JPH04135992A - Running device - Google Patents

Abstract

PURPOSE:To sufficiently satisfy both functions for running over normal roads and running over uneven grounds by making connection to each driving shaft of front and rear wheels via chain transfer mechanisms, and thereby providing a front and a rear chassis with joint drive mechanisms so as to be connected to each joint mechanism. CONSTITUTION:When a running device runs over normal roads, both a front and a rear chassis 2 and 4 are bent downward with joint mechanisms 5 operated by means of a front and a rear joint drive mechanism 42, so that intermediate wheels 10 are thereby floated from the road surface. On the other hand, a mode switch-over mechanism 18 is actuated to a running mode, front and rear wheels 9 and 11 are driven by an electric motor 17 via chain transfer mechanisms, running mode shafts, a differential gear mechanism 19, chain transfer mechanisms 35 and driving shafts 36, so that the running device thereby runs as a four wheel drive vehicle runs. Furthermore, when the running device is to run over uneven grounds with the mode switch-over mechanism 18 kept to a running mode, the front and rear wheels 9 and 11 are driven by the electric motor 17 while the respective front and rear chassis 2 and 4 are being bent up and down in response to the irregurarities of the ground surface by means of the front and rear joint drive mechanisms 42, so that the running device thereby runs by means of six wheels.

Description

[Detailed description of the invention] Industrial applications The present invention relates to a traveling device for traveling on rough terrain.

BACKGROUND OF THE INVENTION Many conventional traveling devices of this type use crawlers, and some use legs.

Problems to be Solved by the Invention However, the above-mentioned conventional running equipment! However, they had problems such as having a complicated structure, slow moving speed, and being unsuitable for driving on regular roads.

The present invention aims to solve these conventional problems, and aims to provide a traveling device having both the functions of traveling on rough terrain and traveling on normal roads.

Means for Solving the Problems In order to achieve the above object, the traveling device of the present invention divides the chassis into three parts: front, middle and rear, and connects the chassis vertically to the middle, front and rear at both ends of the chassis, and Connected so that it can be bent in any direction, there is a pair of wheels on the front, middle and rear, and one pair on the left and right sides of the chassis! Then, a steering mechanism is connected to the front wheels, a rotation drive device is provided in the middle and chassis, and connected to the differential gear mechanism, and the differential gear I! l The left and right output shafts of the treetop are directly connected to the drive shafts of the middle wheels, and are also connected to the drive shafts of the front and rear wheels via a chain transmission mechanism, and a joint drive mechanism is provided on the front and rear chassis, and each joint drive mechanism is installed on the side of each joint. It is connected.

Operation When traveling on uneven ground, the traveling device configured as described above bends the front and rear chassis to match the unevenness of the ground.
It is a four-wheel drive vehicle that drives all six wheels, and when driving on normal roads, bends both the front and rear chassis downwards to lift the middle wheel off the road surface, making it a four-wheel drive vehicle using only the four front and rear wheels. Run like. In this way, this traveling device
Since it is configured to run on wheels, the structure is simple and the running speed is fast. 6. Embodiment Hereinafter, one embodiment of the present invention will be described based on FIGS. 1 to 5.

In the traveling device of this embodiment, as shown in FIGS.
. Each joint mechanism 5 has a joint shaft 6 rotatably inserted between two bearings 7 provided at both ends of the chassis 3 and two bearings 8 provided at each connecting end of the front and rear chassis 2 and 4. It is. For each front, middle and rear chassis 2.3.4,
A pair of left and right front, middle, and rear wheels 9, 10, and 11 are arranged, and a steering mechanism 12 is connected to the front wheels 9. The steering 111112 has a steering rod 15 connected to the steering servo 13 via a horizontal lever 14, and the steering arms 16 of the left and right front wheels 9 connected by the steering rod 15. Further, in the middle chassis 3, an electric all (an example of a rotary drive device, which may be a prime mover) 17, a mode switching mechanism 18, and a differential gear mechanism 19 are arranged. The mode switching mechanism 18 switches the normal running mode to the spin turn mode, and the mode switching servo 20
A differential gear IN structure 19 is mounted on a support stand 21 that moves back and forth by
A driving mode shaft 22 and a mode switching shaft 23 are rotatably provided with the two shafts 22 and 23 sandwiched between them, a fixed gear 24 is fixedly provided, and one ends of both shafts 22 and 23 are connected to each other by a chain transmission mechanism 25. The running mode shaft 22 is provided with a running mode gear 26 in the middle, and the other end is connected to the electric motor 1117 via a chain transmission mechanism 27 provided with a tensioning sprocket.

The mode switching shaft 23 has an intermediate portion passing through the fixed gear 24 and a mode switching gear 28 at the other end. and,
By moving the support base 21 back and forth, the fixed gear 24 and the driving mode gear 26 are connected to the input gear 30 fixed to the differential gear box 29.
The mode switching gear 28 is connected to the output shaft gear 3 fixed to the right output shaft 32 of the differential gear m ellipse 19.
Separate and engage with 3. The left and right output shafts 31 and 32 of the differential gear tlA structure 19 are directly connected to the drive shaft 34 of the middle wheel 10, and are connected to four sets of chain transmission mechanisms 3, front, rear, left and right.
5 to the drive shafts 36 of the front and rear wheels 9.11. This chain transmission mechanism 35 has left and right output shafts 3
1. A chain 39 is passed between the sprocket 37 provided at 32 and the tin rocket 38 provided on the front and rear joint shafts 6, and a chain 39 is passed between the sprocket 38 and the sprocket 40 provided on the front and rear drive shafts 36. 41 was given to him. Furthermore, in each of the front and rear, chassis 2 and 4,
A joint drive mechanism 42 is provided, and chain transmission @1ff443
It is connected to each joint mechanism 5 via. In addition, 44 is a suspension mechanism of the front wheel 9, and 45 is a suspension mechanism of each middle and rear wheel 1 (1
, 11 suspension mechanism.

Next, the operation of the above configuration will be explained.

When the traveling device travels on a normal road as shown in FIG. lift it off the road. On the other hand, the support base 21 is moved forward by the mode switching servo 20 so that the driving mode gear 26 meshes with the input gear 30, and the fixed gear 24 and the mode switching gear 28 are separated from the input gear 30 and the output shaft gear 33. By doing so, the mode switching mechanism 18 is set to the running mode. After that, electric l
! 117 connects the chain transmission mechanism 27 and the travel mode axis 2.
2. Drive both front and rear wheels 9.11 via differential gear m ellipse 19, chain transmission #I35 and drive shaft 36,
Drives like a wheel drive car.

Furthermore, when the traveling device travels on rough ground as shown in FIG.
, 4 in the vertical direction according to the unevenness of the ground, while driving the middle wheel 10 by the electric motor 17 via the chain transmission mechanism 27, the driving mode shaft 22, the differential gear mechanism 19 and the drive shaft 34, Both the front and rear wheels 9, 11 are driven from the differential gear mechanism 19 via the chain transmission mechanism 35 and the drive shaft 36, and the vehicle travels in six-wheel drive.

As mentioned above, this running gear! Because it runs on wheels, the structure is simple and the running speed is fast.

It should be noted that this traveling device is capable of not only traveling around curves using the steering mechanism 12, but also making spin turns as shown in FIG. At that time, the support stand 21 is moved backward by the mode switching servo 20 to separate the travel mode gear 26 from the input gear 30, and the fixed gear 24 and the mode switching gear 28 are moved to the input gear 30 and the output shaft gear 33. By engaging, the mode switching mechanism 18
to spin turn mode. Since the differential gear 29 is fixed by the fixed gear 24, the differential gear mechanism 19 loses its function as a differential gear, and the left and right output shafts 31, 32 rotate in opposite directions. Therefore, the electric motor 17 is connected to the right output shaft 3 via the chain transmission mechanism 27, the traveling mode shaft 22, the chain transmission mechanism 25, and the mode switching shaft 23.
Rotate 2. The right output shaft 32 drives the three wheels on the right side and rotates the left output shaft 31 in the opposite direction.

The left output shaft 31 drives the three wheels on the left side in the opposite direction to the three wheels on the right side. The running gear thus spins and turns in one direction. When making a spin turn in the opposite direction, the electric motor 17 may be rotated in the opposite direction.

Effects of the Invention As described above, according to the present invention, when driving on a normal road, the middle wheel is lifted off the road surface and the four wheels in front and back are used to drive, and when driving on uneven ground, the middle wheel is raised from the road surface, and when driving on uneven ground, the vehicle is driven by the four wheels. In addition, the front and rear chassis are bent in the vertical direction while the vehicle runs in six-wheel drive, so the structure is simple and the vehicle runs at high speed. Therefore, it is possible to fully satisfy both the functions of normal road driving and rough terrain driving. Note that if a mode switching mechanism is provided, spin turns are also possible.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention, and FIG. 1 is a plan view showing the main parts thereof, and FIG. 2 is a plan view showing the details thereof.
FIG. 3 is an explanatory diagram showing the normal road running state, FIG. 4 is an explanatory diagram showing the rough terrain running state, and FIG. 5 is an explanatory diagram showing the spin turn state. 1... Jassy, 2... Front, Seat 53... Middle, Seat 14... Rear, Seat 15... Joint mechanism, 9
...front wheel, 10...middle wheel, 11...rear wheel,
12... Steering mechanism, 17... Electric motor, 19...
Differential gear mechanism, 31...Left output shaft, 32...Right output shaft, 34...Drive shaft (middle wheel) - 35 Yuchin transmission ellipse (front and rear wheels), 36... Drive Axle (front and rear wheels) 42
...Joint drive mechanism. Agent Yoshi Morimoto Private use 3 figures and 4 figures! ! Figure f

Claims (1)

[Claims] 1. The chassis is divided into front, middle, and rear parts, and the front and rear chassis are connected to both ends of the middle chassis so that they can be bent vertically via a joint mechanism, and one pair of wheels are placed on each of the front, middle, and rear chassis. , a steering mechanism is connected to the front wheels, a rotary drive device is provided in the middle chassis and connected to the differential gear mechanism, the left and right output shafts of the differential gear mechanism are directly connected to the drive shaft of the middle wheels, and a chain transmission mechanism is connected to the steering mechanism. What is claimed is: 1. A traveling device characterized in that the front and rear wheels are connected to the drive shafts of the front and rear wheels through the front and rear wheels, and each of the front and rear chassis is provided with a joint drive mechanism and connected to each joint mechanism.