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1. 发明申请

US20100084204A1 CRAWLER DEVICE AND AUTOMATIC ATTITUDE CONTROL OF THE SAME 有权
标题翻译： CRAWLER设备及其自动控制
公开(公告)号：US20100084204A1
公开(公告)日：2010-04-08
申请号：US12523610
申请日：2008-01-24
申请人： Hidekazu Iwaki , Shingo Tsukui , Seiji Oomura
发明人： Hidekazu Iwaki , Shingo Tsukui , Seiji Oomura
IPC分类号： B62D55/065
CPC分类号： B62D55/075
摘要： 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. After the main crawler (20) starts ascending the step or stairs and when a tilt angle of the device body (1) detected by a tilt sensor (60) reaches or exceeds a threshold angle, the controller (65) controls the auxiliary crawler (30) to be rotated downward to reduce the tilt angle of the device body (1), thereby preventing the crawler device from toppling backward.
摘要翻译：主题提供一种可以稳定地靠近颠簸或台阶或台阶的小型履带装置。解决方案该履带装置包括在其左侧和右侧具有主履带（20）的装置主体（1）和在装置主体的一个端部设置为辅助构件的辅助履带（30）。在履带式装置升降台阶之前，辅助履带（30）位于后方，控制器（65）使辅助履带（30）进入准备状态，辅助履带（30）能相对于主履带（20）或辅助履带（30）保持在从主履带纵向延伸预定角度的线上方的位置。在主爬行器（20）开始上升步骤或楼梯之后，当由倾斜传感器（60）检测到的装置主体（1）的倾斜角度达到或超过阈值角度时，控制器（65）控制辅助履带 30）向下旋转以减小装置主体（1）的倾斜角度，从而防止履带装置向后倾斜。

2. 发明授权

US08162083B2 Crawler device and automatic attitude control of the same 有权
标题翻译：履带式装置和自动姿态控制相同
公开(公告)号：US08162083B2
公开(公告)日：2012-04-24
申请号：US12523610
申请日：2008-01-24
申请人： Hidekazu Iwaki , Shingo Tsukui , Seiji Oomura
发明人： Hidekazu Iwaki , Shingo Tsukui , Seiji Oomura
IPC分类号： B62D55/00
CPC分类号： B62D55/075
摘要： ThemeTo provide a small-sized crawler device that can stably ride over bumps or steps or stairs.Means to SolveThe 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. After the main crawler (20) starts ascending the step or stairs and when a tilt angle of the device body (1) detected by a tilt sensor (60) reaches or exceeds a threshold angle, the controller (65) controls the auxiliary crawler (30) to be rotated downward to reduce the tilt angle of the device body (1), thereby preventing the crawler device from toppling backward.
摘要翻译：主题提供一种可以稳定地靠近颠簸或台阶或台阶的小型履带装置。解决方案该履带装置包括在其左侧和右侧具有主履带（20）的装置主体（1）和在装置主体的一个端部设置为辅助构件的辅助履带（30）。在履带式装置升降台阶之前，辅助履带（30）位于后方，控制器（65）使辅助履带（30）进入准备状态，辅助履带（30）可相对于主履带（20）或辅助履带（30）保持在从主履带纵向延伸预定角度的线上方的位置。在主爬行器（20）开始上升步骤或楼梯之后，当由倾斜传感器（60）检测到的装置主体（1）的倾斜角度达到或超过阈值角度时，控制器（65）控制辅助履带 30）向下旋转以减小装置主体（1）的倾斜角度，从而防止履带装置向后倾斜。

3. 发明授权

US09205885B2 Crawler device and crawler robot 有权
标题翻译：履带式装置和履带式机器人
公开(公告)号：US09205885B2
公开(公告)日：2015-12-08
申请号：US13822819
申请日：2011-09-15
申请人： Tomoya Inoue , Shingo Tsukui , Katsuki Fujimoto
发明人： Tomoya Inoue , Shingo Tsukui , Katsuki Fujimoto
IPC分类号： B62D55/24 , B62D55/205 , B60C7/24 , B62D55/00 , B60F3/00 , B62D55/088 , B62D55/12 , B62D55/14 , B62D55/04 , B62D55/084
CPC分类号： B62D55/24 , B60C7/24 , B60F3/0015 , B62D55/00 , B62D55/04 , B62D55/084 , B62D55/088 , B62D55/12 , B62D55/14 , B62D55/205 , Y10S901/01
摘要： 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.
摘要翻译：履带式装置包括车轮支撑件，分别可旋转地支撑在其上的轮子和履带围绕车轮延伸。每个车轮包括刚性轮体和固定到车轮主体的外周的弹性材料外部部件。凸起部分形成在外部部分的外周中，以在宽度方向上连续地延伸并且沿彼此间隔开的圆周方向布置。在凸起部之间形成有沿宽度方向延伸穿过外部部分的排水槽。外部部分表面的凸起部分的顶表面与其间的摩擦力接触履带的内周表面。阻挡履带的相对侧边缘的限制构件设置在车轮支撑件中，以限制履带相对于车轮在宽度方向上的位移。

4. 发明授权

US08162410B2 Endless elongated member for crawler and crawler unit 有权
标题翻译：用于履带和履带单元的无尽细长构件
公开(公告)号：US08162410B2
公开(公告)日：2012-04-24
申请号：US11793445
申请日：2005-12-19
申请人： Shigeo Hirose , Shingo Tsukui
发明人： Shigeo Hirose , Shingo Tsukui
IPC分类号： B62D55/24
CPC分类号： B62D55/242 , B62D55/00
摘要： 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.
摘要翻译：履带20包括沿其圆周方向交替布置的第一区域和第二区域。第一区域具有至少一个第一胎面接线片25，第二区域具有至少一个第二胎面接线片26.第一胎面接线片25具有高弯曲刚度并且不容易弯曲，并且第二胎面接片26具有低抗弯刚度，并且是容易弯曲第一胎面接片25在弯曲状态下抓住高台阶或凸起S的上端，第二胎面接片26被抓住，从而允许履带单元移动台阶或凸起。

5. 发明授权

US07578565B2 Crawler belt, crawler unit and method for manufacturing crawler belt 有权
标题翻译：履带，履带单元及履带式制造方法
公开(公告)号：US07578565B2
公开(公告)日：2009-08-25
申请号：US10580127
申请日：2004-11-18
申请人： Shigeo Hirose , Shingo Tsukui
发明人： Shigeo Hirose , Shingo Tsukui
IPC分类号： B62D55/24
CPC分类号： B62D55/24 , B62D55/244
摘要： A crawler belt is disclosed herein having an endless steel belt (high-tensile-strength belt) and a belt main body made of rubber and attached around an outer periphery of the steel belt. The steel belt has engagement holes arranged at even intervals in a circumferential direction thereof. The belt main body has escape recesses formed therein. A wheel has projections arranged at even intervals in a circumferential direction on an outer peripheral surface thereof. The projections are adapted to be engaged with the engagement holes of the steel belt and at the same time to enter the escape recesses of the belt main body.
摘要翻译：本文公开了一种履带，其具有环形钢带（高强度带）和由橡胶制成的带主体，并且安装在钢带的外周。钢带具有沿其圆周方向以均匀间隔布置的接合孔。皮带主体具有形成在其中的脱出凹部。轮具有在其外周面上沿圆周方向以均匀间隔布置的突起。突起适于与钢带的接合孔接合，并且同时进入带主体的逸出凹部。

6. 发明申请

US20080284244A1 Endless Elongated Member for Crawler and Crawler Unit 有权
标题翻译：履带式履带机组无限伸长的成员
公开(公告)号：US20080284244A1
公开(公告)日：2008-11-20
申请号：US11793445
申请日：2005-12-19
申请人： Shigeo Hirose , Shingo Tsukui
发明人： Shigeo Hirose , Shingo Tsukui
IPC分类号： B62D55/24
CPC分类号： B62D55/242 , B62D55/00
摘要： THEME To provide a crawler unit that can move over a high step or bump.MEANS TO SOLVE 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.
摘要翻译：主题提供可以移动高台阶或碰撞的履带单元。解决方案履带20包括沿其圆周方向交替布置的第一区域和第二区域。第一区域具有至少一个第一胎面接片25，而第二区域具有至少一个第二胎面接片26。第一胎面接头25具有高抗弯刚度并且不容易弯曲，并且第二胎面接头26具有低抗弯刚度并且容易弯曲。第一胎面接片25在弯曲状态下抓住高台阶或凸起S的上端，第二胎面接片26被抓住，从而允许履带单元移动台阶或凸起。

7. 发明申请

US20090256280A1 CRAWLER BELT, CRAWLER UNIT AND METHOD FOR MANUFACTURING CRAWLER BELT 有权
标题翻译： CRAWLER皮带，CRAWLER单元和制造CRAWLER皮带的方法
公开(公告)号：US20090256280A1
公开(公告)日：2009-10-15
申请号：US12491054
申请日：2009-06-24
申请人： Shigeo Hirose , Shingo Tsukui
发明人： Shigeo Hirose , Shingo Tsukui
IPC分类号： B29C41/28
CPC分类号： B62D55/24 , B62D55/244
摘要： 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.
摘要翻译：主题提供具有重量轻，高强度履带的履带单元。解决方案履带20包括环形钢带21（高强度带）和由橡胶制成的带主体22，并附接在钢带21的外周。钢带21具有接合孔21a 在其圆周方向上以均匀的间隔布置。带主体22具有形成在其中的排出凹部23a。轮10具有在其外周面上沿圆周方向以均匀间隔布置的突起12a。突起12a适于与钢带21的接合孔21a接合，同时进入带主体22的逸出凹部23a。

8. 发明申请

US20050253447A1 Rim having a non-uniform thickness and a method for manufacturing the rim 有权
标题翻译：具有不均匀厚度的轮辋和制造轮辋的方法
公开(公告)号：US20050253447A1
公开(公告)日：2005-11-17
申请号：US11190187
申请日：2005-07-27
申请人： Kishiro Abe , Tsuneo Watanabe , Satoru Miyashita , Takenobu Hasegawa , Kenichi Inada , Shojiro Yokomizo , Shingo Tsukui , Katsuki Kato , Morishi Kunou , Katsunori Todoko , Kenji Hayashi , Nobuyuki Soma , Masaaki Hara
发明人： Kishiro Abe , Tsuneo Watanabe , Satoru Miyashita , Takenobu Hasegawa , Kenichi Inada , Shojiro Yokomizo , Shingo Tsukui , Katsuki Kato , Morishi Kunou , Katsunori Todoko , Kenji Hayashi , Nobuyuki Soma , Masaaki Hara
IPC分类号： B60B21/00 , B21D53/30 , B21H1/04 , B60B21/02
CPC分类号： B60B21/023 , B21D53/30 , B60B21/026 , B60B21/028 , Y10T29/49526
摘要： A rim material having a non-uniform thickness, a rim manufactured from the rim material, and a method for manufacturing the rim from the rim material. The rim material includes a first material portion which forms an axially curved portion of the rim after the rim material is formed to the rim and a second material portion which forms an intermediate portion between adjacent axially curved portions after the rim material is formed to the rim. The first material portion has a thick parallel-surface portion including opposite surfaces parallel to each other. The parallel-surface portion has a width greater than a maximum amount of an axial dislocation of the parallel-surface portion expected to occur when the parallel-surface portion is formed to a corresponding curved portion. The second material portion has a thickness varying portion. The thickness varying portion includes a surface having a configuration defined by a line including a straight line and/or a slightly curved line.
摘要翻译：具有不均匀厚度的边缘材料，由边缘材料制成的边缘，以及用于从边缘材料制造边缘的方法。边缘材料包括第一材料部分，其在边缘材料形成到边缘之后形成边缘的轴向弯曲部分;以及第二材料部分，其在边缘材料形成到边缘之后在相邻的轴向弯曲部分之间形成中间部分。第一材料部分具有包括彼此平行的相对表面的厚的平行表面部分。平行表面部分的宽度大于当平行表面部分形成到相应的弯曲部分时期望发生的平行表面部分的轴向位错的最大量。第二材料部分具有厚度变化部分。厚度变化部分包括具有由包括直线和/或略微曲线的线限定的构造的表面。

9. 发明授权

US08658073B2 Crawler belt, crawler unit and method for manufacturing crawler belt 有权
标题翻译：履带，履带单元及履带式制造方法
公开(公告)号：US08658073B2
公开(公告)日：2014-02-25
申请号：US12491054
申请日：2009-06-24
申请人： Shigeo Hirose , Shingo Tsukui
发明人： Shigeo Hirose , Shingo Tsukui
IPC分类号： B29C45/14
CPC分类号： B62D55/24 , B62D55/244
摘要： ThemeTo provide a crawler unit having a light-weight and high-strength crawler belt.Means to SolveA 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.
摘要翻译：主题提供具有重量轻，高强度履带的履带单元。解决方案履带20包括环形钢带21（高强度带）和由橡胶制成的带主体22，并附接在钢带21的外周。钢带21具有接合孔21a 在其圆周方向上以均匀的间隔布置。带主体22具有形成在其中的排出凹部23a。轮10具有在其外周面上沿圆周方向以均匀间隔布置的突起12a。突起12a适于与钢带21的接合孔21a接合，同时进入带主体22的逸出凹部23a。

10. 发明申请

US20080272647A9 Crawler belt, crawler unit and method for manufacturing crawler belt 有权
标题翻译：履带，履带单元及履带式制造方法
公开(公告)号：US20080272647A9
公开(公告)日：2008-11-06
申请号：US10580127
申请日：2004-11-18
申请人： Shigeo Hirose , Shingo Tsukui
发明人： Shigeo Hirose , Shingo Tsukui
IPC分类号： B62D55/24
CPC分类号： B62D55/24 , B62D55/244
摘要： 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.
摘要翻译：解决方案履带20包括环形钢带21（高强度带）和由橡胶制成的带主体22，并附接在钢带21的外周。钢带21具有沿其圆周方向以均匀间隔布置的接合孔21a。带主体22具有形成在其中的出口凹部23a。轮10具有在其外周面上沿圆周方向以均匀间隔布置的突起12a。突起12a适于与钢带21的接合孔21a接合，并且同时进入带主体22的逸出凹部23a。

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