JP2001018863A - Rubber crawler driving device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rubber crawler driving device realizing high straight traveling performance. SOLUTION: An endless belt rubber crawler 1 is embedded with a main cord 4 having a code angle in a peripheral direction and an one-layer bias code comprised by combining multiple codes 5, 6 which are laminated on the main code and have code angles opposite to each other on the same plane. The rubber crawler 1 is suspended for rotation between a drive roller 10 and a driven roller in a rubber crawler drive device. The drive roller 10 and the driven roller are formed to decrease their diameters in a direction of a shearing and twisting force generated on the rubber crawler caused by the code angles of the bias codes 5, 6 and a tensile force during driving.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rubber crawler, and more particularly, to a rubber crawler in which a coreless endless belt-like rubber crawler having a main cord and a bias cord embedded therein is suspended between a driving roller and a driven roller. It relates to a driving device.

[0002]

2. Description of the Related Art Generally, a rubber track without a metal core is often used in a high-speed traveling vehicle because of its low running resistance and low vibration compared to a rubber track with a core metal embedded therein. Since the lateral stiffness is lower than that of the gold buried type, the bias cord is laminated and embedded in addition to the main cord. FIG. 7 shows a typical example. FIG. 7 (A)
And (C), this kind of rubber crawler 21
A main cord 24 having a circumferential cord angle is buried on a substantially center line in a thickness direction in an endless belt-shaped rubber main body. Cord angle (normally 45 °, Fig. 7
(See FIG. 7B) are sequentially stacked and buried on the ground side (the upper side in FIG. 7C). However, usually, as shown in FIGS. 7A and 7D,
When the rubber crawler 21 is wound around the driving roller 30 (or the driven roller 31), a tensile force acts on the outer peripheral side of the center line, and a compressive force acts on the inner peripheral side of the center line. Moreover, the magnitude of these forces increases as the distance from the center line increases. Therefore, as described above, when a pair of bias cords 25 and 26 having code angles opposite to each other at substantially the same angle are stacked, a larger pulling force is applied to the bias cord 26 on the outer peripheral side which is the ground side. The force T acts, and a torsional force F, which is a shearing force due to the cord angle of the bias cord 26, is generated as shown in FIG. 7D. Therefore, the rubber crawler is twisted by the difference in the shearing force generated due to the difference in the inner and outer peripheral positions due to the lamination of the bias cords, and the straight running performance is deteriorated.

Accordingly, although not shown, Japanese Patent Publication No. 7-41
No. 848 has proposed an endless belt. This is because, in the belt body, a first ply having a cord angle in the circumferential direction, a second ply having a cord angle of 45 ° laminated on the outer peripheral side thereof, and minus 60 ° further laminated on the outer peripheral side thereof. And the third ply having a cord angle of 45 ° is embedded, and the cord angle of the third ply laminated on the outer peripheral side is set to the cord angle of 45 ° in the second ply where the maximum torsional force is normally generated. Minus 60 degrees
By doing so, the torsional force due to the large tensile force generated in the third ply due to being laminated on the outer peripheral side is to be reduced.

[0004]

However, an attempt has been made to reduce the torsional force due to the tensile force between a plurality of bias cords laminated and disposed on the inner and outer peripheries by making the cord angles different from each other. As a result, the torsion of the rubber crawler is reduced and the straight running performance is improved, but the minimum weight of the two layers of the second and third plies on the inner and outer peripheries increases the weight of the entire rubber crawler. In addition, the rigidity of the rubber crawler around the driving roller and the driven roller is increased, and the running resistance is increased. Therefore, the present applicant has solved the problem of the conventional rubber crawler, and has prevented the occurrence of torsion and improved the lateral rigidity in the same plane without increasing the weight or rigidity of winding around the roller. We have developed a rubber crawler that allows the installation of a single-layer bias cord.

The present invention relates to a rubber crawler driving device which realizes higher straight running performance by an automatic alignment function by a clever combination of the above-described newly developed bias cord, a driving roller having a specific shape, and a driven roller. The purpose is to provide.

[0006]

SUMMARY OF THE INVENTION Therefore, the present invention combines a main cord having a cord angle in the circumferential direction and a plurality of cords stacked on the main cord and having mutually opposite cord angles in the same plane. In the rubber crawler driving device in which an endless belt-shaped rubber crawler having a single layer of bias cord embedded therein is suspended between a driving roller and a driven roller, the cord angle of the bias cord is controlled by tension at the time of driving. Thus, the diameter of the drive roller and the driven roller is reduced in the direction of the shearing torsional force generated in the rubber track. Further, according to the present invention, the cord angle of the bias cord is configured to be both shoulders down from a center line with respect to a direction in which the rubber crawler enters the drive roller and the driven roller. The present invention is characterized in that it is configured in a barrel shape having a large diameter. Further, according to the present invention, the cord angle of the bias cord is configured to rise both shoulders from a center line with respect to a direction in which the rubber crawler enters the drive roller and the driven roller. It is characterized in that it is configured as a thread winding type formed with a small diameter. Further, the present invention is characterized in that the bias cord is constituted by combining a pair of cords having the same cord angle opposite to each other with respect to the center line of the rubber track. Further, the present invention is characterized in that an orthogonal code having a code angle orthogonal to the code angle of the main code is provided between the main code and the bias code.

The present invention also provides a main cord in which one cord is spirally wound at a predetermined angle with respect to the circumferential direction, and a cord angle laminated on the main cord and opposite to each other in the same plane. In a rubber crawler driving device in which an endless belt-shaped rubber crawler embedded with a single-layer bias code formed by combining a plurality of cords having a cord is suspended between a driving roller and a driven roller, The diameter of the driving roller and the driven roller is reduced in the direction of the shearing torsional force generated in the rubber track by the cord angle of the main cord and the bias cord. Further, according to the present invention, the cord angle of the bias cord with respect to the direction in which the rubber crawler enters the driving roller and the driven roller cancels out the shear torsional force generated between the main cord and the bias cord by the cord angle of the bias cord. The drive roller and the driven roller are configured in a barrel shape having a large diameter at the boundary position, while being configured with both shoulders down at the boundary position. Further, according to the present invention, the cord angle of the bias cord with respect to the direction in which the rubber crawler enters the driving roller and the driven roller cancels out the shear torsional force generated between the main cord and the bias cord by the cord angle of the bias cord. The drive roller and the driven roller are formed in a thread winding type having a small diameter at the center thereof, and the drive roller and the driven roller are configured so as to rise up from both shoulders at a boundary position. Further, the present invention is characterized in that the bias cord is constituted by combining a pair of cords having the same cord angle opposite to each other with respect to the boundary position of the rubber track. Further, the present invention is characterized in that an orthogonal code having a code angle orthogonal to the code angle of the main code is provided between the main code and the bias code. Further, the present invention is characterized in that the barrel-type or thread-winding type driving roller and driven roller are divided into two parts in the axial direction. Further, the present invention is characterized in that the two divided portions are formed in a barrel shape or a thread-wound shape, respectively. Further, the present invention is characterized in that the large-diameter portion of the drive roller and the driven roller formed in the barrel type or the thread-winding type is configured to be larger than the small-diameter portion by 0.5 to 3%, preferably by about 1 to 2%. These are used as means for solving the problems.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. 1 and 2 are views showing a first embodiment of the rubber crawler driving device of the present invention. FIG. 1 is a schematic plan view for explaining the self-centering function of the rubber crawler driving device of the present invention, and FIG. 2) is a plan view showing a state in which a crawler on which a cord is drawn is wound around a drive roller, and FIG. 2B is a side view thereof. The rubber crawler driving device of the present invention is shown in FIG.
As shown in FIG. 1A, a main cord 4 having a circumferential cord angle and a plurality of cords 5 and 6 stacked on the main cord 4 and having mutually opposite cord angles in the same plane are configured. An endless belt-shaped rubber crawler 1 in which a single-layered bias cord is embedded is suspended between a driving roller 10 and a driven roller 11, and the tension at the time of driving causes the rubber cord to be adjusted by the cord angle of the bias cords 5 and 6. The diameter of the driving roller 10 and the driven roller 11 is reduced with respect to the direction of the shearing torsional force generated in the crawler 1. In the present embodiment, the cord angle of the main cord 4 is reduced. Is equal to the circumferential direction, and the cord angles of the bias cords 5 and 6 are different from the center line with respect to the approach direction of the rubber crawler 1 into the driving roller 10 and the driven roller 11. While being configured to Ri, the center of the driving roller 10 and the driven roller 11 is obtained by constituting a barrel type formed on a large diameter. In the present invention,
In the barrel-shaped drive roller 10 and the driven roller (11), the larger diameter portion is 0.5 to 3% than the smaller diameter portion,
It is preferably configured to be larger by about 1 to 2%, and it is experimentally required that the self-aligning effect is the highest in the case of such a dimensional difference.

In the present embodiment, an orthogonal code 7 having a code angle orthogonal to the circumferential direction is provided between the main code 4 and the bias codes 5 and 6, so that the rigidity is improved and the bias codes 5 and 6 are provided. The distance in the thickness direction from the main cord 4 is secured, and it is possible to generate a certain self-aligning force due to a somewhat large shearing force. The bias cords 5 and 6 are formed of a single layer having mutually opposite cord angles within the same plane with respect to the center line. In the present embodiment, as shown in FIG. 2B, which is a side view of FIG. 2A, the main cord 4 embedded on a substantially center line in the thickness direction of the rubber crawler 1 has a circumferential cord angle. A first bias cord 5 and a second bias cord 5 which are stacked on the ground side of the main cord 4 with an orthogonal cord 7 interposed therebetween.
The bias cords 6 have mutually opposite cord angles in the same plane, and the width of one bias cord 5 is equal to the width of the other bias cord 6. When the rubber crawler 1 is wound around the drive roller 10,
A tensile force acts on the outer peripheral side of the center line where the main cord 4 is located, and a compressive force acts on the inner peripheral side of the center line. In addition, the magnitude of the force increases as the distance from the center line increases. Therefore, as described above, in each of the pair of bias cords 5 and 6 having substantially equal angles and opposite cord angles, Due to the tension at the time of winding around the drive roller 10, a torsional force, which is a shearing force due to the cord angle, is generated in each portion.

The self-aligning function of the rubber crawler driving device of the present invention will be described with reference to the schematic diagram of FIG. FIG. 1 shows only the bias cords 5 and 6 related to the generation of the torsional force, which is a shearing force. Considering the cord 5 side, when the rubber crawler 1 is wound around the drive roller 10, the center part tends to shift to the center side of the barrel-shaped drive roller 10 having a large diameter formed as shown by an arrow A1. In this case, the tension is further increased by the cord 5 reaching the large-diameter side of the drive roller 10. Therefore, code 5 is indicated by arrow B
Under the tension as shown in FIG. 1, a torsion due to a shearing force as shown by an arrow C1 occurs, and the drive roller 10 is returned to the small diameter end side. When viewed from the cord 6 side, this behavior is the same as the movement of the cord 5 in the direction of the arrow C1 except for the movement of the cord 6 toward the large-diameter side of the drive roller 10 (the arrow A2). As a result, it is finally returned as shown by the arrow C2. In this way, the cord 5 and the cord 6 complement each other and exhibit an automatic centering function between the cord 5 and the barrel roller.

FIG. 3 is a view showing a second embodiment of the rubber crawler driving device according to the present invention. In this embodiment, a driving roller 10 and a driven roller (1) of the rubber crawler 1 are used.
The cord angles of the bias cords 5 and 6 with respect to the approach direction to 1) are configured to rise both shoulders from the center line,
The drive roller 10 and the driven roller (11) are configured in a thread winding type having a small diameter at the center. In the present embodiment, the bias cords 5 and 6 are configured by combining a pair of cords having the same cord angle opposite to each other with respect to the center line of the rubber crawler 1. Although the orthogonal code as in the first embodiment is not arranged between them, it goes without saying that they may be arranged.

With this configuration, considering the bias cord 5 side, for example, if the center is to be shifted to the end side of the thread-winding type driving roller 10 formed with a small diameter, the cord 5 will By reaching the large diameter side of 10, the tension is further increased. Accordingly, the cord 5 is subjected to tension and twists due to shearing force toward the small diameter side of the center portion, and the cord 5 is returned to the small diameter side of the center portion of the drive roller 10. When viewed from the cord 6 side, the movement of the cord 5 toward the central small-diameter side is nothing less than the movement of the cord 6 toward the large-diameter end of the drive roller 10, whereby the cord 6 exerts a large tension. In the end, it is finally returned to the central part small diameter side.
In this way, the cord 5 and the cord 6 complement each other and exhibit a self-aligning function between the cord 5 and the thread-wound roller. Also in this embodiment, in the drive roller 10 and the driven roller (11) formed in the thread winding type, the large diameter portion may be configured to be larger than the small diameter portion by 0.5 to 3%, preferably about 1 to 2%. The highest self-centering effect is required by experiments.

FIG. 4 is a view showing a third embodiment of the rubber crawler driving apparatus according to the present invention. In this embodiment, the barrel-type or thread-winding type driving roller 10 and the driven roller (11) are arranged in the axial direction. It is characterized in that it is divided into two parts. FIG. 4A shows an example in which the vicinity of the axial center of the drive roller 10 having the barrel-shaped cross section is omitted, and the left and right divided portions 10A and 10B and the extension lines in the missing portion are shown. One barrel shape is formed. FIG. 4B shows an example in which the vicinity of the center in the axial direction of the thread-wound driving roller 10 is omitted, and the left and right divided portions 10A and 10B and the extension line in the missing portion are used. One thread-wound shape is formed, all of which reduce the weight of the rollers and are ideal for rubber crawlers of the type provided with guide projections. The centering function of the rubber crawlers is complemented by the guide function of the guide projections. More sure.

FIG. 5 is a view showing a fourth embodiment of the rubber crawler driving device according to the present invention. In this embodiment, one cord is spirally formed at a predetermined angle with respect to the circumferential direction. A so-called embedment of a wound main cord 4 and a single-layer bias cord formed by combining a plurality of cords 5 and 6 laminated on the main cord 4 and having mutually opposite cord angles in the same plane is embedded. In a rubber crawler driving device in which an endless belt-shaped rubber crawler 1 of a spiral cord type is suspended between a driving roller 10 and a driven roller (11), the main cord 4 and the bias cords 5, 6 are driven by tension during driving. The diameter of the drive roller 10 and the driven roller (11) is reduced with respect to the direction of the shear torsional force generated in the rubber crawler 1 due to the cord angle of It is an feature. In the present embodiment, the code angles of the bias cords 5 and 6 with respect to the direction in which the rubber crawler 1 enters the driving roller 10 and the driven roller (11) are defined by the code angles of the main cord 4 and the bias cords 5 and 6. As a result, the drive roller 10 and the driven roller (11) are formed to have a large diameter at the boundary position L where the boundary position L at which the shear torsional force generated between the two is canceled out. It is characterized by having a barrel shape.

Therefore, in the example of FIG. 5, a tension is applied to cancel the shear torsional force to the left side of the drawing, which is generated by the tension acting on the main cord 4 spirally wound around the axis with Z windings. The width W1 of the cord 5 on which the shearing torsional force acts on the right side is made larger than the width W2 of the cord 6 on which the shearing torsional force due to tension acts on the left side, so that the shear torsional force is offset as a whole. It is composed of Thus, the boundary position L is defined between the cords 5 and 6 having such a width. The large-diameter portions of the driving roller 10 and the driven roller (11) are positioned corresponding to the boundary position L, that is, the rubber crawler 1 is controlled by the tension at the time of driving and the cord angle of the main cord 4 and the bias cords 5 and 6. The diameter of the drive roller 10 and the driven roller 11 is reduced with respect to the direction of the shear torsional force generated in the above.

The rubber crawler 1 according to the present embodiment also has a shearing and twisting behavior due to the spiral main cord 4, but the rubber crawler 1 has a driving roller 10 and a driven roller 11 and an automatic centering function is exhibited. Although not shown, the cord angles of the bias cords 5 and 6 are configured to be opposite to those of the present embodiment (both shoulders are up), and the thread-driven drive roller 10 and the driven roller (1) as shown in FIG.
It can also be combined with 1). Further, the barrel-type or thread-type driving roller 10 and the driven roller (1
1) may be divided into two parts in the axial direction as shown in FIG.

FIG. 6 is a view showing a fifth embodiment of the rubber crawler driving device according to the present invention. In the fifth embodiment, the two divided portions 10A and 10B are formed in a barrel type or a thread winding type, respectively. It is characterized by having been done. Therefore, for example, as a barrel-shaped drive roller, bias cords 5A and 5B having a code angle of both shoulders down (in the case of combination with a pincushion roller, both shoulders up) corresponding to each of the two divided portions 10A and 10B, respectively. And 6A, 6B
Are combined with a rubber crawler 1 composed of one layer in the same plane. With such a configuration, between the portion 10A of the drive roller 10 and the bias codes 5A and 5B and between the portion 10B and the bias codes 6A and 6B will be described with reference to FIG. 1 (or FIG. 3). The self-aligning function is exerted by such a behavior, and the lateral displacement when the rubber crawler 1 is wound around the driving roller 10 and the driven roller (11) is prevented. Needless to say, the present embodiment can also be applied to the one having the spiral type main code of FIG.

Although the embodiment of the present invention has been described in detail above, the shape of the rubber crawler,
Type, main and bias cord type (not to mention rubberization, the cord may be directly embedded in the rubber crawler body, and the cord material may be steel,
Appropriate materials such as organic fibers can be employed. ), Code angle, width of each code constituting the bias code (in the embodiments of FIGS. 1 to 6, the code angle of each code constituting the bias code is set to a predetermined angle and a code angle opposite thereto. Although the limited ones have been described, as long as each code constitutes a single-layer bias code in the same plane,
It is within the scope of the present invention that the width of the cords to be combined is appropriately selected and combined so as not to generate a torsional shearing force as a whole crawler depending on the selection of different cord angles of the cords. ), The shape of the cross section of the drive roller and the driven roller due to the curvature and the like can be appropriately selected.

[0019]

As described above in detail, according to the present invention, a main cord having a circumferential cord angle and a plurality of cords stacked on the main cord and having mutually opposite cord angles in the same plane are provided. In a rubber crawler driving device in which an endless belt-like rubber crawler embedded with a single-layer bias cord formed by combining cords is suspended between a driving roller and a driven roller, the bias cord is driven by tension during driving. The diameter of the driving roller and the driven roller is reduced with respect to the direction of the shear torsional force generated in the rubber crawler due to the cord angle of the rubber crawler. Despite the simple and simple structure, the shear torsional force is canceled out, ensuring straight running stability without lateral displacement. When the crawler tries to shift to the large diameter part when it is wound around the drive roller, the cord part is subjected to the increased tension due to the large diameter part, and the cord part is in the direction of the shear torsional force and the diameter is reduced. And the self-aligning action is performed, so that the rubber crawler does not come off the rollers unnecessarily, and the straight running stability of the vehicle is improved. Further, when an orthogonal code having a code angle orthogonal to the code angle of the main code is disposed between the main code and the bias code, the rigidity is increased and the distance of the bias code from the main code in the thickness direction is increased. And it is possible to generate a predetermined self-centering force due to a somewhat large shearing force.

A main cord in which one cord is spirally wound at a predetermined angle with respect to the circumferential direction;
An endless belt-shaped rubber crawler embedded with a single-layer bias cord formed by combining a plurality of cords having opposite cord angles in the same plane and laminated on the main cord includes a driving roller and a driven roller. In the rubber crawler driving device suspended between the driving roller and the driven roller, the diameter of the driving roller and the driven roller is determined with respect to the direction of the shearing torsional force generated in the rubber crawler by the cord angle of the main cord and the bias cord due to the tension during driving. Is formed, the shear torsional force generated by the tension acting on the main cord spirally wound in a predetermined winding direction with respect to the axis is offset by the set of bias cords, When the rubber crawler is wound around the drive roller etc. in each cord part, when trying to shift to the large diameter part, Under the tension increased by the large diameter portion, the cord portion is returned to the direction of the shear torsional force and the diameter is reduced, and the self-aligning action is performed, so that the rubber crawler may come off the roller unnecessarily. Therefore, the straight running stability of the vehicle is improved.

Further, when the barrel-type or thread-winding driving roller and the driven roller are divided into two parts in the axial direction, the weight of the roller is reduced and the rubber crawler is provided with guide projections and the like. It is optimal and complements the guide function of the guide projections, so that the centering function of the rubber crawler becomes more reliable. In the case where the two divided portions are formed in a barrel shape or a thread-wound shape, a self-centering function is exhibited between the corresponding pair of bias cord portions in each of the pair of portions on both sides of the roller. Therefore, lateral slippage during the winding around the rubber track as a whole can be prevented. Further, in the case where the large-diameter portion is made larger than the small-diameter portion by 0.5% to 3%, preferably about 1% to 2% in the barrel-type or pin-type driving roller and the driven roller, the self-centering function is provided. Will be maximized. Thus, according to the present invention, there is provided a rubber crawler driving device which realizes higher straight running performance by a self-aligning function by a clever combination of a bias cord newly developed by the present applicant, a driving roller having a unique shape, and a driven roller. Provided.

[Brief description of the drawings]

FIG. 1 is a diagram showing a first embodiment of a rubber crawler driving device according to the present invention, and FIG. 1 is a schematic plan view illustrating a self-centering function of the rubber crawler driving device according to the present invention.

FIG. 2A is a plan view showing a state in which a crawler on which a cord is drawn is wound around a drive roller, and FIG. 2B is a side view thereof.

FIG. 3 is a view showing a second embodiment of the rubber track driving device of the present invention.

FIG. 4 is a diagram showing a third embodiment of the rubber track driving device of the present invention.

FIG. 5 is a diagram showing a fourth embodiment of the rubber track driving device of the present invention.

FIG. 6 is a view showing a fifth embodiment of the rubber track driving device of the present invention.

FIG. 7 is an explanatory diagram of a conventional example of a rubber crawler driving device.

[Explanation of symbols]

 Reference Signs List 1 rubber crawler 4 main code 5 first bias code 6 second bias code 7 orthogonal code 10 drive roller 11 driven roller

Claims (13)

[Claims] 1. A main cord having a circumferential cord angle, and a single-layer bias cord formed by combining a plurality of cords stacked on the main cord and having mutually opposite cord angles in the same plane. In a rubber crawler driving device in which a buried endless belt-shaped rubber crawler is suspended between a driving roller and a driven roller, a tension at the time of driving causes a shear torsional force generated in the rubber crawler by a cord angle of the bias cord. A rubber crawler driving device wherein the diameter of the driving roller and the driven roller is reduced in the direction. 2. The code angle of the bias cord with respect to a direction in which the rubber crawler enters the drive roller and the driven roller is configured to be both shoulders down from a center line,
The rubber crawler driving device according to claim 1, wherein the driving roller and the driven roller are formed in a barrel shape having a central portion formed with a large diameter. 3. A code angle of the bias cord with respect to a direction in which the rubber crawler enters a drive roller and a driven roller, is configured to rise both shoulders from a center line.
2. The rubber crawler driving device according to claim 1, wherein the driving roller and the driven roller are formed in a thread winding type having a small diameter at a central portion. 4. The bias cord according to claim 1, wherein the bias cord is formed by combining a pair of cords having the same cord angle opposite to each other with respect to the center line of the rubber track. Rubber track. 5. The orthogonal code according to claim 1, wherein an orthogonal code having a code angle orthogonal to the code angle of the main code is provided between the main code and the bias code. Rubber crawler drive. 6. A main cord in which one cord is spirally wound at a predetermined angle with respect to a circumferential direction, and a plurality of cords laminated on the main cord and having mutually opposite cord angles in the same plane. 1 composed by combining the codes of
In a rubber crawler driving device in which an endless belt-shaped rubber crawler in which a layer bias code is embedded is suspended between a driving roller and a driven roller, the tension at the time of driving causes the cord angle of the main cord and the bias cord to be changed. A rubber crawler driving device, wherein the diameter of the driving roller and the driven roller is reduced in the direction of the shear torsional force generated in the rubber crawler. 7. The cord angle of the bias cord with respect to the direction in which the rubber crawler enters the driving roller and the driven roller cancels out the shear torsional force generated between the main cord and the bias cord by the cord angle of the bias cord. 7. The rubber crawler drive according to claim 6, wherein the drive roller and the driven roller are configured in a barrel shape having a large diameter at the boundary position, while being configured with both shoulders down at the boundary position. apparatus. 8. The cord angle of the bias cord with respect to the direction in which the rubber crawler enters the drive roller and the driven roller cancels out the shear torsional force generated between the main cord and the bias cord by the cord angle of the bias cord. The rubber crawler driving device according to claim 5 or 6, wherein the driving roller and the driven roller are formed in a thread winding type having a small diameter at a center portion thereof, wherein the driving roller and the driven roller are formed with both shoulders rising at a boundary position. . 9. The apparatus according to claim 5, wherein the bias cord is formed by combining a pair of cords having the same cord angle opposite to each other with respect to the boundary position of the rubber track. Rubber crawler drive. 10. The code according to claim 5, wherein an orthogonal code having a code angle orthogonal to the code angle of the main code is arranged between the main code and the bias code. Rubber crawler drive. 11. The rubber crawler driving device according to claim 1, wherein the barrel-shaped or thread-wound driving roller and the driven roller are divided into two parts in the axial direction. 12. The rubber crawler driving device according to claim 11, wherein each of the two divided portions is formed in a barrel shape or a thread wound shape. 13. A driving roller and a driven roller formed in a barrel shape or a thread winding type, wherein a large diameter portion is made larger than a small diameter portion by 0.5 to 3%, preferably about 1 to 2%. The rubber crawler driving device according to any one of claims 1 to 12.