JPS6045485A - Crawler traveler - Google Patents
Crawler travelerInfo
- Publication number
- JPS6045485A JPS6045485A JP12762283A JP12762283A JPS6045485A JP S6045485 A JPS6045485 A JP S6045485A JP 12762283 A JP12762283 A JP 12762283A JP 12762283 A JP12762283 A JP 12762283A JP S6045485 A JPS6045485 A JP S6045485A
- Authority
- JP
- Japan
- Prior art keywords
- crawler
- car body
- road surface
- wheel
- turning arm
- 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.)
- Granted
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)
- Handcart (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
Abstract
Description
【発明の詳細な説明】
〔発明の利用分野〕
本発明はクローラ走行車に係り、特にクローラ形状を変
えることができるクローラ走行車に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a crawler vehicle, and more particularly to a crawler vehicle whose crawler shape can be changed.
近年、階段の昇降や障害物の乗シ越えが可能な移動ロボ
ットが種々提案されている。その走行系の１つとして、
本出願人は特許出願番号昭和５７年４７１７７号及び特
許出願番号昭和５７年１４７６２７号に示すようにクロ
ーラ形状を変えることにより走行路の地形に適応するク
ローラ走行車を提案している。この走行車は第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を旋回させることにより遊星輪３の
位置を変え、クローラベルト４の形状を変えることがで
きる。このクローラベルト４の形状変更によシ、障害物
や階段の走行を行うことができる。また、階段走行時に
車体を水平に保持したり、車体の引き起こしなども可能
である。In recent years, various mobile robots that are capable of climbing stairs and climbing over obstacles have been proposed. As one of the running systems,
The present applicant has proposed a crawler vehicle that adapts to the topography of the road by changing the shape of the crawler, as shown in Patent Application No. 47177 of 1982 and Patent Application No. 147627 of 1987. As shown in FIG. 1, this traveling vehicle is equipped with 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. It is constructed by wrapping a crawler belt 4 around the main wheels 5 and auxiliary wheels 6 on the sides of the vehicle body 7, and by rotating the swing arm 1, the position of the planetary wheels 3 can be changed and the shape of the crawler belt 4 can be changed. can. By changing the shape of the crawler belt 4, it is possible to run over obstacles and stairs. It is also possible to hold the vehicle horizontally when running on stairs, or to raise the vehicle.
ところで、この走行車はその進行方向に沿う路面の形状
変化に適応し得るようにしているが、実際には走行車の
進行方向に対し横方向に路面の形状変化がある。この場
合には車体７が傾いてしまう欠点があった。By the way, although this vehicle is designed to be able to adapt to changes in the shape of the road surface along the direction of travel, in reality, the shape of the road surface changes in a direction transverse to the direction of travel of the vehicle. In this case, there is a drawback that the vehicle body 7 is tilted.
本発明の目的は路面の凹凸によらず車体を水平に保持で
きるクローラ走行車を提供することにある。SUMMARY OF THE INVENTION An object of the present invention is to provide a crawler vehicle that can hold the vehicle body horizontally regardless of the unevenness of the road surface.
本発明の特徴とするところは、路面の幅方向の変化に対
応して、車体を水平に維持するために、左右のクローラ
の形状を独立して制御するようにしたものである。A feature of the present invention is that the shapes of the left and right crawlers are independently controlled in order to maintain the vehicle body horizontally in response to changes in the width direction of the road surface.
以下本発明の実施例を図面を参照して説明する。 Embodiments of the present invention will be described below with reference to the drawings.
第３図は本発明のクローラ走行車の一実施例を示すもの
で、この図において第１図と同符号のものは同一部分で
ある。車体７の両側において、旋回アーム１の旋回中空
軸８は軸受９によって車体７に支えられている。その軸
端にはギヤ１０が装着されている。ギヤ１０にはギヤ１
１．１２がかみ合っている。ギヤ１１はギヤ１３とかみ
合っている。ギヤ１３はギヤ１０と同軸上のギヤ１４に
かみ合っている。このギヤ１４のシャフト１５の一方は
旋回アーム１の旋回中空軸８を貫通している。また、他
方は車体７に支持されている。このシャフト１５にはス
プロケット１６が取り付けられている。このスプロケッ
ト１６の回転運動は旋回アーム１の中を通るチェーン１
７によシ旋回アーム１の先端に伝達され、遊星輪３を支
えるクランク２のシャフト１８に固定されたスプロケッ
ト１９を回す。前述したギヤ１２にはそれぞれ駆動モー
タ２０が連結している。２１は主、駆動輪５に連結した
駆動モータ、２２は懸架手段である。FIG. 3 shows an embodiment of the crawler vehicle of the present invention, and in this figure, the same reference numerals as in FIG. 1 are the same parts. On both sides of the vehicle body 7, the pivoting hollow shaft 8 of the pivot arm 1 is supported on the vehicle body 7 by bearings 9. A gear 10 is attached to the end of the shaft. gear 1 for gear 10
1.12 are engaged. Gear 11 meshes with gear 13. The gear 13 meshes with a gear 14 coaxially with the gear 10. One of the shafts 15 of this gear 14 passes through the pivoting hollow shaft 8 of the pivoting arm 1 . Moreover, the other side is supported by the vehicle body 7. A sprocket 16 is attached to this shaft 15. This rotational movement of the sprocket 16 is caused by the chain 1 passing through the rotating arm 1.
7 to rotate the sprocket 19 fixed to the shaft 18 of the crank 2 that supports the planetary wheel 3. A drive motor 20 is connected to each of the gears 12 described above. 21 is a main drive motor connected to the drive wheels 5, and 22 is a suspension means.
このように構成したことにより、遊星輪３は主車輪５と
副車輪６との回転中心を焦点とするだ円運動軌跡上に常
に位置する。これにより、車体７の左右の各クローラベ
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。また、一方のクローラベルト４が第３図に示すよう
に高い段に乗り上げた場合、他方のクローラベルト４側
の旋回アーム１を、前述した一方のクローラベルト４側
の旋回アーム１と逆方向に回転させれば、車体７を水平
に維持することができる。すなわち、車体７の進行方向
に対して直交する方向の路面の起伏にも追従することが
できる。With this configuration, the planetary wheels 3 are always located on an elliptical locus with the focal point at the center of rotation of the main wheel 5 and the subwheel 6. As a result, the left and right crawler belts 4 of the vehicle body 7 are maintained at a constant tension by the rotation of the swing arm 1 without loosening even if the position of the planetary wheels 3 changes. In addition, if one crawler belt 4 runs onto a high stage as shown in FIG. By rotating it, the vehicle body 7 can be maintained horizontally. That is, it is possible to follow the undulations of the road surface in a direction perpendicular to the direction in which the vehicle body 7 travels.
以上述べたように、本発明によれば、車体の両側のクロ
ーラベルトを、それぞれ独立に形状変更することができ
るので、路面の起伏に対応して車体を水平に維持して走
行することができる。As described above, according to the present invention, the shape of the crawler belts on both sides of the vehicle body can be changed independently, so that the vehicle body can be maintained horizontally while traveling in response to the undulations of the road surface. .
第１図は本出願人が提案しているクローラ走行車の斜視
図、第２図は本発明のクローラ走行車の一実施例を示す
縦断平面図、第３図は本発明のクローラ走行車の一実施
例の動作を説明する斜視図である。
１・・・旋回アーム、２・・・クランク、３・・・遊星
輪、４・・・クローラベルト、５・・・主車輪、６・・
・副車輪、７・・・車体、２０・・・駆動モータ。
代理人 弁理士 高橋明夫
昭 １ 図
罰 ２ 図
Ｊ
ｑ
７ １ｇ
〆
−１，７
−−■
ｉ ′
１１“ ° ・・
Ｉ
５
ｂ
特開昭ＧＯ−４５４８５（３）
第づ図
１υ
Ｚ
Ｚθ ２θ
一５
Ｚｌ へ。FIG. 1 is a perspective view of a crawler vehicle proposed by the present applicant, FIG. 2 is a longitudinal sectional plan view showing an embodiment of the crawler vehicle of the present invention, and FIG. 3 is a perspective view of the crawler vehicle of the present invention. It is a perspective view explaining operation of one example. 1... Swivel arm, 2... Crank, 3... Planetary wheel, 4... Crawler belt, 5... Main wheel, 6...
- Sub-wheel, 7... Vehicle body, 20... Drive motor. Agent Patent Attorney Akio Takahashi 1 Figure penalty 2 Figure J q 7 1g 〆-1,7 --■ i ′ 11" ° ・・・ I 5 b JP-A-Sho GO-45485 (3) Figure 1 υ Z Zθ 2θ 15 Go to Zl.
Claims (1)
副車輪と旋回アームの先端にクランクを介して設けた遊
星輪と前記車輪１−巻き掛けたクローラベルトとからな
るクローラ装置を設け、各クローラ装置の旋回アームに
、これを独立に回転し、任意の角度に位置決めする駆動
手段を設けたことを特徴とするクローラ走行車。1. In a crawler traveling vehicle, a crawler device consisting of a main wheel, a subwheel, a planetary wheel provided via a crank at the tip of a swing arm, and a crawler belt wrapped around the wheel 1 is provided on both sides of the vehicle body, and each A crawler traveling vehicle characterized in that the swing arm of the crawler device is provided with a driving means for independently rotating the swing arm and positioning the swing arm at an arbitrary angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12762283A JPS6045485A (en) | 1983-07-15 | 1983-07-15 | Crawler traveler |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12762283A JPS6045485A (en) | 1983-07-15 | 1983-07-15 | Crawler traveler |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6045485A true JPS6045485A (en) | 1985-03-11 |
| JPH0438627B2 JPH0438627B2 (en) | 1992-06-25 |
Family
ID=14964635
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP12762283A Granted JPS6045485A (en) | 1983-07-15 | 1983-07-15 | Crawler traveler |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6045485A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0520987U (en) * | 1991-04-25 | 1993-03-19 | セイレイ工業株式会社 | Crawler structure of crawler type carrier |
| JP2012240655A (en) * | 2011-05-24 | 2012-12-10 | Kayaba System Machinery Kk | Endless track traveling device, and traveling vehicle |
-
1983
- 1983-07-15 JP JP12762283A patent/JPS6045485A/en active Granted
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0520987U (en) * | 1991-04-25 | 1993-03-19 | セイレイ工業株式会社 | Crawler structure of crawler type carrier |
| JP2012240655A (en) * | 2011-05-24 | 2012-12-10 | Kayaba System Machinery Kk | Endless track traveling device, and traveling vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0438627B2 (en) | 1992-06-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US4483407A (en) | Variable configuration track laying vehicle | |
| JP5666119B2 (en) | Traveling robot | |
| JP2580542B2 (en) | Flexible crawler with rice ball mechanism | |
| JPS633794B2 (en) | ||
| CN101428652B (en) | Movable robot for ice and snow surface | |
| JP2890036B2 (en) | Attitude control mechanism of 4-crawler type vehicle | |
| JPS6045485A (en) | Crawler traveler | |
| WO2018113395A1 (en) | Vehicle wheel and transport vehicle | |
| JPH03279087A (en) | Grounding adaptive type crawler travelling vehicle | |
| JP2851476B2 (en) | Crawler type traveling vehicle with variable shape | |
| CN201148179Y (en) | Ice and snow surface mobile robot | |
| JPS6022575A (en) | Crawler-driven vehicle | |
| JPS63222982A (en) | Moving machine | |
| JPS6022568A (en) | Method of controlling form of crawler belt of crawler-driven vehicle | |
| JP2002120777A (en) | Crawler traveling vehicle | |
| JPS6323032B2 (en) | ||
| JP3154236B2 (en) | Drive unit for transport vehicles | |
| JPH06239270A (en) | Endless track vehicle | |
| JPS6237287A (en) | Wheel running device | |
| JPH1120756A (en) | Traveling vehicle | |
| JPS616074A (en) | Crawler transporter | |
| JPH0115433B2 (en) | ||
| JPS6022569A (en) | Tension controller for crawler-driven vehicle | |
| JPH05147560A (en) | Crawler running vehicle | |
| JPS6022573A (en) | Driver for crawler-driven vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |