JP2016028930A - Crawler travel device and wheelchair - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable the free adjustment of the attitude of a vehicle body of a crawler travel device.SOLUTION: A crawler travel device 10 comprises: a vehicle body 11; a pair of crawlers 12; two pairs of arms 13; two pairs of first wheels 14; and an adjustment mechanism. A tip end portion 24 of each arm 13 moves along a circular orbit about a rotational axis of the arm 13 in proportion to the rotation of the arm 13. Each first wheel 14 is attached to the tip end portion 24 of each arm 13. Each first wheel 14 displaces between an upper area A1 and a lower area A2 relative to a lower end of one crawler 12 in proportion to the movement of the tip end portion 24 of each arm 13. The adjustment mechanism adjusts a position of each first wheel 14 by fixing each arm 13 to an arbitrary rotational angle.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a crawler type traveling device and a wheelchair. The present invention relates to a crawler type traveling device that travels on a rough road (rough ground) using a crawler and travels on a good road (flat ground) using wheels, for example.

  As a conventional crawler type traveling device, there is one that travels on a rough road with a crawler and travels on a good road with wheels (see, for example, Patent Documents 1 to 3).

JP 2013-136374 A JP 2011-105029 A JP 2011-105137 A

  In the configuration of Patent Document 1, it is necessary to detach the wheel from the crawler when switching between the crawler traveling and the wheel traveling. Therefore, there has been a problem that switching work takes time.

  In the configuration of Patent Document 2, the traveling by the crawler and the traveling by the wheel can be switched by changing the angle between the main crawler to which the wheel is attached and the auxiliary crawler. However, since there is only one pair of auxiliary crawlers, it is necessary to incline both the main crawler and the auxiliary crawler when traveling with wheels. For this reason, there is a problem that the vehicle cannot be driven with wheels while the vehicle body is horizontal.

  In the configuration of Patent Document 3, two pairs of rotating crawlers to which wheels are attached are provided, and each rotating crawler rotates independently. However, since a mechanism for fixing each rotation crawler at an arbitrary rotation angle is not provided, there is a problem that the posture of the vehicle body cannot be freely adjusted by changing the position of each wheel.

  An object of the present invention is to make it possible to freely adjust the posture of a vehicle body of a crawler type traveling device, for example.

A crawler type traveling device according to an aspect of the present invention includes:
The car body,
Crawlers provided at least one each on the left and right of the vehicle body;
At least two each provided on the left and right of the vehicle body, and by rotating, each tip moves along a circular orbit centering on the rotation axis;
Wheels attached to the respective tip portions of the arms, and being displaced between a region above and below a lower end of the crawler as the tip portion moves,
An adjustment mechanism that adjusts the position of each of the wheels by fixing each of the arms at an arbitrary rotation angle.

  In the present invention, the crawler type traveling device is provided between at least two arms provided on the left and right sides of the vehicle body and rotating, and between an area above and below the lower end of the crawler attached to the tip of each arm. And an adjusting mechanism for adjusting the position of each wheel by fixing each arm at an arbitrary rotation angle. For this reason, according to this invention, it becomes possible to adjust the attitude | position of the vehicle body of a crawler type traveling apparatus freely by changing the position of each wheel with an adjustment mechanism.

FIG. 3 is a perspective view of the crawler traveling device according to the first embodiment. FIG. 2 is a plan view of the crawler traveling device according to the first embodiment. FIG. 2 is a front view of the crawler traveling device according to the first embodiment. FIG. 3 is a left side view of the crawler traveling device according to the first embodiment. FIG. 3 is a bottom view of the crawler traveling device according to the first embodiment. FIG. 3 is a right side view of the crawler traveling device according to the first embodiment. 1 is a perspective view of a crawler type traveling device (a state where a vehicle body is lifted) according to Embodiment 1. FIG. FIG. 2 is a plan view of the crawler traveling device (a state where the vehicle body is lifted) according to the first embodiment. 1 is a front view of a crawler type traveling device (a state where a vehicle body is lifted) according to Embodiment 1. FIG. FIG. 3 is a left side view of the crawler traveling device (a state where the vehicle body is lifted) according to the first embodiment. FIG. 3 is a bottom view of the crawler traveling device (a state where the vehicle body is lifted) according to the first embodiment. FIG. 3 is a right side view of the crawler type traveling device (a state where the vehicle body is lifted) according to the first embodiment. The figure which shows the mode of the attitude | position control of the crawler type traveling apparatus which concerns on Embodiment 1. FIG. The figure which shows the mode of the attitude | position control of the crawler type traveling apparatus which concerns on Embodiment 1. FIG. The figure which shows the mode of the attitude | position control of the crawler type traveling apparatus which concerns on Embodiment 1. FIG. The figure which shows the mode of the attitude | position control of the crawler type traveling apparatus which concerns on Embodiment 1. FIG. The figure which shows the mode of the attitude | position control of the crawler type traveling apparatus which concerns on Embodiment 1. FIG. The figure which shows the mode of the attitude | position control of the crawler type traveling apparatus which concerns on Embodiment 1. FIG. FIG. 3 is a cross-sectional view illustrating a configuration example of an arm of the crawler traveling device according to the first embodiment and a peripheral portion thereof. The cross-sectional view which shows the structural example of the arm of the crawler type traveling apparatus which concerns on Embodiment 2, and its peripheral part. FIG. 6 is a cross-sectional view illustrating a configuration example of an arm of a crawler traveling device according to a third embodiment and a peripheral portion thereof. FIG. 6 is a cross-sectional view illustrating a configuration example of a worm gear and its peripheral portion of a crawler type traveling device according to a fourth embodiment. The longitudinal cross-sectional view which shows the structural example of the worm gear of the crawler type traveling apparatus which concerns on Embodiment 4, and its peripheral part. FIG. 10 is a cross-sectional view illustrating a configuration example of a worm gear and its peripheral portion of a crawler type traveling device according to a fifth embodiment. FIG. 10 is a longitudinal sectional view showing a configuration example of a worm gear and its peripheral portion of a crawler traveling device according to a fifth embodiment. FIG. 10 is a plan view of a crawler traveling device according to a sixth embodiment. FIG. 10 is a front view of a crawler traveling device according to a sixth embodiment. FIG. 10 is a left side view of a crawler traveling device according to a sixth embodiment. The left view of the crawler type traveling apparatus (state which removed the wheel of the left side) concerning Embodiment 6. FIG. 10 is a rear view of a crawler traveling device according to a sixth embodiment. The figure which shows the mode of the water navigation of the crawler type traveling apparatus which concerns on Embodiment 7. FIG. FIG. 10 is a plan view of a crawler traveling device according to a seventh embodiment. FIG. 10 is a front view of a crawler traveling device according to a seventh embodiment. FIG. 10 is a left side view of a crawler traveling device according to a seventh embodiment. FIG. 10 is a rear view of a crawler traveling device according to a seventh embodiment. FIG. 20 is a left side view of a crawler traveling device according to a modification example of the seventh embodiment. The figure which shows a mode that it goes up to the land of the crawler type traveling apparatus which concerns on Embodiment 7. FIG. FIG. 10 is a perspective view of a crawler traveling device according to an eighth embodiment. FIG. 10 is a perspective view of a crawler traveling device according to an eighth embodiment. FIG. 10 is a perspective view of a crawler traveling device according to an eighth embodiment. FIG. 10 is a perspective view of a crawler traveling device according to an eighth embodiment. FIG. 10 is a perspective view of a crawler traveling device according to a ninth embodiment. FIG. 10 is a perspective view of a crawler traveling device according to a ninth embodiment. FIG. 10 is a perspective view of a crawler traveling device according to a ninth embodiment. FIG. 10 is a perspective view of a crawler traveling device according to a ninth embodiment. The figure which shows the mode of the water navigation of the crawler type traveling apparatus which concerns on Embodiment 10. FIG. The figure which shows the mode of the water navigation of the crawler type traveling apparatus which concerns on Embodiment 10. FIG. The figure which shows the mode of the water navigation of the crawler type traveling apparatus which concerns on Embodiment 10. FIG. The figure which shows the mode of the water navigation of the crawler type traveling apparatus which concerns on Embodiment 10. FIG.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the part which is the same or corresponds in each figure. In the description of the embodiments, the description of the same or corresponding parts will be omitted or simplified as appropriate. In the description of the embodiment, the arrangement, orientation, etc., such as “top”, “bottom”, “left”, “right”, “front”, “back”, “front”, “back”, etc., are for convenience of explanation. It is only described as such, and does not limit the arrangement or orientation of devices, instruments, parts, and the like. About the structure of an apparatus, an instrument, components, etc., the material, a shape, a magnitude | size, etc. can be suitably changed within the scope of the present invention.

Embodiment 1 FIG.
FIG. 1 is a perspective view of a crawler traveling device 10 according to the present embodiment. FIG. 2 is a plan view of the crawler traveling device 10 in the same state as FIG. FIG. 3 is a front view of the crawler type traveling device 10 in the same state as FIG. FIG. 4 is a left side view of the crawler type traveling device 10 in the same state as FIG. FIG. 5 is a bottom view of the crawler traveling device 10 in the same state as FIG. FIG. 6 is a right side view of the crawler traveling device 10 in the same state as FIG.

  As shown in FIGS. 1 to 6, the crawler type traveling device 10 includes a vehicle body 11, a pair of crawlers 12, two pairs of arms 13, two pairs of first wheels 14 (an example of wheels), and two pairs. The second wheel 15 (an example of another wheel) and an adjusting mechanism (not shown).

  On the upper part of the vehicle body 11, a loading platform 21 for loading luggage or people is provided. Although not shown, the vehicle body 11 includes at least two power sources (for example, a motor or an engine), a power source (for example, a secondary battery), a communication device, a controller (for example, a microcomputer), and a sensor (for example, for example). A gyro or a load sensor) is stored. A camera, a microphone, or the like may be attached to the vehicle body 11.

  As the power source, there are a power source that generates a common driving force for the crawler 12, the first wheel 14, and the second wheel 15, and a power source that generates the rotational force of the arm 13. Note that the crawler 12, the first wheel 14, and the second wheel 15 may use individual power sources instead of a common power source.

  The power supply supplies power to a communication device, a controller, a sensor, and the like. If the power source is a motor, the power supply also supplies power to the motor.

  The communication device communicates with the outside (for example, a remote control device) wirelessly or by wire.

  For example, the controller controls a power source, receives a command from the outside by a communication device, transmits a status report to the outside by a communication device, and receives information from a sensor. When the camera is attached to the vehicle body 11, the controller transmits the image of the camera to the outside through a communication device. When the microphone is attached to the vehicle body 11, the controller transmits the sound of the microphone to the outside by the communication device.

  For example, the sensor detects the inclination of the vehicle body 11 or detects the load of a load placed on the loading platform 21 or a person.

  One crawler 12 is provided on each of the left and right sides of the vehicle body 11. Note that at least one crawler 12 may be provided on each of the left and right sides of the vehicle body 11. For example, two crawlers 12 may be provided on the left and right sides of the vehicle body 11.

  The crawler 12 has two sprockets 22 and one crawler belt 23.

  Two sprockets 22 are provided side by side in the front-rear direction. Note that three or more sprockets 22 may be provided for each crawler 12.

  The crawler belt 23 is wound around the sprocket 22. That is, the crawler belt 23 is stretched between the front sprocket 22 and the rear sprocket 22. The crawler belt 23 is driven when the sprocket 22 is driven.

  Two arms 13 are provided on each side of the vehicle body 11. Specifically, the arm 13 is rotatably provided for each sprocket 22 of the crawler 12. For example, the left front arm 13 corresponds to the front sprocket 22 of the left crawler 12. The rotation axis of the arm 13 is formed at a position overlapping the corresponding drive shaft of the sprocket 22. Note that at least two arms 13 may be provided on the left and right sides of the vehicle body 11. For example, three arms 13 may be provided on the left and right sides of the vehicle body 11. At this time, the sprocket 22 of the crawler 12 and the arm 13 do not have to correspond one-to-one.

  In the present embodiment, the rear arm 13 is a sub crawler, but the front arm 13 may be a sub crawler, or both arms 13 may be sub crawlers, or vice versa. Both arms 13 may not be sub-crawlers.

  The distal end portion 24 of the arm 13 moves along a circular orbit around the rotation axis of the arm 13 as the arm 13 rotates.

  The first wheels 14 are attached to the distal end portion 24 of the arm 13 one by one. The first wheel 14 is displaced between a region A1 above and a region A2 below the lower end of the crawler 12 as the tip 24 of the arm 13 moves.

  The second wheels 15 are attached one by one to the root portion of the arm 13 (the end portion on the side opposite to the tip portion 24). The second wheel 15 is attached coaxially with the sprocket 22 corresponding to the arm 13. Even if the tip 24 of the arm 13 moves (the arm 13 rotates), the second wheel 15 is not displaced. Note that the second wheel 15 may be omitted.

  In the present embodiment, the outer diameter of the first wheel 14 is larger than the outer diameter of the second wheel 15, but the outer diameter of the first wheel 14 is smaller than the outer diameter of the second wheel 15. Alternatively, the outer diameter of the first wheel 14 may be equal to the outer diameter of the second wheel 15.

  The adjusting mechanism adjusts the position of each first wheel 14 by fixing each arm 13 at an arbitrary rotation angle. For this reason, according to this Embodiment, it becomes possible to adjust the attitude | position of the vehicle body 11 freely by changing the position of each 1st wheel 14 with an adjustment mechanism.

  When the crawler type traveling device 10 travels on a rough road (rough terrain), the position of each first wheel 14 is adjusted by the adjustment mechanism, and the entire first wheel 14 is above the lower end of the crawler 12. By setting the state in A1, the crawler 12 can be grounded. Therefore, traveling on a rough road becomes easy.

  When the crawler type traveling device 10 travels on a good road (flat ground), the adjustment mechanism adjusts the position of each first wheel 14 so that at least a part of the first wheel 14 is below the lower end of the crawler 12. The 1st wheel 14 can be grounded by making it the state which exists in area | region A2. Therefore, high speed traveling on a good road becomes possible.

  In particular, as shown in FIGS. 1 to 6, at least a part of the first wheel 14 is in the area A <b> 2 below the lower end of the crawler 12, and the front first wheel 14 and the rear first wheel 14 approach each other. By turning it on, you can turn around. For example, in this state, the left first wheel 14 and the right first wheel 14 are driven in opposite directions, thereby enabling high-speed turning on a good road.

  On the other hand, at least a part of the first wheel 14 is in the region A2 below the lower end of the crawler 12, and the front first wheel 14 and the rear first wheel 14 are separated from each other, thereby allowing the vehicle body 11 to This makes it easier to balance and enables faster driving on good roads.

  FIG. 7 is a perspective view of the crawler type traveling device 10 in a state where the vehicle body 11 is lifted. FIG. 8 is a plan view of the crawler traveling device 10 in the same state as FIG. FIG. 9 is a front view of the crawler traveling device 10 in the same state as FIG. FIG. 10 is a left side view of the crawler traveling device 10 in the same state as FIG. FIG. 11 is a bottom view of the crawler traveling device 10 in the same state as FIG. FIG. 12 is a right side view of the crawler traveling device 10 in the same state as FIG.

  As shown in FIGS. 7 to 12, the entire first wheel 14 is in the region A <b> 2 below the lower end of the crawler 12, and the first wheel 14 is outside in the front-rear direction. As a result, higher speed travel becomes possible. In this state, the vehicle body 11 is lifted high, and a wide space is left between the vehicle body 11 and the ground, so that the posture of the vehicle body 11 can be changed greatly. Therefore, the posture of the vehicle body 11 can be adjusted more freely and flexibly.

  In the present embodiment, the adjustment mechanism is mounted on the controller described above. The controller controls the posture of the vehicle body 11 by adjusting the position of each first wheel 14 based on an external command or information from the sensor described above.

  For example, the controller receives a command for instructing the posture of the vehicle body 11 from the outside by the communication device described above. Based on the received command and the position of each first wheel 14 at the present time, the controller calculates the position of each first wheel 14 for setting the vehicle body 11 to the instructed posture. The controller rotates the arm 13 to which the first wheel 14 having a calculated position different from the current position is attached using the power source described above until the rotation angle corresponding to the calculated position is reached. The controller performs the same operation every time it receives a command from the outside. Here, it is assumed that the arm 13 does not rotate (idle) in a state where power (rotational force) is not supplied from the power source. Therefore, the controller can fix the arm 13 at the desired rotation angle by stopping the supply of power from the power source after rotating the arm 13 until the desired rotation angle is reached.

  In the present embodiment, when the crawler type traveling device 10 travels on a bad road, the crawler 12 instructs the ground contact from the outside, and when the crawler type traveling device 10 travels on a good road, the first wheel 14 If the user is instructed from the outside to ground, the vehicle body 11 can be instructed by the above-described operation.

  FIGS. 13 to 18 are diagrams illustrating the posture control of the crawler type traveling device 10. 13 to 18 show examples in which not only the rear arm 13 but also the front arm 13 is a sub crawler.

  For example, the controller receives information indicating the tilt of the vehicle body 11 from the sensor. Based on the received information and the position of each first wheel 14 at the present time, the controller calculates the position of each first wheel 14 for leveling the vehicle body 11. The controller rotates the arm 13 to which the first wheel 14 whose calculated position is different from the current position is attached using a power source until the rotation angle corresponding to the calculated position is reached. The controller performs the same operation every time it receives information from the sensor.

  In the present embodiment, the vehicle body 11 can be kept horizontal as shown in FIGS. 13 and 14 by the operation as described above, without instructing the posture from the outside. That is, the crawler type traveling device 10 can keep the vehicle body 11 horizontal by absorbing the difference in height from the root portion of each arm 13 to the ground contact surface by rotating each arm 13 independently. As shown in FIGS. 15 and 16, the crawler traveling device 10 can autonomously climb the steps.

  For example, the controller receives information indicating the load applied to the loading platform 21 from the sensor. Based on the received information and the position of each first wheel 14 at the present time, the controller calculates the position of each first wheel 14 for placing the vehicle body 11 in a posture in which the load on the loading platform 21 or a person is stable. . The controller rotates the arm 13 to which the first wheel 14 whose calculated position is different from the current position is attached using a power source until the rotation angle corresponding to the calculated position is reached. The controller performs the same operation every time it receives information from the sensor.

  In the present embodiment, the load on the loading platform 21 can be balanced as shown in FIGS. 17 and 18 by the operation as described above, without instructing the posture from the outside.

  FIG. 19 is a cross-sectional view showing a configuration example of the arm 13 and its peripheral portion of the crawler type traveling device 10.

  In the example of FIG. 19, the crawler traveling device 10 includes a first motor 31 and a second motor 32 corresponding to the power source described above. In addition, the crawler type traveling device 10 includes a first worm gear 41, a second worm gear 42, a first shaft 51, a second shaft 52, and a first transmission for each combination of the arm 13 and the sprocket 22 of the crawler 12. The unit 61 and the second transmission unit 62 are provided. Further, the crawler type traveling device 10 includes one-way clutches 71 and 72 for the first wheel 14 and the second wheel 15, respectively.

  The first motor 31 rotates the first shaft 51 via the first worm gear 41. The first shaft 51 forms the rotation axis of the arm 13.

  As described above, the first motor 31 generates the power (rotational force) of the arm 13. This power is transmitted from the first motor 31 to the arm 13 via the first worm gear 41 and the first shaft 51 in order.

  The second motor 32 rotates the second shaft 52 via the second worm gear 42. The second shaft 52 forms the drive shaft of the sprocket 22.

  The first shaft 51 is cylindrical, whereas the second shaft 52 is cylindrical. The first shaft 51 passes through the inside of the second shaft 52. Therefore, the first shaft 51 and the second shaft 52 can rotate independently of each other.

  The first transmission unit 61 includes two gears 81 and 82 and one belt 83. The first transmission unit 61 transmits the rotational force of the second shaft 52 from one gear 81 to the other gear 82 by the belt 83, and further transmits to the first wheel 14 via the gear 82. Thereby, the 1st wheel 14 drives. A pulley may be used instead of the gears 81 and 82. Further, instead of the belt 83, a chain may be used.

  The second transmission unit 62 includes two gears 84 and 85 and one belt 86. The second transmission unit 62 transmits the rotational force transmitted from the gear 82 of the first transmission unit 61 to the one gear 84 to the other gear 85 by the belt 86, and further the second wheel via the gear 85. 15 is transmitted. Thereby, the 2nd wheel 15 drives. A pulley may be used instead of the gears 84 and 85. Further, instead of the belt 86, a chain may be used.

  In the example of FIG. 19, the outer diameter of the gear 82 of the first wheel 14 is smaller than the outer diameter of the gear 81 of the sprocket 22. For this reason, the first wheel 14 is driven at a higher speed than the sprocket 22. For example, the first wheel 14 is driven at a speed three times that of the sprocket 22.

  In the example of FIG. 19, the outer diameter of the gear 85 of the second wheel 15 is larger than the outer diameter of the gear 84 of the first wheel 14. For this reason, the second wheel 15 is driven at a lower speed than the first wheel 14. For example, the second wheel 15 is driven at a speed one third that of the first wheel 14. The outer diameter of the gear 85 of the second wheel 15 may be smaller than the outer diameter of the gear 84 of the first wheel 14 or the same as the outer diameter of the gear 84 of the first wheel 14. That is, the second wheel 15 may be driven at a higher speed than the first wheel 14 or at the same speed as the first wheel 14.

  As described above, the second motor 32 generates common power (driving force) for the sprocket 22, the first wheel 14, and the second wheel 15. This power is transmitted from the second motor 32 to the sprocket 22 via the second worm gear 42 and the second shaft 52 in order, and further to the first wheel 14 via the first transmission portion 61, and further to the second transmission. It is transmitted to the second wheel 15 via the part 62.

  One one-way clutch 71 is attached to each first wheel 14. The one-way clutch 71 attached to the front first wheel 14 idles the first wheel 14 backward. A one-way clutch 71 attached to the rear first wheel 14 causes the first wheel 14 to idle forward.

  In the present embodiment, when traveling by the crawler 12, the front first wheel 14 and the rear first wheel 14 are in a region A <b> 1 above the lower end of the crawler 12. When switching to traveling by the first wheel 14, it is necessary to gradually lift the vehicle body 11 so that the crawler traveling device 10 is in a state as shown in FIGS. Therefore, the adjusting mechanism rotates the front arm 13 forward and rotates the rear arm 13 backward. As each arm 13 rotates, the front first wheel 14 and the rear first wheel 14 are displaced from the region A1 above the lower end of the crawler 12 to the region A2 below and below the lower end of the crawler 12. Gradually approach each other in the area A2. At this time, the front first wheel 14 and the rear first wheel 14 are in a grounded state, but are idled by the one-way clutch 71, so that resistance from the ground can be reduced. Therefore, the vehicle body 11 can be lifted smoothly. That is, according to the present embodiment, when the posture is changed by the arm 13, it is difficult for each first wheel 14 to be dragged to the ground. Therefore, it is possible to switch between traveling by the crawler 12 and high-speed traveling by the first wheel 14 without reducing the driving loss at the time of switching without external assistance and parts replacement.

  When three or more arms 13 are provided on the left and right sides of the vehicle body 11, one or more pairs of first wheels 14 exist between the first wheel 14 in the front row and the first wheel 14 in the last row. Will do. In this case, the one-way clutch 71 attached to the first wheel 14 in the front row is assumed to cause the first wheel 14 to idle backward. The one-way clutch 71 attached to the first wheel 14 in the last row is assumed to idle the first wheel 14 forward. The other one-way clutch 71 attached to the other first wheels 14 idles the first wheels 14 in the direction opposite to the direction in which the arm 13 rotates to lift the vehicle body 11. Desirably, the idling direction of the one-way clutch 71 is reversed between the front half and the rear half of the vehicle body 11. At this time, if the number of the first wheels 14 is the same in the first half and the second half, the first wheels 14 are used (driven) when the crawler type traveling device 10 moves forward and when the wheels move backward. The number of is half of the whole.

  A clutch of a different type from the one-way clutch 71 may be attached to each first wheel 14. For example, one two-way clutch may be attached to each first wheel 14. In this case, the adjustment mechanism displaces the first wheel 14 in the front (front row) and the first wheel 14 in the rear (last row) from the region A1 above the lower end of the crawler 12 to the region A2 below. In the process of gradually approaching each other in the region A2 below the lower end of 12, the controller (an example of a control mechanism) controls the two-way clutch to idle the front first wheel 14 backward, The first wheel 14 is idled forward.

  Similarly to the first wheels 14, one one-way clutch 72 is attached to each second wheel 15. A one-way clutch 72 attached to the front second wheel 15 causes the second wheel 15 to idle backward. A one-way clutch 72 attached to the rear second wheel 15 causes the second wheel 15 to idle forward.

  In the present embodiment, the crawler traveling device 10 can be used for purposes other than the use of carrying luggage or people. For example, a wheelchair may be configured by combining the crawler type traveling device 10 with a chair. By utilizing the function of keeping the vehicle body 11 horizontal, it is possible to provide a wheelchair in which a portion on which a person rides is kept horizontal when a chair is fixed to the upper part of the crawler type traveling device 10.

  As described above, in the present embodiment, the crawler type traveling device 10 has the first wheel 14 that rotates at high speed attached to the rotatable arm 13, and therefore changes the holding position (rotation angle) of the arm 13. Thus, the crawler type traveling and the wheel type traveling can be performed without external work such as parts replacement.

  In the present embodiment, since the one-way clutch 71 is employed, the first wheel 14 attached to the arm 13 can be arbitrarily disconnected from and connected to the rotation mechanism of the sprocket 22 of the crawler 12.

Embodiment 2. FIG.
In the present embodiment, differences from the first embodiment will be mainly described.

  FIG. 20 is a cross-sectional view illustrating a configuration example of the arm 13 and its peripheral portion of the crawler traveling device 10 according to the present embodiment.

  In the example of FIG. 20, the crawler traveling device 10 includes a first motor 31, a second motor 32, and a third motor 33 that correspond to a power source. The crawler type traveling device 10 includes a first worm gear 41, a second worm gear 42, a third worm gear 43, a first shaft 51, and a second shaft for each combination of the arm 13 and the sprocket 22 of the crawler 12. 52, a third shaft 53, and a transmission unit 60. Furthermore, the crawler type traveling device 10 includes the same one-way clutches 71 and 72 as the example of FIG. 19 for each of the first wheel 14 and the second wheel 15.

  The first motor 31 rotates the first shaft 51 via the first worm gear 41. The first shaft 51 forms the rotation axis of the arm 13.

  As described above, the first motor 31 generates the power (rotational force) of the arm 13. This power is transmitted from the first motor 31 to the arm 13 via the first worm gear 41 and the first shaft 51 in order.

  The second motor 32 rotates the second shaft 52 via the second worm gear 42. The second shaft 52 forms the drive shaft of the sprocket 22.

  The third motor 33 rotates the third shaft 53 via the third worm gear 43. The third shaft 53 forms a drive shaft of the second wheel 15.

  Whereas the third shaft 53 is cylindrical, the first shaft 51 and the second shaft 52 are cylindrical. The first shaft 51 passes through the inside of the second shaft 52, and the third shaft 53 passes through the inside of the first shaft 51. Therefore, the first shaft 51, the second shaft 52, and the third shaft 53 can rotate independently of each other.

  The transmission unit 60 includes two gears 81 and 82 and one belt 83, like the first transmission unit 61 in the example of FIG. The transmission unit 60 transmits the rotational force of the second shaft 52 from one gear 81 to the other gear 82 by the belt 83, and further transmits to the first wheel 14 via the gear 82. Thereby, the 1st wheel 14 drives. A pulley may be used instead of the gears 81 and 82. Further, instead of the belt 83, a chain may be used.

  In the example of FIG. 20, the outer diameter of the gear 82 of the first wheel 14 is smaller than the outer diameter of the gear 81 of the sprocket 22 as in the example of FIG. For this reason, the first wheel 14 is driven at a higher speed than the sprocket 22. For example, the first wheel 14 is driven at a speed three times that of the sprocket 22.

  As described above, the second motor 32 generates common power (driving force) for the sprocket 22 and the first wheel 14. This power is transmitted from the second motor 32 to the sprocket 22 via the second worm gear 42 and the second shaft 52 in order, and further transmitted to the first wheel 14 via the transmission portion 60. On the other hand, the third motor 33 generates individual power (driving force) of the second wheel 15. This power is transmitted from the third motor 33 to the second wheel 15 via the third worm gear 43 and the third shaft 53 in order. The second motor 32 and the third motor 33 may be replaced with a common motor.

  In the example of FIG. 20, unlike the example of FIG. 19, the first wheel 14 and the second wheel 15 are driven independently, so the speed of the second wheel 15 can be freely set.

Embodiment 3 FIG.
In the present embodiment, differences from the first embodiment will be mainly described.

  FIG. 21 is a cross-sectional view illustrating a configuration example of the arm 13 and its peripheral portion of the crawler traveling device 10 according to the present embodiment.

  In the example of FIG. 21, the crawler traveling device 10 includes the same first motor 31 and second motor 32 as those in the example of FIG. The crawler type traveling device 10 includes a first worm gear 41, a second worm gear 42, a first shaft 51, a second shaft 52, and a transmission unit 60 for each combination of the arm 13 and the sprocket 22 of the crawler 12. With. Furthermore, the crawler type traveling device 10 includes the same one-way clutches 71 and 72 as the example of FIG. 19 for each of the first wheel 14 and the second wheel 15.

  The first motor 31 rotates the first shaft 51 via the first worm gear 41. The first shaft 51 forms the rotation axis of the arm 13.

  As described above, the first motor 31 generates the power (rotational force) of the arm 13. This power is transmitted from the first motor 31 to the arm 13 via the first worm gear 41 and the first shaft 51 in order.

  The second motor 32 rotates the second shaft 52 via the second worm gear 42. The second shaft 52 forms a drive shaft for the sprocket 22 and the second wheel 15.

  The first shaft 51 is cylindrical, whereas the second shaft 52 is cylindrical. The first shaft 51 passes through the inside of the second shaft 52. Therefore, the first shaft 51 and the second shaft 52 can rotate independently of each other.

  The transmission unit 60 includes two gears 81 and 82 and one belt 83, like the first transmission unit 61 in the example of FIG. The transmission unit 60 transmits the rotational force of the second shaft 52 from one gear 81 to the other gear 82 by the belt 83, and further transmits to the first wheel 14 via the gear 82. Thereby, the 1st wheel 14 drives. A pulley may be used instead of the gears 81 and 82. Further, instead of the belt 83, a chain may be used.

  In the example of FIG. 21, the outer diameter of the gear 82 of the first wheel 14 is smaller than the outer diameter of the sprocket 22 and the gear 81 of the second wheel 15. For this reason, the first wheel 14 is driven at a higher speed than the sprocket 22 and the second wheel 15. For example, the first wheel 14 is driven at a speed three times that of the sprocket 22 and the second wheel 15.

  As described above, the second motor 32 generates common power (driving force) for the sprocket 22, the first wheel 14, and the second wheel 15. This power is transmitted from the second motor 32 to the sprocket 22 and the second wheel 15 via the second worm gear 42 and the second shaft 52 in order, and further to the first wheel 14 via the transmission unit 60.

  In the example of FIG. 19, the first wheel 14 and the second wheel 15 are arranged on the outer side in the left-right direction with respect to the arm 13, but in the example of FIG. 21, the first wheel 14 and the second wheel 15 are the arms. It is arrange | positioned inside 13 in the left-right direction rather than 13. For this reason, in the example of FIG. 21, the second wheel 15 can be driven by the second shaft 52 for driving the sprocket 22 without providing the second transmission portion 62 in the example of FIG. 19.

Embodiment 4 FIG.
In the present embodiment, differences from the first embodiment will be mainly described.

  FIG. 22 is a cross-sectional view illustrating a configuration example of the first worm gear 41 and its peripheral portion of the crawler traveling device 10 according to the present embodiment. FIG. 23 is a longitudinal sectional view corresponding to FIG.

  22 and 23, the crawler traveling device 10 includes a rotation allowing portion 44 for each arm 13.

  The rotation permission unit 44 is configured so that the arm 13 is fixed at an arbitrary rotation angle by the adjusting mechanism, and an external force (for example, a force applied by road surface unevenness or a load on a load or a person placed on the loading platform 21). ) Is allowed to rotate a certain amount when it is applied to the arm 13.

  The rotation allowing portion 44 is attached to the first worm gear 41. The first worm gear 41 includes a cylindrical worm 91 having a spiral groove formed on the outer peripheral surface and a ring-shaped worm wheel 92 having a plurality of teeth formed on the outer peripheral surface. The worm 91 is rotated by the first motor 31. Since the outer peripheral surfaces of the worm 91 and the worm wheel 92 are engaged with each other, when the worm 91 rotates, the worm wheel 92 rotates. Since the worm wheel 92 is attached to the first shaft 51, when the worm wheel 92 rotates, the first shaft 51 rotates.

  The rotation allowing portion 44 has a pair of springs 93 and a bracket 94. The springs 93 are attached to both ends of the worm 91 in the axial direction. The bracket 94 fixes the worm 91 together with the spring 93 by fixing the opposite side of the spring 93 to the side attached to the worm 91. The worm 91 can move in the axial direction, but the amount of movement is limited by the elastic force of the spring 93.

  For example, when the arm 13 is fixed at a rotation angle as shown in FIGS. 7 to 12 and the crawler type traveling device 10 is traveling on a good road, the first wheel 14 is instantaneously moved by the unevenness of the road surface. Suppose that the force to push up is added. If the force exceeds a certain value, the first wheel 14, the arm 13, the first shaft 51, the worm wheel 92, and the worm 91 are sequentially transmitted to the spring 93 to contract the spring 93. Rotate. Thereby, the impact by the unevenness | corrugation of a road surface can be relieved.

  Further, for example, it is assumed that the arm 13 is fixed at a rotation angle as shown in FIGS. 7 to 12 and a load is placed on the loading platform 21. If the load is above a certain level, the repulsive force from the ground is transmitted to the spring 93 through the first wheel 14, arm 13, first shaft 51, worm wheel 92, worm 91 in order and contracts the spring 93. The arm 13 rotates accordingly. Thereby, the vehicle body 11 can be stabilized.

  As described above, in the present embodiment, since the shaft (first shaft 51) for rotating the arm 13 can be swung according to the load or the like, the arm 13 is rotated in the rotation direction by the mounted mass of the vehicle body 11 or the like. Can be displaced.

Embodiment 5 FIG.
In the present embodiment, differences from the fourth embodiment will be mainly described.

  FIG. 24 is a cross-sectional view illustrating a configuration example of the first worm gear 41 and its peripheral portion of the crawler traveling device 10 according to the present embodiment. FIG. 25 is a longitudinal sectional view corresponding to FIG.

  24 and 25, the crawler traveling device 10 includes a rotation allowing portion 44 a for each arm 13.

  22 and 23, when the force from the outside is applied to the arm 13 in a state where the arm 13 is fixed at an arbitrary rotation angle by the adjustment mechanism, the rotation allowing portion 44a Allow a certain amount of rotation.

  The rotation allowing portion 44 a is attached to the first worm gear 41. The configuration of the first worm gear 41 is the same as the example of FIGS.

  The rotation allowing portion 44 a includes three pairs of springs 93 and a bracket 94. Three springs 93 are integrally formed so as to face both ends of the worm 91 in the axial direction. The bracket 94 fixes the worm 91 together with the spring 93 by fixing the side opposite to the side attached to the worm 91 of all the springs 93. The worm 91 can move in the axial direction, but the amount of movement is limited by the elastic force of the spring 93.

  The amount of movement of the worm 91 in the axial direction can be adjusted by increasing or decreasing the number of springs 93.

  In the examples of FIGS. 24 and 25, the impact caused by the unevenness of the road surface can be reduced and the vehicle body 11 can be stabilized, as in the examples of FIGS.

Embodiment 6 FIG.
In the present embodiment, differences from the first embodiment will be mainly described.

  FIG. 26 is a plan view of the crawler traveling device 10a according to the present embodiment. FIG. 27 is a front view of the crawler traveling device 10a in the same state as FIG. FIG. 28 is a left side view of the crawler traveling device 10a in the same state as FIG. FIG. 29 is a left side view of the crawler type traveling device 10a with the left first wheel 14 and the second wheel 15 removed. FIG. 30 is a rear view of the crawler traveling device 10a in the same state as FIG.

  As shown in FIGS. 26 to 30, the crawler type traveling device 10 a includes a vehicle body 11, a pair of crawlers 12, two pairs of arms 13, two pairs of first wheels 14 (an example of wheels), and two pairs. The second wheel 15 (an example of another wheel), two pairs of support members 16, two pairs of plates 17, and two pairs of reinforcing members 18 are provided.

  The vehicle body 11, the crawler 12, the arm 13, the first wheel 14, and the second wheel 15 are the same as those in the first embodiment.

  In the present embodiment, the support member 16 and the plate 17 constitute an adjustment mechanism. The adjusting mechanism adjusts the position of each first wheel 14 by fixing each arm 13 at an arbitrary rotation angle. Therefore, according to the present embodiment, as in the first embodiment, it is possible to freely adjust the posture of the vehicle body 11 by manually changing the position of each first wheel 14 by the adjustment mechanism. Become.

  The support member 16 is attached to each arm 13. For example, the support member 16 has a longitudinal shape, one end in the longitudinal direction is connected to the arm 13, and a fastener 25 is provided at the other end in the longitudinal direction. Although a plurality of through holes are formed in the support member 16 for weight reduction, these through holes are not essential.

  The plate 17 is provided with respect to each arm 13 on the left and right of the vehicle body 11, and is configured to be able to fasten the support member 16 at a plurality of positions. For example, the plate 17 is a rectangular flat plate and is attached to the left and right side surfaces of the vehicle body 11. The plate 17 is formed with holes 26 (for example, screw holes if the fastener 25 is a screw) for fastening the support member 16 with the fastener 25 at a plurality of positions.

  In the present embodiment, the support member 16 is fastened (by the fastener 25) to an arbitrary position (hole 26) of the plurality of positions of the plate 17, so that the rotation angle of each arm 13 is an arbitrary rotation angle. become.

  As shown in FIGS. 28 and 29, the holes 26 in the plate 17 are provided at least when the crawler traveling device 10 a travels by the crawler 12, when the crawler traveling device 10 a turns at high speed by the first wheel 14, and by the crawler traveling device. It is assumed that 10a is formed at a position corresponding to the rotation angle of the arm 13 suitable for the case where the first wheel 14 travels at a high speed.

  For example, in the left front plate 17 (the plate 17 on the left side in FIGS. 28 and 29), a hole is formed in the upper left corner as a position corresponding to the rotation angle of the arm 13 when the crawler type traveling device 10a travels by the crawler 12. 26 is formed. The fastener 25 of the support member 16 is inserted into the hole 26 and fixed (for example, if the fastener 25 is a screw, the fastener 25 is screwed), so that the entire first wheel 14 is at the lower end of the crawler 12. It is possible to create a state in the upper area A1. That is, the crawler 12 can be grounded.

  For example, in the left front plate 17, a hole 26 is formed in the upper center as a position corresponding to the rotation angle of the arm 13 when the crawler type traveling device 10 a turns at high speed by the first wheel 14. By inserting and fixing the fastener 25 of the support member 16 into the hole 26, at least a part of the first wheel 14 is in the region A2 below the lower end of the crawler 12, and the front first wheel 14 and It is possible to create a state in which the rear first wheel 14 is approaching (the state is shown in FIGS. 28 and 29). That is, the first wheel 14 can be grounded so that a small turn can be made.

  For example, in the left front plate 17, holes 26 are formed in the lower left corner, the lower right corner, and the like as positions corresponding to the rotation angle of the arm 13 when the crawler traveling device 10 a travels at a high speed by the first wheel 14. Has been. By inserting and fixing the fastener 25 of the support member 16 into any of these holes 26, at least a part of the first wheel 14 is in the region A2 below the lower end of the crawler 12, and the front first It is possible to create a state in which one wheel 14 and the first rear wheel 14 are separated from each other. That is, the first wheel 14 can be grounded to facilitate balance.

Embodiment 7 FIG.
In the present embodiment, differences from the first embodiment will be mainly described.

  FIG. 31 is a diagram illustrating a state of water navigation of the crawler traveling device 10b according to the present embodiment.

  As shown in FIG. 31, the crawler type traveling device 10b is an amphibious vehicle. That is, the crawler type traveling device 10b has the ability to travel on the water as well as the ability to travel on land.

  FIG. 32 is a plan view of the crawler traveling device 10b. FIG. 33 is a front view of the crawler type traveling device 10b in the same state as FIG. FIG. 34 is a left side view of the crawler traveling device 10b in the same state as FIG. FIG. 35 is a rear view of the crawler type traveling device 10b in the same state as FIG.

  32 to 35, the crawler type traveling device 10b includes a vehicle body 11b, a pair of crawlers 12, two pairs of arms 13, two pairs of first wheels 14 (examples of wheels), and two pairs. The second wheel 15 (an example of another wheel), a pair of screws 19, and an adjusting mechanism (not shown).

  The front end of the vehicle body 11b is pointed to reduce the resistance of water.

  The crawler 12, the arm 13, the first wheel 14, the second wheel 15, and the adjustment mechanism are the same as those in the first embodiment. However, in this embodiment, not only the rear arm 13 but also the front arm 13 is a sub crawler.

  The screws 19 are detachably attached to the rear arms 13 (the last arm 13 when three or more arms 13 are provided on the left and right sides of the vehicle body 11). It is desirable to supply power (driving force) to the screw 19 from a power source common to the crawler 12, the first wheel 14, and the second wheel 15.

  In the present embodiment, by driving the screw 19, the crawler traveling device 10b can sail on the water.

  FIG. 37 is a diagram illustrating a state where the crawler type traveling device 10b rises to the land.

  As shown in FIG. 37, when the crawler type traveling device 10b navigates on the water and reaches the land, the controller built in the vehicle body 11 is controlled based on the command from the outside or the information from the sensor. The position of the first wheel 14 is adjusted. As a result, the crawler type traveling device 10b autonomously climbs the step and rises to the land by moving the center of gravity of the vehicle body 11 due to the rotation of the arm 13 and driving the arm 13 as a sub-crawler. Transition to.

  FIG. 36 is a left side view of the crawler traveling device 10b according to the modification of the present embodiment.

  As shown in FIG. 36, the crawler traveling device 10b may include tanks 27 and 28 for storing water.

  The tanks 27 and 28 are incorporated in the vehicle body 11b separately in the front-rear direction of the vehicle body 11b. The bottoms of the tanks 27 and 28 are provided with water inlets and outlets for pouring water into and from the tanks 27 and 28. In addition, holes for venting air are provided in the upper portions of the tanks 27 and 28. The tanks 27 and 28 may be further divided in the left-right direction of the vehicle body 11b.

  The buoyancy of the vehicle body 11b can be adjusted by pouring water into the tanks 27 and 28 from the outside of the vehicle body 11b, or draining water from the tanks 27 and 28 to the outside of the vehicle body 11b. For example, by adjusting the amount of water injected into the tanks 27 and 28, it becomes possible for the crawler type traveling device 10b to travel underwater or to travel on the bottom of the water. By draining from the tanks 27 and 28 and using the tanks 27 and 28 as floating, the crawler type traveling device 10b can also travel on the water.

  In order to control the posture of the vehicle body 11b to a desired posture, it is possible to individually adjust the amount of water injected into the tanks 27 and 28 or to make it uneven. For example, by adjusting the front and rear buoyancy by pouring / draining only the front tank 27 or only the rear tank 28, it is possible to assist the posture change when rising from water to land as shown in FIG.

Embodiment 8 FIG.
In the present embodiment, differences from the first embodiment will be mainly described.

  38 to 41 are perspective views of the crawler traveling device 10c according to the present embodiment.

  As shown in FIGS. 38 to 41, the crawler type traveling device 10 c is similar to the crawler type traveling device 10 according to the first embodiment, and includes a vehicle body 11, a pair of crawlers 12, two pairs of arms 13, and 2. A pair of first wheels 14 (an example of a wheel) and two pairs of second wheels 15 (an example of another wheel) are provided. Although not shown, the crawler type traveling device 10c includes an adjustment mechanism, similarly to the crawler type traveling device 10 according to the first embodiment.

  In the present embodiment, the crawler traveling device 10 c further includes a link mechanism 20. The link mechanism 20 connects the left and right first wheels 14 on the front side and connects the left and right first wheels 14 on the rear side. The link mechanism 20 adjusts the direction of the connected first wheel 14.

  In the present embodiment, the crawler traveling device 10 c includes a sensor 95 and antennas 96 and 97 outside the vehicle body 11. The sensor 95 is a laser for generating, for example, a three-dimensional map. The antenna 96 is used, for example, for the communication device described above to perform communication. The antenna 97 is, for example, a GPS (Global Positioning System) antenna for positioning. The sensor 95 and the antennas 96 and 97 are not essential elements in this embodiment.

  As in the first embodiment, when the crawler type traveling device 10c travels on a good road (flat ground), the position of each first wheel 14 is adjusted by the adjusting mechanism as shown in FIGS. Thus, by setting at least a part of the first wheel 14 in a region below the lower end of the crawler 12, the first wheel 14 can be grounded. Therefore, high speed traveling on a good road becomes possible.

  In particular, as shown in FIGS. 38 and 39, at least a part of the first wheel 14 is in an area below the lower end of the crawler 12, and the front first wheel 14 and the rear first wheel 14 are separated. By setting the state, it becomes easy to balance the vehicle body 11 and it becomes possible to travel at a higher speed on a good road.

  On the other hand, as shown in FIG. 40, at least a part of the first wheel 14 is in a region below the lower end of the crawler 12, and the front first wheel 14 and the rear first wheel 14 are close to each other. By doing so, you can turn around.

  In the present embodiment, as shown in FIGS. 38 and 39, the turnability is improved by adjusting the direction of each first wheel 14 by the link mechanism 20. Compared with the case where turning is performed by driving the left first wheel 14 and the right first wheel 14 in the opposite directions as in the first embodiment, in this embodiment, the amount of movement during self-sustained travel Can be accurately calculated from the number of motor revolutions, etc., so that a deviation occurs between the traveling position calculated when controlling the traveling of the crawler traveling device 10c and the actual traveling position of the crawler traveling device 10c. Hateful. Further, since loss of driving force during turning is suppressed, smooth and high-speed turning is possible.

  The link mechanism 20 may connect either the left or right first wheels 14 between the front and the rear, and the other left and right first wheels 14 may not be connected. That is, the link mechanism 20 should just adjust the direction of the 1st wheel 14 of the right and left at least ahead or back. When three or more arms 13 are provided on the left and right sides of the vehicle body 11, the link mechanism 20 may connect at least the first wheels 14 on the left and right in the foremost row or the last row. That is, the link mechanism 20 should just adjust the direction of the 1st wheel 14 of the right and left of the front row or the last row at least.

  As in the first embodiment, when the crawler type traveling device 10c travels on a rough road (rough ground), as shown in FIG. 41, the position of each first wheel 14 is adjusted by the adjusting mechanism, The crawler 12 can be grounded by setting the entire first wheel 14 in a region above the lower end of the crawler 12. Therefore, traveling on a rough road becomes easy.

Embodiment 9 FIG.
The difference between the present embodiment and the eighth embodiment will be mainly described.

  42 to 45 are perspective views of the crawler traveling device 10d according to the present embodiment.

  As shown in FIGS. 42 to 45, the crawler type traveling device 10 d is similar to the crawler type traveling device 10 c according to the eighth embodiment, and includes a vehicle body 11, a pair of crawlers 12, two pairs of arms 13, and 2. A pair of first wheels 14 (an example of a wheel) and two pairs of second wheels 15 (an example of another wheel) are provided. Further, although not shown, the crawler traveling device 10d includes an adjustment mechanism similarly to the crawler traveling device 10c according to the eighth embodiment. Further, the crawler type traveling device 10 d includes a sensor 95 and antennas 96 and 97 outside the vehicle body 11, similarly to the crawler type traveling device 10 c according to the eighth embodiment.

  In the present embodiment, each distal end portion 24 of the arm 13 adjusts the direction of the first wheel 14 by rotating around each central axis of the arm 13 perpendicular to each rotational axis of the arm 13. . That is, in each of the front, rear, left and right arms 13, the front end portion 24 rotates at an arbitrary angle independently of the other portions, and the first wheel 14 attached to the front end portion 24 according to the rotation angle of the front end portion 24. Changes direction. For this reason, in this Embodiment, the link mechanism 20 of the crawler type traveling apparatus 10c which concerns on Embodiment 8 becomes unnecessary.

  As in the eighth embodiment, when the crawler type traveling device 10d travels on a good road (flat ground), the position of each first wheel 14 is adjusted by the adjusting mechanism as shown in FIGS. Thus, by setting at least a part of the first wheel 14 in a region below the lower end of the crawler 12, the first wheel 14 can be grounded. Therefore, high speed traveling on a good road becomes possible.

  In the eighth embodiment, the left and right first wheels 14 can be adjusted only in the same direction, but in the present embodiment, the left and right first wheels 14 can be adjusted in different directions. In the present embodiment, the direction of the first wheel 14 can be changed by 90 degrees or more. Therefore, as shown in FIG. 43, the crawler type traveling device 10d can be caused to travel sideways by setting the direction of all the first wheels 14 to the horizontal direction.

  As in the case of the eighth embodiment, when the crawler type traveling device 10d travels on a rough road (rough ground), as shown in FIG. 45, the position of each first wheel 14 is adjusted by the adjusting mechanism, The crawler 12 can be grounded by setting the entire first wheel 14 in a region above the lower end of the crawler 12. Therefore, traveling on a rough road becomes easy.

Embodiment 10 FIG.
In the present embodiment, differences from the seventh embodiment will be mainly described.

  FIGS. 46-49 is a figure which shows the mode of the water navigation of the crawler type traveling apparatus 10e which concerns on this Embodiment.

  As shown in FIGS. 46 to 49, the crawler type traveling device 10e is similar to the crawler type traveling device 10b according to the seventh embodiment in that it includes a vehicle body 11b, a pair of crawlers 12, two pairs of arms 13, and 2 A pair of first wheels 14 (an example of a wheel), two pairs of second wheels 15 (an example of another wheel), and a pair of screws 19 are provided. Further, although not shown, the crawler type traveling device 10e includes an adjustment mechanism, similarly to the crawler type traveling device 10b according to the seventh embodiment. Further, the crawler type traveling device 10e includes a sensor 95 and antennas 96 and 97 outside the vehicle body 11 as in the crawler type traveling device 10c according to the eighth embodiment.

  In the present embodiment, the crawler traveling device 10 e further includes a plate-like fin 30. The fin 30 is attached to the front left and right arms 13.

  In the present embodiment, the direction in which the crawler traveling device 10e navigates can be controlled by adjusting the angle of the fins 30.

  The fins 30 are blocks inclined with respect to the traveling direction, and as shown in FIG. 48, one of the left and right sides is submerged in water to act as a deflecting plate for water flow, and the traveling direction of the crawler type traveling device 10e. To help control. That is, the fin 30 is angled in advance in the left-right direction. One of the front left and right arms 13 is used in a lowered state and the other is used in a raised state. As a result, only the fin 30 attached to the lowered one arm 13 is submerged in water, and the traveling direction of the crawler type traveling device 10e is controlled according to the angle of the fin 30.

  Note that the angle in the left-right direction of the fin 30 may be fixed or variable. When the angle of the fin 30 in the left-right direction is variable, the front left and right arms 13 are provided with a mechanism for opening and closing the fin 30 in the left-right direction. In that case, the front left and right arms 13 may both be lowered. That is, by opening the fin 30 attached to either one of the lowered arms 13 and closing the fin 30 attached to the other, the crawler type traveling device 10e can be operated according to the angle of the opened fin 30. The traveling direction can be controlled.

  When three or more arms 13 are provided on the left and right sides of the vehicle body 11, the fins 30 may be attached to at least the frontmost arm 13.

  As mentioned above, although embodiment of this invention was described, you may implement combining some of these embodiment. Alternatively, any one or some of these embodiments may be partially implemented. For example, only one of those described as “parts” in the description of these embodiments may be employed, or some arbitrary combinations may be employed. In addition, this invention is not limited to these embodiment, A various change is possible as needed.

  10, 10a, 10b, 10c, 10d, 10e Crawler type traveling device, 11, 11b Car body, 12 crawler, 13 arm, 14 1st wheel, 15 2nd wheel, 16 support member, 17 plate, 18 reinforcement member, 19 screw , 20 Link mechanism, 21 Loading platform, 22 Sprocket, 23 Crawler belt, 24 Tip, 25 Fastener, 26 Hole, 27, 28 Tank, 30 Fin, 31 First motor, 32 Second motor, 33 Third motor, 41 1st worm gear, 42 2nd worm gear, 43 3rd worm gear, 44, 44a Rotation allowance part, 51 1st shaft, 52 2nd shaft, 53 3rd shaft, 60 transmission part, 61 1st transmission part, 62 2nd transmission , 71 One-way clutch, 72 One-way clutch, 81 Gear, 82 A, 83 belt, 84 gear, 85 gear, 86 a belt, 91 worm, 92 worm wheel 93 springs, 94 bracket, 95 sensors, 96, 97 antenna.

Claims (20)

The car body,
Crawlers provided at least one each on the left and right of the vehicle body;
At least two each provided on the left and right of the vehicle body, and by rotating, each tip moves along a circular orbit centering on the rotation axis;
Wheels attached to the respective tip portions of the arms, and being displaced between a region above and below a lower end of the crawler as the tip portion moves,
A crawler type traveling device comprising: an adjustment mechanism that adjusts the position of each of the wheels by fixing each of the arms at an arbitrary rotation angle. A one-way clutch that is attached to each of the front row wheel and the last row wheel among the wheels, and that causes the front row wheel to idle backward and the last row wheel to idle forward is further provided. The crawler type traveling device according to claim 1. A clutch attached to each of the front row wheel and the last row wheel among the wheels,
The wheel of the front row and the wheel of the last row are displaced from the region above the lower end of the crawler to the region below by the adjusting mechanism and gradually approach each other in the region below the lower end of the crawler. 3. The control mechanism according to claim 1, further comprising: a control mechanism that controls the clutch to cause the front row wheel to idle backward and the last row wheel to idle forward by controlling the clutch. Crawler type traveling device.   In the vehicle body, the wheel in the foremost row and the wheel in the last row are displaced from the region above the lower end of the crawler to the region below by the adjusting mechanism, and in the region below the lower end of the crawler. 4. The crawler type traveling device according to claim 2, wherein the crawler traveling device is gradually lifted by being gradually approached.   The said adjustment mechanism controls the attitude | position of the said vehicle body by adjusting each position of the said wheel based on the information from the sensor incorporated in the said vehicle body, Any one of Claim 1 to 4 characterized by the above-mentioned. Crawler type traveling device.   The adjustment mechanism includes a support member attached to each of the arms, and a plate provided to each of the arms on the left and right of the vehicle body, and capable of fastening the support member at a plurality of positions. The crawler type traveling according to any one of claims 1 to 4, wherein the rotation angle of each of the arms becomes the arbitrary rotation angle by fastening the support member at an arbitrary position among the positions. apparatus. The crawler has a sprocket provided side by side, and a crawler belt wound around the sprocket and driven by driving the sprocket,
The crawler type traveling device according to any one of claims 1 to 6, wherein a rotation shaft of the arm is formed at a position overlapping with a drive shaft of the sprocket. A first shaft forming a rotation axis of the arm;
A second shaft that forms a drive shaft of the sprocket and rotates independently of the first shaft;
The crawler type traveling device according to claim 7, further comprising a transmission unit configured to transmit the rotational force of the second shaft to the wheel to drive the wheel. Another wheel mounted coaxially with the sprocket on each of the arms;
A first shaft forming a rotation axis of the arm;
A second shaft that forms a drive shaft of the sprocket and rotates independently of the first shaft;
A first transmission unit that drives the wheel by transmitting the rotational force of the second shaft to the wheel;
The crawler type traveling device according to claim 7, further comprising: a second transmission unit that drives the other wheel by transmitting the rotational force transmitted from the first transmission unit to the other wheel. . The second shaft is cylindrical;
The crawler type traveling device according to claim 8 or 9, wherein the first shaft penetrates the inside of the second shaft. Another wheel mounted coaxially with the sprocket on each of the arms;
A first shaft forming a rotation axis of the arm;
A second shaft that forms a drive shaft of the sprocket and rotates independently of the first shaft;
A transmission unit for driving the wheel by transmitting the rotational force of the second shaft to the wheel;
The crawler type traveling device according to claim 7, further comprising a third shaft that forms a drive shaft of the other wheel and rotates independently of the first shaft and the second shaft. The first shaft and the second shaft are cylindrical.
The first shaft passes through the second shaft;
The crawler type traveling device according to claim 11, wherein the third shaft passes through the inside of the first shaft. The apparatus further includes a rotation permission unit that allows the arm to rotate a certain amount when an external force is applied to the arm in a state where the arm is fixed at the arbitrary rotation angle by the adjusting mechanism. The crawler type traveling device according to any one of claims 8 to 12. The crawler type traveling device according to any one of claims 7 to 13, further comprising a power source that generates a common driving force for the sprocket and the wheel. The crawler type traveling device according to any one of claims 1 to 14, further comprising a link mechanism that connects the left and right wheels in at least the front row or the last row among the wheels and adjusts the direction of the connected wheels. .   The tip of each of the arms adjusts the direction of the wheel by rotating around the central axis of the arm perpendicular to the rotational axis of the arm. The crawler type traveling device according to any one of 14. A screw that is attached to the last row of the arms;
The crawler type traveling device according to claim 1, wherein the crawler traveling device travels on water by driving the screw. It further comprises a plate-like fin attached to at least the frontmost arm among the arms,
The crawler type traveling device according to claim 17, wherein a traveling direction is controlled by adjusting an angle of the fin. A water storage tank built in the vehicle body;
19. The crawler traveling according to claim 1, wherein the buoyancy of the vehicle body is adjusted by pouring water into the tank from the outside of the vehicle body or draining the tank from the tank to the outside of the vehicle body. apparatus.   A wheelchair comprising a chair and the crawler traveling device according to any one of claims 1 to 19.