Normal plane working device

Abstract

It is to improve the operating efficiency of the slope machine. 【Solution means】In the slope working device 1 including a support machine 3 that runs alongside, and a slope machine 2 that is suspended from a support rope 17 of the support machine 3 and self-runs on the slope, the slope machine 2 includes a steering drive unit 111 that operates a steering wheel 25, and the support machine 3 includes a remote operation unit 112 that operates the steering drive unit 111.

Description

Technical Field

[0001] The present invention relates to a slope working device.

Background Art

[0002] Patent Document 1 discloses a slope working device including a support machine that follows, and a slope machine such as an asphalt finisher that is suspended from a support rope of the support machine and self-runs on a 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, in slope work, one operator drives the support machine and another operator drives the slope machine. An object of the present invention is to improve the driving efficiency of a slope machine.

Means for Solving the Problems

[0005] The present invention provides a slope working device including a support machine that follows, and a slope machine that is suspended from a support rope of the support machine and self-runs on a slope, wherein the slope machine includes a steering drive unit that operates steering, and the support machine includes a remote operation unit that operates the steering drive unit. The normal plane working device, wherein the normal plane machine includes a follower member that follows the movement of the support rope, an interlocking member that interlocks with the movement of the follower member, and a link member that interlocks with the movement of the interlocking member, and the link member is connected to the forward and backward movement mechanism of the normal plane machine . According to this, when one operator drives the support machine, the steering of the slope machine can be operated by operating the remote operation unit.

Effects of the Invention

[0006] According to the present invention, the driving efficiency of a slope machine can be improved.

Brief Description of the Drawings

[0007]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Modes for Carrying Out the Invention

[0008] [Embodiment] [1-1. Configuration] FIG. 1 is a side view of a slope working device 1. The slope working device 1 includes a slope machine 2 such as an asphalt finisher or a roller compactor that self-runs on an inclined slope S such as a test course or a stadium and pave the slope S, and a support machine 3 that follows 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 4 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 the support rope 17 of the accompanying 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, the 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 in a substantially U - shaped frame form in plan view. The first support member 31 is connected to the vehicle body 20 via a first swing shaft 30 of the 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 second support member 33 in a rectangular - frame form for supporting two front wheels 28 and a third support member 40 in a frame shape 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 rotation 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 rotation shaft 41.

[0019] The above-described 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 rotation shaft 41.

[0020] When the distance between the first swing shaft 30 and the third swing shaft 39 is L1, the distance between the first swing shaft 30 and the second swing shaft 32, and the distance between the second swing shaft 32 and the fourth swing shaft 43 is 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 arranged 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. Therefore, 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 be perpendicular to the slope surface S. According to this, the lower surfaces of the three front wheels 28 follow the shape of the contacting slope surface S, and the compacting accuracy of the laid asphalt mixture can be further improved.

[0023] [1 - 1 - 2 - 2. Rear wheel support part] FIG. 5 is a plan view of the rear wheel support part 22 seen from above. FIG. 6 is a view of the rear wheel support part 22 seen 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 part 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 generally 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 arranged respectively. The rear wheel support members 59 are connected to the support frames 53A, 53B via the sixth swing axis 61 respectively. Rear wheels 29 are arranged inside the rear wheel support members 59 respectively, 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 of the vehicle body 20 in the left-right direction. As shown in FIG. 7, the upper end of the vehicle body bracket 66 is fixed to the lower portion 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, and it is possible to avoid 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] Further, 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 by the vertical force received from the slope surface S and try 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 swing shaft 78A, and the lower coupler 84 is supported so as to be swingable with respect to a lower swing 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 shown 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 the slope machine 2 is moved 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 that temporarily prohibits 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 88 fixed to the pedestal member 50 by 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 by a second pin 89, the vehicle body 20 can tilt.

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

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

[0037] The first arm 173 includes a base 173A connected to the support shaft 171 and a main body 173B connected to the base 173A via a shaft 178. The main body 173B can swing vertically around the shaft 178. The main body 173B is provided with a connection portion 179 in the middle, and the length of the main body 173B can be extended and contracted in the longitudinal direction via the connection portion 179. A locking member 181 is arranged at the tip of the main body 173B. The locking member 181 includes bifurcated claw portions 181A as shown in Fig. 11. When the main body 173B is swung from top to bottom, the support rope 17 is hooked between the claw portions 181A of the locking member 181. After being hooked on the support rope 17, the main body 173B swings by its own weight and follows the movement of the support rope 17. Note that the main body 173B can stand up to position A. When the automatic driving mechanism is not used, the first arm 173 is erected at position A and stored on the vehicle body 20 side.

[0038] Describe the operation of the automatic traveling mechanism. The slope machine 2 can travel automatically on the slope S. The support rope 17 extends from the support machine 3 side with reference to FIG. 1. When the support machine 3 moves forward (direction f), as shown in FIG. 9, the support rope 17 swings in the directions of, for example, arrow F1, arrow F2, and arrow F3. When the support rope 17 swings, the first arm 173 swings integrally, and the second arm 174 integrally with the first arm 173 rotates clockwise in the drawing around the support shaft 171. Along with this, the wire 175 is pushed rightward in the drawing, and the link member 177 swings leftward (direction F) in the drawing as shown in FIG. 9. The link member 177 is connected to the forward and backward movement mechanism (not shown) of the vehicle body 20, and thereby the vehicle body 20 moves forward.

[0039] When the support machine 3 moves backward (direction R), the support rope 17 swings in the directions of, for example, arrow R1, arrow R2, and arrow R3. When the support rope 17 swings, as shown in FIG. 9, the first arm 173 swings integrally, and the second arm 174 integrally with this rotates counterclockwise in the drawing around the support shaft 171. Along with this, the wire 175 is pulled leftward in the drawing, and the link member 177 swings rightward (backward R) in the drawing as shown in FIG. 9. The link member 177 is connected to the forward and backward movement mechanism (not shown) of the vehicle body 20, and thereby the vehicle body 20 moves backward. When the link member 177 is in the neutral position, the vehicle body 20 stops and does not move forward or backward.

[0040] In the embodiment, in conjunction with the movement of the support rope 17, the forward and backward movement mechanism of the slope machine 2 operates, so that the automation of the forward and backward movement of the slope machine 2 can be achieved, the labor of the operator of the slope machine 2 can be saved, and the operation efficiency of the slope machine 2 can be improved.

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

[0042] [1-1-3-2.Automatic Steering Mechanism] In the embodiment, as shown in FIG. 1, a remote operation unit 112 is arranged in the cab 8 of the support machine 3. Further, as shown in FIG. 2, the slope machine 2 includes a steering drive unit 111 that drives the steering wheel 25. Although not shown in the figure, the steering drive unit 111 includes a drive motor that drives the steering wheel 25, a gear mechanism, etc., receives steering information from the remote operation unit 112 of the support machine 3, rotates the steering wheel 25 left and right, and automatically steers.

[0043] The remote operation unit 112 is an operation unit operated by the operator of the support machine 3. Although not shown in the figure, for example, it includes a swingable lever that indicates the steering direction of the slope machine 2. The remote operation unit 112 is not limited to a lever, and may be composed of software buttons arranged on a display, etc.

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

[0045] The end face side communication unit 224 executes communication with the support side communication unit 324 provided in the support machine 3. The end face 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 end face 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 end face 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 cables.

[0046] The end face side processor 212 functions as a sensor control unit 222 and a communication control unit 223 by reading and executing the end face side program 221 stored in the end face side memory 211. The communication control unit 223 uses the end face side communication unit 224 to execute communication with the support side communication unit 324 on the support machine 3 side.

[0047] The sensor control unit 222 converts the displacement data acquired from the displacement sensor 93, generates a displacement value, and stores the displacement value in the end face side memory 211. When the displacement sensor 93 is in the initial state, the sensor control unit 222 executes zero point correction when the end face side 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 end face side control device 210 of the end face machine 2. In this case, when the displacement sensor 93 is in the initial state, the sensor control unit 222 executes zero point correction when the correction switch on the operation panel 26 is pressed by the user.

[0048] The initial state is the state of the displacement sensor 93 when the vehicle body 20 is parallel to the axle direction of the rear 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 is 0.

[0049] 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 (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 in which the vehicle body 20 is tilted in the upward direction of the slope surface S.

[0050] 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 (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 in which the vehicle body 20 is tilted in the downward direction of the slope surface S.

[0051] [1-1-4-2. Support side control device] The support machine 3 includes a support side control device 310, a support side communication unit 324, and a remote operation unit 112 operated by the operator of the support machine 3. The support side control device 310 is a control device that controls each part of the support machine 3. The support side control device 310 includes a support side processor 312 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 support side control device 310. The support side memory 311 is a memory that stores programs and data. The support side memory 311 stores the support side program 321 and the data to be processed by the support side processor 312. The support-side memory 311 has a non-volatile memory area. Further, the support-side memory 311 may include a volatile memory area and constitute the work area of the support-side processor 312. The support-side memory 311 is composed of, for example, a ROM or a RAM.

[0052] By reading and executing the support-side program 321 stored in the support-side memory 311, the support-side processor 312 functions as the winch control unit 322 and the communication control unit 323.

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

[0054] Based on the displacement value received by the support-side communication unit 324, the winch control unit 322 drives the winch 16. By driving the winch 16, the winch control unit 322 executes either winding in or paying 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.

[0055] 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 in at one time. When the predetermined range is much larger than the change in the displacement value that changes due to the inclination of the vehicle body 20 caused by the minimum payout amount or the minimum winding amount, it is difficult to keep the displacement value within the predetermined range by winding in or paying out 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 of the support machine 3 is, the smaller the predetermined range can be set.

[0056] When the displacement value is a negative value outside the predetermined range, the winch control unit 322 drives the winch 16 to pay out the support rope 17. As a result, the vehicle body 20 tilts in the direction of descending 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 in the direction of ascending the slope surface S, and the displacement value decreases.

[0057] With this configuration, the winch control unit 322 performs pay-out 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 performs pay-out 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.

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

[0059] [1-2. Effects, etc.] In the slope working device 1 according to the present embodiment, the slope working device 1 includes an accompanying support machine 3 and a slope machine 2 that is suspended from a support rope 17 of the support machine 3 and travels on its own on the slope. The slope machine 2 includes a steering drive unit 111 that operates a steering wheel 25, and the support machine 3 includes a remote operation unit 112 that operates the steering drive unit 111. According to this configuration, when the operator of the support machine 3 operates the remote operation unit 112 to indicate the steering direction of the slope machine 2, the operation information is transmitted to the slope machine 2, and based on the operation information, the steering drive unit 111 of the slope machine 2 is driven. Therefore, according to this configuration, the slope machine 2 is automatically steered in the direction indicated by the operator of the support machine 3, so the operation efficiency of the slope machine 2 is improved. When an operator operates the support machine 3, the operator can operate the steering of the slope machine 2 by operating the remote control unit 112.

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

[0061] Further, the arm member 172 includes a first arm 173 (arm member). The proximal end of the first arm 173 is supported by a support shaft 171 of the vehicle body 20 so as to be swingable in a substantially horizontal direction, and a locking member 181 that is hooked on the support rope 17 is provided at the free end of the first arm 173. According to this configuration, the followability of the following member with respect to the support rope 17 is improved.

[0062] Further, the slope machine 2 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, a displacement sensor 93 (sensor that detects the tilt state) of the vehicle body 20, and a winch control unit 322 that 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, when the tilt of the vehicle body 20 deviates from a predetermined range, the stability of the traveling of the slope machine 2 can be ensured by controlling the payout or winding of the support rope 17 so that it falls within the predetermined range. There is no need to monitor the tension of the support rope 17 as in the prior art. 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 rapidly, the slope machine 2 on the slope S can travel stably.

[0063] Further, 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. Thus, the running stability of the slope machine 2 can be ensured.

[0064] Also, 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.

[0065] Also, 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 the displacement sensor 93, the support rope 17 is extended or wound up so that the measured value of the displacement of the distance between the rear wheel support portion 22 and the vehicle body 20 falls within a predetermined range, and the running stability of the slope machine 2 can be ensured by performing winding control.

[0066] According to the present embodiment, the slope machine 2 includes a steering drive unit 111 that operates the steering wheel 25, the support machine 3 includes a remote operation unit 112 that operates the steering drive unit 111, and the slope machine 2 includes an arm member 172 that follows the movement of the support rope 17, a wire 175 that interlocks with the movement of the arm member 172, and a link member 177 that interlocks with the movement of the wire 175. Since the link member 177 is connected to the forward and backward movement mechanism of the slope machine 2, the slope machine 2 is automatically steered in the direction indicated by the driver of the support machine 3, and when the support machine 3 moves forward, the slope machine 2 moves forward, and when the support machine 3 moves backward, the slope machine 2 moves backward. Therefore, the slope machine 2 can be automatically steered and automatically run, and automatic driving can be achieved.

[0067] According to this embodiment, the slope machine 2 includes a front wheel support portion 21 and a rear wheel support portion 22, 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 a support rope 17 is connected, a displacement sensor 93 of the vehicle body 20, and a winch control portion 322 that controls the payout or winding of the support rope 17 so that the displacement value of the displacement sensor 93 falls within a predetermined range. In addition to the automatic steering and automatic traveling of the slope machine 2, the traveling stability of the slope machine 2 can be ensured.

[0068] (Other embodiments) The above embodiment shows a specific example to which the present invention is applied, and does not limit the form to which the invention is applied. The displacement sensor 93 only needs to be able to detect the tilt angle of the vehicle body 20. A distance measuring sensor (not shown) may be arranged on the vehicle body 20, and the tilt 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 the above embodiment, when the remote operation portion 112 is operated, the operation information is input to the support side control device 310, and the information is transmitted to the slope machine 2 by the communication control portion 323. However, the present invention is not limited to this. The remote operation portion 112 may include a remote operation control portion and a remote operation communication portion, and may be configured to communicate with the slope machine 2 without passing through the support machine 3 and transmit the operation information. The communication line may be a wireless communication line conforming to Bluetooth (registered trademark), Wi-Fi (registered trademark), or other wireless communication standards, or a wired communication line connected by a USB (Universal Serial Bus) cable or other data communication cable. In addition, as the support machine 3, a crane vehicle that travels automatically on a flat road G located below the slope S is exemplified, but the present invention is not limited to this. The support machine 3 may be a support vehicle that travels automatically on a flat road located above the slope S and includes a winch.

Explanation of reference numerals

[0069] 1 Slope working device 2 Normal Plane Machine 3 Support Machine 9 Boom 15 Coupling 16 Winch 17 Support Rope 19 Engaged Part 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 93 Displacement Sensor 111 Steering Drive Part 112 Remote Operation Part 171 Support Shaft 172 Arm Member (Following Member) 173 First Arm (Arm Member) 174 Second Arm 175 Wire (Interlocking Member) 177 Link Member

Claims

1. With the accompanying support machine, A slope working device including a slope machine that is suspended from a support rope of the support machine and self-propels on a slope, The slope machine includes a steering drive unit that operates the steering, The support machine includes a remote control unit that operates the steering drive unit, The slope machine, A follower member that follows the movement of the support rope, an interlocking member that interlocks with the movement of the follower member, and a link member that interlocks with the movement of the interlocking member, and the link member is connected to a forward / backward movement mechanism of the slope machine. Slope work equipment.

2. The follower member comprises an arm member, The base end of the arm member is supported on a support shaft of a vehicle body of the slope machine so as to be swingable in a substantially horizontal direction, and a locking member is provided at a free end of the arm member to be hooked onto the support rope. A slope working device according to claim 1.

3. The slope machine, 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; A control unit that controls the payout or winding of the support rope so that the measurement value of the sensor falls within a predetermined range. A slope working device according to claim 1 or 2.

4. 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 working device according to claim 3.

5. A prohibition unit that prohibits the vehicle body from tilting is provided. A slope working device according to claim 3.

6. 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 working device according to claim 3.

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