Boots – shoes – and leggings
Patent
1994-10-18
1996-05-14
Zanelli, Michael
Boots, shoes, and leggings
36442603, 180 95, 180 82, 180 87, B62D 55065
Patent
active
055174167
DESCRIPTION:
BRIEF SUMMARY
TECHNICAL FIELD
The present invention relates to a traction controller for crawler vehicles, and more particularly to a traction controller for crawler vehicles for controlling the travel of a crawler vehicle of a four-wheel track frame structure used for natural disaster rescue purposes or the like on an ungraded land with the crawlers effectively gripping the road surface.
BACKGROUND ART
When a so-called 4WD vehicle is made to sports-travel on an ungraded land where the road irregularities are large, there are cases where the load is concentrated on either pair of wheels of two pairs of wheels on two diagonal lines, and another pair of wheels idle and become stuck without being able to grip the road surface. This state is called a "diagonal stuck," and whether or not such a stuck state is brought about depends on the driving skill of the driver of the 4WD vehicle. In addition, once this diagonal stuck occurs, it is necessary to overcome the stuck state by such as using a winch, and much time and labor are required in overcoming it.
In addition, a crawler vehicle has been conventionally known from Japanese Patent Publication No. 270/1988, which has a 4-wheel track frame structure in which transverse pairs of crawlers are provided on the front and rear sides, respectively, of a vehicle body, and which travels as the driving of sprockets of the crawlers is controlled independently (hereafter, this crawler vehicle will be referred to as a 4-crawler vehicle).
Since such a 4-crawler vehicle is similar to the above-described 4WD vehicle in that the "four wheels" are driven, the aforementioned diagonal stuck may also occur when the 4-crawler vehicle travels on an ungraded land where the road irregularities are large.
However, the conventional 4-crawler vehicles are designed under the assumption that they are remote-controlled indoors and, even in the case of outdoors, on a flat land or on a road surface having small irregularities at most. Thus, there has been no design which assumes the occurrence of a diagonal stuck.
Accordingly, in the case of 4-crawler vehicles as well, whether or not the diagonal stuck can be prevented in advance depends on the skill of the driver (operator) in the same way as with the 4WD vehicles. In addition, if the 4-crawler vehicles are stuck, there is no other way than to overcome the stuck state by using a winch or the like.
However, as compared with the 4WD vehicles used mainly for leisure, the 4-crawler vehicles are frequently used for a natural disaster rescue purposes which have paramount urgency. For this reason, there has been a demand for reliably preventing the stuck state without resorting to the driving technique, and for requiring less time and trouble should the stuck state occur.
Here, in the case of wheel-type vehicles, an attempt has been made to obtain an effective driving force by causing the wheel floated from the road surface to contact the road surface by controlling the stroke of the suspension of each wheel.
However, the 4-crawler vehicle in terms of its structure has its four crawlers rotatable. For this reason, as compared with a 4WD vehicle which has a substantially uniform wheel size and in which variations in the distance from the vehicle body to the road surface are small, the variations in the distance are extremely large. Accordingly, the technique for controlling the stroke of the suspension cannot be adopted as it is in the light of restrictions in mechanical design and economic efficiency.
In addition, in the case of a 4WD vehicle, even if a diagonal stuck occurs, since the power of the engine is distributed and imparted to the four wheels via a drive shaft in the case of a normal 4WD vehicle, the engine is not overloaded although some wheels may idle.
With the 4-crawler vehicle, however, the four crawlers are respectively driven by a total of four independent motors, and these motors are controlled so that the number of revolutions becomes a targeted value. For this reason, when the drive load becomes large, control is provided such that the curr
REFERENCES:
patent: 3753830 (1973-05-01), Talley
patent: 3869010 (1975-03-01), Stedman
patent: 4763742 (1988-08-01), Langford
patent: 5125467 (1992-06-01), Mancheron
patent: 5337846 (1994-08-01), Ogaki et al.
Honda Shigeru
Matsuda Tomoo
Nakamura Soichi
Sakamoto Takuya
Takagi Kimihiko
Kabushiki Kaisha Komatsu Seisakusho
Zanelli Michael
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