JP3365897B2 - Crawler belt type vehicle - Google Patents
Crawler belt type vehicleInfo
- Publication number
- JP3365897B2 JP3365897B2 JP34382695A JP34382695A JP3365897B2 JP 3365897 B2 JP3365897 B2 JP 3365897B2 JP 34382695 A JP34382695 A JP 34382695A JP 34382695 A JP34382695 A JP 34382695A JP 3365897 B2 JP3365897 B2 JP 3365897B2
- Authority
- JP
- Japan
- Prior art keywords
- wheel
- crawler belt
- wheels
- type vehicle
- belt type
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
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- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
Description
【発明の詳細な説明】
【０００１】
【発明の属する技術分野】本発明は、前輪をタイヤ、後
輪をクローラとしたクローラベルト式車両（いわゆる、
ハーフクローラ車）の改良に関する。
【０００２】
【従来の技術】従来、ハーフクローラ車として、例えば
特開昭５９−１６４２７０号公報「履帯を有する四輪駆
動車」の技術がある。上記技術は、その公報の第１図及
び第２図によれば、四輪駆動車２（番号は公報に記載さ
れたものを引用した。以下同じ。）の車体前部に前輪３
を取付け、車体後部にタイヤ付き後輪４及びタイヤ付き
遊動輪５を取付け、これら後輪４及び遊動輪５にゴム製
の履帯６を掛け渡し、後輪４を駆動する構成である。
【０００３】
【発明が解決しようとする課題】一般に、ハーフクロー
ラ車は、クローラの後輪４及び遊動輪５が転舵しない構
成であり、このため、クローラの仮想旋回中心は、後輪
４と遊動輪５との間の概ね中間にある。仮想旋回中心
は、前輪３、後輪４及び遊動輪５の動的重量配分により
決定される。従って、クローラが旋回する際に、履帯６
には後輪４の直下及び遊動輪５の直下において、サイド
スリップ（車幅方向へのスリップ）が発生する。このサ
イドスリップが過大になると脱輪の恐れがあるため、サ
イドスリップ量は少なく、サイドスリップ力も小さいこ
とが好ましい。
【０００４】そこで本発明の目的は、脱輪し難く、ま
た、走行抵抗の大きい路面での円滑な旋回性を確保でき
るクローラベルト式車両を提供することにある。
【０００５】
【課題を解決するための手段】上記目的を達成するため
の請求項１記載の発明は、車体前部の左右にタイヤ付き
前輪を取付け、車体後部の左右に中間輪及び後輪を取付
け、これら中間輪及び後輪にクローラベルトを掛け渡
し、上記中間輪と後輪の少なくとも一方を差動装置を介
して駆動し、前輪を操舵する形式のクローラベルト式車
両において、上記中間輪の車軸中心線と後輪の車軸中心
線との間に平行で且つそれらの略中間を通る中間線と、
右の前輪の旋回中心と、左の前輪の旋回中心と、を一致
させたことを特徴とする。クローラベルトのサイドスリ
ップ量が少ないので、脱輪の恐れががなく走行抵抗の大
きい路面での円滑な旋回性を確保できる。また、中間輪
の直下や後輪の直下において、クローラベルトのサイド
スリップ力が小さいので、脱輪し難い。
【０００６】
【発明の実施の形態】本発明の実施の形態を添付図面に
基づいて以下に説明する。なお、図面は符号の向きに見
るものとする。図１は本発明に係るクローラベルト式車
両の側面図であり、クローラベルト式車両１は前輪をタ
イヤ、後輪をクローラとした、いわゆる、ハーフクロー
ラ車である。
【０００７】詳しくは、クローラベルト式車両１は、前
部のキャビン２と後部の荷台３とを備えた車体フレーム
４（車体）に、駆動輪としての前輪５と、駆動輪として
の後輪６と、これら前・後輪５，６の間に介在した遊転
輪としての中間輪７と、これら後・中間輪６，７との間
に介在した３つの転輪８…（…は複数を示す。以下同
じ。）とを左右に取付け、後輪６と中間輪７とにクロー
ラベルト９を掛け渡すことでクローラを構成した、４輪
駆動・クローラ式車両である。
【０００８】前輪５、後輪６及び中間輪７はゴム製空気
入りタイヤを備え、このタイヤは、バルーンタイヤであ
る。前輪５は、後輪６及び中間輪７よりも大径であり、
このため、前輪５の中心高さ寸法Ｈ1は、後輪６及び中
間輪７の中心高さ寸法Ｈ2よりも大きい（高位であ
る）。クローラベルト９は、ゴム材などの可撓性材料か
らなり、長手方向両側にタイヤのショルダ部に対する多
数のサイドガイド部９ａ…を起設し、接地面９ｂに所定
の凹凸パターンを形成したものである。
【０００９】なお、荷台３は車体フレーム４の後部上部
に一体に備えた後部フレーム４ａに、取付けた構成であ
る。また、車体フレーム４は、後部にトランスミッショ
ン１１ａ付きエンジン１１を備える。１２はエアクリー
ナ、１３はエアクリーナ用エア取入管、１４はマフラ、
１５は乗員Ｄ用シート、１６はステアリングハンドル、
１７はチェンジレバー、１８はアクセルペダル、１９は
ブレーキペダル、２１はサイドブレーキ、２２はフロン
トフェンダである。
【００１０】図２は本発明に係るクローラベルト式車両
の平面図であり、キャビン２及び荷台３を外した姿を示
す。なお、荷台３はこの図の想像線にて示す。車体フレ
ーム４は、前部にフロントサスペンション２５と操舵装
置３０と前輪用駆動装置４０とを備え、後部にリヤサス
ペンション装置５０と後輪用駆動装置６０とを備える。
【００１１】操舵装置３０は、想像線にて示すステアリ
ングハンドル１６の操舵力を伝達するためのタイロッド
３１、このタイロッド３１の両端のタイロッドエンド３
２，３２に連結したナックルアーム３３，３３、これら
ナックルアーム３３，３３と前輪５，５の支軸５ａ，５
ａとを連結したキングピン３４，３４等からなる。
【００１２】前輪用駆動装置４０は、トランスミッショ
ン１１ａの前部から延びた推進軸４１、この推進軸４１
に連結した差動装置４２、この差動装置４２と前輪５，
５の支軸５ａ，５ａとに連結した左右の駆動軸４３，４
３からなる。
【００１３】リヤサスペンション装置５０は、車体フレ
ーム４の後部に左右１対のスイングアーム５１，５１を
上下揺動可能に取付け、これらスイングアーム５１，５
１を走行方向後方へ延出し、その揺動先端間に揺動管５
２を掛け渡し、この揺動管５２の両端部にサブビーム５
３，５３を上下揺動可能に取付け、これらサブビーム５
３，５３を走行方向前方へ延出し、その前端部に中間輪
支軸５４，５４を回転可能に取付け、この中間輪支軸５
４，５４の先端部に中間輪７，７を取付けて構成し、更
に、オイルダンパ５５…にて懸架するものである。な
お、オイルダンパ５５…は図３にて詳述する。
【００１４】後輪用駆動装置６０は、トランスミッショ
ン１１ａの後部から延びた推進軸６１、この推進軸６１
に自在継手６２を介して連結した差動装置６３、及び差
動装置６３に連結した左右の駆動軸６４，６４からな
り、この駆動軸６４の両端部に後輪６，６を連結した構
成である。差動装置６３及び駆動軸６４，６４は、上記
揺動管５２と同心に配置し、しかも、揺動管５２ととも
に揺動可能に連結することで、上記リヤサスペンション
装置５０の一部を構成する。そして、揺動管５２は、内
部に挿通した駆動軸６４，６４を回転可能に支持した構
成である。
【００１５】図３は本発明に係るリヤサスペンション装
置の側面図であり、リヤサスペンション装置５０は、後
部フレーム４ａにオイルダンパ（ショックアブソーバ）
５５，５５を介してサブビーム５３の前端部及び後端部
を懸架したものである。ところで、サブビーム５３は、
クローラベルト９（図１参照）の張力調整が可能な構成
である。詳しくは、サブビーム５３は、オイルダンパ５
５，５５にて懸架したビーム部材５６の前部側面に、ビ
ーム延長部５７を前後スライド可能に取付け、しかも、
ビーム部材５６とビーム延長部５７とをターンバックル
５８にてスライド調整可能に連結した構成であり、ター
ンバックル５８にてクローラベルト９の張力を調整す
る。ビーム部材５６は、転輪８…を転輪支持機構７０に
て装着する。ビーム延長部５７は、前部に中間輪支軸５
４を備える。
【００１６】図４は本発明に係る転輪支持機構の断面図
であり、転輪支持機構７０は、サブビーム５３のビーム
部材５６の下面に、付勢手段としての板ばね７１の基端
を取付け、この板ばね７１を車幅方向外方に延出し、そ
の先端部に下側開放のチャンネル状のホルダ７２を左右
揺動可能に取付け、このホルダ７２に３つの転輪８…を
走行方向（この図の表裏方向）に１列に且つ回転可能に
取付けた構成である。そして、板ばね７１は、転輪８…
を常に下方（クローラベルト９の下部裏面側）に付勢す
ることにより、クローラベルト９を接地面９ｂ（路面
Ｆ）に向って押圧する。転輪８…は、図１に示す後輪６
及び中間輪７よりも小径であり、少なくとも外周部をゴ
ム材などの可撓性材料で構成する。なお、転輪８…はタ
イヤを備えた構成としてもよく、例えば、ゴム製空気入
りタイヤを備えて構成してもよい。７３は転輪８を支持
する支軸である。
【００１７】図５は本発明に係るクローラベルト式車両
のステアリングジオメトリの模式図である。なお、説明
の都合上、車体の走行方向左右の部材を区別して説明す
る際には、例えば、右の前輪を「５Ｒ」、左の前輪を
「５Ｌ」のように、右側の部材の符号に「Ｒ」、左側の
部材の符号に「Ｌ」を付す。クローラベルト式車両１の
ステアリングジオメトリは、左右の後輪６Ｌ，６Ｒの車
軸中心線Ｎ（図２に示す駆動軸６４の中心）と、左右の
中間輪７Ｌ，７Ｒの車軸中心線Ｍ（図２に示す中間輪支
軸５４の中心）との間に、車軸中心線Ｍ，Ｎと平行で且
つそれらの略中間を通る中間線Ｐを引いた場合に、この
中間線Ｐと、右の前輪５Ｒの旋回中心と、左の前輪５Ｌ
の旋回中心とを一致させたものであり、その一致した点
は交点Ｏ1である。
【００１８】詳しくは、クローラベルト式車両１は、遠
心力の無視できる、ごく低車速での旋回を考えると、前
輪５Ｌ，５Ｒ及びクローラベルト９Ｌ，９Ｒにサイドス
リップが極力生じないためには、前輪５Ｌ，５Ｒとクロ
ーラベルト９Ｌ，９Ｒが共通の１点を中心に旋回する必
要がある。このため、中間線Ｐと、右の前輪５Ｒの舵角
垂線Ｒ1（右のキングピン３４Ｒと交点Ｏ1と結ぶ線）
と、左の前輪５Ｌの舵角垂線Ｌ1（左のキングピン３４
Ｌと交点Ｏ1と結ぶ線）とは、一致する。
【００１９】ところで、中間線Ｐの位置は、車軸中心線
Ｍと車軸中心線Ｎとの略中間を通るものであり、車軸中
心線Ｍから中間線Ｐまでの距離Ｘと、車軸中心線Ｎから
中間線Ｐまでの距離Ｙとの配分は、前輪５、後輪６及び
中間輪７の動的重量配分（走行中における重量配分）等
により決定することになる。例えば、後輪６と中間輪７
の動的重量配分が６：４の場合には、概ねＸ：Ｙ＝６：
４の関係である。また、後輪６と中間輪７の動的重量配
分が７：３の場合には、概ねＸ：Ｙ＝７：３の関係であ
る。
【００２０】次に、上記構成のクローラベルト式車両１
の作用を図６及び図７に基づき説明する。図６は本発明
に係るクローラベルト式車両の作用図、図７は比較例の
クローラベルト式車両の作用図である。なお、先に図７
に示す比較例を説明し、次に図６に示す上記実施の形態
について説明する。
【００２１】図７に示す比較例のクローラベルト式車両
は、後輪６Ｌ，６Ｒの車軸中心線Ｎと、右の前輪５Ｒの
旋回中心と、左の前輪５Ｌの旋回中心と、を一致させた
構成であり、その一致した点は交点Ｏ2である。そし
て、右の前輪５Ｒの舵角垂線Ｒ2と、左の前輪５Ｌの舵
角垂線Ｌ2とは、一致する。クローラベルト９Ｌ，９Ｒ
の仮想旋回中心Ｑ（前輪、中間輪、及び後輪の動的重量
配分により決定されるクローラベルトの旋回中心）は、
交点Ｏ2を中心とした旋回軌跡ＳＬ2，ＳＲ2で旋回し、
このため、クローラベルト９Ｌ，９Ｒは、旋回軌跡ＳＬ
2，ＳＲ2に沿って傾きながら旋回する。
【００２２】一方、図６に示す上記実施の形態のクロー
ラベルト式車両において、クローラベルト９Ｌ，９Ｒの
仮想旋回中心Ｑは、交点Ｏ1を中心とした旋回軌跡Ｓ
Ｌ1，ＳＲ1で旋回し、このため、クローラベルト９Ｌ，
９Ｒは、旋回軌跡ＳＬ1，ＳＲ1に沿って傾きながら旋回
する。例えば、旋回軌跡ＳＬ1は交点Ｏ1を中心した旋回
半径ｒ1の軌跡であり、旋回軌跡ＳＬ2は交点Ｏ2を中心
した旋回半径ｒ2の軌跡である。そして、交点Ｏ1が交点
Ｏ2よりも前方にあるので、旋回軌跡ＳＬ1は比較例の旋
回軌跡ＳＬ2に比べて、任意の点における車幅方向への
ずれ量がＳｌだけ少ない。また、旋回軌跡ＳＲ1も同様
に、比較例の旋回軌跡ＳＲ2に比べて車幅方向へのずれ
量がＳｒだけ少ない。この結果、クローラが旋回する際
に、クローラベルト９Ｌ，９Ｒにおいて、後輪６Ｌ，６
Ｒの直下及び中間輪７Ｌ，７Ｒの直下に発生するサイド
スリップ（車幅方向へのスリップ）量は、比較例よりも
少なくてすむ。
【００２３】従って、クローラベルト９Ｌ，９Ｒはサイ
ドスリップ量が少ないので、脱輪の恐れががなく、走行
抵抗の大きい路面での円滑な旋回性を確保できる。更
に、クローラベルト９Ｌ，９Ｒは、後輪６Ｌ，６Ｒの直
下でのサイドスリップ量と、中間輪７Ｌ，７Ｒの直下で
のサイドスリップ量との差が少ないので、サイドスリッ
プ量の差に伴うサイドスリップ力が小さくなり、このた
め、図１に示すサイドガイド部９ａ…を、後輪６や中間
輪７のタイヤのショルダ部に過大なサイドスリップ力で
押し付けることもない。従って、クローラベルト９Ｌ，
９Ｒは、脱輪し難く、また、走行抵抗が小さい。
【００２４】なお、上記実施の形態において、クローラ
ベルト式車両１は、前輪５、後輪６、中間輪７のいずれ
かが差動装置を介して駆動する駆動輪であればよく、例
えば、後輪６のみ駆動、中間輪７のみ駆動、又は後輪６
と中間輪７とが駆動する構成でもよい。また、後輪６及
び中間輪７は、タイヤ付き車輪に限定するものではな
い。更に、クローラベルト式車両１は、転輪８を備えた
構成に限定されず、転輪８を備えた場合でも、数量は１
つでも複数でもよい。
【００２５】
【発明の効果】本発明は上記構成により次の効果を発揮
する。請求項１記載の発明は、中間輪の車軸中心線と後
輪の車軸中心線との間に平行で且つそれらの略中間を通
る中間線と、右の前輪の旋回中心と、左の前輪の旋回中
心と、を一致させたことにより、クローラベルトのサイ
ドスリップ量が少ないので、脱輪の恐れががなく走行抵
抗の大きい路面での円滑な旋回性を確保できる。また、
中間輪の直下や後輪の直下において、クローラベルトの
サイドスリップ力が小さいので、脱輪し難い。Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crawler belt type vehicle having front wheels as tires and rear wheels as crawlers.
Half-crawler vehicle). 2. Description of the Related Art Conventionally, as a half crawler vehicle, for example, there is a technology disclosed in Japanese Patent Application Laid-Open No. Sho 59-164270 entitled "Four-wheel drive vehicle having crawler tracks". According to FIGS. 1 and 2 of the gazette, the above-mentioned technique employs a front wheel 3 on a front portion of a vehicle body of a four-wheel drive vehicle 2 (numbers quoted in the gazette; the same applies hereinafter).
, A tire-mounted rear wheel 4 and a tire-mounted idler wheel 5 are attached to the rear of the vehicle body, and a rubber crawler belt 6 is stretched over the rear wheel 4 and the idler wheel 5 to drive the rear wheel 4. [0003] Generally, a half crawler vehicle has a configuration in which a rear wheel 4 and an idle wheel 5 of a crawler do not turn. It is approximately halfway between the idler wheels 5. The virtual turning center is determined by the dynamic weight distribution of the front wheel 3, the rear wheel 4, and the idler wheel 5. Therefore, when the crawler turns, the track 6
A side slip (slip in the vehicle width direction) occurs immediately below the rear wheel 4 and the idle wheel 5. If the side slip is excessive, there is a risk of derailing. Therefore, it is preferable that the side slip amount is small and the side slip force is also small. It is an object of the present invention to provide a crawler belt type vehicle which is hard to be derailed and can ensure smooth turning on a road surface having a large running resistance. [0005] In order to achieve the above object, according to the present invention, front wheels with tires are mounted on the left and right sides of a front portion of a vehicle body, and intermediate wheels and rear wheels are mounted on left and right sides of a rear portion of the vehicle body. In a crawler belt type vehicle of a type in which a crawler belt is attached to the intermediate wheel and the rear wheel, at least one of the intermediate wheel and the rear wheel is driven through a differential device, and the front wheel is steered, An intermediate line that is parallel between the axle center line and the axle center line of the rear wheel and that passes substantially therebetween.
The turning center of the right front wheel is coincident with the turning center of the left front wheel. Since the amount of side slip of the crawler belt is small, there is no possibility of derailing, and smooth turning performance on a road surface having a large running resistance can be secured. Also, the crawler belt has a small side slip force immediately below the intermediate wheel and immediately below the rear wheel, so that it is difficult to remove the wheel. Embodiments of the present invention will be described below with reference to the accompanying drawings. The drawings should be viewed in the direction of reference numerals. FIG. 1 is a side view of a crawler belt type vehicle according to the present invention. The crawler belt type vehicle 1 is a so-called half crawler vehicle in which front wheels are tires and rear wheels are crawlers. More specifically, a crawler belt type vehicle 1 includes a front wheel 5 as a drive wheel and a rear wheel 6 as a drive wheel provided on a body frame 4 (vehicle body) having a front cabin 2 and a rear carrier 3. , A middle wheel 7 as an idler wheel interposed between the front and rear wheels 5, 6 and three rolling wheels 8 interposed between the rear and intermediate wheels 6, 7. The same applies to the following.) Is a four-wheel drive / crawler type vehicle in which a crawler is configured by attaching a crawler belt 9 between a rear wheel 6 and an intermediate wheel 7. The front wheel 5, rear wheel 6 and intermediate wheel 7 are provided with rubber pneumatic tires, which are balloon tires. The front wheel 5 has a larger diameter than the rear wheel 6 and the intermediate wheel 7,
Accordingly, the center height H 1 of the front wheel 5, (a high) is greater than the center height of H 2 rear wheels 6 and the intermediate ring 7. The crawler belt 9 is made of a flexible material such as a rubber material, and has a number of side guides 9a... Erected on shoulders of the tire on both sides in the longitudinal direction, and a predetermined uneven pattern is formed on the ground contact surface 9b. is there. The carrier 3 is attached to a rear frame 4a integrally provided on the upper rear portion of the body frame 4. The body frame 4 includes an engine 11 with a transmission 11a at the rear. 12 is an air cleaner, 13 is an air intake pipe for an air cleaner, 14 is a muffler,
15 is an occupant D seat, 16 is a steering handle,
17 is a change lever, 18 is an accelerator pedal, 19 is a brake pedal, 21 is a side brake, and 22 is a front fender. FIG. 2 is a plan view of the crawler belt type vehicle according to the present invention, showing a state in which the cabin 2 and the carrier 3 are removed. The carrier 3 is shown by imaginary lines in FIG. The body frame 4 includes a front suspension 25, a steering device 30, and a front wheel drive device 40 at a front portion, and a rear suspension device 50 and a rear wheel drive device 60 at a rear portion. The steering device 30 includes a tie rod 31 for transmitting the steering force of the steering handle 16 indicated by an imaginary line, and tie rod ends 3 at both ends of the tie rod 31.
Knuckle arms 33, 33 connected to the knuckle arms 33, 33 and the support shafts 5a, 5 of the front wheels 5, 5.
and a king pin 34, 34, etc., which are connected to The front wheel drive device 40 includes a propulsion shaft 41 extending from the front of the transmission 11a,
, The differential 42 and the front wheel 5,
Left and right drive shafts 43, 4 connected to the 5 support shafts 5a, 5a.
Consists of three. In the rear suspension device 50, a pair of left and right swing arms 51, 51 are attached to the rear portion of the body frame 4 so as to be vertically swingable.
1 extends rearward in the traveling direction, and a swing pipe 5
2 and the sub-beam 5
3 and 53 so as to be able to swing up and down.
3 and 53 are extended forward in the traveling direction, and intermediate wheel support shafts 54 and 54 are rotatably attached to the front ends thereof.
The intermediate wheels 7, 7 are attached to the tips of the wheels 4, 54, and are further suspended by oil dampers 55. The oil dampers 55 will be described in detail with reference to FIG. The rear wheel drive device 60 includes a propulsion shaft 61 extending from a rear portion of the transmission 11a.
And a left and right drive shaft 64, 64 connected to the differential device 63, and rear wheels 6, 6 connected to both ends of the drive shaft 64. is there. The differential device 63 and the drive shafts 64, 64 are arranged concentrically with the rocking tube 52, and are connected to the rocking tube 52 so as to be rockable, thereby forming a part of the rear suspension device 50. . The swing tube 52 is configured to rotatably support the drive shafts 64, 64 inserted therein. FIG. 3 is a side view of the rear suspension device according to the present invention. The rear suspension device 50 includes an oil damper (shock absorber) on the rear frame 4a.
The front end and the rear end of the sub-beam 53 are suspended via 55, 55. By the way, the sub beam 53
The configuration is such that the tension of the crawler belt 9 (see FIG. 1) can be adjusted. More specifically, the sub beam 53 is
A beam extension 57 is attached to the front side surface of the beam member 56 suspended at 5, 55 so as to be slidable back and forth.
The beam member 56 and the beam extension portion 57 are connected by a turnbuckle 58 so as to be slidable. The tension of the crawler belt 9 is adjusted by the turnbuckle 58. The rolling members 8 are mounted on the beam member 56 by the rolling wheel support mechanism 70. The beam extension 57 is provided at the front with the intermediate wheel support shaft 5.
4 is provided. FIG. 4 is a sectional view of a wheel supporting mechanism according to the present invention. The wheel supporting mechanism 70 has a base end of a leaf spring 71 as an urging means attached to the lower surface of the beam member 56 of the sub beam 53. The leaf spring 71 extends outward in the vehicle width direction, and a downwardly open channel-shaped holder 72 is attached to the tip of the leaf spring 71 so as to be able to swing left and right. It is configured to be rotatably mounted in one row in the front and back directions in this figure). And the leaf spring 71 is provided with the rolling wheels 8.
Is constantly urged downward (the lower back side of the crawler belt 9) to press the crawler belt 9 toward the ground contact surface 9b (road surface F). The rolling wheels 8 are the rear wheels 6 shown in FIG.
And a diameter smaller than that of the intermediate wheel 7, and at least the outer peripheral portion is made of a flexible material such as a rubber material. The wheels 8 may be provided with a tire, for example, may be provided with a rubber pneumatic tire. Reference numeral 73 denotes a support shaft that supports the wheel 8. FIG. 5 is a schematic diagram of the steering geometry of the crawler belt type vehicle according to the present invention. For convenience of description, when distinguishing between the left and right members in the traveling direction of the vehicle body, for example, the right front wheel is represented by “5R” and the left front wheel is represented by “5L”. "R" and "L" are added to the reference numerals of the left members. The steering geometry of the crawler belt type vehicle 1 includes an axle center line N of the left and right rear wheels 6L and 6R (the center of the drive shaft 64 shown in FIG. 2) and an axle center line M of the left and right intermediate wheels 7L and 7R (FIG. 2). (The center of the intermediate wheel support shaft 54 shown in FIG. 5), an intermediate line P that is parallel to the axle center lines M and N and substantially passes through the middle line P is drawn between the intermediate line P and the right front wheel 5R. Turning center and left front wheel 5L
Are those made to coincide with the center of the turning point was the match is the intersection O 1. More specifically, in consideration of turning at a very low vehicle speed, where the centrifugal force is negligible and the crawler belt type vehicle 1 can ignore the centrifugal force, it is necessary that the front wheels 5L and 5R and the crawler belts 9L and 9R have as little side slip as possible. The front wheels 5L and 5R and the crawler belts 9L and 9R need to turn around a common point. Therefore, the middle line P, the right front wheel 5R steering angle perpendicular R 1 (right kingpin 34R and the intersection O 1 and connecting lines)
And the rudder angle perpendicular L 1 of the left front wheel 5L (the left kingpin 34
L is the point of intersection O 1 and connecting lines), match. By the way, the position of the intermediate line P passes through substantially the middle between the axle center line M and the axle center line N, and the distance X from the axle center line M to the intermediate line P and the distance from the axle center line N The distribution with the distance Y to the intermediate line P is determined by dynamic weight distribution (weight distribution during running) of the front wheel 5, the rear wheel 6, and the intermediate wheel 7. For example, rear wheel 6 and middle wheel 7
If the dynamic weight distribution is 6: 4, then approximately X: Y = 6:
This is the relationship of No. 4. When the dynamic weight distribution between the rear wheel 6 and the intermediate wheel 7 is 7: 3, the relationship generally is X: Y = 7: 3. Next, the crawler belt type vehicle 1 having the above configuration will be described.
Will be described with reference to FIGS. 6 and 7. FIG. 6 is an operation diagram of a crawler belt type vehicle according to the present invention, and FIG. 7 is an operation diagram of a crawler belt type vehicle of a comparative example. Note that FIG.
Next, the comparative example shown in FIG. 6 will be described, and then the embodiment shown in FIG. 6 will be described. In the crawler belt type vehicle of the comparative example shown in FIG. 7, the axle center line N of the rear wheels 6L and 6R, the turning center of the right front wheel 5R, and the turning center of the left front wheel 5L coincide. The configuration is such that the coincident point is the intersection O 2 . Then, the steering angle perpendicular R 2 of the right front wheel 5R, the steering angle perpendicular L 2 of the left front wheel 5L is consistent. Crawler belt 9L, 9R
Of the virtual turning center Q (the turning center of the crawler belt determined by the dynamic weight distribution of the front wheel, the middle wheel, and the rear wheel) is
Turning on the turning trajectories SL 2 and SR 2 around the intersection O 2 ,
For this reason, the crawler belts 9L and 9R move along the turning locus SL.
2, to pivot while the slope along the SR 2. On the other hand, in the crawler belt vehicle of the above embodiment shown in FIG. 6, the crawler belt 9 L, virtual turning center Q of 9R, the turn trajectory S around the intersection point O 1
L 1 , SR 1 , the crawler belt 9L,
9R turns while tilting along the turning trajectories SL 1 and SR 1 . For example, the turning locus SL 1 is a locus of a turning radius r 1 centered on the intersection O 1 , and the turning locus SL 2 is a locus of a turning radius r 2 centered on the intersection O 2 . Since the intersection O 1 is located ahead of the intersection O 2 , the turning locus SL 1 has a smaller shift amount in the vehicle width direction at an arbitrary point than the turning locus SL 2 of the comparative example by Sl. Similarly, the turning locus SR 1, a small amount of deviation in the vehicle width direction only Sr compared to the turning locus SR 2 of the comparative example. As a result, when the crawler turns, the crawler belts 9L and 9R cause the rear wheels 6L and 6R to rotate.
The amount of side slip (slip in the vehicle width direction) generated immediately below R and immediately below the intermediate wheels 7L and 7R can be smaller than in the comparative example. Accordingly, since the crawler belts 9L and 9R have a small amount of side slip, there is no risk of derailing, and smooth turning performance on a road surface having a large running resistance can be ensured. Further, the crawler belts 9L and 9R have a small difference between the side slip amount immediately below the rear wheels 6L and 6R and the side slip amount immediately below the intermediate wheels 7L and 7R. The slip force is reduced, so that the side guide portions 9a shown in FIG. 1 are not pressed against the shoulder portions of the tires of the rear wheel 6 and the intermediate wheel 7 with excessive side slip force. Therefore, the crawler belt 9L,
9R is difficult to derail and has low running resistance. In the above-described embodiment, the crawler belt type vehicle 1 may be a driving wheel in which any one of the front wheel 5, the rear wheel 6, and the intermediate wheel 7 is driven via a differential device. Drive only wheel 6, drive only middle wheel 7, or rear wheel 6
And the intermediate wheel 7 may be driven. In addition, the rear wheel 6 and the intermediate wheel 7 are not limited to wheels with tires. Further, the crawler belt type vehicle 1 is not limited to the configuration having the rolling wheels 8, and even if the rolling wheels 8 are provided, the quantity is one.
One or more may be used. According to the present invention, the following effects are exhibited by the above configuration. According to the first aspect of the present invention, an intermediate line parallel to and substantially passing through the axle center line of the middle wheel and the axle center line of the rear wheel, the turning center of the right front wheel, and the left front wheel By matching the turning center with the turning center, the amount of side slip of the crawler belt is small, so that there is no risk of derailing and smooth turning performance on a road surface with a large running resistance can be secured. Also,
Immediately below the middle wheel and immediately below the rear wheel, the crawler belt has a small side slip force, so that it is difficult to remove the wheel.
【図面の簡単な説明】
【図１】本発明に係るクローラベルト式車両の側面図
【図２】本発明に係るクローラベルト式車両の平面図
【図３】本発明に係るリヤサスペンション装置の側面図
【図４】本発明に係る転輪支持機構の断面図
【図５】本発明に係るクローラベルト式車両のステアリ
ングジオメトリの模式図
【図６】本発明に係るクローラベルト式車両の作用図
【図７】比較例のクローラベルト式車両の作用図
【符号の説明】
１…クローラベルト式車両、４…車体（車体フレー
ム）、５…前輪、６…後輪、７…中間輪、８…転輪、９
…クローラベルト、９ａ…サイドガイド部、１１…エン
ジン、１６…ステアリングハンドル、３０…操舵装置、
３１…タイロッド、３２…タイロッドエンド、３３…ナ
ックルアーム、３４…キングピン、４０…前輪用駆動装
置、４２…差動装置、６０…後輪用駆動装置、６３…差
動装置、Ｍ…中間輪の車軸中心線、Ｎ…後輪の車軸中心
線、Ｏ1…交点（旋回中心）、Ｐ…中間線。BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a side view of a crawler belt type vehicle according to the present invention. FIG. 2 is a plan view of a crawler belt type vehicle according to the present invention. FIG. 3 is a side view of a rear suspension device according to the present invention. FIG. 4 is a cross-sectional view of a wheel supporting mechanism according to the present invention. FIG. 5 is a schematic view of a steering geometry of a crawler belt type vehicle according to the present invention. FIG. 6 is an operation diagram of a crawler belt type vehicle according to the present invention. FIG. 7 is an operation diagram of a crawler belt type vehicle of a comparative example. [Description of References] 1 ... crawler belt type vehicle, 4 ... body (body frame), 5 ... front wheel, 6 ... rear wheel, 7 ... middle wheel, 8 ... roll Wheel, 9
... Crawler belt, 9a ... Side guide part, 11 ... Engine, 16 ... Steering handle, 30 ... Steering device,
31: Tie rod, 32: Tie rod end, 33: Knuckle arm, 34: King pin, 40: Front wheel drive device, 42: Differential device, 60: Rear wheel drive device, 63: Differential device, M: Middle wheel Axle center line, N: axle center line of rear wheel, O 1 : intersection (turning center), P: middle line.
───────────────────────────────────────────────────── フロントページの続き (58)調査した分野(Int.Cl.7，ＤＢ名) B62D 55/02 B62D 11/02 ──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. 7 , DB name) B62D 55/02 B62D 11/02
Claims (1)
（５Ｌ，５Ｒ）を取付け、車体（４）後部の左右に中間
輪（７Ｌ，７Ｒ）及び後輪（６Ｌ，６Ｒ）を取付け、こ
れら中間輪（７Ｌ，７Ｒ）及び後輪（６Ｌ，６Ｒ）にク
ローラベルト（９Ｌ，９Ｒ）を掛け渡し、上記中間輪
（７Ｌ，７Ｒ）と後輪（６Ｌ，６Ｒ）の少なくとも一方
を差動装置（６３）を介して駆動し、前輪（５Ｌ，５
Ｒ）を操舵する形式のクローラベルト式車両において、
上記中間輪（７Ｌ，７Ｒ）を乗員用シート（１５）の下
方に配設し、上記中間輪（７Ｌ，７Ｒ）の車軸中心線
（Ｍ）と後輪（６Ｌ，６Ｒ）の車軸中心線（Ｎ）との間
に平行で且つそれらの略中間を通る中間線（Ｐ）と、右
の前輪（５Ｒ）の旋回中心（Ｏ １ ）と、左の前輪（５
Ｌ）の旋回中心（Ｏ １ ）と、を一致させたことを特徴と
するクローラベルト式車両。(57) [Claims] [Claim 1] Front wheels with tires on the left and right sides of the front of the vehicle body (4)
(5L, 5R) , and intermediate wheels (7L, 7R) and rear wheels (6L, 6R) are mounted on the left and right of the rear part of the vehicle body (4) . These intermediate wheels (7L, 7R) and rear wheels (6L, 6R) And a crawler belt (9L, 9R)
(7L, 7R) and at least one of the rear wheels (6L, 6R) are driven via a differential device (63) , and the front wheels (5L, 5R ) are driven.
R) in a crawler belt type vehicle that steers
Place the intermediate wheels (7L, 7R) under the occupant seat (15).
Disposed towards, the axle center line of the intermediate wheel (7L, 7R)
(M) and an intermediate line (P) that is parallel to the axle center line (N) of the rear wheels (6L, 6R) and passes through substantially the middle thereof, and a turning center (O 1 ) of the right front wheel (5R). ) And the left front wheel (5
A crawler belt-type vehicle wherein the turning center (O 1 ) of L) is made coincident with the turning center (O 1 ) .
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP34382695A JP3365897B2 (en) | 1995-12-28 | 1995-12-28 | Crawler belt type vehicle |
| CA002192398A CA2192398C (en) | 1995-12-26 | 1996-12-09 | Crawler-belt vehicle |
| US08/761,927 US5950748A (en) | 1995-12-26 | 1996-12-09 | Crawler-belt vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP34382695A JP3365897B2 (en) | 1995-12-28 | 1995-12-28 | Crawler belt type vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH09175448A JPH09175448A (en) | 1997-07-08 |
| JP3365897B2 true JP3365897B2 (en) | 2003-01-14 |
Family
ID=18364545
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP34382695A Expired - Fee Related JP3365897B2 (en) | 1995-12-26 | 1995-12-28 | Crawler belt type vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3365897B2 (en) |
-
1995
- 1995-12-28 JP JP34382695A patent/JP3365897B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH09175448A (en) | 1997-07-08 |
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