JP6344668B2 - 不整地用走行車両 - Google Patents
不整地用走行車両 Download PDFInfo
- Publication number
- JP6344668B2 JP6344668B2 JP2016574619A JP2016574619A JP6344668B2 JP 6344668 B2 JP6344668 B2 JP 6344668B2 JP 2016574619 A JP2016574619 A JP 2016574619A JP 2016574619 A JP2016574619 A JP 2016574619A JP 6344668 B2 JP6344668 B2 JP 6344668B2
- Authority
- JP
- Japan
- Prior art keywords
- arm
- crawler
- rough terrain
- vehicle
- main body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000007246 mechanism Effects 0.000 claims description 29
- 239000000725 suspension Substances 0.000 claims description 25
- 239000003638 chemical reducing agent Substances 0.000 description 17
- 230000001276 controlling effect Effects 0.000 description 13
- 230000036544 posture Effects 0.000 description 13
- 239000011435 rock Substances 0.000 description 4
- 210000001226 toe joint Anatomy 0.000 description 3
- 230000009194 climbing Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/02—Resilient suspensions for a single wheel with a single pivoted arm
- B60G3/12—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially parallel to the longitudinal axis of the vehicle
- B60G3/14—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially parallel to the longitudinal axis of the vehicle the arm being rigid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/14—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/116—Attitude or position control of chassis by action on suspension, e.g. to compensate for a slope
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
Description
3 本体
5 アーム
7 クローラーユニット
13 バネ
23 駆動用モータ
51 アーム角度制御用モータ
61 クローラー角度制御用モータ
Claims (5)
- 複数のクローラーユニットを駆動させることで走行する不整地用走行車両であって、
車両の本体と、
複数のアームであって、各アームの一端に、前記複数のクローラーユニットのうちの一つが取り付けられた複数のアームと、
前記各アームの他端と、本体との間に取り付けられた複数のサスペンション機構と、
を備え、
前記サスペンション機構は、前記アームの他端と、前記本体の一部との間に張設されたバネからなる、不整地用走行車両。 - 前記複数のクローラーユニットのそれぞれは、駆動用モータを内蔵している、請求項1に記載の不整地用走行車両。
- 前記クローラーユニットは、幅方向において水平に延びる軸回りに自由に回転できるように、前記アームの一端に取り付けられている、請求項1又は2に記載の不整地用走行車両。
- 前記クローラーユニットが所定角度以上回転しないようにするストッパを備えている、請求項3に記載の不整地用走行車両。
- 前記ストッパは、前記アームに設けられた突出部である、請求項4に記載の不整地用走行車両。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015024587 | 2015-02-10 | ||
JP2015024587 | 2015-02-10 | ||
PCT/JP2015/075263 WO2016129139A1 (ja) | 2015-02-10 | 2015-09-04 | 不整地用走行車両 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2016129139A1 JPWO2016129139A1 (ja) | 2017-11-30 |
JP6344668B2 true JP6344668B2 (ja) | 2018-06-20 |
Family
ID=56614514
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016574619A Active JP6344668B2 (ja) | 2015-02-10 | 2015-09-04 | 不整地用走行車両 |
Country Status (2)
Country | Link |
---|---|
JP (1) | JP6344668B2 (ja) |
WO (1) | WO2016129139A1 (ja) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
IT201700032614A1 (it) * | 2017-03-24 | 2018-09-24 | Zona Eng & Design S A S Di Zona Mauro & C | Veicolo |
IT201700032682A1 (it) * | 2017-03-24 | 2018-09-24 | Zona Eng & Design S A S Di Zona Mauro & C | Veicolo atv ad alta mobilita', utilizzabile ad esempio in attivita' civili di emergenza e soccorso, in campo agricolo o in attivita' di movimento terra |
CN107804384B (zh) * | 2017-11-20 | 2023-08-04 | 河北工业大学 | 自适应壁面四履带爬壁机器人 |
KR102071822B1 (ko) * | 2019-05-02 | 2020-01-30 | 한전케이피에스 주식회사 | 이중 배관 검사 장치 |
CN111469941B (zh) * | 2020-04-27 | 2021-09-03 | 张梅 | 一种机器人辅助摆臂系统 |
CN111469940A (zh) * | 2020-04-27 | 2020-07-31 | 张梅 | 一种机器人底盘系统 |
CN112918205B (zh) * | 2021-04-07 | 2023-01-31 | 青海云天无人机科技有限公司 | 一种带浮力装置的自走式沼泽地专用钻探平台 |
WO2023201440A1 (en) * | 2022-04-21 | 2023-10-26 | Soucy International Inc. | Angular controlling system for a track system, track system and vehicle having same, and methods for performing angular control of same |
CN115107895A (zh) * | 2022-07-07 | 2022-09-27 | 中煤科工集团重庆研究院有限公司 | 一种车身支撑稳定防侧翻系统 |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3730287A (en) * | 1971-05-17 | 1973-05-01 | Nasa | Vehicle for use in planetary exploration |
JPS58191673A (ja) * | 1982-05-04 | 1983-11-08 | Mitsubishi Heavy Ind Ltd | 走行装置 |
FR2583701B1 (fr) * | 1985-06-21 | 1990-03-23 | Commissariat Energie Atomique | Vehicule a chenilles a geometrie variable |
US4977971A (en) * | 1989-05-17 | 1990-12-18 | University Of Florida | Hybrid robotic vehicle |
JP3093866B2 (ja) * | 1992-04-21 | 2000-10-03 | 株式会社小松製作所 | 装軌車両のトラクション制御装置 |
US7581605B2 (en) * | 2006-02-22 | 2009-09-01 | Mga Entertainment, Inc. | Quad tracked vehicle |
JP5544539B2 (ja) * | 2010-08-27 | 2014-07-09 | 日立建機株式会社 | 作業機械 |
CN102627127A (zh) * | 2011-12-08 | 2012-08-08 | 兰州理工大学 | 关节履带复合式仿生机器人 |
US10053166B2 (en) * | 2014-04-28 | 2018-08-21 | Yanmar Co., Ltd. | Traveling vehicle |
-
2015
- 2015-09-04 WO PCT/JP2015/075263 patent/WO2016129139A1/ja active Application Filing
- 2015-09-04 JP JP2016574619A patent/JP6344668B2/ja active Active
Also Published As
Publication number | Publication date |
---|---|
WO2016129139A1 (ja) | 2016-08-18 |
JPWO2016129139A1 (ja) | 2017-11-30 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6344668B2 (ja) | 不整地用走行車両 | |
JP5019026B2 (ja) | 走行車両 | |
US10266223B2 (en) | Electric-powered vehicle | |
WO2016190318A1 (ja) | 車両 | |
JP6524343B2 (ja) | 車両 | |
JP5946844B2 (ja) | 移動体 | |
JP2008126349A (ja) | 移動ロボット | |
KR20170095073A (ko) | 차량용 스태빌라이저 | |
KR20180086001A (ko) | 자율적으로 수평을 유지하는 이동 플랫폼 | |
JP2010047151A (ja) | 自動三輪車 | |
JP2007022233A (ja) | クローラ式移動体 | |
JP2018172073A (ja) | 車両 | |
KR100920758B1 (ko) | 삼륜 주행장치 | |
JP5739645B2 (ja) | ブームスプレーヤ | |
JP6131181B2 (ja) | 作業車両の姿勢制御装置 | |
JP7117989B2 (ja) | 作業車 | |
JP6899799B2 (ja) | 作業車 | |
JP2007153024A (ja) | 車両 | |
JP6220281B2 (ja) | クローラ式不整地作業車両 | |
JP2020117861A (ja) | コンクリート均し装置 | |
JP6669002B2 (ja) | 走行装置 | |
JP6497368B2 (ja) | 走行装置 | |
JP2009286146A (ja) | 姿勢維持装置を備えた自転車 | |
JP3663095B2 (ja) | 高所作業車の安全装置 | |
WO2018180754A1 (ja) | 車両 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20180227 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20180227 |
|
A871 | Explanation of circumstances concerning accelerated examination |
Free format text: JAPANESE INTERMEDIATE CODE: A871 Effective date: 20180227 |
|
A975 | Report on accelerated examination |
Free format text: JAPANESE INTERMEDIATE CODE: A971005 Effective date: 20180418 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20180423 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20180510 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6344668 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |