JP3079850B2 - Rough Terrain Running 6 Wheeler - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a six-wheeled vehicle for traveling on uneven terrain, which is suitable for traveling on a road surface having a large unevenness with a large difference in elevation, and particularly used for exploring celestial bodies such as planets.

[0002]

2. Description of the Related Art As this kind of off-road vehicle, for example, there is one developed for exploring Mars, and it has been confirmed that there are many obstacles such as rocks and steps on the surface of Mars. To overcome these obstacles,
There is a demand for a function that can run freely while avoiding.

[0003] Therefore, as a traveling vehicle capable of coping with traveling on uneven terrain, a vehicle traveling on many wheels, a vehicle traveling on an endless track, or a vehicle traveling on a plurality of legs alternately is considered. For example, those having wheels are described on page 80 of “Nikkei Mechanical, November 16, 1992” issued by Nikkei BP.

[0004]

Incidentally, the above-mentioned vehicle running on uneven terrain has a complicated structure, and the vehicle becomes unstable particularly when there are steps on the left and right sides of the vehicle.

[0005]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned conventional situation, and has a simple structure and can stably travel even when there are portions having large steps on the right and left of the vehicle. It is intended to provide a six-wheeled vehicle for running on uneven terrain.

[0006]

SUMMARY OF THE INVENTION An off-road vehicle according to the present invention comprises left and right front wheels which are independently mounted on left and right sides of a front wheel connecting member and are independently driven by driving means, and a center wheel connecting member. Left and right central wheels mounted independently on the left and right and independently driven by driving means; left and right rear wheels independently mounted on the left and right of the rear wheel connecting member and independently driven by the driving means; A main shaft member interposed between the wheel connecting member and the center wheel connecting member to connect the two in a rollable manner; and the rear wheel with respect to the main shaft member interposed between the main shaft member and the rear wheel connecting member. The present invention is characterized in that it has an intermediate connecting member having a movable shaft capable of rolling, pitching and yawing of the connecting member. It is the means.

[0007]

The terrain vehicle according to the present invention has front wheels,
The center wheel and the rear wheel rotate independently of each other,
Since each of the six wheels is configured to be independently suspended, the vehicle can run stably even when there is a step on the left and right.
Further, since the rear wheel can freely move in the vertical direction with respect to the main shaft member, the vehicle runs over even if there is a large step in the front-rear direction. Furthermore, since the rear wheel can freely roll, pitch and yaw with respect to the main shaft member, even when only one of the rear wheels is riding on a large step, the front wheel and the center wheel do not separate from the ground surface, so it is sufficient. The vehicle will travel with an appropriate driving force.

[0008]

FIG. 1 is an explanatory view of the basic structure of an embodiment of the six-wheeled vehicle on uneven terrain according to the present invention. 2 to 4 are a side view, a plan view, and a front view, respectively, showing an embodiment of a six-wheeled vehicle traveling on rough terrain.

The six-wheeled vehicle R for running on uneven terrain shown in FIG.
1, a left center wheel W2, a left rear wheel W3, a right front wheel W4, a right center wheel W5, a right rear wheel W6, wherein the wheels W1 to W6 are respectively a left front wheel arm A1, a left center wheel arm A2, a left rear wheel. Wheel arm A3, right front wheel arm A4, right center wheel arm A5, and right rear wheel arm A6 are attached to the lower end.

The upper end of each of the arms A1 to A6 is suspended by a shock absorber S, and the left and right front wheels W
Reference numerals 1 and W4 are attached to the front wheel connecting member 1 so as to be movable in the vertical direction. Left and right central wheels W2 and W5 are attached to the central wheel connecting member 2 so as to be movable in the vertical direction. Is mounted on the rear wheel connecting member 3 so as to be vertically movable.

The mounting structure between each wheel and each arm will be described in detail for the left front wheel W1. As shown in FIG. 4, the lower end of the left front wheel arm A1 is formed of a cylindrical member 4, in which a motor M which is a driving means is housed. It is connected to W1.

The wheel W1 rotates in the forward direction of the vehicle when the motor M as the driving means rotates forward, and rotates in the backward direction of the vehicle when the motor M rotates reversely.

The other wheels W2 to W6 and the other arms A2 to A
6 and the configuration of each motor M are the same as those described above.

Next, as shown in FIG. 3, the mounting structure of each arm and each wheel connecting member is such that each of the arms A1 to A6 is flat at the upper end thereof and is divided into two parts, each of which has a shaft 6, 6 respectively. , Are rotatably attached to the respective wheel connecting members 1 to 3.

Each of the wheel connecting members 1 to 3 is provided with a shock absorber receiving rod 7, one end of each shock absorber S is attached to each shock absorber receiving rod 7, and the other end of each shock absorber S is Each arm A
1 to A6.

The wheel connecting member 1 and the center wheel connecting member 2
Are connected by a main shaft member (low shaft) 8.

In the first embodiment shown in FIGS. 1 to 10, the main shaft member 8 is formed integrally with the center wheel connecting member and is rotatably mounted on the front wheel connecting member 1.

A sensor support rod 9 is attached to the center wheel connecting member 2, and a sensor 1 is mounted on an upper end of the sensor support rod 9.
0 is attached. The forward direction of the six-wheeled vehicle R traveling on uneven terrain is searched by the sensor 10 to grasp the terrain state of the area. The mounting position of the sensor 10 is preferably the center wheel connecting member 2 which is the center position of the movement of the entire vehicle, but may be the front wheel connecting member 1, the main shaft member 8, the rear wheel connecting member 3, or the like.

The main shaft member 8 and the rear wheel connecting member 3 are connected by an intermediate connecting member 11. The intermediate connecting member 11 includes a first intermediate connecting member 11a, a second intermediate connecting member 11b, and a third intermediate connecting member 11b.
It is composed of an intermediate connecting member 11c.

The upper end of the first intermediate connecting member 11a is rotatably attached to the main shaft member 8, so that the rear wheels W3, W6 can move with respect to the main shaft member 8 so as to be able to roll.

The front end of the second intermediate connecting member 11b is attached to the lower end of the first intermediate connecting member 11a via a movable shaft (pitch axis) 11d so as to be pitchable. , W6 are configured to be movable in a pitchable manner.

The rear end of the second intermediate connecting member 11b is rotatably mounted on a movable shaft (yaw axis) 11e, while the third
The front end of the intermediate connecting member 11c is bifurcated, and the movable shaft 1
1e so as to be rotatable. Then, as shown in FIG. 3, the arm 11b is attached to the second intermediate connecting member 11b.
1, 11b2, while the third intermediate connecting member 11
The arm 11c1, 11c2 is also provided to c, and the arms 11b1, 11b2 and 11c1, 11c2 are stretched by tension springs 11f1, 11f2.

On the other hand, the rear end of the third intermediate connecting member 11c is integrally connected to the rear wheel connecting member 3. Therefore, with the above configuration, the rear wheel W
3 and W6 can be yawed.

With the structure of the intermediate connecting member 11 described above,
The rear wheels W3, W6 can freely move relative to the main shaft member 8 so as to be able to roll, pitch, and yaw.

The structure of the movable shafts 11d and 11e of the intermediate connecting member 11 as described above may be a structure having a universal joint as shown in FIG. 5 as another embodiment. That is, the lower end of the first intermediate connecting member 11'a is made to be forked, while the front end of the third intermediate connecting member 11'c is made to be forked, and a cross piece 11'g is provided between the two forked portions for connection. By doing so, the third intermediate connecting member 11'c can freely rotate to be able to pitch and yaw with respect to the first intermediate connecting member 11'a.

The device K shown in FIG. 2 includes, for example, wheels W1 to W6.
A battery for driving the vehicle, a controller for controlling a rotation direction and a rotation speed of a motor M, which is a driving means for driving each of the six wheels W1 to W6, and a sensor 10 are used to search for the front terrain and recognize the terrain environment. , A computer that creates a terrain map, plans a traveling route, and performs calculations such as avoiding any obstacles, and other measuring instruments.

[0027] Rough terrain six-wheeled vehicle R having the above structure
Will be described. First, when the six-wheeled terrain R travels on a flat ground, the wheels W1 to W6 are grounded on a flat ground as shown in FIGS. Exploring the terrain, recognizing the terrain environment, creating a terrain map, planning a travel route, changing the left and right rotation speed of the motor M as the driving means if there is an obstacle, and changing the direction, When the vehicle retreats, the motor M is rotated in the reverse direction to perform stable traveling.

Next, the front wheels W1, W1,
When W4 rides on the step D, as shown in FIG. 6, the second intermediate connecting member 11b, the third intermediate connecting member 11c
On the other hand, the first intermediate connecting member 11a rotates about the shaft 11d, and as a result, all of the six wheels W1 to W6 contact the ground surface, obtain a sufficient driving force, and run stably.

Further, the two center wheels W of the six-wheeled vehicle R on uneven terrain
2 and W5 ride on the step D, the main shaft member 8 tilts forward as shown in FIG.
The intermediate connecting member 11a moves upward, and the second intermediate connecting member 11b and the third intermediate connecting member 11c
It moves upward while rotating about 1d as the center of rotation.
As a result, each of the six wheels W1 to W6 comes into contact with the ground surface, obtains sufficient driving force, and runs stably.

Further, when the rear wheels W3 and W6 of the six-wheeled vehicle R on uneven terrain ride on the step D, as shown in FIG. 8, the second intermediate connecting member 11b and the third intermediate connecting member 11
c rotates with respect to the first intermediate connecting member 11a about the movable shaft 11d as the center of rotation and moves upward. As a result, each of the six wheels W1 to W6 comes into contact with the ground surface, obtains sufficient driving force, and runs stably.

Fifth, when the left front wheel W1 of the rough terrain traveling vehicle R rides on the step D, as shown in FIG.
1, the left front wheel arm A1 and the front wheel connecting member 1 move upward and inclined, but the center wheels W2, W5,
The sensor support rod 9 and the intermediate connecting member 11 integrated with the center wheel direct connecting member 2 maintain the normal positional relationship. as a result,
Each of the six wheels W1 to W6 is in contact with the ground surface, has a sufficient driving force, and runs stably.

Sixth, when the left rear wheel W3 of the rough terrain vehicle R rides on the step D, as shown in FIG. 10, the left rear wheel W3, the left rear wheel arm A3 and the rear wheel connecting member. 3 moves upward, and also moves rightward (leftward in the figure) of the vehicle as the third intermediate connecting member 11c rotates rightward (leftward in the figure) of the vehicle. The first intermediate connecting member 11a rotates around the main shaft member 8 as a center of rotation. On the other hand, front wheel W1,
W4, the front wheel connecting member 1, the center wheels W2, W5, the center wheel connecting member 2 and the sensor support rod 9 maintain the normal positional relationship. As a result, each of the six wheels W1 to W6 comes into contact with the ground surface, has a sufficient driving force, and runs stably.

In the first embodiment, the front wheel connecting member 1 and the main shaft member 8 are rotatably connected, the main shaft member 8 and the first intermediate connecting member 11a rotate, and the main shaft member 8 The center wheel connecting member 2 is non-rotatably connected, and the third intermediate connecting member 11c and the rear wheel connecting member 3 are non-rotatably connected.

There are several combinations of these relationships. Table 1 shows the first to tenth embodiments. These second to tenth embodiments perform the same operation as the first embodiment.

The circles shown in Table 1 are rotatably connected, and the crosses are non-rotatably connected.

[0036]

[Table 1]

[0037]

As described above, according to the six-wheeled vehicle for running on uneven terrain of the present invention, both front wheels, both center wheels, and both rear wheels rotate independently, and each of the six wheels rotates. Because it is an independent suspension configuration, it can run stably even when there are steps on the left and right road surfaces.

Further, since both rear wheels can move in a pitchable manner with respect to the main shaft member, they can run over even if there is a large step in the front-rear direction.

Further, since the rear wheel can move with respect to the main shaft member so as to be able to yaw, even when only one of the rear wheels rides on a large step, the front wheel and the center wheel do not separate from the ground surface, so It can run with a great driving force.

Since the upper end of the first intermediate connecting member 11a is attached to the main shaft member 8, the vehicle length can be reduced, and a part of the load of the rear member is applied to the main shaft member 8 by the intermediate connecting member 11. As a result, remarkably excellent effects such as increasing the stability of the vehicle are brought about.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of a basic configuration showing an embodiment of a six-wheeled vehicle traveling on uneven terrain according to the present invention.

FIG. 2 is a partially omitted side view of a six-wheeled vehicle traveling on uneven terrain.

FIG. 3 is a partially omitted plan view of the six-wheeled vehicle for running on uneven terrain.

FIG. 4 is a partially sectional front view of a six-wheeled vehicle traveling on uneven terrain.

FIG. 5 is a perspective view showing another embodiment of the intermediate connecting member.

FIG. 6 is a side elevational view showing a state in which both front wheels ride on a step.

FIG. 7 is a side elevational view showing a state in which both center wheels ride on a step.

FIG. 8 is a side elevational view showing a state in which both rear wheels ride on a step.

FIG. 9 is a front operation view showing a state where the left front wheel rides on a step.

FIG. 10 is a front operation view showing a state where the left rear wheel rides on a step.

[Explanation of symbols]

 R Rough terrain six-wheeled vehicle 1 Front wheel connecting member 2 Central wheel connecting member 3 Rear wheel connecting member 8 Main shaft member (low shaft) 11 Intermediate connecting member 11a First intermediate connecting member 11b Second intermediate connecting member 11c Third intermediate Connecting member 11d Movable axis (pitch axis) 11e Movable axis (yaw axis) M Motor (drive means) S Shock absorber W1-W6 Wheel

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-58-4675 (JP, A) JP-A-7-81696 (JP, A) JP-A-62-137282 (JP, A) 11034 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) B62D 61/10 B62D 63/00-63/02

Claims (2)

(57) [Claims] 1. Left and right front wheels independently mounted on left and right sides of a front wheel connecting member and independently driven by driving means, and independently mounted on left and right sides of a central wheel connecting member and independently driven by driving means. Left and right central wheels, left and right rear wheels which are independently mounted on the left and right of the rear wheel connecting member and independently driven by driving means, interposed between the front wheel connecting member and the central wheel connecting member. A main shaft member rotatably connecting the two, and a movable shaft interposed between the main shaft member and the rear wheel connecting member to enable rolling, pitching and yawing of the rear wheel connecting member with respect to the main shaft member. An uneven terrain traveling six-wheeled vehicle comprising an intermediate connecting member having: 2. The six-wheeled vehicle according to claim 1, wherein the front wheel connecting member and the main shaft member are rotatably connected to each other, and the central wheel connecting member and the main shaft member are integrally connected to each other. A six-wheeled vehicle with rough terrain, wherein a connecting member and the main shaft member are rotatably connected, and a rear wheel connecting member and the intermediate connecting member are integrally connected.