Traveling body
Patent Information
- Application Number
- PCT/JP2025/009762
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2025-03-13
- Publication Date
- 2026-09-17
Smart Images
Figure JP2025009762_17092026_PF_FP_ABST
Abstract
Description
Traveling body
[0001] The present invention relates to a traveling body capable of climbing slopes.
[0002] In a crawler traveling device, a mechanism in which a track frame swings has been proposed. A tension wheel is arranged on the front side of the track frame, and an idler wheel is arranged on the rear side thereof (see Patent Document 1).
[0003] Japanese Patent No. 6000229
[0004] An object of the present invention is to provide a traveling body that facilitates traveling on slopes.
[0005] The traveling body of the present invention is a traveling body that can be provided with a processing device that performs processing for changing the state of the ground, wherein: the traveling body includes an endless track; the endless track includes: a first ground-contacting side rotating wheel, a second ground-contacting side rotating wheel, a top side rotating wheel, and an endless track connecting member that engages with the first ground-contacting side rotating wheel, the second ground-contacting side rotating wheel, and the top side rotating wheel; the first ground-contacting side rotating wheel is located closer to the traveling direction side of the traveling body than the second ground-contacting side rotating wheel; the top side rotating wheel is provided at a position separated from the first ground-contacting side rotating wheel and the second ground-contacting side rotating wheel in the vertical direction of the ground contact surface, and when an inclination angle at which the endless track ascends toward the traveling direction side of the traveling body when viewed from a side of the endless track increases, the top side rotating wheel can be moved so as to approach the first ground-contacting side rotating wheel.
[0006] In the present invention, the top side rotating wheel is provided at a position separated from the first ground-contacting side rotating wheel and the second ground-contacting side rotating wheel in the vertical direction of the ground contact surface, and is movable to draw an arc when viewed from the side of the endless track; a distance between the top side rotating wheel and the second ground-contacting side rotating wheel can be smaller than a radius of the arc drawn when the top side rotating wheel moves.
[0007] In the present invention, the axle of the top-side rotating wheel is held by an axle holding member that holds the axle, a restricting portion including a guide hole is provided between the axle holding member and the top-side rotating wheel, the axle of the top-side rotating wheel passes through the guide hole, and the movement of the axle of the top-side rotating wheel can be restricted by the guide hole.
[0008] The present invention may include: an axle of the top-side rotating wheel; an axle holding member that holds the axle of the top-side rotating wheel; a regulating part provided with a guide hole and restricting the movement of the axle holding member; and an actuating body that applies force to the regulating part in the direction in which the guide hole extends.
[0009] In the present invention, the top rotating wheel is located on one side of the restricting portion, the axle holding member is located on the other side of the restricting portion, the plurality of rolling elements are arranged to roll on the inner wall surface of the guide hole, and the axle of the top rotating wheel is located through the guide hole and is arranged to connect the top rotating wheel and the axle holding member.
[0010] In the present invention, the axle of the top-side rotating wheel, an axle holding member that holds the axle of the top-side rotating wheel, a rotating link, and a restricting part provided with a guide hole and restricting the movement of the axle, wherein the rotating link includes an elongated hole extending in the extension direction of the rotating link, the axle of the top-side rotating wheel passes through the guide hole and the elongated hole, and the axle of the top-side rotating wheel can be varied by rotating the rotating link to move the axle of the top-side rotating wheel within the elongated hole and within the guide hole.
[0011] In the present invention, the top-side rotating wheel functions as a driven wheel, and the first ground-side rotating wheel or the second ground-side rotating wheel can function as a drive wheel.
[0012] In the present invention, a pressing device provided on the processing apparatus is included, wherein the processing apparatus is a roller, and the pressing device presses the processing apparatus, causing the processing apparatus to press against the ground.
[0013] In the present invention, the processing apparatus may be a roller for leveling the ground or a grass cutting device for cutting grass on the ground.
[0014] According to the present invention, since the top-side rotating wheel is variable, the center of gravity of the vehicle body can be changed according to the angle of the slope, making it easier to travel on slopes. In addition, since the position of the rollers can also be changed according to the degree of the slope, the road surface can be easily leveled using the rollers.
[0015] [Correction based on Rule 91 17.10.2025] A schematic perspective view showing the running body according to the embodiment. A schematic perspective view showing the running body according to the embodiment. A schematic side view showing the running body according to the embodiment. A schematic side view showing the running body according to the embodiment. A schematic side view showing the running body according to the embodiment. A schematic diagram showing the front of the running body according to the embodiment. A schematic diagram showing the front of the running body according to the embodiment. A functional diagram of the running body according to the embodiment. A schematic perspective view showing the running body according to the embodiment. A schematic perspective view showing the running body according to the embodiment. A schematic side view showing the running body having the first axle variable mechanism according to the embodiment. A schematic diagram showing the first axle variable mechanism according to the embodiment. A schematic diagram showing a cross section along line A-A in Figure 12. A schematic side view showing the first axle variable mechanism according to the embodiment. A schematic side view showing the first axle variable mechanism according to the embodiment. A schematic side view showing the second axle variable mechanism according to the embodiment. This is a schematic side view showing the second axle variable mechanism according to the embodiment. This is a schematic side view showing the second axle variable mechanism according to the embodiment. (A) to (C) are diagrams illustrating the relationship between the rotating wheel and the connecting member, showing the trajectory of the moving rotating wheel when two of the three rotating wheels are fixed and one rotating wheel is moved. This shows the trajectory of the movement of the rotating wheel in Figure 19. This is a diagram showing an example of a traveling body when using the axle variable mechanism of the rotating wheel according to the embodiment. This is a diagram illustrating an example of the effect of the pressing mode of the pressing device. This shows an example of a mechanism for realizing the vertical movement of the pressing plate of the pressing device. This is a diagram illustrating a modified traveling body. (A) is a schematic perspective view showing the traveling body, and (B) is a schematic front view of the traveling body as seen from the front. This is a diagram illustrating a modified traveling body. This is a diagram illustrating the first example of use. This is a diagram illustrating the second example of use. This is a schematic diagram illustrating the third example of use. This is a schematic diagram illustrating the third example of use. This is a schematic diagram illustrating the fourth example of use.
[0016] The embodiments of the present invention will be described below with reference to the drawings. 1. The description will take a vehicle 100, in which a vehicle body 80 is provided with continuous tracks 30 on both sides, as an example, with reference to Figures 1 to 10.
[0017] The vehicle 100 may include a roller 10 capable of pressing against the ground and a pressing device 20 for pressing the roller 10. The vehicle 100 may include a roller holder 12 for holding the roller 10. The pressing device 20 may be provided on the roller holder 12. The vehicle 100 may be provided with an endless track 30 for moving the vehicle 100. The endless track 30 may include at least three rotating wheels 32 and an endless track connecting member 34 with which at least three rotating wheels 32 engage. The endless track connecting member 34 is provided in an endless annular shape and is provided to surround the rotating wheels 32 and may be, for example, a crawler, a track plate, or a toothed belt.
[0018] The traveling body 100 may include at least one rotational drive source 40. Of the at least three rotating wheels 32, one rotating wheel 32 is a drive wheel 32a to which rotational driving force generated by a predetermined rotational drive source 40 of at least one rotational drive source 40 is transmitted through a rotating shaft, and at least two other rotating wheels 32 may be driven wheels 32b. The rotational driving force generated by at least one rotational drive source 40 can be transmitted directly or indirectly to the roller 10, causing the roller 10 to rotate. The rotational drive source 40 can transmit rotational force to the drive wheel 32a through the drive rotating shaft 42. The second sprocket 62 and the third sprocket 64 may be directly coupled, or they may be coupled by a coupling shaft that connects the second sprocket 62 and the third sprocket 64. The second sprocket 62 and the third sprocket 64 may be in a relationship where they rotate in conjunction with each other. The connecting shaft that links the second sprocket 62 and the third sprocket 64 can be on the extension of the first rotation shaft 14.
[0019] The traveling body 100 may include a traveling body 80 that holds at least one rotational drive source 40. The traveling body 80 and the roller holding portion 12 are connected to a first pivot shaft 14, and the traveling body 80 and the roller holding portion 12 can be provided to be rotatable relative to each other by the first pivot shaft 14.
[0020] The running body 100 may include one of at least three rotating wheels 32 and a first sprocket 60 mounted coaxially with the first rotating shaft 50, the first sprocket 60 which may rotate in conjunction with the rotation of one of the rotating wheels 32. The running body 100 may include a second sprocket 62 mounted coaxially with the first pivot shaft 14. The running body 100 may include a third sprocket 64 which rotates in response to the rotation of the second sprocket 62. The running body 100 may include a fourth sprocket 66 which imparts rotational force to the roller 10 through the third sprocket 64, the fourth sprocket 66 which may be mounted coaxially with the roller 10 and the second rotating shaft 52. The first sprocket 60 and the second sprocket 62 may each engage with a first connecting member 54, thereby connecting the first sprocket 60 and the second sprocket 62. The third sprocket 64 and the fourth sprocket 66 each engage with the second connecting member 56, and the third sprocket 64 and the fourth sprocket 66 can be connected. In this specification, coaxial means include not only those mounted on the same axis, but also those that are separate or on different axes but whose extended axes are on the same line or substantially on the same line.
[0021] In other words, the traveling body 100 may include a first sprocket 60 that rotates in accordance with the rotation of one rotating wheel 32, a second sprocket 62 provided coaxially with the first rotating shaft 50, a third sprocket 64 provided on the first pivot shaft 14 that rotates in response to the rotation of the second sprocket 62, a fourth sprocket 66 provided coaxially with the roller 10 and the second rotating shaft and that imparts rotational force to the roller 10, a first connecting member 54 that engages with the first sprocket 60 and the second sprocket 62, and a second connecting member 56 that engages with the third sprocket 64 and the fourth sprocket 66.
[0022] The first connecting member 54 and the second connecting member 56 are provided in an endless annular shape and are not particularly limited as long as they can transmit rotational force between the sprockets, for example, a chain, belt, or wire. The rotating wheel 32 is a concept that includes a drive wheel or starting wheel, a driven wheel, and a freewheel. The rotating wheel 32 basically consists of a drive wheel 32a and a driven wheel 32b, but a freewheel 32c may be provided as needed.
[0023] The rotational drive source 40 can transmit rotational force to the drive wheel 32a through the drive rotation shaft 42. The second sprocket 62 and the third sprocket 64 may be coupled together or mounted on the rotation shaft. The second sprocket 62 and the third sprocket 64 can be configured to rotate in conjunction with each other.
[0024] The traveling body 100 can have a roller 10 and at least one of the three rotating wheels 32 mounted coaxially, and at least one of the three rotating wheels 32 can impart rotational force to the roller 10 through its own rotation.
[0025] A cylinder (not shown) is provided between the running body 80 and the roller holding part 12, and the cylinder presses against the roller holding part 12, so that the support part 12a of the roller holding part 12 is rotatable with respect to the first pivot shaft 14, as shown in Figure 5, and the roller holding part 12 can be rotated around the first pivot shaft 14. By rotating the roller holding part 12 around the first pivot shaft 14, it is possible to prevent the second connecting member 56, which connects the first pivot shaft 14, the third sprocket 64, and the fourth sprocket 66, from becoming loose or too tight during rotation, thereby preventing resistance. A foreign matter intrusion prevention member (for example, a cover) can be provided on the side of the roller holding part 12 on the fourth sprocket 66 side to prevent foreign matter (for example, grass) from entering the fourth sprocket 66.
[0026] The pressing device 20 may consist of, for example, a rammer. The pressing plate 22 of the pressing device 20 may be flat or curved to correspond to the shape of the roller 10.
[0027] The pressing device 20 may be equipped with a liquid tank 86 for supplying liquid (e.g., water) to the ground or the roller 10. For example, the liquid can be supplied from the tank onto the roller 10 via a pipeline. The liquid tank 86 may also release the stored liquid in front of the roller 10. By supplying liquid from the liquid tank 86, the materials constituting the road surface can be supplied with liquid, thereby creating the road surface.
[0028] As shown in Figure 7, when the roller 10 is not in operation, a trolley 88 with casters may be provided to protect the roller 10. The pressing device 20 is rotatable in the front-rear direction. It can be tilted relative to the traveling body 80 so that the roller 10 can be pressed vertically with respect to the horizontal direction.
[0029] The ground can be pressed and compacted through the roller 10. The traveling body 100 according to this embodiment is useful for laying and compacting steel slag on slopes, for example. Steel slag is laid on the soil, and the roller 10, to which force is applied by the pressing device 20, can perform smoothing and compacting processes simultaneously. The traveling body 100 according to this embodiment is based on the novel idea that compaction can be performed while the ground is being smoothed by the roller 10.
[0030] For those engaged in agriculture, mowing grass on slopes is extremely difficult. Injuries from mowing machines are also a risk. Using herbicides has the drawback of killing the roots, weakening the soil. Preventing grass growth is a pressing issue, and the ability to compact the covering layer on slopes using a mobile unit 100 with rollers 10 is extremely useful.
[0031] The rotational drive source 40 can be an engine 82a or a rechargeable battery 84b. When the rechargeable battery 84b is used, the motor 82b can generate rotational driving force. The rechargeable battery 84b can be charged with electricity generated from the engine 82a. An example of the use of the vehicle 100 will be explained with reference to Figure 8. The generator 84b connected to the drive rotation shaft 42 of the engine 82a can generate electricity and charge the rechargeable battery 84b. The electricity charged in the rechargeable battery 84b drives the motor 82b, which drives the drive wheel 32a of the track 30, and rotates the driven wheel 32b that engages with the track connecting member 34. A first sprocket 60 and a second sprocket 62, both located on a first rotating shaft 50 coaxially with the driven wheel 32b, are engaged by a first connecting member 54. A third sprocket 64, which rotates in conjunction with the rotation of the second sprocket 62, and a fourth sprocket 66, located coaxially with the roller 10 and the second rotating shaft 52, are engaged by a second connecting member 56, causing the roller 10 to rotate in conjunction with the rotation of the fourth sprocket 66. In this way, the rotational driving force generated by a predetermined rotational driving source 40 of at least one rotational drive source 40 can be transmitted to the pressing device 20 and converted into pressing force.
[0032] A first pulley 26a, which rotates in conjunction with the drive shaft 42 of the engine 82a, and a second pulley 26b provided on the pressing device 20 may be connected by a belt such as a V-belt 28, thereby transmitting rotational force from the first pulley 26a to the second pulley 26b, and rotating a cam 24 that rotates in conjunction with the second pulley 26b, thereby realizing the up-and-down movement of the pressing device 20 (see Figure 24). The first pulley 26a is not limited to being rotated by the engine 82a, but may also be rotated by another rotational drive source 40, such as a motor 82b, which transmits the rotational force. The pressing device 20 may not receive power from the rotational drive source 40, but may be driven independently by a drive source (such as an engine). A drive source for the roller 10 and a drive source for the pressing device 20 may be provided in the roller holding section 12.
[0033] As shown in Figure 9, the vehicle 100 may be equipped with a GPS antenna 96 for position confirmation, or remotely controlled using communication means, and may also be equipped with lights 90, taillights 98b, and a rotating light 98a for displaying the status. Front and rear cameras 94a and a rear camera 94b may also be provided to capture images of the front and rear.
[0034] As shown in Figure 10, the axis of the roller 10 and the rotating wheel 32 that engages with the connecting member 34 for the endless track can be mounted coaxially. The striking surface of the pressing plate 22 of the pressing device 20 can have a shape that conforms to the shape of the roller 10, and more specifically, it may be curved. Because the axis of the roller 10 and the axis of the rotating wheel 32 of the endless track 30 are coaxial, the top rotating wheel 32-1 can be varied according to the inclination, making it easier to accommodate inclines. The roller 10 and the pressing device 20 may be provided on both the front and rear sides of the traveling body 100.
[0035] The roller holding portion 12 can be made movable back and forth so that the position of the roller 10 can be moved back and forth. For example, the portion that holds the rotation axis of the roller 10 can be made slidable back and forth so that it can move back and forth.
[0036] The pressing device 20, such as a rammer, can also be made movable in the front-to-back direction. For example, by making the platform on which the pressing device 20 is mounted slidable in the front-to-back direction, it can be moved in the front-to-back direction.
[0037] 2. The running body 100 with a variable mechanism can have a top-side rotating wheel 32-1 that can move in the front-rear direction, as shown in Figure 11. The running body 100 with a variable mechanism can have a top-side rotating wheel 32-1 that can be varied by moving an axle 70 that extends vertically from the circumferential direction of the top-side rotating wheel 32-1. This makes it possible to smooth the ground while running on an inclined surface. In addition, by having a pressing device 20, it is possible to perform compaction in addition to smoothing. The running body 100 with a variable mechanism can have a mechanism that changes from the state in Figure 21 to the state in Figure 22, for example. By varying the top-side rotating wheel 32-1, the state of the object placed on the running body 80 can be made closer to horizontal. The distance between the top-side rotating wheel 32-1 and the second ground-side rotating wheels 32-2, 32-3 can be made smaller than the radius of the arc traced when the top-side rotating wheel 32-1 moves.
[0038] The running body 100 may be equipped with rollers 10 capable of pressing against the ground. The running body 100 includes an endless track 30, which may include a top-side rotating wheel 32-2, a top-side rotating wheel 32-3, a top-side rotating wheel 32-1, and an endless track connecting member 34 that engages with the top-side rotating wheel 32-2, the top-side rotating wheel 32-3, and the top-side rotating wheel 32-1. The top-side rotating wheel 32-2 is located closer to the roller 10 than the second ground-side rotating wheel 32-3, and the top-side rotating wheel 32-1 is positioned further away from the ground surface in the perpendicular direction than the first ground-side rotating wheel 32-2 and the second ground-side rotating wheel 32-3. Furthermore, as the inclination angle of the endless track 30 increases when viewed from the side of the endless track 30, the top-side rotating wheel 32-1 can be made movable so as it approaches the top-side rotating wheel 32-2.
[0039] The top-side rotating wheel 32-1 is positioned further away from the ground surface in the direction perpendicular to the ground surface than the first ground-side rotating wheel 32-2 and the second ground-side rotating wheel 32-3, and is capable of moving in an arc when viewed from the side of the endless track 30, and the distance between the top-side rotating wheel 32-1 and the second ground-side rotating wheel 32-3 can be made smaller than the radius of the arc traced when the top-side rotating wheel 32-1 moves.
[0040] The axle 70 of the top rotating wheel 32-1 is held by an axle holding member 72 that holds the axle 70, and a restricting portion 74 including a guide hole 74a is provided between the axle holding member 72 and the top rotating wheel 32-1, and the axle 70 of the top rotating wheel 32-1 passes through the guide hole 74a, so that the movement of the axle 70 of the top rotating portion 32-1 is restricted by the guide hole 74a.
[0041] The top-side rotating wheel 32-1 functions as a driven wheel, while the top-side rotating wheel 32-2 or the second ground-side rotating wheel 32-3 can function as a drive wheel.
[0042] As a mechanism for varying the top rotating wheel 32-1, for example, the following configuration is possible: (1) First axle variable mechanism A traveling body 100 having a first axle variable mechanism 70A will be described with reference to Figures 12 to 15.
[0043] As an embodiment of the traveling body 100 having the first axle variable mechanism 70A, it may include an axle 70 of the top rotating wheel 32-1, an axle holding member 72 that holds the axle 70 of the top rotating wheel 32-1, a restricting part 74 that has a guide hole 74a and restricts the movement of the axle holding member 72, and an actuating body 76 that applies force to the restricting part 74 in the direction in which the guide hole 74a extends. The top rotating wheel 32-1 is located on one side of the restricting part 74, the axle holding member 72 is located on the other side of the restricting part 74, and the plurality of rolling elements 72a may be arranged to roll on the inner wall surface of the guide hole 74a. The axle 70 of the top rotating wheel 32-1 is passed through the guide hole 74a and may be arranged to connect the top rotating wheel 32-1 and the axle 70 holding member.
[0044] The plurality of rolling elements 72a roll on the inner wall surface of the guide hole 74a, so that the inner wall surface functions as a rail. Since the outer circumferential surface of the rolling element 72a and the wall surface of the guide hole 74a have corresponding concave-convex shapes, detachment can be prevented. The rolling surface of the rolling element 72a has a concave-convex shape, and the inner wall surface of the guide hole 74a can have a shape corresponding to the concave-convex shape of the rolling surface of the rolling element 72a. A stopper may be provided on the side to prevent the rolling element 72a from rolling away from the guidance of the inner wall surface of the guide hole 74a. The plurality of rolling elements 72a roll on the inner wall surface of the guide hole 74a, so that the inner wall surface can function as a rail. The axle holding member 72 moves in accordance with the restriction of the guide hole of the restriction portion 74. When the guide hole of the restriction portion 74 is an arc, the axle 70 of the top-side rotating wheel 32-1 can move along an arc with the same curvature.
[0045] The shape of the guide hole 74a of the restriction portion 74 has an arc, and the center C1 of the arc is located closer to the ground side than the connecting member connecting the top-side rotating wheel 32-2 and the top-side rotating wheel 32-3. The acting body 76 is rotatably coupled and connected to the axle holding member 72, and can move the axle holding member 72 and also move the axle 70 by pressing or pulling the axle holding member 72. The acting body 76 can be rotatably provided on the traveling body body 80 or the frame of the traveling body 100. The acting body 76 may be constituted by, for example, a telescopic cylinder.
[0046] The acting body 76 can be rotated according to the movement state of the top-side rotating wheel 32-1, and the generation of load at the connection between the axle holding body and the acting body 76 can be reliably suppressed.
[0047] The axle holding member 72 can be provided on the traveling body body 80 or the frame of the traveling body 100. The traveling body body 80 serves as a base body and can support the acting body 76 so that the acting body 76 can act on the axle holding member 72. The acting body 76 can be rotatably provided relative to the traveling body body 80. The restriction portion 74 includes a guide hole 74a that restricts the movement of the axle 70 of the top-side rotating wheel 32-1 and guides it to move along a predetermined curvature.
[0048] The wheel holding portion can be provided with a slide member that allows the axle 70 of the top-side rotating wheel 32-1 to slide along the guide hole 74a. As the slide member, for example, as shown in Figures 12 to 15, a rolling element 72a that rolls on the side surface of the guide hole 74a can be provided.
[0049] Even on an inclined slope, the rotating wheels can move to positions corresponding to the slope, which makes it easier for the rollers 10 to grip the ground, and is suitable for pressing on an incline. On an inclined surface, moving the top-side rotating wheel 32-1 forward shifts the center of gravity forward, which stabilizes the traveling body 100 and prevents it from overturning.
[0050] (2) Second Axle Variable Mechanism The second axle variable mechanism 70B will be described with reference to Figures 16 to 18.
[0051] As an embodiment of the traveling body 100 having the second axle variable mechanism 70B, it may include: the axle 70 of the top-side rotating wheel 32-1, an axle holding member 72 that holds the axle 70 of the top-side rotating wheel 32-1, a rotating link 78, and a restricting portion 74 that is provided with a guide hole 74a and restricts the movement of the axle 70. The rotating link 78 is provided with an elongated hole 78a extending in the extension direction of the rotating link 78, the axle 70 of the top-side rotating wheel 32-1 passes through the guide hole 74a and the elongated hole 78a. By rotating the rotating link 78, the axle 70 of the top-side rotating wheel 32-1 is moved within the elongated hole 78a and also moved within the guide hole 74a, whereby the position of the axle 70 of the top-side rotating wheel 32-1 can be varied.
[0052] The guide hole 74a of the restricting portion 74 has an arcuate shape, and the center C1 of the arc is located closer to the ground side than a connecting member that connects the top-side rotating wheel 32-2 and the top-side rotating wheel 32-3. The axle holding member 72 of the first axle variable mechanism 70A and the axle holding member 72 of the second axle variable mechanism 70B can have the same configuration. The mode of moving the axle 70 is not particularly limited as long as the axle 70 can move along the guide hole 74a of the restricting portion 74.
[0053] The axle 70 moves through the elongated hole 78a of the pivot link 78, and the axle 70 moves with a predetermined curvature in the guide hole 74a. As a result, the radius of rotation of the axle 70 is substantially larger than the radius of the pivot link 78. In other words, by using the pivot link 78, the stroke of the actuarial body 76 can be shortened.
[0054] The pivot link 78 can be rotated by pressing or pulling it with an actuator 76, for example, an extendable cylinder. The tip of the cylinder can be rotatably mounted relative to the pivot link 78. One end of the cylinder can be rotatably mounted on the pivot link 78, allowing the pivot link 78 to rotate in accordance with the extension and retraction of the cylinder. Since the angle of the cylinder's extension direction relative to the horizontal direction changes, the cylinder can be rotatably mounted on the frame of the running body 80 or running body 100.
[0055] A guide hole 74a can be provided so that when one of the rotating wheels moves while the other two rotating wheels are fixed, the connecting member 34 for the continuous track does not loosen, and the top rotating wheel 32-1 can move relative to the other two rotating wheels.
[0056] By using a pivot link 78 having an elongated hole 78a, the axle 70 can be moved along an arc trajectory L1 with a radius larger than the radius of the pivot link 78, guided by a hole provided along the longitudinal direction of the pivot link 78. This allows for a shorter stroke of the actuarial body 76 and the construction of a large-radius arc. The inventors of this application have found that such a guide hole 74a is suitable to be in the shape of an arc. They have found that the center C1 of the arc is below the continuous track connecting member 34 located between the two ground-facing rotating wheels 32-2 and 32-3.
[0057] Figure 22 shows an example of climbing a slope with an incline of approximately 45 degrees. The wheel at the apex moves forward in an arc-shaped trajectory, and the holding member that holds the pressing device 20 may tilt forward, causing the roller holding part 12 to rotate so that it presses the roller 10 in a direction perpendicular to the horizontal direction.
[0058] As shown in Figure 23, when the vehicle 100 climbs a slope, the direction of the force applied by the pressing device 20 to the roller 10 is towards the rear and downward, which helps the vehicle 100 to climb. In other words, it can generate a force that causes the roller 10 to push off the ground. Therefore, by tilting the pressing device 20 forward relative to the vertical direction with respect to the horizontal direction, a propulsive force for climbing can be obtained.
[0059] (3) Explanation of principle: In the case of a running body 100 having a variable mechanism, it is necessary that the track connecting member 34 does not loosen. This configuration requirement allows the rotating wheel to be reliably varied without the track connecting member 34 loosening.
[0060] In Figure 19, the incline increases in the order of (A), (B), and (C). When the top-side rotating wheel 32-1 is moved to prevent the continuous track connecting member 34 from loosening, it was found that the trajectory L1 of the top-side rotating wheel 32-1 traces an arc L1 as shown in Figure 20. It was found that the center of the arc is on the ground side (below) the continuous track connecting member 34 that connects the top-side rotating wheel 32-2 and the top-side rotating wheel 32-3.
[0061] (4) Significance of the Variable Mechanism By making the top-side rotating wheel 32-1 variable, the center of gravity of the vehicle 100 can be moved forward, and even slopes with a steep angle can be flattened by the roller 10. By also installing the pressing device 20 on top of the roller 10, it becomes possible to compact the slope. Leveling slopes by hand is extremely laborious, and in areas and places where there is a shortage of manpower, the ground becomes increasingly rough, but this vehicle 100 can reduce the labor required for leveling slopes.
[0062] 5. Significance of the Vehicle 100: Mowing grass on slopes is labor-intensive and dangerous. This work is mainly carried out by public sector employees and elderly local landowners. The excessive burden on these workers is a problem that needs to be addressed through a systemic solution.
[0063] The inventors of this invention considered applying steel slag to sloping ground. They found that the reason why application to sloping ground was not possible was the problem of compaction. Sloping areas in agricultural land include levees and embankments. While it is necessary to maintain and manage agricultural land (fields), concrete levees are already permitted. No effective countermeasures have been devised for embankments, especially those in agricultural land.
[0064] Even if you cut the grass, it will quickly grow back. Pesticides also burden the natural environment, and their effectiveness becomes limited. When pesticides are used, the roots wither, and the ground becomes brittle. This embodiment was created with the aim of simultaneously achieving permanent weed control and ground strengthening on slopes.
[0065] Applying this embodiment to the agricultural sector will open doors to farmers / new farmers who are in a position close to landowners and land improvement districts, creating a system in which agricultural workers in regional cities can earn income and thus promote their retention in agriculture. For new farmers, it is difficult to secure land in the limited area of flat land, and even if they can secure farmland, it is inefficient land with many levees. Such farmland is not profitable, and farmers do not sufficiently retain their land. One of the reasons for this is mowing the grass on the levees. Mowing the grass on the levees does not directly generate income, and it drains the physical and mental energy of farmers, sometimes causing them to give up on farming. This embodiment is based on the premise of solving these problems.
[0066] 6. Modifications of the running body (1) A first modification of the running body is as shown in Figure 25, in which a roller 10 may be provided between two continuous tracks 30. Specifically, a running body 80 may be provided between two continuous tracks 30, a roller 10 capable of pressing against the ground may be provided at the lower part of the running body 80, and a pressing device 20 may be provided on the roller 10. This configuration has the advantage that grass and foreign objects are less likely to get entangled in the drive elements for driving the roller 10.
[0067] (2) A second modification of the vehicle is shown in Figure 26(A), in which the track 30 can be configured to swing laterally relative to the vehicle body 80. For example, by holding the track 30 with at least two arms 110 of different heights in the vertical direction, and configuring these arms 110 to be extendable and retractable, when the vehicle 100 is traveling across a slope, the vehicle body 80 can be made to run parallel to the slope, and the contact surface of the track 30 with the ground is not parallel to the ground, as shown in Figure 26(B). If it is desired to swing the track 30 away from the vehicle body 80 (to raise the track 30 relative to the vehicle body 80), for example, the swing can be achieved by extending the upper arm 110a and retracting the lower arm 110b. If it is desired to swing the track 30 away from the vehicle body 80 at the bottom (i.e., to lower the track 30 relative to the vehicle body 80), the swing can be achieved, for example, by retracting the upper arm 110a and extending the lower arm 110b. A known extendable cylinder can be used as the extendable device. Multiple upper arms 110a and lower arms 110b may be provided along the front-rear direction. The upper arm 110a and lower arm 110 can be rotatably mounted on the track 30 and the vehicle body 80, respectively.
[0068] (3) In the above embodiment, the processing device for performing processing to change the condition of the ground can be, for example, a roller for leveling the ground, a lawnmower for cutting plants such as grass and trees, a device for removing protrusions on the ground, a liquid sprayer, etc., and the processing device may be a combination of several of these.
[0069] (4) The traveling body 100 may be provided with fixing parts (for example, hooks) of guide wires 102 for restricting, guiding, or assisting the movement of the traveling body 100.
[0070] Examples of this use include the following: (a) First example of use In the first example of use, one end of the guide wire 102 is attached to a columnar body (including a tree) 104, and the other end is attached to a vehicle 100, allowing the vehicle 100 to compact on a slope while being assisted by the guide wire 102. The guide wire 102 has the role of holding the vehicle 100 in place. Specifically, one end of the wire is fixed to a support or tree, and the other end is attached to the vehicle, and the vehicle assisted by the wire is moved laterally so that the wire swings from side to side, thereby performing compaction, hardening, or grass cutting.
[0071] (b) Second example of use The second example of use is for use on steep slopes such as in forested areas. As shown in Figure 28, a linear body 106 between columnar bodies, such as a wire, is connected between columnar bodies (including trees) 104 and another columnar body 104, and a linear body 102 is suspended from the linear body 106 as a guide wire for the vehicle to connect to the vehicle 100. One end of the linear body 106 between columnar bodies is anchored to the linear body 102, and the other end is connected to the vehicle 100, allowing the vehicle 100 to move laterally down the slope while being assisted, thereby compacting and firming the slope or mowing the grass.
[0072] (c) Third example of use This section describes an example of use in dangerous places such as cliffs and rivers. Riverbeds are large in area and are prone to grass growth. Since the river is often immediately below the slope, considering the risk of sliding down, as shown in Figure 29, a vehicle (for example, a self-propelled hydraulic excavator or car) 108a and the mobile body 100 may be connected by a linear body 102, and compaction and grass cutting may be performed by the mobile body 100 while the linear body 102 assists the mobile body 100. As shown in Figure 30, compaction and grass cutting may be performed by the mobile body 100 while an aerial vehicle 108b such as a drone assists the mobile body 100.
[0073] (d) Fourth example of use The fourth example of use is on roads with slopes, such as expressways, in areas that have been cleared and developed from mountains. Road administrators regularly mow the grass on slopes. As shown in Figure 31(A), steel slag is placed on the slope to reduce the burden of mowing, and as shown in Figure 31(B), a vehicle 108a equipped with a crane assists the vehicle 100 to prevent it from falling, while the vehicle 100 compacts and solidifies the steel slag. The vehicle 100 is held in place by a linear body by the vehicle 108a equipped with a crane, and can compact the slope with assistance.
[0074] In the first to third examples of use, a linear body (for example, a wire) is used to assist in preventing the vehicle from falling, and when it is needed to be lifted, it can be lifted using a winch, for example.
[0075] 7. In the experiment, a compaction experiment was conducted on a sloping ground using experimental steel slag, and it was confirmed that the hardness met the standard. The surrounding pH value did not shift toward alkalinity even after a predetermined time had elapsed, confirming that no components of the steel slag had leaked out. Specifically, the slope was flattened and compacted using a traveling body 100 including the roller 10 and pressing device 20 according to this embodiment. When the height was measured using a Yamanaka hardness tester, it was 31.1 mm (a level of 30 mm or more is normally required). It was confirmed that it is effective for compacting sloping ground. When the pH of a nearby field was checked using a soil pH meter, it was 6.8 before the experiment and 6.6 after the experiment. It was confirmed that compaction of sloping ground with a gradient of approximately 20 degrees can be performed reliably.
[0076] This embodiment can be modified in various ways within the scope of the present invention. Any combination of the above-mentioned components is possible.
[0077] 10 Roller 12 Roller holder 12a Support part for roller holder 14 First pivot shaft 20 Pressing device 22 Pressing plate 24 Cam 26a First pulley 26b Second pulley 28 V-belt 30 Endless track 32 Rotating wheel 32a Drive wheel (starting wheel) 32b Driven wheel 32c Idle wheel 32-1 Top-side rotating wheel 32-2 First ground-side rotating wheel 32-3 Second ground-side rotating wheel 34 Endless track connecting member (crawler) 40 Rotation drive source 42 Drive rotating shaft 50 First rotating shaft 52 Second rotating shaft 54 First connecting member 56 Second connecting member 60 First sprocket 62 Second sprocket 64 Third sprocket 66 Fourth sprocket 70 Axle 70A First axle variable mechanism 70B Second axle variable mechanism 72 Axle holding member 72a Rolling element 74 Regulating part 74a Guide hole 76 Actuator (cylinder) 78 Rotating link 78a Slotted hole 80 Running body 82a Engine 82b Motor 84a Generator 84b Rechargeable battery 86 Liquid tank 88 Bogie 90 Lights 94a Front and rear cameras 94b Rear camera 96 GPS antenna 98a Rotating light 98b Tail lamp 100 Running body 102 Linear body 104 Columnar body 106 Linear body between columnar bodies 108a Vehicle 108b Flying body 110 Arm 110a Upper arm 110b Lower arm C1 Center L1 Trajectory
Claims
1. A vehicle equipped with a processing device for performing a process to change the condition of the ground, wherein the vehicle includes a continuous track, the continuous track includes a first ground-side rotating wheel, a second ground-side rotating wheel, a top-side rotating wheel, and a connecting member for the continuous track that engages with the first ground-side rotating wheel, the second ground-side rotating wheel, and the top-side rotating wheel, wherein the first ground-side rotating wheel is located on the direction of travel of the vehicle beyond the second ground-side rotating wheel, the top-side rotating wheel is located at a position further away from the ground surface in the direction perpendicular to the ground surface than the first ground-side rotating wheel and the second ground-side rotating wheel, and the top-side rotating wheel is movable so as to approach the first ground-side rotating wheel when the inclination angle of the continuous track rising toward the direction of travel of the vehicle increases when viewed from the side of the continuous track.
2. The vehicle according to claim 1, wherein the top-side rotating wheel is provided at a position further away from the ground surface than the first ground-side rotating wheel and the second ground-side rotating wheel, and is capable of moving in an arc when viewed from the side of the endless track, and the distance between the top-side rotating wheel and the second ground-side rotating wheel is smaller than the radius of the arc traced when the top-side rotating wheel moves.
3. The vehicle according to claim 1, wherein the axle of the top rotating wheel is held by an axle holding member that holds the axle, a restricting portion including a guide hole is provided between the axle holding member and the top rotating wheel, the axle of the top rotating wheel passes through the guide hole, and the movement of the axle of the top rotating wheel is restricted by the guide hole.
4. The traveling body according to claim 1, comprising: an axle of the top rotating wheel; an axle holding member for holding the axle of the top rotating wheel; a regulating part provided with a guide hole and restricting the movement of the axle holding member; and an actuating body for applying force to the regulating part in the direction in which the guide hole extends.
5. The traveling body according to claim 4, wherein the top rotating wheel is located on one side of the regulating portion, the axle holding member is located on the other side of the regulating portion, the plurality of rolling elements are arranged to roll on the inner wall surface of the guide hole, and the axle of the top rotating wheel is located through the guide hole and is provided to connect the top rotating wheel and the axle holding member.
6. The traveling body according to claim 1, comprising: an axle of the top rotating wheel; an axle holding member for holding the axle of the top rotating wheel; a rotating link; and a restricting part provided with a guide hole and restricting the movement of the axle, wherein the rotating link includes an elongated hole extending in the extension direction of the rotating link; the axle of the top rotating wheel passes through the guide hole and the elongated hole; and the traveling body rotates the rotating link to move the axle of the top rotating wheel within the elongated hole and within the guide hole, thereby varying the axle of the top rotating wheel.
7. The traveling body according to claim 1, wherein the top-side rotating wheel functions as a driven wheel, and the first ground-side rotating wheel or the second ground-side rotating wheel functions as a drive wheel.
8. The present invention relating to claim 1, comprising a pressing device provided on the processing apparatus, wherein the processing apparatus is a roller, and the pressing device is a traveling body that presses the processing apparatus, causing the processing apparatus to press against the ground.
9. The apparatus according to claim 1, wherein the apparatus is a traveling body which is a roller for leveling the ground or a grass cutting device for cutting grass on the ground.