JPH10309901A - Off-road moving mechanism and designing method thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mechanism that enables its movement on soft and uneven ground, such as sands, on which existing balloon tires, tires with blade lugs and crawlers are hard to freely move. SOLUTION: A mechanism is adapted to rotate its driving gear with radial spokes 4 each provided with a board 3 for producing frictional driving force or paddle board 2 for producing pushing force to thus move on soft and uneven ground. The mechanism has on its single rotary shaft 1 on-road-use driving wheels 5 of radii of gyration larger than those of the boards 2 and 3 by a constant clearance, which wheels enable the mechanism to move nonstop on and off roads. The spokes 4 and the wheels 5 are separated from each other axially at intervals that depend on the state of the uneven ground that they move on. The separation prevents the mechanism from sticking in uneven ground.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[Technical field to which the invention belongs] Desert, farmland, muddy land, snowy land,
The present invention relates to a moving device that travels on rough terrain such as a rocky place. Especially,
The present invention relates to a device for non-stop common travel on uneven terrain and leveling (paved road), and a design method for designing the device in accordance with the running surface conditions of uneven terrain and leveling.

[0002]

[Background Art] Irregular lands are desert, farmland, muddy land, snowy land,
It is a land in a natural state such as a rocky place. Of these irregular terrain, desert is an area with very little rainfall, and the component (rough terrain element) is not only sand but also rocks and gravel. By the way, "sha" is a Chinese etymology and "desert" is a Japanese suffix.

[0003] For traveling on uneven terrain, known are four-wheel drive vehicles, endless track vehicles (caterpillars, crawlers) and the like. There are Japanese Patent No. 2585903, Japanese Patent Application Laid-Open No. 8-104261, and Japanese Patent Application Laid-Open No. 8-239066 for improvement of a tracked vehicle. In addition, as an application of a low-pressure balloon tire, Japanese Patent No. 2522
915 and Japanese Patent No. 2576816, and JP-A-8-332802 is an application of a tire with a blade lug. (4th
(See figure)

[0004] The problems of these known techniques will be discussed later. The focus of the problem is on rough “sandy” or around “rocky rocks” of all kinds of rough terrain. On other farmland, muddy, snowy areas,
A moving machine having good moving performance is generally known, and the above-mentioned patent group belongs to the moving machine.

Before considering the problems of the known art,
Let's talk about the general technology for terrain and rough terrain travel.

[0006] When moving on a ground surface such as asphalt, wheels are generally used. This will be referred to as a "driving wheel" in the sense of a driving wheel. In a driving wheel, as shown in FIG. 30, a reaction force 102 of a frictional force 101 at a contact portion of a road surface is a driving force in a traveling direction. Therefore, it is a necessary condition for the function of the driving wheel to efficiently obtain the frictional force.

[0007] The asphalt road is an artificial object designed to assist the wheel function. Here, the artificially flattened road surface including the asphalt road is referred to as “leveling”. Rough terrain, as opposed to terrain, is a natural land without such favorable conditions and has many adverse conditions. Here we consider movement on soft, soft ground such as desert sand.

FIG. 31 shows a state in which the running surface is soft with sand or mud and the driving wheel is buried. The outer edge of the driving wheel 100 is in contact with sand, mud, or the like. Here, elements that constitute irregular terrain, such as sand and mud, are referred to as “irregular terrain elements”.

The rough terrain element is deformed by the rotation of the driving wheel 100 so as to be dragged by the rotational movement of the outer edge in contact therewith. This is a phenomenon similar to the deformation of a fluid mass composed of fluid components such as the atmosphere and water accompanying the movement thereof. FIG. 14, which will be described in detail later, shows a schematic diagram related to this modification.

In FIG. 31, a reaction force in the traveling direction is generated at C, but before and after the reaction force becomes a reaction force in a direction other than the traveling direction. This is the problem. That is, in A → B,
The reaction force in the direction of raising the driving wheel, C → D, is the reaction force in the direction of lowering and burying the driving wheel. Especially for the latter,
It is often impossible to drive when the driving wheel is buried in sand. This state is referred to as a “stack state”.

Attention is paid to the irregular terrain elements at five positions of ABCDE in FIG. V is the peripheral speed of the outer edge during running wheel rotation.
0, Vs is the speed of the rough terrain element at each ABCDE point.
FIG. 32A is a graph of the velocity position distribution with the circumferential position including ABCDE as the horizontal axis and Vs as the vertical axis. The measurement of the speed Vs can be performed by image analysis of a moving image around the moving wheel that is being photographed by a fiber scope. Here, the details of the measurement method are omitted.

Now, the frictional force f (101) between the rough ground and the driving wheel
Increases as the speed difference between the rough terrain element speed Vs and the wheel speed V0 increases. FIG. 32 shows f in a graph.
(B).

FIG. 32B shows that the reaction force of the driving wheel mainly increases at points B and D. This is shown in FIG. The reaction forces at these two points are typical, and are respectively a "force for burying a driving wheel on an irregular ground" and a "force for causing a driving wheel to escape from an irregular ground". The latter is 104 in FIG. 33, and the former is 1
03.

[0014] 103 and 104 have a great influence on the condition of the running wheel on soft uneven terrain. That is, as shown in FIG. 34, in the state (a) to the state (b) during traveling by frictional force,
If 104> 103, the state becomes the state (f) in which the driving wheel escapes from the rough terrain, and returns to (a) through (a ′).

On the other hand, if 104 <103 in (b), (c) → (d) → (e), the driving wheels are buried in irregular terrain and are in a stacked state.

FIG. 32 shows Vs and f in a state where 104 and 103 are almost balanced. On the other hand, the solid line in FIG. 35 is the Vs and f distribution in the case of 104 <103 where “stacking” is performed, and the dotted line is the case of 104> 103 where escape from the rough terrain.

A "balloon tire" has been devised in order to improve the problem of the "running wheel" as described above. This is a tire with a low internal pressure, which aims to increase the frictional force in the running direction by increasing the installation area on uneven terrain. This is shown in FIG.
As shown in (1), since the inside is at a low pressure, the tire is deformed flat and the contact area of the running surface is increased. As a result, the frictional force in the traveling direction increases, so that the traveling direction reaction force increases and the vehicle travels.

However, balloon tires require a certain degree of "hardness" on the road surface. It is difficult to run on a soft running surface that is easily buried in a sandy sand. That is, as shown in FIG. 39, on a soft running surface, the situation becomes the same as that of the “drive wheel”, and the vehicle is buried and stuck.

FIG. 36 and FIG. 37 are diagrams showing problems when traveling on sandy irregular terrain by a traveling mechanism using an endless track 108 called a caterpillar or crawler. That is, as shown in FIG. 36, sand enters the endless track.
Then, troubles such as "reeling" and "biting" in FIG. 37 are caused, and the vehicle cannot run. In the Gulf War, many tanks suffered similar troubles in the desert and were unable to run and were abandoned.

FIG. 40 shows the driving wheel 10 to which the blade lug 106 is attached.
7 There are many practical applications of agricultural machines such as cultivators and tractors that have paddles for pushing irregular terrain elements on the sides of the driving wheel. They generally have good running performance in muddy fields.

However, on sandy irregular terrain, the paddles on the side surfaces of the driving wheels tend to be stuck. The reason is,
As shown in FIG. 41, the sand on the side is eliminated due to the presence of the driving wheel, and the sand is not caught on the paddle. After all, FIG.
As shown in (c) or (d), the sand is inclined at an angle of repose substantially on the side surface of the driving wheel, and the sand is stuck.

The essence of the moving mechanism is to control the frictional force between the running surface and the contact surface of the drive mechanism. Therefore, it would be ideal if the friction force could be freely controlled. If a method such as that disclosed in Japanese Patent Application Laid-Open No. 5-229461, "Car with Road / Tire Friction Coefficient Control Means" is implemented, it will be possible to move and travel on any uneven ground.

However, the above-mentioned known technique is intended for an artificial pavement surface such as asphalt, and it is impossible to control the frictional force by spraying liquid disclosed in the patent on a hygroscopic running surface such as desert. is there.

Further, Japanese Unexamined Patent Publication No. Hei 8-71961 "Rough Terrain Mobile Robot" proposes a mechanism in which an extendable leg mechanism is attached to an endless track. However, this is a large-scale and complicated mechanism. There is a problem of design cost. In addition to the problem of cost, there is also a problem that running on sandy uneven terrain may become impossible due to sand being mixed into a complicated mechanism.

FIG. 4 shows a summary of the prior art described above.
Shown inside. The present invention has been invented to solve these problems, and proposes a simple mechanism for realizing traveling on rough terrain and non-stop traveling between rough terrain and terrain. At the same time, it provides a design method.

[0026]

According to the present invention, there is provided a mechanism in which a "surface friction generating board" and a "paddle-shaped push board" which come into discontinuous contact with uneven terrain are attached to tips of spokes rotating around a rotation axis. It is the basis of rough terrain driving.

FIGS. 2 and 3 show an example of the above-mentioned mechanism, in which four spokes 4 are installed on a rotating shaft 1 in a point-symmetrical radial manner, and a paddle-shaped push board 2 or a surface friction generating board 3 is provided at the tip thereof. Is attached.

As described above, according to the present invention, the surface friction generating board 3 which is substantially horizontal at the lowermost point of rotation or the uppermost point of rotation, or the substantially vertical Paddle-shaped push board 2
Is provided. The paddle-shaped push board 2 is moved by the reaction force of the pressing force of the uneven ground component, or the reaction force of the friction force generated when the surface friction generating board 3 comes into contact with the irregular ground. (Claim 1)

With such a mechanism, it does not continuously contact the moving running surface like a driving wheel, but comes into "discontinuous" contact. This discontinuous contact avoids the generation of a force that is a loss for the traveling movement such as 103 and 104 shown in FIGS.

The theoretical explanation that discontinuous contact is effective for traveling on uneven terrain is difficult at present. But,
The discontinuous contact allows the surface friction generating board to generate a greater frictional force with the rough terrain element than with the driving wheel. The reason is that it is considered that the relative speed of the discontinuous contact is higher than the relative speed of the two in contact with the continuous contact.

Further, the paddle-like push board can effectively push (push) against the free-flowing uneven terrain element. This is similar to the function of paddles on water boats, and moves and travels in response to the push force. This is the same theory as moving in a fluid.

In the present invention, a plurality of spokes extending radially symmetrically with respect to a point may be provided at different positions in the direction of the rotation axis. Specifically, the structure of FIG. 24 described later is an example. In FIG. 24, the same boards are mounted in the same number, but any combination such as different board types, different board shapes, and different numbers of spokes is possible. (Claim 2)

Further, FIG. 1 shows a basic example of a mechanism that can move in common on both uneven terrain and level terrain, and can travel non-stop between them. It has four spokes, and the tip is equipped with a board that combines surface friction and paddle push. The rotary shaft has two terrain running wheels 5. The function of this mechanism will be described later.

FIG. 4 shows a comparison summary between the basic mechanism of the present invention and the prior art. A new feature of the present invention is that it enables mobile traveling on soft uneven terrain such as sand, which was difficult with the conventional technology.

FIG. 5 is a perspective view of another embodiment of a mechanism capable of commonly moving the leveling and the terrain, which is the same as FIG. 1 for the "surface friction generating and paddle-shaped push board" and the surface friction generating board 3. The eight spokes 4 are alternately provided.

FIG. 6 is an explanatory perspective view of a combination of the moving body 6 having a driving device for the rotating shaft and a load and a mounting portion for the occupant and the mechanism of the present invention. FIG. 6A shows an example in which a surface friction generating and paddle-shaped push board is attached to two spokes in the middle of the moving body 6 and the terrain driving wheel 5. FIG. 6B shows the same spoke with a board as the moving body 6.
This is an example in which it is attached to the outside of the driving wheel 5.

As described above, in the present invention, the "surface friction generating board"
You can freely select the combination of the "paddle-shaped push board" and the mounting position of the rotating shaft, so various combinations are possible in consideration of the situation of the traveling surface such as the type of components on uneven terrain, safety, cost, etc. It is possible to configure.

FIG. 7 is a schematic diagram for explaining non-stop traveling on level and irregular terrain according to the present invention. That is, on leveling of asphalt or the like, the vehicle travels by the leveling traveling wheel 5. When the vehicle enters the rough terrain as it is, 5 is buried in the soft terrain element, and the vehicle body sinks slightly downward. In this state, the surface friction generating board or the paddle-shaped push board generates a frictional force or a pushing force, so that it can continuously move and travel.

Referring to FIG. 8, a description will be given of basic design values of a mechanism which enables continuous traveling on rough terrain and leveling according to the present invention. For simplicity, cylindrical coordinates (r, θ, z) with the rotation axis as the coordinate center axis will be considered. The upper part of FIG. 8 is an explanatory cylinder of cylindrical coordinates.

The basic design values are the values of the clearance (gap) in the r, θ, and z directions. First, the r-direction (rotational radius direction) clearance: C (r) is determined mainly by the obstacle size on the ground preparation road surface. FIG.
It is explanatory drawing regarding determination of (r).

As shown in FIG. 13, if a clearance C (r) larger than the maximum size dmax of an obstacle expected to be on the terrain running surface is taken, contact and collision between the obstacle and the board are avoided. Safe and secure.

That is, in the position where the spoke 4 of the rotating shaft 1 is not present, the clearance R in the rotating radial direction according to the obstacle on the ground running surface with respect to the rotating radius R of the surface friction generating board 3 or the paddle-shaped push board 2: C ( The driving wheel 5 for leveling travel may have a radius [R + C (r)] to which r) is added.
(Claims 3 and 16)

Next, the clearance in the z direction (rotation axis direction): C (z) is experimentally determined by observing the state of the irregular terrain element during traveling. FIG. 9 is a diagram schematically illustrating this. In FIG. 9, (1) → (2) → (3) shows a change in the traveling surface moving from the leveling to the irregular level. And
a), b), and c) are the cases where C (z) is set to be approximately zero, approximately the width of an irregular ground driving wheel w, and approximately twice as large as w.

As shown in FIG. 9A, when C (z) is set to substantially zero, the irregular terrain element is removed by the driving wheel 5 as in the conventional tire with lug, and the paddle idles. This is a process leading to a stack similar to that of FIG.

On the other hand, it is not the case that C (z) should be increased. When C (z) is increased in the first place, the moment of inertia is increased by the length of the axle, the required driving force is increased, and the width and volume of the rotating portion are increased, so that steering (steering) becomes difficult. Further FIG.
As shown in c), since the spokes are buried in the irregular terrain element, the rotation resistance increases, which is a problem.

The optimum C (z) as in the state shown in FIG. 9B can be experimentally obtained. For example, as shown in FIG.
Observe and read what is close to the angle of repose of the irregular terrain element.
With reference to this, an appropriate value of the clearance C (z) in which the paddle or the like does not idle and the spokes are not buried is estimated and determined.

As described above, the grounding traveling wheel 5 is applied to the surface friction generating board 3 or the paddle-shaped push board 2.
Are separated in the direction of the rotational axis by a clearance of C (z), which is experimentally determined according to the change in the irregular terrain during running, so that the stack is prevented, and the vehicle travels on irregular terrain. Becomes more certain. (Claims 4 and 17)

Further, as shown in FIG. 11, a simulation container 9 for rough terrain may be prepared, and the same observation as in FIG. 10 may be performed. Here, it is preferable to use the rotary drive device 7 that can also change the load because various load states can be simulated.

Finally, the clearance in the θ direction: C (θ), which is the interval between a plurality of spokes. Briefly,
It is a decision on how many spokes to make. This will be determined experimentally based on "whether or not a driving force that meets the heavy load" of the loaded cargo and passengers will be obtained. For example, an experiment may be performed in the simulation container 9 by attaching a measuring device 10 that measures a driving force as a traction force.

As described above, C (θ), that is, the number of the spokes 4 extending in a point-symmetrical radial manner is different from that of the surface friction generating board 3 or the paddle-shaped push board 2 during the rotation of the rotary shaft 1 and the component of the uneven terrain. Reaction force generated between
Or from a measurement of the relative speed of the board and the terrain component. (Claim 5)

However, instead of changing only C (θ) and trying a design change for an optimal design, for example, FIG.
The board width and length Pa, Pb, Fa, and Fb shown in FIG. 3 may be changed. Further, the material and thickness (width w) of the driving wheel for leveling travel, the number of driving wheels, the position of the spoke group on the rotating shaft and the number of spokes are also variable.

The number of wheels for terrain travel is shown in FIG.
Single type (single), double type (doubl
e), a schematic diagram of a triple type is shown.

The method for determining the clearance value has been described above. FIG. 15 shows a design flowchart of the mechanism of the present invention including a clearance determination operation.

In particular, C (θ) for the frictional force generating board
In order to make the determination more theoretically, the relative speed between the rough terrain element and the board may be evaluated. The reason will be described below.

The frictional force is a "force for peeling off intermolecular attractive force (van der Waals force)" between contacting object molecules.
It is. If the relative speed is small, it means that the peeling has not been performed, so that the frictional force is small.
Since the slip state is a state in which the relative velocities of the object molecules at the contact interface are close to zero, the frictional force is very small.

In the vicinity of the point C in FIG. 31, the outer periphery molecules of the driving wheel and the rough terrain element molecules are in a slip state at a relative speed of zero, and the frictional force is also zero.

Conversely, the greater the relative speed, the more "peeling" between the terrain element and the board.
Therefore, the frictional force increases.

As shown in FIG. 14, the relative speed is determined by determining the reference point 11 of the rotating body, marking the irregular element group 12 near the rotating contact portion, and photographing the movement of the irregular ground element during rotation with a fiberscope or the like. It may be measured by analyzing the image.
The driving wheel shown in the left diagram of FIG. 14 is deformed so that the rough terrain element is dragged. In this state, the relative speed is relatively small,
This is a situation where a large frictional force has not been obtained.

In the center and right figures of FIG. 14, the four spokes (right figure) have less deformation of the irregular terrain element than the eight spokes (middle figure), and a relatively large amount of “peeling” occurs at the contact interface. Has occurred. Therefore, in this case, it is considered that the four spokes generate a larger frictional force and the driving force is the largest among the three of FIG.

Further, three spokes and two spokes may be measured to evaluate the driving force "per rotation". That is, for example, the evaluation may be made based on the magnitude of a value obtained by multiplying the measured value of the relative speed by the number of spokes. Instead of the number of spokes, the spoke interval may be used for evaluating the driving force per rotation. In that case, the measured value may be divided by the interval value. (Claim 18)

The improvement of the board will be described. FIG.
6, FIG. 17 shows a paddle-shaped push board in which a folding mechanism is added. It is better that the push force of the paddle acts only in the moving direction, like the friction. Pushing in other directions not only does not provide a moving force but also causes the moving body to move up and down, causing stacking.

Therefore, as shown in FIG. 17, when the area of the push surface is not in contact with the irregular ground, the area is folded as small as possible, and the area is gradually increased immediately after the push. It is effective if it becomes.

That is, by providing a board folding means for reducing the area of the surface friction generating board 3 or the paddle-shaped push board 2 in accordance with the contact with the rough terrain, an effective friction force and push force can be obtained. . (Claim 6)

FIGS. 20 and 21 show an embodiment of a paddle-shaped push board of a system of folding and folding. This is a paddle-shaped push board with a "habit" attached to a sheet-like material, which is usually rolled and folded into a coil shape. If the “habit” is strong enough to return to its original size when it invades an irregular terrain element, an effective push is performed. (Claim 7)

FIG. 21 is a schematic diagram of the push operation of the coiled round folding type sheet. It is made of a material and "habit" that has a maximum area at the lowest position when the push force in the direction of movement is greatest. It would be more effective to attach a reverse bending prevention rib or the like that does not bend in the opposite direction to the back surface of the seat.

FIG. 18 shows a surface friction generating board in which a bending mechanism similar to the operation of the animal's front legs is added. If the bending mechanism is not provided during the rotation operation, an action such as "scratching" the irregular terrain element as shown in the right diagram of FIG. If the bending mechanism is provided as shown in the left diagram of FIG. 19, the scratching action is improved so as to be reduced, and the element comes into contact with the rough terrain element softly, and unnecessary energy loss for scratching is eliminated.

As described above, by providing the board angle changing means for changing the angle between the surface of the surface friction generating board 3 or the surface of the paddle-shaped push board 2 and the spokes 4, loss of frictional force or push force can be reduced. it can.

In other words, in the left diagram of FIG. 19, immediately before the surface friction generating board 3 comes into contact with the irregular ground, the angle between the surface friction generating surface and the irregular ground is set to a small angle of less than 45 degrees without “scratching”. Contact with irregular terrain. Thereafter, the angle between the board surface and the spokes 4 is smoothly changed to 90 degrees until reaching the lowest point of rotation. (Claim 9)

It is also assumed that the surface friction generating board 3 or the paddle-shaped push board 2 has a shape that is asymmetric with respect to the rotational direction and generates a large driving force when moving forward. Then, it is assumed that only a small driving force is applied when retreating. Thus, for example, if these are mixed in a spoke group at a certain rotation axis position, both forward and backward movements are possible. (Claim 10)

In particular, when the board is a V-shaped or an inverted V-shaped bent board, a large driving force is generated when the board is moved forward or backward while having a simple shape. Therefore, if the V-shaped board and the inverted V-shaped board are mixed, the forward and backward movement can be efficiently performed. (Claim 11)

FIG. 22 is an explanatory diagram of the problem of the bottom contact of the moving body. In leveling such as asphalt as shown in FIG. 22 (a), the bottom surface of the moving body does not contact with the leveling running surface, and a certain gap is formed. However, on uneven terrain, the moving body sinks into the irregular terrain element, so that there is no gap between the bottom surface and the irregular terrain as shown in FIG. 22B, and the bottom surface comes into contact with the irregular terrain element.

Both the conventional driving wheel and the terrain traveling wheel according to the present invention similarly settle on uneven terrain, so that contact occurs. When this bottom contact occurs, a frictional resistance in the direction opposite to the movement is generated, which is not preferable.

A method for solving this bottom contact problem is shown in FIGS.
This will be described in Section 5. First, there is a countermeasure to put the bottom of the moving body upward. Therefore, the rotating shaft must also be driven to rotate from above.

FIG. 23 shows an embodiment of a solution for driving a rotating shaft from above by using a rotation transmitting mechanism including a differential gear of a four-wheeled vehicle. A rotating shaft is driven from above by a rotation transmitting mechanism 13 including a gear, a universal joint, a differential gear and the like from a rotation driving source 11 installed in the moving body. It is clear from FIG. 23 that the contact problem on the bottom surface is improved to some extent.

FIG. 24 shows another embodiment in which the rotating shaft is driven from above. Here, the rotation transmission mechanism is provided on the side surface.

FIG. 25 shows a spoke group with a paddle-like push board rotating at the center of the vehicle body in the direction of the rotation axis with a second rotation shaft projecting in front of the moving body (vehicle body). In this way, the irregular terrain element at the center of the rotating shaft is scraped off by the paddle in the forward direction of the traveling direction, so that the contact with the bottom surface is alleviated to some extent.

Also in FIG. 25, a third
Similarly, a group of spokes with a paddle-shaped push board is rotated at the center of the vehicle body in the direction of the rotation axis. This also has the effect of alleviating bottom contact similar to the effect of the above-described front projecting rotation shaft.

As described above, the second and third parts are provided at the front and center of the vehicle body.
And the spokes are arranged “in a staggered manner” in the rotation axis direction, thereby preventing the bottom surface from contacting the irregular terrain element at a specific position in the rotation axis direction of the moving body and causing resistance.

That is, a plurality of rotation axes are provided in parallel,
Since the spokes or the terrain running wheels are arranged in a staggered manner in the axial direction of the rotating shaft, the resistance at the bottom of the moving body can be reduced. (Claim 12)

[0080]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention can be realized by modifying the undercarriage of a conventional automobile or motorcycle. That is, the rotating shaft 1 may be an axle, and the vehicle body having the rotating shaft driving mechanism may be realized as an automobile or a motorbike. FIG. 26 shows an example of motorcycle modification. (Claim 13)

Further, on uneven terrain where rocks and the like are scattered, it is effective to have spoke expansion / contraction means for expanding / contracting the length of the spokes for buffering vibration when the board comes into contact with the rock. FIG. 27 shows an operation example of the extension mechanism. (Claim 14)

The telescopic mechanism may follow the telescopic leg mechanism technology known in Japanese Unexamined Patent Application Publication No. 8-71961 "Rough Terrain Mobile Robot" or the like.

Furthermore, it is possible to control the expansion and contraction mechanism to minimize the inclination of the moving body. That is, the level of the rotation axis may be detected by a level sensor, and the level may be controlled as a control target. FIG. 28 shows a state in which horizontal control is not performed, and FIG. 29 shows a state in which horizontal control is performed. (Claim 15)

[0084]

EXAMPLE The effect of reducing the probability of occurrence of a stack to zero or lower was experimentally confirmed by the mechanism of the present invention. For example, an experiment was conducted in a dry sandbox at Kujukuri Beach in Chiba Prefecture. Under the same conditions as when a conventional driving wheel, balloon tire, tire with blade lugs, and a trackless mechanism caused almost 100% of stacking and other running failures, With this mechanism, practical traveling was possible.

[0085]

According to the present invention, it is possible to provide a moving device that travels on rough terrain such as desert, farmland, muddy land, snowy land, and rocky place. In particular, a device for non-stop and common travel on rough terrain and leveling (paved road) has been realized. In addition, a design method was designed to design the device according to the rough terrain and the running surface conditions of the terrain, and the design methodology of the moving mechanism corresponding to various terrain was established.

[Brief description of the drawings]

FIG. 1 is a moving mechanism for both a pavement and an uneven terrain according to the third aspect of the present invention.

FIG. 2 is a perspective view showing a moving mechanism having a paddle-shaped push board according to the present invention;

FIG. 3 shows a moving mechanism having the surface friction generating board according to claim 1 of the present invention.

FIG. 4 is a comparison table between the prior art (patent) and the present invention.

FIG. 5 is a plan view showing a third embodiment of the present invention in which the boards of the first and second aspects are mixed;
Perspective view of the embodiment of FIG.

FIG. 6 is an embodiment of the present invention in which a board is arranged between a vehicle body and a driving wheel.

FIG. 7 is an embodiment of the present invention in which a board is arranged outside a driving wheel.

FIG. 8 is an explanatory diagram of non-stop movement on leveling and uneven ground according to claim 3 of the present invention.

FIG. 9 is an explanatory diagram of a method for determining a clearance C (z).

FIG. 10: Observation of the running surface after running the wheel

FIG. 11 is an observation of a running surface state by a rough terrain simulation device.

FIG. 12 Measurement of reaction force from uneven terrain

FIG. 13: Board width, length and clearance C
(R)

FIG. 14 Changes in the state (position) of irregular terrain elements between the driving wheel and the present invention

FIG. 15 is a flowchart of a design method according to claim 14 of the present invention;

FIG. 16 shows an example of a board folding mechanism according to claim 6 of the present invention.

FIG. 17 is an explanatory diagram of the operation of the folding mechanism.

FIG. 18 shows an example of the angle changing mechanism according to claim 8 of the present invention.

FIG. 19 is an explanatory diagram of the operation of the angle changing mechanism.

FIG. 20 is a sheet-like board material according to claim 7 of the present invention.

FIG. 21 is an explanatory diagram of an area change of a sheet-like board material.

FIG. 22 is an explanatory diagram of a phenomenon in which a lower portion of a vehicle body is stuck in contact with irregular terrain;

FIG. 23 is an embodiment in which a differential gear of a four-wheeled vehicle is modified.

FIG. 24 is an embodiment in which a drive mechanism is provided over the entire lower part of the vehicle body.

FIG. 25 is an embodiment of a staggered arrangement according to claim 12 of the present invention.

26. The motorbike according to claim 13 of the present invention.

FIG. 27 is an explanatory diagram of the operation of the spoke extension mechanism.

FIG. 28: Example without rotational axis leveling control

FIG. 29 shows an example of a rotation axis leveling control operation;

FIG. 30: Driving force of driving wheels on leveling (paved road)

FIG. 31 shows the speed of an irregular terrain element around a driving wheel on an irregular terrain

FIG. 32: Velocity and frictional force of irregular terrain element

FIG. 33: Force applied to a driving wheel on uneven terrain

FIG. 34 is a flowchart of a process for escaping from uneven terrain and a case of stacking.

FIG. 35: Uneven terrain element speed and friction force in case of escape and stack

FIG. 36 is an explanatory diagram of a state in which sand enters the endless track of the caterpillar crawler.

FIG. 37 is an explanatory view of a problem of derailing from an endless track and sand entrapment.

FIG. 38: Balloon (low pressure) tire on hard uneven ground

FIG. 39 shows a balloon tire on a rough terrain.

FIG. 40: Tire with blade lug (paddle)

FIG. 41: Tires with blade lugs stuck on soft uneven terrain

[Explanation of Signs] C (r): Radial clearance C (z): Rotational axis clearance C (θ): Rotational direction clearance (spoke interval) dmax: Maximum size of obstacle on leveling running surface f: Friction force Fa : Width of surface friction generating board Fb: Length of surface friction generating board Pa: Width of paddle-shaped push board Pb: Length of paddle-shaped push board (r, θ, z): Cylindrical coordinate system Vs: Roughness element Speed V0: Peripheral speed of driving wheel 1 Rotary shaft 2 Paddle-shaped push board 3 Surface friction generating board 4 Spoke 5 Driving wheel for terrain running 6 Moving body having rotary shaft rotation driving means 7 Rough terrain (paved road) 8 Rough terrain 9 Uneven terrain Simulation container for traveling 10 Traction force measuring device 11 Rotation drive source (motor) 12 Rotation transmission mechanism 13 Rotation transmission mechanism including differential gear 1 0 Driving wheel 101 Friction force between driving wheel contact surface and running surface 102 Reaction force of friction force 103 Reaction force to bury driving wheel on uneven terrain 104 Reaction force to cause driving wheel to escape from uneven terrain 105 Balloon (low pressure) tire 106 Blade lug (paddle) 107 Driving wheel with blade lug 108 Endless track (caterpillar)

Claims (18)

[Claims] 1. A surface friction generating board which is substantially horizontal at the lowest point of rotation or the highest point of rotation, or a paddle-like push board which is substantially vertical at the tip of one or more spokes vertically mounted on the rotation axis. A moving mechanism for an uneven terrain, comprising a reaction force of a frictional force generated when the surface friction generating board comes into contact with the irregular terrain, or a reaction force of a force of the paddle-like push board pressing the irregular terrain component. . 2. The rough terrain moving mechanism according to claim 1, further comprising a plurality of spokes extending radially in a point-symmetric manner at each of one or more different positions in the rotation axis direction. 3. The rotation axis has a maximum rotation radius R of a surface friction generating board or a paddle-shaped push board and a clearance in a rotation radius direction C (r) according to an obstacle on the ground running surface.
The terrain moving mechanism according to claim 1 or 2, further comprising a terrain running wheel having a radius [R + C (r)] obtained by adding the following. 4. A terrain traveling wheel is provided in a rotational axis direction at a clearance of C (z) with respect to a surface friction generating board or a paddle-like push board in accordance with a change in irregular terrain during traveling. The uneven terrain moving mechanism according to claim 3, which is separated. 5. The number of spokes extending radially symmetrical with respect to a point is determined by a reaction force generated between a surface friction generating board or a paddle-shaped push board and a component on an uneven ground during rotation of a rotating shaft, or the number of spokes. 3. The terrain moving mechanism according to claim 2, wherein the terrain moving mechanism is determined from a relative speed with the terrain component. 6. The moving mechanism for uneven terrain according to claim 1, further comprising board folding means for reducing an area of the surface friction generating board or the paddle-shaped push board from a normal state in accordance with contact with the uneven terrain. 7. The rough terrain moving mechanism according to claim 6, wherein the board folding means winds the sheet-like board material into a coil shape. 8. An irregular terrain moving mechanism according to claim 1, further comprising a board angle changing means for changing an angle formed between the spoke and the surface friction generating board surface or the paddle-shaped push board surface. 9. An angle formed between a surface friction generating surface and a spoke in the board angle changing means is such that an angle formed between the surface friction generating surface and the irregular ground is less than 45 degrees immediately before the board comes into contact with irregular ground. 9. The uneven terrain moving mechanism according to claim 8, wherein the angle between the spoke surface and the spoke is smoothly changed to 90 degrees from the point of contact with the irregular ground to the lowest point of rotation. 10. The shape of the surface friction generating board or the paddle-shaped push board is asymmetric with respect to the rotation direction, and a shape that generates a large reaction force when moving forward and a shape that generates a large reaction force when moving backward. Claim 1 which is mixed
Alternatively, the uneven terrain moving mechanism according to claim 2. 11. The uneven terrain moving mechanism according to claim 10, wherein the board that generates a large reaction force when moving forward or backward is a V-shaped or inverted V-shaped bent board. 12. The rotating shaft according to claim 1, wherein a plurality of rotating shafts are arranged in parallel, and the spokes are arranged in a staggered manner in the axial direction of the rotating shaft.
Alternatively, the uneven terrain moving mechanism according to claim 2. 13. The uneven terrain moving mechanism according to claim 3, wherein the rotating shaft is an axle, and the vehicle body having the rotating shaft driving mechanism is an automobile or a motorbike. 14. The uneven terrain moving mechanism according to claim 1, further comprising a spoke extending / contracting means which extends / contracts a length of the spoke for damping vibration. 15. The rough terrain moving mechanism according to claim 14, wherein the spoke extension / contraction means is controlled by the rotation axis horizontal maintaining means to keep the rotation axis substantially horizontal. 16. On uneven terrain, a reaction of frictional force in discontinuous contact between the uneven ground and the rotating body, or a reaction of a rotating body that pushes the uneven terrain element discontinuously, When designing a mechanism to move by the reaction of frictional force due to continuous contact of the ground-moving moving wheels on the same rotation axis as the above, the radius of the moving wheels for leveling travel is more than the maximum turning radius R of the rotating body for uneven-terrain running. A method for designing a moving mechanism for rough terrain, characterized in that a clearance in a rotational radius direction corresponding to an obstacle on the ground is set to be larger by C (r). 17. On uneven terrain, a reaction of frictional force in discontinuous contact between uneven ground and a rotating body, or a reaction of a rotating body that pushes an uneven terrain element discontinuously, When designing a mechanism that moves by the reaction of frictional force due to continuous contact of the terrain moving wheel on the same rotation axis as the terrain traveling wheel, the terrain running wheel and the terrain A method of designing a moving mechanism for rough terrain, characterized in that a clearance in the direction of the rotation axis corresponding to the clearance C (z) is set in the direction of the rotation axis. 18. When designing a mechanism that moves by the reaction of frictional force in discontinuous contact between the irregular ground and the rotating body, a relative velocity near a contact interface between the rotating body and the irregular ground element during rotation is measured. Estimate the magnitude of the driving force per rotation from the measured values and the number of parts of the rotating body that make discontinuous contact with the irregular terrain element or the discontinuous distance, and thereby determine the rotational direction clearance: C (θ). Design method of moving mechanism on uneven terrain.