JPH06191494A - Space detection traveling car - Google Patents
Space detection traveling carInfo
- Publication number
- JPH06191494A JPH06191494A JP34661992A JP34661992A JPH06191494A JP H06191494 A JPH06191494 A JP H06191494A JP 34661992 A JP34661992 A JP 34661992A JP 34661992 A JP34661992 A JP 34661992A JP H06191494 A JPH06191494 A JP H06191494A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle body
- wheels
- vehicle
- main wheels
- main
- 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.)
- Pending
Links
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Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、とくに、地球以外の惑
星等の天体を探査するのに用いられる宇宙探査用走行車
に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention particularly relates to a space exploration vehicle used for exploring celestial bodies such as planets other than the earth.
【０００２】[0002]
【従来の技術】この種の宇宙探査用走行車としては、例
えば火星を探査するために開発されているものがあり、
火星の表面には岩や段差などの障害物が多いことが一部
確認されていることから、これらの障害物を乗り越えた
り回避したりしながら自由に走行できる機能が要求され
ている。2. Description of the Related Art As a vehicle for space exploration of this type, there is a vehicle developed for exploring Mars, for example.
Since it has been confirmed that there are many obstacles such as rocks and steps on the surface of Mars, it is required to have a function of being able to travel freely while overcoming or avoiding these obstacles.
【０００３】そこで、不整地の走行に対処し得る宇宙探
査用走行車として、多くの車輪や無限軌道により走行す
るもの、あるいは複数の脚を交互に動かして走行するも
のなどが考えられており、車輪を備えたものとしては、
例えば、日経ＢＰ社が発行した「日経メカニカル１９９
２年１１月１６日号」の第８０頁に記載されている。Therefore, as a vehicle for space exploration capable of coping with traveling on an uneven terrain, a vehicle traveling by many wheels or an endless track, or a vehicle traveling by alternately moving a plurality of legs is considered. As for those equipped with wheels,
For example, "Nikkei Mechanical 199" issued by Nikkei BP
No. 16, November 2 ", page 80.
【０００４】[0004]
【発明が解決しようとする課題】ところで、上記したよ
うな宇宙探査用走行車は、例えば車輪の直径を大きなも
のにすることにより、障害物を乗り越える場合などにお
いて有利となるが、その一方では、当該走行車を運搬す
る宇宙船のコンテナに収納し得る大きさに制限されてお
り、機能の向上を図るのと同時に運搬上の都合も充分に
考慮する必要がある。By the way, the above-described space exploration vehicle is advantageous in overcoming obstacles by increasing the diameter of the wheels, but on the other hand, It is limited to the size that can be stored in the container of the spacecraft that carries the traveling vehicle, and it is necessary to consider the convenience of transportation while improving the function.
【０００５】また、上記従来の宇宙探査用走行車は、狭
い場所に入り込んだ場合、方向転換をすることが困難に
なる恐れがあり、このような不具合も解決する必要があ
った。Further, in the conventional vehicle for space exploration, it is difficult to change the direction when entering a narrow space, and it is necessary to solve such a problem.
【０００６】[0006]
【発明の目的】本発明は、上記従来の状況に鑑みて成さ
れたもので、不整地走行に有利な大径の車輪を採用する
ことができると共に、運搬時における限られたスペース
への収納や、狭い場所での走行に対処することができる
宇宙探査用走行車を提供することを目的としている。SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned conventional circumstances, and it is possible to employ large-diameter wheels which are advantageous for traveling on rough terrain and to store the wheels in a limited space during transportation. Another object is to provide a traveling vehicle for space exploration that can cope with traveling in a narrow space.
【０００７】[0007]
【課題を解決するための手段】本発明に係わる宇宙探査
用走行車は、請求項１として、一対の主車輪と、主車輪
の車軸に連結され且つ両主車輪間に収容可能な車体と、
前記車体に装着され且つ前記車体とともに両主車輪間に
収容可能な従車輪を備え、主車輪の車軸と車体の間、お
よび車体と従車輪の間の少なくとも一方に、前記従車輪
を両主車輪間の外側に延出させる関節機構を設けた構成
とし、請求項２として、一対の主車輪と、両主車輪間に
収容可能な車体と、前記車体とともに両主車輪間に収容
可能な従車輪を備え、前記主車輪の車軸に、リンクを介
して、前記車体を車軸回りに回動可能に連結すると共
に、前記車体に、車軸と平行な軸を中心に回動する脚を
介して、前記従車輪を装着した構成としており、これら
の構成を課題を解決するための手段としている。According to a first aspect of the present invention, there is provided a traveling vehicle for space exploration, comprising: a pair of main wheels; and a vehicle body connected to the axles of the main wheels and accommodating between the both main wheels.
A secondary wheel that is mounted on the vehicle body and that can be housed together with the vehicle body between the two main wheels is provided, and the secondary wheels are provided on at least one of an axle of the primary wheel and the vehicle body and between the vehicle body and the secondary wheel. A joint mechanism for extending to the outside between is provided, and a pair of main wheels, a vehicle body that can be housed between both main wheels, and a secondary wheel that can be housed together with the vehicle body between both main wheels. The vehicle body is rotatably connected to an axle of the main wheel via a link, and the vehicle body is provided with a leg that rotates about an axis parallel to the axle. The secondary wheels are mounted, and these structures are used as means for solving the problems.
【０００８】また、本発明に係わる宇宙探査用走行車
は、請求項３として、請求項２記載の宇宙探査用走行車
において、複数の車体を備えると共に、車体間に両主車
輪間に収容可能な中間従車輪を備え、各車体に設けた連
結用脚と前記中間従車輪とを連結した構成とし、請求項
４として、一対の主車輪と、主車輪の車軸に連結され且
つ両主車輪間に収容可能な第１車体と、前記第１車体と
ともに両主車輪間に収容可能な第２車体と、前記第２車
体に装着され且つ第１および第２車体とともに両主車輪
間に収容可能な従車輪を備え、第１車体と第２車体の間
に、第２車体を両主車輪間の外側に延出させる伸展機構
を設けた構成とし、さらに、請求項５として、一対の主
車輪の互いに外側となる面が凸曲面状を成している構成
としており、これらの構成を課題を解決するための手段
としている。Further, a traveling vehicle for space exploration according to the present invention is the traveling vehicle for space exploration according to claim 2, wherein a plurality of vehicle bodies are provided and can be accommodated between both main wheels between the vehicle bodies. And a pair of main wheels, which are connected to an axle of the main wheels and which are connected between the main wheels. A first vehicle body that can be accommodated in the first vehicle body, a second vehicle body that can be accommodated between the two main wheels together with the first vehicle body, and a second vehicle body that is mounted on the second vehicle body and that can be accommodated between the two main vehicle wheels together with the first and second vehicle bodies. A subordinate wheel is provided, and an extension mechanism for extending the second vehicle body to the outside between the main wheels is provided between the first vehicle body and the second vehicle body. The surfaces on the outer side of each other have a convex curved surface shape. And a means for solving the problems of the construction.
【０００９】[0009]
【発明の作用】本発明の請求項１に係わる宇宙探査用走
行車は、一対の主車輪の間に、車体および従車輪が収容
され、両主車輪の直径および幅に相当する寸法の空間内
に収納し得ることとなり、関節機構によって従車輪を両
主車輪間の外側に延出させた状態にして、主車輪と従車
輪とで走行する。The vehicle for space exploration according to claim 1 of the present invention has a vehicle body and a subordinate wheel housed between a pair of main wheels, and has a space corresponding to the diameter and width of both main wheels. The joint wheels allow the sub wheels to extend outside between the main wheels, and the main wheels and the sub wheels run.
【００１０】また、本発明の請求項２に係わる宇宙探査
用走行車は、一対の主車輪の間に、車体および従車輪が
収容され、両主車輪の直径および幅に相当する寸法の空
間内に収納し得ることとなり、リンクおよび脚を回動さ
せることにより、主車輪の車軸と車体の間、および車体
と従車輪との間の距離を変化させて走行する。According to a second aspect of the present invention, there is provided a vehicle for space exploration, in which a vehicle body and a subordinate wheel are housed between a pair of main wheels, and a space having a size corresponding to a diameter and a width of both main wheels. By rotating the link and the legs, the vehicle travels while changing the distance between the axle of the main wheel and the vehicle body and between the vehicle body and the subordinate wheel.
【００１１】さらに、本発明の請求項３に係わる宇宙探
査用走行車は、一対の主車輪の間に、複数の車体、従車
輪および中間従車輪が収容され、両主車輪の直径および
幅に相当する寸法の空間内に収納し得ることとなり、リ
ンク、脚および連結用脚を回動させることにより、主車
輪の車軸と車体の間、車体同士の間および車体と従車輪
の間などの距離を変化させて走行する。Further, a traveling vehicle for space exploration according to claim 3 of the present invention has a plurality of main wheels, a plurality of subordinate wheels, and an intermediate subordinate wheel accommodated between a pair of main wheels. It can be stored in a space of a corresponding size, and by rotating the links, legs, and connecting legs, the distance between the axles of the main wheels and the vehicle body, between the vehicle bodies, and between the vehicle body and the subsidiary wheels, etc. To change and drive.
【００１２】さらに、本発明の請求項４に係わる宇宙探
査用走行車は、一対の主車輪の間に、第１および第２の
車体と従車輪が収容され、両主車輪の直径および幅に相
当する寸法の空間内に収納し得ることとなり、伸展機構
で第２車体を両主車輪間の外側へ延出させた状態にし
て、主車輪と第２車体に装着した従車輪とで走行する。Further, the traveling vehicle for space exploration according to claim 4 of the present invention has the first and second vehicle bodies and the subordinate wheels accommodated between the pair of main wheels, and the diameter and width of both main wheels are set. It can be stored in a space of a corresponding size, and the second vehicle body is extended to the outside between both main wheels by the extension mechanism, and the main wheels and the sub wheels mounted on the second vehicle body travel. .
【００１３】さらに、本発明の請求項５に係わる宇宙探
査用走行車は、主車輪の外側の面を凸曲面状としたこと
により、横倒しになったときの起き上がり動作や、主車
輪の側面を接地させた状態での走行に対応し得ることと
なる。Further, in the vehicle for space exploration according to claim 5 of the present invention, the outer surface of the main wheel is formed into a convex curved surface so that when the vehicle is laid down, the rising motion and the side surface of the main wheel are reduced. This means that it is possible to support running in the grounded state.
【００１４】[0014]
【実施例】図１〜図７は、本発明の請求項１，請求項２
および請求項５に係わる宇宙探査用走行車の一実施例を
説明する図である。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 to FIG. 7 are claims 1 and 2 of the present invention.
It is a figure explaining one Example of the space exploration vehicle concerning Claim 5 and Claims.
【００１５】図１〜図３に示す宇宙探査用走行車Ｒ１
は、不整地走行に有利である大径の一対の主車輪１，１
と、主車輪１の車軸２に連結され且つ両主車輪１，１間
に収容可能な大きさの車体３と、前記車体３に装着され
且つ同車体３とともに両主車輪１，１間に収納可能な大
きさの一対の従車輪４，４を備えている。A space exploration vehicle R1 shown in FIGS.
Is a pair of large-diameter main wheels 1, 1 that are advantageous for running on rough terrain
A vehicle body 3 connected to the axle 2 of the main wheel 1 and having a size capable of being housed between the two main wheels 1, 1; and a vehicle body mounted on the vehicle body 3 and housed together with the vehicle body 3 between the two main wheels 1, 1. It has a pair of secondary wheels 4 and 4 of a possible size.
【００１６】前記両主車輪１，１は、互いの外側となる
面が凸曲面状を成していると共に、左右で別に駆動する
ことが可能であって、その車軸２の中央には、関節機構
であるリンク５の一端部が該リンク５の軸回りに回転自
在に連結してある。The both main wheels 1, 1 have convex curved surfaces on the outer sides thereof, and can be driven separately on the left and right sides. One end of the link 5, which is a mechanism, is rotatably connected about the axis of the link 5.
【００１７】前記車体３は、収納時に主車輪１の車軸２
および前記リンク５と組み合わせる都合上、前半部の下
側を除いた形態を成していて、前端部の下面に、前記車
軸２と平行なリンク連結用軸６が設けてあり、このリン
ク連結用軸６の中央に前記リンク５の他端部が連結して
ある。これにより、前記車体３は、車軸回りに回動可能
な状態になっている。The vehicle body 3 has the axle 2 of the main wheel 1 when stored.
For convenience of combination with the link 5, the lower part of the front half is removed, and a link connecting shaft 6 parallel to the axle 2 is provided on the lower surface of the front end. The other end of the link 5 is connected to the center of the shaft 6. As a result, the vehicle body 3 is in a state of being rotatable around the axle.
【００１８】また、前記車体３の上面中央部には、両主
車輪１，１間に収納可能な大きさのアンテナ７が設けて
あり、同車体３の上面後端部には、前記リンク連結用軸
６と平行なパネル回動軸８が設けてある。前記パネル回
動軸８の両端部には、個々のパネル揺動軸９，９を介し
て、太陽電池パネル１０，１０が取付けてある。An antenna 7 having a size capable of being housed between the two main wheels 1 and 1 is provided at the center of the upper surface of the vehicle body 3, and the link connection is provided at the rear end of the upper surface of the vehicle body 3. A panel rotation shaft 8 parallel to the work shaft 6 is provided. Solar cell panels 10 and 10 are attached to both ends of the panel rotation shaft 8 via respective panel swing shafts 9 and 9.
【００１９】前記太陽電池パネル１０は、主車輪１の半
径よりもやや小さい半径寸法に基づく半円形を成すと共
に、直線部分の中央には収容時に車軸２と係合するＵ形
の切欠部１０ａが形成してあり、円弧部分の中央に前記
パネル揺動軸９が取付けてある。The solar cell panel 10 has a semicircular shape based on a radius dimension slightly smaller than the radius of the main wheel 1, and has a U-shaped notch 10a which engages with the axle 2 at the time of accommodation at the center of the straight line portion. The panel swing shaft 9 is attached to the center of the arc portion.
【００２０】さらに、前記車体３の後端部下面には、主
車輪１の車軸２と平行な脚連結用軸１１を介して、前記
従車輪４，４を備えた脚１２が連結してある。前記脚１
２は、従車輪４を両主車輪１，１間の外側に延出させる
関節機構を構成するものであって、従車輪４の車軸１３
に対して、該脚１２の軸回りに回転自在に連結してある
と共に、車体３との間に連結した左右の脚用シリンダ１
４，１４を伸縮駆動することにより、前記脚連結用軸１
１を中心にして回動する。Further, a leg 12 having the subsidiary wheels 4 and 4 is connected to the lower surface of the rear end of the vehicle body 3 via a leg connecting shaft 11 parallel to the axle 2 of the main wheel 1. . The leg 1
The reference numeral 2 constitutes a joint mechanism for extending the slave wheel 4 to the outside between the main wheels 1 and 1, and is an axle 13 of the slave wheel 4.
On the other hand, the left and right leg cylinders 1 that are rotatably connected about the axis of the leg 12 and are connected to the vehicle body 3
The leg connecting shaft 1 is driven by extending and retracting the shafts 4 and 14.
Rotate around 1.
【００２１】このようにして、宇宙探査用走行車Ｒ１
は、図１に示す複数の軸、すなわち、主車輪１の車軸２
（Ａ）、リンク５の軸Ｂ、リンク連結用軸６（Ｃ）、脚
連結用軸１１（Ｄ）、脚１２の軸Ｅ、および従車輪４の
車軸１３（Ｆ）を備え、このほか、駆動系として、ジャ
イロとサーボアクチュエータを用いた姿勢制御装置やバ
ッテリーなどを備えている。In this way, the space exploration vehicle R1
Is a plurality of shafts shown in FIG. 1, that is, the axle 2 of the main wheel 1.
(A), the shaft B of the link 5, the shaft 6 (C) for link connection, the shaft 11 (D) for leg connection, the shaft E of the leg 12, and the axle 13 (F) of the driven wheel 4 are provided. The drive system includes a posture control device that uses a gyro and a servo actuator, and a battery.
【００２２】上記の宇宙探査用走行車Ｒ１は、両主車輪
１，１の駆動により前進・後退すると共に、左右の主車
輪１，１の回転速度を変えることにより右または左に旋
回し、さらに、左右の主車輪１，１を互いに逆向きに回
転させることにより両主車輪１，１の中心を軸にして回
転し、その場で向きを変えることが可能である。The above-mentioned space exploration vehicle R1 moves forward and backward by driving both main wheels 1 and 1, and turns right or left by changing the rotational speed of the left and right main wheels 1 and 1, and , By rotating the left and right main wheels 1, 1 in opposite directions, the main wheels 1, 1 can be rotated about the centers of the main wheels 1, 1 and their directions can be changed on the spot.
【００２３】また、上記宇宙探査用走行車Ｒ１は、主車
輪１の側面が凸曲面状を成しているので、図４に示すよ
うに、その側面を接地させた状態でも走行することがで
きると共に、図５に示すように、片方の主車輪１が障害
物Ｓに乗り上げた場合には、例えば従車輪４の車軸１３
に対する脚１２の回動（軸Ｅを中心とする回動）でこれ
に対応したり、主車輪１の車軸２に対するリンク５の回
動（軸Ｂを中心とする回動）で対応したりして、前記障
害物Ｓを乗り越える。したがって、例えば火星表面のよ
うな凹凸の激しい場所でも自由に走行し得る。Since the side surface of the main wheel 1 of the traveling vehicle R1 for space exploration has a convex curved surface, the traveling vehicle R1 can travel even when the side surface is grounded, as shown in FIG. At the same time, as shown in FIG. 5, when one of the main wheels 1 rides on the obstacle S, for example, the axle 13 of the secondary wheel 4
The rotation of the leg 12 with respect to the wheel (rotation about the axis E) corresponds to this, and the rotation of the link 5 of the main wheel 1 with respect to the axle 2 (rotation about the axis B) corresponds to this. And get over the obstacle S. Therefore, the vehicle can travel freely even in a highly uneven place such as the surface of Mars.
【００２４】さらに、上記宇宙探査用走行車Ｒ１は、横
倒しになった場合であっても、主車輪１の側面が凸曲面
状であるので、図６に示すように、主車輪１の側面で支
持しつつ車体３を立て直し、こののち、リンク５の軸Ｂ
を中心とする両主車輪１，１の回動および主車輪１の回
転により、再び起き上がることが可能である。Further, since the side surface of the main wheel 1 of the traveling vehicle R1 for space exploration is a convex curved surface even when it is laid on its side, as shown in FIG. While supporting the car body 3, raise the car body 3 again, and then the axis B of the link 5
It is possible to get up again by the rotation of both main wheels 1, 1 centering at and the rotation of the main wheel 1.
【００２５】そしてさらに、上記宇宙探査用走行車Ｒ１
は、左右の太陽電池パネル１０，１０を図１中の仮想線
で示すように上方に９０度回動させ、さらに両太陽電池
パネル１０，１０を主車輪１側に回動させた状態におい
て、図７に示すように、両主車輪１，１間に車体３およ
び従車輪４を折りたたむ要領で形態を変化させていくこ
とが可能である。Further, the space exploration vehicle R1.
Is a state in which the left and right solar cell panels 10 and 10 are rotated upward by 90 degrees as shown by the phantom line in FIG. 1, and both solar cell panels 10 and 10 are further rotated to the main wheel 1 side, As shown in FIG. 7, the form can be changed by folding the vehicle body 3 and the sub wheels 4 between the main wheels 1 and 1.
【００２６】つまり、上記宇宙探査用走行車Ｒ１は、主
車輪１および従車輪４を適宜駆動したりロックさせたり
しながら、図７（ａ）に示すように車軸２に対してリン
ク５を９０度回動させた状態、図７（ｂ）に示すように
車軸２に対してリンク５を約１８０度回動させた状態、
図７（ｃ）に示すように主車輪１の外側に従車輪４をや
や突出させた状態にし、これらの状態で走行、旋回およ
び回転することができる。That is, the space exploration vehicle R1 drives the main wheels 1 and the sub wheels 4 appropriately and locks them while linking the link 5 to the axle 2 as shown in FIG. 7 (a). A state in which the link 5 is rotated about 180 degrees with respect to the axle 2 as shown in FIG.
As shown in FIG. 7 (c), the secondary wheel 4 outside the main wheel 1 is in a slightly protruded state, and traveling, turning, and rotation can be performed in these states.
【００２７】したがって、図１に示す状態で走行してい
るときに、狭い場所に入り込んでしまった場合でも、上
記の如く形態を変化させてホイールベースを小さくし、
方向転換をすることが容易である。Therefore, even when the vehicle enters a narrow space while traveling in the state shown in FIG. 1, the shape is changed as described above to reduce the wheel base,
It is easy to change direction.
【００２８】そして、上記宇宙探査用走行車Ｒ１は、図
７（ｃ）に示す状態から、さらに同図中の仮想線で示す
ように従車輪４を車体３側に引き寄せることにより、両
主車輪１，１間に車体３および従車輪４等がすべて収容
された状態となり、両主車輪１，１の直径および幅に相
当する寸法の空間内に収納可能となって、当該走行車Ｒ
１を運搬する宇宙船のコンテナへの収納に対応し得る。In the space exploration vehicle R1, the two main wheels are pulled from the state shown in FIG. 7 (c) by further pulling the follower wheels 4 toward the vehicle body 3 as shown by the phantom lines in the figure. The vehicle body 3 and the sub wheels 4 are all housed between the first and the first wheels 1, and can be housed in a space having dimensions corresponding to the diameter and width of the two main wheels 1, 1.
It can accommodate storage of a spacecraft carrying 1 in a container.
【００２９】図８〜図１１は、本発明の請求項２，請求
項３および請求項５に係わる宇宙探査用走行車の一実施
例を説明する図である。8 to 11 are views for explaining an embodiment of a space exploration vehicle according to claims 2, 3 and 5 of the present invention.
【００３０】図８および図９に示す宇宙探査用走行車Ｒ
２は、先の実施例と同様に、凸曲面状の側面を有する主
車輪２１、その車軸２２にリンク２３およびリンク連結
用軸２４を介して連結した車体２５を備え、これらに加
えて従車体２６を備えている。Space exploration vehicle R shown in FIGS. 8 and 9.
2 includes a main wheel 21 having a convex curved side surface and a vehicle body 25 connected to an axle 22 thereof via a link 23 and a link connecting shaft 24, in addition to these, as in the previous embodiment. It is equipped with 26.
【００３１】車体２５の後端部、および従車体２６の前
後端部には、伸縮自在な左右の脚２７，２８，２９が車
軸２２と平行な軸を介して回動自在に取付けてあり、車
体２５の後端部および従車体２６の前端部の脚２７，２
８を中間従車輪３０の車輪３１に連結するとと共に、従
車体２６の後端部の脚２９を後部の従車輪３２の車輪３
３に連結した構成になっている。Expandable left and right legs 27, 28 and 29 are rotatably attached to the rear end of the vehicle body 25 and the front and rear ends of the sub-vehicle body 26 via an axis parallel to the axle 22. Legs 27, 2 at the rear end of the vehicle body 25 and at the front end of the slave vehicle body 26
8 is connected to the wheel 31 of the intermediate slave wheel 30, and the leg 29 at the rear end of the slave vehicle body 26 is connected to the wheel 3 of the rear slave wheel 32.
It is connected to 3.
【００３２】上記の宇宙探査用走行車Ｒ２は、先の実施
例のものと同様に走行、旋回および回転が可能であると
共に、障害物の乗り越えや横倒しになったときの起き上
がり動作等にも対応し、リンク２３および各脚２７，２
８，２９を回動させることにより、図１０に示す如く車
体２５と従車体２６の間隙やホイールベースを変化させ
ることができ、さらに、リンク２３および各脚２７，２
８，２９の回動や各脚２７，２８，２９の収縮駆動によ
り、図１１に示すように、両主車輪（片方のみ示す）２
１間に、車体２５、従車体２６、中間従車輪３０および
従車輪３２等をすべて収容し得る。The above space exploration vehicle R2 is capable of traveling, turning and rotating as in the case of the previous embodiment, and is also capable of overcoming obstacles and getting up when falling over. Link 23 and each leg 27, 2
By rotating 8, 29, the gap between the vehicle body 25 and the sub vehicle body 26 and the wheel base can be changed as shown in FIG. 10, and further, the link 23 and each leg 27, 2 can be changed.
Both main wheels (only one is shown) 2 as shown in FIG. 11 by the rotation of 8, 29 and the contraction drive of each leg 27, 28, 29.
The vehicle body 25, the sub vehicle body 26, the intermediate sub wheels 30, the sub wheels 32, and the like can all be accommodated in one space.
【００３３】図１２および図１３は、本発明の請求項４
および請求項５に係わる宇宙探査用走行車の一実施例を
説明する図である。12 and 13 show the fourth aspect of the present invention.
It is a figure explaining one Example of the space exploration vehicle concerning Claim 5 and Claims.
【００３４】この宇宙探査用走行車Ｒ３は、凸曲面状の
側面を有する一対の主車軸４１，４１の車軸４２に、第
１車体５１を直接的に回動可能に連結すると共に、この
第１車体５１の一部を分割した状態の第２車体５２を備
え、両車体５１，５２の間に、第２車体５２を両主車輪
４１，４１間の外側に延出させる伸展機能（例えばシリ
ンダ）４３を備えている。In this space exploration vehicle R3, a first vehicle body 51 is directly rotatably connected to an axle 42 of a pair of main axles 41, 41 having convex curved side surfaces, and the first vehicle body 51 is also rotatable. An extension function (for example, a cylinder) that includes a second vehicle body 52 in which a part of the vehicle body 51 is divided, and that extends between the two vehicle bodies 51, 52 to the outside between the two main wheels 41, 41. It is equipped with 43.
【００３５】前記第１車体５１の上面には、上下に駆動
される昇降軸４４を介してアンテナ４５が取付けてあ
る。An antenna 45 is attached to the upper surface of the first vehicle body 51 via an elevating shaft 44 that is vertically driven.
【００３６】前記第２車体５２には、先の実施例と同様
に、パネル回動軸４６およびパネル揺動軸４７を介し
て、太陽電池パネル４８が取付けてあると共に、脚連結
用軸４９および脚駆動用シリンダ５０を介して、脚５３
が回動可能に連結してあり、前記脚５３の先端には、従
車輪５４の車軸５５が連結してある。As in the previous embodiment, a solar cell panel 48 is attached to the second vehicle body 52 through a panel pivot shaft 46 and a panel swing shaft 47, and a leg connecting shaft 49 and Via the leg drive cylinder 50, the leg 53
Is rotatably connected, and an axle 55 of the slave wheel 54 is connected to the tip of the leg 53.
【００３７】上記の宇宙探査用走行車Ｒ３にあっても、
先の実施例と同様に、走行、旋回および回転が可能であ
ると共に、図１３に示すような障害物Ｓの乗り越えや、
横倒しになったときの起き上がり動作にも対応でき、さ
らに、伸展機構４３の伸縮および脚５３の回動により、
両車体５１，５２間の距離やホイールベースを変化させ
ることが可能であると共に、両主車輪４１，４１間に両
車体５１，５２および従車輪５４等をすべて収容し得
る。Even in the above space exploration vehicle R3,
Similar to the previous embodiment, it is possible to run, turn, and rotate, and to overcome obstacles S as shown in FIG.
It can also be used to stand up when lying down, and by extending and contracting the extension mechanism 43 and turning the legs 53,
It is possible to change the distance between the two vehicle bodies 51 and 52 and the wheel base, and it is possible to accommodate all of the two vehicle bodies 51 and 52 and the sub wheels 54 between the two main wheels 41 and 41.
【００３８】なお、本発明の宇宙探査用走行車は、上記
各実施例の構成に限定されることはなく、例えば各実施
例の構成を組合わせることも充分に可能である。The space exploration vehicle of the present invention is not limited to the configurations of the above-described embodiments, and it is possible to sufficiently combine the configurations of the embodiments.
【００３９】[0039]
【発明の効果】以上説明してきたように、本発明の宇宙
探査用走行車によれば、両主車輪の間に車体や従車輪な
どをすべて収容することが可能であるから、運搬時にお
ける限られた収納スペースを最大限に利用して、不整地
走行に有利な大径の主車輪を採用することができ、ある
いは収納時の占有スペースの節約を図ることも可能であ
る。また、全体の形態やホイールベースを変化させるこ
とが可能であることから、狭い場所での方向転換などに
も容易に対処することができると共に、主車輪の側面が
凸曲面状を成していることから、側面を接地させた状態
でも走行することができ、なお且つ横倒しになった状態
から起き上がることが容易であって、全体として走行機
能を大幅に高めることができる。As described above, according to the vehicle for space exploration of the present invention, it is possible to accommodate all of the vehicle body, the sub wheels, etc. between the two main wheels. It is possible to make the most of the storage space provided and use large-diameter main wheels that are advantageous for running on rough terrain, or to save the occupied space during storage. In addition, since it is possible to change the overall form and wheel base, it is possible to easily deal with direction changes in narrow places, and the side surface of the main wheel has a convex curved surface shape. Therefore, it is possible to travel even when the side surface is in contact with the ground, and it is easy to get up from a state in which the vehicle is lying down, so that the traveling function as a whole can be greatly improved.
【図１】本発明の請求項１および請求項２に係わる宇宙
探査用走行車の一実施例を示す部分破断状態の側面図で
ある。FIG. 1 is a side view in a partially broken state showing an embodiment of a vehicle for space exploration according to claims 1 and 2 of the present invention.
【図２】図１に示す宇宙探査用走行車の平面図である。FIG. 2 is a plan view of the traveling vehicle for space exploration shown in FIG.
【図３】図１に示す宇宙探査用走行車の正面図である。3 is a front view of the traveling vehicle for space exploration shown in FIG. 1. FIG.
【図４】主車輪の側面を接地させて走行する状態を説明
する走行車の正面図である。FIG. 4 is a front view of the traveling vehicle for explaining a state where the vehicle is traveling with the side surfaces of the main wheels grounded.
【図５】障害物に乗り上げた状態を説明する走行車の正
面図である。FIG. 5 is a front view of the traveling vehicle for explaining a state in which the user rides on an obstacle.
【図６】横倒し状態から起き上がる過程にある走行車を
説明する正面図である。FIG. 6 is a front view illustrating a traveling vehicle in a process of getting up from a sideways lying state.
【図７】図１の状態からリンクを９０度回動させた状態
（ａ）、図１の状態からリンクを約１８０度回動させた
状態（ｂ）、主車輪から従車輪を突出させた状態（ｃ）
を説明する各々片側主車輪省略の側面図である。7 is a state where the link is rotated 90 degrees from the state of FIG. 1 (a), a state where the link is rotated about 180 degrees from the state of FIG. 1 (b), and the sub wheels are projected from the main wheels. State (c)
FIG. 3 is a side view with each one side main wheel omitted for explaining.
【図８】本発明の請求項２および請求項３に係わる宇宙
探査用走行車の一実施例を説明する片側主車輪省略の側
面図である。FIG. 8 is a side view with one side main wheel omitted for explaining an embodiment of the space exploration vehicle according to claims 2 and 3 of the present invention.
【図９】図８に示す宇宙探査用走行車の背面図である。9 is a rear view of the vehicle for space exploration shown in FIG. 8. FIG.
【図１０】図９の状態からホイールベースを小さくした
状態を示す走行車の側面図である。FIG. 10 is a side view of the traveling vehicle showing a state in which the wheel base is reduced from the state of FIG.
【図１１】図８に示す走行車において主車輪間に車体お
よび従車輪等を収容した状態を示す側面図である。FIG. 11 is a side view showing a state in which the vehicle body, the subsidiary wheels, and the like are accommodated between the main wheels of the traveling vehicle shown in FIG.
【図１２】本発明の請求項４に係わる宇宙探査用走行車
の一実施例を示す片側主車輪省略の側面図である。FIG. 12 is a side view showing an embodiment of the vehicle for space exploration according to claim 4 of the present invention with one side main wheel omitted.
【図１３】図１２に示す走行車が障害物を乗り越える状
態を説明する正面図である。13 is a front view for explaining a state in which the traveling vehicle shown in FIG. 12 gets over an obstacle.
Ｒ１，Ｒ２，Ｒ３・・・宇宙探査用走行車 １，２１，４１・・・主車輪 ２，２２，４２・・・（主車輪の）車軸 ３，２５・・・車体 ４，３２，５４・・・従車輪 ５，２３・・・リンク（関節機構） １２，５３・・・脚（関節機構） ２６・・・従車体 ２７，２８，２９・・・脚 ３０・・・中間従車輪 ４３・・・伸展機構 ５１・・・第１車体 ５２・・・第２車体 R1, R2, R3 ... Space exploration vehicle 1, 21, 41 ... Main wheel 2, 22, 42 ... (Main wheel) axle 3, 25 ... Vehicle body 4, 32, 54. .. Secondary wheels 5,23 ... Links (joint mechanism) 12, 53 ... Legs (joint mechanism) 26 ... Secondary vehicle bodies 27, 28, 29 ... Legs 30 ... Intermediate secondary wheels 43. ..Extension mechanism 51 ... first vehicle body 52 ... second vehicle body
───────────────────────────────────────────────────── フロントページの続き (72)発明者 山 脇 一 静岡県浜松市有玉西町2358 有限会社 ハ マ零 内 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Hajime Yamawaki 2358 Aritamanishimachi, Hamamatsu City, Shizuoka Prefecture Hama Reuchi Co., Ltd.
Claims (5)
れ且つ両主車輪間に収容可能な車体と、前記車体に装着
され且つ前記車体とともに両主車輪間に収容可能な従車
輪を備え、主車輪の車軸と車体の間、および車体と従車
輪の間の少なくとも一方に、前記従車輪を両主車輪間の
外側に延出させる関節機構を設けたことを特徴とする宇
宙探査用走行車。1. A pair of main wheels, a vehicle body which is connected to an axle of the main wheels and can be housed between the two main wheels, and a subordinate wheel which is mounted on the vehicle body and can be housed together with the vehicle body between the two main wheels. For space exploration, characterized in that a joint mechanism for extending the sub wheels to the outside between the main wheels is provided on at least one of the main wheel axle and the vehicle body and between the car body and the sub wheels. Traveling vehicle.
な車体と、前記車体とともに両主車輪間に収容可能な従
車輪を備え、前記主車輪の車軸に、リンクを介して、前
記車体を車軸回りに回動可能に連結すると共に、前記車
体に、車軸と平行な軸を中心に回動する脚を介して、前
記従車輪を装着したことを特徴とする宇宙探査用走行
車。2. A pair of main wheels, a vehicle body that can be housed between both main wheels, and a sub-wheel that can be housed together with the vehicle body between both main wheels, and an axle of the main wheel via a link, A traveling vehicle for space exploration, characterized in that the vehicle body is rotatably connected around an axle, and the sub wheels are attached to the vehicle body via legs that rotate around an axis parallel to the axle. .
て、複数の車体を備えると共に、車体間に両主車輪間に
収容可能な中間従車輪を備え、各車体に設けた連結用脚
と前記中間従車輪とを連結したことを特徴とする宇宙探
査用走行車。3. The traveling vehicle for space exploration according to claim 2, further comprising a plurality of vehicle bodies, intermediate subordinate wheels that can be accommodated between the main wheels between the vehicle bodies, and connecting legs provided on each vehicle body. A traveling vehicle for space exploration, characterized in that the intermediate subordinate wheel is connected.
れ且つ両主車輪間に収容可能な第１車体と、前記第１車
体とともに両主車輪間に収容可能な第２車体と、前記第
２車体に装着され且つ第１および第２車体とともに両主
車輪間に収容可能な従車輪を備え、第１車体と第２車体
の間に、第２車体を両主車輪間の外側に延出させる伸展
機構を設けたことを特徴とする宇宙探査用走行車。4. A pair of main wheels, a first vehicle body connected to the axles of the main wheels and accommodating between both main wheels, and a second vehicle body accommodating between the two main wheels together with the first vehicle body. A secondary wheel that is mounted on the second vehicle body and that can be housed between the two main wheels together with the first and second vehicle bodies is provided, and the second vehicle body is provided between the first vehicle body and the second vehicle body on the outer side between the two main wheels. A space exploration vehicle equipped with an extension mechanism for extension.
曲面状を成していることを特徴とする請求項１〜４記載
の宇宙探査用走行車。5. The traveling vehicle for space exploration according to claim 1, wherein the outer surfaces of the pair of main wheels are convex curved surfaces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP34661992A JPH06191494A (en) | 1992-12-25 | 1992-12-25 | Space detection traveling car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP34661992A JPH06191494A (en) | 1992-12-25 | 1992-12-25 | Space detection traveling car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH06191494A true JPH06191494A (en) | 1994-07-12 |
Family
ID=18384669
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP34661992A Pending JPH06191494A (en) | 1992-12-25 | 1992-12-25 | Space detection traveling car |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH06191494A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2020172222A (en) * | 2019-04-12 | 2020-10-22 | 中島 紳一郎 | Unmanned survey vehicle |
| WO2022074839A1 (en) * | 2020-10-09 | 2022-04-14 | 紳一郎 中島 | Unmanned rover |
-
1992
- 1992-12-25 JP JP34661992A patent/JPH06191494A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2020172222A (en) * | 2019-04-12 | 2020-10-22 | 中島 紳一郎 | Unmanned survey vehicle |
| WO2022074839A1 (en) * | 2020-10-09 | 2022-04-14 | 紳一郎 中島 | Unmanned rover |
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