JP5259984B2 - Endless track device and mobile device or robot equipped with the endless track device - Google Patents

Description

  The present invention relates to an endless track device and a mobile device or robot equipped with the endless track device, and in particular, an endless track device extended in the front-rear direction can be bent at least in the left-right direction.

  Conventionally, in an agricultural machine such as a combine and a tractor, a construction machine such as a shovel car, or a machine that travels on rough terrain such as a tank, an endless track device using a crawler as a traveling means is often used.

  This endless track device is usually used in at least a pair of left and right, and by adjusting the rotation speed of the left and right endless track devices, it is possible to turn as well as forward or backward.

  Such an endless track device may be used as a traveling means of a disaster rescue robot (see, for example, Patent Document 1).

  In the case of a disaster rescue robot, it is necessary to travel on a road surface that is worse than a general rough terrain, and a plurality of pairs of endless track devices are provided to cope with a possible bad road.

Or, instead of turning by the rotation control of the pair of left and right endless track devices, the crawler is provided with a two-dimensional variable structure so that it can be changed in the left and right directions, and can be turned by only one endless track device. Has also been proposed (see, for example, Non-Patent Document 1).
Japanese Patent Laid-Open No. 09-240521 Fukuda et al., Research on wall running robot (2nd report, Mechanism and running experiment of variable structure crawler type model), Transactions of the Japan Society of Mechanical Engineers (C), Vol. 60, No. 569, 1994

  However, in the traveling means provided with a plurality of pairs of left and right endless track devices for the purpose of disaster relief, etc., there is a risk that it may become impossible to ride when a ride occurs at the junction between the front and back endless track devices. In addition, there is a possibility that entrainment may occur when the left and right endless track devices are differentiated.

  Therefore, instead of using a pair of left and right endless track devices, a single endless track device should be used as a mobile device or robot traveling means that is required to travel on unexpected rough terrain, such as disaster relief. Is desirable.

  However, since it is relatively difficult to increase the range of motion with one endless track device, it is difficult to turn with a smaller turning radius, and it can turn like a disaster rescue site. However, it was impossible to travel under complicated traveling conditions such as ascending or descending.

  In view of the current situation, the present inventors have conducted research and development to provide a traveling means having a high running ability in extremely poor rough terrain such as a disaster rescue site, etc., and have achieved the present invention. Is.

The endless track device of the present invention includes a ceiling plate, an upper projecting piece projecting upward along the left and right side edges on the upper surface of the ceiling plate via a connecting body formed of an elastic body , An upper guide body constituted by an upper flange projecting inward at the upper end of the projecting piece, and a bottom plate, and a lower projecting piece projecting downward along the left and right side edges on the bottom surface of the bottom plate; A trunk portion formed by connecting a plurality of base bodies including a lower guide body constituted by a lower flange projecting inwardly at the lower end of the lower projecting piece, and a front end of these base bodies A first sprocket provided on the front end base positioned, a second sprocket provided on a rear end base located at the rearmost end of these bases, and hung around the first sprocket and the second sprocket to the body portion. Rotate along A crawler is moving, said first sprocket and said projecting piece for meshing the second sprocket meshing, projecting pieces horizontally sliding pieces each lower end on both sides of the protruding pieces for the meshing is provided And a crawler configured by connecting a plurality of crawler plates in a loop shape , wherein the sliding piece is between the ceiling plate and the upper flange and between the bottom plate and the lower flange. The crawler plate is movable while being regulated by the upper guide body and the lower guide body, and a right traction body is provided on the right side of the connecting body between the bases adjacent to each other in the front-rear direction. The left traction body is erected on the left side of the coupling body, the upper traction body is erected on the upper side of the coupling body, and the lower traction body is erected on the lower side of the coupling body. And one of the left traction bodies Then, it is more tensioned than the other, and either the upper traction body or the lower traction body is pulled and tensioned more than the other, so that the connecting body is bent in the tensioned direction and the crawler is curved. The crawler can be driven in a twisted state by bending the body portion in the left-right direction and bending it in the up-down direction and twisting each connecting body disposed between the plurality of bases while generating a compressive stress. It was.

Furthermore, the endless track device of the present invention is also characterized by the following points. That is ,
(1 ) The right traction body and the left traction body are a single connection belt, and a middle portion of the connection belt is hung on a gear provided on the base to form a right traction body and a left traction body, and the gear is rotated. Pulling and tensioning either the right traction body or the left traction body.
( 2 ) The upper traction body and the lower traction body are a single connection belt, and a middle portion of the connection belt is hung on a gear provided on the base to form an upper traction body and a lower traction body. Towing and tensioning either the upper traction body or the lower traction body by rotating the.
( 3 ) The gear is provided on either the front end base or the rear end base, and the end of the connecting belt is fixedly attached to the other.

  Moreover, the moving device or robot of the present invention includes the endless track device as moving means.

  According to the present invention, the crawler can be appropriately twisted and driven by bending the connecting body in the left-right direction and in the up-down direction, and it is only possible to move forward, backward, and turn with one endless track device. Therefore, it is possible to provide an endless track device that can be hardly affected by the shape of the road surface and has extremely high running performance.

  Therefore, it is possible to drive the mobile device or robot provided with the endless track device very reliably while preventing the mobile device or the robot from traveling due to an obstacle or the like.

  In the endless track device of the present invention and the mobile device or robot provided with the endless track device, a plurality of bases connected back and forth via a connecting body and a tip base located at the foremost end of these bases are provided. An endless track device having a first sprocket, a second sprocket provided on a rear end base located at the rearmost end of these bases, and a crawler that is rotated around the first sprocket and the second sprocket. It is what.

  In particular, the coupling body that couples the base body back and forth can be bent or bent in the left-right direction and the up-down direction, whereby the other base body can be twisted with respect to one base body, and the crawler can be twisted. Can be driven.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is an explanatory view of a main part of the endless track device of the present embodiment, and shows a state in which the crawler 80 is removed from the body portion 10 of the endless track device for convenience of explanation.

  The body portion 10 is composed of a plurality of block-shaped base bodies and a connecting body 11 that connects these base bodies in the front-rear direction. The first intermediate substrate 12m1, the second intermediate substrate 12m2, and the third intermediate substrate 12m3 having the same shape between the front end substrate 12f positioned at the foremost end and the rear end substrate 12e positioned at the rearmost end. A fourth intermediate base 12m4 is provided. The number of intermediate substrates 12m1-4 is not limited to four, but may be three or less, may be five or more, and may be an appropriate number as necessary.

  In the present embodiment, the first to fourth intermediate bases 12m1 to 4m are each a rectangular cylindrical body 21 formed by assembling a rectangular plate-like front side plate, rear side plate, left side plate, and right side plate, The upper guide body 22 and the lower guide body 23 are mounted on the upper and lower side surfaces of the rectangular cylindrical body 21, respectively.

  The upper guide body 22 is attached to the upper part of the rectangular cylindrical body 21 and has a rectangular ceiling board 22-1 that closes the upper opening of the rectangular cylindrical body 21, and left and right side edges on the upper surface of the ceiling board 22-1 And an upper flange 22-3 projecting inward at the upper end of the upper projecting piece 22-2. The upper flange 22-3 is spaced apart from the ceiling plate 22-1 by a predetermined distance and is substantially parallel to the ceiling plate 22-1. In this embodiment, the upper guide body 22 is made of Teflon (registered trademark).

  Similarly to the upper guide body 22, the lower guide body 23 is attached to the lower portion of the rectangular cylindrical body 21, and has a rectangular bottom plate 23-1 that closes the lower opening of the rectangular cylindrical body 21, and the bottom plate 23-1. It consists of a lower projecting piece 23-2 projecting downward on the lower surface along the left and right edges, and a lower flange 23-3 projecting inward at the lower end of this lower projecting piece 23-2. Yes. The lower flange 23-3 is separated from the bottom plate 23-1 by a predetermined distance and is substantially parallel to the bottom plate 23-1. The lower guide body 23 is also made of Teflon (registered trademark) in this embodiment.

  In the present embodiment, the first to fourth intermediate bases 12m1 to 4m4 have a substantially rectangular shape, but the first to fourth intermediate bases 12m1 to 4m1 do not necessarily have a substantially rectangular shape, and may have an appropriate shape.

  The tip base 12f includes a tip left side plate 12f-1 and a tip right side plate 12f-2 which are arranged opposite to each other in parallel, and a tip upper guide body 12f- installed between the top ends of the tip left and right side plates 12f-1, 12f-2. 3 and the lower end guide body 12f-4 installed between the lower ends of the front left and right side plates 12f-1 and 12f-2 are formed into a rectangular cylindrical body, and the rear end plate at the rear end side of the rectangular cylindrical body is formed in the opening. (Not shown) is attached.

  Similar to the upper guide body 22, the tip upper guide body 12f-3 is provided with a ceiling plate 22-1, an upper protruding piece 22-2, an upper flange 22-3, and the tip lower guide body 12f-4 As with the lower guide body 23, a bottom plate 23-1, a lower projecting piece 23-2, and a lower flange 23-3 are provided. The tip upper guide body 12f-3 and the tip lower guide body 12f-4 are each made of Teflon (registered trademark).

  The left end plate 12f-1 and the right end plate 12f-2 are each provided with an extending piece 31 that extends in the forward direction. A pivot 32 is provided between the extending pieces 31, and a first axis is attached to the pivot 32. The sprocket 30 is pivotally attached to be rotatable.

  Further, as shown in FIG. 2, a first rotating shaft 33 and a second rotating shaft 34 are rotatably and substantially horizontally installed at predetermined positions between the left end plate 12f-1 and the right end plate 12f-2. Yes.

  The first rotating shaft 33 protrudes to the left side surface of the left end plate 12f-1, and, as shown in FIG. 1, the first gear 35 is provided at the portion protruding to the left side surface of the left end plate 12f-1. Wearing. The first gear 35 is meshed with a first worm gear 36w attached to the output shaft of the first drive motor 36 attached to the left side surface of the front left side plate 12f-1, and the first drive motor 36 causes the first gear 35 to mesh with the first drive motor 36. One gear 35 is rotatable.

  As shown in FIG. 2, a second gear 37 is mounted between the front left side plate 12f-1 and the front right side plate 12f-2 on the first rotating shaft 33 that rotates as the first gear 35 rotates. The second gear 37 is engaged with a third gear 38 mounted on the second rotating shaft 34 so that the second rotating shaft 34 can be rotated via the third gear 38 as the second gear 37 rotates. .

  A first attitude control gear 39, which will be described later, is attached to the second rotation shaft 34, and the first attitude control gear 39 can be rotated as the second rotation shaft 34 rotates. That is, the drive control of the first attitude control gear 39 is performed by the first drive motor 36.

  On the other hand, as shown in FIG. 1, the rear-end base 12e is also made up of a rear-end left side plate 12e-1 and a rear-end right side plate (not shown) arranged opposite to each other and a rear-end left-right side plate 12e-1. The rear end upper guide body 12e-3 installed between the upper ends and the rear end lower guide body 12e-4 installed between the lower ends of the rear end left and right side plates 12e-1 form a rectangular cylindrical body. A rear end front plate 12e-5 is attached to the opening on the front end side.

  Similarly to the upper guide body 22, the rear end upper guide body 12e-3 is provided with a ceiling plate 22.1, an upper projecting piece 22-2, and an upper flange 22-3, and the rear end lower guide body 12e- 4 is also provided with a bottom plate 23-1, a lower projecting piece 23-2, and a lower flange 23-3 in the same manner as the lower guide body 23. The rear end upper guide body 12e-3 and the rear end lower guide body 12e-4 are each made of Teflon (registered trademark).

  The rear end left side plate 12e-1 and the rear end right side plate 12e-2 are each provided with an extension piece 41 provided extending in the rearward direction, and a driving rotary shaft 42 is rotatably installed between the extension pieces 41. At the same time, the second sprocket 40 is mounted on the drive rotating shaft 42.

  In the present embodiment, the drive rotary shaft 42 protrudes to the right side surface side of the rear end right side plate 12e-2, and protrudes to the right side surface side of the rear end right side plate 12e-2 as shown in FIG. The third sprocket 51 is attached to the part.

  The third sprocket 51 is interlocked and connected via a connecting belt 54 with a fourth sprocket 53 mounted on the output shaft of the second drive motor 52 disposed between the rear end left and right side plates 12e-1 and 12e-2. The second sprocket 40 can be rotated by rotating the third sprocket 51 by the second drive motor 52.

  Further, as shown in FIG. 1, the rear end left plate 12e-1 is provided with a third drive motor 43 on the left side, and is attached to the output shaft of the third drive motor 43 as shown in FIG. The second worm gear 43w is engaged with a fourth gear 45 mounted on a third rotating shaft 44 provided between the rear end upper guide body 12e-3 and the rear end lower guide body 12e-4. In FIG. 3, reference numeral 48 denotes a cover body that covers the second worm gear 43w.

  A second attitude control gear 49, which will be described later, is attached to the third rotation shaft 44, and the second attitude control gear 49 can be rotated as the third rotation shaft 44 rotates. That is, the drive control of the second attitude control gear 49 is performed by the third drive motor 43.

  In the present embodiment, the connecting body 11 is constituted by a cylindrical rubber bush having a predetermined length.

  The body portion 10 has a front end base body 12f, intermediate base bodies 12m1 to 4 and a rear end base body 12e arranged in this order in the front-rear direction, and a connecting body 11 is stuck between each base body with an adhesive or the like to form a series. .

  As shown in FIG. 1, the front and rear side plates of the front end base 12f to which the connection body 11 is attached, the rear end front side plate 12e-5 of the rear end base 12e, and the front and rear side plates of the intermediate bases 12m1 to 4, as shown in FIG. Rectangular openings h are provided on the upper side, the lower side, the left side, and the right side, respectively.

  As shown in FIGS. 4 and 5, the opening h is formed on the upper traction body 61 installed on the upper side of the connection body 11, the lower traction body 62 installed on the lower side of the connection body 11, and the left side of the connection body 11. This is provided as an insertion port through which the left traction body 71 to be installed and the right traction body 72 to be installed on the right side of the connecting body 11 are inserted. In particular, by providing the front and rear side plates of the intermediate bases 12m1 to 4 with openings h as insertion holes, the intermediate bases 12m1 to 4m themselves serve as guides for the pulling bodies.

  Further, as shown in FIG. 4, the upper traction body 61 and the lower traction body 62 are constituted by a single first connecting belt 60, and a first attitude control gear 39 provided with a midway portion in the tip base 12f. The upper traction body 61 and the lower traction body 62 are hung around. The ends of the upper traction body 61 and the lower traction body 62 are fixedly attached to an opening h portion provided in the rear end front side plate 12e-5 of the rear end base 12e.

  Thus, both ends of the first connecting belt 60 are fixedly mounted on the rear end front plate 12e-5 of the rear end base 12e, and the middle portion is hung around the first attitude control gear 39 provided on the front end base 12f. Thus, the upper traction body 61 is installed on the upper side of the connection body 11, and the lower traction body 62 is installed on the lower side of the connection body 11.

  Further, as shown in FIG. 5, the left traction body 71 and the right traction body 72 are constituted by a single second connecting belt 70, and a second attitude control gear 49 having a midway portion provided in the rear end base 12e. The left traction body 71 and the right traction body 72 are hung around. The ends of the left traction body 71 and the right traction body 72 are fixedly attached to the opening h portion provided in the front end rear side plate 12f-5 of the front end base 12f.

  Thus, both ends of the second connecting belt 70 are fixedly attached to the front end rear plate 12f-5 of the front end base 12f, and the middle portion is hung around the second attitude control gear 49 provided on the rear end base 12e. Thus, the right traction body 72 is installed on the right side of the connection body 11, and the left traction body 71 is installed on the left side of the connection body 11.

  As shown in FIG. 1, the crawler 80 is configured by connecting a plurality of crawler plates 81 in a loop shape. In particular, in this embodiment, in order to bend the crawler 80 not only in the vertical direction but also in the horizontal direction as will be described later, the central portion of the front side edge of the crawler plate 81 protrudes forward. In addition, a concave portion 83 into which the protruding portion 82 of the shoe plate 81 connected to the rear is inserted is provided at the center of the rear edge of the shoe plate 81.

  On the back surface of the crawler plate 81, an engaging protrusion 84 that meshes with the first sprocket 30 and the second sprocket 40 is provided so as to protrude downward.

  Further, on the back surface of the shoe plate 81, projecting pieces 86 each provided with a horizontal sliding piece 85 at the lower end are provided on both sides of the engagement projection 84, respectively. The sliding piece 85 is provided between the ceiling plate 22-1 and the upper flange 22-3 of the upper guide body 22 provided on the upper side of the front end base 12f, the rear end base 12e, and the intermediate bases 12m1 to 4, and the front end base 12f. By inserting between the bottom plate 23-1 and the lower flange 23-3 of the lower guide body 23 provided on the lower side of the rear end base body 12e and the intermediate base bodies 12m1 to 4, respectively, the upper guide body 22 and the lower guide body 23 are attached. The crawler plate 81 can be moved while being restricted, and the crawler 80 formed of the crawler plate 81 can be circulated along the periphery of the body portion 10.

  Further, in the present embodiment, a rod-shaped grounding body 87 provided to extend in the left-right direction is attached to the surface of each crawler plate 81. The rod-shaped grounding body 87 is made of a rubber bush, and prevents slipping with the traveling surface to improve traveling performance.

  In the endless track device configured as described above, the second drive motor 52 rotates the second sprocket 40 to rotate the crawler 70 and advance, or the second drive motor 52 reversely rotates.

  Although not shown, a control circuit unit for controlling the driving of the first drive motor 36, the second drive motor 52, and the third drive motor 43 is provided in the fourth intermediate base 12m4 in this embodiment. The control circuit unit is not limited to the case where the control circuit unit is provided on the fourth intermediate base 12m4, and the control circuit unit may be provided in any one of the front end base 12, the rear end base 12e, and the intermediate bases 12m1 to 12m4, or may be provided separately.

  In the endless track device, either the left traction body 71 or the right traction body 72 is pulled and tensioned by rotating the second attitude control gear 49 by the third drive motor 43, and compressive stress is applied to each coupling body 11. The coupling bodies 11 are bent in the compression direction by this compressive stress.

  Therefore, as shown in FIG. 6, when the right traction body 72 is tensioned, the connecting body 11 bends to the right traction body 72 side, so that the body portion 10 of the endless track device is curved to the right traction body 72 side. In this state, the crawler is turned in the right direction by rotating in the forward direction.

  On the other hand, when the left traction body is tensioned, the body portion 10 of the endless track device is curved toward the left traction body, and in this state, the crawler can be rotated leftward by rotating in the forward direction.

  Further, in the endless track device, as shown in FIG. 7, either the upper traction body 61 or the lower traction body 62 is pulled by rotating the first attitude control gear 39 by the first drive motor 36. The connecting body 11 is tensioned to generate a compressive stress, and the connecting body 11 is bent in the compressing direction by the compressive stress.

  Therefore, as shown in FIG. 7, when the upper traction body 71 is tensioned, the connecting body 11 is bent toward the upper traction body 71, so that the body portion 10 of the endless track device is bent toward the upper traction body 71. On the contrary, when the lower traction body 72 is tensioned, the connecting body 11 bends to the lower traction body 72 side, so that the body portion 10 of the endless track device is moved to the lower traction body 72 side. Can be curved.

  The body part 10 can be twisted by combining the left-right direction curvature and the up-down direction curvature of the body part 10 of this endless track device, and the endless track device itself can be driven in a twisted state. Can do.

  Therefore, it is possible not only to move in the horizontal direction but also to travel stably on an uneven terrain, such as a disaster site, when it is necessary to travel on an inclined or large bumpy surface. It is possible to provide a moving device that is excellent in running performance on rough terrain.

  Moreover, it is possible to travel while going up or down while turning, and it is possible to easily travel on a spiral staircase or the like.

  Further, in the endless track device of this embodiment, the curvature in the left-right direction becomes the turning radius, so that not only the turning radius can be easily adjusted, but also the differential turning as in the conventional pair of left and right endless track devices. Compared with the case, the turning speed can be easily adjusted.

  In addition, when using at a disaster site, by attaching a camera or appropriate operation arm to the front end base 12f, the rear end base 12e, and the intermediate base 12m1 to 4, a robot that can be operated by appropriate remote control means is used. It can be a highly mobile robot at the disaster site.

  In this case, the function can be easily expanded by increasing the number of the intermediate substrates 12m1 to 12, and a robot with a high degree of design freedom can be obtained. Further, the runnability can be improved by increasing the number of the intermediate substrates 12m1-4.

  In the present embodiment, the connecting body 11 is constituted by a rubber bush, but the connecting body 11 is not limited to the rubber bush, and for example, a universal joint or the like can be used. However, since the rubber bush has high resilience, the endless track device can be restored to a straight line using the resilience of the rubber bush when the tension state of each towing body is resolved. The posture control can be facilitated. In addition, the connecting body 11 can be reduced in weight by using an elastic body such as a rubber bush instead of a universal joint, and the running performance can be improved by reducing the weight of the endless track device.

  In addition, when a cylindrical body having a hollow portion is used as the rubber bush to be the connecting body 11, the hollow portion is communicated with the front end base body 12f, the rear end base body 12e, and the intermediate base bodies 12m1 to 4m4. The required wiring can be disposed in the hollow portion of the coupling body 11, the wiring can be easily routed, and the wiring can be prevented from being exposed to the outside, so that the wiring can be damaged. Can be prevented.

  Further, in the present embodiment, the connecting body 11 is made smaller than the front end base body 12f, the rear end base body 12e, and the intermediate base bodies 12m1 to 4, but the connecting body 11 may have an appropriate size, and each desired traction What is necessary is just to be able to obtain a desired bending state with the tension of the body.

  In the present embodiment, the traction bodies constituted by the first connection belt 60 and the second connection belt 70 are installed on the top, bottom, left, and right of the connection body 11. For example, an appropriate actuator rod is used as the traction body. You can also However, when an actuator is used, the weight tends to increase, which may increase the weight of the endless track device and cause a decrease in traveling performance.

  In the present embodiment, each of the pulling bodies is installed by penetrating the intermediate bases 12m1-4, but, for example, the second attitude control gear 49 is provided not only on the rear base 12e but also on the intermediate bases 12m1-4. Are provided, and the second attitude control gears 49 are respectively controlled, so that the endless track device can be formed not only in a curved shape but also in an S shape or a bellows shape.

  However, as the second attitude control gear 49 is provided, the weight of the endless track device is increased and the running performance may be deteriorated. Therefore, as in the present embodiment, the second attitude control gear 49 is used. Is provided on the rear end base 12e, and the first attitude control gear 39 is preferably provided on the front end base 12f, thereby reducing the weight of the endless track device and improving the running performance.

  In addition, the towing of each endless track device is lightweight and reliable towing by performing antagonistic driving by the first attitude control gear 39 and the second attitude control gear 49, and the attitude control of the endless track device is ensured. It can be performed.

It is explanatory drawing of the endless track apparatus concerning embodiment of this invention. It is a structure explanatory view of a tip base. It is a configuration explanatory view of the rear end base. It is explanatory drawing of the endless track apparatus by a side view. It is explanatory drawing of the endless track apparatus by planar view. It is explanatory drawing of the endless track apparatus by planar view. It is explanatory drawing of the endless track apparatus by a side view.

Explanation of symbols

10 Torso
11 Connected body
12f Tip base
12e Substrate base
12m1 first intermediate substrate
12m2 Second intermediate substrate
12m3 Third intermediate substrate
12m4 4th intermediate substrate
30 First sprocket
32 Axis
36 First drive motor
39 First attitude control gear
40 2nd sprocket
42 Rotating shaft for driving
43 Third drive motor
49 Second attitude control gear
52 Second drive motor
60 First connecting belt
61 Upper tow
62 Lower tow
70 Second connecting belt
71 Left side tow
72 Right-side puller
80 crawler
81 footboard
84 Teeth
85 Sliding piece
86 Protruding piece
87 Rod-shaped grounding body

Claims (6)

Through the connecting body (11) formed of an elastic body , the ceiling plate (22-1) and the upper projection protruding upward along the left and right side edges on the top surface of the ceiling plate (22-1) An upper guide body (22) composed of a piece (22-2) and an upper flange (22-3) projecting inward at the upper end of the upper protruding piece (22-2), and a bottom plate (23 -1), a lower protruding piece (23-2) projecting downward along the left and right side edges of the bottom plate (23-1), and a lower end of the lower protruding piece (23-2) A body part (10) formed by connecting a plurality of base bodies including a lower guide body (23) constituted by a lower flange (23-3) projecting inwardly ;
A first sprocket (30) provided on a tip base (12f) located at the foremost end of these bases;
A second sprocket (40) provided on the rear end base (12e) located at the rearmost end of these bases;
A crawler (80) hung around the first sprocket (30) and the second sprocket (40) and driven to rotate along the body part (10) , wherein the first sprocket (30) and the second sprocket (30) An engaging protrusion (84) that meshes with the sprocket (40), and a protruding piece (86) provided with a horizontal sliding piece (85) at the lower end on each side of the engaging protrusion (84). An endless track device having a crawler (80) configured by connecting a plurality of crawler plates (81) in a loop shape ,
The sliding piece (85) is inserted between the ceiling plate (22-1) and the upper flange (22-3) and between the bottom plate (23-1) and the lower flange (23-3). The crawler plate (81) is movable while being regulated by the upper guide body (22) and the lower guide body (23),
Between the bases adjacent to each other in the front and rear, a right traction body (72) is installed on the right side of the connection body (11), and a left traction body (71) is installed on the left side of the connection body. An upper traction body (61) is installed on the upper side of the connecting body, and a lower traction body (62) is installed on the lower side of the coupling body, so that either the right traction body (72) or the left traction body (71) is installed. Pull one of them to be more tensioned than the other, pull one of the upper traction body (61) and the lower traction body (62) to be more tensioned than the other, and to the tensioned person Bending the connecting body (11) to bend the crawler (80),
The crawler (80) is bent by bending the body portion (10) in the left-right direction and in the up-down direction and twisting each connecting body (11) disposed between the plurality of base bodies while generating a compressive stress. An endless track device that can be driven in a twisted state. The right traction body (72) and the left traction body (71) are one connection belt (70), and a middle portion of the connection belt (70) is hung around a gear (49) provided on the base. And the right traction body (72) and the left traction body (71),
2. The endless track device according to claim 1 , wherein one of the right traction body (72) and the left traction body (71) is pulled and tensioned by rotating the gear (49). The upper traction body (61) and the lower traction body (62) are one connection belt (60), and a middle portion of the connection belt (60) is hung on a gear (39) provided on the base. Turn the upper traction body (61) and the lower traction body (62),
According to claim 1 or 2, characterized in that tensioning by pulling one of the said lower traction body and upper traction body (61) (62) by rotating said gear (39) Endless track device. The gears (39, 49) are provided on one of the front end base (12f) and the rear end base (12e), and the other end of the connection belt (60, 70) is fixedly mounted. The endless track device according to claim 2 or 3 , wherein the endless track device is characterized. The movement apparatus provided with the endless track apparatus as described in any one of Claims 1-4 . The robot provided with the endless track apparatus as described in any one of Claims 1-4 .

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