JP2007302083A - Traveling device of endless track - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a traveling device of an endless track making the endless track hard to come off from an auxiliary wheel, and can prevent derailment. <P>SOLUTION: The traveling device of the endless track has a driving device body, and the endless track disposed so as to drive the driving device body. On the driving device body, driving wheels and driven wheels capable of driving the endless track are disposed. At the inner side of the endless track, a pair of continuous guiding protrusions disposed at a predetermined interval in a width direction are provided in the length direction of the endless track. The driving device body is provided with outside auxiliary wheels formed so as to hold guiding protrusions from the outside in the width direction, and inside auxiliary wheels formed so as to hold the guiding protrusions from the inside in the width direction. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an endless track traveling device used for a robot or the like manufactured to participate in a robot contest, and in particular, prevents an endless track mounted on a drive device from coming off from the drive device and derailing. The present invention relates to an endless track traveling device.

In recent years, robot contests that compete between superiority and inferiority in junior high school / high school, technical college, etc., where robots created by each student perform game-to-game battles, stacking boxes and transporting balls Is held.
In the robot contest, various robots are produced by combining the machine parts while each student gives an idea.

  As such a machine part, for example, there is a traveling device configured as a moving means of a robot. In the robot contest, in a battle competition with the opponent's robot, there is a stepped part or various obstacles. In many cases, an endless track is used in a robot traveling device.

As disclosed in Patent Document 1, the endless track is wound between a drive sprocket and a driven sprocket provided in the traveling device, and tension is applied to the endless track to prevent the wheel from being loosened due to slack. .
An auxiliary wheel is used to apply the tension, and in the endless track traveling device described in Patent Document 1 (see FIG. 3), a pair of tension pulleys are disposed below the drive sprocket and the driven sprocket.
The endless track is provided with a pair of guide projections with a predetermined distance in the width direction, the guide projections are provided continuously along the length direction of the endless track, and the tension pulley is connected to the guide pulley. It is arranged so as to abut on the outer side in the width direction of the protrusion, and the endless track is prevented from moving out of the tension pulley, thereby preventing the wheel from being removed.

JP 2002-239260 A

When the traveling device equipped with the endless track turns, the endless track is often twisted.
However, the endless track described in Patent Document 1 is arranged so that the tension pulley is in contact with the outside in the width direction of the guide protrusion, and prevents the endless track from moving outward of the tension pulley. Since only the derailment is prevented, there is a problem that when the endless track is twisted and the endless track moves inward of the tension pulley, the derailment cannot be prevented.
Accordingly, an object of the present invention is to provide a traveling device for an endless track that can prevent the endless track from coming off from the auxiliary wheel even if the endless track is twisted and can prevent the wheel from being removed.

In order to solve the above-mentioned problems, an endless track traveling device according to the present invention is an endless track traveling device having a drive device main body and an endless track arranged to drive the drive device body. The driving device main body is provided with driving wheels and driven wheels that can drive the endless track, and the inner side portion of the endless track is continuously arranged with a predetermined interval dimension in the width direction. A pair of guide protrusions are provided along the length direction of the endless track, and an outer auxiliary wheel formed on the drive device body so as to hold the guide protrusions from the outside in the width direction, and the guide An inward auxiliary wheel formed so as to hold the protrusion from the inner side in the width direction is provided.
That is, in the endless track traveling device according to the present invention, in addition to the driving wheel and the driven wheel around which the endless track is wound, the driving device main body is provided with the above-mentioned in order to apply tension to the endless track. The outer auxiliary wheel and the inner auxiliary wheel are provided, and the guide protrusion formed on the endless track is connected to the outer auxiliary wheel and the inner auxiliary wheel from both sides of the outer side and the inner side. By holding, movement of the endless track in the width direction is prevented.

Further, in the traveling device for the endless track according to the present invention, a plurality of the inner auxiliary wheels are provided along the length direction of the endless track and are formed so as to be able to swing up and down. It is characterized by being formed to be movable along the vertical direction of the main body.
That is, in the traveling device for an endless track according to the present invention, when traveling over a step, for example, the endless track may be pushed upward and bend. The inner auxiliary wheel can swing up and down so that the auxiliary wheel can be displaced following the endless track.

Further, the endless track traveling device according to the present invention is characterized in that the inner auxiliary wheel is disposed below the outer auxiliary wheel.
That is, in the endless track traveling device according to the present invention, in order to reduce the frictional resistance by reducing the contact area between the endless track and the traveling surface, the inner auxiliary wheel is more than the outer auxiliary wheel. It is arranged below.

Further, in the traveling device for an endless track according to the present invention, the driving wheel is disposed at one end of the driving device body, and a driven wheel is disposed at the other end, and the endless track is connected to the driving wheel. The driven wheel is wound around the inner auxiliary wheel and the outer auxiliary wheel.
That is, in the endless track traveling device according to the present invention, the endless track is disposed at one end of the drive device main body and is driven by the drive wheel to rotate around the drive wheel and the driven wheel. To do. In addition, the inner auxiliary wheel and the outer auxiliary wheel apply tension to the endless track to prevent the endless track from slackening.

In the traveling device for an endless track according to the present invention, the inner auxiliary wheel is formed in a cylindrical shape, the length direction is arranged along the width direction of the drive device main body, and the length of the inner auxiliary wheel is long. The length dimension and the distance between the guide projections of the endless track are formed to be substantially the same dimension, the outer auxiliary wheel is formed in a cylindrical shape, and each end in the length direction of the outer auxiliary wheel is A guide rod having a diameter larger than the diameter of the outer auxiliary wheel is provided, and the length of the outer auxiliary wheel and the distance between the guide projections of the endless track are formed to be substantially the same. Has been.
That is, in the endless track traveling device according to the present invention, both end surfaces in the length direction of the inner auxiliary wheel are brought into contact with the inner side surface portion of the guide protrusion, and the guide collar portion of the outer auxiliary wheel is The inner surface portion is in contact with the outer surface portion of the guide protrusion. Therefore, the guide protrusion is restricted in the width direction by the inner auxiliary wheel and the outer auxiliary wheel, and the wheel can be prevented from being removed from the driving device due to the endless track being displaced in the width direction.

Also, the traveling device for an endless track according to the present invention is such that the drive device main body is detachably provided with a driving part, a power transmission part formed so as to be able to transmit power of the driving part, and an axle. The driving wheel, the driven wheel, the inner auxiliary wheel, and the outer auxiliary wheel are rotatably fixed to the axle frame portion via the shaft portion.
That is, in the traveling device for an endless track according to the present invention, rotational motion is transmitted from the driving unit to the driving wheel via the power transmission unit, and the endless track is rotated by the driving wheel. When the endless track rotates, the driven wheel, the inner auxiliary wheel, and the outer auxiliary wheel rotate in conjunction with the rotation of the endless track.

Further, in the traveling device for an endless track according to the present invention, the axle frame part is divided into a plurality of frame parts, and the divided frame part is a driving wheel side frame provided with the driving wheels. And a driven wheel side frame portion provided with the driven wheel, and a power transmission portion side frame portion provided with the power transmission portion is disposed inside the driven wheel side frame portion. In addition, a driving unit mounting frame provided with the driving unit is disposed at an end of the power transmission unit side frame unit, and the driving wheel side frame unit and the driving unit mounting frame unit are respectively described above. A power transmission part side frame part is detachably fixed, and the outer auxiliary wheel is provided in the driving wheel side frame part and the driven wheel side frame part, respectively, and the inner auxiliary wheel is Side frame of the power transmission part It is provided to.
That is, in the endless track traveling device according to the present invention, the axle frame portion includes a driving wheel side frame portion, a driven wheel side frame portion, a power transmission portion side frame portion, and a driving portion mounting. The driving wheel side frame part and the driving part mounting frame part can be detached from the power transmission part side frame part, respectively.
Further, the outer auxiliary wheels are arranged at both ends in the longitudinal direction of the drive device main body by being provided in the driving wheel side frame portion and the driven wheel side frame portion, respectively. The auxiliary wheel is provided in the power transmission unit side frame, and is arranged at the center in the length direction of the drive device main body.

Also, in the traveling apparatus for an endless track according to the present invention, the side frame portion of the power transmission unit is provided between a pair of power transmission unit frames formed in a planar rectangular shape and the pair of power transmission unit frames. The inner auxiliary wheel is swingable so that the inner auxiliary wheel can be displaced in the height direction with respect to each other. It is fixed to the connecting frame shaft portion through a member so as to be swingable.
In other words, in the endless track traveling device according to the present invention, the inner auxiliary wheel has a height above the connecting frame shaft provided between the pair of power transmission unit frames via the swing member. It is fixed so that it can be displaced in the direction.

In the traveling device for an endless track according to the present invention, the rocking member is provided along a length direction of the driving device, and is composed of a flat rectangular rocking frame member. At each end in the length direction, the inner auxiliary wheel is provided, and during traveling, the swing frame member swings up and down via the shaft portion according to the state of the traveling surface, Each inward auxiliary wheel is formed to be displaceable in different directions in the height direction.
That is, in the endless track traveling device according to the present invention, one of the inner auxiliary wheels provided at each end in the longitudinal direction of the swing frame member depends on the state of the traveling surface. The other goes down when it rises, and the other goes up when one goes down.

  The traveling device for an endless track according to the present invention as set forth in claim 1 is characterized in that, in addition to the driving wheel and the driven wheel that wind the endless track, the driving device main body is provided with a tension for applying tension to the endless track. The outer auxiliary wheel and the inner auxiliary wheel are provided, and the pair of guide protrusions formed on the endless track can be held from the inside of the guide protrusion by the outer auxiliary wheel, and The inner auxiliary wheel can be held from the outside of the guide protrusion, and can be held from both the inside and the outside of the guide protrusion, so that the endless track is likely to be twisted during running and displaced in the width direction. However, since the outer auxiliary wheel and the inner auxiliary wheel are in contact with the guide protrusion from the outside and the inside to restrict the movement, it is possible to effectively prevent the endless track from being removed.

In addition, the traveling device for an endless track according to the present invention described in claim 2 may be bent when the endless track is pushed upward at the contact surface with the traveling surface when traveling, for example, over a step. However, in such a case, the inner auxiliary wheel moves upward and follows the endless track bent upward, so that a step or the like can be easily overcome.
Further, when the inner auxiliary wheel is bent, the inner auxiliary wheel can be displaced, so that the contact state between the endless track and the inner auxiliary wheel is maintained. It is difficult to come off the wheel, and the wheel removal is prevented.

  According to a third aspect of the present invention, the endless track is wound around the inner auxiliary wheel because the inner auxiliary wheel is disposed below the outer auxiliary wheel. The mounted part becomes a protruding state, and the part contacts the running surface. Therefore, when the vehicle travels, the contact area between the endless track and the traveling surface decreases, and the frictional resistance also decreases. Therefore, the frictional resistance received from the traveling surface during turning or the like is reduced, so that the endless track is difficult to derail. Become.

According to a fourth aspect of the present invention, there is provided an endless track traveling device in which the driving wheel is disposed at one end of the driving device main body and a driven wheel is disposed at the other end. Since the driving wheel, the driven wheel, the inner auxiliary wheel, and the outer auxiliary wheel are wound around, the endless track is arranged at one end of the driving device body and is driven by the driving wheel. When driven, the drive wheel and the driven wheel can be smoothly rotated to travel without any trouble.
In addition, the inner auxiliary wheel and the outer auxiliary wheel apply tension to the endless track to prevent the endless track from slackening.

  Further, in the traveling device for an endless track according to the present invention described in claim 5, the inner auxiliary wheel is formed in a cylindrical shape, the length direction is arranged along the width direction of the drive device body, and the inner The length of the auxiliary wheel and the distance between the guide projections of the endless track are formed to be substantially the same size, the outer auxiliary wheel is formed in a cylindrical shape, and each end in the length direction of the outer auxiliary wheel The portion is provided with a guide rod portion having a diameter larger than the diameter of the outer auxiliary wheel, and the length of the outer auxiliary wheel and the distance between the guide projections of the endless track are substantially the same. Since the same dimension is formed, both end surfaces of the inner auxiliary wheel are substantially in contact with the inner side surface portion of the guide protrusion, and the inner surface portion of the guide collar portion of the outer auxiliary wheel is the contact protrusion. The outer surface portion is substantially in contact. Therefore, the guide protrusion is restricted by the inner auxiliary wheel and the outer auxiliary wheel, and it becomes difficult to move both inward and outward in the width direction. Since it cannot move in the width direction even if it is twisted, derailment is prevented.

  According to a sixth aspect of the present invention, there is provided a traveling device for an endless track, wherein the driving device main body is detachably provided with a driving portion that is detachably provided and power that is transmitted so as to transmit power of the driving portion. The driving wheel, the driven wheel, the inner auxiliary wheel, and the outer auxiliary wheel are rotatably fixed to the axle frame portion via the shaft portion, respectively. Therefore, rotational motion is transmitted from the prime mover to the drive wheel via the power transmission unit, and the endless track is driven by the drive wheel and can rotate smoothly. Further, when the endless track rotates, the driven wheel, the inner auxiliary wheel, and the outer auxiliary wheel also rotate in conjunction with the rotation of the endless track. Since it rotates while being regulated by the outer auxiliary wheel, it is difficult to remove the wheel.

The endless track traveling device according to the present invention described in claim 7 is characterized in that the axle frame part includes a driving wheel side frame part, a driven wheel side frame part, a power transmission part side frame part, Since it is configured by combining with the driving portion mounting frame, the axle frame portion can be easily manufactured.
Further, the drive wheel side frame part and the driving part mounting frame part can be detached from the power transmission part side frame part, respectively, which is convenient for repairs and parts replacement.
Further, the outer auxiliary wheels are arranged at both ends in the longitudinal direction of the drive device main body by being provided in the driving wheel side frame portion and the driven wheel side frame portion, respectively. Since the auxiliary wheel is provided in the power transmission unit side frame portion and is disposed at the center in the longitudinal direction of the drive device main body, the outer auxiliary wheel and the inner auxiliary wheel are connected to the drive device. It is arranged in a well-balanced manner in the length direction of the main body, and the endless track derailment is efficiently prevented.

  Further, in the traveling device for an endless track according to the present invention as set forth in claim 8, the power transmission portion side frame portion includes a pair of power transmission portion frames formed in a planar rectangular shape, and the pair of power transmission portions. The inner auxiliary wheel is formed by a connecting frame shaft portion that is provided between the frames and that connects and fixes the power transmission unit frames to each other. The inner auxiliary wheel swings so that the inner auxiliary wheels are displaced in the height direction. Since it is swingably fixed to the connecting frame shaft part via a movable swinging member, it is provided between the power transmission part frames without specially providing a mounting part for the inner auxiliary wheel. Since the inner auxiliary wheel can be easily attached using the connection frame shaft portion thus formed, the structure can be simplified and the manufacturing cost can be reduced.

  Further, in the traveling device of the endless track according to the present invention described in claim 9, the swing member is provided along the length direction of the drive device, and is formed of a flat rectangular swing frame member. The inner auxiliary wheel is provided at each end in the longitudinal direction of the swing frame member, and during the travel, the swing frame member is moved up and down via the shaft portion according to the condition of the travel surface. Since each of the inner auxiliary wheels swings and is formed so as to be displaceable in a different direction in the height direction, the inner side provided respectively at each end in the length direction of the swing frame member Auxiliary wheels can travel while reliably holding the endless track while easily following the displacement of the endless track by ascending or descending according to the condition of the traveling surface. Therefore, it is possible to prevent the endless track from being removed during traveling.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
As shown in FIG. 1, the traveling device 12 of the endless track 11 according to the present embodiment has an endless track having a drive device main body 13 and an endless track 11 arranged to drive the drive device main body 13. As shown in FIG. 2, a driving wheel 14 and a driven wheel 15 that can drive the endless track 11 are arranged in the driving device body 13. As shown in FIG. 3, a pair of continuous guide protrusions 16 arranged at a predetermined interval dimension in the width direction are provided on the side portion along the length direction of the endless track 11. As shown in FIGS. 1 and 2, the drive device body 13 has an outer auxiliary wheel 17 formed so as to hold the guide protrusion 16 from the outside in the width direction, and the guide protrusion 16 in the width direction. Inner auxiliary wheel formed so that it can be held from the inside 18 are provided.
Further, as shown in FIGS. 1 and 2, a plurality of the inner auxiliary wheels 18 are provided along the length direction of the endless track 11, and as shown in FIG. It is formed so as to be able to swing up and down along the length direction, and is configured to be movable along the up and down direction of the drive device body 13 during traveling.
Further, the inner auxiliary wheel 18 is disposed below the outer auxiliary wheel 17 as shown in FIG.

As shown in FIG. 2, the driving wheel 14 is disposed at one end of the driving device main body 13 and a driven wheel 15 is disposed at the other end. As shown in FIG. 11 is wound around the driving wheel 14, the driven wheel 15, the inner auxiliary wheel 18 and the outer auxiliary wheel 17.
Further, as shown in FIG. 5, the inner auxiliary wheel 18 is formed in a cylindrical shape, and the length direction is arranged along the width direction of the drive device main body 13, and the length dimension of the inner auxiliary wheel 18. The distance between the guide projections 16 of the endless track 11 is substantially the same, and the outer auxiliary wheel 17 is formed in a cylindrical shape. As shown in FIG. At each end in the length direction, a guide rod 19 having a diameter larger than the diameter of the outer auxiliary wheel 17 is provided, and the length of the outer auxiliary wheel 17 and the endless track 11 are The distance between the guide protrusions 16 is substantially the same.

Further, as shown in FIG. 2, the drive device main body 13 includes a drive unit 20 that is detachably provided, a power transmission unit 21 that is configured to transmit power of the drive unit 20, and an axle frame. The driving wheel 14, the driven wheel 15, the inner auxiliary wheel 18, and the outer auxiliary wheel 17 are respectively connected to the axle frame portion 22 through shaft portions 23, 4, 25, and 26. It is fixed so that it can rotate.
As shown in FIG. 2, the axle frame portion 22 is divided into a plurality of frame portions, and the divided and formed frame portions include a drive wheel side frame portion 27 provided with the drive wheels and the subordinate frame portions. A driven wheel side frame portion 28 provided with the driving wheel 15 is provided, and a power transmission portion side frame portion 29 provided with the power transmission portion 21 is disposed inside the driven wheel side frame portion 28. At the end of the power transmission side frame 29, a driving unit mounting frame 30 provided with the driving unit 20 is disposed, and the driving wheel side frame 27 and the driving unit mounting are provided. The frame portions 30 are detachably fixed to the power transmission side frame portions 29, respectively, and the outer auxiliary wheels 17 are connected to the drive wheel side frame portions 27 and the driven wheel side frame portions 28, respectively. Each provided Square auxiliary wheel 18 is provided in the power transmission unit side frame portion 29.

Further, as shown in FIG. 2, the power transmission unit side frame 29 is provided between a pair of power transmission unit frames 31 formed in a planar rectangular shape and the pair of power transmission unit frames 31. As shown in FIGS. 4 and 5, the inner auxiliary wheel 18 is formed with the height of the inner auxiliary wheel 18 with respect to each other. It is fixed to the connecting frame shaft portion 32 through a swinging member 33 that can swing so as to be displaced in the direction.
As shown in FIG. 1, the rocking member 33 is provided along the length direction of the drive device main body 13, and as shown in FIG. The inner auxiliary wheel 18 is provided at each end in the longitudinal direction of the moving frame member 34. When the vehicle is traveling, the swinging frame member 34 is arranged according to the condition of the traveling surface as shown in FIG. The inner auxiliary wheels 18 are formed so as to be able to be displaced in different directions in the height direction.

The figure shows an embodiment according to the present invention.
FIG. 1 shows a side surface of the traveling device 12 of the endless track 11.
The travel device 12 includes a drive device main body 13 and an endless track (Catapillar (registered trademark)) 11 that can be driven by the drive device main body 13.

FIG. 2 shows a drive device main body 13 in which the endless track 11 is removed from the traveling device 12.
In the drive device body 13, a drive wheel 14 that can drive the endless track 11 is disposed at one end in the length direction, and a driven wheel 15 is disposed at the other end.
A sprocket 35 that can engage with the endless track 11 is used for the drive wheel 14.

FIG. 3 shows the inner surface of the endless track 11.
The endless track 11 is formed in a belt-like shape as a result of a large number of structural pieces 36 having a substantially rectangular shape in plan view connected in the length direction via thin-walled portions 37, and both end portions are connected to connecting members 38. As shown in FIG. 1, it is formed in a ring-like endless shape.
The endless track 11 is formed of a flexible material, the thin portion 37 can be easily cut with a knife or scissors, and the length of the endless track 11 can be arbitrarily changed.

As shown in FIG. 3, each component piece 36 in the endless track 11 is provided with a planar rectangular connecting hole 39 at the center in the width direction, and planar circular connecting holes 40 at both ends. ing.
On the other hand, the connecting member 38 is formed with connecting pin portions 41 and 42, which can be press-fitted into the connecting holes 39 and 40, respectively, at both ends in the length direction.

  As shown in FIG. 3, each component piece 36 in the endless track 11 is provided with engagement holes 43 and 43 each having a rectangular plane on both outer sides of the connecting hole 39 in the central portion, and the sprocket 35. It is comprised so that it can engage with the nail | claw pieces 44 and 44 of this.

Further, as shown in FIG. 3, each of the component pieces 36 in the endless track 11 is provided with a pair of guide protrusions 16 and 16 in the width direction of the endless track. The guide protrusions 16 and 16 are respectively arranged on both outer sides of the engagement hole 43 with a predetermined interval dimension in the width direction.
The guide protrusions 16 and 16 are formed so as to be aligned in a straight line with each component piece 36 along the length direction of the endless track 11.
In addition, the engagement hole 45 and the guide protrusion 46 are also provided in the connecting member 38 in the same arrangement as the engagement hole 43 and the guide protrusion 16 provided in each of the component pieces 36.
Note that a non-slip projection 49 is provided along the width direction at one end in the length direction on the outer surface portion of each component piece 36 in the endless track 11.

  As shown in FIGS. 1 and 2, the drive device body 13 has a length of the endless track 11 in order to apply tension to the endless track 11 in addition to the drive wheel 14 and the driven wheel 15. Along the direction, two outer auxiliary wheels 17 and 17 and two inner auxiliary wheels 18 and 18 are provided.

As shown in FIGS. 1 and 2, the outer auxiliary wheels 17 are disposed in the vicinity of both ends in the length direction at the bottom of the drive device main body 13.
Further, the inner auxiliary wheels 18 are respectively arranged at the center in the length direction at the bottom of the drive device main body 13.
FIG. 8 shows the positional relationship between the inner auxiliary wheel 18 and the outer auxiliary wheel 17 in the height direction. The inner auxiliary wheel 18 is slightly below the outer auxiliary wheel 17. Is arranged.

  As shown in FIG. 1, the endless track 11 is wound around the driving wheel 14, the driven wheel 15, the inner auxiliary wheel 18, and the outer auxiliary wheel 17.

FIG. 6 shows an engaged state of the outer auxiliary wheel 17 and the endless track 11.
The outer auxiliary wheel 17 is formed in a cylindrical shape, and at each end in the length direction of the outer auxiliary wheel 17, a guide rod part 19 having a diameter larger than the diameter of the outer auxiliary wheel 17, 19 is provided.
The length of the outer auxiliary wheel 17 is substantially the same as the distance between the guide protrusions 16 of the endless track 11, and the guide collars 19 and 19 of the outer auxiliary wheel 17 are formed of the guide protrusions. 16 substantially abuts on the outer surface side in the width direction.
That is, the outer auxiliary wheel 17 is formed so that the guide flanges 19, 19 can hold the guide protrusion 16 from the outside in the width direction.

FIG. 4 shows the inner auxiliary wheel portion 60, and FIG. 5 shows the engaged state of the inner auxiliary wheel 18 and the endless track 11.
The inner auxiliary wheel portion 60 includes swing frame members 34 and 34 arranged and fixed in parallel, and inner auxiliary wheels 18 and 18 rotatably fixed to both ends of the swing frame members 34 and 34. have.
As shown in FIG. 4, the inner auxiliary wheel 18 is formed in a cylindrical shape, and the length dimension is substantially the same as the distance between the guide protrusions 16 of the endless track 11. Both end surfaces of the auxiliary wheel 18 are substantially in contact with the inner surface side in the width direction of the guide protrusion 16.
That is, the inner auxiliary wheel 18 is formed so as to be able to hold the guide protrusion 16 from the inner side in the width direction.

Further, as shown in FIG. 7, the inner auxiliary wheel 18 is formed so as to be able to swing up and down along the length direction of the endless track 11.
That is, the inner auxiliary wheel 18 is formed so as to be movable along the height direction in the vertical direction of the drive device body 13 during traveling.

As shown in FIG. 2, the drive device main body 13 includes a driving unit 20 that is detachably provided, a power transmission unit 21 that is configured to transmit power of the driving unit 20, and an axle frame unit 22. And is configured.
A motor 47 is used for the driving part 20 and a gear box 48 containing a gear mechanism 51 is used for the power transmission part 21. The motor 47 and the gear box 48 are stored inside the axle frame part 22. ing.
The gear box 48 meshes the gear provided on its output shaft with the gear 50 of the sprocket 35, transmits the rotation of the motor 47 to the sprocket 35, and drives the sprocket 35.

  As shown in FIGS. 1 and 2, the driving wheel 14, the driven wheel 15, the inner auxiliary wheel 18, and the outer auxiliary wheel 17 are respectively connected to shaft parts 23, 24, 25, and 26. It is fixed to the axle frame portion 22 so as to be rotatable.

  As shown in FIGS. 1 and 2, the axle frame portion 22 is divided into a plurality of frame portions, and the divided and formed frame portions are drive wheel side frame portions 27 provided with the drive wheels 14. And a driven wheel side frame portion 28 provided with the driven wheel 15.

As shown in FIG. 2, a power transmission side frame 29 provided with the power transmission 21 is disposed inside the driven wheel side frame 28.
In addition, a driving portion mounting frame portion 30 provided with the driving portion 20 is disposed at an end portion of the power transmission portion side frame portion 29.
The driving wheel side frame portion 27 and the driving portion mounting frame portion 30 are detachably fixed to the power transmission portion side frame portion 29, respectively.

  As shown in FIGS. 1 and 2, the outer auxiliary wheel 17 is provided on the driving wheel side frame portion 27 and the driven wheel side frame portion 28, respectively.

FIG. 9 shows a gear box 48 used as the power transmission unit 21.
The inward auxiliary wheel 18 is provided in the power transmission side frame 29 constituting the gear box 48.
The power transmission part side frame part 29 is provided between a pair of power transmission part frames 31 formed in a planar rectangular shape and the pair of power transmission part frames 31, and the power transmission part frames 31 are mutually connected. It is formed by the connection frame shaft part 32 to be connected and fixed.
The connection frame shaft portion 32 is disposed at each of an upper end portion and a lower end portion of the power transmission portion frame 31, and the inner auxiliary wheel 18 is disposed at the lower end portion as shown in FIG. The connecting frame shaft 32 of the book is fixed so as to be swingable.

The inner auxiliary wheel 18 is swingably fixed to the connection frame shaft portion 32 via a swing member 33 that can swing so that the inner auxiliary wheels 18 are displaced in the height direction. Yes.
The swing member 33 is provided along the length direction of the drive device main body 13 and includes a planar rectangular swing frame member 34. At each end in the length direction of the swing frame member 34, Each of the inner auxiliary wheels 18 is provided, and at the time of traveling, the swing frame member 34 swings in the vertical direction via the connection frame shaft portion 32 in accordance with the condition of the travel surface. The rings 18 are formed so as to be displaceable in different directions in the height direction.

As shown in FIG. 4, the swing frame member 34 has a connecting arm portion 52 that protrudes upward at the center in the length direction, and an engagement hole 53 is formed at the upper end of the connecting arm portion 52. Has been.
The engagement hole 53 is substantially circular, has an inner diameter dimension substantially the same as an outer diameter dimension of the connection frame shaft section 32, and a width dimension of the inlet 54 is set slightly smaller than the inner diameter dimension.
As shown in FIG. 5, the connection frame shaft portion 32 and the inner auxiliary wheel 18 are rotatably connected by press-fitting the connection frame shaft portion 32 into the engagement hole portion 53. ing.

  The traveling device 12 of the endless track 11 according to the present embodiment can hold the pair of guide protrusions 16 arranged on the endless track 11 with a predetermined distance in the width direction from the outside in the width direction. Since the outer auxiliary wheel 17 is formed and the inner auxiliary wheel 18 is formed so as to be held from the inner side in the width direction, it is twisted to the endless track 11 when turning while traveling. Even when such an occurrence occurs, the outer auxiliary wheel 17 and the inner auxiliary wheel 18 abut against the outer surface portion and the inner surface portion of the guide protrusion 16, respectively, and thus the endless track 11 is controlled in the width direction. It is impossible to shift the position. Therefore, the endless track 11 does not come off from the outer auxiliary wheel 17 and the inner auxiliary wheel 18 and the wheel is prevented from being removed.

  Further, the inner auxiliary wheel 18 is formed so as to be swingable up and down along the length direction, and is formed so as to be movable along the height direction in the vertical direction of the drive device main body 13 during traveling. Therefore, the inner auxiliary wheel 18 can easily follow the endless track 11 that is flexibly displaced according to the shape of the step, for example, when the endless track 11 gets over the step during traveling. Therefore, even if the endless track 11 is displaced, the inner auxiliary wheel 18 can be kept in a state of being fitted to the endless track 11, so that the endless track 11 is less likely to be detached from the inner auxiliary wheel 18, thereby preventing the wheel from being removed. Is done.

  Further, since the inner auxiliary wheel 18 is disposed below the outer auxiliary wheel 17, the endless track 11 and the traveling surface wound around the inner auxiliary wheel 18 and the outer auxiliary wheel 17 are provided. The contact area with is reduced. Accordingly, the frictional resistance at the time of traveling is also reduced, so that it becomes difficult to twist even when turning during traveling, and wheel removal is prevented.

  The present invention is applicable to a traveling device using an endless track.

It is a side view of the traveling apparatus which concerns on the Example of this invention. It is a perspective view of the drive device main body which concerns on the Example of this invention. It is a partial perspective view of an endless track concerning the example of the present invention. It is a perspective view of the inward auxiliary wheel which concerns on the Example of this invention. It is sectional drawing which shows the engagement state of the inward auxiliary wheel and endless track which concerns on the Example of this invention. It is sectional drawing which shows the engagement state of the outside auxiliary wheel and endless track which concern on the Example of this invention. It is a side view which shows the state which the inner side auxiliary wheel which concerns on the Example of this invention rock | fluctuates. It is explanatory drawing which shows the positional relationship in the height direction of the inner side auxiliary wheel and outer side auxiliary wheel which concern on the Example of this invention. It is a perspective view of the gear box which concerns on the Example of this invention.

Explanation of symbols

11 Endless Track 12 Traveling Device 13 Drive Device Body 14 Drive Wheel 15 Driven Wheel 16 Guide Protrusion 17 Outer Auxiliary Wheel 18 Inner Auxiliary Wheel 19 Guide Fence Part 20 Driving Part 21 Power Transmission Part 22 Axle Frame Part 23, 24, 25, 26 Shaft portion 27 Drive wheel side frame portion 28 Drive wheel side frame portion 29 Power transmission portion side frame portion 30 Driving portion mounting frame portion 31 Power transmission portion frame 32 Connection frame shaft portion 33 Swing member 34 Swing frame member 35 sprocket 36 component piece 37 thin part 38 connecting member 39, 40 connecting hole 41, 42 connecting pin part 43 engaging hole 44 claw piece 45 engaging hole 46 guide protrusion 47 motor 48 gear box 49 anti-slip protrusion 50 gear 51 gear Mechanism 52 Connecting arm portion 53 Engaging hole portion 54 Entrance 60 Inner auxiliary wheel portion

Claims (9)

A traveling device of an endless track having a driving device main body and an endless track arranged to drive the driving device main body,
The driving device body is provided with driving wheels and driven wheels that can drive the endless track,
On the inner side portion of the endless track, a pair of continuous guide protrusions arranged at a predetermined interval dimension in the width direction are provided along the length direction of the endless track,
An outer auxiliary wheel formed so as to be able to hold the guide protrusion from the outside in the width direction and an inner auxiliary wheel formed so as to be able to hold the guide protrusion from the inside in the width direction. And an endless track traveling device. A plurality of the inner auxiliary wheels are provided along the length direction of the endless track, and are formed so as to be swingable up and down.
2. The traveling device for an endless track according to claim 1, wherein the traveling device is configured to be movable along a vertical direction of the drive device main body during traveling.   The traveling device for an endless track according to any one of claims 1 and 2, wherein the inner auxiliary wheel is disposed below the outer auxiliary wheel. The drive wheel is disposed at one end of the drive device body, and a driven wheel is disposed at the other end.
The said endless track is wound around the said driving wheel, the said driven wheel, the said inner side auxiliary wheel, and the said outer side auxiliary wheel, The any one of Claim 1 thru | or 3 characterized by the above-mentioned. Endless track running device. The inner auxiliary wheel is formed in a cylindrical shape, and the length direction is arranged along the width direction of the drive device body,
The length dimension of the inner auxiliary wheel and the distance dimension between the guide projections of the endless track are formed to be substantially the same dimension.
The outer auxiliary wheel is formed in a cylindrical shape, and a guide rod portion having a diameter larger than the diameter of the outer auxiliary wheel is provided at each end in the length direction of the outer auxiliary wheel. The endless track according to any one of claims 1 to 4, wherein the length of the outer auxiliary wheel and the distance between the guide projections of the endless track are substantially the same. Traveling device. The drive device main body has a driving part that is detachably provided, a power transmission part formed so as to be able to transmit power of the driving part, and an axle frame part,
6. The drive wheel, the driven wheel, the inner auxiliary wheel, and the outer auxiliary wheel are respectively fixed to the axle frame portion through a shaft portion so as to be rotatable. The traveling device for an endless track according to any one of the above items. The axle frame part is divided into a plurality of frame parts,
The divided and formed frame portion includes a driving wheel side frame portion provided with the driving wheel, and
A driven wheel side frame portion provided with the driven wheel,
Inside the driven wheel side frame part, a power transmission part side frame part provided with the power transmission part is arranged, and at the end of the power transmission part side frame part, the driving part is provided. The provided driving part mounting frame is arranged,
The driving wheel side frame part and the driving part mounting frame part are detachably fixed to the power transmission part side frame part, respectively.
The outer auxiliary wheels are provided in the driving wheel side frame portion and the driven wheel side frame portion, respectively.
7. The traveling device for an endless track according to claim 6, wherein the inner auxiliary wheel is provided on the side frame portion of the power transmission unit. The power transmission part side frame part is provided between a pair of power transmission part frames formed in a plane rectangular shape and the pair of power transmission part frames, and is a connection for connecting and fixing the power transmission part frames to each other. Formed by the frame shaft,
The inner auxiliary wheel is swingably fixed to the connecting frame shaft portion via a swinging member that can swing so that the inner auxiliary wheels are displaced in the height direction. The traveling device for an endless track according to claim 7. The swing member is provided along the length direction of the drive device, and is formed of a flat rectangular swing frame member. At each end in the length direction of the swing frame member, the inner auxiliary wheel is provided. Are provided,
During traveling, the swing frame member swings up and down via the shaft portion according to the state of the travel surface, and the inner auxiliary wheels are formed to be displaceable in different directions in the height direction. The traveling apparatus for an endless track according to claim 8.

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