Crawler Device

Abstract

To provide a small-sized crawler device that is easy in maintenance and capable of easily adjusting tension of a belt.SOLUTION: A crawler device 1 includes: a body 2 having a notch portion 2a; a drive source M; a main rotating portion 4 rotated by driving of the drive source M; a driven rotating portion 5 having a driven rotating shaft 5a and rotating around the driven rotating shaft 5a by following rotation of the main rotating portion 4; a belt 3 disposed on an outer periphery of the body 2 and wound around the main rotating portion 4 and the driven rotating portion 5; and a tension adjustment unit 7 connected to the driven rotating shaft 5a in the notch portion 2a to adjust tension of the belt 3.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a crawler device. [Background technology]

[0002] Conventionally, when a vehicle or cart is moved over flat ground, steps, slopes, or other ground surfaces, a structure in which a belt made of rubber or other material is attached to the outer periphery of the running wheels has been used. This allows the vehicle or cart to run smoothly and reduces damage to the running wheels from the ground surface.

[0003] The enclosed drive system for driving a drive wheel described in U.S. Pat. No. 5,799,743 (hereinafter, "Patent Document 1") has a first inner pocket, an outer pocket, and a second inner pocket, each formed in a first side plate. The enclosed drive system also has a drive gear attached to the first inner pocket, a transfer gear attached to the outer pocket, and a driven gear attached to the second inner pocket. The enclosed drive system also has a seal structure to prevent leakage of lubricant.

[0004] In the crawler traveling device described in Japanese Patent No. 6827436 (hereinafter referred to as "Patent Document 2"), a support frame that supports a drive unit, a driven wheel, and a battery installation part arranged between them is provided inside the endless belt-like crawler belt in a side view, and is within the band of the crawler belt. Furthermore, the battery can be freely attached and detached to the battery installation part.

[0005] Improvements to the drive of the crawler device have also been disclosed. For example, a travel restriction device for a crawler-type worker described in Japanese Utility Model Application Laid-Open Publication No. 7-2397 (hereinafter referred to as "Patent Document 3") uses a sprocket movement detection means to detect when the sprocket around which the crawler belt is looped has moved inwardly of the vehicle body by more than a predetermined amount against the biasing force of the sprocket biasing means. At this time, or when the tilt angle detection means detects that the vehicle body has tilted by more than a predetermined angle, a drive stop means stops the crawler device from traveling. Summary of the Invention [Problem to be solved by the invention]

[0006] Conventionally, many crawler devices have been developed for technical improvements to belt mechanisms of large equipment such as traveling vehicles (excavators), etc. Therefore, there is room for improvement in miniaturizing the crawler device. Specifically, it is necessary to achieve miniaturization by making the internal structures, such as the belt, gears, and housing, easier to disassemble, to reduce the weight of each component, and to adjust the belt tension.

[0007] Although Patent Document 1 discloses a structure that achieves airtightness, it does not disclose any ingenuity in how the belt is tensioned.

[0008] Patent Document 2 relates to a battery location, and partially illustrates an anti-release mechanism.

[0009] Patent Document 3 is about a stopping mechanism, and applies technology related to limit switches and sensors. However, when traveling on actual uneven or inclined surfaces, it is necessary to improve the ability to overcome unevenness or inclines and the gripping force when stopping.

[0010] An object of the present invention is to provide a small crawler device that is easy to maintain and allows for simple adjustment of belt tension. [Means for solving the problem]

[0011] The first aspect of the present invention is A body having a notch; A driving source; A main rotating portion that rotates in response to the driving of the driving source; a driven rotating part having a driven rotating shaft and rotating around the driven rotating shaft in response to rotation of the main rotating part; A belt is disposed on an outer periphery of the main body and wound around the main rotating portion and the driven rotating portion; a tension adjusting section that is connected to the driven rotating shaft at the notch and adjusts the tension of the belt; The crawler device has a Effect of the Invention

[0012] According to the present invention, it is possible to provide a crawler device which is easy to maintain and allows for simple adjustment of belt tension. [Brief description of the drawings]

[0013] [Figure 1] (a) is a perspective view of the crawler device in normal operation, and (b) is a perspective view of the crawler device during travel. [Diagram 2] (a) Cross-sectional view of the belt of the crawler device, (b) top view of the outer surface of the belt of the crawler device, (c) top view of the inner surface of the belt of the crawler device, and (d) cross-sectional views of the main rotating part, the auxiliary rotating part, and the sub rotating part. [Diagram 3] FIG. 2 is a perspective view showing the internal structure of the crawler device under normal conditions; [Figure 4] FIG. 4 is a perspective view showing the internal structure of the crawler device during traveling; [Diagram 5] (a) A side view showing the driven rotating part in the initial position, (b) A side view showing the driven rotating part in the intermediate protruding position, and (c) A side view showing the driven rotating part in the maximum protruding position. [Figure 6] Cross-sectional view of the crawler device [Figure 7] (a) is a perspective view of a traveling section to which a crawler device of a first modified example is attached, and (b) is a perspective view of a traveling section to which a crawler device of a second modified example is attached. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, the embodiments will be described with reference to the drawings as appropriate.

[0015] (Configuration of crawler device) The crawler device 1 of this embodiment travels on flat ground, steps, slopes, and other surfaces. As shown in Figs. 1(a) and (b), the crawler device 1 has a main body 2, a driving source M, a belt 3, a main rotation unit 4, a secondary rotation unit 5, and a secondary rotation unit 6. The driving source M generates a rotational force. The belt 3 is disposed on the outer periphery of the main body 2. The main rotation unit 4 rotates in response to the driving of the driving source M. The secondary rotation unit 5 and the secondary rotation unit 6 rotate following the rotation of the main rotation unit 4.

[0016] The main body 2 has a first plate 2A and a second plate 2B. The main body 2 houses a drive source M, a main rotating part 4, a secondary rotating part 5, and a secondary rotating part 6. Note that the main body 2 is not limited to two plates, the first plate 2A and the second plate 2B. The main body 2 may be an integrated casing. The main body 2 also has a cutout portion 2a.

[0017] The cutout portion 2a is formed by cutting out a part of the first plate 2A and the second plate 2B. The driven rotating part 5 has a driven rotating shaft 5a. The driven rotating shaft 5a of the driven rotating part 5 can slide within the cutout portion 2a. This allows the position of the driven rotating part 5 to be adjusted. The tip shape of the driven rotating shaft 5a is, for example, circular or polygonal. In this case, the cutout portion 2a has a width equal to the diameter of the tip of the driven rotating shaft 5a. In addition, the length of the cutout portion 2a is set so that the driven rotating shaft 5a can move to a position hidden by the first plate 2A and the second plate 2B.

[0018] As shown in Fig. 6, the driving source M has a housing M2, a driving connection part M3, and a driving fixing part M4. The driving connection part M3 is a protrusion at the tip of the driving source M. The driving source M generates a rotational force in the main rotating part 4 via the driving connection part M3. The driving source M is, for example, an electric motor or an air motor that is driven using electricity or air supplied from an external power source. The driving source M may also be a battery-powered motor that does not require an external power source.

[0019] The housing M2 houses the driving source M. The housing M2 makes it easy to fix the driving source M to the main body 2. In addition, the housing M2 protects the driving source M from the external environment. The drive coupling part M3 is a protrusion that transmits the rotation of the drive source M to the main rotation part 4. The drive coupling part M3 is, for example, a metal pin.

[0020] The drive fixing part M4 fixes the main body 2 and the housing M2. The drive fixing part M4 is a fastener such as a bolt and nut, male and female screws, or a pin.

[0021] The belt 3 is disposed on the outer periphery of the main body 2. The belt 3 may be made of an elastic material such as rubber. As shown in Figures 2(a) to (d), the belt 3 has protrusions of different numbers and shapes on its outer and inner surfaces. The belt 3 has a plurality of belt outer surface protrusions 3a on its outer surface. The belt 3 also has a plurality of belt inner surface protrusions 3b on its inner surface. The belt 3 also has a flat belt inner surface edge portion 3c on the edge side of the inner surface. The crawler device 1 runs when the belt outer surface protrusions 3a come into contact with the running surface. The belt inner surface protrusions 3b and the belt inner surface edge portion 3c come into contact with the main rotating portion 4, the driven rotating portion 5, and the auxiliary rotating portion 6, thereby reliably transmitting the driving force of the driving source M to the belt.

[0022] The belt 3 has more protrusions 3b on the inner belt surface than protrusions 3a on the outer belt surface. This allows the protrusions 3b on the inner belt surface to come into contact with the main rotating part 4, the auxiliary rotating part 5, and the auxiliary rotating part 6 more frequently. This allows the belt 3 to be stably positioned and increases the gripping force during running.

[0023] 2(c), the belt inner surface protrusion 3b has a width smaller than the overall width of the belt 3. Moreover, the belt inner surface protrusion 3b is not disposed on the edge side of the belt 3. Moreover, on the edge side of the inner surface of the belt 3, a flat surface of the belt inner surface edge portion 3c is formed.

[0024] The main rotating part 4 has a groove 4b and an edge 4c on its surface. The secondary rotating part 5 has a groove 5b and an edge 5c on its surface. The secondary rotating part 6 has a groove 6b and an edge 6c on its surface. The belt inner surface protrusion 3b comes into contact with the grooves 4b, 5b, and 6b, thereby allowing the driving force of the driving source M to be transmitted efficiently. Furthermore, the belt inner surface edge 3c comes into contact with the edges 4c, 5c, and 6c, thereby allowing the driving force of the driving source M to be transmitted even more efficiently.

[0025] By bringing the edges 4c, 5c, and 6c into contact with the belt inner surface edge 3c, it is possible to reduce the width of the belt 3 and the main rotating portion 4, the secondary rotating portion 5, and the secondary rotating portion 6. In addition, since the belt inner surface edge 3c and the edges 4c, 5c, and 6c are formed within the range of the width of the belt 3, the crawler device 1 can exert its tractive force by running using the entire width of the belt 3.

[0026] As shown in Figs. 3 to 6, the main rotating part 4 is a rotating body that rotates around a main rotating shaft 4a as the driving source M is driven. The main rotating part 4 has a circular cross section that is large enough to be stored inside the main body 2. When the crawler device 1 runs, the grooves 4b come into contact with the belt inner surface protrusions 3b. In addition, the edge 4c comes into contact with the belt inner surface edge 3c.

[0027] The main rotating shaft 4a passes through a central hole of the main rotating part 4. In addition, the main rotating shaft 4a is connected to a through hole of the main body 2. The main rotating part 4 is fixed to the main body 2. The main rotating shaft 4a is a pin-shaped shaft.

[0028] The main rotating shaft 4a is connected to the gear adjustment unit 8. When the driving source M is driven, the main rotating shaft 4a rotates via the drive connection unit M3. This causes the main rotating unit 4 connected to the main rotating shaft 4a to rotate. It is possible to increase (accelerate) or decrease (deceleration) the driving force (rotational force) of the driving source M, but by adjusting the rotation speed with the gear adjustment unit 8, the running speed of the crawler device 1 can be adjusted.

[0029] 6, the gear adjustment unit 8 transmits the driving force of the driving source M to the main rotating unit 4. The driving force of the driving source M is adjusted by changing the number of pitches of the gear grooves. The gear adjustment unit 8 has a first gear 8a, a second gear 8b, and a key 8c.

[0030] The first gear 8a is connected to the drive connection part M3 and transmits the driving force (rotation) of the drive source M. The second gear 8b is connected to the main rotating part 4 via a key 8c. A groove (gear) formed in the second gear 8b meshes with a groove (gear) formed in the first gear 8a, causing the main rotating part 4 to rotate. The second gear 8b is a separate member from the first gear 8a, and the gear ratio and the like can be set as appropriate.

[0031] 3 to 6, the slave rotating part 5 is a rotating body that rotates about a slave rotating shaft 5a following the rotation of the main rotating part 4. When the driving source M is driven, the main rotating part 4 rotates, and the slave rotating part 5 also rotates due to the rotational force.

[0032] The secondary rotating part 5 has a circular cross section that is sized to be stored inside the main body 2. The secondary rotating part 5 also has a smaller diameter than the primary rotating part 4. When the crawler device 1 runs, the groove part 5b comes into contact with the protrusion part 3b on the inner surface of the belt. Also, the edge part 5c comes into contact with the edge part 3c on the inner surface of the belt.

[0033] The driven rotating shaft 5a passes through a central hole of the driven rotating part 5. The driven rotating shaft 5a is also connected to a through hole of the main body 2. The position of the driven rotating part 5 can be adjusted by sliding the driven rotating shaft 5a within the range of the width of the cutout portion 2a. The slave rotating shaft 5a is a pin-shaped shaft.

[0034] 3, in normal operation, the driven rotating shaft 5a is moved to the inside of the notch 2a, and the driven rotating part 5 is stored inside the main body 2. At this time, disassembly work such as replacement of the belt 3 can be performed.

[0035] As shown in Fig. 4 and Fig. 5(a) to (c), when the driven rotating shaft 5a is moved to the outside of the notch 2a, the driven rotating part 5 protrudes to the outside of the main body 2. As a result, the front side in the traveling direction of the crawler device 1 (the left side in Fig. 4) becomes tapered. As a result, the shape of the crawler device 1 spreads outward, and the tension of the belt 3 becomes strong.

[0036] When the subordinate rotating part 5 is in the initial position shown in Fig. 5(a), the subordinate rotating part 5 is disposed inside the main body 2. When the subordinate rotating part 5 is in the intermediate protruding position shown in Fig. 5(b), a part of the subordinate rotating part 5 protrudes from the main body 2. When the subordinate rotating part 5 is in the maximum protruding position shown in Fig. 5(c), the subordinate rotating part 5 protrudes further from the main body 2. 5(b) and 5(c), the belt 3 has a tapered shape due to the arrangement of the driven rotation part 5 and the belt 3. The amount of tension of the belt 3 can be adjusted by adjusting the tapered shape of the belt 3. In addition, the tapered shape of the belt 3 can be adjusted according to the shape of obstacles on the surface on which the belt 3 travels.

[0037] 3 to 6, the auxiliary rotating part 6 is a rotating body that rotates around the auxiliary rotating shaft 6a following the rotation of the main rotating part 4. When the driving source M is driven, the main rotating part 4 rotates, and the auxiliary rotating part 6 also rotates due to the rotational force.

[0038] The auxiliary rotating part 6 has a circular cross section that is sized to be stored inside the main body 2. The auxiliary rotating part 6 also has a smaller diameter than the main rotating part 4 and the driven rotating part 5. When the crawler device 1 runs, the groove part 6b comes into contact with the belt inner surface protrusion part 3b. Also, the edge part 6c comes into contact with the belt inner surface edge part 3c.

[0039] The secondary rotating shaft 6a passes through a central hole of the secondary rotating part 6. The secondary rotating shaft 6a is connected to a through hole of the main body 2. The secondary rotating part 6 is fixed to the main body 2. The auxiliary rotating shaft 6a is a pin-shaped shaft.

[0040] The tension adjustment part 7, which is connected to the driven rotating shaft 5a at the cutout part 2a, can be switched between fixed and detached.

[0041] As shown in Figures 3 and 4, the tension adjustment unit 7 fixes the position of the driven rotating shaft 5a. The position of the driven rotating unit 5 is adjusted by changing the position of the driven rotating shaft 5a to the inside or outside. The tension adjustment unit 7 has a fixed end 7a and an adjustment rod 7b. The fixed end 7a and the adjustment rod 7b are, for example, a nut and a screw. The position of the driven rotating shaft 5a is changed to the inside or outside by aligning the position of a groove formed in the adjustment rod 7b with the fixed end 7a.

[0042] It should be noted that the position of the driven rotating shaft 5a cannot be changed while the crawler device 1 is traveling. If excessive pressure is applied to the driven rotating part 5 while the crawler device 1 is traveling, a locking mechanism may be added to the driven rotating part 5 or the tension adjustment part 7.

[0043] As a modified example of the tension adjustment part 7, a scale may be printed on the side part of the main body 2 around the notch 2a, and the position of the driven rotating shaft 5a may be adjusted in stages. This allows the amount of outward pushing of the driven rotating part 5 to be changed in stages, so that the tension of the belt 3 can be judged visually.

[0044] As a modification of the tension adjustment unit 7, the position of the driven rotating shaft 5a may be adjusted in stages using a pressure cylinder or the like.

[0045] In addition, in the present embodiment, the cutout portion 2a has a groove formed parallel to the main body 2, but the slave rotating shaft 5a may be slid diagonally upward or downward to allow optimal running according to the angle of the running location (flat ground, steps, inclined surfaces, etc.).

[0046] (Variation 1) The traveling mechanism may have multiple crawler devices 1. This allows the crawler device 1 to be applied to robots and the like that can travel freely even in narrow places. For example, as shown in Fig. 7(a), a pair of front crawler devices 1A and rear crawler devices 1B are attached to the left and right sides of the traveling part 100.

[0047] (Variation 2) As shown in FIG. 7(b), the lengths of the front crawler device 1A and the rear crawler device 1B may be different. A crawler device with a short overall length can be effectively used when climbing up steps and the like. Also, a crawler device with a long overall length can improve running performance on flat surfaces and the like. The layout of the crawler devices can be changed taking into account the characteristics of each.

[0048] As shown in Fig. 7(a) and (b), the control units 201, 202 may be arranged externally to control the crawler device 1. The control units 201, 202 manage the amount of power, air, and the like for driving the drive source M to remotely control the rotation speed of the drive source M. Also, the position of the driven rotation unit 5 is adjusted by remotely controlling the tension adjustment unit 7. This allows the crawler device 1 to travel stably even when the traveling surface (particularly the shape of an obstacle) changes.

[0049] The operation procedure of the crawler device 1 of this embodiment will be described below. First, the position of the driven rotating part 5 is adjusted according to the surface on which the crawler device 1 runs, particularly according to the shape of any obstacles. When running on a relatively flat surface where the shape of the obstacle is unlikely to affect running, the driven rotating part 5 is adjusted to a position hidden inside the main body 2. When running on a surface with a relatively large step or incline where the shape of the obstacle is likely to affect running, the driven rotating part 5 is adjusted to a position outside the main body 2. Specifically, the tension adjustment part 7 is operated to move the driven rotating shaft 5a to the outside of the cutout part 2a, thereby adjusting the position of the driven rotating part 5. This adjusts the tension of the belt 3.

[0050] Next, the driving source M is driven. This rotates the main rotating part 4 from the driving connection part M3 via the gear adjustment part 8 and the main rotating shaft 4a. As the main rotating part 4 rotates, the belt 3 rotates while the driven rotating part 5 and the auxiliary rotating part 6 follow, and the crawler device 1 runs.

[0051] The belt 3 is tapered by positioning the driven rotation part 5 on the outside of the main body 2. This makes it difficult for the belt 3 to stop running on the surface of a step when going over the step, and allows the belt 3 to run up the step.

[0052] Furthermore, by using the control units 201, 202, etc. to remotely control the rotation speed of the driving source M and the position of the driven rotation unit 5, the crawler device 1 can continue to run even when the shape of an obstacle on the surface along which it runs changes. For example, when the shape of the obstacle is likely to affect the traveling, the position of the driven rotation part 5 is pushed outward and the gradient of the tapered shape ahead in the traveling direction of the crawler device 1 is set to be large, thereby making it easier for the crawler device 1 to travel. On the other hand, when the shape of the obstacle is unlikely to affect the traveling, the position of the driven rotation part 5 is pushed outward, but the gradient of the tapered shape ahead in the traveling direction of the crawler device 1 is set to be small, thereby making it easier for the crawler device 1 to travel.

[0053] As described above, the present invention is not limited to the above-described embodiment, and it goes without saying that the present invention can be modified appropriately without departing from the spirit and scope of the present invention. [Explanation of symbols]

[0054] 1 Crawler device 2 Main unit 2A First Plate 2B Second Plate 2a Notch 3 Belt 3a Belt outer surface protrusion 3b Belt inner surface protrusion 3c Belt inner edge 4 Main Rotor 4a Main Rotating Shaft 4b Groove (first groove) 4c Edge (first edge) 5. Subordinate Rotor 5a Slave rotating shaft 5b Groove portion (second groove portion) 5c Edge (second edge) 6 Sub-rotor 6a Secondary rotating shaft 6b Groove 6c Edge 7 Tension adjustment section 7a fixed end 7b Adjustment rod 8 Gear adjustment section 8a First Gear 8b Second Gear 8c Key M Drive source M2 Chassis M3 Drive Connection M4 Drive Fixing Part 100, 101 Running part

Claims

1. A body having a notch; A driving source; A main rotating portion that rotates in response to the driving of the driving source; a driven rotating part having a driven rotating shaft and rotating around the driven rotating shaft in response to rotation of the main rotating part; A secondary rotating part having a secondary rotating shaft and rotating around the secondary rotating shaft in accordance with the rotation of the main rotating part; A belt is disposed on an outer periphery of the main body and wound around the main rotating part, the subordinate rotating part, and the auxiliary rotating part, A belt outer surface protrusion formed on the outer surface; A belt inner surface protrusion portion formed on the inner surface; an inner belt edge portion disposed on an outer edge of the inner belt protrusion portion; A belt having a tension adjusting section that is connected to the driven rotating shaft at the notch and adjusts the tension of the belt; having The body is contained within a width of the belt; The main body extends in a front-rear direction, The cutout portion extends in a direction inclined with respect to the front-rear direction so that the slave rotation shaft can slide obliquely upward. Crawler device.

2. The tension adjustment unit is A fixed end for adjusting the tension of the belt; An adjustment rod fixed to the fixed end; The crawler device of claim 1 , further comprising:

3. the main rotating portion has a first groove portion on a surface thereof, The driven rotation portion has a second groove portion on a surface thereof. The crawler device according to claim 1 or 2.

4. the main rotor has a first edge on an outer surface of the first groove; The secondary rotation portion has a second edge portion on an outer surface of the second groove portion. The crawler device of claim 3 .

5. Further comprising a gear adjustment unit for adjusting the rotation speed of the drive source transmitted to the main rotation unit. The crawler device according to any one of claims 1 to 4.

6. The gear adjustment unit includes: a first gear coupled to the driving source; a second gear coupled to the main rotating portion; The crawler device of claim 5 , further comprising:

7. When the crawler device travels on a surface having a step or an incline, the driven rotation part can be disposed outside the main body. The crawler device according to any one of claims 1 to 6.

8. The secondary rotating portion has a smaller diameter than the primary rotating portion and the secondary rotating portion. The crawler device according to any one of claims 1 to 7.

9. The body has a scale around the notch. The crawler device according to any one of claims 1 to 8.

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