JPS5938177A - Traveling car - Google Patents
Traveling carInfo
- Publication number
- JPS5938177A JPS5938177A JP14762782A JP14762782A JPS5938177A JP S5938177 A JPS5938177 A JP S5938177A JP 14762782 A JP14762782 A JP 14762782A JP 14762782 A JP14762782 A JP 14762782A JP S5938177 A JPS5938177 A JP S5938177A
- Authority
- JP
- Japan
- Prior art keywords
- arm
- rotation angle
- vehicle body
- auxiliary wheel
- traveling vehicle
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
-
- 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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B2301/00—Wheel arrangements; Steering; Stability; Wheel suspension
- B62B2301/25—Wheel arrangements; Steering; Stability; Wheel suspension characterised by the ground engaging elements, e.g. wheel type
- B62B2301/256—Wheel arrangements; Steering; Stability; Wheel suspension characterised by the ground engaging elements, e.g. wheel type by using endless belts
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は無限軌道履帯を備えた走行車に係り、特に階段
や不整池の走行に好適な走行車に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a traveling vehicle equipped with endless track tracks, and particularly to a traveling vehicle suitable for traveling on stairs or irregular ponds.
無限軌道履帯を用いた走行装置は踏破性が高いため、戦
車や土木機械に用いられる。これらの無限軌道履帯を備
える走行装置は走行装置基部に設けられた＃！対の車輪
に履帯を巻回したものである。Traveling devices using endless track tracks have high traversal performance, so they are used in tanks and civil engineering machinery. A traveling device equipped with these endless tracks is installed at the base of the traveling device. It consists of a pair of wheels wrapped around tracks.
車輪の位置は走行装置基部に対し略固定しているだめ、
履帯の巻回し形状は一定である。このため、その踏破性
には限界がある。例えば階段などの急傾斜面を走行させ
る場合には転倒の恐れがある。The position of the wheels must be approximately fixed relative to the base of the traveling device.
The winding shape of the crawler track is constant. For this reason, there is a limit to its traversability. For example, when running on a steep slope such as stairs, there is a risk of falling.
これを避けるため、重心を下げたり無限軌道履帯の長さ
を長くしなければならない。このため、車体長が長くな
ｐ１旋回や狭い場所での走行が困難であった。一方、近
年では階段昇降や障害物乗越え機能を有する踏破性の高
い走行車が要求されている。To avoid this, it is necessary to lower the center of gravity or increase the length of the track. For this reason, it was difficult to make p1 turns and drive in narrow spaces due to the long vehicle body length. On the other hand, in recent years, there has been a demand for highly traversable vehicles that are capable of climbing stairs and overcoming obstacles.
本発明は上述の事柄にもとづいてなされたもので、階段
昇降や障害物乗越え等の機能を有する踏破性の高い走行
車を提供することを目的とする。The present invention has been made based on the above-mentioned matters, and an object of the present invention is to provide a traveling vehicle with high traversal performance that has functions such as climbing stairs and overcoming obstacles.
本発明の特徴とするところは、車体の両側に無限軌道ｔ
ｔａ帯を備えた走行車において、前記無限軌道履帯を、
車体に設けた２個の主車輪と車体に対して移動ｔｉ３−
能に設けた１個の補助車輪とに巻き掛け、前記（ｌ）助
車輪を、七の中心位置が前記２個の主車輪の中心位置を
焦点とする楕円上に常に移動保持する支持装置で支持し
たものである。The feature of the present invention is that endless tracks are provided on both sides of the vehicle body.
In a traveling vehicle equipped with a TA belt, the endless track crawler
Two main wheels installed on the car body and movement relative to the car body ti3-
(l) A support device that is wrapped around one auxiliary wheel provided on the main wheel and constantly moves and holds the auxiliary wheel on an ellipse whose center position is the center position of the two main wheels. I supported it.
以＝Ｅ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 now be described with reference to the drawings.
第１図へ・第３図は本発明の走行車の一実施例を示すも
ので、この実施例におりる走行車は建屋内の移動点倹を
可能としたものであるため、その車体ｌにマニピュレー
タＭおよびテレビカメラＴを搭載している。この走行車
は車体１の両側にそれぞれ２個の主車輪２と移動可能な
補助車輪３と、これらの車輪２，３に巻きう１１けられ
た無限軌道履帯４とを備えている。補助車輪３はその中
心位置が２個の主車輪２の中心位置を焦点とする１４円
上を移動さぜる支持装置５によつ−〔支持されている。Figures 1 and 3 show an embodiment of the traveling vehicle of the present invention.The traveling vehicle of this embodiment is capable of moving within the building, so its body l is equipped with a manipulator M and a television camera T. This vehicle is equipped with two main wheels 2, movable auxiliary wheels 3, and an eleven-striped endless track track 4 wrapped around these wheels 2, 3 on each side of a vehicle body 1. The auxiliary wheels 3 are supported by a support device 5 whose center position moves on a 14-circle plane with the center positions of the two main wheels 2 as focal points.
この支持装置５は第１のアーム５Ａと第２のアーム５Ｂ
とを備えている。第１のアーム５Ａは主車輪２．２の中
心を結ぶ中点の位置に回転中心が来るように、車体１に
回転可能に設けられている。This support device 5 has a first arm 5A and a second arm 5B.
It is equipped with The first arm 5A is rotatably provided on the vehicle body 1 so that its rotation center is located at a midpoint connecting the centers of the main wheels 2.2.
その先端には第２のアーム′５１３が回転自在に取付け
られている。さらに第２のアーム５先端には補助車輪３
が回転自在に取付けられている。各部の寸法関係は次の
ように設定される。すなわち、第１のアーム５人の長さ
をＲ１第２のアーム５Ｂの長さをｒとすると、主車輪２
の中心位置が楕円の焦点Ｆに来る式は次のように表わさ
れる。A second arm '513 is rotatably attached to its tip. Furthermore, an auxiliary wheel 3 is attached to the tip of the second arm 5.
is rotatably mounted. The dimensional relationship of each part is set as follows. That is, if the length of the five first arms is R1 and the length of the second arm 5B is r, then the main wheels 2
The equation for bringing the center position of F to the focal point F of the ellipse is expressed as follows.
Ｆ＝Ｖ’η「百方”−（Ｒ−−ｒ−タｉ゛ ・・・
・・・（１）＝２Ｖ１７ ・・・・
・・・・・（２）そして、この式（２）を満すように第
１のアーム５Ａと第２のアーム５Ｂの長さが設定される
。また、主車輪２と補助車輪゛５゛の径は等しく設定さ
れている。F=V'η "Hundred Directions"-(R--r-Tai゛...
... (1) = 2V17 ...
(2) Then, the lengths of the first arm 5A and the second arm 5B are set so as to satisfy this equation (2). Further, the diameters of the main wheel 2 and the auxiliary wheel "5" are set to be equal.
さらに、補助車輪３の楕円移動を可能にする原理を第４
図および第５図によって説明する。Furthermore, the principle that enables the elliptical movement of the auxiliary wheels 3 is explained in the fourth section.
This will be explained with reference to the drawings and FIG.
第４図に示すように、楕円の焦点Ｆ１とＦ２および楕円
上の任意の点Ｐを結ぶ三角形において、各辺の長さの合
計Ｓが一定となることはよく知られている。これら３つ
の点に同一直径ｒの円を描き、隣接する円を第２図のよ
うに直線で結んだとき、この円と直線から成る図形の外
周の長さＬはＬ＝２πｒ＋８ ・山
・・・・・・・・（３）となり一定である。したがって
、焦点Ｆｌ、Ｆ２にある小円を主車輪２とし、楕円上の
点Ｐにある小円を補助車輪３とし、これらの車輪２，２
．３の外側５（履帯４を巻きつけたものとすれば、全車
輪２，２．３が同一径である限り、点Ｐの位置が楕円上
のどこにあっても履帯４は緩まず一定の張力で張られて
いることになる。As shown in FIG. 4, it is well known that in a triangle connecting the foci F1 and F2 of the ellipse and any point P on the ellipse, the sum S of the lengths of each side is constant. When a circle with the same diameter r is drawn at these three points and adjacent circles are connected with a straight line as shown in Figure 2, the length L of the outer circumference of the figure consisting of this circle and the straight line is L = 2πr + 8 ・Mountain... ...(3) and is constant. Therefore, the small circle located at the focal points Fl and F2 is the main wheel 2, the small circle located at the point P on the ellipse is the auxiliary wheel 3, and these wheels 2, 2
．． Outside 5 of 3 (assuming that the crawler track 4 is wrapped around it, as long as all wheels 2, 2.3 have the same diameter, the track 4 will not loosen and will have a constant tension no matter where the point P is on the ellipse) It will be stretched with
ところで、第５図に示すように、点Ｏを中心として回転
する長さ凡の半径イと、その先端Ｖを中心として回転す
る長さｒの半径口および点Ｏを通る直線ＡＢを考える。By the way, as shown in FIG. 5, consider a radius I of length approximately rotating around point O, a radius opening of length r rotating around its tip V, and a straight line AB passing through point O.
今、点０を通る直線ＡＢの垂線と半径イのなす角をαと
し、半径イと半径口とのなす角が常に２αとなる、よう
にした場合、半径口の先端；は１つの楕円上にあること
を示す。Now, if the angle between the perpendicular to straight line AB passing through point 0 and the radius I is α, and the angle between the radius I and the radius port is always 2α, then the tip of the radius port; is on one ellipse. It shows that there is.
点Ｐの座標を第５図のように（Ｘ、Ｙ）とすると、Ｘ＝
Ｒｓｉａα十ｒ ｓｉｎ ａ −（４）Ｙ
＝ＦＬｃＯｓ ａ −ｒｃｏｓ ａ
−＝ （５）となる。三角形の性質として
ｓｉｎ” ａ−１−ｃｏｓ２ａ ＝ １ −・
−（６）であるから、（６）式に（４）、 （５）式を
代入すると、となる。この（７）式は長半径をＲ十ｒ、
短半径をＲ−「とする楕円の式である。すなわち、点Ｐ
は角度αによらず１つの楕円上にある。したがって、半
径イを第１のアーム５Ａ、半径口を第２のアーム５Ｂと
し、点Ｐに補助車輪３を取付け、第１のアーム５Ａと第
２のアーム５Ｂのなす角を常に第１のアーム５Ａの回転
角αの２倍になるようにすれば、補助車輪３を常に楕円
上に保持することができる。If the coordinates of point P are (X, Y) as shown in Figure 5, then X=
Rsiaα+r sin a −(4)Y
= FLcOs a - rcos a
−= (5). As a property of a triangle, sin” a-1-cos2a = 1 -・
-(6), so substituting equations (4) and (5) into equation (6) yields. This equation (7) has a semi-major axis of R0r,
This is the formula for an ellipse whose minor axis is R-". In other words, the point P
lies on one ellipse regardless of the angle α. Therefore, the radius A is the first arm 5A, the radius opening is the second arm 5B, the auxiliary wheel 3 is attached to the point P, and the angle formed by the first arm 5A and the second arm 5B is always the first arm 5B. By setting the angle to be twice the rotation angle α of 5A, the auxiliary wheel 3 can always be held on an ellipse.
これを実現するための回転角度伝達手段の構成を第６図
および第７図によって説明する。The configuration of the rotation angle transmitting means for realizing this will be explained with reference to FIGS. 6 and 7.
第１のアーム５Ａの基部は中空軸６に取付けられている
。この中空軸６は車体１の軸受７により支持されている
。この中空軸６内には回転軸８が組み込まれている。第
２のアーム５Ｂの軸９は第１のアーム５Ａの先端に回転
可能に支えられている。回転軸８と第２アーム５Ｂの軸
９とはそれぞれ同径のスプロケット１０．１１とチェー
ン１２により連結されでいる。車体１内でｔ−ｔｊｇｘ
ｙ−ム５Ａの中空軸６に取付けられた歯車１３と第１の
アイドラ１４とががみ合い、この第１のアイドラ１４と
第２のアイドラ１５ががみ合っている。第２のアイドラ
１５は回転軸８に取付けられｆｃｌ′ａ車１６に車重６
っている。第１のアイドラ１４と第２のアイドラ１５は
歯数が等しく、棟た、歯車１３と歯車１６も歯数が等し
い。し、・ｔがって、第１アーム５Ａの回転は中空軸６
、歯車１３、゛ｒイドラ１４、アイドラ１５、歯車１６
、回転軸８、スプロケット１０、チェーン１２、スズロ
ケット１１と伝わり、第２゛アーム５Ｂに伝達される。The base of the first arm 5A is attached to the hollow shaft 6. This hollow shaft 6 is supported by a bearing 7 of the vehicle body 1. A rotary shaft 8 is incorporated within this hollow shaft 6. The shaft 9 of the second arm 5B is rotatably supported at the tip of the first arm 5A. The rotating shaft 8 and the shaft 9 of the second arm 5B are connected by sprockets 10.11 and chains 12 having the same diameter, respectively. t-tjgx inside car body 1
The gear 13 attached to the hollow shaft 6 of the y-me 5A meshes with the first idler 14, and the first idler 14 and the second idler 15 mesh with each other. The second idler 15 is attached to the rotating shaft 8 and the vehicle weight 6 is attached to the fcl'a vehicle 16.
ing. The first idler 14 and the second idler 15 have the same number of teeth, and the outer gears 13 and 16 also have the same number of teeth. Therefore, the rotation of the first arm 5A is caused by the hollow shaft 6.
, gear 13, idler 14, idler 15, gear 16
, the rotating shaft 8, the sprocket 10, the chain 12, and the tin rocket 11, and is transmitted to the second arm 5B.
しかも、第２アーム５Ｂの回転角は第１アーム５Ａの回
転角と大きさが等しく、方向が逆になる。第１アーム５
Ａの歯車１３にはモータ軸に取付けられた歯車（図示せ
ず）ががみ合っている。このため、第１アーム５Ａをモ
ータにより駆動すれば、第２アーム５Ｂも自動的に駆動
される。Furthermore, the rotation angle of the second arm 5B is equal in magnitude to the rotation angle of the first arm 5A, and the direction thereof is opposite to that of the first arm 5A. 1st arm 5
A gear (not shown) attached to the motor shaft meshes with the gear 13 of A. Therefore, if the first arm 5A is driven by the motor, the second arm 5B is also automatically driven.
前述した第１のアーム５Ａ、第２のアーム５Ｂは第１図
〜第３図に示すように、履帯４より外側に配置されてい
るので、第１のアーム５Ａ、第２のアーム５Ｂは全周回
転が可能である。As shown in FIGS. 1 to 3, the first arm 5A and the second arm 5B mentioned above are arranged outside the crawler track 4, so the first arm 5A and the second arm 5B are Circular rotation is possible.
次に上述した本発明の走行車の動作を説明する。Next, the operation of the above-mentioned traveling vehicle of the present invention will be explained.
第１のアーム５Ａ、第２のアーム５Ｂの揺動により、補
助車輪３を主車輪２に対して移動させれば、無限軌道履
帯４の形状を任意に変えることができる。この結果、走
行車の姿勢を任意に変更することができる。すなわち、
第３図に示す状態では通常の走行が可能である。また第
８図に示すように、補助車輪３を車体１の下方に位置さ
せれば、階段の昇降が可能である。さらに、第９図に示
す状態では車体を傾けて、車体１の前方の作業を容易に
実行することができる。また、第１Ｏ図に示すように車
体１が転倒した場合には、補助車輪３を矢印Ｃ方向に移
動すれば、車体１を正規の状態に引き起すことができる
。By moving the auxiliary wheel 3 with respect to the main wheel 2 by swinging the first arm 5A and the second arm 5B, the shape of the endless track track 4 can be changed arbitrarily. As a result, the attitude of the vehicle can be changed arbitrarily. That is,
Normal running is possible in the state shown in FIG. Further, as shown in FIG. 8, if the auxiliary wheels 3 are positioned below the vehicle body 1, it is possible to go up and down stairs. Furthermore, in the state shown in FIG. 9, the vehicle body can be tilted to easily perform work in front of the vehicle body 1. Further, when the vehicle body 1 falls down as shown in FIG. 1O, by moving the auxiliary wheels 3 in the direction of arrow C, the vehicle body 1 can be raised to its normal state.
以上詳述したように、本発明によれば、補助車輪は主車
輪の位置を焦点とする楕円軌跡上に位置するので、履帯
が緩み外れることがなく、任意の姿勢制御能力を有し、
高い走行踏破機能を有するものである。As detailed above, according to the present invention, the auxiliary wheels are located on an elliptical trajectory with the main wheel position as the focal point, so the tracks do not loosen and come off, and have arbitrary attitude control ability.
It has a high running ability.
第１図は本発明の走行車の一実１准例を一部断面にて示
す正面図、第２図は第１図の側面図、第３図は本発明の
走行車の一実施例を示す斜視図、第４図および第５図は
本発明の原理説明図、第６図・は本発明の走行車を構成
する支持装置を一部断面にて示す正面図、第７図は第６
図の９１１１面図、第８図〜第１０図は本発明の走行車
の動作状態を示す側面図である。゛
１・・・車体、２・・・主車輪、３・・・補助車輪、４
・・・無限軌道履帯、５・・・支持装置、５Ａ・・・第
１のアーム、５晶・・・第２のアーム。
第 １ 図
門
肩２図
閂
第３図
第 ４ 図
１ ′
第 Ｓ 図 ４
第６図
１ ３ 図
ｆＪｑ 図
ｆＪｔ０図
３９１FIG. 1 is a partially sectional front view showing a semi-example of the traveling vehicle of the present invention, FIG. 2 is a side view of FIG. 1, and FIG. 3 is an embodiment of the traveling vehicle of the present invention. 4 and 5 are perspective views showing the principles of the present invention, FIG.
The 9111 side view and FIGS. 8 to 10 are side views showing the operating state of the traveling vehicle of the present invention.゛1...Vehicle body, 2...Main wheels, 3...Auxiliary wheels, 4
... endless track track, 5 ... support device, 5A ... first arm, 5 crystal ... second arm. Figure 1 Gate shoulder Figure 2 Bolt Figure 3 Figure 4 Figure 1' Figure S Figure 6 Figure 1 3 Figure fJq Figure fJt0 Figure 391
Claims (1)
、前記無限軌道履体を、車体に設けた２個の主車輪と車
体に対して移動可能に設けた１個の補助輪とに巻き掛け
、前記補助輪はその中心位置が前記２個の主車輪の中心
位置を焦点とする楕円上に常に移動保持する支持装置で
支持されたことを特徴とする走行車。 ２、特許請求の範囲第１項記載の走行車において、前記
支持装置は、２つの主車輪軸の中心の中間点に回転軸を
持つ第１のアームと、この第１のアームの先端に回転可
能に支持され、その先端に前記補助車輪の回転軸を保持
する第２のアームとを備え、車体に対する第１アームの
回転角と第２アームの回転角との大きさが等しく方向が
逆になるように、前記回転角度を規制する回転角度伝達
手段を備えたことを特徴とする走行車。 ３、特許請求の範囲第２項記載の走行車において７前記
回転角度伝達手段は、第１のアームの回転軸に備えられ
た第１の歯車にかみ合う第１のアイドルギヤと、この第
１のアイドルギヤにかみ合う第２のアイドルギヤと、こ
の第２のアイドルギヤにかみ合う第２の歯車と、第１の
アームの回転軸を中空軸とし、その内に回転可食ヒに支
持され第２の歯車に一端が固着された回転シャフトと、
この回転シャフトの他端に固着された第１のスプロケッ
トと、第２アームの回転軸に固着された第２のスプロケ
ットと、前す己２つのスプロケットに巻掛けられるチェ
ーンとめ１もなり、車体に対する第１アームの回転角と
、竿２アームの回転角とが大きさか等しく方向−反対に
なるように歯車やスプロケットの歯数を選ん冬ことを特
徴とする走行車。 ４、特許請求の範囲第２項または第３項記載の走行車に
おいて、前記第１のアームと前記第２のアームとが履帯
に対し車体よりも外側に配置されていることを特徴とす
る走行車。[Scope of Claims] 1. In a traveling vehicle equipped with endless track tracks on both sides of the vehicle body, the endless track tracks are provided on two main wheels provided on the vehicle body and one piece movable with respect to the vehicle body. A traveling vehicle, characterized in that the auxiliary wheel is supported by a support device that is wound around an auxiliary wheel, and that the center of the auxiliary wheel is always moved and held on an ellipse with the center position of the two main wheels as a focal point. 2. The traveling vehicle according to claim 1, wherein the support device includes a first arm having a rotating shaft at an intermediate point between the centers of two main wheel axles, and a rotating shaft at the tip of the first arm. and a second arm that holds the rotation shaft of the auxiliary wheel at its tip, and the rotation angle of the first arm and the rotation angle of the second arm with respect to the vehicle body are equal in magnitude and opposite in direction. A traveling vehicle characterized by comprising a rotation angle transmitting means for regulating the rotation angle. 3. In the traveling vehicle according to claim 2, the rotation angle transmitting means includes a first idle gear that meshes with a first gear provided on the rotation shaft of the first arm; A second idle gear that meshes with the idle gear, a second gear that meshes with the second idle gear, and a rotary shaft of the first arm that is a hollow shaft, and a second a rotating shaft with one end fixed to the gear;
A first sprocket fixed to the other end of this rotating shaft, a second sprocket fixed to the rotating shaft of the second arm, and a chain stopper 1 wound around the two sprockets at the front are also connected to the vehicle body. A running vehicle characterized in that the number of teeth of gears and sprockets is selected so that the rotation angle of the first arm and the rotation angle of the second rod arm are equal in magnitude or opposite in direction. 4. The traveling vehicle according to claim 2 or 3, wherein the first arm and the second arm are disposed outside the vehicle body with respect to the crawler track. car.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14762782A JPS5938177A (en) | 1982-08-27 | 1982-08-27 | Traveling car |
| US06/476,271 US4483407A (en) | 1982-03-26 | 1983-03-17 | Variable configuration track laying vehicle |
| FR8304686A FR2523914B1 (en) | 1982-03-26 | 1983-03-22 | VARIABLE CONFIGURATION CRAWLER VEHICLE |
| DE19833310790 DE3310790A1 (en) | 1982-03-26 | 1983-03-24 | VARIOUS TRACKED VEHICLE |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14762782A JPS5938177A (en) | 1982-08-27 | 1982-08-27 | Traveling car |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP19372185A Division JPS61105276A (en) | 1985-09-04 | 1985-09-04 | Traveling car |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5938177A true JPS5938177A (en) | 1984-03-01 |
| JPS6323032B2 JPS6323032B2 (en) | 1988-05-14 |
Family
ID=15434598
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP14762782A Granted JPS5938177A (en) | 1982-03-26 | 1982-08-27 | Traveling car |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5938177A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61100806A (en) * | 1984-09-28 | 1986-05-19 | Kikai Syst Shinko Kyokai | Maintenance robot |
| JPS61105276A (en) * | 1985-09-04 | 1986-05-23 | Hitachi Ltd | Traveling car |
| US9573638B2 (en) * | 1998-03-27 | 2017-02-21 | Irobot Defense Holdings, Inc. | Robotic platform |
| CN108974165A (en) * | 2018-06-26 | 2018-12-11 | 坎德拉（深圳）软件科技有限公司 | Crawler belt ball shape robot |
-
1982
- 1982-08-27 JP JP14762782A patent/JPS5938177A/en active Granted
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61100806A (en) * | 1984-09-28 | 1986-05-19 | Kikai Syst Shinko Kyokai | Maintenance robot |
| JPS61105276A (en) * | 1985-09-04 | 1986-05-23 | Hitachi Ltd | Traveling car |
| US9573638B2 (en) * | 1998-03-27 | 2017-02-21 | Irobot Defense Holdings, Inc. | Robotic platform |
| CN108974165A (en) * | 2018-06-26 | 2018-12-11 | 坎德拉（深圳）软件科技有限公司 | Crawler belt ball shape robot |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6323032B2 (en) | 1988-05-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US4483407A (en) | Variable configuration track laying vehicle | |
| US7600592B2 (en) | Variable configuration articulated tracked vehicle | |
| JPS63203483A (en) | Active adaptation type crawler travel vehicle | |
| JPS61271176A (en) | Mobile machine | |
| JPS60176871A (en) | Travel gear for robot | |
| JPS58167263A (en) | Travel gear | |
| JPS633794B2 (en) | ||
| JPS5938177A (en) | Traveling car | |
| CN111959209A (en) | Amphibious robot with wheel fin structure | |
| JP2717722B2 (en) | Ground adaptive crawler traveling vehicle | |
| JPS6323954B2 (en) | ||
| JPS6022575A (en) | Crawler-driven vehicle | |
| JPS61105276A (en) | Traveling car | |
| JPH05116654A (en) | Travel mechanism | |
| JPS6028479Y2 (en) | Magnetic adsorption type traveling vehicle | |
| JPH0223499Y2 (en) | ||
| JP2002120777A (en) | Crawler traveling vehicle | |
| CN108974165B (en) | Track spherical robot | |
| JPH0438627B2 (en) | ||
| JPS6022574A (en) | Crawler-driven vehicle | |
| JPS60222375A (en) | Self-travelling inspection vehicle | |
| JPH06156329A (en) | Uneven ground travel vehicle | |
| JPS6022569A (en) | Tension controller for crawler-driven vehicle | |
| SU1143822A1 (en) | Rotatable platform for vehicles | |
| JPS631225B2 (en) |