JPWO2021014543A5 - - Google Patents
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- JPWO2021014543A5 JPWO2021014543A5 JP2021534435A JP2021534435A JPWO2021014543A5 JP WO2021014543 A5 JPWO2021014543 A5 JP WO2021014543A5 JP 2021534435 A JP2021534435 A JP 2021534435A JP 2021534435 A JP2021534435 A JP 2021534435A JP WO2021014543 A5 JPWO2021014543 A5 JP WO2021014543A5
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- link member
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Claims (9)
複数の車輪と、
左側車輪連結機構と、
右側車輪連結機構と、
前記左側車輪連結機構と、前記右側車輪連結機構とを連結する横連結部材と
を具備し、
前記複数の車輪は、第１車輪、第２車輪、第３車輪、第４車輪、第５車輪、および、第６車輪を含み、
前記左側車輪連結機構は、
第１リンク部材と、
第２リンク部材と、
前記第１リンク部材と前記第２リンク部材とを連結する第３リンク部材と
を含み、
前記第１リンク部材は、第１領域において前記第１車輪を回転可能に支持する第１支持部材に接続され、第２領域において前記第２車輪を回転可能に支持する第２支持部材に接続され、前記第１リンク部材は、前記第１領域と前記第２領域との間に位置する第１回転軸のまわりを回転可能であり、
前記第２リンク部材は、第３領域において前記第３リンク部材に接続され、第４領域において前記第３車輪を回転可能に支持する第３支持部材に接続され、前記第２リンク部材は、前記第３領域と前記第４領域との間に位置する第２回転軸のまわりを回転可能であり、
前記第１リンク部材は、第１ボールジョイントを介して前記第３リンク部材に接続され、前記第３リンク部材は、第２ボールジョイントを介して前記第２リンク部材に接続されている
走行車両。 With the vehicle body
With multiple wheels,
Left wheel connection mechanism and
Right wheel connection mechanism and
A horizontal connecting member for connecting the left wheel connecting mechanism and the right wheel connecting mechanism is provided.
The plurality of wheels include a first wheel, a second wheel, a third wheel, a fourth wheel, a fifth wheel, and a sixth wheel.
The left wheel connecting mechanism is
The first link member and
The second link member and
Includes a third link member that connects the first link member and the second link member.
The first link member is connected to a first support member that rotatably supports the first wheel in the first region, and is connected to a second support member that rotatably supports the second wheel in the second region. , The first link member is rotatable around a first rotation axis located between the first region and the second region.
The second link member is connected to the third link member in the third region, and is connected to the third support member that rotatably supports the third wheel in the fourth region, and the second link member is the same. It is rotatable around a second axis of rotation located between the third region and the fourth region .
The first link member is connected to the third link member via a first ball joint, and the third link member is connected to the second link member via a second ball joint.
Traveling vehicle.
請求項１に記載の走行車両。 The traveling vehicle according to claim 1, wherein the lateral connecting member is capable of roll motion.
複数の車輪と、
左側車輪連結機構と、
右側車輪連結機構と、
前記左側車輪連結機構と、前記右側車輪連結機構とを連結する横連結部材と
を具備し、
前記複数の車輪は、第１車輪、第２車輪、第３車輪、第４車輪、第５車輪、および、第６車輪を含み、
前記左側車輪連結機構は、
第１リンク部材と、
第２リンク部材と、
前記第１リンク部材と前記第２リンク部材とを連結する第３リンク部材と
を含み、
前記第１リンク部材は、第１領域において前記第１車輪を回転可能に支持する第１支持部材に接続され、第２領域において前記第２車輪を回転可能に支持する第２支持部材に接続され、前記第１リンク部材は、前記第１領域と前記第２領域との間に位置する第１回転軸のまわりを回転可能であり、
前記第２リンク部材は、第３領域において前記第３リンク部材に接続され、第４領域において前記第３車輪を回転可能に支持する第３支持部材に接続され、前記第２リンク部材は、前記第３領域と前記第４領域との間に位置する第２回転軸のまわりを回転可能であり、
前記複数の車輪の懸架装置は、非整形地の起伏に追従して前記第１車輪、前記第２車輪、前記第３車輪、前記第４車輪、前記第５車輪、および、前記第６車輪が地面に接地するように、３つの自由度を有し、かつ、ホイールストロークが可能な範囲において、前記車両本体に作用する荷重を、前記第１車輪、前記第２車輪、前記第３車輪、前記第４車輪、前記第５車輪、および、前記第６車輪に等分配する
走行車両。 With the vehicle body
With multiple wheels,
Left wheel connection mechanism and
Right wheel connection mechanism and
A horizontal connecting member that connects the left wheel connecting mechanism and the right wheel connecting mechanism.
Equipped with
The plurality of wheels include a first wheel, a second wheel, a third wheel, a fourth wheel, a fifth wheel, and a sixth wheel.
The left wheel connecting mechanism is
The first link member and
The second link member and
With a third link member connecting the first link member and the second link member
Including
The first link member is connected to a first support member that rotatably supports the first wheel in the first region, and is connected to a second support member that rotatably supports the second wheel in the second region. , The first link member is rotatable around a first rotation axis located between the first region and the second region.
The second link member is connected to the third link member in the third region, and is connected to the third support member that rotatably supports the third wheel in the fourth region, and the second link member is the same. It is rotatable around a second axis of rotation located between the third region and the fourth region.
In the suspension device for the plurality of wheels, the first wheel, the second wheel, the third wheel, the fourth wheel, the fifth wheel, and the sixth wheel follow the undulations of the non-shaped ground. The first wheel, the second wheel, the third wheel, and the load acting on the vehicle body have three degrees of freedom so as to touch the ground and the wheel stroke is possible. A traveling vehicle that is equally distributed to the fourth wheel, the fifth wheel, and the sixth wheel.
複数の車輪と、
左側車輪連結機構と、
右側車輪連結機構と、
前記左側車輪連結機構と、前記右側車輪連結機構とを連結する横連結部材と
を具備し、
前記複数の車輪は、第１車輪、第２車輪、第３車輪、第４車輪、第５車輪、および、第６車輪を含み、
前記左側車輪連結機構は、
第１リンク部材と、
第２リンク部材と、
前記第１リンク部材と前記第２リンク部材とを連結する第３リンク部材と
を含み、
前記第１リンク部材は、第１領域において前記第１車輪を回転可能に支持する第１支持部材に接続され、第２領域において前記第２車輪を回転可能に支持する第２支持部材に接続され、前記第１リンク部材は、前記第１領域と前記第２領域との間に位置する第１回転軸のまわりを回転可能であり、
前記第２リンク部材は、第３領域において前記第３リンク部材に接続され、第４領域において前記第３車輪を回転可能に支持する第３支持部材に接続され、前記第２リンク部材は、前記第３領域と前記第４領域との間に位置する第２回転軸のまわりを回転可能であり、
前記車両本体の後方から前記車両本体の前方に向かう方向を第１方向と定義する時、
前記第２領域と前記第１回転軸との間の前記第１方向に沿う方向における距離は、前記第１領域と前記第１回転軸との間の前記第１方向に沿う方向における距離の約２倍であり、
前記第３領域と前記第２回転軸との間の前記第１方向に沿う方向における距離は、前記第４領域と前記第２回転軸との間の前記第１方向に沿う方向における距離の約２倍である
走行車両。 With the vehicle body
With multiple wheels,
Left wheel connection mechanism and
Right wheel connection mechanism and
A horizontal connecting member that connects the left wheel connecting mechanism and the right wheel connecting mechanism.
Equipped with
The plurality of wheels include a first wheel, a second wheel, a third wheel, a fourth wheel, a fifth wheel, and a sixth wheel.
The left wheel connecting mechanism is
The first link member and
The second link member and
With a third link member connecting the first link member and the second link member
Including
The first link member is connected to a first support member that rotatably supports the first wheel in the first region, and is connected to a second support member that rotatably supports the second wheel in the second region. , The first link member is rotatable around a first rotation axis located between the first region and the second region.
The second link member is connected to the third link member in the third region, and is connected to the third support member that rotatably supports the third wheel in the fourth region, and the second link member is the same. It is rotatable around a second axis of rotation located between the third region and the fourth region.
When the direction from the rear of the vehicle body to the front of the vehicle body is defined as the first direction,
The distance between the second region and the first rotation axis in the direction along the first direction is about the distance between the first region and the first rotation axis in the direction along the first direction. Twice,
The distance between the third region and the second rotation axis in the direction along the first direction is about the distance between the fourth region and the second rotation axis in the direction along the first direction. A traveling vehicle that is twice as large.
複数の車輪と、
左側車輪連結機構と、
右側車輪連結機構と、
前記左側車輪連結機構と、前記右側車輪連結機構とを連結する横連結部材と
を具備し、
前記複数の車輪は、第１車輪、第２車輪、第３車輪、第４車輪、第５車輪、および、第６車輪を含み、
前記左側車輪連結機構は、
第１リンク部材と、
第２リンク部材と、
前記第１リンク部材と前記第２リンク部材とを連結する第３リンク部材と
を含み、
前記第１リンク部材は、第１領域において前記第１車輪を回転可能に支持する第１支持部材に接続され、第２領域において前記第２車輪を回転可能に支持する第２支持部材に接続され、前記第１リンク部材は、前記第１領域と前記第２領域との間に位置する第１回転軸のまわりを回転可能であり、
前記第２リンク部材は、第３領域において前記第３リンク部材に接続され、第４領域において前記第３車輪を回転可能に支持する第３支持部材に接続され、前記第２リンク部材は、前記第３領域と前記第４領域との間に位置する第２回転軸のまわりを回転可能であり、
前記第１車輪、前記第２車輪、前記第３車輪、前記第４車輪、前記第５車輪、および、前記第６車輪が、基準面に接地する第１状態から、
前記第２車輪、前記第３車輪、前記第４車輪、前記第５車輪、および、前記第６車輪が、前記基準面に接地し、前記第１車輪が、前記基準面よりも高さＨだけ高い面に接地する第２状態に変化するとき、
前記車両本体の中央部の高さは、Ｈ×１／６だけ高くなるように構成されている
走行車両。 With the vehicle body
With multiple wheels,
Left wheel connection mechanism and
Right wheel connection mechanism and
A horizontal connecting member that connects the left wheel connecting mechanism and the right wheel connecting mechanism.
Equipped with
The plurality of wheels include a first wheel, a second wheel, a third wheel, a fourth wheel, a fifth wheel, and a sixth wheel.
The left wheel connecting mechanism is
The first link member and
The second link member and
With a third link member connecting the first link member and the second link member
Including
The first link member is connected to a first support member that rotatably supports the first wheel in the first region, and is connected to a second support member that rotatably supports the second wheel in the second region. , The first link member is rotatable around a first rotation axis located between the first region and the second region.
The second link member is connected to the third link member in the third region, and is connected to the third support member that rotatably supports the third wheel in the fourth region, and the second link member is the same. It is rotatable around a second axis of rotation located between the third region and the fourth region.
From the first state in which the first wheel, the second wheel, the third wheel, the fourth wheel, the fifth wheel, and the sixth wheel touch the reference surface.
The second wheel, the third wheel, the fourth wheel, the fifth wheel, and the sixth wheel are in contact with the reference plane, and the first wheel is only higher than the reference plane by H. When changing to the second state of grounding to a high surface
A traveling vehicle configured so that the height of the central portion of the vehicle body is increased by H × 1/6.
第１部分と、
前記第１部分に対して相対的に角度変化可能な第２部分と、
前記第１部分と前記第２部分との間の角度変化に抗する付勢力を付与する付勢部材と
を含む
請求項１乃至５のいずれか一項に記載の走行車両。 At least one of the first link member and the second link member is
The first part and
The second part whose angle can be changed relative to the first part and
The traveling vehicle according to any one of claims 1 to 5 , further comprising an urging member that imparts an urging force that resists an angular change between the first portion and the second portion.
請求項６に記載の走行車両。 According to claim 6 , the angle between the first portion and the second portion is maintained at a predetermined angle until the acting torque acting on the first portion and the second portion exceeds the set torque. The traveling vehicle described.
複数の車輪と、
左側車輪連結機構と、
右側車輪連結機構と、
前記左側車輪連結機構と、前記右側車輪連結機構とを連結する横連結部材と
を具備し、
前記複数の車輪は、第１車輪、第２車輪、第３車輪、第４車輪、第５車輪、および、第６車輪を含み、
前記左側車輪連結機構は、
第１リンク部材と、
第２リンク部材と、
前記第１リンク部材と前記第２リンク部材とを連結する第３リンク部材と
を含み、
前記第１リンク部材は、第１領域において前記第１車輪を回転可能に支持する第１支持部材に接続され、第２領域において前記第２車輪を回転可能に支持する第２支持部材に接続され、前記第１リンク部材は、前記第１領域と前記第２領域との間に位置する第１回転軸のまわりを回転可能であり、
前記第２リンク部材は、第３領域において前記第３リンク部材に接続され、第４領域において前記第３車輪を回転可能に支持する第３支持部材に接続され、前記第２リンク部材は、前記第３領域と前記第４領域との間に位置する第２回転軸のまわりを回転可能であり、
前記第１車輪、前記第２車輪、および、前記第３車輪のうちの少なくとも１つの車輪である特定車輪が地面と接触していた接地点が、前記車両本体の前後方向に移動することを抑制する補助リンク部材を更に具備し、
前記特定車輪を支持する支持部材は、前記特定車輪の車軸まわりに回転可能な回転部を含み、
前記補助リンク部材は、前記車両本体または前記横連結部材に回転可能に接続されるとともに、前記回転部に回転可能に接続される
走行車両。 With the vehicle body
With multiple wheels,
Left wheel connection mechanism and
Right wheel connection mechanism and
A horizontal connecting member that connects the left wheel connecting mechanism and the right wheel connecting mechanism.
Equipped with
The plurality of wheels include a first wheel, a second wheel, a third wheel, a fourth wheel, a fifth wheel, and a sixth wheel.
The left wheel connecting mechanism is
The first link member and
The second link member and
With a third link member connecting the first link member and the second link member
Including
The first link member is connected to a first support member that rotatably supports the first wheel in the first region, and is connected to a second support member that rotatably supports the second wheel in the second region. , The first link member is rotatable around a first rotation axis located between the first region and the second region.
The second link member is connected to the third link member in the third region, and is connected to the third support member that rotatably supports the third wheel in the fourth region, and the second link member is the same. It is rotatable around a second axis of rotation located between the third region and the fourth region.
Suppresses that the ground contact point where the first wheel, the second wheel, and the specific wheel, which is at least one of the third wheels, is in contact with the ground moves in the front-rear direction of the vehicle body. Auxiliary link member to be further provided
The support member that supports the specific wheel includes a rotating portion that can rotate around the axle of the specific wheel.
The auxiliary link member is rotatably connected to the vehicle body or the lateral connecting member, and is rotatably connected to the rotating portion.
Traveling vehicle.
請求項８に記載の走行車両。 The eighth aspect of the present invention, wherein the auxiliary link member is arranged so that the instantaneous center of the movement locus of the ground contact point where the specific wheel is in contact with the first horizontal plane is located in the vicinity of the first horizontal plane. Traveling vehicle.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2019/028706 WO2021014543A1 (en) | 2019-07-22 | 2019-07-22 | Traveling vehicle |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JPWO2021014543A1 JPWO2021014543A1 (en) | 2021-01-28 |
| JPWO2021014543A5 true JPWO2021014543A5 (en) | 2022-06-09 |
| JP7281836B2 JP7281836B2 (en) | 2023-05-26 |
Family
ID=74193518
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2021534435A Active JP7281836B2 (en) | 2019-07-22 | 2019-07-22 | running vehicle |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP7281836B2 (en) |
| WO (1) | WO2021014543A1 (en) |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS54131209A (en) * | 1978-04-04 | 1979-10-12 | Akira Kubota | Travelling car with total wheel driving magnetic wheel |
| JPS5830508U (en) * | 1981-08-25 | 1983-02-28 | 株式会社クボタ | Work vehicle traveling device |
| JP2605460B2 (en) * | 1990-08-09 | 1997-04-30 | 日産自動車株式会社 | Unmanned bogie traveling equipment |
| JPH10181330A (en) * | 1996-12-26 | 1998-07-07 | Takenaka Komuten Co Ltd | Vehicular suspension device |
-
2019
- 2019-07-22 JP JP2021534435A patent/JP7281836B2/en active Active
- 2019-07-22 WO PCT/JP2019/028706 patent/WO2021014543A1/en active Application Filing
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