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KR101659042B1 - Tracked moving apparatus - Google Patents

Tracked moving apparatus Download PDF

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Publication number
KR101659042B1
KR101659042B1 KR1020160019763A KR20160019763A KR101659042B1 KR 101659042 B1 KR101659042 B1 KR 101659042B1 KR 1020160019763 A KR1020160019763 A KR 1020160019763A KR 20160019763 A KR20160019763 A KR 20160019763A KR 101659042 B1 KR101659042 B1 KR 101659042B1
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KR
South Korea
Prior art keywords
support roller
pulley unit
end pulley
track
main body
Prior art date
Application number
KR1020160019763A
Other languages
Korean (ko)
Inventor
이명천
이영우
박규현
강윤식
Original Assignee
국방과학연구소
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Priority to KR1020160019763A priority Critical patent/KR101659042B1/en
Application granted granted Critical
Publication of KR101659042B1 publication Critical patent/KR101659042B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/14—Arrangement, location, or adaptation of rollers
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/104—Suspension devices for wheels, rollers, bogies or frames
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/104—Suspension devices for wheels, rollers, bogies or frames
    • B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H9/00—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by endless flexible members
    • F16H9/02—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by endless flexible members without members having orbital motion
    • F16H9/04—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by endless flexible members without members having orbital motion using belts, V-belts, or ropes
    • F16H9/12—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by endless flexible members without members having orbital motion using belts, V-belts, or ropes engaging a pulley built-up out of relatively axially-adjustable parts in which the belt engages the opposite flanges of the pulley directly without interposed belt-supporting members

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • General Engineering & Computer Science (AREA)
  • Devices For Conveying Motion By Means Of Endless Flexible Members (AREA)

Abstract

The present invention relates to a track-type moving apparatus. According to the present invention, the track-type moving apparatus comprises: a front pulley unit provided in a side of a front part of a main body; a rear pulley unit provided in a side of rear part of the main body; a power transfer belt winding on circumferences of the front pulley unit and the rear pulley unit; and a plurality of supporting roller units connected to a side of the main body along forward and backward directions between the front pulley unit and the rear pulley unit, wherein each of the plurality of the supporting roller units includes a supporting roller; and a spring, one end of which is connected to the main body and at the other end of which the supporting roller is rotationally connected, and wherein at least one supporting roller unit of the plurality of the supporting roller units applies a greater ground contact pressure than the other supporting roller unit.

Description

[0001] TRACKED MOVING APPARATUS [0002]

The present invention relates to a track-type moving device, and more particularly, to a track-type moving device having excellent turning performance and steering performance in place.

Of the various conventional types of mobile devices, a track-type mobile device with orbits can perform tasks more easily in difficult terrain such as hills, ovals, stairways, slopes, etc. than a vehicle equipped with wheeled wheels Features.

The conventional track-type moving device generally consists of two track parts composed of a left track part and a right track part.

Therefore, the steering ratio of the trajectory-like moving device is determined according to the rotation ratios of the left track portion and the right track portion, respectively.

When the trajectory-like moving device intends to turn in place, it is necessary that the left track portion and the right track portion simultaneously rotate in different directions. Particularly, when the track-type moving device makes a sudden steering or suddenly turns in place, the left track portion and the right track portion are tied to each other in a rigid body, so that the twist of the entire track- .

In addition, the trajectory-type moving apparatus can smoothly turn the left-track part or the right-track part as the shorter the ground length of the left track part or the right track part is,

However, there is a limit in reducing the grounding length of the left track portion or the right track portion due to the structural characteristics of the track-type moving device.

As a result, in order to smoothly rotate the track-type moving device, it is inevitable to consider a method of increasing the rotational force or reducing the rotational friction force.

However, since there is also a limit to increase the rotational force, the present invention intends to concentrate on reducing frictional force so that the track-type moving device can smoothly rotate.

The present invention is characterized in that a traversing friction force acting on the left track portion and the right track portion that are grounded when the track-like moving device consisting of two track portions including the left track portion and the right track portion suddenly steers or turns in place So as to facilitate the turning of the track-type moving device.

In order to accomplish the above object, according to one aspect of the present invention, there is provided a motorcycle comprising: a front end pulley unit provided on a side surface of a front end of a main body; A rear end pulley unit provided at a rear end side of the main body; A power transmission belt wound around the outer periphery of the front end pulley unit and the rear end pulley unit; And a plurality of support roller units connected to the side surfaces of the main body along the front-rear direction between the front-end pulley unit and the rear-end pulley unit, wherein each of the plurality of support roller units includes: a support roller; And a spring having one end connected to the main body and the other end rotatably connected to the support roller, wherein at least one of the plurality of support roller units is larger than the other support roller unit And an earth pressure is applied to the track-type moving device.

According to another embodiment of the present invention, the plurality of support roller units apply a greater ground pressure to the ground as the distance from the front-end pulley unit and the rear-end pulley unit increases .

According to another embodiment of the present invention, a spring of the support roller unit located far away from the front-end pulley unit and the rear-end pulley unit has a tension greater than that of the spring of the support roller unit, Type mobile device can be provided.

According to another embodiment of the present invention, the spring constant of the support roller unit located closer to the spring of the support roller unit located away from the front-end pulley unit and the rear-end pulley unit is larger than the spring constant of the support roller unit The present invention is not limited thereto.

According to another embodiment of the present invention, the spring is formed by superimposing one or more springs, and the spring of the support roller unit, which is located remotely from the front end pulley unit and the rear end pulley unit, And a plurality of springs larger than the springs of the unit are superimposed on one another.

According to another embodiment of the present invention, the one end of the spring of the support roller unit, which is located remotely from the front end pulley unit and the rear end pulley unit, And the main body is connected to the main body more closely.

According to another embodiment of the present invention, there is provided a motor vehicle comprising: a front end pulley unit provided on a side surface of a front end of a main body; A rear end pulley unit provided at a rear end side of the main body; A power transmission belt wound around the outer periphery of the front end pulley unit and the rear end pulley unit; And a plurality of support roller units connected to the side surfaces of the main body along the front-rear direction between the front-end pulley unit and the rear-end pulley unit, wherein each of the plurality of support roller units includes: a support roller; And at least one supporting roller unit among the plurality of supporting roller units applies a greater ground pressure to the ground than the other supporting roller unit, and the front end pulley unit and the rear end pulley unit Wherein the support roller of the support roller unit located farther away is larger in diameter than the support roller of the support roller unit located close to the support roller unit.

According to another embodiment of the present invention, the plurality of support roller units apply a greater ground pressure to the ground as the distance from the front-end pulley unit and the rear-end pulley unit increases, have.

According to the present invention, when a track-like moving device composed of two track parts including a left track part and a right track part suddenly steers or turns in place, the left and right track parts, which are grounded, The frictional force is concentrated on the central portion in the longitudinal direction of the left track portion and the right track portion by changing the arrangement or shape of the plurality of supporting roller units, It is possible to prevent the rotational friction generated from the ground surface of the mobile device from being concentrated in the front-end pulley unit and the rear-end pulley unit, thereby enabling the orbital-type moving device to smoothly steer the steered steering wheel It does.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a side schematic view showing a track structure of a conventional tracked moving device. FIG.
2 is a side schematic view showing a track structure of a track-type moving device according to an embodiment of the present invention.
3 is a side schematic view showing a track structure of a track-type moving device according to another embodiment of the present invention.
FIG. 4 is a schematic side view showing the track structure of the conventional track-type moving apparatus shown in FIG. 1. FIG.
FIG. 5 is a schematic side view showing a track structure of the track-type moving device according to an embodiment of the present invention shown in FIG.
FIG. 6 is a schematic side view showing a track structure of the track-type moving device according to another embodiment of the present invention shown in FIG.
FIG. 7 is a side schematic view showing a track structure before the tracked moving device according to the embodiment of the present invention shown in FIG. 2 and FIG. 5 is grounded on the ground.
FIG. 8 is a side schematic view showing a track structure in a state where the track-type moving device according to the embodiment of the present invention shown in FIGS. 2, 5, and 7 is grounded on the ground.
FIG. 9 is a side schematic view showing a track structure before the tracked moving device shown in FIG. 3 and FIG. 6 according to another embodiment of the present invention is grounded on the ground;
FIG. 10 is a side schematic view showing a track structure in a state where the track-type moving device according to another embodiment of the present invention shown in FIG. 3, FIG. 6, and FIG. 9 is grounded.
Fig. 11 is an explanatory view showing the distribution of ground pressure of the track structure in a state in which the conventional track-type moving device shown in Figs. 1 and 4 is grounded on the ground.
FIG. 12 is an explanatory view showing an earth pressure distribution of a track structure in a state in which a track-like moving device according to an embodiment of the present invention shown in FIG. 2, FIG. 5, and FIG.
FIG. 13 is an explanatory view showing the ground pressure distribution of the track structure in a state in which the track-type moving device according to another embodiment of the present invention shown in FIGS. 3, 6, 9, to be.
14 is a schematic plan view showing the ground pressure distribution of the track structure in a state in which the conventional track type moving device shown in Figs. 1, 4, and 11 is grounded on the ground.
15 is a schematic plan view showing the ground pressure distribution of the track structure in a state in which the track-type moving device according to the embodiment of the present invention or another embodiment is grounded on the ground.

Hereinafter, the trajectory-type mobile devices 100 and 200 of the present invention will be described in detail with reference to the drawings attached hereto.

In the present specification, the same or similar reference numerals are given to different embodiments in the same or similar configurations, and the description thereof is replaced with the first explanation.

As used herein, the singular forms " a " and " an " are to be construed as including plural referents unless the context clearly dictates otherwise.

The terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary meanings and should be construed in accordance with the meaning and concept of the technical subject matter of the present invention.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the invention as defined by the appended claims. Variations and modifications are intended to fall within the scope of the appended claims.

1 is a side schematic view showing the structure of a track portion 10 of a conventional track-type moving device M;

Fig. 4 is a side schematic view schematically showing the structure of the track portion 10 of the conventional track-type moving device M shown in Fig.

Fig. 11 is an explanatory diagram showing the distribution of the ground pressure of the structure of the track section 10 in a state in which the conventional track-type moving device M shown in Figs. 1 and 4 is grounded on the ground.

1 and 4, the track section 10 includes a front end pulley unit 11 provided at the front end side surface of the main body, A rear end pulley unit 12 provided at the rear end side of the main body, a power transmission belt 13 wound around the outer ends of the front end pulley unit 11 and the rear end pulley unit 12, And a plurality of support roller units 15 connected to the side surfaces of the main body along the front-rear direction between the front-end pulley unit 11 and the rear-end pulley unit 12.

The distribution of the ground pressure of the track portion 10 in the state in which the conventional track-type moving device M shown in FIG. 11 is grounded on the ground surface, Is determined by the center of gravity of the entire trajectory-like moving device (M) according to the following equation. Generally, the center of gravity is designed to be located at the center of the track portion 10. [

According to the conventional track-type moving device M shown in Fig. 11, the plurality of support roller units 15 are arranged in a straight line along the front-rear direction. Therefore, the earth pressure of the track portion 10 of the conventional track traveling device M is normally distributed evenly.

This structure is a structure in which a rotational friction force is uniformly generated over the entire area of the ground track of the track portion 10 of the conventional track-type moving device M, and the conventional track- It is a major factor that makes it difficult to make a sudden turnout.

2 is a side schematic view showing a structure of a track portion 100 of a track-type moving device M according to an embodiment of the present invention.

FIG. 5 is a schematic side view showing a track structure 100 of a track-type moving device M according to an embodiment of the present invention.

Hereinafter, the track portion 100 of the track-type moving device M according to an embodiment of the present invention will be described with reference to FIGS. 2 and 5. FIG.

The track part 100 of the track type moving device M according to an embodiment of the present invention includes a front end pulley unit 110 provided at the front end side surface of the main body; A rear end pulley unit 120 provided at a rear end side of the main body; A power transmission belt 130 wound around the outer periphery of the front end pulley unit 110 and the rear end pulley unit 120; And a plurality of support roller units 150 connected to the side surface of the main body along the front-rear direction between the front-end pulley unit 110 and the rear-end pulley unit 120.

That is, the front-end pulley unit 110, the plurality of support roller units 150, and the rear-end pulley unit 120 (in this embodiment, And the like are arranged in this order, and the power transmission belt 130 is wound along the outer periphery thereof.

Further, each of the plurality of support roller units 150 includes: a support roller 151; And a spring 152.

One end of the spring 152 is connected to the main body, and the support roller 151 is rotatably connected to the other end.

At least one of the plurality of support roller units 150, that is, at least one support roller unit 150, is made to apply a larger ground pressure to the ground than the other support roller unit 150. Therefore, the ground pressure of the plurality of support roller units 150 from the ground becomes unevenly distributed.

With the above arrangement, the grounding pressure is concentrated on a part of the supporting roller unit 150, and the grounding pressure is reduced on the remaining supporting roller unit 150, so that when the orbiting mobile device M is turning in place, The total sum of the rotational friction applied to the whole part is reduced. Therefore, it is possible to smoothly rotate or rotate in a more smooth manner.

As shown in FIGS. 2 and 5, the plurality of support roller units 150 of the track portion 100 of the track-type moving device M according to the embodiment of the invention, The farther from the pulley unit 110 and the rear-end pulley unit 120, the larger the ground pressure on the ground.

More specifically, the tension of the springs of the support roller unit located inside the plurality of support roller units 150 of the track-like moving device M according to the embodiment of the present invention shown in Figs. 2 and 5 May be configured to be larger than the tension of the spring of the support roller unit located outside.

In the structure of the track portion 100 of the track type moving device M according to an embodiment of the present invention shown in FIGS. 2 and 5, the power transmission belt 140 wound around the periphery of the support rollers 151, (130), it can be seen that they are not arranged side by side in a straight line along the front-rear direction, but gradually descend downward toward the center.

That is, the lower portion of the track portion 100 of the track-type moving device M according to an embodiment of the present invention may have the inverted arch shape.

With this configuration, the lower portion of the power transmission belt 130 maintains a convex shape until the orbit-type moving device M is placed on the ground.

FIG. 7 is a side schematic view showing the structure of the track part 100 before the track-like moving device M according to the embodiment of the present invention shown in FIG. 2 and FIG. 5 is grounded on the ground.

8 is a side schematic view showing the structure of the track part 100 in a state in which the track-like moving device M according to the embodiment of the present invention shown in Figs. 2, 5, and 7 is grounded on the ground .

Referring to FIG. 7, since the lower portion of the power transmission belt 130 of the track-type moving device M according to the embodiment of the present invention is not yet grounded on the ground, it is confirmed that the convex shape is maintained have.

Referring to FIG. 8, it can be seen that the track-type mobile device M according to an embodiment of the present invention is grounded flat on the ground. In this case, the lower portion of the power transmission belt 130 of the track-type moving device M is pressed flat by the ground.

At this time, the tension of the spring 152 of the support roller unit 150 located on the inner side of the plurality of support roller units 150 of the track-type moving device M is lower than the spring 152 of the support roller unit 150 It can be seen that the spring 152 of the support roller unit 150 located inside is compressed less than the spring 152 of the support roller unit 150 located outside.

With this structure, the support roller unit 150 located inside the plurality of support roller units 150 of the track-like moving device M has a larger contact pressure than the support roller unit 150 located at the outside.

The present invention is not necessarily limited to the configuration of the embodiment described above and the configuration in which one or more support roller units 150 of the plurality of support roller units 150 are configured to apply a larger ground pressure to the surface of the other support roller units 150 It is also possible to have various configurations different from the above-mentioned embodiments.

3 is a side schematic view showing a structure of a track portion 200 of a track-type moving device M according to another embodiment of the present invention.

FIG. 6 is a schematic side view showing a track structure 200 of a track-type moving device M according to another embodiment of the present invention.

3 and 6, according to another embodiment of the present invention, the support roller unit (not shown) located far from the front end pulley unit 210 and the rear end pulley unit 220, The support roller 251 of the support roller unit 250 may be a roller having a larger diameter than the support roller 251 of the support roller unit 250 and the outer circumferential portion of the support roller 250 may be composed of an elastic portion .

In the structure of the track portion 200 of the track type moving device M according to the embodiment of the present invention shown in FIGS. 3 and 6, a power transmission belt (not shown) wound around the lower end of a plurality of support rollers 251 230 are not arranged on a horizontal straight line along the forward and backward directions but gradually downward toward the center along the longitudinal direction of the track portion 200. [

That is, the lower portion of the track portion 200 of the track-type moving device M according to an embodiment of the present invention has a convex shape.

By varying the diameters of the support rollers 251 of the track-type moving device M according to another embodiment of the present invention, the power transmission belt 230 The convex shape is maintained.

FIG. 9 is a side schematic view showing the structure of the track part 200 before the tracked mobile device M according to another embodiment of the present invention shown in FIG. 3 and FIG. 6 is grounded on the ground.

10 is a side schematic view showing the structure of the track portion 200 in a state where the tracked mobile device M according to another embodiment of the present invention shown in Figs. 3, 6, and 9 is grounded on the ground to be.

At this time, the diameter of the support roller 251 of the support roller unit 250 located on the inner side of the plurality of support roller units 250 of the track-type movement device M is larger than the diameter of the support roller unit 250 of the support roller unit 250, Is larger than the diameter of the support roller 251, the support roller 251 located on the inner side is disposed so as to protrude more toward the paper than the support roller 251 located on the outer side. At this time, the elastic portion constituting the outer peripheral portion of the inner supporting roller 251 receives a larger ground pressure from the ground than the elastic portion constituting the outer peripheral portion of the outer supporting roller 251, Can be confirmed.

As a result, through this structure, the support roller unit 250 located inside the plurality of support roller units 250 of the track-like moving device M has a larger contact pressure than the support roller unit 250 located at the outside .

According to another embodiment of the present invention, a track portion (not shown) of the track-like moving device M is provided at a position where the one end of the spring of the support roller unit located remotely from the front- May be connected to the main body closer to the ground than the one end of the spring of the supporting roller unit positioned close to the main body.

That is, through the structure of the track-type moving device M according to another embodiment of the present invention, the lower portion of the track portion may be formed in a convex shape.

The springs of the plurality of support roller units of the track-type moving device M according to another embodiment of the present invention may all be the same lengths of springs. However, by varying the height at which the springs of the plurality of support roller units are connected to each other, the lower portion of the power transmission belt 230 can maintain a convex shape until the track movement device M is placed on the ground .

According to another embodiment of the present invention, the track portion (not shown) of the track-type moving device M is arranged such that the spring of the support roller unit located away from the front- The spring constant of the support roller unit is larger than that of the support roller unit.

In this case, unlike the above-mentioned embodiments, in the track structure of the track-type moving device M, the power transmission belt portions wound around the lower end portions of the plurality of support rollers are arranged side by side on a horizontal straight line .

That is, the lower portion of the track portion of the track-type moving device M according to another embodiment of the present invention does not have a convex shape and has a flat shape along a straight line.

With this structure, since the support roller unit located on the inner side of the plurality of support roller units when the orbit-type movement device M is placed on the ground is provided with a spring having a larger spring constant, A larger ground pressure is obtained.

According to another embodiment of the present invention, the track portion (not shown) of the track-type moving device M is arranged such that the spring of the support roller unit located away from the front- And the number of springs is larger than that of the support roller unit.

In this case, too, in the track structure of the track-type moving device M, the power transmission belt portions wound around the lower end portions of the plurality of support rollers are arranged in parallel on the horizontal straight line along the front-rear direction.

That is, the lower portion of the track portion of the track-type moving device M according to another embodiment of the present invention does not have a convex shape and has a flat shape along a straight line.

With this structure, since the support roller unit located on the inner side of the plurality of support roller units is constructed by superposing a larger number of springs when the orbit-type movement device M is placed on the ground, A larger ground pressure is obtained.

11 is an explanatory view showing the distribution of the ground pressure of the structure of the track portion 10 in a state in which the conventional trajectory-like moving device M is grounded on the ground.

14 is a schematic plan view showing the ground pressure distribution of the structure of the track portion 10 in a state in which the conventional track traveling device M is grounded on the ground.

Referring to FIGS. 11 and 14, the distribution of the ground pressure of the track portion 10 of the conventional track-type moving device M can be confirmed. It can be confirmed that the earth pressure of the track portion 10 of the conventional trajectory-like moving device M is uniformly distributed.

In this case, a considerable rotational friction force is applied to the entire track portion 10 in order for the conventional track-type moving device M to swing from place to place. Therefore, the conventional trajectory-type mobile device M is difficult to smoothly swing in place.

12 is an explanatory view showing the distribution of the ground pressure of the structure of the track portion 100 in a state in which the track-like moving device M according to the embodiment of the present invention is grounded on the ground.

13 is an explanatory diagram showing the distribution of the ground pressure of the structure of the track portion 200 in a state in which the track-like moving device M according to another embodiment of the present invention is grounded on the ground.

15 is a schematic plan view showing the ground pressure distribution of the structure of the track portions 100, 200 in a state where the track-type moving device M according to the embodiment of the present invention or the other embodiment is grounded on the ground.

12, 13, and 15, the contact pressure of the track portions 100, 200 of the track type moving device M according to one embodiment of the present invention or another embodiment of the present invention is applied to the front end pulley units 110, 210 ) And the rear end pulley units 120 and 220, that is, the central portion of the track portions 100 and 200. [

In this case, the track-type moving device M according to one embodiment of the present invention or another embodiment receives a smaller rotational friction force than the conventional track-type moving device M when the sprung in place. Therefore, the track-type moving device M according to one embodiment of the present invention or another embodiment has the advantage of the present invention that it is possible to make a spiral turn in place more smoothly as compared with the conventional track- do.

In the drawings of the present invention, the track type moving means having the left track portion and the right track portion together is shown as an example. However, the present invention is not necessarily limited thereto, and various types of track- It should be noted that this is an applicable configuration.

In the main body of the present invention, various structures such as various kinds of measurement sensors or robots may be mounted to achieve various objects.

It will be apparent to those skilled in the art that various modifications, substitutions and alterations can be made hereto without departing from the spirit and scope of the invention as defined by the appended claims. will be.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. .

The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be interpreted as being included in the scope of the present invention.

M: Track-type moving device
10: Conventional track portion
11: Shearing pulley unit
12: rear end pulley unit
13: Power transmission belt
15: Support roller unit
100: a track portion according to an embodiment of the present invention;
110, 210: Shearing pulley unit
120, 220: rear end pulley unit
130, 230: Power transmission belt
150, 250: Support roller unit
151, 251: Support roller
152, 252: spring
200: According to another embodiment of the present invention,

Claims (8)

A front end pulley unit provided on a side surface of a front end of the main body;
A rear end pulley unit provided at a rear end side of the main body;
A power transmission belt wound around the outer periphery of the front end pulley unit and the rear end pulley unit; And
And a plurality of support roller units connected to the side surface of the main body along the front-rear direction between the front-end pulley unit and the rear-end pulley unit,
Wherein each of the plurality of support roller units comprises:
A support roller; And
And a spring having one end connected to the main body and the other end rotatably connected to the support roller,
Wherein a spring of a longer length of the springs of the plurality of support roller units disposed farther from the front end pulley unit and the rear end pulley unit is applied to the front end pulley unit and the rear end pulley unit of the plurality of support roller units, The lower side is disposed relatively farther toward the ground,
Wherein the ratio of the shear pulley unit, the rear-end pulley unit, and the plurality of support roller units is 1: 1: 18,
Wherein a ratio of an earth pressure of a front region, a rear region, and an intermediate region of the plurality of support roller units is 5: 5: 8. delete A front end pulley unit provided on a side surface of a front end of the main body;
A rear end pulley unit provided at a rear end side of the main body;
A power transmission belt wound around the outer periphery of the front end pulley unit and the rear end pulley unit; And
And a plurality of support roller units connected to the side surface of the main body along the front-rear direction between the front-end pulley unit and the rear-end pulley unit,
Wherein each of the plurality of support roller units comprises:
A support roller; And
And a spring having one end connected to the main body and the other end rotatably connected to the support roller,
The tension of the support roller unit located far away from the front-end pulley unit and the rear-end pulley unit is greater than that of the spring of the support roller unit,
Wherein the ratio of the shear pulley unit, the rear-end pulley unit, and the plurality of support roller units is 1: 1: 18,
Wherein a ratio of an earth pressure of a front region, a rear region, and an intermediate region of the plurality of support roller units is 5: 5: 8. A front end pulley unit provided on a side surface of a front end of the main body;
A rear end pulley unit provided at a rear end side of the main body;
A power transmission belt wound around the outer periphery of the front end pulley unit and the rear end pulley unit; And
And a plurality of support roller units connected to the side surface of the main body along the front-rear direction between the front-end pulley unit and the rear-end pulley unit,
Wherein each of the plurality of support roller units comprises:
A support roller; And
And a spring having one end connected to the main body and the other end rotatably connected to the support roller,
The spring constant of the support roller unit located closer to the spring of the support roller unit located farther from the front-end pulley unit and the rear-end pulley unit is larger than that of the support roller unit,
Wherein the ratio of the shear pulley unit, the rear-end pulley unit, and the plurality of support roller units is 1: 1: 18,
Wherein a ratio of an earth pressure of a front region, a rear region, and an intermediate region of the plurality of support roller units is 5: 5: 8. A front end pulley unit provided on a side surface of a front end of the main body;
A rear end pulley unit provided at a rear end side of the main body;
A power transmission belt wound around the outer periphery of the front end pulley unit and the rear end pulley unit; And
And a plurality of support roller units connected to the side surface of the main body along the front-rear direction between the front-end pulley unit and the rear-end pulley unit,
Wherein each of the plurality of support roller units comprises:
A support roller; And
And a spring having one end connected to the main body and the other end rotatably connected to the support roller,
Wherein the spring is formed by overlapping one or more springs,
Wherein a spring of the support roller unit located away from the front end pulley unit and the rear end pulley unit is formed by overlapping a number of springs more than the springs of the support roller unit located close to each other,
Wherein the ratio of the shear pulley unit, the rear-end pulley unit, and the plurality of support roller units is 1: 1: 18,
Wherein a ratio of an earth pressure of a front region, a rear region, and an intermediate region of the plurality of support roller units is 5: 5: 8. A front end pulley unit provided on a side surface of a front end of the main body;
A rear end pulley unit provided at a rear end side of the main body;
A power transmission belt wound around the outer periphery of the front end pulley unit and the rear end pulley unit; And
And a plurality of support roller units connected to the side surface of the main body along the front-rear direction between the front-end pulley unit and the rear-end pulley unit,
Wherein each of the plurality of support roller units comprises:
A support roller; And
And a spring having one end connected to the main body and the other end rotatably connected to the support roller,
The one end of the spring of the support roller unit located remotely from the front end pulley unit and the rear end pulley unit is connected to the main body closer to the ground than the one end of the spring of the support roller unit,
Wherein the ratio of the shear pulley unit, the rear-end pulley unit, and the plurality of support roller units is 1: 1: 18,
Wherein a ratio of an earth pressure of a front region, a rear region, and an intermediate region of the plurality of support roller units is 5: 5: 8. delete delete
KR1020160019763A 2016-02-19 2016-02-19 Tracked moving apparatus KR101659042B1 (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020167806A1 (en) * 2019-02-14 2020-08-20 Srj, Inc. Roller suspension system

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4501452A (en) * 1982-11-29 1985-02-26 Deere & Company Bulldozer track support roller mounting
JPH0292782A (en) * 1988-09-30 1990-04-03 Komatsu Ltd Turning characteristic variable device for crawler vehicle
JPH1179012A (en) * 1997-08-29 1999-03-23 Mitsubishi Agricult Mach Co Ltd Crawler travel device for movable agricultural machine

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4501452A (en) * 1982-11-29 1985-02-26 Deere & Company Bulldozer track support roller mounting
JPH0292782A (en) * 1988-09-30 1990-04-03 Komatsu Ltd Turning characteristic variable device for crawler vehicle
JPH1179012A (en) * 1997-08-29 1999-03-23 Mitsubishi Agricult Mach Co Ltd Crawler travel device for movable agricultural machine

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020167806A1 (en) * 2019-02-14 2020-08-20 Srj, Inc. Roller suspension system
US11097794B2 (en) 2019-02-14 2021-08-24 Srj, Inc. Roller suspension system

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