JP6902728B2 - 移動体 - Google Patents
移動体 Download PDFInfo
- Publication number
- JP6902728B2 JP6902728B2 JP2017173462A JP2017173462A JP6902728B2 JP 6902728 B2 JP6902728 B2 JP 6902728B2 JP 2017173462 A JP2017173462 A JP 2017173462A JP 2017173462 A JP2017173462 A JP 2017173462A JP 6902728 B2 JP6902728 B2 JP 6902728B2
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- Prior art keywords
- height
- skeleton
- parallel link
- moving body
- detection unit
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
- B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
- B60G21/04—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0161—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during straight-line motion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
- B60G17/01908—Acceleration or inclination sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G7/00—Pivoted suspension arms; Accessories thereof
- B60G7/001—Suspension arms, e.g. constructional features
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D39/00—Vehicle bodies not otherwise provided for, e.g. safety vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/40—Auxiliary suspension parts; Adjustment of suspensions
- B60G2204/422—Links for mounting suspension elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2206/00—Indexing codes related to the manufacturing of suspensions: constructional features, the materials used, procedures or tools
- B60G2206/01—Constructional features of suspension elements, e.g. arms, dampers, springs
- B60G2206/10—Constructional features of arms
- B60G2206/122—Constructional features of arms the arm having L-shape
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/02—Trucks; Load vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/10—Acceleration; Deceleration
- B60G2400/102—Acceleration; Deceleration vertical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/25—Stroke; Height; Displacement
- B60G2400/252—Stroke; Height; Displacement vertical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
- B60G2400/823—Obstacle sensing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60G2401/14—Photo or light sensitive means, e.g. Infrared
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/30—Height or ground clearance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/01—Attitude or posture control
- B60G2800/019—Inclination due to load distribution or road gradient
Description
110 躯体
111 駆動輪
112a 前側補助輪
112b 後側補助輪
113 第一平行リンク
113a 平行リンク
113b 前側補助輪支持部材
113c 後側補助輪支持部材
114 第二平行リンク
115 高さ変更部
116 障害物検知部
117 制御部
117a 駆動制御部
117b 高さ制御部
119 連結具
120 弾性部材
121 支持軸
122 駆動部
123 高さ駆動部
124 状態検知部
125 駆動輪保持部材
131 支持軸
132 第二平行リンク保持部材
210 車輪支持アーム
211 ケーシング
212 載置台
213 台支持アーム
Claims (8)
- 躯体と、
前記躯体を支持する左右一対の第1の車輪と、
前記第1の車輪よりも進行方向後側にある左右一対の第2の車輪と、
前記第1の車輪と前記第2の車輪とを連結する左右一対の第一平行リンクと、
左右一対の前記第一平行リンクそれぞれがピッチ軸周りに相対回動するように、左右一対の前記第一平行リンクを連結する第二平行リンクと、
前記第二平行リンクと前記躯体とをロール軸周りに相対回動させるように連結するとともに、前記第二平行リンクに対する前記躯体の高さ方向の位置を変化させる高さ変更部と、
路面からの高さに関する前記躯体の情報を検知する状態検知部と、
前記状態検知部が検知した状態に基づいて前記路面からの前記躯体の高さを維持するように前記高さ変更部を制御する制御部と、
を備える移動体。 - 前記第一平行リンクは、進行方向に対して前側が上向きになっていること
を特徴とする請求項1に記載の移動体。 - 前記第一平行リンクと水平面との間の角度は、5度以上20度以下であること
を特徴とする請求項2に記載の移動体。 - 進行方向に存在する障害物の高さを検知する障害物検知部を備え、
前記障害物検知部で検知された前記障害物の高さに応じて、前記第一平行リンクは回動すること
を特徴とする請求項1から3の何れかに記載の移動体。 - 前記障害物検知部は、左右それぞれの前記第1の車輪の進行方向前方に存在する障害物の高さを検知し、
前記障害物検知部で検知された前記障害物の高さの差に応じて、前記第二平行リンクは回動すること
を特徴とする請求項4に記載の移動体。 - 前記第一平行リンクの進行方向のリンク長は、前記第1の車輪と前記第2の車輪との間の距離よりも短いこと
を特徴とする請求項1から5の何れかに記載の移動体。 - 前記状態検知部は、前記路面からの前記躯体の高さを検知するセンサであること
を特徴とする請求項1から6の何れかに記載の移動体。 - 前記状態検知部は、前記躯体の加速度を検知するセンサであること
を特徴とする請求項1から6の何れかに記載の移動体。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017173462A JP6902728B2 (ja) | 2017-09-08 | 2017-09-08 | 移動体 |
CN201810986450.0A CN109466268B (zh) | 2017-09-08 | 2018-08-28 | 移动体 |
US16/116,584 US10723195B2 (en) | 2017-09-08 | 2018-08-29 | Moving body |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017173462A JP6902728B2 (ja) | 2017-09-08 | 2017-09-08 | 移動体 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019048544A JP2019048544A (ja) | 2019-03-28 |
JP6902728B2 true JP6902728B2 (ja) | 2021-07-14 |
Family
ID=65630390
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017173462A Active JP6902728B2 (ja) | 2017-09-08 | 2017-09-08 | 移動体 |
Country Status (3)
Country | Link |
---|---|
US (1) | US10723195B2 (ja) |
JP (1) | JP6902728B2 (ja) |
CN (1) | CN109466268B (ja) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2020004024A1 (ja) * | 2018-06-25 | 2020-01-02 | 株式会社クボタ | 作業車 |
US11091182B1 (en) * | 2019-07-22 | 2021-08-17 | Amazon Technologies, Inc. | Multi-surface cart |
JP7283635B2 (ja) * | 2019-10-14 | 2023-05-30 | オムロン株式会社 | モバイルロボット駆動システム |
CN111071371B (zh) * | 2019-12-06 | 2020-11-06 | 燕山大学 | 基于刚柔耦合多自由度行走调姿腿单元及其智能机器人平台 |
CN113291142B (zh) * | 2021-05-13 | 2022-11-11 | 广西大学 | 一种智能行驶系统及其控制方法 |
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JPS59114156A (ja) * | 1982-12-21 | 1984-07-02 | 株式会社ダイフク | 自走式運搬車 |
JPS6230971U (ja) * | 1985-08-09 | 1987-02-24 | ||
JPS62205815A (ja) * | 1986-03-07 | 1987-09-10 | Toshiba Corp | 車体平衡装置 |
JPS6390413A (ja) | 1986-10-01 | 1988-04-21 | Y M F:Kk | 車両用走行安定装置 |
US5004257A (en) * | 1988-09-21 | 1991-04-02 | Macisaac William L | Vehicle suspension system |
JP2605460B2 (ja) * | 1990-08-09 | 1997-04-30 | 日産自動車株式会社 | 無人台車の走行装置 |
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JPH10181330A (ja) | 1996-12-26 | 1998-07-07 | Takenaka Komuten Co Ltd | 車両のサスペンション機構 |
JP2001063645A (ja) * | 1999-08-27 | 2001-03-13 | Institute Of Tsukuba Liaison Co Ltd | 車輪型移動体 |
JP2003291819A (ja) * | 2002-03-29 | 2003-10-15 | Sanyo Electric Co Ltd | 台 車 |
US7377522B2 (en) | 2002-09-18 | 2008-05-27 | Macisaac William L | Vehicle with movable and inwardly tilting safety body |
JP2004306850A (ja) | 2003-04-09 | 2004-11-04 | Komatsu Ltd | 車両の懸架脚制御装置 |
JP4310462B2 (ja) * | 2003-10-10 | 2009-08-12 | トヨタ自動車株式会社 | 乗り物 |
DE102007018166A1 (de) * | 2007-04-18 | 2008-10-23 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Vorrichtung zum Einstellen einer Raumlage für ein Kraftfahrzeug |
JP5105528B2 (ja) * | 2008-01-23 | 2012-12-26 | 学校法人千葉工業大学 | 車 |
JP2009297876A (ja) * | 2008-06-17 | 2009-12-24 | Nsk Ltd | 車輪型ロボット |
JP2011072602A (ja) * | 2009-09-30 | 2011-04-14 | Saxa Inc | 電動車椅子 |
JP2012051385A (ja) * | 2010-08-31 | 2012-03-15 | Hitachi Ltd | 移動機構 |
JP5622497B2 (ja) * | 2010-09-14 | 2014-11-12 | カヤバ工業株式会社 | 搬送台車 |
US10377371B2 (en) * | 2014-04-02 | 2019-08-13 | ClearMotion, Inc. | Active safety suspension system |
US10556476B2 (en) | 2014-04-09 | 2020-02-11 | Hagie Manufacturing Company | Agricultural vehicle including ride height adjustable suspension |
JP2016209971A (ja) * | 2015-05-12 | 2016-12-15 | ライフロボティクス株式会社 | ロボットシステム |
CN108025616A (zh) * | 2015-09-22 | 2018-05-11 | 格奥尔基·弗拉基米罗维奇·柏林 | “afw”车辆悬架(变体) |
-
2017
- 2017-09-08 JP JP2017173462A patent/JP6902728B2/ja active Active
-
2018
- 2018-08-28 CN CN201810986450.0A patent/CN109466268B/zh active Active
- 2018-08-29 US US16/116,584 patent/US10723195B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
US20190077212A1 (en) | 2019-03-14 |
JP2019048544A (ja) | 2019-03-28 |
CN109466268A (zh) | 2019-03-15 |
CN109466268B (zh) | 2023-04-28 |
US10723195B2 (en) | 2020-07-28 |
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