JP2001048069A - Three-wheel type unmanned searching vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make traveling properties on the irregular ground and to provide a vehicle with a function for returning to its normal attitude, even when the vehicle falls down, by storing the vehicle into a pressure device mounted on a main frame and providing a rear pile made freely movable forwards and backwards. SOLUTION: When a searching vehicle comes to inclined ground, a swing cylinder 7 is elongated and operated and a front pile 12 is forcibly fed into a slightly front ground level (A). When a swing motor is operated, driving a rear wheel 15 forward, and the cylinder 7 is rotated to be folded, the searching vehicle is drawn as the front pile 12 as a fulcrum (B). After a cylinder of a pressing fitting device 19 is elongated and operated in this state, a rear pile 20 is forcibly fed into the ground level and the searching vehicle is supported at the position, the cylinder 7 is shortened and operated, the front pile 12 is pulled from the ground level, the swing motor 7 is inversely operated and the cylinder 7 is rotated in a slightly front direction (C). A front pile 18 is forcibly fed into a slightly front ground level from the state again, the same operation is repeated and the vehicle is traveled on inclined ground.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unmanned rover for exploring extraterrestrial planets and the deep sea floor, and more particularly to an unmanned rover excellent in rough terrain and having a fall recovery function.

[0002]

2. Description of the Related Art When exploring extraterrestrial planets and the deep sea floor,
In the case of manned exploration, it is possible to avoid the danger of running with human assistance or to recover to some extent when falling, even if it is on uneven terrain, but the equipment becomes larger and the weight increases . In addition, safety measures due to being manned are required, which has increased costs.

[0003] In order to transport such a rover to space, for example, the cost is enormous. Therefore, development of a small and lighter unmanned rover has been promoted. In the case of unmanned rover vehicles, it is difficult to avoid the danger of traveling,
In addition, if the vehicle falls, it is extremely difficult to recover its posture, and the subsequent exploration must be terminated.

Conventionally, unmanned rover vehicles include 8-wheel and 6-wheel types which have been put into practical use as lunar rover vehicles in the former Soviet Union and the United States, and 4-wheel type vehicles are also known. However, no sufficient measures have been taken for running performance on irregular terrain and recovery from overturning of the vehicle body, and in the case of extreme irregular terrain or once falling, There was an inconvenience that exploration could not be performed.

[0005]

SUMMARY OF THE INVENTION It is an object of the present invention to provide an unmanned rover excellent in running on uneven terrain and having a function of recovering a normal posture even if the vehicle falls. .

[0006]

A main frame is provided,
The rear right and left rear wheels attached to the main frame and the front center front wheel constitute a three-wheel type rover, and the front wheel lever supporting the front wheels is moved in the front-rear direction of the rover with respect to the main frame. Provided to be able to twist in the swing and width directions,
It has a front pile that is housed in the front wheel lever and can move back and forth, and a rear pile that is housed in a press-fitting device attached to the main frame and can move back and forth.

[0007] A twist frame rotatable in the width direction of the search vehicle is mounted on the main frame, and a swing cylinder rotatable in the front-rear direction in the traveling direction of the search vehicle is mounted on the twist frame. The front wheel lever was attached so that it could rotate in the width direction of the car.

A front wheel lever is formed in a pipe shape, a front wheel is mounted on an outer peripheral surface of the front wheel lever, and a front pile connected to a swing cylinder is housed inside. In addition, the main frame has a central upright portion and lower and left and right overhangs, and the left and right overhangs are equipped with rear wheels with internal cavities, and the rear wheels are driven by motors installed in the overhangs. did.

Further, an arc-shaped protection frame covering the upper portion of the main frame is attached to the main frame, and a circular protection ring covering the rear end of the swing cylinder is attached to the twist frame.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view showing the appearance of a three-wheeled unmanned rover according to the present invention. 2 is a plan view of the unmanned rover, FIG. 3 is a side view thereof, FIG. 4 is a rear view thereof, and FIG.
FIG. 3 is a side view of a state where a front wheel lever is set up. 6 is a diagram showing a state of running on uneven terrain, FIG. 7 is a diagram showing a state of running on a slope, and FIG. 8 is a diagram showing a state of overturn recovery.

First, the structure of the unmanned rover will be described. Reference numeral 1 denotes a main frame, which comprises a central upright portion 1 'and a lower overhang portion 1 ". 2 is attached to the upright portion 1' of the main frame so as to be rotatable in the left-right direction. Reference numeral 3 denotes a twist motor that is attached to the standing portion 1 'of the main frame and rotates the twist frame 2.

FIG. 9 shows a mounting structure of the twist frame 2. The output shaft 4 of the twist motor 3 fixed to the main frame 1 and the shaft fixing lug 5 fixed to the twist frame 2 are spline-coupled. Therefore, by the driving of the twist motor 3, the twist frame 2 is rotated in the driving direction. Reference numeral 6 denotes a connecting sliding portion between the main frame 1 and the twist frame 2.

A swing cylinder 7 is attached to the twist frame 2 so as to be rotatable in the front-rear direction. Reference numeral 8 denotes a swing motor provided on the twist frame 2.
FIG. 10 shows a mounting structure of the swing cylinder 7. Swing motor 8 fixed to twist frame 2
And the shaft coupling 10 fixed to the mounting shaft 11 of the swing cylinder 7 are spline-coupled. One mounting shaft 11 of the swing cylinder 7 is supported by the twist frame 2 via a bearing. Accordingly, the driving of the swing motor 8 causes the swing cylinder 7 to rotate in the driving direction.

As described above, the swing cylinder 7 is rotated in the left-right direction and the front-rear direction by the driving of the twist motor 3 and the swing motor 8. That is, the user can twist the main frame 1 in the left-right direction and swing in the front-rear direction. Note that the front-back direction is the traveling direction of the rover, and the left-right direction is the width direction of the rover, and the same applies hereinafter for convenience of description.

Reference numeral 12 denotes a pipe-shaped front wheel lever attached to the cylinder end of the swing cylinder 7 so as to be rotatable in the left-right direction. Is incorporated. Reference numeral 13 denotes a steering motor fixed on the swing cylinder 7, and the output rotation of the steering motor 13 causes the front wheel lever 1 to rotate.
2 are connected so as to be able to rotate left and right. 14
Reference numeral denotes a front wheel rotatably mounted on the front wheel lever 12, which is divided and axially mounted on the left and right outer peripheral surfaces of the front wheel lever 12.

Reference numeral 15 denotes a trough-shaped rear wheel having a large diameter and a wide width and having a cavity therein, which is mounted on an overhang portion 1 "of the main frame 1. The rear wheel 15 has an internal cavity. Since it has a trough shape, it is mounted so as to cover the overhang portion 1 "of the main frame 1, is connected to a drive motor 16 provided on the overhang portion 1", and is rotated by the operation of the drive motor 16. Is a speed reducer.

The swing cylinder 7 is connected to the swing cylinder 7 and is passed through the front wheel lever 12.
It is a front pile which expands and contracts by the operation of. Reference numeral 19 denotes a press-fitting device attached to the main frame 1, in which a cylinder (not shown) and a rear stake 20 expanded and contracted by the cylinder are incorporated. The rear pile 20 is pressed into the surface of the ground by extension of the cylinder. In addition, the front pile 18 and the rear pile 20 may be configured such that the cylinder rods connected to each other are directly used as the piles.

Reference numeral 21 denotes an arc-shaped protection frame attached to the main frame 1 so as to cover the upper portion of the main frame 1. The protection frame 21 protects the main frame 1 from contacting the ground surface when the rover falls. Reference numeral 22 denotes a circular protection ring that covers the rear part of the swing cylinder 7. The protection ring 22 is attached to the twist frame 2 by an appropriate means, and when the rover is in a prone position, it touches the ground surface to support the rover. Protect from contact with

Reference numeral 23 denotes a sample collection box which is held in the main frame 1 so as to be freely inserted into and removed from the main frame 1. A scoop 25 is attached to the tip of the arm 24 so as to be swingable. The scoop 25 scoops a sample on the ground surface by the vertical movement of the arm 24 and throws it into the sample collection box 23 above.

The structure of the unmanned rover according to the present invention is as described above, and its operation will be described below. First,
The unmanned rover has large and wide rear wheels 15 at the rear left and right.
And a small-diameter front wheel 14 arranged at the front center.
The rear wheels 15 are drive wheels. Therefore, during normal traveling, the rear wheels 15 are driven by the drive motor 16 and the front wheels 14 are steered by the steering motor 13 to travel. The rear wheel 15 can be reversed to reverse.

Next, traveling on uneven terrain will be described with reference to FIG. By operating the swing motor 8, the swing cylinder 7 is pushed forward, and further rotated upward to make the front wheel 14 float. At this time, the exploration vehicle falls forward, but since the protection ring 22 is grounded, the swing cylinder 7 and the twist frame 2 do not directly contact the ground surface. Then, the rear wheel 15 is moved forward to push the front wheel 14 above an obstacle (a step on the ground surface, etc.). The state of FIG.

Then, this time, the swing motor 8 is operated in reverse to rotate the swing cylinder 7 downward so as to be folded, and while raising the vehicle body, the rear wheel 15 is advanced to advance the rear wheel 15 to the position of the obstacle. . Swing cylinder 7
Is turned obliquely downward and forward, the swing cylinder 7 is extended to extend the front pile 18 and is hooked on a rock or the like in front. The state of FIG. 6B.

Then, by moving the swing cylinder 7 further in the folding direction and shortening the front stake 18, the rover is pulled up on the obstacle. When the rover is lifted above the obstacle, the swing cylinder 7 is shortened and the front stake 18 is stored in the front wheel lever 12,
The front wheel 14 is brought into contact with the ground, and the swing cylinder 7 is rotated slightly forward to return to the next running posture. The state of FIG. 6C.

Next, traveling on a slope shown in FIG. 7 will be described. When the rover approaches the slope, the swing cylinder 7 is extended and the front pile 18 is pressed into the ground surface slightly forward as shown in FIG. And the rear wheel 1
When the swing motor 8 is operated and the swing cylinder 7 is rotated so as to be folded while driving the forward movement of the probe 5, the search vehicle is dragged by using the front pile 12 as a support point as shown in FIG. 7B.

In this state, the cylinder of the press-in device 19 is extended and the rear pile 20 is press-fitted into the ground surface, the rover is supported at that position, and then the swing cylinder 7 is shortened and the front pile 18 is operated. Is pulled out from the ground surface, and the swing motor 7 is operated in reverse this time to rotate the swing cylinder 7 slightly forward as shown in FIG. 7C. From this state, the front pile 18 is again pressed into the ground surface slightly forward, and the same operation is repeated to run on the slope.

Next, the operation of recovery from overturn of the rover shown in FIG. 8 will be described. FIG. 8A shows a state in which the rover has fallen sideways. Since the front wheel 14 is in a floating state when the rover falls, first, the swing motor 8 is operated to fold the swing cylinder 7 to, for example, the angle shown in FIG. In this state, the twist motor 3 is operated to rotate the twist frame 2 in one of the left and right directions or the direction opposite to the direction in which the rover is raised.

By the rotation of the twist frame 2, the swing cylinder 7 and the front wheel lever 12 are rotated left and right, and the front wheel 14 is pressed against the ground. When the operation of the twist motor 3 is further continued, after the front wheel 14 is pressed against the ground surface, in the direction opposite to the rotation direction of the swing cylinder 7, as shown in FIG. Starts to rotate slowly, and recovers to a normal posture as shown in FIG.

Even if the rover falls, the main frame 1 is protected by the protective frame 21 and does not directly contact the ground surface. When the rover faces an obstacle or falls, it first detects the obstacle or the fall, grasps its state, and then moves over the obstacle or recovers the posture. When he recovers his posture, he checks his posture. All the operations described above are remotely controlled from the ground, and in some cases, from the mother ship.

[0029]

According to the present invention, the unmanned rover has a three-wheeled rear right and left rear wheel and a front center front wheel, and the front wheel lever supporting the front wheel swings in the front-rear direction with respect to the main frame. Attached to the swing cylinder that twists in the direction, it is housed in the front wheel lever and is provided with a front pile that can be extended and retracted, and a rear pile that can be retracted from the rear pile press-fitting device attached to the main frame. is there.

[0030] With this configuration, the terrain travel can be performed by the rotation of the swing cylinder and the expansion and contraction of the front pile. Slope running on an incline can be performed using the rotation of the swing cylinder and the expansion and contraction of the front pile and the rear pile, and the twist frame can be used to twist the swing cylinder, the front wheel lever, and the front wheel to recover from falling of the rover.

[Brief description of the drawings]

FIG. 1 is a perspective view showing the appearance of a three-wheeled unmanned rover according to the present invention.

FIG. 2 is a plan view of the rover.

FIG. 3 is a side view of the rover.

FIG. 4 is a rear view of the rover.

FIG. 5 is a side view of the rover in a state where a front wheel lever is set up.

FIG. 6 is a diagram showing a state of running on uneven terrain.

FIG. 7 is a diagram showing a state of running on a slope.

FIG. 8 is a diagram showing a state of fall recovery.

FIG. 9 is a diagram showing a mounting structure of a twist frame.

FIG. 10 is a diagram showing a mounting structure of a swing cylinder.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Main frame 2 Twist frame 3 Twist motor 4 Twist motor shaft 5 Shaft fixing lug 6 Connecting sliding part 7 Swing cylinder 8 Swing motor 9 Swing motor shaft 11 Mounting shaft 12 Front wheel lever 13 Steering motor 14 Front wheel 15 Rear wheel 16 Drive motor 17 Reduction gear 18 Front pile 19 Rear pile press-in device 20 Rear pile 21 Protective frame 22 Protective ring 23 Sample collecting box 24 Arm 25 Scoop

Claims (5)

[Claims] 1. A three-wheel type exploration vehicle having a main frame, a rear left and right rear wheel mounted on the main frame, and a front center front wheel, wherein a front wheel lever for supporting the front wheel is moved relative to the main frame. In addition to swinging in the front-rear direction of the exploration vehicle and twisting in the width direction, it is housed in the front wheel lever and housed in a front stake that is freely retractable, and is housed in a press-fitting device attached to the main frame, An unmanned three-wheeled vehicle equipped with a rear pile that can move in and out. 2. A swing frame, which is rotatable in the width direction of the search vehicle, is mounted on the main frame, and a swing cylinder, which is rotatable in the front-rear direction in the running direction of the search vehicle, is mounted on the twist frame. The three-wheel type unmanned rover according to claim 1, wherein a front wheel lever is attached so as to be rotatable in a width direction of the rover. 3. The three-wheel type according to claim 2, wherein the front wheel lever is formed in a pipe shape, the front wheel is mounted on an outer peripheral surface of the front wheel lever, and a front pile connected to a swing cylinder is housed inside. Unmanned rover. 4. The main frame has a central upright portion and lower and left and right overhangs, and a rear wheel having an internal cavity is mounted on the left and right overhangs, and the rear wheel is driven by a motor provided in the overhang. The three-wheel type unmanned rover according to claim 1, 2, or 3, wherein the vehicle is driven. 5. An arc-shaped protection frame for covering an upper portion of the main frame is attached to the main frame, and a circular protection ring for covering a rear end portion of the swing cylinder is attached to the twist frame. A three-wheel type unmanned rover according to claim 2 or claim 3 or claim 4.