TWI410345B - Self-adjust caterpillar type vehicles for wavy terrains - Google Patents
Self-adjust caterpillar type vehicles for wavy terrains Download PDFInfo
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本發明係關於一種隨起伏地形調整之履帶型車輛；特別是關於一種隨起伏地形調整履帶側傾斜角度之履帶型車輛；更特別是關於一種隨起伏地形調整之履帶型遠端監控車輛。BACKGROUND OF THE INVENTION 1. Field of the Invention This invention relates to a track-type vehicle that adjusts to undulating terrain; and more particularly to a track-type vehicle that adjusts the tilt angle of the track side with the undulating terrain; and more particularly to a track-type remote monitoring vehicle that adjusts with the undulating terrain.
習用履帶型車輛，如中華民國專利公告第117070號之〝聯合收穫機左右側履帶行走裝置之自動傾斜角控制方式〞發明專利，其揭示一種收穫機左右側履帶行走裝置。該收穫機左右側履帶行走裝置設有：可昇降驅動自如地被安裝於行走機體左右之一對履帶行走裝置、用以將該履帶行走裝置之最接近位置予以檢出之左右下限限制開關、使該履帶行走裝置之一位於最接近位置之狀態下，使另一該履帶行走裝置能昇降驅動之搖動控制手段。Conventional track-type vehicles, such as the automatic tilt angle control method of the left and right side crawler traveling device of the combine harvester of the Republic of China Patent No. 117070, which discloses a left and right side crawler walking device of the harvester. The left and right side crawler traveling device of the harvester is provided with a pair of right and left lower limit switches that can be lifted and driven to be mounted on the left and right side of the traveling body, and the left and right lower limit switches for detecting the closest position of the crawler traveling device. One of the crawler traveling devices is in a state of being closest to the position, and the other crawler traveling device is capable of lifting and lowering the rocking control means.
另一習用履帶型車輛，如中華民國專利公告第113951號之〝不限地形車輛用履帶構件之改良〞發明專利，其揭示一種不限地形車輛用履帶構件。該不限地形車輛具有：以驅動方式連接於該車輛之第一對車輪，該第一對車輪上安裝有第一對不限地形低壓輪胎；該車輛具有第一及第二附設裝置；該履帶構件具有：一T型設有輪軸安裝裝置結構，該T型結構附連有第三及第四附設裝置；第二對車輪，安裝在輪軸上，該輪軸安裝於該輪軸安裝裝置，該第二對車輪安裝有第二不限地形低壓輪胎，其安置於該第一對車輪之後面；該第一附設裝置藉第一連接裝置連接於該第三附設裝置，而該第二附設裝置藉第二連接裝置連接於該第四附設裝置；一對履帶裝置安裝在該第一對不限地形低壓輪胎上，並向後延伸且環繞該第二不限地形低壓輪胎，該履帶裝置之外表面具有牽引桿。Another conventional crawler type vehicle, such as the improved invention patent of the track member for an unrestricted vehicle of the Republic of China Patent Publication No. 113951, discloses a track member for an unrestricted vehicle. The unlimited terrain vehicle has: a first pair of wheels that are drivingly coupled to the vehicle, the first pair of wheels having a first pair of terrain-free low-pressure tires mounted thereon; the vehicle having first and second attachments; the track The component has: a T-shaped wheel axle mounting device structure, the T-shaped structure is attached with the third and fourth attachment devices; the second pair of wheels is mounted on the axle, the axle is mounted on the axle mounting device, the second Mounting a second unrestricted low-pressure tire to the wheel, which is disposed behind the first pair of wheels; the first attachment device is connected to the third attachment device by a first connecting device, and the second attachment device is second a connecting device is coupled to the fourth attachment device; a pair of crawler devices are mounted on the first pair of non-terrain low pressure tires and extend rearwardly and around the second unrestricted low pressure tire, the outer surface of the crawler device has a drawbar .
另一習用履帶型車輛，如中華民國專利公開第201002598號之〝履帶式載台〞發明專利申請案，其揭示一種用於不同地形之履帶式載台。該履帶式載台包括：一車體部、二動力裝置、二對應傳動裝置、一遙控裝置、二第一、第二輔助輪組、二對應履帶、及由一套體、一彈性元件、一推動塊及一頂壓桿所組成之伸縮裝置。其中車體部係可自由設計形體，且於車體部內部具有一容置空間，二動力裝置係設於容置空間內，二對應傳動裝置係各耦接於動力裝置，用以提供車體部作動來源，遙控裝置係一設於該車體部另端，在其一側設有可與外接電性連結之電源供應部，二第一、第二輔助輪組係設置在該車體部底部兩側，而第二輔助輪組一端鎖設有被動輪組並與傳動裝置分別設置在車體部前、後端，二履帶係各套設在傳動裝置外及將被動輪組與第一、第二輔助輪組環設在內，並藉由各自伸縮裝置樞接於第二輔助輪組，由伸縮裝置提供距離調整，使車體部兩側的履帶行經至突出障礙物或梯形爬坡或鏤空地形時，該被動輪組前移並頂推伸縮裝置前進。此時，利於二履帶可視不同凹、凸地形而呈凸伸或凹曲現象。Another conventional crawler type vehicle, such as the crawler type load platform 〞 invention patent application of the Republic of China Patent Publication No. 201002598, discloses a crawler type carrier for different terrains. The crawler type loading platform comprises: a body part, two power units, two corresponding transmissions, a remote control device, two first and second auxiliary wheel sets, two corresponding tracks, and a set of bodies, an elastic component, and a A telescopic device consisting of a pushing block and a pressing rod. The body part can be freely designed and has a receiving space inside the body part, the two power devices are arranged in the accommodating space, and the two corresponding transmission devices are respectively coupled to the power device for providing the vehicle body. The remote control device is disposed at the other end of the body of the vehicle, and has a power supply portion that can be electrically connected to the external body on one side thereof, and the first and second auxiliary wheel sets are disposed in the body portion of the vehicle body. On both sides of the bottom, the second auxiliary wheel set is locked with a passive wheel set at one end and is respectively disposed at the front and the rear end of the vehicle body portion, and the two track sets are respectively disposed outside the transmission device and the passive wheel set and the first The second auxiliary wheel set ring is disposed, and is pivotally connected to the second auxiliary wheel set by the respective telescopic device, and the distance adjustment is provided by the telescopic device, so that the track on both sides of the body part passes through the protruding obstacle or the trapezoidal climbing Or when the terrain is hollowed out, the passive wheel set moves forward and pushes the telescopic device forward. At this time, it is advantageous for the two crawler belts to have different convex or convex topography to be convex or concave.
前述專利公告第117070號、專利公告第113951號及發明專利申請公開案第201002598號僅為本發明技術背景之參考及說明目前技術發展狀態而已，其並非用以限制本發明之範圍。The above-mentioned patent publication No. 117070, Patent Publication No. 113951 and Invention Patent Application Publication No. 201002598 are only for reference to the technical background of the present invention and the state of the art is not intended to limit the scope of the present invention.
雖然前述中華民國專利公告及發明專利申請公開案已揭示各種相關履帶式車輛技術，但前述各種履帶式車輛並未提供調整履帶側傾斜角度之技術，以適用於行駛通過各種側傾斜角度的地形。因此，習用履帶式車輛相關技術必然存在進一步提供如何調整履帶側傾斜角度的需求。Although the aforementioned Republic of China Patent Publication and Invention Patent Application Publication has disclosed various related crawler-type vehicle technologies, the aforementioned various crawler-type vehicles do not provide a technique for adjusting the inclination angle of the crawler side to be applied to the terrain traveling through various side inclination angles. Therefore, the conventional crawler-type vehicle related art necessarily has a need to further provide how to adjust the tilt angle of the crawler side.
有鑑於此，本發明為了滿足上述需求，其提供一種隨起伏地形調整之履帶型車輛，其在一第一履帶裝置及一第二履帶裝置之間設置一傾斜角度調整裝置，再利用一中央控制單元控制一第一驅動元件及一第二驅動元件，以便獨立驅動一第一履帶裝置及一第二履帶裝置，以解決隨伏地形變化不易調整車輛側傾斜角度的技術問題。In view of the above, the present invention provides a crawler type vehicle that adjusts with undulating terrain, and provides a tilt angle adjusting device between a first crawler device and a second crawler device, and then utilizes a central control. The unit controls a first driving component and a second driving component to independently drive a first crawler device and a second crawler device to solve the technical problem that it is difficult to adjust the tilt angle of the vehicle side with changes in the topography.
本發明之主要目的係提供一種隨起伏地形調整之履帶型車輛，其在一第一履帶裝置及一第二履帶裝置之間設置一傾斜角度調整裝置，以允許在該第一履帶裝置及第二履帶裝置之間隨起伏地形進行調整傾斜角度，以達成車輛輕易通過高低起伏地形之目的。The main object of the present invention is to provide a track-type vehicle that is adjusted with undulating terrain, and an inclined angle adjusting device is disposed between a first crawler device and a second crawler device to allow the first crawler device and the second The angle between the crawler devices is adjusted with the undulating terrain to achieve the purpose of easily passing the high and low undulating terrain.
本發明之另一目的係提供一種隨起伏地形調整之履帶型車輛，其利用一中央控制單元控制一第一驅動元件及一第二驅動元件，以便在各種傾斜角度下驅動一第一履帶裝置及一第二履帶裝置，以達成車輛輕易通過高低起伏地形之目的。Another object of the present invention is to provide a track-type vehicle that adjusts with undulating terrain, using a central control unit to control a first drive component and a second drive component to drive a first crawler device at various tilt angles and A second crawler device to achieve the purpose of easily passing the high and low undulating terrain.
為了達成上述目的，本發明之隨起伏地形調整之履帶型車輛包含：一第一側車體，其具有一第一履帶裝置；一第二側車體，其具有一第二履帶裝置，該第二側車體側向對應於該第一側車體；一傾斜角度調整裝置，其樞接於該第一側車體及第二側車體之間；及一驅動單元，其設置於該第一側車體或第二側車體，以便該驅動單元驅動該第一履帶裝置及第二履帶裝置；其中在該第一側車體及第二側車體之間利用該傾斜角度調整裝置隨起伏地形進行調整傾斜角度，如此該第一履帶裝置及第二履帶裝置以調整傾斜角度方式通過高低起伏地形。In order to achieve the above object, the track-type vehicle with the undulating terrain adjustment of the present invention comprises: a first side vehicle body having a first crawler device; and a second side vehicle body having a second crawler device, the first The two sides of the vehicle body laterally correspond to the first side body; an inclination angle adjusting device pivotally connected between the first side body and the second side body; and a driving unit disposed on the first a side body or a second side body, so that the driving unit drives the first crawler device and the second crawler device; wherein the tilting angle adjusting device is used between the first side body and the second side body The undulating terrain adjusts the tilt angle, such that the first crawler device and the second crawler device pass the high and low undulating terrain in an adjusted tilt angle manner.
本發明較佳實施例之該傾斜角度調整裝置包含一鉸鏈裝置，其分別連接於該第一側車體及第二側車體。In the preferred embodiment of the present invention, the tilt angle adjusting device includes a hinge device coupled to the first side body and the second side body, respectively.
本發明較佳實施例之該傾斜角度調整裝置包含一調節桿裝置，其用以輔助該第一側車體及第二側車體調整相對傾斜角度。The tilt angle adjusting device of the preferred embodiment of the present invention includes an adjusting lever device for assisting the first side body and the second side body to adjust the relative tilt angle.
本發明較佳實施例之該調節桿裝置具有一第一端及一第二端，該第一端連接於該第一側車體，該第二端連接於該第二側車體。In the preferred embodiment of the present invention, the adjusting rod device has a first end and a second end. The first end is connected to the first side body, and the second end is connected to the second side body.
本發明較佳實施例之該驅動單元包含一第一驅動元件及一第二驅動元件。In the preferred embodiment of the invention, the driving unit comprises a first driving component and a second driving component.
本發明較佳實施例之該第一驅動元件及第二驅動元件選自一直流馬達單元。In the preferred embodiment of the invention, the first drive element and the second drive element are selected from a DC motor unit.
本發明較佳實施例另包含一中央控制單元，該中央控制單元設置於該第一側車體或第二側車體，且該第一驅動元件及第二驅動元件電性連接至該中央控制單元。The preferred embodiment of the present invention further includes a central control unit, the central control unit is disposed on the first side body or the second side body, and the first driving element and the second driving element are electrically connected to the central control unit.
本發明較佳實施例另包含一無線通訊模組。The preferred embodiment of the present invention further includes a wireless communication module.
本發明較佳實施例另包含一攝影裝置。A preferred embodiment of the invention further includes a photographic device.
本發明較佳實施例另包含一照明裝置。A preferred embodiment of the invention further includes a lighting device.
為了充分瞭解本發明，於下文將例舉較佳實施例並配合所附圖式作詳細說明，且其並非用以限定本發明。In order to fully understand the present invention, the preferred embodiments of the present invention are described in detail below and are not intended to limit the invention.
本發明較佳實施例之隨起伏地形調整之履帶型車輛可應用於各種崎嶇路面通行、地形障礙跨越或危險狀況處理作業，例如：天然災害探勘或爆破處理，但其並非用以限定本發明之範圍。另外，本發明較佳實施例之隨起伏地形調整之履帶型車輛可結合其它各種作業系統，例如：機械手臂採樣系統或自動攝影系統，但其並非用以限定本發明之範圍。The crawler type vehicle with the undulating terrain adjustment according to the preferred embodiment of the present invention can be applied to various rough road traffic, terrain obstacle crossing or dangerous condition processing operations, such as natural disaster exploration or blasting, but it is not intended to limit the present invention. range. In addition, the crawler type vehicle with the undulating terrain adjustment according to the preferred embodiment of the present invention can be combined with other various operating systems, such as a robotic arm sampling system or an automatic photographing system, but it is not intended to limit the scope of the present invention.
第1圖揭示本發明第一較佳實施例之隨起伏地形調整之履帶型車輛之立體圖；第2圖揭示本發明第一較佳實施例之隨起伏地形調整之履帶型車輛之前視圖；第3圖揭示本發明第一較佳實施例之隨起伏地形調整之履帶型車輛之上視圖；第4圖揭示本發明第一較佳實施例之隨起伏地形調整之履帶型車輛之側視圖。請參照第1至4圖所示，本發明第一較佳實施例之隨起伏地形調整之履帶型車輛包含一第一側車體10、一第二側車體20、一傾斜角度調整裝置30、一驅動單元40、一無線通訊模組50及一攝影裝置60。1 is a perspective view of a crawler-type vehicle with undulating terrain adjustment according to a first preferred embodiment of the present invention; and FIG. 2 is a front view of a crawler-type vehicle with undulating terrain adjustment according to a first preferred embodiment of the present invention; 1 is a top view of a track-type vehicle with undulating terrain adjustment according to a first preferred embodiment of the present invention; and FIG. 4 is a side view of a track-type vehicle with undulating terrain adjustment according to a first preferred embodiment of the present invention. Referring to FIGS. 1 to 4, the crawler type vehicle with the undulating terrain adjustment according to the first preferred embodiment of the present invention includes a first side body 10, a second side body 20, and an inclination angle adjusting device 30. A driving unit 40, a wireless communication module 50 and a photographing device 60.
請再參照第1至4圖所示，該第一側車體10具有一第一履帶裝置11，且該第一履帶裝置11縱向延伸於該第一側車體10。相對的，該第二側車體20具有一第二履帶裝置21，且該第二履帶裝置21縱向延伸於該第二側車體20。當該第二側車體20側向對應組裝於該第一側車體10，該第一履帶裝置11可平行於該第二履帶裝置21。Referring to FIGS. 1 to 4 again, the first side body 10 has a first crawler device 11 and the first crawler device 11 extends longitudinally of the first side body 10. In contrast, the second side body 20 has a second crawler device 21 , and the second crawler device 21 extends longitudinally of the second side body 20 . When the second side body 20 is laterally assembled to the first side body 10, the first track device 11 can be parallel to the second track device 21.
請再參照第1至4圖所示，該傾斜角度調整裝置30樞接於該第一側車體10及第二側車體20之間，以便在該第一側車體10及第二側車體20之間利用該傾斜角度調整裝置30隨起伏地形進行調整傾斜角度。如此，當在該第一側車體10及第二側車體20之間隨起伏地形產生相對傾斜角度時，該第一履帶裝置11及第二履帶裝置21以調整傾斜角度方式通過高低起伏地形。本發明第一較佳實施例之該傾斜角度調整裝置30包含一鉸鏈裝置，其分別連接於該第一側車體10及第二側車體20。Referring to FIGS. 1 to 4 again, the tilt angle adjusting device 30 is pivotally connected between the first side body 10 and the second side body 20 so as to be on the first side body 10 and the second side. The tilt angle adjustment device 30 is used between the vehicle body 20 to adjust the tilt angle with the undulating terrain. As such, when the relative tilt angle is generated between the first side body 10 and the second side body 20 with the undulating terrain, the first crawler device 11 and the second crawler device 21 pass the high and low undulating terrain in an adjusted tilt angle manner. . The tilt angle adjusting device 30 of the first preferred embodiment of the present invention includes a hinge device that is coupled to the first side body 10 and the second side body 20, respectively.
請再參照第1至4圖所示，該驅動單元40電性連接於一電源供應單元41[例如：電池或蓄電池]，且該驅動單元40設置於該第一側車體10或第二側車體20，以便該驅動單元40驅動該第一履帶裝置11及第二履帶裝置21。本發明第一較佳實施例之該第一驅動元件及第二驅動元件分別設置於該第一側車體10及第二側車體20，且該第一驅動元件及第二驅動元件選自一直流馬達單元。Referring to FIGS. 1 to 4 again, the driving unit 40 is electrically connected to a power supply unit 41 [eg, a battery or a battery], and the driving unit 40 is disposed on the first side body 10 or the second side. The vehicle body 20 is such that the driving unit 40 drives the first crawler device 11 and the second crawler device 21. The first driving component and the second driving component are respectively disposed on the first side body 10 and the second side body 20, and the first driving component and the second driving component are selected from the first driving component and the second driving component. A DC motor unit.
請再參照第1至4圖所示，該無線通訊模組50及攝影裝置60適當設置於該第一側車體10及第二側車體20，以便形成一遠端監控車輛。該無線通訊模組50利用一編碼及解碼IC進行指令傳輸及車輛控制。該攝影裝置60另包含一照明裝置61或其它指示燈，該照明裝置61用以照明周圍環境，而該指示燈用以確保所有元件正常動作或元件是否有故障。Referring to FIGS. 1 to 4, the wireless communication module 50 and the photographing device 60 are appropriately disposed on the first side body 10 and the second side body 20 to form a remote monitoring vehicle. The wireless communication module 50 utilizes an encoding and decoding IC for command transmission and vehicle control. The photographic device 60 further includes a illuminating device 61 for illuminating the surrounding environment, and other indicator lights for ensuring that all components are functioning properly or that the components are faulty.
第5圖揭示本發明第一較佳實施例之隨起伏地形調整之履帶型車輛採用中央控制單元之方塊圖。請參照第5圖所示，本發明第一較佳實施例之隨起伏地形調整之履帶型車輛另包含一中央控制單元1，且該中央控制單元1選自AT908535主控晶片，即AVR-AT8535系列微控制器。該中央控制單元1設置於該第一側車體10或第二側車體20，且該第一驅動元件及第二驅動元件電性連接至該中央控制單元1。Fig. 5 is a block diagram showing the use of a central control unit for a track-type vehicle with undulating terrain adjustment according to a first preferred embodiment of the present invention. Referring to FIG. 5, the crawler type vehicle with the undulating terrain adjustment according to the first preferred embodiment of the present invention further includes a central control unit 1, and the central control unit 1 is selected from the AT908535 main control chip, namely AVR-AT8535. Series of microcontrollers. The central control unit 1 is disposed on the first side body 10 or the second side body 20 , and the first driving element and the second driving element are electrically connected to the central control unit 1 .
附照1揭示本發明第一較佳實施例之隨起伏地形調整之履帶型車輛採用電腦人機介面之影像圖。請參照附照1所示，在遠端的PC上運用VB軟體建構一電腦人機介面，由該無線通訊模組50接收指令，並經由解碼處理後，進行遠端車輛的操控動作。Attachment 1 discloses an image view of a crawler type vehicle with undulating terrain adjustment according to a first preferred embodiment of the present invention using a computer human-machine interface. Referring to the attached picture 1, a VB software is used to construct a computer man-machine interface on the remote PC, and the wireless communication module 50 receives the command, and after the decoding process, performs the remote vehicle control action.
第6圖揭示本發明第一較佳實施例之隨起伏地形調整之履帶型車輛通過向下斜坡地形之前視圖；第7圖揭示本發明第一較佳實施例之隨起伏地形調整之履帶型車輛通過向上斜坡地形之前視圖。請參照第6及7圖所示，本發明第一較佳實施例之隨起伏地形調整之履帶型車輛在通過向下、上斜坡地形時，在該第一側車體10之第一履帶裝置11及該第二側車體20之第二履帶裝置21之間進行調整傾斜角度。如第6圖所示，在該第一履帶裝置11及第二履帶裝置21之間相互靠近些距離，且該第一履帶裝置11及第二履帶裝置21緊貼於地面上。相對的，如第7圖所示，在該第一履帶裝置11及第二履帶裝置21之間相互遠離些距離，且該第一履帶裝置11及第二履帶裝置21緊貼於地面上。Figure 6 is a front elevational view of the track-type vehicle with the undulating terrain adjustment according to the first preferred embodiment of the present invention, and FIG. 7 is a view showing the track-type vehicle with the undulating terrain adjustment according to the first preferred embodiment of the present invention. Front view through the upward slope of the terrain. Referring to FIGS. 6 and 7, the crawler type vehicle with the undulating terrain adjustment according to the first preferred embodiment of the present invention is in the first crawler device of the first side body 10 when passing through the downward and upward slope terrain. 11 and the second crawler device 21 of the second side body 20 adjust the tilt angle. As shown in Fig. 6, the first crawler device 11 and the second crawler device 21 are closer to each other, and the first crawler device 11 and the second crawler device 21 are in close contact with the ground. In contrast, as shown in FIG. 7, the first crawler device 11 and the second crawler device 21 are separated from each other by a certain distance, and the first crawler device 11 and the second crawler device 21 are in close contact with the ground.
第8圖揭示本發明第二較佳實施例之隨起伏地形調整之履帶型車輛之前視圖。請參照第8圖所示，相對於第一較佳實施例，第二較佳實施例之該傾斜角度調整裝置30另包含一調節桿裝置31[例如：液壓桿系統]，其用以輔助該第一側車體10及第二側車體20調整相對傾斜角度，其餘部分對照於第一較佳實施例，於此不予贅述。Figure 8 is a front elevational view of a track-type vehicle with undulating terrain adjustment in accordance with a second preferred embodiment of the present invention. Referring to FIG. 8, the tilt angle adjusting device 30 of the second preferred embodiment further includes an adjusting lever device 31 [eg, a hydraulic rod system] for assisting the first preferred embodiment. The first side body 10 and the second side body 20 adjust the relative inclination angle, and the rest are compared with the first preferred embodiment, and details are not described herein.
第9圖揭示本發明第二較佳實施例之隨起伏地形調整之履帶型車輛通過向下斜坡地形之前視圖；第10圖揭示本發明第二較佳實施例之隨起伏地形調整之履帶型車輛通過向上斜坡地形之前視圖。如第9圖所示，在該第一履帶裝置11及第二履帶裝置21之間相互靠近些距離，且該第一履帶裝置11及第二履帶裝置21緊貼於地面上。相對的，如第10圖所示，在該第一履帶裝置11及第二履帶裝置21之間相互遠離些距離，且該第一履帶裝置11及第二履帶裝置21緊貼於地面上。Figure 9 is a front elevational view of the track-type vehicle with the undulating terrain adjustment according to the second preferred embodiment of the present invention; FIG. 10 is a view showing the track-type vehicle with the undulating terrain adjustment according to the second preferred embodiment of the present invention; Front view through the upward slope of the terrain. As shown in Fig. 9, the first crawler device 11 and the second crawler device 21 are closer to each other, and the first crawler device 11 and the second crawler device 21 are in close contact with the ground. In contrast, as shown in FIG. 10, the first crawler device 11 and the second crawler device 21 are separated from each other by a distance, and the first crawler device 11 and the second crawler device 21 are in close contact with the ground.
前述較佳實施例僅舉例說明本發明及其技術特徵，該實施例之技術仍可適當進行各種實質等效修飾及/或替換方式予以實施；因此，本發明之權利範圍須視後附申請專利範圍所界定之範圍為準。The foregoing preferred embodiments are merely illustrative of the invention and the technical features thereof, and the techniques of the embodiments can be carried out with various substantial equivalent modifications and/or alternatives; therefore, the scope of the invention is subject to the appended claims. The scope defined by the scope shall prevail.
1．．．中央控制單元1. . . Central control unit
10．．．第一側車體10. . . First side body
11．．．第一履帶裝置11. . . First track device
20．．．第二側車體20. . . Second side body
21．．．第二履帶裝置twenty one. . . Second crawler
30．．．傾斜角度調整裝置30. . . Tilt angle adjustment device
31．．．調節桿裝置31. . . Adjustment rod device
40．．．驅動單元40. . . Drive unit
41．．．電源供應單元41. . . Power supply unit
50．．．無線通訊模組50. . . Wireless communication module
60．．．攝影裝置60. . . Photography device
61．．．照明裝置61. . . Lighting device
第1圖：本發明第一較佳實施例之隨起伏地形調整之履帶型車輛之立體圖。Fig. 1 is a perspective view of a crawler type vehicle with undulating terrain adjustment according to a first preferred embodiment of the present invention.
第2圖：本發明第一較佳實施例之隨起伏地形調整之履帶型車輛之前視圖。Figure 2 is a front elevational view of a track-type vehicle with undulating terrain adjustment in accordance with a first preferred embodiment of the present invention.
第3圖：本發明第一較佳實施例之隨起伏地形調整之履帶型車輛之上視圖。Fig. 3 is a top plan view of a crawler type vehicle with undulating terrain adjustment according to a first preferred embodiment of the present invention.
第4圖：本發明第一較佳實施例之隨起伏地形調整之履帶型車輛之側視圖。Fig. 4 is a side view of a crawler type vehicle with undulating terrain adjustment according to a first preferred embodiment of the present invention.
第5圖：本發明第一較佳實施例之隨起伏地形調整之履帶型車輛採用中央控制單元之方塊圖。Fig. 5 is a block diagram of a track type vehicle with undulating terrain adjustment according to a first preferred embodiment of the present invention using a central control unit.
第6圖：本發明第一較佳實施例之隨起伏地形調整之履帶型車輛通過向下斜坡地形之前視圖。Fig. 6 is a front view of the crawler type vehicle with the undulating terrain adjustment according to the first preferred embodiment of the present invention.
第7圖：本發明第一較佳實施例之隨起伏地形調整之履帶型車輛通過向上斜坡地形之前視圖。Figure 7 is a front elevational view of the track-type vehicle with the undulating terrain adjustment of the first preferred embodiment of the present invention through an upward slope.
第8圖：本發明第二較佳實施例之隨起伏地形調整之履帶型車輛之前視圖。Figure 8 is a front elevational view of a track-type vehicle with undulating terrain adjustment in accordance with a second preferred embodiment of the present invention.
第9圖：本發明第二較佳實施例之隨起伏地形調整之履帶型車輛通過向下斜坡地形之前視圖。Figure 9 is a front view of a track-type vehicle with undulating terrain adjustment according to a second preferred embodiment of the present invention.
第10圖：本發明第二較佳實施例之隨起伏地形調整之履帶型車輛通過向上斜坡地形之前視圖。Fig. 10 is a front view of the crawler type vehicle with the undulating terrain adjustment according to the second preferred embodiment of the present invention.
附照1：本發明第一較佳實施例之隨起伏地形調整之履帶型車輛採用電腦人機介面之影像圖。Attachment 1: The crawler type vehicle with the undulating terrain adjustment according to the first preferred embodiment of the present invention adopts an image diagram of a computer human-machine interface.
1．．．中央控制單元1. . . Central control unit
10．．．第一側車體10. . . First side body
11．．．第一履帶裝置11. . . First track device
20．．．第二側車體20. . . Second side body
21．．．第二履帶裝置twenty one. . . Second crawler
30．．．傾斜角度調整裝置30. . . Tilt angle adjustment device
40．．．驅動單元40. . . Drive unit
41．．．電源供應單元41. . . Power supply unit
50．．．無線通訊模組50. . . Wireless communication module
60．．．攝影裝置60. . . Photography device
61．．．照明裝置61. . . Lighting device
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW100118425A TWI410345B (en) | 2011-05-26 | 2011-05-26 | Self-adjust caterpillar type vehicles for wavy terrains |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW100118425A TWI410345B (en) | 2011-05-26 | 2011-05-26 | Self-adjust caterpillar type vehicles for wavy terrains |
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| Publication Number | Publication Date |
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| TW201247461A TW201247461A (en) | 2012-12-01 |
| TWI410345B true TWI410345B (en) | 2013-10-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| TW100118425A TWI410345B (en) | 2011-05-26 | 2011-05-26 | Self-adjust caterpillar type vehicles for wavy terrains |
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| Country | Link |
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| TW (1) | TWI410345B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3289779A (en) * | 1965-02-01 | 1966-12-06 | Westinghouse Air Brake Co | Mobile rock drill carrier suspension system |
| JPS63227481A (en) * | 1987-03-17 | 1988-09-21 | Kubota Ltd | Backhoe |
| TWM370479U (en) * | 2009-07-24 | 2009-12-11 | Chung Shan Inst Of Science | Multi-function robot |
-
2011
- 2011-05-26 TW TW100118425A patent/TWI410345B/en not_active IP Right Cessation
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3289779A (en) * | 1965-02-01 | 1966-12-06 | Westinghouse Air Brake Co | Mobile rock drill carrier suspension system |
| JPS63227481A (en) * | 1987-03-17 | 1988-09-21 | Kubota Ltd | Backhoe |
| TWM370479U (en) * | 2009-07-24 | 2009-12-11 | Chung Shan Inst Of Science | Multi-function robot |
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| Publication number | Publication date |
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| TW201247461A (en) | 2012-12-01 |
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