JP3692602B2 - Traveling vehicle - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a traveling vehicle, and more particularly, to a traveling vehicle equipped with a crawler device.
[0002]
[Prior art]
A conventional traveling vehicle 50 is shown in FIG. This traveling vehicle 50 is intended to travel on a road surface with undulations and unevenness, and includes a vehicle main body 51, a plurality of crawler devices 100 equipped as traveling wheels on the vehicle main body 51, and the crawler devices 100. Drive means (not shown) for energizing the rotation operation. This drive means has a drive shaft for which a rotational force is urged by a drive source for each crawler device 100, and each crawler device 100 is disposed on the tip side of this drive shaft 52.
[0003]
Next, a conventional crawler device 100 is shown in FIG. The crawler device 100 includes an input shaft 101 to which a rotational force is transmitted by a drive shaft 52 of a driving unit, a support member 102 that rotatably supports the input shaft 101 via a bearing at the center thereof, and the support Three rollers 103A, 103B, and 103B that are radially and rotatably mounted on the member 102 from the center, an endless annular crawler 104 wound around these rollers 103, and the rotation of the input shaft 101 are rotated. And power transmission means 105 for transmitting to 103A.
[0004]
The above-described rollers 103A, 103B, 103B are arranged at equal distances from the central portion by the support member 102, and the crawler 104 is substantially abbreviated as shown in FIG. 7A by these rollers 103A, 103B, 103B. It is wound in an equilateral triangle shape. The roller 103A is a crawler driving sprocket, and the rotational force transmitted to the roller 103 is transmitted to the other rollers 103B and 103B via the crawler 104.
[0005]
Further, the power transmission means 105 described above includes a main sprocket 105A fixedly mounted on the input shaft 101, a driven sprocket 105B coaxially connected to the wheel 103A, and an endless annular belt 105C that interlocks the sprockets 105A and 105B. It consists of and.
[0006]
In the traveling vehicle 50 equipped with the conventional crawler device 100 as traveling wheels, the crawler 104 is normally rotated by the rollers 103A whose rotational force is urged by the power transmission means 105 from the input shaft 101. Driving is performed along a substantially equilateral triangular contact outer periphery by 103B, and thereby the vehicle travels without the support member 102 rotating.
[0007]
Further, when the road surface becomes uneven and uneven, and the crawler 104 becomes difficult to travel, the wheel 103A is in a fixed state, and the rotational force transmitted to the input shaft 101 urges the entire support member 102 to rotate. . That is, the entire crawler device 100 rotates as one wheel so that the crawler device 100 can travel over the undulations and irregularities of a size allowed by the substantially equilateral triangle composed of each of the rollers 103A, 103B, 103B. It has become.
[0008]
[Problems to be solved by the invention]
However, in the above conventional example, the input shaft 101 of the crawler device 100 is coaxially connected to the drive shaft 52 disposed in a protruding state from the side surface of the vehicle main body 51, so that at least the vehicle main body 51 is connected to the crawler device 100. Only the same height as the distance from the input shaft 101 to the road surface could be secured.
[0009]
That is, assuming that the height from the bottom surface of the vehicle main body 51 to the road surface is H, as shown in FIG. 8, when the crawler device 100 has a substantially equilateral triangle shape with one side length L, H = (L / 2) Tan 30 ° is established, and the height H is approximately 0.2887 times L. Thus, compared with the size of the crawler device 100 as a whole, conventionally, the vehicle main body 51 has not been secured to a sufficient height.
[0010]
For this reason, as shown in FIG. 9, a collision between the obstacle and the vehicle main body 51 easily occurs between the crawler devices 100 paired as the front wheels ahead in the traveling direction. The main body 51 may be damaged.
[0011]
Further, in the conventional crawler device 100, as shown in FIG. 7B, the power transmission means 105 is disposed so as to protrude outside the winding region of the crawler 104. Thus, when the driven sprocket 105B moves downward, it becomes easy to collide with an obstacle as shown in FIG. 10, and there is a risk of damage or failure.
[0012]
OBJECT OF THE INVENTION
An object of the present invention is to improve the inconvenience of such a conventional example, and in particular to provide a traveling vehicle that can run on a rough road surface while preventing breakage and the like.
[0013]
[Means for Solving the Problems]
According to the first aspect of the present invention, there is provided a vehicle main body, drive means disposed inside the vehicle main body, and a drive disposed in a protruding state from a side surface of the vehicle main body and energized by the drive means. And a plurality of crawler devices as traveling wheels driven by the drive shaft, each crawler device being rotatable at an input shaft driven by the drive shaft of the driving means and at a central portion. A support member for supporting the input shaft, a plurality of wheels disposed radially on the support member and rotatably mounted on the support member, an endless annular crawler wound around the wheels, In order to achieve the above object, in particular , the traveling vehicle includes a first power transmission unit that transmits the rotation of the input shaft to at least one of the wheels .
One end of a holding guide that rotatably holds the input shaft at a position below the drive shaft is fixedly mounted on the vehicle body ,
The said crawler device has a configuration, wherein the second power transmission means for transmitting a rotational force to the input shaft from the drive shaft is provided.
[0016]
In the above configuration, during traveling, a rotational force is applied to the input shaft from the drive shaft of the drive means mounted on the vehicle body via the second power transmission means. At this time, in the case of traveling on a road surface with few undulations and unevenness, the rotation operation is urged from the input shaft to a predetermined wheel via the first power transmission means. Then, with the support member not rotating, the crawler is driven along the outer peripheral surface of each roller wheel, and traveling is performed with the area between any two adjacent rollers on the outer peripheral surface of the crawler as a ground contact surface. .
[0017]
Further, when traveling on a road surface with many undulations and irregularities, the support member rotates about the input shaft, and the entire crawler device functions as a wheel.
[0018]
The invention described in claim 2 has the same configuration as that of the invention described in claim 1, and a support member is disposed between the first power transmission means and the second power transmission means along the input shaft. and has a structure which is characterized in that all of the configuration of the crawler devices except the vehicle body-side fixed end of the retaining guide, is disposed in the region inside the lateral width direction of the crawler.
[0019]
In the case of this configuration, traveling is performed in substantially the same manner as in the first aspect of the invention, and traveling is performed without protruding almost all the configuration of the crawler device from the inner region of the crawler.
[0020]
The invention described in claim 3 has the same configuration as that of the invention described in claim 2, and the crawler device includes the first side plate and the second power transmission so as to sandwich the first power transmission means and the second power transmission means. 2 side plates are arranged ,
The holding guide is fixedly mounted on the vehicle main body and fixed to the vehicle main body, and a disk portion that is disposed on the same plane as the second side plate and allows the second side plate to rotate. Composed by
The first side plate rotatably supports one end portion of the rotating shafts of the plurality of wheels ,
The second side plate is connected to the first side plate through a plurality of connecting portions .
[0021]
In the case of this configuration, the first side plate and the second side plate suppress the intrusion of earth and sand into the inner area of the crawler, thereby preventing the occurrence of breakage and failure of each part, and further maintainability by this. Is improved .
[0022]
The present invention intends to achieve the above-described object by the above-described configurations.
[0023]
DETAILED DESCRIPTION OF THE INVENTION
An embodiment of the present invention will be described with reference to FIGS. The present embodiment shows a traveling vehicle 10 that includes a vehicle main body 11, four crawler devices 20 provided as traveling wheels on the vehicle main body 11, and driving means that urges the crawler device 20 to rotate. ing.
[0024]
As shown in FIG. 1, the traveling vehicle 10 is equipped with a crawler device 20 as a front wheel on both the left and right sides of the vehicle main body 11 via holding guides 25 (the rear wheel is similarly configured from a pair of crawler devices 20. (The illustration is omitted). Inside each holding guide 25, a drive shaft 12 urged by a driving force (not shown) of driving means arranged inside the vehicle main body 11 is rotatably arranged. That is, the drive shaft 12 is provided for each crawler device 20, and each crawler device 20 is disposed to engage with the tip side of the drive shaft 12.
[0025]
The crawler device 20 includes an input shaft 21 driven by the drive shaft 12, a support member 22 that rotatably supports the input shaft 21 at a central portion 22A thereof, and a radial shape from the central portion 22A to the support member 22. The three rollers 23A, 23B, 23B that are arranged and rotatably mounted, the endless crawler 24 wound around these rollers 23A, 23B, 23B, and the rotation of the input shaft 21 are transmitted to the rollers 23A. First power transmission means 30 is provided.
[0026]
In addition to the above-described configuration, the crawler device 20 is provided with a second power transmission means 40 for transmitting a rotational force from the drive shaft 12 to the input shaft 21, and the drive shaft 12 and the input shaft 21 at predetermined intervals. The holding guide 25 is rotatably held, and the frame 26 is provided inside the crawler 24 and holds the above-described components.
[0027]
Each said structure is explained in full detail based on FIG.1 and FIG.2. FIG. 2 is a side view of the crawler device 20 as viewed from the direction of arrow A in FIG. 1 with a part of the holding guide 25 and the frame body 26 omitted.
[0028]
As shown in FIG. 2, the support member 22 rotates the three rollers 23A, 23B, and 23B so as to be equidistant from the central portion 22A at intervals of 60 degrees radially about the input shaft 21. Hold freely.
[0029]
That is, the support member 22 is extended in three directions from the central portion 22A, and has an arm portion 22B that holds each wheel at its tip, and these three arm portions 22B are provided on the support member 22. Bending is performed so that the center portion 22A and each of the rollers 23A, 23B, and 23B are substantially in the same position in the axial direction of the input shaft 21 (bent to the right in FIG. 1 toward the tip). ing.
[0030]
Further, a bearing is provided at the central portion 22A of the support member 22, and the input shaft 21 is rotatably disposed.
[0031]
The input shaft 21 is held by the support member 22 substantially in the middle of the axial direction. Further, one end of the input shaft 21 is rotatably held by the frame body 26 and the other end thereof is rotatably held by the holding guide 25. Thus, the rotational force is transmitted from the drive shaft 12 via the second power transmission means 40.
[0032]
The second power transmission means 40 includes a main driving pulley 41 fixedly provided at the tip of the drive shaft 12, a driven pulley 42 fixedly provided on the input shaft 21, and a transmission belt 43 for interlocking these pulleys 41 and 42. The rotational force is transmitted between the drive shaft 12 and the input shaft 21 that are separated from each other.
[0033]
Further, the crawler 24 is disposed in a state where the rolling wheels 23A, 23B, and 23B disposed at the respective end portions of the support member 22 are wound at a time. The crawler 24 is flexible and deformable, and is formed in an annular shape using rubber as a raw material. The inner peripheral surface of the crawler 24 is constant with a part of the outer peripheral surface of each of the rollers 23A, 23B, and 23B. The contact is made with the contact pressure of. As a result, when one wheel rotates, all the wheels are linked via the crawler 24.
[0034]
Among the above-described three rollers 23A, 23B, and 23B, the roller 23A is a sprocket for driving a crawler, and a plurality of engagement protrusions 23a that are uniformly formed on the outer peripheral portion thereof are provided on the crawler 24. The crawler 24 is driven in a predetermined direction in accordance with the rotation of the rolling wheel 23A while being inserted into fitting holes (not shown) formed in a line along the driving direction.
[0035]
Further, the wheel 23A is connected to the driven pulley 32 in common with the rotation shaft. The driven pulley 32 constitutes a first power transmission means 30 from a main pulley 31 that is coaxial and interlocked with the input shaft 21, and a transmission belt 33 that transmits the rotational force of the main pulley 31 to the driven pulley 32. With these configurations, the first power transmission means 30 has a function of transmitting the rotational force of the input shaft 21 to the wheel 23A.
[0036]
Here, as shown in FIG. 1, the support member 22 is disposed along the input shaft 21 between the first power transmission means 30 and the second power transmission means 40 described above. Thus, the respective rolling wheels 23A, 23B, and 23B come into contact with each other at substantially the middle portion in the width direction of the crawler 24.
[0037]
Further, the support member 22, the first power transmission means 30, the second power transmission means 40 and the input shaft 21 are disposed so as to be sandwiched between the two side plates 26 </ b> A and 26 </ b> B of the frame body 26. . The frame body 26 includes a side plate 26A constituting the first side plate, a side plate 26B constituting the second side plate, and three connecting portions 26C for connecting them, all of which are in the width direction of the crawler 24. It is disposed with almost no protrusion from the inner region. Thereby, all the components except the holding guide 25 of the crawler device 20 are disposed in the inner region without protruding in the width direction of the crawler 24.
[0038]
Further, the frame body 26 rotatably supports one end portion of the input shaft 21 by the side plate 26A constituting the first side plate, and similarly, one end of the rotating shaft of each of the rolling wheels 23A, 23B, 23B. The part is supported rotatably. Thereby, the frame body 26 rotates integrally with the support member 22 with respect to the input shaft 21.
[0039]
The above-described holding guide 25 is provided on the side plate 26B of the frame body 26. Here, FIG. 3 shows a perspective view of the crawler device 20. As shown in FIG. 3, the holding guide 25 includes a disk body 25 </ b > A disposed on the same plane as the side plate 26 </ b > B constituting the second side plate, and a vehicle body side fixed end portion fixedly mounted on the vehicle body 11. 25B.
[0040]
First, the disc portion 25A holds the other end portion of the input shaft 21 rotatably at its center portion, and is slidable with respect to the side plate 26B, thereby centering the disc portion 25A. The entire crawler device 20 can be rotated.
[0041]
On the other hand, the vehicle main body side fixed end portion 25B holds the drive shaft 12 rotatably therein. And this holding | maintenance guide 25 is fixedly equipped by the vehicle main body 11 so that the vehicle main body side fixed end part 25B may become above the center part of the disc part 25A with respect to the vehicle main body 11, Thereby, a state where the input shaft 21 is positioned below is maintained than the drive shaft 12 which is held in the vehicle body-side fixed end 25B. The drive shaft 12 and the input shaft 21 are held substantially in parallel by the holding guide 25.
[0042]
FIG. 4 shows the state of the holding guide 25 during traveling. FIG. 4 (A) is when traveling on a relatively flat road surface, and the crawler device 20 is driven with the frame body 26 not rotating, and only the crawler 24 being urged by the internal wheel 23A around it. It shows the state. At this time, the frame body 26 is stationary with respect to the holding guide 25.
[0043]
On the other hand, as shown in FIG. 4B, when traveling on a road surface with many undulations and unevenness, it becomes difficult to travel only by driving the crawler 24, and the rotational force transmitted to the input shaft 21 remains as it is. It is transmitted to the frame body 26, the support member 22 and the like, and a rotation operation about the input shaft 21 is performed.
[0044]
State this time, the holding guide 25, since the vehicle body-side fixed end 25B is fixed and mounted to the vehicle body 11, the rotation is not performed, i.e., Thus, the input shaft 21 than the drive shaft 12 is below The crawler device 20 except for the holding guide 25 is rotated around the disc portion 25A of the holding guide 25 while maintaining the above.
[0045]
Here, the crawler device 20 is schematically shown in FIG. 5, and the relationship between the length L of one side of the regular triangular crawler device 20 and the maximum height difference R between the drive shaft 12 and the input shaft 21 will be described. .
[0046]
That is, the maximum value of the height difference R is equal to the radius of the inscribed circle of the regular triangle having the length L of one side. According to this, R = (L / 2) · tan 30 °, and the maximum height difference R is equal to one side. It is possible to arrange the input shaft 21 lower than the drive shaft 12 by this distance (actually, since the axial radius of the drive shaft 12 is reduced, the length L is slightly larger than this). small).
[0047]
Further, as can be seen from comparison with FIG. 8, the distance from the road surface of the vehicle body is conventionally the same height H as the input shaft, but in this embodiment, the height is almost twice as high as H. can do. As a result, the vehicle body 11 can be pulled up to a height almost twice that of the conventional vehicle.
[0048]
An operation of the traveling vehicle 10 having the above-described configuration will be described. First, a rotational force is urged to each drive shaft 12 by driving means disposed inside the vehicle body 11. Then, a rotational force is transmitted from each drive shaft 12 to each crawler device 20.
[0049]
Here, first, when the road surface is relatively flat, the rotational force is transmitted from the drive shaft 12 to the input shaft 21 via the second power transmission means 40, and further, the rotating operation is urged to the wheels 23A. The As a result, the crawler 24 starts to be driven along the rotation direction of each of the wheels 23A, 23B, 23B provided by the support member 22, and the support member 22 and the frame body 26 rotate with respect to the holding guide 25. In a state in which the traveling vehicle 10 does not perform, the traveling vehicle 10 starts traveling (see FIG. 4A).
[0050]
Next, when it is difficult to drive the crawler 24 during running on a road surface with many undulations and unevenness, the support member 22 and the frame body 26 start rotating with respect to the holding guide 25 around the input shaft 21 accordingly. To do. That is, the side plate 26B of the frame 26 rotates around the disc portion 25A of the holding guide 25, and at the same time, the entire crawler device 20 rotates and travels using the entire crawler device 20 as a wheel. Done.
[0051]
In the present embodiment, the drive shaft 12 is disposed above the input shaft 21 by the holding guide 25 and the rotational force is transmitted from the drive shaft 12 to the input shaft 21 by the second power transmission means 40. It is possible to maintain the main body 11 at a higher position than before.
[0052]
This prevents damage to the vehicle main body 11 due to a collision between an obstacle on the road surface and the vehicle main body 11, and improves the maintainability of the traveling vehicle 10 as a whole. At the same time, it is possible to travel on a road surface that is more undulating than in the past.
[0053]
Further, in the present invention, all other configurations of the crawler device 20 except for the vehicle body side fixed end portion 25B of the holding guide 25 are disposed between the side plate 26A and the side plate 26B of the frame body 26. Since the entire frame body 26 is disposed in the inner region in the width direction of the crawler 24, the front side of the crawler device 20 is uniformly covered and covered by the crawler 24 during traveling. This prevents the occurrence of breakage due to the collision between the other components and obstacles on the road surface.
[0054]
In addition to the above effects, the side plates 26A and 26B of the frame body 26 prevent the entry of earth and sand into the inner region of the crawler 24, thereby further preventing the occurrence of breakage and failure of each part. Further improvement of maintainability is achieved.
[0055]
Furthermore, in the present embodiment, the support member 22 is disposed between the first power transmission unit 30 and the second power transmission unit 40 in the direction along the input shaft 21, and thus the support member 22. Each of the rolling wheels 23A, 23B, 23B held in contact with each other abuts at a central portion in the width direction of the crawler 24. For this reason, the crawler 24 is held and transmitted with a good balance by these wheels 23A, 23B, 23B, and stability during running is improved.
[0056]
Here, the crawler 24 of the above embodiment may be made of a material having higher hardness. For example, metallic small pieces may be connected on the belt.
[0057]
Moreover, the number of individuals of a wheel is not limited to three shown by the above-mentioned embodiment. For example, you may equip the crawler apparatus comprised from four or more rolling wheels.
[0058]
【The invention's effect】
Traveling vehicle according to claim 1 the present invention described, which has the same effect as vehicles with conventional retention guides by arranged the input shaft than the drive shaft downward, from the drive shaft by the second power transmission means Since the rotational force is transmitted to the input shaft, it is possible to travel while maintaining the vehicle main body at a higher position than the conventional road surface.
[0059]
As a result, the vehicle body is prevented from being damaged due to a collision between an obstacle on the road surface and the vehicle body, and the maintainability of the entire traveling vehicle is improved. At the same time, it is possible to travel on a road surface that is more undulating than in the past.
[0060]
In the present invention of claim 2, since all the other configurations of the crawler device except the vehicle body side fixed end portion of the holding guide are disposed in the inner region in the width direction of the crawler, The front side of the crawler device is uniformly covered with the crawler to prevent the occurrence of breakage or the like due to a collision between other components other than the crawler and obstacles on the road surface. For this reason, for example, as in the prior art, it is possible to effectively prevent breakage of the power transmission means disposed so as to protrude from the crawler, thereby further improving the maintainability of the entire traveling vehicle.
[0061]
In this invention of Claim 3, since the penetration | invasion of earth and sand etc. is suppressed in the inner area | region of a crawler by the 1st side plate and the 2nd side plate, generation | occurrence | production of a breakage, a failure, etc. of each part is prevented further, Further improvement in maintainability is achieved .
[0062]
As described above, according to the present invention, it is possible to provide an unprecedented traveling vehicle.
[Brief description of the drawings]
FIG. 1 is a partially cutaway front view of a traveling vehicle according to the present embodiment.
2 is a side view of the crawler device disclosed in FIG. 1 as seen from the direction of arrow A in FIG.
FIG. 3 is a perspective view of the crawler device disclosed in FIG. 1;
FIG. 4A is an explanatory view showing a crawler device when traveling on a road surface with less undulations and unevenness, and FIG. 4B shows a crawler device when traveling on a road surface with more undulations and unevennesses. It is explanatory drawing shown.
FIG. 5 is an explanatory diagram schematically illustrating a crawler device and illustrating a distance relationship between a drive shaft and an input shaft.
FIG. 6 is a partially omitted perspective view showing a conventional traveling vehicle.
7 shows the conventional crawler device disclosed in FIG. 6. FIG. 7 (A) is a front view, and FIG. 7 (B) is a side view with a part cut away.
FIG. 8 is a diagram schematically illustrating a conventional crawler device, illustrating the height of an input shaft from a road surface.
FIG. 9 is an explanatory diagram showing a state in which a vehicle body of a traveling vehicle collides with an obstacle on a road surface.
FIG. 10 is an explanatory diagram showing a state in which the power transmission means of the crawler device collides with an obstacle on the road surface.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10 Traveling vehicle 11 Vehicle main body 12 Drive shaft 20 Crawler device 21 Input shaft 22 Support member 22A Center part 23A, 23B Roller wheel 24 Crawler 25 Holding guide 25B Vehicle main body side fixed end 30 First power transmission means 40 Second power Means of transmission

Claims (3)

A vehicle main body (11), driving means disposed on the inner side of the vehicle main body (11), and a rotational force urged by the driving means arranged in a protruding state from the side surface of the vehicle main body (11). It has a drive shaft (12) and a plurality of crawler devices (20) as traveling wheels driven by this drive shaft (12) , and each crawler device (20) is a drive shaft (12) of the drive means. ) Driven by the input shaft (21), a support member (22) that supports the input shaft (21) rotatably at the center portion (22A), and the support member (22) to the center portion (22). 22A), a plurality of wheels (23A, 23B, 23B) that are radially arranged and rotatably mounted, and an endless annular crawler (24) wound around these wheels (23A, 23B, 23B) The above A traveling vehicle that includes a first power transmission means (30) for transmitting to one of at least the rolling wheel rotation force shaft (21) (23A),
One end portion (25B) of a holding guide (25) that rotatably holds the input shaft (21) at a position below the drive shaft (12) is fixed to the vehicle body (11), and
The crawler device (20) is provided with second power transmission means (40) for transmitting rotational force from the drive shaft (12) to the input shaft (21). The support member (22) is disposed along the input shaft (21) between the first power transmission means (30) and the second power transmission means (40), and the holding guide (25). 2) All the components of the crawler device (20) except for the vehicle body side fixed end (25B) are disposed in the inner region in the lateral width direction of the crawler (24). The traveling vehicle described. In the crawler device (20), a first side plate (26A) and a second side plate (26B) are arranged so as to sandwich the first power transmission means (30) and the second power transmission means (40). Established ,
The holding guide (25) is disposed on the same plane as the vehicle main body side fixed end (25B) fixed to the vehicle main body (11) and the second side plate (26B). And the disc portion (25A) that allows the rotational movement of the side plate (26B) of
The first side plate (26A) rotatably supports one end of the rotation shaft of the plurality of wheels (23A, 23B, 23B) ,
The traveling vehicle according to claim 2, wherein the second side plate (26B) is connected to the first side plate (26A) via a plurality of connecting portions (26C, 26C, 26C) .

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