the dimensions of components in each drawing do not faithfully represent the actual dimensions of the components and the dimensional ratios of the components.

[0028] Hereinafter, arrow F in the figures indicates the forward direction of the crawler vehicle. Arrow RR in the figures indicates the rearward direction of the crawler vehicle. Arrow U in the figures indicates the upward direction of the crawler vehicle. Arrow R in the figures indicates the leftward direction of the crawler vehicle, and arrow L in the figures indicates the rightward direction. Furthermore, the front-rear, back-rear, left-right directions refer to the front-rear, back-left and right directions as seen by the occupant driving the vehicle, for example, when the crawler vehicle is applied to an off-road vehicle on which an occupant rides.

[0029] In the following description, the crawler travel mechanism of the crawler travel vehicle will be mainly described. In an off-road vehicle in which an occupant rides and operates the vehicle, a seat for the occupant to sit on or a step for the occupant to stand on is provided above the crawler travel mechanism. In a transport vehicle that travels while carrying luggage, a loading platform is provided above the crawler travel mechanism.

[0030] FIG. 1 is an oblique view showing a crawler traveling mechanism unit of a crawler traveling vehicle according to one embodiment of the present invention; FIG. 2 is a plan view showing the crawler traveling mechanism unit of a crawler traveling vehicle according to one embodiment of the present invention; FIG. 3 is a side view showing the crawler traveling mechanism unit of a crawler traveling vehicle according to one embodiment of the present invention; FIG. 4 is a front view showing the crawler traveling mechanism unit of a crawler traveling vehicle according to one embodiment of the present invention; FIG. 5 is a rear view showing the crawler traveling mechanism unit of a crawler traveling vehicle according to one embodiment of the present invention; FIG. 6 is a cross-sectional view taken along line VI-VI in FIG. 2; FIG. 7 is an enlarged oblique view showing a crawler unit support portion of a crawler traveling vehicle according to one embodiment of the present invention; and FIG. 8 is an enlarged cross-sectional view showing the crawler unit support portion of a crawler traveling vehicle according to one embodiment of the present invention.

[0031] As shown in Figures 1 to 5, the crawler vehicle 100 in this embodiment has a crawler body 1, a left crawler unit 2a, and a right crawler unit 2b. Figures 1 to 5 omit the handlebars, seats, and other components of the rough terrain vehicle as the crawler vehicle 100. The rough terrain vehicle has a handlebars, seats, and other components provided on the crawler body 1. When configuring a transport vehicle, a loading platform is provided on the crawler body 1 instead of the riding section 3.

[0032] The left and right crawler units 2a and 2b are driven independently by a drive sprocket 22. The left and right drive sprockets 22 are driven by respective electric motors 21. In this embodiment, the drive sprockets 22 are directly attached to the electric motors 21.

[0033] The crawler traveling vehicle body 1 has a vehicle body frame 10. The left crawler unit 2a and the right crawler unit 2b are respectively supported by left and right crawler support portions 2a, 2b ... 18a、 The left crawler unit 2a and the right crawler unit 2b are rotatably supported via left and right swing links 17 attached to the vehicle body frame 10 at the front of the crawler traveling vehicle body 1. This improves the ability to overcome steps and to contact rough ground, and ensures travel on rough ground with severe bumps.

[0034] As shown in Figures 1 to 5, the crawler vehicle 100 according to this embodiment comprises a body frame 10 which forms the framework of the crawler body 1, a left crawler unit 2a and a right crawler 2b connected to the body frame 10, and a boarding section 3 which can be stood on.

[0035] As shown in Figures 4 and 5, the body frame 10 is formed into a roughly rectangular shape in a plan view by welding together left and right side members 11 extending in the fore-and-aft direction of the crawler vehicle 100, a first cross member 12 spanning the front sides of the left and right side members 11, and a second cross member 13 spanning the rear ends of the left and right side members 11.

[0036] 1 and 3, the left crawler unit 2a and the right crawler unit 2b each include a crawler frame 20 extending in the front-rear direction of the crawler traveling body 1, a drive sprocket 22 supported via an electric motor 21 at the rear end of the crawler frame 20, a tension-type idler wheel 23 supported via a tension mechanism (not shown) at the front end of the crawler frame 20, front and rear wheels 25, 26 supported via an equalizer arm 24 at the front-rear intermediate portion of the crawler frame 20, and a crawler belt 27 stretched across the drive sprocket 22, the idler wheel 23, and the front and rear wheels 25, 26. Each electric motor 21 is an in-wheel motor attached to the drive sprocket 22, and is equipped therein with an inverter (not shown), a reduction mechanism (not shown), and the like.

[0037] As shown in Figs. 1 and 3, in this embodiment, the front-rear direction of the body frame 10 is the Y axis, the direction perpendicular to the Y axis is the X axis, and the axis perpendicular to the XY plane is the Z axis.

[0038] As shown in FIGS. 6 to 8, between the vehicle body frame 10 and the crawler frame 20, a left crawler support portion 18a and a right crawler support portion 18b are provided which are rotatable about the X-axis and the Z-axis.

[0039] The left crawler unit 2a is supported swingably relative to the body frame 10 via a left crawler support part 18a that is provided between the left side member 11 of the body frame 10 and the crawler frame 20 and is rotatable about the X-axis and the Z-axis.

[0040] That is, the crawler frame 20 is supported rotatably about the X-axis and the Z-axis with respect to the vehicle body frame 10, and the crawler unit 2a is supported swingably on the vehicle body frame 10. As a result, the crawler unit 2a is supported movably in the up-down and left-right directions with respect to the vehicle body frame 10.

[0041] Furthermore, as a result of the left crawler support part 18a rotating the crawler unit 2a about the Z axis in response to a rotational moment about the Z axis applied due to the driving state of the crawler unit 2a, the force based on the rotational moment about the Z axis applied to the left crawler support part 18a disappears, and the only rotational moment applied to the left crawler support part 18a is the rotational moment about the Y axis. As a result, the rotational moment applied to the left crawler support part 18a is significantly reduced, and the left crawler support part 18a can handle the rotational moment without increasing its size.

[0042] In this embodiment, the left crawler support part 18a is provided at the center in the front-rear direction (Y axis) of the crawler frame 20. Here, the center means the center of the dimension in the Y axis direction of the crawler frame 20 and its vicinity. Furthermore, the center does not only mean the center of the mechanical dimensions, but may also mean the center of the center of gravity taking into account the overall weight distribution of the crawler unit 2a.

[0043] The left crawler support part 18a has a sleeve 183a that penetrates the center of the crawler frame 20 in the front-rear direction (Y axis) and extends in the left-right direction of the body frame 10, i.e., in the X axis direction. The sleeve 183a is fixed to the crawler frame 20. The sleeve 183a extends from the crawler frame 20 to the left side near the center of the crawler belt 27.

[0044] A pair of ball bearings 184a are fitted into the sleeve 183a, and the ball bearings 184a rotatably support the first support shaft 181a which extends in the X-axis direction beyond the sleeve 183a towards the left side member 11.

[0045] A second support shaft 182a is provided at the end of the first support shaft 181a on the side member 11 side in a direction perpendicular to the first support shaft 181a. In this embodiment, a base 182a1 of the second support shaft 182a is provided with a hole 182c into which the first support shaft 181a fits. A threaded portion is provided at the tip of the first support shaft 181a, and the first support shaft 181a is fitted into the hole 181c of the second support shaft 182a and a nut 181d is tightened onto the threaded portion, thereby integrating the first support shaft 181a and the second support shaft 182a. In this embodiment, the first support shaft 181a and the second support shaft 182a are configured as separate members, but they may be formed as one member by casting or the like.

[0046] A pair of left brackets 186a are provided on the left side member 11, which protrude outward to the left. A sleeve 185a having a flange at its lower portion is attached to the left bracket 186a. The second support shaft 182a is formed in a stepped shape and has a base 182a1 into which the first support shaft 181a is fitted, and a rotating portion 182a2 having a smaller diameter than the base 182a1 and which is rotatably inserted into the sleeve 185a. The minimum ground clearance can be set by the length of the base 182a1. In other words, the minimum ground clearance increases if the length of the base 182a1 is increased. The length of the base 182a1 is determined in accordance with the desired minimum ground clearance.

[0047] A sliding washer 187 is inserted between the base 182a1 and the flange of the sleeve 185a, and the second support shaft 182a is rotatably supported relative to the sleeve 185a. A threaded portion is provided at the tip of the second support shaft 182a, and a nut 188 is fastened to this threaded portion, so that the second support shaft 182a is attached to the side member 11 via the sleeve 185a so as to be rotatable in the Z-axis direction. In this way, the left crawler support part 18a supports the crawler frame 20 so as to be rotatable relative to the vehicle body frame 10 about the X-axis and the Z-axis.

[0048] Similarly, the right crawler unit 2b is supported swingably with respect to the body frame 10 via a left crawler support part 18a that is rotatable about the X-axis and the Z-axis and is provided between the right side member 11 of the body frame 10 and the crawler frame 20. As a result, the crawler unit 2b is supported with respect to the body frame 10 so as to be movable up and down and left and right.

[0049] Furthermore, as a result of the right crawler support part 18b rotating the crawler unit 2b about the Z axis in response to the rotational moment about the Z axis applied due to the driving state of the crawler unit 2b, the force based on the rotational moment about the Z axis applied to the right crawler support part 18b disappears, and the only rotational moment applied to the right crawler support part 18b is the rotational moment about the Y axis. As a result, the rotational moment applied to the right crawler support part 18b is significantly reduced, and the right crawler support part 18b can accommodate the rotational moment without increasing its size.

[0050] The right crawler support part 18b is provided in the center in the fore-aft direction (Y axis) of the crawler frame 20. A sleeve 183b is fixed to the right crawler support part 18b, which passes through the center in the fore-aft direction (Y axis) of the crawler frame 20 and extends in the X axis direction of the vehicle body frame 10. The sleeve 183b extends from the crawler frame 20 to the right side near the center of the crawler belt 27.

[0051] A pair of ball bearings 184b are fitted into the sleeve 183b, and the sleeve 183b rotatably supports the first support shaft 181b extending in the direction of the side member 11 on the right side.

[0052] A second support shaft 182a is provided at an end of the first support shaft 181b on the side member 11 side in a direction perpendicular to the first support shaft 181b. The first support shaft 181b and the second support shaft 182b are integrated by tightening a nut 182d.

[0053] A pair of right brackets 186b are provided at the center of the right side member 11, projecting outward to the right. A sleeve 185b having a flange at its lower portion is attached to the left bracket 186a. The second support shaft 182b has a base 182b1 into which the first support shaft 181b is fitted, and a rotating portion 182ab having a smaller diameter than the base 182b1 and rotatably inserted into the sleeve 185b.

[0054] A sliding washer 187 is inserted between the base 182b1 and the flange of the sleeve 185b, and the second support shaft 182a is rotatably supported relative to the sleeve 185b. A threaded portion b is provided at the tip of the second support shaft 182a, and a nut 188b is fastened to this threaded portion, so that the second support shaft 182b is attached to the side member 11 via the sleeve 185b so as to be rotatable in the Z-axis direction. In this way, the left crawler support portion 18a supports the crawler frame 20 relative to the vehicle body frame 10 so as to be rotatable about the X-axis and the Z-axis.

[0055] The vehicle body frame 10 has a left / right swing link 17 that interlocks and connects the left crawler unit 2a and the right crawler unit 2b so that they can swing back and forth in the up / down direction.

[0056] As shown in Figures 2 and 3, the left / right oscillating link 17 has a support shaft 70 extending in the fore-and-aft direction of the crawler traveling body 1, a balance arm 71 supported on the first cross member 12 of the body frame 10 via the support shaft 70 so as to be able to swing up and down, and ball joints 71b that connect the left and right free ends of the balance arm 71 to the left and right crawler frames 20.

[0057] The balance arm 71 is formed in an upwardly convex curved shape with its apex at the center in the left-right direction, and the center of the balance arm 71 is supported by the first cross member 12 so as to be able to swing. The balance arm 71 is supported by a support shaft 70 via a ball joint 71a. The balance arm 71 is connected to the body frame 10 via the support shaft 70 with its center as a fulcrum.

[0058] As described above, the crawler units 2a, 2b are connected to the vehicle body frame 10 by the supports 18a, 18b so as to be rotatable about the X-axis and the Z-axis with respect to the vehicle body frame 10. Rotation about the Z-axis causes the crawler units 2a, 2b to swing left and right. Therefore, in this embodiment, the left and right free ends of the balance arm 71 are directly connected to the crawler frame 20 via the ball joint 71b. By directly connecting the left and right free ends of the balance arm 71 to the crawler frame 20 via the ball joint 71b, the balance arm 71 suppresses left and right swing of the crawler units 2a, 2b.

[0059] The left and right crawler units 2a, 2b swing up and down in an opposite direction via an interlocking connection mechanism consisting of a balance arm 71 and the like attached to the vehicle body frame 10. At this time, the balance arm 71 swings diagonally up and down from the horizontal direction. As a result, the left and right lengths in a plan view become shorter, so that the sides of the crawler units 2a, 2b on which the balance arms 71 are provided face slightly inward due to the rotation of the left and right crawler support parts 18b around the Z axis, compensating for the shortened length in a plan view.

[0060] 5, the vehicle body frame 10 has a battery mounting section 80 on which a battery (not shown) is mounted to supply power to each electric motor 21. The battery mounting section 80 is provided in an intermediate position on the vehicle body frame 10 between the left crawler unit 2a and the right crawler unit 2b.

[0061] This allows the relatively heavy battery to be mounted in the middle position between the left crawler unit 2a and the right crawler unit 2b on the vehicle body frame 10, that is, in the left-right center of the crawler traveling vehicle 100. As a result, the left-right balance of the crawler traveling vehicle 100 can be improved, and the stability of the crawler traveling vehicle body 1 can be improved.

[0062] In this embodiment, the left crawler unit 2a and the right crawler unit 2b are configured as an electrically-driven unit independently driven by left and right electric motors 21, respectively. As will be described later, the driving of the electric motor 21 is controlled by instructions from a remote control device or a driving operation unit provided on a handle or the like, for example a joystick (not shown). As a result, the crawler traveling vehicle 100 moves straight forward as the crawler belt 27 of the left crawler unit 2a and the crawler belt 27 of the right crawler unit 2b are driven at a uniform speed in the forward rotation direction, and moves straight backward as the crawler belt 27 of the left crawler unit 2a and the crawler belt 27 of the right crawler unit 2b are driven at a uniform speed in the reverse rotation direction.

[0063] The crawler travelling vehicle 100 turns to the left or right in the forward direction by driving the crawler belt 27 of the left crawler unit 2a and the crawler belt 27 of the right crawler unit 2b at unequal speeds in the forward rotation direction. The crawler travelling vehicle 100 turns to the left or right in the backward direction by driving the crawler belt 27 of the left crawler unit 2a and the crawler belt 27 of the right crawler unit 2b at unequal speeds in the reverse rotation direction. The crawler travelling vehicle 100 pivots by driving one of the crawler belts 27 of the left crawler unit 2a and the right crawler unit 2b while the other crawler belt 27 is stopped, and spins by driving the crawler belt 27 of the left crawler unit 2a and the crawler belt 27 of the right crawler unit 2b at uniform speeds in the forward and reverse rotation directions.

[0064] During this turn, a rotational moment about the Z axis is applied to the left crawler support part 18a or the right crawler support part 18b, but because the left crawler support part 18a and the right crawler support part 18b are configured to be rotatable about the Z axis, the force based on the rotational moment about the Z axis applied to the left crawler support part 18a or the right crawler support part 18b is eliminated, and the rotational moment applied to the left crawler support part 18a or the right crawler support part 18b is only the rotational moment about the Y axis. Therefore, it is possible to significantly reduce the rotational moment applied to the left crawler support part 18a or the right crawler support part 18b, and it is possible to avoid increasing the size of the left crawler support part 18a and the right crawler support part 18b in order to ensure strength.

[0065] With the above-mentioned configuration, this crawler traveling vehicle 100 has the above-mentioned left crawler support part 8a and right crawler support part 18b and left and right swing link 17 on its body frame 10, so that, for example, when the right crawler unit 2b on the right side of the vehicle body runs over a bump on uneven ground, the right crawler unit 2b on the right side of the vehicle body swings upward relative to the body frame 10, with the first support shaft 181b of the right crawler support part 18b as a fulcrum, and the left crawler unit 2a on the left side of the vehicle body swings downward relative to the body frame 10, with the first support shaft 181a of the left crawler support part 18a as a fulcrum (see Figures 9 to 12).

[0066] Furthermore, for example, when the left crawler unit 2a on the left side of the vehicle body enters a sunken section on uneven terrain, the left crawler unit 2a on the left side of the vehicle body swings downward relative to the vehicle body frame 10, with the first support shaft 181a as a fulcrum, and the right crawler unit 2b on the right side of the vehicle body swings upward relative to the vehicle body frame 10, with the first support shaft 181b as a fulcrum, depending on the entry at that time.

[0067] Figure 9 is an oblique view showing the left crawler unit of a crawler traveling vehicle according to one embodiment of the present invention in a lowered state, Figure 10 is a front view showing the left crawler unit of a crawler traveling vehicle according to one embodiment of the present invention in a lowered state, Figure 11 is an oblique view showing the right crawler unit of a crawler traveling vehicle according to one embodiment of the present invention in a raised state, and Figure 12 is a side view showing the right crawler unit of a crawler traveling vehicle according to one embodiment of the present invention in a raised state.

[0068] As shown in Figs. 9 to 12, when either the left crawler unit 2a or the right crawler unit 2b climbs up or down on a raised portion or enters a sunken portion, the left crawler unit 2a or the right crawler unit 2b swings up and down in an opposing manner with respect to the vehicle body frame 10. Therefore, it is possible to suppress the left and right tilt of the crawler traveling vehicle body 1 caused by either the left crawler unit 2a or the right crawler unit 2b climbing up or down on a raised portion or entering a sunken portion while suppressing the up and down swing of the left crawler unit 2a or the right crawler unit 2b with respect to the vehicle body frame 10. As a result, it is possible to improve the traveling ability on rough ground such as undulating forest land, and to give a sense of security to the occupant of the riding section 3. In addition, stability is improved when used as a transport vehicle.

[0069] In the embodiment described above, the left crawler unit 2a and the right crawler unit 2b are supported so as to be freely swingable by the left crawler support portion 18a and the right crawler support portion 18b provided near the center in the front-rear direction of the crawler frame 20. Therefore, when applied to a transport vehicle, the same crawler behavior can be obtained regardless of which side of the crawler traveling body 1 is in the front when driving. In this embodiment, the driving sprocket 22 side is described as the rear side, but it is also possible to drive with the driving sprocket 22 side in the front depending on the slope.

[0070] Next, an example in which the crawler traveling vehicle 100 of this embodiment is applied to a transport vehicle will be described with reference to Figs.

[0071] 13 to 15, a transport vehicle 100a in this embodiment includes a crawler traveling body 1, a left crawler unit 2a, a right crawler unit 2b, and a loading platform 3a. The loading platform 3a is attached to the crawler traveling body 1 via a support part 5 so as to be movable forward / backward and left / right.

[0072] The crawler traveling vehicle body 1 has the same configuration as that described above, and the same parts are given the same reference numerals and the description thereof will be omitted.

[0073] In this embodiment, the transport vehicle 100a has a platform 3a attached to the vehicle body frame 10 by supports 5 so as to be movable in the forward, backward, left and right directions. The platform 3a is moved forward, backward and left and right in response to the slope by the driving of the forward / backward actuator 55 and the left and right actuator 56, and the center of gravity of the platform 3a can be fixed at a position on the mountain side of the slope. This allows the vehicle to travel stably while satisfying the necessary requirements for traveling on an incline.

[0074] In addition, the support part 5, which supports the cargo bed 3a in the front-rear and left-right directions, is composed of a first rail 51 attached to the body frame 10, a first slider part 53 slidably attached to the first rail 51, a second rail 52 attached to the first slider part 53 perpendicular to the first rail 51, and a second slider part 54 slidably attached to the second rail 52 and attached to the cargo bed 3a.

[0075] The first rail 51 is formed in an upwardly convex curve with its apex at the center of the vehicle body frame 10 in the front-rear direction, and the second rail 52 is formed in an upwardly convex curve with its apex at the center of the vehicle body frame 10 in the left-right direction, so that the horizontal plane of the upper surface of the base portion 30 on which the luggage is placed can be kept parallel to the horizontal plane of the ground or slightly inclined toward the mountain side. As a result, the vehicle can travel with good stability while satisfying the necessary requirements for traveling on an incline. The transport vehicle 100a according to this embodiment will be further described below with reference to the drawings.

[0076] As shown in Figures 13 to 15, the transport vehicle 100a of this embodiment comprises a body frame 10 that forms the framework of the vehicle body 1, a left crawler unit 2a and a right crawler 2b connected to the body frame 10, a cargo bed 3a, and a support part 5 that supports the cargo bed 3a on the body frame 10 so that it can move freely back and forth and left and right.

[0077] The loading platform 3a has a base portion 30, frame pipes 31 attached to the left and right sides of the base portion 30, and a horizontal pipe 32 connecting the rear parts of the frame pipes 31. The upper surface of the base portion 30 forms the horizontal plane of the loading platform 3a, and luggage is placed on the upper surface of the base portion 30. A support portion 5 is attached to the lower surface of the base portion 30 of the loading platform 3a, and the support portion 5 is attached to the vehicle body frame 10.

[0078] A step may be provided at the rear of the loading platform 3a to be used as a footrest when the operator steps onto the base portion 30 of the loading platform 3a. The operator can also stand on this step.

[0079] Support portion fixing members 50 extending in the front-rear direction are fixed to both ends of the body frame 10. A first rail 51 is fixed to the support portion fixing members 50. In this embodiment, the first rail 51 is composed of a pair of rail members, a left rail member 51a and a right rail member 51b, which extend in the front-rear direction of the body 1.

[0080] The left support portion fixing member 50 is fixed onto the left side member 11, and a left rail member 51a is fixed to this support portion fixing member 50. The right support portion fixing member 50 is fixed onto the right side member 11, and a right rail member 51b is fixed to this support portion fixing member 50.

[0081] Two first slider portions 53 are slidably attached to the left rail member 51a of the first rail 51. Similarly, two first slider portions 53 are slidably attached to the right rail member 51b.

[0082] A second rail 52 is attached to a first slider portion 53 perpendicular to the first rail 51. In this embodiment, the second rail 52 is composed of a pair of rail members, a front rail member 52a and a rear rail member 52b, which extend in the left-right direction of the vehicle body 1.

[0083] Three second slider portions 54 are slidably attached to the front rail member 52a of the second rail 52. Similarly, three second slider portions 54 are slidably attached to the rear rail member 52b.

[0084] The second slider portion 54 is attached to the underside of the base portion 30 of the loading platform 3a via a mounting member. As a result, the loading platform 3a is supported relative to the vehicle body 1 so as to be movable forward / backward and left / right.

[0085] In this embodiment, the left rail member 51a and the right rail member 51b are formed in an upwardly convex curved shape, which is an arc shape in this embodiment, with the apex being the center in the front-rear direction of the car body 1. The front rail member 52a and the rear rail member 52b are formed in an upwardly convex curved shape, which is an arc shape in this embodiment, with the apex being the center in the left-right direction of the car body 1. The centers of the arcs of these rail members are configured to be located below the ground surface.

[0086] When the first slider portion 53 moves in the front-rear direction on the left rail member 51a and the right rail member 51b, the front rail member 52a and the rear rail member 52b attached to the first slider portion 53 move in the front-rear direction. The loading platform 3a is attached to the second slider portion 54 attached to the front rail member 52a and the rear rail member 52b via the attachment member 52c. Therefore, when the first slider portion 53 moves in the front-rear direction, the loading platform 3a moves in the front-rear direction.

[0087] Furthermore, as the second slider portion 54 moves left and right on the front rail member 52a and the rear rail member 52b, the loading platform 3a attached to the second slider portion 54 moves left and right.

[0088] In this embodiment, the platform 3a of the transport vehicle 100a moves forward, backward, left, and right in response to the slope. For example, when traveling downhill, the platform 3a moves toward the mountain side, i.e., rearward, and the center of gravity of the platform 3a is located on the mountain side of the slope. Since the left rail member 51a and the right rail member 51b are formed in an arc shape with the apex at the center of the vehicle body 1 in the front-rear direction, when the platform 3a moves toward the mountain side, the platform 3a on the rear side moves closer to the vehicle body 1. As a result, the center of gravity of the platform 3a moves closer to the slope, and the center of gravity is located on the mountain side, and the stability of the transport vehicle 100a is further improved. As a result, the platform 3a can be maintained in a position where the horizontal plane of the upper surface of the base part 30 on which the luggage is placed is parallel to the horizontal plane of the ground or slightly inclined toward the mountain side.

[0089] For example, in the case of lateral travel on a slope, the loading platform 3a moves left or right toward the mountain side of the slope, and the center of gravity of the loading platform 3a is located on the mountain side of the slope. Since the front rail member 52a and the rear rail member 52b are formed in an arc shape with the apex at the center in the left-right direction of the crawler traveling body 1, when the loading platform 3a moves to the mountain side, the loading platform 3a approaches the crawler traveling body 1 side. As a result, the center of gravity of the loading platform 3a moves closer to the slope, and the center of gravity position is on the mountain side, and the stability of the transport vehicle 100a is further improved. Then, the axial direction C perpendicular to the horizontal plane of the loading platform 3a is fixed along the direction along the gravity axis. As a result, the loading platform 3a can be kept in a position where the horizontal plane of the upper surface of the base part 30 on which the luggage is placed is parallel to the horizontal plane of the ground or slightly inclined toward the mountain side.

[0090] This transport vehicle 100a has the left and right crawler support parts 18b and left and right swing links 17 mentioned above on its body frame 10, so that, for example, when the left crawler unit 2a on the left side of the vehicle body runs over a bump on uneven ground, the left crawler unit 2a on the left side of the vehicle body swings upward relative to the body frame 10, with the support shaft 15a as a fulcrum, and the right crawler unit 2b on the right side of the vehicle body swings downward relative to the body frame 10, with the support shaft 15b as a fulcrum.

[0091] Also, for example, when the left crawler unit 2a on the left side of the vehicle body enters a sunken section on uneven terrain, the left crawler unit 2a on the left side of the vehicle body swings downward relative to the vehicle body frame 10, with the support shaft 15a as a fulcrum, and the right crawler unit 2b on the right side of the vehicle body swings upward relative to the vehicle body frame 10, with the support shaft 15b as a fulcrum, depending on the entry at that time.

[0092] In this way, when either the left crawler unit 2a or the right crawler unit 2b runs over a raised portion or enters a sunken portion, the left crawler unit 2a or the right crawler unit 2b swings up and down in an opposing manner relative to the vehicle body frame 10, so that it is possible to suppress the left and right tilt of the vehicle body 1 caused by either the left crawler unit 2a or the right crawler unit 2b running over a raised portion or entering a sunken portion while suppressing the up and down swing of the left crawler unit 2a or the right crawler unit 2b relative to the vehicle body frame 10. As a result, it is possible to improve the traveling ability on rough ground such as undulating mountain forests.

[0093] In this embodiment, an instruction to move the loading platform 3a forward / backward or left / right is issued by an operation unit attached to an operating device (not shown). In this embodiment, the operation unit is configured by, for example, a joystick. By operating the joystick, a signal is sent to a control device (not shown), and based on this instruction signal, the control device controls the driving of the forward / backward actuator 55 and the left / right actuator 56, thereby controlling the forward / backward / left / right movement of the loading platform 3a.

[0094] The movement of the loading platform 3a is stopped after the loading platform 3a has been moved a predetermined distance in the forward / backward or left / right direction. This allows the center of gravity of the loading platform 3a to be fixed at a position on the mountain side of the slope, allowing the vehicle to travel stably while satisfying the requirements for traveling on an incline.

[0095] The platform 3a can maintain the horizontal plane of the top surface of the base 30 on which the cargo is placed parallel to the horizontal plane of the ground or slightly tilted toward the mountain side. As a result, the transport vehicle 100a can travel stably on the slope while satisfying the necessary requirements for traveling on an incline.

[0096] As described above, in this embodiment, when the joystick is configured as the operation unit, the platform 3a can be stopped in a state where it has moved a predetermined amount forward / backward or left / right when the joystick is moved forward / backward or left / right when the joystick is moved diagonally.

[0097] In this way, by operating the joystick, the platform 3a can be moved a predetermined distance in the forward / backward or left / right direction and then stopped. This allows the transport vehicle 100a to take a stable driving posture in any driving condition.

[0098] Incidentally, an inclination sensor may be provided on the crawler traveling body 1, and the inclination of the crawler traveling body 1 in the front-rear and left-right directions may be detected by the inclination sensor, and the control device may control the movement of the loading platform 3a in the front-rear and left-right directions.

[0099] 13 to 15, the body frame 10 has a battery mounting section on which a battery (not shown) is mounted for supplying power to the left electric motor 21a, the right electric motor 21b, the left and right actuators 56, and the front and rear actuators 55. The battery mounting section 6 is provided in the body frame 10 at a midpoint between the left crawler unit 2a and the right crawler unit 2b.

[0100] The control device is composed of an electronic control unit equipped with a microprocessor etc., a memory storing various control programs etc. The control device is provided at the left and right intermediate positions of the body frame 10 together with a battery.

[0101] The operation device and the control device are connected wirelessly or by a communication cable, and a control command for controlling the operation of the transport vehicle 100a is given to the control device from the operation device. The operation device includes, for example, a joystick, and an operator operates the joystick to output the operation command.

[0102] The control device controls the rotation direction and rotation speed of the left electric motor 21a and the right electric motor 21b in response to an operation command based on the operation of the operating device, thereby performing vehicle speed control, forward / reverse switching control, steering control, etc. of the transport vehicle 100a. Furthermore, the control device controls the operation of the left / right actuator 56 and the front / rear actuator 55 based on the operation command of the operating device, and moves the loading platform 3a in the forward / rearward or left / right direction.

[0103] The transport vehicle 100a described above can be configured to perform drive control by remote operation. For example, the transport vehicle 100a shown in Fig. 15 is configured to be remotely controlled. In this example, for example, the travel information for remote control can be obtained by a tablet device and sent to an operation unit of a driver at a remote location by a wireless LAN such as WiFi (registered trademark).

[0104] The tablet device is equipped with a camera for obtaining information on the front and rear of the transport vehicle 100a, a LiDAR scanner for detecting obstacles, a three-axis gyro, and the like.

[0105] 15, a storage unit 30b for storing a tablet device is attached to the front and rear lower parts of the loading platform 3a. By storing the tablet device in the storage unit 30b, it is possible to configure the transport vehicle 100a so that the driver can give operation instructions to the control device of the transport vehicle 100a via the tablet device.

[0106] The operation unit can also be configured with a tablet device and configured to display images captured by the tablet device mounted on the transport vehicle 100a. Then, instructions for the operation of the transport vehicle 100a can be given based on the displayed images and information from the LiDAR scanner.

[0107] The transport vehicle 100a of this embodiment accommodates tablet devices at the front and rear, so it can run without any problems even if it is reversed.

[0108] Next, an example in which the crawler vehicle 100 of this embodiment is applied to a stand-on rough terrain vehicle will be described with reference to Fig. 16. The crawler vehicle body 1 has the same configuration as described above, and the same parts are given the same reference numerals and their description will be omitted.

[0109] The rough terrain vehicle is provided with a handle section 4 and a seat 3d in the riding section 3 on a crawler body 1. In this embodiment, a handle post 43 is attached to the vehicle body frame 10 by a support section 500 so that it can be angled freely in the front-rear and left-right directions. The handle post 43 can be fixed by a handle post movement control means 60 so that the handle post 43 can be angled freely along the direction along the gravity axis. This makes it possible to assist the weight balance of the rider who grips the handle bar 44 attached to the handle post 43. As a result, the rider D can ride in the rough terrain vehicle 100b without feeling any anxiety about falling over while satisfying the necessary requirements for traveling on an incline.

[0110] In this embodiment, the handle post movement control means 60 is composed of a left-right actuator 61 that moves the handle post 43 in the left-right direction, and a front-rear actuator 62 that moves the handle post 43 in the front-rear direction.

[0111] In this embodiment, a command to move the handle post 43 forward / backward or left / right is issued by a switch means attached to the handle bar 44. In this embodiment, the switch means is configured as a joystick. The joystick is attached near the brake lever (not shown) on the left side of the handle bar 44, and is operated, for example, by the thumb or index finger of the rider's left hand. When the joystick is operated, a signal is sent to the control device, and the control device controls the drive of the actuators 61, 62 based on this command signal.

[0112] The movement of the handle post 43 stops when the handle post 43 has moved a predetermined amount in the front-rear or left-right direction. For example, by moving the handle post 43 in a direction along the gravity axis and stopping the handle post 43 in that state, the rider D can maintain his balance. When the driving of the actuators 61, 62 is stopped, the load resistance component of the actuators 61, 62, for example, the load resistance rotating a trapezoidal screw, maintains the stopped state of the handle post 43.

[0113] Since the handlebar 44 only guides the inclination of the rider's body, it is sufficient if the left / right actuator 61 and the front / rear actuator 62 that move the handle post 43 are structured to be locked (not reverse-driven) when not being driven, even if the driving force is slight. This allows the actuators 61 and 62 to be implemented using motors with small output.

[0114] [Another embodiment] Another embodiment of the present invention will now be described. The configurations of the respective alternative embodiments described below are not limited to being applied alone, but may also be applied in combination with the configurations of other alternative embodiments.

[0115] In the embodiment described above, the body frame 10 is composed of left and right side members 11, a first cross member 12, and a second cross member 13, but the body frame 10 may also be composed of a so-called monocoque type, space frame type, etc.

[0116] In the transport vehicle 100a described above, the loading platform 3a is configured to move back and forth and left and right, but the present invention can also be applied to a transport vehicle in which the loading platform is fixed.

[0117] The above-described off-road vehicle 100b is configured so that the handle post 43 can move back and forth and left and right, but the present invention can also be applied to vehicles in which the handle post is fixed.

[0118] In the above embodiment, the crawler vehicle 100 is applied to a transport vehicle and a stand-on vehicle for rough terrain, but the crawler vehicle can be applied to a variety of vehicles that run on rough terrain. For example, the crawler vehicle can be applied to a grass cutting vehicle with a grass cutting unit attached to the tip. [Explanation of symbols]

[0119] 1: Body 2a: Left crawler 2b: Right crawler 3: Boarding section 4: Handle section 5a: Support shaft 5b: Support shaft 10: Body frame 17: Left and right swing link 18a: Left crawler support 18b: Right crawler support 20: Crawler frame 21: Electric motor 22: Drive sprocket 23: Play ring 70: Support shaft 71: Balance arm 71a, 71b: Ball joint

Claims

1. a vehicle body frame; and left and right crawler units connected to the vehicle body frame, Each of the left and right crawler units includes a crawler frame extending in a front-rear direction of the vehicle body frame, a drive sprocket supported at a rear end of the crawler frame, an idler wheel supported at a front end, and a crawler belt stretched between the drive sprocket and the idler wheel, If the front-rear direction of the body frame is the Y axis, the direction perpendicular to the Y axis is the X axis, and the axis perpendicular to the XY plane is the Z axis, the left crawler unit is swingably supported via a left crawler support part that is provided between the vehicle body frame and the crawler frame and that is rotatable around an X-axis and a Z-axis; the right crawler unit is swingably supported via a right crawler support part that is provided between the vehicle body frame and the crawler frame and that is rotatable around an X-axis and a Z-axis; Each of the left and right crawler units is interlocked with the vehicle body frame via an interlocking mechanism so as to be able to swing in opposite directions in the up and down direction, the vehicle body frame includes left and right side members extending in a front-rear direction of the crawler vehicle, a first cross member extending across front ends of the left and right side members, and a second cross member extending across rear ends of the left and right side members, the left crawler support portion is provided between the left side member and the left crawler unit, the right crawler support portion is provided between the right side member and the right crawler unit, The interlocking connection mechanism is provided between the first cross member and the left and right crawler units, the interlocking connection mechanism is provided in a central portion of the first cross member and includes a support shaft extending in a front-rear direction of the body frame, a balance arm swingably supported on the support shaft via a ball joint, and ball joints connecting left and right free ends of the balance arm to the left and right crawler frames. Crawler vehicle.

2. The left crawler support portion comprises a left sleeve fixed to the left crawler frame, a left first support shaft supported by the left sleeve so as to be rotatable about the X-axis, a left second support shaft perpendicular to the left first support shaft, and a left second support shaft sleeve attached to a bracket fixed to the left side member and supporting the left second support shaft so as to be rotatable about the Z-axis; the right crawler support portion includes a right sleeve fixed to the right crawler frame, a right first support shaft supported by the right sleeve so as to be rotatable about an X-axis, a right second support shaft perpendicular to the right first support shaft, and a right second support sleeve fixed to the right side member and supporting the right second support shaft so as to be rotatable about a Z-axis. The crawler vehicle according to claim 1 .

3. The left crawler support portion and the right crawler support portion are provided at a center portion in a front-rear direction of the crawler frame.

3. The crawler vehicle according to claim 1 or 2.

4. A loading platform is attached to the vehicle body frame via a support part so as to be movable forward, backward, left and right.

4. The crawler vehicle according to claim 1.

Images