JP3557460B2 - Traveling device - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a traveling device that travels by using a crawler belt, and in particular, by using a crawler belt, allows the vehicle to easily travel on artificial irregular terrain such as stairs and similar natural irregular terrain that we routinely encounter, and to be used. The present invention relates to a traveling device that can be used.
[0002]
[Prior art]
Movement forms using infinite rotation propulsion mechanisms such as wheel running and crawler running are directly affected by the terrain and geology, so their adaptability to the ground is said to be limited, but compared to other movement forms Since the drive mechanism can be made relatively simple, it is considered that it is highly practical and has many potential possibilities.
[0003]
In the traveling form of the infinite rotation propulsion mechanism, while the wheel traveling is widely used, the crawler traveling is used, for example, for snowmobiles and climbing stairs, but is widely used by ordinary people. Opportunities are significantly less than wheel running, and are often used by specific people in special circumstances. Here, the crawler running means running the wheels on an endless track belt formed endlessly and running via the track belt.
[0004]
The crawler traveling vehicle exhibits excellent performance that cannot be obtained by wheel traveling, in uneven terrain such as terrain having unevenness or inclination, sandy ground, snowy surface, wet ground, and the like. However, the operation of the conventional crawler traveling vehicle is relatively complicated because the traveling mechanism is relatively complicated, and the driving energy loss during traveling is greater than that of the wheel traveling.
[0005]
In our living environment, there are not a lot of irregularities, but there are many unsuitable paths for running wheels, such as stairs and other irregular terrain. A crawler traveling vehicle is suitable for traveling on such uneven terrain. In order for the crawler traveling vehicle to be actually used for such daily use, the mechanism of the crawler traveling vehicle should be simplified and made as lightweight as possible, and the drive energy efficiency should be reduced. A crawler traveling vehicle that can be used easily by improving the steering performance during traveling, facilitating turning operation by making it easy to turn on the spot, etc. It is considered desirable to realize
[0006]
U.S. Pat. No. 4,072,203 discloses a vehicle having a configuration in which a crawler vehicle is divided into units and connected as a small-sized uneven terrain traveling mobile unit for individuals. Japanese Patent Application Laid-Open No. 7-40865 discloses that a pair of right and left crawlers are provided on the front and rear of a vehicle body, respectively, and the front and rear crawlers are integrally rocked in a pair of right and left in a vertical plane to ascend the stairs. And a self-propelled vehicle descending. Further, Japanese Patent Application Laid-Open No. 8-389604 describes an inclined road traveling work vehicle which has a plurality of arms on a vehicle body, a plurality of crawlers or crawlers and wheels provided at a tip thereof, and drives these to travel. I have. In addition, many crawler traveling vehicles using a complicated crawler traveling structure are disclosed, for example, as seen in "Kinichi Yamamoto, Masayoshi Kakikura, Extreme Work Robot, Industrial Research Institute, 1992".
[0007]
However, these conventional crawler traveling vehicles use a plurality of sets of crawlers, or a combination of crawlers and wheels, and have many complicated elements. However, it cannot be said that it is satisfactory in terms of steering characteristics and in-situ turning performance, which are considered particularly important in general use.
[0008]
Japanese Patent Application Laid-Open No. 10-36981 describes a moving body which is easy to change directions and has excellent mobility, in which three crawler traveling vehicles of a front part, a center part and a rear part are connected with three degrees of freedom. I have. Since this crawler traveling vehicle uses a plurality of crawlers skillfully connected, it demonstrates particularly excellent ability for traveling on uneven terrain, such as being able to infiltrate narrow places that occurred during a disaster, etc. It has excellent characteristics. However, although the configuration is simplified, the complexity of three crawler vehicles remains, and a traveling device using a simpler configuration and a simpler crawler traveling for general use is used. desired.
[0009]
[Problems to be solved by the invention]
The present invention is not only used in a special environment, the crawler traveling excellent on uneven terrain traveling, is more widely used in general applications, for example, artificial people such as stairs to be loaded with people and goods and encountered in everyday life Aiming to make it easy to use even when transporting uneven surfaces or irregular terrain in the natural environment, it is simple and operable with a new structure that simplifies the mechanism while taking advantage of crawler traveling. The present invention provides a good new traveling device.
[0010]
[Means for Solving the Problems]
Traveling device of the present invention, applied between a plurality of pulleys and the plurality pulleys and the vehicle body, at least one has a spacing disposed plants constant along each traveling direction on both sides of the vehicle body is driven by a drive mechanism A crawler traveling mechanism that has a passed crawler belt and allows the vehicle to travel in both directions, and has a swing fulcrum at the front of the body, and the drive mechanism can swing around this fulcrum. A wheel arm extending in one traveling direction of the vehicle body, a wheel mounted on a tip of the wheel arm, a traveling control mechanism for controlling traveling of a crawler traveling mechanism and swinging operation of the wheel arm, and a vehicle body; A mounting table arm having a rocking fulcrum at the front portion thereof, and a rocking operation centering on the fulcrum by a driving mechanism, and extending to an upper end of the vehicle body; and a mounting table mounted at a tip of the mounting table arm. On the horizontal surface of the body To to and a mounting table arm control mechanism for controlling the inclination angle relative to the vehicle body of the mounting table arm according to the inclination angle, the fulcrum of swing of the stand arm mounting the fulcrum of the swing of the wheel arm, a plurality of pulleys It is characterized in that it is formed coaxially with the rotation axis of one pulley arranged at the front part of the inside vehicle body .
[0011]
As described above, the traveling device of the present invention has a crawler traveling mechanism on both sides of the vehicle body, and has a very simplified structure of a wheel arm capable of swinging operation with a wheel mounted at the tip and a mounting table arm capable of attitude control. In this configuration, the traveling of the crawler traveling mechanism and the swinging motion of the wheel arm are controlled, and at the same time, the posture of the mounting table arm is controlled to perform traveling. It has obtained the traveling functions required for leveling.
[0012]
Since the traveling device of the present invention has a simplified configuration, the traveling device itself can be made lightweight and robust, can be easily turned, and further, the loss of the energy transmission system required for driving can be reduced. it can.
[0013]
In the traveling device according to the present invention, the fulcrum of the swing of the wheel arm and the fulcrum of the swing of the mounting table arm are formed coaxially with the rotation axis of one of the plurality of pulleys disposed at the front part of the vehicle body. because it is the running device is a single purified, simple and convenient driving device can be realized.
[0014]
Further, in the traveling device of the present invention, the wheel arm and the wheels mounted on the wheel arm can be arranged within a traveling width formed by crawler traveling mechanisms on both sides of the vehicle body. With such a configuration, traveling on a narrow traveling road is facilitated and the use of the traveling device of the present invention is widened, so that its practical significance is great.
[0015]
In the traveling device of the present invention, the wheels held by the wheel arm may be wheels that passively rotate without having a drive rotation mechanism that drives and rotates the wheels, that is, passive wheels. In the traveling device according to the present invention, even when the wheels are passive wheels, traveling performance on uneven terrain can be obtained by active operation of the wheel arm. If the wheels are passive wheels, a driving mechanism for driving the wheels is not required, so that the configuration is simplified, and the weight can be reduced, so that the convenience is increased.
[0016]
Further, in the traveling device according to the present invention, a drivable wheel having a drive mechanism, that is, an active wheel may be used as the wheel held by the wheel arm. If the wheel held by the wheel arm is an active wheel, the driving force of the vehicle can be used for the active wheel, and the convenience of the traveling device can be improved.
[0017]
In the present invention, for example, by controlling the driving of the crawler traveling mechanism, the wheel arm, and the mounting table arm, it is possible to smoothly ascend and descend on irregular slopes such as stairs.
[0018]
The drive control of the wheel arm in this case can be performed, for example, as follows. First, drive the crawler traveling mechanism to ascend the stairs by traveling with the wheels and the wheel arm forward in the traveling direction.When the wheels approach the rise of the stairs, drive the wheel arm to hold the wheels. Then, the crawler travels forward to move forward and puts the wheel on the tread surface above the kick-up. Subsequently, the operation of lowering the wheel arm and raising the front part of the vehicle body with the wheel mounted on the tread surface causes the vehicle body to be in a stair climbing position and assists the crawler traveling mechanism to assist the stair climbing travel. Do. When the wheels reach the flat surface, the operation of changing the angle of the wheel arm upward is performed to change the posture of the vehicle body to make it horizontal, so that the traveling body smoothly reaches the flat surface.
[0019]
When driving down the stairs by driving the crawler traveling mechanism, the crawler traveling mechanism is driven forward in the traveling direction, the wheels and the wheel arms are traveled backward in the traveling direction, and the front end of the crawler traveling mechanism is stepped on the stairs. Lowering the front of the vehicle body by lowering the wheel arm when exceeding the edge of the surface, the vehicle body is brought to the stairs descending posture, and the crawler traveling mechanism moves forward and descends each step of the stairs every time the wheel arm The vehicle travels while making contact with the wheels on each tread surface by driving, and after the front end of the crawler traveling mechanism reaches a flat surface, the angle of the wheel arm is changed to level the body, and the traveling body is moved. Make it reach a flat surface smoothly.
[0020]
In this case, as the drive control of the mounting table arm, it is only necessary to keep the mounting table arm vertical regardless of the posture of the vehicle body, for example. By doing so, the traveling device of the present invention can smoothly go up and down stairs.
[0021]
BEST MODE FOR CARRYING OUT THE INVENTION
FIG. 1 is a view schematically showing one embodiment of a traveling device according to the present invention. FIG. 1 (A) is a plan view thereof, and FIG. 1 (B) is a side view thereof. In the figure, a traveling device 100 has a front pulley 14 having a rotating shaft 12 and a rear pulley 15 having a rotating shaft 13, and these rotating shafts are mounted on the vehicle body 10. A crawler belt 16 is stretched between these pulleys, and constitutes a crawler traveling mechanism 160 capable of driving and rotating these pulleys by a driving mechanism (not shown) to travel the crawler.
[0022]
The traveling device 100 includes a wheel arm 17 on which wheels 19 are mounted and a mounting table arm 18 on which the mounting table 11 is mounted, such that their fulcrums are coaxial with the rotation shaft 12 of the first pulley 14 at the front. It is configured to simplify the vehicle structure. Here, each of the wheel arm 17 and the mounting table 18 includes a drive mechanism (not shown), and is configured to be able to swing around a fulcrum by driving.
[0023]
As the wheel 19 mounted on the wheel arm 17, a passive wheel having no drive rotation mechanism is used. Further, the mounting table 11 mounted on the mounting table arm 18 can be loaded with a person or mounted with a conveyed material.
[0024]
A drive power source and a power transmission mechanism, which are drive mechanisms mounted on the vehicle body 10, and a control mechanism (not shown) for controlling them are used for driving the pulleys and the two active arms of the crawler traveling mechanism. Can be Any power source such as an electric motor or an internal combustion engine can be selected and used as the power source used in the traveling device of the present invention. For example, when the main purpose is indoor use, an electric motor that does not generate exhaust gas is selected as a power source, and when the main purpose is outdoor use for a long time, an internal combustion engine equipped with a fuel tank is used. For example, an appropriate selection according to the purpose can be made.
[0025]
FIG. 2 is a schematic plan view showing another embodiment of the traveling device of the present invention. In this embodiment, the wheel arm 27 of the traveling device 200 and the wheels 29 held by the active arm are provided inside the pair of crawlers 26 of the crawler traveling mechanism 260. Such a structure in which the width of the front portion of the vehicle is reduced is an advantageous structure when traveling in a narrow space.
[0026]
Although the number of wheels held by the wheel arm is shown in FIGS. 1 and 2 as being two, the number of wheels may be one if necessary, or three or more. You can also. If the wheels are as wide and large as possible for the purpose of traveling on relatively soft running roads without damage, the contact area between the running road and the wheels should be increased, and the contact pressure between the running surface and the wheels should be reduced. Can be.
[0027]
Next, planar traveling of the traveling device of the present invention will be described. In the traveling device 100 according to the embodiment of the present invention illustrated in FIG. 1, the crawler traveling mechanism 160 can travel both forward and backward with the direction of the pulley 14 being forward and the direction of the pulley 15 being backward. In plane running, the wheel arm only needs to bring the wheel into contact with the running surface, and there is no particular problem. ADVANTAGE OF THE INVENTION Since the driving | running | working apparatus of this invention simplifies the structure of a driving | running | working apparatus, since power transmission loss is small in planar driving | running, light traveling is possible.
[0028]
Next, in-situ turning of the traveling device of the present invention will be described. In the traveling device 100 of FIG. 1, the entire load of the traveling device 100 can be received at a position near directly below the front pulley 14. In this manner, if the vehicle makes a turn at this position, the turning resistance of the traveling device 100 can be significantly reduced. At the time of turning on the spot, the wheels 19 held by the wheel arms 17 are kept in contact with the running surface such as the ground or the floor, so that the running device 100 is prevented from falling even if an imbalance occurs during turning. can do. In addition, since the steering performance during traveling can be significantly improved by this effect, the traveling device of the present invention can easily make a small turn.
[0029]
Here, the load of the entire traveling device 100 can be received at a position near immediately below the front pulley 14 as follows. The load of the load loaded on the mounting table 11 can be applied to the pulley 14 at the front. Further, the position where the crawler under the front pulley 14 contacts the running surface is close to the position where the crawler is balanced back and forth due to the shape of the running device 100. Further, the position where the traveling device 100 balances back and forth can be adjusted by changing the angle of the mounting table arm 18 as needed.
[0030]
Next, traveling up the stairs by the traveling device of the present invention will be described. FIG. 3 illustrates a situation in which the traveling device 300 according to the present invention travels on a stair 3000 that is an artificial terrain. When the traveling device 300 of the present invention climbs the stairs, as shown in FIG. 3, the wheels 39 are on the upper side of the slope, the front of the crawler traveling mechanism 360 is on the upper side, and the rear of the crawler traveling mechanism 360 is on the lower side. It is desirable that the vehicle be driven up.
[0031]
In FIG. 3, when the traveling device 300 travels toward the stairs with the wheels 39 forward, and approaches or comes into contact with the stairs, the stairs can be ascended by repeating, for example, the following steps.
[0032]
First, a stair rise is detected at the front. Next, the wheel arm 37 is driven to lift the wheel 39 to lift the wheel 39 from the running surface. Next, as the traveling device 300 moves forward, the wheels are positioned on the tread surface of the stairs. Subsequently, by lowering the wheel arm 37 and raising the front portion of the crawler traveling mechanism 360 with the wheel 39 as a fulcrum, the crawler traveling mechanism 360 is set to a stair-climbing posture to assist the stair climbing. Next, if the rise of the stairs is detected again at the front, the above operation starting from the operation of lifting the wheels 39 is repeated, and the stairs are sequentially raised.
[0033]
After the crawler has taken the posture along the slope of the stairs, the stairs can be easily ascended even if the posture of the wheel arm is fixed in parallel with the crawler.
[0034]
When the traveling device 300 moves up the stairs in this way, the mounting table arm 38 controls its driving so as to maintain its angle vertically, and keeps the mounting table 31 substantially horizontal. Since the fulcrum of the mounting table arm 38 is disposed at the front of the crawler traveling mechanism 360, the position of the center of gravity of the traveling device 300 can be moved in this manner, for example, to the position of the fulcrum, for example, the end of the step surface of the stairs and the crawler. The traveling mechanism 360 can always be maintained at a position above the stairs from a position where the traveling mechanism 360 contacts and becomes a fulcrum, and the traveling device 300 can travel stably without falling. Here, in order to keep the mounting table 31 horizontal, for example, it is possible to use feedback control in which the inclination is detected using an inclination sensor and the mounting table arm 38 is driven so that the inclination always becomes zero.
[0035]
In this way, the traveling device 300 can smoothly and easily ascend the stair-like terrain. Note that a proximity sensor or a contact sensor can be used to detect that the traveling device 300 approaches or comes into contact with the rise of the stairs 3000.
[0036]
When the forefront of the traveling device 300 reaches the top of the stairs, the wheels 39 provided on the wheel arm 37 are brought into contact with the floor of the top of the stairs 3000, and the attitude of the crawler traveling mechanism 360 is sequentially changed by the wheel arms. By doing so, the entire traveling device 300 can smoothly reach the uppermost stage without giving an impact to the crawler traveling mechanism 360 and the traveling device 300.
[0037]
If there is a landing in the middle of the stairs, and the direction of the stairs changes here, perform the above-mentioned turn at this landing, turn the traveling device in the ascending direction of the next stairs, and then again Start climbing the stairs.
[0038]
Next, traveling down the stairs by the traveling device of the present invention will be described. It is found that the traveling device moves forward with the wheels forward, and approaches the stairs in which the front descends, and when descending the stairs, it makes a 180 ° turn before starting to descend to the side of the crawler traveling mechanism 360. The descent may be started from.
[0039]
Even when descending the stairs in this manner, the vehicle travels with the crawler traveling mechanism 360 forward in the traveling direction and the wheels 39 and the wheel arms 37 backward in the traveling direction according to the posture shown in FIG. When the front end of the crawler traveling mechanism 360 exceeds the end of the step surface of the stairs, the operation of lowering the wheels 39 is performed to lower the front of the crawler traveling mechanism 360, so that the crawler traveling mechanism 360 is set to the posture of descending the stairs. At the same time, the crawler travel mechanism 360 moves forward while traveling while maintaining the contact of the wheels 39 with the respective tread surfaces by driving the wheel arm 37 at each step of the stairs, and the front end of the crawler travel mechanism 360 reaches a flat surface. Then, the angle of the wheel arm 37 is gradually changed to make the attitude of the crawler traveling mechanism 360 horizontal, and the traveling body smoothly reaches the flat surface.
[0040]
When the traveling device 300 descends the stairs, even when the vehicle is inclined with respect to the horizontal plane, the inclination is detected by, for example, an inclination sensor, and the mounting table arm compensates for the inclination so that the inclination is always kept at zero. In addition to 38, the attitude of the mounting table is maintained. In this way, the position of the load on the mounting table 31 can be maintained on the stairs in the same position as when traveling on flat ground, and the position of the center of gravity of the traveling device 300 becomes a fulcrum of the entire traveling device 300, for example, the position of the stairs. The end of the tread surface and the crawler traveling mechanism 360 are in contact with each other, so that the traveling device can be kept in a stable state by always keeping the position on the stairs above the position serving as a fulcrum.
[0041]
As described above, in the traveling of the traveling device 300 of the present invention, the traveling direction of the traveling device is reversed between the case where the stairs are ascended and the case where the stairs are descended, and the wheels 39 and the wheel arms 37 are always positioned above the sloped ground. preferable. By doing so, it can be seen that the traveling device can maintain a stable posture and can effectively use the wheels 39 provided on the wheel arms 37. In addition, although the operation | movement which the traveling apparatus of this invention performs up-and-down traveling was demonstrated mainly about the staircase as an example here, it is the same as this when the traveling apparatus of this invention travels on other similar uneven terrain.
[0042]
By the way, when a person rides on the traveling device 300, it is conceivable that the rider desires to ride in the traveling direction of the traveling device 300. Such a demand can be met by a method such as using a chair that rotates 180 ° on the carrier or a chair that can reverse the direction of the backrest, and switches the direction between ascending and descending.
[0043]
FIG. 4 shows still another embodiment of the traveling device of the present invention, in which a wheel arm 47 having a passive wheel 49 is bent. By adopting such a shape, when the traveling device 40 of the present invention pushes down the wheel arm 47 holding the wheel 49 on the rough terrain, the wheel arm 47 is raised on the irregular terrain such as the stairs 4000 before the passive wheel. It is possible to avoid contact with the parts.
[0044]
The driving operation of the traveling device of the present invention may be performed by a person riding on the vehicle, or may be remotely controlled from outside the traveling device using a known method. You may make it.
[0045]
Next, the present invention will be specifically described based on examples of the present invention.
[0046]
(Example)
FIG. 5 is a diagram schematically showing a small-sized traveling device prototyped as one embodiment of the present invention. FIG. 5 (A) is a plan view and FIG. 5 (B) is a side view. This traveling device has a total length of 1055 mm and a total width of 700 mm, and the total weight of the vehicle is about 80 kg, which is light, and the payload is about 120 kg.
[0047]
In the figure, the crawler traveling body 50 has a first pulley 54 and a second pulley 55 on a first shaft 52 and a second shaft 53, respectively, and a pair of crawler belts 56 is stretched between these wheels. ing.
[0048]
On the first shaft 52 of the traveling device 50, in addition to the wheels 52, two active arms of a wheel arm 57 and a mounting table 58 are connected at one end, and the wheel arm 57 and the mounting table 58 are respectively , An active arm rotatable around the first shaft 52.
[0049]
A passive wheel 59 is attached to the other end of the wheel arm 57 so that the crawler 56 and the passive wheel 59 can contact a running surface. A loading platform 51 is provided at the other end of the loading platform 58, and the loading platform 51 can be loaded with a conveyed material. In this configuration, by the active rotation of the mounting table 58, the position of the load on the loading table 51 is maintained, and at the same time, the position of the center of gravity is maintained at a position where the traveling device 50 as a whole has good stability.
[0050]
For the crawler 56, a commercially available rubber roller was used. It was confirmed that even a commercially available rubber roller could be run on stairs by the load and adopted. To reduce the weight of the vehicle, the wheels 54 and 55 of the crawler were made of an aluminum alloy. Rubber tires were used for the passive wheels 59.
[0051]
As the actuators of the traveling device 50, four 150 W DC motors were used for driving the left and right crawlers, and one each for driving the wheel arm and the mounting table. In addition, a continuously variable transmission is used for the drive units of the left and right crawlers, and an 11W DC motor is used for driving the continuously variable transmission. It can be changed to drive. The power supply used was a shielded lead-acid battery of 36 V (3 × 12 V) and a capacity of 5 Ah.
[0052]
With such a configuration, the climbing ability of the traveling device 50 of the present embodiment is 175 mm / s at no load and 70 mm / s at maximum load as the propulsion speed of the slope and the stairs of about 40 °. The maximum speed is about 3 km and the thrust is 10.5 kgf. A running test was carried out with a maximum load of 120 kg as a load, and ascending and descending stairs with an inclination angle of 30 to 40 ° were tested as irregular terrain, and extremely stable running and good steering characteristics were confirmed. In addition, it was confirmed that the car could turn on the spot in the elevator, and that it was possible to run lightly on flat ground. The traveling device 50 is configured to be lightweight as a whole vehicle, a rubber-type roller is used for a crawler track of the crawler 56, and a rubber tire is used for a passive wheel 59. Did not.
[0053]
It should be noted that the above-described embodiments and examples of the present invention are merely examples, and the scope of the present invention is not limited to these examples. All modifications and changes belonging to the claims of the present invention are within the scope of the present invention.
[0054]
【The invention's effect】
According to the present invention, since the structure is simple, the system is lightweight and rugged, the loss of the driving force transmitting system is relatively small, and the steering performance during traveling is good, and the turning on the spot is easy and stable. A traveling device suitable for the application can be realized. If this traveling device is used, it is possible to easily carry up and down stairs and stably travel on uneven terrain to transport people and loads, so that it can be widely used indoors and outdoors.
[Brief description of the drawings]
FIG. 1 is a plan view (A) and a side view (B) schematically showing a traveling device according to an embodiment of the present invention.
FIG. 2 is a plan view schematically showing a traveling device according to another embodiment of the present invention.
FIG. 3 is a diagram schematically illustrating a situation in which the traveling device according to the embodiment of the present invention moves up or down stairs.
FIG. 4 is a view schematically showing a traveling apparatus according to yet another embodiment of the present invention.
FIG. 5 is a plan view (A) and a side view (B) schematically showing a traveling device according to an embodiment of the present invention.
[Explanation of symbols]
10,20,30,40,50 ... traveling device,
11, 31, 51 ...... mounting table,
12, 32, 52 ... rotating shaft,
13, 33, 53 ... rotating shaft,
14, 54... The first pulley,
15, 55 ... second pulley,
16, 26, 36, 56 ... crawler,
17, 27, 37, 47, 57 ... wheel arm,
18, 28, 38, 58 ... mounting table,
19, 29, 39, 49, 59 ... wheels
100,200: Crawler traveling mechanism 3000, 4000: Stairs.

Claims (3)

Body and
Wherein are arranged respectively along the traveling direction on both sides of the vehicle body, comprising: a plurality of pulleys, at least one is driven by a driving mechanism a predetermined distance, and a crawler belt passed sieved between the plurality of pulleys, A crawler traveling mechanism capable of traveling the vehicle body in both directions,
Has a fulcrum of swinging to the front of the vehicle body, it is capable of oscillating motion around a fulcrum by a driving mechanism, and a wheel arm extending to one running direction of the vehicle body,
A wheel mounted on the tip of the wheel arm,
A travel control mechanism that controls travel of the crawler travel mechanism and swinging operation of the wheel arm to perform travel,
A mounting table arm having a swing fulcrum at a front portion of the vehicle body, capable of swinging around the fulcrum by a drive mechanism, and extending to an upper end of the vehicle body;
A mounting table attached to the tip of the mounting table arm,
A mounting table arm control mechanism for controlling a tilt angle of the mounting table arm with respect to the vehicle body in accordance with the tilt angle of the mounting table arm with respect to a horizontal plane, wherein a fulcrum of the swing of the wheel arm and a swing of the mounting table arm are described. A traveling device , wherein a fulcrum is formed coaxially with a rotation axis of one of the plurality of pulleys disposed at a front portion of the vehicle body . The wheel arm and the wheel mounted thereto, according to claim 1 Symbol placement of the traveling device, characterized in that it is located within the travel range defined by the vehicle body on both sides of the crawler traveling mechanism. The traveling device according to claim 1, wherein the wheel is a wheel having no drive rotation mechanism.

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