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    • 5. 发明公开
    • CRAWLER DEVICE AND CRAWLER ROBOT
    • RAUPENVORRICHTUNG UND RAUPENROBOTER
    • EP2617631A1
    • 2013-07-24
    • EP11825243.6
    • 2011-09-15
    • Independent Administrative Institution Japan Agency for Marine-Earth Science and TechnologyTopy Kogyo Kabushiki Kaisha
    • INOUE, TomoyaTSUKUI, ShingoFUJIMOTO, Katsuki
    • B62D55/08B62D55/088B62D55/12B62D55/24
    • B62D55/24B60C7/24B60F3/0015B62D55/00B62D55/04B62D55/084B62D55/088B62D55/12B62D55/14B62D55/205Y10S901/01
    • A crawler device (2) having an improved travel performance on the soft ground such as sandy soil and muddy soil includes a wheel support (10) extending in a front-rear direction, wheels (20) respectively rotatably supported at a front portion and a rear portion of the wheel support (10) and a crawler belt (30) made of an endless elastic material. The crawler belt (30) is run around the front and rear wheels (20). Each of the wheels (20) includes a rigid wheel body (21) and an exterior part (22) made of an elastic material. The exterior part (22) is fixed to an outer periphery of the wheel body (21). Raised portions (22x, 22y) are formed in an outer periphery of the exterior part (22) such that the raised portions (22x, 22y) continuously extend in a width direction and are arranged in a circumferential direction spaced from each other. Drain grooves (25) extending through the exterior part (22) in the width direction are formed between the raised portions (22x, 22y). Top surfaces of the raised portions (22x, 22y) of the exterior part (22) surface contact an inner peripheral surface of the crawler belt (30) with a frictional force working therebetween. Restriction members (41, 42, 43, 44) stopping opposite side edges of the crawler belt (30) are provided in the wheel support (10) to restrict the crawler belt (30) from being displaced with respect to the wheels (20) in the width direction.
    • 在诸如沙土和泥土的软土地上具有改进的行进性能的履带装置(2)包括:沿前后方向延伸的轮支撑件(10),分别可旋转地支撑在前部的轮(20)和 车轮支撑件(10)的后部和由环形弹性材料制成的履带(30)。 履带(30)围绕前后轮(20)行进。 每个车轮(20)包括刚性车轮主体(21)和由弹性材料制成的外部部件(22)。 外部部件(22)固定在车轮主体(21)的外周。 凸起部分(22x,22y)形成在外部部分(22)的外周中,使得凸起部分(22x,22y)在宽度方向上连续地延伸并且沿彼此间隔开的圆周方向布置。 在凸起部分(22x,22y)之间形成有沿宽度方向延伸穿过外部部分(22)的排水槽(25)。 外部部分(22)的凸起部分(22x,22y)的顶表面与履带之间的摩擦力与履带(30)的内​​周面相接触。 阻挡履带(30)的相对侧边缘的限制构件(41,42,43,44)设置在车轮支撑件(10)中,以限制履带(30)相对于车轮(20)的位移, 在宽度方向。