JPS6323032B2 - - Google Patents

Info

Publication number
JPS6323032B2
JPS6323032B2 JP14762782A JP14762782A JPS6323032B2 JP S6323032 B2 JPS6323032 B2 JP S6323032B2 JP 14762782 A JP14762782 A JP 14762782A JP 14762782 A JP14762782 A JP 14762782A JP S6323032 B2 JPS6323032 B2 JP S6323032B2
Authority
JP
Japan
Prior art keywords
arm
rotation angle
vehicle body
rotating shaft
gear
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
JP14762782A
Other languages
Japanese (ja)
Other versions
JPS5938177A (en
Inventor
Taro Iwamoto
Hiroshi Yamamoto
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 JP14762782A priority Critical patent/JPS5938177A/en
Priority to US06/476,271 priority patent/US4483407A/en
Priority to FR8304686A priority patent/FR2523914B1/en
Priority to DE19833310790 priority patent/DE3310790A1/en
Publication of JPS5938177A publication Critical patent/JPS5938177A/en
Publication of JPS6323032B2 publication Critical patent/JPS6323032B2/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
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/02—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B2301/00—Wheel arrangements; Steering; Stability; Wheel suspension
    • B62B2301/25—Wheel arrangements; Steering; Stability; Wheel suspension characterised by the ground engaging elements, e.g. wheel type
    • B62B2301/256—Wheel arrangements; Steering; Stability; Wheel suspension characterised by the ground engaging elements, e.g. wheel type by using endless belts

Landscapes

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

Description

【発明の詳細な説明】 〔産業上の利用分野〕 本発明は無限軌道履帯を備えた走行車に係り、
特に段階や不整地の走行に好適な走行車に関す
る。[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a traveling vehicle equipped with a trackless track,
In particular, the present invention relates to a vehicle suitable for traveling on stages or rough terrain.

〔従来の技術〕[Conventional technology]

不整地等の屋内外の走行路を踏破する走行車と
しては、種々の形式のものが提案されているが、
その移動機構は車輪式、脚式、無限軌道履帯式に
大別することができる。これらの各方式はそれぞ
れ特徴を有しているが、車輪式の場合は車輪半径
より大きい段差を乗り越えることができない。ま
た脚式の場合は速い移動速度が要求されるものに
は不向きである。これに対して戦車やブルドーザ
のような無限軌道履帯式のものは不整地での走行
が可能で制御も比較的簡単であり、しかも高速度
が得られるため、上述の用途に適している。この
無限軌道履帯を複数基備え、転倒することなく段
階や高い段差を乗り越えるような走行車が、例え
ば特開昭56−138071号公報に記載されている。 Various types of vehicles have been proposed for traversing indoor and outdoor routes on rough terrain.
The movement mechanism can be broadly classified into wheel type, leg type, and track type. Each of these systems has its own characteristics, but in the case of the wheel type, it is not possible to overcome steps larger than the radius of the wheels. Additionally, legged types are not suitable for applications that require high movement speed. On the other hand, tracked vehicles such as tanks and bulldozers can travel on rough terrain, are relatively easy to control, and can achieve high speeds, making them suitable for the above-mentioned applications. For example, a traveling vehicle equipped with a plurality of endless track crawlers and capable of overcoming steps or high steps without falling over is described in Japanese Patent Laid-Open Publication No. 138071/1983.

〔発明が解決しようとする問題点〕[Problem that the invention seeks to solve]

前述した従来の走行車においては、４基の無限
軌道履帯ユニツトを車体に対して揺動可能に設置
して路面に対する適応能力を向上させたものであ
るが、前述したように４基の無限軌道履帯ユニツ
トを備えるために、走行車が重くなり、大きくな
りやすい。また、不整地走行時における履帯の緩
みを十分配慮する必要がある。 In the conventional traveling vehicle mentioned above, four endless track crawler units were installed in a swingable manner relative to the vehicle body to improve the ability to adapt to the road surface. The provision of the track unit tends to make the traveling vehicle heavier and larger. In addition, it is necessary to give sufficient consideration to the loosening of the tracks when driving on rough terrain.

本発明は履帯の緩み外れが無く、高い走行踏破
機能を有する走行車を提供することを目的とす
る。 SUMMARY OF THE INVENTION An object of the present invention is to provide a traveling vehicle that has a high ability to travel and traverse without the possibility of the crawler belt loosening or coming off.

〔問題点を解決するための手段〕[Means for solving problems]

本発明の上記の目的は、車体の両側に無限軌道
履帯を備えた走行車において、前記無限軌道履帯
を、車体に設けた２個の主車輪と車体に対して移
動可能に設けた１個の補助車輪とに巻き掛け、前
記補助車輪を、その中心位置が前記２個の車輪の
中心位置を焦点とする楕円上に常に移動保持する
支持装置で支持することにより達成されている。 The above-mentioned object of the present invention is to provide a traveling vehicle equipped with track tracks on both sides of the vehicle body, in which the track tracks are connected to two main wheels provided on the vehicle body and one track track movable with respect to the vehicle body. This is achieved by supporting the auxiliary wheel with a support device that is wrapped around the auxiliary wheel and is constantly moved and held on an ellipse whose center position is the center position of the two wheels.

〔作用〕[Effect]

履帯の形状を変化させるために、補助車輪の位
置を移動させた場合、補助車輪は履帯に一定の張
力を加えるように移動する。その結果、履帯が緩
まないようにその形状を変化させることができ
る。 When the position of the auxiliary wheel is moved in order to change the shape of the crawler track, the auxiliary wheel moves so as to apply a constant tension to the track. As a result, the shape of the crawler belt can be changed to prevent it from loosening.

〔実施例〕〔Example〕

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１図〜第３図は本発明の走行車の一実施例を
示すもので、この実施例における走行車は建屋内
の移動点検を可能としたものであるため、その車
体１にマニピユレータＭおよびテレビカメラＴを
搭載している。この走行車は車体１の両側にそれ
ぞれ２個の主車輪２と移動可能な補助車輪３と、
これらの車輪２，３に巻き掛けられた無限軌道履
帯４とを備えている。補助車輪３はその中心位置
が２個の主車輪２の中心位置を焦点とする楕円上
を移動させる支持装置５によつて支持されてい
る。この支持装置４は第１のアーム５Ａと第２の
アーム５Ｂとを備えている。第１のアーム５Ａは
主車輪２，２の中心を結ぶ中点の位置に回転中心
が来るように、車体１に回転可能に設けられてい
る。その先端には第２アーム５Ｂが回転自在に取
付けられている。さらに第２のアーム５先端には
補助車輪３が回転自在に取付けられている。各部
の寸法関係は次のように設定されている。すなわ
ち、第１のアーム５Ａの長さをＲ、第２のアーム
５Ｂの長さをｒとすると、主車輪２の中心位置が
楕円の焦点F1及びF2に来る式は、楕円の中心か
ら焦点までの拒離をＦとすれば、次のように表わ
される。 FIGS. 1 to 3 show an embodiment of a traveling vehicle according to the present invention. Since the traveling vehicle in this embodiment is capable of moving inspection inside a building, a manipulator M and a manipulator M are installed on the vehicle body 1. It is equipped with a TV camera T. This running vehicle has two main wheels 2 and movable auxiliary wheels 3 on each side of a vehicle body 1,
It is provided with an endless track track 4 wrapped around these wheels 2 and 3. The auxiliary wheels 3 are supported by a support device 5 whose center position moves on an ellipse whose focal point is the center position of the two main wheels 2. This support device 4 includes a first arm 5A and a second arm 5B. The first arm 5A is rotatably provided on the vehicle body 1 so that the center of rotation is at the midpoint between the centers of the main wheels 2, 2. A second arm 5B is rotatably attached to its tip. Further, an auxiliary wheel 3 is rotatably attached to the tip of the second arm 5. The dimensional relationship of each part is set as follows. That is, assuming that the length of the first arm 5A is R and the length of the second arm 5B is r, the formula for bringing the center position of the main wheel 2 to the foci F1 and F2 of the ellipse is as follows from the center of the ellipse. If the rejection to the focal point is F, it is expressed as follows.

Ｆ＝√（＋）2−（−）2 ………(1) ＝２√ ………(2) そして、この式(2)を満すように第１のアーム５
Ａと第２のアーム５Ｂの長さが設定される。ま
た、主車輪２と補助車輪３の径は等しく設定され
ている。 F=√(+) 2 −(−) 2 ………(1) =2√ ………(2) Then, the first arm 5 is adjusted so as to satisfy this formula (2).
A and the length of the second arm 5B are set. Further, the diameters of the main wheel 2 and the auxiliary wheel 3 are set to be equal.

さらに、補助車輪３の楕円移動を可能にする原
理を第４図および第５図によつて説明する。 Furthermore, the principle that enables elliptical movement of the auxiliary wheels 3 will be explained with reference to FIGS. 4 and 5.

第４図に示すように、楕円の焦点F1とF2およ
び楕円上の任意の点Ｐを結ぶ三角形において、各
辺の長さの合計Ｓが一定となることはよく知られ
ている。これら３つの点に同一直径ｄの円を描
き、隣接する円を第２図のように直線で結んだと
き、この円と直線から成る図形の外周の長さＬは Ｌ＝πd＋Ｓ ………(3) となり一定である。したがつて、焦点F1，F2に
ある小円を主車輪２とし、楕円上の点Ｐにある小
円を補助車輪３とし、これらの車輪２，２，３の
外側に履帯４を巻きつけたものとすれば、全車輪
２，２，３が同一径である限り、点Ｐの位置が楕
円上のどこにあつても履帯４は緩まず一定の張力
で張られていることになる。 As shown in FIG. 4, it is well known that in a triangle connecting the foci F 1 and F 2 of the ellipse and any point P on the ellipse, the sum S of the lengths of each side is constant. When a circle with the same diameter d is drawn at these three points and the adjacent circles are connected with a straight line as shown in Figure 2, the length L of the outer circumference of the figure consisting of this circle and the straight line is L=πd+S......( 3) and is constant. Therefore, the small circles at the focal points F 1 and F 2 are the main wheels 2, the small circle at the point P on the ellipse is the auxiliary wheel 3, and the crawler belts 4 are wrapped around the outsides of these wheels 2, 2, and 3. If this is the case, as long as all the wheels 2, 2, and 3 have the same diameter, the crawler belt 4 will not loosen and will be kept under constant tension no matter where the point P is located on the ellipse.

ところで、第５図に示すように、点Ｏを中心と
して回転する長さＲの半径イと、その先端Ｖを中
心として回転する長さｒの半径ロおよび点Ｏを通
る直線ABを考える。今、点Ｏを通る直線ABの
垂線と半径イのなす角をαとし、半径イと半径ロ
とのなす角が常に2αとなるようにした場合、半
径ロの先端Ｐは１つの楕円上にあることを示す。
点Ｐの座標を第５図のように（ｘ、ｙ）とする
と、 ｘ＝Rsinα＋ｒ sinα ………(4) ｙ＝Rcosα−ｒ cosα ………(5) となる。三角形の性質として、 sin2α＋cos2α＝１ ………(6) であるから、(6)式に(4)、(5)式を代入すると、 ｘ／Ｒ＋ｒ2＋ｙ／Ｒ−ｒ2＝１ ………(7) となる。この(7)式は長半径をＲ＋ｒ、短半径をＲ
−ｒとする楕円の式である。すなわち、点Ｐは角
度αによらず１つの楕円上にある。したがつて、
半径イを第１のアーム５Ａ、半径ロを第２のアー
ム５Ｂとし、点Ｐに補助車輪３を取付け、第１の
アーム５Ａと第２のアーム５Ｂのなす角を常に第
１のアーム５Ａの回転角αの２倍になるようにす
れば、補助車輪３を常に楕円上に保持することが
できる。 By the way, as shown in FIG. 5, consider a radius A with a length R that rotates around a point O, a radius B with a length r that rotates around its tip V, and a straight line AB that passes through the point O. Now, if the angle between the perpendicular to straight line AB passing through point O and radius I is α, and the angle between radius I and radius B is always 2α, then the tip P of radius B is on one ellipse. Show that something is true.
If the coordinates of point P are (x, y) as shown in Fig. 5, then x=Rsinα+r sinα (4) y=Rcosα−r cosα (5). As a property of a triangle, sin 2 α + cos 2 α = 1 ......(6) Therefore, by substituting equations (4) and (5) into equation (6), x/R+r 2 +y/R-r 2 = 1 ......(7). This formula (7) has a major axis of R+r and a minor axis of R.
This is the equation of an ellipse with −r. That is, point P is on one ellipse regardless of angle α. Therefore,
Radius A is the first arm 5A, radius B is the second arm 5B, the auxiliary wheel 3 is attached to point P, and the angle formed by the first arm 5A and the second arm 5B is always the same as that of the first arm 5A. By setting the angle to be twice the rotation angle α, the auxiliary wheel 3 can always be held on an ellipse.

これを実現するための回転角度伝達手段の構成
を第６図および第７図によつて説明する。 The configuration of the rotation angle transmitting means for realizing this will be explained with reference to FIGS. 6 and 7.

第１のアーム５Ａの基部は中空軸６に取付けら
れている。この中空軸６は車体１の軸受により支
持されている。この中空軸６内には回転軸８が組
み込まれている。第２のアーム５Ｂの軸９は第１
のアーム５Ａの先端に回転可能に支えられてい
る。回転軸８と第２アーム５Ｂの軸９とはそれぞ
れ同径のスプロケツト１０，１１とチエーン１２
により連結されている。車体１内では第１アーム
５Ａの中空軸６に取付けられた歯車１３と第１の
アイドラ１４とがかみ合い、この第１のアイドラ
１４と第２のアイドラ１５がかみ合つている。第
２のアイドラ１５は回転軸８に取付けられた歯車
１６にかみ合つている。第１のアイドラ１４と第
２のアイドラ１５は歯数が等しく、また、歯車１
３と歯車１６も歯数が等しい。したがつて、第１
アーム５Ａの回転は中空軸６、歯車１３、アイド
ラ１４、アイドラ１５、歯車１６、回転軸８、ス
プロケツト１０、チエーン１２、スプロケツト１
１と伝わり、第２アーム５Ｂに伝達される。しか
も、第２アーム５Ｂの回転角は第１アーム５Ａの
回転角と大きさが等しく、方向が逆になる。第１
アーム５Ａの歯数１３には第７図に示すようにモ
ータ軸に取付けられた歯車１７がかみ合つてい
る。このため、第１アーム５Ａをモータにより駆
動すれば、第２アーム５Ｂも自動的に駆動され
る。 The base of the first arm 5A is attached to the hollow shaft 6. This hollow shaft 6 is supported by a bearing of the vehicle body 1. A rotary shaft 8 is incorporated within this hollow shaft 6. The shaft 9 of the second arm 5B is the first
It is rotatably supported at the tip of the arm 5A. The rotating shaft 8 and the shaft 9 of the second arm 5B have sprockets 10, 11 and a chain 12 of the same diameter, respectively.
are connected by. Inside the vehicle body 1, a gear 13 attached to the hollow shaft 6 of the first arm 5A is engaged with a first idler 14, and this first idler 14 and a second idler 15 are engaged. The second idler 15 meshes with a gear 16 attached to the rotating shaft 8. The first idler 14 and the second idler 15 have the same number of teeth, and the gear 1
3 and gear 16 also have the same number of teeth. Therefore, the first
The arm 5A rotates through the hollow shaft 6, gear 13, idler 14, idler 15, gear 16, rotating shaft 8, sprocket 10, chain 12, and sprocket 1.
1 and is transmitted to the second arm 5B. Furthermore, the rotation angle of the second arm 5B is equal in magnitude to the rotation angle of the first arm 5A, and the direction thereof is opposite to that of the first arm 5A. 1st
As shown in FIG. 7, a gear 17 attached to the motor shaft is engaged with 13 teeth of the arm 5A. Therefore, if the first arm 5A is driven by the motor, the second arm 5B is also automatically driven.

前述した第１のアーム５Ａ、第２のアーム５Ｂ
は第１図〜第３図に示すように、履帯４より外側
に配置されているので、第１のアーム５Ａ、第２
のアーム５Ｂは全周回転が可能である。 The aforementioned first arm 5A and second arm 5B
As shown in FIGS. 1 to 3, the first arm 5A and the second arm 5A are arranged outside the crawler track 4.
The arm 5B can rotate around the entire circumference.

次に上述した本発明の走行車の動作を説明す
る。 Next, the operation of the above-mentioned traveling vehicle of the present invention will be explained.

第１のアーム５Ａ、第２のアーム５Ｂの揺動に
より、補助車輪３を主車輪２に対して移動させれ
ば、無限軌道履帯４の形状を任意に変えることが
できるが、このとき、補助車輪３は２個の主車輪
２の中心位置を焦点とする楕円上に位置し、履帯
４に一定の張力を与えることができる。その結
果、例えば階段昇降や障害物乗越えに際して、主
車輪２、補助車輪３からの履帯４の外れを生じる
ことなく、これらを踏破することができる。 If the auxiliary wheel 3 is moved relative to the main wheel 2 by swinging the first arm 5A and the second arm 5B, the shape of the track crawler 4 can be changed arbitrarily. The wheels 3 are located on an ellipse whose focal point is the center position of the two main wheels 2, and can apply a constant tension to the crawler belt 4. As a result, when climbing stairs or climbing over obstacles, for example, the main wheels 2 and auxiliary wheels 3 can be climbed without the crawler belts 4 coming off from them.

上述した実施例によれば、階段や障害物に対す
る踏破能力を高めることができると共に、簡単な
歯車機構で構成し得るので、小形、軽量化を実現
することができる。 According to the embodiment described above, the ability to traverse stairs and obstacles can be improved, and since it can be configured with a simple gear mechanism, it is possible to realize a reduction in size and weight.

なお、上述の実施例においては、第１のアーム
５Ａ、第２のアーム５Ｂを履帯の外側に配置した
ものについて適用したが、これらのアーム５Ａ，
５Ｂが履帯の内側に配置された場合にも適用する
ことができる。 In addition, in the above-mentioned embodiment, the first arm 5A and the second arm 5B were arranged outside the crawler track, but these arms 5A,
It can also be applied when 5B is placed inside the crawler track.

〔発明の効果〕〔Effect of the invention〕

以上詳述したように、本発明によれば、補助車
輪は主車輪の位置を焦点とする楕円軌跡上に位置
するので、履帯が緩み外れることがなく、任意の
姿勢制御能力を有し、高い走行踏破機能を有する
ものである。 As described in detail above, according to the present invention, the auxiliary wheels are located on an elliptical trajectory with the main wheel position as the focal point, so the tracks do not loosen and come off, and the present invention has arbitrary attitude control ability and high It has a running function.

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

第１図は本発明の走行車の一実施例を一部断面
にて示す正面図、第２図は第１図の側面図、第３
図は本発明の走行車の一実施例を示す斜視図、第
４図および第５図は本発明の原理説明図、第６図
は本発明の走行車を構成する支持装置を一部断面
にて示す正面図、第７図は第６図の側面図であ
る。 １……車体、２……主車輪、３……補助車輪、
４……無限軌道履帯、５……支持装置、５Ａ……
第１のアーム、５Ｂ……第２のアーム。 FIG. 1 is a partially sectional front view of an embodiment of the traveling vehicle of the present invention, FIG. 2 is a side view of FIG. 1, and FIG.
The figure is a perspective view showing an embodiment of the traveling vehicle of the present invention, FIGS. 4 and 5 are illustrations explaining the principle of the present invention, and FIG. 6 is a partially cross-sectional view of a support device constituting the traveling vehicle of the present invention. FIG. 7 is a side view of FIG. 6. 1...Vehicle body, 2...Main wheels, 3...Auxiliary wheels,
4... Endless track track, 5... Support device, 5A...
First arm, 5B... second arm.

Claims (1)

【特許請求の範囲】 １ 車体の両側に無限軌道履帯を備えた走行車に
おいて、前記無限軌道履体を、車体に設けた２個
の主車輪と車体に対して移動可能に設けた１個の
補助車輪とに巻き掛け、前記補助車輪はその中心
位置が前記２個の主車輪の中心位置を焦点とする
楕円上に常に移動保持する支持装置で支持された
ことを特徴とする走行車。 ２ 特許請求の範囲第１項記載の走行車におい
て、前記補助車輪は前記２個の主車輪の直径と等
しい直径を有していることを特徴とする走行車。 ３ 特許請求の範囲第２項記載の走行車におい
て、前記支持装置は、２つの主車輪軸の中心との
間の中間点に相当する車体上の位置に回転軸を持
つ第１のアームと、この第１のアームの先端に回
転可能に支持され、その先端に前記補助車輪の回
転軸を保持する第２のアームとを備え、車体に対
する第１アームの回転角と第２アームの回転角と
の大きさが等しく方向が逆になるように、前記回
転角度を規則する回転角度伝達手段を備えたこと
を特徴とする走行車。 ４ 特許請求の範囲第３項記載の走行車におい
て、前記回転角度伝達手段は、第１のアームの回
転軸に備えられた第１の歯車にかみ合う第１のア
イドルギヤと、この第１のアイドルギヤにかみ合
う第２のアイドルギヤと、この第２のアイドルギ
ヤにかみ合う第２の歯車と、第１のアームの回転
軸を中空軸とし、その内に回転可能に支持され第
２の歯車に一端が固着された回転シヤフトと、こ
の回転シヤフトの他端に固着された第１のスプロ
ケツトと、第２アームの回転軸に固着された第２
のスプロケツトと、前記２つのスプロケツトに巻
掛けられるチエーンとからなり、車体に対する第
１アームの回転角と、第２アームの回転角とが大
きさが等しく方向が反対になるように歯車やスプ
ロケツトの歯数を選んだことを特徴とする走行
車。[Scope of Claims] 1. In a vehicle equipped with endless track tracks on both sides of the vehicle body, the endless track tracks are comprised of two main wheels provided on the vehicle body and one main wheel provided movably with respect to the vehicle body. 1. A traveling vehicle, characterized in that the support device is wound around an auxiliary wheel, and the auxiliary wheel is supported by a support device that constantly moves and holds the auxiliary wheel on an ellipse whose center position is the center position of the two main wheels. 2. The traveling vehicle according to claim 1, wherein the auxiliary wheel has a diameter equal to the diameter of the two main wheels. 3. In the traveling vehicle according to claim 2, the support device includes a first arm having a rotating shaft at a position on the vehicle body corresponding to a midpoint between the centers of two main wheel axles; A second arm is rotatably supported at the tip of the first arm and holds the rotating shaft of the auxiliary wheel at the tip thereof, and the rotation angle of the first arm and the rotation angle of the second arm with respect to the vehicle body are different from each other. 1. A traveling vehicle comprising rotation angle transmitting means for regulating the rotation angle so that the magnitudes of the rotation angles are equal and the directions are opposite. 4. In the traveling vehicle according to claim 3, the rotation angle transmitting means includes a first idle gear that meshes with a first gear provided on the rotation shaft of the first arm, and a first idle gear that meshes with a first gear provided on the rotation shaft of the first arm. a second idle gear that meshes with the gear; a second gear that meshes with the second idle gear; a rotating shaft fixed to the rotating shaft, a first sprocket fixed to the other end of the rotating shaft, and a second sprocket fixed to the rotating shaft of the second arm.
It consists of a sprocket and a chain that is wound around the two sprockets, and the gears and sprockets are connected so that the rotation angle of the first arm and the rotation angle of the second arm relative to the vehicle body are equal in magnitude and opposite in direction. A traveling vehicle characterized by a selected number of teeth.
JP14762782A 1982-03-26 1982-08-27 running car Granted JPS5938177A (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP14762782A JPS5938177A (en) 1982-08-27 1982-08-27 running car
US06/476,271 US4483407A (en) 1982-03-26 1983-03-17 Variable configuration track laying vehicle
FR8304686A FR2523914B1 (en) 1982-03-26 1983-03-22 VARIABLE CONFIGURATION CRAWLER VEHICLE
DE19833310790 DE3310790A1 (en) 1982-03-26 1983-03-24 VARIOUS TRACKED VEHICLE

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP14762782A JPS5938177A (en) 1982-08-27 1982-08-27 running car

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP19372185A Division JPS61105276A (en) 1985-09-04 1985-09-04 running car

Publications (2)

Publication Number Publication Date
JPS5938177A JPS5938177A (en) 1984-03-01
JPS6323032B2 true JPS6323032B2 (en) 1988-05-14

Family

ID=15434598

Family Applications (1)

Application Number Title Priority Date Filing Date
JP14762782A Granted JPS5938177A (en) 1982-03-26 1982-08-27 running car

Country Status (1)

Country Link
JP (1) JPS5938177A (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61100806A (en) * 1984-09-28 1986-05-19 Kikai Syst Shinko Kyokai Maintenance robot
JPS61105276A (en) * 1985-09-04 1986-05-23 Hitachi Ltd running car
US6263989B1 (en) * 1998-03-27 2001-07-24 Irobot Corporation Robotic platform
CN108974165B (en) * 2018-06-26 2020-09-08 坎德拉（深圳）软件科技有限公司 Crawler spherical robot

Also Published As

Publication number Publication date
JPS5938177A (en) 1984-03-01

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