JPH0451393B2 - - Google Patents

Description

[Detailed Description of the Invention] [Object of the Invention] (Field of Industrial Application) The present invention is used for maintenance and inspection inside nuclear power plants, etc., and is suitable for traveling on uneven ground such as stairs and weirs. Concerning suitable running vehicles.

(Prior Art) Traveling vehicles conventionally used for the above-mentioned purposes are generally configured as crawler-type traveling vehicles having endless tracks formed by endlessly connecting a large number of crawlers.

Additionally, multi-legged vehicles equipped with multiple walking legs have also been developed.

(Problems to be Solved by the Invention) The above-mentioned examples of traveling vehicles tend to be heavy and large, which is inconvenient depending on the purpose of use. There were also problems with reliability and reproducibility during turns.

The present invention can be configured to be small and lightweight, and has excellent reliability and reproducibility when turning.
To provide a running vehicle with excellent running performance when running on rough terrain.

[Structure of the Invention] (Means for Solving the Problems) The traveling vehicle of the present invention includes a vehicle body and a U-shaped U-shaped shaft rotatably provided on the lower surface of the front end of the vehicle body about an axis perpendicular to the vehicle body. a frame structure, a wheel support plate having three arms rotatably supported on both leg pieces of this U-shaped frame structure about an axis parallel to the vehicle body and protruding in the radial direction at 120 degree intervals; a front wheel portion including a small wheel rotatably supported near the tip of the arm, a steering mechanism that drives the frame structure, a drive mechanism that drives the small wheel, a brake that brakes the small wheel, and the rear of the vehicle body. A frame structure fixed to the lower end surface and having both side walls,
Rotatably installed near the both side walls of this frame structure.
One wheel support tube each having three arms protruding in the radial direction at 120 degree intervals, a small wheel rotatably supported near the tip of each arm, and a small wheel supported by each wheel support plate. The vehicle is characterized by having an independent drive source for each wheel support tube, and a rear wheel portion equipped with a wheel support tube drive mechanism that simultaneously drives both wheel support tubes.

(Function) In the vehicle of the present invention having the above configuration, when traveling in a straight line on flat ground, two of the three small wheels on the front wheels are in contact with the ground in a free running state, and three small wheels on each side of the rear wheels are in contact with the ground in a free running state. The two middle parts touch the ground and drive, providing propulsion. Furthermore, since the front wheels are provided with a steering mechanism, the front wheels can be steered and the rear wheels can be driven to drive the vehicle around curves.

Furthermore, by driving the wheel support plate and the wheel support cylinder, the small wheels supported by each of these arms are made to ride on the step of the weir or one step of the stairs, and travel by climbing over the weir and going up and down the stairs. can do.

(Embodiment) FIG. 1 is a front view of an embodiment of the present invention, FIG. 2 is a cutaway front view of a front wheel portion thereof, and FIG. 3 is a partially cutaway front view of a rear wheel portion thereof. First, in Figure 1,
The traveling vehicle 1 includes a vehicle body 2, a set of planetary wheel mechanisms 3 provided at the center of the vehicle body width in front of the lower surface of the vehicle body 2,
It has two sets of planetary wheel mechanisms 4 provided on both sides of the lower surface. These planetary wheel mechanisms will be explained later.

FIG. 2 shows details of the planetary wheel mechanism 3 provided at the front of the lower surface of the vehicle body 2. As shown in FIG. In this figure, the planetary wheel mechanism 3 has a U-shaped cross section and a hollow cylindrical support shaft 5b that stands upright at the center of a disc-shaped central piece 5a.
The frame structure 5 supported by e and both leg pieces 5c of this frame structure
It has an axle 6 fixed in parallel with the vehicle body 2 near the lower end thereof. The axle 6 has two wheel support plates 7 each having three arms 7a projecting at 120 degree intervals.
are axially spaced apart and their arms 7a
It is rotatably mounted so that the phases of the two are matched. At the tip of the arm 7a of each wheel support plate 7, an axle 10 fixed to a small wheel 9 via a bearing 8 is rotatably supported.

Also, on the lower surface of the vehicle body 2, a central piece 5 of the frame structure 5 is provided.
A thrust bearing 11 is provided to support the bearing 6a, and an internal tooth age 12 is provided concentrically with the bearing 6a and the thrust bearing 11. Further, a motor 13a and a speed reducer 13 are provided on the side surface of one leg piece 5c of the frame structure 5.
b, the steering mechanism 13 consisting of a reducer output shaft 13d having a pinion 13c at the tip is connected to the reducer output wheel 13;
d is parallel to the support shaft 5b, and the pinion 13c is attached to mesh with the internal toothed ring 12.

Further, a motor 14a is attached to the other leg of the frame structure 5.
, a reducer 14b, and one wheel support plate 7 at the tip.
A drive mechanism 14 is fixed to the axle 6, with the reducer output shaft 14d having a pinion 14c attached thereto and meshing with a concentric gear 15, with the reducer output shaft 14d parallel to the axle 6.

A slip ring 16 concentric with the drive shaft 6 is attached to the other wheel support plate, and a brake 17 is fixed to each arm of the slip ring 16, which is attached concentrically to a wheel 10 to which a small wheel 9 is fixed.

Note that power lines, signal lines, etc. 36 to the steering mechanism 13, drive mechanism 14, slip ring 16, etc. are drawn through the hollow portion of the hollow cylindrical support shaft 5b. Further, each brake is supplied with power from a slip ring 16.

FIG. 3 is a cross-sectional view of two sets of planetary wheel mechanisms provided at the rear of the lower surface of the vehicle body 2. In this figure, on the lower surface near the rear end of the vehicle body 2, a top plate 18a,
A frame structure 18 having both side walls 18b located on both sides thereof and two hanging walls 18c slightly spaced apart from the both side walls is fixed to the top plate 18a with the both side walls parallel to both side edges of the vehicle body 2. has been done.

A drive shaft 19 is rotatably supported by a bearing 20 on each side wall 18b and hanging wall 18c, and each drive shaft 19 has three pairs of wheels facing each other at both ends in the axial direction, similar to the wheel support plate 7 described above. Arm 21a,
The wheel support tubes 21 protruding at 120 degree intervals are the bearings 2.
It is supported for rotation by 2. A bearing 23 is provided at the tip of each opposing arm 21a to support the small wheel 2.
An axle 25 fixed to 4 is rotatably supported.

Further, an output shaft 27b of a drive source 27 with a reduction gear 27a provided on the bottom plate 18d of the frame structure 18 is connected to each drive shaft 19 via a coupling 26.

Gears 28 are concentrically attached to the end of the wheel support tube 21 facing the hanging wall 18c.
8 is meshed with a pinion 32 at the shaft end of a wheel support tube rotating shaft 31 driven by a drive source 29 attached to the lower surface of the top plate 18a of the frame structure 18 via reduction gears 29a and 31a.

A gear 33 is fixed concentrically to the end of the drive shaft 19 on the side wall 18b side, and a pinion 35 fixed to the end of the axle 25 is meshed with this gear via an intermediate gear 34. The drive source 29, wheel support tube drive shaft 31, etc. constitute a wheel support tube drive mechanism 30.

It is assumed that the power supply to each drive source 27, 29 and the transmission and reception of various signals are performed by a power supply line, a signal line, etc. passing through the support shaft 5b.

The traveling vehicle of the present invention having the above configuration operates as follows. First, during normal running on flat ground, two of the three small wheels of the front planetary wheel mechanism 3 are kept in contact with the ground, and the brakes 17 for each small wheel are released. Further, the power to the steering mechanism 13 and the drive mechanism 14 is also cut off, and the planetary wheel mechanism 3 in the front wheel portion is left in a free running state.

On the other hand, in the planetary wheel mechanism 4 of the rear wheel portion, only two of the three small wheels 24 located on both sides of the vehicle body are kept in contact with the ground, and independent drive sources 27 are driven at the same speed. .

In this way, the planetary wheel mechanism 3 at the front wheel section becomes a driven section, and the planetary wheel mechanism 4 at the rear wheel section becomes a driving section. That is, the planetary wheel mechanism 3 in the front wheel section is not powered at all, and the drive source 27 rotates the drive shaft 19 in the planetary wheel mechanism 4 in the rear wheel section. The gear 33 fixed to the shaft end of the drive shaft 19 is
A pinion 35 integrated with the axle 25 is rotated via the intermediate gear 34, thereby rotating the axle 25 and the small wheel 24 to which it is fixed.

The vehicle is propelled along a straight line by the rotation of the small wheels 24 described above.

Furthermore, turning on flat ground is performed as follows. First, the motor 13 of the front wheel steering mechanism 13
a, and the engagement between the pinion 13c and the internal gear 12 causes the frame structure 5 of the planetary wheel mechanism 3 to be moved to the support shaft 5.
Rotate around b to orient the wheel support plate 7 in a desired direction. Furthermore, in the rear wheel section, among the independent drive sources 27, the rotational speed of the one on the inside of the turn is lowered by the so-called inner wheel difference so that the rotational speed of the small wheel 24 is lower than that on the outside. control so that

By doing so, the vehicle can turn with an arbitrary radius of curvature.

In other words, driving over rough terrain, climbing over weirs, going up and down stairs, etc. is performed as follows. When traveling on rough terrain, each small wheel 9 of the planetary wheel mechanism 3 of the front wheel portion is fixed by a corresponding brake 17, and the steering mechanism 13 is also not operated. In the planetary wheel mechanism 4 of the rear wheel portion, each drive source 27 is driven at the same speed. In the above state, the wheel support plate drive mechanism 14 and wheel support cylinder drive mechanism 30 of each planetary wheel mechanism 3, 4 are activated.

FIG. 4 schematically shows the state of crossing over the weir X. The rotation of the small wheel 24 at the rear wheel section and the rotation of the wheel support plate 7 and wheel support tube 21 at the front and rear wheel sections provide the traveling vehicle with a propulsive force and an action to overcome the weir.

FIG. 5 shows a state in which the person ascends stairs Y. In this case as well, the rotation of the wheel support plate 7, the support cylinder 21, and the rotation of the small wheels 24 of the rear wheel portion provide the driving force and the stair climbing force to the vehicle. Note that the same applies when descending the stairs.

When going over the weir or going up and down stairs, a brake is applied to each small wheel 9 of the planetary wheel mechanism 3 in the front wheel section, and since they are fixed, the small wheels may spin or slip, causing the robot to lose its posture. There's no fear.

As is clear from the above, the vehicle of the present invention can not only travel in a straight line and turn on level ground, but also smoothly travel on uneven terrain such as climbing over weirs and going up and down stairs.

[Effects of the Invention] The traveling vehicle of the present invention has four drive mechanisms: a steering mechanism and a wheel support plate drive mechanism in the planetary wheel mechanism of the front wheel portion, a wheel support tube drive mechanism and a wheel drive mechanism in the planetary wheel mechanism of the rear wheel portion. With just the installation of a vehicle, it is possible to drive in a straight line on level ground, turn around, and even drive on uneven ground such as climbing over a weir or going up and down stairs. , it is possible to reduce the size and weight.

In addition, in the vehicle of the present invention, the front wheels are steered and the rear wheels are propelled to perform flat ground turning scanning, so the radius of turning scanning can be controlled by the steering angle, and when performing automatic driving control. It is very easy to control, and it is possible to improve the reproducibility.

[Brief explanation of the drawing]

Fig. 1 is a schematic front view of one embodiment of the present invention, Fig. 2 is a cross-sectional view of its front wheel, Fig. 3 is a cross-sectional view of its rear wheel, and Fig. 4 is a state in which the above-mentioned embodiment crosses over a weir. FIG. 5 is a schematic diagram showing the ascending and descending state of the stairs. DESCRIPTION OF SYMBOLS 1... Traveling vehicle, 2... Vehicle body, 3, 4... Planetary wheel mechanism, 5, 18... Frame structure, 5a... Center piece, 5
b...Spindle, 5c...Both restraint pieces, 6, 25...Axle, 7...Wheel support plate, 7a, 21a...Arm, 6a, 8, 20, 22, 23...Bearing, 9,
24... Small wheel, 10... Axle, 11... Thrust bearing, 12... Internal toothed wheel, 13... Steering mechanism,
36... Power line, signal line, 14... Wheel support plate drive mechanism, 16... Slip ring, 17... Brake, 19... Drive shaft, 21... Wheel support tube, 2
6... Coupling, 27... Drive source, 30...
Wheel support tube drive mechanism.

Claims (1)

[Claims] 1 A vehicle body, a U-shaped frame structure rotatably provided on the lower surface of the front end of the vehicle body about an axis perpendicular to the vehicle body, and an axis parallel to the vehicle body on both leg pieces of this U-shaped frame structure. A wheel support plate rotatably supported at the center and having three arms protruding in the radial direction at 120 degree intervals, a small wheel rotatably supported near the tip of each arm, and driving the frame structure. a front wheel portion including a steering mechanism, a drive mechanism for driving the small wheels, and a brake for braking the small wheels; a frame structure fixed to the lower surface of the rear end of the vehicle body and having both side walls; 1 each with 3 movable arms projecting radially at 120 degree intervals
a small wheel rotatably supported near the tip of each of the arms; and an independent drive source for each wheel support tube, which drives the small wheels supported by each wheel support plate; and a rear wheel portion provided with a wheel support tube drive mechanism that simultaneously drives both of the wheel support tubes.