JPS6189182A - Device for preventing disengagement of tracks - Google Patents
Device for preventing disengagement of tracksInfo
- Publication number
- JPS6189182A JPS6189182A JP20827384A JP20827384A JPS6189182A JP S6189182 A JPS6189182 A JP S6189182A JP 20827384 A JP20827384 A JP 20827384A JP 20827384 A JP20827384 A JP 20827384A JP S6189182 A JPS6189182 A JP S6189182A
- Authority
- JP
- Japan
- Prior art keywords
- crawler
- tracks
- teeth
- wheel
- wheels
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—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
- B62D55/06—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
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
-
- 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
- B62D55/084—Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units
- B62D55/0847—Track blocking devices mounted on the frame; Track guides
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Devices For Conveying Motion By Means Of Endless Flexible Members (AREA)
Abstract
Description
【発明の詳細な説明】
【発明の利用分野〕
本発明はクローラ形走行車の履帯外れ防止装置に係り、
特にクローラ形状を変化する機能を備えたクローラ形走
行車の履帯外れ防止装置に関する。[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to a crawler track detachment prevention device for a crawler type traveling vehicle.
In particular, the present invention relates to a crawler track detachment prevention device for a crawler-type traveling vehicle having a function of changing the shape of the crawler.
クローラの形状変化を利用して地形に適応するクローラ
形の走行車としては、特開昭５９〜３８１７７号公報に
開示されたものがあるにの走行車は、車体の両側面に主
アームと副アームで構成される関節アームを備え、その
先端に装着した遊星輪と呼ばれる車軸と車体に保持され
ている主車輪、副車輪に履帯を巻き掛けて構成している
。そして、主アームを回転させると、遊星軸の位置が移
動してクローラの形状が変化する。この形状変化を利用
すると、障害物を乗り越えて走行したり階段を走行する
ことができる。しかし、この走行車においては、例えば
障害物から降りる場合は、主アームを上側に回すことに
より車体前部を下げ、車輪が履帯を押し下げて着地する
ようにクローラの形状を変える。このとき、車体やアー
ムの変形などの原因により車軸と履帯の中心が一致せず
、車軸の側部のフランジがＪｉｌ帯の上に乗り上げてし
まう恐れがある。この状態で走行すると１次第に履帯が
車輪から外れてしまうことがあった。A crawler-type vehicle that adapts to the terrain by utilizing changes in the shape of the crawler is disclosed in Japanese Patent Application Laid-Open No. 59-38177.The vehicle has a main arm and a secondary arm on both sides of the vehicle body. It is equipped with an articulated arm, which has an axle called a planet wheel attached to its tip, and a crawler belt wrapped around the main wheel and secondary wheels held on the vehicle body. When the main arm is rotated, the position of the planetary shaft moves and the shape of the crawler changes. By utilizing this shape change, it is possible to run over obstacles or run up stairs. However, in this vehicle, when getting off an obstacle, for example, the front part of the vehicle body is lowered by turning the main arm upward, and the shape of the crawler is changed so that the wheels push down the tracks and land on the ground. At this time, the centers of the axle and crawler track may not coincide due to deformation of the vehicle body or arm, and there is a risk that the flange on the side of the axle may ride on the Jil band. If the vehicle was driven in this condition, the tracks would gradually come off the wheels.
本発明の目的は、履帯と車輪の中心がずれた状態でクロ
ーラ形状を変化させてもＭＷが車輪から外れ難い履帯外
れ防止装置を提供することにある。SUMMARY OF THE INVENTION An object of the present invention is to provide a crawler track detachment prevention device that prevents the MW from detaching from the wheel even if the crawler shape is changed with the centers of the crawler track and the wheel deviated from each other.
本発明は上記の目的を達成するために、履帯と車輪との
中心のずれを小さくし、これらのかみ合いを正常なかみ
合い状態にもどすため、履帯の内側の歯の両側面を面取
りし、車輪のフランジによりＢ帯を中心に押しもどすよ
うにしたものである。In order to achieve the above object, the present invention chamfers both sides of the teeth on the inside of the crawler track to reduce the misalignment between the centers of the track and the wheel and restore the meshing state between them to a normal state. The flange is used to push back the B band.
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図は本発明の装置の一例を備えたクローラ形の走行
車を示すもので、この図において、１は走行車体、２は
走行車体１に回転可能に設けた主アーム、３は主アーム
２の先端に設けた副アーム、４は副アーム３に設けた遊
星車軸、５は走行車体１に設けた主車輪、６は走行車体
１に設けた副車輪、７は車輪４，５．６に掛は渡したａ
帯である。FIG. 1 shows a crawler-type traveling vehicle equipped with an example of the device of the present invention. In this figure, 1 is a traveling vehicle body, 2 is a main arm rotatably provided on the traveling vehicle body 1, and 3 is a main arm. 2 is a sub-arm provided at the tip, 4 is a planetary axle provided on the sub-arm 3, 5 is a main wheel provided on the running vehicle body 1, 6 is a sub-wheel provided on the running vehicle body 1, 7 is a wheel 4,5.6 Nikake gave a
It is an obi.
前述した車輪４，５．６は第２図、第３図に示すように
歯８を備え、その両側面にフランジ９を備えている。履
帯７はその内側に車１１１！４，５．６の歯８にかみ合
う歯１０を備え、その外側に索引用の歯１１を備えてい
る。履帯７の内側の歯８の両側面には傾斜面１２が形成
されている。The aforementioned wheels 4, 5, 6 are provided with teeth 8 and flanges 9 on both sides thereof, as shown in FIGS. 2 and 3. The crawler track 7 is provided with teeth 10 on the inside thereof that mesh with the teeth 8 of the wheels 111!4, 5.6, and has teeth 11 for indexing on the outside thereof. Slanted surfaces 12 are formed on both sides of the teeth 8 on the inside of the crawler belt 7.
次に上述した本発明の装置の一例の動作を説明する。Next, the operation of an example of the apparatus of the present invention described above will be explained.
走行車が第４図に示すように、例えば障害物Ｗから降り
る場合、主アーム２を上側に回すことにより、車輪１の
前部を下げ、車軸５を履帯７の内側に接触させることに
なるが、この場合、車輪１や主フレーム２の変形などの
原因により、車軸５が履帯７の中心に一致せず、第５図
の実線で示すようにずれることがある。このとき、車輪
５のフランジ９の先端は履帯７の傾斜面１２に当接する
ので、履帯７は車軸５の中心に一致する方向に移動し、
車軸５に正常にかみ合うことができる。As shown in FIG. 4, when the vehicle dismounts from an obstacle W, for example, by rotating the main arm 2 upward, the front part of the wheel 1 is lowered and the axle 5 is brought into contact with the inside of the crawler track 7. However, in this case, due to causes such as deformation of the wheels 1 and the main frame 2, the axle 5 may not align with the center of the crawler track 7, and may shift as shown by the solid line in FIG. At this time, the tip of the flange 9 of the wheel 5 comes into contact with the inclined surface 12 of the track 7, so the track 7 moves in a direction that coincides with the center of the axle 5,
It can be properly engaged with the axle 5.
以上述べたように本発明によれば、クローラの形状を変
えて走行するどき履帯が車軸から外れることを防止でき
る効果がある。As described above, according to the present invention, the shape of the crawler is changed to prevent the crawler track from coming off the axle when traveling.
第１図は本発明の装置の一例を備えたクローラ形の走行
車の斜視図、第２図は本発明の装置の一例を備えた車輪
を履帯とのかみ合い状態を示す縦断面図、第３図はその
横断面図、第４図は本発明を適用するクローラ形走行車
のクローラ形状の変更動作を示す図、第５図は本発明の
装置の動作を説明する横断面図である。
１・・・走行車体、４・・・遊星車輪、５・・・主車軸
、６・・・副車輪、７・・・履帯、ｓ、ｉｏ・・・歯、
９・・・フランジ。
１２・・・傾斜面。
オ １ 図
第２図
才３図
オ ４ 図
第５目FIG. 1 is a perspective view of a crawler-type traveling vehicle equipped with an example of the device of the present invention, FIG. 2 is a longitudinal sectional view showing a wheel equipped with an example of the device of the present invention in a state of engagement with a crawler track, and FIG. The figure is a cross-sectional view thereof, FIG. 4 is a diagram showing the operation of changing the shape of the crawler of a crawler-type traveling vehicle to which the present invention is applied, and FIG. 5 is a cross-sectional view explaining the operation of the apparatus of the present invention. DESCRIPTION OF SYMBOLS 1... Traveling vehicle body, 4... Planetary wheel, 5... Main axle, 6... Secondary wheel, 7... Track, s, io... Teeth,
9...Flange. 12...Slope surface. O 1 Figure 2 Figure 3 Figure O 4 Figure 5
Claims (1)
この走行輪に履帯を構成する歯付きベルトをかみ合せて
なるクローラ走行機構において、前記歯付きベルトの両
側面を斜めに形成したことを特徴とする履帯外れ防止装
置。1. A toothed wheel with flanges on both sides is used as a running wheel,
A crawler traveling mechanism in which a toothed belt constituting a crawler belt is engaged with the running wheel, characterized in that both side surfaces of the toothed belt are formed obliquely.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20827384A JPS6189182A (en) | 1984-10-05 | 1984-10-05 | Device for preventing disengagement of tracks |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20827384A JPS6189182A (en) | 1984-10-05 | 1984-10-05 | Device for preventing disengagement of tracks |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6189182A true JPS6189182A (en) | 1986-05-07 |
Family
ID=16553505
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP20827384A Pending JPS6189182A (en) | 1984-10-05 | 1984-10-05 | Device for preventing disengagement of tracks |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6189182A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003063620A (en) * | 2001-08-28 | 2003-03-05 | Kongo Co Ltd | Movable shelf |
| WO2009009679A1 (en) * | 2007-07-10 | 2009-01-15 | Raytheon Sarcos, Llc | Serpentine robotic crawler having a continous track |
| WO2011160800A1 (en) * | 2010-06-23 | 2011-12-29 | Rheinmetall Landsysteme Gmbh | Crawler sprocket, in particular for military vehicles |
| US9031698B2 (en) | 2012-10-31 | 2015-05-12 | Sarcos Lc | Serpentine robotic crawler |
-
1984
- 1984-10-05 JP JP20827384A patent/JPS6189182A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003063620A (en) * | 2001-08-28 | 2003-03-05 | Kongo Co Ltd | Movable shelf |
| WO2009009679A1 (en) * | 2007-07-10 | 2009-01-15 | Raytheon Sarcos, Llc | Serpentine robotic crawler having a continous track |
| WO2011160800A1 (en) * | 2010-06-23 | 2011-12-29 | Rheinmetall Landsysteme Gmbh | Crawler sprocket, in particular for military vehicles |
| EP2585360B1 (en) | 2010-06-23 | 2016-06-01 | Rheinmetall Landsysteme GmbH | Crawler chain travelling gear, in particular for military vehicles |
| EP2585360B2 (en) † | 2010-06-23 | 2019-09-04 | Rheinmetall Landsysteme GmbH | Crawler chain travelling gear, in particular for military vehicles |
| DE102010024846B4 (en) | 2010-06-23 | 2023-05-11 | Rheinmetall Landsysteme Gmbh | Track drive, especially for military vehicles |
| US9031698B2 (en) | 2012-10-31 | 2015-05-12 | Sarcos Lc | Serpentine robotic crawler |
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