JPH0328354B2 - - Google Patents
Info
- Publication number
- JPH0328354B2 JPH0328354B2 JP59159348A JP15934884A JPH0328354B2 JP H0328354 B2 JPH0328354 B2 JP H0328354B2 JP 59159348 A JP59159348 A JP 59159348A JP 15934884 A JP15934884 A JP 15934884A JP H0328354 B2 JPH0328354 B2 JP H0328354B2
- Authority
- JP
- Japan
- Prior art keywords
- track
- hydraulic
- hydraulic cylinders
- tracked vehicle
- ground
- 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 - Lifetime
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/22—Endless track steering being effected by deflecting endless track rollers or the like
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
Description
【発明の詳細な説明】
〔発明の利用分野〕
この発明は例えば油圧シヨベル、油圧クレー
ン、ブルドーザ等の装軌式車両に関するものであ
る。DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to tracked vehicles such as hydraulic excavators, hydraulic cranes, bulldozers, and the like.
第６図は従来の装軌式車両の下部走行体を示す
正面図、第７図は同じく平面図である。図におい
て、１は左右一対のトラツクフレーム、２はトラ
ツクフレーム１に設けられた駆動輪、３はトラツ
クフレーム１に設けられた遊動輪、４，５はトラ
ツクフレーム１の上下位置に設けられた上ロー
ラ、下ローラ、６L，６Rは駆動輪２と遊動輪３と
の間に巻装された左右の履帯で、履帯６L，６Rは
上ローラ４、下ローラ５によつて案内されてお
り、下ローラ５は一列に並んでいて、履帯６L，
６Rを地面に均等に押付けている。そして、この
ような下部走行体の上にはセンタジヨイントを介
して本体（図示せず）が設けられ、その本体には
エンジン、油圧源等の動力源、運転室、さらには
クレーン、シヨベル等の作業装置が設けられてい
る。
FIG. 6 is a front view showing the undercarriage of a conventional tracked vehicle, and FIG. 7 is a plan view of the same. In the figure, 1 is a pair of left and right truck frames, 2 is a driving wheel provided on the truck frame 1, 3 is an idler wheel provided on the truck frame 1, and 4 and 5 are upper and lower wheels provided on the upper and lower positions of the truck frame 1. The rollers, lower rollers, 6 L and 6 R are left and right crawlers wrapped between the driving wheel 2 and the idler wheel 3, and the crawlers 6 L and 6 R are guided by the upper roller 4 and the lower roller 5. The lower rollers 5 are lined up in a row, and the crawler tracks 6 L ,
6 R is pressed evenly to the ground. A main body (not shown) is provided above the lower traveling body via a center joint, and the main body includes a power source such as an engine and a hydraulic power source, a driver's cab, and a crane, shovel, etc. The work equipment is equipped with:
このような装軌式車両において方向を変える場
合には、一方の履帯例えば履帯６Rを駆動し、他
方の履帯６Lを停止して、第７図の点ａを旋回中
心とするピボツトターンを行なうことがある。こ
の場合、停止している履帯６Lは旋回中心を軸に
地表を滑りながら回転し、しかも第８図に示すよ
うに、履帯６Lの接地圧分布は履帯６Lの長手方向
に一定であるから、摩擦旋回抵抗が非常に大き
い。このため、十分な旋回力を得るためには大き
な駆動力を必要とする。 When changing direction in such a tracked vehicle, one of the tracks, for example track 6R , is driven, the other track 6L is stopped, and a pivot turn is performed with the turning center at point a in Figure 7. Sometimes. In this case, the stopped crawler track 6L rotates around the turning center while sliding on the ground, and as shown in Fig. 8, the ground pressure distribution of the track 6L is constant in the longitudinal direction of the track 6L . Therefore, the frictional turning resistance is extremely large. Therefore, a large driving force is required to obtain sufficient turning force.
この発明は上述の問題点を解決するためになさ
れたもので、ピボツトターン時の履帯の摩擦旋回
抵抗が小さく、またセンタジヨイントのポートを
増やす必要がなく、さらに旋回抵抗に応じて油圧
シリンダの推力を制御することができる装軌式車
両を提供することを目的とする。
This invention was made to solve the above-mentioned problems.The frictional turning resistance of the crawler track during pivot turns is small, there is no need to increase the number of ports on the center joint, and the thrust of the hydraulic cylinder is adjusted according to the turning resistance. The purpose is to provide a tracked vehicle that can control the following:
この目的を達成するため、この発明において
は、走行体の左右のトラツクフレームにそれぞれ
駆動輪と遊動輪とが設けられ、上記駆動輪と上記
遊動輪との間に履帯を巻装し、上記走行体の上に
センタジヨイントを介して本体が設けられた装軌
式車両において、左右の上記トラツクフレームに
それぞれ第１、第２の油圧シリンダを取付け、そ
の第１、第２の油圧シリンダに上記履帯のほぼ中
央部と接する押え手段を取付け、左右の上記駆動
輪を回転する第１、第２の油圧モータに接続され
かつ上記センタジヨイントより上記走行体側にあ
る２本の管路間に第１、第２のシヤトル弁を設
け、その第１、第２のシヤトル弁の出口ポートと
上記第２、第１の油圧シリンダとを、上記第２、
第１のシヤトル弁の出口ポートに圧力が立つたと
きに切換わる第１、第２の方向切換弁を介して接
続する。
In order to achieve this object, in the present invention, a drive wheel and an idler wheel are provided on the left and right track frames of the traveling body, and a crawler belt is wound between the drive wheel and the idler wheel, and In a tracked vehicle in which the main body is installed above the body via a center joint, first and second hydraulic cylinders are attached to the left and right track frames, respectively, and the first and second hydraulic cylinders are connected to the above-mentioned hydraulic cylinders. A holding means is attached which is in contact with approximately the center of the crawler track, and is connected to the first and second hydraulic motors that rotate the left and right drive wheels, and is located between two pipes that are closer to the traveling body than the center joint. 1. A second shuttle valve is provided, and the outlet ports of the first and second shuttle valves and the second and first hydraulic cylinders are connected to the second and second shuttle valves.
The connection is made through first and second directional switching valves that are switched when pressure builds up at the outlet port of the first shuttle valve.
第１図はこの発明に係る装軌式車両の下部走行
体を示す図である。図において、７L，７Rは左右
のトラツクフレーム１に取付けられた油圧シリン
ダ、８は油圧シリンダ７L，７Rのピストンロツド
に回転可能に取付けられた下ローラで、図示のよ
うにシリンダ７L，７Rが伸長した状態では、下ロ
ーラ８が履帯６L，６Rの接地部のほぼ中央部を地
面に押付けており、油圧シリンダ７L，７Rが縮小
した状態では、下ローラ８が他の下ローラ５と同
じ高さに位置している。
FIG. 1 is a diagram showing an undercarriage of a tracked vehicle according to the present invention. In the figure, 7L and 7R are hydraulic cylinders attached to the left and right truck frames 1, and 8 is a lower roller rotatably attached to the piston rod of the hydraulic cylinders 7L and 7R . , 7 R are extended, the lower roller 8 presses approximately the center of the ground-contact parts of the tracks 6 L and 6 R against the ground, and when the hydraulic cylinders 7 L and 7 R are contracted, the lower roller 8 is pressed against the ground. It is located at the same height as the other lower rollers 5.
第３図は第１図に示した装軌式車両の油圧回路
を示す図である。図において、１１L，１１Rは左
右の駆動輪３を回転する走行油圧モータ、１２L，
１２Rは油圧モータ１１L，１１Rに接続された２
本の走行管路、１３L，１３Rはセンタジヨイント
より下部走行体側の２本の走行管路１２L，１２R
間に設けられたシヤトル弁で、シヤトル弁１３L，
１３Rの出口ポートは油圧シリンダ７R，７Lに接
続されている。１４L，１４Rはシヤトル弁１３L，
１３Rの出口ポートと油圧シリンダ７R，７Lとを
接続する管路に設けられた方向切換弁で、方向切
換弁１４L，１４Rは通常ａ位置であり、シヤトル
弁１３L，１３Rの出口ポートと油圧シリンダ７R，
７Lのボトム側室とを接続するとともに、油圧シ
リンダ７R，７Lのロツド側室とタンク１６とを接
続し、またシヤトル弁１３R，１３Lの出口ポート
に圧力が立つたときには、ｂ位置に切換わり、シ
ヤトル弁１３L，１３Rの出口ポートと油圧シリン
ダ７R，７Lのロツド側室とを接続するとともに、
油圧シリンダ７R，７Lのボトム側室とタンク１６
とを接続する。１５L，１５Rは油圧モータ１１L，
１１Rのカウンタバランス弁である。 FIG. 3 is a diagram showing a hydraulic circuit of the tracked vehicle shown in FIG. 1. In the figure, 11 L and 11 R are travel hydraulic motors that rotate the left and right drive wheels 3 ;
12 R is 2 connected to hydraulic motors 11 L and 11 R.
The main running pipes 13 L and 13 R are the two running pipes 12 L and 12 R on the lower running body side from the center joint.
A shuttle valve provided between the shuttle valve 13 L ,
The outlet port of 13R is connected to hydraulic cylinders 7R and 7L . 14 L , 14 R are shuttle valves 13 L ,
A directional switching valve installed in a pipe connecting the outlet port of 13R and hydraulic cylinders 7R , 7L.The directional switching valves 14L , 14R are normally in position a, and the shuttle valves 13L , 13R outlet port and hydraulic cylinder 7 R ,
7 L and the rod side chambers of the hydraulic cylinders 7 R and 7 L to the tank 16. Also, when pressure builds up at the outlet ports of the shuttle valves 13 R and 13 L , move to position b. and connect the outlet ports of the shuttle valves 13 L , 13 R to the rod side chambers of the hydraulic cylinders 7 R , 7 L ,
Bottom side chambers of hydraulic cylinders 7 R and 7 L and tank 16
Connect with. 15 L , 15 R are hydraulic motors 11 L ,
11 R counterbalance valve.
この装軌式車両において、一方の油圧モータ例
えば油圧モータ１１Rを駆動し、他方の油圧モー
タ１１Lを停止した場合には、シヤトル弁１３Rの
出口ポートに圧力が立ち、方向切換弁１４Lがｂ
位置になるが、シヤトル弁１３Lの出口ポートに
は圧力が立たないから、油圧シリンダ７Rには圧
油は供給されず、油圧シリンダ７Rは縮小した状
態となる。また、シヤトル弁１３Lの出口ポート
には圧力が立たないので、方向切換弁１４Rがａ
位置となるから、油圧モータ１１Rの駆動圧がシ
ヤトル弁１３R、方向切換弁１４Rを介して油圧シ
リンダ７Lのボトム側室に供給され、油圧シリン
ダ７Lが伸長する。このため、下ローラ８により
履帯６Lの中央部が地面に押付けられた状態で履
帯６Rのみが駆動され、ピボツトターンが行なわ
れる。このとき、履帯６Lの接地圧分布は履帯６L
の中央部では接地圧ｐが大きく、履帯６Lの接地
部端部では接地圧ｐが零に近づく傾向となる。こ
の一例を第２図に示す。ここで、履帯６Lと地面
との動摩擦係数をμ、従来の装軌式車両の履帯６
Ｌの接地圧をp1、旋回中心から履帯６Lの接地部端
部までの距離をｌとすると、従来の装軌式車両の
履帯６Lの摩擦旋回抵抗R1は次式で表わされる。 In this tracked vehicle, when one hydraulic motor, for example, hydraulic motor 11 R , is driven and the other hydraulic motor 11 L is stopped, pressure builds up at the outlet port of the shuttle valve 13 R , and the directional control valve 14 L is b
However, since there is no pressure at the outlet port of the shuttle valve 13L , no pressure oil is supplied to the hydraulic cylinder 7R , and the hydraulic cylinder 7R is in a contracted state. Also, since no pressure is built up at the outlet port of the shuttle valve 13L , the directional control valve 14R is
position, the driving pressure of the hydraulic motor 11R is supplied to the bottom side chamber of the hydraulic cylinder 7L via the shuttle valve 13R and the directional switching valve 14R , and the hydraulic cylinder 7L is extended. Therefore, only the crawler belt 6R is driven with the center portion of the crawler belt 6L pressed against the ground by the lower roller 8, and a pivot turn is performed. At this time, the ground pressure distribution of crawler track 6 L is
The ground pressure p is large at the center of the track 6L, and the ground pressure p tends to approach zero at the end of the ground contact portion of the crawler track 6L . An example of this is shown in FIG. Here, the coefficient of dynamic friction between the track 6 L and the ground is μ, and the track 6 of the conventional tracked vehicle is
When the ground contact pressure of L is p 1 and the distance from the center of turning to the end of the ground contact portion of the track 6 L is l, the frictional turning resistance R 1 of the track 6 L of a conventional tracked vehicle is expressed by the following equation.
R1＝2∫l 0μp1xdx＝μp1l2
これに対して、第２図に示す接地圧分布状態に
ある装軌式車両の履帯６Lの摩擦旋回抵抗R2は、
装軌式車両の重量が同じであるとすると次式で表
わされる。 R 1 = 2∫ l 0 μp 1 xdx = μp 1 l 2 On the other hand, the frictional turning resistance R 2 of the track 6 L of the tracked vehicle in the ground pressure distribution state shown in Fig. 2 is:
Assuming that the weight of the tracked vehicle is the same, it is expressed by the following equation.
R2＝2∫l 0μ・2p1／ｌ（ｌ−ｘ）
・xdx＝２／３μp1l2
このように、この発明の装軌式車両の履帯６L
の摩擦旋回抵抗R2は、第２図に示す接地圧分布
であれば、従来の装軌式車両の履帯６Lの摩擦旋
回抵抗R1と比較して2/3である。ところで、第２
図に示す接地圧分布は一例であり、路面の硬さお
よび油圧シリンダ７Lのストロークによつて分布
傾向が異なつてくる。しかし、従来のものに比
べ、接地圧が履帯６Lの中央部で高くなることは
確かであり、摩擦旋回抵抗が従来よりも低減され
ることは確実である。そして、旋回抵抗が大きく
なると、油圧モータ１１Rの駆動圧が高くなり、
油圧シリンダ７Lに供給される圧力が増大するの
で、油圧シリンダ７Lの推力が大きくなり、履帯
６Lの摩擦旋回抵抗がさらに軽減されて、旋回抵
抗が小さくなる。なお、油圧モータ１１Lを駆動
し、油圧モータ１１Rを停止した時にも、同様な
動作が行なわれる。次に、油圧モータ１１L，１
１Rを同時に駆動した時には、第４図に示すよう
に、方向切換弁１４L，１４Rがともにｂ位置とな
り、油圧モータ１１L，１１Rの駆動圧がシヤトル
弁１３L，１３R、方向切換弁１４L，１４Rを介し
て油圧シリンダ７R，７Lのロツド側室に供給され
るから、油圧シリンダ７R，７Lが縮小し、直進走
行可能な状態になる。さらに、シヤトル弁１３L，
１３Rから油圧シリンダ７L，７Rまでの回路をセ
ンタジヨイントより下部走行体側に設けているの
で、センタジヨイントのポートを増やす必要がな
い。 R 2 = 2∫ l 0 μ・2p 1 /l (l−x) ・xdx=2/3 μp 1 l 2 In this way, the crawler track 6 L of the tracked vehicle of this invention
If the ground pressure distribution shown in FIG. 2 is used, the frictional turning resistance R 2 is 2/3 of the frictional turning resistance R 1 of the conventional tracked vehicle's crawler track 6 L. By the way, the second
The ground pressure distribution shown in the figure is an example, and the distribution tendency varies depending on the hardness of the road surface and the stroke of the hydraulic cylinder 7L . However, it is certain that the ground pressure is higher at the center of the crawler track 6L than in the conventional case, and it is certain that the frictional turning resistance is lower than in the conventional case. When the turning resistance increases, the driving pressure of the hydraulic motor 11 R increases,
Since the pressure supplied to the hydraulic cylinder 7L increases, the thrust of the hydraulic cylinder 7L increases, and the frictional turning resistance of the crawler belt 6L is further reduced, thereby reducing the turning resistance. Note that a similar operation is performed when the hydraulic motor 11L is driven and the hydraulic motor 11R is stopped. Next, the hydraulic motor 11 L , 1
1 R are driven at the same time, as shown in Fig. 4, the directional control valves 14 L and 14 R are both in position b, and the driving pressure of the hydraulic motors 11 L and 11 R is applied to the shuttle valves 13 L and 13 R , and Since the oil is supplied to the rod side chambers of the hydraulic cylinders 7 R and 7 L via the switching valves 14 L and 14 R , the hydraulic cylinders 7 R and 7 L are contracted and become ready for straight-line travel. Furthermore, the shuttle valve 13 L ,
Since the circuit from 13 R to the hydraulic cylinders 7 L and 7 R is provided closer to the lower traveling body than the center joint, there is no need to increase the number of ports in the center joint.
なお、上述実施例においては、油圧シリンダ７
Ｌ，７Rに押え手段として一個の下ローラ８を取付
けたが、油圧シリンダ７L，７Rに複数の下ローラ
を取付けてもよく、また第５図に示すように、油
圧シリンダ７L，７Rに履帯６L，６Rと摺動可能な
トラツクガード９を取付けてもよい。さらに、第
１図においては、説明をし易くするため、履帯６
Ｌの両端が地面から浮いた状態を図示しているが、
第２図に示すごとく、履帯６L，６Rの中央から両
端に向かつて接地圧を下げればよく、履帯６L，
６Rの両端が地面から浮くほど油圧シリンダ７L，
７Rに推力を持たせる必要はない。 In addition, in the above-mentioned embodiment, the hydraulic cylinder 7
Although one lower roller 8 is attached to the hydraulic cylinders 7 L and 7 R as a pressing means, a plurality of lower rollers may be attached to the hydraulic cylinders 7 L and 7 R , and as shown in FIG . A track guard 9 that can slide on the tracks 6L and 6R may be attached to 7R . Furthermore, in FIG. 1, for ease of explanation, crawler tracks 6
The diagram shows both ends of L floating off the ground,
As shown in Fig. 2, it is sufficient to reduce the ground pressure from the center of the tracks 6L , 6R toward both ends .
Hydraulic cylinder 7 L so that both ends of 6 R are lifted off the ground,
7 There is no need for R to have thrust.
以上説明したように、この発明に係る装軌式車
両においては、ピボツトターンを行なう場合の履
帯の摩擦旋回抵抗が小さいから、ピボツトターン
を容易に行なうことができるとともに、駆動力が
少なくてすみ、下部走行体、エンジンの小形化が
可能となる。また、センタジヨイントのポートを
増やす必要がないから、構造が簡単であり、製造
コストが安価である。さらに、旋回抵抗に応じて
油圧シリンダの推力を制御することができるか
ら、履帯の摩擦旋回抵抗を有効に軽減することが
可能である。このように、この発明の効果は顕著
である。
As explained above, in the tracked vehicle according to the present invention, since the frictional turning resistance of the crawler track when making a pivot turn is small, the pivot turn can be easily made, and less driving force is required. It becomes possible to downsize the body and engine. Furthermore, since there is no need to increase the number of ports in the center joint, the structure is simple and the manufacturing cost is low. Furthermore, since the thrust of the hydraulic cylinder can be controlled according to the turning resistance, it is possible to effectively reduce the frictional turning resistance of the crawler track. As described above, the effects of this invention are remarkable.
第１図はこの発明に係る装軌式車両の下部走行
体を示す図、第２図は第１図に示した下部走行体
の履帯の接地圧分布を示すグラフ、第３図は第１
図に示した装軌式車両の油圧回路を示す図、第４
図は第３図に示した油圧回路の動作説明図、第５
図はこの発明に係る他の装軌式車両の下部走行体
を示す図、第６図は従来の装軌式車両の下部走行
体を示す正面図、第７図は同じく平面図、第８図
は第６図に示した下部走行体の履帯の接地圧分布
を示すグラフである。
１……トラツクフレーム、２……駆動輪、３…
…遊動輪、６L，６R……履帯、７L，７R……油圧
シリンダ、８……下ローラ、９……トラツクガー
ド、１１L，１１R……走行油圧モータ、１２L，
１２R……走行管路、１３L，１３R……シヤトル
弁、１４L，１４R……方向切換弁。
FIG. 1 is a diagram showing the undercarriage of the tracked vehicle according to the present invention, FIG. 2 is a graph showing the ground pressure distribution of the track of the undercarriage shown in FIG. 1, and FIG.
Diagram showing the hydraulic circuit of the tracked vehicle shown in Figure 4.
The figure is an explanatory diagram of the operation of the hydraulic circuit shown in Figure 3.
FIG. 6 is a front view showing the undercarriage of another tracked vehicle according to the present invention, FIG. 7 is a front view of the undercarriage of a conventional tracked vehicle, FIG. is a graph showing the ground pressure distribution of the crawler track of the undercarriage shown in FIG. 6; 1...Truck frame, 2...Drive wheel, 3...
... Idle wheel, 6 L , 6 R ... Track, 7 L , 7 R ... Hydraulic cylinder, 8 ... Lower roller, 9 ... Track guard, 11 L , 11 R ... Travel hydraulic motor, 12 L ,
12 R ... Running pipe, 13 L , 13 R ... Shuttle valve, 14 L , 14 R ... Directional switching valve.
Claims (1)
駆動輪と遊動輪とが設けられ、上記駆動輪と上記
遊動輪との間に履帯を巻装し、上記走行体の上に
センタジヨイントを介して本体が設けられた装軌
式車両において、左右の上記トラツクフレームに
それぞれ第１、第２の油圧シリンダを取付け、そ
の第１、第２の油圧シリンダに上記履帯のほぼ中
央部と接する押え手段を取付け、左右の上記駆動
輪を回転する第１、第２の油圧モータに接続され
かつ上記センタジヨイントより上記走行体側にあ
る２本の管路間に第１、第２のシヤトル弁を設
け、その第１、第２のシヤトル弁の出口ポートと
上記第２、第１の油圧シリンダを、上記第２、第
１のシヤトル弁の出口ポートに圧力が立つたとき
に切換わる第１、第２の方向切換弁を介して接続
したことを特徴とする装軌式車両。1 A driving wheel and an idler wheel are provided on the left and right track frames of the traveling body, and a crawler track is wound between the driving wheel and the idler wheel, and the main body is mounted on the traveling body via a center joint. In a tracked vehicle equipped with a track frame, first and second hydraulic cylinders are respectively attached to the left and right track frames, and a holding means is attached to the first and second hydraulic cylinders, the holding means being in contact with approximately the center of the crawler track. , first and second shuttle valves are provided between two pipes that are connected to first and second hydraulic motors that rotate the left and right drive wheels and are located closer to the traveling body than the center joint; The outlet ports of the first and second shuttle valves and the second and first hydraulic cylinders are switched between the first and second hydraulic cylinders which are switched when pressure is built up at the outlet ports of the second and first shuttle valves. A tracked vehicle characterized by being connected via a directional switching valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15934884A JPS6137582A (en) | 1984-07-31 | 1984-07-31 | Crawler type vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15934884A JPS6137582A (en) | 1984-07-31 | 1984-07-31 | Crawler type vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6137582A JPS6137582A (en) | 1986-02-22 |
| JPH0328354B2 true JPH0328354B2 (en) | 1991-04-18 |
Family
ID=15691877
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP15934884A Granted JPS6137582A (en) | 1984-07-31 | 1984-07-31 | Crawler type vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6137582A (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0710673B2 (en) * | 1987-06-10 | 1995-02-08 | 株式会社クボタ | Tracked vehicle |
| JPS63306977A (en) * | 1987-06-10 | 1988-12-14 | Kubota Ltd | Crawler |
| JPS63312272A (en) * | 1987-06-12 | 1988-12-20 | Kubota Ltd | Crawler vehicle |
| US4875210A (en) * | 1988-01-06 | 1989-10-17 | Teradyne, Inc. | Automatic circuit tester control system |
| JPH0813659B2 (en) * | 1989-06-20 | 1996-02-14 | 株式会社クボタ | Turning control device for work vehicle |
| JPH0466590U (en) * | 1990-10-22 | 1992-06-11 | ||
| JPH0862297A (en) * | 1994-08-26 | 1996-03-08 | Nec Corp | Digital-signal processing lsi test circuit |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5257625A (en) * | 1975-11-06 | 1977-05-12 | Kubota Ltd | Steering device of vehicle body having crawlers |
| JPS53114136A (en) * | 1977-03-14 | 1978-10-05 | Kubota Ltd | Crawler driving device |
-
1984
- 1984-07-31 JP JP15934884A patent/JPS6137582A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6137582A (en) | 1986-02-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US4565257A (en) | Multi-mode steering system | |
| US5921343A (en) | Power steering structure for a running vehicle | |
| JPH0217388B2 (en) | ||
| USRE37098E1 (en) | Earth-based vehicle | |
| JPH0328354B2 (en) | ||
| JP2866300B2 (en) | Transport vehicle | |
| JPH07237566A (en) | Crawler vehicle | |
| JPH0516490B2 (en) | ||
| JP3199612B2 (en) | Wheel drive circuit for traversable vehicles | |
| USRE38701E1 (en) | Earth-based vehicle | |
| JPH0249108Y2 (en) | ||
| JP2507226Y2 (en) | Work vehicle traveling equipment | |
| JPS63101176A (en) | Steering device for vehicle | |
| JPH0544388Y2 (en) | ||
| RU2013275C1 (en) | Endless track vehicle | |
| FI87437C (en) | Control device | |
| US3766836A (en) | Spring centered, spring modulated control cylinder | |
| JPH0292782A (en) | Turning characteristic variable device for tracked vehicles | |
| JPH0340658Y2 (en) | ||
| JPS5815233Y2 (en) | dump truck | |
| JPH076066Y2 (en) | Steering device for connected vehicles | |
| JPH06144302A (en) | Multi-connection vehicle | |
| JPH1191650A (en) | Crawler unit | |
| CN115320701A (en) | Steering transmission mechanism for multi-wheel steering control | |
| JPS6229471A (en) | Rear wheel steering gear for trailer |