JP2851476B2 - Crawler type traveling vehicle with variable shape - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crawler-type traveling vehicle which is suitable as a mobile vehicle for patrol inspection in, for example, a nuclear reactor, a factory, a construction site, a chemical plant, and the like, and for mining and undersea work in mountainous areas. In particular, the present invention relates to a variable-form crawler-type traveling vehicle in which the shape of a crawler is made deformable in accordance with the shape of a traveling road surface, thereby improving the ground adaptability of the traveling road surface.

[0002]

2. Description of the Related Art Generally, a crawler type traveling vehicle is widely used as a traveling vehicle for rough terrain such as a mountainous area.

A crawler-type traveling vehicle in which the entire shape of the crawler belt is variable in order to improve the ground adaptability has also been proposed, and an example thereof will be described with reference to FIGS. Reference numeral 20 denotes a vehicle main body. The vehicle main body 20 has four crawler units 21 in front, rear, left and right directions.
Are mounted to be swingable about the main shaft 22 respectively.

For example, by rotating each crawler unit 21 about the main shaft 22, the vehicle height can be adjusted as shown in FIG. 6A, or the vehicle body can be adjusted as shown in FIG. It is configured to be able to run on a ramp while keeping the 20 horizontal.

[0005] In addition, the one shown in FIG. 7 has also been proposed.

That is, the starting wheel 2 fixed to the vehicle body 23
A planetary wheel 28 attached to the distal end of an arm 27 whose base end is pivotally supported at a substantially central portion of the vehicle body;
A pair of crawler units 24 each including a crawler belt 29 arranged by winding a wheel are attached to the left and right sides of the vehicle body 23,
By rotating the arm 27 and displacing the planetary wheel 28 to deform the entire shape of the crawler belt 29, (a) → (b) in FIG.
In the operation sequence shown in FIG.
In (B) (a) → (b) → (c) or (c) → (b) → (a) operation sequence, it is possible to move up and down a slope or step-like road surface .

[0007]

By the way, in the case of the conventional example shown in FIG. 5, a large number of crawler units are required, and since each crawler unit has to swing about the main shaft, a strong actuator is required. It is necessary to equip the crawler-type traveling vehicle, which increases the weight and inevitably increases the size of the crawler-type traveling vehicle.

Further, in the case of the conventional example shown in FIG. 7, although it can be made relatively small and mechanically simple, it is necessary to overcome obstacles shown in FIGS. In order to swing a relatively long arm 27 pivotally supported at a substantially central portion of the vehicle main body 23 when ascending or descending a road-like road surface, the same as in the case of the conventional example shown in FIG. However, there is a problem that a powerful actuator must be provided.

The present invention is intended to solve such a problem. In a crawler type traveling vehicle having crawler units disposed on both right and left sides of a vehicle body, each crawler unit is provided with driving wheels and rotating wheels. And two planetary wheels and a crawler belt arranged by winding these four wheels, while forming a link mechanism around each axis of the four wheels,
An object of the present invention is to provide a variable-form crawler-type traveling vehicle in which the entire shape of the crawler belt is deformed according to the shape of the uneven terrain by deforming the link mechanism so that the vehicle can travel on the uneven terrain. .

[0010]

SUMMARY OF THE INVENTION In order to achieve the above object, a deformable crawler type traveling vehicle according to the present invention is provided on a crawler type traveling vehicle, which is disposed on a vehicle body and on both left and right sides of the vehicle body. Each of the crawler units includes a drive shaft mounted on the vehicle body, a traveling starting wheel mounted on the drive shaft, and an axle mounted on the vehicle body and rotated by the same axle. A rotatable wheel mounted so as to be able to move, an oscillating actuator arranged concentrically with the axle, an arm that can oscillate with the drive shaft as a fulcrum, and oscillatable with the axle as a fulcrum; and A swing arm driven by the swing actuator, a planetary wheel rotatably mounted on each free end of the arm and the swing arm via a pivot, and a connection between the pivots. Connecting rod It is characterized in that it is constituted by the above drive sprocket and rotating wheels and crawler belts disposed by winding both planet wheels.

[0011]

In the variable shape crawler type traveling vehicle of the present invention described above, a link mechanism is formed by the arm and the swing arm pivotally supported by the vehicle body and the connecting rod, and the swing arm is swung by the swing actuator. By moving and deforming the link mechanism, both planetary wheels are displaced, whereby the entire shape of the crawler belt can be deformed to a shape corresponding to the shape of the traveling road surface.

[0012]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view, FIG. 2 is a longitudinal sectional view of a rotating wheel, FIG. 3 and FIG.
1 is a side view schematically showing a traveling procedure.

The crawler type traveling vehicle of this embodiment also has crawler units 2 on the left and right sides of the vehicle body 1.

Each crawler unit 2 is configured as follows. That is, the running starting wheel 3 is mounted on a drive shaft 12 mounted on the vehicle body 1, while the rotating wheel 4 having the same diameter as the starting wheel 3 is rotatably mounted on an axle 13 mounted on the vehicle body. . In addition, the arm 8 which can swing about the drive shaft 12 as a fulcrum and the swing which is pivotable about the axle 13 are supported, and are directly connected to a swing actuator 16 disposed concentrically with the axle 13. An arm 9 is provided, and a connecting rod 10 is provided between the free ends of the arm 8 and the swing arm 9 via respective pivots 14 and 15, and each of the pivots 14 and 15 has a smaller diameter than the starting wheel 3. The planetary wheels 5, 6 are rotatably mounted, while the crawler belt 7 is provided by winding the starting wheel 3, the rotating wheel 4, and both planetary wheels 5, 6 respectively.

Here, the arm 8, the swinging arm 9, and the connecting rod 10 constitute a four-bar linkage, and the distance between the drive shaft 12 and the axle 13 and the distance between the pivots 14 and 15 are defined. While the distance is set equal, the axle distance between the axle 13 and the pivot 14 and
The center distance between the drive shaft 12 and the pivot 15 is set to be equal, and the four-bar link mechanism constitutes a parallel link mechanism. In FIG. 1, reference numeral 11 denotes a bearing, and reference numeral 17 denotes an auxiliary wheel.

In the above structure, the swing actuator
When the swing arm 9 is swung by the operation of 16, the parallel link mechanism is deformed and the entire shape of the crawler belt 7 is deformed according to the shape of the running ground, so that the crawler type running vehicle runs on uneven terrain. Can be done.

FIGS. 3A to 3D show a case where there is a wide moat P in front of the running ground as an example of running on uneven terrain.
A wide moat P can be crossed in the operation sequence of (a) → (a) → (c) → (d).

That is, in FIG. 3, when approaching the moat P, the swing arm 9 is swung to cause the planetary wheel 5 to protrude forward from the wheel body 1, and the starting wheel 3 is maintained while maintaining this state.
To drive the vehicle in the direction of arrow A (A).
When the vehicle crosses the moat P (a), the swing arm 9 is swung in the counterclockwise direction (the direction of the arrow a) (c), and the vehicle is driven in the direction of the arrow A in this state (d), and the crossing of the river is completed. I do.

When there is a high bank in front, FIG.
→ You can climb in the operation sequence of (b) → (c) → (d).

That is, in FIG. 4, just before the bank 9, the swing arm 9 is swung in the direction of arrow a so that the planetary wheel 5 projects forward from the vehicle body 1, and the starting wheel 3 is driven while maintaining this state. To move the vehicle in the direction of arrow A (b), and then swing the swing arm 9 in the direction of arrow b (c), and in this state, make the vehicle run in the direction of arrow A (d). You can climb up.

The actuator for swinging the swing arm 9
Reference numeral 16 denotes each of the left and right crawler units 2 in this embodiment.
, The two crawler units 2 may be operated by one swing actuator common to both the crawler units 2.

Further, since the four-bar link mechanism composed of the arm 8, the swing arm 9 and the connecting rod 10 is a parallel link mechanism, there is no possibility that the crawler belt 7 will be loosened when the crawler belt is deformed. .

When the two planet wheels 4, 5 have the same diameter as the starting wheel 3 (rotating wheel 4), the crawler belt 7 can be prevented from becoming loose even if the link mechanism is not a parallel link mechanism. Becomes possible.

In addition, even if the crawler belt 7 is not specially designed as described above, it is possible to absorb the slack of the crawler belt 7 by providing a device capable of constantly applying a constant tension to the crawler belt 7.

[0025]

As described in detail above, the variable shape crawler type traveling vehicle of the present invention has the following effects and advantages. (1) Since the entire shape of the crawler belt can be changed in accordance with the shape of the traveling road surface, it becomes possible to cause the crawler type traveling vehicle to travel on uneven terrain. (2) By swinging a swing arm, one end of which is pivotally supported by an axle mounted on the vehicle body, by a swing actuator, the swing arm deforms a link mechanism forming a part of the swing arm. Since the entire shape of the crawler belt can be changed, the entire shape of the crawler can be deformed by a small actuator, and the crawler-type traveling vehicle can be downsized.

[Brief description of the drawings]

FIG. 1 is a perspective view of a variable shape crawler type traveling vehicle as one embodiment of the present invention.

FIG. 2 is a longitudinal sectional view of the rotating wheel.

FIG. 3 is a schematic side view showing a traveling procedure at the time of crossing the river.

FIG. 4 is a schematic side view showing a traveling procedure when climbing the stairs.

FIG. 5 is a perspective view of a conventional deformable crawler type traveling vehicle.

FIGS. 6A and 6B are schematic side views showing the same traveling procedure.

FIG. 7 is a perspective view of another conventional variable-shape crawler type traveling vehicle.

8 (A) and 8 (B) are schematic side views showing the same traveling procedure.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Vehicle main body 2 Crawler unit 3 Starting wheel 4 Rotating wheel 5, 6 Planetary wheel 7 Crawler belt 8 Arm 9 Swing arm 10 Connecting rod 12 Drive shaft 13 Rotating shaft 14, 15 Axis 16 Swing actuator

Continuation of front page (56) References JP-A-5-155361 (JP, A) JP-A-62-77279 (JP, A) JP-A-61-89181 (JP, A) JP-A-62-137779 (JP, A) , U) Japanese Utility Model Showa 62-137778 (JP, U) Japanese Utility Model Showa 51-14961 (JP, U) Japanese Patent Publication No. 2-3754 (JP, B2) Japanese Patent Publication No. 1-38713 (JP, B2) 2-28153 (JP, Y2) (58) Fields investigated (Int. Cl. ⁶ , DB name) B62D 55/084 B62D 55/12 B62D 55/14 B62D 55/075

Claims (1)

(57) [Claims] 1. A crawler type traveling vehicle comprising a vehicle body and crawler units disposed on both left and right sides of the vehicle body, wherein each of the crawler units is the same as a drive shaft mounted on the vehicle body. A starting wheel for traveling mounted on the drive shaft, a rotating wheel rotatably mounted on the same axle as the axle mounted on the vehicle body, and a swing actuator disposed concentrically with the axle; An arm capable of swinging with the drive shaft as a fulcrum, a swing arm capable of swinging with the axle as a fulcrum, and swingably driven by the swinging actuator; and each of the arm and the swing arm. A planetary wheel rotatably attached to the free end via a pivot, a connecting rod connecting between the two pivots, and the starting wheel, the rotating wheel, and the two planetary wheels are arranged by winding. Composed of crawler and A crawler-type traveling vehicle of variable shape.