To provide a crawler type robot enabling active route selection in piping while having a simple structure.SOLUTION: A crawler type robot 1 includes: a frame in which a crawler belt core part 2b is formed in a wall part forming a hollow hole 2a and a slide part 2ba is formed therein; a rotation torque generating part 3; a worm 4 rotating around a central axis X by a rotational torque and formed with a worm tooth part 41; a crawler belt 5 arranged by being wound around the crawler belt core part 2b, formed with many projecting crawler belt tooth parts 51 engageable with the worm tooth part 41, on the outer peripheral surface, and rotating following the rotation of the worm 4 due to that a part of the tooth parts is brought into contact and engaged with the worm tooth part 41; and a crawler belt rotation control part 6 for controlling when the crawler belt 5 is not rotated, the slide part 2ba in a non-fixed state of being slidable in the longitudinal direction so as not to engage the crawler belt tooth part 51 with the worm tooth part 41.SELECTED DRAWING: Figure 7

    【課題】簡易な構造でありながら、能動的な配管内の進路選択が可能なクローラ型ロボットを提供する。【解決手段】このクローラ型ロボット1は、中空孔2aを形成する壁部にクローラベルトコア部2bが形成されそれにスライド部2baが形成されたフレームと、回転トルク生成部3と、回転トルクによって中心軸Xのまわりを回転しウォーム歯部41が形成されたウォーム4と、クローラベルトコア部2bに巻かれて配置され、ウォーム歯部41にかみ合い得る多数の突起したクローラベルト歯部51が外周面に形成されており、それらの一部がウォーム歯部41に接触してかみ合うことでウォーム4の回転に追従して回動するクローラベルト5と、クローラベルト5を回動させないときは、クローラベルト歯部51がウォーム歯部41にかみ合わないようにスライド部2baを長手方向にスライド可能な非固定状態に制御するクローラベルト回動制御部6と、を備える。【選択図】図7


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    Title :

    CRAWLER TYPE ROBOT


    Additional title:

    クローラ型ロボット


    Contributors:

    Publication date :

    2019-07-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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