JP2003089364A - Traveling device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve a problem that a width of a wheel rim becomes broad in a wheel type and a structure is complex in a semi-crawler type. SOLUTION: The traveling device is provided with a rotation driving body 7; a rotation driven body 8; and an endless band wound on both bodies 7, 8 and is constituted to circulate the endless band 9 in a band longitudinal direction and to deceleratingly rotate the rotation driven body 8 by a rotation driving force of the rotation driving body 7. Lugs 11 are arranged on an outer periphery of the endless band 9 with an interval in a band longitudinal direction and the device is towed to travel by the projected lugs 11 on a ground-contact side of the endless band 9 where this endless band 9 is wound on the rotation driven body 8.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling device,
More specifically, for example, it relates to a traveling device that drives a traveling machine body of an agricultural machine.

[0002]

2. Description of the Related Art For example, there is a ridge straddle working machine that straddles a ridge and travels in the longitudinal direction of the ridge in an agricultural machine. Figure 11
(1) (2) and FIGS. 12 (1) and (2) show the ridge work machine A. In FIG. 11 and FIG. 12, the work machine A has a traveling machine body B and this traveling machine body B. And a traveling device D that is driven in the longitudinal direction of C. Figure 11 (1)
The traveling device D of (2) (hereinafter, referred to as the conventional example 1) is 2
This is a four-axle type traveling device in which a left and right driving wheel E and a left and right driven wheel F are rotatably supported by a traveling machine body D with an inter-axis distance. The power from G is transmitted through the winding transmission device H.

A traveling device D of FIG. 12 (1) (hereinafter referred to as a conventional example 2) is a semi-crawler type traveling device, and has a driving wheel E1 and front and rear idlers E as left and right traveling drive means.
2 is wound around the endless belt E3. 12
The traveling device D of (2) (hereinafter, referred to as a conventional example 3) has an output shaft G1 of the drive unit G as an axle and drive wheels E directly connected thereto.

[0004]

In the conventional example 1, since the winding transmission device H is adopted as the final speed reduction means for the drive wheel E, the winding wheel H1, which is the winding transmission body H1, is transmitted. Since the case H2 must be covered, this causes the traveling device D to have a plurality of structures, lacks maintainability, increases weight, and increases the width L including the transmission case H2, thereby increasing the wheel width (tread).
Therefore, it was not suitable as a traveling device for the ridge work implement A.

Since the traveling device D of the conventional example 2 is of a semi-crawler type, the structure is more complicated and the weight is increased more than that of the conventional example 1, and in addition, the turning property and the maneuverability are poor, and the ridge straddle is provided. It could not be adopted as the traveling device of the working machine A at all. The conventional example 3 has a simpler structure than the conventional examples 1 and 2 described above and can suppress the weight increase, but if it is adopted for the ridge work machine A, the diameters of the left and right drive wheels E are increased. There was a problem that we had to do. The present invention provides a so-called simple type traveling device that can be effectively applied as a traveling device for agricultural machinery, for example, by making the traveling part (driving part) of the traveling device an eclectic type of a wheel type and a semi-crawler type. The purpose is to do.

[0006]

The present invention takes the following technical means in order to achieve the above-mentioned object. That is, the traveling device according to claim 1 includes the rotary drive body 7, the rotary driven body 8, and the endless belt body 9 wound around both of the rotary drive bodies 7, 8, and the rotary drive body of the rotary drive body 7 is driven. The endless belt 9 is circularly circulated in the longitudinal direction of the belt by force to rotate the driven follower 8 at a reduced speed, and the lug 11 is provided on the outer circumference of the endless belt 9.
Are arranged in a row at intervals in the longitudinal direction of the strip, and the endless strip 9
Is configured to be towed by a lug 11 that is raised on the endless belt 9 on the ground contact surface side in the portion 12 wound around the rotary driven body 8.

By adopting such a structure, the endless belt 9 has a power transmission function of decelerating from the rotary driving body 7 to the rotary driven body 8 and traction traveling by the lugs 11 arranged in line on the belt 9. Since it has both, the transmission case and the like are not necessary, and a simple running section can be achieved and the tread restriction can be reduced. Therefore, if it is applied as a traveling device of a ridge work machine, for example, it is possible to secure a sufficient ground clearance and match crops and working conditions. Further, in the above-mentioned claim 1, the outer periphery of the rotary drive member 7 and the inner periphery of the endless belt member 9 are engaged with each other in the drive side winding portion 13 so that the rotary drive force of the rotary drive member 7 is applied to the endless belt member. It is recommended that the occlusal means 14 for transmitting as the circular circulation of 9 and the lateral displacement prevention means 15 for maintaining the occlusal movement are provided (Claim 2).

The driving side winding portion 13 of the rotary drive body 7 and the endless belt body 9 may be used as a friction transmission means, but this may cause power loss due to slip or the like. As described above, the mechanical interlocking means 1
By setting 4, the reliable power transmission can be ensured, and by providing the lateral displacement prevention means 15, the engagement means 14 can be securely engaged and disengaged, and partial damage of the endless belt 9 can be avoided. Of. Further, in the above-mentioned claim 1, the lateral outer circumference of the rotary driven body 8 and the inner circumference of the endless belt body 9 are provided to prevent lateral displacement between the rotary driven body 8 and the endless belt body 9 in the driven side winding portion 12. It is recommended that the deviation prevention means 16 be provided (Claim 3).

Although it is possible to use the friction transmission means in the driven side winding portion 12 as well, the mechanical engagement means causes less slip on the ground contact surface side.
The traction by the lug 11 is ensured. Also,
The constituent material of the endless belt body 9 in which the lugs 11 are arranged in any row is arbitrary, but it is advantageous that the traveling vibration can be suppressed by making it from rubber or other elastomer material. It is recommended that the traveling device be a combination of claims 2 and 3 described above (claim 4).

According to this, it is possible to prevent the endless belt 9 from slipping in both the driving side winding portion 13 and the driven side winding portion 12. Further, the interlocking means 14 according to claim 2 has radial equidistant positions with respect to the rotation axis of the rotary drive body 7 and has circumferential intervals on the same circumference of the rotary drive body 7. The drive claw portion 7C is formed, and a claw receiving portion 9A to which the drive claw portion 7C raised at the inner peripheral surface of the endless strip 9 with a space in the strip longitudinal direction engages and disengages is formed.
The lateral displacement prevention means 15 according to claim 2, wherein an annular rib portion 7D that connects the drive pawl portion 7C in the circumferential direction and a band width of the pawl receiving portion 9A that can pass through the rib portion 7D in the circumferential direction. A groove portion 9B formed in the middle of the direction, and when the rib portion 7D passes through the groove portion 9B, the groove rising surface 9B- of the groove portion 9B-
It is recommended that the rib portion 7D can be engaged with No. 1 (claim 5).

The occlusal means 14 may be constructed by using the sprocket wheel as the driving rotary body 7 and arranging the engaging window or the concave portion for engaging and disengaging the claws in the endless belt 9 in a row. However, since the claw is repeatedly engaged with and disengaged from the engagement window, this may cause a crack in the engagement window. On the other hand, as described above, by forming the claw receiving portion 9A as a protrusion, The rigidity of the pawl receiving portion 9A when the drive pawl portion 7C is engaged with and disengaged from the receiving portion 9A can be sufficiently ensured, which is advantageous in suppressing the factor of cracking. Further, the lateral displacement prevention means 1 according to claim 3
Reference numeral 6 designates a rib portion 8B which is raised in a ring shape on the outer periphery of the ring-shaped body portion 8A of the rotary follower 8 and a claw receiving portion 9A which is raised on the inner peripheral surface of the endless belt body 9 with a gap in the belt longitudinal direction. It is recommended that the rib portion 8B is composed of a groove portion 9B formed in the middle of the width direction, and that the rib portion 8B can be engaged with the groove rising surface 9B-1 of the groove portion 9B when the rib portion 8B passes through the groove portion 9B (claim. 6) and 6), the ring-shaped body portion 8A of the rotary follower 8
The rotary follower 8 is rotated around this axis with the outer peripheral surface of the claw receiving part 9A in contact with the top part of the claw receiving part 9A, so that an earth removing space 17 is formed between the claw receiving parts 9A in the circumferential direction. Recommended (Claim 7).

By adopting such a structure, the ring-shaped body portion 8A of the rotary driven body 8 comes into contact with the claw receiving portion 9A to press the endless belt body 9 at the driven side winding portion 12, and the lug 11 To ensure towing by
The soil discharging space 17 can prevent clogging and the like, and is useful as a traveling device for a field working machine. Further, in claims 1 to 7, the width L2 of the endless belt 9 is wider than the width L1 of the rotary follower 8, and the winding portion 12 of the rotary follower 8 is as wide as possible.
In, it is recommended that the rotary driven body 8 be contained within the width of the endless belt body 9 (claim 8).

With this construction, the rotary follower 8 is less likely to be entangled with a crop or the like, and it is useful as a traveling device for a ridge work machine while suppressing the pain of the crop. The traveling device 3 according to any one of claims 1 to 8, wherein the rotary driven body 8 and the portion 1 wound around the rotary driven body 7 with the shaft center of the rotary drive body 7 as a fulcrum.
It is recommended that the two endless belts 9 be swingably fixed in the traveling direction (claim 9). By adopting such a configuration, it is possible to set the ground clearance (ground clearance) of the traveling vehicle body 2 to the optimum condition according to the crop and the working condition, and the ground side can be displaced back and forth to load the vehicle. It can be supported in a stable posture even if the center of gravity of the traveling machine body 2 is moved depending on objects and work conditions.

[0014]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. 1 (1) (2) and FIG.
FIG. 3 shows the first embodiment of the present invention. In a ridge work machine 1 illustrated as an example of an agricultural machine, a traveling machine body 2 is supported by a traveling device 3 according to the present invention and a guide wheel 4. The working machine 1 can travel (move) along the longitudinal direction of the ridge 5 while straddling the ridge 5. Although not shown in the figure, the traveling machine body 2 is equipped with an engine, a transmission, a power distributor (for example, a differential device), and the left and right traveling devices via the left and right output shafts 6A of the drive unit 6 which is a power distributor. 3 can be driven, and when the working machine 1 is a riding type, the traveling machine body 2 is equipped with a control device including a driver's seat.

The traveling device 3 is mainly composed of a rotary drive body 7, a rotary driven body 8 and an endless belt body 9 wound around both of them, and the rotary drive body 7 has left and right output shafts 6A. Each of the rotary followers 8 has a large diameter with respect to the rotary driver 7 and is supported by the axle 10 on both side stays 2A of the traveling machine body 2 on the ground contact surface side. Here, the endless belt 9 is circulated and rotated in the longitudinal direction of the belt by the rotational driving force of the rotary driving body 7 to decelerate and rotate the rotary driven body 8. The endless belt (driving belt) 9 has lugs 11 arranged in a row on the outer periphery thereof with a space in the belt longitudinal direction, and the endless belt 9 is wound around the rotary driving body 7 and the rotary driven body 8. Therefore, the lug 11 is configured to be pulled by the lug 11 that is raised on the endless belt 9 on the ground contact surface side in the portion 12 (the driven-side winding portion) that is wound around the rotary driven body 8.

The drive side winding portion 13 between the outer circumference of the rotary drive body 7 and the inner circumference of the endless belt body 9 makes the rotary drive body 7 a rotary drum so that the endless belt body 9 is frictionally moved in the longitudinal direction of the belt. Although it is possible to circulate, it is possible to use the occlusal means 14 that meshes with each other at the drive side winding portion 13 to transmit the rotational power of the rotary drive body 7 as the circulation of the endless belt 9. Is recommended. With the frictional force means, there is a possibility of slippage at the drive side winding portion 13, whereas with the occlusal means 14, there is no slippage and smooth and reliable transmission is possible.

The engaging means 13 shown in FIG. 2 is an example in which the rotary drive body 7 shown in FIG. 9 is adopted. The rotary drive body 7 of FIG. 9 has a cylindrical boss 7 as a mounting portion for the output shaft 6A at the rotation axis.
A disk (disc) 7 is provided on the outer periphery of the cylindrical boss 7A.
B is integrally provided, and drive claws 7C are formed on the same circumference of the disk 7B at radially equidistant positions with reference to the rotation axis with circumferential intervals. On the inner peripheral surface, a claw receiving portion 9A having a space in the longitudinal direction of the belt is formed so as to be engaged with and disengaged from the drive claw portion 7C.

As shown in FIG. 9, the driving claw portion 7C is formed in a groove shape having an opening on the inner diameter side, and both side walls 7C-1 of the groove are engaged with and disengaged from the rising walls in front of and behind the claw receiving portion 9A. The bottom surface (flange portion) 7C-2 is formed into a curved surface in the circumferential direction so as to come into contact with the inner surface of the strip 9 between the circumferential directions of the claw receiving portions 9A, and connects the driving claw portions 7C in the circumferential direction. Annular rib portion 7D (may be substantially the outer peripheral edge of the disk 7A)
Is equipped with. The claw receiving portion (lug or engaged portion) 9A is shown in FIG.
As shown in FIG. 2, the inner peripheral surface of the strip 9 is divided into left and right parts to be raised, and groove portions 9B are formed at the left and right inner end portions, and the rib portions 7D can pass through the groove portions 9B in the circumferential direction. 9B and the rib portion 7D constitute the lateral deviation prevention means 15.

The lateral displacement prevention means 15 for preventing lateral displacement between the rotary drive member 7 and the band member 9 has an annular rib portion 7D that connects the drive claw portion 7C in the circumferential direction, and the rib portion 7D. A groove portion 9B formed in the middle of the claw receiving portion 9A so that the rib portion 7D passes through the groove portion 9B. When the rib portion 7D passes through the groove portion 9B, the rib portion 7D is formed on the groove rising surface 9B-1. Are configured to be engageable. Furthermore,
On the outer circumference of the rotary driven body 8 and the inner circumference of the endless belt body 9, a lateral deviation prevention means 16 for preventing lateral deviation between the rotary driven body 8 and the belt body 9 in the driven side winding portion 12 is provided.

In FIG. 3, the lateral displacement prevention means 16 has a rib portion 8B protruding in a ring shape on the outer periphery of the ring-shaped body portion 8A of the rotary driven member 8 and a gap in the belt longitudinal direction on the inner peripheral surface of the endless belt member 9. And a groove portion 9B formed in the middle of the width direction of the claw receiving portion 9A that is raised, and when the rib portion 8B passes through the groove portion 9B, the rib portion 8B is formed on the groove rising surface 9B-1 of the groove portion 9B.
Are engageable with each other. Further, as shown in FIG. 3, the rotary follower 8 is rotated around this axis while the outer peripheral surface of the ring-shaped body 8A of the rotary follower 8 is in contact with the top of the pawl receiver 9A. In the figure, a soil discharge space 17 is formed between the adjacent portions of 9A in the circumferential direction, and muddy water, soil, and the like can be discharged through the space 17 as shown by the arrow.

As shown in FIG. 8, the rotary driven body 8 has a cylindrical boss 8C on its axis as a mounting portion for the axle 10, and the spokes 8D are radially extended from the cylindrical boss 8C and the spokes 8D are formed. A ring-shaped body portion 8A is circumferentially provided on the radially outer end of the ring-shaped body portion 8A.
B is raised. Further, as shown in FIG. 3, the width L2 of the endless belt 9 is wider than the width L1 of the rotary follower 8, and the rotary follower 8 is wound around the winding end 12 of the endless belt 8. The width is within the width of 9, so that it is possible to prevent the crop from being caught or damaged at the driven-side wrapping portion (ground-side wrapping portion) 12 during field work.

Of course, the width of the rotary driven member 8 and the width of the endless belt member 9 can be the same width, or the belt member 9 can be made narrow in some cases. First of the above
In the embodiment, the rotary driving body 7 and the rotary driven body 8 can be made of a light alloy such as aluminum or other metal material, hard resin, etc., and the endless belt 9 is made of rubber or other elastomer material. However, the constituent material is arbitrary (the same applies to the following embodiments). Further, it is recommended that the winding portion 13 of the rotary drive body 7 also be housed within the width of the endless belt body 9 as shown in FIG.

4 to 6 show another embodiment of the present invention. Since the other embodiments have the same basic configuration as the first embodiment described above, common parts are referred to by common reference numerals, and the differences will be mainly described below. Second shown in FIG.
In the embodiment of the present invention, rod-shaped (pin-shaped) claw portions 18 are formed on the outer circumferences of the rotation driving body 7 and the rotation driven body 8 at circumferential intervals, and the claw portions 18 are wound around the drive side. The engaging means 14 is formed by engaging and disengaging the claw receiving portion 9A and contacting the inner surface of the endless belt 9 in both the portion 13 and the driven-side wrapping portion 12, whereby the drive side and the driven side are connected. Slip at the winding portions 12 and 13 is prevented.

Further, a tensile member 19 formed by aligning steel cords and fiber cords is embedded in the endless belt 9 corresponding to the engaging width of the claw portion 18 in an endless shape, whereby the endless belt member 9 is embedded. Even if 9 is made of an elastomer material, the elongation in the longitudinal direction of the belt is restricted. Regarding the tensile body 19,
It is recommended to be embedded in the endless strip 9 in the first embodiment. Further, in the second embodiment of FIG. 4, the lateral deviation prevention means 15 having the same structure as that of the first embodiment described above in the driving side and driven side winding portions 12, 13 is provided.
16 are provided.

5 and 6 show the third and fourth embodiments, respectively, in which the structure of the interlocking means 14 is different. 5 and 6, the endless strip 9 is provided with a space in the strip longitudinal direction, and the drive claw receiving portion 9A of the first embodiment is provided.
In place of the above, engaging windows (which may be engaging recesses) 20 are provided in a row,
In this engagement window 20, both the rotary driving body 7 and the rotary driven body 8 are constituted by a sprocket wheel or a drum having a pawl, and the drive pawl portion 7C is configured to be detachable. Since it engages and disengages with the engagement window (recess) 20, the lateral displacement prevention means 1 is provided at each engagement and disengagement portion.
5 and 16 are configured.

In the fourth embodiment shown in FIG. 6,
The rotary driving body 7 and the rotary driven body 8 are configured by the drum 21 in which drive claws 7C are arranged in a row on the outer circumference.
When C engages with and disengages from the engagement window 20, the outer peripheral surface of the drum 21 is brought into contact with the inner peripheral surface of the endless belt body 9. According to this,
It is advantageous over the third embodiment of FIG. FIG. 7 shows that in the traveling device 3 according to the first to fourth embodiments described above, the rotation driven body 8 and the endless belt body 9 of the portion 12 wound around the rotation driven body 8 as the fulcrum are the traveling directions (front and rear). Direction) and can be fixed by rocking.

By making the rocking and fixing possible in this way, it becomes possible to change the ground height H, and it is possible to make the ground height optimum for the crop and the road surface condition, and the position of the ground contact portion is set to the front and rear. It can be changed as indicated by L3 and L4, and can be set at an optimum position even if the center of gravity changes in accordance with the load and work conditions. As means for freely swinging and fixing, a pin / shaft body that can be freely inserted / removed is provided at a joint portion 2B between the traveling machine body 2 and the stay 2A, or the stay 2A is supported by a fluid cylinder or the like using the joint portion 2B as a fulcrum. It is possible to adopt a structure such that it can freely swing, but of course the configuration is arbitrary.

Further, the traveling device 3 according to the present invention is shown in FIG.
As shown in FIG. 1, it is of a one-wheel type or two-wheel type, and can be applied to, for example, a hand-push type carrier. The embodiments of the present invention are as described above, but various design changes are possible. For example, the driven rotary body 8 shown in FIG. 8 may be a disc type or a drum type instead of the spoke type wheel, and the drive type rotary body 7 shown in FIG. It is also possible to have a spoke shape. Furthermore, FIG.
In FIG. 6, a plurality of driving claws 7C may be arranged on the left and right, and a plurality of engaging windows 20 may be arranged correspondingly, and a reinforcing member such as cut fiber or canvas may be provided on the edge of the engaging window 20. It is possible to bury it and prevent cracks from occurring even if the claw portion 7C is disengaged. The traveling device 3 according to the present invention is also applicable to traveling machines other than agricultural machines.

[0029]

As described above in detail, according to the present invention, it is possible to provide a simple traveling device having an eclectic type of a wheel type and a semi-crawler type.

[Brief description of drawings]

FIG. 1 shows a traveling body equipped with a traveling device according to a first embodiment of the present invention, (1) is a side view, and (2) is a front view.

FIG. 2 is a cross-sectional view of a drive side winding portion which is a main part of FIG.

FIG. 3 is a cross-sectional view of a driven side winding portion that is a main part of FIG.

FIG. 4 shows the second embodiment and is a cross-sectional view of a wound portion.

FIG. 5 is a front sectional view showing a third embodiment.

FIG. 6 is a front sectional view showing a fourth embodiment.

FIG. 7 is a side view showing a swing-type traveling device.

FIG. 8 is a perspective view showing a driven rotary body of the first embodiment.

FIG. 9 is a perspective view showing a drive rotating body of the first embodiment.

FIG. 10 is a side view showing another example of use of the traveling device of the present invention.

11 shows a conventional example 1, (1) is a side view, (2)
Is a front view.

12A and 12B show conventional examples 2 and 3, wherein (1) is a side view of the conventional example 2 and (2) is a front view of the conventional example 3.

[Explanation of symbols]

2 traveling aircraft 3 traveling devices 7 Drive rotor 8 driven rotor 9 Endless strip 14 Bite Means 15 Lateral deviation prevention means

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) B62B 3/00 B62B 3/00 GF term (reference) 2B041 AA02 AA07 AA08 AA17 AB05 AC17 BB02 BB09 BB15 3D050 AA14 BB02 DD01 EE04 EE13 KK14

Claims (9)

[Claims] 1. A rotary driving body (7) and a rotary driven body (8)
And an endless strip (9) wound around both (7) and (8), and the endless strip (9) is circulated in the longitudinal direction of the strip by the rotational driving force of the rotary drive (7). The endless belt (8) is configured to rotate around to rotate the driven follower (8) at a reduced speed, and the lugs (11) are arranged on the outer periphery of the endless belt (9) at intervals in the longitudinal direction of the endless belt. The body (9) is configured to be towed by a lug (11) raised on the endless belt body (9) on the ground contact surface side of the portion (12) wound around the rotary driven body (8). Characteristic traveling device. 2. The rotation driving force of the rotation driving body (7) is meshed with each other in the driving side winding portion (13) on the outer circumference of the rotation driving body (7) and the inner circumference of the endless belt body (9). Means (14) for transmitting the endless belt (9) as a circular circulation
The traveling device according to claim 1, further comprising: a lateral displacement prevention means (15) for maintaining the engagement. 3. The rotary driven body (8) and the endless belt (9) are provided on the driven side winding portion (12) on the outer circumference of the rotary driven body (8) and the inner circumference of the endless belt (9). The traveling device according to claim 1, further comprising a lateral deviation prevention means (16) for preventing lateral deviation. 4. The traveling device according to claim 1, wherein claim 2 and claim 3 are combined. 5. The occlusal means (14) according to claim 2.
Is a drive claw portion (7C) formed at radially equidistant positions with respect to the rotation axis of the rotary drive body (7) and on the same circumference of the rotary drive body (7) with a circumferential interval. And a pawl receiving portion (9A) to / from which the drive pawl portion (7C), which is raised at an inner circumferential surface of the endless belt body (9) with a gap in the longitudinal direction of the belt, engages / disengages. Item 2. A lateral displacement prevention means (1)
5) is an annular rib portion (7D) that connects the driving claw portion (7C) in the circumferential direction, and a width direction of the claw receiving portion (9A) that can pass through the rib portion (7D) in the circumferential direction. A groove portion (9B) formed in the middle, and when the rib portion (7D) passes through the groove portion (9B), the groove rising surface (9) of the groove portion (9B).
The traveling device, wherein the rib portion (7D) is engageable with B-1). 6. The lateral displacement prevention means (1) according to claim 3.
6) is a rib portion (8B) protruding as a ring shape on the outer periphery of the ring-shaped body portion (8A) of the rotary driven body (8), and an endless belt body (9).
A groove (9B) formed in the middle of the width direction of the claw receiving portion (9A) which is raised at an inner peripheral surface of the claw receiving portion (9A), and the rib portion (8B) has a groove portion (9B). The traveling device, wherein the rib portion (8B) is engageable with the groove rising surface (9B-1) of the groove portion (9B) when passing through the vehicle. 7. The rotary driven body (8) according to claim 6, wherein the outer peripheral surface of the ring-shaped body (8A) of the rotary driven body (8) is in contact with the top of the pawl receiving portion (9A). By rotating around, the earth receiving space (1) is provided between the adjacent nail receiving portions (9A) in the circumferential direction.
7) is formed, the traveling device. 8. The width (L1) of the endless belt (9) according to claim 1, wherein the width (L1) of the rotary driven body (8).
2) is widened, and the rotary follower (8) fits within the width of the endless belt (9) in the winding part (12) of the rotary follower (8). apparatus. 9. The traveling device (3) according to claim 1, wherein the rotary driven body (8) and a portion (12) wound around the rotary driven body (8) with the shaft center of the rotary drive body (7) as a fulcrum. The traveling device, wherein the endless belt member (9) is swingably fixed in the traveling direction.