JP2004268619A - Crawler travelling device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a crawler travelling device quick in motion such as turning, starting and high in durability by adopting a core-less and solid elastic crawler without spoiling derailing resistance. <P>SOLUTION: The elastic crawler 8 is constituted of a core-less and solid rubber-like elastic body on which a driving projection 15 with which a driving sprocket 6 is engaged is integrally projected on an inner peripheral surface on the crawler travelling device. Additionally, at least one of end part rolling wheels 4, 5 and an intermediate rolling wheel 7 is constituted of a straddling rolling wheel 20 to make contact with an inner peripheral surface of the elastic crawler 8 by straddling the driving projection 15, and the one on which left and right grounding parts 20L, 20R for the elastic roller 8 are free to independently rotate from each other is adopted as this straddling rolling wheel 20. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
TECHNICAL FIELD The present invention relates to a crawler traveling device provided with a crawler traveling body on which a coreless elastic crawler is mounted.
[0002]
[Prior art]
For example, high-speed tracked vehicles such as full-track, half-track and RV vehicles equipped with crawler running devices instead of wheels can run on both rough terrain and public roads, and achieve high-speed performance even on soft terrain. It is necessary to adopt a high traction crawler traveling device. In such a crawler traveling device for a high-speed crawler vehicle, since the traveling speed is relatively high as compared with the case where the crawler traveling device is mounted on a construction machine or an agricultural machine, it is necessary to employ an elastic crawler having flexibility capable of high-speed rotation. .
[0003]
As such a crawler traveling device, a device having a pair of left and right crawler traveling bodies in which an elastic crawler is wound around a front and rear end wheel and a driving sprocket in a substantially triangular shape in a side view is commercially available. The traveling body includes a non-drive end wheel disposed before and after the track frame, a driving sprocket disposed above the track frame, and a non-drive intermediate wheel disposed between the front and rear end wheels. And an elastic crawler wound around the front and rear end wheels and the drive sprocket in a substantially triangular shape in a side view (see Patent Document 1).
[0004]
[Patent Document 1]
JP-A-9-2344 (FIGS. 1 and 2)
[0005]
[Problems to be solved by the invention]
If an elastic crawler containing an iron core is adopted for the crawler traveling device of the high-speed crawler vehicle, a large driving loss and traveling resistance are generated due to the weight of the core, and high-speed performance is impaired.
In addition, the elastic crawler containing the cored bar has a relatively small rubber volume around the engagement hole of the driving sprocket, so it is inferior in cut resistance to rocks and convex objects and in absorbing force of load (stress relaxation) and breaks. It is easy to do, and the damage around the engagement hole becomes the initial, and the damage to the rubber part on the lug and the core metal progresses. It can lead to rusting or cutting of the steel cord.
[0006]
Therefore, it is conceivable to adopt an elastic crawler made of a rubber-like elastic body without a core metal and without holes for a crawler traveling device of a high-speed crawler vehicle. However, in the case of such an elastic crawler without a core bar and without a hole, the rigidity in the width direction is weak because the core bar is absent. It is easy to get out of the wheel when it is performed, and in particular, the possibility of getting out of the wheel becomes extremely high when turning with a spin turn or a pivot turn in the case of a full track.
[0007]
In view of such circumstances, the present invention enables the use of an elastic crawler without a metal core and without a hole without deteriorating the dewheeling resistance, and the operations such as turning and starting are agile and highly durable. It is an object to provide a crawler traveling device.
[0008]
[Means for Solving the Problems]
In order to achieve the above object, the present invention has taken the following technical measures.
That is, the present invention provides a crawler traveling device including a pair of left and right crawler traveling bodies each having an elastic crawler wound substantially triangularly in side view on front and rear end rolling wheels and a driving sprocket. The driving sprocket engages with a driving projection formed of a rubber-like elastic body without a metal core and having no hole protruded integrally with the inner peripheral surface, and at least one of the end wheel and the intermediate wheel. One is formed by a straddling roller that straddles the driving protrusion and abuts on the inner peripheral surface of the elastic crawler, and the straddling roller is configured such that left and right ground contact portions with respect to the elastic crawler can rotate independently of each other. Features.
[0009]
According to the present invention, since an elastic crawler made of a rubber-like elastic body without a cored bar is employed, it is lighter and more flexible than those with a cored bar, and high-speed performance is hindered. Absent. Further, since the elastic crawler is a holeless type driven by a drive projection protruding from the inner peripheral surface, breakage or rust progress due to damage around the engagement hole does not occur.
Further, in the present invention, at least one of the end rolling wheel and the intermediate rolling wheel is formed of a straddling wheel, and the left and right ground contact portions of the straddling wheel with respect to the elastic crawlers can rotate independently of each other. Therefore, when the inner surface of one of the ground portions contacts the side surface of the drive projection, the rotation of the other ground portion is not transmitted to the one ground portion. As a result, the rotation of the other grounding portion is transmitted to the one grounding portion, so that the climbing operation of the one grounding portion on the drive projection is not promoted, and the elastic crawler has improved resistance to derailing. I do.
[0010]
Hereinafter, more preferred specific embodiments of the present invention will be described based on the description of the dependent claims.
First, in the crawler traveling device according to the present invention, a tension member having a tension cord extending in a circumferential direction juxtaposed inside an elastic crawler, and a tension member disposed on the outer peripheral side of the tension member and having a It is preferable to embed a bias cord formed by juxtaposing tensile cords extending in a direction inclined with respect to the direction. The reason is that by overlaying the bias cord in addition to the tensile member, the lateral stiffness and the torsional stiffness of the elastic crawler are improved, and the derailing resistance is improved.
[0011]
In the case where the tension member and the bias cord are provided, if the distance between them is set to 2 mm or more, even if damage on the outer peripheral side of the elastic crawler reaches the bias cord and rust is generated on the cord, the rubber can be used. Since the rust is further prevented from entering the inner peripheral surface side by the layer, the tensile member is hardly damaged, and the durability of the elastic crawler is improved.
Further, it is preferable that the axial length of the straddling wheel is set to 1/3 to 4/5 of the width in the left-right direction of the elastic crawler. The reason is that, in order to make the tension of the tensile member uniform, it is preferable to make the straddling wheel as wide as possible. However, the axial length of the straddling wheel is 1/3 of the left-right width of the elastic crawler. This is because, if it is less than the above, it is difficult to make the tension of the tensile body uniform.
On the other hand, if the straddling wheel reaches the widthwise end of the elastic crawler, there is no rubber refuge in the event of a shock from the side, and the edge side surface of the elastic crawler is cut and cracks are likely to occur. By keeping the position of the end of the stepping wheel within 4/5 or less of the width in the left-right direction of the elastic crawler, such a crack can be prevented. If the end positions of the straddling wheels are within the range, an effect that the center holding force of the elastic crawler is increased by independently rotating the left and right wheels can be expected.
[0012]
In the present invention, if at least one outer peripheral portion of the end rolling wheel and the intermediate rolling wheel is covered with an elastic ring made of a rubber-like elastic body, the rolling wheel passing surface of the elastic crawler is formed by the edge portion of the rolling wheel. In addition to avoiding damage to the driving projections and the driving projections, it can also contribute to alleviating the tension when foreign matter enters between the elastic crawler and the rolling wheel.
In addition, it is preferable that the wrap length in the width direction of the end wheel with respect to the inner circumferential surface of the elastic crawler and the width of the tensile member be set to be at least 1/3 of the ground width of the end wheel. . The reason is that if the wrap length is less than 1/3 of the contact width of the end wheel, the overlap between the end wheel and the tensile body is too small to equalize the tension on the tensile body. It becomes difficult.
[0013]
Further, it is preferable to set the contact width of the end wheel with respect to the inner peripheral surface of the elastic crawler and the wrap length of the driving sprocket in the width direction to be at least 1/3 of the contact width of the end wheel. The reason is that there is a gap in the width direction between each wheel and the drive projection so that frictional resistance does not occur, but this gap is about 1/4 of the contact width of the end wheel. If the wrap length is set to be at least one third of the contact width of the end wheel, tension is reliably applied between the end wheel and the drive sprocket, and the reaction force causes the crawler to come off. This is because it becomes difficult.
In the present invention, in a state where the crawler traveling body is in contact with the ground, the mounting height of the end roller is set so that a portion of the elastic crawler located immediately below the end roller slightly floats from the ground. This prevents damage caused by the rug being hit against the ground when the elastic crawler is rolled under the end rolling wheel, thereby improving the durability of the elastic crawler and improving the end of the lug. Vibration caused by a collision when the vehicle enters the ground is reduced. In addition, if a bogie-type wheel unit is used as the intermediate wheel, the bracket of the bogie-type wheel unit swings when the elastic crawler rides on a relatively large stone to reduce the impact, so crawler traveling The stability of the device is improved, and the crawler traveling device does not move up and down greatly before and after the crawler traveling device, so that the safety of the operator is improved.
[0014]
In the present invention, if a padding portion for suppressing the bending deformation of the elastic crawler is formed in a portion corresponding to each lug in the elastic crawler, the rolling wheel may move downward when passing between the lugs. The depression is suppressed, and the vibration during traveling is reduced, so that the riding comfort is improved. Further, if a reinforcing layer for suppressing bending deformation of the elastic crawler is provided in a portion corresponding to the outer edge portion of the end roller or the intermediate roller in the elastic crawler, the elastic crawler receives from the outer edge portion of the roller. Bending of the elastic crawler by a large load is suppressed, and cut resistance to the protrusion is obtained, so that the life is greatly increased.
In the present invention, if the crawler traveling body is provided with a tension adjusting mechanism that supports the end rolling wheels so as to be movable in the front-rear direction, the driving sprocket jumps with the looseness of the elastic crawler and the traveling becomes impossible, It is possible to effectively prevent the elastic crawler from derailing.
[0015]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
1 to 5 show a crawler traveling device according to a first embodiment of the present invention and various elastic crawlers used for the crawler traveling device.
The crawler traveling device 1 of the present embodiment is mounted in place of wheels of a full truck, a half truck, an RV vehicle, and the like so that the crawler traveling device 1 can travel on both rough terrain and public roads, and FIG. As shown in FIG. 1, a pair of left and right crawler traveling bodies 2 in which an elastic crawler 8 is wound around a front and rear end rolling wheels 4 and 5 and a driving sprocket 6 in a substantially triangular shape in a side view.
[0016]
The triangular crawler traveling body 2 includes non-drive end rollers 4, 5 disposed in front and rear of the track frame 3, a drive sprocket 6 disposed in the upper part of the track frame 3, and front and rear end rollers. A plurality of non-driven intermediate rollers 7 disposed between the wheels 4 and 5; an elastic crawler 8 wound substantially triangularly in side view around the front and rear end rollers 4 and 5 and the driving sprocket 6; have. In the crawler traveling device 1 of the present embodiment, the drive sprocket 6 is disposed between the front and rear end wheels 4 and 5 at a position deviated from the rear.
[0017]
Among the front and rear end wheels 4, 5, the front end wheel 4 is connected to the tension adjusting mechanism 10. The adjusting mechanism 10 is composed of a yoke 11 movably in the front-rear direction for rotatably supporting the end wheel 4, and a manual hydraulic adjustment piston 12 connected to the yoke 11. By adjusting the tension of the elastic crawler 8 appropriately by changing the position of the end roller 4 in the front-rear direction, it is possible to prevent tooth skipping and wheel separation caused by loosening of the elastic crawler 8.
[0018]
In this embodiment, the drive sprocket 6 is configured by connecting a pair of left and right circular drive plates 13 with a plurality of drive pins 14 arranged at equal intervals in the circumferential direction, and each of the drive pins 14 is an elastic crawler. 8 has a function of feeding the elastic crawler 8 back and forth by rotating forward and backward while being caught on the drive projection 15 of the drive unit 8. The drive sprocket 6 is not only a pin drive type, but also a wide type in which a flange is formed on an outer peripheral edge of the drive plate, or a trapezoidal engaging claw in a side view from the outer peripheral edge of the drive plate. It is also possible to adopt a claw type protruding from the head.
[0019]
As shown in FIG. 1 (b), the elastic crawler 8 of the present embodiment has a plurality of driving projections 15 arranged at regular intervals in the circumferential direction and has a coreless and engaging hole formed on the inner peripheral surface. A crawler main body 16 made of a rubber-like elastic body not formed, a lug group 17 formed on the outer peripheral surface of the crawler main body 16 in a predetermined lug pattern, and a tensile force embedded in the crawler main body 16 along the circumferential direction. The crawler body 16 includes a bias cord 19 embedded inside the crawler body 16 on the outer peripheral side of the tension member 18.
[0020]
Among them, the crawler body 16 is formed in an endless band shape having a substantially constant thickness by a rubber-like elastic body, and is located at a central portion in the width direction (the left-right direction in FIG. The drive projection 15 made of a rubber-like elastic body of the same material as the crawler body 16 is integrally provided. The driving protrusions 15 are provided at regular intervals in the circumferential direction over the entire circumference of the crawler body 16. By engaging the driving pins 14 with the driving protrusions 15, the elastic crawler 8 is moved in the circumferential direction. It can be driven along.
[0021]
Each of the end rolling wheels 4 and 5 and the intermediate rolling wheel 7 of the crawler traveling device 1 comprises a straddling rolling wheel 20 which straddles the driving projection 15 and abuts on the inner peripheral surface of the elastic crawler 8. The stepping wheel 20 has a pair of left and right circular wheel portions 20L and 20R arranged coaxially at a constant interval in the crawler width direction, and the two wheel portions 20L and 20R are driven by a driving projection therebetween. 15 and abuts on the inner peripheral surface of the crawler body 16 (see FIG. 1B). Further, both wheel portions 20L and 20R constituting left and right ground contact portions of the straddling wheel 20 with respect to the elastic crawler 8 are rotatable independently of each other.
[0022]
As shown in FIG. 1B, the tensile member 18 is configured by arranging tensile strength cords made of steel cords or the like extending along the circumferential direction. On the other hand, the bias cord 19 is configured by arranging tensile strength cords such as steel cords in a direction inclined with respect to the circumferential direction. The bias cord 19 may be provided on the inner peripheral side of the tension member 18 or on both the inner peripheral side and the outer peripheral side thereof.
[0023]
In the present embodiment, the distance d between the tension member 18 and the bias cord 19 is set to 2 mm or more, so that damage on the outer peripheral side of the elastic crawler 8 reaches the bias cord 19 and the cord 19 is rusted. Even if rust occurs, the rubber layer prevents rust from further entering the inner peripheral surface side. The surface of the drive projection 15 is covered with a reinforcing cloth 21 made of canvas or the like. Note that a hard resin or metal reinforcing member may be embedded inside the drive projection 15.
[0024]
The lug group 17 is composed of a large number of lugs 22 extending substantially horizontally in the width direction of the crawler main body 16, and the lugs 22 are provided at regular intervals so as to be located between the respective drive projections 15 in the circumferential direction. ing.
Further, as shown in FIG. 1B, in the elastic crawler 8 of the present embodiment, the axial length b of the straddling wheel 20 is in the range of １ ／ to ／ of the lateral width a of the elastic crawler 8. The contact width of the stepping wheel 20 with respect to the tension member 18 is made as large as possible, and the tension generated on the tension member 18 is made uniform. The reason for setting the length ratio to 4/5 or less is to prevent the generation of cracks when the elastic crawler 8 receives an impact from the side as described above, and to set the center of the elastic crawler 8 at the center. This is to improve the holding power.
[0025]
In the present embodiment, when the crawler traveling body 2 is in contact with the ground, a portion of the elastic crawler 8 located immediately below the front end wheel 4 is a small gap s (see FIG. 1A). The mounting height of the end roller 4 is set so that the lug 22 rises above the ground when the elastic crawler 8 is wound under the front end roller 4. Prevents damage caused by banging.
[0026]
According to the crawler traveling device 1 of the present embodiment according to the above configuration, since the elastic crawler 8 made of a rubber-like elastic body without a cored bar is employed, the crawler traveling device 1 is lighter and more flexible than one with a cored bar. The elastic crawler 8 is a holeless type driven by the drive projection 15 protruding from the inner peripheral surface, so that the elastic crawler 8 is not damaged due to damage around the engagement hole. Rust does not progress, and the durability is further improved as compared with the case of an elastic crawler containing a cored bar.
[0027]
On the other hand, as shown in FIG. 2, for example, when the elastic crawler 8 rides on the pebbles 23 and inclines upward and to the left, the rolling wheel 20 is eccentric with respect to the elastic crawler 8, and the inner surface of the left circular wheel portion 20L is driven by the drive projection. 15 sides.
In this case, if both the wheel portions 20L and 20R rotate integrally, the rotation of the right circular wheel portion 20R rolling on the inner peripheral surface of the crawler body 16 is in contact with the side surface of the drive protrusion 15. The rotation is transmitted to the left circular wheel portion 20R, and the rotation of the right circular wheel portion 20R facilitates the riding operation of the left circular wheel portion 20L on the drive projection 15, and the elastic crawler 8 is easily derailed.
[0028]
In this regard, in the crawler traveling device 1 of the present embodiment, the end rolling wheels 4 and 5 and the intermediate rolling wheel 7 are formed by the straddling rolling wheels 20 having the circular wheel portions 20L and 20R that rotate independently on the left and right. The riding operation of the circular wheel portion 20L on the drive projection 15 is not promoted by the other circular wheel portion 20R, and therefore, the resistance of the elastic crawler 8 to wheel removal can be improved.
As described above, in the present embodiment, the elastic crawler 8 without the core metal and without the hole can be adopted without deteriorating the derailing resistance, so that the elastic crawler including the core metal is mounted. In comparison, it is possible to obtain the crawler traveling device 1 in which operations such as turning and starting are more agile and more durable.
[0029]
In addition, in the said embodiment, the straddling wheel 20 which has the circular wheel parts 20L and 20R which rotate independently on right and left is employ | adopted about all of the end wheel 4 and 5, and the intermediate wheel 7, Among them, May be adopted as the straddling wheel 20.
3 to 5 show modified examples of the elastic crawler 8 and the straddling roller 20 that can be used in the crawler traveling device 1 of the present invention.
[0030]
In the modified example shown in FIG. 3, a portion corresponding to each lug 22 of the elastic crawler 8 is provided with an outer padding portion 26 having a triangular cross section, and a flat inner padding portion 27 connected to the driving projection 15. Are formed integrally with the crawler body 16. For this reason, bending deformation in the circumferential direction of the crawler main body 16 is suppressed by the overlaid portions 26 and 27, and a downward drop when the rolling wheels 4, 5, and 7 pass between the lugs 22 is suppressed. Therefore, the vibration during traveling is reduced and the riding comfort is improved. Note that only one of the inner and outer overlay portions 26 and 27 may be formed on the crawler body 16.
[0031]
Further, in the modification of FIG. 3, at least one outer peripheral portion of the front and rear end rolling wheels 4 and 5 (may be the intermediate rolling wheel 7) is covered with an elastic ring 28 made of a rubber-like elastic body. Have been. For this reason, it is possible to prevent the wheel passage surface of the crawler body 16 and the drive projection 15 from being damaged by the edge portions of the rollers 4, 5, and to prevent the inner peripheral surface of the crawler body 16 and the rollers 4, 5. It is possible to prevent the tension of the crawler body 16 from becoming excessive when foreign matter is mixed.
[0032]
On the other hand, in the modified example shown in FIG. 4, a reinforcing layer 29 made of a tensile cord is embedded in a portion of the crawler body 16 corresponding to the outer edge portion of the end rolling wheels 4 and 5 or the intermediate rolling wheel 7. For this reason, bending of the crawler body 16 in the width direction due to a large load received from the outer edge portions of the rolling wheels 4, 5, and 7 is suppressed, so that the releasability of the elastic crawler 8 is improved.
Further, in the modification shown in FIG. 5, the wrap length in the width direction between the contact width (the width of the circular wheel portion 20L) e of the end rolling wheels 4 and 5 with respect to the inner peripheral surface of the elastic crawler 8 and the tensile member 18 is shown. The length f is set to be equal to or more than 1/3 of the contact width e of the end wheel, whereby the overlap between the end wheels 4 and 5 and the tension member 18 becomes too small, and This prevents the tension on the body 18 from becoming uneven. In addition, as shown in FIG. 5, the driving protrusion 15 may have a large foot width having a cutout groove 30 at the center in the crawler width direction.
[0033]
FIG. 6 shows a crawler traveling device according to a second embodiment of the present invention and an elastic crawler used for the same.
The difference between the crawler traveling device 1 of the present embodiment and that of the first embodiment is that the drive sprocket 6 is formed of a claw type that is disposed almost immediately above the rear end wheel 5, and that the intermediate wheel is used. 7 is that it comprises a bogie type wheel unit 31.
[0034]
The wheel unit 31 includes a swing bracket 32 pivotally attached to the track frame 3 at an upper end, and front and rear wheels 33, 33 attached to the front and rear ends of the bracket 32, respectively. When the elastic crawler 8 rides on a relatively large stone, the swing bracket 32 swings to reduce the impact, thereby maintaining the stability of the crawler traveling device 1.
Further, as shown in FIG. 6B, in the elastic crawler 8 of the present embodiment, the contact width e of the end rolling wheels 4 and 5 with respect to the inner peripheral surface of the elastic crawler 8 and the width direction of the driving sprocket 6 in the width direction. The wrap length g is set to be not less than 1/3 of the contact width of the end wheels 4 and 5. The reason is that, as described above, if the wrap length g is set to be equal to or more than 接地 of the contact width of the end rolling wheels 4 and 5, the distance between the end rolling wheels 4 and 5 and the driving sprocket 6 can be increased. This is because tension is reliably applied, and the reaction force makes it difficult for the crawler to come off the wheel.
[0035]
Further, in the elastic crawler 8 of the present embodiment, the axial length i of the driving sprocket 6 is set to be equal to or more than ３ of the lateral width h of the tensile member 18. The reason is that if the axial length i of the driving sprocket 6 is less than 1/3 of the tensile member width h, the reaction force due to the tension due to the torsional deformation of the elastic crawler 8 or when the elastic crawler 8 is displaced right and left. This is because there is a possibility that derailing may occur without obtaining the tire.
[0036]
Note that the above-described embodiments are all examples and are not restrictive. The scope of the present invention is defined by the appended claims, and all changes within the scope equivalent to the configuration described therein are also included in the present invention.
For example, as shown in FIG. 7, the drive projections 15 may be arranged on the inner peripheral surface of the crawler body 16 so as to be separated from each other by a pair of right and left. In this case, the stepping wheel 20 is composed of three circular wheel portions 20L, 20C, and 20R that are rotatable independently of each other in the axial direction, and the three circular wheel portions 20L, 20C, and 20R are located between each other. And two driving projections 15, 15 are sandwiched between them.
[0037]
【The invention's effect】
As described above, according to the present invention, it is possible to employ an elastic crawler without a cored bar and without holes without deteriorating the dewheeling resistance, so that operations such as turning and starting are quick and durable. And a crawler traveling device with a high level can be obtained.
[Brief description of the drawings]
FIG. 1A is a side view of a crawler traveling device according to a first embodiment, and FIG. 1B is a cross-sectional view taken along line BB of FIG.
FIG. 2 is a cross-sectional view illustrating an example of a state in which an elastic crawler is inclined.
FIG. 3 is a sectional view showing a modified example of an elastic crawler and a straddling wheel.
FIG. 4 is a cross-sectional view showing a modification of the elastic crawler.
FIG. 5 is a sectional view showing a modified example of the elastic crawler.
FIG. 6A is a side view of a crawler traveling device according to a second embodiment, and FIG. 6B is a cross-sectional view illustrating a dimensional relationship among a stepping wheel, a driving sprocket, and an elastic crawler.
FIG. 7 is a cross-sectional view showing a modified example of an elastic crawler and a straddling wheel.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Crawler running device 2 Crawler running body 3 Track frame 4 End wheel (front side)
5 End wheel (rear side)
Reference Signs List 6 Drive sprocket 7 Intermediate wheel 8 Elastic crawler 10 Tension adjusting mechanism 18 Tensile body 19 Bias cord 20 Stepping wheel 20L Circular wheel (left side)
20R circular wheel (right side)
26 Outer build-up part 27 Inner build-up part 28 Elastic ring 29 Reinforcement layer 31 Wheel unit a Left-right width b Axial length d Interval e Grounding width f Wrap length g Wrap length

Claims (12)

A non-driven end wheel (4, 5) disposed before and after the track frame (3), a driving sprocket (6) disposed above the track frame (3), and the front and rear end roller; A non-drive intermediate rolling wheel (7) disposed between the wheels (4, 5) and a substantially triangular winding in side view around the front and rear end rolling wheels (4, 5) and the driving sprocket (6). A crawler traveling device (2) having a pair of left and right crawler traveling bodies (2) each having a hung elastic crawler (8), and the traveling bodies (2) being disposed on both left and right sides of the track frame (3), respectively. At
The elastic crawler (8) is made of a rubber-like elastic body without a metal core and without a hole, in which a drive projection (15) with which the drive sprocket (6) is engaged is integrally protruded from an inner peripheral surface. At least one of the end rollers (4, 5) and the intermediate rollers (7) straddles the drive projection (15) and abuts on the inner peripheral surface of the elastic crawler (8). And the left and right ground contact portions (20L, 20R) with respect to the elastic crawler (8) are rotatable independently of each other. A tension member (18) in which a tensile cord extending in the circumferential direction is juxtaposed inside an elastic crawler (8); and a tension member (18) arranged on the outer peripheral side of the tension member (18) and extending in the circumferential direction. The crawler traveling device according to claim 1, wherein a bias cord (19) formed by juxtaposing tensile cords extending in an inclined direction is embedded. The crawler traveling device according to claim 2, wherein a distance (d) between the tension member (18) and the bias cord (19) is set to 2 mm or more. The axial length (b) of the stepping wheel (20) is set to 1/3 to 4/5 of the width (a) of the elastic crawler (8) in the left-right direction. Crawler traveling device. 5. The method according to claim 1, wherein at least one of the end rollers (4, 5) and the intermediate rollers (7) is covered with an elastic ring (28) made of a rubber-like elastic material. A crawler traveling device according to any of the preceding claims. The contact width (e) of the end rollers (4, 5) with respect to the inner peripheral surface of the elastic crawler (8) and the wrap length (f) in the width direction of the tension member (18) are determined by the end rollers. The crawler traveling device according to claim 1, wherein the crawler traveling device is set to be equal to or more than １ ／ of a contact width (e) of (4, 5). The contact width (e) of the end rollers (4, 5) with respect to the inner peripheral surface of the elastic crawler (8) and the wrap length (g) of the drive sprocket (6) in the width direction are determined by the end rollers (g). The crawler traveling device according to any one of claims 1 to 6, wherein the crawler traveling device is set to be at least 1/3 of the contact width (e) of (4, 5). In a state where the crawler traveling body (2) is in contact with the ground, the end rollers of the elastic crawler (8) are so positioned that the portions located directly below the end rollers (4, 5) slightly float from the ground. The crawler traveling device according to any one of claims 1 to 7, wherein a mounting height of (4, 5) is set. Crawler traveling device according to claim 8, wherein the intermediate wheel (7) comprises a bogie type wheel unit (31). A padding portion (26, 27) for suppressing bending deformation of the elastic crawler (8) is formed at a portion corresponding to each lug (22) in the elastic crawler (8). The crawler traveling device according to any one of claims 9 to 10. A reinforcing layer (29) for suppressing bending deformation of the elastic crawler (8) is provided at a portion of the elastic crawler (8) corresponding to the outer edge of the end rolling wheel (4, 5). Item 10. A crawler traveling device according to any one of Items 1 to 10. The crawler traveling device according to any one of claims 1 to 11, wherein a tension adjusting mechanism (10) for movably supporting the end wheel (4) in the front-rear direction is provided on the crawler traveling body (2).

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