公开(公告)号：US20190032433A1

公开(公告)日：2019-01-31

申请号：US16075182

申请日：2017-02-23

Applicant: Topy Kogyo Kabushiki Kaisha ,  Lapan Agency for Marine-Earth Science and Technology

Inventor： Takao Sawa ,  Tsuyoshi Horikiri ,  Shingo Tsukui

IPC: E21B25/18 ,  B62D55/065 ,  E21B7/02

Abstract: A work apparatus that can collect core samples of a seabed ground at a desired angle in a stable manner includes a body 10, four flippers 30 rotatably disposed at left and right of a front section of the body 10 and at left and right of a rear section of the body 10 and a coring mechanism 20 disposed on the body 10 as basic features. An inclination sensor 17 that detects inclinations in a front-rear direction and in a left-right direction is disposed on the body 10. A load sensor 49 is attached to a support structure 40 rotatably supporting the flippers 30. A controller 16 controls rotations of the four flippers 30 based on information on inclination from the inclination sensor 17 and information on landing of the flippers 30 from the load sensor 49 to make the body 10 assume a desired attitude, which is a horizontal attitude, for example, and to land at least three flippers 30. After the attitude control, the controller 16 activates the coring mechanism 20 to collect the core samples from the seabed.

公开(公告)号：US10155553B2

公开(公告)日：2018-12-18

申请号：US15322525

申请日：2015-07-14

Applicant: Topy Kogyo Kabushiki Kaisha

Inventor： Takuma Akazawa ,  Seiji Oomura ,  Shingo Tsukui

IPC: B62D55/08 ,  B62D55/12 ,  B62D55/253 ,  B62D55/125 ,  B62D55/24

Abstract: In the present invention, a crawler belt (10) is provided with: an endless belt main body (11); a plurality of tread lugs (12) formed at the outer periphery of the belt main body (11) with spaces therebetween in the peripheral direction; and a pair of disengagement prevention sections (13) that are formed along the peripheral direction of the belt main body (11) at the inner periphery of the belt main body (11) and are separated in the width direction of the belt main body (11). The disengagement prevention sections (13) are configured from a plurality of rib segments (13a) extending in the peripheral direction and disposed along the peripheral direction with spaces therebetween. Each rib segment (13a) is disposed at a position in the peripheral direction corresponding to a tread lug (12).

公开(公告)号：US20180170461A1

公开(公告)日：2018-06-21

申请号：US15735544

申请日：2016-07-04

Applicant: TOPY KOGYO KABUSHIKI KAISHA

Inventor： Takuma Akazawa ,  Shingo Tsukui

IPC: B62D55/065 ,  B62D55/14 ,  B62D55/24

CPC classification number: B62D55/065 ,  B62D55/04 ,  B62D55/084 ,  B62D55/14 ,  B62D55/24

Abstract: A crawler device 2 includes a crawler unit 5. The crawler unit 5 includes a first support 10 extending along a first rotational axis L1, a pair of crawler structures 20A, 20B mounted on the first support 10 and a pair of ground contacting structures 30A, 30B mounted on the first support 10. The pair of ground contacting structures 30A, 30B are arranged outside of the pair of crawler structures 20A, 20B in a direction in which the pair of crawler structures 20A, 20B are opposed to each other. The crawler unit 5 is supported by second supports 41, 42 such that the crawler unit 5 is rotatable about the first rotational axis L1. An outer periphery of the crawler unit 5 having a circular cylindrical configuration includes first zones Z1 occupied by the pair of crawler structures 20A, 20B and second zones Z2 occupied by the pair of ground contacting structures 30A, 30B alternately arranged in a circumferential direction.

公开(公告)号：US20160176676A1

公开(公告)日：2016-06-23

申请号：US14890499

申请日：2014-06-26

Applicant: TOPY KOGYO KABUSHIKI KAISHA

Inventor： Shingo Tsukui ,  Seiji Oomura ,  Hidekazu Iwaki

IPC: B65H75/42 ,  H02G11/02 ,  B65H75/44

CPC classification number: B65H75/42 ,  B65H75/425 ,  B65H75/4484 ,  B65H75/4486 ,  B65H2701/32 ,  H02G11/00 ,  H02G11/02

Abstract: A cable system A includes a cable 3 for connecting a base device 1 and a travelling body 2, a reel device 10 mounted on the travelling body 2, a motor controller 40 for controlling a motor 15 of the reel device 10, and a rotary encoder 16 (rotation sensor) for detecting rotation of a reel 12. The motor controller 40 basically makes the motor 15 free, when the reel 12 is rotating in an unreeling direction, and basically applies a rotational torque in a reeling direction to the reel 12, when the reel 12 is rotating in the reeling direction. Furthermore, even if the reel 12 is rotating in the unreeling direction, if an unreeling speed of the cable 3 exceeds a travelling speed of the travelling body 2, the rotational torque in the reeling direction is applied to the reel 12. Slackening of the cable 3 is thereby prevented.

Abstract translation: 电缆系统A包括用于连接基部装置1和行进体2的电缆3，安装在行进体2上的卷轴装置10，用于控制卷轴装置10的马达15的马达控制器40和旋转编码器 16（旋转传感器），用于检测卷轴12的旋转。马达控制器40基本上使马达15自由，当卷轴12在卷绕方向上旋转时，基本上向卷轴12施加卷取方向的旋转力矩， 当卷轴12在卷绕方向上旋转时。 此外，即使卷轴12在卷绕方向上旋转，如果电缆3的退绕速度超过行驶体2的行进速度，则卷绕方向的旋转扭矩被施加到卷轴12上。电缆的松弛 3。

公开(公告)号：US10259680B2

公开(公告)日：2019-04-16

申请号：US14890499

申请日：2014-06-26

Applicant: Topy Kogyo Kabushiki Kaisha

Inventor： Shingo Tsukui ,  Seiji Oomura ,  Hidekazu Iwaki

IPC: B65H75/42 ,  B65H75/44 ,  H02G11/00 ,  H02G11/02

Abstract: A cable system A includes a cable 3 for connecting a base device 1 and a travelling body 2, a reel device 10 mounted on the travelling body 2, a motor controller 40 for controlling a motor 15 of the reel device 10, and a rotary encoder 16 (rotation sensor) for detecting rotation of a reel 12. The motor controller 40 basically makes the motor 15 free, when the reel 12 is rotating in an unreeling direction, and basically applies a rotational torque in a reeling direction to the reel 12, when the reel 12 is rotating in the reeling direction. Furthermore, even if the reel 12 is rotating in the unreeling direction, if an unreeling speed of the cable 3 exceeds a travelling speed of the travelling body 2, the rotational torque in the reeling direction is applied to the reel 12. Slackening of the cable 3 is thereby prevented.

公开(公告)号：US20170129553A1

公开(公告)日：2017-05-11

申请号：US15322525

申请日：2015-07-14

Applicant: Topy Kogyo Kabushiki Kaisha

Inventor： Takuma Akazawa ,  Seiji Oomura ,  Shingo Tsukui

IPC: B62D55/08 ,  B62D55/125 ,  B62D55/24

CPC classification number: B62D55/08 ,  B62D55/12 ,  B62D55/125 ,  B62D55/244 ,  B62D55/253

Abstract: In the present invention, a crawler belt (10) is provided with: an endless belt main body (11); a plurality of tread lugs (12) formed at the outer periphery of the belt main body (11) with spaces therebetween in the peripheral direction; and a pair of disengagement prevention sections (13) that are formed along the peripheral direction of the belt main body (11) at the inner periphery of the belt main body (11) and are separated in the width direction of the belt main body (11). The disengagement prevention sections (13) are configured from a plurality of rib segments (13a) extending in the peripheral direction and disposed along the peripheral direction with spaces therebetween. Each rib segment (13a) is disposed at a position in the peripheral direction corresponding to a tread lug (12).

公开(公告)号：US20180186414A1

公开(公告)日：2018-07-05

申请号：US15741145

申请日：2016-07-04

Applicant: TOPY KOGYO KABUSHIKI KAISHA

Inventor： Takuma Akazawa ,  Shingo Tsukui

IPC: B62D55/084 ,  B62D55/18

CPC classification number: B62D55/084 ,  B62D55/04 ,  B62D55/065 ,  B62D55/18

Abstract: A traveling apparatus that can be moved in two directions includes a body 1, a pair of crawler units 5, crawler actuators 40 and rolling actuators 60. The crawler units 5 are supported by the body 1 such that the crawler units 5 are rotatable about a rotational axis L1. The traveling apparatus performs crawler moving in a direction of the rotational axis L1 by the crawler actuator 40 driving pairs of crawler structures 20A, 20B of the crawler units 5. The traveling apparatus performs moving by rolling in a direction orthogonal to the rotational axis L1 by the rolling actuator 60 making the crawler units 5 roll about the rotational axes L1. To prepare for the crawler moving, the crawler units 5 are made to roll to take a movable attitude based on attitude information of the crawler units 5 from rotary encoders 72.

公开(公告)号：US10450014B2

公开(公告)日：2019-10-22

申请号：US15741145

申请日：2016-07-04

Applicant: TOPY KOGYO KABUSHIKI KAISHA

Inventor： Takuma Akazawa ,  Shingo Tsukui

IPC: B62D55/084 ,  B62D55/065 ,  B62D55/18 ,  B62D55/04

Abstract: A traveling apparatus that can be moved in two directions includes a body 1, a pair of crawler units 5, crawler actuators 40 and rolling actuators 60. The crawler units 5 are supported by the body 1 such that the crawler units 5 are rotatable about a rotational axis L1. The traveling apparatus performs crawler moving in a direction of the rotational axis L1 by the crawler actuator 40 driving pairs of crawler structures 20A, 20B of the crawler units 5. The traveling apparatus performs moving by rolling in a direction orthogonal to the rotational axis L1 by the rolling actuator 60 making the crawler units 5 roll about the rotational axes L1. To prepare for the crawler moving, the crawler units 5 are made to roll to take a movable attitude based on attitude information of the crawler units 5 from rotary encoders 72.

公开(公告)号：US10906600B2

公开(公告)日：2021-02-02

申请号：US16311899

申请日：2016-07-04

Applicant: TOPY KOGYO KABUSHIKI KAISHA

Inventor： Takuma Akazawa ,  Shingo Tsukui ,  Hidekazu Iwaki ,  Koji Sakurai

IPC: B62D55/02 ,  B62D55/08 ,  B62D55/065 ,  B60K17/04

Abstract: A robot R includes a pair of crawler devices 2 supported by a body 1. Each of the crawler devices 2 includes a crawler unit 3 supported by the body 1 such that the crawler unit 3 is rotatable about a first rotational axis L. The crawler unit 3 includes a support 10 extending along the first rotational axis L1 and a pair of crawler parts 20A, 20B mounted on the support 10. Each of the crawler device 2 includes a rolling driving member 46 connected to the support 10 of the crawler unit 3, a rolling motor 60 that rotationally drives the rolling driving member 46, a crawler drive shaft 41 extending along the first rotational axis L1 through a gap between the pair of crawler parts 20A, 20B, a crawler motor 50 that rotationally drives the crawler drive shaft 41 and a torque transmitting mechanism 42 that transmits rotary torque of the crawler drive shaft 41 to the pair of crawler parts 20A, 20B, The crawler motor 50, as well as the rolling motor 60, is disposed outside of the crawler unit 3.

公开(公告)号：US10427733B2

公开(公告)日：2019-10-01

申请号：US15735544

申请日：2016-07-04

Applicant: TOPY KOGYO KABUSHIKI KAISHA

Inventor： Takuma Akazawa ,  Shingo Tsukui

IPC: B62D55/08 ,  B62D55/18 ,  B62D55/065 ,  B62D55/14 ,  B62D55/24 ,  B62D55/04 ,  B62D55/084

Abstract: A crawler device 2 includes a crawler unit 5. The crawler unit 5 includes a first support 10 extending along a first rotational axis L1, a pair of crawler structures 20A, 20B mounted on the first support 10 and a pair of ground contacting structures 30A, 30B mounted on the first support 10. The pair of ground contacting structures 30A, 30B are arranged outside of the pair of crawler structures 20A, 20B in a direction in which the pair of crawler structures 20A, 20B are opposed to each other. The crawler unit 5 is supported by second supports 41, 42 such that the crawler unit 5 is rotatable about the first rotational axis L1. An outer periphery of the crawler unit 5 having a circular cylindrical configuration includes first zones Z1 occupied by the pair of crawler structures 20A, 20B and second zones Z2 occupied by the pair of ground contacting structures 30A, 30B alternately arranged in a circumferential direction.