JP2008114827A

JP2008114827A - Ground contact condition controller of vehicle device

Info

Publication number: JP2008114827A
Application number: JP2006326315A
Authority: JP
Inventors: Masao Inuzuka; 雅生犬塚
Original assignee: Individual
Current assignee: Individual
Priority date: 2006-11-04
Filing date: 2006-11-04
Publication date: 2008-05-22
Anticipated expiration: 2026-11-04
Also published as: JP4753140B2

Abstract

<P>PROBLEM TO BE SOLVED: To enhance the functions of a vehicle device such as lubricant prevention, road surface protection, silentness, and signs when the wheel device travels by selecting a variety of step pieces to easily provide optimum ground contact conditions. <P>SOLUTION: A step piece and a movement body are joined to each other to form an independent control unit. The control unit is attached to and detached from the vehicle device by using a connection mechanism easily connecting them to each other by engagement. Consequently, the controller and its periphery are prevented from being damaged while it travels by using the step piece. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

本発明は、主として自動車や車椅子の車輪を対象にし、加えてブルドーザーや戦車など車輪と路面の間にキャタピラーを介して路面を移動する多様な車輪装置において、防滑、静穏化、路面保護、標識などを効果的に達成する目的に適した接地条件を得るために、多様な踏み片の中から選択した最適の踏み片を踏ませることによって、車輪装置の接地条件を制御する装置に関する。 The present invention mainly targets the wheels of automobiles and wheelchairs, and in addition to various wheel devices such as bulldozers and tanks that move on the road surface between the wheels and the road surface via a caterpillar, anti-slip, quiet, road surface protection, signs, etc. The present invention relates to a device for controlling the grounding condition of a wheel device by stepping on an optimal stepping piece selected from a variety of stepping pieces to obtain a grounding condition suitable for the purpose of effectively achieving the above.

車輪の発明以来、車輪の接地条件を任意に変化させることが要求され、多様な舗装道路や車輪が発明されてきた。近年自動車の冬季使用が多くなると、路面での防滑機能の要求は特に切実で、多くの手段が用いられてきた。これらを大別すると路面側に置く方法と車輪側に加工する方法二つの方法があり、具体例は次のようなものであった。
１）路面側の手段：敷石舗装のように恒久的に路面を舗装したり、凍結路で一時的に板や牽引パッドを路面上に置いたりして使用する方法であり、有効距離が限定される欠点がある。一時的な使用の代表的な例は、日本で通称スノーヘルパーと呼ばれる器具である。これは表面に多数の凹凸を設けた板であり、車輪の下に敷いて車輪機能を確保する器具であり、緊急用として多くの自動車に車載され雪道や凍結路に備えている。このような路面側に置かれる手段は、恒久的な舗装路面の場合は実際には踏まれない部分や踏まれない時間も含むものを製作するので費用が大きく掛かる。一方、一時的なものは、使用距離が短い欠点があり、加えて、装着と使用後の撤去のために運転席と路面を往復するので使用が面倒であるなどの欠点があった。
２）車輪装置側の手段：無限運動を利用する方法であり、車輪自体のトレッドに加工したり、車輪に取り付けて間接的に接地させたりする。凍結路では、タイヤに成形した特有のトレッド、タイヤに取り付けた鎖、スパイク、またはキャタピラなどがある。これらは無限運動で繰り返し車輪に踏ませて使用するが、特に凍結路でのスパイクやチェーンは取付けと取り外しが面倒であった。このために不要になっても使用を続けることが多く、路面や車体を損傷するなどの欠点があった。この欠点に対し、自動車の出現以来、防滑的な踏み片を無限運動させて車輪に自動的に踏ませる装置が多く試みられてきた。しかし、実用に供された発明は極めて少数であった。Since the invention of the wheel, it has been required to arbitrarily change the ground contact condition of the wheel, and various paved roads and wheels have been invented. In recent years, when automobiles have been used in winter, the demand for anti-slip function on the road surface is particularly acute, and many means have been used. When these are roughly classified, there are two methods of placing on the road surface side and processing on the wheel side, and specific examples are as follows.
1) Road surface means: This is a method that uses the road surface permanently, such as paving stone paving, or temporarily placing a plate or traction pad on the road surface on a frozen road, and the effective distance is limited. There are disadvantages. A typical example of temporary use is a device commonly called a snow helper in Japan. This is a plate having a large number of irregularities on the surface, and is an instrument that is laid under the wheel to ensure the wheel function. It is mounted on many automobiles for emergency use and is provided on snowy roads and frozen roads. Such a means placed on the road surface side is expensive in the case of a permanently paved road surface because it includes a part that is not actually stepped on and a time that cannot be stepped on. On the other hand, the temporary one has a drawback that the use distance is short, and in addition, it is troublesome to use because it reciprocates between the driver's seat and the road surface for mounting and removal after use.
2) Wheel device side means: a method using infinite motion, which is processed into a tread of the wheel itself or attached to the wheel and indirectly grounded. On frozen roads, there are specific treads molded into tires, chains attached to tires, spikes, or caterpillars. These are infinite motions and repeatedly stepped on the wheels, but especially spikes and chains on frozen roads were troublesome to install and remove. For this reason, there are many drawbacks such as damage to the road surface and the vehicle body in many cases even if they are no longer needed. In response to this drawback, since the advent of automobiles, many attempts have been made to provide a device for automatically stepping on a wheel by making an anti-slip step piece move infinitely. However, very few inventions were put into practical use.

凍結路の防滑を目的に実用に至った装置として特許文献１またはその関連の発明がオンスポットの商品名で販売されているが、踏み片と車輪とが異なる回転面で円運動するために、車輪と踏み片とが路面上で異なる軌跡を描き、この軌跡の相違のために装置や踏み片の異常な振動と損耗を生じる欠点があった。また踏み片が常時路面上で動いているために動摩擦係数になり静止摩擦に比べて摩擦係数が小さくなる欠点があった。また、振動に耐えるために装置が堅牢かつ大型になるので、これを動かすには大きい動力が必要になった。このため対象車両が限定された。また取り付けには特別な設備や技術を要し、費用と時間が掛かる欠点があった。また調整や修理などに特別な設備な技術を要するなど、多くの欠点が未解決であった。 Patent Document 1 or a related invention is sold as an on-spot product name as a device that has been put to practical use for the purpose of preventing slippage on a frozen road. The wheel and the tread have different trajectories on the road surface, and due to the difference in the trajectory, there is a drawback that abnormal vibration and wear of the device and the tread are caused. In addition, since the tread piece is constantly moving on the road surface, there is a drawback that the coefficient of dynamic friction becomes a coefficient of friction and the coefficient of friction is smaller than that of static friction. Moreover, since the apparatus becomes robust and large in order to withstand vibration, a large amount of power is required to move it. For this reason, the target vehicle was limited. In addition, the installation requires special equipment and technology, and there is a disadvantage that costs and time are required. In addition, many drawbacks have been unsolved, such as requiring special equipment technology for adjustment and repair.

これらの欠点の原因である車輪と踏み片との軌跡の相違を無くす発明が提案されたが効果、耐久性及びコストに問題があり実用化されなかった。しかし、これらを解決する方法として特許文献２の装置が発明された。これは踏み片の無限運動に直線運動部を挿入し、両者の軌跡の相違を解消し、小型で軽量にするための装置である。踏み片保持装置を昇降したり、着脱したりして、使用時と格納時とを区別する操作、いわゆるオンオフ操作において、引きワイヤー・無線・赤外線・電流などを利用し、運転席から遠隔制御することによって運転席から接地条件を制御する装置として開発されつつある。 An invention that eliminates the difference in the trajectory between the wheel and the stepping piece, which is the cause of these defects, has been proposed, but there have been problems in the effect, durability, and cost, and it has not been put into practical use. However, the apparatus of Patent Document 2 was invented as a method for solving these problems. This is a device that inserts a linear motion part into the infinite motion of the tread piece, eliminates the difference between the trajectories of both, and is small and lightweight. Remote control from the driver's seat using pull wires, radio, infrared rays, electric current, etc. in the operation to distinguish the use and storage, so-called on / off operation, by raising and lowering or removing the tread holding device Therefore, it is being developed as a device for controlling the ground contact condition from the driver's seat.

しかし、この発明においても次のような未解決の問題点があり、実用化を阻んできた。１）踏み片の羽根を回転させる回転子を保持する保持部が保持腕を介して車輪装置本体と強固に結合され、踏み片の補修には手間と時間が掛かかった。この補修手間を避け、損傷を防ぐために長期間の耐久性を確保するように設計されるので強度の安全率が異常に高く、踏み片が頑丈で重かった。加えて、位置保持機構と作動装置も頑丈で大きいので各部材が大寸法になった。大型化自体が価格を上げるので欠点であるが、加えて、以下のような多くの欠点を惹起した。
ａ一人では路上での交換や着脱が困難であった。
ｂ装置の占有体積が大きいので、適応車種が限定された。
ｃ車種毎に異なる加工を要し不経済であった。
ｄ作動にエアブレーキが必要になるので用途が限定された。
２）小石を飛ばしたり、振動と騒音が過大になったりする欠点があり、このために使用するときの速度が極めて低く限定される問題点があった。振動と騒音が周囲に迷惑を及ぼすこと、及び、使用速度が遅いことのため使用は特殊な用途の車輪に限定された。
３）耐久性の確保を優先するために、踏み片はスパイクを植えた厚いシート状のゴム片の一種類に限定され、気候、地形、使用条件などの変化に応じた適切な踏み片の選択がないので、環境が変化する路面では適切な接地条件が得られない問題点があった。
４）車輪が厚い氷の中にできた轍掘れなど深い凹部に入ると保持部は逃げることができない。この状態で車両の重量を受けるので、過剰設計の装置においても故障や破損の危険があった。仮に破損すると装置が大きいために修理に極めて大きい費用と時間が掛かり、これを防ぐために走行路面が限定されたり、走行速度が極端に晩くなったりする欠点があった。
５）走行条件に応じて選択できる多様な踏み片の準備がなかったので、公約数的な踏み片が用いられ、時季や地形によっては、機能性と安全性に欠けた。
米国特許４，２９９，３１０Ａｎｔｉ−ｓｋｉｄｄｅｖｉｃｅｆｏｒｍｏｔｏｒｖｅｈｉｃｌｅｓ（１９８１）米国特許５，２３６，０６７Ｔｒｅａｄｉｎｇｄｅｖｉｃｅｆｏｒｗｈｅｅｌｓ（１９９３）（日本国特許第２５４５５４３号車輪の踏み付け装置） However, the present invention also has the following unsolved problems, which have prevented its practical application. 1) The holding part for holding the rotor for rotating the blades of the tread pieces was firmly coupled to the wheel device body via the holding arms, and it took time and labor to repair the tread pieces. Designed to avoid this repair effort and to ensure long-term durability to prevent damage, the safety factor of strength was unusually high, and the tread was sturdy and heavy. In addition, since the position holding mechanism and the operation device are also strong and large, each member has a large size. The increase in size itself is a disadvantage because it raises the price, but in addition, it has caused many disadvantages as follows.
a It was difficult for one person to replace or remove on the road.
b Because the volume occupied by the device is large, the applicable models are limited.
c It was uneconomical, requiring different processing for each model.
d The application was limited because an air brake was required for operation.
2) There are drawbacks such as flying pebbles and excessive vibration and noise. For this reason, there is a problem that the speed when used is extremely low. Use was limited to special purpose wheels due to vibration and noise disturbing the surroundings and slow usage.
3) In order to prioritize ensuring durability, the tread is limited to one type of thick rubber sheet with spikes planted, and the proper tread is selected according to changes in climate, topography, usage conditions, etc. Therefore, there is a problem that an appropriate grounding condition cannot be obtained on a road surface where the environment changes.
4) If the wheel enters a deep recess such as a burrow made in thick ice, the holding part cannot escape. Since the weight of the vehicle is received in this state, there is a risk of failure or damage even in an overdesigned device. If the device is damaged, the apparatus is large, so that the repair takes a very large cost and time. In order to prevent this, the road surface is limited and the traveling speed is extremely slow.
5) Since there was no preparation of various treads that can be selected according to the driving conditions, treads that are common divisors were used, and lacked functionality and safety depending on the season and topography.
US Pat. No. 4,299,310 Anti-skid device for motor vehicles (1981) US Pat. No. 5,236,067 Trading device for wheels (1993) (Japanese Patent No. 2545543 Wheel treading device)

解決しようとする従来の手段の基本的な問題点は下記のように、実用に耐える耐久性を確保しながら踏み片交換の簡易性、踏み片挿入の確実性、踏み片の多様性を向上し、加えて小型且つ軽量の装置にすることである。
１）簡単な作業で迅速かつ容易に踏み片を着脱して交換すること。即ち、特別な技術、施設、装置などを使用することなく、走行中の路面において運転者がタイヤ交換程度の知識と技術で軽易に装着したり取り外したりして所望の踏み片に交換できることである。
２）踏み片とそれを保持する運動体とを確実に機能させること。即ち、装置に耐久性を持たせ、使用時は安定した軌跡で運動体の無限運動を維持しながら所望踏み片を車輪と接地面との間に確実に挿入することである。走行中の車輪装置は必然的に異物や路面上の突起物と接触して大きい衝撃と変形作用を受けるが、そうした場合にも接地条件の制御装置が損傷を受けず、機能を維持することである。車輪近傍の装置は衝突する路面上の異物に加えて、過酷な振動や埃のために損傷を受けやすく、さらに路面に散乱した小石など大小の障害物が跳ね飛ばされて当たる環境であるため特別な手段が必要になる。
３）与えられた状況において適切な接地条件を得ることを可能にする踏み片を準備すること。即ち、対象とする車輪装置、使用する自然環境、交通事情などの多様性に対応した適切な踏み片の選択を可能にするために踏み片の特性と機能に多様性と融通性とを与えることとである。
４）通常の車輪装置では周辺に空いた空間が少なく、又、走行中の接触を避けるために、踏み片のオンオフ及び滑らかな作動に関わる装置を小さく、且つ軽量にすることである。The basic problems of the conventional means to be solved are as follows, while ensuring the durability to withstand practical use, improving the simplicity of tread replacement, the reliability of tread insertion, and the diversity of treads. In addition, it is to make the device small and light.
1) Remove and replace the treads quickly and easily with simple operations. In other words, without using special techniques, facilities, equipment, etc., the driver can easily replace it with a desired tread by attaching and removing it on the road surface while traveling with knowledge and skill about the level of tire replacement. .
2) Make sure that the tread piece and the moving body that holds it are functioning properly. In other words, the durability of the apparatus is ensured, and the desired stepping piece is reliably inserted between the wheel and the ground contact surface while maintaining an infinite motion of the moving body with a stable trajectory during use. While the wheel system in motion is inevitably in contact with foreign objects and projections on the road surface, it is subject to a large impact and deformation, but even in such a case, the control device under grounding conditions is not damaged and the function is maintained. is there. The device near the wheel is special because it is easily damaged by harsh vibrations and dust in addition to foreign matter on the road surface that collides with it, and it is an environment where large and small obstacles such as pebbles scattered on the road surface are thrown away. Necessary means.
3) Prepare a tread that will allow for proper grounding conditions in a given situation. In other words, to provide diversity and flexibility in the characteristics and functions of the treads in order to enable the selection of appropriate treads corresponding to the diversity of the target wheel device, the natural environment to be used, traffic conditions, etc. It is.
4) In a normal wheel device, there is little space in the periphery, and in order to avoid contact during traveling, the device related to on / off of the tread piece and smooth operation should be made small and lightweight.

本発明における上記課題解決の手段は、請求項１に記述されたように、車輪を用いて路面を移動する車輪装置に取り付けられ、駆動片又は踏み片として機能する制御片を持ち、該制御片は無限運動する無端の帯状体又は円形の運動体に取り付けられ、該運動体の軌跡において少なくとも一部に円弧を描く旋回面を有し、該駆動片は動く対象（走行時における車輪、タイヤ、キャタピラー、制動時の路面など）に接触することにより駆動され、受けた駆動力を伝達することにより、該運動体を駆動し、該踏み片は該運動体の導きにより閉曲線の軌跡を描いて無限運動し、該踏み付け部の一部は該車輪装置の接地部と該路面との間に介在して踏まれることによって該接地部の接地条件を制御し、該接地条件に関して摩擦係数・接地圧・接地形状の少なくとも１条件を制御する装置において、下記１）から４）のように構成されたことを特徴とする車輪装置の接地条件制御装置である。即ち、適切な接地条件を発揮するための踏み片が取り付けられたベルトやチェーンのような帯状体に踏み片を結合した基本体から、これにプーリーやスプロケットなどを用いて円弧と直線との軌跡で旋回させる保持機構を加えた結合体、さらに路上の障害による損傷を回避する緩衝機構を加えた結合体、さらには車両装置と結合して固定する固定部を除く装置全体を独立した制御ユニットとして準備し、これを着脱部に簡易に着脱する機構を利用して踏み片の迅速な交換を行う手段を用いる。即ち、該制御ユニットは踏み片と連続体とを結合した基本体から、これに回転機構、保持機構、緩衝機構、昇降機構と連結して固定装置を除いた結合体まで用途に適した装置を制御ユニットとする。着脱機構は嵌合を基本とし、ばね又はねじの締め付けによって補強する。
１）該駆動片は下記の結合部、変形部、接触部の三部から、該踏み片は下記の結合部、変形部、踏み付け部の三部から、両片を兼用する場合の制御片は下記の四部分から構成され、各部は恒久的に一体化した結合体又は各部分を着脱機構で結合した結合体である。
ａ）ピン又は嵌合若しくは枠・ねじ・楔などの拘束物の弾性を利用した締め付け材によって該踏み片と該運動体とを結合する結合部１１
ｂ）使用中又は格納中に受ける負荷又は物体力の作用により変形し、該作用の消失後に復元する変形部１２
ｃ）該車輪又は該接地部に直接又は間接的に踏まれたり押し付けられたりして接触して該車輪の動きを伝達することにより該運動体を駆動する接触部１３
ｄ）該接地部に踏み付けられ該接地条件を制御する制御物１７を有する踏付部１４
２）該踏み片と該運動体とを結合した結合体、又は、該運動体に保持機構を連結した機構又は緩衝若しくは昇降の機構を加えた結合体を制御ユニットとし、該制御ユニットに取付け部を設け、該車両装置に結合して固定する固定部又は該固定部に昇降機構を加えた本体に着脱部を設け、該着脱部と該制御ユニットとの間に、嵌合若しくは溶融を利用した結合、又は、楔若しくは拘束材の弾性を利用した締め付けによる結合を用いた簡易着脱機構を設ける。制御ユニットの範囲は想定された使用条件により下記の範囲から選択する。
ａ）複数の踏み片を運動体に結合した基本体
ｂ）基本体を回転自在に保持する保持機構を加えた結合体
ｃ）緩衝機構を加えた結合体
ｄ）車両装置に取り付けた固定装置を除いた装置全体
３）該踏み片に関して形状と重量分布と変形特性とを制御した物体力の分布の選定により、又は、該踏み付け部の運動を強制するガイド部材を設け、該旋回面において発生する遠心力による該踏み片の変形により周辺物と接触して発生する該踏み片の損傷を緩和する。
４）下記のａ）又はｂ）の機構を用いて該踏み付け部の軸線の方向を変化させることによって、該接地部による該踏み付け部の踏み代を制御する。
ａ）該保持機構にヒンジ・スライド・材料変形の何れかを利用して該旋回面の保持角を変える角度変化機構を連結し、該保持角の変化により該接地部による該踏み付け部の踏み代を制御する機構。
ｂ）該制御片の各個において該結合部を固定したまま該踏み付け部を捻って捻り角度を変える捻り機構を設け、該制御片の捻り角の変化により該踏み代を制御する機構。As described in claim 1, the means for solving the problems in the present invention has a control piece that is attached to a wheel device that moves on the road surface using a wheel and functions as a driving piece or a stepping piece. Is attached to an endless belt or circular moving body that moves infinitely, and has a turning surface that draws an arc in at least a part of the trajectory of the moving body, and the drive piece is a moving object (wheel, tire, Caterpillar, road surface during braking, etc.), and the driving body is driven by transmitting the received driving force. And a part of the stepping part is stepped between the grounding part of the wheel device and the road surface to control the grounding condition of the grounding part, and the friction coefficient, grounding pressure, Ground shape An apparatus for controlling a condition even without a ground condition control device of a wheel apparatus characterized by being configured as from the following 1) 4). In other words, from a basic body in which a step piece is coupled to a belt or chain like a belt or chain to which an appropriate grounding condition is exhibited, a trajectory between an arc and a straight line using a pulley, a sprocket, etc. As a separate control unit, the entire unit excluding the combined body with a holding mechanism that turns in the vehicle, the combined body with a buffer mechanism that avoids damage due to road obstacles, and the fixed part that is coupled and fixed to the vehicle device. A means for quickly replacing the tread pieces by using a mechanism for preparing and attaching / detaching it to / from the attaching / detaching portion is used. That is, the control unit is suitable for use from a basic body in which a tread piece and a continuous body are combined to a combined body in which a rotating mechanism, a holding mechanism, a buffer mechanism, and an elevating mechanism are connected to a combined body excluding a fixing device. Control unit. The attachment / detachment mechanism is based on fitting, and is reinforced by tightening a spring or a screw.
1) The drive piece is composed of the following three parts: the coupling part, the deformation part, and the contact part. The tread piece is composed of the following coupling part, the deformation part, and the stepping part. It is composed of the following four parts, and each part is a combined body that is permanently integrated or a combined body in which each part is connected by an attaching / detaching mechanism.
a) A coupling portion 11 that couples the tread piece and the moving body with a pin or a fastening material using the elasticity of a fitting such as a frame, a screw, or a wedge.
b) Deformation part 12 which is deformed by the action of a load or object force received during use or storage, and is restored after the disappearance of the action.
c) The contact portion 13 that drives the moving body by contacting the wheel or the grounding portion by direct or indirect contact with the wheel or the grounding portion to transmit the movement of the wheel.
d) A stepping portion 14 having a control object 17 which is stepped on the grounding portion and controls the grounding condition.
2) A combined body in which the stepping piece and the moving body are combined, or a combined structure in which a holding mechanism is coupled to the moving body or a mechanism in which a buffering or raising / lowering mechanism is added is used as a control unit. A fixed part that is coupled and fixed to the vehicle device or a main body obtained by adding a lifting mechanism to the fixed part, and an attachment / detachment part is provided between the attachment / detachment part and the control unit. A simple attachment / detachment mechanism using a connection or a connection by tightening using the elasticity of a wedge or a restraint is provided. The range of the control unit is selected from the following ranges according to the assumed use conditions.
a) Basic body in which a plurality of tread pieces are coupled to a moving body b) A combined body having a holding mechanism for rotatably holding the basic body c) A combined body having a buffer mechanism d) A fixing device attached to a vehicle device 3) Excluding the entire apparatus 3) A guide member for forcing the motion of the stepping portion is provided by selecting the distribution of the object force controlling the shape, weight distribution and deformation characteristics of the stepping piece, and is generated on the turning surface. The damage to the tread that occurs in contact with the surrounding objects due to deformation of the tread by the centrifugal force is alleviated.
4) The stepping amount of the stepping portion by the grounding portion is controlled by changing the direction of the axis of the stepping portion using the following mechanism a) or b).
a) An angle changing mechanism that changes the holding angle of the swiveling surface by using any one of hinge, slide, and material deformation is connected to the holding mechanism, and the stepping amount of the stepping portion by the ground contact portion is changed by the change of the holding angle. Mechanism to control.
b) A mechanism for controlling the stepping allowance by changing the twist angle of the control piece by providing a twist mechanism for changing the twist angle by twisting the stepping portion while fixing the connecting portion in each piece of the control piece.

また用途によっては請求項２のように、該制御片１と帯状の該運動体２１との結合において、結合をヒンジ結合とし（図６を参照）、該制御片の肩１８を該運動体と接触させ、押し具１８Ａ、充填材１８Ｂ、交換材１８Ｃの何れかを用いて該肩の形状及び寸法並びに弾性率の制御により該運動体の張力を調節する。これによって帯状体２１の伸び又は変形による軌道の逸脱を防止し、長期間の滑らかな回転を保つ。 Further, depending on the application, as in claim 2, in the connection between the control piece 1 and the belt-like moving body 21, the connection is a hinge connection (see FIG. 6), and the shoulder 18 of the control piece is connected to the moving body. The tension of the moving body is adjusted by controlling the shape and size of the shoulder and the elastic modulus using any one of the pressing tool 18A, the filler 18B, and the exchange material 18C. Thereby, the deviation of the trajectory due to the elongation or deformation of the belt-like body 21 is prevented, and the smooth rotation for a long period is maintained.

また用途によっては請求項３のように、該車輪の走行と独立した車又は滑走機構を用いて路面上を走行する走行装置を設け、該走行装置が該接地条件制御装置の重量の少なくとも一部を負担し、該制御ユニットの高さ、方向又は位置の何れかを制御することによって装置の位置保持の機構を大幅に簡略化し、加えて本発明の運搬を容易にすることができる。即ち、独立した車輪又はスライド機構を用いて路面を走行する走行部を設け、該走行部が該ユニットの重量の相当部分を負担し、該ユニットの高さ若しくは方向の維持又は該踏み片の無限運動の維持などの機能を持たせる。これにより、本発明の位置や姿勢を保つために必要な該車輪の周辺における部品数や加工工数を大きく減少させる。また本装置を運搬することが容易になる。このため他の自動車に転用したり左右を入れ替えたりすることが容易になり、汎用性と交換性が大幅に増す。 Depending on the application, as in claim 3, a traveling device that travels on the road surface using a vehicle or a sliding mechanism independent of the traveling of the wheels is provided, and the traveling device is at least part of the weight of the grounding condition control device. By controlling any one of the height, direction and position of the control unit, the position holding mechanism of the apparatus can be greatly simplified, and in addition, transportation of the present invention can be facilitated. That is, a traveling unit that travels on the road surface using an independent wheel or slide mechanism is provided, and the traveling unit bears a substantial part of the weight of the unit, and maintains the height or direction of the unit or the infinite of the tread. Provide functions such as maintaining exercise. Thereby, the number of parts and processing man-hours around the wheel necessary for maintaining the position and posture of the present invention are greatly reduced. Moreover, it becomes easy to carry this apparatus. For this reason, it becomes easy to divert to other automobiles or to swap left and right, and versatility and interchangeability are greatly increased.

また用途によっては請求項４のように、一箇所の該接地部において、該車輪の回転面の両側に該制御ユニットを配置することにより、接地条件の変化を一層大きく変化させ、従来の車輪や装置では実現できなかった大摩擦係数など接地条件を大きく変えることができる。特に両側の装置を結合して凍結路の防滑に用いる場合においては該ユニットの外側への逃げが軽量且つ小さな部材で強力に防止されるので、着脱部の位置保持機構を簡単且つ軽量にする。加えて各踏み片の寸法を小さくすることができるので旋回時の慣性モーメントが大幅に減少して踏み片の損傷を防止する。さらに、両者は互いに飛散物の防止壁を形成するので周辺に与える損傷を防ぐ。即ち、氷片・小石など路面上に放置された小片を踏み片が跳ね飛ばしたとき、相互に障壁として防護機能を発揮し、周囲への損傷を防ぐからである。なお両側からの踏み片を磁力又は凹凸を利用して一時的に結合して踏ませると接地圧を大幅に低下させて走行条件を改善することができる。 Further, depending on the application, as described in claim 4, by arranging the control unit on both sides of the rotating surface of the wheel in one grounding portion, the change in grounding condition can be changed more greatly, Grounding conditions such as a large friction coefficient that could not be realized with the device can be changed greatly. In particular, when the devices on both sides are combined and used for anti-slip on the freezing road, escape to the outside of the unit is strongly prevented by a lightweight and small member, so that the position holding mechanism of the detachable portion is simple and lightweight. In addition, since the size of each stepping piece can be reduced, the moment of inertia at the time of turning is greatly reduced to prevent the stepping piece from being damaged. Furthermore, both of them form a prevention wall for scattered objects, thereby preventing damage to the surroundings. In other words, when a piece of ice or pebbles, such as ice pieces or pebbles, that are left on the road surface jumps and jumps away, it exerts a protective function as a barrier to prevent damage to the surroundings. If the tread pieces from both sides are temporarily coupled and stepped using magnetic force or unevenness, the ground pressure can be greatly reduced to improve running conditions.

また用途によっては請求項５のように、該車輪の片側に二組の該制御ユニットを準備し、一方の組を接地条件の改善に特化した踏片側、他方の組を踏み片の安全な誘導に特化した導入側とし、該二組の該旋回面を適宜の角度で交差させる。即ち、踏み片と駆動片の機能を特化し、該踏片側の制御ユニットに関しては各踏み片に摩擦係数・接地圧・接地形状の該３条件を制御する形状と物性を持たせ、各踏み片はそれ自体では該接地部下を外れた位置に調整され、該導入側に関しては該踏片側の各踏み片を該接地位置に導く形状と角度に調整した導き片を持たせることにより踏み片の交換をより簡易にし、所望の接地条件により適した踏み片を選択することを可能にする。例えば、人や物に触れると危険の多いスパイクなどを植えた踏み片は車輪の回転面に近いところで外に張り出す量を少なくして無限運動させ、人や物に触れても安全なスパイクのないゴムだけで製作した安全な踏み片のユニットを自動車などの外側に装着させる。このような安全な踏み片を相手の危険度の高いユニットのスパイク付き踏み片を叩いたり、押したりして車輪のトレッド下に導く。このような手段では、車輪の外側からの取り付けになり、作業が極めて容易になる。 Further, depending on the application, two sets of the control units are prepared on one side of the wheel, and one set is a tread piece side specialized in improving grounding conditions, and the other set is a tread piece safety unit. The introduction side is specialized for guidance, and the two sets of the swivel surfaces intersect at an appropriate angle. That is, the functions of the stepping piece and the driving piece are specialized, and for the control unit on the stepping piece side, each stepping piece has a shape and physical properties that control the three conditions of friction coefficient, ground pressure, and grounding shape. Itself is adjusted to a position off the grounding part, and on the introduction side, the stepping piece is replaced by having a guiding piece adjusted to a shape and an angle for guiding each stepping piece on the stepping piece side to the grounding position. This makes it possible to select a stepping piece more suitable for a desired grounding condition. For example, treads planted with spikes that are dangerous when touched by people or objects are moved infinitely by reducing the amount of protrusion that protrudes close to the rotating surface of the wheel, and spikes that are safe even when touching people or objects. A safe tread piece unit made only with no rubber is attached to the outside of an automobile or the like. Such a safe tread is tapped or pushed against the spiked tread of the opponent's high-risk unit and led under the tread of the wheel. In such a means, the mounting is performed from the outside of the wheel, and the work becomes extremely easy.

また用途によっては請求項６のように、該制御片の不使用時における該運動体の位置保持に関して、ヒンジ又はスライドを利用した該運動体の押上機構を設ける。該車輪の回転面又は該車輪装置の底面に略平行に該押上げることによって、運動体と保持機構が面状に一体化されて障害物と装置の面状部に挟まれるので走行中の障害物による損傷を軽減することができる。加えて該運動体を該車輪の軸の前方に押上げることによって、走行中の飛沫の結氷による損傷を軽減することができる。 Depending on the application, as in claim 6, a push-up mechanism for the moving body using a hinge or a slide is provided for maintaining the position of the moving body when the control piece is not used. When the wheel is pushed up substantially parallel to the rotating surface of the wheel or the bottom surface of the wheel device, the moving body and the holding mechanism are integrated into a planar shape and sandwiched between the obstacle and the planar portion of the device. Damage caused by objects can be reduced. In addition, by pushing up the moving body forward of the wheel shaft, damage caused by icing of splashes during traveling can be reduced.

また用途によっては請求項７のように、該制御ユニットを被覆する柔軟な素材を用いた該カバーを設けることによって、飛沫の結氷や結氷物の飛散による事故や損傷を防ぐことができる。該ユニットにおいてゴム材などの低弾性率の材料によって製作した該カバーが該運動体の一部を覆って保護し、該カバーが該踏み片の運動経路における異物との接触の防止と該無限運動の軌跡の保持機構を支える機能との両者を同時に行う。これにより、取り付け部が保護されるので小寸法の踏み片でも損傷されなくなる。加えてこのカバーが該ユニットの骨組みを兼用すると重量が軽くなるので緩衝のための変位、復元、格納などの機構が簡単になる。 Further, depending on the application, by providing the cover using a flexible material that covers the control unit, it is possible to prevent accidents and damage due to icing and icing. In the unit, the cover made of a material having a low elastic modulus such as a rubber material covers and protects a part of the moving body, and the cover prevents contact with a foreign object in the movement path of the stepping piece and the infinite movement. The function of supporting the trajectory holding mechanism is simultaneously performed. Thereby, since an attaching part is protected, even a small-sized tread will not be damaged. In addition, when this cover also serves as the framework of the unit, the weight is reduced, so that mechanisms such as displacement, restoration, and storage for buffering are simplified.

また用途によっては請求項８のように、該車輪と同心円で自在に回転する該着脱部を設けた該固定部を該車輪の回転面の中心に取り付ける。該車輪と同じ回転中心を持つ側面装置を回転自在に車輪の側面に取付け、車輪６又は回転止め具によって供回りを防止して略静止状態に保ち、該側面装置に該ユニットの高さと姿勢とを制御する機構を取り付けることにより、車輪の外側面に本発明を装着することが容易になり、装置の汎用性が増大する。即ち、該車輪と同じ回転中心を持つ取り付け装置を回転自在に車輪の片面に取付け、回転止め具によって供回りを防止して略静止状態を保ち、該取付け装置を介して該昇降装置を車輪に取り付けることによって、車輪の外側に取り付けることが容易になる。特に、前輪を操縦して方向を変える自動車の前輪は、車輪の内側に自由な空間が少ないので、外側に取り付けることが汎用的な取付けを可能にする。このような自動車の前輪に本発明が装着されると、凍結路面における制動や発進に加えて、自動車の走行方向を安全かつ能率的に制御することができる。特に、該着脱部に該車輪の直径方向の孔（該着脱部が円筒状の場合は二穴）を設け、該制御ユニットの取り付け部を棒状に成型すると、着脱がさらに簡易になる。 Further, depending on the application, as in claim 8, the fixing portion provided with the detachable portion that freely rotates concentrically with the wheel is attached to the center of the rotating surface of the wheel. A side device having the same rotation center as that of the wheel is rotatably attached to the side surface of the wheel, and is prevented from being rotated by the wheel 6 or a rotation stopper, and is kept in a substantially stationary state. By attaching a mechanism for controlling the above, it becomes easy to mount the present invention on the outer surface of the wheel, and the versatility of the apparatus is increased. That is, a mounting device having the same rotation center as that of the wheel is rotatably mounted on one side of the wheel, and rotation is prevented by a rotation stopper to maintain a substantially stationary state, and the lifting device is attached to the wheel via the mounting device. By attaching, it becomes easy to attach to the outside of the wheel. In particular, since the front wheel of an automobile that changes the direction by maneuvering the front wheel has little free space inside the wheel, it can be installed on the outside for general-purpose installation. When the present invention is mounted on the front wheels of such an automobile, the traveling direction of the automobile can be controlled safely and efficiently in addition to braking and starting on a frozen road surface. In particular, the attachment / detachment portion is further simplified by providing a hole in the diameter direction of the wheel (two holes if the attachment / detachment portion is cylindrical) and molding the attachment portion of the control unit into a rod shape.

なお下記の機構を加えることにより前記の問題点はさらに効果的に解決される。
１）軸線が曲線を描く該踏み片に捻り機構を設け、該捻り機構における捻り角を使用時の角度と格納時の角度とに変えることによって、踏付け動作が連続する状態と格納時の踏付け無しの状態とを区分する。この装置を用いることによって、車輪周辺の空間が限定されていても装置の装着と有効な接地条件の制御機能が発揮される。即ち、踏み片の捻り角を変え、格納状態では踏み片の踏み付け部を車輪の側面に沿って並べ、使用時は踏み付け部を回転してトレッド下に導くことが可能になるからである。特に二重タイヤではタイヤの間の限定された空間に装置を配置し、使用時は踏み付け部を両側に開く装置を用いると極めて効率よく接地条件を変えることができる。
２）一個の対象車輪に対して異なる軌跡で無限運動する複数の運動体を組み合わせて準備し、これらの運動体の間隔を変えることによって該踏み片の取り付け状態、即ち取り付け位置又は角度を変えることによって該踏み付け部の踏み付け量又は格納時の踏み片の姿勢を制御することによって、簡単な機構で踏み付け量を変化させて接地条件の多様性を増し、オンオフの制御機構を簡単にする。By adding the following mechanism, the above problem can be solved more effectively.
1) A twisting mechanism is provided on the tread piece whose axis is curved, and the twisting angle in the twisting mechanism is changed between the angle at the time of use and the angle at the time of storage, so Distinguish from the state of no attachment. By using this device, even if the space around the wheel is limited, the function of mounting the device and effective grounding condition control functions are exhibited. That is, it is possible to change the torsion angle of the tread pieces, arrange the tread portions of the tread pieces along the side surfaces of the wheels in the retracted state, and rotate the tread portion to guide it under the tread when in use. In particular, in the case of a double tire, if the device is disposed in a limited space between the tires and a device that opens the stepping portion on both sides is used, the ground contact condition can be changed very efficiently.
2) Prepare a combination of a plurality of moving bodies that move infinitely on different trajectories with respect to one target wheel, and change the mounting state of the tread pieces, that is, the mounting position or angle by changing the interval between these moving bodies. By controlling the stepping amount of the stepping portion or the posture of the stepping piece during storage, the amount of stepping is changed with a simple mechanism to increase the variety of grounding conditions, and the on / off control mechanism is simplified.

本発明は、以上のように運動体に取り付けられた踏み片を無限運動させるシステムを、耐久性と多様性とを満足する機構と組み合わせてユニット化としたものであり、路面の変化に対応した適切な踏み片を簡易且つ耐久的に着脱する。加えて、交換を容易にしたことにより、従来の装置において異常に高い安全率のために生じた体積と重量との過大化による問題を解決した。これによって、広く車輪を利用した装置に使用して接地条件を自在に改善する効果を奏する。例えば、凍結路や泥濘地での自動車の車輪のスリップを防止したり、夏季高温下で鋼キャタピラがアスファルト路面を通過する場合に路面を保護したり、斜面におけるキャタピラの横滑りを防止したりすることを可能にする。また乾燥路面に水や短時間で消失する色素を混入した液体で特有のスタンプ形状を持つ踏み片を濡らし、特有の標識を路面にスタンプして車や人の誘導能率を向上したり、商品ＰＲのパターンを路面にスタンプして有効な広報に利用したり、積雪時に標識や美観のために所望のパターン跡を走行面に残したりすることを可能にする。また、凍結路面のスリップ防止が簡単な装置で可能になるので、防滑のために実施される融雪塩の大量散布を不用にして防滑材の散布コストを低減させ、加えて該散布による自動車の錆、街路樹の故障、環境汚染などの問題の解決に寄与する。 In the present invention, the system for infinite movement of the stepping piece attached to the moving body as described above is unitized in combination with a mechanism that satisfies durability and diversity, and corresponds to changes in the road surface. Easily and properly attach and detach appropriate treads. In addition, the ease of replacement has solved the problem of excessive volume and weight caused by an unusually high safety factor in conventional devices. As a result, there is an effect that the grounding condition can be freely improved by widely using the apparatus using wheels. For example, prevent slipping of automobile wheels on frozen roads and muddy areas, protect road surfaces when steel caterpillars pass over asphalt roads at high temperatures in summer, and prevent caterpillar skidding on slopes. Enable. In addition, a wet tread with a unique stamp shape is wetted with a liquid mixed with water or a dye that disappears in a short time on a dry road surface, and a special sign is stamped on the road surface to improve the driving efficiency of cars and people. This pattern can be used for effective publicity by stamping on the road surface, and a desired pattern mark can be left on the running surface for signs and aesthetics when snowing. In addition, since it is possible to prevent slippage on frozen roads with a simple device, it is possible to reduce the cost of spraying anti-slip material by eliminating the need for mass-spreading of snow melting salt, which is carried out for anti-slip, and in addition, the rust of automobiles due to the spray Contribute to solving problems such as roadside tree failures and environmental pollution.

本発明の制御ユニットを請求項４のように接地部の両側に配し、凡そ装置全体（車両装置への固定装置を除く）とした使用状態ついて、図１を参照して記述する。昇降腕８６により昇降する連結部８４を設けた固定装置８８を車体に固定する。一方、踏み片１を支障なく旋回させる一連の機構を制御ユニットとして準備し、この制御ユニットの端末にある平衡器４３の端末を取り付け部として連結部８４の着脱部（嵌め込みの間隙）に挿入し、この嵌め込みをラッチ又はピンで固定する。平衡器４３に取り付けた調節部４は前後又は上下に動かした保持器２の位置を調節する。該平衡器と制御器３４とを二本の腕４２でピン穴３６を介して結合し、過負荷をヒンジ変形によって逃げる。過負荷通過後はばね３８によって復元する。滑走器６は使用する車両車輪の直径の大きさ応じて腕固定６４を調節し固定する。なお、路面からの飛沫による凍結と損傷を防ぐために透明ビニールによるカバー４８を巡らせる。 The control unit of the present invention is arranged on both sides of the grounding portion as in claim 4 to describe the use state of the whole device (excluding the fixing device to the vehicle device) with reference to FIG. A fixing device 88 provided with a connecting portion 84 that is moved up and down by a lifting arm 86 is fixed to the vehicle body. On the other hand, a series of mechanisms for turning the tread piece 1 without hindrance is prepared as a control unit, and the end of the balancer 43 at the end of this control unit is inserted into the attachment / detachment portion (gap gap) of the connecting portion 84 as an attachment portion. The fitting is fixed with a latch or a pin. The adjusting unit 4 attached to the balancer 43 adjusts the position of the cage 2 moved back and forth or up and down. The balancer and the controller 34 are coupled by the two arms 42 through the pin hole 36, and the overload is released by hinge deformation. After passing overload, it is restored by the spring 38. The glider 6 adjusts and fixes the arm fixing 64 according to the diameter of the vehicle wheel to be used. In order to prevent freezing and damage due to splashes from the road surface, a cover 48 made of transparent vinyl is circulated.

上記の形態について、車輪の外側の装置を消去し、車輪８を点線で描いて透明視すると図２のようである。踏み片１を旋回自在に保持する保持器２が作動部の作動器３に嵌め合いによって結合される。車軸８２に固定したガイド５は平衡器４３の昇降時の姿勢を制御する。保持器２の位置と傾きが踏み片１を車輪８のトレッドに導き期待された機能を発揮する。平衡器４３は車輪８のタイヤの両側にあって繋部６１で連結し、路面９を走る滑走器６と着脱部８４とガイド５によって一定の位置と姿勢を保持する。 FIG. 2 shows the above-described embodiment when the device outside the wheel is deleted and the wheel 8 is drawn with a dotted line to be transparent. A cage 2 that holds the tread piece 1 in a freely rotatable manner is coupled to the actuator 3 of the operating portion by fitting. The guide 5 fixed to the axle 82 controls the posture of the balancer 43 when it is raised and lowered. The position and inclination of the cage 2 guides the tread 1 to the tread of the wheel 8 and exhibits the expected function. The balancer 43 is on both sides of the tire of the wheel 8 and is connected by connecting portions 61, and maintains a certain position and posture by the glider 6 that runs on the road surface 9, the detachable portion 84, and the guide 5.

作動器３は曲げ器３５を介して制御器３４に連結して作動部を構成する。作動部と保持器２との関係を図３に示す。該曲げ器は常時開くモーメントを与えるばねを伴うことによって損傷を回避することが容易になる。路面の凸部に当たったときタイヤにもたれて通過するからである。又、場合によって踏み片１を保持する保持器２に留め部２３を設けてこれを制御ユニットとすることにより、交換作業が簡単になる。 The actuator 3 is connected to a controller 34 via a bending device 35 to constitute an operating unit. FIG. 3 shows the relationship between the operating part and the cage 2. The bender is easy to avoid damage by being accompanied by a spring that provides a moment to open at all times. This is because when it hits the convex part of the road surface, it leans against the tire and passes. Moreover, the replacement | exchange operation | work becomes easy by providing the holding | maintenance part 23 in the holder | retainer 2 holding the stepping piece 1 depending on the case, and making this into a control unit.

図４に示すように、踏み片１と運動体２１とを結合した基本体はスプロケットやプーリーのような回転体２２に回転自由に支えられ、保持器２に保持される。保持器２は制御ユニットとして嵌め合いによって着脱するために留め部２３を設ける。 As shown in FIG. 4, the basic body in which the tread piece 1 and the moving body 21 are coupled is freely supported by a rotating body 22 such as a sprocket or a pulley and is held by the cage 2. The retainer 2 is provided with a fastening portion 23 to be attached and detached as a control unit by fitting.

図５に示すように、車輪８を装着すると必要に応じて作動部を下ろし、所望の接地条件で走行することができる。
As shown in FIG. 5, when the wheel 8 is attached, the operating portion can be lowered as necessary, and the vehicle can travel under desired grounding conditions.

図６に示すように、踏み片１と運動体２１とを結合した基本体において、該踏み片はゴム板、該運動体はローラーチェーンを用いることによって本発明の所望の機能を得ることができる。なお図６において、運動体２１はＪＩＳ規格３５番チェーンを用い、結合部２１ａにはＳＫ−１を用いる。 As shown in FIG. 6, in the basic body in which the tread piece 1 and the moving body 21 are coupled, the desired function of the present invention can be obtained by using a rubber plate for the tread piece and a roller chain for the moving body. . In FIG. 6, the moving body 21 uses a JIS standard No. 35 chain, and SK-1 is used for the coupling portion 21a.

図１は本発明装置の１実施例の斜視図であって、ゴムタイヤを履く車輪８の両側に制御ユニットを装着したものである。平衡器４３の右端の取り付け部を連結部８４の間隙で固定する。平衡器４３の昇降時は車軸の外側部に固定したガイド５によって作動部を昇降する。滑らかな昇降と保持器２を正確な位置に導くためである。 FIG. 1 is a perspective view of an embodiment of the apparatus of the present invention, in which control units are mounted on both sides of a wheel 8 on which a rubber tire is worn. The right end mounting portion of the balancer 43 is fixed by the gap of the connecting portion 84. When the balancer 43 is raised and lowered, the operating part is raised and lowered by the guide 5 fixed to the outer part of the axle. This is because smooth elevation and the cage 2 are guided to an accurate position.

図７は本発明の実施例１において、平衡器４３を一部改造した場合の斜視図であって、該平衡器の略中央に垂直の取付部４４を設ける。請求項８のように固定装置８８を車輪８と同心円の円筒として該車輪に固定する。同じく円筒状の連結部８４はベアリングを介して回転自在に固定装置８８に取り付ける。連結部８４には二穴を設けて着脱部とする。取付部４４を上から挿入して本発明を装着する。 FIG. 7 is a perspective view of the first embodiment of the present invention in which the balancer 43 is partly modified, and a vertical mounting portion 44 is provided at the approximate center of the balancer. The fixing device 88 is fixed to the wheel as a concentric cylinder with the wheel 8. Similarly, the cylindrical connecting portion 84 is rotatably attached to the fixing device 88 via a bearing. The connecting portion 84 is provided with two holes to serve as an attaching / detaching portion. The mounting portion 44 is inserted from above to mount the present invention.

図８は本発明の実施例１において、オンオフ（使用・不使用）に入切具２８の引弛を用いた場合の下記の挙動を示す側面図である。鋼鎖の入切具２８の右端に巻き取り装置を設けて引弛を制御する。該鋼鎖はプーリーの補助具２７を介して張力を伝える。不使用状態では保持器２と調節部４を右にスライドさせ、基本体と保持器２を車軸８２の前に格納することにより、路面の凸部による損傷を防ぐことができる。なお回転盤２６を設けて車軸８２との接触部を滑らかにして格納位置への誘導を容易にする。
図（Ａ）使用状態（昇降腕８６を寝せ、曲げ器３５をばねで開く）
図（Ｂ）引き上げ途中（保持具２を引いて垂直にした後で引き上げる）
図（Ｃ）不使用状態（路面の突起に対して更に上に逃げる余地を残す）FIG. 8 is a side view showing the following behavior in the first embodiment of the present invention when the on / off (use / non-use) slack of the on / off tool 28 is used. A winding device is provided at the right end of the steel chain on / off tool 28 to control the loosening. The steel chain transmits the tension via an auxiliary tool 27 of the pulley. In a non-use state, the cage 2 and the adjusting portion 4 are slid to the right, and the basic body and the cage 2 are stored in front of the axle 82, thereby preventing damage due to the road surface convex portion. In addition, the rotating plate 26 is provided to make the contact portion with the axle 82 smooth so that the guide to the storage position is facilitated.
Fig. (A) State of use (the lifting arm 86 is laid down and the bending device 35 is opened with a spring)
Figure (B) During pulling up (pull up after pulling holder 2 vertically)
Figure (C) Unused state (leaves room to escape further with respect to the protrusion on the road surface)

図９は作動部と保持器２を板状にして水平に格納する実施例において、下記の手順を背面図で示す。最低地上高の低い車種や轍幅の狭い環境において有効である。
図（Ａ）使用状態（踏み片１を接地部の前に静置し、踏みを連続する）
図（Ｂ）不使用状態（作動部と基本体とを畳んで面状にする）
図（Ｃ）車輪間に大きい突起が入った場合（更に上に逃げる余地を残す）FIG. 9 is a rear view showing the following procedure in an embodiment in which the actuating part and the cage 2 are plate-shaped and stored horizontally. It is effective in a vehicle model with a low minimum ground clearance and an environment with a narrow ridge.
Figure (A) Usage state (Standing piece 1 is left in front of the grounding part and the stepping is continued)
Figure (B) Non-use state (folding the working part and the basic body into a plane)
Figure (C) When a large protrusion enters between the wheels (leaves room to escape further upward)

環境と走行条件に対応した踏み片の選択が容易になるので、接地条件を選択してあらゆる車輪装置の交通を安全、高能率、快適にする。 Since it becomes easy to select the treads according to the environment and driving conditions, the grounding conditions are selected to make traffic of all wheel devices safe, highly efficient and comfortable.

本発明の使用状態を示した斜視図である。（実施例１）It is the perspective view which showed the use condition of this invention. Example 1 接地部近傍の踏み片の状態を示す斜視図である。（実施例１）It is a perspective view which shows the state of the step piece in the vicinity of a grounding part. Example 1 作動部と保持器の結合方法を示す斜視図である。（実施例１）It is a perspective view which shows the coupling | bonding method of an action | operation part and a holder | retainer. Example 1 基本体と保持器の結合方法を示す斜視図である。（実施例１）It is a perspective view which shows the coupling | bonding method of a basic body and a holder | retainer. Example 1 本発明と車輪との関係を示す斜視図である。（実施例１）It is a perspective view which shows the relationship between this invention and a wheel. Example 1 踏み片と運動体との結合方法を示す上面図である。（実施例１）It is a top view which shows the coupling | bonding method of a tread piece and a moving body. Example 1 本発明と車輪との結合方法を示す斜視図である。（実施例２）It is a perspective view which shows the coupling | bonding method of this invention and a wheel. (Example 2) 遠隔操作によるオンオフを説明する側面図である。（実施例３）It is a side view explaining ON / OFF by remote operation. (Example 3) 本発明の基本体と保持器とを水平に格納する手順の背面図である。（実施例４）It is a rear view of the procedure which stores the basic body and holder | retainer of this invention horizontally. Example 4

符号の説明Explanation of symbols

１踏み片
２保持器
３作動器
４調節部
５ガイド
６滑走器
７接地部
８車輪
９路面
１１結合部
１２変形部
１３接触部
１４踏付部
１７制御物
１８肩
１８ａ押出肩
１８ｂ充填肩
１８ｃ交換肩
２１運動体
２１ａ結合部
２３留め部
２６回転盤
２７補助具
２８入切具
３４制御器
３５曲げ器
３６ピン穴
３８ばね
４２腕
４３平衡器
４４取付部
４８カバー
６１繋部
６４腕固定
８２車軸
８４連結部
８６昇降腕
８８固定装置DESCRIPTION OF SYMBOLS 1 Stepping piece 2 Cage 3 Actuator 4 Adjustment part 5 Guide 6 Slider 7 Grounding part 8 Wheel 9 Road surface 11 Connection part 12 Deformation part 13 Contact part 14 Stepping part 17 Control object 18 Shoulder 18a Extrusion shoulder 18b Filling shoulder 18c Exchange Shoulder 21 Moving body 21a Coupling part 23 Fastening part 26 Turntable 27 Auxiliary tool 28 On / off tool 34 Controller 35 Bending machine 36 Pin hole 38 Spring 42 Arm 43 Balancer 44 Mounting part 48 Cover 61 Connecting part 64 Arm fixing 82 Axle 84 Connecting part 86 Elevating arm 88 Fixing device

Claims

車輪を用いて路面を移動する車輪装置に取り付けられ、駆動片又は踏み片として機能する制御片を持ち、該制御片は無限運動する運動体に取り付けられ、該運動体の軌跡において少なくとも一部に円弧を描く旋回面を有し、該駆動片は該運動体を駆動し、該踏み片は該運動体の導きにより閉曲線の軌跡を描いて無限運動し、該踏み付け部の一部は該車輪装置の接地部と該路面との間に介在して踏まれることによって該接地部の接地条件を制御し、該接地条件に関して摩擦係数・接地圧・接地形状の少なくとも１条件を制御する装置において、下記のように構成されたことを特徴とする車輪装置の接地条件制御装置。
１）該駆動片は下記の結合部、変形部、接触部の三部から、該踏み片は下記の結合部、変形部、踏付部の三部から、両片を兼用する場合の制御片は下記の四部分から構成され、各部は恒久的に一体化した結合体又は各部分を着脱機構で結合した結合体である。
ａ）ピン又は嵌合若しくは拘束物の弾性を利用した締め付け材によって該踏み片と該運動体とを結合する結合部
ｂ）負荷又は物体力の作用により変形し、該作用の消失後に復元する変形部１２
ｃ）該車輪に直接又は間接的に接触して該車輪の動きを伝達することにより該運動体を駆動する接触部１３
ｄ）該接地部に踏み付けられ該接地条件を制御する制御物１７を有する踏付部１４
２）該踏み片と該運動体とを結合した基本体、又は、該運動体に保持機構を連結した機構又は緩衝若しくは昇降の機構を加えた結合体を制御ユニットとし、該制御ユニットに取付け部を設け、該車両装置に結合して固定する固定部又は該固定部に昇降機構を加えた本体に着脱部を設け、該着脱部と該制御ユニットとの間に、嵌合若しくは溶融を利用した結合、又は、楔若しくは拘束材の弾性を利用した締め付けによる結合を用いた簡易着脱機構を設ける。
３）該踏み片に関して形状と重量分布と変形特性とを制御した物体力の分布の選定により、又は、該踏み付け部の運動を強制するガイド部材を設け、該旋回面において発生する遠心力による該踏み片の変形により周辺物と接触して発生する該踏み片の損傷を緩和する。
４）下記のａ）又はｂ）の機構を用いて該踏み付け部の軸線の方向を変化させることによって、該接地部による該踏み付け部の踏み代を制御する。
ａ）該保持機構にヒンジ・スライド・材料変形の何れかを利用して該旋回面の保持角を変える角度変化機構を連結し、該保持角の変化により該接地部による該踏み付け部の踏み代を制御する機構。
ｂ）該制御片の各個において該結合部を固定したまま該踏み付け部を捻って捻り角度を変える捻り機構を設け、該制御片の捻り角の変化により該踏み代を制御する機構。It is attached to a wheel device that moves on the road surface using wheels, and has a control piece that functions as a driving piece or a stepping piece. The control piece is attached to a moving body that moves infinitely, and at least a part of the trajectory of the moving body A turning surface that draws an arc; the driving piece drives the moving body; the stepping piece moves infinitely along a locus of a closed curve by the guidance of the moving body; and a part of the treading part is the wheel device In the apparatus for controlling the grounding condition of the grounding part by being interposed between the grounding part and the road surface, and controlling at least one condition of the friction coefficient, the ground pressure, and the grounding shape with respect to the grounding condition, A grounding condition control device for a wheel device, characterized in that it is configured as described above.
1) The control piece in the case where the drive piece is used as both pieces from the following three parts of the connecting part, the deforming part, and the contact part, and the tread piece from the three parts of the following connecting part, the deforming part, and the stepping part. Is composed of the following four parts, and each part is a combined body that is permanently integrated or a combined body in which each part is connected by an attaching / detaching mechanism.
a) A coupling part that couples the tread piece and the moving body with a pin or a fastening material that uses the elasticity of a fitting or restraint b) Deformation that is deformed by the action of a load or object force and restored after the action disappears Part 12
c) The contact portion 13 that drives the moving body by directly or indirectly contacting the wheel and transmitting the movement of the wheel.
d) A stepping portion 14 having a control object 17 that is stepped on the grounding portion and controls the grounding condition.
2) A basic body in which the stepping piece and the moving body are coupled, or a mechanism in which a holding mechanism is coupled to the moving body or a combined body in which a buffering or raising / lowering mechanism is added is used as a control unit. A fixed part that is coupled and fixed to the vehicle device or a main body obtained by adding a lifting mechanism to the fixed part, and an attachment / detachment part is provided between the attachment / detachment part and the control unit. A simple attachment / detachment mechanism using a connection or a connection by tightening using the elasticity of a wedge or a restraint is provided.
3) A guide member for forcing the motion of the stepping portion is provided by selecting the distribution of the object force by controlling the shape, weight distribution and deformation characteristics of the stepping piece, and the centrifugal force generated on the swiveling surface is provided. Damage to the tread pieces that occurs due to deformation of the tread pieces and in contact with surrounding objects is alleviated.
4) The stepping amount of the stepping portion by the grounding portion is controlled by changing the direction of the axis of the stepping portion using the following mechanism a) or b).
a) An angle changing mechanism that changes the holding angle of the swiveling surface by using any one of hinge, slide, and material deformation is connected to the holding mechanism, and the stepping amount of the stepping portion by the ground contact portion is changed by the change of the holding angle. Mechanism to control.
b) A mechanism for controlling the stepping allowance by changing the twist angle of the control piece by providing a twist mechanism for changing the twist angle by twisting the stepping portion while fixing the connecting portion in each piece of the control piece.

該制御片１と帯状の該運動体２１との結合において、結合をヒンジ結合とし、該制御片の肩１８を該運動体と接触させ、該肩の形状及び寸法並びに弾性率の制御により該運動体の張力を制御することを特徴とする請求項１記載の車輪装置の接地条件制御装置。 In the connection between the control piece 1 and the belt-like moving body 21, the connection is a hinge connection, the shoulder 18 of the control piece is brought into contact with the moving body, and the movement is controlled by controlling the shape and size of the shoulder and the elastic modulus. The grounding condition control device for a wheel device according to claim 1, wherein the body tension is controlled.

該車輪の走行と独立した車又は滑走機構を用いて路面上を走行する走行装置を設け、該走行装置が該接地条件制御装置の重量の少なくとも一部を負担し、該制御ユニットの高さ、方向又は位置の何れかを制御することを特徴とする請求項１記載の車輪装置の接地条件制御装置。 Providing a traveling device that travels on the road surface using a vehicle or a sliding mechanism independent of traveling of the wheels, the traveling device bears at least part of the weight of the grounding condition control device, the height of the control unit, 2. The grounding condition control device for a wheel device according to claim 1, wherein either the direction or the position is controlled.

一箇所の該接地部において、該車輪の回転面の両側に該制御ユニットが配置されたことを特徴とする請求項１記載の車輪装置の接地条件制御装置。 2. The grounding condition control device for a wheel device according to claim 1, wherein the control unit is disposed on both sides of the rotating surface of the wheel in the grounding portion at one location.

該車輪の片側に複数の該制御ユニットを準備し、一方の組を踏片側、他方の組を導入側とし、該二組の該旋回面を適宜の角度で交差させ、該踏片側の制御ユニットに関しては各踏み片に摩擦係数・接地圧・接地形状の該３条件を制御する形状と物性を持たせ、各踏み片はそれ自体では該接地部下を外れた位置に調整され、該導入側に関しては該踏片側の各踏み片を該接地位置に導く形状と角度に調整した導き片を持たせたことを特徴とする請求項１記載の車輪装置の接地条件制御装置。 A plurality of the control units are prepared on one side of the wheel, one set is set as a tread piece side, and the other set is set as an introduction side, and the two sets of the turning surfaces are crossed at an appropriate angle, and the tread piece side control unit is With respect to the introduction side, each step piece has a shape and physical properties that control the three conditions of the friction coefficient, the contact pressure, and the contact shape, and each step piece itself is adjusted to a position outside the contact portion. 2. The grounding condition control device for a wheel device according to claim 1, further comprising a guiding piece adjusted to a shape and an angle for guiding each stepping piece on the stepping piece side to the grounding position.

該制御片の不使用時における該運動体の位置保持に関して、ヒンジ又はスライドを利用した該運動体の押上機構を設け、該車輪の回転面又は該車輪装置の底面に略平行に該押上機構によって該運動体を該車輪の軸装置の前方に押上げることを特徴とする請求項１記載の車輪装置の接地条件制御装置。 For maintaining the position of the moving body when the control piece is not used, a push-up mechanism for the moving body using a hinge or a slide is provided, and the push-up mechanism is substantially parallel to the rotating surface of the wheel or the bottom surface of the wheel device. 2. The grounding condition control device for a wheel device according to claim 1, wherein the moving body is pushed forward of the wheel shaft device.

該制御ユニットを被覆する柔軟な素材を用いたカバー４８を設けたことを特徴とする請求項１記載の車輪装置の接地条件制御装置。 The grounding condition control device for a wheel device according to claim 1, further comprising a cover (48) made of a flexible material covering the control unit.

該車輪と同心円で自在に回転する該着脱部を設けた該固定部を該車輪の回転面の中心に取り付けたことを特徴とする請求項１記載の車輪装置の接地条件制御装置。 2. The grounding condition control device for a wheel device according to claim 1, wherein the fixing portion provided with the detachable portion that freely rotates concentrically with the wheel is attached to the center of the rotating surface of the wheel.