JPH05116654A - Travel mechanism - Google Patents
Travel mechanismInfo
- Publication number
- JPH05116654A JPH05116654A JP3281364A JP28136491A JPH05116654A JP H05116654 A JPH05116654 A JP H05116654A JP 3281364 A JP3281364 A JP 3281364A JP 28136491 A JP28136491 A JP 28136491A JP H05116654 A JPH05116654 A JP H05116654A
- Authority
- JP
- Japan
- Prior art keywords
- screw shaft
- pipe
- endless belts
- endless belt
- wall
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
Landscapes
- Manipulator (AREA)
Abstract
Description
【0001】[0001]
【産業上の利用分野】本発明は走行機構に係り、特に走
行時の壁への押圧力を調整しながら狭隘で小さな径の配
管内を走行できるようにした走行機構に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling mechanism and, more particularly, to a traveling mechanism capable of traveling in a narrow pipe having a small diameter while adjusting a pressing force against a wall during traveling.
【0002】[0002]
【従来の技術】近年、原子力発電所や化学プラント等に
おいて、複雑な配置形状の管内を点検するための小形の
移動点検車が開発され実用に供されている。これらの移
動点検車の走行方式としては車輪型、クローラ型、ほふ
く型等各種の方式が開発されている。2. Description of the Related Art In recent years, a small mobile inspection vehicle for inspecting the inside of a pipe having a complicated arrangement has been developed and put into practical use in a nuclear power plant, a chemical plant or the like. Various types such as a wheel type, a crawler type, and a wiping type have been developed as the traveling system of these mobile inspection vehicles.
【0003】また、この種の配管では、管内壁に堆積物
が付着して断面が閉塞していたりレジューサのように管
径が変化する部分も多い。このため管径変化に対応でき
る点検車等の走行機構が必要となってきている。また、
垂直管などを安全に登攀できるように走行機構部分を管
内壁に押圧するための押圧機構を備えることも求められ
ている。Further, in this type of piping, there are many portions where the deposit adheres to the inner wall of the tube and the cross section is blocked, or the diameter of the tube changes like a reducer. For this reason, a traveling mechanism such as an inspection vehicle that can cope with a change in pipe diameter is required. Also,
It is also required to provide a pressing mechanism for pressing the traveling mechanism portion against the inner wall of the pipe so that a vertical pipe or the like can be safely climbed.
【0004】これらの要望を実現するために、車輪と駆
動機構との間にバネ等の緩衝装置を介装させた装置が提
案されている。この走行装置によればバネが変形して管
径の変化を吸収することができる。さらに各車輪に管内
壁への押圧駆動装置を備え、車輪と壁面との摩擦力によ
り大きな駆動力を確保し、垂直管の登攀を可能にした走
行装置もある。In order to meet these demands, there has been proposed a device in which a shock absorbing device such as a spring is interposed between a wheel and a drive mechanism. According to this traveling device, the spring can be deformed to absorb the change in the pipe diameter. Further, there is a traveling device in which each wheel is provided with a pressing drive device for the inner wall of the pipe, and a large driving force is secured by the frictional force between the wheel and the wall surface, thereby making it possible to climb a vertical pipe.
【0005】[0005]
【発明が解決しようとする課題】しかしながら、いずれ
の点検車も口径の比較的大きな配管を対象としており、
上述の走行機構を組み込んだ場合、装置全体が大きくな
り、装置の小型化への対応が難しく、さらに小さな径の
配管を対象にした移動点検車の走行機構の開発が強く望
まれている。However, all the inspection vehicles are intended for pipes having a relatively large diameter,
When the above-mentioned traveling mechanism is incorporated, the entire apparatus becomes large and it is difficult to cope with the downsizing of the apparatus, and it is strongly desired to develop a traveling mechanism for a mobile inspection vehicle for pipes having a smaller diameter.
【0006】そこで、本発明の目的は上述した従来の技
術が有する問題点を解消し、簡単な構成でより小さな径
の配管内を走行できる走行機構を提供することにある。SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problems of the prior art and to provide a traveling mechanism that can travel in a pipe having a smaller diameter with a simple structure.
【0007】[0007]
【課題を解決するための手段】上記目的を達成するため
に、本発明は回転駆動可能なスクリュシャフトと、この
スクリュシャフトを中心として放射状に配置されるとと
もに上記スクリュシャフトと噛合してスクリュシャフト
の回転により駆動可能な複数の無端状ベルトと、この無
端状ベルトを支持する複数の回転軸受と、この回転軸受
のうちの少なくとも1個を上記スクリュシャフトの径方
向に付勢する付勢機構とを備えたことを特徴とするもの
である。In order to achieve the above object, the present invention provides a screw shaft which can be rotationally driven, and a screw shaft which is arranged radially around the screw shaft and meshes with the screw shaft. A plurality of endless belts that can be driven by rotation, a plurality of rotary bearings that support the endless belts, and a biasing mechanism that biases at least one of the rotary bearings in the radial direction of the screw shaft. It is characterized by having.
【0008】[0008]
【作用】本発明によれば、回転駆動可能に装着されたス
クリュシャフトを中心として複数の無端状ベルトを放射
状に配置してスクリュシャフトに噛合して上記スクリュ
シャフトの回転により駆動させるとともに、この無端状
ベルトを支持する複数の回転軸受のうちの少なくとも1
個を付勢機構で付勢してスクリュシャフトの径方向に突
出させ上記無端状ベルトの一部を走行面に押圧させたの
で、スクリュシャフトの外周に放射状に配置されかつス
クリュシャフトと噛合した無端状ベルトが回転し、スク
リュシャフトの回転運動を無端状ベルトの管軸方向への
回転運動へと変換し、無端状ベルトが管壁と当接するこ
とにより管軸方向への走行移動を可能にし、これにより
走行機構の大型化の要因となるギヤトレイン等の機構部
品を減らし、スクリュシャフトと無端状ベルトの必要最
少限度の構成伝達要素により極めて小型の走行機構を実
現できる。このとき無端状ベルトが壁面に押圧されるの
で管内壁からの抗力が作用し、走行に必要な推進力を確
保することができるとともに、付勢機構としてねじりコ
イルばねを使用したことにより装置を小型にすることが
できる。また配管径の変化に対しても管軸方向の外周に
向けて突出状態にあるねじりコイルばねが内方に向けて
変形することにより対応できる。According to the present invention, a plurality of endless belts are radially arranged around a screw shaft mounted so as to be rotatable and are engaged with the screw shaft to be driven by the rotation of the screw shaft. At least one of a plurality of rotary bearings supporting a belt-shaped belt
Since the individual members are urged by the urging mechanism to project in the radial direction of the screw shaft and a part of the endless belt is pressed against the running surface, the endless belt radially arranged on the outer periphery of the screw shaft and meshed with the screw shaft. The endless belt rotates, converts the rotational movement of the screw shaft into the rotational movement of the endless belt in the tube axis direction, and allows the endless belt to move in the tube axis direction by contacting the tube wall. As a result, it is possible to reduce mechanical components such as a gear train, which causes an increase in the size of the traveling mechanism, and to realize an extremely small traveling mechanism by the minimum necessary constituent transmission elements of the screw shaft and the endless belt. At this time, since the endless belt is pressed against the wall surface, the drag force from the inner wall of the pipe acts and the propulsive force necessary for running can be secured, and the device is made compact by using the torsion coil spring as the urging mechanism. Can be Further, it is possible to cope with a change in the pipe diameter by deforming the torsion coil spring which is in a protruding state toward the outer periphery in the pipe axis direction, inward.
【0009】[0009]
【実施例】以下本発明による走行機構の一実施例を図1
乃至図4を参照して説明する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a traveling mechanism according to the present invention is shown in FIG.
It will be described with reference to FIGS.
【0010】図1及び図2は配管内部に配置された走行
装置の一部分である走行機構1を示したものである。駆
動源である電動モータ2の回転軸にはカップリング3を
介して走行機構1のスクリュシャフト4が装着されてい
る。このスクリュシャフト4の両端部は軸受5、6で回
転自在に支承されており、さらにこの軸受5、6は断面
形状が略L字形の軸受フレームFの管軸方向の両端部に
嵌着されている。またスクリュシャフト4のねじ部4a
には無端状ベルト7の一部が噛合している。この無端状
ベルト7はゴム質のタイミングベルトから構成されてお
り、その内周位置において軸受8、9、10により所定
のテンションを付与された状態で支承されている。この
とき軸受8、9を支える軸11、12の軸端部は図3に
示したように軸受フレームFに形成された長丸孔14、
15に係合支持されており、これにより軸11、12は
管軸方向、すなわち走行機構本体1の走行軸方向にスラ
イドすることができる。一方、軸受10を支持する軸1
3は図1及び図3に示したように軸受フレームFの内面
に管軸直角方向に形成された係合溝16に係合されてお
り、これにより軸13は管軸直角方向にスライドするこ
とができる。FIG. 1 and FIG. 2 show a traveling mechanism 1 which is a part of a traveling device arranged inside a pipe. A screw shaft 4 of the traveling mechanism 1 is attached to a rotary shaft of an electric motor 2 which is a drive source via a coupling 3. Both ends of the screw shaft 4 are rotatably supported by bearings 5 and 6, and the bearings 5 and 6 are fitted to both ends of the bearing frame F having a substantially L-shaped cross section in the pipe axial direction. There is. Further, the screw portion 4a of the screw shaft 4
A part of the endless belt 7 is meshed with. The endless belt 7 is composed of a rubber timing belt, and is supported in its inner peripheral position in a state where a predetermined tension is applied by bearings 8, 9 and 10. At this time, the shaft ends of the shafts 11 and 12 supporting the bearings 8 and 9 have oblong holes 14 formed in the bearing frame F as shown in FIG.
The shafts 11 and 12 are slidable in the tube axis direction, that is, in the traveling axis direction of the traveling mechanism main body 1, by being engaged with and supported by 15. On the other hand, the shaft 1 supporting the bearing 10
As shown in FIGS. 1 and 3, 3 is engaged with an engaging groove 16 formed in the inner surface of the bearing frame F in the direction perpendicular to the tube axis, whereby the shaft 13 can slide in the direction perpendicular to the tube axis. You can
【0011】ここで無端状ベルト7の内周部における軸
受8、9、10とねじりコイルばね17との関係を図1
及び図4を参照して説明する。図4に示したように、無
端状ベルト7は、ねじりコイルばね17で所定方向に付
勢された軸受8、9、10で張架され、その形状が規定
されている。すなわち、軸受8、9、10を支持する軸
11、12、13はねじりコイルばね17のコイル部分
が軸13を中心として対称形となるように軸に巻回さ
れ、さらに軸受8、9が軸受10を挟んで対向して近接
するように付勢された状態にあり、軸受10はねじりコ
イルばね17によりスクリュシャフト4の径方向、すな
わち管内壁に向けて突出するように付勢されている。こ
のとき軸受8、9、10の外径はねじりコイルばね17
のコイル部分の外径より大きく設定されており、これに
より無端状ベルト7は偏平な三角形状をなすように張架
され、軸受8、9、10の外周部分で確実に接触支持さ
れる。The relationship between the bearings 8, 9, 10 and the torsion coil spring 17 in the inner peripheral portion of the endless belt 7 is shown in FIG.
And FIG. 4 will be described. As shown in FIG. 4, the endless belt 7 is stretched by bearings 8, 9 and 10 which are biased in a predetermined direction by a torsion coil spring 17, and its shape is defined. That is, the shafts 11, 12, and 13 that support the bearings 8, 9, and 10 are wound around the shafts so that the coil portion of the torsion coil spring 17 is symmetrical about the shaft 13, and the bearings 8 and 9 are also bearings. The bearing 10 is biased so as to face each other with the pinch 10 in between, and the bearing 10 is biased by the torsion coil spring 17 so as to project in the radial direction of the screw shaft 4, that is, toward the inner wall of the pipe. At this time, the outer diameters of the bearings 8, 9 and 10 are the same as those of the torsion coil spring 17.
Is set to be larger than the outer diameter of the coil portion, so that the endless belt 7 is stretched so as to form a flat triangular shape, and securely supported by the outer peripheral portions of the bearings 8, 9, and 10.
【0012】さらに上述のように構成された無端状ベル
ト7は、図2に示したように断面に対して90°の間隔
をあけ、十字形状に配設され、4個の軸受フレームF、
F…により各軸11、12、13の軸端部が支持されて
いる。Further, as shown in FIG. 2, the endless belt 7 configured as described above is arranged in a cross shape with a 90 ° interval with respect to the cross section, and is provided with four bearing frames F,
The shaft ends of the shafts 11, 12 and 13 are supported by F.
【0013】この状態で電動モータ2からの出力がカッ
プリング3を介してスクリュシャフト4に伝達され、ス
クリュシャフト4のねじ部4aで噛合された無端状ベル
ト7に対して管軸方向の回転力が付与される。このとき
軸受10が管壁Wに対して突出した状態にあり、無端状
ベルト7から適度な押圧力が管壁Wに作用し管壁Wから
の抗力により管軸方向への推進力が確保される。In this state, the output from the electric motor 2 is transmitted to the screw shaft 4 via the coupling 3, and the rotational force in the tube axis direction is applied to the endless belt 7 meshed with the screw portion 4a of the screw shaft 4. Is given. At this time, the bearing 10 is in a state of protruding with respect to the pipe wall W, and an appropriate pressing force acts on the pipe wall W from the endless belt 7, and the drag force from the pipe wall W secures the propulsive force in the pipe axial direction. It
【0014】無端状ベルト7の全体形状は管壁との接触
のない自由状態では、ねじりコイルばね17の付勢装着
前の自由状態での形状と軸受フレームFに形成された長
丸孔14、15との距離の関係により軸11、12の軸
間距離Lが最短となるように決定される。この軸間距離
Lに対応して軸13は係合溝16の所定高さに一意に設
定される。この状態にある走行機構1が管径の小さい部
分に達すると、突出した軸受10の部分に作用する管壁
Wからの抗力が増加し、ねじりコイルばね17が装置中
心軸に向かって変形する。これにより軸11、12の軸
間距離Lが長丸孔14、15をガイドとして拡がるとと
もに、軸受10を支持する軸13が係合溝16に沿って
中心軸方向にスライドする。この結果、対向する無端状
ベルト7の外縁間距離Dが小さくなり、管径の縮小に対
応できる(図3参照)。In the free state in which the endless belt 7 does not come into contact with the tube wall, the shape of the endless belt 7 in the free state before the biasing mounting of the torsion coil spring 17 and the oblong hole 14 formed in the bearing frame F, The distance L between the shafts 11 and 12 determines the distance L between the shafts 11 and 12 to be the shortest. The shaft 13 is uniquely set to a predetermined height of the engagement groove 16 in correspondence with the distance L between the shafts. When the traveling mechanism 1 in this state reaches a portion where the pipe diameter is small, the drag force from the pipe wall W acting on the protruding bearing portion 10 increases, and the torsion coil spring 17 is deformed toward the central axis of the device. As a result, the inter-axial distance L between the shafts 11 and 12 expands using the oblong holes 14 and 15 as guides, and the shaft 13 that supports the bearing 10 slides along the engagement groove 16 in the central axis direction. As a result, the distance D between the outer edges of the endless belts 7 facing each other is reduced, and it is possible to cope with the reduction of the pipe diameter (see FIG. 3).
【0015】なお、上述の無端状ベルト7をスクリュシ
ャフト4の回りに120°の間隔をなして3本配置した
構成の走行機構としても良い。この場合には無端状ベル
ト7とスクリュシャフト4との滑り摩擦の合計値が小さ
くなるので、大きな駆動力が発生する。また、図5に示
したようにねじりコイルばね17に代えてリンク20、
21と引張りばね22とを組み合わせた付勢機構23に
より同様の機構を実現することができる。この付勢機構
23によれば引張りばね22により軸11、12は互い
に接近するように付勢され、軸間距離Lが最小となるよ
うに決定されている。It should be noted that a traveling mechanism having a structure in which three endless belts 7 are arranged around the screw shaft 4 at intervals of 120 ° may be used. In this case, the total value of the sliding friction between the endless belt 7 and the screw shaft 4 becomes small, so that a large driving force is generated. Further, as shown in FIG. 5, instead of the torsion coil spring 17, the link 20,
A similar mechanism can be realized by the urging mechanism 23 that is a combination of 21 and the tension spring 22. According to this urging mechanism 23, the tension springs 22 urge the shafts 11 and 12 toward each other, and the distance L between the shafts is determined to be minimum.
【0016】さらに、無端状ベルトとしては上述のタイ
ミングベルトに代えて図6に示したような溝付ベルト3
0を使用することもできる。この溝付ベルト30は所定
幅の係止溝31がはしご状に形成された樹脂製ベルト
で、この溝付ベルト30によればスクリュシャフト4の
回転に伴いねじ部4aが係止溝31に連続的に係合し、
ベルトを回転させることができる。この溝付ベルト30
はタイミングベルト7に比べて凸状部を有しないので、
管の内面が柔軟な場合にその表面に傷をつけない等の利
点を有する。Further, as the endless belt, a grooved belt 3 as shown in FIG. 6 is used instead of the above-mentioned timing belt.
It is also possible to use 0. The grooved belt 30 is a resin belt in which a locking groove 31 having a predetermined width is formed in a ladder shape. According to the grooved belt 30, the screw portion 4a is continuous with the locking groove 31 as the screw shaft 4 rotates. To engage,
The belt can be rotated. This grooved belt 30
Has no convex portion compared to the timing belt 7,
When the inner surface of the tube is flexible, it has an advantage that the surface is not damaged.
【0017】[0017]
【発明の効果】以上の説明から明らかなように、本発明
の走行機構によれば、回転駆動可能に装着されたスクリ
ュシャフトを中心として複数の無端状ベルトを放射状に
配置してスクリュシャフトに噛合して上記スクリュシャ
フトの回転により駆動させるとともに、この無端状ベル
トを支持する複数の回転軸受のうちの少なくとも1個を
付勢機構で付勢してスクリュシャフトの径方向に突出さ
せ上記無端状ベルトの一部を走行面に押圧させたので、
スクリュシャフトと無端状ベルトの必要最少限度の構成
要素により極めて小型の走行機構を実現でき、また、付
勢機構を内部に収容した状態で配管径の変化に対応で
き、小型化が確実になるという効果を奏する。As is apparent from the above description, according to the traveling mechanism of the present invention, a plurality of endless belts are radially arranged around the screw shaft rotatably mounted and mesh with the screw shaft. Then, the endless belt is driven by the rotation of the screw shaft, and at least one of a plurality of rotary bearings supporting the endless belt is urged by an urging mechanism to project in the radial direction of the screw shaft. Since I pressed some of the above against the running surface,
With the minimum required components of the screw shaft and endless belt, it is possible to realize an extremely small traveling mechanism, and it is possible to respond to changes in pipe diameter with the urging mechanism housed inside, which will ensure miniaturization. Produce an effect.
【図1】本発明による走行機構の一実施例を示した縦断
面図。FIG. 1 is a vertical sectional view showing an embodiment of a traveling mechanism according to the present invention.
【図2】図1に示した走行機構の正面図。FIG. 2 is a front view of the traveling mechanism shown in FIG.
【図3】図1に示した走行機構の側面図。FIG. 3 is a side view of the traveling mechanism shown in FIG.
【図4】図3に示した走行機構のIV−IV線断面図。FIG. 4 is a sectional view taken along line IV-IV of the traveling mechanism shown in FIG.
【図5】本発明による走行機構の付勢機構の変形例を示
した一部縦断面図。FIG. 5 is a partial vertical sectional view showing a modified example of the biasing mechanism of the traveling mechanism according to the present invention.
【図6】本発明による走行機構の無端状ベルトの変形例
を示した斜視図。FIG. 6 is a perspective view showing a modified example of the endless belt of the traveling mechanism according to the present invention.
1 走行機構 4 スクリュシャフト 7,30 無端状ベルト 8,9,10 軸受 14,15 長丸孔 16 係合溝 17,23 付勢機構 DESCRIPTION OF SYMBOLS 1 Traveling mechanism 4 Screw shaft 7,30 Endless belt 8,9,10 Bearing 14,15 Oval hole 16 Engaging groove 17,23 Energizing mechanism
Claims (1)
スクリュシャフトを中心として放射状に配置されるとと
もに上記スクリュシャフトと噛合してスクリュシャフト
の回転により駆動可能な複数の無端状ベルトと、この無
端状ベルトを支持する複数の回転軸受と、この回転軸受
のうちの少なくとも1個を上記スクリュシャフトの径方
向に付勢する付勢機構とを備えたことを特徴とする走行
機構。1. A screw shaft which can be rotationally driven, a plurality of endless belts which are arranged radially about the screw shaft and which are meshed with the screw shaft and can be driven by rotation of the screw shaft, and the endless belt. A traveling mechanism comprising: a plurality of rotary bearings that support a belt; and a biasing mechanism that biases at least one of the rotary bearings in the radial direction of the screw shaft.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP3281364A JPH05116654A (en) | 1991-10-28 | 1991-10-28 | Travel mechanism |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP3281364A JPH05116654A (en) | 1991-10-28 | 1991-10-28 | Travel mechanism |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH05116654A true JPH05116654A (en) | 1993-05-14 |
Family
ID=17638091
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP3281364A Pending JPH05116654A (en) | 1991-10-28 | 1991-10-28 | Travel mechanism |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH05116654A (en) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2005116484A3 (en) * | 2004-05-28 | 2006-06-22 | Schlumberger Ca Ltd | Chain drive system |
CN1332845C (en) * | 2004-11-01 | 2007-08-22 | 大连大学 | Steps climbing robot |
EP2113475A1 (en) * | 2008-04-28 | 2009-11-04 | Tsubakimoto Chain Co. | Conveyor chain and conveyor chain conveying device |
CN102700636A (en) * | 2012-05-30 | 2012-10-03 | 上海大学 | Crawler drive device capable of assisting search and rescue equipment in entering interiors of ruins or pipes |
JP2014193707A (en) * | 2012-05-26 | 2014-10-09 | Ryukoku Univ | Crawler type robot and travel robot connection body which is connection thereof |
CN104554501A (en) * | 2015-01-07 | 2015-04-29 | 上海大学 | Crawler type drive device for narrow and small space |
CN113479017A (en) * | 2021-06-23 | 2021-10-08 | 江苏科技大学 | Universal crawler belt wheel set and movement method thereof |
-
1991
- 1991-10-28 JP JP3281364A patent/JPH05116654A/en active Pending
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2005116484A3 (en) * | 2004-05-28 | 2006-06-22 | Schlumberger Ca Ltd | Chain drive system |
US7222682B2 (en) | 2004-05-28 | 2007-05-29 | Schlumberger Technology Corp. | Chain drive system |
GB2428280B (en) * | 2004-05-28 | 2008-11-19 | Schlumberger Holdings | Chain drive system |
CN1332845C (en) * | 2004-11-01 | 2007-08-22 | 大连大学 | Steps climbing robot |
EP2113475A1 (en) * | 2008-04-28 | 2009-11-04 | Tsubakimoto Chain Co. | Conveyor chain and conveyor chain conveying device |
US7971706B2 (en) | 2008-04-28 | 2011-07-05 | Tsubakimoto Chain Co. | Conveyor chain and conveyor chain driving device |
JP2014193707A (en) * | 2012-05-26 | 2014-10-09 | Ryukoku Univ | Crawler type robot and travel robot connection body which is connection thereof |
CN102700636A (en) * | 2012-05-30 | 2012-10-03 | 上海大学 | Crawler drive device capable of assisting search and rescue equipment in entering interiors of ruins or pipes |
CN104554501A (en) * | 2015-01-07 | 2015-04-29 | 上海大学 | Crawler type drive device for narrow and small space |
CN113479017A (en) * | 2021-06-23 | 2021-10-08 | 江苏科技大学 | Universal crawler belt wheel set and movement method thereof |
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