JPH0781696A - Off-road travel car - Google Patents

Abstract

PURPOSE:To provide an off-road travel car having a simple and lightweight structure by providing a frame structure body where left and right M-shaped frames respectively composed of two sets of V-shaped frames are connected to each other in a juxtaposed condition by connecting members, and supporting wheels pivotally by the respective both end two places and intermediate two places. CONSTITUTION:In this off-road travel car R, M-shaped frames where the corresponding parts of V-shaped frames 11 and 12 are joined together by a shaft structure body 15 so as to swing mutually freely, are arranged at intervals on both left and right sides, and the left and right M shaped frames 1 and 1 are connected to each other by a pair of connecting members which are situated in front and in rear of the shaft structure body 15 and have a certain degree of rigidity. Wheels 13 are installed respectively freely rotatably on the lower ends of respective outside members 11a and l2a of the respective M-shaped frames 1, and the respective front and rear wheels 13 are rotated through meshing or the like between a pinion and an external gear by rotation of motors installed on the outside members 11a and 12a of the respective A-shaped frames 11 and 12. The intermediate wheels 13 are rotated directly by rotation of a motor enclosed in the shaft structure body 15.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle traveling on an uneven terrain, and more particularly to an irregular terrain vehicle used for traveling on the surface of the earth as well as the planet.

[0002]

2. Description of the Related Art Some of these types of rough terrain vehicles have been developed for exploring Mars, and it was partially confirmed that there are many obstacles such as rocks and steps on the surface of Mars. Therefore, there is a demand for a function that enables free running while overcoming or avoiding these obstacles.

Therefore, as a traveling vehicle capable of coping with traveling on an uneven terrain, a vehicle traveling on an endless track, a vehicle traveling by alternately moving a plurality of legs, or a vehicle having wheels is considered. For example, it is described on page 80 of "Nikkei Mechanical, November 16, 1992" issued by Nikkei BP.

[0004]

However, the conventional rough terrain vehicle as described above has a complicated structure, and therefore becomes large and heavy, and a rocket is required to transfer it from the earth to a planet or the like. It had to be large.

[0005]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned conventional circumstances, and an object thereof is to provide an uneven terrain vehicle which has a simple structure, can be made extremely lightweight, and can travel on rough terrain with many irregularities. Has an aim.

[0006]

SUMMARY OF THE INVENTION A rough terrain vehicle according to the present invention has a right М type claim in which one side Λ frame and the other side Λ frame are rotatably mounted, and one side. Λ-shaped frame and the Λ-shaped frame on the other side are rotatably attached, and the М-shaped frame on the left side and the М-shaped frame on the right side.
From the connecting members for connecting the left frame and the left М frame in parallel, and the wheels attached to the lower ends and the lower ends of the middle parts of the left and right М frames and driven by the driving means. It is characterized by having the following configuration.

[0007] The second aspect is characterized in that the Λ-shaped frame has an apex angle of 90 ° or more.

Further, in claim 3, the connecting member connects the inner member of the Λ-shaped frame on one side of the right М-shaped frame and the inner member of the Λ-shaped frame on one side of the left М-shaped frame, and The inner member of the Λ-shaped frame on the other side of the М-shaped frame is connected to the inner member of the Λ-shaped frame on the other side of the left М-shaped frame.

[0009]

In the vehicle according to claim 1 of the present invention, the right М frame composed of two Λ-shaped frames and the left М frame composed of two Λ-shaped frames are arranged in parallel. Since the wheels driven by the driving means are attached to a total of 6 places, that is, two places on each end and two places on the middle of the frame structure connected by the connecting members, the structure is simple and lightweight for traveling on rough terrain. .

Further, in the rough terrain vehicle according to claim 2 of the present invention, since the apex angle of the Λ-shaped frame is 90 ° or more,
Drive over relatively large obstacles.

Further, in the rough terrain vehicle according to claim 3 of the present invention, the two connecting members for connecting the left and right М-shaped frames are provided on the inner members in the vicinity of the central portion of the traveling vehicle. Drive with increased freedom against obstacles with differences.

[0012]

1 to 3 are views for explaining an embodiment of an all-terrain vehicle according to the present invention.

The rough terrain vehicle R has a М-shaped frame 1 on the right side.
And a left М-shaped frame 2. The М-shaped frame 1 on the right side is composed of a Λ-shaped frame 11 on one side and a Λ-shaped frame 12 on the other side, and is rotatably attached to a shaft structure 15.

The Λ-shaped frames 11 and 21 on one side of the right М-shaped frame 1 and the left М-shaped frame 2 are composed of outer members 11a and 21a and inner members 11b and 12b, and a top corner portion 14a of the Λ-shaped member. , 24a form an angle α. This angle α is an obtuse angle of 90 ° or more,
This is preferable in order to be able to get over a relatively large obstacle.

The Λ-shaped frames 12 and 22 on the other side of the right М-shaped frame 1 and the left М-shaped frame 2 are
The outer members 12a, 22a are composed of the inner members 12b, 22b, and the corners 14b, 24b at the top of the Λ shape form an angle β. It is preferable that the angle β is an obtuse angle of 90 ° or more so that a relatively large obstacle can be overcome.

The above-mentioned frame is, for example, a steel plate, an aluminum alloy, a magnesium alloy, a titanium alloy,
It may be made of a resin member, a carbon fiber material, or the like having an appropriate cross-sectional shape.

The right М-shaped frame 1 and the left М-shaped frame 2 are connected by connecting members 30a and 30b, and the connecting members 30a and 30b have a structure having an ammunition material. The connecting positions are such that the inner members 11b and 21b of the Λ-shaped frames 11 and 21 on one side are closer to the vehicle center and the inner members 12 of the Λ-shaped frames 12 and 22 on the other side are connected.
b, 22b are located closer to the center of the vehicle,
This is suitable for overcoming a road surface or an obstacle having a difference in elevation between left and right.

The connecting members 30a and 30b are made of rubber, steel plate, aluminum alloy, magnesium alloy, titanium alloy, resin, carbon fiber material or the like having a certain degree of rigidity.

FIG. 4 is an explanatory view of the first embodiment showing the wheel mounting structure. As shown in FIGS. 1 to 3,
Each outer member 11a, 12 of the left and right М-shaped frames 1, 2
Vehicles 13 are attached to the lower ends of a, 21a, and 22a, respectively. For example, as shown in FIG.
Outer member 2 of Λ-shaped frame 21 on one side of shaped frame 2
A bearing 23 is provided at the tip of 1a, and an axle 16 is rotatably attached to the bearing 23.
The external gear 19 and the wheel 13 are integrally attached to the wheel, and the pinion 18 of the motor 17 as a drive means attached to the outer member 21a of the Λ-shaped frame 21 on one side and the external gear 19 mesh with each other to form the wheel. 13 is configured to rotate.

There are various conceivable mounting structures for the motor as the driving means for applying the driving force to the wheels 13, in addition to the above structure. FIG. 5 is an explanatory view of a second embodiment showing a wheel mounting structure, and this embodiment is for driving the wheel 13 at the center, and the inner member 21b of the Λ-shaped frame 21 on one side is a shaft structure. The outer cylinder 31 of the motor 31 which is 15
The inner member 22b of the Λ-shaped frame 22 on the other side is fixed to the outer cylinder 31a of the motor 31 while being rotatably attached to a. Then, the rotating shaft 31b of the motor 31 and the wheel 1
3 are integrally attached, and the wheels 13 are directly driven by the motor 31. This structure is preferable for driving the wheels mounted in the center of the vehicle.

The rough terrain vehicle R has a sensor 32 oriented in the traveling direction of the vehicle and observes the front of the traveling direction of the vehicle. Further, it has a battery 33, and drives the respective motors 17, 31 to rotate the wheels 13, 13. Further, the rotation direction, the number of rotations, etc. of the motors 17, 31 for driving the wheels 13, 13 ... Having the controller 34 are individually controlled appropriately to change the forward, backward, and direction of the rough terrain vehicle R. To do.

When the rough terrain vehicle R travels on a flat ground, as shown in FIG. 1, Λ-shaped frames 11, 2 on one side are provided.
1 inner member 11b, 21b and the other side Λ-shaped frame 2
Proceed while keeping the angle γ ₁ formed by the inner members 12b and 22b of the Nos. 1 and 22 constant.

FIG. 6 shows an obstacle S in front of the rough terrain vehicle R.
It is an explanatory view of getting over when there is. Rough terrain vehicle R
, Overcoming the obstacle S by the driving force of the six wheels 13, 13, ..., At that time, the inner members 11b and 21b of the Λ-shaped frames 11 and 21 on one side and the Λ-shaped frame 12 on the other side. The angle γ ₂ formed by the inner members 12 b and 22 b of 22 decreases compared with the angle γ ₁ in flatland traveling.

FIG. 7 is an overcoming operation diagram when an obstacle S is present in the center of the vehicle. The rough terrain vehicle R has six wheels 13, 1 even when its center wheel 13 gets over the obstacle S.
With the driving force of 3 ..., It is possible to move forward while maintaining sufficient propulsion force and stability. At that time, the Λ-shaped frames 11 and 21 on one side
Inner members 11b, 21b and the other side Λ-shaped frame 1
The angle γ ₃ formed by the inner members 12b and 22b of the Nos. 2 and 22 increases as compared with the angle γ ₁ in the flatland traveling.

FIG. 8 is a front view showing a case where the right front wheel of the vehicle gets over an obstacle. The left front wheel 13 is on a flat ground, but the right front wheel 13 is on the obstacle S and the connecting member 30a
While twisting, the posture of the rough terrain vehicle R is kept stable.

[0026]

As described above, according to the rough terrain vehicle of the present invention, the right side М made up of two sets of Λ-shaped frames.
The frame structure and the left М frame, which is also composed of two Λ-shaped frames, are arranged in parallel and are connected by the connecting members to the two ends of each of the two ends and the middle of the two ends. Since it is equipped with wheels, it is possible to drive on rough terrain with a simple and lightweight structure.

Further, since the apex angle of the Λ-shaped frame is 90 ° or more, it is possible to travel over a relatively large obstacle.

Further, since two connecting members for connecting the left and right М-shaped frames are provided near the center of the traveling vehicle and provided on the inner members respectively, the degree of freedom with respect to an obstacle having a height difference on the left and right is increased. The remarkable effect that the vehicle can be driven in a full state is provided.

[Brief description of drawings]

FIG. 1 is a side view of an all-terrain vehicle according to the present invention.

FIG. 2 is a plan view of the rough terrain vehicle shown in FIG.

3 is a front view of the rough terrain vehicle shown in FIG. 1. FIG.

FIG. 4 is a perspective view of a first embodiment showing a wheel mounting structure.

FIG. 5 is a perspective view of a second embodiment showing a wheel mounting structure.

FIG. 6 is an explanatory diagram for getting over when there is an obstacle ahead.

FIG. 7 is a diagram for explaining how to get over when there is an obstacle in the center of the vehicle.

FIG. 8 is a front view showing a case where the right front wheel of the vehicle gets over an obstacle.

[Explanation of symbols]

 R Rough-terrain vehicle 1 Right-side М-shaped frame 2 Left-side М-shaped frame 11,21 One-sided Λ-shaped frame 12,22 Other-sided Λ-shaped frame 11a, 21a One-sided Λ-shaped frame outer member 11b, 21b Inner member 12a, 22a of Λ-shaped frame on one side 12b, 22b Outer member of Λ-shaped frame on the other side 13 Inner member of Λ-shaped frame on the other side 13 Wheel 17 Motor (driving means) 30a, 30b Connecting member

Claims (4)

[Claims] 1. A М-shaped claim on the right side in which a Λ-shaped frame on one side and a Λ-shaped frame on the other side are rotatably mounted, and a Λ-shaped frame on one side and a Λ-shaped frame on the other side rotate. A left М-shaped frame that is movably attached, a connecting member that connects the right М-shaped frame and the left М-shaped frame in a parallel state, and lower ends and middle portions of both ends of the left and right М-shaped frames. An all-terrain vehicle, comprising wheels mounted at the lower end and each driven by a drive means. 2. The rough terrain vehicle according to claim 1, wherein the Λ-shaped frame has an apex angle of 90 ° or more. 3. The connecting member connects the inner member of the Λ-shaped frame on one side of the right М-shaped frame and the inner member of the Λ-shaped frame on one side of the left М-shaped frame, and
3. The rough terrain traveling according to claim 1, wherein an inner member of the Λ-shaped frame on the other side of the shaped frame is connected to an inner member of the Λ-shaped frame on the other side of the left М-shaped frame. car. 4. The rough terrain vehicle according to claim 1, wherein the connecting member is an elastic member.