WO2016129139A1 - Véhicule de déplacement pour terrain accidenté - Google Patents

Véhicule de déplacement pour terrain accidenté Download PDF

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Publication number
WO2016129139A1
WO2016129139A1 PCT/JP2015/075263 JP2015075263W WO2016129139A1 WO 2016129139 A1 WO2016129139 A1 WO 2016129139A1 JP 2015075263 W JP2015075263 W JP 2015075263W WO 2016129139 A1 WO2016129139 A1 WO 2016129139A1
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WO
WIPO (PCT)
Prior art keywords
arm
crawler
rough terrain
vehicle
traveling vehicle
Prior art date
Application number
PCT/JP2015/075263
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English (en)
Japanese (ja)
Inventor
俊道 妻木
Original Assignee
国立研究開発法人宇宙航空研究開発機構
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 国立研究開発法人宇宙航空研究開発機構 filed Critical 国立研究開発法人宇宙航空研究開発機構
Priority to JP2016574619A priority Critical patent/JP6344668B2/ja
Publication of WO2016129139A1 publication Critical patent/WO2016129139A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G3/00—Resilient suspensions for a single wheel
    • B60G3/02—Resilient suspensions for a single wheel with a single pivoted arm
    • B60G3/12—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially parallel to the longitudinal axis of the vehicle
    • B60G3/14—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially parallel to the longitudinal axis of the vehicle the arm being rigid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
    • B60G11/14—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/065—Multi-track vehicles, i.e. more than two tracks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/104—Suspension devices for wheels, rollers, bogies or frames
    • B62D55/116—Attitude or position control of chassis by action on suspension, e.g. to compensate for a slope

Definitions

  • the present invention relates to a traveling vehicle for rough terrain, and more particularly to a traveling vehicle for multi-crawler rough terrain that drives by driving a plurality of crawler units.
  • Patent Document 1 a traveling vehicle for rough terrain that travels by driving a plurality of crawler units is known (for example, Patent Document 1).
  • the vehicle described in Patent Document 1 includes two front traveling units on the front side in the traveling direction and two rear traveling units on the rear side in the traveling direction.
  • Each traveling unit includes a crawler, and the vehicle is moved forward and backward by driving the crawler.
  • the front traveling unit is connected to the heel joint hydraulic cylinder, and is configured to independently control the angles of the two front crawlers by individually operating each heel joint hydraulic cylinder.
  • the rear traveling unit is connected to the toe joint hydraulic cylinder, and is configured so that the angles of the two rear crawlers can be independently controlled by individually operating each toe joint hydraulic cylinder.
  • the present invention has been made to solve the above-described problems, and an object thereof is to provide a traveling vehicle for rough terrain capable of obtaining sufficient traverse.
  • the present invention is a traveling vehicle for rough terrain that is driven by driving a plurality of crawler units, and includes a main body of the vehicle and a plurality of arms, at one end of each arm. A plurality of arms to which one of the plurality of crawler units is attached, and a plurality of suspension mechanisms attached between the other end of each arm and the main body.
  • a suspension mechanism can be provided between each arm and the main body.
  • the crawler unit attached to one end of the arm can absorb the force received from the unevenness of the rough terrain by the suspension mechanism when the vehicle travels. it can. Thereby, the leveling ability of the rough terrain vehicle can be improved.
  • the suspension mechanism is a spring stretched between the other end of the arm and a part of the main body.
  • the suspension mechanism can be realized with a simple structure. Further, by using a spring as the suspension mechanism, it is possible to improve the traverse performance of the vehicle without performing active control using a controller or the like.
  • the suspension mechanism includes a motor that generates torque according to a moment applied to the other end of the arm.
  • torque can be generated by the motor in accordance with the rotational moment applied to the other end of the arm.
  • the crawler unit attached to one end of the arm receives a force from the unevenness of the rough terrain, and when a moment is applied to the other end of the arm, the motor generates torque to The moment applied to the other end can be canceled and absorbed.
  • each of the plurality of crawler units has a built-in drive motor.
  • the motor is built in the crawler unit side and the motor is not arranged in the main body, so that, for example, the center of gravity of the vehicle is lowered as compared with the case where the motor is built in the main body. can do. Thereby, the traversability in rough terrain such as a steep slope can be improved.
  • the crawler unit is attached to one end of the arm so as to freely rotate around an axis extending horizontally in the width direction.
  • the crawler unit can be freely rotated with respect to the arm.
  • the angle around the horizontal axis of the crawler unit can be freely changed according to the uneven shape of the rough terrain. Therefore, with such a configuration, it is possible to improve the ability to traverse rough terrain of the vehicle with a simple structure.
  • a stopper is provided to prevent the crawler unit from rotating more than a predetermined angle.
  • the amount of rotation can be regulated so that the crawler unit does not rotate more than a predetermined angle.
  • the crawler unit can be prevented from rotating more than necessary.
  • the stopper is preferably a protrusion provided on the arm.
  • the distance between the protrusion and the rotation axis of the crawler unit and the radial direction can be always kept constant by using the stopper as the protrusion provided on the arm. Therefore, regardless of the position of the crawler unit, the rotation of the crawler unit can be reliably regulated.
  • the crawler unit includes an angle control mechanism for controlling the angle of the crawler unit around an axis extending horizontally in the width direction.
  • the angle around the horizontal axis of the crawler unit can be controlled in accordance with irregularities on rough terrain. Thereby, it is possible to improve the traversability of the rough terrain of the vehicle. Moreover, the rough terrain vehicle can take various postures by making it possible to control the angle of the crawler unit.
  • 1 is a perspective view of a rough terrain vehicle according to a first embodiment of the present invention. It is a top view of the traveling vehicle for rough terrain according to the first embodiment of the present invention. It is a schematic perspective view which shows the attachment structure of the arm provided in the main body of the traveling vehicle for rough terrain by the 1st Embodiment of this invention.
  • 1 is a schematic side view of a rough terrain vehicle according to a first embodiment of the present invention.
  • 1 is a schematic side view of a rough terrain vehicle according to a first embodiment of the present invention.
  • It is a schematic perspective view which shows the crawler unit of the traveling vehicle for rough terrain by the 1st Embodiment of this invention.
  • 1 is a schematic side view of a rough terrain vehicle according to a first embodiment of the present invention.
  • 1 is a schematic side view of a rough terrain vehicle according to a first embodiment of the present invention. It is a front view of the traveling vehicle for rough terrain according to the first embodiment of the present invention. It is a side view of the rough terrain vehicle according to the first embodiment of the present invention. It is a block diagram which shows the control system of the traveling vehicle for rough terrain by the 1st Embodiment of this invention. It is a schematic perspective view which shows the attachment structure of the arm of the traveling vehicle for rough terrain concerning the 2nd Embodiment of this invention. It is a schematic perspective view which shows the crawler unit of the traveling vehicle for rough terrain by the 3rd Embodiment of this invention. It is a perspective view of the traveling vehicle for rough terrain by the modification of this invention.
  • FIG. 1 is a perspective view of the rough terrain vehicle according to the first embodiment
  • FIG. 2 is a top view of the rough terrain vehicle.
  • the rough terrain vehicle 1 includes a vehicle body 3, four arms 5 extending from the body 3, and four crawler units attached to the four arms 5, respectively. 7.
  • the main body 3 has a predetermined rectangular shape, and two arms 5 extend from each side surface.
  • the side on which one end surface of the main body is provided is referred to as “front” of the traveling vehicle for rough terrain, and the side provided with the other end surface is referred to as “rear” of the traveling vehicle for rough terrain.
  • the rough terrain vehicle 1 travels forward by driving the crawler unit 7 and, in some cases, travels backward. Thereby, the traveling vehicle 1 for rough terrain can be moved to a desired position, work can be performed at the destination, and goods can be carried to the destination.
  • the four arms 5 extending from the main body have the same configuration and extend from the main body 3 in an inclined manner.
  • the arm 5 is attached to the main body 3 on the front side of the vehicle, and is attached to the crawler unit 7 on the rear side of the vehicle. Therefore, the arm 5 is inclined so as to extend downward toward the rear of the vehicle.
  • One end of the arm 5 or the main body side end 9 is attached to the main body 3 so as to be rotatable around a horizontal axis Y1 extending in the width direction of the main body.
  • FIG. 3 is a schematic perspective view showing an arm mounting structure provided inside the main body.
  • the main body side end 9 of the arm 5 and the main body 3 are attached via a suspension mechanism.
  • the suspension mechanism includes a spring 13 stretched between a bracket portion 11 provided inside the main body 3 and the main body side end 9 of the arm 5.
  • a flange portion 15 is integrally formed at the main body side end 9 of the arm 5 for holding the spring 13 at a position deviated from the horizontal axis Y ⁇ b> 1 serving as a rotation axis of the main body side end 9 of the arm 5.
  • the spring 13 is stretched between the flange portion 15 and the bracket portion 11.
  • An adjustment socket 17 for adjusting the tension of the spring 13 is provided on the bracket portion 11 side of the spring 13, and the tension of the spring 13 can be adjusted by rotating the adjustment socket 17.
  • the distance between the arms 5 provided on the same side surface is 2 on the same side when the front arm 5 is inclined rearward and the rear arm 5 is inclined frontward.
  • the crawler units 7 provided at the tips of the two arms 5 are determined so as not to contact each other.
  • FIG. 4A and 4B are schematic side views of the rough terrain vehicle.
  • FIG. 4A shows, for example, a state where the rough terrain vehicle 1 is stopped
  • FIG. 4B shows a rough terrain vehicle, for example. 1 shows a state in which a vertical load is applied.
  • FIG. 4A when the vehicle is stopped, the rough terrain vehicle 1 maintains a posture such that the crawler unit 7 and the main body 3 are separated in the vertical direction. This posture is maintained by adjusting the tension of the spring 13 of the suspension mechanism between all the arms 5 and the main body 3.
  • FIG. 4B when a vertical load is applied to the rough terrain vehicle 1, the spring 13 is pulled, the arm 5 rotates about the horizontal axis Y1, and the inclination of the arm 5 approaches horizontal. .
  • the flange portion 15 of the arm 5 is pulled in the direction of the bracket portion 11 by the restoring force of the spring 13, thereby rotating the arm 5 around the horizontal axis to Return to the state shown in.
  • FIG. 5 is a schematic perspective view showing the crawler unit.
  • the crawler unit 7 includes a rotating annular belt 17 and a driving unit for driving the annular belt 17.
  • the crawler unit 7 is attached to the crawler side end 19 of the arm 5, and all the four crawler units 7 have the same structure.
  • the crawler unit 7 includes a bearing 21 that rotatably supports the crawler side end 19 of the arm 5 around a horizontal axis Y2 extending in the width direction of the main body 3, a drive motor 23 and a speed reducer 25 that form a drive unit, and a drive. And a guide wheel 27 that follows the rotation of the annular belt 17 driven by the section.
  • the bearing 21 is disposed at the center in the front-rear direction of the crawler unit 7 and holds the crawler side end 19 of the arm 5 so as to be rotatable about a horizontal axis Y ⁇ b> 2 extending in the width direction of the main body 3. Thereby, the crawler unit 7 can freely rotate about the horizontal axis Y ⁇ b> 2 with respect to the arm 5.
  • the drive unit of the crawler unit 7 is configured by a drive motor 23 and a speed reducer 25 connected to the drive motor 23.
  • the drive motor 23 and the speed reducer 25 are connected via pulleys 29 and 31 and a belt 33. Then, the driving force of the driving motor 23 is input to the speed reducer 25 via the pulleys 29 and 31 and the belt 33.
  • the outer periphery of the speed reducer 25 is fixed to the drive wheel 35, and the main body is rotated by the force from the drive motor 23, thereby rotating the drive wheel 35 fixed to the outer periphery of the speed reducer 25. It is configured as follows. And the belt 17 stretched between the guide wheel 27 and the drive wheel 35 is rotationally driven by rotating the drive wheel 35 fixed to the outer periphery of the speed reducer 25 by the speed reducer 25.
  • a stopper 37 for restricting the rotation of the crawler unit 7 is provided on the outer surface in the width direction of the arm 5.
  • the stopper 37 is constituted by a member protruding in the width direction from the outer surface of the arm 5.
  • the position of the stopper 37 is provided at a position radially inward from the front end and the rear end of the crawler unit 7 around the horizontal axis Y2 that is the rotation axis of the crawler side end 19 of the arm 5.
  • the rotation angle of the crawler unit 7 can be limited, and the crawler unit 7 rotates around the horizontal axis. Can be prevented from continuing. Further, by limiting the rotation angle of the crawler unit 7, even when the inside of the main body 3 and the crawler unit 7 are connected by a cable or the like, it is possible to prevent the cable or the like from being extended and disconnected. it can.
  • FIG. 6A and 6B are schematic side views of the rough terrain traveling vehicle.
  • FIG. 6A shows, for example, a state where the rough terrain traveling vehicle 1 is traveling on a flat ground
  • FIG. 6B is a rough terrain traveling vehicle.
  • a state in which the traveling vehicle 1 is traveling on an inclined slope is shown.
  • the crawler unit 7 when traveling on a flat ground, travels while maintaining a horizontal state.
  • the crawler unit 7 when traveling on an uphill slope, the crawler unit 7 rotates about the horizontal axis Y2 so that the front side in the traveling direction of the crawler unit 7 is lifted and the rear side in the traveling direction is lowered. And the crawler unit 7 will be in the state inclined according to the slope. In this way, the crawler unit 7 can be inclined along the inclination by holding the crawler unit 7 rotatably with respect to the arm 5.
  • the rough terrain vehicle 1 has irregularities of various shapes by providing suspension mechanisms on all the arms 5 and holding all the crawler units 7 rotatably with respect to the arms 5. Can break through rough terrain.
  • FIGS. 7A and 7B are a front view and a left side view of the rough terrain vehicle during rough terrain travel, respectively.
  • the crawler units 7 of the left front arm 5 and the right rear arm 5 of the rough terrain vehicle 1 are in contact with the low ground plane, and the right front arm 5 and the left rear arm 5 are in contact with each other.
  • Each crawler unit 7 of the arm 5 shows the state which is contacting the slope of a highland.
  • the crawler unit 7 of the right front arm 5 and the left rear arm 5 is in contact with the high ground, these arms 5 are loaded from rough terrain (or the rough terrain vehicle 1). ) Due to its own weight).
  • crawler units 7 of the right front arm 5 and the left rear arm 5 are respectively in contact with the slope, these crawler units 7 are rotated by a predetermined angle around the horizontal axis Y2 in accordance with the slope.
  • crawler unit 7 of the left front arm 5 and the right rear arm 5 is in contact with the low ground, these arms 5 hang down to form a substantially vertical angle by the weight of the crawler unit 7. Since the crawler units 7 of these arms 5 are in contact with the plane, they maintain a horizontal angle.
  • the rough terrain vehicle 1 determines the angle of the arm 5 around the horizontal axis Y1 of the main body side end 9 of the arm 5 and the angle of the crawler unit 7 around the horizontal axis Y2 of the crawler side end 19 of the arm 5. It can be controlled in a passive manner corresponding to the unevenness of the running ground.
  • FIG. 8 is a block diagram showing a control system of the rough terrain vehicle according to the first embodiment.
  • the rough terrain vehicle 1 includes four motor drivers 39 inside the main body 3 corresponding to the drive motors of the crawler units. Each motor driver 39 is connected to a corresponding driving motor 23. Then, the motor driver 39 connected to the driving motor 23 of the two crawler units 7 on the right side surface receives a drive command with the same current value from the controller 41, and the two crawlers on the left side surface of the main body 3. A drive command with the same current value is input from the controller 41 to the motor driver 39 connected to the drive motor 23 of the unit 7. For example, the controller 41 inputs a drive command to the motor driver 39 based on a command that is input by remote control of the operator using a remote controller, for example.
  • the suspension mechanism by the spring 13 can be provided between each arm 5 and the main body. Then, by providing a suspension mechanism between each arm 5 and the main body 3, the crawler unit 7 attached to one end of the arm 5 receives the force received from the unevenness of the rough terrain by the suspension mechanism when the vehicle travels. Can be absorbed. Thereby, the traversability of the traveling vehicle 1 for rough terrain can be improved. Further, by configuring the suspension mechanism using the spring 13, the suspension mechanism can be realized with a simple structure, and when the arm 5 is rotated, active control using a controller or the like is performed. The traversability of the vehicle can be improved.
  • the crawler unit 7 can be inclined along a slope using a simple structure.
  • the rough terrain vehicle according to the second embodiment includes an angle control motor and a speed reducer instead of the spring 13 as a suspension mechanism.
  • FIG. 9 is a schematic perspective view showing the mounting structure of the arm of the rough terrain vehicle according to the second embodiment.
  • an arm angle control motor 51 and an arm angle control speed reducer 53 attached to the output side of the arm angle control motor 51 are provided inside the main body 3.
  • the output shaft of the arm angle control motor 51 and the output shaft of the arm angle control speed reducer 53 are provided coaxially with the horizontal axis Y ⁇ b> 1 serving as the rotation axis of the main body side end 9 of the arm 5.
  • the arm angle control motor 51 generates torque according to the moment applied to the other end of the arm 5 from the ground via the crawler unit 7.
  • the traveling vehicle for rough terrain changes in angle around the horizontal axis Y1 of the arm 5 due to unevenness of the ground during traveling, this change is detected using an angle sensor such as an encoder or a potentiometer. Then, the rough terrain vehicle determines the torque of the arm angle control motor 51 so that the angle of the arm 5 becomes a predetermined angle according to the output of the angle sensor.
  • the output of the arm angle control motor 51 is input to the main body side end 9 of the arm 5 via the arm angle control reducer 53 to control the angle of the arm 5 around the horizontal axis Y1.
  • the crawler unit 7 attached to one end of the arm 5 receives a force from the unevenness of the rough terrain, and a moment is applied to the main body side end 9 of the arm 5.
  • the moment applied to the main body side end 9 of the arm 5 can be canceled and absorbed. Thereby, active suspension control can be performed.
  • FIG. 10 is a schematic perspective view showing the crawler unit of the rough terrain vehicle according to the third embodiment.
  • the crawler unit of the traveling vehicle for rough terrain according to the third embodiment includes an angle control mechanism for controlling the angle of the crawler unit 7 with respect to the horizontal axis Y2 instead of the bearing 21 that supports the crawler side end of the arm. Yes.
  • this angle control mechanism is provided, the stopper 37 shown in FIG. 5 is not necessarily required.
  • the angle control mechanism includes a crawler angle control motor 61 and a crawler angle control reducer 63.
  • the output shaft of the crawler angle control speed reducer 63 is arranged coaxially with the horizontal axis Y ⁇ b> 2 of the crawler side end 19 of the arm 5.
  • the crawler angle control speed reducer 63 is connected to a crawler angle control motor 61 via pulleys 65 and 67 and a belt 69.
  • the crawler angle control motor 61 generates torque according to the moment applied to the crawler unit 7 around the horizontal axis Y2 that is the rotation axis of the crawler side end 19 of the arm 5, and the crawler unit around the horizontal axis Y2 The angle of 7 can be adjusted.
  • the traveling vehicle for rough terrain changes the angle around the horizontal axis Y2 of the crawler unit 7 due to the unevenness of the ground during traveling, this change is, for example, an encoder or a potentiometer incorporated in the crawler unit 7.
  • the rough terrain vehicle determines the torque of the crawler angle control motor 61 so that the angle of the crawler unit 7 becomes a predetermined angle according to the output of the angle sensor.
  • the output of the crawler angle control motor 61 is input to the crawler side end 19 of the arm 5 via the crawler angle control reducer 63 to control the angle of the crawler unit 7 around the horizontal axis Y2.
  • the angle of the arm 5 or the crawler unit 7 is detected using the angle sensor, and the arm angle control motor 51 or the crawler angle control motor 61 is controlled accordingly.
  • the arm angle control motor 51 or the crawler angle control motor 61 is detected by the motor driver or the angle control controller, and the arm angle control motor 51 or the crawler angle is detected by the angle control controller accordingly.
  • the crawler unit 7 may be ground-controlled in an electrically driven active suspension.
  • the suspension mechanism detailed in the second embodiment and the angle adjustment mechanism detailed in the third embodiment can be used in combination.
  • the arm angle control motor 51 of the suspension mechanism and the crawler angle control motor 61 of the angle adjustment mechanism are connected to the angle control controller so that the outputs of the motors 51 and 61 can be controlled by the angle control controller.
  • the angle control controller can control the torque of the arm angle control motor 51 and the crawler angle control motor 61, the angle around the horizontal axis Y ⁇ b> 1 of the main body side end 9 of the arm 5, and the crawler side end 19 of the arm 5. It is possible to control the angle of the crawler unit 7 around the horizontal axis Y2. With such a configuration, the angle of the arm 5 and the angle of the crawler unit 7 can be independently controlled, and various postures can be taken with respect to the rough terrain traveling vehicle.
  • FIG. 11 shows an example of postures that can be taken by the rough terrain vehicle when the arm angle control motor 51 and the crawler angle control motor 61 are controlled by the angle control controller.
  • the rough terrain vehicle can take a posture of walking on four legs using four crawler units 7 as legs.
  • it is possible to travel in the standing posture by driving the crawler unit 7 with the crawler unit 7 standing as shown in FIG.
  • the distance between the front and rear arms 5 on the same side is the same in the width direction of the main body 3, and the attachment positions of the front and rear arms 5 with respect to the main body 3 are arranged in a straight line.
  • the interval between the two front arms 5 is made narrower than the interval between the rear arms 5 (or vice versa).
  • the width of the front side of the main body 3 is made narrower (or vice versa) than the width of the rear side, and the distance between the two front arms 5 is set to the rear arm 5. Narrower than the distance between each other.
  • the arm angle control motor 51 and the crawler angle control motor 61 are controlled by the angle control controller, and the angles of the four arms 5 and the four crawler units 7 are intended.
  • An example in which the posture shape of the traveling vehicle for rough terrain can be variously changed by changing the position will be described with reference to FIGS. 12 to 12G. 12 to 12G, for the sake of convenience, as described in the fourth embodiment, the width of the front side of the main body 3 is narrowed and the width of the rear side is widened, and the distance between the front arms 5 is narrowed.
  • the fifth embodiment is also applicable to the case where the main body 3 has a constant width as shown in FIGS. 1 and 11 or various widths. Needless to say, you can.
  • FIGS. 12A to 12G show examples of postures that can be taken by the rough terrain vehicle by controlling the angles of the four arms and the four crawlers in addition to the quadruped foot walking posture shown in FIG. ing.
  • 12A to 12C of FIGS. 12A to 12G show a standard running posture suitable for running on a flat surface or a ground surface with little unevenness.
  • FIG. 12B shows a posture in which the height of the main body 3 is lowered. Lowering the height of the main body 3 lowers the position of the center of gravity, which is suitable when climbing a steep slope. Note that the posture can be lowered as shown in FIG. 12B by simply providing the arm angle control motor 51 and, if necessary, the speed reducer 53 without providing the crawler angle control motor 61.
  • FIG. 12B shows a posture in which the height of the main body 3 is lowered. Lowering the height of the main body 3 lowers the position of the center of gravity, which is suitable when climbing a steep slope. Note that the posture can be lowered as shown in
  • FIG. 12D shows a state in which the front and rear crawlers 7 are brought close to each other.
  • the front and rear crawlers do not interfere with each other by making the distance between the two front arms 5 narrower than the distance between the rear arms 5.
  • FIG. 12E, FIG. 12F, and FIG. 12G show a state in which the main body 3 is erected by the crawler unit 7 on the rear side in order to get over a large rock or a step. From this state, the arm angle control motor 51 and the crawler angle control motor 61 are controlled by the angle control controller so as to be placed on a rock or the like to get over the crawler unit 7 on the front side, and the front side and the rear side. By driving the belt 17 of the crawler unit 7 on the side and appropriately controlling the angles of the individual crawler units 7, it is possible to change a rock or a step having a considerable size.
  • the traveling vehicle for rough terrain falls while climbing up or over the rocks or steps. Even if it is turned upside down, the arm 5 is reversed symmetrically with respect to the main body 3 and the driving direction of the crawler unit 7 is reversed to continuously run in the turned upside down state. be able to.
  • the arm angle control motor 51 and the crawler angle control motor 61 by the angle control controller, it is possible to realize a high leveling performance of the rough terrain vehicle.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

L'invention concerne un véhicule de déplacement pour terrain accidenté, au moyen duquel une capacité d'escalade suffisante peut être obtenue. Le véhicule de déplacement pour terrain accidenté de la présente invention se déplace en raison de l'entraînement d'une pluralité d'unités de chenille, le véhicule de déplacement étant pourvu d'un corps principal de véhicule, d'une pluralité de bras dans lesquels l'une de la pluralité d'unités de chenille est fixée à une extrémité de chacun des bras, et d'une pluralité de mécanismes de suspension fixés entre le corps principal et les autres extrémités de chacun des bras.
PCT/JP2015/075263 2015-02-10 2015-09-04 Véhicule de déplacement pour terrain accidenté WO2016129139A1 (fr)

Priority Applications (1)

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JP2016574619A JP6344668B2 (ja) 2015-02-10 2015-09-04 不整地用走行車両

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JP2015-024587 2015-02-10
JP2015024587 2015-02-10

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WO2016129139A1 true WO2016129139A1 (fr) 2016-08-18

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WO (1) WO2016129139A1 (fr)

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KR102071822B1 (ko) * 2019-05-02 2020-01-30 한전케이피에스 주식회사 이중 배관 검사 장치
CN111469940A (zh) * 2020-04-27 2020-07-31 张梅 一种机器人底盘系统
CN111469941A (zh) * 2020-04-27 2020-07-31 张梅 一种机器人辅助摆臂系统
US10967690B2 (en) * 2017-03-24 2021-04-06 Zona Engineering & Design S.A.S. Di Zona Mauro & C. High mobility all-terrain vehicle (ATV), for example for emergency and rescue civil activities or for activities in the agricultural field or for earth moving activities
US10967922B2 (en) * 2017-03-24 2021-04-06 Zona Engineering & Design S.A.S. Di Zona Mauro & C. Vehicle
CN112918205A (zh) * 2021-04-07 2021-06-08 青海云天无人机科技有限公司 一种带浮力装置的自走式沼泽地专用钻探平台
CN115107895A (zh) * 2022-07-07 2022-09-27 中煤科工集团重庆研究院有限公司 一种车身支撑稳定防侧翻系统
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