JP4392523B2 - Amphibious mudland traveling device - Google Patents

Description

  The present invention relates to a fluid mud that contains ultra-soft mud dredged by, for example, a pump dredger, and an aqua mud mud traveling device that can travel on water and land.

  Conventionally, the land-and-terrain traveling device gives the vehicle body buoyancy so that it can be moved on the water by the propulsive force generated by the rotation of the screw, and the land travel is performed by the wheels and crawlers provided on the vehicle body. These are common, and these have the role of a hull floating on water on the vehicle body (see, for example, Patent Document 1).

  In addition, a screw is integrated into the center of the wheel for land traveling, and when propelling on the water, the wheel is changed from the angle for traveling to the angle for water propulsion to obtain the propulsive force in the desired direction. There are some (see, for example, Patent Document 2).

  In addition, there is a crawler that is given buoyancy and floats on the water by the buoyancy of the crawler, and can be moved by the rotation of the crawler on both water and land (see, for example, Patent Document 3).

Furthermore, a device that works in a muddy area, such as a rice planting machine, has a rod-shaped buoyant body that floats the work machine on the muddy ground, a ring-shaped metal wheel made of bar material, and a blade for mud. There is a device that attaches and rotates metal wheels to propel the kite floating on the muddy ground.
Japanese Patent Laid-Open No. 5-208605 JP-A-9-136159 JP 2002-19436 A

  In the conventional apparatus as described above, as shown in Patent Documents 1 and 2, an apparatus using a vehicle body as a buoyant body and moving on water by a propulsion device such as a screw is a treatment pond containing dredged soil. In a muddy area like this, if the bottom of the vehicle body that becomes a buoyant body touches the muddy ground surface, the propulsion resistance increases, and it is difficult to move with the propulsive force of the screw, or the screw stops functioning and can not be steered There's a problem.

  In addition, in a device of a type that imparts buoyancy by a crawler as in Patent Document 3, it is possible to run on land and muddy ground, but because steering is performed by adjusting the rotation speed and direction of the left and right crawlers, There is a problem that the allowable range of movement direction conversion is narrow and the degree of freedom of movement is low.

  In addition, devices using heels and metal wheels that are buoyant bodies, such as rice transplanters, are not suitable for running on land and do not have a structure that floats completely on the water surface. It is not suitable for moving on the water.

  In view of the conventional problems as described above, the present invention makes it possible to travel on the water surface and muddy ground made of fluid earth and sand, and at the same time, has all three degrees of freedom of front-rear movement, left-right movement, and turning. The object of the present invention is to provide an aquatic mudland traveling device that can be arbitrarily controlled and can travel on land.

The feature of the invention described in claim 1 for solving the conventional problems as described above and achieving the intended purpose is that the front and rear parts of the vehicle body are arranged symmetrically on the left and right sides when traveling on water or muddy ground. A buoyant body combined wheel having a buoyancy that floats to a height that does not contact the water surface or muddy ground, a drive source that individually rotates the wheel in forward and reverse directions, and water or mud on the outer periphery of the wheel In an aquatic mudland traveling device equipped with fins that generate propulsive power when traveling on land,
The fin is a spiral inclined fin centered on the rotation center axis of each wheel, and the spiral direction at the ground contact point of the inclined fin is one of four wheels on the front left and right and rear left and right. The line that connects the diagonal wheels and the line that connects the other diagonal wheels are oriented at an angle that points in the direction of the intersection,
By adjusting the rotation direction and rotation speed of each wheel independently on the water surface or muddy ground, the wheels have all three degrees of freedom of forward / backward movement, left / right movement, and turning. It is in.

  By configuring in this way, on the land, it can move back and forth by forward / reverse rotation of all wheels, can turn by the difference in rotational speed of the left and right wheels, and on the water surface and muddy ground, by rotating the wheel, The force is converted into a force in a direction perpendicular to the surface by the inclination of the inclined fin, and a force in a certain direction (hereinafter referred to as a vector) having a magnitude corresponding to the rotation speed is generated. Each individual propulsion force. A combined vector obtained by combining the individual propulsive forces becomes the operating force of the entire traveling apparatus.

  Therefore, by controlling the rotational direction and rotational speed of each wheel, it is possible to have all three degrees of freedom of the traveling device, that is, forward / backward movement, left / right movement, and turning. This also makes it possible to perform so-called dynamic positioning that keeps the position and posture constant even in the presence of disturbance elements such as wind waves and flows from any direction.

Further, the inclined fin has a spiral shape centering on the rotation center axis of the wheel, so that a desired vector is effectively generated when acting as a screw for scraping water or mud on the water surface or on the muddy ground. In addition, on land, a continuous spiral serves as a ground contact surface, which enables smooth running with less vibration.

The invention according to claim 2 is characterized in that, in addition to the configuration according to claim 1, an axle is fixed to the vehicle body so as not to rotate, and an electric motor as a drive source is provided in each buoyant body combined wheel. Each electric buoyancy body wheel is individually rotated by the electric motor.

  With this configuration, if the weight of the vehicle body is large, the space in the combined buoyancy wheel that requires a larger volume can be used effectively, and the vehicle body can be lightened and reduced in size. .

As described above, the present invention provides a buoyancy body combined wheel having a buoyancy that lifts the vehicle body to a height that does not contact the water surface or muddy ground when traveling on water or muddy ground in a symmetrical arrangement on the front and rear of the body. Comprising a drive source for individually rotating the wheels in forward and reverse directions, and a land and muddy mudland traveling device having fins that generate propulsive force on the outer periphery of the wheel when traveling on water or muddy ground, The fin is a spiral inclined fin centered on the rotation center axis of each wheel, and the spiral direction at the ground contact point of the inclined fin is one of four wheels on the front left and right and rear left and right. It is directed at an angle that points in the direction of the intersection of the line that connects the diagonal wheels and the line that connects the other diagonal wheels, and the wheels are independent of each other on the water surface or muddy ground. Adjusting its rotation direction and rotation speed More By so forth moving, greater freedom all three operations of horizontal movement and stem turning, in the land travel device and can travel in the same manner provided with a wheel for independently driven by forward and reverse rotation of all the wheels, and water And on a soft muddy ground, by using the vector action generated by individual wheels by adjusting the rotation of each wheel, it gives all three degrees of freedom of front, rear, left and right, and is a disturbance element Even in the presence of a dam, it is possible to perform so-called dynamic positioning that keeps the position and posture constant. Positioning is possible.

  Next, embodiments of the present invention will be described with reference to the drawings.

  In the figure, reference numeral 1 denotes a vehicle body. The vehicle body 1 includes a chassis 2 and a loading platform 3. The chassis 2 is composed of a horizontal portion 2a extending in the front-rear direction and front and rear inclined portions 2b, 2c extending obliquely downward from both front and rear ends. A loading table 3 is fixed on the horizontal portion 2a via a column 4. ing.

  The loading platform 3 includes a control unit 5 on which a battery and a control device (not shown) for driving each wheel, which will be described later, and a loading platform unit 6 on which necessary work equipment is mounted.

  A front axle 10 and a rear axle 11 extending to the left and right are fixed to the front ends of the front and rear inclined portions 2b and 2c of the chassis. Front left and right wheels 12a and 12b and rear left and right wheels 13a and 13b, which also serve as buoyancy bodies, are supported on both ends of the axles 10 and 11, respectively. The left and right wheels of these front and rear portions are given buoyancy that allows the bottom of the vehicle body 1 to float so as not to contact the water surface.

  An arm 20 for supporting driving assist wheels is rotatably attached to a position shifted to the front portion of the vehicle body 1, that is, in this embodiment, at the base portion of the front inclined portion 2b of the chassis 2. The arm 20 is pivotally supported so as to be pivotable in the vertical direction on the tip side about a pivot 20a parallel to the front and rear axles 10,11. The arm 20 may be pivotally supported at a position shifted to the rear part of the vehicle body 1.

  A travel assist axle 21 is passed through and fixed to the tip of the arm 20, and left and right travel assist wheels 22 a and 22 b are supported at both ends of the axle 21. The left and right traveling assist wheels 22a and 22b are arranged so as to be positioned between the front and rear wheels. These left and right traveling assist wheels 22a and 22b have buoyancy necessary for themselves to float on the water surface.

  Each of the wheels 12a, 12b, 13a, 13b, 22a, 22b is formed of a reinforced aluminum material that has been processed to form an oxide film on the aluminum, and has a short taper portion at both ends of the body portion 30 that has an equal diameter cylindrical shape. 31 and the long taper part 32 become the shape formed integrally.

  Further, as shown in FIG. 5, the wheels 12a, 12b, 13a, 13b, 22a, and 22b are inserted with a drive source unit 33 that also serves as a bearing from the end on the long taper portion 32 side toward the inside. . The drive source unit 33 has a cylindrical casing 34 with a bottom, and a hollow center support shaft 35 is inserted into the center of the casing 34, and the center support shaft 35 is interposed via bearings 36 and 36. The casing 34 is rotatably supported.

  An electric motor 37 is accommodated in the hollow inside of the center support shaft 35, and the rotation drive shaft 37 a of the motor 37 is fitted in a fixing bracket 38 on the inner surface of the end of the casing 34 so as not to rotate. The casing 34 is rotated with respect to the center support shaft 35 by driving.

  The casing 34 is fixed to the wheel by fixing the flange 34a on the outer periphery of the opening side end to the end wall of the wheel.

  In the drive source unit 33, the protruding end portion of the center support shaft 35 is fixed to the axle 10 (11, 21) via a coupler 39. In the figure, 40 is a motor fixing bracket, 41 is a reinforcing cylinder, and 42 is a sealing material.

  In this way, each wheel can be individually rotated in forward and reverse directions by the motor 37, and each left and right wheel is in a position symmetrical with respect to a center line extending in the front-rear direction of the chassis 2. It is installed as follows.

  On the outer periphery of the body 30 of each of the wheels 12a, 12b, 13a, 13b, 22a, 22b, a propulsion fin described later is integrally projected.

  A large number of straight fins 50 extending in parallel with the rotation center support shaft project radially from the same portion 30 of the left and right traveling assist wheels 22a, 22b, and the front and rear left and right wheels 12a, 12b, 13a. , 13b are provided with a large number of inclined fins 15a, 15b, 15c, 15d extending in a direction inclined with respect to the rotation direction in a uniform arrangement. In this embodiment, a plurality of inclined fins that are spirally continuous are provided in a uniform arrangement.

In the present embodiment, each of these inclined fins 15a to 15d has a line connecting one of the four wheels 12a, 12b, 13a, and 13b at the contact point between the front and rear wheels 12a, 12b, 13a, and 13b , and the other wheel. A line connecting diagonal wheels 12b and 13a, that is , an angle directed in the same direction as a straight line directed to the intersection of both diagonal lines, and the front and rear left and right wheels contact each other as shown in FIG. The angles of the inclined fins 15a and 15b and 15c and 15d on the ground are bilaterally symmetric, and the angles of the inclined fins 15a and 15c and 15b and 15d are symmetric in the front-rear direction.

  The motor 37 that drives each wheel is controlled by the control unit 5 provided on the loading platform 3. The operation of the control unit 5 may be performed by an operator getting on the loading table 3 or may be performed by wireless remote operation. In addition, as a control device that controls the rotation of each wheel, a computer device programmed in advance so as to obtain various operations required by the traveling device is used.

  Next, the traveling operation of the traveling device configured as described above will be described.

  First, traveling on a relatively hard ground such as a road goes straight back and forth by rotating each wheel at a constant speed in the same direction as the forward direction or the reverse direction, as in a conventional automobile. Further, the left and right wheels are turned (turned) at a fixed position by rotating them at the same speed in opposite directions. Further, each wheel is rotated in the same direction and the left and right rotational speeds are changed to make a turning motion, that is, a turn. Even if the left and right wheels are rotated in opposite directions and the speeds are different, they will bend. These operations are the same as when a pair of crawlers are provided on the left and right.

  On water or soft muddy ground, the wheels rise as buoyant bodies. When the wheels 12a, 12b, 13a, and 13b except the left and right traveling assist wheels 22a and 22b in this floating state are rotated, individual vectors unique to the wheels are generated by the inclined fins 15a to 15d that protrude from the outer periphery. . That is, by rotating the wheel, a reaction force in a direction perpendicular to the surface on the wheel rotation direction acts on each inclined fin, whereby individual vectors F1 to F1 as indicated by arrows in FIG. F4 is generated. FIG. 6 schematically shows the orientation of the inclined fins 15a to 15d on the buoyancy body wheels 12a, 12b, 13a and 13b and the ground contact surface of the apparatus, and arrows F1 to F4 from the inclined fins represent the respective directions. The direction and magnitude of each wheel vector are shown, and the small arrow next to each wheel indicates the direction of rotation of each wheel.

  In this embodiment, first, for convenience, FIGS. 7 to 9 schematically illustrating the operation in a state where the left and right traveling auxiliary wheels 22a and 22b do not act will be described. Each arrow in the figure is the same as FIG.

The angles of the inclined fins 15a to 15d of the wheels 12a, 12b, 13a and 13b are symmetrical in the front left and right wheels 12a and 12b and the rear left and right wheels 13a and 13b, respectively, and the front and rear left wheels 12a and 13a and the front and rear portions. Since the front and rear are symmetrical in the right wheels 12b and 13b, when all the wheels are rotated in the same direction and at the same speed, the vector directions between the left and right wheels are reversed as shown in FIG. Since the force is equal in the oblique direction, the force in the left-right direction is canceled and the vehicle moves forward or backward. At this time, if the rotation speed is changed between right and left, the vector having the higher rotation number wins as shown in FIG. 7B, and the vehicle turns while turning (turning) diagonally forward or backward.

  As shown in FIG. 8 (a), when the front and rear wheels are rotated at the same speed in the reverse direction of the left and right wheels, and the front and rear wheels are rotated at the same speed in the reverse direction on the right or left, The force cancels and goes straight to the right or left. At this time, if the rotational speeds are different between the front and rear wheels, as shown in FIG. 8 (b), the vehicle turns while turning in the diagonally left or right direction.

  As shown in FIG. 9 (a), when the front and rear wheels are rotated at the same speed in the same direction on the right and left, and the left and right wheels are rotated at the same speed in the reverse direction at the front and rear, all four wheels have the same circumference. A vector in the same rotational direction is generated at, and turns (turns) at a fixed position. At this time, if the rotational speeds of the wheels are different between the front and rear diagonal lines, one of the vectors in the diagonal direction as shown in FIG. 9B wins and turns while turning.

  Further, as shown in FIG. 9C, when the two wheels in one diagonal direction are rotated in the same direction and the other two wheels in the diagonal direction are stopped, they move in an oblique direction without turning.

  In addition, by adjusting the rotation direction and the rotation speed of each wheel and changing various synthetic vectors that combine the vectors generated on the four wheels, each of them goes straight forward and backward, left and right, and turns at a fixed position (turning). Any turning movement operation such as turning (curving) while moving in one direction is possible. For example, the working machine mounted on the vehicle body 1 can be turned around the water surface or a fixed point on the muddy ground. It is possible to perform stationary work and necessary movement / turning work in places where disturbance conditions such as water flow and wind exist.

  On the other hand, since the left and right traveling auxiliary wheels 22a and 22b have the straight fins 50 in the direction of the rotation axis, when both wheels are rotated on the water surface or muddy ground, a forward or reverse direction vector is generated. By synthesizing various vectors generated in the above, the forward / backward movement, the turning and the turning operation are assisted.

In addition, the left and right traveling assist wheels 22a and 22b also have a specific action that makes it easy to get over a stepped portion on land or on a muddy ground with relatively high strength. Note that the left and right traveling assist wheels are not necessarily required for use in places where there are no obstacles to traveling such as steps.

  Furthermore, in the above-mentioned embodiment, the case where the wheels provided with the inclined fins are used in the four places on the left and right sides of the front and rear parts is shown. The number may be increased as necessary.

  Furthermore, the tilting direction of the tilting fins can be variously combined as well as symmetrical in the left and right front and rear, as well as in the left and right front and rear, as described above. It is possible to generate the combined vector necessary for various operations of the vehicle body by individually adjusting the rotation direction and speed of each wheel.

It is a side view which shows one Example of the land and mud mound combined travel device which concerns on this invention. It is the same front view. It is the bottom view. FIG. 2 is a perspective view showing a buoyancy body combined wheel of the apparatus shown in FIG. It is sectional drawing which shows the drive source unit part of the apparatus shown in FIG. It is a top view which shows typically the buoyancy body combined wheel of the apparatus shown in FIG. 1, and the vector which arises in this. (A)-(b) is a top view which shows typically each operation example of an apparatus same as the above. (A)-(b) is a top view which shows typically the other operation example same as the above. (A)-(c) is a top view which shows typically the other operation example of the same as the above. (A)-(b) is a side view explaining the effect | action of the driving assistance wheel of the apparatus shown in FIG.

DESCRIPTION OF SYMBOLS 1 Car body 2 Chassis 2a Horizontal part 2b, 2c Inclination part 3 Loading base 4 Support | pillar 5 Control part 10 Front axle 11 Rear axle 12a Front left wheel 12b Front right wheel 13a Rear left wheel 13b Rear right wheel 15a, 15b, 15c , 15d Inclined fin 20 Arm 20a for supporting auxiliary driving wheel Axis 21 Driving auxiliary axle 22a Left auxiliary driving wheel 22b Right auxiliary driving wheel 30 Body 31 Short taper part 32 Long taper part 33 Drive source unit 34 Casing 34a Flange 35 Center support Shaft 36 Bearing 37 Electric motor 37a Rotation drive shaft 38 Fixing bracket 39 Coupler
40 Motor fixing bracket 41 Reinforcing cylinder 42 Seal material 50 Straight fin F1, F2, F3, F4 Vector A Wall B Upper

Claims (2)

A buoyancy body combined wheel having buoyancy that lifts the vehicle body to a height that does not contact the water surface or muddy ground when traveling on water or muddy ground is provided in a symmetrical arrangement on the front and rear parts of the vehicle body, respectively. In a land and muddy mudland traveling device that includes a drive source that rotates in the reverse direction and includes fins that generate propulsive force on the outer periphery of the wheel when traveling on water or muddy ground,
The fin is a spiral inclined fin centered on the rotation center axis of each wheel, and the spiral direction at the ground contact point of the inclined fin is one of four wheels on the front left and right and rear left and right. The line that connects the diagonal wheels and the line that connects the other diagonal wheels are oriented at an angle that points in the direction of the intersection,
By adjusting the rotation direction and rotation speed of each wheel independently on the water surface or muddy ground, the wheels have all three degrees of freedom of forward / backward movement, left / right movement, and turning. A traveling device that can also be used for aquatic muddy areas.   2. The axle according to claim 1, wherein the axle is fixed in a non-rotatable manner with respect to the vehicle body, an electric motor as a drive source is provided in each buoyancy body combined wheel, and each buoyancy body combined wheel is individually rotated by the electric motor. The land and muddy mudland traveling device described.

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