JP6860881B2 - Mobile vehicle - Google Patents

Description

The present invention relates to a mobile vehicle provided with screw-shaped wheels such as Archimedes' screw.

Conventionally, as disclosed in Patent Document 1, for example, there is an amphibious moving body that can rotate independently and has two left-handed screw and two right-handed screw-shaped wheels arranged on both sides of the main body. It was. By individually controlling the rotation direction and the rotation speed of each wheel, the moving body can move the wheels in the axial direction, move in a direction orthogonal to the axial direction, and further perform turning movement.

In addition, the inventor has previously proposed a technique for cultivating the soil of a paddy field shallowly and performing weeding or the like by using a mobile vehicle 1 such as the moving body of Patent Document 1. When the moving vehicle 1 is driven in the paddy field S, the spiral protrusion of the screw can remove weeds on the soil surface while entraining them and mix them with the soil. In addition, by stirring the paddy field, the water becomes turbid, and the effect of suppressing the photosynthesis of weeds can be obtained.

Since the mobile vehicle 2 having ordinary wheels such as a tractor cannot move in the axial direction of the wheels, as shown in FIG. 11A, it cannot pass through the region E when turning and moving, and the paddy field S It takes time to weed every corner of the wheel. On the other hand, in the case of the mobile vehicle 1 provided with the screw-shaped wheels, since the moving vehicle 1 can move in the axial direction of the wheels, the paddy field S can be efficiently weeded to every corner as shown in FIG. 11B. There is a feature.

Japanese Unexamined Patent Publication No. 2004-249878

When the moving body of Patent Document 1 moves in a place where the soil is soft (paddy field or the like) in the axial direction of the wheel (left-right direction in (b) of FIG. 11), the screw-shaped wheel sinks or the wheel rotates. The soil is extruded, and the extruded soil tends to accumulate on the traveling direction side of the wheel, so it receives a strong reaction force at the end of the wheel and the wheel further sinks into the soil, making it impossible to move smoothly. There's a problem. This problem can be improved to some extent by forming the ground contact surface of the wheel in a barrel shape, but if it is curved too much, the wheel moves in the traveling direction due to the rotation of the wheel (the front-rear direction in FIG. 11B). Since there is an adverse effect that the ground contact surface of the wheel is narrowed, a sufficient effect cannot be obtained.

The present invention has been made in view of the above background technology, and is a moving vehicle having a plurality of screw-shaped wheels on the left and right sides of the vehicle body and capable of smoothly moving in the front-rear direction and the left-right direction even in a place where the soil is soft. The purpose is to provide.

The present invention is a device for driving a vehicle body, a plurality of screw-shaped wheels attached to the left and right sides of the vehicle body, and the plurality of wheels, and individually controls the rotation direction and the number of rotations of the wheels. A wheel drive device that moves the vehicle body in the front-rear direction, which is the traveling direction due to the rotation of the wheels, and the left-right direction, which is the axial direction of the wheels, and each of the plurality of wheels when the vehicle body moves in the left-right direction. It is a moving vehicle including an axle adjusting device that adjusts the arrangement of each axle of the plurality of wheels so that the ground contact surface is inclined at a predetermined elevation angle in the moving direction.

When the vehicle body moves in the left-right direction, the axle adjusting device adjusts the positional relationship of each axle in the height direction so that the axle on the moving direction side is lower than the axle on the opposite side. In this case, the axle adjusting device is a mechanism for changing the position of the axle in the height direction, and is a vertical link member to which the axle is attached and two locations separated in the vertical direction of the vertical link member. Is preferably configured to be provided with a parallel link mechanism composed of two horizontal link members connecting the vehicle body at two locations separated in the vertical direction.

Further, the axle adjusting device adjusts the elevation / depression angle of each axle so that each axle tilts at a predetermined elevation angle in the moving direction when the vehicle body moves in the left-right direction. In this case, the axle adjusting device is a mechanism for changing the position and elevation / depression angle of the axle in the height direction, and is separated from the vertical link member to which the axle is attached in the vertical direction of the vertical link member. It is preferable that the two locations are provided with a trapezoidal link mechanism composed of two lateral link members connecting the two locations apart from each other in the vertical direction of the vehicle body.

The moving vehicle of the present invention has a plurality of wheels in the form of screws on the left and right sides of the vehicle body, and by driving each wheel with a wheel drive device, it is possible to move in the front-rear direction and the left-right direction. Furthermore, when moving in the left-right direction, the axle adjustment device adjusts the arrangement of the axles of each wheel, and the ground contact surface of each wheel tilts in the movement direction at a predetermined elevation angle, so that the soil can move smoothly even in a soft place. Can be done.

It is a perspective view (a) and a right side view (b) which show the 1st Embodiment (setting for front-back movement) of the moving vehicle of this invention. It is a front view (a) and a plan view (b) which show the moving vehicle (setting for front-back movement) of 1st Embodiment. It is a figure which shows the rotation direction of each wheel for every movement direction of the moving vehicle of 1st Embodiment, and is the plan view (a) which shows the rotation direction when moving in the front direction, and when moving in the rear direction. It is a plan view (b) which shows the rotation direction, a plan view (c) which shows the rotation direction when moving to a left direction, and a plan view (d) which shows a rotation direction when moving to a right direction. A right side view (a) showing how the moving vehicle (setting for forward / backward movement) of the first embodiment smoothly moves in the paddy field in the forward direction, and a right side view showing how the moving vehicle (setting for forward / backward movement) moves smoothly in the rear direction. (B). A front view (a) showing how the moving vehicle (setting for forward / backward movement) of the first embodiment cannot move smoothly to the right in the paddy field, and a front view (b) showing how the moving vehicle (setting for forward / backward movement) cannot move smoothly to the left. ). It is a front view (a) which shows the moving vehicle (setting for left movement) of 1st Embodiment, and is the front view (b) which shows the state of moving smoothly to the left in a paddy field. It is a front view (a) which shows the moving vehicle (setting for right movement) of 1st Embodiment, and is the front view (b) which shows the state of moving smoothly to the right in a paddy field. It is a front view (a) and a plan view (b) which show the 2nd Embodiment (setting for front-back movement) of the moving vehicle of this invention. It is a front view (a) which shows the moving vehicle (setting for left movement) of the 2nd Embodiment, and is the front view (b) which shows the state of moving smoothly to the left in a paddy field. It is a front view (a) which shows the moving vehicle (setting for right movement) of the 2nd Embodiment, and is the front view (b) which shows the state of moving smoothly to the right in a paddy field. A plan view (a) showing a moving route and a moving method when a moving vehicle having ordinary wheels weaves in a paddy field, and a moving route and a moving method when a moving vehicle having screw-shaped wheels weaves in a paddy field. It is a plan view (b) which shows.

Hereinafter, the first embodiment of the mobile vehicle of the present invention will be described with reference to FIGS. 1 to 7. The mobile vehicle 10 of this embodiment is, for example, a device that is radio-controlled to perform weeding of paddy field S, etc., and as shown in FIGS. 1 and 2, the vehicle body 12 and screws attached to the left and right sides of the vehicle body 12. It comprises four wheels 14 of the form. The spiral direction of each wheel 14 is that the front left wheel 14 (1L) has a left screw, the front right wheel 14 (1R) has a right screw, the rear left wheel 14 (2L) has a right screw, and the rear right wheel 14. (2R) is a left-hand thread, the size of each wheel 14 is almost the same, and the length and pitch of the spiral protrusions are also almost the same.

As shown in FIG. 2A, the rear left wheel 14 (2L) is attached to the vehicle body 12 via a parallel link mechanism 18 (2L) which is a part of the axle adjusting device 16 (2L). .. The parallel link mechanism 18 (2L) has a vertical link member 22 (2L) to which the axle 20 (2L) of the wheel 14 (2L) is attached and two locations separated in the vertical direction of the vertical link member 22 (2L). It is composed of two horizontal link members 24 (2L) connected to two locations separated in the vertical direction of the vehicle body 12. The axle adjusting device 16 (2L) adjusts the arrangement (height position) of the axle 20 (2L) by vertically displacing the parallel link mechanism 18 (2L) with a control device (not shown).

Further, a wheel driving device 26 (2L) for driving the wheels 14 (2L) is attached to the outer surface of the vertical link member 22 (2L). The wheel drive device 26 (2L) is composed of, for example, an electric motor, a drive belt that transmits the rotation of the electric motor to the wheels 14 (2L), a control device, and the like. The number of revolutions is controlled.

As shown in FIG. 2A, the rear right wheel 14 (2R) is attached to the vehicle body 12 via a parallel link mechanism 18 (2R) which is a part of the axle adjusting device 16 (2R). .. The parallel link mechanism 18 (2R) has a vertical link member 22 (2R) to which the axle 20 (2R) of the wheel 14 (2R) is attached and two locations separated in the vertical direction of the vertical link member 22 (2R). It is composed of two horizontal link members 24 (2R) connected to two positions separated in the vertical direction of the vehicle body 12. The axle adjusting device 16 (2R) adjusts the arrangement (height position) of the axle 20 (2R) by vertically displacing the parallel link mechanism 18 (2R) with a control device (not shown).

Further, a wheel driving device 26 (2R) for driving the wheels 14 (2R) is attached to the outer surface of the vertical link member 22 (2R). The wheel drive device 26 (2R) is also composed of, for example, an electric motor, a drive belt that transmits the rotation of the electric motor to the wheels 14 (2R), a control device, and the like. The number of revolutions is controlled.

Similarly, the front left wheel 14 (1L) is also attached to the vehicle body 12 via the parallel link mechanism 18 (1L) which is a part of the axle adjustment device 16 (1L), and the axle adjustment device 16 (1L) is By shifting the parallel link mechanism 18 (1L) up and down, the arrangement (height position) of the axle 20 (1L) of the wheel 14 (1L) is adjusted. Further, a similar wheel driving device 26 (1L) is attached to the outer surface of the vertical link member 22 (1L), and the rotation direction and rotation speed of the wheels 14 (1L) are determined by the control device of the wheel driving device 26 (1L). Be controlled.

Similarly, the front right wheel 14 (1R) is also attached to the vehicle body 12 via the parallel link mechanism 18 (1R) which is a part of the axle adjustment device 16 (1R), and the axle adjustment device 16 (1R) is By shifting the parallel link mechanism 18 (1R) up and down, the arrangement (height position) of the axle 20 (1R) of the wheel 14 (1R) is adjusted. Further, a similar wheel drive device 26 (1R) is attached to the outer surface of the vertical link member 22 (1R), and the rotation direction and rotation speed of the wheel 14 (1R) are determined by the control device of the wheel drive device 26 (1R). Be controlled.

Next, the moving method of the moving vehicle 10 of this embodiment will be described below. Here, in the present invention, the front-rear direction refers to the front-rear direction, which is the traveling direction due to the rotation of the wheel 14, and the left-right direction refers to the axial direction of the wheel 14.

First, when moving the moving vehicle 10 in the forward direction, as shown in FIG. 3A, the wheels 14 (1L), 14 (1R), 14 (2L), 14 (2R) are viewed from the right side. All rotate clockwise at the same number of revolutions. The vector diagram on the upper side of each wheel shows the reaction force applied to the wheels when each wheel rotates, and the reaction force in the left-right direction is a pair of left and right wheels (wheels 14 (1L) and 14 (1R), It is canceled between the wheels 14 (2L) and 14 (2R)), and the moving vehicle 10 can move forward.

When moving the moving vehicle 10 in the rear direction, as shown in FIG. 3B, all the wheels 14 (1L), 14 (1R), 14 (2L), and 14 (2R) are viewed from the right side. Rotate counterclockwise at the same speed. As a result, the reaction force in the left-right direction is canceled between the pair of left and right wheels, and the moving vehicle 10 can move in the rear direction.

When moving the moving vehicle 10 to the left, as shown in FIG. 3C, the wheels 14 (1L), 14 (2R) are turned counterclockwise when viewed from the right side, and the wheels 14 (1R), 14 Rotate (2L) clockwise at the same number of revolutions when viewed from the right side. With this, the reaction force in the front-rear direction is canceled between the pair of front and rear wheels (wheels 14 (1L) and 14 (2L), wheels 14 (1R) and 14 (2R)), and the moving vehicle 10 moves to the left. be able to.

When moving the moving vehicle 10 to the right, as shown in FIG. 3D, the wheels 14 (1L), 14 (2R) are turned clockwise when viewed from the right side, and the wheels 14 (1R), 14 ( Rotate 2L) counterclockwise when viewed from the right side at the same rotation speed. As a result, the reaction force in the front-rear direction is canceled between the pair of front and rear wheels, and the moving vehicle 10 can move to the right.

Although not shown in the figure, when the moving vehicle 10 is swiveled forward and leftward, each wheel is rotated in the direction shown in FIG. 3A, and the right wheels 14 (1R) and 14 (2R) are used. The number of rotations of is higher than the number of rotations of the left wheels 14 (1L) and 14 (2L), and a pair of front and rear wheels (wheels 14 (1R) and 14 (2R), wheels 14 (1L) and 14 (2L)) ), The reaction force acting on the right wheel and the left wheel is different, and the moving vehicle 10 turns forward and leftward. When turning forward and to the right, each wheel is rotated in the direction shown in FIG. 3A, and the rotation speeds of the left wheels 14 (1L) and 14 (2L) are changed to the right wheels 14 (1R). Acts on the left and right wheels, which are a pair of front and rear wheels (wheels 14 (1L) and 14 (2L), wheels 14 (1R) and 14 (2R)) at a speed higher than 14 (2R). The moving vehicle 10 turns forward and to the right with a difference in the reaction force. With this, the vehicle body 12 can turn forward to the left or to the right.

Similarly, when turning the moving vehicle 10 backward to the left, each wheel is rotated in the direction shown in FIG. 3 (b), and the number of rotations of the right wheels 14 (1R) and 14 (2R) is changed to the left wheel. With the right wheel which is a pair of front and rear wheels (wheels 14 (1R) and 14 (2R), wheels 14 (1L) and 14 (2L)) higher than the number of rotations of 14 (1L) and 14 (2L). The moving vehicle 10 turns backward and leftward with a difference in the reaction force acting on the left wheel. When turning to the rear right, each wheel is rotated in the direction shown in FIG. 3 (b), and the rotation speeds of the left wheels 14 (1L) and 14 (2L) are changed to the right wheels 14 (1R). Acts on the left and right wheels, which are a pair of front and rear wheels (wheels 14 (1L) and 14 (2L), wheels 14 (1R) and 14 (2R)) at a speed higher than 14 (2R). The moving vehicle 10 turns to the rear right with a difference in the reaction force. With this, the vehicle body 12 can turn rearward leftward or rightward.

Next, the operation when the moving vehicle 10 is carried into the paddy field S and moves in each of the front, rear, left, and right directions will be described. In the moving vehicle 10 shown in FIGS. 1 and 2, when the arrangement (height position) of the axles 20 (1L), 20 (1R), 20 (2L), 20 (2R) moves in the forward direction or the rear direction. It is a setting suitable for (hereinafter referred to as a setting for moving back and forth). The setting for moving back and forth is a setting in which the arrangement (height position) of the four axles 20 (1L), 20 (1R), 20 (2L), and 20 (2R) is almost the same.

When the moving vehicle 10 moves forward in the paddy field S, first, the axle adjusting devices 16 (1L), 16 (1R), 16 (2L), 16 (2R) operate and the four axles 20 ( The arrangement (height position) of 1L), 20 (1R), 20 (2L), and 20 (2R) is set for forward / backward movement. Then, the wheel drive devices 26 (1L), 26 (1R), 26 (2L), 26 (2R) operate, and the wheels 14 (1L), 14 (1R), 14 (2L), 14 (2R) move. The moving vehicle 10 rotates in a predetermined direction (direction shown in FIG. 3A) and moves forward. At this time, as shown in FIG. 4A, the soil T extruded by the subduction of the wheels into the soft soil or the rotation of the wheels is deposited on the traveling direction side of each wheel. However, since the soil T enters the groove (between the spiral protrusions) of each wheel, each wheel can easily get over the soil T and move smoothly.

Further, when the moving vehicle 10 moves in the rear direction in the paddy field S, first, as in the case of the front direction, the axle adjusting devices 16 (1L), 16 (1R), 16 (2L), 16 (2R) Operates, and the arrangement (height position) of the four axles 20 (1L), 20 (1R), 20 (2L), and 20 (2R) is set for forward / backward movement. Then, the wheel drive devices 26 (1L), 26 (1R), 26 (2L), 26 (2R) operate, and the wheels 14 (1L), 14 (1R), 14 (2L), 14 (2R) move. The moving vehicle 10 rotates in a predetermined direction (direction shown in FIG. 3B) and moves backward. At this time, as shown in FIG. 4B, the soil T extruded by the subduction of the wheels and the rotation of the wheels accumulates on the traveling direction side of each wheel, but as in the case of the front direction, each wheel Can easily get over the soil T and move smoothly.

On the other hand, when the moving vehicle 10 moves in the paddy field S to the left or right, there are the following problems if the position of each axle remains set for forward / backward movement. That is, as shown in FIGS. 5A and 5B, the soil T extruded by the lateral movement of the wheels is deposited on the wheel side surface on the traveling direction side (left or right direction) of each wheel, and the wheels. A strong reaction force was applied to the end of the wheel, and the wheel sank into the soil T, making it impossible to move smoothly.

In order to solve this problem, the moving vehicle 10 is set for left movement with respect to the arrangement (height position) of the four axles 20 (1L), 20 (1R), 20 (2L), and 20 (2R). Settings for moving to the right are available. The setting for left movement is the height of the axles 20 (1L), 20 (2L) on the moving direction side and the axles 20 (1R), 20 on the opposite side in order to incline the axle to the elevation angle with respect to the moving direction. It is set to be lower than the height of (2R). In addition, the setting for right movement means that the heights of the axles 20 (1R) and 20 (2R) on the moving direction side are set to the heights of the axles 20 (1R) and 20 (2R) on the moving direction side in order to incline the axle to the elevation angle with respect to the moving direction, and the axle 20 (1L) on the opposite side. , It is set to be lower than the height of 20 (2L).

When the moving vehicle 10 moves to the left in the paddy field S, first, the axle adjusting devices 16 (1L), 16 (1R), 16 (2L), 16 (2R) operate, and FIG. As shown in, the arrangement (height position) of the four axles 20 (1L), 20 (1R), 20 (2L), and 20 (2R) is set for left movement. Since each axle adjusting device uses parallel link mechanisms 18 (1L), 18 (1R), 18 (2L), and 18 (2R), respectively, as shown in FIG. 6A, with respect to the horizontal plane. The height of each axle is changed while maintaining the elevation / depression angle, which is the axial angle of each axle, and here, maintaining the horizontal state.

When each axle is set for left movement, the wheels 14 (1R) and 14 (2R) are set higher than the wheels 14 (1L) and 14 (2L) and float in the air. As shown in the above, the entire moving vehicle 10 is tilted toward the right wheels 14 (1R) and 14 (2R), and as a result, the ground contact surface of each wheel is tilted at a predetermined elevation angle (> 0) in the moving direction. Then, the wheel drive devices 26 (1L), 26 (1R), 26 (2L), 26 (2R) operate, and the wheels 14 (1L), 14 (1R), 14 (2L), 14 (2R) move. The moving vehicle 10 rotates in a specified direction (direction shown in FIG. 3C) and moves to the left. At this time, as can be seen from FIG. 6B, the soil T extruded by the propulsion of the wheels is deposited on the side surface of the wheel on the traveling direction side of each wheel, but each wheel is inclined at a predetermined elevation angle in the moving direction. Since the soil T easily enters the groove (between the spiral protrusions) of each wheel, the reaction force applied from the soil T to the end of each wheel is small, and each wheel easily overcomes the soil T. It can move smoothly. At this time, the entire moving vehicle 10 is tilted toward the right wheels 14 (1R) and 14 (2R), so that the center of gravity of the moving vehicle 10 is rearward from the center of the moving vehicle 10 in the moving direction. The moving vehicle 10 will move to the 14 (1R) and 14 (2R) sides, and the moving vehicle 10 will be able to easily get over the soil T and move smoothly.

Further, when the moving vehicle 10 moves to the right in the paddy field S, first, the axle adjusting devices 16 (1L), 16 (1R), 16 (2L), 16 (2R) operate, and FIG. 7 ( As shown in a), the arrangement (height position) of the four axles 20 (1L), 20 (1R), 20 (2L), and 20 (2R) is set for right movement.

When each axle is set for right movement, the wheels 14 (1L) and 14 (2L) are set higher than the wheels 14 (1R) and 14 (2R) and float in the air as described above. As shown in 7 (b), the entire moving vehicle 10 is tilted toward the left wheels 14 (1L) and 14 (2L), and as a result, the contact patch of each wheel is at a predetermined elevation angle (> 0) in the moving direction. Tilt. Then, the wheel drive devices 26 (1L), 26 (1R), 26 (2L), 26 (2R) operate, and the wheels 14 (1L), 14 (1R), 14 (2L), 14 (2R) move. The moving vehicle 10 rotates in a specified direction (direction shown in FIG. 3D) and moves to the right. At this time, as can be seen from FIG. 7B, the soil T extruded by the propulsion of each wheel is deposited on the side surface of the wheel on the traveling direction side of each wheel, but each wheel is inclined at a predetermined elevation angle in the moving direction. Since the soil T is in a state where it can easily enter the groove (between the spiral protrusions) of each wheel, the reaction force applied from the soil T to the end of each wheel is small, and each wheel easily overcomes the soil T. Can move smoothly. At this time, the entire moving vehicle 10 is tilted toward the left wheels 14 (1L) and 14 (2L), so that the center of gravity of the moving vehicle 10 is rearward from the center of the moving vehicle 10 in the moving direction. The moving vehicle 10 will move to the 14 (1L) and 14 (2L) sides, and the moving vehicle 10 will be able to easily get over the soil T and move smoothly.

As described above, the moving vehicle 10 has four screw-shaped wheels 14 (1L), 14 (1R), 14 (2L), and 14 (2R) on the left and right sides of the vehicle body 12, and each wheel is a wheel. By individually driving the drive devices 26 (1L), 26 (1R), 26 (2L), and 26 (2R), it is possible to move in the front-rear direction, move in the left-right direction, and perform turning movement. Furthermore, when moving in the left-right direction, the axle adjusters 16 (1L), 16 (1R), 16 (2L), 16 (2R) are the axles 20 (1L), 20 (1R), 20 (2L) of each wheel. , 20 (2R) arrangement (height position) is adjusted, and the ground contact surface of each wheel is tilted at a predetermined elevation angle with respect to the movement direction, so that the soil can move smoothly even in a soft place. In addition, each axle adjustment device has a simple configuration using parallel link mechanisms 18 (1L), 18 (1R), 18 (2L), 18 (2R), and keeps the elevation and depression angles of each axle constant. , The height of each axle can be easily changed.

Next, a second embodiment of the mobile vehicle of the present invention will be described with reference to FIGS. 8 to 10. Here, the same configurations as those in the above embodiment are designated by the same reference numerals, and the description thereof will be omitted. As shown in FIG. 8, the mobile vehicle 28 of this embodiment has the parallel link mechanisms 18 (1L), 18 (1R), 18 (2L), and 18 (2R) of the mobile vehicle 10 as trapezoidal link mechanisms, respectively. It is replaced with 30 (1L), 30 (1R), 30 (2L), and 30 (2R), and other configurations are the same as those of the mobile vehicle 10.

In FIGS. 8A and 8B, the arrangement (height position) of the axles 20 (1L), 20 (1R), 20 (2L), and 20 (2R) is set for forward / backward movement. The setting for moving back and forth is a setting in which the height positions of the four axles 20 (1L), 20 (1R), 20 (2L), and 20 (2R) are substantially the same as described above. When the moving vehicle 28 moves forward and backward in the paddy field S, each wheel easily gets over the soil T as in the moving vehicle 10 (as shown in FIGS. 4A and 4B). Can move smoothly.

In FIG. 9A, the arrangement (height position) of the axles 20 (1L), 20 (1R), 20 (2L), and 20 (2R) is set for left movement. The setting for left movement is the same as above, in which the height of the axles 20 (1L) and 20 (2L) on the moving direction side is made lower than the height of the axles 20 (1R) and 20 (2R) on the opposite side. It is a setting. When the moving vehicle 28 moves to the left in the paddy field S, when each axle is set for left movement, the right axles 20 (1R) and 20 (2R) are tilted at an elevation angle with respect to the outside of the vehicle body. In addition, the wheels 14 (1R) and 14 (2R) are set higher than the wheels 14 (1L) and 14 (2L) and float in the air. Therefore, as shown in FIG. 9B, the entire moving vehicle 10 is used. Tilts to the right wheels 14 (1R) and 14 (2R), and as a result, the ground contact surface of each wheel tilts at a predetermined elevation angle in the moving direction. Here, the elevation angles of the left wheels 14 (1L) and 14 (2L) axles 20 (1L) and 20 (2L) on the traveling direction side, which are susceptible to resistance, are larger. Then, the wheel drive devices 26 (1L), 26 (1R), 26 (2L), 26 (2R) operate, and the wheels 14 (1L), 14 (1R), 14 (2L), 14 (2R) move. The moving vehicle 28 rotates in the specified direction (direction shown in FIG. 3C) and moves to the left. Therefore, as in the case of the moving vehicle 10, each wheel can easily get over the soil T and move smoothly.

In FIG. 10A, the arrangement (height position) of the axles 20 (1L), 20 (1R), 20 (2L), and 20 (2R) is set for right movement. The setting for right movement is the same as above, in which the height of the axles 20 (1R) and 20 (2R) on the moving direction side is made lower than the height of the axles 20 (1L) and 20 (2L) on the opposite side. It is a setting. When the moving vehicle 28 moves to the right in the paddy field S, when each axle is set for right movement, the left axles 20 (1L) and 20 (2L) are tilted at an elevation angle with respect to the outside of the vehicle body. In addition, the wheels 14 (1L) and 14 (2L) are set higher than the wheels 14 (1R) and 14 (2R) and float in the air. Therefore, as shown in FIG. 10B, the entire moving vehicle 10 is used. Tilts to the left wheel 14 (1L), 14 (2L) side, and as a result, the ground contact surface of each wheel tilts at a predetermined elevation angle in the moving direction. Here, the elevation angles of the axles 20 (1R) and 20 (2R) of the wheels 14 (1R) and 14 (2R) on the right side in the traveling direction side, which are susceptible to resistance, are larger. Then, the wheel drive devices 26 (1L), 26 (1R), 26 (2L), 26 (2R) operate, and the wheels 14 (1L), 14 (1R), 14 (2L), 14 (2R) move. The moving vehicle 28 rotates in the specified direction (direction shown in FIG. 3D) and moves to the right. Therefore, as in the case of the moving vehicle 10, each wheel can easily get over the soil T and move smoothly.

As described above, the basic operation of the mobile vehicle 28 is the same as that of the mobile vehicle 10 described above. However, in the case of the moving vehicle 10, the arrangement (height position) of each axle is adjusted by using the parallel link mechanisms 18 (1L), 18 (1R), 18 (2L), and 18 (2R). The height of each axle can be variably adjusted, but the elevation / depression angle of each axle cannot be variably adjusted. On the other hand, the moving vehicle 28 has a configuration in which the arrangement (height position) of each axle is adjusted by using the trapezoidal link mechanisms 30 (1L), 30 (1R), 30 (2L), and 30 (2R). , Not only the height of each axle, but also the elevation / depression angle of each axle can be variably adjusted. Therefore, the moving vehicle 28 can finely adjust the arrangement (height position) and elevation / depression angle of each axle, and is set for left movement and right movement according to the state of the paddy field S (soil softness, etc.). Can be controlled more appropriately. For example, it is possible to make adjustments such as increasing the elevation angle of the axle on the moving direction side to improve the overcoming property, and keeping the axle on the rear side in the moving direction horizontal in order to increase the propulsive force.

The mobile vehicle of the present invention is not limited to the above embodiment. For example, an axle adjuster adjusts the arrangement (height position) or elevation / depression angle of each axle of a wheel so that the contact patch of each wheel tilts in the moving direction at a predetermined elevation angle when the vehicle body moves in the left-right direction. Anything that can be adjusted is sufficient, and it is preferable to use a parallel link mechanism or a trapezoidal link mechanism as described above, but other mechanisms may be used. For example, a constant velocity joint may be used on the vehicle body side of the axle so that the axle can be bent, and a mechanism that changes only the elevation / depression angle of the wheel while keeping the height of each axle constant may be used. , A drive unit composed of wheels, wheel drive devices, etc. is held in the vehicle body by a rotating shaft instead of a link mechanism, and the elevation and depression angles of the axles can be changed by inclining the entire drive unit. May be good. In addition, the link mechanism for each right side or left side may be mechanically connected by a stabilizer or the like so that the front and rear link mechanisms on one side are interlocked with each other, or the left and right link mechanisms are connected by a differential device such as a rack and pinion. The mechanism may be mechanically connected and the vertical movements may be inverted and interlocked with each other, or other functions may be added to each link mechanism. As the wheel drive device for driving each wheel, an electric motor may be used as described above, or an actuator other than the electric motor may be used. Further, if it is not necessary, the configuration may be such that the turning movement is not controlled.

In the case of the mobile vehicles 10 and 28, the four wheels are a combination in which the wheels 14 (1L) and 14 (2R) are left-handed and the wheels 14 (1R) and 14 (2L) are right-handed. The combination of 1L) and 14 (2R) with a right-hand screw and wheels 14 (1R) and 14 (2L) with a left-hand screw may be changed, and almost the same effect can be obtained.

The number of wheels can be freely changed as long as it can be moved in the front-rear direction and the left-right direction. For example, the work of weeding the paddy field S can be performed more efficiently as the contact area of the wheels is widened. Therefore, a plurality of wheels 14 (1L) and wheels 14 (2L) are provided on the left side of the vehicle body 12 and the wheels are provided on the right side. A plurality of 14 (1R) wheels and 14 (2R) wheels may be provided. In this case, in order to facilitate the control of the rotation speed of each wheel, the number of wheels 14 (1L), 14 (1R), 14 (2L), 14 (2R) is two, three, and so on.・, It is preferable that the numbers are the same as each other.

Further, although the mobile vehicles 10 and 28 are configured to travel by being radio-controlled, they may be configured to perform automatic traveling or autonomous traveling. The use of the mobile vehicle of the present invention is not particularly limited, and for example, it may be used as a special passenger car for a person to ride and move.

10, 28 Mobile vehicle 12 Vehicle body 14 (1L), 14 (1R), 14 (2L), 14 (2R) Wheels 16 (1L), 16 (1R), 16 (2L), 16 (2R) Axle adjustment device 18 (1L), 18 (1R), 18 (2L), 18 (2R) Parallel link mechanism 20 (1L), 20 (1R), 20 (2L), 20 (2R) Axle 22 (1R), 22 (2L) ), 22 (2R) Vertical link member 24 (2L), 24 (2R) Horizontal link member 26 (1L), 26 (1R), 26 (2L), 26 (2R) Wheel drive device 30 (1L), 30 ( 1R), 30 (2L), 30 (2R) Trapezoidal link mechanism 32 (2L), 32 (2R) Vertical link member 34 (2L), 34 (2R) Horizontal link member

Claims (5)

A vehicle body, a plurality of screw-shaped wheels attached to the left and right sides of the vehicle body, and a device for driving the plurality of wheels, wherein the rotation direction and the number of rotations of each wheel are individually controlled to control the vehicle. A wheel drive device that moves the main body in the front-rear direction and the left-right direction, and the plurality of wheels so that when the vehicle body moves in the left-right direction, the ground contact surfaces of the plurality of wheels are inclined at a predetermined elevation angle in the movement direction. A mobile vehicle characterized by being provided with an axle adjusting device for adjusting the arrangement of each axle of a wheel. The axle adjusting device adjusts the positional relationship of each axle in the height direction when the vehicle body moves in the left-right direction so that the axle on the moving direction side is lower than the axle on the opposite side. Item 1. The mobile vehicle according to item 1. The axle adjusting device is a mechanism for changing the position of the axle in the height direction, and includes a vertical link member to which the axle is attached and two locations separated in the vertical direction of the vertical link member. The mobile vehicle according to claim 2, wherein a parallel link mechanism composed of two horizontal link members connected to two positions separated in the vertical direction of the vehicle body is provided. The movement according to claim 1 or 2, wherein the axle adjusting device adjusts the elevation / depression angle of each axle so that each axle tilts in the moving direction at a predetermined elevation angle when the vehicle body moves in the left-right direction. vehicle. The axle adjusting device is a mechanism for changing the position and elevation / depression angle of the axle in the height direction, and is a vertical link member to which the axle is attached and two locations separated in the vertical direction of the vertical link member. The mobile vehicle according to claim 4, wherein a trapezoidal link mechanism composed of two horizontal link members connecting the two lateral link members in the vertical direction of the vehicle body is provided.

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