Method for removing transport cases and mobile objects

Abstract

To provide a conveyance case and an escape method which can surely escape a moving body having wheels from a gap between a plurality of case members.SOLUTION: A survey vehicle 1 as a moving body has a right wheel 2 and a left wheel 3. A conveyance case 5 for conveying the survey vehicle 1 includes first and second case members 6 and 7 for storing the survey vehicle 1. The right wheel 2 and the left wheel 3 have projections 233 and 333 at a position radially away from rotation axes O1 and O2. In the first and second case members 6 and 7, 612a, 612b, 613a, 613b, 712a, 712b, 713a and 713b with which the projections 233 and 333 of the right wheel 2 and the left wheel 3 are engaged are formed. At the time of escape of the survey vehicle 1, escape operation of the survey vehicle 1 is performed by rotating the right wheel 2 and the left wheel 3 in the conveyance case 5.SELECTED DRAWING: Figure 16C

Description

Technical Field

[0001] The present invention relates to a transport case for transporting a mobile object and a method for the mobile object to escape from the transport case.

Background Art

[0002] Conventionally, for example, unmanned exploration vehicles have been developed for exploring places that are not easily accessible to humans, such as the lunar surface. The applicant of the present application has proposed those described in Patent Documents 1 and 2 as such unmanned exploration vehicles. The unmanned exploration vehicles described in Patent Documents 1 and 2 include a main body, a pair of wheels coaxially arranged at both ends in the width direction of the main body, and a grounding body provided behind the main body and grounded on the ground. Further, as an exploration machine for transporting the unmanned exploration vehicle to the destination and landing it, for example, the one described in Patent Document 3 has been proposed.

[0003] The exploration machine described in Patent Document 3 includes an exploration machine main body that houses the unmanned exploration vehicle, which is a mobile object, and landing legs extending downward from the exploration machine main body. The exploration machine main body is configured to roll over and lie down on the celestial surface after the landing legs contact the celestial surface, and a lid that closes the opening on the upper surface of the exploration machine main body opens. The impact when the exploration machine main body lies down on the celestial surface is absorbed by an airbag device provided in the exploration machine main body. Further, the unmanned exploration vehicle is fixed inside the exploration machine main body by stuffing a bag filled with gas into the gaps, and the fixation is released by discharging the gas in this bag after landing. The unmanned exploration vehicle self-drives using the opened lid as a slope after the exploration machine main body lies down on the celestial surface, escapes from the exploration machine main body, and travels on the celestial surface.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

[0005] For example, as described in Patent Document 3, in systems that transport a moving object to a destination, it is essential that the moving object can reliably escape at the destination. Furthermore, when the moving object to be transported is carried to the destination by a projectile such as a rocket, miniaturization and weight reduction are also important issues.

[0006] Therefore, the present invention aims to provide a transport case and escape method that can reliably escape a mobile body having wheels from between multiple case members. [Means for solving the problem]

[0007] To achieve the above objective, the present invention provides a transport case for transporting a mobile body having wheels, comprising first and second case members for housing the mobile body, wherein the wheels have projections located radially away from the axis of rotation, and at least one of the first and second case members has an engaging portion formed therein with which the projections engage, and the wheels rotate while the projections are engaged with the engaging portion, One of the first case member and the second case member moves relative to the other, causing the first and second case members to open, and from the first and second case members The present invention provides a transport case through which the aforementioned moving body can be released.

[0008] Furthermore, in order to achieve the above objectives, the present invention provides a method for escaping a mobile body transported by a transport case, wherein the mobile body has wheels housed in the transport case, and projections are provided at positions radially away from the rotation axis of the wheels, the transport case has first and second case members, and at least one of the first and second case members has an engagement portion that engages with the projection, and the mobile body escapes when the wheels rotate with the projection engaged with the engagement portion. [Effects of the Invention]

[0009] According to the present invention, it is possible to surely escape a moving body having wheels from between a plurality of case members.

Brief Description of the Drawings

[0010] [Figure 1A] FIG. 1A is a front view of the exploration vehicle. [Figure 1B] FIG. 1B is a top view of the exploration vehicle. [Figure 1C] FIG. 1C is a side view showing the right wheel side of the exploration vehicle. [Figure 1D] FIG. 1D is a side view showing the left wheel side of the exploration vehicle. [Figure 2A] FIG. 2A is a perspective view of the exploration vehicle. [Figure 2B] FIG. 2B is a perspective view of the exploration vehicle. [Figure 3] FIG. 3 is a cross-sectional view of the exploration vehicle taken along line A-A of FIG. 1B. [Figure 4A] FIG. 4A is a configuration diagram showing the right wheel. [Figure 4B] FIG. 4B is a cross-sectional view taken along line B-B of FIG. 4A. [Figure 5A] FIG. 5A is a configuration diagram showing the left wheel. [Figure 5B] FIG. 5B is a cross-sectional view taken along line C-C of FIG. 5A. [Figure 6A] FIG. 6A is an explanatory diagram showing the state of the exploration vehicle before landing on the lunar surface. [Figure 6B] FIG. 6B is an explanatory diagram showing the state of the exploration vehicle after landing on the lunar surface. [Figure 7A] FIG. 7A is a front view of the transport case. [Figure 7B] FIG. 7B is a bottom view of the transport case. [Figure 7C] FIG. 7C is a side view of the right wheel side of the transport case. [Figure 7D] FIG. 7D is a side view of the left wheel side of the transport case. [Figure 8A] FIG. 8A is a cross-sectional view taken along line D-D of FIG. 7A. [Figure 8B] Figure 8B is a partially enlarged view of Figure 8A. [Figure 9] Figure 9 is a sectional view taken along line E-E of Figure 7D. [Figure 10A] Figure 10A is a front view of the first case member. [Figure 10B] Figure 10B is a top view of the first case member. [Figure 10C] Figure 10C is a side view of the first case member on the right wheel side. [Figure 10D] Figure 10D is a side view of the first case member on the left wheel side. [Figure 11A] Figure 11A is a sectional view taken along line F-F of Figure 10B. [Figure 11B] Figure 11B is a sectional view taken along line G-G of Figure 10B. [Figure 12A] Figure 12A is a perspective view showing the first case member. [Figure 12B] Figure 12B is a perspective view showing the first case member. [Figure 13A] Figure 13A is a front view of the second case member. [Figure 13B] Figure 13B is a top view of the second case member. [Figure 13C] Figure 13C is a side view of the second case member on the right wheel side. [Figure 13D] Figure 13D is a side view of the second case member on the left wheel side. [Figure 14] Figure 14 is a sectional view taken along line H-H of Figure 13B. [Figure 15A] Figure 15A is a perspective view showing the second case member. [Figure 15B] Figure 15B is a perspective view showing the second case member. [Figure 16A] Figure 16A is an explanatory view showing the state where the transport case is open. [Figure 16B] Figure 16B is an explanatory view showing the state where the exploration vehicle is about to be detached. [Figure 16C] Figure 16C is an explanatory view showing the state where the exploration vehicle is about to be detached. [Figure 16D] Figure 16D is an explanatory diagram showing the rover in a state of free fall. [Figure 17A] Figure 17A is an explanatory diagram showing the lower end of the transport case as viewed from below. [Figure 17B] Figure 17B is a cross-sectional view taken along line II of Figure 17A. [Modes for carrying out the invention]

[0011] [Embodiment] Figures 1A to 1D show the external appearance of the rover 1 being transported by a transport case according to an embodiment of the present invention. Figure 1A is a front view, Figure 1B is a top view, Figure 1C is a side view showing the right wheel 2 side, and Figure 1D is a side view showing the left wheel 3 side. Figures 2A and 2B are perspective views of the rover 1. Figure 3 is a cross-sectional view of the rover 1 along line AA in Figure 1B. Figure 4A is a configuration diagram showing the right wheel 2, and Figure 4B is a cross-sectional view along line BB in Figure 4A. Figure 5A is a configuration diagram showing the left wheel 3, and Figure 5B is a cross-sectional view along line CC in Figure 5A.

[0012] The rover 1 is a palm-sized mobile device with a width W (see Figure 1A) of, for example, 10 to 20 cm, and weighs, for example, 0.5 kg. The rover 1 is used to explore places that are not easily accessible to humans, such as the lunar surface. In this embodiment, we will describe the case in which the rover 1 is housed in a transport case attached to a lander that lands on the lunar surface and transported.

[0013] The exploration vehicle 1 comprises a right wheel 2 and a left wheel 3, a main body 11 having a vehicle body 10, a connector 12 attached to the main body 11, and a first grounding body 13 and a second grounding body 14. The first grounding body 13 and the second grounding body 14 are connected to the vehicle body 10 by a plurality of connecting shafts 151. The first grounding body 13 and the second grounding body 14 are connected by a plurality of auxiliary connecting shafts 152.

[0014] The exploration vehicle 1 can switch between a first forward-moving state in which the vehicle travels with the first ground contact body 13 on the rear side in the direction of travel, and a second forward-moving state in which the vehicle travels with the top and bottom of the main body 11 reversed and the second ground contact body 14 on the rear side in the direction of travel. In this embodiment, the right wheel 2 refers to the wheel on the right side in the direction of travel in the first forward-moving state, and the left wheel 3 refers to the wheel on the left side in the direction of travel in the first forward-moving state.

[0015] As shown in Figure 3, the vehicle body 10 integrally comprises a torso 101 extending in the longitudinal direction between the right wheel 2 and the left wheel 3, a right arm 102 projecting from the torso 101 to the right in the forward direction during the first forward driving state, and a left arm 103 projecting from the torso 101 to the left in the forward direction during the first forward driving state.

[0016] The outer circumferential surface 102a of the right arm portion 102 is formed in a partially spherical shape, curved so that the central part bulges outward in the radial direction perpendicular to the rotation axis O1 of the right wheel 2. The outer circumferential surface 103a of the left arm portion 103 is formed in a partially spherical shape, curved so that the central part bulges outward in the radial direction perpendicular to the rotation axis O2 of the left wheel 3.

[0017] The body section 101 houses a controller 110 and a communication unit 111 for wireless communication with the lander, as shown by the dashed line in Figure 1B. The body section 101 also houses a camera 112 and a pair of lights 113 for illuminating the target of the camera 112. In this embodiment, the camera 112 is positioned at the front end in the direction of travel of the rover 1 and photographs the area in front of the direction of travel, but the position of the camera 112 is not limited to this. Image data of the images captured by the camera 112 is transmitted to the lander by the communication unit 111.

[0018] A connector 12 is attached to the rear end of the body 101, protruding from it. The connector 12 has a cylindrical boss portion 121 and a disc-shaped flange portion 122 with a larger outer diameter than the boss portion 121, with the boss portion 121 and the flange portion 122 positioned outside the vehicle body 10.

[0019] As shown in Figure 3, the right arm section 102 houses a right-side drive motor 114 that drives the right wheel 2, a reduction mechanism 115 that reduces the rotation of the right-side drive motor 114, and a pair of batteries 116. The left arm section 103 houses a left-side drive motor 117 that drives the left wheel 3, a reduction mechanism 118 that reduces the rotation of the left-side drive motor 117, and a pair of batteries 119.

[0020] The controller 110, communication unit 111, camera 112, light 113, right-side drive motor 114, and left-side drive motor 117 operate using batteries 116 and 119 as power sources. The controller 110 can control the camera 112, light 113, right-side drive motor 114, and left-side drive motor 117 based on command signals received by the communication unit 111.

[0021] The right wheel 2 has an inner wheel member 21 that rotates integrally with the output shaft 115a of the reduction mechanism 115, an outer wheel member 22 positioned on the outer circumference of the inner wheel member 21, and an annular connecting member 23 that connects the inner wheel member 21 and the outer wheel member 22. The output shaft 115a of the reduction mechanism 115 is prevented from rotating by the inner wheel member 21 by a key 115b. The inner wheel member 21 is rotatably supported by a support member 15 fixed to the right arm portion 102 via a bearing 16. The output shaft 115a and key 115b of the reduction mechanism 115 are prevented from coming loose by a plurality of bolts 201.

[0022] The inner wheel member 21 has an outer surface 21a at its center that is not covered by the connecting member 23, and protrudes outward from the connecting member 23 in the axial direction along the rotation axis O1. Multiple bolt holes 211 are opened in the outer surface 21a of the inner wheel member 21, into which multiple bolts 201 are inserted. The connecting member 23 integrally has an inner annular portion 231 and an outer annular portion 232, with the inner annular portion 231 fixed to the inner wheel member 21 by multiple bolts 202 and studs 203, and the outer annular portion 232 fixed to the outer wheel member 22 by multiple bolts 204 and studs 205.

[0023] Similarly, the left wheel 3 has an inner wheel member 31 that rotates integrally with the output shaft 118a of the reduction mechanism 118, an outer wheel member 32 positioned on the outer circumference of the inner wheel member 31, and an annular connecting member 33 that connects the inner wheel member 31 and the outer wheel member 32. The output shaft 118a of the reduction mechanism 118 is prevented from rotating by the inner wheel member 31 by a key 118b. The inner wheel member 31 is rotatably supported by a support member 17 fixed to the left arm portion 103 via a bearing 18. The output shaft 118a and key 118b of the reduction mechanism 118 are prevented from coming loose by a plurality of bolts 301.

[0024] The inner wheel member 31 has an outer surface 31a at its center that is not covered by the connecting member 33, and protrudes outward from the connecting member 33 in the axial direction along the rotation axis O2. Multiple bolt holes 311 are opened in the outer surface 31a of the inner wheel member 31, into which multiple bolts 301 are inserted. The connecting member 33 integrally has an inner annular portion 331 and an outer annular portion 332, with the inner annular portion 331 fixed to the inner wheel member 31 by multiple bolts 302 and studs 303, and the outer annular portion 332 fixed to the outer wheel member 32 by multiple bolts 304 and studs 305.

[0025] As shown in Figures 4A and 4B, the outer wheel member 22 of the right wheel 2 integrally comprises a cylindrical base portion 221 positioned to cover the outer circumference of the inner wheel member 21, a rim portion 222 extending from the outer edge of the base portion 221 and formed to cover the outer circumferential surface 102a of the right arm portion 102, and a plurality of claw portions 223 formed to protrude from the outer circumferential surface 222a of the rim portion 222. The rim portion 222 has a plurality of openings 220 formed therein to reduce weight.

[0026] As shown in Figures 5A and 5B, the outer wheel member 32 of the left wheel 3 integrally comprises a cylindrical base 321 positioned to cover the outer circumference of the inner wheel member 31, a rim portion 322 extending from the outer edge of the base 321 and formed to cover the outer circumferential surface 103a of the left arm portion 103, and a plurality of claw portions 323 formed to protrude from the outer circumferential surface 322a of the rim portion 322. The rim portion 322 has a plurality of openings 320 formed therein to reduce weight.

[0027] The claw portions 223 and 323 are plate-shaped and formed perpendicular to the circumferential direction of the right wheel 2 and the left wheel 3. In this embodiment, 16 claw portions 223 are provided at equal intervals in the circumferential direction. When the exploration vehicle 1 travels on hard ground, the tip surfaces 223a and 323a of the claw portions 223 and 323 contact the ground. When the exploration vehicle 1 travels on sandy ground, the claw portions 223 and 323 scrape the sand as they travel. The tip surfaces 223a and 323a of the claw portions 223 and 323 are curved in a convex shape from the end on the body 101 side of the vehicle body 10 to the base 221 and 321 on the right wheel 2 and the left wheel 3.

[0028] Figures 6A and 6B are explanatory diagrams showing the state of Rover 1 before and after landing on the lunar surface. Rover 1 escapes from the transport case 5 attached to the lander 4 which has landed on the lunar surface 400, and lands on the lunar surface 400 by freefall due to the moon's gravity. The lander 4 has a lander body 41, multiple landing legs 42, and multiple nozzles 43 that emit gas to adjust the descent speed to the lunar surface 400 and mitigate the impact when the multiple landing legs 42 touch down on the lunar surface 400. Figures 4A and 4B show one landing leg 42 and one nozzle 43, respectively, from the multiple landing legs 42 and multiple nozzles 43. In the following description, "up" and "down" refer to the vertical up and down directions along the direction of the moon's gravity when the lander 4 is landed. Also, "horizontal" refers to the direction perpendicular to the direction of the moon's gravity.

[0029] The rover 1 is an object to be transported by the lander 4 while housed in a transport case 5. The lander body 41 has a support 411 to which the transport case 5 is attached. The transport case 5 is attached to the lower surface 411a of the support 411. In the examples shown in Figures 6A and 6B, the support 411 is provided protruding from the side of the lander body 41, but the support 411 may also be provided below the lander body 41. In addition, in the examples shown in Figures 6A and 6B, one transport case 5 is attached to the lander body 41, but multiple transport cases 5 may be attached to the lander body 41, and the rover 1 may be housed in each of these multiple transport cases 5, and other items may be transported to the lunar surface 400 together with the transport case 5 and the rover 1 by the lander 4.

[0030] The transport case 5 opens after the lander 4 lands on the lunar surface 400, and the rover 1 falls onto the lunar surface 400. The transport case 5 has a first case member 6 and a second case member 7, and holds the rover 1 so that it can withstand the vibrations during the launch of the lander 4 by the rocket. The configuration of the transport case 5 will be described in detail below.

[0031] Figures 7A to 7C show the transport case 5 in which the exploration vehicle 1 is housed, with Figure 7A being a front view, Figure 7B a bottom view, Figure 7C a side view of the right wheel 2 side, and Figure 7D a side view of the left wheel 3 side. Figure 8A is a cross-sectional view along line DD of Figure 7A. Figure 8B is a partially enlarged view of Figure 8A. Figure 9 is a cross-sectional view along line EE of Figure 7D. Figures 10A to 10D show the first case member 6 individually, with Figure 10A being a front view, Figure 10B a top view, Figure 10C a side view of the right wheel 2 side, and Figure 10D a side view of the left wheel 3 side. Figure 11A is a cross-sectional view along line FF of Figure 10B, and Figure 11B is a cross-sectional view along line GG of Figure 10B. Figures 12A and 12B are perspective views showing the first case member 6. Figures 13A to 13D show the second case member 7 individually, with Figure 13A being a front view, Figure 13B a ​​top view, Figure 13C a side view of the right wheel 2 side, and Figure 13D a side view of the left wheel 3 side. Figure 14 is a cross-sectional view taken along line HH of Figure 13B. Figures 15A and 15B are perspective views showing the second case member 7.

[0032] The transport case 5 comprises a first case member 6 and a second case member 7 formed by shaping a plate material made of carbon fiber bundles hardened with resin into a predetermined shape; a hinge 50 that pivotably supports the second case member 7 with respect to the first case member 6; a first connector 81 and an earth plate 82 attached to the first case member 6; a second connector 83 housed in the second case member 7; a connector holding member 84 that holds the second connector 83; a coil spring 85; a coil spring holding member 86 that holds the coil spring 85; and a cable holding member 87; a cable 88 connecting the first connector 81 and the second connector 83; and first to third bobbins 891 to 893 around which a thread-like body 91 (see Figure 7B) is wound, which serves as a closing member to maintain the first case member 6 and the second case member 7 in a closed state when the exploration vehicle 1 is being transported.

[0033] As shown in Figure 8B, the second connector 83 has a cylindrical portion 831 and a male threaded portion 832 with male threads formed on its outer circumference, and the boss portion 121 of the connector 12 of the rover 1 fits inside the cylindrical portion 831. The connector retaining member 84 has a cylindrical portion 841 into which the male threaded portion 832 of the second connector 83 is screwed, and a flange portion 842 provided on the outer circumference of the cylindrical portion 841. The coil spring 85 presses the flange portion 122 of the connector 12 of the rover 1 downwards. The coil spring retaining member 86 has a bottom portion 861 fixed to the flange portion 842 of the connector retaining member 84 by a plurality of bolts 801, and a cylindrical portion 862 surrounding the coil spring 85. The cable retaining member 87 is positioned above the flange portion 842 of the connector retaining member 84. The cable retaining member 87 has an opening 870 through which the cable 88 is inserted.

[0034] The first case member 6 includes a case body 61 that opens towards the second case member 7, a first right-side wheel holder 62 that accommodates a part of the right wheel 2 of the rover 1, a first left-side wheel holder 63 that accommodates a part of the left wheel 3 of the rover 1, an upper plate portion 64 with a plurality of mounting holes 640 formed therein for attachment to the support 411 of the lander body 41, and a pair of opposing plate portions 65, 66 provided at the end of the case body 61 on the side of the second case member 7.

[0035] The case body 61 has a back plate 611, a right side plate 612 and a left side plate 613 extending from both horizontal ends of the back plate 611 toward the second case member 7, and a bottom plate 614 extending from the lower end of the back plate 611 toward the second case member 7. The first connector 81 is mounted by passing through the back plate 611. As shown in Figures 6A and 6B, the lander cable 44 extending from the lander 4 is connected to the first connector 81. The rover 1 is supplied with power for charging batteries 116 and 119, and signals indicating that the lander 4 has landed on the lunar surface 400, via the lander cable 44 and cable 88. The ground plate 82 is attached to the outer surface of the back plate 611 by ground bolts 802 that pass through the back plate 511. As shown in Figures 6A and 6B, the grounding wire 45 extending from the lander 4 is connected to the grounding plate 82.

[0036] The first case member 6 is fixed to the support 411 by a plurality of bolts 92, each inserted through a plurality of mounting holes 640 in the upper plate portion 64. The upper plate portion 64 has a plurality of through holes 641 formed therein to reduce weight. In addition, the cable holding member 87 is elastically pressed against the upper plate portion 64 by the restoring force of the coil spring 85.

[0037] The second case member 7 includes a case body 71 that opens towards the first case member 6, a second right-side wheel holder 72 that houses the other part of the right wheel 2 of the rover 1, a second left-side wheel holder 73 that houses the other part of the left wheel 3 of the rover 1, a ground contact body holder 74 that holds the first ground contact body 13 and the second ground contact body 14 of the rover 1, a connecting plate portion 75 that connects the ground contact body holder 74 to the case body 71, and a pair of opposing plate portions 76, 77 provided at the end of the case body 71 on the side of the first case member 6.

[0038] The case body 71 of the second case member 7 has a back plate portion 711, a right plate portion 712 and a left plate portion 713 extending from both horizontal ends of the back plate portion 711 toward the first case member 6, a bottom plate portion 714 extending from the lower end of the back plate portion 711 toward the first case member 6, and an upper plate portion 715 extending from the upper end of the back plate portion 711 toward the first case member 6. The ground contact body holding portion 74 is cap-shaped and covers a part of the first ground contact body 13 and the second ground contact body 14 at the rear end of the exploration vehicle 1. The ground contact body holding portion 74 has a notch 740 for inserting a cable 88 and a plurality of through holes 741 for weight reduction. The connecting plate portion 75 fixes the ground contact body holding portion 74 to the back plate portion 711.

[0039] As shown in Figure 7B, the hinge 50 has a first wing plate 501 fixed to the upper plate portion 64 of the first case member 6, a second wing plate 502 fixed to the upper end of the back plate portion 711 of the second case member 7, and a connecting shaft 503 that connects the first wing plate 501 and the second wing plate 502. The connecting shaft 503 is inserted through a cylindrical portion 501a provided on the first wing plate 501 and a cylindrical portion 502a provided on the second wing plate 502. In this embodiment, the second case member 7 is configured to swing relative to the first case member 6 around the connecting shaft 503 of the hinge 50, causing the transport case 5 to open.

[0040] When the transport case 5 is closed, the pair of opposing plate portions 65, 66 of the first case member 6 and the pair of opposing plate portions 76, 77 of the second case member 7 face each other in parallel. The pair of opposing plate portions 76, 77 of the second case member 7 are provided with a plurality of fitting protrusions 761, 771 that project toward the first case member 6. The pair of opposing plate portions 65, 66 of the first case member 6 have a plurality of fitting holes 651, 661 formed therein, into which the plurality of fitting protrusions 761, 771 of the pair of opposing plate portions 76, 77 of the second case member 7 fit, respectively. As a result, when the transport case 5 is closed, relative movement between the first case member 6 and the second case member 7 in a direction parallel to the opposing plate portions 65, 66, 76, 77 is restricted. Furthermore, fitting protrusions may be provided on the opposing plate portions 65 and 66 of the first case member 6, and fitting holes may be formed on the opposing plate portions 76 and 77 of the second case member 7.

[0041] The first right wheel holder 62 of the first case member 6 and the second right wheel holder 72 of the second case member 7 each hold approximately half of the right wheel 2. The first left wheel holder 63 of the first case member 6 and the second left wheel holder 73 of the second case member 7 each hold approximately half of the left wheel 3. The first right wheel holder 62 and the first left wheel holder 63 are positioned at the lower end of the first case member 6 when the exploration vehicle 1 detaches from the transport case 5. Similarly, the second right wheel holder 72 and the second left wheel holder 73 are positioned at the lower end of the second case member 7 when the exploration vehicle 1 detaches from the transport case 5.

[0042] As a result, the rover 1 lands on the lunar surface 400 with its right wheel 2 and left wheel 3. The right wheel 2 and left wheel 3 have sufficient support rigidity to the vehicle body 10 to withstand impacts such as collisions with obstacles during travel, so by dropping the rover 1 toward the lunar surface 400 with the right wheel 2 and left wheel 3 facing downwards, damage from the impact of landing can be prevented. In addition, if the lunar surface 400 where the rover 1 lands is covered with sand, the multiple claws 223, 323 of the right wheel 2 and left wheel 3 will sink into the sand, mitigating the impact of landing.

[0043] As described above, the tip surfaces 223a, 323a of the multiple claw portions 223, 323 that make up the outer circumferential surfaces of the right wheel 2 and the left wheel 3 are curved in a convex shape in cross-section along the rotation axes O1, O2 of the right wheel 2 and the left wheel 3, and the inner surfaces 62a, 72a of the first right wheel holder 62 and the second right wheel holder 72 are curved surfaces that conform to the curved shape of the tip surfaces 223a of the multiple claw portions 223 on the right wheel 2. In addition, the inner surfaces 63a, 73a of the first left wheel holder 63 and the second left wheel holder 73 are curved surfaces that conform to the curved shape of the tip surfaces 323a of the multiple claw portions 323 on the left wheel 3.

[0044] This curved shape allows the tip surfaces 223a of the multiple claws 223 of the right wheel 2 to linearly contact the inner surface 62a of the first right wheel holder 62 and the inner surface 72a of the second right wheel holder 72, and the tip surfaces 323a of the multiple claws 323 of the left wheel 3 to linearly contact the inner surface 63a of the first left wheel holder 63 and the inner surface 73a of the second left wheel holder 73. This prevents the load due to vibration from concentrating at a single point, thus preventing cracks and deformation from occurring in the claws 223, 323, the first and second right wheel holders 62, 72, or the first and second left wheel holders 63, 73.

[0045] The first case member 6 and the second case member 7 each have right-side openings 601 and 701, respectively, located in the direction of the rotation axis O1 of the right wheel 2 and aligned with the center of the right wheel 2. The first case member 6 and the second case member 7 also each have left-side openings 602 and 702, respectively, located in the direction of the rotation axis O2 of the left wheel 3 and aligned with the center of the left wheel 3. The right-side openings 601 and 602 of the first case member 6, and the right-side openings 701 and 702 of the second case member 7, are each semicircular. In the first case member 6, the right-side opening 601 is formed in the right-side plate portion 612, and the left-side opening 602 is formed in the left-side plate portion 613. In the second case member 7, the right-side opening 701 is formed in the right-side plate portion 712, and the left-side opening 702 is formed in the left-side plate portion 713.

[0046] The right-side opening 601 of the first case member 6 and the right-side opening 701 of the second case member 7 constitute the right-side window portion 51 of the transport case 5 (see Figure 7C). The left-side opening 602 of the first case member 6 and the left-side opening 702 of the second case member 7 constitute the left-side window portion 52 of the transport case 5 (see Figure 7D). The right-side window portion 51 has a circular diameter centered on the rotation axis O1 of the right wheel 2, and the left-side window portion 52 has a circular diameter centered on the rotation axis O2 of the left wheel 3. In this embodiment, the diameter of the right-side window portion 51 is equivalent to the diameter of the inner annular portion 231 of the connecting member 23 of the right wheel 2, and the diameter of the left-side window portion 52 is equivalent to the diameter of the inner annular portion 331 of the connecting member 33 of the left wheel 3.

[0047] The right-side window 51 formed in the transport case 5 prevents the outer surface 21a at the center of the inner wheel member 21 of the right wheel 2 from colliding with the right-side plate portions 612 and 712 of the first case member 6 and the second case member 7 when the exploration vehicle 1 is subjected to vibration, thus preventing damage such as cracking. Furthermore, the left-side window 52 formed in the transport case 5 prevents the outer surface 31a at the center of the inner wheel member 31 of the left wheel 3 from colliding with the left-side plate portions 613 and 713 of the first case member 6 and the second case member 7 when the exploration vehicle 1 is subjected to vibration.

[0048] Furthermore, the rigidity of the right-side plate portions 612, 712 of the first case member 6 and the second case member 7 facing the right wheel 2 is reduced by the right-side openings 601, 701, and the rigidity of the left-side plate portions 613, 713 of the first case member 6 and the second case member 7 facing the left wheel 3 is reduced by the left-side openings 602, 702. As a result, the impact when the right wheel 2 collides with the right-side plate portions 612, 712 due to vibrations in the rover 1, and the impact when the left wheel 3 collides with the left-side plate portions 613, 713, are mitigated.

[0049] As shown in Figures 4A and 4B, the right wheel 2 is provided with a pair of protrusions 233 located radially away from the axis of rotation O1. In this embodiment, the outer annular portion 232 of the connecting member 23 of the right wheel 2 is provided with a pair of protrusions 233 projecting in an axial direction parallel to the axis of rotation O1. The right side plate portion 612 of the first case member 6 has a pair of first right side engaging portions 612a and 612b formed thereon, each engaging with a pair of protrusions 233. The right side plate portion 712 of the second case member 7 has a pair of second right side engaging portions 712a and 712b formed thereon, each engaging with a pair of protrusions 233. The first right side engaging portions 612a and 612b are formed by notches that communicate with the right side opening 601, and the second right side engaging portions 712a and 712b are formed by notches that communicate with the right side opening 701. The first right-side engaging portions 612a, 612b and the second right-side engaging portions 712a, 712b each accommodate a portion of the pair of projections 233.

[0050] As shown in Figures 5A and 5B, the left wheel 3 is provided with a pair of protrusions 333 located radially away from the axis of rotation O2. In this embodiment, the outer annular portion 332 of the connecting member 33 of the left wheel 3 is provided with a pair of protrusions 333 projecting in an axial direction parallel to the axis of rotation O2. The left side plate portion 613 of the first case member 6 has a pair of first left-side engaging portions 613a and 613b formed thereon, which engage with the pair of protrusions 333. The left side plate portion 713 of the second case member 7 has a pair of second left-side engaging portions 713a and 713b formed thereon, which engage with the pair of protrusions 333. The first left-side engaging portions 613a and 613b are formed by notches that communicate with the left-side opening 602, and the second left-side engaging portions 713a and 713b are formed by notches that communicate with the left-side opening 702. The first left-side engaging portions 613a, 613b and the second left-side engaging portions 713a, 713b each accommodate a portion of the pair of projections 333.

[0051] When the right wheel 2 rotates while the rover 1 is housed in the transport case 5, a pair of protrusions 233 rotate around the axis of rotation O1, causing the right side plate portion 612 of the first case member 6 and the right side plate portion 712 of the second case member 7 to separate. Also, when the left wheel 3 rotates while the rover 1 is housed in the transport case 5, a pair of protrusions 333 rotate around the axis of rotation O2, causing the left side plate portion 613 of the first case member 6 and the left side plate portion 713 of the second case member 7 to separate. As a result, the transport case 5 opens, and the rover 1 can escape from the transport case 5.

[0052] Alternatively, after the transport case 5 is opened, the right wheel 2 and left wheel 3 may be rotated to allow the rover 1 to escape. Next, the method for the rover 1 to escape when the right wheel 2 and left wheel 3 are rotated after the transport case 5 is opened will be explained with reference to Figures 16A to 16D.

[0053] Figure 16A is an explanatory diagram showing the state in which the transport case 5 is open, as the second case member 7 moves relative to the first case member 6 due to the weight of the second case member 7 and the exploration vehicle 1. The second wing plate 502 of the hinge 50 is fixed to the back plate portion 711 of the second case member 7, which is located far from the first case member 6, so the second case member 7 swings relative to the first case member 6 due to the weight of the second case member 7 and the exploration vehicle 1. In this state, the exploration vehicle 1 is held by the second case member 7.

[0054] Figures 16B and 16C show the state in which the rover 1 is moving away from the second case member 7 by rotating the right wheel 2 and left wheel 3 with the driving force of the right drive motor 114 and the left drive motor 117. Figure 16B shows the right wheel 2 side, and Figure 16C shows the left wheel 3 side. At this time, the controller 110 of the rover 1 rotates the right wheel 2 and left wheel 3 in the directions of arrows A1 and A2, with one of the pair of protrusions 233 of the right wheel 2, the lower protrusion 233, engaging with the second right-side engaging portion 712a, and one of the pair of protrusions 333 of the left wheel 3, the lower protrusion 333, engaging with the second left-side engaging portion 713a.

[0055] This causes the rover 1 to escape. More specifically, the right wheel 2 rotates around the projection 233 that engages with the second right-side engaging portion 712a as a pivot point, disengaging from the second right-side wheel holder 72, while the left wheel 3 rotates around the projection 333 that engages with the second left-side engaging portion 713a as a pivot point, disengaging from the second left-side wheel holder 73. Here, the direction of movement of the rover 1 relative to the second case member 7 by rotating the right wheel 2 and the left wheel 3 in the directions of arrows A1 and A2 is the escape direction for the rover 1 to escape from the transport case 5.

[0056] Figure 16D shows the rover 1 in the process of freefall from the transport case 5. At this time, the connector 12 of the rover 1 detaches from the second connector 83 due to the restoring force of the coil spring 85. The controller 110 of the rover 1 continues to rotate the right wheel 2 and the left wheel 3 in the directions of arrows A1 and A2 until the right wheel 2 and the left wheel 3 touch down. In other words, the rover 1 escapes from the first case member 6 and the second case member 7 in the direction of gravity and freefalls while rotating the right wheel 2 and the left wheel 3. As a result, when the right wheel 2 and the left wheel 3 touch down, the body 10 of the rover 1 immediately tilts relative to the lunar surface 400, and the first ground contact body 13 touches down on the lunar surface 400, mitigating the impact received by the main body 11 when the rover 1 touches down.

[0057] The transport case 5 has a photographic window 53 (see Figure 7B) formed therein, which allows the camera 112 of the rover 1 to photograph the outside from inside the first case member 6 and the second case member 7 before the first case member 6 and the second case member 7 are opened. The window 53 is formed in the part of the transport case 5 that faces the camera 112 of the rover 1, and in this embodiment, the window 53 is made up of semicircular openings 603 and 703 formed in the bottom plate portion 614 of the first case member 6 and the bottom plate portion 714 of the second case member 7, respectively. As a result, the rover 1 can photograph the state of the lunar surface 400 before the first case member 6 and the second case member 7 are opened.

[0058] Next, the configuration for maintaining the first case member 6 and the second case member 7 of the transport case 5 in a closed state until the lander 4 lands on the lunar surface 400, and the configuration for releasing the closed state of the first case member 6 and the second case member 7, will be described with reference to Figures 17A and 17B.

[0059] Figure 17A is an explanatory diagram showing the lower end of the transport case 5 viewed from below looking upward. Figure 17B is a cross-sectional view taken along line II of Figure 17A. When the transport vehicle 1 is transporting the transport case 5, the first case member 6 and the second case member 7 are kept closed by a thread-like material 91 wrapped between them. The thread-like material 91 is made of a thermoplastic resin, and for example, nylon, fluorocarbon, polyethylene, or polyester can be suitably used as the material for the thread-like material 91.

[0060] The filamentous material 91 is wound around a plurality of first to third bobbins 891-893, which serve as winding sections. The first bobbin 891 is fixed to the bottom plate portion 614 of the first case member 6 by bolt 803, and the second bobbins 892 and 893 are fixed to the bottom plate portion 714 of the second case member 7 by bolts 804 and 805. The photographic window portion 53 is formed in a position surrounded by the first to third bobbins 891-893.

[0061] The first case member 6 has a heating element 67 for cutting the filamentous body 91 by heating. The heating element 67 is a release member that releases the closed state between the first case member 6 and the second case member 7 by the filamentous body 91. In this embodiment, the heating element 67 is a linear heating wire that generates heat when an electric current is passed through it, and is formed in a U-shape having first and second straight sections 671, 672 and a semicircular arc section 673. The heating element 67 has its first straight section 671 held by a first holding member 681, and its second straight section 672 held by a second holding member 682. The first and second holding members 681, 682 are cylindrical and have a heat resistance temperature higher than the temperature when an electric current is passed through the heating element 67. The bottom plate portion 614 of the first case member 6 has a through hole 614a through which the first retaining member 681 is inserted, and a through hole 614b through which the second retaining member 682 is inserted.

[0062] The first bobbin 891 has a pair of large-diameter disc portions 891a and 891b, and a small-diameter disc portion 891c formed between the pair of large-diameter disc portions 891a and 891b. The pair of large-diameter disc portions 891a and 891b each have a notch 890 formed therein that accommodates a part of the first straight portion 671 of the heating element 67, and the filamentous body 91 is in contact with this part of the first straight portion 671. In this embodiment, the second and third bobbins 892 and 893 have a structure common to the first bobbin 891, and the second and third bobbins 892 and 893 also have notches 890 formed therein, however, the second and third bobbins 892 and 893 do not necessarily have notches 890 formed therein.

[0063] The thread-like material 91 is wound onto the first to third bobbins 891 to 893 under tension, and both ends of the thread-like material 91 are tied together at the knot 910. The first to third bobbins 891 to 893 are positioned such that the first bobbin 891 is located between the second bobbin 892 and the third bobbin 893 in the lateral direction D2, which is perpendicular to the opening direction D1 of the first case member 6 and the second case member 7 shown in Figure 17A. This suppresses relative movement between the first case member 6 and the second case member 7 in the direction along the lateral direction D2.

[0064] Current is supplied to the heating element 67 by a pair of electric wires 441 and 442 of the lander cable 44. When current is supplied to the heating element 67, it heats up, and the filamentous body 91 is cut where it is in contact with the heating element 67. As a result, the second case member 7 swings relative to the first case member 6, and the transport case 5 opens.

[0065] As described above, in this embodiment, the first case member 6 has a first right-side wheel holder 62 and a first left-side wheel holder 63, and the second case member 7 has a second right-side wheel holder 72 and a second left-side wheel holder 73. The right wheel 2 is held by the first right-side wheel holder 62 and the second right-side wheel holder 72, and the left wheel 3 is held by the first left-side wheel holder 63 and the second left-side wheel holder 73. This makes the transport case 5 small, lightweight, and simple in structure, while still being able to hold the exploration vehicle 1 in a way that can withstand vibrations during transport. Furthermore, since the first right-side wheel holder 62 and the first left-side wheel holder 63 are provided at the lower end of the first case member 6, and the second right-side wheel holder 72 and the second left-side wheel holder 73 are provided at the lower end of the second case member 7, the exploration vehicle 1 can be landed on the right wheel 2 and left wheel 3 first.

[0066] Furthermore, according to this embodiment, the exploration vehicle 1 rotates its right wheel 2 and left wheel 3 by its own power and escapes from the transport case 5. Therefore, for example, the transport case 5 does not need to be equipped with actuators such as motors for relatively moving the first case member 6 and the second case member 7, and the transport case 5 can be made small and lightweight.

[0067] Furthermore, according to this embodiment, the projection 233 of the right wheel 2 engages with the second right-side engaging portion 712a of the second case member 7, and the projection 333 of the left wheel 3 engages with the second left-side engaging portion 713a of the second case member 7. With the right wheel 2 and the left wheel 3 rotated in the directions of arrows A1 and A2, the exploration vehicle 1 escapes from the transport case 5. This prevents the right wheel 2 or the left wheel 3 from spinning freely during escape, ensuring that the exploration vehicle 1 can reliably escape from the transport case 5.

[0068] (Note) The present invention has been described above based on embodiments, but these embodiments do not limit the invention as defined in the claims. It should also be noted that not all combinations of features described in the embodiments are necessarily essential for solving the problem of the invention. Furthermore, the present invention can be implemented by modifying it as appropriate, without departing from its spirit, by omitting some components or adding or substituting components. It can also be implemented by modifying it as follows, for example.

[0069] In the above embodiment, the case in which the transport case 5 opens by the movement of the second case member 7 relative to the first case member 6 was described, but the transport case 5 may also open by the movement of the first case member 6 relative to the second case member 7. Also, in the above embodiment, the case in which the second case member 7 swings by the hinge 50 was described, but it is not limited to this, and for example, the second case member 7 may slide horizontally relative to the first case member 6.

[0070] In the above embodiment, the case in which the right wheel 2 has a pair of escape projections 233 and the left wheel 3 has a pair of escape projections 333 was described, but the projections 233 of the right wheel 2 or the projections 333 of the left wheel 3 may be omitted. In other words, if the projections 233 are provided on the right wheel 2, the projections 333 are not required on the left wheel 3, and if the projections 333 are provided on the left wheel 3, the projections 233 are not required on the right wheel 2. Furthermore, the upper projection 233 of the pair of projections 233 on the right wheel 2 that is used when landing may be omitted, and the upper projection 333 of the pair of projections 333 on the left wheel 3 that is used when landing may be omitted. Note that if either the pair of projections 233 on the right wheel 2 or the pair of projections 333 on the left wheel 3 is omitted, the engagement portion corresponding to the omitted projection does not need to be formed on the first and second case members 6 and 7.

[0071] In the above embodiment, the example described was that the rover 1 is transported to the moon by the lander 4 and lands on the lunar surface 400. However, the location to which the rover 1 is transported is not limited to the moon; it may be another celestial body, or it may be on Earth. In addition, the rover 1 may be equipped with exploration devices other than the camera 112.

[0072] The above embodiment describes a case where the exploration vehicle 1 has one right wheel 2 and one left wheel 3, but the exploration vehicle transported by the transport case according to the present invention may be a four-wheeled vehicle having left and right front wheels and left and right rear wheels, and may have even more wheels. [Explanation of symbols]

[0073] 1…Rover (mobile vehicle) 2…Right wheel 233…protrusion 3…Left wheel 333…protrusion 5… Transport case 6…First case component 601…Right side opening 602…Left side opening 612a, 612b… First right-side engagement portion 613a, 613b… First left-side engaging portion 7…Second case component 701…Right side opening 702…Left side opening 712a, 712b… Second right-side engagement portion 713a, 713b… Second left-side engaging portion

Claims

1. A transport case for transporting a mobile body having wheels, The system comprises first and second case members for housing the movable body, The wheel has a projection located radially away from the axis of rotation. At least one of the first and second case members has an engaging portion formed therein, into which the projection engages. As the wheel rotates with the projection engaged with the engagement portion, one of the first case member and the second case member moves relative to the other, causing the first and second case members to open, and the moving body to escape from the first and second case members. Transport case.

2. The first and second case members each have openings formed in positions aligned with the center of the wheel along the rotation axis direction of the wheel. The engagement portion is a notch provided in communication with the opening. The transport case according to claim 1.

3. A method for removing a moving object being transported by a transport case from the transport case, The moving body has wheels housed in the transport case, and a projection is provided at a position radially away from the axis of rotation of the wheels. The transport case has first and second case members, and at least one of the first and second case members has an engaging portion formed thereon in which the projection engages. As the wheel rotates with the projection engaged with the engagement portion, one of the first case member and the second case member moves relative to the other, causing the first and second case members to open, and the moving body to escape from the first and second case members. How to escape from a moving object.

4. By rotating the wheels while the moving body is held by at least one of the first and second case members, the moving body moves in the escape direction relative to the first and second case members. The method for escaping a moving object according to claim 3.

5. The moving body escapes from the first and second case members in the direction of gravity while rotating the wheels and then free-falls. A method for escaping a moving object according to claim 3 or 4.

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