JP2019011010A - Unmanned vehicle tire - Google Patents
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Abstract
Description
本発明は、無人車両用のタイヤに関する。 The present invention relates to a tire for an unmanned vehicle.
従来、有人車両のタイヤについて、タイヤの表面からピンが突き出るように構成した、いわゆる、スパイクタイヤが使用されている（例えば、特許文献１）。 2. Description of the Related Art Conventionally, a so-called spike tire is used for a tire of a manned vehicle, in which a pin protrudes from the surface of the tire (for example, Patent Document 1).
ところで、車両が舗装されていない場所を走行すると、スパイクタイヤのピンに土などの異物が付着する場合がある。ピンに異物が付着すると、ピンによる路面のグリップが弱くなり、滑り防止効果が低下する。 By the way, when the vehicle travels in a place where it is not paved, foreign matter such as soil may adhere to the pin of the spike tire. When foreign matter adheres to the pin, the grip on the road surface by the pin becomes weak, and the anti-slip effect is reduced.
本発明はかかる問題の解決を試みたものであり、舗装されていない場所を走行しても、滑り防止効果が低減しない無人車両用タイヤを提供することを目的とする。 An object of the present invention is to provide a tire for an unmanned vehicle that does not reduce the anti-slip effect even when traveling on a non-paved place.
第一の発明は、中空に形成されたタイヤ本体部と、放射形状に配置された複数の棒状部材を含むスパイク部と、を有し、前記スパイク部は、前記タイヤ本体部の回転軸と平行であり、かつ、同軸上にはない回転軸で回転可能に構成されており、前記タイヤ本体部の接地面側の壁部には、前記スパイク部が回転することによって、前記棒状部材が進退することができる複数の孔部が形成されている、無人車両用タイヤである。 1st invention has the tire main-body part formed in the hollow, and the spike part containing the some rod-shaped member arrange | positioned radially, The said spike part is parallel to the rotating shaft of the said tire main-body part. The rod-shaped member advances and retreats by rotating the spike portion on the ground surface side wall portion of the tire body portion. A tire for an unmanned vehicle in which a plurality of holes are formed.
第一の発明の構成によれば、棒状部材は孔部から進退することができるから、タイヤ本体部の外側に突出したときに異物が付着したとしても、孔部に入るときに異物を孔部の入口において落とすことができる。これにより、舗装されていない場所を走行しても、滑り防止効果が低減しない。 According to the configuration of the first invention, since the rod-like member can advance and retreat from the hole portion, even if foreign matter adheres when protruding to the outside of the tire main body portion, the foreign matter is removed when entering the hole portion. Can be dropped at the entrance. Thereby, even if it drive | works the place which is not paved, the slip prevention effect does not reduce.
第二の発明は、第一の発明の構成において前記スパイク部の直径は、前記タイヤ本体部の内部の直径と略同一である、無人車両用タイヤである。 2nd invention is a tire for unmanned vehicles in which the diameter of the said spike part is substantially the same as the diameter inside the said tire main-body part in the structure of 1st invention.
第三の発明は、第一の発明または第二の発明の構成において、前記スパイク部は、少なくとも一の前記棒状部材が前記孔部から前記タイヤ本体部の外側に突出し、走行路と接触することによって、回転するように構成されている、無人車両用タイヤである。 According to a third aspect of the present invention, in the configuration of the first aspect or the second aspect, at least one of the rod-shaped members protrudes from the hole portion to the outside of the tire main body portion and contacts the traveling road in the spike portion. Are unmanned vehicle tires configured to rotate.
第四の発明は、第一の発明乃至第三の発明のいずれかの構成において、前記孔部の外側開口部は、前記棒状部材が前記孔部の外側から内側に入るときに前記外側開口部に接触するように構成されている、無人車両用タイヤである。 According to a fourth aspect of the present invention, in the configuration according to any one of the first to third aspects, the outer opening of the hole is formed when the rod-shaped member enters the inner side from the outer side of the hole. It is a tire for unmanned vehicles comprised so that it may contact.
第五の発明は、第四の発明の構成において、前記孔部の内側開口部の外形は、前記外側開口部の外形よりも大きく、前記内側開口部と前記外側開口部との間は、傾斜部として構成されている、無人車両用タイヤである。 According to a fifth invention, in the configuration of the fourth invention, the outer shape of the inner opening of the hole is larger than the outer shape of the outer opening, and the inclination between the inner opening and the outer opening is inclined. This is an unmanned vehicle tire configured as a part.
第六の発明は、第一の発明乃至第五の発明のいずれかの構成において、前記スパイク部の回転軸は、前記タイヤ本体部の内部に配置される所定の長さのリンク部に回転可能に固定されており、
前記リンク部の設定角度を変更することによって、前記棒状部材が前記孔部から突出する長さを調整することができるように構成されている、無人車両用タイヤである。
In a sixth aspect based on any one of the first to fifth aspects, the rotation shaft of the spike portion is rotatable to a link portion having a predetermined length disposed inside the tire main body portion. Is fixed to
A tire for an unmanned vehicle configured to be able to adjust a length of the rod-like member protruding from the hole by changing a setting angle of the link portion.
本発明によれば、舗装されていない場所を走行しても、滑り防止効果が低減しない無人車両用タイヤを提供することができる。 ADVANTAGE OF THE INVENTION According to this invention, even if it drive | works the place which is not paved, the tire for unmanned vehicles which a slip prevention effect does not reduce can be provided.
以下、本発明を実施するための形態（以下、実施形態）について詳細に説明する。以下の説明においては、同様の構成には同じ符号を付し、その説明を省略又は簡略する。なお、当業者が適宜実施できる構成については説明を省略し、本発明の基本的な構成についてのみ説明する。 Hereinafter, modes for carrying out the present invention (hereinafter referred to as embodiments) will be described in detail. In the following description, the same reference numerals are given to the same components, and the description thereof is omitted or simplified. Note that description of configurations that can be appropriately implemented by those skilled in the art will be omitted, and only the basic configuration of the present invention will be described.
図１に示すように、本実施形態の無人車両１は、筐体１０を有する。筐体１０には、無人車両１の各部を制御するコンピュータ、自律走行装置、無線通信装置、ＧＰＳ（Ｇｌｏｂａｌ Ｐｏｓｉｔｉｏｎｉｎｇ Ｓｙｓｔｅｍ）を利用した測位装置、慣性センサー、気圧センサー、バッテリー等が配置されている。また、筐体１０には、無線用の通信電波及びＧＰＳ衛星からの電波を通信するためのアンテナ部１８が配置されている。また、筐体１０には、固定装置１２を介して、センサー部１４が接続されている。センサー部１４には、カメラ１６が配置されている。カメラ１６は、可視光カメラ、または、近赤外線カメラであるが、切り替え可能なハイブリッドカメラであってもよい。 As shown in FIG. 1, the unmanned vehicle 1 of the present embodiment has a housing 10. Arranged in the housing 10 are a computer that controls each part of the unmanned vehicle 1, an autonomous mobile device, a wireless communication device, a positioning device using GPS (Global Positioning System), an inertial sensor, an atmospheric pressure sensor, a battery, and the like. The housing 10 is also provided with an antenna unit 18 for communicating radio communication radio waves and radio waves from GPS satellites. A sensor unit 14 is connected to the housing 10 via a fixing device 12. A camera 16 is disposed in the sensor unit 14. The camera 16 is a visible light camera or a near infrared camera, but may be a switchable hybrid camera.
筐体１０には、無人車両用タイヤ２０及び３０（以下、「タイヤ２０」、「タイヤ３０」という。）が車軸を介して接続されている。タイヤ２０及び３０の表面からは、複数の棒状部材５０が突出している。タイヤ２０は前輪であり、タイヤ２０の回転面の方向を変更し、無人車両１の進行方向を制御できるようになっている。タイヤ３０は、駆動輪であり、モーター（後述）に接続されている。 Unmanned vehicle tires 20 and 30 (hereinafter referred to as “tire 20” and “tire 30”) are connected to the housing 10 via axles. A plurality of rod-like members 50 protrude from the surfaces of the tires 20 and 30. The tire 20 is a front wheel, and the direction of the rotation surface of the tire 20 can be changed to control the traveling direction of the unmanned vehicle 1. The tire 30 is a drive wheel and is connected to a motor (described later).
図２（ａ）に示すように、角度θ１を有する坂道１００において、棒状部材５０が坂道１００の路面に接触し、あるいは、突き刺さることで、無人車両１は坂道１００を滑ることなく登ることができる。 As shown in FIG. 2A, the unmanned vehicle 1 can climb the hill 100 without sliding on the hill 100 having the angle θ <b> 1 by the bar-shaped member 50 contacting or piercing the road surface of the hill 100. .
図２（ｂ）に示すように、舗装されておらず、凹凸のある走路１１０において、棒状部材５０が走路１１０の路面に接触し、あるいは、突き刺さることで、無人車両１は走路１１０を滑ることなく走行することができる。 As shown in FIG. 2 (b), the unmanned vehicle 1 slides on the runway 110 when the bar-shaped member 50 comes into contact with or pierces the road surface of the runway 110 on the runway 110 that is not paved and has an uneven surface. You can drive without.
図２（ａ）及び図２（ｂ）に示すように、棒状部材５０が坂道１００や走路１１０に接触し、あるいは、突き刺さることで、無人車両１が滑ることなく走行するのであるが、各棒状部材５０に着目すると、各棒状部材５０はタイヤ２０及び３０の外側表面に形成された孔から出たり、入ったりする。各棒状部材５０が、孔から出て、坂道１００や走路１１０に接触したり、突き刺さると、土などの異物が付着する場合がある。この点、各棒状部材５０が外側から孔に入る際に、異物は孔の入口でそぎ落とされ、各棒状部材５０が次に孔から出て来る時には、異物は付着していない状態である。これにより、棒状部材５０による滑り防止効果が維持される。 As shown in FIGS. 2 (a) and 2 (b), the unmanned vehicle 1 travels without slipping when the rod-shaped member 50 comes into contact with or is pierced on the slope 100 or the runway 110. When attention is paid to the member 50, each rod-like member 50 exits or enters through a hole formed in the outer surface of the tires 20 and 30. When each rod-shaped member 50 comes out of the hole and comes into contact with the slope 100 or the runway 110 or is pierced, foreign matter such as soil may adhere. In this regard, when each rod-like member 50 enters the hole from the outside, the foreign matter is scraped off at the entrance of the hole, and when each rod-like member 50 next comes out of the hole, the foreign matter is not attached. Thereby, the slip prevention effect by the rod-shaped member 50 is maintained.
図３（ａ）はタイヤ３０の斜視図等であり、図３（ｂ）はタイヤ３０の接地面を示す図である。図３（ａ）及び図３（ｂ）に示すように、タイヤ３０は、タイヤ本体部３１を有する。タイヤ本体部３１は中空に形成されている。タイヤ本体部３１には、歯車が形成されたタイヤ回転軸３４が接続されている。タイヤ回転軸３４は、歯車３６と接続された軸３８を介してモーター４０と接続されている。タイヤ３０の接地面側の壁部（外側壁部３０ａ）には、複数の孔部３２の開口部（外側開口部）が形成されている。タイヤ３０は、タイヤ回転軸３４（厳密にはその中心の軸Ａ１）を中心に回転する。なお、タイヤ２０の構造は、駆動軸に接続されておらず、回転面の方向の変更が可能である点を除いて、タイヤ３０と同一であるから、説明を省略する。 3A is a perspective view of the tire 30 and the like, and FIG. 3B is a diagram showing a contact surface of the tire 30. FIG. As shown in FIG. 3A and FIG. 3B, the tire 30 has a tire main body 31. The tire main body 31 is formed hollow. The tire body 31 is connected to a tire rotation shaft 34 having gears. The tire rotation shaft 34 is connected to a motor 40 via a shaft 38 connected to a gear 36. Openings (outer openings) of a plurality of holes 32 are formed in the wall part (outer wall part 30 a) on the ground contact surface side of the tire 30. The tire 30 rotates around a tire rotation shaft 34 (strictly, the center axis A1). Note that the structure of the tire 20 is the same as that of the tire 30 except that the structure of the tire 20 is not connected to the drive shaft and the direction of the rotation surface can be changed, and thus the description thereof is omitted.
図４に示すように、タイヤ３０のタイヤ回転軸３４は中空であり、内部にリンク固定軸５６が貫通している。リンク固定軸５６は、筐体１０内に固定されており、タイヤ３０のタイヤ回転軸３４が回転しても回転しない。リンク固定軸５６は、タイヤ本体部３１の内部に延在しており、その端部にリンク部材５４が固定されている。リンク部材５４の端部には、複数の棒状部材５０及び回転軸部５２から構成されるスパイク部４９が配置されている。回転軸部５２の回転軸Ａ２は、タイヤ本体部３１のタイヤ回転軸３４の回転軸Ａ１と平行であるが、同一軸上には位置しない。回転軸部５２には動力軸は接続されていない。リンク固定軸５６の一方の端部近傍に配置されたレバー５８を操作することによって、リンク固定軸５６を回動させ、それに伴って、リンク部材５４を回動させ、リンク部材５４の角度を調整し、棒状部材５０の孔部３２からの突出する長さを調整することができる。 As shown in FIG. 4, the tire rotation shaft 34 of the tire 30 is hollow, and the link fixing shaft 56 passes through the inside. The link fixing shaft 56 is fixed in the housing 10 and does not rotate even when the tire rotation shaft 34 of the tire 30 rotates. The link fixing shaft 56 extends inside the tire main body 31, and the link member 54 is fixed to the end thereof. A spike portion 49 including a plurality of rod-shaped members 50 and a rotating shaft portion 52 is disposed at the end of the link member 54. The rotation axis A2 of the rotation shaft portion 52 is parallel to the rotation axis A1 of the tire rotation shaft 34 of the tire body portion 31, but is not located on the same axis. A power shaft is not connected to the rotating shaft portion 52. By operating a lever 58 disposed in the vicinity of one end of the link fixing shaft 56, the link fixing shaft 56 is rotated, and accordingly, the link member 54 is rotated and the angle of the link member 54 is adjusted. And the length which protrudes from the hole 32 of the rod-shaped member 50 can be adjusted.
複数の棒状部材５０は回転軸部５２に放射形状に配置されている。複数の棒状部材５０のうち、一部の棒状部材５０の先端部近傍はタイヤ本体部３１の孔部３２から外部に突出している。 The plurality of rod-shaped members 50 are arranged radially on the rotary shaft portion 52. Among the plurality of rod-shaped members 50, the vicinity of the tip portion of some of the rod-shaped members 50 protrudes from the hole 32 of the tire main body portion 31 to the outside.
孔部３２から突出した棒状部材５０が走行路に接触した状態で、タイヤ３０が回転すると、棒状部材５０に接続された回転軸部５２が回転するようになっている。スパイク部４９が回転軸Ａ２を回転軸として回転することによって、棒状部材５０は孔部３２を出たり入ったり（進退）するように構成されている。 When the tire 30 rotates in a state where the rod-shaped member 50 protruding from the hole portion 32 is in contact with the traveling road, the rotating shaft portion 52 connected to the rod-shaped member 50 is rotated. When the spike portion 49 rotates about the rotation axis A2, the rod-shaped member 50 is configured to exit and enter the hole 32 (advance and retreat).
図５（ａ）は孔部３２をタイヤ本体部３１の外側壁部３０ａ側から視た概略図であり、図５（ｂ）は孔部３２をタイヤ本体部３１の内側壁部３０ｂ側から視た概略図である。外側壁部３０ａ側はタイヤ本体部３１の外側面（接地面）であり、内側壁部３０ｂはタイヤ本体部３１の内側面である。図５（ｃ）は、孔部３２の孔を外側面３０ａと内側壁部３０ｂを結ぶ方向において切断した概略断面図である。孔部３２の外側開口部３２ａの外形（直径）は、棒状部材５０の断面形状（直径）よりもわずかに（例えば、３％）大きい。また、孔部３２の内側開口部３２ｂの外形（直径）は、外側開口部３２ａの外形（直径）よりも大きく、内側開口部３２ｂと外側開口部３２ａとの間は、傾斜部３２ｃとして構成されている。 5A is a schematic view of the hole 32 viewed from the outer wall 30a side of the tire body 31. FIG. 5B is a view of the hole 32 viewed from the inner wall 30b side of the tire body 31. FIG. FIG. The outer wall portion 30 a side is an outer surface (grounding surface) of the tire body portion 31, and the inner wall portion 30 b is an inner surface of the tire body portion 31. FIG. 5C is a schematic cross-sectional view of the hole 32 cut in the direction connecting the outer surface 30a and the inner wall 30b. The outer shape (diameter) of the outer opening 32 a of the hole 32 is slightly (for example, 3%) larger than the cross-sectional shape (diameter) of the rod-shaped member 50. Further, the outer shape (diameter) of the inner opening 32b of the hole 32 is larger than the outer shape (diameter) of the outer opening 32a, and the inclined portion 32c is configured between the inner opening 32b and the outer opening 32a. ing.
図６乃至図８を参照して、スパイク部４９が回転して、棒状部材５０が孔部３２を進退する状態を説明する。スパイク部４９の直径は、タイヤ本体部３１の内部の直径と略同一である。本実施形態において、スパイク部４９の直径は、タイヤ本体部３１の内部の直径よりも、わずかに小さく、具体的には、５％小さい。複数の棒状部材５０を便宜的に、棒状部材５０Ａ乃至５０Ｐとして識別し、棒状部材５０Ａに着目して、スパイク部４９が回転して、棒状部材５０Ａが孔部３２を進退する状態を説明する。 With reference to FIG. 6 thru | or FIG. 8, the state which the spike part 49 rotates and the rod-shaped member 50 advances / retreats the hole part 32 is demonstrated. The diameter of the spike portion 49 is substantially the same as the inside diameter of the tire body portion 31. In the present embodiment, the diameter of the spike portion 49 is slightly smaller than the inside diameter of the tire main body portion 31, specifically, 5% smaller. For convenience, the plurality of rod-like members 50 are identified as rod-like members 50A to 50P, and focusing on the rod-like member 50A, a state in which the spike portion 49 rotates and the rod-like member 50A advances and retracts through the hole portion 32 will be described.
図６乃至図８において、タイヤ３０は、矢印Ｙ１方向（時計回り）に回転し、矢印Ｘ１方向（右方向）に移動するものとする。図６（ａ）の状態において、棒状部材５０Ａの自由端部はタイヤ本体部３１の内部に位置する。ただし、棒状部材５０Ｇ、５０Ｈ及び５０Ｉが走路１２０に接触しているため、タイヤ３０が矢印Ｙ１方向に回転して矢印Ｘ１方向へ移動すると、スパイク部４９は回転軸部５２（厳密には、図４の回転軸Ａ２）を中心として回転する。リンク部材５４は、右斜め下（鉛直方向を基準とすると４５度）の角度に固定されており、タイヤ３０が回転しても、リンク部材５４の角度は維持される。 6 to 8, the tire 30 rotates in the arrow Y1 direction (clockwise) and moves in the arrow X1 direction (right direction). In the state of FIG. 6A, the free end portion of the rod-shaped member 50 </ b> A is located inside the tire body portion 31. However, since the rod-shaped members 50G, 50H, and 50I are in contact with the runway 120, when the tire 30 rotates in the direction of the arrow Y1 and moves in the direction of the arrow X1, the spike portion 49 becomes the rotation shaft portion 52 (strictly, in FIG. 4 rotation axis A2). The link member 54 is fixed at an obliquely lower right angle (45 degrees when the vertical direction is used as a reference), and the angle of the link member 54 is maintained even when the tire 30 rotates.
図６（ａ）の状態からタイヤ３０が矢印Ｙ１方向に回転すると、棒状部材５０Ａの自由端部は、複数の孔部３２のうち、一つの孔部３２に近づく（図６（ｂ）参照）。そして、タイヤ３０がさらに矢印Ｙ１方向に回転すると、棒状部材５０Ａの自由端部はその孔部３２から外部に露出する（図６（ｃ）参照）。 When the tire 30 rotates in the arrow Y1 direction from the state of FIG. 6A, the free end portion of the rod-shaped member 50A approaches one of the plurality of hole portions 32 (see FIG. 6B). . When the tire 30 further rotates in the direction of the arrow Y1, the free end portion of the rod-shaped member 50A is exposed to the outside from the hole portion 32 (see FIG. 6C).
棒状部材５０Ａは、その長さ方向がリンク部材５４の長さ方向と一致するとき、すなわち、棒状部材５０Ａがリンク部材５４と同じく右斜め下方向（鉛直方向に対して４５度）の角度になったときに、その自由端部の露出する部分の長さが最長になる（図７（ａ）参照）。図７（ａ）の状態から、タイヤ３０がさらに矢印Ｙ１方向に回転すると、棒状部材５０Ａの自由端部は、走路１２０に接触する。 When the length direction of the rod-shaped member 50A coincides with the length direction of the link member 54, that is, the angle of the rod-shaped member 50A is obliquely downward to the right (45 degrees with respect to the vertical direction), like the link member 54. The length of the exposed portion of the free end becomes the longest (see FIG. 7A). When the tire 30 further rotates in the arrow Y1 direction from the state of FIG. 7A, the free end portion of the rod-shaped member 50A comes into contact with the runway 120.
タイヤ３０がさらに矢印Ｙ１方向に回転し、棒状部材５０Ａの長さ方向の角度が鉛直に近くなると、棒状部材５０Ａが走路１２０と接触する長さ（走路１２０に食い込む長さ）は最長となる（図７（ｂ）参照）。 When the tire 30 further rotates in the direction of arrow Y1 and the angle in the length direction of the rod-shaped member 50A becomes close to the vertical, the length of the rod-shaped member 50A contacting the runway 120 (the length that bites into the runway 120) is the longest ( (Refer FIG.7 (b)).
図７（ｂ）の状態から、タイヤ３０が矢印Ｙ１方向に回転すると、棒状部材５０Ａの自由端部及びその近傍部は、スパイク部４９の回転により、走路１２０に最も食い込んだ状態から、抜かれる方向の力を受け、図７（ｃ）に示す状態になる。 When the tire 30 rotates in the direction of the arrow Y1 from the state of FIG. 7B, the free end portion and the vicinity thereof of the rod-shaped member 50A are removed from the state of being most bited into the runway 120 by the rotation of the spike portion 49. Upon receiving the direction force, the state shown in FIG.
図７（ｃ）の状態から、タイヤ３０がさらに矢印Ｙ１方向に回転すると、棒状部材５０Ａの先端部は、走路１２０から完全に引き抜かれ、孔部３２の外側開口部３２ａ（図５参照）に近づく（図８（ａ）参照）。そして、タイヤ３０がさらに矢印Ｙ１方向に回転すると、棒状部材５０Ａの先端部は、孔部３２を外側から内側に貫通し、タイヤ本体部３１の内部に格納される（図８（ｂ）参照）。棒状部材５０Ａの自由端部及びその近傍部が走路１２０に最も食い込んだ状態（図７（ｂ）参照）から徐々に孔部３２に引き込まれる過程において、棒状部材５０Ａの自由端部及びその近傍部に付着した土などの異物は、棒状部材５０Ａが孔部３２の外側開口部３２ａに接触することによって、そぎ落とされ、排除される。 When the tire 30 further rotates in the direction of the arrow Y1 from the state of FIG. 7C, the tip of the rod-shaped member 50A is completely pulled out from the runway 120 and into the outer opening 32a of the hole 32 (see FIG. 5). Approach (see FIG. 8A). When the tire 30 further rotates in the direction of the arrow Y1, the tip of the rod-shaped member 50A penetrates the hole 32 from the outside to the inside, and is stored in the tire body 31 (see FIG. 8B). . In the process in which the free end portion of the rod-shaped member 50A and the vicinity thereof are gradually drawn into the hole 32 from the state where the free end portion of the rod-shaped member 50A is most bited into the runway 120 (see FIG. 7B), the free end portion of the rod-shaped member 50A and the vicinity thereof. Foreign matter such as soil adhering to the surface is scraped off and eliminated when the rod-shaped member 50A contacts the outer opening 32a of the hole 32.
図９及び図１０を参照して、棒状部材５０Ａが一つの孔部３２に入り、突出し、さらに、格納される状態を説明する。図９（ａ）に示すように、棒状部材５０Ａの自由端部は、まず、孔部３２の内側開口部３２ｂに到達し、続いて、傾斜部３２ｃを滑り（図９（ｂ）参照）、外側開口部３２ａから突出する（図９（ｃ）参照）。続いて、棒状部材５０Ａの先端部及びその近傍部は走路１３０に接触し、さらに走路１３０に食い込み（図１０（ａ）参照）、さらに、食い込み状態が最大になり（図１０（ｂ）参照）、その後、走路１３０から引き抜かれ、孔部３２からタイヤ本体部３１に格納される際に、自由端部及びその近傍部に付着した異物２００は、棒状部材５０Ａが外側開口部３２ａと接触することによってそぎ落とされる（図１０（ｃ）参照）。 With reference to FIG.9 and FIG.10, the rod-shaped member 50A enters into the one hole part 32, protrudes, and also the state accommodated is demonstrated. As shown in FIG. 9A, the free end of the rod-shaped member 50A first reaches the inner opening 32b of the hole 32, and then slides on the inclined portion 32c (see FIG. 9B). It protrudes from the outer opening 32a (see FIG. 9C). Subsequently, the tip of the rod-shaped member 50A and the vicinity thereof contact the runway 130, further bite into the runway 130 (see FIG. 10A), and further, the bite state becomes maximum (see FIG. 10B). Then, when the foreign matter 200 attached to the free end portion and the vicinity thereof is pulled out from the runway 130 and stored in the tire body portion 31 from the hole portion 32, the rod-shaped member 50A comes into contact with the outer opening portion 32a. (See FIG. 10C).
図１１を参照して、リンク部材５４の角度の調整について説明する。リンク部材５４の角度は、タイヤ３０の回転中は固定されているが、無人車両１を動作させる前に、所定の角度に調整しておくことができる。これにより、棒状部材５０と走路１４０との接触の程度を調整することができる。 The adjustment of the angle of the link member 54 will be described with reference to FIG. The angle of the link member 54 is fixed while the tire 30 is rotating, but can be adjusted to a predetermined angle before the unmanned vehicle 1 is operated. Thereby, the contact degree of the rod-shaped member 50 and the runway 140 can be adjusted.
例えば、図１１（ａ）に示すように、リンク部材５４の長さ方向の仮想線Ｂ２と鉛直線Ｂ１との角度を角度θ２とする。角度θ２をより鋭角にして、例えば、３０度に設定すると、角度θ２が４５度とのときよりも、走路１４０に食い込む部分の深さＨ１が深くなる。例えば、走路１４０の傾斜が大きいとか、走路１４０の凹凸が激しい場合には、このように、棒状部材５０が走路１４０に食い込む深さＨ１を深くして、安定した走行を可能にする。 For example, as shown in FIG. 11A, the angle between the imaginary line B2 in the length direction of the link member 54 and the vertical line B1 is an angle θ2. When the angle θ2 is set to an acute angle, for example, set to 30 degrees, the depth H1 of the portion that bites into the runway 140 becomes deeper than when the angle θ2 is 45 degrees. For example, when the runway 140 is slanted or the runway 140 is uneven, the depth H1 at which the rod-like member 50 bites into the runway 140 is increased to enable stable travel.
これに対して、図１１（ｂ）に示すように、角度θ２をより鈍角にして、例えば、１２０度に設定すると、タイヤ３０が回転しても棒状部材５０が、走路１４０に接触することはない。例えば、走路１４０がコンクリートやアスファルトのような舗装された走路である場合には、このように、棒状部材５０が走路１４０に接することのないように設定する。 On the other hand, as shown in FIG. 11 (b), when the angle θ2 is made more obtuse and is set to 120 degrees, for example, the rod-shaped member 50 does not contact the runway 140 even if the tire 30 rotates. Absent. For example, when the runway 140 is a paved runway such as concrete or asphalt, the rod-like member 50 is set so as not to contact the runway 140 in this way.
なお、本発明は上述の各実施形態に限定されるものではなく、本発明の目的を達成できる範囲での変形、改良等は本発明に含まれるものである。 Note that the present invention is not limited to the above-described embodiments, and modifications, improvements, and the like within a scope in which the object of the present invention can be achieved are included in the present invention.
１ 無人車両
１０ 筐体
２０，３０ タイヤ
３１ タイヤ本体部
３２ 孔部
３４ タイヤ回転軸
４９ スパイク部
５０ 棒状部材
５２ 回転軸部
５４ リンク部材
５６ リンク固定軸
DESCRIPTION OF SYMBOLS 1 Unmanned vehicle 10 Case 20, 30 Tire 31 Tire main-body part 32 Hole 34 Tire rotating shaft 49 Spike part 50 Rod-shaped member 52 Rotating shaft part 54 Link member 56 Link fixed axis
Claims (6)
放射形状に配置された複数の棒状部材を含むスパイク部と、
を有し、
前記スパイク部は、前記タイヤ本体部の回転軸と平行であり、かつ、同軸上にはない回転軸で回転可能に構成されており、
前記タイヤ本体部の接地面側の壁部には、前記スパイク部が回転することによって、前記棒状部材が進退することができる複数の孔部が形成されている、
無人車両用タイヤ。 A tire body portion formed in a hollow;
Spike portions including a plurality of rod-shaped members arranged in a radial shape;
Have
The spike portion is configured to be rotatable with a rotation axis that is parallel to the rotation axis of the tire body portion and is not coaxial.
The wall portion on the grounding surface side of the tire main body is formed with a plurality of holes through which the rod-like member can advance and retreat as the spike portion rotates.
Tire for unmanned vehicles.
請求項１に記載の無人車両用タイヤ。 The diameter of the spike portion is substantially the same as the inner diameter of the tire body portion.
The unmanned vehicle tire according to claim 1.
請求項１または請求項２に記載の無人車両用タイヤ。 The spike portion is configured to rotate when at least one of the rod-shaped members protrudes from the hole portion to the outside of the tire main body portion and comes into contact with a traveling road.
The tire for unmanned vehicles according to claim 1 or 2.
請求項１乃至請求項３のいずれかに記載の無人車両用タイヤ。 The outer opening of the hole is configured to contact the outer opening when the rod-shaped member enters the inner side from the outer side of the hole.
The unmanned vehicle tire according to any one of claims 1 to 3.
請求項４に記載の無人車両用タイヤ。 The outer shape of the inner opening portion of the hole is larger than the outer shape of the outer opening portion, and is configured as an inclined portion between the inner opening portion and the outer opening portion.
The unmanned vehicle tire according to claim 4.
前記リンク部の設定角度を変更することによって、前記棒状部材が前記孔部から突出する長さを調整することができるように構成されている、
請求項１または請求項５のいずれかに記載の無人車両用タイヤ。
The rotation axis of the spike portion is rotatably fixed to a link portion having a predetermined length arranged inside the tire main body portion,
By changing the setting angle of the link portion, the length of the rod-like member protruding from the hole portion can be adjusted.
The unmanned vehicle tire according to any one of claims 1 and 5.
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| JP2017129641A JP6857094B2 (en) | 2017-06-30 | 2017-06-30 | Unmanned vehicle tires |
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| JP2017129641A JP6857094B2 (en) | 2017-06-30 | 2017-06-30 | Unmanned vehicle tires |
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| JP2019011010A true JP2019011010A (en) | 2019-01-24 |
| JP6857094B2 JP6857094B2 (en) | 2021-04-14 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59128403U (en) * | 1983-02-18 | 1984-08-29 | 山部 清一 | Running wheels with spike rods |
| JPS62234703A (en) * | 1986-04-04 | 1987-10-15 | Koji Matsuura | Tire with length adjustable spike projected out of tire surface |
| JPS63121502A (en) * | 1986-11-06 | 1988-05-25 | Enbishi Arumihoiile Kk | Wheel with spike tire |
| JPH07257115A (en) * | 1994-03-18 | 1995-10-09 | Morihiro Oogushi | Tire having spikes in association with tread |
| JPH10175407A (en) * | 1996-12-18 | 1998-06-30 | Nobuo Takashima | Spike pin protruding/sinking device for tire |
| JP2001113917A (en) * | 1999-10-20 | 2001-04-24 | Katsutoshi Imanaga | Spike tire and tire for spike tire |
-
2017
- 2017-06-30 JP JP2017129641A patent/JP6857094B2/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59128403U (en) * | 1983-02-18 | 1984-08-29 | 山部 清一 | Running wheels with spike rods |
| JPS62234703A (en) * | 1986-04-04 | 1987-10-15 | Koji Matsuura | Tire with length adjustable spike projected out of tire surface |
| JPS63121502A (en) * | 1986-11-06 | 1988-05-25 | Enbishi Arumihoiile Kk | Wheel with spike tire |
| JPH07257115A (en) * | 1994-03-18 | 1995-10-09 | Morihiro Oogushi | Tire having spikes in association with tread |
| JPH10175407A (en) * | 1996-12-18 | 1998-06-30 | Nobuo Takashima | Spike pin protruding/sinking device for tire |
| JP2001113917A (en) * | 1999-10-20 | 2001-04-24 | Katsutoshi Imanaga | Spike tire and tire for spike tire |
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| JP6857094B2 (en) | 2021-04-14 |
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