JPH08310435A - Space search travel car - Google Patents

Abstract

PURPOSE: To provide a space probing travel car that can aim at the promotion of lightweightiness and labor-saving, aside from making an improvement in roadability, and to turn it smoothly without entailing any large load on a car body. CONSTITUTION: In this space probing travel car 1 equipped with a driving wheel 2 and a car body 3, it is provided with a vertical shaft 12 to be supported rotatably at the side of this car body 3, a horizontal shaft 14 being in a direction orthogonal with this vertical shaft 12 and supporting the driving wheel 2 at a position offset from the vertical shaft 12, a lock means consisting of an engaging hole 15a locking and releasing the vertical shaft 12, a solenoid 16 and a lock pin 17, and a potentiometer 14 detecting a turning angle of the vertical shaft 12, respectively.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a space exploration vehicle used for exploring celestial bodies such as satellites and planets.

[0002]

2. Description of the Related Art This type of space exploration vehicle is required to have the function of being able to travel freely while overcoming irregularities such as rocks and steps on the surface of the celestial body to be explored. Most of the driving vehicles are 6-wheel type.

The space exploration vehicle is limited in weight and size according to the launch capability of the exploration rocket and the loading capacity of the spacecraft that carries the space exploration vehicle. In order to satisfy this, a four-wheel type space exploration in which four driving wheels 101 are arranged in front of and behind the vehicle body 102, respectively, as shown in FIG. Research on driving vehicles is also being conducted.

In this case, as the steering means employed in the four-wheel space exploration vehicle, the two driving wheels 101, 101 arranged on the front side (upper side in the figure) of the vehicle body 102 are operated by the interlocking mechanism 103 and An Ackermann steering system in which the direction is controlled by changing it by an actuator (not shown), and as shown in FIG. 9, the left and right drive wheels 1 of the four drive wheels 101 are used.
01 is operated at different rotational speeds to control the direction, or, as shown in FIG. 10, two drive wheels 101 arranged on the front side of the vehicle body 102,
Instead of 101, caster type passive wheels 104, 104 are arranged, and two drive wheels 10 arranged on the rear side of the vehicle body 102.
There is a caster steering system in which the direction is controlled by making a difference in the number of revolutions of 1,101.

Regarding the six-wheel type vehicle for space exploration, for example, "Nikkei Mechanical 1" issued by Nikkei BP
No. 16, 1992, p. 80.

[0006]

However, in the space exploration vehicle described above, in the case of the space exploration vehicle employing the Ackermann steering system shown in FIG.
There is a problem that the weight increases by equipping the interlocking mechanism 103 and the actuator. In the case of the space exploration vehicle adopting the skid steering system shown in FIG. 9, four drives are required for turning. Since the driving force required for each wheel 101 is large, there is a problem that energy loss is large and a large load is applied to the vehicle body.

Further, in the case of the space exploration vehicle employing the caster steering system shown in FIG. 10, the caster type passive wheel 104 is arranged in place of the drive wheel 101 although the weight and the labor can be reduced. However, there is an unavoidable problem that the ability to cross the ground is reduced, and it has been a conventional problem to solve these problems.

[0008]

SUMMARY OF THE INVENTION The present invention has been made by paying attention to the above-mentioned conventional problems, and it is possible to improve the crossing property.
It is an object of the present invention to provide a traveling vehicle for space exploration, which is capable of reducing weight and saving labor, and capable of smoothly turning without imposing a heavy load on the vehicle body.

[0009]

A traveling vehicle for space exploration according to claim 1 of the present invention is a traveling vehicle for space exploration equipped with drive wheels and a vehicle body, wherein a vertical shaft rotatably supported on the vehicle body side. A horizontal shaft provided in a direction orthogonal to the vertical shaft and supporting the drive wheel at a position offset from the vertical shaft; locking means for fixing and releasing the vertical shaft; and rotation of the vertical shaft. The present invention is characterized in that the driving wheel support mechanism including the moving angle detecting means is provided, and the configuration of this traveling vehicle for space exploration is a means for solving the above-mentioned conventional problems.

Further, a traveling vehicle for space exploration according to claim 2 of the present invention has four drive wheels arranged on four sides of a front side, a rear side and both sides of a vehicle body, and is provided at a front end portion and a rear end portion of the vehicle body. ,
A front rotation arm and a rear rotation arm, which are supported by a horizontal axis orthogonal to the front-rear axis of the vehicle body and rotate in opposite directions with respect to the vehicle body, are provided respectively, and a front end portion and a rear portion of the front rotation arm are provided. A drive wheel located on the front side of the vehicle body and a drive wheel located on the rear side of the vehicle body are attached to the rear end portion of the side turning arm via a drive wheel support mechanism, and the rear end portion of the front side turning arm and The drive wheels located on both sides of the vehicle body are attached to the front end of the rear-side turning arm. The traveling vehicle for space exploration according to claim 3 of the present invention has drive wheels located on both sides of the vehicle body. The front rotation arm and the rear rotation arm are mounted via a drive wheel support mechanism.

Further, the traveling vehicle for space exploration according to claim 4 of the present invention has four driving wheels, two driving wheels arranged in each of the front and rear portions of the vehicle body, and two driving wheels arranged in either of the front and rear portions of the vehicle body. The drive wheels are mounted on the vehicle body side via drive wheel support mechanisms, and the structure of this traveling vehicle for space exploration is a means for solving the above-mentioned conventional problems.

Furthermore, in the space exploration vehicle according to claim 5 of the present invention, one drive wheel is disposed on either one of the front and rear portions of the vehicle body, and the two drive wheels are provided on the front and rear portions of the vehicle body. One of the front and rear parts of the vehicle body is provided with one drive wheel attached to the vehicle body through a drive wheel support mechanism. The structure of the traveling vehicle for exploration is used as a means for solving the above-mentioned conventional problems.

Furthermore, in the vehicle for space exploration according to claim 6 of the present invention, the locking means comprises a plurality of engaging holes provided at appropriate intervals in the circumferential direction of the vertical axis, a solenoid, and In a space exploration vehicle according to claim 7 of the present invention, the lock means is a vertical shaft. 9. A space exploration according to claim 8 of the present invention, comprising: a lock gear fitted to the valve, a solenoid, and a gear receiver that advances and retreats according to the operation of the solenoid to engage and disengage from the lock gear. In a traveling vehicle, the locking means includes a shaft-side clutch plate fixed to a vertical shaft, a solenoid, and a solenoid-side clutch that moves forward and backward by the operation of the solenoid to engage and disengage from the shaft-side clutch plate. It has a configuration that includes a pitch plate.

[0014]

Since the traveling vehicle for space exploration according to claim 1 of the present invention has the above-mentioned structure, when the vehicle body is moved straight, the horizontal axis is orthogonal to the longitudinal axis of the vehicle body by the locking means of the drive wheel support mechanism. If the vertical shaft is fixed to the vehicle body as described above, the vehicle body moves straight by the operation of the drive wheels.

On the other hand, when the vehicle body is turned, when the vertical shaft is unlocked by the locking means of the drive wheel support mechanism and the drive wheel is rotated, the drive wheel is located at a position offset from the vertical axis. , The drive wheel turns around a vertical axis and changes direction.

At this time, the turning angle detecting means detects the turning angle of the drive wheel, that is, the turning angle of the vertical axis.
If a torque command or a rotation speed command is given to the drive wheels accordingly, the direction of the drive wheels is controlled, and the vehicle body turns in an appropriate direction.

That is, since the turning of the driving wheel itself can be smoothly performed in an appropriate direction without equipping an actuator and without requiring a large driving force, the crossing property can be improved. Not only
The weight and labor can be reduced, and in addition, the load on the vehicle body during turning can be reduced.

Since the traveling vehicle for space exploration according to claim 2 of the present invention has the above-mentioned structure, the weight and the labor can be reduced, and in addition, turning in an appropriate direction causes a large load on the vehicle body. It is performed smoothly without being applied, and for example, the drive wheels located on the front side of the vehicle body and the drive wheels located on the rear side of the vehicle body are individually turned in the left-right direction of the vehicle body, and in this state, the vertical axis is locked by the locking means. If the drive wheels are fixed to the vehicle body and further rotated, the in-situ rotation without slippage is performed, and the walkability is further improved.

Further, for example, when entering a recess from a flat surface, the drive wheel located on the front side of the vehicle body is lowered and the front rotating arm is tilted forward and downward. However, the vehicle body leans forward and the movement of the rear turning arm is offset, and each drive wheel grips the flat surface securely. Becomes

On the other hand, for example, when climbing from a flat surface to a ridge, the drive wheel located on the front side of the vehicle body rises and the front rotating arm leans forward, and at this time, the rear rotating arm moves to the vehicle body. On the other hand, it tries to rotate in the opposite direction to the front rotation arm, but the body tilts backward and the movement of this rear rotation arm is canceled, so that each drive wheel surely grips the flat surface. Therefore, in both the descending mode such as when entering a depression from a flat surface and the climbing mode such as when climbing from a flat surface to a ridge, the four drive wheels reliably capture the celestial surface. Therefore, stable driving will be performed.

In the traveling vehicle for space exploration according to claim 3 of the present invention, the four drive wheels arranged on the four sides of the front side, rear side and both sides of the vehicle body are individually rotated to rotate about the vertical axis respectively. If it is located at a position closest to, the size of the vehicle for space exploration will be compact and the mountability on the transportation spacecraft will be improved.

In the traveling vehicle for space exploration according to claims 4 and 5 of the present invention, an actuator is not provided,
In addition, since the turning of the driving wheels themselves enables smooth turning in an appropriate direction without requiring a large driving force, not only can the crossing property be improved, but also the weight and labor can be reduced. In addition, the load on the vehicle body during turning is also reduced.

In the space exploration vehicle according to claim 6 of the present invention, the vertical axis is fixed and released with a simple structure, and in the space exploration vehicle according to claims 7 and 8 of the present invention. The vertical axis is fixed, that is, the drive wheels are more precisely controlled.

[0024]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings.

1 to 3 show an embodiment of a vehicle for space exploration according to the present invention. In FIG. 2, the lower right side in the figure is the front side, and the right side in the figure is the front side in FIG.

As shown in FIGS. 2 and 3, the traveling vehicle 1 for space exploration has four drive wheels 2 and these drive wheels 2.
Is equipped with a vehicle body 3 supported by the four drive wheels 2.
They are arranged on the front side, rear side and both sides of the vehicle body 3.

The vehicle body 3 is provided with horizontal shafts 5 orthogonal to the front-rear axis of the vehicle body 3 via bearings 6 at the front end and the rear end thereof, respectively, and the right end of the front horizontal shaft 5 (see FIG. 3).
The center of the front rotating arm 7 is fixed to the lower end), and the left end (upper end in FIG. 3) of the rear horizontal shaft 5 is
The center of the rear turning arm 8 is fixed, and the two turning arms 7 and 8 turn in opposite directions with respect to the vehicle body 3.

A drive wheel 2F located on the front side of the vehicle body 3 and a drive wheel 2SR located on the right side of the vehicle body 3 are attached to the front end portion and the rear end portion of the front side rotating arm 7 in opposite directions. A drive wheel 2SL located on the left side of the vehicle body 3 and a drive wheel 2R located on the rear side of the vehicle body 3 are attached to the front end portion and the rear end portion of the rear side rotation arm 8 in opposite directions.

In this case, the drive wheels 2F and 2SR are attached to the front turning arm 7 via the drive wheel supporting mechanism 10F10SR, and the drive wheels 2SL and 2R are supported on the rear turning arm 8 by the drive wheels. They are attached via the mechanisms 10SL and 10R, respectively.

As shown in FIG. 1, the drive wheel support mechanism 10 includes a vertical shaft 12 supported by a shaft box 11 provided on a front rotary arm 7 (rear rotary arm 8) via a bearing 18.
A horizontal shaft 13 provided in a direction orthogonal to the vertical shaft 12 and supporting the drive wheel 2 at a position offset from the vertical shaft 12 by a distance L; and a lock means for fixing and releasing the vertical shaft 12. , A potentiometer (rotation angle detection means) 14 for detecting the rotation angle of the vertical shaft 12, and the locking means is a flange 15 fixed to the vertical shaft 12.
A plurality of engaging holes 15a provided at intervals of 90 ° in the circumferential direction of the
And a lock pin 17 which is moved forward and backward by the operation of the solenoid 16 to engage and disengage with the engaging hole 15a of the flange 15.

In this embodiment, the drive wheels 2SR, 2S
Each of the L drive wheel support mechanisms 10SR and 10SL is a simplified drive wheel support mechanism in which the vertical shaft 12 is supported by the front rotation arm 7 (rear rotation arm 8) via a bearing (not shown).

In this space exploration vehicle 1, when the vehicle body 3 is moved straight, the solenoids 16 of the drive wheel support mechanisms 10F and 10R for supporting the drive wheels 2F and 2R are actuated.
The lock pin 17 is pushed out to engage the engagement hole 15a of the flange 15.
When the vertical shafts 12 are fixed so that the horizontal shafts 13 are orthogonal to the front-rear axes of the vehicle body 3, the vehicle body 3 moves straight by the operation of the drive wheels 2.

On the other hand, when the vehicle body 3 is turned, the drive wheels 2
The drive shaft supporting mechanisms 10F and 10R for supporting the drive wheels 2F are released from the fixed vertical shaft 12 by the locking means.
When F and 2R are respectively rotated, these drive wheels 2
Since F and 2R are located in the part offset from the vertical axis 12 by the distance L, the drive wheels 2F and 2R are
It turns around and changes its direction. At this time, each potentiometer 14 detects the turning angle of the drive wheels 2F, 2R, that is, the turning angle of the vertical shaft 12, and accordingly the drive wheels 2F, 2R. When a torque command or a rotation speed command is given to the vehicle, the directions of the drive wheels 2F and 2R are controlled, and the vehicle body 3 turns in an appropriate direction.

At this time, for example, as shown in FIG. 3, the drive wheels 2F located on the front side of the vehicle body 3 and the drive wheels 2R located on the rear side of the vehicle body 3 are respectively directed in the left-right direction of the vehicle body 3 in this state. When the solenoids 16 are operated, the lock pins 17 are pushed out to be engaged with the engagement holes 15a of the flanges 15 to fix the vertical shaft 12 to the vehicle body 3, and the drive wheels 2F and 2R can be further rotated to slip. In-situ rotation will occur.

That is, the rotation of the drive wheel 2 by itself does not impose a large driving force without equipping an actuator, and the vehicle body 3 is smoothly turned in an appropriate direction without applying a large load. As a result of being carried out, not only the crossing property can be improved, but also the weight and labor can be reduced.

In this space exploration vehicle 1, for example, when entering a depression from a flat surface, the drive wheel 2F located on the front side of the vehicle body 3 is lowered and the drive wheel 2SR located on the right side of the vehicle body 3 is flat. Since it is grounded on the surface, the front turning arm 7 tilts forward and downward with respect to the vehicle body 3, and at this time, the rear turning arm 8 moves in a direction opposite to the front turning arm 7 with respect to the vehicle body 3. However, when the vehicle body 3 tilts forward, the operation of the rear side rotation arm 8 is offset and the drive wheel 2SL and the vehicle body mounted on the rear side rotation arm 8 on the left side of the vehicle body 3 are The drive wheel 2R located on the rear side of 3 securely grips the flat surface.

On the other hand, for example, when climbing a ridge from a flat surface, the drive wheel 2F located on the front side of the vehicle body 3 is raised and the drive wheel 2SR located on the right side of the vehicle body 3 is grounded on the flat surface, so that the front side turn is performed. The moving arm 7 is inclined forward and upward with respect to the vehicle body 3, and at this time, the rear-side turning arm 8 moves toward the vehicle body 3
On the other hand, the vehicle body 3 tries to rotate in the opposite direction to the front rotation arm 7, but the vehicle body 3 tilts rearward, and the rear rotation arm 8
Thus, the driving wheels 2SL located on the left side of the vehicle body 3 and the driving wheels 2R located on the rear side of the vehicle body 3 attached to the rear turning arm 8 reliably grip the flat surface.

Therefore, in both the descending mode such as when entering a depression from a flat surface and the climbing mode such as when climbing from a flat surface to a ridge, the four drive wheels 2 ensure the surface of the celestial body. As it is captured, stable driving will be achieved. Furthermore, in this space exploration vehicle 1, two drive wheels 2 arranged on the front and rear sides of the vehicle body 3 are used.
The F and 2R are turned counterclockwise around the vertical axis 12 respectively, and the two drive wheels 2SR and 2SL arranged on both sides of the vehicle body 3 are rotated around the vertical axis 12 respectively.
If the space exploration vehicle 1 is made to be compact in size by turning in the clockwise direction and being positioned at the parts closest to the vehicle body 3, the mountability on the transport spacecraft is improved.

FIG. 4 shows another embodiment of the vehicle for space exploration according to the present invention. In this embodiment, the drive wheel support mechanism 2 is used.
A lock gear 25 in which 0 locking means is fitted on the vertical shaft 12.
And a solenoid 26 fixed to the shaft box 11, and a gear receiver 27 that advances and retreats by the operation of the solenoid 26 to engage / disengage with the lock gear 25.
Other configurations are the same as those of the space exploration vehicle 1 in the previous embodiment.

That is, in this space exploration vehicle, the vertical shaft 12 is fixed, that is, the drive wheels 2 are controlled more precisely.

FIG. 5 shows still another embodiment of the vehicle for space exploration according to the present invention. In this embodiment, the locking means of the driving wheel support mechanism 30 is fixed to the vertical shaft 12 and the shaft side clutch plate 35 is provided. , Solenoid 36 and this solenoid 36
And a solenoid side clutch plate 37 that engages and disengages with the shaft side clutch plate 35 by the operation of the above, and also in this space exploration vehicle, the control of the drive wheels 2 is performed more precisely. Will be seen.

FIG. 6 shows still another embodiment of the vehicle for space exploration according to the present invention. In the vehicle 41 for space exploration according to this embodiment, four drive wheels 42 are provided at the front and rear portions of the vehicle body. Two drive wheels 42F, 42F, which are respectively arranged on the front side of the vehicle body 43, are attached to the vehicle body 43 side via the drive wheel support mechanism 10.

In this space exploration vehicle 41, similarly to the space exploration vehicle 1 in the previous embodiment, the drive wheels 42 are not equipped with an actuator and do not require a large driving force. Since the vehicle turns smoothly in an appropriate direction by its own rotation, not only the traversability is improved, but also the weight and labor are reduced, and the load applied to the vehicle body 43 at the time of turning is reduced. It will be.

FIG. 7 shows still another embodiment of the space exploration vehicle according to the present invention. As shown in FIG. 7A, the space exploration vehicle 61 according to this embodiment has one drive unit. The wheel 62 is arranged on the front side of the vehicle body 63, the two driving wheels 62 are arranged on the rear side of the vehicle body 63, and the one driving wheel 62F arranged on the front side of the vehicle body 63 is arranged on the vehicle body 63 side. It is configured to be attached via 10.

Also in this space exploration vehicle 61, similarly to the space exploration vehicle 1 in the previous embodiment, driving is performed without equipping an actuator and without requiring a large driving force. By the rotation of the wheel 62 by itself, as shown in FIG. 7 (b), turning in an appropriate direction is smoothly performed, so that not only the crossing property is improved, but also the weight and labor are reduced. The load on the vehicle body 63 during turning is also reduced.

[0046]

As described above, according to the first aspect of the present invention.
Since the vehicle for space exploration according to the above has the above-mentioned configuration, a large load is applied to the vehicle body in an appropriate direction by the rotation of the drive wheels themselves without equipping an actuator and without requiring a large driving force. This provides an extremely excellent effect that not only can the vehicle smoothly turn, but not only the improvement of the crossing performance can be realized, but also the weight saving and the labor saving can be realized.

Since the traveling vehicle for space exploration according to claim 2 of the present invention has the above-mentioned structure, it is needless to say that it is lightweight and compact, and when entering a depression from a flat surface or descending from a ridge, and When climbing a ridge from a flat surface or exiting a ridge,
Stable running is possible, for example, if the drive wheels located on the front side of the vehicle body and the drive wheels located on the rear side of the vehicle body are individually rotated in the lateral direction of the vehicle body, the drive wheels are further rotated. The in-situ rotation without slippage is possible, and as a result, the extremely excellent effect that the crossing property is further improved is brought about.
The space exploration vehicle of the present invention has an extremely excellent effect that it can be made compact in size when mounted on a transportation spacecraft and can be easily mounted on a transportation spacecraft. Is brought about.

The traveling vehicle for space exploration according to claims 4 and 5 of the present invention, is equipped with no actuator,
In addition, without requiring a large driving force, the drive wheels themselves can rotate smoothly in an appropriate direction without imposing a large load on the vehicle body. Therefore, in addition to improved crossing performance, weight reduction and labor saving are achieved. The extremely excellent effect that can also be realized is brought about.

In the space exploration vehicle according to claim 6 of the present invention, the vertical axis can be fixed and released with a simple structure, and in the space exploration vehicle according to claims 7 and 8 of the present invention. The extremely excellent effect that the drive wheels can be controlled more precisely is brought about.

[Brief description of drawings]

FIG. 1 is an enlarged cross-sectional explanatory view showing a drive wheel support mechanism of a four-wheel space exploration vehicle according to an embodiment of the space exploration vehicle according to the present invention.

FIG. 2 is an overall perspective view of the traveling vehicle for space exploration in FIG.

3 is an explanatory plan view showing a turning state of the vehicle for space exploration in FIG. 1. FIG.

FIG. 4 is an enlarged plan view of the locking means showing another embodiment of the vehicle for space exploration according to the present invention.

FIG. 5 is an enlarged cross-sectional explanatory view of a lock means showing still another embodiment of the vehicle for space exploration according to the present invention.

FIG. 6 is a plan view schematically showing a four-wheel space exploration vehicle according to still another embodiment of the space exploration vehicle according to the present invention.

FIG. 7 is an explanatory plan view (a) in a straight traveling state and a plan explanatory view in a turning state schematically showing a three-wheel type space exploration vehicle according to still another embodiment of the space exploration vehicle according to the present invention ( b).

FIG. 8 is an explanatory plan view schematically showing a conventional four-wheeled space exploration vehicle employing the Ackerman steering system.

FIG. 9: 4 adopting the conventional skid steering system
It is a plane explanatory view which shows the traveling vehicle for wheel space exploration simply.

FIG. 10 is a plan view schematically showing a four-wheel space exploration vehicle employing a conventional caster steering system.

[Explanation of symbols]

1,41,61 Space exploration vehicle 2,42,62 (2F, 2R, 2SR, 2SL, 42
F, 62F) Drive wheels 3, 43, 63 Vehicle body 5 Horizontal shaft (horizontal axis) 7 Front turning arm 8 Rear turning arm 10 (10F, 10R, 10SR, 10SL) Drive wheel support mechanism 12 Vertical axis 13 Horizontal axis 14 Potentiometer (Rotation Angle Detection Means) 15a Engagement Holes (Lock Means) 16, 26, 36 Solenoids (Lock Means) 17 Lock Pins (Lock Means) 20 Drive Wheel Support Mechanism 25 Lock Gears (Lock Means) 27 Gear Reception ( Locking means) 30 Drive wheel support mechanism 35 Shaft side clutch plate (locking means) 37 Solenoid side clutch plate (locking means)

Claims (8)

[Claims] 1. A vehicle for space exploration comprising a drive wheel and a vehicle body, wherein a vertical axis rotatably supported on the vehicle body side, and the drive wheel provided in a direction orthogonal to the vertical axis. A horizontal axis that is supported at a position offset from the vertical axis, and locking means that fixes and releases the vertical axis,
A traveling vehicle for space exploration, comprising a drive wheel support mechanism including the rotation angle detection means of the vertical axis. 2. Four driving wheels are arranged on four sides of a front side, a rear side and both sides of a vehicle body, and a center is supported on a front end portion and a rear end portion of the vehicle body on a horizontal axis orthogonal to a front and rear axis of the vehicle body. A front rotation arm and a rear rotation arm that rotate in opposite directions with respect to the vehicle body, respectively. The drive wheel support mechanism is provided at the front end of the front rotation arm and the rear end of the rear rotation arm. Drive wheels located on the front side of the vehicle body and drive wheels located on the rear side of the vehicle body are respectively attached through the two sides of the vehicle body at the rear end portion of the front rotation arm and the front end portion of the rear rotation arm. 2. The vehicle for space exploration according to claim 1, wherein the drive wheels located at the respective positions are attached. 3. The vehicle for space exploration according to claim 2, wherein drive wheels located on both sides of the vehicle body are attached to the front turning arm and the rear turning arm via a drive wheel support mechanism, respectively. 4. Four drive wheels are arranged in each of the front and rear portions of the vehicle body, and two drive wheels arranged in any of the front and rear portions of the vehicle body are provided to the vehicle body side via a drive wheel support mechanism. The traveling vehicle for space exploration according to claim 1, each of which is attached. 5. One drive wheel is arranged on either one of the front and rear portions of the vehicle body, and two drive wheels are arranged on either of the front and rear portions of the vehicle body, and either one of the front and rear portions of the vehicle body is arranged. The vehicle for space exploration according to claim 1, wherein one drive wheel arranged on one side is attached to the vehicle body side through a drive wheel support mechanism. 6. The locking means includes a plurality of engagement holes provided at appropriate intervals in a circumferential direction of a vertical axis, a solenoid, and a solenoid which is moved forward and backward to engage with the engagement hole. .A lock pin for detaching is provided.
The vehicle for space exploration described in. 7. The lock means includes a lock gear fitted on a vertical shaft, a solenoid, and a gear receiver that moves forward and backward by the operation of the solenoid to engage and disengage with the lock gear. The traveling vehicle for space exploration according to 1 to 5. 8. The locking means comprises a shaft side clutch plate fixed to a vertical shaft, a solenoid, and a solenoid side clutch plate which is advanced and retracted by the operation of the solenoid to engage / disengage with the shaft side clutch plate. The traveling vehicle for space exploration according to claim 1.