JP2890036B2 - Attitude control mechanism of 4-crawler type vehicle - Google Patents
Attitude control mechanism of 4-crawler type vehicleInfo
- Publication number
- JP2890036B2 JP2890036B2 JP9017801A JP1780197A JP2890036B2 JP 2890036 B2 JP2890036 B2 JP 2890036B2 JP 9017801 A JP9017801 A JP 9017801A JP 1780197 A JP1780197 A JP 1780197A JP 2890036 B2 JP2890036 B2 JP 2890036B2
- Authority
- JP
- Japan
- Prior art keywords
- crawler
- shaft
- gear
- turning
- output shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
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- Motor Power Transmission Devices (AREA)
- Retarders (AREA)
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、４つのクローラ機
構を持つ４クローラ型車両において、車体を任意の高さ
に上下させるとともに、前後左右の任意の傾斜に制御す
ることが出来、さらに４つのクローラ（履帯）が常時凹
凸地又は不整地等の平坦でない路面に接触して車両重量
をほぼ均等に支え、走行性能及び車体の姿勢制御性能を
向上させることができる遊星・差動組み合わせ歯車機構
を用いた４クローラ型車両の姿勢制御機構に関するもの
である。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a four-crawler type vehicle having four crawler mechanisms, in which a vehicle body can be moved up and down to an arbitrary height, and can be controlled to an arbitrary front, rear, left and right inclination. A combined planetary / differential gear mechanism that allows the crawler (crawler track) to constantly contact the uneven road surface or uneven terrain to support the vehicle weight almost evenly and improve running performance and vehicle body attitude control performance The present invention relates to an attitude control mechanism of a four-crawler type vehicle used.
【０００２】[0002]
【従来の技術】従来、車体の前後に設けられた前側クロ
ーラ旋回軸及び後側クローラ旋回軸と、前記車体の前後
左右に設けられていて前記前側及び後側クローラ旋回軸
の回転に伴ってそれぞれ旋回動作を行う４つのクローラ
機構とを持つ４クローラ型車両においては、上記したよ
うな遊星・差動組み合わせ歯車機構等を用いた姿勢制御
機構を有していないため、平坦でない路面においては４
つのクローラ機構が具備する４つのクローラのうちの１
つのクローラが地面から浮くか、又は、４つのクローラ
にかかる荷重が常時変動するため、走行の際、路面とク
ローラ間の摩擦力が変動し、走行が滑らかでないか又は
スリップが頻繁に生じる問題点があった。2. Description of the Related Art Conventionally, a front crawler turning shaft and a rear crawler turning shaft provided at the front and rear of a vehicle body, and a front crawler turning shaft provided at the front, rear, left and right of the vehicle body respectively correspond to rotations of the front and rear crawler turning shafts. A four-crawler type vehicle having four crawler mechanisms that perform a turning operation does not have an attitude control mechanism using a planetary / differential combination gear mechanism or the like as described above, so that the four-crawler type vehicle has a four-crawler mechanism on an uneven road surface.
One of four crawlers provided by one crawler mechanism
One crawler floats off the ground or the load applied to the four crawlers constantly fluctuates, so the frictional force between the road surface and the crawlers fluctuates during running, and running is not smooth or slips frequently occur. was there.
【０００３】そこで、前側クローラ旋回軸及び後側クロ
ーラ旋回軸の双方に差動歯車機構を設け、常時クローラ
を地面に接地するようにした構造が提案されたが、この
構造は両軸共に差動歯車機構を適用しているため車体の
左右傾斜が安定しない欠点があり、それを補うため、ク
ローラ機構に直結したブレーキを用いているが差動歯車
機構の利点を損なっている問題点があった。Therefore, a structure has been proposed in which a differential gear mechanism is provided on both the front crawler turning shaft and the rear crawler turning shaft so that the crawler is always in contact with the ground. There is a disadvantage that the left and right inclination of the vehicle body is not stable due to the use of the gear mechanism, and to compensate for this, a brake directly connected to the crawler mechanism is used, but there was a problem that the advantage of the differential gear mechanism was lost. .
【０００４】このため、図５に示すように４つのクロー
ラ機構を独立に旋回するモータを有する方式が開発され
た。この図において、１は４つのクローラ機構を持つ４
クローラ型車両であり、車体２の前後左右にそれぞれク
ローラ機構３が設けられており、各クローラ機構３はク
ローラ旋回用モータ４で旋回されるようになっている。
つまり、各クローラ機構３はアーム３ａの基端と先端と
にそれぞれ枢着された１対のローラ３ｂ間にクローラ３
ｃを巻き掛けたものであるが、モータ４でアーム３ａが
一体化されたクローラ旋回軸を旋回させている。For this reason, as shown in FIG. 5, a system having a motor for independently rotating four crawler mechanisms has been developed. In this figure, reference numeral 1 designates 4 having four crawler mechanisms.
The vehicle is a crawler type vehicle. Crawler mechanisms 3 are provided on the front, rear, left and right sides of the vehicle body 2, and each crawler mechanism 3 is turned by a crawler turning motor 4.
That is, each crawler mechanism 3 is provided between a pair of rollers 3b pivotally attached to the base end and the tip end of the arm 3a.
c is wound around, but the crawler swivel shaft with the arm 3a integrated by the motor 4 is swung.
【０００５】この図５の従来例の場合、各クローラ機構
３が分担する荷重がクローラ旋回用モータ４に流れる負
荷電流に比例することを利用して、負荷電流が左右均衡
するまで電流を制御して（負荷電流の差が零になるよう
に制御して）この目的を達成しようとしている。In the case of the conventional example shown in FIG. 5, the current is controlled until the load current is balanced right and left by utilizing that the load shared by each crawler mechanism 3 is proportional to the load current flowing through the crawler turning motor 4. (By controlling the load current difference to zero) to achieve this goal.
【０００６】[0006]
【発明が解決しようとする課題】図５の従来例のよう
に、４つのクローラ機構の各旋回軸を独立に制御して、
車体の姿勢を制御しようとする場合、左右のクローラが
地面の凹凸から受ける反力のため常時変動する荷重によ
ってクローラ旋回用モータの負荷電流が変動する要素も
同時に検出される。すなわち、姿勢制御と左右の荷重変
動のために生じるクローラ旋回用モータの負荷電流が相
互に関連を持ったパラメータとして検出される（すなわ
ち直交系でない）ため、その最適化が非常に困難であっ
た。As in the prior art shown in FIG. 5, each of the turning axes of the four crawler mechanisms is controlled independently,
When the attitude of the vehicle body is to be controlled, an element in which the load current of the crawler turning motor fluctuates due to the constantly fluctuating load due to the reaction force received by the left and right crawlers from the unevenness of the ground is also detected. That is, since the load current of the crawler turning motor generated due to the attitude control and the left and right load fluctuation is detected as a mutually related parameter (that is, not a quadrature system), it has been extremely difficult to optimize it. .
【０００７】また、４個のクローラ機構を制御する４個
のクローラ旋回用モータの電流を検出して解析し、その
結果で４個のクローラ旋回用モータの制御をするため、
制御のアルゴリズムとシステムが複雑化することも問題
点の一つであった。Further, in order to detect and analyze the currents of the four crawler turning motors for controlling the four crawler mechanisms, and to control the four crawler turning motors as a result,
One of the problems was that control algorithms and systems became complicated.
【０００８】本発明は、上記の点に鑑み、いずれかのク
ローラ旋回軸に遊星歯車機構と差動歯車機構を組み合わ
せた遊星・差動組み合わせ歯車機構を装着することによ
り、車体の高さの制御、前後左右の任意方向の傾斜制御
を可能とし、さらに４つのクローラで常時車両重量をほ
ぼ均等に支え得るようにして、走行性能及び車体の姿勢
制御性能の向上を図った４クローラ型車両の姿勢制御機
構を提供することを目的とする。In view of the above, the present invention provides a control of the height of a vehicle body by mounting a planetary / differential combined gear mechanism combining a planetary gear mechanism and a differential gear mechanism on one of the crawler turning shafts. The attitude of a 4-crawler type vehicle that enables tilt control in any direction of front, rear, left and right, and enables the four crawlers to support the vehicle weight almost equally at all times, thereby improving running performance and vehicle body attitude control performance. It is intended to provide a control mechanism.
【０００９】本発明のその他の目的や新規な特徴は後述
の実施の形態において明らかにする。Other objects and novel features of the present invention will be clarified in embodiments described later.
【００１０】[0010]
【課題を解決するための手段】上記目的を達成するため
に、本発明の４クローラ型車両の姿勢制御機構は、車体
の前後に設けられた前側クローラ旋回軸及び後側クロー
ラ旋回軸と、前記車体の前後左右に設けられていて前記
前側及び後側クローラ旋回軸の回転に伴ってそれぞれ旋
回動作を行う４つのクローラ機構とを持つ４クローラ型
車両の姿勢制御を行う構成において、前記前側クローラ
旋回軸又は後側クローラ旋回軸のいずれか一方である第
１の旋回軸に第１の差動歯車機構を装着して、当該第１
の旋回軸両側で左右のクローラ機構が分担する車体重量
を均衡状態にさせかつ当該第１の旋回軸位置での前記車
体の上下位置制御を行うとともに、他方のクローラ旋回
軸である第２の旋回軸に遊星歯車機構と第２の差動歯車
機構を組み合わせた遊星・差動組み合わせ歯車機構を装
着して、当該第２の旋回軸位置でも前記車体の上下位置
制御を行い、かつ左右のクローラ機構をそれぞれ旋回さ
せる出力軸を前記第２の差動歯車機構の入力軸を回転さ
せることにより相互に逆転させて前記車体の左右傾斜の
制御を行うことを特徴としている。To achieve the above object, a four-crawler type vehicle attitude control mechanism according to the present invention comprises a front crawler turning shaft and a rear crawler turning shaft provided at the front and rear of a vehicle body; A front crawler turning mechanism for controlling the attitude of a four-crawler vehicle having four crawler mechanisms provided on the front, rear, left and right sides of a vehicle body and performing turning operations in accordance with rotation of the front and rear crawler turning shafts, respectively; The first differential gear mechanism is mounted on a first turning shaft that is one of the shaft and the rear crawler turning shaft,
The left and right crawler mechanisms share the weight of the vehicle on both sides of the turning shaft, balance the vehicle body at the first turning shaft position, and control the second turning of the other crawler turning shaft. A planetary / differential combined gear mechanism combining a planetary gear mechanism and a second differential gear mechanism is mounted on a shaft, and the vertical position of the vehicle body is controlled even at the second turning shaft position, and the left and right crawler mechanisms are provided. Swivel each
The output shaft is rotated by the input shaft of the second differential gear mechanism.
In this case, the vehicle body is reversed to control the left-right inclination of the vehicle body.
【００１１】上記４クローラ型車両の姿勢制御機構にお
いて、前記第１の差動歯車機構は、前記第１の旋回軸を
左右に分離してなる第１の左側出力軸と第１の右側出力
軸とにそれぞれ固設されて相互に対向する左傘歯車及び
右傘歯車と、前記第１の左側出力軸又は第１の右側出力
軸を回転中心とし当該出力軸に対して回転自在な平歯車
と、該平歯車に固定のブラケットで前記第１の左側出力
軸と第１の右側出力軸に直交する自転軸を持つように支
持されかつ前記左傘歯車及び右傘歯車に噛み合う傘歯車
と、上下位置制御のための回転を前記平歯車に与える第
１の入力軸とを備える構成とするとよい。[0011] In the attitude control mechanism for a four-crawler type vehicle, the first differential gear mechanism may include a first left output shaft and a first right output shaft that are separated from the first turning shaft in right and left directions. A left bevel gear and a right bevel gear which are respectively fixed to and opposed to each other, and a spur gear rotatable around the first left output shaft or the first right output shaft with respect to the output shaft. A bevel gear supported by a bracket fixed to the spur gear so as to have a rotation axis orthogonal to the first left output shaft and the first right output shaft, and meshing with the left bevel gear and the right bevel gear; And a first input shaft for giving rotation for position control to the spur gear.
【００１２】また、前記遊星・差動組み合わせ歯車機構
は、相互に連結された左右のサン歯車と、前記第２の旋
回軸を左右に分離してなる第２の左側出力軸と第２の右
側出力軸とにそれぞれ固設された取付板と、該取付板に
枢着されていて前記サン歯車に噛み合う複数のプラネタ
リ歯車と、外側に位置してそれらのプラネタリ歯車と噛
み合うリング歯車とを有する左右の遊星歯車機構と、該
左右の遊星歯車機構が有する各リング歯車にそれぞれ連
動しかつ相互に対向する１対の傾斜調整用傘歯車と、左
右傾斜制御のための回転を与える第２の入力軸に固設さ
れていて前記１対の傾斜調整用傘歯車に噛み合う傾斜入
力用傘歯車とを有する第２の差動歯車機構と、前記サン
歯車に上下位置制御のための回転を与える第３の入力軸
とを備える構成とするとよい。The planetary / differential combined gear mechanism may further include a left and right sun gears connected to each other, a second left output shaft and a second right right shaft which are formed by separating the second turning shaft into right and left. A left and right side having a mounting plate fixedly mounted on the output shaft, a plurality of planetary gears pivotally mounted on the mounting plate and meshing with the sun gear, and a ring gear located outside and meshing with the planetary gears; Planetary gear mechanism, a pair of bevel gears for tilt adjustment interlocking with each other and each of the ring gears of the left and right planetary gear mechanisms and facing each other, and a second input shaft for providing rotation for right / left tilt control A second differential gear mechanism having a tilt input bevel gear fixed to the pair and meshing with the pair of tilt adjusting bevel gears, and a third mechanism for imparting rotation to the sun gear for vertical position control. A configuration including an input shaft; May that.
【００１３】[0013]
【発明の実施の形態】以下、本発明に係る４クローラ型
車両の姿勢制御機構の実施の形態を図面に従って説明す
る。BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a four-crawler type vehicle attitude control mechanism according to an embodiment of the present invention.
【００１４】図１において、１０は４つのクローラ機構
を持つ４クローラ型車両であり、車体１２の前後に設け
られた前側クローラ旋回軸１５及び後側クローラ旋回軸
１６と、前記車体１２の前後左右に設けられていて前記
前側及び後側クローラ旋回軸の回転に伴ってそれぞれ旋
回動作を行う４つのクローラ機構１３とを持っている。
各クローラ機構１３はアーム１３ａの基端と先端とにそ
れぞれ枢着された１対のローラ１３ｂ間にクローラ１３
ｃを巻き掛けたものであり、アーム１３ａが対応するク
ローラ旋回軸と共に回転するように当該旋回軸に連結一
体化されている。なお、基端側のローラ１３ｂはクロー
ラ１３ｃを走行させるための駆動輪となる。In FIG. 1, reference numeral 10 denotes a four-crawler type vehicle having four crawler mechanisms. A front crawler turning shaft 15 and a rear crawler turning shaft 16 provided at the front and rear of the vehicle body 12, and front, rear, left and right of the vehicle body 12. And has four crawler mechanisms 13 which respectively perform a turning operation in accordance with the rotation of the front and rear crawler turning shafts.
Each crawler mechanism 13 has a crawler 13 between a pair of rollers 13b pivotally attached to a base end and an end of an arm 13a, respectively.
The arm 13a is integrally connected to the turning shaft so that the arm 13a rotates together with the corresponding crawler turning shaft. The base roller 13b serves as a drive wheel for running the crawler 13c.
【００１５】前記前側クローラ旋回軸１５の中間には第
１の差動歯車機構２０がクローラ旋回機構（クローラ機
構のアームを旋回させる機構）として装着されており、
これによって当該旋回軸１５の位置で左右のクローラ機
構１３が分担する車体重量を常時自動的に均衡状態にさ
せ、かつ当該旋回軸位置での車体１２の上下位置制御を
行うようにしている。A first differential gear mechanism 20 is mounted in the middle of the front crawler turning shaft 15 as a crawler turning mechanism (a mechanism for turning an arm of the crawler mechanism).
In this way, the weight of the vehicle body shared by the left and right crawler mechanisms 13 at the position of the turning shaft 15 is always automatically balanced, and the vertical position of the vehicle body 12 at the turning shaft position is controlled.
【００１６】また、前記後側クローラ旋回軸１６の中間
に遊星歯車機構と第２の差動歯車機構を組み合わせた遊
星・差動組み合わせ歯車機構３０がクローラ旋回機構と
して装着されており、当該旋回軸１６位置でも車体１２
の上下位置制御を行い、かつ左右のクローラ機構１３を
逆転させて車体１２の左右傾斜の制御を行うようにして
いる。A combined planetary / differential gear mechanism 30 combining a planetary gear mechanism and a second differential gear mechanism is mounted as a crawler rotating mechanism in the middle of the rear crawler rotating shaft 16. Car body 12 even at 16 positions
And the left and right crawlers 13 are reversed to control the left and right inclination of the vehicle body 12.
【００１７】図２に示す如く、前記第１の差動歯車機構
２０は、前側クローラ旋回軸１５を左右に分離してなる
左側出力軸１５Ｌと右側出力軸１５Ｒとにそれぞれ固設
されて（固定的に設けられて）相互に対向する左傘歯車
２１Ｌ及び右傘歯車２１Ｒと、左側出力軸１５Ｌ（又は
右側出力軸１５Ｒ）を回転中心とし当該出力軸に対して
回転自在な平歯車２２と、平歯車２２に固定のブラケッ
ト２６で左右の出力軸１５Ｌ，１５Ｒに直交する自転軸
を持つように支持されかつ左傘歯車２１Ｌ及び右傘歯車
２１Ｒに噛み合う１対の傘歯車２３と、上下位置制御の
ための回転を平歯車２２に与えるために、これと噛み合
う平歯車２５を固設した第１の入力軸２４とを具備して
いる。As shown in FIG. 2, the first differential gear mechanism 20 is fixed (fixed) to a left output shaft 15L and a right output shaft 15R obtained by separating the front crawler turning shaft 15 into left and right parts. Left bevel gear 21L and right bevel gear 21R opposing each other, a spur gear 22 rotatable about the left output shaft 15L (or the right output shaft 15R) with respect to the output shaft, A pair of bevel gears 23 supported by a bracket 26 fixed to the spur gear 22 so as to have a rotation axis orthogonal to the left and right output shafts 15L and 15R and meshing with the left bevel gear 21L and the right bevel gear 21R; And a first input shaft 24 fixedly provided with a spur gear 25 that meshes with the spur gear 22 in order to impart rotation to the spur gear 22.
【００１８】この第１の差動歯車機構２０を設けたこと
によって、平坦でない地形を走行する場合に、左側出力
軸１５Ｌと右側出力軸１５Ｒに連結された左右のクロー
ラ機構１３は双方の荷重が常時均衡するように自動的に
旋回動作を行うので、左右のクローラ機構１３にかかる
荷重を均衡させるために外部からの制御を必要としな
い。また、第１の入力軸２４をモータで回転駆動するこ
とで左右の出力軸１５Ｌ，１５Ｒを同一方向に回転さ
せ、左右のクローラ機構１３を同一方向に旋回させるこ
とができる。この結果、前側クローラ旋回軸１５位置で
の車体の高さを任意に上下させることができる。By providing the first differential gear mechanism 20, when traveling on uneven terrain, the left and right crawler mechanisms 13 connected to the left output shaft 15L and the right output shaft 15R bear both loads. Since the turning operation is automatically performed so as to be always balanced, external control is not required to balance the loads applied to the left and right crawler mechanisms 13. In addition, by rotating the first input shaft 24 with a motor, the left and right output shafts 15L and 15R can be rotated in the same direction, and the left and right crawler mechanisms 13 can be turned in the same direction. As a result, the height of the vehicle body at the position of the front crawler turning shaft 15 can be arbitrarily raised and lowered.
【００１９】図３に示す如く、前記遊星・差動組み合わ
せ歯車機構３０は、後側クローラ旋回軸１６を左右に分
離してなる左側出力軸１６Ｌと右側出力軸１６Ｒとの間
に同心配置された連結軸１６Ｍの両端にそれぞれ固設さ
れたサン歯車３１Ｌ，３１Ｒと、左側出力軸１６Ｌと右
側出力軸１６Ｒにそれぞれ固設された取付板３２Ｌ，３
２Ｒと、取付板３２Ｌ，３２Ｒにそれぞれ枢着されてい
てサン歯車３１Ｌ，３１Ｒに噛み合う複数（図示の場合
は３個）のプラネタリ歯車３３Ｌ，３３Ｒと、外側に位
置してそれらのプラネタリ歯車３３Ｌ，３３Ｒと噛み合
うリング歯車３４Ｌ，３４Ｒとを有する左右の遊星歯車
機構３５Ｌ，３５Ｒ（減速比は互いに同じ）とを具備し
ている。As shown in FIG. 3, the combined planetary / differential gear mechanism 30 is disposed concentrically between a left output shaft 16L and a right output shaft 16R, which are obtained by separating the rear crawler turning shaft 16 into right and left. Sun gears 31L, 31R fixed to both ends of the connecting shaft 16M, respectively, and mounting plates 32L, 3 fixed to the left output shaft 16L and the right output shaft 16R, respectively.
2R, a plurality (three in the illustrated case) of planetary gears 33L, 33R pivotally mounted on the mounting plates 32L, 32R and meshing with the sun gears 31L, 31R, respectively, and the planetary gears 33L, Left and right planetary gear mechanisms 35L and 35R having ring gears 34L and 34R meshing with 33R (reduction ratios are the same) are provided.
【００２０】また、遊星・差動組み合わせ歯車機構３０
は、左右の遊星歯車機構３５Ｌ，３５Ｒが有する各リン
グ歯車３４Ｌ，３４Ｒに噛み合う平歯車３６Ｌ，３６Ｒ
を一端に固設した軸体３７Ｌ，３７Ｒと、軸体３７Ｌ，
３７Ｒの他端にそれぞれ固設されかつ相互に対向する１
対の傾斜調整用傘歯車３８Ｌ，３８Ｒと、左右傾斜制御
のための回転を与える第２の入力軸３９に固設されてい
て前記１対の傾斜調整用傘歯車３８Ｌ，３８Ｒに噛み合
う傾斜入力用傘歯車４０とを有する第２の差動歯車機構
４１を具備している。なお、左右の出力軸１６Ｌ，１６
Ｒと軸体３７Ｌ，３７Ｒとは互いに平行であり、傾斜入
力用傘歯車４０は軸体３７Ｌ，３７Ｒに直交する回転中
心軸を持つように支持されている（軸体３７Ｌ，３７Ｒ
と第２の入力軸３９とが直交している。）。The combined planetary / differential gear mechanism 30
Are spur gears 36L, 36R meshing with the respective ring gears 34L, 34R of the left and right planetary gear mechanisms 35L, 35R.
Shafts 37L, 37R, which are fixed to one end, and shafts 37L, 37L,
37R are fixed to the other end of each 37R and face each other.
A pair of inclination adjusting bevel gears 38L and 38R and a second input shaft 39 for providing rotation for right and left inclination control are fixed to the pair of inclination adjusting bevel gears 38L and 38R for inputting inclination. A second differential gear mechanism 41 having a bevel gear 40 is provided. The left and right output shafts 16L, 16L
R and the shafts 37L and 37R are parallel to each other, and the tilt input bevel gear 40 is supported so as to have a rotation center axis orthogonal to the shafts 37L and 37R (the shafts 37L and 37R).
And the second input shaft 39 are orthogonal to each other. ).
【００２１】さらに、遊星・差動組み合わせ歯車機構３
０は、前記連結軸１６Ｍに上下位置制御のための回転を
与える第３の入力軸４５とを備えており、第３の入力軸
４５の端部に固設された傘歯車４６が連結軸１６Ｍに固
設された傘歯車４７と噛み合っている。Further, a combined planetary / differential gear mechanism 3
0 is provided with a third input shaft 45 for rotating the connection shaft 16M for vertical position control, and a bevel gear 46 fixed to an end of the third input shaft 45 is connected to the connection shaft 16M. Meshed with a bevel gear 47 fixedly mounted on the vehicle.
【００２２】この遊星・差動組み合わせ歯車機構３０に
おいて、図３のように、第３の入力軸４５に回転数Ｎ1
の上下位置制御入力（高さ制御入力）が与えられると、
左右の出力軸１６Ｌ，１６Ｒの出力Ｌ，Ｒとして同方向
の等角度の回転ｋ1Ｎ1が得られる。但し、ｋ1は遊星歯
車機構３５Ｌ，３５Ｒの各歯車によって定まる定数であ
る。[0022] In the planetary-differential combination gear mechanism 30, as shown in FIG. 3, the rotational speed N 1 to the third input shaft 45
When the vertical position control input (height control input) is given,
As the outputs L and R of the left and right output shafts 16L and 16R, rotations k 1 N 1 at the same angle in the same direction are obtained. However, k 1 is a constant determined by the planetary gear mechanism 35L, the gear 35R.
【００２３】また、第２の入力軸３９に回転数Ｎ2の左
右傾斜制御入力が与えられると、左右の出力軸１６Ｌ，
１６Ｒの出力Ｌ，Ｒとして互いに逆向きの等角度の回転
ｋ2Ｎ2が得られる。但し、ｋ2は遊星歯車機構３５Ｌ，
３５Ｒの各歯車によって定まる定数である。When the left and right inclination control input of the rotation speed N 2 is given to the second input shaft 39, the left and right output shafts 16L, 16L,
As the outputs L and R of the 16R, rotations k 2 N 2 of opposite directions and equal angles are obtained. However, k 2 is a planetary gear mechanism 35L,
It is a constant determined by each gear of 35R.
【００２４】従って、第３の入力軸４５に回転数Ｎ1の
上下位置制御入力（高さ制御入力）が、第２の入力軸３
９に回転数Ｎ2の左右傾斜制御入力がそれぞれ同時に与
えられた場合、左側出力軸１６Ｌの出力Ｌ及び右側出力
軸１６Ｒの出力Ｒは、以下のようになる。 出力Ｌ＝ｋ1Ｎ1−ｋ2Ｎ2 出力Ｒ＝ｋ1Ｎ1＋ｋ2Ｎ2 Therefore, a vertical position control input (height control input) of the number of revolutions N 1 is applied to the third input shaft 45.
When the left and right inclination control inputs of the rotation speed N 2 are simultaneously supplied to the output shaft 9, the output L of the left output shaft 16 L and the output R of the right output shaft 16 R are as follows. Output L = k 1 N 1 −k 2 N 2 Output R = k 1 N 1 + k 2 N 2
【００２５】このように、遊星・差動組み合わせ歯車機
構３０を設けたことにより、第３の入力軸４５をモータ
で回転駆動することで左右の出力軸１６Ｌ，１６Ｒを同
一方向に回転させ、左右のクローラ機構１３を同一方向
に旋回させることができる。この結果、後側クローラ旋
回軸１６位置での車体の高さを任意に上下させることが
できる。また、第２の入力軸３９をモータで回転駆動す
ることで出力軸１６Ｌ，１６Ｒを互いに逆方向に回転さ
せ、左右のクローラ機構１３を互いに逆方向に旋回させ
ることができる。この結果、車体１２を左右方向に任意
に傾斜させて、傾斜調整を行うことができる。As described above, by providing the planetary / differential combination gear mechanism 30, the third input shaft 45 is driven to rotate by the motor to rotate the left and right output shafts 16L and 16R in the same direction. Can be turned in the same direction. As a result, the height of the vehicle body at the position of the rear crawler turning shaft 16 can be arbitrarily raised and lowered. Further, by rotating the second input shaft 39 with a motor, the output shafts 16L and 16R can be rotated in opposite directions, and the left and right crawler mechanisms 13 can be turned in opposite directions. As a result, the tilt can be adjusted by arbitrarily tilting the vehicle body 12 in the left-right direction.
【００２６】図４は上記２種類の歯車機構を用いた実施
の形態と等価な車両制御概念図である。実施の形態によ
る４クローラ型車両は、遊星・差動組み合わせ歯車機構
３０で後側クローラ旋回軸１６の左右のクローラ機構１
３のクローラ旋回角度を制御すると、第１の差動歯車機
構２０を適用した前側クローラ旋回軸１５の左右のクロ
ーラ機構１３はそれに追随するから、図４に示すように
等価的に３点接地の車両の様な挙動をする。そして、図
２の差動歯車機構２０の第１の入力軸２４を駆動するモ
ータが図４の車体の上下制御モータＭ１に相当し、図３
の遊星・差動組み合わせ歯車機構３０の第２の入力軸３
９を駆動するモータが図４の左右傾斜制御モータＭ２に
相当し、第３の入力軸４５を駆動するモータが図４の上
下制御モータＭ３に相当する。従って、上下制御モータ
Ｍ１，Ｍ３で車体の前後を等量上下させることで車体全
体の上下位置を任意に設定でき、また上下制御モータＭ
１，Ｍ３による上下量を互いに変えることで、車体前後
方向の傾斜角（ピッチング角）を任意に設定することが
できる。さらに、左右傾斜制御モータＭ２で車体左右方
向の傾斜角（ローリング角）を任意に設定することがで
きる。FIG. 4 is a conceptual diagram of vehicle control equivalent to the embodiment using the above two types of gear mechanisms. In the four-crawler type vehicle according to the embodiment, the left and right crawler mechanisms 1 of the rear crawler turning shaft 16 are combined by the planetary / differential combination gear mechanism 30.
When the crawler turning angle of 3 is controlled, the right and left crawler mechanisms 13 of the front crawler turning shaft 15 to which the first differential gear mechanism 20 is applied follow the crawler turning angle, and as shown in FIG. It behaves like a vehicle. A motor for driving the first input shaft 24 of the differential gear mechanism 20 shown in FIG. 2 corresponds to the up / down control motor M1 of the vehicle body shown in FIG.
Input shaft 3 of combined planetary and differential gear mechanism 30
9 corresponds to the left / right tilt control motor M2 in FIG. 4, and the motor driving the third input shaft 45 corresponds to the up / down control motor M3 in FIG. Therefore, the vertical position of the entire vehicle body can be arbitrarily set by vertically moving the vehicle body up and down by the same amount by the vertical control motors M1 and M3.
By changing the vertical amount by 1, M3, the inclination angle (pitching angle) in the vehicle longitudinal direction can be set arbitrarily. Furthermore, the inclination angle (rolling angle) in the left-right direction of the vehicle body can be arbitrarily set by the left-right inclination control motor M2.
【００２７】本発明に係る４クローラ型車両の姿勢制御
機構は、上述したように構成されているので、路外の凹
凸のある不整地を走行するのに適し、平坦でない地形を
走行する場合でも、４つのクローラが均衡した荷重で常
時地面をとらえるため凹凸地の走行能力が向上するとと
もに滑らかな走行となる。また、前方あるいは後方の左
右２つのクローラを任意に旋回できる構造であることか
ら、前述した如く、前傾あるいは後傾（すなわちピッチ
ング）又は車体高全体の上下を任意に設定することがで
きる。Since the attitude control mechanism of the four-crawler type vehicle according to the present invention is configured as described above, the attitude control mechanism is suitable for traveling on uneven terrain having irregularities outside the road, and can be used even when traveling on uneven terrain. Since the four crawlers always catch the ground with a balanced load, the running ability on uneven terrain is improved and smooth running is achieved. In addition, since the left and right crawlers on the front and rear sides can be arbitrarily turned, it is possible to arbitrarily set the front or rear inclination (that is, pitching) or the entire height of the vehicle body as described above.
【００２８】また、差動歯車機構２０が前側クローラ旋
回軸１５のクローラ旋回機構に適用されており、左右の
クローラ機構１３を旋回させて持ち上げた車体１２の車
軸位置は凹凸地形をとらえた双方のクローラ１３ｃから
平均の高さを保つよう作用するため、車体１２の上下の
動揺を少なくする。さらに、差動歯車機構２０が前側ク
ローラ旋回軸１５に装着されているため、左右のクロー
ラ１３ｃの平均高の上下の制御が、図２の第１の入力軸
２４を回転駆動する１台のモータで行うことができ、機
構が簡単になる。その上、地面の凹凸による左右のクロ
ーラ１３ｃの旋回角度の差は差動歯車機構２０が機械的
に吸収するため左右傾斜制御モータはその平均角度だけ
を制御することで車体の姿勢制御が可能となり、簡単な
制御アルゴリズムで目的を達成できる。また、差動歯車
機構２０を有するクローラ旋回機構を用いると、機械系
だけを用いた構造であるためその応答性が良好で、信頼
性が向上する。Further, the differential gear mechanism 20 is applied to the crawler turning mechanism of the front crawler turning shaft 15, and the axle position of the body 12 lifted by turning the left and right crawler mechanisms 13 can be used for both the crawler and the terrain. Since it acts so as to maintain the average height from the crawler 13c, the vertical movement of the vehicle body 12 is reduced. Further, since the differential gear mechanism 20 is mounted on the front crawler turning shaft 15, the average height of the left and right crawlers 13c is controlled up and down by one motor that rotates the first input shaft 24 in FIG. And the mechanism is simplified. In addition, the difference between the turning angles of the left and right crawlers 13c due to the unevenness of the ground is mechanically absorbed by the differential gear mechanism 20, so that the left and right tilt control motor can control the attitude of the vehicle body by controlling only the average angle. The goal can be achieved with a simple control algorithm. In addition, when the crawler turning mechanism having the differential gear mechanism 20 is used, the responsiveness is good and the reliability is improved because the structure uses only the mechanical system.
【００２９】また、遊星歯車機構と第２の差動歯車機構
を組み合わせた遊星・差動組み合わせ歯車機構３０を後
側クローラ旋回軸１６のクローラ旋回機構として適用し
ており、図３の第３の入力軸４５を介して左右のサン歯
車３１Ｌ，３１Ｒを回転させるモータ（車体の上下制御
用）により両側のクローラ機構１３は同一方向に回転し
車軸の上下を決定する。また、遊星・差動組み合わせ歯
車機構３０の第２の入力軸３９を１台のモータ（車体の
左右傾斜制御用）で回転させることにより、その回転が
第２の差動歯車機構４１から左右のリング歯車３４Ｌ，
３４Ｒに互いに逆向きに伝達され、左右のクローラ機構
１３を相互に逆転させることになり、車体１２を左右に
傾けることができる。Further, a combined planetary / differential gear mechanism 30 in which a planetary gear mechanism and a second differential gear mechanism are combined is applied as a crawler swivel mechanism of the rear crawler swivel shaft 16, and the third mechanism of FIG. The crawler mechanisms 13 on both sides rotate in the same direction by a motor (for vertical control of the vehicle body) that rotates the left and right sun gears 31L and 31R via the input shaft 45, and determines the vertical direction of the axle. Further, by rotating the second input shaft 39 of the combined planetary / differential gear mechanism 30 by one motor (for controlling the right and left inclination of the vehicle body), the rotation is transmitted from the second differential gear mechanism 41 to the left and right. Ring gear 34L,
34R are transmitted in opposite directions, and the left and right crawler mechanisms 13 are rotated in opposite directions, so that the vehicle body 12 can be tilted left and right.
【００３０】なお、上記実施の形態では、前側クローラ
旋回軸１５に第１の差動歯車機構２０を、後側クローラ
旋回軸１６に遊星・差動組み合わせ歯車機構３０をそれ
ぞれ装着してクローラ旋回機構として用いたが、逆に前
側クローラ旋回軸１５に遊星・差動組み合わせ歯車機構
３０を、後側クローラ旋回軸１６に差動歯車機構２０を
適用する構成としてもよい。In the above embodiment, the first differential gear mechanism 20 is mounted on the front crawler rotation shaft 15 and the combined planetary / differential gear mechanism 30 is mounted on the rear crawler rotation shaft 16, respectively. However, conversely, a configuration may be adopted in which the planetary / differential combination gear mechanism 30 is applied to the front crawler turning shaft 15 and the differential gear mechanism 20 is applied to the rear crawler turning shaft 16.
【００３１】以上本発明の実施の形態について説明して
きたが、本発明はこれに限定されることなく請求項の記
載の範囲内において各種の変形、変更が可能なことは当
業者には自明であろう。Although the embodiments of the present invention have been described above, it is obvious to those skilled in the art that the present invention is not limited to the embodiments and various modifications and changes can be made within the scope of the claims. There will be.
【００３２】[0032]
【発明の効果】以上説明したように、本発明に係る４ク
ローラ型車両の姿勢制御機構によれば、外部から特別な
制御を受けなくとも、車軸（クローラ旋回軸）の左右の
凹凸を吸収して常時４つのクローラを地面に接地させな
がら安定した走行が可能となる。また、遊星・差動組み
合わせ歯車機構及び差動歯車機構を有するクローラ旋回
機構を４クローラ型車両に適用することにより、各車軸
の平均旋回角度をそれぞれ１つのモータで設定し、車体
高を任意に決定するとともに、任意のピッチング角で前
傾又は後傾させることができるため、車両の姿勢制御が
非常に簡単にできる。As described above, according to the attitude control mechanism of the four-crawler type vehicle according to the present invention, the right and left irregularities of the axle (crawler turning shaft) can be absorbed without receiving any special control from the outside. As a result, stable running is possible while the four crawlers are always in contact with the ground. In addition, by applying a crawler turning mechanism having a combined planetary / differential gear mechanism and a differential gear mechanism to a 4-crawler type vehicle, the average turning angle of each axle is set by one motor, and the body height can be arbitrarily set. In addition to the determination, the vehicle can be tilted forward or backward at an arbitrary pitching angle, so that the attitude control of the vehicle can be very easily performed.
【００３３】また、遊星・差動組み合わせ歯車機構の差
動歯車側に連結したモータを回転させることで、左右の
遊星歯車機構に接続されたクローラ旋回軸を逆転させて
車体の左右傾斜角（ローリング角）を前傾後傾角（ピッ
チング角）の制御とは独立して任意に設定できるため、
つまり、遊星・差動組み合わせ歯車機構は車体の上下方
向位置制御と左右傾斜角制御について直交系であるた
め、制御アルゴリズムが非常に簡単になる。Further, by rotating a motor connected to the differential gear side of the combined planetary / differential gear mechanism, the crawler swivel axes connected to the left and right planetary gear mechanisms are reversed, so that the right and left inclination angles (rolling) of the vehicle body are reduced. Angle) can be set arbitrarily independently of the control of the forward tilt and the backward tilt (pitching angle).
That is, since the planetary / differential combined gear mechanism is an orthogonal system for the vertical position control and the left / right tilt angle control of the vehicle body, the control algorithm becomes very simple.
【００３４】さらに、従来左右２つずつのクローラ機構
を旋回させるためにそれぞれ左右に設けられていた終段
減速機構を、遊星・差動組み合わせ歯車機構及び差動歯
車機構のそれぞれ１つずつに置き換えることができるた
め、構造の簡素化、信頼性の向上、車体の軽量化が可能
となる。Further, the final stage reduction mechanisms provided on the left and right sides for rotating the two right and left crawler mechanisms in the related art are replaced with one planetary / differential combined gear mechanism and one differential gear mechanism. Therefore, the structure can be simplified, the reliability can be improved, and the weight of the vehicle body can be reduced.
【図１】本発明に係る４クローラ型車両の姿勢制御機構
の実施の形態を示す概略斜視図である。FIG. 1 is a schematic perspective view showing an embodiment of a posture control mechanism of a four-crawler type vehicle according to the present invention.
【図２】実施の形態で用いた差動歯車機構を示す斜視図
である。FIG. 2 is a perspective view showing a differential gear mechanism used in the embodiment.
【図３】実施の形態で用いた遊星・差動組み合わせ歯車
機構を示す斜視図である。FIG. 3 is a perspective view showing a combined planetary / differential gear mechanism used in the embodiment.
【図４】実施の形態と等価な車両制御概念図である。FIG. 4 is a conceptual diagram of vehicle control equivalent to the embodiment.
【図５】従来の４クローラ型車両の姿勢制御機構の例を
示す斜視図である。FIG. 5 is a perspective view showing an example of a conventional attitude control mechanism of a four-crawler type vehicle.
１，１０ ４クローラ型車両 ２，１２ 車体 ３，１３ クローラ機構 ３ａ，１３ａ アーム ３ｂ，１３ｂ ローラ ３ｃ，１３ｃ クローラ ４ クローラ旋回用モータ １５ 前側クローラ旋回軸 １５Ｌ，１５Ｒ，１６Ｌ，１６Ｒ 出力軸 １６ 後側クローラ旋回軸 １６Ｍ 連結軸 ２０，４１ 差動歯車機構 ２１Ｌ，２１Ｒ，２３，３８Ｌ，３８Ｒ，４０，４６，
４７ 傘歯車 ２２，２５，３６Ｌ，３６Ｒ 平歯車 ２４ 第１の入力軸 ２６ ブラケット ３０ 遊星・差動組み合わせ歯車機構 ３１Ｌ，３１Ｒ サン歯車 ３２Ｌ，３２Ｒ 取付板 ３３Ｌ，３３Ｒ プラネタリ歯車 ３４Ｌ，３４Ｒ リング歯車 ３５Ｌ，３５Ｒ 遊星歯車機構 ３７Ｌ，３７Ｒ 軸体 ３９ 第２の入力軸 ４５ 第３の入力軸 Ｍ１，Ｍ２，Ｍ３ モータ1,10 4 crawler type vehicle 2,12 car body 3,13 crawler mechanism 3a, 13a arm 3b, 13b roller 3c, 13c crawler 4 crawler turning motor 15 front crawler turning shaft 15L, 15R, 16L, 16R output shaft 16 rear side Crawler swivel shaft 16M Connecting shaft 20, 41 Differential gear mechanism 21L, 21R, 23, 38L, 38R, 40, 46,
47 bevel gear 22, 25, 36L, 36R spur gear 24 first input shaft 26 bracket 30 planetary / differential combined gear mechanism 31L, 31R sun gear 32L, 32R mounting plate 33L, 33R planetary gear 34L, 34R ring gear 35L, 35R planetary gear mechanism 37L, 37R Shaft 39 Second input shaft 45 Third input shaft M1, M2, M3 Motor
───────────────────────────────────────────────────── フロントページの続き (58)調査した分野(Int.Cl.6，ＤＢ名) B62D 55/065 ──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. 6 , DB name) B62D 55/065
Claims (3)
回軸及び後側クローラ旋回軸と、前記車体の前後左右に
設けられていて前記前側及び後側クローラ旋回軸の回転
に伴ってそれぞれ旋回動作を行う４つのクローラ機構と
を持つ４クローラ型車両の姿勢制御機構において、 前記前側クローラ旋回軸又は後側クローラ旋回軸のいず
れか一方である第１の旋回軸に第１の差動歯車機構を装
着して、当該第１の旋回軸両側で左右のクローラ機構が
分担する車体重量を均衡状態にさせかつ当該第１の旋回
軸位置での前記車体の上下位置制御を行うとともに、 他方のクローラ旋回軸である第２の旋回軸に遊星歯車機
構と第２の差動歯車機構を組み合わせた遊星・差動組み
合わせ歯車機構を装着して、当該第２の旋回軸位置でも
前記車体の上下位置制御を行い、かつ左右のクローラ機
構をそれぞれ旋回させる出力軸を前記第２の差動歯車機
構の入力軸を回転させることにより相互に逆転させて前
記車体の左右傾斜の制御を行うことを特徴とする４クロ
ーラ型車両の姿勢制御機構。1. A front crawler turning shaft and a rear crawler turning shaft provided at the front and rear of a vehicle body, and a turning operation respectively accompanying rotation of the front and rear crawler turning shafts provided at the front, rear, left and right of the vehicle body. A four-crawler type vehicle attitude control mechanism having four crawler mechanisms for performing the following: a first differential gear mechanism on a first turning shaft that is one of the front crawler turning shaft and the rear crawler turning shaft. The first crawler mechanism is mounted so that the left and right crawler mechanisms share the weight of the vehicle body on both sides of the first swivel shaft, and perform the vertical position control of the vehicle body at the first swivel shaft position. A planetary / differential combined gear mechanism combining a planetary gear mechanism and a second differential gear mechanism is mounted on a second pivot axis, which is a shaft, and the vertical position control of the vehicle body is controlled even at the second pivot axis position. Carried out, and the left and right crawler machine
An output shaft for turning each of the structures, said second differential gear machine
An attitude control mechanism for a four-crawler type vehicle, characterized in that the input shaft of the structure is rotated in the opposite direction to control the left-right inclination of the vehicle body.
旋回軸を左右に分離してなる第１の左側出力軸と第１の
右側出力軸とにそれぞれ固設されて相互に対向する左傘
歯車及び右傘歯車と、前記第１の左側出力軸又は第１の
右側出力軸を回転中心とし当該出力軸に対して回転自在
な平歯車と、該平歯車に固定のブラケットで前記第１の
左側出力軸と第１の右側出力軸に直交する自転軸を持つ
ように支持されかつ前記左傘歯車及び右傘歯車に噛み合
う傘歯車と、上下位置制御のための回転を前記平歯車に
与える第１の入力軸とを備えるものである請求項１記載
の４クローラ型車両の姿勢制御機構。2. The first differential gear mechanism is fixed to a first left output shaft and a first right output shaft, each of which is separated from the first pivot shaft to the left and right, and is mutually connected. A left bevel gear and a right bevel gear opposed to each other, a spur gear rotatable around the first left output shaft or the first right output shaft with respect to the output shaft, and a bracket fixed to the spur gear. A bevel gear supported to have a rotation axis orthogonal to the first left output shaft and the first right output shaft and meshing with the left bevel gear and the right bevel gear; The attitude control mechanism for a four-crawler type vehicle according to claim 1, further comprising a first input shaft provided to the gear.
相互に連結された左右のサン歯車と、前記第２の旋回軸
を左右に分離してなる第２の左側出力軸と第２の右側出
力軸とにそれぞれ固設された取付板と、該取付板に枢着
されていて前記サン歯車に噛み合う複数のプラネタリ歯
車と、外側に位置してそれらのプラネタリ歯車と噛み合
うリング歯車とを有する左右の遊星歯車機構と、 該左右の遊星歯車機構が有する各リング歯車にそれぞれ
連動しかつ相互に対向する１対の傾斜調整用傘歯車と、
左右傾斜制御のための回転を与える第２の入力軸に固設
されていて前記１対の傾斜調整用傘歯車に噛み合う傾斜
入力用傘歯車とを有する第２の差動歯車機構と、 前記サン歯車に上下位置制御のための回転を与える第３
の入力軸とを備えている請求項１又は２記載の４クロー
ラ型車両の姿勢制御機構。3. The planetary / differential combined gear mechanism,
Left and right sun gears connected to each other, mounting plates fixedly mounted on a second left output shaft and a second right output shaft, respectively, obtained by separating the second turning shaft into left and right, and Left and right planetary gear mechanisms having a plurality of planetary gears pivotally attached to a plate and meshing with the sun gear, and a ring gear located outside and meshing with the planetary gears; and each of the left and right planetary gear mechanisms has A pair of bevel gears for tilt adjustment that are interlocked with the ring gear and face each other;
A second differential gear mechanism fixed to a second input shaft that provides rotation for left-right tilt control and having a tilt input bevel gear meshing with the pair of tilt adjusting bevel gears; Third to give rotation to the gear for vertical position control
3. The attitude control mechanism for a four-crawler type vehicle according to claim 1, further comprising: an input shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9017801A JP2890036B2 (en) | 1997-01-16 | 1997-01-16 | Attitude control mechanism of 4-crawler type vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9017801A JP2890036B2 (en) | 1997-01-16 | 1997-01-16 | Attitude control mechanism of 4-crawler type vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH10194169A JPH10194169A (en) | 1998-07-28 |
| JP2890036B2 true JP2890036B2 (en) | 1999-05-10 |
Family
ID=11953832
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP9017801A Expired - Lifetime JP2890036B2 (en) | 1997-01-16 | 1997-01-16 | Attitude control mechanism of 4-crawler type vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2890036B2 (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6907951B2 (en) | 2000-03-07 | 2005-06-21 | Arctic Cat, Inc. | Snowmobile planetary drive system |
| US6742618B2 (en) | 2000-03-07 | 2004-06-01 | Arctic Cat, Inc. | Snowmobile planetary drive system |
| US20040045747A1 (en) * | 2002-08-14 | 2004-03-11 | Clark Equipment Company | Drive for crawler track |
| US7798260B2 (en) | 2007-08-22 | 2010-09-21 | Clark Equipment Company | Track vehicle having drive and suspension systems |
| CN102476663B (en) * | 2010-11-29 | 2013-07-31 | 中国科学院沈阳自动化研究所 | Crawler leg compound movable robot based on differential mechanisms |
| CN102627127A (en) * | 2011-12-08 | 2012-08-08 | 兰州理工大学 | Joint-track composite bionic robot |
| CN103507869A (en) * | 2012-06-29 | 2014-01-15 | 新昌县冠阳技术开发有限公司 | Special type searching and rescuing robot capable of moving laterally |
| CN110450870A (en) * | 2019-09-15 | 2019-11-15 | 杜家鑫 | A kind of farm machinery |
| CN112498480B (en) * | 2020-11-27 | 2021-09-24 | 广州大学 | Intelligent trolley adaptive to road surface |
| CN112550499B (en) * | 2020-12-02 | 2021-11-16 | 西安理工大学 | Four-foot type complex pavement adaptive robot |
| CN114132406B (en) * | 2021-12-13 | 2022-05-24 | 北京邮电大学 | Turnover type wheel-leg robot |
-
1997
- 1997-01-16 JP JP9017801A patent/JP2890036B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH10194169A (en) | 1998-07-28 |
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