JPH044194B2 - - Google Patents
Info
- Publication number
- JPH044194B2 JPH044194B2 JP59190881A JP19088184A JPH044194B2 JP H044194 B2 JPH044194 B2 JP H044194B2 JP 59190881 A JP59190881 A JP 59190881A JP 19088184 A JP19088184 A JP 19088184A JP H044194 B2 JPH044194 B2 JP H044194B2
- Authority
- JP
- Japan
- Prior art keywords
- crawler
- force
- main crawler
- main
- parallel link
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
- B62D55/0655—Articulated endless track vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D49/00—Tractors
- B62D49/06—Tractors adapted for multi-purpose use
- B62D49/0621—Tractors adapted for multi-purpose use comprising traction increasing arrangements, e.g. all-wheel traction devices, multiple-axle traction arrangements, auxiliary traction increasing devices
- B62D49/0642—Tractors adapted for multi-purpose use comprising traction increasing arrangements, e.g. all-wheel traction devices, multiple-axle traction arrangements, auxiliary traction increasing devices by coupling of tractors
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Description
【発明の詳細な説明】
〔産業上の利用分野〕
この発明は平地、斜面、階段等の移動が可能な
移動装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a moving device capable of moving on flat ground, slopes, stairs, etc.
従来のこの種移動装置としては、第７図に示す
ように駆動輪１によつて駆動される履帯２を備え
たクローラ（無限軌道）があつた。
As a conventional moving device of this type, there has been a crawler (endless track) equipped with crawler tracks 2 driven by drive wheels 1, as shown in FIG.
この従来のものでは、駆動輪１の回転により履
帯２が駆動されるが、階段を昇る場合、履帯２と
階段の角の頂点が一定の角度で接触することによ
り摩擦力が生じその摩擦力で移動装置の滑りを防
止して上方への推進力を得ていた。 In this conventional system, the crawler track 2 is driven by the rotation of the drive wheel 1, but when climbing stairs, frictional force is generated due to the contact between the crawler track 2 and the apex of the corner of the staircase at a certain angle. It prevented the moving device from slipping and provided upward propulsion.
このように従来のものは履帯２と路面が常に線
接触しており、また接触状態を調整する手段を持
たないため、階段の昇降などで、履帯２が階段面
からはずれた場合、姿勢を修正することができ
ず、滑落するなどの欠点があつた。
In this way, in conventional models, the track 2 and the road surface are always in line contact, and there is no means to adjust the contact state, so if the track 2 comes off the stair surface when going up or down stairs, the posture is corrected. It had drawbacks such as being unable to do so and falling off.
この発明はこのような従来のものの欠点を除去
するためになされたもので、主クローラに平行リ
ンク機構を介して案内装置を結合することによつ
て斜面、階段等の移動が容易な移動装置を提供す
る。 This invention was made to eliminate the drawbacks of the conventional devices, and provides a moving device that can easily move on slopes, stairs, etc. by connecting a guide device to the main crawler via a parallel link mechanism. provide.
この発明による移動装置は駆動装置を有する主
クローラに平行リンク機構を介して案内装置を結
合すると共に、平行リンク機構に設けられた力セ
ンサの出力に応じて平行リンク機構を制御するよ
う構成したものである。
The moving device according to the present invention is configured such that a guide device is coupled to a main crawler having a drive device via a parallel link mechanism, and the parallel link mechanism is controlled in accordance with the output of a force sensor provided in the parallel link mechanism. It is.
このように主クローラに対して独立して設けら
れた案内装置を力センサが設けられた平行リンク
機構によつて結合することによつて、斜面、階段
等の移動に際し案内装置の姿勢を自動的に制御し
て平面接触させて、移動装置の走行を安定且つ確
実にする。
By connecting the guide device, which is provided independently to the main crawler, with a parallel link mechanism equipped with a force sensor, the posture of the guide device can be automatically adjusted when moving on slopes, stairs, etc. The moving device can run stably and reliably by controlling the surface and bringing it into plane contact.
以下この発明の一実施例を第１図〜第６図にも
とづいて説明する。
An embodiment of the present invention will be described below with reference to FIGS. 1 to 6.
即ち第１図〜第６図において、３は主クロー
ラ、３１は駆動輪、３２は駆動輪３１によつて駆
動される履帯、３３は歯車３４，３５を介してボ
ールネジ３６を駆動するモータで、このモータ３
３、歯車３４，３５、ボールネジ３６はリンク駆
動装置を構成する。そして、３７はボールネジ３
６の先端に取付けられた路面に平行な力を検出す
る力センサ、３８は同じくボールネジ３６の先端
に取付けられた路面に垂直な力を検出する力セン
サ、４は前クローラ、４１は駆動輪、４２は駆動
輪４１によつて駆動される履帯、５はボールネジ
３６によつて一端が駆動される平行リンク機構、
６は平行リンク機構５の他端と前クローラ４とを
結合する駆動関節、７は駆動関節６に設けられ、
駆動関節を中心とする回転トルクを検出するトル
クセンサである。 That is, in FIGS. 1 to 6, 3 is a main crawler, 31 is a drive wheel, 32 is a crawler track driven by the drive wheel 31, and 33 is a motor that drives a ball screw 36 via gears 34 and 35. This motor 3
3. Gears 34, 35 and ball screw 36 constitute a link drive device. And 37 is ball screw 3
6 is a force sensor attached to the tip of the ball screw 36 to detect a force parallel to the road surface; 38 is a force sensor also attached to the tip of the ball screw 36 is a force sensor that detects a force perpendicular to the road surface; 4 is a front crawler; 41 is a drive wheel; 42 is a crawler track driven by the drive wheel 41; 5 is a parallel link mechanism whose one end is driven by a ball screw 36;
6 is a drive joint that connects the other end of the parallel link mechanism 5 and the front crawler 4; 7 is provided on the drive joint 6;
This is a torque sensor that detects rotational torque around the drive joint.
ここで力センサ３７の出力信号は第２図に示す
如くモータ３３用の制御装置３３１およびサーボ
アンプ３３２を経てモータ３３に供給され平行リ
ンク機構５の一端に加えられる力が制御される。
なお、力センサ３８およびトルクセンサ７の出力
信号についても同様にモータ３３の制御に用いら
れる。 Here, the output signal of the force sensor 37 is supplied to the motor 33 via a control device 331 and a servo amplifier 332 for the motor 33, as shown in FIG. 2, and the force applied to one end of the parallel link mechanism 5 is controlled.
Note that the output signals of the force sensor 38 and the torque sensor 7 are also used to control the motor 33 in the same manner.
このように構成された移動装置が例えば平地走
行から坂道走行へ移行する場合は、第３図〜第６
図の順に進行する。 When the mobile device configured in this way shifts from running on a flat road to running on a slope, for example, the steps shown in Figs.
Proceed in the order shown.
即ち第３図に示す如く前クローラ４が斜面に接
触すると、摩擦を無視すれば路面から受ける反力
によつて斜面に垂直な力Faが前クローラ４に働
く。この力Faは力センサ３７，３８により平行
リンク機構に働く力の釣合いの法則にしたがつ
て、それぞれ主クローラ３に固定された座標系で
路面に平行な方向および路面に垂直な方向の直交
した２分力に分離して検出され、制御装置３３１
によつて、主クローラ３に固定された座標系から
前クローラ４に固定された座標系へ座標変換さ
れ、路面に平行な分力FTと垂直な分力FNに分解
される。 That is, when the front crawler 4 comes into contact with the slope as shown in FIG. 3, a force Fa perpendicular to the slope acts on the front crawler 4 due to the reaction force received from the road surface, if friction is ignored. This force Fa is generated by the force sensors 37 and 38 in a direction parallel to the road surface and a direction perpendicular to the road surface in a coordinate system fixed to the main crawler 3, respectively, according to the law of balance of forces acting on the parallel link mechanism. The force is separated into two components and detected, and the control device 331
The coordinates are transformed from the coordinate system fixed to the main crawler 3 to the coordinate system fixed to the front crawler 4, and are decomposed into a component force F T parallel to the road surface and a component force F N perpendicular to the road surface.
ただし第３図中では、主クローラ３と前クロー
ラ４の方向が一致しているため、座標変換しても
FT、FNは変化しない。 However, in Figure 3, the directions of the main crawler 3 and front crawler 4 are the same, so even if the coordinates are transformed,
FT and FN do not change.
同時に駆動関節６を中心とする回転トルクTa
もトルクセンサ７によつて検出される。そこで制
御装置３３１によつて力FTとトルクTaを零とす
るようにモータ３３を制御して平行リンク５を介
して前クローラ４の姿勢を第４図に示す如く制御
する。 At the same time, the rotational torque Ta around the drive joint 6
is also detected by the torque sensor 7. Therefore, the motor 33 is controlled by the control device 331 so that the force F T and the torque Ta become zero, and the attitude of the front crawler 4 is controlled via the parallel link 5 as shown in FIG.
第４図に示す状態では斜面に垂直な力Fbのみ
が前クローラ４に働くことになる。この状態で前
進を続けると第５図に示す状態になる。ここで
は、前クローラ４に垂直な力Feと回転トルクTe
が働く。そこで第３図の状態と同様に制御装置３
３１によつて回転トルクTeが零に、力Feが一定
値の力Fdになるように前クローラ４の姿勢を制
御し、第６図の状態へ移行する。第６図の状態で
は主クローラ３と前クローラ４は斜面に完全に接
置しており、安定な状態で坂道走行を行うことが
できる。 In the state shown in FIG. 4, only the force Fb perpendicular to the slope acts on the front crawler 4. If the vehicle continues to move forward in this state, the state shown in FIG. 5 will be reached. Here, the force Fe perpendicular to the front crawler 4 and the rotational torque Te
works. Therefore, the control device 3
31, the attitude of the front crawler 4 is controlled so that the rotational torque Te becomes zero and the force Fe becomes a constant force Fd, and the state shifts to the state shown in FIG. In the state shown in FIG. 6, the main crawler 3 and front crawler 4 are completely in contact with the slope, and the vehicle can run on the slope in a stable state.
このように前クローラ４に加えられる力のう
ち、路面に平行な力と駆動関節６のまわりの回転
トルクを零に保持すると共に路面に垂直な力を一
定に保持するように前クローラ４の姿勢を制御す
る。なおここでは、主クローラ３と前クローラ４
を平行リンク機構５で結合したものを示したが、
前クローラ４の代わりに車輪または路面上を滑走
するソリ状または棒状のものでよい。 In this way, among the forces applied to the front crawler 4, the posture of the front crawler 4 is adjusted so that the force parallel to the road surface and the rotational torque around the drive joint 6 are kept at zero, and the force perpendicular to the road surface is kept constant. control. In addition, here, main crawler 3 and front crawler 4
are shown connected by a parallel link mechanism 5,
Instead of the front crawler 4, wheels or a sled-like or rod-like member that slides on the road surface may be used.
また、前クローラと主クローラの２個のものを
示したが、前後左右に複数個のクローラ、車輪、
ソリ状または棒状のものを設け前後左右の反力を
検出しながら、移動装置の制御に生かす構成にす
ることはもちろん可能である。 In addition, although two crawlers, the front crawler and the main crawler, are shown, there are multiple crawlers, wheels,
Of course, it is possible to construct a configuration in which a sled-shaped or rod-shaped object is provided to detect the reaction forces in the front, rear, left, and right directions, and utilize this to control the moving device.
さらにここでは斜面を走行する場合について説
明したが、階段を移動する場合も同様に前クロー
ラが主クローラに先行して階段の水平面に面接触
しながら主クローラを案内するので、動作が確実
になる。 Furthermore, although we have described the case of traveling on a slope, when moving up stairs, the front crawler guides the main crawler in advance of the main crawler while making surface contact with the horizontal surface of the stairs, ensuring reliable operation. .
上記のようにこの発明による移動装置は、走行
駆動装置を有する主クローラおよび主クローラに
結合された主クローラを案内する案内装置を備え
たものにおいて、一端に案内装置を結合し、他端
に主クローラに取り付けられたリンク駆動装置を
結合した平行リンク、床面からの反力を直交する
２方向の分力に分離して検出するように平行リン
クとリンク駆動装置の間に設けられた力センサ、
この力センサの出力に応じて上記リンク駆動装置
を制御する制御装置を備えたもので、移動装置の
操作が容易で、しかも動作が安定で確実になる。
As described above, the moving device according to the present invention is equipped with a main crawler having a traveling drive device and a guide device that guides the main crawler coupled to the main crawler, in which the guide device is coupled to one end and the main crawler is coupled to the other end. A parallel link that connects the link drive device attached to the crawler, and a force sensor installed between the parallel link and the link drive device to separate and detect the reaction force from the floor into force components in two orthogonal directions. ,
The moving device is equipped with a control device that controls the link driving device according to the output of the force sensor, and the moving device can be easily operated and its operation is stable and reliable.
第１図〜第６図はいずれもこの発明の一実施例
を示す図で、第１図は要部を断面で示す側面図、
第２図は要部のブロツクダイヤグラム、第３図〜
第６図は動作説明図、第７図は従来のこの種移動
装置を示す概略図である。
図中、１は駆動輪、２は履帯、３は主クロー
ラ、４は前クローラ、５は平行リンク機構、６は
駆動関節、７はトルクセンサ、３１，４１は駆動
輪、３２，４２は履帯、３３はモータ、３４，３
５は歯車、３６はボールネジ、３７，３８は力セ
ンサ、３３１は制御装置、３３２はサーボアンプ
である。尚、図中同一符号は同一又は相当部分を
示す。
1 to 6 are views showing one embodiment of the present invention, and FIG. 1 is a side view showing a main part in cross section;
Figure 2 is a block diagram of the main parts, Figures 3~
FIG. 6 is an explanatory diagram of the operation, and FIG. 7 is a schematic diagram showing a conventional moving device of this type. In the figure, 1 is a drive wheel, 2 is a crawler track, 3 is a main crawler, 4 is a front crawler, 5 is a parallel link mechanism, 6 is a drive joint, 7 is a torque sensor, 31 and 41 are drive wheels, 32 and 42 are tracks , 33 is a motor, 34,3
5 is a gear, 36 is a ball screw, 37 and 38 are force sensors, 331 is a control device, and 332 is a servo amplifier. Note that the same reference numerals in the figures indicate the same or corresponding parts.
Claims (1)
主クローラに結合され主クローラを案内する案内
装置を備えた移動装置において、一端に案内装置
を結合し他端に主クローラに取り付けられたリン
ク駆動装置を結合した平行リンク、床面からの反
力を直交する２方向の分力に分離して検出するよ
うに平行リンクとリンク駆動装置の間に設けられ
た力センサ、この力センサの出力に応じて上記リ
ンク駆動装置を制御する制御装置を備えたことを
特徴とする移動装置。 ２ 制御装置は主クローラに設けられている特許
請求の範囲第１項記載の移動装置。[Claims] 1. A moving device equipped with a main crawler having a traveling drive device and a guide device coupled to the main crawler for guiding the main crawler, in which the guide device is coupled to one end and attached to the main crawler at the other end. A parallel link that connects a link drive device, a force sensor installed between the parallel link and the link drive device to separate and detect the reaction force from the floor into component forces in two orthogonal directions, and this force sensor. A moving device comprising: a control device that controls the link drive device according to an output of the link drive device. 2. The moving device according to claim 1, wherein the control device is provided in the main crawler.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19088184A JPS6175069A (en) | 1984-09-10 | 1984-09-10 | Moving unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19088184A JPS6175069A (en) | 1984-09-10 | 1984-09-10 | Moving unit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6175069A JPS6175069A (en) | 1986-04-17 |
| JPH044194B2 true JPH044194B2 (en) | 1992-01-27 |
Family
ID=16265298
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP19088184A Granted JPS6175069A (en) | 1984-09-10 | 1984-09-10 | Moving unit |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6175069A (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2664224B1 (en) * | 1990-07-09 | 1992-09-11 | Framatome Sa | INTERVENTION VEHICLE WITH INCLINABLE PROPELLERS. |
| EP2476604B1 (en) * | 2006-11-13 | 2013-08-21 | Raytheon Company | Tracked robotic crawler having a moveable arm |
| US9031698B2 (en) | 2012-10-31 | 2015-05-12 | Sarcos Lc | Serpentine robotic crawler |
| US12311550B2 (en) | 2020-12-31 | 2025-05-27 | Sarcos Corp. | Smart control system for a robotic device |
-
1984
- 1984-09-10 JP JP19088184A patent/JPS6175069A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6175069A (en) | 1986-04-17 |
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