JPS6319391B2 - - Google Patents
Info
- Publication number
- JPS6319391B2 JPS6319391B2 JP58127625A JP12762583A JPS6319391B2 JP S6319391 B2 JPS6319391 B2 JP S6319391B2 JP 58127625 A JP58127625 A JP 58127625A JP 12762583 A JP12762583 A JP 12762583A JP S6319391 B2 JPS6319391 B2 JP S6319391B2
- Authority
- JP
- Japan
- Prior art keywords
- wheel
- crawler
- vehicle
- arm
- vehicle body
- 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
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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明はクローラ走行車の駆動装置に係り、特
にクローラの形状を変えられるクローラ走行車の
クローラベルトの駆動に好適な駆動装置に関す
る。DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a drive device for a crawler vehicle, and more particularly to a drive device suitable for driving a crawler belt of a crawler vehicle in which the shape of the crawler can be changed.
走行路の地形に適応するクローラ走行車として
は、例えば特開昭57−74278号公報に示されるよ
うに、クローラ形状を変えることにより走行路の
地形に適応しこれを踏破するものがある。
As a crawler vehicle that adapts to the topography of the road, there is one that adapts to the topography of the road and traverses it by changing the shape of its crawler, as shown in Japanese Patent Application Laid-open No. 74278/1983, for example.
従来のクローラ走行車は段階を走行できるが、
階段走行時にはクローラベルトは階段のエツジで
支えられており、階段のエツジとエツジの中間部
分は接地反力を受けない。通常のクローラ走行車
では各クローラベルトを駆動する駆動輪は１輪の
みであり、他の車輪はクローラにより回転させら
れる。このため駆動輪が階段のエツジとエツジと
の中間に位置した場合には十分に駆動力をクロー
ラベルトに伝えることができず、走行不能になる
場合がある。
Conventional crawler vehicles can travel in stages, but
When traveling on stairs, the crawler belt is supported by the edges of the stairs, and the intermediate portion between the edges of the stairs is not subjected to ground reaction force. In a normal crawler vehicle, each crawler belt is driven by only one drive wheel, and the other wheels are rotated by the crawler. For this reason, if the drive wheels are located between the edges of the stairs, sufficient driving force cannot be transmitted to the crawler belt, and the vehicle may become unable to travel.
本発明はクローラ形状を変化させても常にクロ
ーラベルトに駆動力がかかるように構成した駆動
装置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 drive device configured such that a driving force is always applied to a crawler belt even when the shape of the crawler is changed.
本発明の上記目的は、障害物を踏破して走行す
るクローラ走行車において、車体の両側に備えた
第１の車輪および第２の車輪と、車体に揺動可能
に設けたアームと、このアームに設けた第３の車
輪と、前記第１の車輪と第２の車輪と第３の車輪
に巻き掛けられ、アームの揺動により形状可変と
なるクローラベルトと、前記第１の車輪と前記第
２の車輪とを連動して回転させる連動手段とを備
えることにより達成される。
The above object of the present invention is to provide a crawler vehicle that travels by traversing obstacles, which includes a first wheel and a second wheel provided on both sides of a vehicle body, an arm swingably provided on the vehicle body, and a first wheel and a second wheel provided on both sides of a vehicle body, an arm swingably provided on the vehicle body, and a first wheel and a second wheel provided on both sides of a vehicle body. a crawler belt that is wrapped around the first wheel, the second wheel, and the third wheel and whose shape is variable by swinging of the arm; This is achieved by providing an interlocking means for interlocking and rotating the two wheels.
第１の車輪と第２の車輪とは連動手段によつて
回転されるので、第１の車輪または第２の車輪の
いずれか一方が階段のエツジ間に位置しても、ク
ローラに駆動力を伝えることができ、確実に走行
することができる。
Since the first wheel and the second wheel are rotated by the interlocking means, even if either the first wheel or the second wheel is located between the edges of the stairs, the driving force is not applied to the crawler. It is possible to convey the information and drive reliably.
以下図面を参照して本発明の実施例を説明す
る。
Embodiments of the present invention will be described below with reference to the drawings.
第１図は本発明の装置の一実施例を示すもの
で、この図において、本発明の装置を備えた主行
車は車体７の側面に旋回アーム１を備え、その旋
回アーム１の先端に第２アームとなるクラク軸２
を介して補助車輪３を備えている。クローラベル
ト４は主車輪５、副車輪６および補助車輪３に巻
き掛けられており、旋回アームを旋回させること
により補助車輪３の位置を変え、クローラの形状
を変えることができる。このクロローラの形状変
更により第２図〜第５図に示すように障害物や階
段の走行を行うことができる。また、階段走行時
に車体を水平に保持したり、車体の引き起こしな
ども可能である。 FIG. 1 shows an embodiment of the device of the present invention. In this figure, the main vehicle equipped with the device of the present invention is equipped with a swing arm 1 on the side of the vehicle body 7, and a pivot arm 1 at the tip of the swing arm 1. Crack shaft 2 that becomes 2 arms
Auxiliary wheels 3 are provided via the auxiliary wheels 3. The crawler belt 4 is wrapped around the main wheel 5, the auxiliary wheel 6, and the auxiliary wheel 3, and by rotating the swing arm, the position of the auxiliary wheel 3 can be changed and the shape of the crawler can be changed. By changing the shape of the crawler roller, it is possible to run over obstacles and stairs as shown in FIGS. 2 to 5. It is also possible to hold the vehicle horizontally when running on stairs, or to raise the vehicle.
さらに本発明の装置をさらに詳しく説明する
と、クローラベルト４は主車輪５、副車輪６およ
び補助車輪３に巻き掛けられている。主車輪５に
はスプロケツト９が取り付けられている。副車輪
６にはスプロケツト９と同じ歯数および同じ径の
スプロケツト１０が取り付けられている。チエー
ン１１がスプロケツト９とスプロケツト１０に巻
き掛けられている。これにより、主車輪５と副車
輪６が連動する。主車輪５には駆動モータ１２が
取り付けられており、主車輪５を回転させれば副
車輪６も同じ速度で回転する。駆動モータ１２は
副車輪６に取り付けても良い。 Further, to explain the device of the present invention in more detail, the crawler belt 4 is wound around the main wheel 5, the auxiliary wheel 6, and the auxiliary wheel 3. A sprocket 9 is attached to the main wheel 5. A sprocket 10 having the same number of teeth and the same diameter as the sprocket 9 is attached to the auxiliary wheel 6. A chain 11 is wound around sprockets 9 and 10. Thereby, the main wheel 5 and the subwheel 6 are interlocked. A drive motor 12 is attached to the main wheel 5, and when the main wheel 5 is rotated, the auxiliary wheel 6 is also rotated at the same speed. The drive motor 12 may be attached to the auxiliary wheel 6.
このように構成したことにより、主車輪５と副
車輪６とはチエーン１１によつて同期して回転す
るので、第６図に示すように副車輪６が階段８の
エツジ間に位置しても、チエーン１１によつて不
要な回転が防止されるので、この副車輪６とクロ
ーラベルト４とのかみ合いがはずれることがな
い。この結果、階段等の走行を確実に行うことが
できる。 With this configuration, the main wheel 5 and the subwheel 6 rotate synchronously by the chain 11, so that even if the subwheel 6 is located between the edges of the stairs 8 as shown in FIG. Since unnecessary rotation is prevented by the chain 11, the auxiliary wheel 6 and the crawler belt 4 do not become disengaged. As a result, it is possible to reliably travel up stairs, etc.
以上述べたように、本発明によれば、クローラ
形状を変化させても常にクローラベルトを駆動で
きるので、常に安定して走行ができる効果があ
る。
As described above, according to the present invention, the crawler belt can always be driven even if the crawler shape is changed, so there is an effect that the vehicle can always run stably.
第１図は本発明の装置の一実施例を備えたクロ
ーラ走行車の一部分を示す斜視図、第２図〜第６
図は第１図に示すクローラ走行車の動作説明図で
ある。
５……主車輪、６……副車輪、９，１０……ス
プロケツト、１１……チエーン、１２……駆動モ
ータ。
FIG. 1 is a perspective view showing a part of a crawler vehicle equipped with an embodiment of the device of the present invention, and FIGS.
The figure is an explanatory diagram of the operation of the crawler vehicle shown in FIG. 1. 5... Main wheel, 6... Sub-wheel, 9, 10... Sprocket, 11... Chain, 12... Drive motor.
Claims (1)
において、車体の両側に備えた第１の車輪および
第２の車輪と、車体に揺動可能に設けたアーム
と、このアームに設けた第３の車輪と、前記第１
の車輪と第２の車輪と第３の車輪に巻き掛けら
れ、アームの揺動により形状可変となるクローラ
ベルトと、前記第１の車輪と前記第２の車輪とを
連動して回転させる連動手段とを備えたことを特
徴とするクローラ走行車の駆動装置。 ２ 特許請求の範囲第１項記載のクローラ走行車
の駆動装置において、前記連動手段は前記第１の
車輪に取り付けたスプロケツトと、前記第２の車
輪に取り付けたスプロケケツトと、これらのスプ
ロケツトに巻き掛けたチエーンとで構成されてい
ることを特徴とするクローラ走行車の駆動装置。[Claims] 1. A crawler vehicle that travels by traversing obstacles, etc., includes a first wheel and a second wheel provided on both sides of the vehicle body, an arm swingably provided on the vehicle body, and a first wheel and a second wheel provided on both sides of the vehicle body. a third wheel provided on the arm; and a third wheel provided on the arm;
a crawler belt that is wrapped around the wheel, the second wheel, and the third wheel and whose shape is variable by swinging of the arm; and interlocking means for interlocking and rotating the first wheel and the second wheel. A drive device for a crawler vehicle, comprising: 2. In the drive device for a crawler vehicle according to claim 1, the interlocking means includes a sprocket attached to the first wheel, a sprocket attached to the second wheel, and a sprocket wound around these sprockets. A drive device for a crawler vehicle, characterized by comprising a hanging chain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12762583A JPS6022573A (en) | 1983-07-15 | 1983-07-15 | Driver for crawler-driven vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12762583A JPS6022573A (en) | 1983-07-15 | 1983-07-15 | Driver for crawler-driven vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6022573A JPS6022573A (en) | 1985-02-05 |
| JPS6319391B2 true JPS6319391B2 (en) | 1988-04-22 |
Family
ID=14964708
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP12762583A Granted JPS6022573A (en) | 1983-07-15 | 1983-07-15 | Driver for crawler-driven vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6022573A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0223501Y2 (en) * | 1985-06-30 | 1990-06-26 |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2878883A (en) * | 1956-03-28 | 1959-03-24 | Utah Scient Res Foundation | Vehicle and steerable endless tread therefor |
| JPS57155171A (en) * | 1981-03-20 | 1982-09-25 | Toshiba Corp | Crawler type running gear |
-
1983
- 1983-07-15 JP JP12762583A patent/JPS6022573A/en active Granted
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2878883A (en) * | 1956-03-28 | 1959-03-24 | Utah Scient Res Foundation | Vehicle and steerable endless tread therefor |
| JPS57155171A (en) * | 1981-03-20 | 1982-09-25 | Toshiba Corp | Crawler type running gear |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6022573A (en) | 1985-02-05 |
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