Traveling device and evaluation system

Abstract

This invention provides a running device and evaluation system that can evaluate the running characteristics of a running mechanism over long distances and at high speeds on various target road surfaces, and that is easy to handle, including transportation and installation. [Solution] The running device X1 is for evaluating the running characteristics of a running mechanism 40 on a target road surface G, and comprises a plurality of running modules 1, 2, 3 having linear rails 7, 8, 17, 18, 25, 26 and arranged in the direction of running of the running mechanism 40, and a carrier section 4 having the running mechanism 40 and being movably supported on the linear rails 7, 8, 17, 18, 25, 26, and capable of running by driving the running mechanism 40 in contact with the target road surface G, and the plurality of running modules 1, 2, 3 are provided with connecting sections 7a, 8a, 17a, 18a, 25a, 26a that connect the linear rails 7, 8, 17, 18, 25, 26 of adjacent running modules 1, 2, 3 in a manner that allows the carrier section 4 to pass through.

Description

Technical Field

[0001] The present invention relates to a traveling device and an evaluation system.

Background Art

[0002] Conventionally, in order to evaluate the traveling characteristics of the traveling mechanisms of Mars rovers and lunar rovers, in addition to using the rovers themselves, traveling devices using the traveling systems of the rovers have been widely used (see Non-Patent Document 1 below). As a traveling device, a device in which one leg of a traveling mechanism such as a wheel mechanism or a crawler mechanism is attached to a carrier part is also used (see Non-Patent Document 1 below). It is a mechanism in which the carrier part is supported by a rail or the like and travels while the traveling mechanism is in contact with the road surface.

[0003] There are two types of traveling devices used for evaluating the characteristics of traveling mechanisms: a self-propelled type and a forced movement type. As described in Non-Patent Document 1, a self-propelled type traveling device is propelled by the driving force generated by the traveling mechanism in contact with the road surface. On the other hand, a forced movement type traveling device has two actuators for rotation and translational movement of the traveling mechanism, and the carrier part can be translated independently of the driving force generated by the traveling mechanism. In order to simulate the sinking, vertical movement, and load applied to the traveling mechanism when the rover travels on the road surface, as described in Non-Patent Document 1, there are also mechanisms that can perform free vertical movement during traveling or change the ground contact load.

Prior Art Documents

Non-Patent Documents

[0004]

Non-Patent Document 1

Summary of the Invention

[0005] However, conventional mobile systems were designed as a single unit attached to a sand tank (several meters long) filled with target samples such as sand, and were intended for indoor use in laboratories and other indoor spaces. Therefore, the mobile system's travel distance was limited by the dimensions of the sand tank. Furthermore, due to these limitations on travel distance, it was difficult to achieve high speeds when starting from a state where the mobile system was in contact with the road surface, making it insufficient for evaluating the characteristics of vehicles such as rovers.

[0006] Therefore, the present invention aims to provide a running device that can evaluate the running characteristics of a running mechanism over long distances and at high speeds on various target road surfaces, and that is easy to handle, such as for transportation and installation, as well as an evaluation system using the running device. [Means for solving the problem]

[0007] To solve the aforementioned problems, the present invention proposes the following means. A running device according to one aspect of the present invention is a running device for evaluating the running characteristics of a running mechanism on a target road surface, comprising: a plurality of running modules having linear rails and arranged in the direction of running of the running mechanism; and a carrier section having the running mechanism and movably supported on the linear rails, which can run by driving the running mechanism in contact with the target road surface, wherein the plurality of running modules are provided with connecting sections that connect the linear rails of adjacent running modules in a manner that allows the carrier section to pass through. [Effects of the Invention]

[0008] According to the present invention, it is possible to evaluate the driving characteristics of a driving mechanism over long distances and at high speeds on various target road surfaces, and it is possible to provide a driving device that is easy to handle, such as for transportation and installation, and an evaluation system using the driving device. [Brief explanation of the drawing]

[0009] [Figure 1] This is a front view showing a traveling device according to an embodiment of the present invention. [Figure 2] This is a perspective view showing the first travel module of a travel device according to an embodiment of the present invention. [Figure 3] This is a perspective view showing a second travel module of a travel device according to an embodiment of the present invention. [Figure 4] This is a perspective view showing the third travel module of a travel device according to an embodiment of the present invention. [Figure 5] A perspective view showing the carrier portion of a traveling device according to an embodiment of the present invention. [Figure 6] This is a perspective view showing the brake section of a traveling device according to an embodiment of the present invention. [Figure 7] This is a block diagram showing an evaluation system according to an embodiment of the present invention. [Figure 8] This is a perspective view showing a state in which a running device according to an embodiment of the present invention is installed on a target road surface and the running characteristics of the running mechanism are evaluated. [Figure 9] This is a perspective view of section A shown in Figure 8, taken from the direction of arrow IX. [Figure 10] This is a perspective view of section A shown in Figure 8, taken from the direction of arrow X. [Modes for carrying out the invention]

[0010] The following describes a travel device and evaluation system according to one embodiment of the present invention, with reference to the drawings. First, the running gear of this embodiment will be described. Figure 1 is a front view showing the running gear of this embodiment. This running gear X1 is a device for evaluating the running characteristics of the running mechanism 40 on a target road surface G. This embodiment is an example of a running gear that evaluates the running characteristics by running one of several running mechanisms used in various vehicles on a target road surface G.

[0011] The target road surface G is not particularly limited, and may be, for example, a region in an indoor sand tank covered with target samples such as sand like silica sand or gravel, or various ground surfaces outdoors. The traveling mechanism 40 is not particularly limited to various wheels or crawler mechanisms, etc., but in the figure, wheels are illustrated.

[0012] The traveling device X1 includes a first traveling module 1, a second traveling module 2, a third traveling module 3, a carrier part 4, and brake parts 5, 6. The first traveling module 1, the second traveling module 2, and the third traveling module 3 are arranged side by side in the traveling direction of the traveling mechanism 40.

[0013] FIG. 2 is a perspective view showing the first traveling module 1. The first traveling module 1 includes first linear rails 7, 8, a first support frame 1a, gripping parts 13, 14, and support legs 15, 16. The first traveling module 1 has first connecting parts 7a, 8a at both ends of the first linear rails 7, 8 for connecting with the second and third linear rails 17, 18, 25, 26 of the second and third traveling modules 2, 3 arranged adjacent to each other.

[0014] FIG. 3 is a perspective view showing the second traveling module 2. The second traveling module 2 includes second linear rails 17, 18, a second support frame 2a, gripping parts 21, 22, and support legs 23, 24. The second traveling module 2 has second connecting parts 17a, 18a at the ends of the second linear rails 17, 18 for connecting with the first linear rails 7, 8 of the first traveling module 1 arranged adjacent to each other.

[0015] FIG. 4 is a perspective view showing the third traveling module 3. The third traveling module 3 includes third linear rails 25, 26, a third support frame 3a, gripping parts 29, 30, and support legs 31, 32. The third traveling module 3 has third connecting parts 25a, 26a at the ends of the third linear rails 25, 26 for connecting with the first linear rails 7, 8 of the first traveling module 1 arranged adjacent to each other.

[0016] The first to third linear rails 7, 8, 17, 18, 25, 26 of the first to third traveling modules 1, 2, 3 are rails on which the carrier part 4 travels. In the present embodiment, the first to third linear rails 7, 8, 17, 18, 25, 26 are arranged parallel to each other at intervals vertically in the first to third traveling modules 1, 2, 3, respectively. The upper first to third linear rails 7, 17, 25 and the lower first to third linear rails 8, 18, 26 are arranged at the same height, and the first to third linear rails 7, 8, 17, 18, 25, 26 arranged adjacent to each other are connected at the first to third connecting parts 7a, 8a, 17a, 18a, 25a, 26a.

[0017] By connecting between the first connecting part 7a and the second connecting part 17a, and between the first connecting part 7a and the third connecting part 25a, the first to third linear rails 7, 17, 25 are connected in a state where the carrier part 4 can pass through. Also, by connecting between the first connecting part 8a and the second connecting part 18a, and between the first connecting part 8a and the third connecting part 26a, the first to third linear rails 8, 18, 26 are connected in a state where the carrier part 4 can pass through.

[0018] In this embodiment, the first connecting portions 7a and 8a of the first linear rails 7 and 8 are provided with spigot portions 9, 10, 11, and 12, as shown in Figure 2. In the illustrated example, first connecting portions 7a are provided at both ends of the upper first linear rail 7, and first connecting portions 8a are provided at both ends of the lower first linear rail 8. Of the two first connecting portions 7a at both ends of the upper first linear rail 7, one first connecting portion 7a is provided with a spigot portion 9, and the other first connecting portion 7a is provided with a spigot portion 11. Of the two first connecting portions 8a at both ends of the lower first linear rail 8, one first connecting portion 8a is provided with a spigot portion 10, and the other first connecting portion 8a is provided with a spigot portion 12. The one first connecting portion 7a (spigot portion 9) and the one first connecting portion 8a (spigot portion 10) are located on the same side in the direction of travel with respect to the first travel module 1, and are opposite each other in the vertical direction. The other first connecting portion 7a (spigot portion 11) and the other first connecting portion 8a (spigot portion 12) are located on the same side in the direction of travel with respect to the first travel module 1 and are opposite each other in the vertical direction. On the other hand, the second connecting portion 17a, 18a and the third connecting portion 25a, 26a of the second and third linear rails 17, 18, 25, 26 are provided with projections 61 that can be inserted into the spigot portions 9, 10, 11, 12, and locking fixing portions 19, 20, 27, 28 that can fix the spigot portions 9, 10, 11, 12, as shown in Figures 3 and 4.

[0019] To connect the first linear rails 7 and 8 and the second linear rails 17 and 18, the recesses 62 of the spigot portions 9 and 10 of the first running module 1 shown in Figure 2 are aligned with the projections 61 of the second running module 2 shown in Figure 3, and then locked by the locking fixing parts 19 and 20. The locking fixing parts 19 and 20 can be configured in any way. As shown in Figures 9 and 10, in this embodiment, the locking fixing part 20 is, for example, a snap lock. The locking fixing part 20 is detachably hooked onto the spigot portion 10. The locking fixing part 20 can be switched between a locked state and an unlocked state. Multiple locking fixing parts 20 may be provided on the second connecting part 18a at different positions. The locking fixing part 19 can also be configured in the same way as the locking fixing part 20. To connect the first linear rails 7 and 8 and the third linear rails 25 and 26, the recesses 62 of the spigot portions 11 and 12 of the first running module 1 shown in Figure 2 are aligned with the projections (not shown) of the third running module 3 shown in Figure 4, and then locked by the locking fixing portions 27 and 28. The locking fixing portions 27 and 28 can be configured in the same way as the locking fixing portion 20. The projections of the third running module 3 can be configured in the same way as the projections 61 of the second running module 2.

[0020] As a result, the first running module 1, the second running module 2, and the third running module 3 become an integrated unit, and the first to third linear rails 7, 17, and 25 and the lower first to third linear rails 8, 18, and 26 each form a single continuous running rail 50. When connecting multiple linear rails, a common problem arises where the center of one linear rail does not coincide with the center of the other linear rail, making it impossible to arrange them on the same straight line. In this embodiment, this problem is solved by providing connecting parts such as spigot sections 9, 10, 11, 12 and projections and locking fixing parts 19, 20, 27, 28 on the first to third linear rails 7, 8, 17, 18, 25, 26 of the first to third running modules 1, 2, 3.

[0021] The first to third support frames 1a, 2a, and 3a of the first to third running modules 1, 2, and 3 are members that fix and support the first to third linear rails 7, 8, 17, 18, 25, and 26. Each running module 1, 2, and 3 has multiple support frames 1a, 2a, and 3a, which support both ends of each linear rail 7, 8, 17, 18, 25, and 26. Each linear rail 7, 8, 17, 18, 25, and 26 is supported at both ends by the support frames 1a, 2a, and 3a, so that they are arranged above the target road surface G, spaced equally vertically and parallel to each other.

[0022] Each of the first to third support frames 1a, 2a, and 3a is formed from various shapes. The shape is not particularly limited. In this embodiment, each of the first to third support frames 1a, 2a, and 3a is formed from multiple frame materials in a substantially right-angled triangular shape or a substantially rectangular shape. In each of the first to third support frames 1a, 2a, and 3a, the first adjacent side in the substantially right-angled triangular shape (one of the two sides enclosing the right angle) or the first side in the substantially rectangular shape forms the side surface of each of the first to third support frames 1a, 2a, and 3a. The first to third linear rails 7, 8, 17, 18, 25, and 26 are supported protruding from the side surface of each of the first to third support frames 1a, 2a, and 3a. Furthermore, the running rail 50 to which the upper first to third linear rails 7, 17, and 25 are connected, and the second support frame 2a and third support frame 3a, which are located at both ends of the running rail 50 to which the lower first to third linear rails 8, 18, and 26 are connected, are substantially rectangular in shape. Mounting portions 2b and 3b for the brake units 5 and 6 are provided on these substantially rectangular second support frame 2a and third support frame 3a.

[0023] The bottom surfaces of the first to third running modules 1, 2, and 3 are perpendicular to the sides. The bottom surfaces of the first to third running modules 1, 2, and 3 are formed by the second adjacent side (the other side of the two sides that enclose the right angle) in the aforementioned roughly right-angled triangle, or by the second side adjacent to the first side of the aforementioned roughly rectangular shape, with a corner in between. The support legs 15, 16, 23, 24, 31, and 32 of the first to third running modules 1, 2, and 3 are provided on the bottom surfaces (bottoms) of each support frame 1a, 2a, and 3a, and support each support frame 1a, 2a, and 3a when they are in contact with the target road surface G. Each support leg 15, 16, 23, 24, 31, and 32 supports each linear rail 7, 8, 17, 18, 25, and 26 via each support frame 1a, 2a, and 3a. Each support leg 15, 16, 23, 24, 31, 32 can adjust the height of each support frame 1a, 2a, 3a (each linear rail 7, 8, 17, 18, 25, 26). In the illustrated example, each support leg 15, 16, 23, 24, 31, 32 has a disc that contacts the target road surface G and a screw shaft that connects the disc to the first support frame 1a. By rotating the screw shafts of the support legs 15, 16, 23, 24, 31, 32, the amount of protrusion of the discs of the support legs 15, 16, 23, 24, 31, 32 that contact the target road surface G can be changed, thereby adjusting the height position of each support frame 1a, 2a, 3a from the target road surface G. In this case, for example, if the height position of the first support frame 1a is changed by the support legs 15 and 16, the height positions of the two upper and lower first linear rails 7 and 8 are changed integrally while maintaining the vertical distance between them. In other words, when the height position of the first support frame 1a is changed by the support legs 15 and 16, the height position of only one of the two upper and lower first linear rails 7 and 8 is not changed individually. The same applies to the support legs 23 and 24 of the second support frame 2a and the support legs 31 and 32 of the third support frame 3a.

[0024] By adjusting the height of each support frame 1a, 2a, and 3a, the height of one end of each linear rail 7, 8, 17, 18, 25, and 26 supported by each support frame 1a, 2a, and 3a can be adjusted. By adjusting the arrangement and height of each support frame 1a, 2a, and 3a, the first to third linear rails 7, 17, and 25 on the upper side of each support frame 1a, 2a, and 3a can be arranged linearly at the same height. Similarly, the first to third linear rails 8, 18, and 26 on the lower side of each support frame 1a, 2a, and 3a can also be arranged linearly at the same height.

[0025] The gripping portions 13, 14, 21, 22, 29, and 30 of the first to third travel modules 1, 2, and 3 are provided on the bottom surface of each support frame 1a, 2a, and 3a, and fix each support frame 1a, 2a, and 3a to the target road surface G or a gripping portion 51 (see Figure 8) in its vicinity. The gripping portion 51 is not particularly limited as long as it can fix each of the support frames 1a, 2a, and 3a. For example, if the target road surface G is a sand tank, the gripping portion 51 may be the edge of the sand tank or the like. Also, if the target road surface G is the ground, the gripping portion 51 may be a structure or block that protrudes upward from the ground.

[0026] Each gripping part 13, 14, 21, 22, 29, and 30 is configured to grip the gripped part 51. Each gripping part 13, 14, 21, 22, 29, and 30 releasely clamps the gripped part 51 in a direction perpendicular to both the vertical direction and the travel direction (left-right direction) (front-back direction). By fixing each gripping part 13, 14, 21, 22, 29, and 30 in a gripped state of the gripped part 51, each support frame 1a, 2a, and 3a can be fixed and installed on the target road surface G.

[0027] Figure 5 is a perspective view showing the carrier section of the traveling device of this embodiment. The carrier section 4 has a running mechanism 40 and is movably supported on each of the linear rails 7, 8, 17, 18, 25, and 26. The carrier section 4 can travel along the target road surface G along each of the linear rails 7, 8, 17, 18, 25, and 26 by driving the running mechanism 40 in contact with the target road surface G. The carrier section 4 includes a carrier base 4a, a linear actuator 33, linear guides 34 and 35, linear rail blocks 36 and 37, a travel mechanism fixing section 38, a motor 39, and a travel mechanism 40.

[0028] Linear rail blocks 36 and 37 are fixedly positioned on one side of the carrier base 4a. Linear rail block 36 is slidably connected to the upper first to third linear rails 7, 17, and 25, and is immovable in the vertical direction. Linear rail block 37 is slidably connected to the lower first to third linear rails 8, 18, and 26, and is immovable in the vertical direction.

[0029] Linear guides 34 and 35 are provided on the other side of the carrier base 4a in the vertical direction, and the travel mechanism fixing part 38 is attached via the linear guides 34 and 35. The fixed section 38 of the travel mechanism is equipped with a travel mechanism 40 and a motor 39, which acts as a drive unit for driving the travel mechanism 40. The travel mechanism 40 is driven by the motor 39, which adjusts the direction of rotation, rotational speed, and rotational velocity.

[0030] The running mechanism 40 is driven while in contact with the target road surface G, and the propulsion force generated by the running mechanism 40 allows the carrier unit 4 to move. The carrier unit 4 travels along the first to third linear rails 7, 8, 17, 18, 25, and 26 of each running module 1, 2, and 3. By changing the driving direction and driving force of the motor 39, the carrier unit 4 can move forward or backward, and by changing the driving speed and propulsion force of the motor 39, the travel speed of the carrier unit 4 can be changed.

[0031] Furthermore, a linear actuator 33, which serves as a pressurizing unit, is mounted on the other side of the carrier base 4a. The motor 39 and the travel mechanism 40, mounted on the travel mechanism fixing section 38, can move freely up and down along the linear guides 34 and 35. The linear actuator 33 is connected to the travel mechanism fixing section 38. Therefore, the linear actuator 33 is connected to the travel mechanism 40 via the travel mechanism fixing section 38. The linear actuator 33 applies downward pressure to the fixed part 38 of the travel mechanism, causing the travel mechanism 40 to be pressed against the target road surface G. The driving of the linear actuator 33 allows the driving force applied by the travel mechanism 40 to the target road surface G to be changed.

[0032] In this carrier section 4, by adjusting the motor 39 and the linear actuator 33, it is possible to conduct tests that simulate the sinking and vertical movement of the running mechanism 40, as well as the load applied to the running mechanism 40, when a vehicle travels on the target road surface G.

[0033] Figure 6 is a perspective view showing the brake section of the travel device of this embodiment. As shown in Figure 1, the brake sections 5 and 6 are provided at both ends of the upper running rail 50 to which the first to third linear rails 7, 17, and 25 are connected, and the lower running rail 50 to which the first to third linear rails 8, 18, and 26 are connected. Note that the brake sections 5 and 6 appear in opposite directions, so Figure 6 shows one brake section 5 provided at one end of the running rail 50, and omits the other.

[0034] The brake units 5 and 6 each include brake pads 41, fixing plates 42, and shock absorbers 43 and 44, which are mounted on the brake base 45. The brake base 45 is mounted by clamping the mounting portion 2b of the second support frame 2a or the mounting portion 3b of the third support frame 3a, which are located at the end of the running rail 50, with the clamping portion 45a.

[0035] The fixing plate 42 is pivotably supported on the brake base 45. A brake pad 41 is mounted on one side of the fixing plate 42. The brake pad 41 is a component that contacts the carrier base 4a of the carrier unit 4 when the carrier unit 4 is being braked. The shock absorbers 43 and 44 are fixed to the brake base 45 so as to face the other side of the fixing plate 42. The shock absorbers 43 and 44 absorb the force applied to the brake pad 41 from the carrier section 4 via the oscillating fixing plate 42.

[0036] In these braking units 5 and 6, if the carrier unit 4 is propelled along the running rail 50 to the end (for example, the right end) of the second linear rails 17 and 18 of the second running module 2 while its kinetic energy is not completely dissipated, the carrier unit 4 will collide with the brake pad 41 of the braking unit 5. As a result, the kinetic energy is dissipated by the shock absorbers 43 and 44, and the carrier unit 4 will come to a stop.

[0037] Similarly, if the carrier unit 4 is propelled along the running rail 50 to the end (for example, the left end) of the third linear rails 25, 26 of the third running module 3 while its kinetic energy is not completely dissipated, the carrier unit 4 will collide with the brake pads 41 of the brake unit 6. As a result, the kinetic energy is dissipated by the shock absorbers 43, 44, and the carrier unit 4 will come to a stop.

[0038] By attaching these brake units 5 and 6 near the end of the running rail 50, the running mechanism 40 of the carrier unit 4 can ensure that it can travel at a constant speed for as long as possible after accelerating.

[0039] Next, we will describe the evaluation system of this embodiment using the above-described traveling device X1. Figure 7 is a block diagram of the evaluation system according to this embodiment. The evaluation system X2 of this embodiment is a system for evaluating the driving characteristics of the driving mechanism 40 of the driving device X1 on a target road surface G, and comprises the driving device X1 as described above, and an evaluation device X3 that acquires various measured values ​​and images for evaluating the driving characteristics of the driving mechanism 40 on the target road surface G. The evaluation system X2 is provided with a management processing unit 52 consisting of a personal computer (PC) or the like to control the operation of each part of the driving device X1 and to acquire detection data and images from each part of the evaluation device X3 and perform various evaluation processing.

[0040] As described above, the traveling device X1 includes a motor 39 as a drive unit for driving the traveling mechanism 40 provided on the carrier unit 4, a linear actuator 33 as a pressurizing unit for adjusting the pressing load of the traveling mechanism 40 against the target road surface G, and the like. The evaluation device X3 can select and use various evaluation instruments 53, such as measuring instruments and observation instruments, according to the evaluation items of the driving mechanism 40 on the target road surface G.

[0041] The evaluation equipment 53 may include, for example, an imaging device for imaging the travel mechanism 40 and the target road surface G, a 6-axis force sensor for measuring the reaction force and reaction moment acting on the travel mechanism 40, a Hall sensor for measuring the rotational speed of the travel mechanism 40, an encoder for measuring the speed of the travel mechanism 40, a linear encoder for a vertical linear actuator 33 for detecting the amount of settlement of the travel mechanism 40, and a motion capture system for measuring the amount of movement of the travel mechanism.

[0042] The various evaluation devices 53 in the evaluation device X3 may be integrally mounted on the carrier unit 4, or they may be grounded separately from the carrier unit 4. The management processing unit 52 is configured to perform various settings and operations on the motor 39 and linear actuator 33, various settings and operations on the evaluation device X3, and to acquire measurement results and perform various processes.

[0043] To evaluate the driving characteristics of the driving mechanism 40 on a target road surface G using the driving device X1 and evaluation system X2 of this embodiment as described above, the following can be done. Figure 8 is a perspective view showing the state in which the running device of this embodiment is installed on a target road surface and its running characteristics are evaluated. To evaluate the driving characteristics, first, install the first to third driving modules 1, 2, and 3 of the driving device X1 on the target road surface G whose driving characteristics you want to evaluate. The location where the driving device X1 is installed can be the ground outdoors or an indoor sand tank, etc.

[0044] The first to third running modules 1, 2, and 3 are transported separately and installed in the direction of travel of the running mechanism 40 on the target road surface G. Each running module 1, 2, and 3 has the first to third linear rails 7, 8, 17, 18, 25, and 26 attached to the first to third support frames 1a, 2a, and 3a, respectively. In this embodiment, as shown in Figure 1, the second travel module 2 and the third travel module 3 are installed adjacent to each other on the left and right (in the direction of travel) of the first travel module 1.

[0045] Each running module 1, 2, and 3 is positioned on the target road surface G after adjusting its height. Support legs 15, 16, 23, 24, 31, and 32, provided on each support frame 1a, 2a, and 3a, are used to adjust the height. By adjusting the height of each running module 1, 2, and 3 using the support legs 15, 16, 23, 24, 31, and 32, the height of each linear rail 7, 8, 17, 18, 25, and 26 is adjusted. As a result, the upper first to third linear rails 7, 17, and 25 and the lower first to third linear rails 8, 18, and 26 are positioned in a straight line at the same height.

[0046] Simultaneously, the gripping parts 13, 14, 21, 22, 29, and 30 provided on each support frame 1a, 2a, and 3a grip the gripped portion 51 near the target road surface G, thereby stably positioning each support frame 1a, 2a, and 3a on the target road surface G. If there is something that can be a gripped portion 51 near the target road surface G, such as the edge of a sand tank, the gripping parts 13, 14, 21, 22, 29, and 30 should simply grip that gripped portion 51. If there is nothing that can be a gripped portion 51 near the target road surface G, such as the ground, the gripped portion 51 can be made by installing a structure or block, etc. Furthermore, brake units 5 and 6 are installed on the second support frame 2a and the third support frame 3a, which are located at both ends, such that the brake pads 41 face each other.

[0047] Then, adjacent linear rails 7, 8, 17, 18, 25, and 26 of each running module 1, 2, and 3 are connected to each other. Specifically, the spigot sections 9, 10, 11, and 12 of the first connecting sections 7a and 8a, provided at one end of the first linear rails 7 and 8, are connected to the projections and locking fixing sections 19 and 20 of the second connecting sections 17a and 18a, provided at the ends of the second linear rails 17 and 18. In addition, the spigot sections 9, 10, 11, and 12 of the first connecting sections 7a and 8a, provided at the other end of the first linear rails 7 and 8, are connected to the projections and locking fixing sections 27 and 28 of the third connecting sections 25a and 26a, provided at the ends of the third linear rails 25 and 26.

[0048] Therefore, the first linear rails 7 and 8 and the second linear rails 17 and 18, and the first linear rails 7 and 8 and the third linear rails 25 and 26 are connected in a way that allows the carrier section 4 to pass through. The upper first to third linear rails 7, 17, and 25 and the lower first to third linear rails 8, 18, and 26 each constitute a continuous running rail 50 over its entire length.

[0049] Next, the running mechanism 40, whose running characteristics are to be evaluated, is mounted on the carrier section 4 in a state where it can be driven by the drive unit. Furthermore, the carrier section 4 is slidably supported on the upper and lower running rails 50 by linear rail blocks 36 and 37. As a result, the first to third travel modules 1, 2, and 3 are installed on the target road surface G, and the entire travel device X1 is installed on the target road surface so that the travel characteristics of the travel mechanism 40 can be evaluated.

[0050] On the other hand, the evaluation device X3 can arrange various evaluation equipment 53 at appropriate positions on the first to third travel modules 1, 2, and 3, the carrier section 4, the brake sections 5 and 6, etc., or at appropriate positions on the target road surface G. Furthermore, these various evaluation devices 53 and the motors 39 and linear actuators 33 of the traveling device X1 are connected to the management processing unit 52 via wired or wireless connections via a network.

[0051] In this state, the management processing unit 52 appropriately sets various conditions such as various initial values ​​and parameters, and then moves the carrier unit 4 on the target road surface G using the travel mechanism 40, while also operating various evaluation devices 53 of the evaluation device X3. As a result, the carrier unit 4 can, for example, start traveling from one end of the second linear rails 17 and 18 and travel continuously along the entire length of the travel rails 50 to the other end of the second linear rails 17 and 18, the first linear rails 7 and 8, and the third linear rails 25 and 26, which are connected to each other.

[0052] During operation, the linear actuator 33 constantly presses the running mechanism 40 against the target road surface G with a predetermined pressing load, based on the settings of the control processing unit 52. The running mechanism 40 then rolls and travels on the target road surface G under the control of the motor 39 based on signals from the management processing unit 52. For example, it can start traveling from the point on the target road surface G where one end of the second linear rails 17 and 18 is located, accelerate, travel at a predetermined constant speed, and travel continuously to, for example, the point where the brake section 6 at the other end of the third linear rails 25 and 26 is located.

[0053] At the other end of the third linear rails 25 and 26, the carrier section 4 can come into contact with the brake pad 41 of the brake section 6 and stop while maintaining a constant speed. During this driving process, for example, each evaluation device 53 is activated based on a signal from the management processing unit 52, and the measurement results obtained by each evaluation device 53 are transmitted to the management processing unit 52 for processing. This makes it possible to evaluate the driving characteristics of the driving mechanism 40 on the target road surface G.

[0054] With the above-described running device, multiple running modules 1, 2, and 3 are equipped with connecting parts 7a, 8a, 17a, 18a, 25a, and 26a that connect the linear rails 7, 8, 17, 18, 25, and 26 of adjacent running modules 1, 2, and 3. The connecting parts 7a, 8a, 17a, 18a, 25a, and 26a can connect the linear rails 7, 8, 17, 18, 25, and 26 of multiple running modules 1, 2, and 3 to each other while the carrier section 4 can pass through. Therefore, by installing multiple running modules 1, 2, and 3 and connecting the linear rails 7, 8, 17, 18, 25, and 26 of multiple running modules 1, 2, and 3 to each other using the connecting parts 7a, 8a, 17a, 18a, 25a, and 26a, the entire running rail 50 can be made longer. The long, connected rails 50 allow the carrier section 4 to move continuously over long distances. This allows the carrier section 4 to travel a longer distance on the target road surface G by the running mechanism 40, and by extending the travel distance, it is also possible to travel at a faster speed. Therefore, it is possible to evaluate the running characteristics of the running mechanism 40 at longer distances and faster speeds.

[0055] Furthermore, since the linear rails 7, 8, 17, 18, 25, and 26 of multiple running modules 1, 2, and 3 are connected to form a long, continuous rail, each running module 1, 2, and 3 can be constructed compactly. As a result, handling such as transportation and installation of each running module 1, 2, and 3 is easy, and even a running device X1 that can evaluate running characteristics over long distances and at high speeds can be easily installed, offering a high degree of flexibility in installation location, whether indoors or outdoors.

[0056] In other words, the traveling device X1 of this embodiment uses a configuration in which multiple compact traveling modules 1, 2, and 3 are connected. By designing additional traveling modules as needed to increase the number of traveling modules for the traveling modules 1, 2, and 3 used, the range of traveling distance and traveling speed over which the traveling characteristics of the traveling mechanism 40 can be evaluated can be easily expanded. Moreover, unlike conventional devices that are integrally formed with a sand tank, the traveling device X1 can be easily transported and installed on the target road surface G for use, making it possible to run the traveling mechanism 40 on various road surfaces both outdoors and indoors. Therefore, according to the traveling device X1 of this embodiment, it is possible to evaluate the traveling characteristics of the traveling mechanism 40 at long distances and high speeds on various target road surfaces G, and handling such as transportation and installation is easy.

[0057] In the running device X1 of this embodiment, brake units 5 and 6 for braking the carrier unit 4 are provided at the ends of the running rail 50, which is formed by connecting the linear rails 7, 8, 17, 18, 25, and 26 of multiple running modules 1, 2, and 3 with connecting units 7a, 8a, 17a, 18a, 25a, and 26a. Therefore, there is no need to provide brake units 5 and 6 on the carrier unit 4, and for example, the running characteristics on the target road surface G can be evaluated over a longer running distance while eliminating the effects of braking, etc.

[0058] In this embodiment, the travel modules 1, 2, and 3 have gripping parts 13, 14, 21, 22, 29, and 30 for fixing to a gripping part 51 provided on the target road surface G. Therefore, the strength and stability of each travel module 1, 2, and 3 can be ensured by the gripping part 51, which simplifies the structure of each travel module 1, 2, and 3 and reduces its weight. This makes it easier to handle the travel device X1.

[0059] Furthermore, in this embodiment, the running modules 1, 2, and 3 are positioned on the target road surface G and have height-adjustable support legs 15, 16, 23, 24, 31, and 32. Therefore, when connecting the linear rails 7, 8, 17, 18, 25, and 26 of adjacent running modules 1, 2, and 3, it is easier to connect them more smoothly. This makes it easier to install the running device X1.

[0060] Furthermore, in this embodiment, the carrier unit 4 includes a motor 39 that can adjust the driving force of the travel mechanism 40, and a linear actuator 33 that can adjust the load of the travel mechanism 40 on the target road surface G. Therefore, the carrier unit 4 can adjust the driving force of the travel mechanism 40 and the load of the travel mechanism 40 on the target road surface G, making it possible to evaluate the driving characteristics of various vehicles under different driving conditions.

[0061] Furthermore, in the evaluation system X2 of this embodiment, the traveling device X1 described above can travel the carrier section 4 over longer distances and at faster speeds, and it can be compactly divided for easy handling such as transportation and installation. Therefore, by combining the traveling device X1 with the evaluation device X3, the evaluation system X2 can evaluate the driving characteristics of the traveling mechanism 40 over long distances and at high speeds on various target road surfaces G, and it is easy to handle such as transportation and installation.

[0062] It should be noted that the technical scope of the present invention is not limited to the embodiments described above, and various modifications can be made without departing from the spirit of the invention. For example, in the above embodiment, an example was described in which the first to third linear rails 7, 8, 17, 18, 25, and 26 of three modules, namely the first travel module 1, the second travel module 2, and the third travel module 3, are connected. However, the number of travel modules and linear rails is not limited in any way. The system has expandability that allows for extending the travel distance of the travel device X1 by adding travel modules similar to the first to third travel modules 1, 2, and 3, each equipped with a linear rail having a spigot portion at one end and a projection and locking fixing portion at the other end, between the first travel module 1 and the second travel module 2, or between the first travel module 1 and the third travel module 3.

[0063] Furthermore, in the above embodiment, the type, shape, and arrangement of the first to third connecting parts 7a, 8a, 17a, 18a, 25a, and 26a of the first to third linear rails 7, 8, 17, 18, 25, and 26 are not limited in any way, and can be appropriately changed as long as the adjacent linear rails are connected in a way that allows the carrier part 4 to pass through. For example, in the above embodiment, the connecting parts used were the spigot parts 9, 10, 11, and 12 and the projections and locking fixing parts 19, 20, 27, and 28, but other structures may be used for the connecting parts.

[0064] In the above embodiment, an example was described in which the carrier section 4 travels on the target road surface G solely by the propulsive force obtained by driving the running mechanism 40. However, there may be other configurations that provide propulsive force in addition to the propulsive force obtained by the running mechanism 40. For example, it is possible to provide propulsive force between the carrier section 4 and the linear rail. Even in such cases, the present invention is applicable in the same manner as in the above embodiment.

[0065] (Note) The above embodiment can be understood, for example, as follows:

[0066] <1> A running device according to one aspect of the present invention is a running device for evaluating the running characteristics of a running mechanism on a target road surface, comprising: a plurality of running modules having linear rails and arranged in the direction of running of the running mechanism; and a carrier section having the running mechanism and movably supported on the linear rails, which can run by driving the running mechanism in contact with the target road surface, wherein the plurality of running modules are provided with connecting sections that connect the linear rails of adjacent running modules in a manner that allows the carrier section to pass through.

[0067] In this type of running device, multiple running modules are equipped with connecting sections that link the linear rails of adjacent running modules. The connecting sections can connect the linear rails in a way that allows the carrier section to pass through. Therefore, by installing multiple running modules and connecting the linear rails of multiple running modules with the connecting sections, the overall rail length can be increased. This extended connected rail allows the carrier section to move continuously over a long distance. This increases the distance over which the carrier section can travel continuously on the target road surface by the running mechanism, and also allows for faster travel speeds. Thus, it is possible to evaluate the running characteristics of the running mechanism at longer distances and faster travel speeds. Furthermore, because the linear rails of multiple running modules are connected to form a long, continuous rail, each running module can be constructed compactly. As a result, handling such as transportation and installation of each running module is easy, and even running devices that can evaluate running characteristics over long distances or at high speeds can be easily installed, offering a high degree of flexibility in installation location, whether indoors or outdoors. As a result, it is possible to evaluate the driving characteristics of the driving mechanism over long distances and at high speeds on various road surfaces, and it is easy to handle, including transportation and installation.

[0068] <2> the above <1> In the running device relating to this, a brake unit for braking the carrier unit may be provided at the end of the running rail formed by connecting the linear rails of a plurality of running modules with the connecting unit. This eliminates the need to install the brake unit on the carrier, allowing for evaluation of driving characteristics on a target road surface over a longer distance, eliminating the effects of brakes and other factors.

[0069] <3> the above <1> or <2> In the traveling device relating to this, the traveling module may have a gripping portion for fixing to a gripping portion provided on the target road surface. In this way, the strength and stability of each travel module can be ensured by the gripping part, thus simplifying the structure of each travel module and reducing its weight. As a result, the travel device can be handled more easily.

[0070] <4> the above <1> ~ <3> In a traveling device relating to any one of the above, the traveling module may have legs that are positioned on the target road surface and are height-adjustable. This method makes it easier to smoothly connect the linear rails of adjacent running modules. Therefore, the installation of the running gear is easier.

[0071] <5> the above <1> ~ <4> In a traveling device relating to any one of the above, the carrier portion may include a drive unit capable of adjusting the driving force of the traveling mechanism and a pressurizing unit capable of adjusting the load of the traveling mechanism on the target road surface. In this way, the drive unit can adjust the driving force of the running mechanism in the carrier section, and the pressurizing unit can adjust the load of the running mechanism on the target road surface, making it possible to evaluate the running characteristics of various vehicles under different driving conditions.

[0072] <6> The evaluation system according to another aspect of the present invention is described above. <1> ~ <4> It includes a running device relating to one of the above, and an evaluation device for evaluating the running characteristics of the running mechanism. According to this evaluation system, the travel device can travel longer distances and faster speeds using its travel mechanism, and it can be compactly divided for easy handling during transportation and installation. Therefore, by combining this travel device with an evaluation device, it is possible to evaluate the travel characteristics of the travel mechanism at long distances and high speeds on various target road surfaces, and an evaluation system that is easy to handle during transportation and installation can be provided. [Explanation of Symbols]

[0073] X1 Traveling device X2 Evaluation System X3 Evaluation Device G Target road surface 1. First running module 1a First support frame 2. Second driving module 2a Second support frame 2b Mounting part 3. Third Travel Module 3a Third support frame 3b Attachment part 4. Career Department 4a Carrier-based 5, 6 Brake section 7, 8, 17, 18, 25, 26 First to third linear rails 7a, 8a, 17a, 18a, 25a, 26a 1st to 3rd connection part 9, 10, 11, 12 Inner part 13, 14, 21, 22, 29, 30 Gripping part 15, 16, 23, 24, 31, 32 Support legs 19, 20, 27, 28 Projections and locking parts 33 Linear Actuator 34, 35 Linear guide 36, 37 Linear rail block 38. Fixed part of the travel mechanism 39 Motor 40. Running mechanism 41 Brake Pads 42 Fixed plate 43, 44 Shock absorbers 45 Brake base 50 Rails 51 Grasped part 52 Management Processing Unit 53 Evaluation Equipment 61. Protrusion that can be inserted into the spigot. 62 Recess into which the projection fits

Claims

1. A running device for evaluating the running characteristics of a running mechanism on a target road surface, Multiple travel modules having linear rails and arranged in the direction of travel of the travel mechanism, A carrier section having the aforementioned travel mechanism and movably supported on the linear rail, which can travel by driving the travel mechanism in contact with the target road surface, A running device comprising a plurality of running modules, each having a connecting section that connects the linear rails of adjacent running modules in a manner that allows the carrier section to pass through them.

2. The running device according to claim 1, wherein a brake unit for braking the carrier unit is provided at the end of the running rail formed by connecting the linear rails of a plurality of running modules with the connecting unit.

3. The travel device according to claim 1, wherein the travel module has a gripping portion for fixing to a gripping portion provided on the target road surface.

4. The travel device according to claim 1, wherein the travel module has legs that are positioned on the target road surface and are height adjustable.

5. The travel device according to claim 1, wherein the carrier portion comprises a drive unit capable of adjusting the driving force of the travel mechanism and a pressurizing unit capable of adjusting the load of the travel mechanism on the target road surface.

6. An evaluation system comprising a running device according to any one of claims 1 to 5, and an evaluation device for evaluating the running characteristics of the running mechanism.

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