JPH05147560A - Crawler traveling vehicle - Google Patents

Abstract

(57) [Summary] [Purpose] In a crawler traveling vehicle traveling on rough terrain,
The ground contact area at the time of turning can be reduced to easily turn, and the vehicle can travel on a large step over the radius of the pulley. [Structure] Links 2a and 2d are fixed to a rotating shaft 3a and 3b at one end in the longitudinal direction at the lower part of a vehicle body 1, and links 2b and 2c are rotatable at one end in the longitudinal direction.
Support 3b. A pulley 4 is provided at one end of each of the links 2a-2d.
A to 4d are provided and crawler belts 6a and 6b are looped around them. These pulleys are driven by drive motors 7a and 7b to run. Further, the links 2a to 2d are rotated and oscillated around the rotating shafts 3a and 3b by a driving means such as a motor to reduce the ground contact area when turning, and when passing through a high step, the bottom surfaces of the crawler belts 6a and 6b are aligned with the step.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crawler traveling vehicle used as a remote control manipulator for carrying out patrol inspections and work in nuclear reactors, factories, construction sites, chemical plants, mountainous areas, seabeds, etc. Regarding

[0002]

2. Description of the Related Art Conventionally, a traveling vehicle that travels on uneven terrain has been a crawler traveling vehicle having a large track contact surface and an endless track with a large ground contact surface, instead of wheels in order to further improve the ground adaptability. It was

[0003]

In the above-mentioned prior art, when performing a turning motion, one side of the crawler body is stopped or the left and right crawler belts are rotated in opposite directions to cause slippage between the crawler belt and the ground. Since it turns, it becomes a load if the ground contact area is large, and many scratches are made on the floor surface. Further, the travelable step h of the conventional crawler traveling vehicle is less than the radius r of the pulley 31 as shown in FIG. Therefore, an object of the present invention is to realize a crawler traveling vehicle which has excellent adaptability to ground, can easily turn, and has improved step running performance.

[0004]

SUMMARY OF THE INVENTION In the present invention, a total of four links, two each on the left and right, having a rotation fulcrum coaxially rotatably attached to the center of the lower part of the main body at one end in each length direction, A total of four pulleys attached to one end of each, drive means for driving the pulleys at least on the front side or rear side of the main body, drive means for driving the link around a rotation fulcrum, and coaxial with the rotation fulcrum of the link A total of two auxiliary pulleys, one on the left and one on the right, which are rotatably attached to each other, and two crawler belts, one on the left and one on the right, are mounted on the auxiliary pulley and the two pulleys on the same side.

[0005]

In the crawler traveling vehicle having the above-described structure, when the vehicle turns, the links are rotated to stand up, and the ground contact area of the shoe body is reduced, so that the vehicle can easily turn. Also, when running over a step higher than the radius of the pulley, it is possible to run by launching the link in the same way, making it a crawler traveling vehicle with excellent maneuverability and adaptability to ground.

[0006]

An embodiment of the present invention will be described below with reference to the accompanying drawings. FIG. 1A is a front view according to this embodiment,
(B) is a plan view. In FIGS. 1 (A) and 1 (B),
Two links 2a and 2d are fixed to the lower part of the main body 1 at one end in the longitudinal direction, respectively, to rotary shafts 3a and 3b rotatably supported by the main body 1. In addition to 2a and 2d
Each of the links 2b and 2c is rotatably supported at one end in the length direction around the rotation shafts 3a and 3b. Auxiliary pulleys 5a and 5b are rotatably supported at the outer ends of the rotating shafts 3a and 3b, respectively. The drive motors 7a and 7b are fixed to the main body side of the other ends of the links 2a and 2d. Pulleys 4a and 4d are fixed to the rotary shafts 8a and 8b of the drive motors 7a and 7b. Pulleys 4b and 4c are rotatably supported at the other ends of the links 2b and 2c. Pulley 4
a, 4b, auxiliary pulley 5a, crawler belt 6a, pulley 4
c, 4d and the auxiliary pulley 5b, the crawler belt 6b is looped, and the crawler belt holding pulleys 30a, 30b are provided on the outer side thereof.
Are rotatably supported, and the crawler belts 6a and 6b are rotated by driving the drive motors 7a and 7b, and the crawler traveling vehicle of this embodiment travels.

FIG. 2A is a view for explaining the drive portion of the link in this embodiment, and is a sectional view of the "portion 100" in FIG. 1B. The rotating shaft 3b is rotatably supported by a bearing 10 arranged on the body frame 9 of the body 1. The link 2c is attached to the outside of the body frame 9
It is rotatably supported by the rotating shaft 3b through a bearing 11 arranged at one end in the longitudinal direction of c. The link 2d has one end in the longitudinal direction fixed to the outside of the link 2c on the rotating shaft 3b.
An auxiliary pulley 5b is rotatably supported via a bearing 12 on the outer end of the main body frame 9 of the rotating shaft 3b. A pulley 13 is fixed coaxially with the rotary shaft 3b on the body frame 9 side of the rotary shaft 3b side of the link 2c. A gear 14 is fixed to the inner end of the body frame 9 of the rotating shaft 3b. Reference numeral 15 denotes a rotating shaft rotatably supported by a bearing 16 arranged on the body frame 9.

A pulley 17 is fixed to the outside of the main body frame 9 of the rotary shaft 15, and a crawler belt 18 is looped around the pulley 13 and the pulley 17. A gear 19 is fixed to the inside of the body frame 9 of the rotating shaft 15. Reference numeral 20 is a link drive motor fixed to the body frame 9. Link drive motor 2
A gear 22 is fixed to the rotary shaft 21 of 0. The gear 14
The gears 19 and 22 are in mesh with each other, and by driving the link driving motor 20, the links 2c and 2d can be driven in the opposite directions around the rotation shaft 3d.
A drive system is similarly constructed for the other links 2a and 2b.

FIG. 2B is a schematic diagram of FIG.
(A) is a figure explaining the drive part of another link,
It is sectional drawing of the "part 100" in FIG. 1 (B). The rotating shaft 3b is rotatably supported by a bearing 10 arranged on the body frame 9 of the body 1. The link 2c is rotatably supported by the rotating shaft 3b via a bearing 11 arranged at one end in the longitudinal direction of the link 2c on the outside of the main body frame 9. The link 2d has one end in the longitudinal direction fixed to the rotating shaft 3 on the outside of the link 2c. An auxiliary pulley 5b is rotatably supported via a bearing 12 at the outer end of the main body frame 9 of the rotating shaft 3. A pulley 13 is fixed coaxially with the rotary shaft 3b on the body frame 9 side of the rotary shaft 3b side of the link 2c. The gear 1 is attached to the inner end of the body frame 9 of the rotating shaft 3b.
Fix 4 Reference numeral 23 is a link drive motor fixed to the body frame 9. A gear 25 is fixed to the rotary shaft 24 of the link driving motor 23. The gear 14 and the gear 25
Are engaged with each other, and by driving the link driving motor 23, the link 2d can be driven around the rotating shaft 3b in any direction.

Reference numeral 15 is a rotating shaft rotatably supported by a bearing 16 arranged on the body frame 9. A pulley 17 is fixed to the outside of the main body frame 9 of the rotating shaft 15,
A crawler belt 18 is looped around the pulley 13 and the pulley 17.
A gear 19 is fixed to the inside of the body frame 9 of the rotating shaft 15. Reference numeral 20 is a link drive motor fixed to the body frame 9. A gear 22 is fixed to a rotary shaft 21 of the link drive motor 20. The gear 19 and the gear 22 are in mesh with each other, and by driving the link driving motor 20, the link 2c can be driven in any direction around the rotation shaft 3d. A drive system is similarly constructed for the other links 2a and 2b.

The turning operation of the crawler traveling vehicle for uneven terrain according to the present invention constructed as above will be described. When the crawler traveling vehicle makes a turning motion as shown in FIG. 3, the links 2a, 2
By slightly rotating b, 2c, and 2d, the grounding surface A when the link is not started is raised, and the ground plane A is reduced to B, so that the turning operation can be easily performed.

As shown in FIG. 4, the links 2a, 2b,
By rotating 2c and 2d largely, the pulley 4
It becomes possible to travel even on steps that exceed the radii of a, 4b, 4c, and 4d.

[0013]

As described above, in the crawler traveling vehicle according to the present invention, since the links at the bottom of the main body can be rotated respectively, it is easy to reduce the ground contact area of the crawler belt by rotating the links during the turning operation. Can perform a turning motion. Also, when a step is passed, by turning the link, a large step that exceeds the radius of the pulley can be passed.

[Brief description of drawings]

FIG. 1 is a diagram showing an embodiment of the present invention. (A) is a front view and (B) is a plan view.

FIG. 2 is a detailed view of a driving unit of the link according to the embodiment of the present invention.

FIG. 3 is an explanatory diagram of an operation of the exemplary embodiment of the present invention.

FIG. 4 is an operation explanatory view different from FIG. 3 of the embodiment of the present invention.

FIG. 5 is an explanatory diagram of a conventional technique.

[Explanation of symbols]

 1 main body 2a, 2b, 2c, 2d link 3a, 3b rotary shaft 4a, 4b, 4c, 4d pulley 5a, 5b auxiliary pulley 6a, 6b crawler belt 7a, 7b drive motor 8a, 8b rotary shaft 9 main body frame 10, 11, 12 bearings 13 pulleys 14 gears 15 rotating shafts 16 bearings 17 pulleys 18 crawler belts 19 gears 20 link driving motors 21 rotating shafts 22 gears 23 link driving motors 24 rotating shafts 25 gears 30a, 30b crawler belt holding pulleys

Claims (1)

[Claims] 1. A total of four links, two left and right, each having a rotation fulcrum coaxially rotatably attached to the center of the lower part of the main body at one end in each length direction, and a total of four links attached to one end of each of the links. Two pulleys, a drive means for driving the pulleys at least on the front side or the rear side of the main body, a drive means for driving the link around a rotation fulcrum, and rotatably attached coaxially with the rotation fulcrum of the link,
A total of two auxiliary pulleys, one on the left and one on the right, and two pulleys on the same side and the auxiliary pulley.
A crawler traveling vehicle with two crawler tracks, one on each side.