Abstract: A robot R includes a pair of crawler devices 2 supported by a body 1. Each of the crawler devices 2 includes a crawler unit 3 supported by the body 1 such that the crawler unit 3 is rotatable about a first rotational axis L. The crawler unit 3 includes a support 10 extending along the first rotational axis L1 and a pair of crawler parts 20A, 20B mounted on the support 10. Each of the crawler device 2 includes a rolling driving member 46 connected to the support 10 of the crawler unit 3, a rolling motor 60 that rotationally drives the rolling driving member 46, a crawler drive shaft 41 extending along the first rotational axis L1 through a gap between the pair of crawler parts 20A, 20B, a crawler motor 50 that rotationally drives the crawler drive shaft 41 and a torque transmitting mechanism 42 that transmits rotary torque of the crawler drive shaft 41 to the pair of crawler parts 20A, 20B, The crawler motor 50, as well as the rolling motor 60, is disposed outside of the crawler unit 3.

Abstract: A traveling apparatus that can be moved in two directions includes a body 1, a pair of crawler units 5, crawler actuators 40 and rolling actuators 60. The crawler units 5 are supported by the body 1 such that the crawler units 5 are rotatable about a rotational axis L1. The traveling apparatus performs crawler moving in a direction of the rotational axis L1 by the crawler actuator 40 driving pairs of crawler structures 20A, 20B of the crawler units 5. The traveling apparatus performs moving by rolling in a direction orthogonal to the rotational axis L1 by the rolling actuator 60 making the crawler units 5 roll about the rotational axes L1. To prepare for the crawler moving, the crawler units 5 are made to roll to take a movable attitude based on attitude information of the crawler units 5 from rotary encoders 72.

Abstract: A crawler device 2 includes a crawler unit 5. The crawler unit 5 includes a first support 10 extending along a first rotational axis L1, a pair of crawler structures 20A, 20B mounted on the first support 10 and a pair of ground contacting structures 30A, 30B mounted on the first support 10. The pair of ground contacting structures 30A, 30B are arranged outside of the pair of crawler structures 20A, 20B in a direction in which the pair of crawler structures 20A, 20B are opposed to each other. The crawler unit 5 is supported by second supports 41, 42 such that the crawler unit 5 is rotatable about the first rotational axis L1. An outer periphery of the crawler unit 5 having a circular cylindrical configuration includes first zones Z1 occupied by the pair of crawler structures 20A, 20B and second zones Z2 occupied by the pair of ground contacting structures 30A, 30B alternately arranged in a circumferential direction.

Abstract: A robot R includes a pair of crawler devices 2 supported by a body 1. Each of the crawler devices 2 includes a crawler unit 3 supported by the body 1 such that the crawler unit 3 is rotatable about a first rotational axis L. The crawler unit 3 includes a support 10 extending along the first rotational axis L1 and a pair of crawler parts 20A, 20B mounted on the support 10. Each of the crawler device 2 includes a rolling driving member 46 connected to the support 10 of the crawler unit 3, a rolling motor 60 that rotationally drives the rolling driving member 46, a crawler drive shaft 41 extending along the first rotational axis L1 through a gap between the pair of crawler parts 20A, 20B, a crawler motor 50 that rotationally drives the crawler drive shaft 41 and a torque transmitting mechanism 42 that transmits rotary torque of the crawler drive shaft 41 to the pair of crawler parts 20A, 20B, The crawler motor 50, as well as the rolling motor 60, is disposed outside of the crawler unit 3.

Abstract: A cable system A includes a cable 3 for connecting a base device 1 and a travelling body 2, a reel device 10 mounted on the travelling body 2, a motor controller 40 for controlling a motor 15 of the reel device 10, and a rotary encoder 16 (rotation sensor) for detecting rotation of a reel 12. The motor controller 40 basically makes the motor 15 free, when the reel 12 is rotating in an unreeling direction, and basically applies a rotational torque in a reeling direction to the reel 12, when the reel 12 is rotating in the reeling direction. Furthermore, even if the reel 12 is rotating in the unreeling direction, if an unreeling speed of the cable 3 exceeds a travelling speed of the travelling body 2, the rotational torque in the reeling direction is applied to the reel 12. Slackening of the cable 3 is thereby prevented.

Abstract: A work apparatus that can collect core samples of a seabed ground at a desired angle in a stable manner includes a body 10, four flippers 30 rotatably disposed at left and right of a front section of the body 10 and at left and right of a rear section of the body 10 and a coring mechanism 20 disposed on the body 10 as basic features. An inclination sensor 17 that detects inclinations in a front-rear direction and in a left-right direction is disposed on the body 10. A load sensor 49 is attached to a support structure 40 rotatably supporting the flippers 30. A controller 16 controls rotations of the four flippers 30 based on information on inclination from the inclination sensor 17 and information on landing of the flippers 30 from the load sensor 49 to make the body 10 assume a desired attitude, which is a horizontal attitude, for example, and to land at least three flippers 30. After the attitude control, the controller 16 activates the coring mechanism 20 to collect the core samples from the seabed.

Abstract: In the present invention, a crawler belt (10) is provided with: an endless belt main body (11); a plurality of tread lugs (12) formed at the outer periphery of the belt main body (11) with spaces therebetween in the peripheral direction; and a pair of disengagement prevention sections (13) that are formed along the peripheral direction of the belt main body (11) at the inner periphery of the belt main body (11) and are separated in the width direction of the belt main body (11). The disengagement prevention sections (13) are configured from a plurality of rib segments (13a) extending in the peripheral direction and disposed along the peripheral direction with spaces therebetween. Each rib segment (13a) is disposed at a position in the peripheral direction corresponding to a tread lug (12).

Abstract: A traveling apparatus that can be moved in two directions includes a body 1, a pair of crawler units 5, crawler actuators 40 and rolling actuators 60. The crawler units 5 are supported by the body 1 such that the crawler units 5 are rotatable about a rotational axis L1. The traveling apparatus performs crawler moving in a direction of the rotational axis L1 by the crawler actuator 40 driving pairs of crawler structures 20A, 20B of the crawler units 5. The traveling apparatus performs moving by rolling in a direction orthogonal to the rotational axis L1 by the rolling actuator 60 making the crawler units 5 roll about the rotational axes L1. To prepare for the crawler moving, the crawler units 5 are made to roll to take a movable attitude based on attitude information of the crawler units 5 from rotary encoders 72.

Abstract: A crawler device 2 includes a crawler unit 5. The crawler unit 5 includes a first support 10 extending along a first rotational axis L1, a pair of crawler structures 20A, 20B mounted on the first support 10 and a pair of ground contacting structures 30A, 30B mounted on the first support 10. The pair of ground contacting structures 30A, 30B are arranged outside of the pair of crawler structures 20A, 20B in a direction in which the pair of crawler structures 20A, 20B are opposed to each other. The crawler unit 5 is supported by second supports 41, 42 such that the crawler unit 5 is rotatable about the first rotational axis L1. An outer periphery of the crawler unit 5 having a circular cylindrical configuration includes first zones Z1 occupied by the pair of crawler structures 20A, 20B and second zones Z2 occupied by the pair of ground contacting structures 30A, 30B alternately arranged in a circumferential direction.

Abstract: In the present invention, a crawler belt (10) is provided with: an endless belt main body (11); a plurality of tread lugs (12) formed at the outer periphery of the belt main body (11) with spaces therebetween in the peripheral direction; and a pair of disengagement prevention sections (13) that are formed along the peripheral direction of the belt main body (11) at the inner periphery of the belt main body (11) and are separated in the width direction of the belt main body (11). The disengagement prevention sections (13) are configured from a plurality of rib segments (13a) extending in the peripheral direction and disposed along the peripheral direction with spaces therebetween. Each rib segment (13a) is disposed at a position in the peripheral direction corresponding to a tread lug (12).

Abstract: A cable system has a cable connecting a base device and a travelling body, functions of the cable at least including transmission of signals, a reel device disposed on the travelling body, the reel device having a reel onto which the cable is to be wound, a motor that drives the reel and a rotation sensor that detects a rotation of the reel, a motor controller that controls the motor of the reel device; and an acceleration sensor that is disposed in the traveling body and detects an acceleration in a vertical direction, the motor controller basically opening a motor drive circuit for driving the motor or bringing a supply current to the motor to zero when it is determined that the reel is rotated in an unreeling direction for unreeling the cable based on sensed information from the rotation sensor.

Abstract: A cable system A includes a cable 3 for connecting a base device 1 and a travelling body 2, a reel device 10 mounted on the travelling body 2, a motor controller 40 for controlling a motor 15 of the reel device 10, and a rotary encoder 16 (rotation sensor) for detecting rotation of a reel 12. The motor controller 40 basically makes the motor 15 free, when the reel 12 is rotating in an unreeling direction, and basically applies a rotational torque in a reeling direction to the reel 12, when the reel 12 is rotating in the reeling direction. Furthermore, even if the reel 12 is rotating in the unreeling direction, if an unreeling speed of the cable 3 exceeds a travelling speed of the travelling body 2, the rotational torque in the reeling direction is applied to the reel 12. Slackening of the cable 3 is thereby prevented.

Abstract: A crawler device includes a wheel support, wheels respectively rotatably supported thereto, and a crawler belt run around the wheels. Each of the wheels includes a rigid wheel body and an elastic material exterior part fixed to an outer periphery of the wheel body. Raised portions are formed in an outer periphery of the exterior part to continuously extend in a width direction and be arranged in a circumferential direction spaced from each other. Drain grooves extending through the exterior part in the width direction are formed between the raised portions. Top surfaces of the raised portions of the exterior part surface contact an inner peripheral surface of the crawler belt with a frictional force working therebetween. Restriction members stopping opposite side edges of the crawler belt are provided in the wheel support to restrict the crawler belt from being displaced with respect to the wheels in the width direction.

Abstract: A cable system has a cable connecting a base device and a travelling body, functions of the cable at least including transmission of signals, a reel device disposed on the travelling body, the reel device having a reel onto which the cable is to be wound, a motor that drives the reel and a rotation sensor that detects a rotation of the reel, a motor controller that controls the motor of the reel device; and an acceleration sensor that is disposed in the traveling body and detects an acceleration in a vertical direction, the motor controller basically opening a motor drive circuit for driving the motor or bringing a supply current to the motor to zero when it is determined that the reel is rotated in an unreeling direction for unreeling the cable based on sensed information from the rotation sensor.

Abstract: Theme To provide a crawler unit having a light-weight and high-strength crawler belt. Means to Solve A crawler belt 20 comprises an endless steel belt 21 (high-tensile-strength belt) and a belt main body 22 made of rubber and attached around an outer periphery of the steel belt 21. The steel belt 21 has engagement holes 21a arranged at even intervals in a circumferential direction thereof. The belt main body 22 has escape recesses 23a formed therein. A wheel 10 has projections 12a arranged at even intervals in a circumferential direction on an outer peripheral surface thereof. The projections 12a are adapted to be engaged with the engagement holes 21a of the steel belt 21 and at the same time to enter the escape recesses 23a of the belt main body 22.

Abstract: A crawler device includes a wheel support, wheels respectively rotatably supported thereto, and a crawler belt run around the wheels. Each of the wheels includes a rigid wheel body and an elastic material exterior part fixed to an outer periphery of the wheel body. Raised portions are formed in an outer periphery of the exterior part to continuously extend in a width direction and be arranged in a circumferential direction spaced from each other. Drain grooves extending through the exterior part in the width direction are formed between the raised portions. Top surfaces of the raised portions of the exterior part surface contact an inner peripheral surface of the crawler belt with a frictional force working therebetween. Restriction members stopping opposite side edges of the crawler belt are provided in the wheel support to restrict the crawler belt from being displaced with respect to the wheels in the width direction.

Abstract: Theme To provide a small-sized crawler device that can stably ride over bumps or steps or stairs. Means to Solve The crawler device includes a device body (1) having main crawlers (20) on its left and right and auxiliary crawlers (30) provided as auxiliary members at one end portion of the device body. Before the crawler device ascends a step or stairs with the auxiliary crawler (30) positioned backward, the controller (65) brings the auxiliary crawler (30) into a preparatory state in which the auxiliary crawler (30) is freely rotatable with respect to the main crawler (20) or the auxiliary crawler (30) is maintained in a position above a line extending longitudinally from the main crawler by a predetermined angle.

Abstract: A crawler belt 20 includes first regions and second regions alternately arranged in a circumferential direction thereof. The first region has at least one first tread lug 25 and the second region has at least one second tread lug 26. The first tread lug 25 has high flexural rigidity and is not easily bent and the second tread lug 26 has low flexural rigidity and is easily bent. The first tread lug 25 catches on an upper end of a high step or bump S with the second tread lug 26 in a bent condition, thus allowing the crawler unit to move over the step or bump.

Abstract: Theme To provide a small-sized crawler device that can stably ride over bumps or steps or stairs. Means to Solve The crawler device includes a device body (1) having main crawlers (20) on its left and right and auxiliary crawlers (30) provided as auxiliary members at one end portion of the device body. Before the crawler device ascends a step or stairs with the auxiliary crawler (30) positioned backward, the controller (65) brings the auxiliary crawler (30) into a preparatory state in which the auxiliary crawler (30) is freely rotatable with respect to the main crawler (20) or the auxiliary crawler (30) is maintained in a position above a line extending longitudinally from the main crawler by a predetermined angle.

Abstract: Theme To provide a crawler unit having a light-weight and high-strength crawler belt. Means to Solve A crawler belt 20 comprises an endless steel belt 21 (high-tensile-strength belt) and a belt main body 22 made of rubber and attached around an outer periphery of the steel belt 21. The steel belt 21 has engagement holes 21a arranged at even intervals in a circumferential direction thereof. The belt main body 22 has escape recesses 23a formed therein. A wheel 10 has projections 12a arranged at even intervals in a circumferential direction on an outer peripheral surface thereof. The projections 12a are adapted to be engaged with the engagement holes 21a of the steel belt 21 and at the same time to enter the escape recesses 23a of the belt main body 22.