JPH08183499A - Traveling vehicle for space probe - Google Patents

Abstract

PURPOSE: To dispense with a center-of-gravity moving motor by engaging a power transmission body, driven by both reduction main wheels, with the reduction main wheels provided at the output shafts of front and rear differential gears, and connecting a mounted body, held movably in the longitudinal direction of a vehicle body, to the power transmission body. CONSTITUTION: Differential gears 8, 9 with one differential main wheel 13 side made the input side from travel motors 5, 6 and with the other differential main wheel 15 side made the output side to wheels 3, 4 are interposed in a power transmission system reaching the wheels 3, 4 from the respective travel motors 5, 6. A transmission member 27 driven by both reduction main wheels 18 is engaged with the reduction main wheels 18 provided at the output shafts 14 of the differential gears 8, 9, and a mounted body 7 held movably in the longitudinal direction of a vehicle body is connected to the transmission member 27. A center-of-gravity moving motor can thereby be dispensed with, and the reduction in the number of part items, the simplification of structure, weight and the like can be realized.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention particularly relates to a space exploration vehicle used for exploring celestial bodies such as planets other than the earth.

[0002]

2. Description of the Related Art A space exploration vehicle 101 shown in FIG.
Two front wheels 103 and two rear wheels 104 are provided in front of and behind the frame 102, and a traveling motor and a speed reduction mechanism for individually driving the wheels 102, 103 are provided. It is equipped to move in any direction. Further, the frame 102 is provided with a chain belt 106 in the front and rear thereof, and the mounted object 105 is provided with an adjusting motor 108 having a sprocket 107, and the sprocket 107 is engaged with the chain belt 106. .

The traveling vehicle 101 for space exploration described above, when traveling on an uneven terrain, drives the adjusting motor 108 to move the mounted object 105 forward or backward of the vehicle body, thereby changing the position of the center of gravity. I try to improve the running ability.

As a vehicle for space exploration, there is, for example, the one described on page 80 of "Nikkei Mechanical, November 16, 1992" issued by Nikkei BP.

[0005]

However, in the conventional vehicle for space exploration as described above, in addition to the individual traveling motors that drive the respective wheels, an adjustment motor for moving the center of gravity is provided. Since it is used, there is a problem that the number of parts is increased and the weight is increased accordingly, and it has been a problem to solve such a problem.

[0006]

SUMMARY OF THE INVENTION The present invention has been made in view of the above conventional problems, and it is an object of the present invention to realize a reduction in the number of parts and weight in a space exploration vehicle having a function of moving the center of gravity. Has an aim.

[0007]

According to a first aspect of the present invention, there is provided a traveling vehicle for space exploration, comprising a traveling motor capable of rotating each wheel individually and rotating forward and backward. In the power transmission system to the wheels, a differential device with one differential gear side being the input side from the running motor and the other differential gear side being the output side to the wheels is interposed, The reduction gears provided on the output shaft of the differential gear are engaged with the power transmission bodies driven by both reduction gears, and the power transmission body is connected to the mounted object that is movably held in the vehicle longitudinal direction. According to claim 2, the power transmission body is a transmission member having a loop shape, and the transmission member is wound around the reduction gears of the front and rear differential gears. The gear mechanism is installed in the power transmission system from the device to the wheels, After that, the structure in which the rotation directions are different from each other is combined, and the power transmission body is a screw shaft, and the screw portion is engaged with the screw shaft to be mounted on the mounted object. It is used as a means to solve the problem.

[0008]

When the vehicle for space exploration according to claim 1 of the present invention travels by transmitting the rotation of each traveling motor to the wheels via the differential device and changes the center of gravity, By operating each traveling motor so that the front and rear wheels rotate in mutually opposite directions, the reduction gears of each differential device are rotated without rotating the wheels to drive the power transmission body. Move the load connected to the body forward or backward.

As described above, in the vehicle for space exploration, both the traveling and the movement of the center of gravity are performed by the traveling motor.

Further, in the space exploration vehicle according to claim 2 of the present invention, by using the loop-shaped transmission member as the power transmission body, when the center of gravity is changed, the transmission member is used without rotating the wheels. In the vehicle for space exploration according to claim 3 of the present invention, the gear mechanism intervened in the power transmission system from each differential device to the wheels is rotated to rotate the mounted object connected thereto to the front-rear direction. The combination of the front and rear rotating directions is different so that the loop-shaped transmission members can be mounted without intersecting in the middle.

Further, in the space exploration vehicle according to a fourth aspect of the present invention, when the center of gravity is changed, the front and rear wheels are operated so that the front and rear wheels rotate in opposite directions to each other. The screw shaft is rotated without rotating, and the mounted object connected to the screw shaft is moved in the front-rear direction via the female screw portion.

[0012]

1 to 3 are views for explaining an embodiment of a space exploration vehicle according to claims 1 to 3 of the present invention.

The traveling vehicle 1 for space exploration shown in FIG. 1 is provided with two front wheels 3 and two rear wheels 4 (only one side is shown) in front of and behind the frame 2, and drives each wheel 3, 4 individually. The traveling motors 5 and 6 are provided, and the mounted object 7 is provided on the frame 2 via the slider 28 so as to be movable in the longitudinal direction of the vehicle body.

The traveling motors 5 and 6 are capable of rotating in the forward and reverse directions, and are mounted with the rotating shafts 5a and 6a facing downward, and the wheels 3 and 4 from the traveling motors 5 and 6 are attached. The differential devices 8 and 9 and the gear mechanisms 10 and 11 are interposed in the power transmission system up to.

Each of the differential devices 8 and 9 has the same structure, and as shown in FIG. 2, the rotating shaft 5a (6a) of the traveling motor 5 (6) is provided in the gear box 12.
Differential gear 13 on the input side coupled to the output side and differential gear wheel 15 on the output side coupled to the output shaft 14 coaxial with the rotating shaft 5a
And a small differential gear 16 that engages with the large differential gears 13 and 15
And a reduction gear wheel 18 rotatably attached to the output shaft 14 via a bearing 17. This reduction gear 18
Are connected to the differential gear 16 described above by a pin 31, a connecting member 19 and a bolt 20.

Each gear mechanism 10, 11 has a first bevel gear 23, 24 connected to the output shaft 14 of the differential gear 8, 9 and an axle of the wheels 3, 4 in the respective gearbox 21, 22. It is provided with the second bevel gears 25 and 26 connected to 3a and 4a, and in the front and rear gear mechanisms 10 and 11, the engagement position of the second bevel gears 25 and 26 with respect to the first bevel gears 23 and 24 is set. The left and right are different. As a result, the gear mechanisms 10 and 11 are combined so that the rotation directions are different in the front and rear.

The gearbox 1 of each differential device 8 and 9
2 and the gear boxes 21, 2 of the gear mechanisms 10, 11
2 is fixed to supports 30 and 30 provided in front and rear of the frame 2.

In the traveling vehicle 1 for space exploration, the reduction gears 18 of the front and rear differentials 8 and 9 are wound with the loop-shaped transmission member 27 as a power transmission body driven by the reduction gears 18. The connecting member 29 provided on the slider 28 of the mounted object 7 is connected to the transmission member 27.

Further, as the loop-shaped transmission member 27, more specifically, a belt or a chain can be used, and in this embodiment, the looped transmission member 27 is wound in a state where the suspended intermediate portions are parallel to each other. . The transmission member 27 may be directly wound around the large reduction gear 18, or may be indirectly wound around the small reduction gear that engages with the large reduction gear 18.

Space exploration vehicle 1 having the above structure
For normal traveling, front and rear traveling motors 5, 6
Are rotated in opposite directions. That is, as shown in the schematic diagram of the power transmission system in FIG. 3, when the front and rear traveling motors 5, 6 are rotated in opposite directions, the output shafts 14, 14 of the front and rear differential devices 8, 9 are in opposite directions. However, since the differential gears 8 and 9 and the wheels 3 and 4 are equipped with the gear mechanisms 10 and 11 having different rotation directions in the front and rear, the front and rear wheels 3 and 4 are rotated. 4 rotates in the same direction and moves forward or backward.

During traveling, the reduction gears 18 of the front and rear differential devices 8 and 9 do not rotate, and any one of the wheels is temporarily locked and the traveling motors 5 and 6 are engaged.
Even if the rotational force is transmitted to the reduction gearwheel 18, the reduction gearwheels 18 try to rotate in opposite directions, and the transmission member 27 having the intermediate portion in a parallel state is wound around the reduction gearwheels 18. The two reduction gears 18 never rotate.

Further, the traveling vehicle 1 for space exploration rotates the front and rear traveling motors 5 and 6 in the same direction when changing the position of the center of gravity in order to enhance the traveling ability in rough terrain traveling. By doing so, the front and rear gear mechanisms 10,
Since the front and rear wheels 3 and 4 rotate in opposite directions by 11 and, as a result, the front and rear wheels 3 and 4 are in a locked state, which causes the differential gears 8 and 9 to have different differential gears. 16 and the reduction gear 18 are rotated in the same direction, the transmission member 27 is rotated, the mount 7 connected to this transmission member 27 is moved forward or backward, and the position of the center of gravity is changed.

As described above, in the space exploration vehicle 1, the traveling motors 5 and 6 both travel and move the center of gravity. Moreover, since the loop-shaped transmission member 27 such as a belt or a chain is used, the structure is simple and lightweight.

By the way, in the above embodiment, tentatively,
A combination of gear mechanisms 10, 11 having different rotation directions in the front and rear
If not used, the traveling motors 3 and 4 are rotated in the same direction during traveling.
The reduction gear 18 in 9 also becomes rotatable in the same direction, and the transmission member 27 can be rotated so that the mounted object 7 moves. Therefore, in order to prevent this, it is necessary to cross the transmission member 27 in the middle. is there. Even in this case, the center of gravity can be moved by rotating the front and rear traveling motors 3 and 4 in opposite directions, but in this case, the transmission member 2
It is necessary to take measures to smoothly rotate the intersections of 7 without contacting them.

Therefore, the space exploration vehicle 1 of the above embodiment
Then, in the power transmission system from the differential devices 8 and 9 to the wheels 3 and 4, the gear mechanism 10 having a combination of different rotation directions in the front and rear,
By using 11, the front and rear traveling motors 3 and 4 are rotated in opposite directions during traveling, and the forward and rear reduction gears 18 can be rotated in opposite directions during traveling, whereby the transmission member is formed. The 27 can be mounted without crossing in the middle.

FIG. 4 is a view for explaining an embodiment of a space exploration vehicle according to claims 1 and 4 of the present invention. The same parts as those in the previous embodiment are designated by the same reference numerals and the description thereof will be omitted.

In the space exploration vehicle 51, front and rear actuating devices 8 and 9 are provided with an input-side differential gear wheel 13, an output-side differential gear wheel 15 to which an output shaft 14 is connected, and both differential gear wheels. Gear 13,
15 and a reduction small gear 58 rotatably attached to the output shaft 14, and a reduction small gear that engages with the reduction large gear 58 in a state in which the rotation axis is different by 90 degrees. 52 is provided. The rotation of the output shaft 14 is transmitted to the wheels 3 and 4 without changing the rotation direction.

Further, an end portion of a screw shaft 53 as a power transmission body is connected to both the reduction gears 52, 52. The screw shaft 53 is engaged with a ball screw 54, which serves as a threaded portion to be mounted on the mounting object 7.

In the space exploration vehicle 51, when the vehicle travels normally, the front and rear traveling motors 5 and 6 rotate in the same direction. As a result, the output shafts 14, 14 of the front and rear differential devices 8, 9 and the front and rear wheels 3, 4 rotate in the same direction and travel forward or backward. At this time, in the space exploration vehicle 51, front and rear reduction gears 58, 58
Are rotatable in the same direction, and the screw shaft 53 is connected to the reduction small gears 52, 52 engaged with these, so that the screw shaft 53 does not rotate.

When changing the position of the center of gravity, the space exploration vehicle 51 rotates the front and rear traveling motors 5 and 6 in opposite directions. As a result, the front and rear wheels 3 and 4 try to rotate in mutually opposite directions, and as a result, the front and rear wheels 3 and 4 are locked and the differential small gears 16 and Reduction gear 5
8 rotate in mutually opposite directions, the screw shaft 53 rotates, and the ball screw 54
The mounted object 7 connected via the means moves forward or backward, and the position of the center of gravity changes.

As described above, the traveling vehicle 51 for space exploration described above.
Then, in particular, since the power transmission system from the differential devices 8 and 9 to the mounted object 7 is composed of the reduction gear 52 and the screw shaft 53, the power transmission performance is further improved.

[0032]

As described above, according to the traveling vehicle for space exploration according to claim 1 of the present invention, in the traveling vehicle for space exploration having the function of moving the center of gravity, the traveling motor and the center of gravity are driven by the traveling motor. Since the motor for moving the center of gravity is unnecessary, it is possible to reduce the number of parts, simplify the structure, and reduce the weight.

According to the traveling vehicle for space exploration according to the second aspect of the present invention, since the loop-shaped transmission member is adopted as the power transmission body, the weight reduction and the simplification of the structure can be achieved. According to the vehicle for space exploration according to claim 3, since it is not necessary to intersect the transmission members at the middle, the structure can be further simplified, and the vehicle for space exploration according to claim 4 of the present invention. According to this, since the power transmission system from the differential device to the mounted object is configured by the screw shaft, the power transmission performance can be further improved and more accurate control can be performed.

Further, according to the vehicle for space exploration according to the present invention, in addition to moving the mounted object by the power transmission body to change the position of the center of gravity, the power transmission body is drilled for digging or a vehicle body. It can also be used as a drive source for a jack or the like for lifting the.

[Brief description of drawings]

FIG. 1 is a partially cutaway perspective view illustrating one embodiment of a vehicle for space exploration according to claims 1 to 3 of the present invention, with one side omitted.

FIG. 2 is a cross-sectional view illustrating a differential device of the vehicle for space exploration shown in FIG.

3 is a schematic explanatory diagram of a power transmission system of the vehicle for space exploration shown in FIG. 1. FIG.

FIG. 4 is a schematic explanatory view showing an embodiment of a space exploration vehicle according to claims 1 and 4 of the present invention.

FIG. 5 is a side view illustrating an outline of a conventional space exploration vehicle.

[Explanation of symbols]

 1 51 Space exploration vehicle 3 Front wheel 4 Rear wheel 5 6 Traveling motor 7 Mounted object 8 9 Differential device 10 11 Gear mechanism 13 Input side differential large gear 14 Output shaft 15 Output side differential large gear 18 58 Large reduction gear 27 Transmission member (power transmission body) 53 Screw shaft (power transmission body) 54 Ball screw (female screw part)

Claims (4)

[Claims] 1. A forward drive motor for individually rotating each wheel, which is capable of forward and reverse rotations, wherein a power transmission system from each of the drive motors to the respective wheels has one differential gear side from the drive motor. The differential gear, which is the input side of the differential gear and the other differential gear side is the output side of the wheel, is driven by the reduction gears provided on the output shafts of the front and rear differential gears. The vehicle for space exploration, characterized in that the power transmission body is engaged with the power transmission body, and a mounted object held so as to be movable in the longitudinal direction of the vehicle body is connected to the power transmission body. 2. The traveling vehicle for space exploration according to claim 1, wherein the power transmission body is a transmission member having a loop shape, and the transmission member is wound around the reduction gears of the front and rear differential gears. car. 3. The space exploration device according to claim 2, wherein a gear mechanism is provided in a power transmission system from each differential device to a wheel, and the gear mechanism is a combination in which a rotation direction is different between front and rear. For traveling vehicles. 4. The vehicle for space exploration according to claim 1, wherein the power transmission body is a screw shaft, and a screw portion is engaged with the screw shaft to be provided on the mounted object.