Crawler robot

• US 7,793,743 B2
• Filed: 03/09/2007
• Issued: 09/14/2010
• Est. Priority Date: 03/10/2006
• Status: Expired due to Fees

• Current Assignee: National Institute of Advanced Industrial Science and Technology (Government of Japan)
• Original Assignee: National Institute of Advanced Industrial Science and Technology (Government of Japan)
• Inventors: Kamimura, Akiya
• Primary Examiner(s): Morris; Lesley
• Assistant Examiner(s): WILLIAMS, MAURICE L
• Application Number:
  US11/715,927
• Publication Number:
  US 20070209844A1
• Time in Patent Office: 1,285 Days
• Field of Search: 180/8.1, 180/8.2, 180/9.32, 180/9.1, 180/9.3
• US Class Current: 180/9.32
• CPC Class Codes: B62D 55/0655 Articulated endless track vehicles steering specially adapted for trailers B62D13/00; articulated buses B62D47/025; tractor-trailer combinations or road trains comprising a uni-axle unit and a uni-axle trailer B62D53/02
• CPC Class Codes: B62D 55/075 Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfacesmagnetic or pneumatic ground-engaging parts B62D55/265; chairs or multi-track cycles specially adapted for invalids A61G5/00
• CPC Class Codes: B62D 55/18 Tracks self-cleaning track links B62D55/088
• CPC Class Codes: B62D 55/30 Track-tensioning means
• CPC Class Codes: B62D 59/04 driven from propulsion unit on trailer

Abstract

Disclosed is a crawler robot which, even of a small size, can climb over a high step and which can perform various aspects of operations. Rollers, are arranged at apexes of triangular frames, and elastic crawlers are wrapped around the rollers, with the two frames being connected by a central support shaft. Rotatably provided to the central support shaft is a one-joint link composed of a first link and a second link connected together by a rotation shaft. An end portion of the second link is rotatably connected with a front shaft of a subordinate crawler device equipped with crawlers wrapped around rollers. As a result, the crawler robot is composed of a triangular crawler device and the subordinate crawler device connected together by the one-joint link. The crawler robot can be operated by rotating and bending the link and by rotating the crawler devices in arbitrary directions.

Claims

1. A crawler robot, comprising:

a triangular-shaped crawler device having parallel triangular frames on respective sides thereof with three rollers respectively arranged at apexes of the frames, crawlers being wrapped around said rollers, wherein the crawlers comprise three rigid components which form a triangle, and a support shaft connecting respective centers of the frames;

a subordinate crawler device having crawlers on both sides and being wrapped around rollers of subordinate crawler device frames that are connected to each other, said rollers are arranged at center axes of subordinate crawler device frames;

a link having first and second arms rotatably connected to each other with an axis of rotation parallel with the support shaft of the triangular-shaped crawler device, said link having one end fixed on the support shaft of the triangular-shaped crawler device and another end rotatably connected to the subordinate crawler device, such that a rotating shaft of the subordinate crawler device is parallel to the support shaft of the triangular-shaped crawler device, whereby the crawler robot can be formed into three symmetrical sides; and

at least one motor configured to drive the crawlers of the triangular-shaped crawler device and the crawlers of the subordinate crawler device and arms of the link independently of each other, wherein the link and the subordinate crawler device are accommodatable within an outer peripheral edge of the triangular crawler device.

2. The crawler robot according to claim 1, wherein the triangular crawler device and the subordinate crawler device substantially differ in weight, and wherein the link rotates about the shaft thereby displacing a center of gravity of the crawler robot.

3. The crawler robot according to claim 1, wherein the triangular crawler device and the subordinate crawler device are arranged to permit the crawler robot to travel with the triangular crawler device and the subordinate crawler device in contact with the ground.

4. The crawler robot according to claim 1, wherein the triangular crawler device is operable to support the subordinate crawler device through the link, whereby the crawler robot travels through the crawlers of the triangular crawler device.

5. The crawler robot according to claim 1, wherein the subordinate crawler device is operable to support the triangular crawler device by extending the link, whereby the crawler robot is raised by the subordinate crawler device.

6. The crawler robot according to claim 1, wherein with the triangular crawler device raised and placed on a step portion by the subordinate crawler device, the subordinate crawler device can be raised to the step portion by the triangular crawler device.

7. The crawler robot according to claim 1, wherein the triangular frames are rotatable around the support shaft to raise front portions of the surfaces of the triangular crawlers from ground, to thereby effect an operation of climbing over a step.

8. The crawler robot according to claim 7, wherein the subordinate crawler device is arranged to apply a pressure from a rear side, to substantially grip the surfaces of the triangular crawlers in contact with the ground, whereby the crawler robot is configured to climb over a high step.

9. The crawler robot according to claim 1, wherein the triangular crawler device is provided with crawler guides for causing the crawlers to protrude from within, which are retractable at midpoints of the sides of the triangular crawler device.

10. The crawler robot according to claim 9, wherein, with the crawler guides protruding, the crawler robot can travel through rotation of the frames of the triangular crawler device about the support shaft.

11. The crawler robot according to claim 1, wherein the subordinate crawler device is equipped with a connecting means for connecting with another crawler robot, and configurable to bead together a plurality of crawler robots.

12. The crawler robot of claim 1, wherein the link and the subordinate crawler device are rotatable 360 degrees freely with respect to the support shaft of the triangular-shaped crawler device.

13. The crawler robot of claim 1, wherein the link may be accommodated in a folded configuration to reside within the triangular crawler device.

14. A crawler robot, comprising:

a triangular-shaped crawler device having parallel triangular frames on respective sides thereof with three rollers respectively arranged at apexes of the frames, crawlers being wrapped around said rollers, and a support shaft connecting respective centers of the frames;

a subordinate crawler device having crawlers on both sides and being wrapped around rollers of subordinate crawler device frames that are connected to each other, said rollers are arranged at center axes of subordinate crawler device frames;

a link having first and second arms rotatably connected to each other with an axis of rotation parallel with the support shaft of the triangular-shaped crawler device, said link having one end fixed on the support shaft of the triangular-shaped crawler device and another end rotatably connected to the subordinate crawler device, such that a rotating shaft of the subordinate crawler device is parallel to the support shaft of the triangular-shaped crawler device, whereby the crawler robot can be formed into three symmetrical sides;

at least one motor configured to drive the crawlers of the triangular-shaped crawler device and the crawlers of the subordinate crawler device and arms of the link independently of each other, wherein the link and the subordinate crawler device are accommodatable within an outer peripheral edge of the triangular crawler device; and

wherein the subordinate crawler device is operable to support the triangular crawler device by extending the link, whereby the crawler robot is raised by the subordinate crawler device.