Endless-track traveling apparatus and traveling body

Patent metadata

Field	Value
Publication number	US-11766774-B2
Application number	US-201716349015-A
Country	US
Kind code	B2
Filing date	Jan 23, 2017
Priority date	Jan 23, 2017
Publication date	Sep 26, 2023
Grant date	Sep 26, 2023

Abstract

There is provided a planar member having a flat portion that makes contact with the inner circumferential surface of an endless track at a position at a traveling subject side with respect to a virtual straight line that connects a vertex, at the traveling subject side, in the outer circumferential surface of a first pulley and a vertex, at the traveling subject side, in the outer circumferential surface of a second pulley.

First claim

The invention claimed is:

1. A traveling body comprising:
a first endless-track traveling apparatus and a second endless-track traveling apparatus that are arranged in parallel with each other in a direction perpendicular to a traveling direction wherein the first endless-track traveling apparatus and the second endless-track traveling apparatus each include,
a first pulley and a second pulley that are arranged in such a way that the respective center axes thereof are in parallel with each other,
a motor that drives at least one of the first pulley and the second pulley; and
an endless track that is wound over an outer circumferential surface of the first pulley and an outer circumferential surface of the second pulley, that is driven by the at least one of the pulleys rotated by being driven by the motor, and that travels over the first pulley and the second pulley,
wherein an outer circumferential surface of the endless track makes contact with a traveling subject so that based on the travel of the endless track, the endless-track traveling apparatus travels on the traveling subject,
wherein there is provided a planar member that is disposed in a space surrounded by the endless track and has a flat portion that is configured to press from the inside and make contact with an inner circumferential surface of at least one of two portions of the endless track existing between the first pulley and the second pulley, that face each other,
wherein the flat portion of the planar member makes contact with the inner circumferential surface of the endless track at a position on a traveling subject side with respect to a virtual straight line that connects a vertex, on the traveling subject side, in the outer circumferential surface of the first pulley and a vertex, on the traveling subject side, in the outer circumferential surface of the second pulley, and
wherein at least part of the outer circumferential surface of the endless track, that is opposite the inner circumferential surface in contact with the flat portion of the planar member, makes contact with the traveling subject;
an apparatus mounting unit that is disposed between the first endless-track traveling apparatus and the second endless-track traveling apparatus and is equipped with an inspection apparatus; and
a coupling member that couples the apparatus mounting unit with each one of the first endless-track traveling apparatus and the second endless-track traveling apparatus, wherein each coupling member is configured to bend at a substantially central portion in its longitudinal direction.

2. The traveling body according to claim 1 , wherein the friction coefficient between the inner circumferential surface of the endless track and the flat portion of the planar member is set to be smaller than the friction coefficient between the endless track and the outer circumferential surface of the at least one of the pulleys driven by the motor.

3. The traveling body according to claim 2 , further including an inclination portion connected with an end portion of the flat portion of the planar member, wherein the inclination portion is formed in such a way that the distance between the inclination portion and the inner circumferential surface of the endless track becomes larger as the inclination portion approaches the pulley more.

4. The traveling body according to claim 3 , wherein the endless track is formed in such a way that the hardness of the inner circumferential surface is larger than the hardness of the outer circumferential surface.

5. The traveling body according to claim 2 , wherein the endless track is formed in such a way that the hardness of the inner circumferential surface is larger than the hardness of the outer circumferential surface.

6. The traveling body according to claim 1 , further including an inclination portion connected with an end portion of the flat portion of the planar member, wherein the inclination portion is formed in such a way that the distance between the inclination portion and the inner circumferential surface of the endless track becomes larger as the inclination portion approaches the pulley.

7. The traveling body according to claim 6 , wherein the endless track is formed in such a way that the hardness of the inner circumferential surface is larger than the hardness of the outer circumferential surface.

8. The traveling body according to claim 1 , wherein the endless track is formed in such a way that the hardness of the inner circumferential surface is larger than the hardness of the outer circumferential surface.

9. The traveling body according to claim 1 , comprising:
magnets for providing an attractive force to the traveling subject.

10. A traveling body comprising:
a first endless-track traveling apparatus and a second endless-track traveling apparatus that are arranged in parallel with each other in a direction perpendicular to a traveling direction wherein the first endless-track traveling apparatus and the second endless-track traveling apparatus each include,
a first pulley and a second pulley that are arranged in such a way that the respective center axes thereof are in parallel with each other,
a motor that drives at least one of the first pulley and the second pulley; and
an endless track that is wound over an outer circumferential surface of the first pulley and an outer circumferential surface of the second pulley, that is driven by the at least one of the pulleys rotated by being driven by the motor, and that travels over the first pulley and the second pulley,
wherein an outer circumferential surface of the endless track makes contact with a traveling subject so that based on the travel of the endless track, the endless-track traveling apparatus travels on the traveling subject,
a first planar member that is disposed in a space surrounded by the endless track and has a flat portion that makes contact with an inner circumferential surface of one of two portions of the endless track that face each other and that are arranged between the first pulley and the second pulley,
a second planar member that is disposed in the space surrounded by the endless track and has a flat portion that makes contact with an inner circumferential surface of the other one of two portions of the endless track existing between the first pulley and the second pulley, that face each other,
wherein the flat portion of the first planar member is configured to press from the inside and make contact with the inner circumferential surface of the one of two portions of the endless track at a position apart from a virtual straight line, in a direction departing from the space surrounded by the endless track, that connects a vertex, at the side of the one of two portions of the endless track, in the outer circumferential surface of the first pulley and a vertex, at the side of the one of two portions of the endless track, in the outer circumferential surface of the second pulley,
wherein the flat portion of the second planar member makes contact with the inner circumferential surface of the other one of two portions of the endless track at a position apart from a virtual straight line, in a direction departing from the space surrounded by the endless track, that connects a vertex, at the side of the other one of two portions of the endless track, in the outer circumferential surface of the first pulley and a vertex, at the side of the other one of two portions of the endless track, in the outer circumferential surface of the second pulley, and
wherein the endless track is configured in such a way that the traveling subject makes contact with at least part of the outer circumferential surface that is opposite the inner circumferential sur

Assignees

• Mitsubishi Electric Corp

Inventors

• Mizuno Daisuke
• Morimoto Yoshihiro
• Fukushima Kazuhiko
• Kadota Naoya
• Tsumagari Kazuyuki

Classifications

• B25J5/005 Primary

  mounted on endless tracks or belts · CPC title

• B62D55/06 Primary

  with tracks without ground wheels · CPC title

• B62D57/024

  specially adapted for moving on inclined or vertical surfaces (endless-track vehicles for ascending or descending stairs B62D55/075; hand-carts with provision for travelling up or down stairs B62B5/02) · CPC title

• B62D55/24

  of continuously flexible type, e.g. rubber belts · CPC title

• B62D55/265

  having magnetic or pneumatic adhesion · CPC title