JP4021907B2 - Traveling device - Google Patents

Description

  The present invention relates to a traveling device that can freely travel on a runway with stairs or steps.

  Conventional wheelchairs for disabled people and wheels for robots cannot move freely in places with stairs or steps, and in such cases, for example, if there are no assistants or attendants in wheelchairs It was restricted in certain places and I could not drive freely.

  There is a crawler type traveling vehicle as a traveling device that enables traveling on a stepped road such as a staircase. For example, in Japanese Patent Application Laid-Open No. 7-40865, four wheels are used as crawler wheels, and when traveling on stairs, the crawler wheels can travel while being inclined in accordance with the inclination of the stairs. Can be reduced.

However, in this case, the vehicle also travels in a tilted state when traveling on stairs, and the vehicle also tilts. Therefore, in Japanese Patent Application Laid-Open No. 14-284049, the four wheels are long wheels such as crawlers, and when traveling on stairs, only the crawler-type wheels are inclined so that they can travel in parallel with the inclination of the stairs. A crank mechanism is provided so that the vehicle can run with the chair and the carrier kept parallel. This eliminated any instability and improved ride comfort.
Japanese Patent Laid-Open No. 7-40865 Japanese Patent Laid-Open No. 14-284049

  However, in the conventional crawler type traveling apparatus as described above, the crawler type wheels are inclined in accordance with the inclination of the stairs, so that the ground contact portion between the crawler wheels (crawler belt) and the stairs is the stairs. There is a problem that it is easy to slip because there is only the corner portion.

  It is very dangerous that a traveling vehicle slips when traveling on stairs. Even if an uneven portion is provided on the outer surface of the crawler belt as an anti-slip, the uneven portion is worn when traveling on flat ground, so it is dangerous to check the wear constantly and travel on stairs.

  In particular, it cannot be applied to vehicles that give top priority to safety, such as electric wheelchairs used by people with disabilities.

  Accordingly, the present invention has been made in view of the above problems, and an object of the present invention is to provide a traveling device that can travel comfortably, stably and safely in staircase traveling. It is in.

  The present invention can solve the above-described problems by the following means.

According to a first aspect of the present invention, in a traveling device comprising a pair of left and right crawler type traveling wheels, a driven wheel frame having a cross shape is provided with the main wheel shaft as a center, and the driven wheels are attached to the distal end portions of the driven wheel frame A crawler type traveling wheel formed by tensioning the crawler belt with five wheels including the four driven wheels and a driving wheel for driving the crawler belt, and driving means for rotationally driving the driven wheel frame. This is a traveling device.

  The driven frame is a frame extending in a cross shape in a cross shape radially about the main wheel shaft, and each of the driven wheels is attached to the tip of the frame. A crawler belt, which is an endless track, is wound around the outer periphery of the driven wheel, and the crawler belt rotates by the rotation of the driving wheel of the crawler belt and travels. In normal running, two of the four driven wheels are grounded together with the crawler belt, and when traveling on the staircase, along with the crawler belt as the driven wheel frame is rotated by the driven wheel frame driving means. You can climb by following the steps of the stairs.

  In this case, the contact with the staircase is not at the corner of the staircase, but the driven wheel is firmly grounded with the crawler belt on the upper surface of each step of the staircase, so that it slips when the staircase slope is steep. Is resolved.

  According to a second aspect of the present invention, in the driven wheel frame, two support bars to which driven wheels are attached at both ends are provided on the wheel shaft in a cross shape, and the support bar is an axis of the support bar with respect to the wheel shaft. A traveling device is provided with a slide bearing that is movable in a direction, and is provided with return means for returning to the original position when moved.

  The two support bars are attached in a cross shape with respect to the wheel shaft, and the two instruction bars are independently attached so as to be movable within a certain range in the axial direction of the support bar. A restoring means for returning is provided.

  The support bar may be provided with a slide bearing using a long-hole bearing so that the support bar can be moved within a certain range with the wheel shaft interposed therebetween.

  According to a third aspect of the present invention, the traveling device is provided with posture control means, and is a traveling device capable of traveling independently while maintaining a balance between a pair of left and right traveling wheels.

  As the posture control means, various posture control means used in various robots can be used. For example, a microcomputer control of a gyro sensor and a balance arm may be used.

By controlling the posture, the pair of left and right crawler wheels can run while maintaining a self-supporting state, and stable running is possible even on a stepped surface having irregularities.

  According to a fourth aspect of the present invention, the crawler type traveling wheel is a main traveling wheel, and a pair of left and right wheel type auxiliary wheels having a plurality of wheels are provided, and the auxiliary wheel has a radial auxiliary wheel frame on its wheel shaft. And provided with auxiliary wheel frame rotation driving means for rotationally driving the auxiliary wheel frame, and provided with the crawler type main traveling wheel. The traveling device and the auxiliary traveling device provided with the wheel-type auxiliary wheel are connected by a balance arm and travel while maintaining a balance by the posture control means.

  The auxiliary wheel only needs to have a radial auxiliary wheel frame provided with a plurality of wheels. For example, the auxiliary wheel may be a three-wheel type as shown in claim 3 or a four-wheel type or a five-wheel type. .

The crawler type traveling wheel is the main traveling wheel, and the auxiliary wheel is for traveling more stably than the case of using only the crawler type traveling wheel. Since the auxiliary wheel traveling device is connected by a balance arm and travels as a four-wheel traveling device, there is no fear of falling even if the attitude control means stops.
The present invention is particularly suitable for a traveling device provided with a seat, a cargo bed, etc., and even when traveling on an inclined surface, a staircase, etc., the seat and the cargo bed are kept level by the attitude control means, It can be driven safely. The crawler belt is preferably made of an elastic material such as rubber or resin.

A fifth aspect of the present invention is an electric wheelchair characterized in that a traveling device in which the crawler type or the crawler type and the wheel type are combined is provided.

In the case of a wheelchair, since high safety | security is requested | required, the 4 wheel structure is more preferable than 2 wheels. In particular, since it is necessary to avoid the risk of falling in any state when traveling on stairs, it is good that there is no fear of falling even if the attitude control means stops. Is a crawler type traveling wheel as described above, and the rear wheel may be a wheel type traveling wheel .

  In particular, when traveling on stairs, unlike conventional crawler-type traveling devices, it is possible to climb up one step at a time relative to the staircase surface, and there is no concern about slipping and the like can be lifted and lowered safely.

A sixth aspect of the present invention is a self-supporting traveling robot provided with a traveling device in which the crawler type or a combination of both a crawler type and a wheel type is provided.

  In the case of a robot, it is preferable to use a two-wheel type when traveling performance is important. Even in that case, there is no fear of falling by the posture control means, and it is possible to run on a stepped surface, which is optimal as an indoor work robot.

According to a seventh aspect of the present invention, there is provided a transporting device provided with a traveling device in which the crawler type or the crawler type and the wheel type are combined.

  Either two or four wheels may be used, and not only on a horizontal road surface, but also on a stepped surface and a staircase, so that it can be transshipped at the stepped portion when transporting between floors with steps or floors in a factory. It can be directly transported without the need for elevators or elevators.

  The present invention has the following effects.

  1) Since the crawler type wheel has a cross-shaped driven wheel frame and the frame rotates, the crawler type wheel travels the stairs, so that a ground contact area with the stairs is secured and the driven wheel is surely matched to the step shape of the stairs. In addition, since the vehicle travels while being grounded to the upper surface (horizontal surface) of the staircase surface, the problem of slipping as in the conventional crawler type wheel can be solved.

  2) By providing the return means on the driven wheel frame, it is possible to cope with road surface irregularities such as steps of stairs and so on, and the impact can be reduced.

  3) Since the posture control means is provided, it is possible to run independently with a pair of left and right traveling wheels, and to travel without falling.

  4) The crawler-type main traveling wheels are provided and wheel-type auxiliary wheels are provided, so that stability and safety can be further improved in four-wheel traveling on rough roads such as falls and stairs. A high traveling device can be realized.

  5) By using the crawler type traveling wheel and the wheel type traveling wheel as described above, it is possible to realize an electric wheelchair, a robot, and a transport device that can travel safely even on stairs.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings of the examples.

  FIG. 1 is a schematic view showing an embodiment of a traveling apparatus using crawler traveling wheels according to the present invention.

  This traveling device is shown as an embodiment in the case where it is provided as a traveling device for a robot. (1) is a front view and (2) is a side view.

  A main wheel shaft 3 is provided on a gantry 2 of a robot body 1 with a built-in posture control device, and a pair of crawler type traveling wheels 4 are provided on the left and right sides thereof.

  The pair of left and right crawler type traveling wheels 4 are provided with driven wheel frames 12 configured by attaching two support bars 5a and 5b to the main wheel shaft 3 so as to form a cross shape. The driven wheels 6 are attached to the tips of the support bars 5a and 5b.

  The support bars 5a and 5b are provided with a slide bearing 7 having a long hole shape in the bearing portion so that the support bar 5a and 5b can move in a certain range in the axial direction of the support bar with respect to the main wheel shaft 3. You can slide only a distance.

  In addition, spring members 8 adjusted so as to have the same elastic force are attached between the main wheel shaft 3 and the driven wheel shaft 13 as return means for returning to the original state when moved. , Adjusted to keep balance.

  Also, a main wheel shaft drive motor 9 for rotating the driven frame is provided, and a belt drive wheel 11 for rotating the crawler belt 10 is provided, which is driven by the belt drive motor 14.

  FIG. 2 is a schematic diagram showing a staircase traveling state of a traveling device using the crawler traveling wheels shown in FIG. The staircase traveling procedure will be described below.

  (1) In the flat section traveling, as shown in the figure, the two driven wheels [1] and the driven wheel [4] are grounded together with the crawler belt 10 and are driven by the driving of the crawler belt 10 by the belt driving wheels 11. Detected by a sensor (omitted) in front of the stairs and stops temporarily.

  (2) From the state of (1), the main wheel shaft drive motor 9 is started and the driven wheel frame 12 is rotated. At this time, the rotation of the crawler belt 10 is synchronized so as to follow the rotation of the driven wheel frame 12.

  (3) By the rotation of the driven wheel frame 12, the driven wheel [2] among the four driven wheels shown in the drawing rides on the upper surface (horizontal plane) of the first step of the stairs.

  (4) By further rotating the driven wheel frame 12, the driven wheel 1 is pulled up, and the driven wheel [3] advances to the next stage.

  (5) The driven wheel frame 12 further rotates, and the driven wheel [3] rides on the second stage.

  (6) In the same way as (7), climb the stairs one after another and climb to the top (6th) of the stairs.

  In this way, since the driven wheel can be grounded together with the crawler belt 10 on the upper surface (horizontal plane) of each step of the staircase, even if the slope is steep, it can be climbed reliably without slipping.

  In addition, since the posture control device is built in, the robot body can stand upright and climb the stairs stably.

FIG. 3 is a schematic view showing a reference example of a traveling device using a wheel-type traveling wheel according to the present invention.

This traveling device is shown for a reference example when it is provided as a traveling device for a robot, (1) is a front view, and (2) is a side view. (3) is a side view showing a traveling time.

  A main wheel shaft 21 is provided in the robot body 20, a multi-wheel frame 22 that protrudes radially in three directions is provided on the main wheel shaft 21, and a traveling wheel 23 is attached to the tip portion thereof.

  The main wheel shaft 21 is provided with a drive gear 24, and the drive gear 24 is driven by a drive motor built in the robot body 20 to rotate the multi-wheel frame 22.

  In addition, each traveling wheel 23 has its own drive motor, and the traveling wheel is individually driven to rotate.

  When stopping, if two of the three wheels are grounded as shown in (2), the stability will be good, and as shown in (3), when driving on a flat surface, drive one wheel on each side. Therefore, the steering performance as well as the running performance is improved.

FIG. 4 is a schematic diagram illustrating a reference example of the staircase traveling state of the traveling device using the wheel-type traveling wheel illustrated in FIG. 3. The stairs running procedure will be described below.

  (1) When traveling on a flat surface, as shown in (2) of FIG. 3, the vehicle travels on each of the left and right wheels, detects a level difference with a sensor or the like before the staircase, stops temporarily, Rotate and run the traveling wheel [2] on the upper surface (horizontal plane) of the first step of the stairs. Each traveling wheel 23 is locked when the multi-wheel frame rotates during stair travel.

  (2) From this state, the multi-wheel frame 22 is further rotated, the traveling wheel [1] is pulled up, and the process proceeds to the next stage. Depending on the interval of each step of the stairs, the traveling wheel [2] may be driven to synchronize with the next step.

  (3) The multi-wheel frame 22 is further rotated to ride the traveling wheel [3] on the upper surface (horizontal plane) of the next stage.

  (4) Similarly, the multi-wheel frame 22 is further rotated to pull up the traveling wheel [2] and climb to the next stage sequentially.

  In this way, the stairs can be safely and reliably performed by stairs using the multi-wheel frame. In addition, the robot main body can maintain a posture stably without falling down by maintaining a balance even when running on stairs by incorporating a posture control device.

  FIG. 5 is a schematic view showing an embodiment of an electric wheelchair using a crawler main wheel and a wheel auxiliary wheel according to the present invention.

  The present embodiment shows an embodiment in the case of being provided as a traveling device for an electric wheelchair, (1) is a schematic side view, (2) and (3) are schematic views showing a posture control portion of a seat portion. FIG.

  A chair body 31 is installed on the body frame 30, and a posture control device 38 detects a posture with a gyro sensor or the like, and adjustment arms 32, 33, 34 provided respectively on a leg portion and a back plate portion of the chair body 31. The balance is adjusted according to the posture. Reference numeral 39 denotes a battery power source.

  This traveling device is composed of a crawler traveling wheel 35 as shown in FIG. 1 as a main wheel and an auxiliary wheel 36 using a wheeled multi-wheel frame as shown in FIG. Use a rubber crawler belt.

  When used for a disabled person such as a wheelchair, special safety is required, and the two main wheels 35 and the auxiliary wheels are not the two wheels shown in FIGS. One wheel 36 has a three-wheel configuration to further improve safety and stability.

  The auxiliary wheel 36 is a wheel-type auxiliary wheel having a more stable four-wheeled multi-wheel frame. In the present embodiment, no driving means is provided, but it may be attached if necessary.

  As shown in FIG. 5 (2), a pair of crawler-type main wheels 35 are provided on the left and right of the front of the main body frame 30, and auxiliary wheels 36 using a multi-wheel frame connected to a rear portion of the main body frame 30 by a balance arm 37. Was provided.

  The balance arm 37 is composed of a crank mechanism and controls the posture of the chair 31 in conjunction with the adjustment arm 34 of the back plate of the chair 31 serving as posture control means, and is provided with a shock absorbing spring 40. .

In traveling on a flat surface, the vehicle travels by rotating the rubber crawler belt of the crawler traveling wheel 35 that is the main wheel, and travels while adjusting the balance with the adjusting arms 32, 33, 34 and the auxiliary wheel 36.
Moreover, as shown in FIG. 5 (3), it is good also as a structure by adjustment arms, such as an air cylinder linked with an attitude | position control apparatus.

  FIG. 6 is a schematic view showing a staircase running state of an electric wheelchair using the crawler main wheel and the wheel auxiliary wheel of FIG. The stairs running procedure will be described below.

  (1) The staircase is detected by a sensor or the like, temporarily stops before that, the driven wheel frame of the main wheel 35 is rotated, and the rubber crawler belt is synchronized with the rotation.

  (2) By the rotation of the driven wheel frame, the driven wheel [2] rides on the upper surface (horizontal surface) of the stairs together with the rubber crawler belt and climbs.

  (3) The driven wheel frame is further rotated, the driven wheel [1] is pulled up, and the driven wheel [3] is climbed on the upper surface (horizontal surface) of the next stage together with the rubber crawler belt.

  (4) The driven wheel frame is further rotated and the stairs are sequentially climbed in the same manner. The auxiliary wheel 36 follows the balance 31 while controlling the posture of the chair 31. As the stairs run, the four wheels ride on the steps and climb as the multi-wheel frame rotates.

  Thus, the stairs can be reliably climbed with the crawler type traveling wheels, the chair posture control is performed by the auxiliary wheel 36 and the balance arm 37, and the fine adjustment is performed by the adjustment arms 32, 33, 34. Safe and comfortable stairs running can be realized.

  In this example, an electric wheelchair that allows people with disabilities to ride comfortably has been described as an example, but it can also be used for transporting vehicles such as when transporting luggage to places with many steps or irregularities in factories or warehouses. it can.

FIG. 7 is a schematic diagram showing a reference example of a crawler main wheel when traveling on a rough rough road. In traveling when the road surface 50 has a convex portion such as a stone 41, when the crawler belt 42 rides on the stone 41, when only the crawler belt 42 abuts, the crawler belt 42 is recessed by the portion of the stone 41 as it is. Thus, when the portion of the driven wheel 43 comes into contact with the stone 41, the crawler belt 42 is recessed and the slide bearing 44 and the spring member 45 are opposite to the driven wheel 43 with which the support bar 46 is in contact (in the direction of the arrow). ) To absorb the impact and maintain the tension state of the crawler belt 42.

The biggest problem in the running wheels of the crawler, at the time of traveling a rough road, but there is a problem that out by loosening of the crawler belt, such crawler belt 42 is recessed driven wheel 43 is simply Since the crawler belt 42 is not loosened when the driven wheel 43 absorbs the impact, it does not absorb the impact, so there is no problem of the crawler belt 42 coming off during traveling, and the vehicle can travel stably. .

FIG. 8 is a diagram showing an embodiment of the left and right independent drive device. (1) is a principle diagram.
In this figure, the left and right traveling wheels can be driven independently in either case of a crawler type traveling wheel or a wheel type traveling wheel.

  The main wheel shaft is composed of a double-structured middle shafts 60a and 60b and outer shafts 66a and 66b. The outer shafts 66a and 66b are the rotational drive of the driven wheels as a whole (the left and right are driven independently). , 60b can drive the driven wheels individually (right and left independently).

  The left and right middle shafts 60a and 60b are coupled at the center by a coupling gear 62 by a bearing 61, and can rotate independently of each other on a coaxial line. In addition, gears 63a and 63b are provided at both ends of the middle shafts 60a and 60b so that independent drive gears 65a and 65b provided on the driven wheels 64a and 64b can be driven. The middle shaft coupling gear 62 is provided with a drive gear 72 and a drive motor 73 for independently driving the left and right middle shafts 60a and 60b. 74a and 74b are medium-axis disc brakes.

  The outer shafts 66a and 66b are cylindrical shafts having the middle shafts 60a and 60b as the center, and a bearing 67 is provided so that the middle shaft and the outer shaft can rotate independently from each other. Are provided with drive gears 69a and 69b for driving the gears 68a and 68b and drive motors 70a and 70b. Both ends of the outer shaft are flanges 71a and 71b, and the axle of the driven wheel is pivotally supported by the flange.

  The left and right independent drive device configured as described above can independently drive the left and right driven wheels by the left and right middle shaft drive motors 73a and 73b, and the left and right outer shaft drive motors 70a and 70b. The entire wheel can be driven independently. As an actual example, as shown in FIG. 8 (2), the drive mechanism may be configured independently on the right and left sides of the chair.

FIG. 9 is a schematic diagram showing an independent drive mechanism for driven wheels or traveling wheels.
This independent drive mechanism is an independent drive mechanism for switching between a case where each wheel of a multi-wheel is driven independently and a case where the rotation of each wheel is fixed and the whole wheel is driven.

  As shown in (1), two wheels 80a and 80b having an axle fixed at the center are pivotally supported so as to sandwich the wheel 81, and four wheels are interposed between the two disks 80a and 80b. A drive switching plate 83 is provided outside 81. As shown in (3), the drive switching plate 83 is provided with a long hole-like through hole 85 through which each shaft 84 of the wheel 81 penetrates and can rotate only a fixed angle with respect to the outer disk 80a. It has been. Cam-like projections 86a and 86b are provided at corresponding positions on the outer surface side of the drive switching plate 83 and the inner side of the outer circular plate 80a of the two discs, respectively, and the drive switching plate 83 rotates. As a result of the engagement between the cam-like protrusions 86a and 86b, the drive switching plate 83 is pressed inward, that is, on the wheel 81 side, and the rotation of the wheel is fixed as shown in (2). Thereby, a multi-wheel is fixed and it becomes rotation drive in the whole multi-wheel.

  FIG. 10 is an embodiment of a wheelchair traveling vehicle, (1) is a crawler traveling device 90 with both front and rear wheels, and (2) is a wheel traveling device 91 with four front wheels. The rear wheel is a crawler type traveling device 90.

  FIG. 11 is a schematic diagram showing a posture control mechanism of the chair 95 in the inclined traveling. (1) shows the running state of the flat ground 93, and (2) shows the running state of the inclined surface 94.

  It is difficult for a physically handicapped person or an elderly person to take a posture corresponding to the inclination, particularly in the case of inclined running. In this traveling device, the riding wheelchair is provided with a posture control device, and even in inclined traveling, the riding wheelchair is kept horizontal without being inclined at all, and the traveling vehicle body is adapted to the inclined surface. However, it is controlled by a posture control device provided in the riding wheelchair 95 so as to maintain the level with the fixed portion 96 of the riding wheelchair 95 as a fulcrum.

  FIG. 12 is a diagram showing a structure of a caterpillar in the crawler type traveling device. A conventional caterpillar is a structure for carrying heavy objects and the like, and has a structure that emphasizes strength. Therefore, it is not suitable for a wheelchair vehicle on which a disabled person or an elderly person gets.

  The caterpillar 97 of this example is a rubber crawler and is quiet and safe. The grounding parts 98 and 99 are made of rubber, and only the connection part 100 is made of metal.

  FIG. 13 is a diagram showing an embodiment of an efficient wind power generator that can be used for charging a battery or the like used in an electric wheelchair.

  In this embodiment, a rotor blade for receiving wind having a vertical axis is provided at the top of the storage dome 110, and a power generator for generating electric power with the rotational force of the rotor blade, and the wind receiving area of the rotor blade are adjusted. And a rotor blade control device for the purpose.

  This wind power generator has a structure in which the wind receiving area can be adjusted by changing the shape of the rotor blades when the wind is weak and strong. This rotary wing is composed of vertical wings and horizontal wings, and each vertical wing and horizontal wing protrudes from the top of the containment dome so that the wind receiving area can be changed, and is a drive for deployment. A mechanism is provided.

  As shown in the figure, a vertical wing 112 that drives up and down and a horizontal wing 113 that expands horizontally are provided by a hydraulic device 111, and a main rotating shaft 114 is provided at the center of the storage dome 110. The main rotating shaft 114 is connected via a drive transmission gear 115 to a power generator and a moving blade control device 117 for driving the expansion and contraction and expansion of the rotating blades.

  The power generator includes a mechanical speed governor 118 for adjusting the rotation of the main rotating shaft 114 and transmitting the rotation to the power generator 116, the power generator 116, and a pneumatic speed governor for controlling the rotation of the power generator 116. 119, a compressor (not shown), and an air tank (not shown) are provided.

  The moving blade control device 117 is provided with a hydraulic device 111 that drives a hydraulic cylinder that drives the vertical blade 112, and the rotational force of the main rotating shaft 114 can be used as a drive source of the hydraulic device 111. A battery (not shown) is provided for starting up, etc., when the rotor blades are not rotating.

  The rotary blades are composed of a vertical blade 112 that can be driven vertically up and down with respect to the main rotary shaft 114 and a horizontal blade 113 that is deployed in the horizontal direction with respect to the main rotary shaft 114.

  When the wind is weak, the vertical wing 112 rises and the horizontal wing 113 spreads in the horizontal direction as shown in FIG. When the wind is strong, the vertical wing 112 descends and is stored in the top of the storage dome, and the horizontal wing 113 is stored as shown in FIG.

  FIG. 15 is a diagram showing a driving mechanism of the rotary blades (vertical blades 112 and horizontal blades 113). In this embodiment, the vertical wing 112 and the horizontal wing 113 are interlocked. When the hydraulic device 111 is operated by the moving blade control device 117 and the vertical blade 112 is pushed up, the horizontal blade 113 spreads as shown in FIG.

  The upper part of the vertical wing 112 has a horizontal plate shape, but the lower side thereof is twisted. As the vertical wing 112 rises, the guide roller 201 connected to the deployment arm 200 of the horizontal wing 113 follows the twist. The horizontal wing 113 expands according to the movement. Any means can be used as long as the horizontal blades and the vertical blades can be interlocked. In the case of large and heavy objects, the horizontal blades can be deployed by the gear mechanism in conjunction with the vertical blades rising. May be.

  Thus, since the wind receiving area of the rotor blade can be adjusted by the strength of the wind, efficient power generation can be performed. Further, since the vertical blades 112 and the horizontal blades 113 are interlocked, it is not necessary to separately provide driving means.

The crawler type of the present invention and the traveling device using the traveling wheel in which both the crawler type and the wheel type are combined are also effective for traveling on rough roads with severe irregularities, for example, deserts, rocky roads, the seabed and the moon surface. It can be applied as a traveling vehicle.

It is the schematic which shows the Example of the traveling apparatus using the crawler type traveling wheel by this invention. It is the schematic which shows the staircase traveling state of the traveling apparatus using the crawler type traveling wheel by this invention. It is the schematic which shows the reference example of the traveling apparatus using a wheel type traveling wheel . It is the schematic which shows the reference example of the staircase traveling state of the traveling apparatus using a wheel type traveling wheel . It is the schematic which shows the Example of the traveling apparatus using the crawler type main wheel and wheel type auxiliary wheel by this invention. It is the schematic which shows the staircase running state of the traveling apparatus using the crawler type main wheel and wheel type auxiliary wheel by this invention. It is the schematic which shows the reference example at the time of the rough road driving | running | working of a crawler type main wheel . It is a figure which shows the Example of the left-right independent drive device by this invention. It is the schematic which shows the independent drive mechanism of the driven wheel or driving | running | working wheel by this invention. It is the schematic which shows the Example of the wheelchair traveling vehicle by this invention. It is the schematic which shows the attitude | position control mechanism of the chair in the inclination driving | running | working by this invention, and a handle | steering-wheel. It is a figure which shows the structure of a caterpillar in the crawler type traveling apparatus by this invention. It is the schematic which shows the Example of the efficient wind power generator which can be used for charge of the battery etc. which are used for the electric wheelchair by this invention. It is the schematic which shows the drive state of the rotary blade (a vertical blade and a horizontal blade) by this invention. It is the schematic which shows the drive mechanism of the rotary blade (vertical blade and horizontal blade) by this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Robot main body 3 Main wheel axis | shaft 4 Crawler type traveling wheel 5a, 5b, 46 Support bar 6, 43 Drive wheel 7, 44 Slide bearing 8, 45 Spring member 9 Main wheel axis drive motor 10, 42 Crawler belt 11 Belt drive wheel 12 Drive wheel frame 13 Drive wheel shaft 14 Belt drive motor 20 Robot body 21 Main wheel shaft 22 Multi-wheel frame 23 Traveling wheel 24 Drive gear 30 Body frame 31 Chair body 32, 33, 34 Adjustment arm 35 Main wheel 36 Auxiliary wheel 37 Balance arm 38 Attitude control device 39 Battery power source 40 Spring 41 Stone 60a, 60b Middle shaft 61 Bearing 62 Coupling gear 63a, 63b Gear 64a, 64b Driven wheel 65a, 65b Independent drive gear 72 Drive gear 73 Drive motor 74a, 74b Disc brace 80a, 80b Disc 83 Drive switching plate 86a, 86b Cam-like projection 110 Storage dome 111 Hydraulic device 112 Vertical blade 113 Horizontal blade 114 Main rotating shaft 115 Drive transmission gear 116 Generator 117 Rotor control device 118 Mechanical speed control Machine 119 Pneumatic governor 200 Deployment arm 201 Guide roller

Claims (7)

In a traveling device comprising a pair of left and right crawler traveling wheels,
Driven wheel frame as a cross-shaped around the main wheel shaft are provided, each driven wheel is mounted on the distal end portion of the driven wheel frame, a drive wheel for driving the four driven wheels and crawler belts A traveling apparatus comprising: a crawler type traveling wheel formed by tensioning a crawler belt with five wheels; and a driving unit that rotationally drives the driven wheel frame.   In the driven wheel frame, two support bars to which driven wheels are attached at both ends are provided on the wheel shaft in a cross shape, and the support bar is movable in the axial direction with respect to the wheel shaft. The travel apparatus according to claim 1, further comprising a return means for returning to the original position when the slide bearing means is provided and when the slide bearing means is moved. The travel device according to claim 1, wherein the travel device is provided with posture control means, and capable of traveling independently while maintaining a balance between a pair of left and right travel wheels. .   The crawler-type traveling wheel according to claim 1 or 2 is used as a main traveling wheel, and a pair of left and right wheel-type auxiliary wheels including a plurality of wheels are provided, and the auxiliary wheel is attached to the wheel shaft. A radial auxiliary wheel frame is provided, and each wheel is attached to the tip of the wheel, and auxiliary wheel frame rotation driving means for rotating the auxiliary wheel frame is provided. A traveling device provided with a wheel and an auxiliary traveling device provided with the wheel-type auxiliary wheel are connected by a balance arm and traveled while being balanced by a posture control means. An electric wheelchair characterized in that the traveling device according to any one of claims 1 to 4 is provided. A self-propelled traveling robot provided with the traveling device according to any one of claims 1 to 4 . A transport device comprising the traveling device according to any one of claims 1 to 4 .

Images