WO2019045065A1 - Connectable travel vehicle - Google Patents

Connectable travel vehicle Download PDF

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Publication number
WO2019045065A1
WO2019045065A1 PCT/JP2018/032445 JP2018032445W WO2019045065A1 WO 2019045065 A1 WO2019045065 A1 WO 2019045065A1 JP 2018032445 W JP2018032445 W JP 2018032445W WO 2019045065 A1 WO2019045065 A1 WO 2019045065A1
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Prior art keywords
traveling vehicle
obstacle
traveling
vehicle
connectable
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PCT/JP2018/032445
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French (fr)
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
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Priority to JP2019539678A priority Critical patent/JP7123415B2/en
Publication of WO2019045065A1 publication Critical patent/WO2019045065A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D53/00Tractor-trailer combinations; Road trains
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D55/00Endless track vehicles
    • B62D55/06Endless track vehicles with tracks without ground wheels
    • B62D55/065Multi-track vehicles, i.e. more than two tracks

Definitions

  • the present invention relates to a connectable traveling vehicle capable of connecting a plurality of single traveling vehicles together to improve the crossing performance.
  • Patent Document 2 proposes a crawler robot in which a triangular crawler device as a main body and a driven crawler device are separately connected by a link. According to Patent Document 2, such a configuration is said to be capable of overcoming high obstacles.
  • an object of the present invention is to provide a connectable traveling vehicle which can improve crossing performance by connecting a plurality of single traveling vehicles.
  • a connectable traveling vehicle includes a vehicle body, a first drive wheel provided on the vehicle body, a drive unit for driving the drive wheel, and the vehicle body A fixing portion fixed to the upper portion, an arm portion extending forward from the fixing portion to the vehicle main body, a hand which is provided at the tip of the arm portion and can be coupled with a clamped portion of another forward traveling vehicle And a clamped portion provided at an upper portion of the vehicle body and coupled by the hand portion of another rear traveling vehicle located rearward in the traveling direction.
  • a crawler is wound around the first drive wheel.
  • the clamp unit may be detachably fixed to the vehicle body.
  • the vehicle body may further include a flipper provided on the front side and the upper side of the vehicle body and having a crawler wrapped around the periphery, and the drive unit may drive the crawler wrapped around the flipper.
  • a rear frame may be provided at the rear of the vehicle body.
  • connection mode in which the connectable traveling vehicle is connected to the forward traveling vehicle by the clamp unit, when the forward traveling vehicle passes over the obstacle, the forward traveling vehicle is pushed by pushing the forward traveling vehicle through the arm portion.
  • connection mode which assists overcoming obstacles of a forward traveling vehicle and is connected by the rear traveling vehicle and the clamp portion of the rear traveling vehicle, when traveling over an obstacle, the rear traveling via the arm portion The pulling over of the vehicle assists the crossing of the obstacle of the backward traveling vehicle.
  • FIGS. 1A to 1C show a state in which two connectable traveling vehicles 100 and 200 are connected by an arm 300 as one embodiment of a connectable traveling vehicle according to the present invention
  • FIG. FIG. 1B is a side view
  • FIG. 1C is a plan view
  • the left side of FIG. 1B is the front (traveling direction)
  • the right side is the rear
  • the traveling vehicle 100 is disposed on the rear side
  • the traveling vehicle 200 is disposed on the front side.
  • the traveling vehicle 100 can be disposed on the front side
  • the traveling vehicle 200 can be disposed on the rear side.
  • the traveling vehicle 200 is also provided with a clamp portion (described later) including the arm 300.
  • a case where the traveling vehicle is operated alone is referred to as a single mode
  • a case where two or more traveling vehicles are connected by the arm 300 and operated is referred to as a connection mode.
  • FIG. 2 is a side view on the left side in the traveling direction shown in a somewhat simplified manner to explain each part of the clamp unit including the traveling vehicle 100 and the arm 300.
  • Drive wheels 10 and rolling wheels 12, 14, 16, 18 are provided on the rear side of the main body of the traveling vehicle 100.
  • a crawler 20 is wound around the driving wheel 10 and the rolling wheels 12, 14, 16, 18.
  • a similar crawler 20 is also wound around the side surface on the right side in the traveling direction of the traveling vehicle 100.
  • the rolling wheels 12, 14, 16, 18 and the crawler 20 are rotated to move forward (leftward in the figure), move backward (rightward in the figure), rotate, etc. Is possible.
  • the use of the crawler 20 improves the leveling performance on rough terrain as compared to the case of using only the wheel, an embodiment that does not use a crawler is also possible.
  • the drive wheel is provided on the rear side of the main body as an example, but may be provided on the central portion of the main body or on the front side of the main body, or may be provided on both the rear and the front.
  • a flipper 30 is provided at the front of the traveling vehicle 100 so as to project obliquely upward and forward from the portion of the wheel 18.
  • the flipper 30 is provided with rolling wheels 18 and a guiding ring 34 at both ends of the flipper frame 32, and a flipper roller 36 is wound around it. That is, the roller 18 is shared by the crawler 20 and the flip roller 36.
  • a sliding back plate 38 is provided below the flipper frame 32 to replace the guide ring.
  • the rolling wheel 18 rotates with the rotation of the crawler 20, and in conjunction with this, the flip roller 36 also rotates. That is, the crawler 20 and the flip roller 36 are synchronously driven together by one drive device (motor).
  • the rotation direction of the flip roller 36 is the same as the rotation direction of the crawler 20.
  • a clamp unit including an arm 300 is provided on the top of the traveling vehicle 100.
  • the clamp portion includes a fixing portion 52, an arm 300, and a hand 70 provided at the tip of the arm 300.
  • the clamp portion is removably attached to the upper portion of the main body.
  • the arm 300 includes an elastic damper 60 as a central portion, a rear half 62 on the fixing portion 52 side, and a front half 64 on the distal end side, and the central portion with the elastic bumper 60 is positioned higher than both ends There is.
  • the shape of the arm 300 is considered so as not to interfere with the traveling vehicle main body when crossing over an obstacle described later, but if it does not interfere with the traveling vehicle main body, for example, an arc convex upward. It can also be done.
  • the elastic damper 60 and the torque limiter 61 are used when the force in the direction in which the rear traveling vehicle pushes the front traveling vehicle works excessively, and when the front traveling vehicle pulls the rear traveling vehicle in excess. In order to prevent the arm portion from being bent or broken, it is designed to passively release this excessive force.
  • connection to-be-clamped portion 54 is provided at the upper part of the traveling vehicle 100.
  • the connection clamped portion 54 is clamped by a hand 70 (described later) provided at the front end of the front half 64 of the other traveling vehicle.
  • the fixing portion 52 is provided with a drive shaft 56 for lifting the arm 300 when working in the single mode.
  • the angle of the drive shaft 56 follows.
  • a pivot axis is also provided at the base of the arm 300, and a pivoting operation in a horizontal plane is also possible.
  • An elastic damper 66 for allowing twist (roll) of the arm 300 is provided substantially at the center of the rear half 62.
  • a hand 70 is rotatably provided around the drive shaft 68 via the drive shaft 68.
  • the drive shaft 68 and the hand 70 can be used to perform various operations such as sample collection.
  • the connection mode the hand 70 is clamped and fixed to the connection supported portion 54 of the traveling vehicle ahead. Also, in the single mode, the clamp portion including the arm 300 can be removed if not necessary.
  • a right triangle shaped rear frame 90 is provided at the rear end of the traveling vehicle 100.
  • the rear frame 90 has a portion corresponding to the oblique side of the right triangle extending obliquely upward from the inner portion of the drive wheel 10.
  • a sliding plate made of a slippery resin is attached to a portion corresponding to the oblique side.
  • the rear frame 90 moves forward and gets over an obstacle, the sliding plate slides on the upper portion of the obstacle after passing, so that the rear of the main body can be landed smoothly without falling from the obstacle. Help to In other words, it acts as if there is a simple flipper at the rear (tail) of the traveling vehicle 100.
  • the rear frame 90 may be removable from the main body. Further, the shape of the rear frame 90 may be any shape as long as the rear of the main body can be landed smoothly, and is not limited to the right triangle.
  • FIGS. 3A to 3H, 4A to 4F, and 5A to 5M schematically show the state of the experiment actually performed. Also, on the left side of these figures, a scale for indicating the height of the obstacle is shown.
  • FIGS. 3A to 3H show an experiment in which the traveling vehicle 100 is caused to travel from right to left in the single mode and to get over the obstacle 92 of height h.
  • the flipper 30 of the traveling vehicle 100 moving to the left abuts against the obstacle 92 provided forward, and when the traveling vehicle 100 further progresses to the left, the flipper 30 plays a role of a guide.
  • FIG. 3D the front leans on the obstacle 92 while tilting in the clockwise direction, and finally the entire body rides on the obstacle 92 as shown in FIG. 3E.
  • the crawler of the traveling vehicle 100 further rotates, as shown in FIG. 3F, FIG. 3G, and FIG. 3H, the traveling vehicle 100 moves to the left and gets down from the obstacle 90 and can get over the obstacle 90.
  • FIGS. 4A to 4F a case where an obstacle 94 whose height is 2 h is overcome in the single mode will be described with reference to FIGS. 4A to 4F.
  • the traveling vehicle 100 rotates clockwise as shown in FIGS. 4C, 4D, and 4E.
  • FIG. 4E after the traveling vehicle 100 becomes vertically upward, the traveling vehicle 100 can not get on the obstacle 94 because the height of the obstacle 94 is too high.
  • FIG. 4F It leaned backward due to the position of the center of gravity and fell as shown in FIG. 4F.
  • the traveling vehicle 100 in the single mode may not be able to get over when the height of the obstacle becomes high.
  • connection mode the traveling vehicle 100 is a rear vehicle, and the traveling vehicle 200 is a front vehicle, and both are connected by the clamp unit including the arm 300.
  • the traveling vehicles 100 and 200 both drive and move their drive wheels 10.
  • the traveling vehicle 200 tilts clockwise as shown in FIGS. 5B and 5C. 4F in the single mode, and differs from FIG. 4F in the single mode in that the traveling vehicle 100 on the rear side presses the crawler of the traveling vehicle 200 on the front side against the obstacle 94 via the arm 300. A fall to the back of the is prevented and it is vertically upward along the side wall of the obstacle 94 as shown in FIG. 5D.
  • the traveling vehicle 200 is pushed horizontally from the rear via the arm 300 as shown by the arrows, whereby the frictional force between the crawler of the traveling vehicle 200 and the obstacle is increased, and the climbing power is improved.
  • the traveling vehicle 200 moves upward as shown by the arrow. That is, the traveling vehicle 100 behind assists the obstacle vehicle over the traveling vehicle 200 ahead.
  • the drive shafts 56 and 68 need only be operated in a driven manner.
  • the traveling vehicle 200 rotates counterclockwise as shown in FIG. 5E and rides on the obstacle 94 as shown in FIG. 5F. Further, as shown in FIGS. 5G and 5H, the obstacle 94 is overcome.
  • the flipper 30 of the traveling vehicle 100 on the rear side abuts against the obstacle 94 as shown in FIG.
  • the traveling vehicle 100 inclines clockwise.
  • the traveling vehicle 200 on the front side pulls the traveling vehicle 100 on the rear side to the left (front side) in the drawing via the arm 300, and the falling of the traveling vehicle 100 to the rear side is prevented.
  • the crawler of the traveling vehicle 100 is attracted to the side surface of the obstacle 94 as indicated by the arrow, and the frictional force between the crawler of the traveling vehicle 100 and the obstacle becomes large, and the climbing power is improved.
  • the traveling vehicle 100 moves upward along the side wall of the obstacle 94 as the crawler of the traveling vehicle 100 rotates. In this manner, the traveling vehicle 200 in the front assists the obstacle traveling of the traveling vehicle 100 in the rear.
  • the traveling vehicle 100 when the traveling vehicle 100 is pulled leftward by the traveling vehicle 200 and the crawler of the traveling vehicle 100 rotates, the traveling vehicle 100 rides on the obstacle 94 as shown in FIG. 5L and further as shown in FIG. get over. Also at this time, the drive shafts 56 and 68 (see FIG. 2) need only operate in a driven manner. After this, it is expected that the rear part (tail part) of the rear traveling vehicle 100 falls sharply from the obstacle 94, but the rear frame 90 (see FIG. 2) suppresses the rapid fall accompanied by the impact at that time.
  • the traveling vehicle 100 in the rear assists the overcoming operation.
  • the front traveling vehicle 200 assists the riding over operation, thereby riding over an obstacle of a height that could not be overcome only by a single traveling vehicle in the single mode. It is possible to improve the overcoming performance of obstacles.
  • the arm 300 may try to be twisted (dynamically) depending on the difference in the contact direction and the inclination of the traveling vehicle 200 and the traveling vehicle 100 at the rear.
  • the elastic damper 66 corresponds to such a twist, it is possible to flexibly carry over such an irregular obstacle as the whole traveling vehicle connected.
  • the two traveling vehicles 100 and 200 have been described as traveling vehicles of the same type. It is true that it is desirable to connect several identical traveling vehicles in that the cost can be reduced by mass producing a large number of traveling vehicles.
  • at least arms or equivalent members that can be connected to each other are also within the technical scope of the present invention.
  • the term "isomorphous" is intended to include those with some differences in such structure or function.
  • connection mode by setting the connection mode, it is possible to overcome a high obstacle which can not be overcome in the single mode. For this reason, for example, by transporting a single traveling vehicle separately to a small rocket with a small payload separately to the moon and other objects including the planet, and connecting them in a plurality on the spot to make a connection mode, a high obstacle Since it can be given the overcoming performance, it can be considered for future space applications.
  • a ground application it can be used when performing various tasks in narrow spaces under buildings such as narrow spaces under expressways, for example, where human beings are difficult to enter because the ceiling is low, but there are obstacles inside. .

Abstract

A plurality of single autonomous travel robots are connected, whereby stepping performance is improved. In a connected mode, two autonomous travel robots 100 and 200 of the same type are connected by an arm 300. The autonomous travel robot 100 is disposed on the rear side, and the autonomous travel robot 200 is disposed on the front side. Furthermore, it is possible to connect three or more of the same type of autonomous travel robot via separate arms 300. In the connected mode: when the front autonomous travel robot is surmounting an obstacle, the rear autonomous travel robot pushes the front autonomous travel robot via the arm, thereby assisting the front autonomous travel robot to surmount the obstacle; and when the front autonomous travel robot has surmounted the obstacle, the front autonomous travel robot pulls the rear autonomous travel robot via the arm, thereby assisting the rear autonomous travel robot to surmount the obstacle.

Description

連結可能な走行車両Connectable traveling vehicle
 本発明は、複数の単体の走行車両を複数台連結して踏破性能を向上させることができる連結可能な走行車両に関する。 The present invention relates to a connectable traveling vehicle capable of connecting a plurality of single traveling vehicles together to improve the crossing performance.
 月、惑星での探査及び作業、そして地球上の建設現場、災害現場、火山地域などでの探査や各種作業に利用される自動ロボットには、高い不整地踏破性能が求められる。そのため、比較的低い重心にするとともに車輪にはクローラを用いることで、不整地踏破性能を高めることが提案されている(例えば、特許文献1)。 Automatic robots used for exploration and work on the moon, planets, and on construction sites, disaster sites, volcano areas, etc. on the earth are required to have high rough terrain performance. Therefore, it has been proposed to improve uneven land leveling performance by using a relatively low center of gravity and using a crawler for the wheels (for example, Patent Document 1).
 また、高い段差のある障害物を乗り越えることを意図して種々の形態の自動走行ロボットが提案されている。例えば特許文献2には、本体となる三角クローラ装置と、これと別に従動クローラ装置とをリンクで連結する形態のクローラロボットが提案されている。特許文献2によれば、このような構成とすることで、高い障害物を乗り越えることが可能であるとされている。 In addition, various types of automatic traveling robots have been proposed for the purpose of crossing over obstacles with high level differences. For example, Patent Document 2 proposes a crawler robot in which a triangular crawler device as a main body and a driven crawler device are separately connected by a link. According to Patent Document 2, such a configuration is said to be capable of overcoming high obstacles.
WO2016/129139WO 2016/129139 特開2007-237991JP 2007-237991
 しかしながら、1台の単体の走行車両が障害物を乗り越える能力には限界があり、不整地踏破性能の向上も制約される。 However, there is a limit to the ability of one single traveling vehicle to get over an obstacle, and the improvement of uneven terrain performance is also limited.
 そこで、本発明は、複数の単体の走行車両を複数台連結することで踏破性能を向上させることができる連結可能な走行車両を提供することを目的とする。 Then, an object of the present invention is to provide a connectable traveling vehicle which can improve crossing performance by connecting a plurality of single traveling vehicles.
 上記の課題を解決するために、本発明の連結可能な走行車両は、車両本体と、前記車両本体に設けられた第1の駆動輪と、前記駆動輪を駆動する駆動部と、前記車両本体上部に固定する固定部、前記固定部から車両本体よりも前方へ延びるアーム部、前記アーム部の先端に設けられ、進行方向前方に位置する他の前方走行車両の被クランプ部と結合可能なハンド部を備えたクランプ部と、前記車両本体上部に設けられ、進行方向後方に位置する他の後方走行車両の前記ハンド部により結合される被クランプ部とを備える。 In order to solve the above problems, a connectable traveling vehicle according to the present invention includes a vehicle body, a first drive wheel provided on the vehicle body, a drive unit for driving the drive wheel, and the vehicle body A fixing portion fixed to the upper portion, an arm portion extending forward from the fixing portion to the vehicle main body, a hand which is provided at the tip of the arm portion and can be coupled with a clamped portion of another forward traveling vehicle And a clamped portion provided at an upper portion of the vehicle body and coupled by the hand portion of another rear traveling vehicle located rearward in the traveling direction.
 前記第1の駆動輪にはクローラが巻き掛けられていることが好ましい。 Preferably, a crawler is wound around the first drive wheel.
 前記クランプ部は、前記車両本体から取り外し可能に固定することができる。 The clamp unit may be detachably fixed to the vehicle body.
 さらに前記車両本体の前方かつ上方に突き出して設けられた、周囲にクローラが巻き掛けられたフリッパを備え、前記駆動部によりフリッパの周囲に巻き掛けられたクローラを駆動するよう構成することができる。 Further, the vehicle body may further include a flipper provided on the front side and the upper side of the vehicle body and having a crawler wrapped around the periphery, and the drive unit may drive the crawler wrapped around the flipper.
 前記車両本体の後部に、後部フレームを備えることができる。 A rear frame may be provided at the rear of the vehicle body.
 連結可能な走行車両は、前記前方走行車両と前記クランプ部により連結されている連結モードでは、前記前方走行車両が障害物を乗り越えるときは前記アーム部を介して前記前方走行車両を押すことにより前記前方走行車両の障害物の乗り越えを補助し、前記後方走行車両と前記後方走行車両のクランプ部により連結されている連結モードでは自身が障害物を乗り越えたときは前記アーム部を介して前記後方走行車両を引くことにより前記後方走行車両の障害物の乗り越えを補助する。 In the connection mode in which the connectable traveling vehicle is connected to the forward traveling vehicle by the clamp unit, when the forward traveling vehicle passes over the obstacle, the forward traveling vehicle is pushed by pushing the forward traveling vehicle through the arm portion. In the connection mode, which assists overcoming obstacles of a forward traveling vehicle and is connected by the rear traveling vehicle and the clamp portion of the rear traveling vehicle, when traveling over an obstacle, the rear traveling via the arm portion The pulling over of the vehicle assists the crossing of the obstacle of the backward traveling vehicle.
 複数の走行車両をアーム部を介して連結することで、連結された複数の走行車両全体としての踏破性能を向上させることができる。 By connecting the plurality of traveling vehicles via the arm portion, it is possible to improve the crossing performance of the plurality of connected traveling vehicles as a whole.
本発明の一実施形態に係るアームで2両が連結された走行車両の斜視図である。It is a perspective view of a traveling vehicle in which two vehicles are connected by an arm according to an embodiment of the present invention. 本発明の一実施形態に係るアームで2両が連結された走行車両の側面図である。It is a side view of a traveling vehicle in which two vehicles are connected by an arm according to an embodiment of the present invention. 本発明の一実施形態に係るアームで2両が連結された走行車両の平面図である。It is a top view of the traveling vehicle with which two cars were connected by the arm concerning one embodiment of the present invention. 本発明の一実施形態に係る走行車両の各部を説明するための側面図である。It is a side view for explaining each part of a traveling vehicle concerning one embodiment of the present invention. 単体モードで低い障害物を乗り越える実験を示した図である。It is a figure showing an experiment which gets over a low obstacle in single mode. 単体モードで低い障害物を乗り越える実験を示した図である。It is a figure showing an experiment which gets over a low obstacle in single mode. 単体モードで低い障害物を乗り越える実験を示した図である。It is a figure showing an experiment which gets over a low obstacle in single mode. 単体モードで低い障害物を乗り越える実験を示した図である。It is a figure showing an experiment which gets over a low obstacle in single mode. 単体モードで低い障害物を乗り越える実験を示した図である。It is a figure showing an experiment which gets over a low obstacle in single mode. 単体モードで低い障害物を乗り越える実験を示した図である。It is a figure showing an experiment which gets over a low obstacle in single mode. 単体モードで低い障害物を乗り越える実験を示した図である。It is a figure showing an experiment which gets over a low obstacle in single mode. 単体モードで低い障害物を乗り越える実験を示した図である。It is a figure showing an experiment which gets over a low obstacle in single mode. 単体モードで高い障害物を乗り越える実験を示した図である。It is a figure showing an experiment which gets over a high obstacle in single mode. 単体モードで高い障害物を乗り越える実験を示した図である。It is a figure showing an experiment which gets over a high obstacle in single mode. 単体モードで高い障害物を乗り越える実験を示した図である。It is a figure showing an experiment which gets over a high obstacle in single mode. 単体モードで高い障害物を乗り越える実験を示した図である。It is a figure showing an experiment which gets over a high obstacle in single mode. 単体モードで高い障害物を乗り越える実験を示した図である。It is a figure showing an experiment which gets over a high obstacle in single mode. 単体モードで高い障害物を乗り越える実験を示した図である。It is a figure showing an experiment which gets over a high obstacle in single mode. 連結モードで高い障害物を乗り越える実験を示した図である。It is the figure which showed the experiment which gets over an obstacle high in connection mode. 連結モードで高い障害物を乗り越える実験を示した図である。It is the figure which showed the experiment which gets over an obstacle high in connection mode. 連結モードで高い障害物を乗り越える実験を示した図である。It is the figure which showed the experiment which gets over an obstacle high in connection mode. 連結モードで高い障害物を乗り越える実験を示した図である。It is the figure which showed the experiment which gets over an obstacle high in connection mode. 連結モードで高い障害物を乗り越える実験を示した図である。It is the figure which showed the experiment which gets over an obstacle high in connection mode. 連結モードで高い障害物を乗り越える実験を示した図である。It is the figure which showed the experiment which gets over an obstacle high in connection mode. 連結モードで高い障害物を乗り越える実験を示した図である。It is the figure which showed the experiment which gets over an obstacle high in connection mode. 連結モードで高い障害物を乗り越える実験を示した図である。It is the figure which showed the experiment which gets over an obstacle high in connection mode. 連結モードで高い障害物を乗り越える実験を示した図である。It is the figure which showed the experiment which gets over an obstacle high in connection mode. 連結モードで高い障害物を乗り越える実験を示した図である。It is the figure which showed the experiment which gets over an obstacle high in connection mode. 連結モードで高い障害物を乗り越える実験を示した図である。It is the figure which showed the experiment which gets over an obstacle high in connection mode. 連結モードで高い障害物を乗り越える実験を示した図である。It is the figure which showed the experiment which gets over an obstacle high in connection mode. 連結モードで高い障害物を乗り越える実験を示した図である。It is the figure which showed the experiment which gets over an obstacle high in connection mode.
 以下に図面を参照して、本発明の実施形態について説明する。 Embodiments of the present invention will be described below with reference to the drawings.
 図1A~図1Cは、本発明に係る連結可能な走行車両の実施の一形態として、連結可能な2台の走行車両100及び200を、アーム300で連結した状態を示しており、図1Aは斜視図、図1Bは側面図、図1Cは平面図である。図1Bの左側が前(進行方向)、右側が後となり、走行車両100は後ろ側、走行車両200は前側に配置されている。ただし、走行車両100を前側、走行車両200を後ろ側に配置することもできる。なお、図1A~図1Cでは省略しているが、走行車両200にも、アーム300を含むクランプ部(後述が)が設けられている。さらに、別の走行車両のアーム300を介して同型の走行車両を3台以上接続することも可能である。また、本実施形態では、走行車両を単体で作動させる場合を単体モード、2つ又はそれ以上の走行車両をアーム300で連結して作動させる場合を連結モードと呼ぶ。 FIGS. 1A to 1C show a state in which two connectable traveling vehicles 100 and 200 are connected by an arm 300 as one embodiment of a connectable traveling vehicle according to the present invention, and FIG. FIG. 1B is a side view, and FIG. 1C is a plan view. The left side of FIG. 1B is the front (traveling direction), the right side is the rear, and the traveling vehicle 100 is disposed on the rear side, and the traveling vehicle 200 is disposed on the front side. However, the traveling vehicle 100 can be disposed on the front side, and the traveling vehicle 200 can be disposed on the rear side. Although omitted in FIGS. 1A to 1C, the traveling vehicle 200 is also provided with a clamp portion (described later) including the arm 300. Furthermore, it is also possible to connect three or more traveling vehicles of the same type via the arm 300 of another traveling vehicle. Further, in the present embodiment, a case where the traveling vehicle is operated alone is referred to as a single mode, and a case where two or more traveling vehicles are connected by the arm 300 and operated is referred to as a connection mode.
 図2は、走行車両100及びアーム300を含むクランプ部の各部を説明するために、幾分簡略化して示した進行方向左側の側面図である。走行車両100の本体には、後ろ側に駆動輪10、転輪12、14、16、18が設けられている。駆動輪10、転輪12、14、16、18にはクローラ20が巻き掛けされている。走行車両100の進行方向右側の側面にも同様のクローラ20が巻き掛けされている。 FIG. 2 is a side view on the left side in the traveling direction shown in a somewhat simplified manner to explain each part of the clamp unit including the traveling vehicle 100 and the arm 300. Drive wheels 10 and rolling wheels 12, 14, 16, 18 are provided on the rear side of the main body of the traveling vehicle 100. A crawler 20 is wound around the driving wheel 10 and the rolling wheels 12, 14, 16, 18. A similar crawler 20 is also wound around the side surface on the right side in the traveling direction of the traveling vehicle 100.
 駆動輪10を駆動することにより、転輪12、14、16、18及びクローラ20が回転し、前方(図の左方向)への移動、後方(図の右方向)への移動、並びに回転などが可能となる。クローラ20を使用することにより、車輪だけの場合に比べて不整地の踏破性能が向上するが、クローラを用いない実施形態も可能である。なお、本実施形態では、駆動輪を一例として本体の後部側に設けたが、本体の中央部又は本体の前部側に設けることもできるし、後部と前部の両方に設けることもできる。 By driving the driving wheel 10, the rolling wheels 12, 14, 16, 18 and the crawler 20 are rotated to move forward (leftward in the figure), move backward (rightward in the figure), rotate, etc. Is possible. Although the use of the crawler 20 improves the leveling performance on rough terrain as compared to the case of using only the wheel, an embodiment that does not use a crawler is also possible. In the present embodiment, the drive wheel is provided on the rear side of the main body as an example, but may be provided on the central portion of the main body or on the front side of the main body, or may be provided on both the rear and the front.
 走行車両100の前部には、転輪18の部分から斜め上前方に突き出すようにフリッパ30が設けられている。フリッパ30は、フリッパフレーム32の両端に転輪18及び誘導輪34が設けられ、その間にフリッパクローラ36が巻き掛けられて構成されている。すなわち転輪18は、クローラ20とフリッパクローラ36によって共有されている。フリッパフレーム32の下側には、誘導輪の代わりとなる摺動バックプレート38が設けられている。 A flipper 30 is provided at the front of the traveling vehicle 100 so as to project obliquely upward and forward from the portion of the wheel 18. The flipper 30 is provided with rolling wheels 18 and a guiding ring 34 at both ends of the flipper frame 32, and a flipper roller 36 is wound around it. That is, the roller 18 is shared by the crawler 20 and the flip roller 36. Below the flipper frame 32, a sliding back plate 38 is provided to replace the guide ring.
 駆動輪10を駆動すると、クローラ20の回転に伴って転輪18が回転し、それに連動してフリッパクローラ36も回転する。すなわち、1つの駆動装置(モータ)でクローラ20とフリッパクローラ36を一緒に同期駆動する。フリッパクローラ36の回転方向は、クローラ20の回転方向と同じである。このようなフリッパ30を設けることにより、前方にある障害物の乗り越え能力を向上させることができる。特に、障害物の壁面が90°を超えて走行車両側に傾斜しているような角度の場合でも、フリッパ30を設けることによって乗り越える可能性が高まる。したがって、障害物乗り越え能力の向上のためにはフリッパ30を設けることが望ましいが、本発明においてフリッパを設けることは必須ではない。 When the driving wheel 10 is driven, the rolling wheel 18 rotates with the rotation of the crawler 20, and in conjunction with this, the flip roller 36 also rotates. That is, the crawler 20 and the flip roller 36 are synchronously driven together by one drive device (motor). The rotation direction of the flip roller 36 is the same as the rotation direction of the crawler 20. By providing such a flipper 30, the overcoming ability of an obstacle ahead can be improved. In particular, even in the case where the wall surface of the obstacle is inclined to the traveling vehicle side by more than 90 °, the possibility of overcoming is increased by providing the flipper 30. Therefore, although it is desirable to provide the flipper 30 for the improvement of obstacle overpass capability, it is not essential to provide the flipper in the present invention.
 走行車両100の上部には、アーム300を含むクランプ部が設けられている。クランプ部には、固定部52、アーム300、アーム300の先端に設けられたハンド70が含まれる。固定部52において、クランプ部は取り外し可能に本体上部に取り付けられる。アーム300は、弾性ダンパ60を中央部として固定部52側の後半部62と、先端側の前半部64を含み、弾性バンパ60がある中央部が両端部よりも高い位置となる形状とされている。このアーム300の形状は、後述の障害物の乗り越えの際に、走行車両本体と干渉しないように考慮されているが、走行車両本体と干渉しなければ、他にも例えば上に凸な円弧状とすることもできる。 A clamp unit including an arm 300 is provided on the top of the traveling vehicle 100. The clamp portion includes a fixing portion 52, an arm 300, and a hand 70 provided at the tip of the arm 300. In the fixing portion 52, the clamp portion is removably attached to the upper portion of the main body. The arm 300 includes an elastic damper 60 as a central portion, a rear half 62 on the fixing portion 52 side, and a front half 64 on the distal end side, and the central portion with the elastic bumper 60 is positioned higher than both ends There is. The shape of the arm 300 is considered so as not to interfere with the traveling vehicle main body when crossing over an obstacle described later, but if it does not interfere with the traveling vehicle main body, for example, an arc convex upward. It can also be done.
 アーム300の全体的な長さは、連結モードで障害物を乗り越えるときに、乗り越え性能が単体モードのときよりも十分に向上するよう考慮して設定することが望ましい。弾性ダンパ60及びトルクリミッタ61は、後方の走行車両が前方の走行車両を押す方向の力が過度に働いたとき、並びに、前方の走行車両が後方の走行車両を引っぱる力が過度に働いたときに、アーム部が曲折又は破損されることを防ぐよう受動的にこの過度な力を逃がすように設計されている。 It is desirable to set the overall length of the arm 300 in consideration of overcoming the obstacle in the connection mode so that the overcoming performance is sufficiently improved as compared with the single mode. The elastic damper 60 and the torque limiter 61 are used when the force in the direction in which the rear traveling vehicle pushes the front traveling vehicle works excessively, and when the front traveling vehicle pulls the rear traveling vehicle in excess. In order to prevent the arm portion from being bent or broken, it is designed to passively release this excessive force.
 走行車両100の上部にはさらに、連結用被クランプ部54が設けられている。連結用被クランプ部54は、この走行車両100の後ろ側にさらに別の走行車両を連結する場合に、当該他の走行車両の前半部64の先端に設けられているハンド70(後述)によってクランプされるようになっている。固定部52には、単体モードで作業する際にアーム300を俯仰するための駆動軸56が設けられている。アーム300で他の走行車両と連結する連結モードでは、駆動軸56の角度は従動する。なお、図2には示されていないが、アーム300の基部には旋回軸も設けられており、水平面内での旋回動作も可能である。 Further, at the upper part of the traveling vehicle 100, a connection to-be-clamped portion 54 is provided. When another traveling vehicle is connected to the rear side of the traveling vehicle 100, the connection clamped portion 54 is clamped by a hand 70 (described later) provided at the front end of the front half 64 of the other traveling vehicle. It is supposed to be The fixing portion 52 is provided with a drive shaft 56 for lifting the arm 300 when working in the single mode. In the connection mode in which the arm 300 is connected to another traveling vehicle, the angle of the drive shaft 56 follows. Although not shown in FIG. 2, a pivot axis is also provided at the base of the arm 300, and a pivoting operation in a horizontal plane is also possible.
 後半部62のほぼ中央には、アーム300のねじれ(ロール)を許容するための弾性ダンパ66が設けられている。前半部64の先端には、駆動軸68を介してハンド70が、駆動軸68の回りに回動可能に設けられている。単体モードのときには、駆動軸68及びハンド70を使って、サンプル採取などの各種作業を行うことができる。一方、連結モードのときは、ハンド70は、前方の走行車両の連結用被クランプ部54にクランプされ固定される。また、単体モードのときに、必要がなければアーム300を含むクランプ部を取り外すこともできる。 An elastic damper 66 for allowing twist (roll) of the arm 300 is provided substantially at the center of the rear half 62. At the tip of the front half 64, a hand 70 is rotatably provided around the drive shaft 68 via the drive shaft 68. In the single mode, the drive shaft 68 and the hand 70 can be used to perform various operations such as sample collection. On the other hand, in the connection mode, the hand 70 is clamped and fixed to the connection supported portion 54 of the traveling vehicle ahead. Also, in the single mode, the clamp portion including the arm 300 can be removed if not necessary.
 走行車両100の後端部には、直角三角形状の後部フレーム90が設けられている。後部フレーム90は、直角三角形の斜辺に当たる部分が駆動輪10の内側部分から斜め上に伸びている。この斜辺に当たる部分には、滑りのよい樹脂製の摺動板が貼り付けられている。この後部フレーム90は、前進して障害物を乗り越える際に、この摺動板が、越えた後の障害物の上部を摺動することによって、本体後部が障害物から落下せずにスムーズに着地するのを助ける。いわば、走行車両100の後部(尾部)に、簡易のフリッパがあるような働きをする。なお、この後部フレーム90は、本体から取り外し可能とすることもできる。また、後部フレーム90の形状は本体後部がスムーズに着地できる形状であればよく、直角三角形には限定されない。 At the rear end of the traveling vehicle 100, a right triangle shaped rear frame 90 is provided. The rear frame 90 has a portion corresponding to the oblique side of the right triangle extending obliquely upward from the inner portion of the drive wheel 10. A sliding plate made of a slippery resin is attached to a portion corresponding to the oblique side. When the rear frame 90 moves forward and gets over an obstacle, the sliding plate slides on the upper portion of the obstacle after passing, so that the rear of the main body can be landed smoothly without falling from the obstacle. Help to In other words, it acts as if there is a simple flipper at the rear (tail) of the traveling vehicle 100. The rear frame 90 may be removable from the main body. Further, the shape of the rear frame 90 may be any shape as long as the rear of the main body can be landed smoothly, and is not limited to the right triangle.
 次に、単体モード及び連結モードにおける走行車両の障害物乗り越え性能について説明する。図3A~図3H、図4A~図4F、図5A~図5Mは、実際に行った実験の様子を簡略化して示している。また、これらの図の左側には、障害物の高さを表すための目盛りを示している。 Next, the obstacle overtaking performance of the traveling vehicle in the single mode and the connection mode will be described. FIGS. 3A to 3H, 4A to 4F, and 5A to 5M schematically show the state of the experiment actually performed. Also, on the left side of these figures, a scale for indicating the height of the obstacle is shown.
 図3A~図3Hは、走行車両100を単体モードで右から左に向かって走行させて高さhの障害物92を乗り越えさせる実験を行った様子を示している。図3Bに示すように、左側に進む走行車両100のフリッパ30が前方に設けられた障害物92に当接し、走行車両100がさらに左側に進むと、フリッパ30がガイドの役割を果たし、図3C、図3Dに示すように時計回りに傾斜しながら前方が障害物92の上に乗り上げ、最終的に図3Eに示すように全体が障害物92の上に乗り上がった状態となる。走行車両100のクローラがさらに回転すると、図3F、図3G、図3Hに示すように、走行車両100は左に進んで障害物90から降りて障害物90を乗り越えることができた。 FIGS. 3A to 3H show an experiment in which the traveling vehicle 100 is caused to travel from right to left in the single mode and to get over the obstacle 92 of height h. As shown in FIG. 3B, the flipper 30 of the traveling vehicle 100 moving to the left abuts against the obstacle 92 provided forward, and when the traveling vehicle 100 further progresses to the left, the flipper 30 plays a role of a guide. As shown in FIG. 3D, the front leans on the obstacle 92 while tilting in the clockwise direction, and finally the entire body rides on the obstacle 92 as shown in FIG. 3E. When the crawler of the traveling vehicle 100 further rotates, as shown in FIG. 3F, FIG. 3G, and FIG. 3H, the traveling vehicle 100 moves to the left and gets down from the obstacle 90 and can get over the obstacle 90.
 次に、高さを2hとした障害物94を単体モードで乗り越える場合について、図4A~図4Fを参照して説明する。高さhの障害物90の場合と同様に、走行車両100のフリッパ30が障害物94に当接してさらに進むと、図4C、図4D、図4Eに示すように走行車両100は時計回りに傾斜してゆくが、図4Eに示すように走行車両100が上向きに垂直となった後は、障害物94の高さが高すぎるため走行車両100は障害物94の上に乗り上げることはできず、重心位置の関係で後ろ側に傾き、図4Fに示すように転倒した。このように、単体モードの走行車両100では、障害物の高さが高くなると乗り越えることができない場合がある。 Next, a case where an obstacle 94 whose height is 2 h is overcome in the single mode will be described with reference to FIGS. 4A to 4F. As in the case of the obstacle 90 of height h, when the flipper 30 of the traveling vehicle 100 abuts on the obstacle 94 and proceeds further, the traveling vehicle 100 rotates clockwise as shown in FIGS. 4C, 4D, and 4E. Although it inclines, as shown in FIG. 4E, after the traveling vehicle 100 becomes vertically upward, the traveling vehicle 100 can not get on the obstacle 94 because the height of the obstacle 94 is too high. , It leaned backward due to the position of the center of gravity and fell as shown in FIG. 4F. As described above, the traveling vehicle 100 in the single mode may not be able to get over when the height of the obstacle becomes high.
 続いて、同じ高さ2hの障害物94を、連結モードで乗り越える場合について、図5A~図5Mを参照して説明する。この連結モードでは、走行車両100が後方車両、走行車両200が前方車両となり、両者がアーム300を含むクランプ部により連結される。連結モードでは、走行車両100及び200は共に自身の駆動輪10を駆動して移動する。 Subsequently, a case in which the obstacle 94 having the same height 2h is overcome in the connection mode will be described with reference to FIGS. 5A to 5M. In this connection mode, the traveling vehicle 100 is a rear vehicle, and the traveling vehicle 200 is a front vehicle, and both are connected by the clamp unit including the arm 300. In the connection mode, the traveling vehicles 100 and 200 both drive and move their drive wheels 10.
 図5Aに示すように、前方の走行車両200のフリッパ30が障害物94に当接し、走行車両100及び200がさらに進むと、図5B、図5Cに示すように走行車両200は時計回りに傾斜してゆくが、単体モードの場合の図4E、図4Fと異なるのは、アーム300を介して後ろ側の走行車両100が前側の走行車両200のクローラを障害物94に押し付けることによって走行車両200の後ろ側への転倒は防止されて、図5Dに示すように障害物94の側壁に沿って上向きに垂直となる。 As shown in FIG. 5A, when the flipper 30 of the traveling vehicle 200 in front contacts the obstacle 94 and the traveling vehicles 100 and 200 move further, the traveling vehicle 200 tilts clockwise as shown in FIGS. 5B and 5C. 4F in the single mode, and differs from FIG. 4F in the single mode in that the traveling vehicle 100 on the rear side presses the crawler of the traveling vehicle 200 on the front side against the obstacle 94 via the arm 300. A fall to the back of the is prevented and it is vertically upward along the side wall of the obstacle 94 as shown in FIG. 5D.
 このとき、走行車両200は、矢印で示すように後方からアーム300を介して水平に押されることによって走行車両200のクローラと障害物との間の摩擦力が大きくなって登坂力が向上する。この状態で走行車両200のクローラが回転することによって、走行車両200は矢印で示すように上向きに移動する。すなわち後方の走行車両100が前方の走行車両200の障害物乗り越えを補助する。このとき、駆動軸56及び68(図2参照)は、従動的に稼働するだけでよい。 At this time, the traveling vehicle 200 is pushed horizontally from the rear via the arm 300 as shown by the arrows, whereby the frictional force between the crawler of the traveling vehicle 200 and the obstacle is increased, and the climbing power is improved. When the crawler of the traveling vehicle 200 rotates in this state, the traveling vehicle 200 moves upward as shown by the arrow. That is, the traveling vehicle 100 behind assists the obstacle vehicle over the traveling vehicle 200 ahead. At this time, the drive shafts 56 and 68 (see FIG. 2) need only be operated in a driven manner.
 走行車両200のクローラの中央部分が障害物94の上端部を超えると、走行車両200は図5Eに示すように反時計回りに回転し、図5Fに示すように障害物94の上に乗り上げ、さらに図5G、図5Hに示すように障害物94を乗り越える。 When the central portion of the crawler of the traveling vehicle 200 exceeds the upper end of the obstacle 94, the traveling vehicle 200 rotates counterclockwise as shown in FIG. 5E and rides on the obstacle 94 as shown in FIG. 5F. Further, as shown in FIGS. 5G and 5H, the obstacle 94 is overcome.
 続いて走行車両100及び200が自身の駆動輪10を駆動してさらに左側へ移動すると、図5Iに示すように、後ろ側の走行車両100のフリッパ30が障害物94に当接し、さらに図5J、図5Kに示すように走行車両100は時計回りに傾斜してゆく。 Subsequently, when the traveling vehicles 100 and 200 drive their own driving wheels 10 and move further to the left, the flipper 30 of the traveling vehicle 100 on the rear side abuts against the obstacle 94 as shown in FIG. As shown in FIG. 5K, the traveling vehicle 100 inclines clockwise.
 このとき、アーム300を介して前側の走行車両200が後ろ側の走行車両100を図の左向き(前方側)に引っぱる状態となり、走行車両100の後ろ側への転倒は防止される。そして矢印で示すように走行車両100のクローラは障害物94の側面に引き付けられて走行車両100のクローラと障害物との間の摩擦力が大きくなり、登坂力が向上する。走行車両100のクローラが回転することによって、走行車両100は障害物94の側壁に沿って上向きに移動する。このように、前方の走行車両200が後方の走行車両100の障害物乗り越えを補助する。 At this time, the traveling vehicle 200 on the front side pulls the traveling vehicle 100 on the rear side to the left (front side) in the drawing via the arm 300, and the falling of the traveling vehicle 100 to the rear side is prevented. Then, the crawler of the traveling vehicle 100 is attracted to the side surface of the obstacle 94 as indicated by the arrow, and the frictional force between the crawler of the traveling vehicle 100 and the obstacle becomes large, and the climbing power is improved. The traveling vehicle 100 moves upward along the side wall of the obstacle 94 as the crawler of the traveling vehicle 100 rotates. In this manner, the traveling vehicle 200 in the front assists the obstacle traveling of the traveling vehicle 100 in the rear.
 さらに走行車両100は走行車両200によって左向きに引っぱられると共に走行車両100のクローラが回転することによって、図5Lに示すように障害物94の上に乗り上げ、さらに図5Mに示すように障害物94を乗り越える。このときも、駆動軸56及び68(図2参照)は、従動的に稼働するだけでよい。このあと、後方の走行車両100の後部(尾部)が障害物94から急落下することが予想されるが、後部フレーム90(図2参照)によって、その際の衝撃を伴う急落下が抑えられる。 Further, when the traveling vehicle 100 is pulled leftward by the traveling vehicle 200 and the crawler of the traveling vehicle 100 rotates, the traveling vehicle 100 rides on the obstacle 94 as shown in FIG. 5L and further as shown in FIG. get over. Also at this time, the drive shafts 56 and 68 (see FIG. 2) need only operate in a driven manner. After this, it is expected that the rear part (tail part) of the rear traveling vehicle 100 falls sharply from the obstacle 94, but the rear frame 90 (see FIG. 2) suppresses the rapid fall accompanied by the impact at that time.
 このように、2つの走行車両をアーム300及びハンド70を含むクランプ部で連結した連結モードにすると、前方の走行車両200が障害物を乗り越えるときは後方の走行車両100がその乗り越え動作を補助し、後方の走行車両100が障害物を乗り越えるときは前方の走行車両200がその乗り越え動作を補助することによって、単体モードにおける単体の走行車両だけでは乗り越えることのできなかった高さの障害物を乗り越えることが可能となり、障害物の乗り越え性能を向上させることが可能となる。 In this way, in the connection mode in which two traveling vehicles are connected by the clamp portion including the arm 300 and the hand 70, when the traveling vehicle 200 in front travels over an obstacle, the traveling vehicle 100 in the rear assists the overcoming operation. When the rear traveling vehicle 100 rides over an obstacle, the front traveling vehicle 200 assists the riding over operation, thereby riding over an obstacle of a height that could not be overcome only by a single traveling vehicle in the single mode. It is possible to improve the overcoming performance of obstacles.
 図3A~図3H、図4A~図4F、図5A~図5Mに示したような人工的かつ直交系の障害物とは異なる大きな岩などの不定形な障害物を乗り越える際には、前方の走行車両200と後方の走行車両100の接地方向や傾斜の違いにより、アーム300が(動的に)ねじられようとすることがある。そのような場合には、弾性ダンパ66(図2参照)がこのようなねじれに対応するので、連結した走行車両全体としてそのような不定形な障害物の乗り越えも柔軟に行うことができる。また、不定形な障害物を乗り越える際に生じうる、前方の走行車両200と後方の走行車両100の推進方向に対する傾きや曲がりに対しては、アーム300の基部に設けられた旋回軸の従動によって対応することができる。 When overcoming an irregular shaped obstacle such as a large rock different from the artificial and orthogonal obstacle as shown in FIGS. 3A to 3H, 4A to 4F, and 5A to 5M, The arm 300 may try to be twisted (dynamically) depending on the difference in the contact direction and the inclination of the traveling vehicle 200 and the traveling vehicle 100 at the rear. In such a case, since the elastic damper 66 (see FIG. 2) corresponds to such a twist, it is possible to flexibly carry over such an irregular obstacle as the whole traveling vehicle connected. In addition, with respect to the inclination or bending of the traveling vehicle 200 in the front and the traveling vehicle 100 in the rear with respect to the propulsion direction, which may occur when overriding an irregular obstacle, by the following of the pivot shaft provided at the base of the arm 300 It can correspond.
 なお、本実施形態では、2台の走行車両100及び200が全く同じ同型の走行車両として説明した。多数の走行車両を量産することによってコストを低減できるという点では、全く同じ複数の走行車両を接続することが望ましいことは確かである。しかしながら、本発明の主たる効果である障害物乗り換え性能を向上させるという観点からは、連結モードで2台或いは3台以上接続する各走行車両は全く同じものであることは必ずしも必要ではない。例えば、接続する複数の走行車両の形状及び性能が多少異なっていたとしても、少なくともアーム又はこれに相当するもので互いを連結することができるようにされたものも、本発明の技術的範囲に含まれると理解されるべきであり、本明細書において「同型」といった場合には、このような構造や機能に多少の相違があるものも含むものとする。 In the present embodiment, the two traveling vehicles 100 and 200 have been described as traveling vehicles of the same type. It is true that it is desirable to connect several identical traveling vehicles in that the cost can be reduced by mass producing a large number of traveling vehicles. However, from the viewpoint of improving the obstacle transfer performance, which is the main effect of the present invention, it is not always necessary that the traveling vehicles connecting two or three or more in the connection mode are completely the same. For example, even if the shapes and performances of a plurality of traveling vehicles to be connected are somewhat different, at least arms or equivalent members that can be connected to each other are also within the technical scope of the present invention. It should be understood to be included, and in the present specification, the term "isomorphous" is intended to include those with some differences in such structure or function.
 本発明に係る走行車両は、連結モードとすることで、単体モードの場合では乗り越えることのできない高い障害物を乗り越えることが可能となる。このため、例えば単体の走行車両をペイロードの小さい小型のロケットで別々に月や惑星を初めとする他の天体に運搬し、その場でこれらを複数連結して連結モードとすることによって、高い障害物乗り越え性能を付与することができるので、将来の宇宙用途としての利用が考えられる。また、地上用途としても、天井が低いために人間が入りにくいが内部に障害物が存在する、例えば高速道路下の狭い空間やビル建設現場などにおいて各種作業を行う場合にも利用することができる。 In the traveling mode according to the present invention, by setting the connection mode, it is possible to overcome a high obstacle which can not be overcome in the single mode. For this reason, for example, by transporting a single traveling vehicle separately to a small rocket with a small payload separately to the moon and other objects including the planet, and connecting them in a plurality on the spot to make a connection mode, a high obstacle Since it can be given the overcoming performance, it can be considered for future space applications. In addition, as a ground application, it can be used when performing various tasks in narrow spaces under buildings such as narrow spaces under expressways, for example, where human beings are difficult to enter because the ceiling is low, but there are obstacles inside. .
 また、例えば広い領域において多数の走行車両を用いて各種作業を行うような場合に、単体の走行車両では乗り越えられない障害物が見つかった場合に、必要に応じて複数の単体の走行車両同士が互いに連結し合って連結モードに入り、この状態で障害物を乗り越えたあとに、元の単体モードに戻って作業を継続させるという利用方法も想定される。 Also, for example, when performing various operations using a large number of traveling vehicles in a wide area, if an obstacle that can not be overcome by a single traveling vehicle is found, a plurality of single traveling vehicles are mutually as needed. It is also conceivable to use the method of connecting to each other, entering the connected mode, and overcoming the obstacle in this state, then returning to the original single mode and continuing the work.
10 駆動輪
12,14,16,18 転輪
20 クローラ
30 フリッパ
32 フリッパフレーム
34 誘導輪
36 フリッパクローラ
38 摺動バックプレート
52 固定部
54 連結用被クランプ部
56 駆動軸
60,66 弾性ダンパ
70 ハンド
90 後部フレーム
92,94 障害物
100,200 走行車両
300 アーム
DESCRIPTION OF SYMBOLS 10 Drive wheel 12, 14, 16, 18 Wheel 20 Crawler 30 Flipper 32 Flipper frame 34 Guide wheel 36 Flip roller 38 Sliding back plate 52 Fixing part 54 Connection-to-clamped part 56 Drive shaft 60, 66 Elastic damper 70 Hand 90 Rear frame 92, 94 obstacle 100, 200 driving vehicle 300 arm

Claims (7)

  1.  車両本体と、
     前記車両本体に設けられた第1の駆動輪と、
     前記駆動輪を駆動する駆動部と、
     前記車両本体上部に固定する固定部、前記固定部から車両本体よりも前方へ延びるアーム部、前記アーム部の先端に設けられ、進行方向前方に位置する他の前方走行車両の被クランプ部と結合可能なハンド部を備えたクランプ部と、
     前記車両本体上部に設けられ、進行方向後方に位置する他の後方走行車両の前記ハンド部により結合される被クランプ部と、
     を備え、他の走行車両と連結可能な走行車両。
    Vehicle body,
    A first drive wheel provided on the vehicle body;
    A drive unit for driving the drive wheel;
    A fixing portion fixed to the upper portion of the vehicle body, an arm portion extending forward from the fixing portion to the vehicle body, a tip of the arm portion, and a clamp portion of another forward traveling vehicle located forward in the traveling direction A clamp with a possible hand,
    A clamped portion provided at the upper portion of the vehicle body and coupled by the hand portion of another backward traveling vehicle located rearward in the traveling direction;
    A traveling vehicle that can be connected to other traveling vehicles.
  2.  前記第1の駆動輪にはクローラが巻き掛けられている請求項1に記載の連結可能な走行車両。 The connectable traveling vehicle according to claim 1, wherein a crawler is wound around the first drive wheel.
  3.  前記クランプ部は、前記車両本体から取り外し可能に固定されている請求項1又は2に記載の連結可能な走行車両。 The connectable traveling vehicle according to claim 1, wherein the clamp unit is detachably fixed to the vehicle body.
  4.  前記車両本体の前方かつ上方に突き出して設けられた、周囲にクローラが巻き掛けられたフリッパを備え、前記駆動部によりフリッパの周囲に巻き掛けられたクローラを駆動するよう構成された、請求項1乃至3のいずれか一項に記載の連結可能な走行車両。 The vehicle according to any one of the preceding claims, further comprising: a flipper provided around the periphery of the vehicle body, the flipper being provided so as to project forward and upward of the vehicle body and having a crawler wrapped around the periphery. 3. A connectable traveling vehicle according to any one of the preceding claims.
  5.  前記車両本体の後部に、後部フレームを備える、請求項1乃至4のいずれか一項に記載の連結可能な走行車両。 The connectable traveling vehicle according to any one of claims 1 to 4, further comprising a rear frame at a rear portion of the vehicle body.
  6.  前記前方走行車両と前記クランプ部により連結されている連結モードでは、前記前方走行車両が障害物を乗り越えるときは前記アーム部を介して前記前方走行車両を押すことにより前記前方走行車両の障害物の乗り越えを補助し、前記後方走行車両と前記後方走行車両のクランプ部により連結されている連結モードでは自身が障害物を乗り越えたときは前記アーム部を介して前記後方走行車両を引くことにより前記後方走行車両の障害物の乗り越えを補助する、請求項1乃至5のいずれか一項に記載の連結可能な走行車両。 In the connection mode in which the forward traveling vehicle and the clamp unit are connected, when the forward traveling vehicle passes over the obstacle, the obstacle of the forward traveling vehicle is pushed by pushing the forward traveling vehicle via the arm portion. In the connection mode in which the rear traveling vehicle and the clamping portion of the rear traveling vehicle are connected to assist the climb over, when the own vehicle gets over an obstacle, the rear traveling vehicle is pulled by the arm portion and the rear The connectable traveling vehicle according to any one of claims 1 to 5, which assists overcoming obstacles of the traveling vehicle.
  7.  請求項1乃至6のいずれか一項に記載の連結可能な走行車両を前記クランプ部及び被クランプ部により複数台連結した連結モードで走行する連結可能な走行車両。 A connectable traveling vehicle that travels in a connection mode in which a plurality of connectable traveling vehicles according to any one of claims 1 to 6 are connected by the clamp unit and the clamp unit.
PCT/JP2018/032445 2017-09-01 2018-08-31 Connectable travel vehicle WO2019045065A1 (en)

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