JPH08104261A - Moving vehicle for rough terrain - Google Patents

Abstract

PURPOSE: To provide a rough terrain moving vehicle which is excellent in contraposition adaptability during running on a rough terrain, and is silent and small in torque loss during moving on a rough terrain, and improves running without staining a floor face and ability to run over a difference in level. CONSTITUTION: Links 2a-2d are rotatably supported at each of their longitudinal ends in the lower part of a body 1, and wheels 4a-4d are provided at the other ends of the links 2a-2d. The wheels 4a, 4d are rotated by a driving means supported on the links 2a, 2d, and the links 2a-2d are rotated by a driving means supported inside the body 1. Pulleys 6a-6d are rotatably supported before and behind, and right and left in the lower part of the body 1, and a crawler belt 8a is wrapped around the pulleys 6a, 6b, and a crawler belt 8b is wrapped around the pulleys 6c, 6d, which rotate the crawler belts 8a, 8b by a driving means supported inside the body 1.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote operation manipulator for transporting inspections and operations in reactors, factories, construction sites, buildings, underground malls, chemical plants, mountainous areas, seabeds, etc. The present invention relates to an all-terrain vehicle.

[0002]

2. Description of the Related Art Conventionally, a traveling vehicle that travels on a ground where mixed terrain and rough terrain are mixed is replaced with wheels to further improve adaptability to ground, and a crawler having a large track surface and an endless track excellent in adaptability to ground. Traveling vehicles are used.

[0003]

The problem of the crawler crawler traveling vehicle is that the crawler noise is large and the loss torque is large at the time of leveling movement, and the floor surface is soiled. Further, in the conventional mobile vehicle for rough terrain, the travelable step h is less than the radius r of the pulley 21, as shown in FIG. Therefore, an object of the present invention is to realize an off-road vehicle having excellent adaptability to ground on uneven terrain, quiet and low loss torque on uneven terrain, less likely to stain the floor surface, and improved running performance on uneven steps. .

[0004]

According to the present invention, a total of four links, two left and right, each having a rotation fulcrum coaxially rotatably attached to the center of the lower part of the main body at one end in the lengthwise direction, A total of four wheels attached to one end of each, drive means for driving the wheels at least on the front side or rear side of the main body, drive means for driving the link around a rotation fulcrum, and rotatable front and rear lower parts of the main body. With 4 pulleys attached, 2 on each side,
At least a drive means for driving the wheels on the front side or the rear side of the main body and two crawler belts, one on the left and one on the right, are mounted on the two pulleys on the same side.

[0005]

[Operation] The rough terrain vehicle having the above-mentioned structure is
By rotating the link and pressing the wheel to the ground,
It is possible to run the wheels by lifting the footwear from the ground. When moving on an uneven terrain, the links are rotated to lift the wheels and the shoes are brought into contact with the ground, so that the wheels can travel. Also, when running over a step higher than the pulley radius, it is possible to run by rotating the link and lifting the wheels according to the height in the same way, which is excellent in maneuverability and adaptability to ground, quiet on terrain and less loss on uneven terrain Become a car.

[0006]

An embodiment of the present invention will be described below with reference to the accompanying drawings. 1A is a front view and FIG. 1B is a plan view according to this embodiment. In FIGS. 1 (A) and 1 (B), two links 2a and 2d are fixed at the center of the lower part of the main body 1 to outer rotation shafts 3a and 3d that are rotatably supported by the main body 1 at one end in the longitudinal direction. . Further, two links 2b and 2c, which are different from the links 2a and 2d, are fixed at one end in the lengthwise direction to inner rotating shafts 3c and 3c which are rotatably supported coaxially with the outer rotating shafts 3a and 3d. Inside the main bodies of the outer rotary shafts 3a and 3d and the inner rotary shafts 3b and 3c, a link drive unit 20a that drives the links 2a and 2d.
And the link driving unit 20b that drives the links 2b and 2c.

FIG. 2 shows the link drive unit 2 in this embodiment.
It is a figure explaining 0a and 20b, and is a sectional view of "part 100" in Drawing 1 (B). The outer rotating shaft 3a is the main body 1
It is rotatably supported by the bearing 10 arranged on the body frame 9. The link 2a is fixed to the outer end of the main body frame 9 of the outer rotating shaft 3a. A gear 11 is fixed to the inner end of the main body frame 9 of the outer rotating shaft 3a. The gear 12 is fixed to the rotary shaft of the link drive motor 13 fixed to the unit drive unit base 14 and meshes with the gear 11. By rotating the drive motor 13, the link 2
a rotates. The inner rotating shaft 3b is rotatably supported by bearings 15 and 16 installed at both ends of the outer rotating shaft 3a. The link 2b is fixed to the outer side of the link 2a of the inner rotating shaft 3b at one end in the longitudinal direction of the link 2b. A gear 17 is fixed to the inner end of the body frame 9 of the inner rotating shaft 3c. A gear 18 is fixed to the rotary shaft of another link drive motor 19 fixed to the unit drive base 14, and meshes with the gear 17. The link 2a is rotated by rotating the drive motor 19. Other links 2
A drive system is similarly configured for c and 2d. In FIG. 1, by driving the link drive units 20a and 20b, the link rotates about the inner rotation axis.

At the other ends of the links 2a, 2d, wheels 4a,
4d is rotatably supported and links 2a, 2d
The rotation shafts of the wheel drive motors 5a and 5b attached to the inside of the wheel are connected to the axles of the wheels 4a and 4d. By rotating the wheel driving motors 5a, 5b, the wheels 4a,
4d rotates, and the rough terrain vehicle of this embodiment travels by wheels. Wheels 4b, 4 are provided at the other ends of the links 2b, 2c.
c is rotatably supported. Pulleys 6a, 6b, 6c, 6d are rotatably supported by the main body 1 on the lower front, rear, left and right sides of the main body 1. The pulley driving motors 7a and 7b are fixed to the inside of the main bodies of the rotating shafts of the pulleys 6a and 6d, and the motor 7
The rotation shafts of a and 7b and the rotation shafts of pulleys 6a and 6d are connected. The crawler belt 8a is attached to the pulleys 6a and 6b, and the pulleys 6c and 6c are
The crawler belts 8b are looped around d. Drive motors 7a, 7b
The crawler belts 8a and 8b are rotated by driving the vehicle, and the vehicle on the rough terrain according to this embodiment travels by the crawler belts.

The operation load of the rough terrain vehicle of the present invention constructed as described above will be described with reference to FIGS. 3 to 6. When the vehicle moves on an uneven terrain, as shown in FIG. 3, the links 2a, 2b, 2c, 2d are rotated to rotate the links upward so that the wheels 4a, 4b, 4c, 4d are floated from the ground. This allows the track to be driven and realizes excellent ground adaptability with excellent startability. When the rough terrain vehicle moves on the terrain, as shown in FIG. 4, the links 2a, 2b, 2c, and 2d are rotated so that the links are located below, and the crawler belts 8a8b are floated from the ground and run on wheels. This makes it possible to run quietly with low loss torque and to keep the floor clean.

Further, as shown in FIG. 6, when the links 2a, 2b, 2c, 2d are individually rotated appropriately when moving on uneven terrain, a step over the radius of the pulleys 6a, 6b, 6c, 6d can be run. Becomes

As described above, the vehicle for traveling on uneven terrain according to the present invention has both wheels and tracks, and the links at the bottom of the main body can be rotated individually. Traveling can be selected, and especially in flatland running, the loss torque is small and the floor surface can be run clean. Also, when a step is passed, by turning the link, it is possible to pass a large step that exceeds the radius of the pulley.

[Brief description of drawings]

FIG. 1 is a diagram showing an embodiment of the present invention. (A) is a front view,
(B) is a plan view.

FIG. 2 is a diagram showing details of a drive unit of the link according to the embodiment of the present invention.

FIG. 3 is an example of the operation of the present invention.

FIG. 4 is another example of the operation of the present invention.

FIG. 5 is still another example of the operation of the present invention.

FIG. 6 is an explanatory diagram of a conventional technique.

[Explanation of symbols]

 1 Main body 2a, 2b, 2c, 2d Link 3a, 3d Outer rotation shaft 3b, 3c Inner rotation shaft 4a, 4b, 4c, 4d Wheel 5a, 5b Wheel drive motor 6a, 6b, 6c, 6d Pulley 7a, 7b Pulley drive Motors 8a, 8b crawler belt 9 body frame 10 bearings 11 and 12 gears 13 link drive motor 14 link drive unit bases 15 and 16 bearings 17 and 18 gears 19 link drive motors 20a and 20b link drive unit 21 pulleys

Claims (1)

[Claims] 1. A total of four links, two left and right, each having a rotation fulcrum coaxially rotatably attached to the center of the lower part of the main body at one end in each lengthwise direction, and a total of four links attached to one end of each of the links. Two wheels, a driving means for driving the wheels at least on the front side or the rear side of the main body, a driving means for driving the link around a rotation fulcrum, and two rotatably attached to the front and rear of the lower part of the main body, two on each side. A total of four pulleys, a drive means for driving the wheels at least on the front side or the rear side of the main body, and a total of two crawler belts, one on the left and one on the right, mounted on the two pulleys on the same side. Leveling mobile vehicle.