JP7337122B2 - Crawler type running body and running device - Google Patents

Description

TECHNICAL FIELD The present disclosure relates to a crawler belt type traveling body and a traveling device.

BACKGROUND ART In recent years, mobile robots (running devices) have been utilized in various usage environments and applications to support work conventionally performed manually and to perform work in environments where humans cannot cope. In such a traveling device, the traveling mechanism is required to have high mobility and reliability so as to be able to cope with traveling on a poor road surface environment or in a limited space.

In order to improve stability during traveling, a traveling device having a crawler type traveling body is known. For example, Patent Literature 1 discloses the use of a triangular crawler-type traveling unit formed by a driving wheel with an in-wheel motor and two rolling wheels in order to stabilize the posture and travel. . Further, Patent Document 2 discloses a structure in which a plurality of idler wheels are arranged at the bottom of a triangularly arranged driving wheel and two driven wheels in a crawler traveling device mounted on a tractor.

JP 2017-218105 A JP 2015-155302 A

However, in the conventional method, in the case of a crawler type running body, the range in which an auxiliary mechanism such as an idler wheel can be arranged is limited, and it is difficult to improve the running performance and arrange the auxiliary mechanism within a limited size. There was a problem that it was necessary to achieve compatibility between

In order to solve the above-described problems, the invention according to claim 1 includes a crawler belt, a driving wheel that applies a driving force to the crawler belt, and at least two rollers, and A crawler belt-type traveling body in which the crawler belt is wound around the at least two rollers, and has a connection portion that is provided between the at least two rollers and connects the two auxiliary wheels in a swingable manner, and through the connection portion An auxiliary mechanism connected to the crawler belt-type traveling body is provided, and the crawler belt is arranged so as to be in contact with the road surface between the at least two rollers and not in contact with the road surface at a location where the drive wheel is looped. The at least two rollers are arranged so as to be approximately symmetrical with respect to a perpendicular line connecting a straight line connecting the drive shaft of the drive wheel and the roller shaft of the roller, and the two auxiliary The wheels are arranged side by side in the running direction at positions across the vertical line, and when one of the auxiliary wheels is pushed up in the vertical direction, the amount of push-up of the one auxiliary wheel is greater than the amount of push-down of the other auxiliary wheel. formed by a first side connecting the wheel shaft of one of the training wheels and the swing shaft of the auxiliary mechanism, and a second side connecting the wheel shaft of the other training wheel and the swing shaft The angle .theta. is in the range of 90.degree.<.theta..ltoreq.105.degree .

ADVANTAGE OF THE INVENTION According to this invention, it is effective in the ability to provide the track-type traveling body which improves the stability at the time of traveling of a traveling apparatus.

3A to 3C are diagrams showing an example of the appearance of a traveling device; FIG. It is a figure which shows an example of the driving|running|working state of a driving|running|working apparatus. It is a figure which shows an example of the hardware constitutions of a traveling device. It is a figure which shows an example of a structure of a crawler belt type traveling body. It is a figure which shows an example of a structure of a crawler belt type traveling body. 3(A) and 3(B) are diagrams showing an example of a configuration of a tensioner provided in a crawler belt type traveling body; FIG. It is a perspective view showing an example of a detailed configuration of a tensioner. It is a figure for demonstrating the state change of a tensioner. FIG. 4 is a diagram showing an example of a configuration of a side plate provided on the crawler belt type traveling body; FIG. 4 is a diagram for explaining features of a side plate provided on the crawler belt type traveling body; FIG. 4 is a diagram for explaining features of a side plate provided on the crawler belt type traveling body; 3(A) to 3(C) are diagrams showing an example of the configuration of driving wheels provided in the crawler belt type traveling body; FIG. (A) to (C) are diagrams showing an example of a configuration of wheels provided in a crawler belt type traveling body. It is a figure which shows an example of the internal structure of the axial part in a roller. It is a figure which shows an example of a structure of an auxiliary mechanism. It is a figure which shows an example of the internal structure of a link. (A) to (C) are diagrams showing an example of the configuration of an idler. It is a figure for demonstrating an example of a detailed structure of an auxiliary mechanism. It is a figure for demonstrating an example of a detailed structure of an auxiliary mechanism. It is a figure which shows an example of the relationship of the amount of push-ups in an auxiliary mechanism, and the amount of push-downs. It is a figure which shows an example of the relationship of the amount of push-ups in an auxiliary mechanism, and the amount of push-downs. (A) and (B) are diagrams showing an example of the relationship between the amount of push-up and the amount of push-down in the auxiliary mechanism. It is a figure which shows an example of the relationship of the amount of push-ups in an auxiliary mechanism, and the amount of push-downs.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments for carrying out the invention will be described with reference to the drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted.

●Embodiment●
●Travel Device FIG. 1(A) is an external perspective view of the travel device. The traveling device 1 is composed of crawler belt-type traveling bodies 10 a and 10 b and a main body 50 .

The crawler belt-type traveling bodies 10 a and 10 b are units that serve as moving means for the traveling device 1 . Crawler-type running bodies 10a and 10b are crawler-type running bodies using belts made of metal or rubber. Crawler-type running bodies have a wider contact area than running bodies that run on tires, such as automobiles, and can stably run, for example, even in an environment with poor footing. In addition, while a traveling body that travels on tires requires a turning space when performing a rotating operation, a traveling device equipped with a crawler-type traveling body can perform so-called super-pivot turning. , the rotation can be performed smoothly even in a limited space. A detailed configuration of the crawler belt-type traveling bodies 10a and 10b will be described later.

The main body 50 is a support body that supports the crawler belt-type traveling bodies 10a and 10b so that they can travel, and is a control device that performs control for driving the traveling device 1. As shown in FIG. Further, the main body 50 is equipped with a battery 530, which will be described later, for supplying electric power for driving the crawler belt-type traveling bodies 10a and 10b.

FIG. 1(B) is a front view of the travel device (view from arrow P). A main body 50 of the travel device 1 includes an emergency stop button 31 , a status display lamp 33 and a lid portion 35 . The emergency stop button 31 is an operation means that a person near the traveling device 1 presses when stopping the traveling device 1 during travel.

The status display lamp 33 is notification means for notifying the status of the traveling device 1 . For example, when the state of the traveling device 1 changes such as a decrease in the remaining amount of the battery, the status display lamp 33 lights up to notify the surrounding people of the change in the state of the traveling device 1 . Moreover, the status display lamp 33 lights up when there is a risk of an abnormality occurring, such as when the presence of an obstacle that hinders the traveling of the traveling device 1 is detected. Although FIG. 1 shows an example in which the traveling device 1 is provided with two status display lamps 33, the number of status display lamps 33 may be one, or three or more. . Further, the notification means may be configured to notify the state of the traveling device 1 not only by the state display lamp 33 but also by a warning sound emitted from a speaker or the like.

The lid portion 35 is provided on the upper surface of the main body 50 and covers the inside of the main body 50 . Further, the lid portion 35 has a ventilation portion 35 a having a ventilation hole for ventilating the inside of the main body 50 .

The two crawler belt-type traveling bodies 10a and 10b are installed with the main body 50 interposed therebetween so that the crawler belts 11a and 11b, which will be described later, are substantially parallel, that is, in a state in which the traveling device 1 can travel. The number of crawler belt-type running bodies is not limited to two, and may be three or more. For example, the traveling device 1 may be installed in a state in which the traveling device 1 can travel, such as by aligning three crawler belt-type traveling bodies in three parallel rows. Further, for example, the traveling device 1 may have four crawler belt-type traveling bodies arranged in front, rear, left, and right like tires of an automobile.

FIG. 1(C) is a side view of the traveling device (view from arrow Q). The track-type traveling body 10a has a triangular shape formed by a drive wheel 13 and two rollers 15a and 15b, which will be described later. The triangular crawler belt type traveling body 10a, for example, when the front and rear sizes of the traveling body are restricted, can increase the ground contact area within the limited front and rear sizes, thereby improving stability during traveling. can be improved. On the other hand, the upper side (drive wheel side) is longer than the lower side (wheel side), so-called tank type crawlers, if there are restrictions on the size of the front and rear, the overall contact area will be small and unnecessarily. become stable. In this way, the crawler belt type traveling body 10a is effective in improving the traveling performance of the traveling device 1 that is relatively small.

Here, a state in which the traveling device 1 is traveling will be schematically described with reference to FIG. 2 . FIG. 2 is a diagram showing an example of a running state of the running device. The traveling device 1 can travel stably even on uneven ground J as shown in FIG.

In the crawler-type running body, part of the crawler belt cannot touch the ground due to the unevenness of the road surface of the uneven ground J, and it floats. Therefore, conventionally, there is a traveling body provided with an independent suspension or the like to independently move each wheel so as to follow the traveling road surface. However, such a conventional method is for a traveling body of relatively large size, and it is difficult to adopt it for a small traveling body in terms of installation size and parts cost.

Therefore, the traveling device 1 uses crawler belt-type traveling bodies 10a and 10b provided with an auxiliary mechanism 8, which will be described later, and each wheel can be independently moved so as to follow the traveling road surface, thereby improving ground contact and traveling stability. can be improved.

○Hardware configuration○
Next, the hardware configuration of the traveling device according to the embodiment will be described with reference to FIG. Note that components may be added or deleted from the hardware configuration shown in FIG. 3 as necessary.

FIG. 3 is a diagram showing an example of the hardware configuration of the traveling device. The traveling device 1 comprises a main body 50 for controlling the processing or operation of the traveling device 1, as shown in FIG. The main body 50 includes a radio control receiver 501, a CPU (Central Processing Unit) 502, a memory 503, a communication I/F (Interface) 506, a battery 530, a travel control motor driver 540, an attitude control motor driver 550, and an attitude control motor. 555a, 555b. Radio control receiver 501 , CPU 502 , memory 503 , communication I/F 506 , battery 530 , travel control motor driver 540 and attitude control motor driver 550 are connected via system bus 510 . A system bus 510 is an address bus, a data bus, or the like for electrically connecting the components described above, and transmits address signals, data signals, various control signals, and the like.

The radio control receiver 501 receives an operation instruction signal transmitted from a transmitter such as a PC used by the operator of the traveling device 1 . The CPU 502 controls the traveling device 1 as a whole. The CPU 502 is an arithmetic unit that realizes each function of the traveling device 1 by reading the program P1 or various data necessary for operating the traveling device 1 stored in the memory 503 and executing processing.

The memory 503 stores a program P1 executed by the CPU 502 and various data necessary for operating the traveling device 1 . The program P1 is preinstalled in the memory 503 and provided.

The program P1 is a file in an installable format or an executable format, and is recorded on a CD-ROM, a flexible disk (FD), a CD-R, a DVD (Digital Versatile Disc), or the like, which can be read by the CPU 502 (computer). It may be configured to be recorded on a medium and provided. Further, the program P1 may be stored on a computer connected to a communication network such as the Internet, and provided by being downloaded to the traveling device 1 via the communication network. Also, the program P1 may be configured to be provided or distributed via a communication network such as the Internet. When the program P1 is provided from the outside, CPU502 reads the program P1 via communication I/F506.

In addition, instead of causing the CPU 502 to operate according to the program P1, the traveling device 1 implements a dedicated ASIC (Application Specific Integrated Circuit) having the same arithmetic and control functions as those executed by the program P1. can be operated.

A communication I/F 506 is a communication interface that communicates (connects) with other devices or devices via a communication network. The communication I/F 506 is, for example, a communication interface such as a wired or wireless LAN (Local Area Network). In addition, the communication I / F 506 is 3G (3rd Generation), LTE (Long Term Evolution), 4G (4th Generation), 5G (5th Generation), Wi-Fi (Wireless Fidelity) (registered trademark), WiMAX (Worldwide Interoperability for A communication interface such as Microwave Access), Zigbee®, or millimeter wave wireless communication may be provided. The traveling device 1 may also include a communication interface for performing short-range wireless communication such as NFC (Near Field communication) or Bluetooth (registered trademark).

Battery 530 is a power supply unit that supplies power necessary for processing or operation of traveling device 1 . The battery 530 supplies power to, for example, the in-wheel motors 14a and 14b and the attitude control motors 555a and 555b.

The travel control motor driver 540 drives the in-wheel motors 14a and 14b by supplying motor drive signals to the in-wheel motors 14a and 14b.

The in-wheel motors 14a and 14b are installed inside the driving wheels 13a and 13b of the crawler belt type traveling body 10a and the crawler belt type traveling body 10b, respectively, and transmit rotational force to the driving wheels 13a and 13b. The in-wheel motors 14a, 14b provide the drive wheels 13a, 13b with rotation in the positive direction to move the traveling gear 1 forward or rotation in the negative direction to move the traveling gear 1 backward. Furthermore, the in-wheel motors 14a and 14b rotate only one driving wheel 13a (or 13b) in the positive direction or the negative direction, and stop the other driving wheel 13b (or 13a), thereby driving the traveling device 1. Rotate the base. In addition, the in-wheel motors 14a and 14b rotate one drive wheel 13a (or 13b) in the positive direction and rotate the other drive wheel 13b (or 13a) in the negative direction, thereby superimposing the traveling device 1. Rotate the base.

The attitude control motor driver 550 drives the attitude control motors 555a and 555b by supplying motor drive signals to the attitude control motors 555a and 555b. The attitude control motors 555a and 555b adjust the heights of the idlers 18a and 18b by changing the height of the link 19, which will be described later, up and down according to the control signal from the attitude control motor driver 550, for example. . In addition, the attitude control motors 555a and 555b prevent the traveling apparatus 1 from overturning by controlling the attitude of the main body 50, for example.

In addition, the traveling device 1 is not limited to the configuration that travels according to the operation instruction received by the radio control receiver 501, and may be configured to travel using technology such as autonomous travel or line tracing. Further, the traveling device 1 may be configured to travel by remote control from a user at a remote location by receiving an operation instruction signal transmitted via a communication network by the communication I/F 506 .

Crawler type traveling body Next, the crawler belt type traveling bodies 10a and 10b constituting the traveling device 1 will be described with reference to Figs. 4 to 23 . First, with reference to FIGS. 4 and 5, the overall structure of the crawler belt type traveling bodies 10a and 10b will be described. As shown in FIG. 1, the traveling device 1 includes two crawler belt-type traveling bodies 10a and 10b. This will be described as a configuration. 4 and 5 are diagrams showing an example of the configuration of the crawler belt type traveling body. 4 and 5 are side views of crawler belt type traveling body 10 viewed from the same direction as FIG. 1(C).

As shown in FIG. 4 , crawler belt type traveling body 10 includes crawler belt 11 , driving wheels 13 , rollers 15 a and 15 b , auxiliary mechanism 8 , side plate 20 a and tensioner 25 . Among them, the auxiliary mechanism 8 includes idlers 18 a and 18 b and a link 19 . 5 is a diagram showing a state in which the side plate 20a is removed from the crawler belt type traveling body 10 shown in FIG. The crawler belt type traveling body 10 shown in FIG. With idler shafts 181a, 181b and link shaft 191 included.

The crawler belt 11 is also called a crawler and is made of metal or rubber. The crawler belt 11 is wound around the driving wheel 13 and the rollers 15a and 15b. The crawler belt 11 rotates the crawler belt-type traveling body 10 by following the rollers 15 a and 15 b while moving in the rotational direction of the driving wheel 13 . Crawler belt 11 also has a plurality of projections 111a and 111b on its surface. The projections 111a on the outer side of the crawler belt 11 are provided, for example, to stably overcome small obstacles such as stones on the road surface while traveling. In addition, the inner protrusion 111b is provided, for example, to prevent derailment from the drive wheel 13 or the rollers 15a and 15b.

Drive wheels 13 transmit driving force for rotating crawler belt-type traveling body 10 to crawler belts 11 . The crawler belt type traveling body 10 transmits the driving force (rotational force) transmitted to the driving wheels 13 by the in-wheel motor 14 to the rollers 15 a and 15 b via the crawler belts 11 .

The in-wheel motor 14 is built inside the drive wheel 13 and transmits rotational force to the drive wheel 13 . The in-wheel motor 14 is rotationally driven around a motor shaft 141 serving as a drive shaft. The rotating shaft (motor shaft 141 ) of the in-wheel motor 14 serves as the rotating shaft (drive shaft) of the driving wheels 13 , and the rotating force of the in-wheel motors 14 causes the driving wheels 13 to rotate. The rotational force of the in-wheel motor 14 is transmitted to the crawler belt 11 as driving force. Specifically, the in-wheel motor 14 rotates the drive wheels 13 in the positive direction to move the traveling device 1 forward or in the negative direction to move the traveling device 1 backward.

Further, the structure of the in-wheel motor 14 can be simplified by being built in the drive wheel 13. For example, by not using parts such as a drive chain or gears, failures caused by these parts can be prevented. Risk can be reduced. Furthermore, by incorporating the in-wheel motor 14 into the drive wheel 13, it is possible to output driving force near the outer periphery of the crawler belt type traveling body 10, so torque can be increased.

The rollers 15a and 15b are rotatably attached to the crawler belt type traveling body 10. As shown in FIG. The rollers 15a and 15b are rotated by the driving force (rotational force) transmitted from the drive wheels 13 via the crawler belt 11, with the roller shafts 161a and 161b as the rotation axes.

Here, the drive wheel 13, the roller 15a, and the roller 15b form a triangle when viewed from the side. The crawler belt 11 is wound around the drive wheel 13, the roller 15a and the roller 15b, and the range between the roller 15a and the roller 15b is grounded. That is, the drive wheels 13 with the in-wheel motors 14 are not in contact with the road surface. As a result, the in-wheel motors 14 are not flooded even when the track-type traveling body 10 travels through a puddle, for example, so there is no need to provide a special waterproof mechanism for the in-wheel motors 14 .

Also, as shown in FIG. 5, the drive wheel 13 and the rollers 15a and 15b have different diameters. The layout of the running body needs to be designed in consideration of factors such as required size limits and running performance. In general, the smaller the diameter of the motor, the lower the torque per unit width in the thickness (width) of the motor. Therefore, the drive wheel incorporating the in-wheel motor needs to have a diameter equal to or larger than the motor diameter that can meet the required torque performance. Therefore, the crawler belt type traveling body 10 satisfies the size limit of the traveling device 1 or the crawler belt type traveling body 10, and has a layout that satisfies the required traveling performance. It is designed to be larger than the diameter of the rings 15a and 15b. If the diameter of the wheels is increased while the size of the running body is limited, the ground contact area will be reduced and the running stability will be impaired. Therefore, the crawler belt type traveling body 10 also has the advantage of adopting the rollers 15a and 15b having relatively small diameters in consideration of the diameter of the driving wheels 13.

The auxiliary mechanism 8 is provided with auxiliary wheels (idlers 18a, 18b) that rotate following the crawler belt 11 so as to be swingable (idlers 18a, 18b) around a swing shaft (link shaft 191). The auxiliary mechanism 8 is also called, for example, a swing mechanism, a balance-type auxiliary mechanism, a balance-type swing mechanism, a balance-type swing wheel, or a balance-type swing wheel. Further, the auxiliary mechanism 8 is provided at the base of a triangular shape formed by the driving wheel 13 and the rollers 15a and 15b in a side view.

The auxiliary mechanism 8 includes idlers 18 a and 18 b and a link 19 . The idlers 18a and 18b are auxiliary wheels that are provided between the two rollers 15a and 15b and rotate following the crawler belt 11 . The idlers 18a and 18b rotate around idler shafts 181a and 181b, respectively. Also, the link 19 is a support that supports the idlers 18a and 18b.

The side plates 20 a and 20 b support the driving wheels 13 , the rollers 15 a and 15 b and the auxiliary mechanism 8 in the crawler belt type traveling body 10 . The crawler belt-type traveling body 10 has a dual support structure that supports the drive wheel 13, the rollers 15a and 15b, and the auxiliary mechanism 8 using two side plates 20a and 20b. The two side plates 20a, 20b are supported by a plurality of side plate supports 27a, 27b, 27c, 27d. The side plates 20 a and 20 b support the driving wheels 13 using the motor shaft 141 . Moreover, the side plates 20a and 20b support the rollers 15a and 15b using roller shafts 161a and 161b, respectively. Further, the side plates 20a, 20b support the auxiliary mechanism 8 via the link shafts 191 of the links 19 that support the idlers 18a, 18b.

The tensioner 25 is formed of an elastic member such as a spring, and is connected to a motor shaft 141 that is a rotating shaft of the in-wheel motor 14 and drive wheels 13 . The tensioner 25 is installed so that the drive wheel 13 presses against the inner side of the crawler belt 11 to apply tension to the crawler belt 11 . The tensioner 25 plays a role of adjusting the tension applied from the driving wheels 13 to the crawler belt 11 during running. The tensioner 25 plays a role of keeping the reference tension substantially constant during traveling, for example, using the tension of the crawler belt type traveling body 10 at rest as a reference. In crawler belt-type traveling body 10 , tensioner 25 adjusts the slackness of crawler belt 11 , so that crawler belt 11 maintains normal transmission of driving force. Moreover, the crawler belt type traveling body 10 can prevent the crawler belt 11 from derailing by applying tension to the crawler belt 11 by the tensioner 25 .

Here, as shown in FIGS. 4 and 5, the crawler belt type traveling body 10 has a structure that is substantially symmetrical in the front and rear directions in the traveling direction with the drive wheels 13 as the center. More specifically, the crawler belt-type traveling body 10, in a side view seen from the X-axis direction as shown in FIGS. 4 and 5, has an in-wheel The structure is approximately line-symmetrical with respect to a perpendicular line from the motor shaft 141 of the motor 14 .

For example, a traveling device that travels in a narrow space must frequently perform forward/reverse and super-pivot turns. In this case, if the shape of the crawler track or the arrangement of the drive wheels, rollers, tensioners, etc. is asymmetrical in the front and rear, the driving characteristics may change in forward and backward motion, or the center rotation may not be possible during super pivot turning. There is Therefore, by making the layout (structure) of the crawler belt type traveling body 10 substantially symmetrical in the front and rear directions, it is possible to improve the stability of the traveling device 1 during traveling and to simplify the control. In addition, since the crawler belt type traveling body 10 can be attached without being conscious of the left and right sides of the traveling device 1, it is possible to reduce the number of parts.

○ Configuration of tensioner ○
Next, a detailed configuration of the tensioner 25 provided in the crawler belt type traveling body 10 will be described with reference to FIGS. 6 to 8. FIG. FIG. 6A is a side view showing an example of the configuration of the tensioner attached to the crawler belt type traveling body. The tensioner 25 is connected to the motor shaft 141 of the in-wheel motor 14 . Tensioner 25 applies tension to crawler belt 11 by pressing drive wheel 13 against crawler belt 11 . FIG. 6(A) shows a state in which the tensioner 25 attached to the side plate 20 is covered with the exterior portion 259. FIG. The tensioner 25 is connected to the motor shaft 141 of the in-wheel motor 14 built into the drive wheel 13 .

FIG. 6(B) is a cross-sectional view of the tensioner in the AA' cross section (view along arrow Q). Also, FIG. 7 is a perspective view showing an example of the detailed configuration of the tensioner. The tensioner 25 includes a fixed portion 251 , shaft portions 253 a and 253 b , elastic bodies 255 a and 255 b and a block 257 .

The fixing portion 251 is a member for fixing the motor shaft 141 that is the rotating shaft of the drive wheel 13 and the in-wheel motor 14 . The tensioner 25 prevents rotation of the motor shaft 141 by fixing the block 257 and the motor shaft 141 using the fixing portion 251 .

The shaft portions 253a and 253b are members that serve as guides for elastic deformation of the elastic bodies 255a and 255b, respectively. The elastic bodies 255a and 255b are elastic members such as springs provided along the shaft portions 253a and 253b, respectively. The elastic bodies 255a and 255b are elastically deformed in the vertical direction using the shaft portions 253a and 253b as guides.

The block 257 passes through the motor shaft 141 and serves to connect the tensioner 25 to the motor shaft 141 . Also, the block 257 passes through the shaft portions 253a and 253b and slides in the axial direction along the shaft portions 253a and 253b. As a result, the tensioner 25 can move the drive wheel 13 vertically about the motor shaft 141 in conjunction with the deformation of the elastic bodies 255a and 255b. As a result, crawler belt-type traveling body 10 pushes up motor shaft 141 by deformation of elastic bodies 255 a and 255 b , and presses drive wheel 13 itself against crawler belt 11 as a tensioner, thereby applying tension to crawler belt 11 . The tensioner 25 may be configured to move the driving wheels 13 in the vertical direction by providing a member or mechanism that can be expanded and contracted in the vertical direction instead of the elastic bodies 255a and 255b.

FIG. 8 is a diagram for explaining a state change of the tensioner. As shown in FIG. 8, the elastic bodies 255a and 255b are deformed and stretched when pressure is applied to the drive wheels 13 from above. The tensioner 25 shown in the left diagram of FIG. 8 (similar to FIG. 6B) is in a state in which the elastic bodies 255a and 255b are stretched, and tension is applied to the crawler belt 11. As shown in FIG. On the other hand, the right diagram of FIG. 8 shows the state of the tensioner 25 in which the elastic bodies 255a and 255b are contracted by the pressure applied from above. For example, when the crawler belt 11 is pressed against an obstacle on the road surface or the like while traveling, the crawler belt-type traveling body 10 reduces the tension applied to the crawler belt 11 by contracting the elastic bodies 255a and 255b. damage can be reduced.

Here, in a triangular crawler-type traveling body in which driving wheels containing in-wheel motors are arranged above, in order to increase motor torque, it is necessary to increase the motor diameter of the in-wheel motors. Increasing the diameter of the motor further increases the weight of the motor, which is generally heavy, so that the center of gravity of the traveling body having the drive wheels arranged above is raised, and the traveling stability is reduced. In addition, the conventional triangular track-type traveling body is additionally provided with a tensioner in order to prevent the wheels from coming off. The tensioner must be positioned so that the track can move freely with the tensioner to absorb variations in tension. Therefore, the triangular crawler belt-type traveling body has the tensioner placed at the top. Therefore, the position of the driving wheels is increased in order to secure a space for installing the tensioner.

Therefore, the crawler belt type traveling body 10 connects the tensioner 25 to the rotating shaft (motor shaft 141) of the drive wheel 13, thereby causing the drive wheel 13 itself to function as a tensioner. As a result, the crawler belt type traveling body 10 can lay out the driving wheels 13 at a lower position by eliminating the installation space for the tensioner, so that the traveling stability can be improved.

○ Composition of the side plate ○
Next, detailed configurations of the side plates 20a and 20b provided in the crawler belt type traveling body 10 will be described with reference to FIGS. 9 to 11. FIG. FIG. 9 is a diagram showing an example of a configuration of a side plate provided on the crawler belt type traveling body. Among them, FIG. 9A is an external perspective view of a state in which the crawler belt 11 is removed from the crawler belt-type traveling body 10. FIG. FIG. 9(B) is a side view (view from the arrow P) of a state in which the crawler belt 11 is removed from the crawler belt-type traveling body 10. FIG. The drive wheel 13, the wheels 15a and 15b and the link 19 connecting the idlers 18a and 18b are connected by two side plates 20a and 20b. The two side plates 20a and 20b are connected by a plurality of side plate supports 27a, 27b, 27c and 27d (27c and 27d are not shown). A link 19 connecting the drive wheel 13, the rollers 15a and 15b, and the idlers 18a and 18b is supported by two side plates 20a and 20b in a double-supported structure. Note that the number of side plate supports is not limited to this.

In this way, the crawler belt type traveling body 10 supports the axles (motor shaft 141, wheel shafts 161a and 161b) of the drive wheel 13 and the wheel wheels 15a and 15b with the two side plates 20a and 20b. The in-wheel motor 14 built in the drive wheel 13 is large and heavy, and the tensioner 25 is connected to the motor shaft 141. Therefore, in a structure in which the drive wheel and the roller are supported by a cantilever, a separate large-sized motor is required. An arm (support) must be provided. Therefore, the crawler belt type traveling body 10 has a structure in which the driving wheel 13 and the rollers 15a and 15b are both supported by the side plates 20a and 20b, so that tension can be stably applied to the crawler belt 11 with a compact structure. Further, the crawler belt type traveling body 10 can have a simple and robust layout (structure) by supporting all the wheels including the idlers 18a and 18b with the side plates 20a and 20b. Furthermore, the crawler belt type traveling body 10 can obtain high rigidity by supporting the wheel shaft of each wheel by the side plates 20a and 20b.

10 and 11, features of side plates 20a and 20b provided in crawler belt type traveling body 10 will be described. Since the side plates 20a and 20b shown in FIG. 10 have the same structure, FIGS. 10 and 11 will be described as features of the side plate 20a. As shown in FIG. 10 , the side plate 20a has notches 201a and 203a formed by notching the area on the ground contact surface side (bottom side) of the crawler belt 11 . Since the crawler belt-type traveling body 10 has a double-supported structure with the two side plates 20a and 20b as described above, there is a high possibility that foreign objects such as tree branches and stones will be caught between the wheels and the side plates, and the wheels will be locked. There is a risk that it will be Therefore, the crawler belt-type traveling body 10 is provided with notches 201a and 203a in the side plate 20a so that the idlers 18a and 18b are not covered with the side plate 20a, thereby preventing foreign matter from entering between the side plate 20a and the idlers 18a and 18b. can be prevented. The shape and number of the cutouts 201a and 203a are not limited to this, and for example, the cutouts may be provided so that a part of the rollers 15a and 15b is not covered by the side plate 20a.

Further, as shown in FIG. 11, the side plate 20a has a plurality of side plate holes 205a so that foreign matter that has entered between each wheel and the side plate 20a can be smoothly discharged. As a result, the crawler belt-type traveling body 10 can prevent problems caused by foreign matter that has entered between each wheel and the side plate 20a. Further, by providing the side plate holes 205a in the side plate 20a, the weight of the crawler belt-type traveling body 10 can be reduced, and the state inside the crawler belt-type traveling body 10 can be visually confirmed by the user. Further, the side plate 20a is provided with a side plate hole 205a, so that various wirings in the traveling device 1 can be carried out through the side plate hole 205a, for example. Note that the number or shape of the side plate holes 205a is not limited to the example shown in FIG.

○ Configuration of driving wheels and rolling wheels ○
Next, detailed configurations of the driving wheels 13 and the rollers 15 provided in the crawler belt type traveling body 10 will be described with reference to FIGS. 12 to 14. FIG. First, the configuration of the driving wheels 13 will be described with reference to FIG. 12 . FIG. 12(A) is an external perspective view of a driving wheel, and FIG. 12(B) is a front view (view from arrow P) of the driving wheel in the traveling direction.

Drive wheel 13 is configured by sprocket 131 that functions to transmit rotation of in-wheel motor 14 to crawler belt 11 . The driving wheels 13 also have an in-wheel motor 14 fixed inside. The sprocket 131 as the driving wheel 13 rotates with the rotation of the in-wheel motor 14 with the motor shaft 141 as a rotating shaft (driving shaft). Also, the sprocket 131 is formed to connect the wheel 132 and the wheel 134 via the connecting member 136 . The connecting members 136 are provided at regular intervals around the outer circumference between the wheels 132 and 134 . The protrusion 111b provided inside the crawler belt 11 rotates while entering between the adjacent connecting members 136 of the sprockets 131 . Therefore, the crawler belt type traveling body 10 can produce a more reliable drive transmission effect between the crawler belts 11 and the drive wheels 13 . Furthermore, the drive wheel 13 has a plurality of support members 138 that support the in-wheel motor 14 on the sprocket 131 . By changing the length of the support member 138, the drive wheel 13 can incorporate the in-wheel motors 14 of different widths.

Further, the drive wheel 13 is provided with a body cable 143 for connecting the motor shaft 141 of the in-wheel motor 14 and the body 50 . A motor shaft 141 of the in-wheel motor 14 is cylindrical, and a body cable 143 passes through the motor shaft 141 and connects the in-wheel motor 14 and the body 50 . Drive wheel 13 receives power supply from battery 530 provided in main body 50 via main body cable 143 .

FIG. 12(C) is a side view (view from the arrow Q) of the driving wheel in the advancing direction. In the crawler type running body, if foreign matter such as mud, earth and sand, or dust enters between the track and the track, there is a risk that the rotation of the driving wheels will be locked or the track will come off. Therefore, the wheel 132 of the drive wheel 13 has a plurality of wheel holes 133 to prevent foreign matter from entering. As a result, the driving wheel 13 has a structure in which foreign matter that has entered between the crawler belt 11 or the sprocket 131 is smoothly discharged. The number or shape of wheel holes 133 is not limited to the example shown in FIG. 12(C). Moreover, the wheels 134 have the same configuration as the wheels 132 .

Next, the configuration of the rollers 15a and 15b will be described with reference to FIGS. 13 and 14. FIG. In addition, since the configuration of the rollers 15a and 15b is the same, FIGS. 13 and 14 will be described as the configuration of the roller 15a. FIG. 13(A) is an external perspective view of the wheel, and FIG. 13(B) is a front view (view from the arrow P) in the traveling direction of the wheel.

The wheel 15a is formed to connect the wheel 152a and the wheel 154a via the shaft portion 151a. In addition, the roller 15a has connecting members 156a arranged at regular intervals around the outer periphery between the wheel 152a and the wheel 154a. The connecting members 156a are provided at regular intervals around the outer periphery between the wheels 152a and 154a. The protrusion 111b provided inside the crawler belt 11 rotates while entering between the adjacent connecting members 156a. Therefore, the crawler belt type traveling body 10 can prevent the crawler belt 11 and the wheels 15 a from derailing from the crawler belt 11 .

FIG.13(C) is a side view (Q arrow view) with respect to the advancing direction of a wheel. The wheel 152a of the roller 15a has a plurality of wheel holes 153a to prevent foreign matter from entering, as in the case of the drive wheel 13 described above. As a result, the roller 15a has a structure in which foreign matter that has entered between it and the crawler belt 11 is smoothly discharged. The number or shape of wheel holes 153a is not limited to the example shown in FIG. 13(C). Moreover, the wheel 154a has the same configuration as the wheel 152a.

Next, referring to FIG. 14, the cross-sectional structure of the shaft portion 151a with respect to the traveling direction (P direction) of the wheel 15a will be described. FIG. 14 is a diagram showing an example of the internal structure of the shaft portion of the wheel. In addition to the structure shown in FIG. 13, the wheel 15a has a wheel shaft 161a serving as a rotating shaft of the wheel, bearings 163a, set collars 165a1 and 165a2, and oil seals 167a1 and 167a2 as the shaft portion 151a. .

The wheel 15a has one bearing 163a in the central portion of the wheel shaft 161a in the shaft portion 151a. As a result, the crawler belt-type traveling body 10 is configured to have only one bearing 163a, so that the number of parts can be reduced and the cost can be reduced.

In addition, the wheel 15a has two set collars 165a1 and 165a2 that press the bearing 163a so as to sandwich the bearing 163a arranged in the central part of the wheel shaft 161a in the shaft portion 151a. Thereby, the crawler belt type traveling body 10 can easily offset the wheels 152a and 154a with respect to the wheel axle 161a.

Further, the wheel 15a has oil seals 167a1 and 167a2 inside the wheels 152a and 154a, respectively. As a result, the crawler belt-type traveling body 10 can protect the bearing 163a in the shaft portion 151a from foreign matter such as water or dust entering from the outside.

○ Configuration of auxiliary mechanism ○
Next, the configuration of the auxiliary mechanism 8 provided in the crawler belt type traveling body 10 will be described with reference to FIGS. 15 to 17. FIG. FIG. 15 is a diagram showing an example of the configuration of the auxiliary mechanism. As shown in FIG. 15, the auxiliary mechanism 8 has a link 19 and two idlers 18a, 18b connected by the link 19. As shown in FIG. A link 19 is a support that supports a plurality of idlers 18 . The idlers 18a, 18b are connected by two link plates 19a, 19b. Also, the two link plates 19 a and 19 b are connected by a link shaft 191 . The link 19 supports the idlers 18a and 18b with two link plates 19a and 19b in a double-supported structure. 4 and the like, the auxiliary mechanism 8 is supported by the side plates 20a and 20b using the two link plates 192a and 192b of the link 19 and the link shaft 191. As shown in FIG. The idlers 18a, 18b are examples of training wheels. Also, the link 19 is an example of a connecting portion. Furthermore, the link shaft 191 is an example of a swing shaft. Also, the link plates 192a and 192b are an example of a swinging portion.

Next, the cross-sectional structure of the link 19 with respect to the traveling direction (P direction) of the auxiliary mechanism 8 will be described with reference to FIG. 16 . FIG. 16 is a diagram showing an example of the internal structure of a link. Link 19 has set collars 193a, 193b and push members 195a, 195b in addition to the configuration shown in FIG.

The link 19 has set collars 193a and 193b inside the link plates 192a and 192b, respectively, to press the link plates 192a and 192b. As a result, the crawler belt-type traveling body 10 can be easily offset with respect to the link shaft 191 by fixing the link plates 192a and 192b with the set collars 193a and 193b, respectively.

Furthermore, the link 19 has push members 195a and 195b such as push nuts at the joints of the link shaft 191 and the link plates 192a and 192b, respectively. As a result, the crawler belt-type traveling body 10 can smoothly swing and rotate the link plates 192 a and 192 b with respect to the link shaft 191 .

FIG. 17 is a diagram showing an example of the configuration of an idler. Since the configurations of the idlers 18a and 18b shown in FIG. 15 are the same, the configuration of the idler 18a will be described as a representative in FIG. FIG. 17A is an external perspective view of an idler. FIG. 17(B) is a front view (view from arrow P) in the advancing direction of the idler. As shown in FIGS. 17A and 17B, idler 18a is formed to connect wheels 182a and 184a via shaft 181a.

FIG. 17(C) is a side view (view from the arrow Q) in the advancing direction of the idler. As shown in FIG. 17(C), the wheel 182a of the idler 18a has a plurality of wheel holes 183a to prevent foreign matter from entering, as in the case of the wheel 15a. As a result, the idler 18a has a structure in which foreign matter that has entered between the idler 18a and the crawler belt 11 is smoothly discharged. The number or shape of wheel holes 183a is not limited to the example shown in FIG. 17(C). Moreover, the wheel 184a has the same configuration as the wheel 182a.

Also, the idler 18a has the same cross-sectional structure as the wheel 15a shown in FIG. The idler 18a, for example, in addition to the configuration shown in FIG. have. The wheel shaft 171a, bearing 173a, set color 175a1,175A2, and oil seal 177A1,177A2 are the rings shaft 161a, 163a, set color 165a1,165A2, and oil seal 167A1, and oil seal 167A1, and oil seal 167A1, oil seal 167A1, and oil seal 167A1, oil seal 1675A2. 167a2, the description thereof is omitted.

Here, the diameter of the wheel holes provided in the idler 18, drive wheel 13 and rollers 15a and 15b is preferably φ15 or more, for example, in order to smoothly discharge various foreign matters. The same applies to the side plate holes 205a and 205b provided in the side plates 20a and 20b.

Here, the crawler belt type traveling body 10 causes the crawler belts 11 to follow the rotation of the driving wheels 13 having the in-wheel motors 14 therein. The rollers 15a and 15b rotate when the torque of the crawler belt 11 is transmitted. Further, the rollers 15a and 15b rotate along with the movement of the crawler belt 11 with a protrusion 111b provided inside the crawler belt 11 serving as a guide. At that time, if the width between the wheels 15a and 15b is wide, the crawler belt 11 may come off from the wheels 15a or 15b. Therefore, the crawler belt type traveling body 10 can prevent the crawler belt 11 from coming off by providing the auxiliary mechanism 8 that contacts the crawler belt 11 between the rollers 15a and 15b. In addition, since the track-type traveling body 10 is provided with idlers 18a and 18b in addition to the rollers 15a and 15b on the contact surface, it is possible to distribute the load, thereby reducing the risk of failure or the like. .

In addition, since the crawler belt type traveling body 10 can increase the road surface resistance by increasing the contact area, it is possible to improve the traveling stability. On the other hand, if the ground contact area of the crawler belt type traveling body 10 is reduced, the road surface resistance is reduced and the turning performance during traveling can be improved. easier. In order to take advantage of such features, the crawler belt-type traveling body 10 can adjust the height of the contact position of the idlers 18a and 18b with the crawler belt 11 by adjusting the height of the auxiliary mechanism 8 according to the intended use or use environment. can be adjusted up and down.

Specifically, when the traveling device 1 is stopped, for example, the crawler belt type traveling body 10 can adjust the height of the idlers 18a and 18b by changing the height of the statically fixed link 19 by an operator. Adjust up or down. Further, the crawler belt type traveling body 10 may be configured such that the height of the link 19 can be dynamically changed according to a control signal from the attitude control motor driver 550, for example. In this case, the traveling device 1 drives the attitude control motors 555a and 555b based on the control signal transmitted from the attitude control motor driver 550, thereby increasing the height of the links 19 of the two crawler belt-type traveling bodies 10a and 10b. adjust the depth respectively. The traveling device 1 controls height adjustment of the link 19 according to, for example, the state of the road surface, the traveling speed, and the like.

○ Detailed Configuration of Auxiliary Mechanism Next, the detailed configuration of the auxiliary mechanism 8 will be described with reference to FIGS. 18 to 23 . 18 and 19 are diagrams for explaining an example of the detailed configuration of the assist mechanism. FIG. 18 is a side view (view from the arrow Q) of the auxiliary mechanism 8 in the traveling direction. The auxiliary mechanism 8 connects the two idlers 18a and 18b to the link 19 via the link plate 192a. Further, the auxiliary mechanism 8 connects the idlers 18a and 18b so as to be able to swing about a link shaft 191 included in the link 19. As shown in FIG. Further, the auxiliary mechanism 8 has a shape that is symmetrical with respect to the front-rear direction with the link shaft 191 as the center.

Here, in the crawler belt type traveling body 10, it is necessary to install each member in a limited space. Therefore, the range in which the auxiliary mechanism 8 can be arranged and the range in which it can swing are limited by the positional relationship with other members. Specifically, since the driving wheels 13 are arranged above the auxiliary mechanism 8 , the range in which the auxiliary mechanism 8 can be arranged is restricted by the installation position and size of the driving wheels 13 in the size of the track-type traveling body 10 . be. In addition, since the wheels 15a and 15b are arranged in front and behind the auxiliary mechanism 8, the swingable range of the auxiliary mechanism 8 depends on the installation position and size of the wheels 15a and 15b in the size of the crawler belt type traveling body 10. Constrained.

Therefore, when the crawler belt type traveling body 10 is provided in a limited space for the auxiliary mechanism 8 in order to improve the grounding property during traveling on rough terrain, for example, the link length and the wheel width are as shown in FIG. It is necessary to design the distance and link angle optimally. 19 is a schematic representation of the side view shown in FIG. 18; FIG. As shown in FIG. 19, the link length L is a line segment (side ). The distance W between wheels is the length of a line segment (side) connecting the wheel shaft 171a (shaft center w0) and the wheel shaft 171b (shaft center w1). Furthermore, the link angle θ is the angle formed by two line segments (sides) that form the link length L. As shown in FIG. Here, the line segment (side) connecting the wheel shaft 171a (shaft center w0) of the idler 18a and the link shaft 191 (shaft center O) is an example of a first side. A line segment (side) connecting the wheel shaft 171b (shaft center w1) of the idler 18b and the link shaft 191 (shaft center O) is an example of a second side.

In a crawler-type running body, for example, there are cases where a portion of the crawler belt does not touch the ground and floats due to unevenness of the road surface such as rough ground. Therefore, it is preferable that the idlers 18a and 18b of the crawler belt type traveling body 10 move independently so as to follow the traveling road surface. Therefore, the crawler belt-type traveling body 10 utilizes the swinging motion of the auxiliary mechanism 8, and when one idler 18 (idler 18a) is pushed up, the other idler (for example, the idler 18b) is pushed down. have.

Here, as shown in FIG. 19, the vertical direction of the auxiliary mechanism 8 is defined as the y-axis, and the positions of the wheel shafts 171a and 171b (shaft centers w0 and w1) when the auxiliary mechanism 8 is in the horizontal state are defined as y = 0. Further, let _y0 be the amount by which the idler 18a is pushed up in the vertical direction, and let _y1 be the amount by which the idler 18b is pushed down in the vertical direction.

The auxiliary mechanism 8 allows each idler to move independently, and even if the idler 18a is pushed up, the pressing amount of the other idler 18b is minimized, so that the crawler belt type traveling body 10 can be stably traveled. can. That is, the auxiliary mechanism 8 has a structure in which the amount of vertical push-up _y0 of one idler 18a is greater than the amount of vertical push-up _y1 of the other idler 18b. By adopting such a configuration, the crawler belt-type traveling body 10 can be provided with the auxiliary mechanism 8 that improves grounding performance within a limited size.

○Regarding the Design Shape of the Auxiliary Mechanism Next, the optimal design shape of the auxiliary mechanism 8 will be described. The link length L and link angle θ of the auxiliary mechanism 8 are determined by the dispositionable range, the swingable range, the wheel-to-wheel distance W, and the wheel diameters of the idlers 18a and 18b as shown in FIG. Therefore, first, using FIGS. 20 and 21, the relationship between the amount of lift _y0 and the amount of depression _y1 when one of the link length L and the link angle θ is fixed and the other value is changed. will be explained.

FIG. 20 shows the lift amount _y0 and the push-down amount _y1 when the link length L is fixed at 80 mm (L=80) and the link angle θ is set to 90°, 120°, 150°, and 180°. Show relationship. As shown in FIG. 20, the influence of the depression amount _y1 on the elevation amount _y0 decreases as the link angle θ decreases.

FIG. 21 shows the relationship between the amount of lift _y0 and the amount of depression _y1 when the link angle θ is fixed at 120° (θ=120°) and the link length L is set to 60 mm, 80 mm, 100 mm, and 120 mm. show. As shown in FIG. 21, the effect of the depression amount _y1 on the elevation amount _y0 decreases as the link length L becomes shorter. Therefore, in the auxiliary mechanism 8, the influence of the depression amount _y1 on the elevation amount _y0 can be reduced as the link angle θ and the link length L become smaller.

Next, with reference to FIG. 22, the relationship between the lift amount _y0 and the depression amount _y1 when the wheel distance W is fixed and the link length L and the link angle θ are changed will be described. If any two values of the link length L, the wheel-to-wheel distance W, and the link angle θ are determined, the remaining one value is uniquely determined. That is, if the wheel-to-wheel distance W is constant, the relationship between the link length L and the link angle θ is determined when one of them is determined.

Fig. 22(A) shows the distance W between wheels fixed at 100 mm (W = 100), and the lift amount y when the link angle θ is set to 90°, 120°, 150°, and ₁₈₀ °. ₁ shows the relationship of the quantity y1. In the case of FIG. 22A, the link lengths L when θ=90°, 120°, 150° and 180° are 70.7 mm, 57.7 mm, 51.8 mm and 50 mm, respectively. On the other hand, FIG. 22(B) shows the lift amount y when the distance W between the wheels is fixed at 120 mm (W=120) and the link angle θ is set to 90°, 120°, 150°, and 180°. The relationship between ₀ and the amount of depression _y1 is shown. In the case of FIG. 22B, the link lengths L are 84.9 mm, 69.3 mm, 62.1 mm and 60 mm when θ=90°, 120°, 150° and 180°, respectively.

As shown in FIGS. 22A and 22B, the effect of the depression amount y1 on the elevation amount _y0 is _greater when the link angle θ is reduced than when the link length L is shortened. is decreasing. Therefore, the auxiliary mechanism 8 is designed to reduce the link angle θ in accordance with the size restrictions of the crawler belt-type traveling body 10, so that one idler 18 pushes up (protrudes) and the other idler pushes down ( subduction) can be reduced.

Here, when the push-up amount _y0 of one idler 18a is 1/2 the length of the distance W between the wheels, the push-down amount _y1 of the other idler 18b is 1/4 the length of the distance W between the wheels. The following case is taken as an example of a suitable relationship between the amount of push-up _y0 and the amount of push-down _y1 for improving the grounding property of the crawler belt-type traveling body 10. That is, when the depression amount y ₁ is half or less of the push-up amount y ₀ , the crawler belt-type traveling body 10 can further improve the ground contact using the auxiliary mechanism 8 .

When the boundary value between the link angle θ and the link length L that satisfies the condition y ₁ ≦y ₀ /2 is calculated using the definition shown in FIG. 19, the boundary value does not depend on the link length L. , the link angle θ≦105°. Further, when θ<90°, when one idler 18 a is pushed up by W/2, the other idler 18 b may exceed the link shaft 191 . Therefore, the auxiliary mechanism 8 is installed in the range of the link angle θ greater than 90° and 105° or less (90° < θ ≤ 105°), thereby further improving the grounding property of the crawler belt type traveling body 10. be able to.

Next, FIG. 23 shows an example of the layout of the auxiliary mechanism 8 that satisfies y ₁ ≦W/4. FIG. 23 shows the lift amount _y when the distance W between the wheels is set to 100 mm (W = 100), the link length L is set to 65 mm (L = 65), and the link angle θ is set to 100° (θ = 100°). ₁ shows the relationship of the quantity y1. As shown in FIG. 23, the auxiliary mechanism 8 can reduce the depression amount _y1 to W/4 or less by setting the distance W between the wheels, the link angle θ, and the link length L as described above. .

In the above, _the explanation was given from the viewpoint of the influence of the amount of push-up on _{the amount} of push-up; A similar explanation holds.

Application Examples of Travel Device The travel device 1 having the crawler belt-type traveling body 10 described above is used in various usage scenes by attaching devices or members for realizing functions according to the intended use to the main body 50. be able to. The travel device 1 is used, for example, as a working robot that performs light work such as transportation of articles at a base such as a factory or warehouse with narrow passages by making use of its high turnability. In the case of such a working robot, the travel device 1 is attached with, for example, a carrier for transportation and a movable arm for light work.

The traveling device 1 is also used, for example, for rescue applications or reconstruction support applications at disaster sites, agricultural applications, construction sites, or outdoor factories, plants, or other facilities. In such applications, for example, in an environment where the road surface is rough due to scattered rubble and garbage, the traveling device 1 utilizes the characteristics of the crawler belt type traveling body 10, such as the traveling stability, to reduce the risk of problems occurring during travel. can be reduced.

Further, the traveling device 1 is equipped with a photographing device and a display device, so that it can be used as a telepresence robot that realizes two-way communication (remote communication) between a user in the base of the traveling device 1 and a user at a remote location. be done. By using a telepresence robot, it is possible to remotely perform management or maintenance work of devices in the base, or to confirm the position or flow line of a person located in the base. Furthermore, the traveling device 1 may be configured to travel in response to a remote operation from a user in a remote location.

Effects of the Embodiment As described above, the traveling device 1 is provided with the crawler belt-type traveling body 10 having the auxiliary mechanism 8 in which the two idlers 18a and 18b are swingably provided, so that the traveling device 1 is grounded. In addition to improving the stability, it is possible to realize stable running that prevents overturning. Further, the traveling device 1 is provided with the auxiliary mechanism 8 having the link 19 with the link angle θ determined in consideration of the size of the crawler belt type traveling body 10 and the link length L. And running stability can be improved.

●Summary●
As described above, the crawler belt-type traveling body according to one embodiment of the present invention includes the crawler belt 11, the drive wheels 13 that apply a driving force to the crawler belt 11, and at least two rollers arranged below the drive wheels 13. 15a and 15b, and a crawler belt 11 is wound between a drive wheel 13 and rollers 15a and 15b. In addition, the crawler belt type traveling body 10 is provided between the two rollers 15a and 15b, and includes an auxiliary mechanism 8 in which two idlers 18a and 18b (an example of auxiliary wheels) are swingably provided. The lift amount _y0 of the idler 18a when (an example of one training wheel) is pushed up in the vertical direction is greater than the depression amount _y1 of the idler 18b (an example of the other training wheel). Thereby, the crawler belt-type traveling body 10 can improve the stability during travel.

Further, in the crawler belt-type traveling body according to one embodiment of the present invention, the auxiliary mechanism 8 has a link 19 (an example of a connecting portion) that pivotally connects the two idlers 18a and 18b (an example of auxiliary wheels). The auxiliary mechanism 8 is connected to the crawler belt type traveling body 10 via the link 19 . As a result, the crawler belt type traveling body 10 is provided with an auxiliary mechanism 8 that allows the two idlers 18a and 18b to move independently. It can run stably.

Further, in the crawler belt-type traveling body according to one embodiment of the present invention, a first wheel connecting the wheel shaft 171a of the idler 18a (an example of one auxiliary wheel) and the link shaft 191 (an example of the swing shaft) of the auxiliary mechanism 8 The angle θ between the side and the second side connecting the wheel shaft 171b of the idler 18b (an example of the other auxiliary wheel) and the link shaft 191 is in the range of 90°<θ≦105°. As a result, the track-type traveling body 10 is provided with the auxiliary mechanism 8 in which the amount of depression _y1 is half or less than the amount of push-up _y0 , thereby further improving the ground contact using the auxiliary mechanism 8. Stability during running can be enhanced.

A traveling device according to an embodiment of the present invention includes a crawler belt type traveling body 10 and a main body 50 that supports at least two crawler belt type traveling bodies 10 (10a, 10b) in a travelable state. Thereby, the traveling device 1 can improve the stability of the traveling device 1 including the main body 50 .

● Supplement ●
Although the crawler belt-type traveling body and traveling device according to one embodiment of the present invention have been described so far, the present invention is not limited to the above-described embodiment, and additions, changes, deletions, etc. of other embodiments, etc. Modifications can be made within the conceivable range of those skilled in the art, and as long as the actions and effects of the present invention are exhibited in any aspect, they are included in the scope of the present invention.

1 traveling device 8 auxiliary mechanism 10 (10a, 10b) crawler belt type traveling body 11 crawler belt 13 driving wheel 14 in-wheel motor 15a, 15b roller 18a, 18b idler (an example of auxiliary wheel)
19 Link (an example of a connection part)
20a, 20b Side plate 25 Tensioner 141 Motor shaft 161a, 161b Wheel shaft 163a Bearing 165a1, 165a2 Set collar 167a1, 167a2 Oil seal 171a Wheel shaft 173a Bearing 175a1, 175a2 Set collar 177a1, 177a2 Oil seal 191 Link shaft (an example of a swing shaft )
192a, 192b link plate (an example of a swinging part)
193a, 193b Set collar 195a, 195b Push member

Claims (12)

tracks;
a driving wheel that applies a driving force to the crawler belt;
at least two wheels,
A crawler belt-type traveling body in which the crawler belt is wound between the drive wheel and the roller,
An auxiliary mechanism that is provided between the at least two rollers and has a connecting portion that oscillatably connects the two auxiliary wheels , and that connects to the crawler belt-type traveling body via the connecting portion ,
The crawler belt is in contact with the running road surface between the at least two wheels, and is arranged so as not to contact the running road surface at the location where it is wound around the driving wheel,
The at least two rollers are arranged so as to be approximately symmetrical with respect to a perpendicular line connecting a straight line connecting the drive shaft of the drive wheel and the roller shaft of the roller,
The two auxiliary wheels are arranged side by side in the running direction at positions across the perpendicular line,
When one of the training wheels is pushed up in the vertical direction, the amount of push-up of the one training wheel is greater than the amount of push-down of the other training wheel,
An angle θ between a first side connecting the wheel axis of one of the auxiliary wheels and the rocking axis of the auxiliary mechanism and a second side connecting the wheel axis of the other training wheel and the rocking axis is A track-type running body in the range of 90°<θ≦105° . The connecting portion has a swinging portion and the swinging shaft that support the training wheels in a double-supported structure,
2. The crawler belt type traveling body according to claim 1 , wherein the swinging portion is fixed to the swinging shaft by a set collar. 3. The crawler belt type traveling body according to claim 2 , wherein the connection portion includes a push member at a joint portion between the swing portion and the swing shaft. The crawler belt-type traveling body according to claim 2 or 3 , wherein the auxiliary wheel has an oil seal inside the double support structure. The crawler belt-type traveling body according to any one of claims 1 to 4 , wherein the auxiliary wheel has a bearing in the central portion of the axle. 6. The crawler belt type traveling body according to claim 5 , wherein the auxiliary wheels have set collars on both sides of the bearings. When the push-up amount of one of the auxiliary wheels is 1/2 of the inter-wheel distance of the auxiliary wheels, the depression amount of the other auxiliary wheel is 1/4 or less of the inter-wheel distance. 7. The crawler belt type traveling body according to claim 1, wherein the amount of push-up and the amount of push-down are defined as follows. The crawler belt type traveling body according to any one of claims 1 to 7 , further comprising a tensioner connected to a drive shaft of the drive wheel and applying tension to the crawler belt by pressing the drive wheel against the crawler belt. The crawler belt-type traveling body according to any one of claims 1 to 8 , further comprising a side plate that supports the driving wheel and the rolling wheel with a double support structure. The crawler belt-type traveling body according to any one of claims 1 to 9 , having a structure approximately line-symmetrical with respect to the perpendicular. It has one driving wheel, two rollers, and one auxiliary mechanism, and has a triangular shape formed by the driving wheel and the rollers, and the auxiliary mechanism comprises the two rollers. The crawler belt type traveling body according to any one of claims 1 to 10 , which is arranged between. A crawler belt type traveling body according to any one of claims 1 to 11 ;
a main body that supports at least two crawler belt-type traveling bodies in a drivable state;
running gear.