JP5336158B2 - Crawler type traveling vehicle - Google Patents

Description

  The present invention relates to a crawler type traveling vehicle.

In a crawler type traveling vehicle in which a crawler type front flipper protruding forward is provided at the front part of the crawler type traveling vehicle body, and a crawler type rear flipper protruding backward is provided at the rear part of the traveling vehicle body. These front and rear crawler type flippers can be rotated in a vertically inclined state by a driving force of a driving source such as a motor provided in the traveling vehicle so that the unevenness of the surface can be exceeded. What was made is provided conventionally.
JP 2008-143354 A

  However, in the crawler type traveling vehicle as described above, the front and rear crawler type flippers can be rotated in a vertically inclined state by a driving force of a driving source such as a motor provided in the traveling vehicle. Therefore, the traveling vehicle must have a dedicated driving source as described above. Therefore, the driving system in the traveling vehicle is complicated, and the weight of the traveling vehicle is increased. There is a problem that.

  In view of the above problems, the present invention provides a crawler-type traveling vehicle that can overcome the unevenness of the traveling surface, and that can achieve simplification of the drive system and weight reduction. Is an issue.

The above problem is that a crawler type front flipper that protrudes forward is provided at the front part of the crawler type traveling vehicle body, and a crawler type rear flipper that protrudes rearward is provided at the rear part of the traveling vehicle body. In
The crawler type traveling vehicle is characterized in that the front and rear flippers are supported on a traveling surface and are rotated up and down following the uneven shape of the traveling surface (first). 1 invention).

  In this crawler type traveling vehicle, the front and rear flippers are supported on the traveling surface and follow the uneven shape of the traveling surface to rotate up and down. When going, the flipper does not become an obstacle, and it can go over the unevenness of the running surface so as to become familiar with the unevenness of the running surface.

  In addition, as described above, the front and rear flippers are supported on the traveling surface and are rotated up and down following the uneven shape of the traveling surface, so that the front and rear flippers are moved in the vertical direction. There is no need for a drive source that rotates the vehicle in an inclined state, so that the drive system can be simplified and the weight of the traveling vehicle can be reduced.

In the first invention, the rotation angle of the flipper is an angle between a tilt angle position that is a predetermined angle above the traveling vehicle body and a tilt angle position that is a predetermined angle below the travel vehicle body. When it is within the range, the crawler belt of the flipper can circulate by the frictional force received from the running surface without being driven by the driving force from the driving source,
When the flipper reaches the tilt angle position above the predetermined angle, the crawler belt of the flipper is driven by a driving force from a drive source,
When the flipper reaches a tilt angle position below the predetermined angle, the crawler belt of the flipper may be driven to rotate by a driving force from a driving source (second invention).

  In this case, when the rotation angle of the flipper is within the above-mentioned angle range, the crawler belt of the flipper is configured not to rotate around by the driving force from the driving source. The load on the driving source can be reduced, and the crawler belt of the flipper can be rotated by the frictional force received from the running surface, so that the flipper does not hinder the running.

  In addition, when the flipper reaches a tilt angle position above a predetermined angle, the crawler belt of the flipper is driven by a driving force from a drive source, and when the flipper reaches a tilt angle position below a predetermined angle, Since the crawler belt is driven to rotate by the driving force from the driving source, when the flipper exceeds the unevenness of the running surface that causes such an inclination angle, the driving force from the driving source causes the flipper to move. The crawler belt can be driven in a circular motion, and such unevenness can be smoothly overcome.

In the second invention, when the flipper reaches the tilt angle position above the predetermined angle, the flipper is restricted from rotating to the tilt angle position above the predetermined angle.
When the flipper reaches the tilt angle position below the predetermined angle, it is preferable that the flipper is restricted from rotating to the tilt angle position below (the third invention).

  In this case, the flipper that is rotated and tilted and the crawler belt is driven to rotate can be firmly pressed against the traveling surface by the weight of the traveling vehicle, and the crawler of the flipper can perform a strong traveling.

In the second invention, when the flipper reaches an inclination angle position that is larger by a predetermined angle than the inclination angle position above the predetermined angle, the flipper is restricted from rotating to an inclination angle position that is further upward. And
When the flipper reaches a tilt angle position that is smaller by a predetermined angle than the tilt angle position below the predetermined angle, the flipper may be restricted from rotating to a tilt angle position that is further below ( Fourth invention).

  In this case, not only the effects similar to those of the third invention are achieved, but also in the inclined state where the rotation restriction angle has not been reached, the unevenness of the running surface that causes the flipper to enter such an inclined state is eliminated. It can be smoothly crossed by the crawler belt drive of the flipper.

  Since the present invention is as described above, the unevenness of the traveling surface can be exceeded, and the simplification and weight reduction of the drive system can be realized.

  Next, the best mode for carrying out the present invention will be described with reference to the drawings.

  The crawler type traveling vehicle 1 according to the first embodiment shown in FIGS. 1 to 3 includes left and right crawler type front flippers 3 and 3 that protrude forward from the front portion of the crawler type traveling vehicle body 2 as shown in FIG. The left and right crawler-type rear flippers 3 and 3 projecting rearward are provided at the rear of the traveling vehicle main body 2. In addition, 4 is a camera and 5 is a motor as a drive source. The motor 5 circulates and drives the crawler belt 7 of the traveling vehicle main body 2 and also circulates and drives the crawler belts 8 of the flippers 3 under certain conditions described below.

  The front and rear flippers 3 are configured to pivot up and down following the uneven shape of the running surface. Specifically, for example, each of the front and rear flippers 3. The crawler-type traveling vehicle 1 is configured so that a rotating force acts on the vehicle, and the force against the force works from the traveling surface to perform the upward and downward rotating operation following the uneven shape of the traveling surface. Are omitted a drive source such as a motor for rotating the front and rear flippers 3. The left and right front flippers 3 and 3 are configured to perform the same rotation operation with each other, and the left and right rear flippers 3 and 3 are configured to perform the same rotation with each other. It may not be so.

  Further, in the present embodiment, as shown in FIG. 1A, the rotation angle of the front flipper 3 is set to a tilt angle position a that is a predetermined angle above the traveling vehicle body 2 and to the traveling vehicle body 2. On the other hand, the crawler belt 8 of the flipper 3 is not rotated around by the driving force from the motor 5 when it is within an angle range c between the inclined angle position b below the predetermined angle. As shown in FIG. 5C, the crawler belt 8 of the flipper 3 can move around by the frictional force received from the traveling surface. When the flipper 3 reaches the inclined angle position a above the predetermined angle, the crawler belt 8 of the flipper 3 As shown in FIG. 1 (d), the crawler belt 8 of the flipper 3 is moved to the motor when the flipper 3 reaches the inclined angle position b below the predetermined angle. It is adapted to drive circulating by the driving force from. This also applies to the rear flipper 3.

  Further, in the present embodiment, when the front flipper 3 reaches the inclination angle position a above the predetermined angle, the front flipper 3 is restricted from rotating to the inclination angle position further upward. When the flipper 3 reaches the tilt angle position b below the predetermined angle, the flipper 3 is restricted from rotating to the tilt angle position below. This also applies to the rear flipper 3.

  In this embodiment, in order to perform such an operation, a clutch mechanism using a cam as shown in FIG. 3 is employed. That is, in FIG. 3 (a), 9 is a shaft, and a crawler pinion 10 on the traveling vehicle body 2 side and a crawler pinion 11 on the flipper 3 side are adjacent to each other on the outer periphery of the shaft 9 so as to be rotatable. The flipper frame 12 and the cam 13 integrated with each other at the outer end of the shaft 9 are prevented from moving relative to the shaft 9 in the shaft axial direction. It is provided so that relative rotation around it is possible.

  The crawler pinion 11 of the flipper 3 includes an outer cylinder member 14 on which the crawler belt 8 is hung, and an inner member 15 fitted into the outer cylinder member 14. The inner material 15 is provided so as to be able to move relative to the outer cylinder material 14 in the shaft axis direction, and is provided so as to rotate integrally with the outer cylinder material 14 around the shaft axis line. The shaft portion of the inner member 15 is provided with a protrusion 16 that protrudes toward the crawler pinion 10 of the traveling vehicle body 2 and a recess 17 that opens toward the outer end of the shaft 9. ing.

  A movable piece 18 is provided on the outer periphery of the shaft 9 in the recess 17 of the inner member 15. The movable piece 18 receives a pressing force due to the rotational displacement of the cam 13 and is displaced inward in the axial direction of the shaft. The movable piece 18 is prevented from rotating around the rotational axis of the shaft 9, Relative movement is possible in the axial direction of the shaft. And between the outer peripheral part of the movable piece 18 and the peripheral surface part in the concave part 17 of the inner member 15, and between the inner end part of the movable piece 18 and the bottom part in the concave part 17 of the inner member 15, respectively. Bearings 19 and 19 are provided, and the movable piece 18 and the inner member 15 can be rotated relative to each other around the shaft axis in a state where the movable piece 18 is pressed against the bottom surface of the inner member 15 via the bearing 19. Yes.

  The crawler pin-on 10 on the traveling vehicle main body 2 side is provided with a recess 20 at an end surface facing the protrusion, corresponding to the protrusion 16 provided on the shaft portion of the inner member 15. In the recess 20, a conical surface 21 squeezing toward the back is provided, and on the projecting portion 16 side, a conical surface 22 squeezing toward the distal end side is provided. When the movable cam 18 is displaced inward in the axial direction of the shaft 13 by the rotational displacement of the cam 13 and the inner member 15 is pushed inward, the conical surfaces 21 and 22 are pressed against each other, and friction force Thus, the rotation of the crawler pinion 10 on the traveling vehicle body 2 side is transmitted to the outer cylinder member 14 through the inner member 15 constituting the crawler pinion 11 on the flipper 3 side, and the crawler belt 8 on the flipper 3 side is driven to rotate. It is made to do.

  When the pushing force of the cam 13 against the movable piece 18 is released, the inner member 15 is retracted by the restoring force of the spring 23, the conical surfaces 21 and 22 are separated from each other, and the conical surface 21. , 22, the circumferential driving force transmitted to the crawler belt 8 on the flipper 3 side is released.

  In such a clutch mechanism, when the angular position of the flipper 3 is within the angular range c of FIG. 1 (a), the pressing force of the cam 13 is applied to the movable piece 18, as shown in FIGS. Does not act, the conical surfaces 21 and 22 are spaced apart from each other, and the crawler belt 8 on the flipper 3 side does not drive around. When the angle position of the flipper 3 reaches the angle position a in FIG. 1 (a) and when the angle position b reaches the angle position b, the movable piece pushed and moved by the cam 13 as shown in FIG. 3 (c). 18, the conical surfaces 21 and 22 are pressed against each other, and the crawler belt 8 on the flipper 3 side receives a driving force from the traveling vehicle body 2 side and performs a circular drive.

  As shown in FIG. 3C, in the state where the conical surfaces 21 and 22 are pressed against each other, the cam 13 is not released from the engaged state in the rotational direction with the movable piece 18, thereby Rotation of the flipper 3 is allowed only within the range of the angle range c, and is restricted from rotating to an angular position above the angular position a or above or to an angular position below the angular position b. It is made like that.

  Thus, in the crawler type traveling vehicle described above, the front and rear flippers 3... Are supported on the traveling surface within the angle range c and rotate up and down following the uneven shape of the traveling surface. Therefore, the flippers 3... Do not hinder the traveling surface unevenness when the traveling surface unevenness is exceeded, and the unevenness of the traveling surface can be overcome so as to conform to the unevenness of the traveling surface.

  In addition, as described above, the front and rear flippers 3 are supported on the traveling surface and are rotated up and down following the uneven shape of the traveling surface, so that the front and rear flippers 3. There is no need for a drive source for rotating the vehicle in a vertically inclined state, so that the drive system can be simplified and the traveling vehicle can be reduced in weight.

  In the present embodiment, the crawler belt 8 of the flipper 3 is not rotated around by the driving force from the motor 5 when the rotation angle of the flippers 3 is within the angle range c as described above. Therefore, the load on the motor 5 can be reduced, and the crawler belt 8 of the flipper 3 can circulate by the frictional force received from the running surface, so that the flippers 3 do not hinder the running.

  When the flipper 3 reaches a tilt angle position a above a predetermined angle, the crawler belt 8 of the flipper 3 is driven by a driving force from the motor 5 and the flipper 3 is tilted at a tilt angle position below the predetermined angle. When b is reached, the crawler belt 8 of the flipper 3 is driven to rotate by the driving force from the motor 5, so that when the flipper 3 exceeds the unevenness of the running surface that causes such an inclination angle to be reached. The crawler belt 8 of the flipper 3 is driven by the driving force from the motor 5 so that such unevenness can be smoothly overcome.

  In addition, in the present embodiment, when the flipper 3 reaches the tilt angle position a, the flipper 3 is restricted from rotating to the upper tilt angle position, and when the flipper 3 reaches the tilt angle position b, the flipper 3 reaches the lower tilt angle position. Since the rotation is restricted, the flipper 3 that is rotated and inclined and the crawler belt 8 is driven to rotate can be firmly pressed against the traveling surface by the weight of the traveling vehicle 1 itself. The crawler belt 8 of the flipper 3 can be made to travel strongly.

  The crawler type traveling vehicle 1 according to the second embodiment shown in FIG. 4 has an inclination angle position d that is larger by a predetermined angle than the inclination angle position a above the predetermined angle by the flipper 3 as shown in FIG. , The tilt angle position is further restricted from rotating to the tilt angle position further upward, and the flip angle of the flipper 3 is smaller by a predetermined angle than the tilt angle position b below the predetermined angle. When e is reached, it is restricted to turn to a further downward tilt angle position. In this case, as shown in FIG. 4 (d), the crawler belt of the flipper 3 can be provided with unevenness on the running surface that causes the flipper 3 to be in such an inclined state even in the inclined state where the rotation restriction angle has not been reached. It can be smoothly overcome by the 8 round driving.

  Although the embodiment of the present invention has been described above, the present invention is not limited to this, and various modifications can be made without departing from the spirit of the invention. For example, in the above-described embodiment, when the flippers 3 are within the range of the angle range c, the belt 8 does not receive the driving force from the motor 5 and does not rotate around. Also, the belt 8 may be configured so as to perform the circular driving by receiving the driving force from the driving source such as the motor 5 even when it is within the angle range c.

  In the above embodiment, the motor 5 for driving the crawler belt 7 of the traveling vehicle body 2 around the crawler belt 7 is used as a drive source for driving the crawler belt 8 of the flipper 3 around. The crawler belt 8 may be configured to be driven by a different drive source from the drive source for driving the crawler belt 7 of the traveling vehicle body 2 to rotate.

The crawler type traveling vehicle of 1st Embodiment is shown, A figure (A) is a side view which shows the rotation angle range of a flipper, and a figure (B)-a figure (D) reach the rotation control angle in the angle range. It is a side view which shows the operating state of the crawler belt of a flipper in the specific angle position until. Fig. (A) is a side view of the crawler type traveling vehicle, and Fig. (B) is a plan view thereof. FIGS. 1A to 1C are cross-sectional views showing the configuration of the clutch mechanism and its operating state. The crawler type traveling vehicle of 2nd Embodiment is shown, A figure (I) is a side view which shows the rotation angle range of a flipper, and a figure (B)-a figure (E) reach the rotation control angle in the angle range. It is a side view which shows the operating state of the crawler belt of a flipper in the specific angle position until.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Crawler type traveling vehicle 2 ... Traveling vehicle main body 3 ... Flipper 5 ... Motor (drive source)
7 ... Crawler belt 8 ... Crawler belt

Claims (3)

In the crawler type traveling vehicle provided with a crawler type front flipper protruding forward at the front part of the crawler type traveling vehicle body, and provided with a crawler type rear flipper protruding backward at the rear part of the traveling vehicle body,
The front and rear flippers are supported on a traveling surface, and are configured to rotate up and down following the uneven shape of the traveling surface ,
When the rotation angle of the flipper is within an angle range between an inclination angle position above a predetermined angle with respect to the traveling vehicle body and an inclination angle position below a predetermined angle with respect to the traveling vehicle body The crawler belt of the flipper can circulate by the frictional force received from the running surface without being driven by the driving force from the driving source,
When the flipper reaches the tilt angle position above the predetermined angle, the crawler belt of the flipper is driven by a driving force from a drive source,
The crawler type traveling vehicle, wherein when the flipper reaches an inclination angle position below the predetermined angle, the crawler belt of the flipper is driven to rotate by a driving force from a driving source . When the flipper reaches the tilt angle position above the predetermined angle, the flipper is restricted from rotating to the tilt angle position above the predetermined angle.
The crawler type traveling vehicle according to claim 1 , wherein when the flipper reaches a tilt angle position below the predetermined angle, the flipper is restricted from rotating to a tilt angle position below the predetermined angle. When the flipper reaches a tilt angle position that is larger by a predetermined angle than the tilt angle position above the predetermined angle, the flipper is restricted from rotating to a tilt angle position that is further above,
When the flipper reaches a predetermined angle smaller inclination angle position than the inclination angle position of the predetermined angle downward to claim 1 is given to more rotated to tilt the angular position of the lower it is adapted to be regulated The crawler type traveling vehicle described.

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