Track-type vehicle and running gear

Abstract

To provide a crawler belt type traveling body that enhances stability during traveling of a traveling device, by attaching an auxiliary member having a simple configuration.SOLUTION: A crawler belt type traveling body 10 includes an auxiliary member 6 attached at least at a rear position on a crawler type traveling body 10 in a traveling direction thereof. A distance M that is parallel to a first straight line connecting rolling wheel axes 151a and 151b of two rolling wheels 15a and 15b in a side view and that is between the intersection of a second straight line including a leading end part of the auxiliary member 6 and a road surface and the intersection of the second straight line and a perpendicular line from the center position of the first straight line to the second straight line satisfies a condition described below (Formula 1): Mtanθ≥Wtanθ / 2+h (Formula 1). In the (Formula 1), h represents the installation height of the leading end part of the auxiliary member 6, W represents a distance between the rolling wheel axes 151a and 151b of the two rolling wheels 15a and 15b, and θ represents the maximum slope angle of the crawler belt type traveling body with the auxiliary member 6 detached.SELECTED DRAWING: Figure 10

Description

[Technical field]

[0001] The present disclosure 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 track-type (crawler-type) traveling body is known to improve stability during traveling. For example, Patent Document 1 discloses the use of a triangular track-type traveling unit formed by a drive wheel with an in-wheel motor and two rollers to stabilize the posture and travel. Furthermore, a technology is also known in which an auxiliary mechanism is attached to the traveling device to prevent the traveling device from tipping over and improve the step-climbing performance (for example, Patent Document 2). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2017-218105 A [Patent Document 2] JP 2007-237991 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, with conventional methods, there were problems with providing an auxiliary mechanism to prevent the running gear from tipping over, which increased the size of the running gear and required complex design to attach new components. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems, the invention according to claim 1 provides a track-type vehicle comprising a track, a drive wheel for applying a driving force to the track, and at least two rollers arranged below the drive wheel, the track being looped between the drive wheel and the rollers, the track being attached at least at a rear position in the traveling direction of the track-type vehicle. When the bottom surface of the crawler-type traveling body is inclined with respect to the road surface, the crawler-type traveling body comes into contact with the road surface. Auxiliary Materials and a side plate supporting the driving wheel, the roller and the auxiliary member. The first line segment is parallel to the first line segment connecting the rotation axes of the two rollers in a side view, and includes the tip portion of the auxiliary member. A straight line Second Line Then, the attachment position of the bar to the side plate is on the second straight line, An intersection point between a second straight line and a road surface, and a point between the second straight line and the first straight line. line segment The distance M from the center position of the track-type traveling body to the intersection point with a perpendicular line to the second straight line satisfies the condition of the following formula 1.

number

[0007] According to the present invention, it is possible to provide a track-type traveling body that enhances the stability of the traveling device during traveling by attaching an auxiliary member with a simple configuration. [Brief description of the drawings]

[0008] [Figure 1] 1A to 1C are diagrams showing an example of the appearance of a traveling device. [Diagram 2] FIG. 4 is a diagram illustrating an example of a traveling state of a traveling device. [Diagram 3] FIG. 4 is a diagram illustrating an example of a traveling state of a traveling device. [Figure 4] FIG. 2 is a diagram illustrating an example of a hardware configuration of a traveling device. [Diagram 5]FIG. 2 is a diagram showing an example of a configuration of a track-type vehicle. [Figure 6] FIG. 2 is a diagram showing an example of a configuration of a track-type vehicle. [Figure 7] FIG. 2 is a diagram showing an example of a configuration of a track-type vehicle. [Figure 8] FIG. 4 is a diagram showing an example of a configuration of an auxiliary member. [Figure 9] 13A and 13B are diagrams for explaining an example of a maximum climbing angle of a crawler-type traveling body when an auxiliary member is detached. [Figure 10] 10 is a diagram for explaining an example of the relationship between the length and installation height of an auxiliary member in a track-type traveling body. FIG. [Figure 11] 10 is a diagram for explaining an example of the relationship between the length and installation height of an auxiliary member in a track-type traveling body. FIG. [Figure 12] 10A and 10B are diagrams for explaining an example of a state of a crawler-type traveling body when the traveling device overcomes a step. [Figure 13] 13A and 13B are diagrams illustrating an example of the relationship between the state of a crawler-type traveling body and a step due to differences in the length of an auxiliary member. [Figure 14] 1 is a diagram showing an example of the length, installation height, and step height of an auxiliary member in a crawler-type traveling body. FIG. [Figure 15] FIG. 4 is a diagram for explaining an example of an assumed overturning angle of a crawler-type traveling body. [Figure 16] 1A and 1B are diagrams illustrating the restoring force of a track-type vehicle. [Figure 17] 13A and 13B are diagrams illustrating modified examples of the configuration of the auxiliary member. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] 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.

[0010] ●Embodiment● ●Running mechanism 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.

[0011] 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 performing a turning operation, a traveling device equipped with track-type traveling bodies can perform so-called super-pivot turning, so that it can perform a turning operation smoothly even in a limited space. In addition, the track-type traveling bodies 10a and 10b have auxiliary members 6a and 6b, respectively, at the rear in the traveling direction. The detailed configuration of the track-type traveling bodies 10a and 10b will be described later.

[0012] 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.

[0013] 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.

[0014] 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.

[0015] 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.

[0016] 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.

[0017] 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 the drive wheel 13 and two rollers 15a, 15b 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, a so-called tank-type crawler, in which the upper side (drive wheel side) is longer than the lower side (roller side), has a smaller overall ground contact area and becomes unstable when there is a restriction on the front-to-rear size. In this way, the tracked traveling body 10a is effective in improving the traveling performance of a relatively small traveling device 1.

[0018] Here, the traveling state of the traveling device 1 will be explained generally with reference to Fig. 2 and Fig. 3. Fig. 2 and Fig. 3 are diagrams showing an example of the traveling state of the traveling device. The traveling device 1 is equipped with the track-type traveling bodies 10a, 10b as shown in Fig. 1, and can travel stably even on rough ground J as shown in Fig. 2 and on stairs S as shown in Fig. 3.

[0019] A track-type traveling body may not be able to travel stably and may tip over due to unevenness such as the unevenness of the traveling surface of the rough ground J or steps such as stairs S. Therefore, the traveling device 1 can prevent tip over during traveling by attaching an auxiliary member 6 to a rear position in the traveling direction of the track-type traveling body 10.

[0020] Also, for example, when the step of the staircase S is large, the traveling device may not be able to overcome the step. In conventional traveling devices, a dedicated auxiliary mechanism is provided to assist in overcoming the step, but providing such an auxiliary mechanism requires a special design for the traveling body, which increases manufacturing costs. Furthermore, there is also a problem that providing a dedicated auxiliary mechanism increases the size of the traveling body. Therefore, the traveling device 1 is provided with an auxiliary member 6 of a simple configuration that can be attached to the crawler-type traveling body 10, thereby preventing the traveling device 1 from falling over due to undulations such as unevenness of the traveling road surface of the rough ground J or steps such as the staircase S, without changing other configurations of the crawler-type traveling body 10, and improving stability during traveling.

[0021] ○Hardware configuration○ Next, the hardware configuration of the traveling device according to the embodiment will be described with reference to Fig. 4. Note that components may be added or deleted from the hardware configuration shown in Fig. 4 as necessary.

[0022] FIG. 4 is a diagram showing an example of the hardware configuration of the traveling device. 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.

[0023] 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.

[0024] 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 memory 503 in advance.

[0025] The program P1 may be provided by being recorded in an installable or executable file 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 communication network, such as the Internet, and downloaded to the traveling device 1 via the communication network. The program P1 may be provided or distributed via a communication 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.

[0026] In addition, instead of operating the CPU 502 according to the program P1, the traveling device 1 may be operated in a hardware manner by implementing a dedicated ASIC (Application Specific Integrated Circuit) having the same calculation functions and control functions as the program P1.

[0027] 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 interface for short-range wireless communication such as NFC (Near Field communication) or Bluetooth (registered trademark).

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] Track-type vehicle Next, the track-type traveling bodies 10a and 10b constituting the traveling device 1 will be described with reference to Figs. 5 to 17. First, the overall configuration of the track-type traveling bodies 10a and 10b will be described with reference to Figs. 5 to 7. As shown in Fig. 1, the traveling device 1 includes two track-type traveling bodies 10a and 10b, but in the following description, these bodies are the same in configuration, so they will be described as the configuration of the track-type traveling body 10. Figs. 5 to 7 are diagrams showing an example of the configuration of the track-type traveling body. Figs. 5 to 7 are side views of the track-type traveling body 10 as seen from the same direction as Fig. 1(C).

[0034] As shown in Fig. 5, the track-type vehicle 10 includes the track 11, the drive wheel 13, the rollers 15a and 15b, the idlers 18a and 18b, the link 19, the side plate 20a, the tensioner 25, and the auxiliary member 6. Fig. 6 is a diagram showing the track-type vehicle 10 shown in Fig. 5 with the side plate 20a removed. The track-type vehicle 10 shown in Fig. 6 further includes the in-wheel motor 14, the motor shaft 141, the side plate 20b, the side plate supports 27a, 27b, 27c, and 27d, the roller shafts 151a and 151b, the idler shafts 181a and 181b, and the link shaft 191.

[0035] 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 vehicle 10. The track 11 has a plurality of protrusions 111a, 111b on its surface. The protrusions 111a on the outside of the track 11 are provided for the track 11 to travel stably over small obstacles such as stones on the road surface. The protrusions 111b on the inside are provided for preventing the track 11 from coming off the drive wheel 13 or the rollers 15a, 15b.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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. As a result, 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.

[0041] 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 of the running body is limited, the ground contact area will be reduced and running stability will be impaired. Therefore, the track-type running body 10 has the advantage of adopting rollers 15a, 15b with a relatively small diameter based on the diameter of the drive wheel 13.

[0042] The idlers 18a and 18b are provided between the two rollers 15a and 15b, and are wheels that rotate following the crawler belt 11. The idlers 18a and 18b rotate about idler shafts 181a and 181b, respectively. The link 19 is a support that supports the idlers 18a and 18b.

[0043] 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.

[0044] 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. In addition, 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.

[0045] The auxiliary member 6 is attached to the track-type vehicle 10 to prevent the track-type vehicle 10 from tipping over and to improve the vehicle's ability to overcome steps on the road surface. The auxiliary member 6 is attached to the side plate 20a so as to be substantially parallel to the road surface or the bottom side of the track 11 when the vehicle is stationary. The auxiliary member 6 includes a bar 61 and auxiliary wheels 65.

[0046] The bar 61 serves as the main body of the auxiliary member 6 and is formed of a rigid body having the strength (rigidity) to support the weight of the track-type traveling body 10 when traveling. The bar 61 is made of metal such as C-type stainless steel. The auxiliary member 6 is attached to the side plate 20a by the bar 61.

[0047] The auxiliary wheels 65 are attached to the tip of the bar 61 and are small wheels that rotate freely when the auxiliary member 6 touches the ground. The auxiliary wheels 65 are an example of a first auxiliary wheel. By providing the auxiliary wheels 65 at the tip of the auxiliary member 6, the track-type running body 10 can run smoothly even when the tip of the auxiliary member 6 touches the ground. In addition, by providing the auxiliary wheels 65 at the tip of the auxiliary member 6, the track-type running body 10 can prevent the tip of the auxiliary member 6 from damaging the road surface.

[0048] Here, the wheel diameter of the auxiliary wheels 65 is preferably, for example, about twice the magnitude of the expected unevenness of the road surface in order to prevent the wheels from getting stuck due to unevenness of the road surface while traveling. Also, when the unevenness of the road surface cannot be determined, the wheel diameter of the auxiliary wheels 65 may be set to be approximately the same as or slightly smaller than the wheel diameter of the idlers 18a, 18b in accordance with the size of the crawler-type traveling body 10, for example.

[0049] 7 is a diagram showing a state in which the auxiliary member 6 has been removed from the track-type vehicle 10. The side plate 20a has, on the upper part of the wheel axle 151a, an attachment region Ra1 including a plurality of attachment portions 207a1 for attaching the auxiliary member 6, and an attachment region Ra2 including a plurality of attachment portions 207a2. Similarly, the side plate 20a has, on the upper part of the wheel axle 151b, an attachment region Ra3 including a plurality of attachment portions 207a3 for attaching the auxiliary member 6, and an attachment region Ra4 including a plurality of attachment portions 207a4. The attachment portions 207 (207a1, 207a2, 207a3, 207a4) included in each of the attachment regions Ra1, Ra2, Ra3, Ra4 are arranged approximately parallel to the road surface or the bottom side of the track-type vehicle 10.

[0050] By attaching the bar 61 to the attachment area Ra1 or the attachment area Ra2 at the rear position by fixing with screws or the like, the auxiliary member 6 can be easily attached or detached without changing other components included in the track-type vehicle 10. Also, the installation height of the auxiliary member 6 can be adjusted by installing the auxiliary member 6 in either the attachment area Ra1 or Ra2, which have different mounting position heights.

[0051] 6 and 7, the track-type traveling body 10 with the auxiliary member 6 removed has a structure that is approximately symmetrical in the front and rear in the traveling direction, centered on the drive wheels 13. More specifically, the track-type traveling body 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.

[0052] For example, a traveling device that travels in a narrow space 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 while 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.

[0053] 7, even if the traveling direction of the track-type vehicle 10 changes, the auxiliary member 6 can be easily reattached to a rear position in the traveling direction by attaching the auxiliary member 6 to either the attachment region Ra1 or the attachment region Ra2. Note that the auxiliary member 6 may be attached not only to the rear of the track-type vehicle 10, but also to the front of the track-type vehicle 10.

[0054] ○Configuration of auxiliary parts○ Next, the detailed configuration of the auxiliary member 6 attached to the track-type vehicle 10 will be described with reference to Figs. 8 to 17. Fig. 8 is a diagram showing an example of the configuration of the auxiliary member. As shown in Fig. 8, the track-type vehicle 10 has the auxiliary member 6 at a rear position in the traveling direction. The auxiliary member 6 is attached to the side plate 20a and is provided so as to extend rearward of the track-type vehicle 10. Moreover, the auxiliary member 6 is provided parallel to a straight line connecting the wheel axes 151a, 151b of the two rollers 15a, 15b in a side view seen from the X-axis direction as shown in Fig. 8. Furthermore, as described above, the auxiliary member 6 has the bar 61 and the auxiliary wheel 65 attached to the tip of the bar 61.

[0055] Here, as shown in FIG. 8, the length from the center of the tracked vehicle 10 located on the extension line of the auxiliary member 6 to the tip of the auxiliary member 6 is defined as the length L of the auxiliary member 6. The center of the tracked vehicle 10 located on the extension line of the auxiliary member 6 is parallel to a straight line W (first straight line shown in FIG. 8) connecting the wheel axes 151a, 151b of the two rollers 15a, 15b in a side view seen from the X-axis direction as shown in FIG. 8, and is an intersection point between a straight line (second straight line shown in FIG. 8) including the tip of the auxiliary member 6 and a perpendicular line (center line shown in FIG. 8) from the center position of the first straight line to the second straight line. The center of the tracked vehicle 10 located on the extension line of the auxiliary member 6 is an intersection point between the second straight line and a straight line (center line shown in FIG. 8) connecting the center position of the first straight line and the motor shaft 141 of the drive wheel 13. Furthermore, the center of the track-type vehicle 10, which is located on the extension line of the auxiliary member 6, is the intersection of the second straight line and a perpendicular line (center line shown in Figure 8) from the center of gravity G of the track-type vehicle 10 to the center position of the first straight line.

[0056] 8 indicates the position of the center of gravity in the X-axis direction of the track-type vehicle 10 in a side view seen from the X-axis direction. Furthermore, the length from the center of the track-type vehicle 10, located on an extension line of the auxiliary member 6, to the ground contact surface of the track 11 on the center line is defined as the installation height h of the auxiliary member 6. In other words, the installation height h of the auxiliary member 6 is the installation height of the tip of the auxiliary member 6. The length L and installation height h of the auxiliary member 6 need to be optimally designed while taking into account the size of the track-type vehicle 10 in order to improve the running performance of the track-type vehicle 10, such as its ability to overcome steps.

[0057] Here, the traveling state of the track-type traveling body with the auxiliary member 6 removed will be described with reference to FIG. 9. In the state in which one of the rollers is lifted as shown in FIG. 9(A), the angle between the bottom surface of the track-type traveling body 10 and the road surface is represented as θ. The track-type traveling body with the auxiliary member 6 removed can travel in a range where the angle θ is smaller than the maximum climbing angle, and if the track-type traveling body tilts beyond the maximum climbing angle θ due to the influence of unevenness or steps on the road surface during traveling, there is a risk of it tipping over. Therefore, a method of preventing tipping over of the track-type traveling body can be considered by attaching the auxiliary member 6 as shown in FIG. 8. However, as shown in FIG. 9(B), if the length of the auxiliary member is too short, the tip of the auxiliary member does not contact the road surface when the track-type traveling body tilts at the maximum climbing angle θ, and therefore the tipping prevention effect of attaching the auxiliary member cannot be achieved. Therefore, in order to achieve the tipping prevention effect of attaching the auxiliary member 6, the track-type traveling body 10 needs to attach an auxiliary member of a minimum length.

[0058] The relationship between the length L of the auxiliary member 6 attached to the track-type vehicle 10 and the installation height h will be described with reference to Fig. 10. Fig. 10 is a diagram for explaining an example of the relationship between the length of the auxiliary member in the track-type vehicle and the installation height. Fig. 10 shows the track-type vehicle 10 in a state in which the auxiliary member is detached and tilted at the maximum climbing angle θ.

[0059] 10, M is the distance between the road surface and the center of the track-type vehicle 10 located on the extension line of the auxiliary member 6. More specifically, M is the distance between the intersection of a line (second line) that is parallel to a line (first line) connecting the wheel axes 151a, 151b of the two rollers 15a, 15b in a side view and includes the tip of the auxiliary member 6 and the road surface, and the intersection of the second line and a perpendicular line from the center position of the first line to the second line.

[0060] Moreover, H' is the distance between the road surface and the center of the track-type vehicle 10 located on the extension line of the auxiliary member 6 on the center line of the track-type vehicle 10 in a side view. More specifically, H' is the distance between the intersection of the second straight line and a perpendicular line from the center position of the first straight line to the second straight line (the center line shown in FIG. 8), and the intersection of the center line and the road surface.

[0061] Furthermore, h' is the distance between the ground contact surface of the crawler belt 11 and the road surface on the center line of the crawler belt-type vehicle 10 in a side view. In other words, the distance H' is the sum of the installation height h of the auxiliary member 6 and the distance h' (H'=h+h'). Furthermore, the distance h' can be expressed as h'=Wtanθ / 2 using the length W between the wheel axes 151a, 151b of the two rollers 15a, 15b corresponding to the first straight line as shown in Figure 9 and the maximum climbing angle θ.

[0062] Moreover, θ is the maximum slope angle of the track-type vehicle when the auxiliary member 6 is removed as described above. Here, the line segment corresponding to M is set approximately parallel to the first straight line and the bottom side of the track-type vehicle 10, so the angle between the line segment (side) corresponding to M and the road surface is also θ.

[0063] The track-type vehicle 10 shown in Fig. 10 is in a state in which the rollers 15a and auxiliary members 6 are in contact with the ground via the tracks 11 and the track-type vehicle 15b is raised at an angle θ. In other words, by providing the auxiliary members 6 that satisfy the condition of the following (Formula 1), the track-type vehicle 10 can improve the ability to prevent tipping over while traveling.

[0064]

number

[0065] In this way, the auxiliary member 6 that satisfies the condition of (Equation 1) may be attached to the track-type vehicle 10. When the track-type vehicle 10 is inclined at the maximum climbing angle θ with the auxiliary member 6 detached, the tip of the auxiliary member 6 comes into contact with the road surface. That is, by attaching the auxiliary member 6 that satisfies the condition of (Equation 1), the angle θ between the second straight line and the road surface becomes smaller than the maximum climbing angle of the track-type vehicle 10 with the auxiliary member 6 detached. In this way, when designing the length L of the auxiliary member 6 attached to the track-type vehicle 10, by appropriately determining the distance M and the installation height h in (Equation 1), the track-type vehicle 10 can exhibit the tipping prevention effect by attaching the auxiliary member 6.

[0066] Furthermore, if the wheel radius of the auxiliary wheels 65 is r and the length of the bar 61 to the wheel axle of the auxiliary wheels 65 is L', then the length L of the auxiliary member 6 is r+L' (L=r+L'). That is, as shown in FIG. 11, the distance M can be expressed as L'+r / tan θ (Mtan θ=L'+r). Therefore, even if the crawler-type traveling body 10 is provided with an auxiliary member 6 that satisfies the condition of the following (Equation 2), the provision of the auxiliary member 6 can improve the anti-tipping performance during traveling.

[0067]

number

[0068] Compared to the above (Equation 1), (Equation 2) adds a parameter of the wheel radius r of the auxiliary wheels 65, but the wheel radius r, like the length L' and the installation height h, is a design value that is restricted by the traveling environment of the tracked vehicle 10. Therefore, the tracked vehicle 10 can directly determine the installation conditions of the auxiliary member 6 by expressing the wheel radius r, the length L', and the installation height h as one relational equation using (Equation 2).

[0069] In this way, the crawler-type traveling body 10 can prevent tipping over while traveling by appropriately designing the length L and installation height h of the auxiliary member 6 according to the traveling environment, and can increase the stability of the traveling device while traveling. Also, if the auxiliary member 6 is too long or the installation position is too low, the crawler-type traveling body 10 may be unable to turn, for example, because the auxiliary member 6 gets in the way when performing a turning operation. Therefore, the crawler-type traveling body 10 is attached with the auxiliary member 6 taking into consideration the length L and installation height h so that the auxiliary member 6 does not come into contact with surrounding obstacles in the traveling environment.

[0070] Here, the state of the track-type vehicle when the travelling device overcomes a step will be described. Fig. 12 is a diagram for explaining an example of the state of the track-type vehicle when the travelling device overcomes a step. Fig. 12 shows the state of the track-type vehicle 10 when the auxiliary member 6 that satisfies the conditions of (Formula 1) and (Formula 2) above is attached and the track-type vehicle 10 overcomes a step F of height H. The track-type vehicle 10 can overcome the step F when the protrusion 111a of the track 11 on the track 15b side catches on the apex of the step F with the roller 15a in a state where the auxiliary member 6 is also in a state where the roller 15a is in contact with the ground via the track 11 and the step apex of the step F is caught on the roller 15b side. In other words, the track-type vehicle 10 needs to be fitted with an auxiliary member 6 of length L and installation height h that enables the protrusion 111a of the track 11 on the other roller 15b side to be raised to a height such that it can be caught on the apex, which is the upper angle of the step F, when the auxiliary member 6 and the roller 15a on the auxiliary member 6 side are in contact with the ground on a horizontal road surface.

[0071] The traveling performance of the track-type vehicle 10 when climbing over a step F varies depending on the length L of the attached auxiliary member 6. Fig. 13 is a diagram for explaining an example of the relationship between the state of the track-type vehicle and the step due to differences in the length of the auxiliary member. Fig. 13(A) shows a state in which the track-type vehicle can climb over the step F of height H. On the other hand, Fig. 13(B) shows a state in which the track-type vehicle cannot climb over the step F of height H.

[0072] In the case of FIG. 13(A), the protrusion of the track catches the apex of the step F, as in the case of FIG. 12, and the track can overcome the step F by using the catch of the track. On the other hand, in the case of FIG. 13(B), the length of the auxiliary member is too long, so when the auxiliary member and one of the rollers touch the ground, the protrusion of the track does not catch the apex of the step F. Furthermore, if the track-type vehicle shown in FIG. 13(B) travels any further, the rear roller floats and spins, and the vehicle falls over without being able to overcome the step F. In other words, if the auxiliary member with a long overall length is tilted backward when the track-type vehicle is going over the step, the tip of the auxiliary member immediately touches the ground, and the auxiliary member cannot assist the track-type vehicle in getting over the step. Furthermore, if the auxiliary member provided on the track-type vehicle is too long, it may come into contact with surrounding obstacles during travel.

[0073] In this way, if the auxiliary member is too long, there is a risk of reducing the running stability of the track-type vehicle, so the length L of the auxiliary member 6 needs to be designed to be an appropriate length so that the track-type vehicle 10 can overcome unevenness in the rough ground or steps or other steps that exist in the running environment. In other words, it is preferable that the track-type vehicle 10 satisfies the conditions of (Equation 1) and (Equation 2) above, and is provided with an auxiliary member 6 having an optimal length L according to the state of the running environment, such as unevenness or steps on the road surface, by considering the maximum value of the length L according to the height of the step F that exists in the running environment. This makes it possible for the track-type vehicle 10 to prevent tipping over while running, and to improve its step-over performance. As an example, it is preferable that the length of the auxiliary member 6 is approximately half the overall length of the track-type vehicle 10.

[0074] Here, an example of the values ​​of the length L of the auxiliary member 6, the installation height h, and the step height H of the step F will be described with reference to Fig. 14. Fig. 14 is a diagram showing an example of the length and installation height of the auxiliary member of a crawler-type traveling body, and the step height. Fig. 14 shows an example in which the height H of the step F is set to 230 mm based on the dimensions of the rise of a staircase in the Building Standards Act.

[0075] Considering the values ​​of length L and installation height h of auxiliary member 6 using the above (Equation 2), if length W between roller axles 151a, 151b is 412 mm (W=412) and H=230 is set, length L of auxiliary member 6 will be 518 mm (L=518) and installation height h will be 164 mm (h=164). Note that the values ​​of length L and installation height h of auxiliary member 6 shown in Fig. 14 are only examples, and optimal values ​​can be determined according to the traveling environment depending on the size of track-type traveling body 10 based on step height H of step F and length W between roller axles 151a, 151b, etc.

[0076] Fig. 15 is a diagram for explaining an example of an assumed overturning angle of the track-type vehicle. The assumed overturning angle is an angle at which the track-type vehicle 10 is assumed to overturn if tilted beyond this in a static state not taking into account the inertia of the vehicle. The assumed overturning angle φ is 90° or less, preferably 80° or less.

[0077] As shown in Fig. 15, if the position of the center of gravity of the tracked vehicle 10 is G, the assumed overturning angle φ is the angle of the tracked vehicle 10 when a straight line connecting the position of the center of gravity G and the tip of the auxiliary member 6 is perpendicular to the horizontal plane. In other words, the assumed overturning angle φ is the angle between the ground contact surface of the auxiliary member 6 and the bottom side of the tracked vehicle 10 when the position of the center of gravity G of the tracked vehicle 10 in a side view seen from the X-axis direction and the tip of the auxiliary member 6 are positioned vertically. In addition, as described above, when the auxiliary member 6 is provided approximately parallel to the bottom side of the tracked vehicle 10, the assumed overturning angle φ is also the angle between the ground contact surface of the auxiliary member 6 and the auxiliary member 6 when the position of the center of gravity G of the tracked vehicle 10 in a side view seen from the X-axis direction and the tip of the auxiliary member 6 are positioned vertically.

[0078] 15, if the distance between the center of gravity G of the track-type vehicle 10 in a side view and the contact surface of the auxiliary member 6 when the center of gravity G and the tip of the auxiliary member 6 are positioned vertically is N, then in order to satisfy the condition of the assumed overturning angle φ≦90°, the length L of the auxiliary member 6≧distance N. In other words, by providing the auxiliary member 6 with a length L that is longer than the distance N, the track-type vehicle 10 can be prevented from overturning.

[0079] Moreover, in order to prevent the track-type vehicle 10 from tipping over, it is preferable to install the auxiliary member 6 at a position lower than the center of gravity G. That is, the installation height h of the auxiliary member 6 is lower than the center of gravity G of the track-type vehicle 10. Therefore, the auxiliary member 6 with the length L and installation height h designed within the range of the installation height h that takes into account the position of the center of gravity G is attached to the track-type vehicle 10. In this way, by attaching the auxiliary member 6 in consideration of the assumed tipping angle φ, the track-type vehicle 10 can prevent tipping over while traveling.

[0080] 16 is a diagram for explaining the restoring force of the track-type vehicle. As shown in Fig. 16(A) and (B), when the bar 61 of the auxiliary member 6 of the track-type vehicle 10 comes into contact with the step F, a restoring force acts on the track-type vehicle 10, ensuring stability when going over the step F. The restoring force utilizing the contact between the bar 61 and the step F enables the track-type vehicle 10 to travel stably when going over the step F.

[0081] ○Modifications of auxiliary parts Next, a description will be given of modified examples of the above-mentioned auxiliary member 6. Fig. 17 is a diagram showing a modified configuration of the auxiliary member. The auxiliary member 6A shown in Fig. 17 has auxiliary wheels attached not only to the tip of the bar 61 but also to the middle of the bar 61.

[0082] In addition to the configuration of the auxiliary member 6 described above, the auxiliary member 6A includes an auxiliary wheel 66 in the middle of the bar 61. The auxiliary wheel 66 is an example of a second auxiliary wheel. By providing the auxiliary wheel 66 also in the middle of the bar 61, the track-type traveling body 10 can travel more smoothly, for example, even when the middle of the bar 61 is in contact with a protrusion on the road surface. In addition, it is preferable that the wheel diameter of the auxiliary wheel 66 is smaller than that of the auxiliary wheel 65. The number of auxiliary wheels 66 included in the auxiliary member 6A is not limited to one, and multiple auxiliary wheels 66 may be provided in the middle of the bar 61.

[0083] ●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.

[0084] The traveling device 1 is also used, for example, for rescue or reconstruction support purposes at disaster sites, agricultural purposes, construction sites, or outdoor factories, plants, or other facilities, etc. In such applications, for example, in environments where rubble and garbage are scattered and the road surface is rough, the traveling device 1 can reduce the risk of malfunctions occurring during traveling by taking advantage of the characteristics of the track-type traveling body 10, such as the traveling stability.

[0085] 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.

[0086] Effect of the embodiment As described above, the traveling device 1 can realize stable traveling without tipping over by providing the crawler-type traveling body 10 to which the auxiliary member 6 having the length L and installation height h that satisfy the condition of the above (Equation 1) or (Equation 2) is attached. In addition, the traveling device 1 can prevent tipping over during traveling and improve the step climbing performance by providing the crawler-type traveling body 10 to which the auxiliary member 6 having the optimal length L according to the state of the traveling environment such as unevenness of the road surface or steps is attached. Furthermore, the traveling device 1 can prevent tipping over during traveling by installing the auxiliary member 6 so that the crawler-type traveling body 10 is at an angle equal to or less than the assumed tipping angle φ. In addition, the traveling device 1 can improve the stability during traveling without changing the other configurations of the crawler-type traveling body 10 by attaching the auxiliary member 6 of a simple configuration that can be easily removed to the crawler-type traveling body 10.

[0087] ●Summary● As described above, the track-type vehicle according to one embodiment of the present invention is a track-type vehicle 10 including a track 11, a drive wheel 13 that provides a driving force to the track 11, and at least two rollers 15a, 15b arranged below the drive wheel 13, with the track 11 looped between the drive wheel 13 and the rollers 15a, 15b. The track-type vehicle 10 includes an auxiliary member 6 attached at least to a rear position in the traveling direction of the track-type vehicle 10, and is parallel to a first straight line connecting the wheel axes 151a, 151b of the two rollers 15a, 15b in a side view, and a distance M between an intersection point of a second straight line including a tip of the auxiliary member 6 and the road surface and an intersection point of the second straight line and a perpendicular line from the center position of the first straight line to the second straight line satisfies the condition of the following (Equation 1).

number

[0088] As a result, by attaching an auxiliary member with a simple configuration, the stability of the traveling device during traveling can be increased for the track-type traveling body 10. Also, by appropriately determining the distance M and the installation height h in (Equation 1), the track-type traveling body 10 can exhibit the effect of preventing tipping over by attaching the auxiliary member 6.

[0089] In the crawler-type traveling body according to one embodiment of the present invention, the auxiliary member 6 has a bar 61 having rigidity and an auxiliary wheel 65 (an example of a first auxiliary wheel) attached to the tip of the bar 61. The auxiliary member 6A has an auxiliary wheel 66 (an example of a second auxiliary wheel) attached to the middle part of the bar 6. This allows the crawler-type traveling body 10 to travel smoothly even when the tip of the auxiliary member 6 touches the ground. The crawler-type traveling body 10 can also prevent the tip of the auxiliary member 6 from damaging the road surface. Furthermore, by providing the auxiliary wheel 66 also to the middle part of the bar 61, the crawler-type traveling body 10 can travel more smoothly, for example, even when the middle part of the bar 61 is in contact with a protrusion or the like on the road surface.

[0090] Furthermore, in the crawler-type traveling body according to one embodiment of the present invention, the length L' of the bar 61 to the wheel axle of the auxiliary wheel 65 (an example of a first auxiliary wheel) satisfies the condition of the following (Equation 2).

number

[0091] As a result, the crawler-type traveling body 10 can directly determine the installation conditions of the auxiliary member 6 by expressing the wheel radius r, the length L', and the installation height h as one relational equation using (Equation 2).

[0092] Furthermore, in the track-type vehicle according to one embodiment of the present invention, when the position G of the center of gravity of the track-type vehicle 10 in a side view and the tip of the auxiliary member 6 are positioned vertically, the angle formed between the contact surface of the auxiliary member 6 and the bottom side of the track-type vehicle 10 is 90° or less. Furthermore, the installation height h of the tip of the auxiliary member 6 is lower than the position G of the center of gravity of the track-type vehicle 10. As a result, by installing the auxiliary member 6 in consideration of the expected overturning angle φ, the track-type vehicle 10 can prevent the traveling device 1 from overturning while traveling.

[0093] Furthermore, in the track-type vehicle according to one embodiment of the present invention, the auxiliary member 6 is provided substantially parallel to the road surface when the track-type vehicle 10 is stationary. The track-type vehicle 10 also includes a side plate 20a that supports the drive wheel 13 and the rollers 15a, 15b, and the side plate 20a has an attachment area Ra1 (or Ra2) in which a plurality of attachment portions 207a1 (or 207a2) for attaching the auxiliary member 6 are arranged substantially parallel to the road surface. This allows the track-type vehicle 10 to increase stability during traveling by attaching the auxiliary member 6 of a simple configuration that can be easily removed, without changing other configurations of the track-type vehicle 10. Furthermore, even if the traveling direction of the track-type vehicle 10 changes, the auxiliary member 6 can be easily replaced at a rear position in the traveling direction by attaching the auxiliary member 6 to either the attachment area Ra1 or the attachment area Ra2.

[0094] The traveling device according to one 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 travellable state. This allows the traveling device 1 to improve the stability of the traveling device 1 including the main body 50.

[0095] ●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]

[0096] 1 Running gear 6(6a,6b), 6A Auxiliary parts 10 (10a, 10b) Tracked vehicle 11 Tracks 13 Drive wheels 14 In-wheel motor 15a,15b Wheels 18a,18b Idler 19 Links 20a,20b side plate 61 Bar 65 Training wheels (an example of the first training wheel) 66 Training wheels (an example of a second training wheel) 111a Protrusion 141 Motor shaft (an example of a drive shaft) 151a, 151b Wheel shaft 207a1, 207a2, 207a3, 207a4 Mounting part Ra1,Ra2,Ra3,Ra4 mounting area

Claims

1. Tracks and A drive wheel for applying a driving force to the crawler; At least two wheels disposed below the drive wheels; A track-type traveling body in which the track is wound between the drive wheel and the roller, an auxiliary member attached to at least a rear position in a traveling direction of the track-type traveling body and which comes into contact with the ground when a bottom surface of the track-type traveling body is inclined with respect to a road surface; A side plate is provided to support the drive wheel, the roller, and the auxiliary member, The auxiliary member includes a straight bar. If a straight line that is parallel to a first line segment connecting the rotation axes of the two rollers in a side view and includes the tip end of the auxiliary member is defined as a second straight line, The attachment position of the bar to the side plate is on the second straight line, A track-type vehicle, wherein a distance M between an intersection point of the second straight line with a road surface and an intersection point of the second straight line with a perpendicular line from the center position of the first line segment to the second straight line satisfies the condition of the following (Equation 1). [0010] (In the above (Equation 1), h represents the installation height of the tip of the auxiliary member, W represents the distance between the wheel axes of the two wheels, and θ represents the maximum climbing angle of the track-type traveling body when the auxiliary member is detached.)

2. 2. The track-type vehicle according to claim 1, wherein the auxiliary member comprises the bar having rigidity and a first auxiliary wheel attached to a tip end of the bar.

3. 3. The track-type vehicle according to claim 2, wherein a length L' of the bar to the wheel axle of the first auxiliary wheel satisfies the condition of the following formula 2. [0025] (In the above (Equation 2), h represents the installation height of the tip of the auxiliary member, W represents the distance between the wheel axes of the two wheels, r represents the wheel radius of the first auxiliary wheel, and θ represents the maximum climbing angle of the track-type traveling body when the auxiliary member is detached.)

4. 4. The track-type vehicle according to claim 2, wherein the auxiliary member has a second auxiliary wheel attached to a middle portion of the bar.

5. 5. The track-type vehicle according to claim 1, wherein an angle between the contact surface of the auxiliary member and the auxiliary member is 90° or less when the center of gravity of the track-type vehicle in the side view and a tip end of the auxiliary member are positioned in a vertical direction.

6. 6. The track-type vehicle according to claim 5, wherein a height of a tip end of the auxiliary member is lower than a center of gravity of the track-type vehicle.

7. A track-type vehicle according to any one of claims 1 to 6, The side plate has an attachment area in which a plurality of attachment portions for attaching the auxiliary members are arranged substantially parallel to a road surface.

8. A track-type vehicle according to any one of claims 1 to 7, A main body that supports at least two of the track-type traveling bodies in a travelable state; A running gear comprising:

Images