JPS58167263A - Travel gear - Google Patents

Travel gear

Info

Publication number
JPS58167263A
JPS58167263A JP57047178A JP4717882A JPS58167263A JP S58167263 A JPS58167263 A JP S58167263A JP 57047178 A JP57047178 A JP 57047178A JP 4717882 A JP4717882 A JP 4717882A JP S58167263 A JPS58167263 A JP S58167263A
Authority
JP
Japan
Prior art keywords
guide wheel
lever
tip
traveling device
disc
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
Application number
JP57047178A
Other languages
Japanese (ja)
Inventor
Taro Iwamoto
太郎 岩本
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Ltd
Original Assignee
Hitachi Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Hitachi Ltd filed Critical Hitachi Ltd
Priority to JP57047178A priority Critical patent/JPS58167263A/en
Publication of JPS58167263A publication Critical patent/JPS58167263A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B15/00—Wheels or wheel attachments designed for increasing traction
    • B60B15/02—Wheels with spade lugs
    • B60B15/06—Wheels with spade lugs with pivotally-mounted spade lugs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B3/00—Disc wheels, i.e. wheels with load-supporting disc body
    • B60B3/10—Disc wheels, i.e. wheels with load-supporting disc body apertured to simulate spoked wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/02—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B2900/00—Purpose of invention
    • B60B2900/30—Increase in
    • B60B2900/351—Increase in versatility, e.g. usable for different purposes or different arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B2900/00—Purpose of invention
    • B60B2900/50—Improvement of
    • B60B2900/551—Handling of obstacles or difficult terrains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/10—Road Vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/40—Special vehicles
    • B60Y2200/47—Climbing vehicles, e.g. facade climbing devices
    • B60Y2200/48—Stair-climbing vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Handcart (AREA)

Abstract

PURPOSE:To enhance traversability in going up and down an obstacle ahead as well as a flight or steps, while keeping its ability to run at high speed on a flat road, by attaching a shaft to the side of a rotary disc and supporting a vane fitted with a lever in a fulcrum manner, while coupling the tip of the lever with an annular groove of an eccentric guide plate. CONSTITUTION:A disc 7 is attached to an axle 25 while shafts 9 are installed thereat. A train of vanes 8 each fitted with a lever 10 are supported on these shafts 9, and the tip of the lever 10 is coupled with a guide groove 13 of a guide wheel 12. When this guide wheel 12 is made to be out of center, the tip of each vane 8 can be extruded outward. With this projection that can catch a road surface, traversability in going up and down an obstacle ahead as well as a flight of steps can be highly improved.

Description

【発明の詳細な説明】 本発明は移動用の走行装置に係シ、特に障害物乗越えや
階段走行などを要求される悪路走行に適した走行装置に
関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a traveling device for transportation, and more particularly to a traveling device suitable for traveling on rough roads that requires overcoming obstacles, running on stairs, and the like.

一般に、移動手段としてはほぼ同一半径を有する車輪が
用いられている。この車輪は平坦路の高速走行に適し、
多少の坂路の走行も可能であるが、急坂路や高い段差が
ある場合は走行が困峻である。Generally, wheels having approximately the same radius are used as a means of transportation. This wheel is suitable for high-speed driving on flat roads,
Although it is possible to drive on some slopes, it is difficult to drive on steep slopes or high steps.

また、悪路走行の手段としては、土木機械等に多く用い
られるクロー−）（無限軌道）がある。このクローラは
軟弱地盤走行に適しておシ、急坂路の走行にも適してい
るが、方向転換時の抵抗が大きく、高速走行が難しく、
路面を傷つけ易く、重量が過大になるなどの問題がめシ
、建屋円移動には問題が多い。Further, as a means of traveling on rough roads, there is a claw (claw) (endless track) often used in civil engineering machines and the like. This crawler is suitable for running on soft ground and also suitable for running on steep slopes, but it has a large resistance when changing direction and is difficult to run at high speeds.
There are many problems with moving buildings, such as easily damaging the road surface and excessive weight.

本発明の目的は、平坦路では高速で走行でき、障害物を
乗り越える場合や階段昇降時は確実に踏破できる走行装
置を提供するにある。SUMMARY OF THE INVENTION An object of the present invention is to provide a traveling device that can travel at high speed on a flat road and can reliably traverse obstacles and climb stairs.

本発明は上記の目的を達成するために、悪路走行が可能
である走行装置において、回転力を伝達される円板の側
面に、複数の軸を前記円板の回転軸と平行に取ｐ付け、
前記軸に、レバーを固着した板状の羽根を回転可能に取
シ付け、前記レバーの先端を、前記円板に平行に配置し
た案内輪の側面に切込んだ環状溝に連結し、前記案内輪
を前記円板に対して偏心させるための調整手段を案内輪
に設けたものである。In order to achieve the above object, the present invention provides a traveling device capable of traveling on rough roads, in which a plurality of shafts are installed on the side surface of a disc to which rotational force is transmitted, parallel to the rotational axis of the disc. Attached,
A plate-like blade with a lever fixed thereon is rotatably mounted on the shaft, and the tip of the lever is connected to an annular groove cut into the side surface of a guide ring arranged parallel to the disc, and the guide The guide wheel is provided with an adjusting means for making the wheel eccentric with respect to the disk.

以下、本発明の実施例を図面を参照して説明する。Embodiments of the present invention will be described below with reference to the drawings.

第１図および第２図は本発明の走行装置の原理構成を示
すもので、これらの図において、１つの円周１上には多
数の軸２が設けられているっこの軸２の各々に、長い板
３と短いアーム４とを備える筒２′をはめ込む。このア
ーム４の先端にビ１５を立てる。このビ１５を他の円周
６上に配置する。円周１と円周６との中心が一致してい
る場合は第１図に示すように板３は円周１の内部に収納
されている。今、第２図に示すように、円周１に対し円
周６を図面上、左側にずらすと、円周６上にあるビ１５
は左側に引張られ、アーム４の作用により板３は回転軸
２０周シを回転し、円周１０中心よシ右側にある板３は
円周１の外側に張り出す。このような状態で円周１を回
転させれば、板３は円周１の中心のまわシを一周する間
に円周１の外に出だシ引込んだりする。しかし、円周１
と円周６との間の偏心距離が一定ならば、板３の先端が
描く軌跡は一定である。1 and 2 show the principle structure of the traveling device of the present invention. In these figures, a large number of shafts 2 are provided on one circumference 1. , a tube 2' comprising a long plate 3 and a short arm 4 is fitted. At the tip of this arm 4, put up a screw 15. This beam 15 is placed on the other circumference 6. When the centers of the circumference 1 and the circumference 6 coincide, the plate 3 is housed inside the circumference 1 as shown in FIG. Now, as shown in Figure 2, if we shift the circumference 6 to the left side of the drawing with respect to the circumference 1,
is pulled to the left, and by the action of the arm 4, the plate 3 rotates around the rotation axis 20, and the plate 3 on the right side of the center of the circumference 10 extends outside of the circumference 1. If the circumference 1 is rotated in such a state, the plate 3 will move out of the circumference 1 and retract while going around the center rotation of the circumference 1. However, the circumference 1
If the eccentric distance between and the circumference 6 is constant, the trajectory drawn by the tip of the plate 3 is constant.

このような構成によシ、平地走行の際は第１図に示すよ
うに、円周１と円周６との中心を一致させることにより
該装置を車輪として滑らかな走行を行い、悪路走行時は
第２図に示すように、円周１と円周６とを偏心させるこ
とにより板３を外に張り出し、板３の先端を路面に引掛
けるようにして走行することにより踏破性を著しく高め
ることができる。With this configuration, when driving on flat ground, as shown in Figure 1, by aligning the centers of circumference 1 and circumference 6, the device can be used as a wheel for smooth driving, and when driving on rough roads. As shown in Fig. 2, by making the circumferences 1 and 6 eccentric, the board 3 is extended outward, and the tip of the board 3 is hooked on the road surface when driving, thereby significantly improving the treading performance. can be increased.

上述した本発明の原理にもとづいて、本発明の走行装置
の一実施例を第３図について説明する。An embodiment of the traveling device of the present invention will be described with reference to FIG. 3 based on the principle of the present invention described above.

円板７には羽根８の軸９が回転可能に取シ付けられてい
る。この軸９の他端に設けたレバー１０の先端にはピン
１１を備えている。このピン１１は案内輪１２に設けた
案内溝１３にはめ込まれている。案内輪１２の偏心によ
シ羽根８が出た状態を　　　　　　１示している。円板
７は車軸２５により回転する。A shaft 9 of a blade 8 is rotatably attached to the disk 7. A pin 11 is provided at the tip of a lever 10 provided at the other end of the shaft 9. This pin 11 is fitted into a guide groove 13 provided in a guide ring 12. 1 shows a state in which the blade 8 comes out due to the eccentricity of the guide wheel 12. The disk 7 is rotated by an axle 25.

第３図に示す本発明の走行装置の動作を、第４図〜第６
図について説明する。これらの図において車軸２５およ
び円板７は破線で示しである。第４図は案内輪１２と車
軸２５との偏心量がＯの状態で、羽根８の外側は円弧状
になっておシ、円板７とともに車輪の踏面を構成してい
る。第５図および第６図は案内輪１２を図の左側にそれ
ぞれｅ、およびｅｌだけ偏心させたときの状況を示して
いる。隣接する羽根８の先端相互の距離ｔ１゜ｔ、は偏
心量と偏心方向に対する軸９の角度位置により変化する
。したがって、偏心量と偏心方向を調整することによっ
て羽根８の先端の距離を制御することができる。The operation of the traveling device of the present invention shown in FIG. 3 is explained in FIGS.
The diagram will be explained. In these figures, the axle 25 and disc 7 are indicated by broken lines. FIG. 4 shows a state in which the amount of eccentricity between the guide wheel 12 and the axle 25 is O, and the outer side of the blade 8 is arcuate and forms the tread surface of the wheel together with the disc 7. FIGS. 5 and 6 show the situation when the guide wheel 12 is eccentric to the left side of the figure by e and el, respectively. The distance t1°t between the tips of adjacent blades 8 changes depending on the amount of eccentricity and the angular position of the shaft 9 with respect to the eccentric direction. Therefore, the distance between the tips of the blades 8 can be controlled by adjusting the amount of eccentricity and the direction of eccentricity.

第７図〜第９図は本発明の装置が階段を昇る状況を示し
ている。偏心量と車体１４に対する偏心方向を適当に調
整すれば、羽根間隔を階段のピッチに合せることができ
るので、異なる寸法の階段でも踏み外すことなく昇るこ
とができる。Figures 7 to 9 show the situation in which the device of the present invention is ascending a flight of stairs. By appropriately adjusting the amount of eccentricity and the direction of eccentricity with respect to the vehicle body 14, the blade spacing can be matched to the pitch of the stairs, so it is possible to climb stairs of different dimensions without missing a step.

第１０図および第１１図は本発明の走行装置を備える走
行車の一実施例を示す４ので、図において前述の走行装
置を４組使用し、車体１４は操舵する都合上２分割し、
ヒンジ１５にて結合しである。操舵は左右の車輪の回転
角に差をつけることにより首振シさせ、ヒンジ１５によ
シ車体が折れ曲がることにより行なう。車体側面には案
内輪１２を位置方向に偏心させるために、支持アーム１
６の駆動装置が設けられている。すなわち、支持アーム
１６はガイドブロック１７に摺動可能な状態で支持され
ておシ、ねじ１８をモータ１９により回転することによ
って前後に移動させる。また、ガイドブロック１７はク
ロスヘッド２０に固定されている。このクロスヘッド２
０はフレーム２１により摺動可能に支持されており、ね
じ２２をモータ２３で回転させることにより上下に移動
できる。したがって、モータ１９および２３によシ案内
輪１２は任意の方向に必要な長さだけ偏心させることが
できる。車体１４の内部にはモータ２４があシ、円板７
を回転させる。この円板７０回転によシ、前進力を得る
ことができる。10 and 11 show an embodiment of a traveling vehicle equipped with a traveling device according to the present invention. In the figures, four sets of the aforementioned traveling devices are used, and the vehicle body 14 is divided into two parts for steering purposes.
They are joined at a hinge 15. Steering is performed by making a difference between the rotation angles of the left and right wheels, causing the vehicle to oscillate, and by bending the vehicle body using the hinge 15. A support arm 1 is provided on the side of the vehicle body in order to make the guide wheel 12 eccentric in the position direction.
6 drives are provided. That is, the support arm 16 is slidably supported by the guide block 17, and is moved back and forth by rotating the screw 18 by the motor 19. Further, the guide block 17 is fixed to the crosshead 20. This cross head 2
0 is slidably supported by a frame 21, and can be moved up and down by rotating a screw 22 with a motor 23. Therefore, the motors 19 and 23 can make the guide wheel 12 eccentric in any direction by a required length. Inside the vehicle body 14 there is a motor 24 and a disc 7.
Rotate. By rotating this disk 70 times, forward force can be obtained.

以上述べたように、本発明によれば、平坦地走行の際は
車輪による滑らかな高速移動ができ、悪路走行時は簡単
な操作で車輪から羽根を出すことができるので、小型で
高速移動ができ、しかも障害物乗越えや階段昇降もでき
るなど、踏破性を著しく高める効果がある。As described above, according to the present invention, smooth high-speed movement using the wheels is possible when driving on flat land, and the blades can be taken out from the wheels with a simple operation when driving on rough roads. It also has the effect of significantly increasing traversal ability, such as being able to overcome obstacles and go up and down stairs.

【図面の簡単な説明】[Brief explanation of the drawing]

第１図は本発明の走行装置の原理を示す説明図、第２図
はその動作を示す説明図、第３図は本発明の走行装置の
一実施例の外観図、第４図〜第６図は第３図に示す本発
明の走行装置の一例の動作を示す説明図、第７図〜第９
図は第３図に示す本発明の走行装置の一例の階段移動動
作を示す説明図、第１０図は本発明の走行装置の一実施
例を備えた走行車の一例金示す正面図、第１１図は第１
０図に示す走行車を一部断面にて示す平面図である。 ７・・・円板、８・・・羽根、９・・・軸、１０・・・
レバー、１１・・・ビン、１２・・・案内輪、１３・・
・案内溝、１４・・・車体、１５・・・ヒンジ、１ｉ・
・・支持アーム、１７・・・ガイドブロック、１８・・
・ねじ、１９・・・モータ、２０・・・クロスヘッド、
２１・・・フレーム、２２・・・ねじ、２３・・・モー
タ、２４・・・モータ、２５・・・車軸。 ′！Ｊ　１　図 町 葛２図 ぢ 第　７　図 第　Ｂ　図 ′ｆＪ　ｑ　図FIG. 1 is an explanatory diagram showing the principle of the traveling device of the present invention, FIG. 2 is an explanatory diagram showing its operation, FIG. 3 is an external view of an embodiment of the traveling device of the present invention, and FIGS. 4 to 6 The figures are explanatory diagrams showing the operation of an example of the traveling device of the present invention shown in Fig. 3, and Figs. 7 to 9.
The figures are an explanatory view showing the stair movement operation of an example of the traveling device of the present invention shown in FIG. 3, FIG. 10 is a front view showing an example of a traveling vehicle equipped with an embodiment of the traveling device of the present invention, The figure is the first
FIG. 2 is a plan view, partially in cross section, of the vehicle shown in FIG. 7...Disk, 8...Blade, 9...Shaft, 10...
Lever, 11... Bin, 12... Guide wheel, 13...
・Guide groove, 14...Car body, 15...Hinge, 1i・
...Support arm, 17...Guide block, 18...
・Screw, 19...Motor, 20...Crosshead,
21... Frame, 22... Screw, 23... Motor, 24... Motor, 25... Axle. ′! J 1 Figure 2 Figure 7 Figure B Figure 'fJ q Figure

Claims (1)

【特許請求の範囲】 １、悪路走行が可能である走行装置において、回転力を
伝達される円板の側面に、複数の軸を前記円板の回転軸
と平行に取シ付け、前記該軸にレバーを固着した板状の
羽根を回転可能に取シ付け、前記レバーの先端を、前記
円板に平行に配置した案内輪の側面に切込んだ環状溝に
連結し、前記案内輪を前記円板に対して偏心させるため
の調整手段を案内輪に設けたことを特徴とする走行装置
。 ２、特許請求の範囲第１項の走行装置において、前記案
内輪の調整手段はねじ棒とスライドブロックによるスラ
イド機構であること１ｔ％徴とする走行装置。[Scope of Claims] 1. In a traveling device capable of traveling on rough roads, a plurality of shafts are attached to the side surface of a disc to which rotational force is transmitted parallel to the rotational axis of the disc, and A plate-shaped blade with a lever fixed to the shaft is rotatably attached, and the tip of the lever is connected to an annular groove cut into the side surface of a guide wheel arranged parallel to the disk, and the guide wheel is A traveling device characterized in that the guide wheel is provided with an adjusting means for making the guide wheel eccentric with respect to the disk. 2. The traveling device according to claim 1, wherein the guide wheel adjusting means is a sliding mechanism using a threaded rod and a slide block.
JP57047178A 1982-03-26 1982-03-26 Travel gear Pending JPS58167263A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP57047178A JPS58167263A (en) 1982-03-26 1982-03-26 Travel gear

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP57047178A JPS58167263A (en) 1982-03-26 1982-03-26 Travel gear

Publications (1)

Publication Number Publication Date
JPS58167263A true JPS58167263A (en) 1983-10-03

Family

ID=12767818

Family Applications (1)

Application Number Title Priority Date Filing Date
JP57047178A Pending JPS58167263A (en) 1982-03-26 1982-03-26 Travel gear

Country Status (1)

Country Link
JP (1) JPS58167263A (en)

Cited By (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60148780A (en) * 1984-01-13 1985-08-06 Ishikawajima Harima Heavy Ind Co Ltd Moving equipment
JPS63240401A (en) * 1987-03-26 1988-10-06 Yoshikata Rokusha Rotating shoe mechanism
JPH04127001U (en) * 1991-05-10 1992-11-19 三菱自動車工業株式会社 Variable diameter wheels for vehicles
WO2002024417A3 (en) * 2000-09-22 2002-07-11 Draper Lab Charles S A transformable vehicle
US7017687B1 (en) * 2002-11-21 2006-03-28 Sarcos Investments Lc Reconfigurable articulated leg and wheel
EP1755905A2 (en) * 2004-10-26 2007-02-28 Mattel, Inc. Transformable toy vehicle
JP2008285157A (en) * 2002-07-29 2008-11-27 Koichi Okamoto Stair climbing vehicle
JP2010155520A (en) * 2008-12-26 2010-07-15 Nihon Univ Step climbing wheel and wheel type robot
JP2010234870A (en) * 2009-03-30 2010-10-21 Fukuoka Prefecture Wheel and traveling device
JP2010264923A (en) * 2009-05-15 2010-11-25 Niigata Univ Wheel device equipped with taken in and out legs
JP2011031796A (en) * 2009-08-04 2011-02-17 Nihon Univ Wheel to run on step and a wheel type robot
CN102180062A (en) * 2011-04-02 2011-09-14 北京交通大学 Cross-country vehicle wheel
KR101087746B1 (en) 2010-04-21 2011-11-30 (주)아이엠테크놀로지 Road surface adaptive adjustable driving wheel
WO2013031566A1 (en) * 2011-08-29 2013-03-07 国立大学法人新潟大学 Wheelchair provided with feet
US20130081885A1 (en) * 2011-10-03 2013-04-04 Robert A. Connor Transformability(TM): personal mobility with shape-changing wheels
KR101339780B1 (en) * 2010-10-21 2013-12-11 주식회사 스페이스솔루션 Electromotive means capable of climbing obstacle
CN105397787A (en) * 2015-11-30 2016-03-16 成都三壹八科技有限公司 Multi-tooth crawler type waterproof tool box
CN105397784A (en) * 2015-11-30 2016-03-16 成都三壹八科技有限公司 Buckled crawler type automotive tool kit
CN105397785A (en) * 2015-11-30 2016-03-16 成都三壹八科技有限公司 Annular crawler type tool box for vehicles
CN105397786A (en) * 2015-11-30 2016-03-16 成都三壹八科技有限公司 Multi-tooth crawler type tool box for vehicles
CN105500321A (en) * 2015-11-30 2016-04-20 成都三壹八科技有限公司 Automotive tool kit
KR20230063721A (en) * 2021-11-02 2023-05-09 주식회사 블루폭스시스템즈 Variable wheel of self-propelled car

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JPS60148780A (en) * 1984-01-13 1985-08-06 Ishikawajima Harima Heavy Ind Co Ltd Moving equipment
JPS63240401A (en) * 1987-03-26 1988-10-06 Yoshikata Rokusha Rotating shoe mechanism
JPH04127001U (en) * 1991-05-10 1992-11-19 三菱自動車工業株式会社 Variable diameter wheels for vehicles
WO2002024417A3 (en) * 2000-09-22 2002-07-11 Draper Lab Charles S A transformable vehicle
US6502657B2 (en) 2000-09-22 2003-01-07 The Charles Stark Draper Laboratory, Inc. Transformable vehicle
JP2008285157A (en) * 2002-07-29 2008-11-27 Koichi Okamoto Stair climbing vehicle
US7017687B1 (en) * 2002-11-21 2006-03-28 Sarcos Investments Lc Reconfigurable articulated leg and wheel
EP1755905A2 (en) * 2004-10-26 2007-02-28 Mattel, Inc. Transformable toy vehicle
EP1755905A4 (en) * 2004-10-26 2008-03-19 Mattel Inc Transformable toy vehicle
US7794300B2 (en) 2004-10-26 2010-09-14 Mattel, Inc. Transformable toy vehicle
JP2010155520A (en) * 2008-12-26 2010-07-15 Nihon Univ Step climbing wheel and wheel type robot
JP2010234870A (en) * 2009-03-30 2010-10-21 Fukuoka Prefecture Wheel and traveling device
JP2010264923A (en) * 2009-05-15 2010-11-25 Niigata Univ Wheel device equipped with taken in and out legs
JP2011031796A (en) * 2009-08-04 2011-02-17 Nihon Univ Wheel to run on step and a wheel type robot
KR101087746B1 (en) 2010-04-21 2011-11-30 (주)아이엠테크놀로지 Road surface adaptive adjustable driving wheel
KR101339780B1 (en) * 2010-10-21 2013-12-11 주식회사 스페이스솔루션 Electromotive means capable of climbing obstacle
CN102180062A (en) * 2011-04-02 2011-09-14 北京交通大学 Cross-country vehicle wheel
JPWO2013031566A1 (en) * 2011-08-29 2015-03-23 国立大学法人 新潟大学 Wheelchair with feet
WO2013031566A1 (en) * 2011-08-29 2013-03-07 国立大学法人新潟大学 Wheelchair provided with feet
US20130081885A1 (en) * 2011-10-03 2013-04-04 Robert A. Connor Transformability(TM): personal mobility with shape-changing wheels
CN105397787A (en) * 2015-11-30 2016-03-16 成都三壹八科技有限公司 Multi-tooth crawler type waterproof tool box
CN105397784A (en) * 2015-11-30 2016-03-16 成都三壹八科技有限公司 Buckled crawler type automotive tool kit
CN105397785A (en) * 2015-11-30 2016-03-16 成都三壹八科技有限公司 Annular crawler type tool box for vehicles
CN105397786A (en) * 2015-11-30 2016-03-16 成都三壹八科技有限公司 Multi-tooth crawler type tool box for vehicles
CN105500321A (en) * 2015-11-30 2016-04-20 成都三壹八科技有限公司 Automotive tool kit
KR20230063721A (en) * 2021-11-02 2023-05-09 주식회사 블루폭스시스템즈 Variable wheel of self-propelled car

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