Crawler type traveling body and traveling device

Abstract

To provide a crawler type traveling body which enhances the traveling stability of a traveling device.SOLUTION: A crawler type traveling body 10 includes: a crawler belt 11; a drive wheel 13 which incorporates an in-wheel motor and applies driving force to the crawler belt 11; at least two rolling wheels 15a, 15b which are disposed below the drive wheel 13; and a tensioner 25 which is connected to a motor shaft (an example of a drive shaft) of the in-wheel motor and applies tension to the crawler belt 11 by pressing the drive wheel 13 against the crawler belt 11.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a track-type traveling body and a traveling device. [Background technology]

[0002] In recent years, mobile robots (traveling devices) have been used in a variety of environments and applications to assist in tasks that were previously performed manually and to perform tasks in environments that humans cannot handle. In these types of traveling devices, the traveling mechanism is required to have high mobility and reliability so that it can travel on poor road surfaces and in limited spaces.

[0003] Also, a traveling device equipped with a crawler-type traveling body to improve stability during traveling is known. For example, Patent Document 1 discloses the use of a triangular crawler-type traveling unit formed by a drive wheel with an in-wheel motor and two rollers to stabilize the posture and travel. Summary of the Invention [Problem to be solved by the invention]

[0004] However, in conventional crawler-type running bodies, there is a problem in that the installation position of the tensioner that applies tension to the crawler to increase stability during running is not taken into consideration. [Means for solving the problem]

[0005] In order to solve the above-mentioned problems, the invention of claim 1 is a track-type vehicle comprising a track, a drive wheel that provides driving force to the track, at least two rollers arranged below the drive wheel, and a tensioner connected to the drive shaft of the drive wheel and that applies tension to the track by pressing the drive wheel against the track, with the track looped between the drive wheel and the rollers. Effect of the Invention

[0006] According to the present invention, it is possible to provide a track-type traveling body that improves the stability of the traveling device during traveling. [Brief description of the drawings]

[0007] [Figure 1] 1A to 1C are diagrams illustrating an example of the appearance of a traveling device according to an embodiment. [Diagram 2] FIG. 2 is a diagram illustrating an example of a hardware configuration of a traveling device according to an embodiment. [Diagram 3] FIG. 2 is a diagram showing an example of a configuration of a track-type vehicle according to an embodiment; [Figure 4] FIG. 2 is a diagram showing an example of a configuration of a track-type vehicle according to an embodiment; [Diagram 5] 3A and 3B are diagrams showing an example of the configuration of a tensioner provided on a track-type traveling body according to an embodiment. [Figure 6] FIG. 2 is a perspective view showing an example of a detailed configuration of a tensioner according to an embodiment. [Figure 7] 5A to 5C are diagrams for explaining state changes of the tensioner according to the embodiment. [Figure 8] 1 is a diagram for explaining features of a track-type traveling body including a tensioner according to an embodiment. FIG. [Figure 9] FIG. 4 is a diagram illustrating an example of a configuration of an idler and a link according to the embodiment. [Figure 10] 5A to 5C are diagrams illustrating an example of a configuration of an idler according to an embodiment. [Figure 11] 1 is a diagram for explaining a track runoff prevention structure of a track-type traveling body according to an embodiment; [Figure 12] FIG. 2 is a diagram showing an example of the configuration of a track-type traveling body not including an idler. [Figure 13] 1 is a diagram for explaining features of a track-type traveling body including an idler according to an embodiment; [Figure 14] 4A and 4B are diagrams showing an example of the configuration of a side plate provided on a track-type traveling body according to an embodiment. [Figure 15]4A to 4C are diagrams for explaining features of a side plate provided on a track-type traveling body according to an embodiment. [Figure 16] 4A to 4C are diagrams for explaining features of a side plate provided on a track-type traveling body according to an embodiment. [Figure 17] 5A and 5B are diagrams for explaining features of a side plate provided on a track-type traveling body according to an embodiment. [Figure 18] FIG. 2 is a diagram showing an example of a state in which a wheel-off prevention member is attached to a track-type traveling body according to an embodiment. [Figure 19] FIG. 13 is a diagram showing an example of a side view of the main body with the track-type traveling body removed; [Figure 20] 3A to 3C are diagrams illustrating an example of a configuration of a drive wheel according to an embodiment. [Figure 21] 1A to 1C are diagrams illustrating an example of the configuration of a roller according to an embodiment. [Figure 22] 1 is a diagram for explaining features of a traveling device according to an embodiment; [Diagram 23] 1A and 1B are diagrams for explaining features of a traveling device according to an embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the description of the drawings, the same elements are given the same reference numerals, and duplicated description will be omitted.

[0009] ●Embodiment● ● Overview of the running device 1(A) is a perspective view of the exterior of the traveling device. The traveling device 1 is composed of track-type traveling bodies 10a and 10b and a main body 50.

[0010] The track-type traveling bodies 10a and 10b are units that serve as the moving means of the traveling device 1. The track-type traveling bodies 10a and 10b are track (crawler) type traveling bodies using metal or rubber belts. The track-type traveling bodies have a larger ground contact area than traveling bodies that run on tires such as automobiles, and can run stably, for example, even in environments with poor footing. In addition, while traveling bodies that run on tires require a turning space when turning, a traveling device equipped with track-type traveling bodies can perform so-called pivot turns, so that it can perform turning operations smoothly even in limited spaces. The detailed configuration of the track-type traveling bodies 10a and 10b will be described later.

[0011] The main body 50 is a support that supports the track-type traveling bodies 10a, 10b in a runnable state, and is also a control device that controls the driving of the traveling device 1. The main body 50 also includes a battery 530 (described later) that supplies power to drive the track-type traveling bodies 10a, 10b.

[0012] 1(B) is a front view (view from the direction of arrow P) of the traveling device 1. A main body 50 of the traveling device 1 includes an emergency stop button 31, a status display lamp 33, and a cover portion 35. The emergency stop button 31 is an operating means that a person near the traveling device 1 presses to stop the traveling device 1 while it is moving.

[0013] The status indicator lamp 33 is a notification means for notifying the status of the traveling device 1. For example, when the status of the traveling device 1 changes, such as when the remaining battery level is low, the status indicator lamp 33 lights up to notify people around the traveling device 1 of the change in status. In addition, the status indicator lamp 33 lights up when there is a risk of an abnormality occurring, such as when the presence of an obstacle that hinders the traveling device 1 from traveling is detected. Note that while FIG. 1 shows an example in which the traveling device 1 is provided with two status indicator lamps 33, the number of status indicator lamps 33 may be one or three or more. In addition, the notification means may be configured to notify the status of the traveling device 1 not only by the status indicator lamp 33 but also by a warning sound emitted from a speaker.

[0014] The lid portion 35 is provided on the upper surface of the main body 50, and covers the inside of the main body 50. The lid portion 35 also has a ventilation portion 35a having a ventilation hole for ventilating the inside of the main body 50.

[0015] The two track-type vehicles 10a, 10b are installed with the main body 50 in between, so that the tracks 11a and 11b described below are substantially parallel, i.e., in a state in which the traveling device 1 can travel. The number of track-type vehicles is not limited to two, and may be three or more. For example, the traveling device 1 may be installed in a state in which the traveling device 1 can travel, such as by arranging three track-type vehicles in three rows in parallel. Also, for example, the traveling device 1 may be installed with four track-type vehicles arranged in the front, rear, left and right directions like the tires of an automobile.

[0016] FIG. 1(C) is a side view (view of arrow Q) of the traveling device. The tracked traveling body 10a has a triangular shape formed by a drive wheel 13 and two rollers 15a, 15b, which will be described later. The triangular tracked traveling body 10a can increase the ground contact area within the limited front-to-rear size, for example, when there is a restriction on the front-to-rear size of the traveling body, and therefore can improve stability during traveling. On the other hand, in the case of a so-called tank-type crawler in which the upper side (drive wheel side) is longer than the lower side (roller side), when there is a restriction on the front-to-rear size, the overall ground contact area becomes small and unstable. In this way, the tracked traveling body 10a is effective in improving the traveling performance of a relatively small traveling device 1.

[0017] ●Hardware configuration Next, the hardware configuration of the traveling device 1 will be described with reference to Fig. 2. Note that components may be added or deleted from the hardware configuration shown in Fig. 2 as necessary.

[0018] FIG. 2 is a diagram showing an example of the hardware configuration of the traveling device according to the embodiment. As shown in FIG. 1, the traveling device 1 includes a main body 50 that controls the processing or operation of the traveling device 1. The main body 50 includes a radio-controlled receiver 501, a CPU (Central Processing Unit) 502, a memory 503, a communication I / F (Interface) 506, a battery 530, a motor driver 540 for traveling control, a motor driver 550 for attitude control, and motors 555a and 555b for attitude control. The radio-controlled receiver 501, the CPU 502, the memory 503, the communication I / F 506, the battery 530, the motor driver 540 for traveling control, and the motor driver 550 for attitude control are connected via a system bus 510. The system bus 510 is an address bus, a data bus, or the like for electrically connecting the above-mentioned components, and transmits address signals, data signals, various control signals, and the like.

[0019] The radio control receiver 501 receives operation instruction signals transmitted from a transmitter such as a PC used by the operator of the traveling device 1. The CPU 502 controls the entire traveling device 1. The CPU 502 is a calculation device that reads out the program P1 or various data necessary for operating the traveling device 1, which are stored in the memory 503, and executes processing to realize each function of the traveling device 1.

[0020] The memory 503 stores the program P1 executed by the CPU 502 and various data necessary for operating the traveling device 1. The program P1 is provided in the form of being pre-installed in the memory 503.

[0021] The program P1 may be provided by being recorded in an installable or executable format on a recording medium readable by the CPU 502 (computer), such as a CD-ROM, a flexible disk (FD), a CD-R, or a DVD (Digital Versatile Disc). The program P1 may be provided by being stored on a computer connected to a network such as the Internet and downloaded to the traveling device 1 via the network. The program P1 may be provided or distributed via a network such as the Internet. When the program P1 is provided from outside, the CPU 502 reads the program P1 via the communication I / F 506. Instead of operating the CPU 502 according to the program P1, the traveling device 1 may operate in a hardware manner by implementing a dedicated ASIC (Application Specific Integrated Circuit) having the same arithmetic function and control function as the program P1 executes.

[0022] The communication I / F 506 is a communication interface that communicates (connects) with other devices or apparatuses via a communication network. The communication I / F 506 is, for example, a communication interface such as a wired or wireless LAN (Local Area Network). The communication I / F 506 may include a communication interface such as 3G (3rd Generation), LTE (Long Term Evolution), 4G (4th Generation), 5G (5th Generation), Wi-Fi (Wireless Fidelity) (registered trademark), WiMAX (Worldwide Interoperability for Microwave Access), Zigbee (registered trademark), or millimeter wave wireless communication. The traveling device 1 may also include a communication circuit for performing short-range wireless communication such as NFC (Near Field communication) or Bluetooth (registered trademark).

[0023] The battery 530 is a power supply unit that supplies power necessary for the processing or operation of the traveling device 1. The battery 530 supplies power to, for example, the in-wheel motors 14a, 14b and the attitude control motors 555a, 555b.

[0024] The driving control motor driver 540 drives the in-wheel motors 14a, 14b by supplying motor drive signals to the in-wheel motors 14a, 14b, respectively.

[0025] The in-wheel motors 14a and 14b are installed inside the drive wheels 13a and 13b of the crawler-type traveling body 10a and 10b, respectively, and transmit rotational force to the drive wheels 13a and 13b. The in-wheel motors 14a and 14b provide the drive wheels 13a and 13b with rotation in a positive direction to move the traveling device 1 forward or rotation in a negative direction to move the traveling device 1 backward. Furthermore, the in-wheel motors 14a and 14b rotate only one drive wheel 13a (or 13b) in the positive or negative direction and stop the other drive wheel 13b (or 13a), thereby making the traveling device 1 make a pivot turn. Furthermore, the in-wheel motors 14a and 14b rotate one drive wheel 13a (or 13b) in the positive direction and rotate the other drive wheel 13b (or 13a) in the negative direction, thereby making the traveling device 1 make a pivot turn.

[0026] The attitude control motor driver 550 drives the attitude control motors 555a, 555b by supplying motor drive signals to the attitude control motors 555a, 555b. The attitude control motors 555a, 555b adjust the height of the idlers 18a, 18b, for example, by changing the height of a link 19 (described later) up or down in response to a control signal from the attitude control motor driver 550. The attitude control motors 555a, 555b also prevent the traveling device 1 from tipping over, for example, by controlling the attitude of the main body 50.

[0027] The traveling device 1 is not limited to a configuration that travels according to an operation instruction received by the radio control receiver 501, and may travel using a technology such as autonomous traveling or line tracing. The traveling device 1 may also be configured to travel by remote control from a user at a remote location by receiving an operation instruction signal transmitted via a communication network at the communication I / F 506.

[0028] Track-type vehicle Next, the track-type traveling bodies 10a, 10b constituting the traveling device 1 will be described with reference to Figs. 3 to 21. First, the overall configuration of the track-type traveling bodies 10a, 10b will be described with reference to Figs. 3 and 4. As shown in Fig. 1, the traveling device 1 includes two track-type traveling bodies 10a, 10b, but in the following description, these are the same in configuration, so they will be described as the configuration of the track-type traveling body 10. Figs. 3 and 4 are diagrams showing an example of the configuration of the track-type traveling body according to the embodiment. Figs. 3 and 4 are side views of the track-type traveling body 10 as seen from the same direction as Fig. 1(C).

[0029] As shown in Fig. 3, the track-type vehicle 10 includes a track 11, a driving wheel 13, rollers 15a and 15b, idlers 18a and 18b, a link 19, a side plate 20a, and a tensioner 25. Fig. 4 is a diagram showing a state in which the side plate 20a is removed from the track-type vehicle 10 shown in Fig. 3. The track-type vehicle 10 shown in Fig. 4 further includes an in-wheel motor 14, a motor shaft 141, a side plate 20b, side plate supports 27a, 27b, 27c, and 27d, roller shafts 151a and 151b, idler shafts 181a and 181b, and a link shaft 191.

[0030] The track 11 is also called a crawler and is made of metal or rubber. The track 11 is looped around the drive wheel 13 and the rollers 15a, 15b. The track 11 moves in the rotation direction of the drive wheel 13 and drives the rollers 15a, 15b, thereby rotating the track-type traveling body 10. A plurality of protrusions 111a, 111b are provided on the surface of the track 11. The protrusion 111a on the outside of the track 11 is provided for the purpose of stably climbing over small obstacles such as stones on the road surface. The protrusion 111b on the inside is provided for the purpose of preventing the track 11 from coming off the drive wheel 13 or the rollers 15a, 15b.

[0031] The drive wheels 13 transmit a drive force to the crawler belts 11 to rotate the crawler belt type vehicle 10. The crawler belt type vehicle 10 transmits the drive force (rotational force) transmitted to the drive wheels 13 by the in-wheel motors 14 to the rollers 15a, 15b via the crawler belts 11.

[0032] The in-wheel motor 14 is built into the drive wheel 13 and transmits a rotational force to the drive wheel 13. The in-wheel motor 14 rotates around a motor shaft 141 which serves as a drive shaft. The rotation shaft (motor shaft 141) of the in-wheel motor 14 serves as the rotation shaft (drive shaft) of the drive wheel 13, and the drive wheel 13 is rotated by the rotational force of the in-wheel motor 14. The rotational force of the in-wheel motor 14 is then transmitted to the crawler 11 as a drive force. Specifically, the in-wheel motor 14 provides the drive wheel 13 with a rotation in a positive direction to move the traveling device 1 forward, or a rotation in a negative direction to move the traveling device 1 backward.

[0033] Also, by being built into the drive wheel 13, the in-wheel motor 14 can simplify its structure, and by not using components such as a drive chain or gears, for example, the risk of failures caused by these components can be reduced. Furthermore, by being built into the drive wheel 13, the in-wheel motor 14 can generate driving force near the outer periphery of the track-type vehicle 10, thereby increasing the torque.

[0034] The rollers 15a, 15b are rotatably attached to the track-type traveling body 10. The rollers 15a, 15b rotate about the roller shafts 151a, 151b as rotation axes by the driving force (rotational force) transmitted from the driving wheel 13 via the track 11.

[0035] Here, the drive wheel 13, the roller 15a, and the roller 15b form a triangle in a side view. The track 11 is looped around the drive wheel 13, the roller 15a, and the roller 15b, and the area between the roller 15a and the roller 15b is in contact with the ground. In other words, the drive wheel 13 incorporating the in-wheel motor 14 does not contact the road surface. Therefore, even if the track-type vehicle 10 travels through a puddle, for example, the in-wheel motor 14 will not be submerged in water, and therefore there is no need to provide a special waterproofing mechanism for the in-wheel motor 14.

[0036] Also, as shown in FIG. 4, the diameters of the drive wheel 13 and the rollers 15a, 15b are different. The layout of the running body needs to be designed based on factors such as the required size restrictions and running performance. In general, the smaller the diameter of the motor, the lower the torque per unit width in the thickness (width) of the motor. Therefore, the drive wheel with the built-in in-wheel motor needs to have a diameter equal to or larger than the motor diameter so as to meet the required torque performance. Therefore, the track-type running body 10 is designed so that the diameter of the drive wheel 13 installed above is larger than the diameter of the rollers 15a, 15b, as a layout that satisfies the size restrictions of the running device 1 or the track-type running body 10 and satisfies the required running performance. Note that if the diameter of the rollers is also increased while the size is limited, the contact area is reduced and running stability is impaired. Therefore, there is an advantage in adopting the rollers 15a, 15b with a relatively small diameter based on the diameter of the drive wheel 13.

[0037] Idlers 18a, 18b are provided between two rollers 15a, 15b and are auxiliary wheels that rotate following the crawler belt 11. Idlers 18a, 18b rotate about idler shafts 181a, 181b, respectively. Link 19 is a support that supports idlers 18a and 18b.

[0038] The side plates 20a and 20b support the drive wheel 13, the rollers 15a and 15b, and the idlers 18a and 18b in the track-type traveling body 10. The track-type traveling body 10 has a double-support structure in which the drive wheel 13 and the rollers 15a and 15b are supported by the two side plates 20a and 20b. The two side plates 20a and 20b are supported by a plurality of side plate supports 27a, 27b, 27c, and 27d. The side plates 20a and 20b support the drive wheel 13 by using a motor shaft 141. In addition, the side plates 20a and 20b support the rollers 15a and 15b by using the roller shafts 151a and 151b, respectively. Furthermore, the side plates 20a and 20b support the idlers 18a and 18b via the link shaft 191 of the link 19 that supports the idlers 18a and 18b.

[0039] The tensioner 25 is formed of an elastic member such as a spring, and is connected to the motor shaft 141 which is the rotation shaft of the in-wheel motor 14 and the drive wheel 13. The tensioner 25 is installed so that the drive wheel 13 presses against the inside of the crawler belt 11, and applies tension to the crawler belt 11. The tensioner 25 adjusts the tension applied from the drive wheel 13 to the crawler belt 11 during running. The tensioner 25 maintains a reference tension during running, for example, based on the tension when the crawler-type running body 10 is stationary. The crawler-type running body 10 maintains normal transmission of driving force by the crawler belt 11 by adjusting the slack of the crawler belt 11 with the tensioner 25. The crawler-type running body 10 can prevent the crawler belt 11 from running off the track by applying tension to the crawler belt 11 with the tensioner 25.

[0040] 3 and 4, the track-type vehicle 10 has a structure that is approximately symmetrical in the front and rear in the traveling direction with the drive wheels 13 at the center. More specifically, the track-type vehicle 10 has a structure that is approximately symmetrical with respect to a perpendicular line from the motor shaft 141 of the in-wheel motor 14 to a straight line connecting the wheel axes of the two rollers 15a, 15b in a side view seen from the X-axis direction as shown in FIGS.

[0041] For example, a traveling device that travels in a narrow space such as an office corridor needs to frequently move forward and backward and make a pivot turn. In this case, if the shape of the tracks or the arrangement of the drive wheels, rollers, tensioners, etc. of the traveling device are asymmetrical between the front and rear, the driving characteristics may change during forward and backward movement, or the traveling device may not be able to rotate around the center during a pivot turn. Therefore, by making the layout (structure) of the track-type traveling body 10 approximately symmetrical between the front and rear, it is possible to improve the stability of the traveling device 1 during traveling and simplify the control. In addition, since the track-type traveling body 10 can be installed without considering the left and right sides of the traveling device 1, it is possible to reduce the number of parts, etc.

[0042] ○Tensioner configuration○ Next, a detailed configuration of the tensioner 25 provided on the track-type traveling body 10 will be described with reference to Fig. 5 to Fig. 8. Fig. 5(A) is a side view showing an example of the configuration of the tensioner 25 attached to the track-type traveling body 10. The tensioner 25 is connected to the motor shaft 141 of the in-wheel motor 14. The tensioner 25 applies tension to the track 11 by pressing the drive wheel 13 against the track 11. Fig. 5(A) shows a state in which the tensioner 25 attached to the side plate 20 is covered with an exterior part 259. The tensioner 25 is connected to the motor shaft 141 of the in-wheel motor 14 built into the drive wheel 13.

[0043] Fig. 5(B) is a cross-sectional view (view taken along arrow Q) of tensioner 25 along the line AA'. Fig. 6 is a perspective view showing an example of a detailed configuration of the tensioner according to the embodiment. Tensioner 25 includes a fixed portion 251, shaft portions 253a and 253b, elastic bodies 255a and 255b, and a block 257.

[0044] The fixing portion 251 is a member for fixing the motor shaft 141, which is the rotating shaft of the drive wheel 13 and the in-wheel motor 14. The tensioner 25 prevents the motor shaft 141 from rotating by fixing the block 257 and the motor shaft 141 using the fixing portion 251.

[0045] The shafts 253a and 253b are members that guide the elastic deformation of the elastic bodies 255a and 255b, respectively. The elastic bodies 255a and 255b are elastic members such as springs that are provided along the shafts 253a and 253b, respectively. The elastic bodies 255a and 255b elastically deform in the up-down direction using the shafts 253a and 253b as guides.

[0046] The block 257 has a role of connecting the tensioner 25 to the motor shaft 141 by passing the motor shaft 141 through it. The block 257 also has the shafts 253a and 253b passing through it, and slides in the axial direction along the shafts 253a and 253b. As a result, the tensioner 25 can move the drive wheels 13 in the vertical direction centered on the motor shaft 141 in conjunction with the deformation of the elastic bodies 255a and 255b. As a result, the track-type traveling body 10 applies tension to the track 11 by pushing up the motor shaft 141 by the deformation of the elastic bodies 255a and 255b, and pressing the drive wheels 13 themselves against the track 11 as a tensioner. Note that the tensioner 25 may be configured to move the drive wheels 13 in the vertical direction by providing a member or mechanism that can expand and contract in the vertical direction instead of the elastic bodies 255a and 255b.

[0047] FIG. 7 is a diagram for explaining the state change of the tensioner according to the embodiment. As shown in FIG. 7, the elastic bodies 255a and 255b are deformed and expanded / contracted by pressure applied from above to the drive wheels 13. The tensioner 25 shown in the left diagram of FIG. 7 (similar to FIG. 5(B)) is in a state in which the elastic bodies 255a and 255b are expanded and tension is applied to the crawler belt 11. On the other hand, the right diagram of FIG. 7 shows a state of the tensioner 25 in which the elastic bodies 255a and 255b are contracted by pressure applied from above. For example, when the crawler belt 11 is pressed against an obstacle or the like on the road surface while traveling, the crawler-type traveling body 10 can reduce damage to the crawler belt 11 by reducing the tension applied to the crawler belt 11 by contracting the elastic bodies 255a and 255b.

[0048] Here, the features of the track-type vehicle 10 according to this embodiment will be described with reference to FIG. 8. FIG. 8 is a diagram for explaining the features of the track-type vehicle equipped with the tensioner according to this embodiment. In a triangular track-type vehicle in which a drive wheel incorporating an in-wheel motor is arranged at the top, in order to increase the torque of the motor, it is necessary to increase the motor diameter of the in-wheel motor. When the motor diameter is increased, the weight of the motor, which is generally heavy, increases further, so that the center of gravity of the vehicle in which the drive wheel is arranged at the top becomes higher, and the running stability decreases. In addition, as shown in the left diagram of FIG. 8, a tensioner is separately provided in the triangular track-type vehicle to prevent the wheels from coming off. The tensioner needs to be placed in a position where the track can move freely together with the tensioner in order to absorb tension fluctuations. Therefore, the tensioner is placed at the top of the triangular track-type vehicle. Therefore, the position of the drive wheel is higher in order to secure a space for providing the tensioner.

[0049] Therefore, in the track-type traveling body 10 shown in the right diagram of Fig. 8, a tensioner 25 is connected to the rotating shaft (motor shaft 141) of the drive wheel 13, so that the drive wheel 13 itself functions as a tensioner. This eliminates the installation space for the tensioner, and allows the track-type traveling body 10 to lay out the drive wheel 13 in a lower position, thereby improving running stability.

[0050] ○Idler peripheral configuration○ Next, a detailed configuration of the idler 18 and its surroundings provided on the track-type vehicle 10 will be described with reference to Figs. 9 to 13. Fig. 9 is a diagram showing an example of the configuration of the idler and the link according to the embodiment. As shown in Fig. 9, the track-type vehicle 10 includes two idlers 18a, 18b connected by a link 19. The link 19 is a support that supports the plurality of idlers 18. The idlers 18a, 18b are connected by two link plates 19a, 19b. The two link plates 19a, 19b are connected by a link shaft 191. The link 19 supports the idlers 18a, 18b by the two link plates 19a, 19b in a double-support structure. As shown in Fig. 3, the idlers 18a, 18b are supported by the side plates 20a, 20b using the two link plates 19a, 19b and the link shaft 191. The number of idlers 18 is not limited to this, and may be one, or three or more idlers 18 may be supported by the link 19.

[0051] Fig. 10 is a diagram showing an example of the configuration of an idler according to the embodiment. Since the idlers 18a and 18b shown in Fig. 9 have the same configuration, Fig. 10 will explain the configuration of the idler 18a as a representative. Fig. 10(A) is an external perspective view of the idler 18a. Fig. 10(B) is a front view (view seen from the arrow P) of the idler 18a in the traveling direction. As shown in Figs. 10(A) and (B), the idler 18a is formed so as to connect a wheel 182a and a wheel 184a via an idler shaft 181a.

[0052] FIG. 10(C) is a side view (view of arrow Q) of the idler 18a in the traveling direction. As shown in FIG. 10(C), the wheels 182a of the idler 18a have multiple wheel holes 183a. If foreign objects such as mud, earth, or rubbish get into the crawler belt of a crawler-type running body, the idler may be locked from rotating or the crawler belt may come off. For this reason, the idler 18a is provided with wheel holes 183a in the wheels 182a, so that the foreign objects can be smoothly discharged. The number or shape of the wheel holes 183a is not limited to the example shown in FIG. 10(C). The wheels 184a have the same configuration as the wheels 182a.

[0053] Here, the characteristics of the track-type vehicle 10 provided with the idler 18 will be described with reference to Figs. 11 to 13. Fig. 11 is a diagram for explaining a track-type vehicle structure for preventing track from coming off the track according to the embodiment. The track-type vehicle 10 drives the track 11 by the rotation of the drive wheel 13 incorporating the in-wheel motor 14. The rollers 15a and 15b rotate by the rotational force of the track 11 being transmitted thereto. The rollers 15a and 15b rotate with the movement of the track 11, guided by the protrusion 111b provided on the inside of the track 11. At that time, if the width between the rollers 15a and 15b is wide, the track 11 may come off the rollers 15a or 15b. Fig. 12 is a diagram showing an example of the configuration of a track-type vehicle not provided with an idler.

[0054] Therefore, the track-type vehicle 10 is provided with idlers 18a, 18b between the rollers 15a and 15b that come into contact with the track 11, thereby preventing the track 11 from coming off. Also, the track-type vehicle 10 is provided with the idlers 18a, 18b in addition to the rollers 15a, 15b on the ground contact surface, thereby dispersing the load, thereby reducing the risk of occurrence of breakdowns, etc.

[0055] Next, the contact positions of the rollers 15a, 15b and the idlers 18a, 8b with the track 11 on the ground contact surface side will be described with reference to Figure 13. As shown in Figure 13, the track-type vehicle 10 can adjust the contact area of ​​the track 11 by adjusting the height at which the idlers 18a and 18b are installed.

[0056] The left diagram in Fig. 13 shows a simplified example in which the idlers 18a, 18b and the rollers 15a, 15b are at the same height as the contact position of the crawler belt 11. In the case of the left diagram, the ground contact area of ​​the crawler belt 11 is the area between the rollers 15a and 15b. Therefore, the crawler-type running body 10 has a large ground contact area and can increase the road resistance, resulting in high running stability.

[0057] On the other hand, the right diagram of Fig. 13 shows an example in which the contact positions of the idlers 18a, 18b with the crawler belt 11 are lower than the contact positions of the rollers 15a, 15b with the crawler belt 11. The ground contact area of ​​the crawler belt 11 in the case of the right diagram is the area between the idlers 18a and 18b. Therefore, compared to the state in the left diagram, the state in the right diagram has a smaller ground contact area, which reduces road resistance, while improving turning performance during traveling, and is therefore particularly effective when performing pivot turns with the traveling device 1.

[0058] To utilize such a feature, the track-type traveling body 10 can adjust the height of the contact position of the idlers 18a, 18b with the track 11 up or down by adjusting the height of the link 19 according to the use or the use environment. Specifically, the track-type traveling body 10 adjusts the height of the idlers 18a, 18b by changing the height of the statically fixed link 19 by an operator when the traveling device 1 is stopped, for example. In addition, the track-type traveling body 10 may be configured to dynamically change the height of the link 19 according to a control signal from the attitude control motor driver 550, for example. In this case, the traveling device 1 adjusts the heights of the links 19 of the two track-type traveling bodies 10a, 10b by driving the attitude control motors 555a, 555b based on the control signal transmitted from the attitude control motor driver 550. The traveling device 1 controls the adjustment of the height of the link 19 according to, for example, the road surface condition, the traveling speed, etc.

[0059] ○Side Panel Configuration○ Next, the detailed configuration of the side plates 20a, 20b provided on the track-type vehicle 10 will be described with reference to Figs. 14 to 19. Fig. 14 is a diagram showing an example of the configuration of the side plates provided on the track-type vehicle according to the embodiment. Of these, Fig. 14(A) is an external perspective view of the track-type vehicle 10 with the track belt 11 removed. Fig. 14(B) is a side view (viewed in the direction of arrow P) of the track-type vehicle 10 with the track belt 11 removed. The link 19 connecting the drive wheel 13, the rollers 15a, 15b, and the idlers 18a and 18b is connected by two side plates 20a, 20b. The two side plates 20a, 20b are connected by a plurality of side plate supports 27a, 27b, 27c, 27d (27c, 27d are not shown). The link 19 connecting the drive wheel 13, the rollers 15a, 15b, and the idlers 18a, 18b is supported by two side plates 20a, 20b in a double-supported structure. Note that the number of side plate supports is not limited to this.

[0060] In this way, the track-type traveling body 10 supports the axles (motor shaft 141, wheel shafts 151a, 151b) of the drive wheel 13 and the rollers 15a, 15b in a double-supported structure by the two side plates 20a, 20b. The in-wheel motor 14 built into the drive wheel 13 is large and heavy, and the tensioner 25 is connected to the motor shaft 141. Therefore, a structure in which the drive wheel and the rollers are supported at one end needs to have a large arm (support body). Therefore, the track-type traveling body 10 can stably apply tension to the track 11 with a compact structure by using a double-supported structure for the drive wheel 13 and the rollers 15a, 15b by the side plates 20a, 20b. In addition, the track-type traveling body 10 can simplify and strengthen the layout (structure) by using a double-supported structure for all the wheels, including the idlers 18a, 18b, by the side plates 20a, 20b.

[0061] 15 to 19, the features of the side plates 20a, 20b provided on the track-type vehicle 10 will be described. Note that the side plates 20a, 20b shown in FIG. 14 have the same structure, and therefore FIGS. 15 to 19 will describe the features of the side plate 20a. As shown in FIG. 15, the side plate 20a has cutouts 201a, 203a in which the area on the ground contact surface side (bottom surface side) of the track 11 is cut out. As described above, the track-type vehicle 10 has a double-supported structure using the two side plates 20a, 20b, and therefore there is a high possibility that foreign objects such as tree branches or stones will become caught between the wheels and the side plates, which may cause the wheels to lock. Therefore, the track-type traveling body 10 is provided with the cutouts 201a, 203a in the side plate 20a so that the idlers 18a, 18b are not covered by the side plate 20a, thereby preventing foreign matter from entering between the side plate 20a and the idlers 18a, 18b. Note that the shape and number of the cutouts 201a, 203a are not limited to this, and for example, a cutout may be provided so that a portion of the rollers 15a, 15b is not covered by the side plate 20a.

[0062] As shown in FIG. 16, the side plate 20a has a plurality of side plate holes 205a so that foreign objects that have entered between each wheel and the side plate 20a can be smoothly discharged. This allows the track-type traveling body 10 to prevent malfunctions caused by foreign objects that have entered between each wheel and the side plate 20a. Furthermore, by providing the side plate holes 205a in the side plate 20a, the weight of the track-type traveling body 10 can be reduced, and the user can visually check the internal state of the track-type traveling body 10. Furthermore, by providing the side plate holes 205a in the side plate 20a, for example, various wirings in the traveling device 1 can be routed through the side plate holes 205a. The number or shape of the side plate holes 205a is not limited to the example shown in FIG. 16.

[0063] Furthermore, FIG. 17(A) shows the state of the side plate 20a removed from the track-type vehicle 10. The side plate 20a has wheel axle connection regions 210a, 210b, which are regions that connect the wheel axles (track wheel axles) of the tracks 15a, 15b, and axle holders 230a, 230b (230) provided in the wheel axle connection regions 210a, 210b, respectively. FIG. 17(B) shows an example of the shape of the axle holder 230. As shown in FIG. 17(B), the axle holder 230 is a member for holding the wheel axles (track wheel axles) of the tracks 15a, 15b. The axle holder 230 holds the wheel axle (track wheel axle) by holding it at the upper part. This allows the track-type vehicle 10 to fix the position of the wheel axle (track wheel axle) using the axle holder 230. In addition, the track-type vehicle 10 can adjust the positions of the wheel axles (rolling axles) of the rollers 15a, 15b within the roller axle connection regions 210a, 210b. This allows the track-type vehicle 10 to adjust the tension from the rollers 15a, 15b to the track 11. When attaching or detaching the track 11, the axle holder 230 can be removed and the positions of the wheel axles (rolling axles) of the rollers 15a, 15b can be moved within the roller axle connection regions 210a, 210b, making it easier to attach or detach the track 11.

[0064] Moreover, the side plate 20a shown in FIG. 17(A) has a plurality of accessory connection holes 260a arranged along the outer edge of the side plate 20a. The accessory connection holes 260a are connection holes for connecting accessory members such as a wheel derailment prevention member 310 for preventing the crawler belt 11 from coming off to the side plate 20a. FIG. 18 is a diagram showing an example of a state in which wheel derailment prevention members 310a, 310b (310), which are an example of an accessory member, are attached to the side plate 20a of the crawler belt type traveling body 10. In the crawler belt type traveling body 10, the wheel derailment prevention members 310a, 310b connected to the side plate 20a play the role of a stopper, and can prevent the crawler belt 11 from coming off. Note that the shape of the wheel derailment prevention member 310 or the method of connecting it to the side plate 20a is not limited to the example shown in FIG. 18.

[0065] 17, the side plate 20a has a plurality of screw hole regions 280a. The screw hole regions 280a are used, for example, to connect the side plate 20a to the main body 50. The plurality of screw hole regions 280a have a region in which the screw holes are arranged vertically and a region in which the screw holes are arranged horizontally, and each region is arranged symmetrically on the side plate 20a. The side plate 20a and the main body 50 are connected using any screw hole among the plurality of screw hole regions 280a provided on the side plate 20a.

[0066] Here, the state of the main body 50 connected to the track-type vehicle 10 via the side plate 20a will be described with reference to FIG. 19. FIG. 19 is a diagram showing an example of the state of the side of the main body from which the track-type vehicle has been removed. As shown in FIG. 19, the main body 50 has connection members 580a, 580b (580) attached to the side for connecting to the track-type vehicle 10. The connection members 580a, 580b each have a plurality of screw hole regions 585a, 585b (585) used for connecting to the track-type vehicle 10. The plurality of screw hole regions 585 have a region in which screw holes are arranged vertically and a region in which screw holes are arranged horizontally, similar to the screw hole region 280a provided in the side plate 20a. The main body 50 and the track-type vehicle 10 are connected using the screw hole region 585 of the connection member 580 and any of a plurality of screw holes included in the screw hole region 280a of the side plate 20a. In this way, the traveling device 1 fixes the side plate 20a to the main body 50 on a surface using a plurality of screw holes provided in the connection member 580 attached to the side plate 20a and the main body 50, thereby improving the robustness between the track-type traveling body 10 and the main body 50, as compared to the case where the connection is made via a single screw hole. Furthermore, the traveling device 1 can change the clearance between the main body 50 and the ground contact surface of the track-type traveling body 10 by arbitrarily selecting a screw hole to be used for connection with the main body 50 (connection member 580) from among a plurality of screw holes included in the screw hole area 280a of the side plate 20a. The shape of the connection member 580 is not limited to the example shown in FIG. 19. The main body 50 may be configured to be connected to the track-type traveling body 10 using a screw hole provided in the main body 50, without the connection member 580.

[0067] 15 to 17, the side plate 20a has a shape in which a plurality of side plate holes 205a and a plurality of screw hole regions 280a are provided symmetrically on the left and right. This allows the side plate 20a to maintain the same running characteristics between the front and rear of the track-type vehicle 10. Also, by providing the side plate 20a with a plurality of screw hole regions 280a symmetrically on the left and right, the side plate 20a can be attached to either side of the track-type vehicle 10.

[0068] ○ Drive wheel and roller configuration ○ Next, the detailed configuration of the drive wheel 13 and the roller 15 provided on the track-type traveling body 10 will be described with reference to Figures 20 and 21. First, the configuration of the drive wheel 13 will be described with reference to Figure 20. Figure 20(A) is an external perspective view of the drive wheel 13, and Figure 20(B) is a front view (viewed in the direction of arrow P) of the drive wheel 13 in the traveling direction.

[0069] The drive wheel 13 is composed of a sprocket 131 that transmits the rotation of the in-wheel motor 14 to the crawler belt 11. The drive wheel 13 is provided with the in-wheel motor 14 fixed therein. The sprocket 131 as the drive wheel 13 rotates with the in-wheel motor 14 rotating around the motor shaft 141 as a rotating shaft (drive shaft). The sprocket 131 is formed to connect the wheel 132 and the wheel 134 via the connecting member 136. The connecting member 136 is provided at equal intervals around the outer periphery between the wheel 132 and the wheel 134. The protrusion 111b provided on the inner side of the crawler belt 11 rotates while entering between the connecting members 136 adjacent to the sprocket 131. Therefore, the crawler-type traveling body 10 can generate a more reliable drive transmission effect between the crawler belt 11 and the drive wheel 13. The drive wheel 13 has a plurality of support members 138 that support the in-wheel motor 14 on the sprocket 131. By changing the length of the support member 138, the drive wheel 13 can accommodate in-wheel motors 14 of different widths.

[0070] Furthermore, the drive wheel 13 is provided with a body cable 143 for connecting the motor shaft 141 of the in-wheel motor 14 to the body 50. The motor shaft 141 of the in-wheel motor 14 is cylindrical, and the body cable 143 passes through the motor shaft 141 and connects the in-wheel motor 14 to the body 50. The drive wheel 13 receives power supply from a battery 530 provided in the body 50 via the body cable 143.

[0071] Fig. 20(C) is a side view (view taken along arrow Q) of drive wheel 13 in the traveling direction. Wheel 132 of drive wheel 13 has a plurality of wheel holes 133 to prevent foreign matter from entering, similar to the idler 18a described above. This allows drive wheel 13 to have a structure that allows foreign matter that has entered between drive wheel 13 and crawler belt 11 or into sprocket 131 to be smoothly discharged. The number or shape of wheel holes 133 is not limited to the example shown in Fig. 20(C). Wheel 134 has a similar configuration to wheel 132.

[0072] Next, the configuration of the rollers 15a and 15b will be described using Figure 21. Note that the configurations of the rollers 15a and 15b are the same, so the configuration of the roller 15a will be described in Figure 21. Figure 21(A) is an external perspective view of the roller 15a, and Figure 21(B) is a front view (view in the direction of arrow P) of the roller 15a in the traveling direction.

[0073] The roller 15a is formed so as to connect the wheel 152a and the wheel 154a via the wheel shaft 151a which serves as the rotation shaft. The roller 15a also has connecting members 156a disposed at equal intervals around the outer periphery between the wheels 152a and 154a.

[0074] Fig. 21(C) is a side view (view from the arrow Q) of the roller 15a in the traveling direction. The wheel 152a of the roller 15a has a plurality of wheel holes 153a to prevent foreign objects from entering, similar to the idler 18a described above. This allows the roller 15a to have a structure that allows foreign objects that have entered between the roller 15a and the crawler belt 11 or inside the roller 15a to be smoothly discharged. The number or shape of the wheel holes 153a is not limited to the example shown in Fig. 21(C). The wheel 154a has a similar configuration to the wheel 152a.

[0075] Here, the diameter of the wheel holes provided in the idler 18, the driving wheel 13, and the rollers 15a and 15b is preferably φ15 or more in order to smoothly discharge various foreign objects. The same applies to the side plate holes 205a and 205b provided in the side plates 20a and 20b.

[0076] ●Running mechanism Next, the features of the traveling device 1 equipped with the track-type traveling bodies 10 will be described with reference to Figures 22 and 23. As shown in Figure 1, the traveling device 1 supports two track-type traveling bodies 10 (10a, 10b) on the left and right sides of the main body 50 in a travellable state. Below, Figures 22 and 23 show the features of the positional relationship between the in-wheel motor 14, which is a heavy object among the members constituting the traveling device 1, and the battery 530 provided in the main body 50 in order to increase the traveling stability of the traveling device 1.

[0077] As shown in FIG. 22, the traveling device 1 has the battery 530 in the main body 50 at a position lower than the motor shaft 141 of the in-wheel motor 14. More preferably, the traveling device 1 installs the battery 530 in the main body 50 so that the center of gravity of the battery 530 is lower than the axial center (motor shaft 141) of the in-wheel motor 14. That is, in the traveling device 1, the center of gravity of the battery 530 is lower than the motor shaft 141 of the in-wheel motor 14. Since the drive wheel 13 incorporating the in-wheel motor 14 is heavier than the other wheels such as the rollers 15a, 15b and the side plates 20a, 20b, the above-mentioned triangular crawler-type traveling body 10 has a higher center of gravity than the conventional crawler-type traveling body. Therefore, the traveling device 1 improves the stability of the traveling device 1 including the main body 50 by positioning the center of gravity of the battery 530, which is a heavy object in the device, lower than the axial center of the in-wheel motor 14.

[0078] 23(A), the axial center (motor shaft 141) of the in-wheel motor 14 is located above and overlaps with the installation area of ​​the battery 530. More preferably, in the side view of the traveling device 1 seen from the side (X-axis direction), the position of the center of gravity of the battery 530 on the side (X-axis direction) approximately overlaps with a perpendicular line from the position of the axial center (motor shaft 141) of the in-wheel motor 14 on the side (X-axis direction). In this way, by laying out the traveling device 1 in a direction that aligns the position of the center of gravity of the battery 530 seen from the side (X-axis direction) with the position of the perpendicular line from the axial center of the in-wheel motor 14, it is possible to make use of the characteristics of the crawler-type traveling body 10 having a structure symmetrical in the front-rear direction with respect to the traveling direction. Also, as shown in FIG. 23(B), when the running device 1 is viewed from the front (Y-axis direction), the entire running device 1 is approximately linearly symmetrical with respect to a line in the vertical direction (Z-axis direction) passing through the center of gravity of the running device 1, and the battery 530 is installed so as to be approximately linearly symmetrical with respect to a line in the vertical direction (Z-axis direction) passing through the center of the main body 50 when viewed from the front (Y-axis direction).

[0079] ●Examples of running device applications The traveling device 1 equipped with the above-mentioned track-type traveling body 10 can be used in various usage scenarios by attaching devices or members for realizing functions according to the usage purpose to the main body 50. For example, the traveling device 1 is used as a work robot that performs light work such as transporting goods at bases such as factories or warehouses with narrow passageways, making use of its high turning ability. In the case of such a work robot, for example, a carrier for transport or a movable arm for light work is attached to the traveling device 1.

[0080] The traveling device 1 is also used, for example, for rescue or reconstruction support purposes at disaster sites, agricultural purposes, construction sites, etc. In such applications, for example, in an environment where the road surface is rough with rubble and garbage scattered around, the traveling device 1 can reduce the risk of malfunctions occurring during traveling by utilizing the characteristics of the track-type traveling body 10, such as the traveling stability.

[0081] Furthermore, the traveling device 1 can be equipped with a photographing device and a display device, and can also be used as a telepresence robot that realizes two-way communication (remote communication) between a user at the base of the traveling device 1 and a user at a remote location. By using a telepresence robot, it is possible to remotely manage or maintain devices at the base, or to confirm the position or movement of people at the base. Furthermore, the traveling device 1 may be configured to travel in response to remote control from a user at a remote location.

[0082] ●Summary● As described above, the track-type vehicle according to one embodiment of the present invention is a track-type vehicle 10 including the track 11, the drive wheel 13 incorporating the in-wheel motor 14 and providing driving force to the track 11, at least two rollers 15a, 15b arranged below the drive wheel 13, and a tensioner 25 connected to the motor shaft 141 (one example of a drive shaft) of the in-wheel motor 14 and providing tension to the track 11 by pressing the drive wheel 13 against the track 11, with the track 11 looped between the drive wheel 13 and the rollers 15a, 15b. This allows the track-type vehicle 10 to have a low center of gravity, thereby improving running stability.

[0083] Moreover, the track-type traveling body according to one embodiment of the present invention has a structure that is approximately symmetrical with respect to a perpendicular line to the motor shaft 141 (an example of a drive shaft) of the in-wheel motor 14. As a result, the track-type traveling body 10 has an approximately symmetrical layout (structure) in the front-rear direction, which can improve stability during traveling and simplify control.

[0084] Furthermore, the track-type vehicle according to one embodiment of the present invention includes an idler 18 (an example of an auxiliary wheel) provided between the two rollers 15a, 15b, and the idler 18 rotates following the track 11. In addition, in the track-type vehicle 10, the contact position of the idler 18 with the track 11 is lower than the contact position of the rollers 15a, 15b with the track 11. This allows the track-type vehicle 10 to improve turning performance during traveling.

[0085] The track-type vehicle according to one embodiment of the present invention includes side plates 20a, 20b that support the drive wheels 13 and rollers 15a, 15b in a double-supported structure. This allows the track-type vehicle 10 to stably apply tension to the track 11 with a compact structure. In addition, in the track-type vehicle 10, the side plates 20a (20b) have cutouts 201a, 203a (201b, 203b) that are cut out on the ground contact surface side of the track 11. This allows the track-type vehicle 10 to prevent foreign objects from entering between the side plates 20a, 20b and the wheels.

[0086] Furthermore, the traveling device 1 according to an embodiment of the present invention includes a track-type traveling body 10 and a main body 50 that supports at least two track-type traveling bodies 10 (10a, 10b) in a state in which they can travel. In the traveling device 1, the main body 50 includes a battery 530 that supplies power to the in-wheel motor 14, and the center of gravity of the battery 530 is lower than the motor shaft 141 (an example of a drive shaft) of the in-wheel motor 14. This allows the traveling device 1 to improve the stability of the traveling device 1 including the main body 50. Furthermore, in the traveling device 1, the motor shaft 141 of the in-wheel motor 14 is provided above the installation area of ​​the battery 530. This allows the traveling device 1 to take advantage of the characteristics of the track-type traveling body 10 that has a structure symmetrical in the front-rear direction with respect to the traveling direction.

[0087] ●Additional Information● So far, a track-type running body and a running device according to one embodiment of the present invention have been described, but the present invention is not limited to the above-described embodiment, and other modifications, changes, or deletions, etc., may be made within the scope of what a person skilled in the art can conceive, and any aspect is within the scope of the present invention as long as it achieves the functions and effects of the present invention. [Explanation of symbols]

[0088] 1 Traveling device 10 (10a, 10b) Track-type traveling body 11 Track 13 Drive wheel 14 In-wheel motor 15a, 15b Roller wheel 18a, 18b Idler (an example of an auxiliary wheel) 19 Link 20a, 20b Side plate 25 Tensioner 141 Motor shaft (an example of a drive shaft) 153a Wheel hole (an example of a cavity) 201a, 203a Notch 255a, 255b Elastic body 530 Battery [Prior art documents] [Patent documents]

[0089] [Patent Document 1] JP 2017-218105 A

Claims

1. Tracks and A drive wheel for applying a driving force to the crawler; At least two wheels disposed below the drive wheel; a tensioner connected to a drive shaft of the drive wheel and pressing the drive wheel against the crawler belt to apply tension to the crawler belt, A track-type vehicle in which the track is looped between the drive wheels and the rollers.

2. The tensioner comprises: an elastic body for pressing the drive wheel against the crawler belt, 2. The track-type vehicle according to claim 1, wherein the drive wheel is pressed against the track by the drive shaft being pressed by deformation of the elastic body.

3. 3. The track-type vehicle according to claim 1, wherein the track-type vehicle has a substantially symmetrical structure with respect to a line perpendicular to the drive shaft of the drive wheel.

4. A track-type vehicle according to any one of claims 1 to 3, An auxiliary wheel is provided between the two wheels, The auxiliary wheels are a track-type traveling body that rotates in conjunction with the track.

5. 5. The track-type vehicle according to claim 4, wherein a contact position of the auxiliary wheels with the track is lower than a contact position of the rollers with the track.

6. The track-type vehicle according to any one of claims 1 to 5, further comprising: A track-type vehicle having side plates that support the drive wheels and the rollers in a double-supported structure.

7. 7. The track-type vehicle according to claim 6, wherein the side plate has a cutout portion cut out on a side of the track that faces the ground.

8. 8. The track-type vehicle according to claim 1, wherein the wheels of the rollers have at least one wheel well.

9. A track-type vehicle according to any one of claims 1 to 8, A main body supporting at least two of the track-type vehicles; A running gear comprising:

10. The traveling device according to claim 9, The drive wheel has an in-wheel motor built therein, the main body includes a battery that supplies power to the in-wheel motor; A traveling device in which the center of gravity of the battery is lower than the drive shaft of the in-wheel motor.

11. The traveling device according to claim 10, wherein a drive shaft of the in-wheel motor is located above an installation area of ​​the battery.

Images