To provide a traveling device capable of traveling over obstacles and enabling achievement of downsizing and lightening of the device, and to provide a method of controlling the traveling device.SOLUTION: An inspection device 20 includes wheels 36 to 39 composed of Mecanum wheels, and crawlers Cr1, Cr2. The crawlers Cr1, Cr2 include belts 55 forming traveling surfaces with the front sides thereof raised high and inclined by being wound around pulleys 46 at positions higher than the contact areas of the wheels 36 to 39. The pulleys 46 are protruded forward from front wheels 36, 37 and disposed at positions higher than a drive axle of the front wheels 36, 37. Drive pulleys of the crawlers Cr1, Cr2 are attached to the drive axle for driving the wheels 36, 37. The belts 55 are wound around pulleys 48 disposed at positions, viewed from the side, overlapping rear wheels 38, 39 to extend the belts 55 between the front wheels 36, 37 and the rear wheels 38, 39.SELECTED DRAWING: Figure 1

    【課題】障害物を乗り越えて走行でき、装置の小型化軽量化を図ることができる走行装置及び走行装置の制御方法を提供する。【解決手段】 点検装置20は、メカナムホイールで構成されたホイール36〜39と、クローラCr1,Cr2とを備える。クローラCr1,Cr2は、ホイール36〜39の接地面よりも高い位置で、プーリー46に巻回されて前方を高くして傾斜させた走行面を形成するベルト55を備える。プーリー46は、前輪のホイール36,37より前方に突出し、前輪のホイール36,37の駆動軸よりも高い位置に配置される。クローラCr1,Cr2の駆動プーリーは、ホイール36,37を駆動する駆動軸に取り付けられる。ベルト55を、側面から見て後輪のホイール38,39と重なる位置に配置されたプーリー48に巻回させて、前輪のホイール36,37と後輪のホイール38,39との間にベルト55を延在させる。【選択図】図1


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    Title :

    TRAVELING DEVICE AND METHOD OF DRIVING TRAVELING DEVICE


    Additional title:

    走行装置及び走行装置の駆動方法


    Contributors:

    Publication date :

    2019-04-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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