Normal surface machine

Abstract

Provided is a slope machine that can stably travel on a slope. 【Solution means】In a slope machine that is suspended from a support rope of an accompanying support machine and self-runs on a slope, it includes a wheel support portion 22, a vehicle body 20 that is tiltably supported by the wheel support portion 22 and to which the support rope is connected, and a sensor that detects the tilting state of the vehicle body 20 with respect to the wheel support portion 22.

Description

Technical Field

[0001] The present invention relates to a slope machine.

Background Art

[0002] Patent Document 1 discloses a slope machine such as an asphalt finisher that is suspended from a support rope of an accompanying support machine and self-runs on a slope to pave. In Patent Document 1, the tension of the support rope is adjusted by paying out or winding in and controlling the support rope from a winch of the support machine to support the slope machine on the slope.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in Patent Document 1, there is a problem in the running stability of the slope machine when the distance between the slope machine and the support machine changes and the tension of the support rope changes rapidly. The present invention has been made in view of the above circumstances, and an object thereof is to provide a slope machine capable of stably running on a slope.

Means for Solving the Problems

[0005] The present invention is a slope machine that is suspended from a support rope of an accompanying support machine and self-runs on a slope, Rear wheel a support portion, and the above-mentioned Rear wheel a vehicle body that is tiltably supported by the support portion and to which the support rope is connected, Provided on both sides of the vehicle body in the left-right direction, and measuring the displacement of the distance between the rear wheel support portion and the vehicle body and a sensor. Pay out or take up and control the support rope so that the measured value of the sensor falls within a predetermined range . The inclination of the vehicle body is detected by a sensor, and when the inclination of the vehicle body deviates from a predetermined range, the support rope is extended or wound up so as to fall within the predetermined range, or controlled by winding, thereby ensuring the running stability of the slope machine.

Effect of the Invention

[0006] According to the present invention, the slope machine on the slope can be stably run.

Brief Description of the Drawings

[0007]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Mode for Carrying Out the Invention

[0008] [Embodiment] [1-1. Configuration] FIG. 1 is a side view of the slope working device 1. The slope working device 1 includes a slope machine 2 such as an asphalt finisher or a roller that self-runs on an inclined slope S such as a test course or an arena and paves the slope S, and a support machine 3 that runs along with the slope machine 2 on a flat road G located below the slope S. The slope working device 1 can also be called a slope working system.

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

[0010] The support machine 3 includes a boom 9 extending upward from the vehicle body 6. The boom 9 includes a lower boom 9A, a middle boom 9B, and an upper boom 9C. A hydraulic cylinder for undulation (not shown) is connected to the lower boom 9A, and the lower boom 9A is supported by the vehicle body 6 so as to be undulatable. Hydraulic cylinders for extension and contraction (not shown) are 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 extendable and contractible with respect to the lower boom 9A.

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

[0012] The support machine 3 includes a winch 16. The winch 16 is configured to be able to wind 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 disposed at the lower end of the lower boom 9A, a pulley 12B disposed at the upper end of the upper boom 9C, and a pulley 12C disposed at the tip of the arm portion 10, and is further wound around a movable pulley 13. The tip of the support rope 17 is fixed to a rope fixing portion 18. An engaging portion 14 is connected to the movable pulley 13, and the engaging portion 14 is engaged with an engaged portion 19 of the slope machine 2. The movable pulley 13 and the engaging portion 14 constitute a connecting tool 15, and the connecting tool 15 connects the support machine 3 and the slope machine 2.

[0013] [1-1-2. Slope Machine] 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 of a following support machine 3 and self - runs on the slope S for paving. 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] A drive device (not shown), such as a diesel engine or an electric motor, is mounted on the vehicle body 20 and functions as a weight in the compaction roller. The drive device (not shown) drives a hydraulic pump and supplies hydraulic pressure to a steering hydraulic actuator that steers the front wheels 28 and a hydraulic motor for driving the rear wheels 29. In the driver's seat 23 of the vehicle body 20, a seat 24 on which an operator sits, a steering wheel 25 for steering, an operation panel 26 to which pedals, levers, switches, and instruments are attached, and a canopy 27 are arranged.

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

[0016] [1 - 1 - 2 - 1. Front - wheel support portion] FIG. 3 is a plan view of the front - wheel support portion 21 as viewed from above. FIG. 4 is a front view of the front - wheel support portion 21 as viewed from the front. As shown in FIGS. 3 and 4, the front - wheel support portion 21 includes a first support member 31 having a substantially U - shaped frame shape 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. The first swing shaft 30 is preferably located at the center of the vehicle body 20 in the left - right direction.

[0017] Inside the first support member 31, a rectangular - frame - shaped second support member 33 for supporting two front wheels 28 and a frame - shaped third support member 40 for supporting the remaining one front wheel 28 are arranged. 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 partitioned by a partition portion 33A. On the right side of the partition portion 33A in the drawing, one front wheel 28A is arranged, and this front wheel 28A is supported by the second support member 33 via a rotating shaft 41. On the left side of the partition portion 33A in the drawing, a frame-shaped fourth support member 42 is arranged. The fourth support member 42 is connected to the second support member 33 via a fourth swing shaft 43. Inside the fourth support member 42, one front wheel 28B is arranged. This front wheel 28B is supported by the fourth support member 42 via a rotating shaft 41.

[0019] The above-mentioned third support member 40 is connected to the first support member 31 via a third swing shaft 39. Inside the third support member 40, one front wheel 28C is arranged. The front wheel 28C is supported by the third support member 40 via a rotating shaft 41.

[0020] When the distance between the first swing shaft 30 and the third swing shaft 39 is L1, and the distances between the first swing shaft 30 and the second swing shaft 32, and between the second swing shaft 32 and the fourth swing shaft 43 are L2, the distance L2 is 1 / 2 of the distance L1.

[0021] According to the above configuration, the rolling pressure load from the vehicle body 20 acts on the first support member 31 via the first swing shaft 30 and on the fourth support member 42 via the second swing shaft 32. Thereby, the rolling pressure load is dispersed and acts evenly on the three front wheels 28, and it is possible to avoid a large load acting on a specific front wheel 28. And by equalizing the rolling pressure load acting on each front wheel 28, the compaction accuracy of the asphalt mixture laid on the curved surface can be improved.

[0022] Of the two front wheels 28 disposed on the outermost sides in the left-right direction, one front wheel 28C swings around the third swing axis 39 via the third support member 40, and the other front wheel 28B is swingable around the fourth swing axis 43 via the fourth support member 42. For this reason, when compacting the asphalt mixture laid on the slope surface S, the two front wheels 28 further swing due to the vertical force received from the slope surface S and tend to become perpendicular to the slope surface S. According to this, the lower surfaces of the three front wheels 28 follow the shape of the abutting slope surface S, and the compacting accuracy of the laid asphalt mixture can be further improved.

[0023] [1-1-2-2. Rear Wheel Support Section] FIG. 5 is a plan view of the rear wheel support section 22 as viewed from above. FIG. 6 is a view of the rear wheel support section 22 as viewed from behind. FIG. 7 is a cross-sectional view taken along line VII-VII of FIG. 6. FIG. 8 is a cross-sectional view taken along line VIII-VIII of FIG. 7. As shown in FIG. 5, the rear wheel support section 22 includes a pedestal member 50 in the shape of a rectangular frame. As shown in FIG. 6, the upper ends of brackets 58 (hereinafter, 58A, 58B) are fixed to the pedestal member 50. Support frames 53 (hereinafter, 53A, 53B) are connected to the lower ends of the brackets 58A, 58B via the fifth swing axis 52. The support frames 53A, 53B are substantially U-shaped in plan view as shown in FIG. 5.

[0024] Inside the support frames 53A, 53B, two rectangular frame-shaped rear wheel support members 59 are respectively arranged. The rear wheel support members 59 are respectively connected to the support frames 53A, 53B via the sixth swing axis 61. Rear wheels 29 are respectively arranged inside the rear wheel support members 59, and the rear wheels 29 are supported by the rear wheel support members 59 via the rotation axis 60.

[0025] As shown in FIGS. 6 and 7, the rear wheel support portion 22 is connected to the vehicle body 20 via a fixing portion 65, a vehicle body bracket 66, and a main swing shaft 51. The main swing shaft 51 is preferably located at the center in the left - right direction of the vehicle body 20. As shown in FIG. 7, the upper end of the vehicle body bracket 66 is fixed to the lower part of the vehicle body 20, the lower end extends inside the pedestal member 50, and the fixing portion 65 is fixed to the outside of the pedestal member 50. In this state, the fixing portion 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 portion (wheel support portion) 22.

[0026] When the distance between the main swing shaft 51 and the fifth swing shaft 52 is L3, and the distance between the fifth swing shaft 52 and the sixth swing 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 pedestal member 50 via the main swing shaft 51, acts on the support frames 53A and 53B via the fifth swing shaft 52, and acts on the rear wheel support member 59 via the sixth swing shaft 61. Thereby, the rolling pressure load is dispersed, and an equal rolling pressure load acts on the four rear wheels 29, avoiding a large load acting on a specific rear wheel 29. And by equalizing the rolling pressure load acting on each rear wheel 29, the compaction accuracy of the asphalt mixture laid on the curved surface can be improved.

[0028] Also, the four rear wheels 29 are swingable via the sixth swing shaft 61. When compacting the asphalt mixture laid on the slope surface S, the four rear wheels 29 swing due to the vertical force received from the slope surface S and tend to be perpendicular to the slope surface S. Therefore, the lower surfaces of the four rear wheels 29 follow the shape of the slope surface S, and the compaction accuracy of the laid asphalt mixture can be further improved.

[0029] [1 - 1 - 2 - 3. Spring mechanism and displacement sensor] As shown in FIG. 6, the vehicle body 20 and the pedestal member 50 are connected by a spring mechanism 70 on both side surfaces of the vehicle body 20 in the left - right direction. 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 a fastener 74. A pair of second plates 76 are fixed to both edge portions of the fixed plate 71, and a pair of first plates 75 are fixed inside the pair of second plates 76. A link member 73 is 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. As shown in FIG. 6, the third plate 83 and the fourth plate 88 are fixed to the pedestal member 50. The upper ends of the pair of first plates 75 are connected by an upper coupler 78, and the lower ends of the pair of third plates 83 are connected by a lower coupler 84. The upper coupler 78 is supported so as to be swingable with respect to an upper pivot shaft 78A, and the lower coupler 84 is supported so as to be swingable with respect to a lower pivot shaft 84A. A spring support rod 77 is disposed through the upper coupler 78 and the lower coupler 84. The lower end of the spring support rod 77 is fixed to the lower coupler 84.

[0031] A spring seat 79 is fixed in the lower region of the spring support rod 77 as shown in FIG. 8, and a compression spring 72 is disposed between the spring seat 79 and the upper coupler 78. An upper piece 92 is fixed to the upper coupler 78, and a lower piece 91 is fixed to the lower coupler 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 vertical 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, as long as 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 tiltably connected to the pedestal member 50. Therefore, when the vehicle body 20 tilts, as indicated by the reciprocating arrow in FIG. 8, the vehicle body 20 approaches or separates from the pedestal member 50, 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 part] When moving the slope machine 2 to the work location, it travels on a flat road. However, in the embodiment, the vehicle body 20 tilts, causing difficulties in traveling. The slope machine 2 includes a link member 73 as a prohibited part for temporarily prohibiting the tilting of the vehicle body 20. The link member 73 is rotatably fixed to a first plate 75 and a second plate 76 fixed to the vehicle body 20 by a first pin 85.

[0034] As shown in FIGS. 6 and 7, by fixing the link member 73 to a third plate 83 and a fourth plate 84 fixed to the pedestal member 50 with a second pin 89, the tilting of the vehicle body 20 can be prohibited. That is, by fixing one end of the link member 73 as a prohibiting member to the pedestal member 50, the rotation around the upper rotation axis 78A and the lower rotation axis 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 with a second pin 89, the vehicle body 20 can tilt.

[0035] [1-1-3. Control system] FIG. 9 is a block diagram of the control system. [1-1-3-1. Slope side control device] The slope machine 2 includes a slope side control device 210 and a slope side communication unit 224. The flank side control device 210 is a control device that controls each part of the flank machine 2. The flank side control device 210 includes a flank side processor 212 which is a processor such as a CPU, a flank side memory 211, and an interface circuit for connecting to other devices and sensors, and controls each part of the server device 3. The flank side memory 211 is a memory that stores programs and data. The flank side memory 211 stores the flank side program 222 and the data to be processed by the flank side processor 212. The flank side memory 211 has a non-volatile storage area. In addition, the flank side memory 211 may include a volatile storage area and constitute the work area of the flank side processor 212. The flank side memory 221 is composed of, for example, a ROM or a RAM.

[0036] The flank side communication unit 224 executes communication with the support side communication unit 324 provided in the support machine 3. The flank side communication unit 224 and the support side communication unit 324 transmit and receive data and signals through a wireless communication line. For example, the flank side communication unit 224 and the support side communication unit 324 are connected by a wireless communication line compliant with Bluetooth (registered trademark), Wi-Fi (registered trademark), or other wireless communication standards. Alternatively, the flank 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.

[0037] The flank side processor 212 functions as a sensor control unit 222 and a communication control unit 223 by reading and executing the flank side program 221 stored in the flank side memory 211. The communication control unit 223 uses the flank side communication unit 224 to execute communication with the support side communication unit 324 on the support machine 3 side.

[0038] The sensor control unit 222 converts the displacement data acquired from the displacement sensor 93, generates a displacement value, and stores the displacement value in the flank side memory 211. When the displacement sensor 93 is in the initial state, the sensor control unit 222 executes zero-point correction when the normal surface control device 210 is operated. Zero-point correction corrects the displacement value to 0 when there is displacement data. For example, a correction switch may be provided on the operation panel 26 connected to the normal surface side control device 210 of the normal surface machine 2. In this case, when the displacement sensor 93 is in the initial state, when the user presses the correction switch on the operation panel 26, the sensor control unit 222 executes zero-point correction.

[0039] 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 wheel 29, that is, when the tilting of the vehicle body 20 is prohibited by the link member 73. At this time, the displacement value becomes 0.

[0040] Note that the displacement value can take either a positive or negative value. Referring to FIG. 1, when the tension of the support rope 17 is large, the vehicle body 20 is pulled by the support rope 17 and tilts to the left side (the right side of the paper in FIG. 1) with respect to the forward 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. The fact that the displacement value is negative corresponds to the state where the vehicle body 20 is tilted in the direction of ascending the normal surface S.

[0041] On the other hand, referring to FIG. 1, when the tension of the support rope 17 is small, the vehicle body 20 tilts to the right side (the left side of the paper in FIG. 1) with respect to the forward 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 takes a positive value. The fact that the displacement value is positive corresponds to the state where the vehicle body 20 is tilted in the direction of descending the normal surface S.

[0042] [1-1-3-2. Support side control device] The support machine 3 includes a support-side control device 310 and a support-side communication unit 324. 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 that is a processor such as a CPU, a support-side memory 311, and an interface circuit for connecting to other devices and sensors, and controls each part of the server device 3. 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 the data to be processed by the support-side processor 312. The support-side memory 311 has a non-volatile storage area. Further, the support-side memory 311 may include a volatile storage area and constitute a work area of the support-side processor 312. The support-side memory 311 is constituted by, for example, a ROM or a RAM.

[0043] The support-side processor 312 functions as a winch control unit 322 and a communication control unit 323 by reading and executing the support-side program 321 stored in the support-side memory 311.

[0044] The communication control unit 323 executes communication with the slope-side communication unit 224 on the support machine 3 side using the support-side communication unit 324.

[0045] 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 up or pay out the support rope 17 so that the displacement value falls within a predetermined range. For example, the predetermined range is a range where the displacement value is not less than -X and not more than +X. A large absolute value X of the displacement value corresponds to a large inclination of the vehicle body 20.

[0046] Note that the winch 16 has a minimum payout amount by which the support rope 17 can be paid out at one time, and a minimum winding amount by which the support rope 17 can be wound up at one time. When the minimum payout amount or the minimum winding 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 is difficult to keep the displacement value within the predetermined range by paying out or winding up the support rope 17 by the winch control unit 322. From the above viewpoints, the predetermined range is appropriately determined in advance. The smaller the minimum payout amount or the minimum winding amount of the support rope 17 by the winch 16 is for the support machine 3, the smaller the predetermined range can be set.

[0047] 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 along the slope surface 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 wind up the support rope 17. As a result, the vehicle body 20 tilts upward along the slope surface S, and the displacement value decreases.

[0048] With this configuration, the winch control unit 322 executes the payout or winding control of the winch 16 so that the displacement value approaches 0 as much as possible. That is, the winch control unit 322 executes the payout or winding control of the winch 16 so that the vehicle body 20 does not tilt with respect to the front wheel support portion 21 and the rear wheel support portion 22.

[0049] [1-2. Operation] In the embodiment, as shown in FIG. 3, the vehicle body 20 is swingable around the first swing axis 30 with respect to the front wheel support portion 21, and as shown in FIG. 6, the vehicle body 20 is swingable around the main swing axis 51 with respect to the rear wheel support portion 22. Therefore, the vehicle body 20 is tiltable with respect to the front wheel support portion 21 and the rear wheel support portion 22, and will tilt at an arbitrary angle with respect to the pedestal member 50.

[0050] In the embodiment, the support rope 17 is paid out from the winch 16 of the support machine 3 or is controlled to be wound up so that the angle of inclination of the vehicle body 20 with respect to the pedestal member 50 falls within a predetermined range.

[0051] Referring to FIG. 1, when the tension of the support rope 17 is large, the vehicle body 20 is pulled by the support rope 17 and tilts to the left side (the right side in FIG. 1) with respect to the forward direction, so that the distance between the upper piece 92 and the lower piece 91 provided on the left side of the vehicle body 20 becomes smaller. On the other hand, when the tension of the support rope 17 is small, the vehicle body 20 tilts to the right side (the left side of the paper surface in FIG. 1) with respect to the forward direction due to gravity, so that the distance between the upper piece 92 and the lower piece 91 provided on the left side of the vehicle body 20 becomes larger.

[0052] The displacement sensor 93 detects a change in the distance between the upper piece 92 and the lower piece 91. The slope-side communication unit 224 of the slope machine 2 transmits the detection value of the displacement sensor 93 to the support-side control device 310 using the support-side communication unit 324 of the support machine 3. The winch control unit 322 drives the winch 16 according to the detection value of the displacement sensor 93 to pay out or wind up the support rope 17. By keeping the angle of inclination of the vehicle body 20 within a predetermined range, the support rope 17 can appropriately pull and support the vehicle body 20, so that the vehicle body 20 can travel stably on the slope S.

[0053] [1-3. Effects, etc.] The slope machine 2 in the present embodiment is a slope machine 2 that is suspended from a support rope 17 of a support machine 3 that accompanies it and self-runs and pave the slope S, and includes a front wheel support portion 21 (wheel support portion) and a rear wheel support portion 22 (wheel support portion), a vehicle body 20 that is tiltably supported by the front wheel support portion 21 and the rear wheel support portion 22 and to which the support rope 17 is connected, and a displacement sensor 93 (sensor that detects the inclination state) of the vehicle body 20. According to this, when the inclination of the vehicle body 20 deviates from a predetermined range, the stability of the running of the slope machine 2 can be ensured by paying out or winding up the support rope 17 so as to fall within the predetermined range. As in the prior art, there is no need to monitor the tension of the support rope 17. Therefore, even when the distance between the slope machine 2 and the support machine 3 changes and the tension of the support rope 17 changes abruptly, the slope machine 2 on the slope S can travel stably.

[0054] In addition, a spring mechanism 70 that expands and contracts according to the inclination of the vehicle body 20 is provided between the rear wheel support portion 22 and the vehicle body 20. According to this, the tendency for the vehicle body 20 to tilt can be moderated. Therefore, the running stability of the slope machine 2 can be ensured.

[0055] In addition, a link member 73 (prohibiting portion) that prohibits the inclination of the vehicle body 20 is provided. According to this, when the vehicle body 20 does not need to tilt with respect to the wheel support portion, the inclination of the vehicle body 20 can be prohibited.

[0056] In addition, the displacement sensor 93 is a displacement sensor that measures the displacement of the distance between the rear wheel support portion 22 and the vehicle body 20. According to this, by measuring the displacement value of the distance between the rear wheel support portion 22 and the vehicle body 20 with the displacement sensor 93 and controlling the payout or winding of the support rope 17 so that the value falls within a predetermined range, the running stability of the slope machine 2 can be ensured.

[0057] In addition, the winch control unit 322 controls the payout 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, since the tension of the support rope 17 is not adjusted, the slope machine 2 on the slope S can travel stably.

[0058] In the conventional slope machine 2, the tension of the support rope 17 is appropriately monitored, and the support rope 17 is paid out or wound up and controlled according to the magnitude of the tension. In this case, when the tension of the support rope 17 is small, the slope machine 2 tends to fall in the downward direction of the slope S, so the rolling pressure load at the position of the slope S in contact with the front wheels 28 and the rear wheels 29 on the support rope 17 side decreases. On the other hand, when the tension of the support rope 17 is large, the rolling pressure load at the position of the slope S in contact with the front wheels 28 and the rear wheels 29 on the side opposite to the support rope 17 decreases.

[0059] According to the embodiment, even if the vehicle body 20 is inclined in the upward or downward direction of the slope S, the support rope 17 is paid out or wound up and controlled so that the inclination of the vehicle body 20 falls within a predetermined range determined in advance. Therefore, the load applied to each front wheel 28 and the load applied to each rear wheel 29 can be made constant, and the accuracy of rolling pressure on the slope S is improved.

[0060] (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 inclination angle of the vehicle body 20. A distance measuring sensor (not shown) may be arranged on the vehicle body 20, and the inclination of the vehicle body 20 may be detected from the amount of phase change between the irradiation light to the pedestal member 50 and the reflected light from the pedestal member 50. The distance measuring sensor may be a millimeter wave sensor or an ultrasonic sensor that utilizes radio waves. In addition, as the support machine 3, a crane vehicle that travels on its own on the flat road G located below the slope S is exemplified, but it is not limited to this. The support machine 3 may 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 reference numerals

[0061] 1 Slope working device 2 Slope machine 3 Support machine 9 Boom 15 Coupling 16 Winch 17 Support rope 19 Engaged portion 20 Vehicle body 21 Front wheel support part 22 Rear wheel support part 28 Front wheel 29 Rear wheel 50 Base member 70 Spring mechanism 73 Link member (prohibited part) 93 Displacement sensor

Claims

1. In a slope machine that is suspended from a support rope of an accompanying support machine and self-propels on a slope, A rear wheel support portion; a vehicle body tiltably supported by the rear wheel support portion and to which the support rope is connected; a sensor provided on each side of the vehicle body in the left-right direction to measure a change in a distance between the rear wheel support portion and the vehicle body; Equipped with The support rope is unwound or wound so that the measurement value of the sensor falls within a predetermined range. Slope machine.

2. Between the rear wheel support portion and the vehicle body, A spring mechanism that expands and contracts in response to the inclination of the vehicle body is provided. A slope machine according to claim 1.

3. A prohibition unit that prohibits the vehicle body from tilting is provided. A slope machine according to claim 1.

4. The rear 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. A slope machine according to any one of claims 1 to 3.

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