WO2005049414A1 - クローラベルト、クローラ装置及びクローラベルトの製造方法 - Google Patents
クローラベルト、クローラ装置及びクローラベルトの製造方法 Download PDFInfo
- Publication number
- WO2005049414A1 WO2005049414A1 PCT/JP2004/017161 JP2004017161W WO2005049414A1 WO 2005049414 A1 WO2005049414 A1 WO 2005049414A1 JP 2004017161 W JP2004017161 W JP 2004017161W WO 2005049414 A1 WO2005049414 A1 WO 2005049414A1
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- WO
- WIPO (PCT)
- Prior art keywords
- belt
- crawler
- tensile band
- crawler belt
- forming
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims description 5
- 230000002093 peripheral effect Effects 0.000 claims abstract description 25
- 238000000465 moulding Methods 0.000 claims description 29
- 239000013013 elastic material Substances 0.000 claims description 21
- 239000011295 pitch Substances 0.000 claims description 18
- 238000004519 manufacturing process Methods 0.000 claims description 12
- 229910000831 Steel Inorganic materials 0.000 abstract description 38
- 239000010959 steel Substances 0.000 abstract description 38
- 229920001971 elastomer Polymers 0.000 abstract description 15
- 239000002184 metal Substances 0.000 description 9
- 239000000463 material Substances 0.000 description 4
- 239000004576 sand Substances 0.000 description 4
- 238000007789 sealing Methods 0.000 description 4
- 238000004073 vulcanization Methods 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 3
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 238000007493 shaping process Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 229920006362 Teflon® Polymers 0.000 description 1
- 229920006311 Urethane elastomer Polymers 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000001746 injection moulding Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000009751 slip forming Methods 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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
- B62D55/18—Tracks
- B62D55/24—Tracks of continuously flexible type, e.g. rubber belts
-
- 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
- B62D55/18—Tracks
- B62D55/24—Tracks of continuously flexible type, e.g. rubber belts
- B62D55/244—Moulded in one piece, with either smooth surfaces or surfaces having projections, e.g. incorporating reinforcing elements
-
- 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
- B62D55/18—Tracks
- B62D55/24—Tracks of continuously flexible type, e.g. rubber belts
- B62D55/253—Tracks of continuously flexible type, e.g. rubber belts having elements interconnected by one or more cables or like elements
Definitions
- the present invention relates to a crawler belt, a crawler device, and a method of manufacturing the crawler belt used for an underbody portion of a lightweight robot or the like.
- the crawler belt has a contact lug on the outer peripheral side, and has projections at an equal pitch on the inner peripheral side to engage with the wheel.
- this crawler belt stretches over a long period of use to cause slack and has a disadvantage that the wheel force is released. In addition, it may tear because of its low strength. If the crawler belt is made thicker to increase its strength to overcome this drawback, the weight will increase.
- Patent Document 1 Japanese Patent Application Laid-Open No. 6-156333
- Patent Document 2 Japanese Patent Application Laid-Open No. 6-199253
- Patent Document 3 Japanese Patent Application Laid-Open No. 6-329057
- the crawler belt disclosed in Patent Document 1-13 is limited in its weight and weight because it requires a protrusion engaging with a force wheel that can increase strength.
- the present invention has been made to solve the above-mentioned problems, and in a crawler belt, no It comprises an end-like tensile band (21) and a belt body (22) made of elastic material attached to the outer periphery of the tensile band, and the tensile band (21) has an equal pitch in the circumferential direction
- An engagement hole (21a) is formed, and a relief recess (23a) is formed in the belt body (22) at a position corresponding to the engagement hole of the tensile band.
- a crawler device comprising: a plurality of wheels (10) spaced apart in the front-rear direction; and a crawler belt (20) stretched around the wheels.
- (20) is provided with an endless tensile band (21) and a belt body (22) which is attached to the outer periphery of the tensile band and which is also made of elastic material, Engaging holes (21a) are formed at a pitch, and a relief recess (23a) is formed in the belt body at a position corresponding to the engaging hole of the tensile band, and the drive of the plurality of wheels (10) Engaging projections (12a) are formed on the outer peripheral surface of the wheel (10) as an annular ring at equal pitches in the circumferential direction, and the engaging projections engage the tension band (21) of the crawler belt (20). While being engaged with the hole (21a), it enters into the relief recess (23a) of the belt main body (22).
- the crawler belt and the crawler device of the above configuration since the crawler belt has an endless tensile band, the tensile strength can be increased and the wheel force can not be released. It will not break up again. Since the force also forms an engagement hole in this tensile band and engages the protrusion of the wheel in this engagement hole, the belt body made of elastic material engages with the wheel. It is not necessary to have a projection on the surface of the
- the outer peripheral surface of the plurality of wheels (10) has a substantially cylindrical surface.
- the engagement hole (21a) of the tensile band (21) has a substantially circular shape
- the engagement projection (12a) of the wheel (10) has a substantially hemispherical shape. According to this, the noise can be reduced
- the belt body (22) further includes a pair of side plates (30) extending in the front-rear direction and covering both side surfaces of the plurality of wheels (10).
- the shielding ridges (24; 24 ') formed continuously over the entire length of the base portion on both sides of the base portion, and the tip edges of these shielding ridges are in contact with the peripheral portion of the side plate.
- the above-mentioned shielding rod can shield the inner space between the side plates, and the sand between the crawler belt and the wheel And dust can be prevented from getting in.
- the shielding wedge has a tapered cross-sectional shape and contacts the front and rear semicircular edge portions of the side plate while being elastically deformed.
- a force is applied to make the tip edge of the shielding ridge wave-like, but the tip edge of the shielding ridge is elastically deformed and is in contact with the side plate. It can contact the side plate reliably without hitting waves.
- it is formed of upper and lower edge force seal members located between the wheels among the peripheral portions of the side plates. The seal member is elastically deformed and in contact with the tip end portion of the shield shield which is more resilient than the shield rod.
- the belt body (22) has an endless base portion (23), and a plurality of widthwise extending grounding lugs (26) formed at intervals on its outer periphery,
- These ground lugs have a planar shape that is broken at at least one location, and their height is at least three times and at most seven times the thickness of the ground lugs. According to this, when traveling under rough ground environment, even if there are rubbles and the like, the ground contact lugs can grip the rubbles and the like while being elastically deformed, and can travel without slipping. Even if the contact lug is high and thin, it has a broken planar shape, so it can withstand the weight of robots and the like.
- the present invention provides a method of manufacturing a crawler belt, the first mold (70) having a plurality of molding protrusions (74a) at equal pitch on the molding surface, and a plurality of lug molding recesses opened in the molding surface.
- a second type (80) having (86) and an endless tensile band (21) having engaging holes (21a) at equal pitches in the circumferential direction, The outer periphery of at least a partial region of the tensile band is obtained by fitting in (74a) and setting in the first mold (70) and forming an elastic material between the first mold and the second mold.
- the engagement hole of the tensile cord can be used for positioning, and no separate positioning mechanism is required.
- the elastic material is intruded into the lug forming recess, the grounding lug can be formed easily and at low cost.
- a lower mold (70) having a plurality of forming protrusions (74a) at an equal pitch on the upper surface, and a plurality of lug forming recesses (86) opening on the lower surface.
- a portion of an endless tensile band (21) having engaging holes (21a) at equal intervals in the circumferential direction is placed on the lower mold (70), and the lower mold (70) is prepared.
- the tension band By positioning the tension band by fitting the engagement hole of the tension band into the forming projection (74a) of the mold, and then placing the elastic material on the lower mold and lowering the upper mold, the upper mold and A portion (22 ') of the base body (22) is formed on the outer periphery of the tensile band (21) by the lower mold, and at this time, the forming projection (74a) of the lower mold (70) is made of the elastic material.
- the elastic material enters the lug forming recess (86) of the upper mold (80) to form the ground lug (26), and then the tensile tension is applied.
- the band (21) is moved to place the adjacent area of the area where the part (22 ') of the base body is formed on the lower die (70), and then a further part of the base body in the same manner as described above. 22 ') is repeated, thereby forming an endless base body (22) over the entire circumference of the tensile band (21).
- the crawler belt can be manufactured easily and at low cost without using an expensive device.
- the engagement holes of the tension band can be used for positioning, and no separate positioning mechanism is required.
- the elastic material described above is molded into the lug molding recess, the grounding lug can be molded easily and at low cost.
- crawler belts with different circumferential lengths can be manufactured with one device.
- a molding pin (74) is removably inserted into the upper surface of the lower mold (70), and a head portion of the molding pin is provided as the molding protrusion (74a). According to this, after forming, the tensile band and a part of the belt main body can be taken out without receiving a large force from the lower mold, and the productivity can be greatly improved.
- the crawler belt can be made high in strength and light in weight. Further, according to the present invention, a crawler belt with a tensile band can be manufactured easily and at low cost.
- the lower part of the robot for light work robots the lower part A is shown.
- the underbody portion A is configured by attaching a pair of crawler devices 2 to the left and right portions of the base 1.
- the upper body of the robot is attached to this base 1.
- the upper body differs in configuration depending on the role of the robot. For example, in the case of a robot used to search for people trapped in rubble in the event of a disaster such as an earthquake, the robot is equipped with a camera, a detection sensor, and a lighting fixture, and is equipped with a gripping mechanism for lightweight objects as needed.
- each of the crawler devices 2 includes front and rear wheels 10, an endless crawler belt 20 wound between the wheels 10, and front and rear wheels. And a pair of side plates 30 rotatably supporting the ten. The central portions of the side plates 30 on the inner side of the pair of crawler devices 2 are attached to the base 1.
- the left and right crawler devices 2 have substantially the same structure.
- one of the front and rear wheels 10 is connected to an actuator (not shown) such as an electric motor provided on the inner side plate 30 to act as a driving wheel, and the other acts as a driven wheel.
- each wheel 10 has a cylindrical surface.
- hemispherical engagement protrusions 12a are formed at equal pitches in the circumferential direction.
- the diameter of the engaging projection 12a is 3 mmfe with respect to the width 30 mm of the wheel 10.
- the pair of side plates 30 is disposed on the left and right of the pair of wheels 10.
- Each side plate 30 has an elongated disk shape elongated in the front-rear direction, and the front and rear end portions thereof cover both side surfaces of the pair of wheels 10.
- the front and rear end edges of the side plate 30 have a semicircular shape along the periphery of the wheel 10.
- the peripheral portion of the side plate 30 has a tapered cross section over the entire circumference, and the outer surface thereof is an inclined surface 30c !.
- the crawler belt 20 is made of an endless stainless steel steel belt 21 (a metal strip, a tensile band) and a vulcanized adhesive and the like all over the outer circumference of the steel belt 21.
- the above-mentioned steel belt 21 has a thickness of 0. 05-1. Omm (in the present embodiment, 0. 15 mm). It is comprised by welding the both ends of an elongate thin strip.
- the steel belt 21 has a width substantially equal to that of the wheel 10, and a circular engagement hole 21a at the center in the width direction at an equal pitch in the circumferential direction (a pitch equal to the engagement protrusion 12a of the wheel 10). Is formed.
- the diameter of the engagement hole 21a is equal to or slightly larger than the diameter of the engagement protrusion 12a.
- the steel belt 21 is extremely thin compared to a base portion 23 (3 mm in thickness) described later. In the figure, the thickness of the steel belt 21 is shown exaggerated.
- the belt body 22 has an endless base portion 23 which is wider than the steel belt 21 and a shielding rod formed on both sides in the width direction of the base portion 23. 24 and a grounding lug 26 formed on the outer periphery of the base portion 23 at an interval.
- a substantially hemispherical relief recess 23a communicating with the engagement hole 21a is formed at a position corresponding to the engagement hole 21a of the steel belt 21 at the center of the base portion 23 in the width direction.
- the crawler belt 20 is stretched around the front and rear wheels 10 along a half circumference.
- the steel belt 21 is in direct contact with the outer peripheral surface of the wheel 10 in a half-round area of the wheel 10, and the engagement projections 12 a of the wheel 10 engage with the engagement holes 21 a of the steel belt 21. And enters the relief recess 23a of the base 23.
- the shielding rod 24 is continuously formed over the entire circumference of the belt body 22 and extends radially and inwardly from the inner peripheral surface of the base portion 23, and the outer surface of the inner peripheral edge thereof is an inclined surface. It is Thereby, the cross-sectional shape of the shielding rod 24 is tapered, and elastic deformation is facilitated.
- the ground lugs 26 extend in the width direction of the crawler belt 20, and have a trapezoidal longitudinal sectional shape.
- the bottom thickness of the cross-sectional shape of the ground lug 26 is 5 mm
- the top thickness is 3 mm
- the height is 15 mm. Since the ground lug 26 is much smaller in thickness than its height, it is easy to bend when a bending rigidity force is applied to the ground lug 26 in a direction perpendicular to the width direction.
- the height of the grounding lug 26 is preferably 3 times or more and 7 times or less of that of the thickness (average thickness or thickness in the central portion in the height direction), preferably 3.5 times or more, 5 Less than twice.
- the planar shape of the grounding lug 26 is a broken shape at the center as shown in FIG. This increases the load in the height direction, that is, the strength against the weight of the robot. In the present embodiment, as shown in FIG. 6, the direction differs for each of the plurality of ground lugs 26.
- the crawler belt 20 is rotated by the rotation of the wheel 10 connected to the actuator. As a result, the robot travels.
- the crawler belt 20 is reinforced with a force steel belt 21 using a rubber belt body 22. Therefore, the crawler belt 20 can be prevented from coming off from the wheel 10 which can not be extended even if it is continued to be used. In addition, the weight of the crawler belt 20 can be remarkably reduced.
- the first reason is that the crawler belt 20 is reinforced with a thin steel belt 21 without increasing the thickness, and the second reason is that the steel belt 21 engages with the wheel 10. V, a force that does not require the belt body 22 to form a protrusion (see the prior art described above) for engaging with the wheel 10.
- the crawler belt 20 can be reliably prevented from coming off in the left-right direction.
- the easily deformable ground lugs 26 are provided, it is possible to easily get over the relatively low debris S ′ having a flat surface as shown in FIG.
- the reason is that the ground contact lug 26 can be elastically deformed to increase the contact area with the debris S ', so that it can be gripped well without slipping against the debris S', and the idling of the crawler belt 20 can be realized. There is also a force that can be avoided. This function works especially when the debris S 'is wet or sand is attached. If the distance between the adjacent ground lugs 26 is narrowed, the two adjacent ground lugs 26 as shown in FIG. 7 can grip the debris S ′ better.
- the grounding lug 26 is easily bent, but has sufficient strength against the load in the height direction, that is, the weight of the robot itself, and can ensure smooth traveling without significant deformation. This is because the grounding lug 26 has a bent planar shape, and therefore has high strength in the height direction.
- the shielding rod 24 of the belt main body 22 is in contact with the inclined surface 30 c of the peripheral portion of the side plate 30 in a state of being elastically deformed. As a result, the inner space surrounded by the crawler belt 20 and the pair of side plates 30 is sealed, and the entry of water, sand and dust can be avoided.
- the shielding rod 24 is elastically deformed to be in contact with the peripheral portion of the side plate 30, the tip end can be in contact with the peripheral portion of the side plate 30 without being corrugated.
- the manufacturing apparatus includes a lower die 70 (first type) and an upper die 80 (second type) that is raised and lowered with respect to the lower die 70.
- the lower mold 70 has a base portion 71 and a formed portion 72 having an inverted U-shaped cross section, and both are separable, and the overall shape is a hollow rectangular parallelepiped with both ends open. There is no.
- housing holes 72a are formed on the upper surface of the molding portion 72 at equal intervals in the longitudinal direction, and molding pins 74 are housed in the housing holes 72a so as to be removable.
- the head portion of the forming pin 74 has a substantially hemispherical shape and is provided as a forming protrusion 74a.
- a pair of linear auxiliary forming grooves 73 for forming the shielding rod 24 are formed on both sides of the row of the forming projections 74a.
- the upper die 80 has a rectangular plate shape, and a shallow wide groove 81 extending in the longitudinal direction is formed on the lower surface of the upper die 80, and six lug forming holes 86 penetrating in the vertical direction are formed. It is done! Lug molding hole 86 has a shape corresponding to the grounding lug 26! /.
- the steel belt 21 is passed through the hollow lower die 70, and a part of the steel belt 21 is placed on the upper surface of the lower die 70. At this time, the engagement hole 21a of the steel belt 21 is fitted to the forming protrusion 74a of the lower mold 70 to position the steel belt 21.
- a green rubber sheet (elastic material, not shown) of a predetermined length containing a vulcanizing agent is placed on the upper surface of the molding portion 72 of the lower mold 70.
- the upper mold 80 is lowered to pressurize the raw rubber sheet, and by heating the molds 70 and 80, as shown in FIG. 9, a portion 22 ′ of the belt body 22 should be endless.
- a circumferentially divided portion of the base body 22 is bonded by vulcanization (carro vulcanization molding) to the outer periphery of the steel belt 21.
- a primer adheresive is applied to the outer peripheral surface of the steel belt 21 in advance to increase the bonding strength between the portion 22 of the belt body 22 and the steel belt 21.
- a part of the base portion 23 is formed by the forming groove 81, and the auxiliary forming groove 73 is formed.
- a part of the shielding ridge 24 is formed, and the mold protrusion 74a enters the rubber material to form the relief recess 23a, and the rubber material enters the lug forming hole 86 to form the ground lug 26.
- the rubber material protruding from the upper end opening of the lug forming hole 86 is dislocated by a spatula or the like.
- the upper mold 80 is raised.
- the steel belt 21 is removed from the lower mold 70. Since the molding of the rubber is accompanied by shrinkage, the molding pin 74 which is strongly adhered to the molding protrusion 74a also separates from the lower mold 70 together with the steel belt 21 and the portion 22 'of the belt body 22.
- the forming pin 74 is removed from the steel belt 21 and the portion 22 ′ of the belt body 22.
- the molding pin 74 can be easily released from the relief recess 23a of the portion 22 ', and compared to the case of using the lower mold integrally having molding protrusions, It is possible to improve the quality.
- the crawler belt 20 having the shielding ridge 24 and the grounding lug 26 can be manufactured at low cost by using the lower mold 70 and the upper mold 80 of a simple structure without using a split mold. .
- FIGS. 12 to 17 the components corresponding to the first embodiment are designated by the same reference numerals and the detailed description thereof is omitted.
- the outer peripheral surface of the wheel 10 has a substantially cylindrical surface shape, but its cross-sectional shape draws a circular arc having a large radius of curvature, and forms a crown shape having a center expanded. That is, the outer diameter of the wheel 10 gradually decreases in diameter as it moves from the center toward both ends in the width direction.
- the width of the wheel 10 is 30 mm, and the center diameter is 100. In contrast to mm, the diameter at both ends in the width direction is 0.3 mm smaller than the center.
- the third embodiment shown in FIG. 13 is the same as the second embodiment except in the following points.
- a steel belt 21 is embedded in the base 23 of the belt body 22, and a thin rubber layer 29 is formed on the inner peripheral side of the steel belt 21.
- the rubber layer 29 has an inner circumferential surface that matches the outer circumferential surface of the wheel 10. When the wheel 10 is metal, this rubber layer 29 can prevent the wear due to the contact between the steel belt 21 and the metal of the wheel 10.
- the wheel 10 is a resin equal force and a metal engaging pin at an equal pitch in the circumferential direction at the center in the width direction of the outer peripheral surface of the cylindrical surface. 12 is embedded.
- the head portion of the engagement pin 12 has a hemispherical shape and protrudes from the outer peripheral surface of the wheel 10, and is provided as an engagement protrusion 12a.
- the shielding ridges 24 ′ are formed continuously over the entire circumference of the belt main body 22, and project in a diagonal direction from the outer peripheral surface of the base portion 23.
- the shielding rod 24 ' has a tapered cross-sectional shape, which facilitates elastic deformation.
- the side plate 30 also has a force with the metal plate 31 and the pair of seal members 32.
- this metal plate 31 has semi-circular front and rear end edges 3 la along the periphery of the front and rear wheels 10 respectively. As shown in FIG. 15, these front and rear edge portions 3 la are scraped at the inner side to be thin.
- the above-described seal member 32 is detachably attached to the upper and lower linear edge portions connected to the edge portion 31 a of the metal plate 31. More specifically, the seal member 32 has a smaller elastic modulus than the belt body 22 of the crawler belt 20 described later, and is made of a rubber material, and means such as vulcanization adhesion to a linear bracket 33 having an L-shaped cross section. The bracket 33 is removably fixed to the upper and lower edges of the side plate 30 by screws 34. The seal member 32 has a thin standing wall 32a.
- the leading edge of the shielding rod 24 is in contact with the front and rear end edges 31 a of the side plate 30 in the area of the crawler belt 20 on the front and rear wheels 10, and in the area between the front and rear wheels 10, The leading edge of the shielding rod 24 'is in contact with the rising wall 32a of the sealing member 32.
- the internal space enclosed by the crawler belt 20 and the pair of side plates 30 is sealed, and water and sand are , You can avoid the entry of dust.
- the shielding wedge 24 ′ is warped in the direction in which the leading edge is away from the edge 31 a of the side plate 30.
- the tip edge of the shielding rod 24 ' is elastically deformed to be in contact with the end edge 31a of the side plate 30, the end edge 31a should be surely contacted despite the warp. Can.
- the shielding ridge 24 'of the crawler belt 20 contacts the sealing member 32 at the upper and lower edges of the side plate 30, the sealing member 32 has a smaller elastic modulus S than the shielding ridge 24' and the force is thinner. Deforms more than '.
- the lower mold 70 and the upper mold 80 of FIG. 17 are used.
- a pair of linear auxiliary shaping grooves 82 are formed on both sides of the shaping groove 81 of the upper die 80.
- the auxiliary forming groove 82 has a shape corresponding to the shielding ridge 24 '. The usage of these molds 70, 80 is the same as that of the first embodiment described above.
- the pair of crawler devices may be two-wheel drive.
- An intermediate wheel is disposed between the front and rear wheels.
- the driven wheel may not be in contact with the crawler belt, and may only restrict the movement of the crawler belt in the width direction.
- the plane shape of the grounding lug 26 may be broken at a plurality of points and corrugated.
- ground lugs 26 in the first and second embodiments may be formed to have a uniform thickness which is not trapezoidal in the vertical cross section.
- the wheel 10 is formed with short, spiral engagement protrusions (double helical) having different directions of two rows, and by forming engagement holes in the tension band in accordance with this, crawling of the crawler belt is achieved. May be reliably prevented.
- the belt body may be molded all around at once by insert injection molding etc.
- the factor is not limited to the electric motor but may be a hydraulic motor or an engine.
- the crawler device of the present invention may be used for a lightweight robot for cleaning a hospital or the like other than the life-saving robot, or a lightweight construction machine other than the robot.
- FIG. 1 is a perspective view of an undercarriage of a robot provided with a pair of left and right crawler devices according to a first embodiment of the present invention.
- FIG. 2 is a side view of the crawler device.
- FIG. 3 A longitudinal sectional view showing a crawler belt used in the same crawler device, with the thickness of a steel belt being exaggerated.
- FIG. 4 It is a longitudinal cross-sectional view shown in the state which stretched the crawler belt on the wheel.
- FIG. 5 is a side view of the crawler belt.
- FIG. 6 is a plan view of the crawler belt.
- FIG. 7 A schematic view showing a state in which the contact lugs of the crawler belt grip rubble.
- FIG. 8 is a perspective view showing an apparatus used to manufacture the crawler belt.
- FIG. 9 An enlarged longitudinal sectional view of the main part of the same device, showing a state in which the belt body of the crawler belt is formed.
- FIG. 10 is an enlarged vertical cross-sectional view of the main part of the same device, showing a state in which a part of a molded belt body and a steel rupelt are separated from a lower mold.
- FIG. 11 is an enlarged vertical sectional view of the main part of the same device, showing a state in which a forming pin is separated from a part of a formed belt main body and a steel belt.
- FIG. 12 is a longitudinal sectional view of a crawler device showing a second embodiment of the present invention.
- FIG. 13 A longitudinal sectional view of a crawler device showing a third embodiment of the present invention.
- FIG. 14 is an enlarged vertical sectional view of a crawler belt showing a fourth embodiment of the present invention.
- FIG. 15 is a longitudinal sectional view showing a seal structure between a crawler belt and an end edge of a side plate in the fourth embodiment.
- FIG. 16 A longitudinal sectional view showing a seal structure between a crawler belt and a middle portion of a side plate in the fourth embodiment.
- ⁇ 17 It is a perspective view showing an apparatus used for manufacturing a crawler belt of the fourth embodiment.
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Belt Conveyors (AREA)
- Heating, Cooling, Or Curing Plastics Or The Like In General (AREA)
Abstract
Description
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Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/580,127 US7578565B2 (en) | 2003-11-20 | 2004-11-18 | Crawler belt, crawler unit and method for manufacturing crawler belt |
KR1020067010252A KR101094042B1 (ko) | 2003-11-20 | 2004-11-18 | 크롤러벨트, 크롤러장치 및 크롤러벨트의 제조방법 |
JP2005515640A JP3985870B2 (ja) | 2003-11-20 | 2004-11-18 | クローラベルト,クローラ装置及びクローラベルトの製造方法 |
DE602004027079T DE602004027079D1 (de) | 2003-11-20 | 2004-11-18 | Gleiskette, gleiskettenvorrichtung und verfahren zur herstellung der gleiskette |
EP04818947A EP1695895B1 (en) | 2003-11-20 | 2004-11-18 | Crawler belt, crawler device, and method of producing the crawler belt |
US12/491,054 US8658073B2 (en) | 2003-11-20 | 2009-06-24 | Crawler belt, crawler unit and method for manufacturing crawler belt |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003390483 | 2003-11-20 | ||
JP2003-390483 | 2003-11-20 |
Related Child Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US10/580,127 A-371-Of-International US7578565B2 (en) | 2003-11-20 | 2004-11-18 | Crawler belt, crawler unit and method for manufacturing crawler belt |
US12/491,054 Division US8658073B2 (en) | 2003-11-20 | 2009-06-24 | Crawler belt, crawler unit and method for manufacturing crawler belt |
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WO2005049414A1 true WO2005049414A1 (ja) | 2005-06-02 |
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US (2) | US7578565B2 (ja) |
EP (1) | EP1695895B1 (ja) |
JP (3) | JP3985870B2 (ja) |
KR (1) | KR101094042B1 (ja) |
CN (1) | CN100551762C (ja) |
DE (1) | DE602004027079D1 (ja) |
WO (1) | WO2005049414A1 (ja) |
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- 2004-11-18 EP EP04818947A patent/EP1695895B1/en not_active Ceased
- 2004-11-18 JP JP2005515640A patent/JP3985870B2/ja active Active
- 2004-11-18 US US10/580,127 patent/US7578565B2/en active Active
- 2004-11-18 WO PCT/JP2004/017161 patent/WO2005049414A1/ja active Application Filing
- 2004-11-18 DE DE602004027079T patent/DE602004027079D1/de active Active
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007062463A (ja) * | 2005-08-30 | 2007-03-15 | Tokyo Institute Of Technology | タイヤ |
JP2007186041A (ja) * | 2006-01-12 | 2007-07-26 | Tokyo Institute Of Technology | クローラ装置およびその組立方法 |
JP2007186042A (ja) * | 2006-01-12 | 2007-07-26 | Tokyo Institute Of Technology | クローラ装置 |
JP4591970B2 (ja) * | 2006-01-12 | 2010-12-01 | 国立大学法人東京工業大学 | クローラ装置およびその組立方法 |
JP4671233B2 (ja) * | 2006-01-12 | 2011-04-13 | 国立大学法人東京工業大学 | クローラ装置 |
Also Published As
Publication number | Publication date |
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JPWO2005049414A1 (ja) | 2007-08-23 |
CN1882471A (zh) | 2006-12-20 |
EP1695895A4 (en) | 2007-03-07 |
DE602004027079D1 (de) | 2010-06-17 |
JP3985870B2 (ja) | 2007-10-03 |
JP4494431B2 (ja) | 2010-06-30 |
CN100551762C (zh) | 2009-10-21 |
KR20060125771A (ko) | 2006-12-06 |
US7578565B2 (en) | 2009-08-25 |
JP2007191153A (ja) | 2007-08-02 |
JP2010120642A (ja) | 2010-06-03 |
US20070145820A1 (en) | 2007-06-28 |
EP1695895A1 (en) | 2006-08-30 |
US20080272647A9 (en) | 2008-11-06 |
EP1695895B1 (en) | 2010-05-05 |
US8658073B2 (en) | 2014-02-25 |
KR101094042B1 (ko) | 2011-12-19 |
JP5137214B2 (ja) | 2013-02-06 |
US20090256280A1 (en) | 2009-10-15 |
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