JPH0440230B2 - - Google Patents

Info

Publication number
JPH0440230B2
JPH0440230B2 JP12762683A JP12762683A JPH0440230B2 JP H0440230 B2 JPH0440230 B2 JP H0440230B2 JP 12762683 A JP12762683 A JP 12762683A JP 12762683 A JP12762683 A JP 12762683A JP H0440230 B2 JPH0440230 B2 JP H0440230B2
Authority
JP
Japan
Prior art keywords
wheel
crawler
swing arm
crank
vehicle body
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
JP12762683A
Other languages
Japanese (ja)
Other versions
JPS6022574A (en
Inventor
Taro Iwamoto
Hiroshi Yamamoto
Kazuo Pponma
Masakatsu Fuje
Juji Hosoda
Koji Kameshima
Yoshuki Nakano
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Ltd
Original Assignee
Hitachi Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Ltd filed Critical Hitachi Ltd
Priority to JP12762683A priority Critical patent/JPS6022574A/en
Publication of JPS6022574A publication Critical patent/JPS6022574A/en
Publication of JPH0440230B2 publication Critical patent/JPH0440230B2/ja
Granted legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/104—Suspension devices for wheels, rollers, bogies or frames
    • B62D55/116—Attitude or position control of chassis by action on suspension, e.g. to compensate for a slope

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
  • Handcart (AREA)

Description

【発明の詳細な説明】 〔産業上の利用分野〕 本発明は、走行車に係り、特に形状を変えるこ
とができるクローラ式走行車に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a traveling vehicle, and particularly to a crawler type traveling vehicle whose shape can be changed.

〔従来の技術〕[Conventional technology]

近年、階段の昇降や障害物の乗り越えが可能な
移動ロボツトが種々提案されている。この種の移
動ロボツトとしては、例えば特開昭57−155171号
公報に示すように車体の両側に噛み合うよう上側
部車輪を上下動に調整することにより、クローラ
形状を一部変化させて、路面の突起物を乗り越え
ようとしている。 In recent years, various mobile robots that can ascend and descend stairs and overcome obstacles have been proposed. For example, as shown in Japanese Patent Application Laid-open No. 57-155171, this type of mobile robot can partially change the shape of the crawler by adjusting the upper wheels to move up and down so as to engage with both sides of the vehicle body. Trying to get over a protrusion.

〔発明が解決しようとする課題〕[Problem to be solved by the invention]

上述したクローラを備える走行車においては、
路面の突起を乗り越える際、路面の突起により、
クローラが車体内方に押し込まれ、クローラの内
側の歯の山が補助車輪の歯の山に乗る場合があ
る。このとき、車体の安定性が悪くなり、異常振
動を発生するので問題である。 In the traveling vehicle equipped with the crawler described above,
When climbing over a bump in the road, the bump in the road may cause
The crawler may be pushed into the vehicle body, and the teeth on the inside of the crawler may ride on the teeth on the auxiliary wheels. At this time, the stability of the vehicle body deteriorates and abnormal vibrations occur, which is a problem.

本発明の目的は、車体の浮き上がりを防止し、
安定に走行できるクローラ走行車を提供すること
にある。 The purpose of the present invention is to prevent the vehicle body from lifting,
To provide a crawler vehicle that can run stably.

〔課題を解決するための手段〕[Means to solve the problem]

上記目的は、車体の両側に備えられた主車輪及
び副車輪と、前記主車輪及び前記副車輪とともに
クローラベルトに巻き掛けられた遊星輪と、前記
遊星輪をクランクを介して軸支する旋回アームと
を備え、前記遊星輪の位置を移動することにより
前記クローラベルトの形状を変化させることがで
きるクローラ走行車において、前記車体に自由回
転可能に支持された補助車輪と、前記クローラベ
ルトの駆動歯のピツチ円上における移動周長と前
記補助車輪の歯のピツチ円上における移動周長と
が等しくなるように前記主車輪と前記補助車輪と
を連動する連動機構とを設けることによつて達成
される。 The above purpose is to provide a main wheel and a subwheel provided on both sides of a vehicle body, a planetary wheel wrapped around a crawler belt together with the main wheel and the subwheel, and a rotating arm that pivotally supports the planetary wheel via a crank. A crawler traveling vehicle, wherein the shape of the crawler belt can be changed by moving the position of the planetary wheels, an auxiliary wheel rotatably supported on the vehicle body, and a drive tooth of the crawler belt. This is achieved by providing an interlocking mechanism that interlocks the main wheel and the auxiliary wheel so that the circumference of movement on the pitch circle of the teeth of the auxiliary wheel is equal to the circumference of movement of the teeth of the auxiliary wheel on the pitch circle. Ru.

〔作用〕[Effect]

主車輪のチエーンかみ合いピツチ径の周速と補
助車輪のピツチ径の周速とが等しくなるように構
成したので、クローラと補助車輪とのかみ合いを
維持することができる。その結果、安定な走行が
可能となる。 Since the circumferential speed of the chain engagement pitch diameter of the main wheel is made equal to the circumferential speed of the pitch diameter of the auxiliary wheel, the engagement between the crawler and the auxiliary wheel can be maintained. As a result, stable driving becomes possible.

〔実施例〕〔Example〕

以下本発明の実施例を図面を用いて説明する。 Embodiments of the present invention will be described below with reference to the drawings.

本発明のクローラ走行車は第１図に示すよう
に、車体７の側面に旋回アーム１を備え、旋回ア
ーム１の先端に第２アームとなるクランク２を介
して遊星輪３を設け、この遊星輪３および車体７
側部の主車輪５、副車輪６にクローラベルト４を
巻き掛けて構成しており、旋回アーム１は車体７
に対し主車輪５、副車輪６より外側に位置してお
り、主車輪５、副車輪６に接触することなく旋回
アーム１を車体７に軸支する旋回中心のまわりに
全周回転することができる。また遊星輪３は旋回
アーム１の先端に取り付けられたクランク２によ
つて外側から回転可能に軸支されており、クロー
ラベルト４で囲まれた領域の外部に遊星輪３の支
持構造である旋回アーム１とクランク２があるの
で、主車輪５または副車輪６と遊星輪３とが接触
しないように、旋回アーム１およびクランク２の
寸法を第１図に示されているごとくとれば、旋回
アーム１の回転に伴い、遊星輪３は主車輪５また
は副車輪６に接触することなくこれを乗り越えて
全周移動できる。 As shown in FIG. 1, the crawler vehicle of the present invention includes a rotating arm 1 on the side surface of a vehicle body 7, and a planetary wheel 3 is provided at the tip of the rotating arm 1 via a crank 2 serving as a second arm. Wheel 3 and body 7
The crawler belt 4 is wound around the main wheels 5 and auxiliary wheels 6 on the sides, and the swing arm 1 is attached to the vehicle body 7.
In contrast, it is located outside the main wheels 5 and auxiliary wheels 6, and can rotate all the way around the center of rotation that pivots the swing arm 1 on the vehicle body 7 without contacting the main wheels 5 and 6. can. The planet wheels 3 are rotatably supported from the outside by a crank 2 attached to the tip of the swing arm 1, and a support structure for the planet wheels 3 is provided outside the area surrounded by the crawler belt 4. Since there is an arm 1 and a crank 2, if the dimensions of the swing arm 1 and the crank 2 are set as shown in Fig. 1 so that the main wheel 5 or the subwheel 6 and the planetary wheel 3 do not come into contact with each other, the swing arm 1, the planetary wheels 3 can move around the entire circumference of the main wheel 5 or the auxiliary wheel 6 without contacting them.

遊星輪３が移動する際、クローラベルト４が３
個の車輪に巻掛けてあるので、遊星輪３の位置は
クローラベルト４により拘束され、旋回アーム１
の旋回中心と遊星輪３の軸中心との軸間距離は旋
回アーム１の位置により変化し、３個の車輪が一
直線上に並ぶ位置では軸間距離が長く、90度回転
した位置では軸間距離が短くならなければならな
い。この軸間距離を自動的に調整する手段につい
ては、例えば特願昭57−147627号に示されている
実施例により実現可能である。以下にこれを示
す。 When the planetary ring 3 moves, the crawler belt 4
Since the position of the planet wheel 3 is restricted by the crawler belt 4, the position of the planet wheel 3 is restricted by the crawler belt 4.
The distance between the center of rotation and the center of the axis of the planetary wheel 3 changes depending on the position of the swing arm 1.The distance between the centers is long when the three wheels are aligned in a straight line, and when the wheels are rotated 90 degrees, the distance between the centers is long. The distance must be shortened. This means for automatically adjusting the distance between the axes can be realized, for example, by the embodiment shown in Japanese Patent Application No. 147627/1983. This is shown below.

第１１図及び第１２図に示すように、旋回アー
ム１が回転すると、旋回中空軸３１、ギヤ３２、
ギヤ３３、ギヤ３４、ギヤ３５の順で回転が伝達
され、その結果ギヤ３５は旋回アーム１とは逆方
向に回転する。従つて、旋回軸３６、スプロケツ
ト３７，３８及びチエーン３９を介してギヤ３５
により駆動されるクランク２も旋回アーム１とは
逆方向に回転する。今、３個の車輪が一直線上に
並ぶ配置の時、クランク２は軸間距離を大きくす
る位置にあるものとすると、軸間距離は旋回アー
ム１の旋回中空軸３１とシヤフト４０との距離に
クランク２の偏心距離を加えたものになり、旋回
アーム１が第１１図に示すように路面に対し垂直
に立つた状態になると、旋回アーム１とクランク
２の相対角度は180度となり、旋回中空軸３１と
遊星輪３との軸間距離は、旋回アーム１の旋回中
空軸３１とシヤフト４０との軸間距離からクラン
ク２の偏心距離を減じたものになり、軸間距離は
短縮される。 As shown in FIGS. 11 and 12, when the swing arm 1 rotates, the swing hollow shaft 31, the gear 32,
Rotation is transmitted to gear 33, gear 34, and gear 35 in this order, and as a result, gear 35 rotates in the opposite direction to swing arm 1. Therefore, the gear 35 is connected via the pivot shaft 36, sprockets 37, 38, and chain
The crank 2 driven by the rotating arm 1 also rotates in the opposite direction to the rotating arm 1. Now, when the three wheels are arranged in a straight line, and the crank 2 is assumed to be in a position that increases the distance between the axes, the distance between the axes is the distance between the rotating hollow shaft 31 of the rotating arm 1 and the shaft 40. When the swing arm 1 stands perpendicular to the road surface as shown in Figure 11, the relative angle between the swing arm 1 and the crank 2 is 180 degrees, and the swing hollow The distance between the shafts 31 and the planetary wheels 3 is the distance between the shafts 40 and the rotating hollow shaft 31 of the rotating arm 1 minus the eccentric distance of the crank 2, and the distance between the shafts is shortened.

第１３図に示すように、旋回アーム１の軸間距
離をＲ、クランク２の偏心距離をｒとし、旋回中
空軸１３の軸心を原点にとり、主車輪５、または
副車輪６を通る軸をｘ軸、これに垂直の軸をｙ軸
にとると、遊星輪３の座標は旋回アーム１の回転
角αより次のようになる。 As shown in FIG. 13, the distance between the axes of the swing arm 1 is R, the eccentric distance of the crank 2 is r, the axis of the swing hollow shaft 13 is taken as the origin, and the axis passing through the main wheel 5 or the subwheel 6 is set as the origin. If the x-axis and the axis perpendicular to this are taken as the y-axis, the coordinates of the planetary ring 3 are as follows from the rotation angle α of the swing arm 1.

ｘ＝Rcosα＋rcosα ｙ＝Rsinα−rsinα これより、 x2／（Ｒ＋ｒ）2＋y2／（Ｒ−ｒ）2＝１ 上式は楕円の式である。良く知られているよう
に、楕円の二つの焦点と楕円上の点を結ぶ二つの
線分の長さの和は一定である。今、主・副車輪を
この楕円の焦点の位置に置き、クローラベルト４
の長さを上記の二つの線分の長さの和に車輪の外
周の長さを加えたものにすると、前記の連動機構
の働きにより、遊星輪３は主車輪５と副車輪６の
回転中心を焦点とする楕円上に常に位置する。従
つて、クローラベルト４は旋回アーム１の回転に
より遊星輪３の位置が変化しても弛みを生ずるこ
となく一定の張力に維持される。 x=Rcosα+rcosα y=Rsinα−rsinα From this, x 2 /(R+r) 2 +y 2 /(R−r) 2 =1 The above equation is an ellipse equation. As is well known, the sum of the lengths of the two line segments connecting the two foci of an ellipse and a point on the ellipse is constant. Now, place the main and secondary wheels at the focal point of this ellipse, and
If the length of is the sum of the lengths of the above two line segments plus the length of the outer circumference of the wheel, then due to the action of the interlocking mechanism described above, the planetary wheel 3 is rotated by the rotation of the main wheel 5 and the subwheel 6. Always located on an ellipse with the focus at the center. Therefore, even if the position of the planetary wheel 3 changes due to the rotation of the swing arm 1, the crawler belt 4 is maintained at a constant tension without loosening.

このように、旋回中空軸３１、ギヤ３２，３
３，３４，３５、旋回軸３６、スプロケツト３
７，３８、チエーン３９、旋回軸４０で構成され
るクランク２と旋回アーム１の連動機構は、旋回
中空軸３１と遊星輪３との軸間距離を自動的に調
整する働きがある。 In this way, the rotating hollow shaft 31, the gears 32, 3
3, 34, 35, rotating shaft 36, sprocket 3
The interlocking mechanism between the crank 2 and the rotating arm 1, which is composed of the rotating shaft 31, the chain 39, and the rotating shaft 40, has the function of automatically adjusting the distance between the rotating hollow shaft 31 and the planetary ring 3.

以上により、旋回アーム１を回転すると、覆帯
の張力を変化させずに遊星輪３の位置を移動する
ことができ、その結果、クローラベルト４の形状
を変化させることができる。この特徴を生かし
て、路面の状態に応じて第２図〜第３図に示すよ
うにクローラベルト４の形状を変化させると、障
害物や階段の走行を行うことができる。また、第
４図に示すように階段走行時に車体を水平に保持
したり、第５図に示すように車体を引き起こすこ
となども可能である。 As described above, when the swing arm 1 is rotated, the position of the planetary ring 3 can be moved without changing the tension of the cover belt, and as a result, the shape of the crawler belt 4 can be changed. By taking advantage of this feature and changing the shape of the crawler belt 4 as shown in FIGS. 2 and 3 according to the road surface condition, it is possible to run over obstacles and stairs. It is also possible to hold the vehicle horizontally when running on stairs as shown in FIG. 4, or to raise the vehicle as shown in FIG.

また第１図に示すようにクローラ走行車の走行
機構部は次のように構成されている。即ち、車体
７の主車輪５が取り付けられ、後側に副車輪６が
取り付けられている。主車輪５にはスプロケツト
８が取り付けられ、副車輪６にはスプロケツト９
が取り付けられているスプロケツト８とスプロケ
ツト９はチエーン１０により連動している。１
１，１２，１３はチエーンガイド輪である。車体
７の下側には補助車輪１４，１５の回転は自由可
能に支持されている。 Further, as shown in FIG. 1, the traveling mechanism section of the crawler traveling vehicle is constructed as follows. That is, the main wheels 5 of the vehicle body 7 are attached, and the auxiliary wheels 6 are attached to the rear side. A sprocket 8 is attached to the main wheel 5, and a sprocket 9 is attached to the subwheel 6.
Sprocket 8 and sprocket 9, to which sprockets are attached, are interlocked by a chain 10. 1
1, 12, and 13 are chain guide wheels. Auxiliary wheels 14 and 15 are supported on the lower side of the vehicle body 7 so as to be freely rotatable.

今、第２図に示すように走行車が後退し、右側
の形状から左側の形状に変化したとき、第６図に
示すようにクローラ４の内側の歯の山が補助車輪
１４，１５の歯の山に乗る場合がある。このと
き、車体７は路面より浮き上がつてしまうので、
このまま走行すると、車体７の安定性が悪くな
り、異常振動を発生することになる。 Now, as shown in FIG. 2, when the traveling vehicle moves backward and changes from the right side shape to the left side shape, as shown in FIG. There are times when you ride a mountain. At this time, the vehicle body 7 rises above the road surface, so
If the vehicle continues to run in this state, the stability of the vehicle body 7 will deteriorate and abnormal vibrations will occur.

この不具合はつぎの実施例の説明により解決さ
れる。実施例の説明に先立つて、本発明の動作原
理を第７図を用いて説明する。補助車輪１４，１
５の歯とクローラ４の歯がかみ合うように位相を
合わせ、同期して移動させれば、歯はどんな場合
でもかみ合い、クローラ４の歯の山と補助車輪１
４，１５の歯の山とが重なることはない。補助車
輪１４，１５をクローラ４と同期させて回転させ
るために、本発明においては主車輪５と副車輪６
とを連通しているチエーン１０を用いる。そし
て、クローラ４の歯と補助車輪１４の歯が同期し
てスプロケツト８のピツチ円３０上の移動周長３
０上にて動くためには、主車輪５のクローラ４の
駆動歯のピツチ円２８上における移動周長ａと、
補助車輪１４のピツチ円２９上における移動周長
ｂとが常に等しくなるように主車輪５と補助車輪
１４をチエーン１０で連動させればよい。このた
めにはスプロケツト８のピツチ円３０上の移動周
長ｃと補助車輪１４を駆動するスプロケツト１８
のピツチ円３１上の移動周長ｄとが等しくなるよ
うに、ピツチ円３０，３１の径をとれば良い。こ
のとき、ピツチ円２８の半径をＡ、ピツチ円２９
の半径をＢ、ピツチ円３０の半径をＣ、ピツチ円
３１の半径をＤとすると、次の関係が成り立つ。 This problem will be solved by the description of the next embodiment. Before explaining the embodiments, the principle of operation of the present invention will be explained using FIG. 7. Auxiliary wheel 14,1
If the phases are adjusted so that the teeth of the crawler 4 and the teeth of the crawler 4 mesh, and the teeth are moved synchronously, the teeth will mesh in any case, and the peak of the teeth of the crawler 4 and the auxiliary wheel 1
The peaks of teeth 4 and 15 do not overlap. In order to rotate the auxiliary wheels 14 and 15 in synchronization with the crawler 4, in the present invention, the main wheels 5 and the auxiliary wheels 6
A chain 10 is used that communicates with the Then, the teeth of the crawler 4 and the teeth of the auxiliary wheel 14 synchronize to move the circumference 3 on the pitch circle 30 of the sprocket 8.
In order to move on the pitch circle 28, the moving circumference a of the driving teeth of the crawler 4 of the main wheel 5 on the pitch circle 28,
The main wheel 5 and the auxiliary wheel 14 may be interlocked by the chain 10 so that the moving circumference b of the auxiliary wheel 14 on the pitch circle 29 is always equal. For this purpose, the moving circumference c of the sprocket 8 on the pitch circle 30 and the sprocket 18 that drives the auxiliary wheel 14 are determined.
The diameters of the pitch circles 30 and 31 may be set so that the moving circumferential length d on the pitch circle 31 is equal. At this time, the radius of pitch circle 28 is A, pitch circle 29
When the radius of is B, the radius of the pitch circle 30 is C, and the radius of the pitch circle 31 is D, the following relationship holds true.

Ｃ／Ａ＝Ｄ／Ｂ ……(1) 逆にこの関係を保持すれば、主車輪５と補助車
輪１４はピツチ円上で等速となり、クローラ４の
歯と補助車輪１４の歯は同期して動くので、最初
にかみあう状態であれば、それ以後歯の山が重な
ることは無い。 C/A=D/B... (1) Conversely, if this relationship is maintained, the main wheel 5 and the auxiliary wheel 14 will be at constant speed on the pitch circle, and the teeth of the crawler 4 and the auxiliary wheel 14 will be synchronized. Since the teeth move with each other, once they are engaged for the first time, the teeth do not overlap after that.

上述した本発明の動作原理に基づいて、その具
体的な構成を第８図から第１０図を用いて説明す
る。 Based on the operating principle of the present invention described above, its specific configuration will be explained using FIGS. 8 to 10.

補助車輪１４，１５のシヤフト１６，１７には
補助車輪１４，１５の他にスプロケツト１８，１
９が設けられており、ピン３２により補助車輪１
４の歯がクローラ４の歯にかみ合う位置で結合さ
れている。２０，２１はプツシユ、２２，２３は
フレーム、２４は軸受を示す。 The shafts 16, 17 of the auxiliary wheels 14, 15 have sprockets 18, 1 in addition to the auxiliary wheels 14, 15.
9 is provided, and the auxiliary wheel 1 is connected by the pin 32.
The teeth of No. 4 are connected to the teeth of the crawler 4 at a position where they mesh with each other. 20 and 21 are pushers, 22 and 23 are frames, and 24 is a bearing.

このように構成したことにより、主車輪５が回
転すると、チエーン１０によりスプロケツト１
８，１９が回転させられ、補助車輪１４，１５も
回転する。補助車輪１４のピツチ円の半径とスプ
ロケツト１８，１９のピツチ円の半径とは前述の
(1)式の関係を保つているので、クローラ４の歯に
かみ合わせることができる。この結果、車体７は
浮き上がりを生ぜず、安定に走行することができ
る。 With this configuration, when the main wheel 5 rotates, the chain 10 causes the sprocket 1 to rotate.
8 and 19 are rotated, and the auxiliary wheels 14 and 15 are also rotated. The radius of the pitch circle of the auxiliary wheel 14 and the radius of the pitch circle of the sprockets 18 and 19 are as described above.
Since the relationship of equation (1) is maintained, it can mesh with the teeth of the crawler 4. As a result, the vehicle body 7 does not lift up and can run stably.

〔発明の効果〕 本発明によれば、クローラの形状を変更させた
場合にも、クローラの歯と補助車輪とのかみあい
を維持することができるので、車体の浮き上りが
防止され、安定な走行が可能である。[Effects of the Invention] According to the present invention, even when the shape of the crawler is changed, the meshing between the teeth of the crawler and the auxiliary wheels can be maintained, so lifting of the vehicle body is prevented and stable running is achieved. is possible.

【図面の簡単な説明】[Brief explanation of drawings]

第１図は本発明のクローラ走行車の一実施例の
斜視図、第２図、第３図、第４図、第５図は本発
明のクローラ走行車の動作説明斜視図、第６図は
第１図のクローラ走行車の構造を一部断面にて示
す正面図、第７図は本発明の原理説明図、第８図
は本発明のクローラ走行車の一実施例の構造を示
す部分断面にて示す正面図、第９図は本発明のク
ローラ走行車の構造を示す部分縦断平面図、第１
０図は本発明のクローラ走行車の構造を示す部分
横断面図、第１１図は本発明の一実施例の部分横
断面図、第１２図は本発明の一実施例を説明する
部分平面図、第１３図は本発明の一実施例の動作
原理説明図である。 ４……クローラ、５……主車輪、８，９，１
８，１９……スプロケツト、１０……チエーン、
１１，１２，１３……チエーンガイド軸、１４，
１５……補助車輪、１６，１７……シヤフト、２
０，２１……プツシユ、２２，２３……フレー
ム、２４……軸受、２５……止め輪、２８，２
９，３０，３１……ピツチ円、３２……ピン。 FIG. 1 is a perspective view of an embodiment of the crawler vehicle of the present invention, FIGS. 2, 3, 4, and 5 are perspective views explaining the operation of the crawler vehicle of the present invention, and FIG. FIG. 1 is a front view showing the structure of the crawler vehicle in partial cross section, FIG. 7 is a diagram explaining the principle of the present invention, and FIG. 8 is a partial cross section showing the structure of an embodiment of the crawler vehicle of the present invention. FIG. 9 is a partial longitudinal sectional plan view showing the structure of the crawler vehicle of the present invention, and FIG.
FIG. 0 is a partial cross-sectional view showing the structure of a crawler vehicle according to the present invention, FIG. 11 is a partial cross-sectional view of an embodiment of the present invention, and FIG. 12 is a partial plan view illustrating an embodiment of the present invention. , FIG. 13 is an explanatory diagram of the operating principle of an embodiment of the present invention. 4... Crawler, 5... Main wheel, 8, 9, 1
8, 19... Sprocket, 10... Chain,
11, 12, 13...Chain guide shaft, 14,
15... Auxiliary wheel, 16, 17... Shaft, 2
0,21...Pushy, 22,23...Frame, 24...Bearing, 25...Retaining ring, 28,2
9, 30, 31...pitch yen, 32...pin.

Claims (1)

【特許請求の範囲】 １ 車体に軸支された主車輪、副車輪と、前記
主・副車輪の中間の位置に前記車体に軸支される
旋回アームと、前記主車輪及び前記副車輪ととも
にクローラベルトに巻き掛けられ、クランクを介
して前記旋回アームに軸支される遊星輪と、前記
クランクと前記旋回アームの回転連動機構から構
成されるクローラ装置を前記車体の両側に備え、
前記旋回アームは前記主車輪及び副車輪に対し前
記車体の外側に配置し、前記遊星輪は前記旋回ア
ームにより前記クランクを介して外側より内向き
に軸支され、かつ前記連動機構は前記旋回アーム
の回転により遊星輪の位置を移動した時に前記ク
ローラベルトの拘束により生じる前記旋回アーム
回転軸からの距離の変化を前記クランクにより自
動的に補償するよう構成され、前記遊星輪の位置
を移動することにより前記クローラベルトの形状
を変化させることができるクローラ走行車におい
て、前記車体に自由回転可能に支持された補助車
輪と、前記クローラベルトの駆動歯のピツチ円上
における移動周長と前記補助車輪の歯のピツチ円
上における移動周長とが等しくなるように前記主
車輪と前記補助車輪とを連動する連動機構とを設
けたことを特徴とするクローラ走行車。 ２ 特許請求の範囲第１項記載のクローラ走行車
において、前記連動機構は前記主車輪に固定した
大スプロケツトと、前記補助車輪に固定した小ス
プロケツトと、前記主車輪と前記補助車輪の回転
方向が一致するように前記大スプロケツトと前記
小スプロケツトとを巻き掛けたチエーンとから構
成されていることを特徴とするクローラ走行車。[Scope of Claims] 1. A main wheel and a sub-wheel that are pivotally supported on a vehicle body, a swing arm that is pivotably supported on the vehicle body at a position intermediate between the main and sub-wheels, and a crawler together with the main wheel and the sub-wheel. A crawler device is provided on both sides of the vehicle body, and includes a planetary wheel wrapped around a belt and pivotally supported by the swing arm via a crank, and a rotation interlocking mechanism for the crank and the swing arm,
The swing arm is disposed on the outside of the vehicle body with respect to the main wheel and the auxiliary wheel, the planet wheel is pivotally supported by the swing arm inwardly from the outside via the crank, and the interlocking mechanism is arranged on the outside of the vehicle body with respect to the main wheel and the subwheel. The crank is configured to automatically compensate for a change in distance from the rotational axis of the swing arm caused by the restraint of the crawler belt when the position of the planetary ring is moved by rotation of the crank, and the position of the planetary ring is moved. In a crawler traveling vehicle in which the shape of the crawler belt can be changed by A crawler traveling vehicle, characterized in that it is provided with an interlocking mechanism that interlocks the main wheel and the auxiliary wheel so that the moving circumferential lengths of the teeth on the pitch circle are equal. 2. In the crawler vehicle according to claim 1, the interlocking mechanism includes a large sprocket fixed to the main wheel, a small sprocket fixed to the auxiliary wheel, and a rotating direction of the main wheel and the auxiliary wheel. A crawler vehicle comprising a chain around the large sprocket and the small sprocket so as to coincide with each other.
JP12762683A 1983-07-15 1983-07-15 Crawler-driven vehicle Granted JPS6022574A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP12762683A JPS6022574A (en) 1983-07-15 1983-07-15 Crawler-driven vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP12762683A JPS6022574A (en) 1983-07-15 1983-07-15 Crawler-driven vehicle

Publications (2)

Publication Number Publication Date
JPS6022574A JPS6022574A (en) 1985-02-05
JPH0440230B2 true JPH0440230B2 (en) 1992-07-02

Family

ID=14964734

Family Applications (1)

Application Number Title Priority Date Filing Date
JP12762683A Granted JPS6022574A (en) 1983-07-15 1983-07-15 Crawler-driven vehicle

Country Status (1)

Country Link
JP (1) JPS6022574A (en)

Also Published As

Publication number Publication date
JPS6022574A (en) 1985-02-05

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