WO2019045065A1 - Véhicule de déplacement connectable - Google Patents

Véhicule de déplacement connectable 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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WO
WIPO (PCT)
Prior art keywords
traveling vehicle
obstacle
traveling
vehicle
connectable
Prior art date
Application number
PCT/JP2018/032445
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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.)
Filing date
Publication date
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 JP2019539678A priority Critical patent/JP7123415B2/ja
Publication of WO2019045065A1 publication Critical patent/WO2019045065A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D53/00—Tractor-trailer combinations; Road trains
    • 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

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

Selon la présente invention, une pluralité de robots de déplacement autonomes individuels sont connectés, de sorte que la performance de marche soit améliorée. Dans un mode connecté, deux robots de déplacement autonomes 100 et 200 du même type sont reliés par un bras 300. Le robot de déplacement autonome 100 est disposé sur le côté arrière, et le robot de déplacement autonome 200 est disposé sur le côté avant. En outre, il est possible de connecter trois ou plus du même type de robot de déplacement autonome par l'intermédiaire de bras séparés 300. Dans le mode connecté : lorsque le robot de déplacement autonome avant surmonte un obstacle, le robot de déplacement autonome arrière pousse le robot de déplacement autonome avant par l'intermédiaire du bras, de façon à aider le robot de déplacement autonome avant à surmonter l'obstacle ; et lorsque le robot de déplacement autonome avant a surmonté l'obstacle, le robot de déplacement autonome avant tire le robot de déplacement autonome arrière par l'intermédiaire du bras, de façon à aider le robot de déplacement autonome arrière à surmonter l'obstacle.
PCT/JP2018/032445 2017-09-01 2018-08-31 Véhicule de déplacement connectable WO2019045065A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2019539678A JP7123415B2 (ja) 2017-09-01 2018-08-31 連結可能な走行車両

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017168306 2017-09-01
JP2017-168306 2017-09-01

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WO2019045065A1 true WO2019045065A1 (fr) 2019-03-07

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023014301A3 (fr) * 2021-08-03 2023-03-09 National University Of Singapore Véhicule robotisé pour transition entre surfaces

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS50108110U (fr) * 1974-02-14 1975-09-04
JPS63501208A (ja) * 1985-10-29 1988-05-12 イギリス国 関節連結車
US6523629B1 (en) * 1999-06-07 2003-02-25 Sandia Corporation Tandem mobile robot system
WO2007057904A1 (fr) * 2005-11-21 2007-05-24 Ariel-University Research And Development Company Ltd. Robot mobile a double chenille pour deplacement tout terrain
JP2010509125A (ja) * 2006-11-13 2010-03-25 レイセオン・サルコス・エルエルシー ロボット式無限軌道車用の形状適合可能な軌道アセンブリ

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS50108110U (fr) * 1974-02-14 1975-09-04
JPS63501208A (ja) * 1985-10-29 1988-05-12 イギリス国 関節連結車
US6523629B1 (en) * 1999-06-07 2003-02-25 Sandia Corporation Tandem mobile robot system
WO2007057904A1 (fr) * 2005-11-21 2007-05-24 Ariel-University Research And Development Company Ltd. Robot mobile a double chenille pour deplacement tout terrain
JP2010509125A (ja) * 2006-11-13 2010-03-25 レイセオン・サルコス・エルエルシー ロボット式無限軌道車用の形状適合可能な軌道アセンブリ

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023014301A3 (fr) * 2021-08-03 2023-03-09 National University Of Singapore Véhicule robotisé pour transition entre surfaces

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JP7123415B2 (ja) 2022-08-23
JPWO2019045065A1 (ja) 2020-08-13

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