JP2015163494A - self-propelled vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a self-propelled vehicle mounting a drive mechanism excellent in compactness thereon.SOLUTION: A self-propelled vehicle 1 of an embodiment comprises: a drive motor 121R for driving a drive wheel 13R; and a drive motor 121L for driving a drive wheel 13L. A motor shaft of the drive motor 121R, a motor shaft of the drive motor 121L, a drive shaft 15R of the drive wheel 13R, and a drive shaft 15L of the drive wheel 13L are in parallel, the drive shaft 15R and the drive shaft 15L are located on a same straight line, and the motor shaft of the drive motor 121R and the motor shaft of the drive motor 121L are deviated.

Description

  The present disclosure relates to a self-propelled vehicle.

  In recent years, there are various sizes of robots ranging from large traveling robots to small traveling robots. In the case of a small traveling robot, it is required to make the vehicle width when the traveling robot travels more compact. In order to make the vehicle width more compact, it is important to shorten the distance in the vehicle width direction from the drive motor to the drive shaft.

  A self-propelled robot (Patent Document 1) that travels by transmitting the driving force of the driving motor to the driving wheel via a belt transmission by a pulley, or the driving motor driving is transmitted to the driving wheel via a reducer / clutch. A self-propelled robot (Patent Document 2) that travels by this is known. These robots are configured such that left and right drive wheels can be independently driven by a pair of drive motors. As a result, the speed of the left and right drive wheels can be varied, and the robot can travel on a predetermined route.

Japanese Patent Laid-Open No. 11-178765 JP-A-8-215122

  In Patent Document 1, the motor shaft and the drive shaft are shifted. In Patent Document 2, the motor shaft and the drive shaft are orthogonal to each other. Although Patent Document 1 and Patent Document 2 achieve compactness in the vehicle width direction by these, further compactness is required.

  According to one aspect of the present disclosure, there is provided a self-propelled vehicle including a first drive motor that drives a first drive wheel and a second drive motor that drives a second drive wheel. The first motor shaft, the second motor shaft of the second drive motor, the first drive shaft of the first drive wheel, and the second drive shaft of the second drive wheel are parallel, and the first drive shaft and the A second drive shaft is on the same straight line, and a self-propelled vehicle in which the first motor shaft and the second motor shaft are displaced is provided.

  According to this indication, a self-propelled vehicle carrying a drive mechanism excellent in compactness can be provided.

It is a schematic diagram showing the whole composition of a self-propelled vehicle by one example. It is a whole perspective view of a drive mechanism with which a self-propelled vehicle by one example is provided. It is sectional drawing explaining the connection state of the pulley by the side of a drive motor. It is a front view of a drive mechanism. It is a right view of a drive mechanism. It is a bottom view of a drive mechanism. It is a figure explaining the positional relationship of a left-right drive motor.

  Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. In addition, in each drawing, the same code | symbol is attached | subjected to the same component and the overlapping description may be abbreviate | omitted.

  First, the overall configuration of a self-propelled vehicle according to an embodiment will be described with reference to the drawings. FIG. 1 is a schematic diagram illustrating an overall configuration of a self-propelled vehicle 1 according to an embodiment. Here, the self-propelled vehicle 1 refers to a vehicle that travels by driving a pair of left and right drive wheels 13R, 13L. For example, it includes a self-propelled cleaning vehicle that cleans the inside of a station, an unmanned vehicle for building monitoring, and the like. Moreover, the vehicle of 2 or more wheels is included. Below, a self-propelled vehicle provided with three wheels is explained as an example. In the following, the suffix “R” of the reference symbol means the right member of the pair of left and right members, and the suffix “L” of the reference symbol is the left member of the pair of left and right members. Means that.

  As shown in FIG. 1, the self-propelled vehicle 1 includes a vehicle main body 2 constituting the vehicle. The bottom of the vehicle body 2 includes drive wheels 13R and 13L and a driven wheel 14. Further, a control device 3 that controls the entire vehicle and a battery 4 that supplies electric power to the vehicle are mounted inside the vehicle body 2.

  The self-propelled vehicle 1 travels on a predetermined route by driving a drive mechanism 5 including left and right drive wheels 13R and 13L based on a command signal from the control device 3.

  Next, the overall configuration of the drive mechanism 5 will be described with reference to the drawings. FIG. 2 is an overall perspective view of the drive mechanism 5. In FIG. 2, the x-axis direction represents the vehicle width direction, the y-axis direction represents the vehicle front-rear direction, and the z-axis direction represents the height direction. In the following description, a configuration around the right drive wheel 13R constituting the drive mechanism 5 will be described. Since the configuration around the left drive wheel 13L is basically the same as the configuration around the right drive wheel 13R, description thereof is omitted.

  As shown in FIG. 2, the drive mechanism 5 includes a drive force generator 12R, drive wheels 13R driven by the drive force generator 12R, and a flat support 30R. The driving force generator 12R and the driving wheel 13R are respectively attached to the support 30R. The left drive wheel 13L is similarly attached to the support portion 30L. And as shown in FIG. 1, support part 30R, 30L is fixed to the base 10 in a predetermined fixed position. The predetermined fixed position is a position of a fixed portion formed on the base 10 at a predetermined distance in the vehicle width direction so that the distance between the left and right drive wheels 13R, 13L of the self-propelled vehicle 1 becomes a predetermined distance. . Then, the support portions 30R and 30L are fixed to the base portion 10 at fixed positions separated by a predetermined distance. The fixed part formed in the base 10 is, for example, a through hole. Further, screw holes are formed in the support portions 30R and 30L at positions corresponding to the through holes as the fixing portions. Then, the support portions 30 </ b> R and 30 </ b> L are fixed to the base portion 10 by tightening with bolts or the like from the back surface (side facing the floor surface) of the base portion 10. Further, the support portions 30 </ b> R and 30 </ b> L are separated from the base portion 10 by removing the bolts and the like.

  The driving force generator 12R includes a driving motor 121R, an encoder 122R, and a motor driver (not shown). In the drive mechanism 5, as shown in FIG. 2, the motor shaft of the drive motor 121R, the motor shaft of the drive motor 121L, the drive shaft 15R of the drive wheel 13R, and the drive shaft 15L of the drive wheel 13L are arranged in parallel to each other. The drive shaft 15R and the drive shaft 15L are arranged on the same straight line. The driving force generator 12L around the left driving wheel 13L is basically the same in configuration, and thus the description thereof is omitted.

  The drive motor 121R is used to drive the drive wheels 13R. As described above, the drive wheels have the left and right drive wheels 13R and 13L. The drive wheels 13R and 13L are driven by separate drive motors 121R and 121L, respectively. The drive motors 121R and 121L can rotate at different rotational speeds. Therefore, the self-propelled vehicle 1 can run while performing a delicate course change, turn-back operation, and the like. Further, the rotation states of the drive motors 121R and 121L are detected by the encoders 122R and 122L. For example, a DC servo motor with a brush is used as the drive motors 121R and 121L.

  The drive motor 121R is supported by the support portion 30R in a state where a motor shaft (not shown) is inserted through an insertion hole (not shown) provided at the + z side end of the support portion 30R.

  The motor shaft of the drive motor 121R is connected to the pulley 16R so as to be integrally rotatable. More specifically, the pulley 16R is coupled to the shaft end of the motor shaft passing through the support portion 30R so as to be integrally rotatable. This connection is performed by key combination, for example.

  The support portion 30R is provided with a protective cover 20R so as to cover the motor shaft and the pulley 16R, and it is effective that dust, dust, etc. enter or adhere to the drive motor 121R or the pulley 16R. Prevent it. The protective cover 20R is fastened to the support portion 30R with bolts or the like.

  Further, as shown in FIG. 3, the pulley 16R may be supported from the opposite side of the drive motor 121R. Thereby, since the pulley 16R is supported from both sides, the support strength of the pulley 16R is further improved. More specifically, a bearing holder 24R in which a bearing 25R is incorporated is attached to the protective cover 20R, and a bearing (not shown) and a bearing incorporated in the drive motor 121R via a motor shaft and a shaft 26R. You may make it the structure supported reliably by 25R. With the above configuration, even when a transient load is generated on the motor shaft, the driving force of the drive motor 121R can be smoothly transmitted to the pulley 16R.

  Next, the configuration around the drive wheel will be described in more detail. FIG. 4 is a front view of the drive mechanism 5. FIG. 5 is a right side view of the drive mechanism 5. FIG. 6 is a bottom view of the drive mechanism 5. 5 and 6, illustration of the drive wheel 13R is omitted. In FIG. 6, the base 10 is not shown. In the following description, the configuration around the drive wheel 13R will be described. Since the configuration around the left drive wheel 13L is basically the same as the configuration around the right drive wheel 13R, description thereof is omitted.

  As shown in FIGS. 4 and 5, a disk-shaped flange 21 is provided between the drive shaft 15R and the drive wheel 13R, and the drive wheel 13R rotates integrally with the rotation of the drive shaft 15R. So that they are connected.

  Further, a bearing holder 19R is attached to an insertion hole (not shown) provided at the end on the −z side of the support portion 30R. The end of the drive shaft 15R on the −x side is supported by a bearing (not shown) incorporated in the bearing holder 19R. Therefore, the drive shaft 15R can smoothly rotate the drive wheel 13R without receiving a transient load. In this way, the drive wheel 13R is supported by the support portion 30R via the drive shaft 15R.

  And drive shaft 15R is connected with pulley 17R so that integral rotation is possible. More specifically, the pulley 17R is connected to the drive shaft 15R between the drive wheel 13R connected to the + x side end of the drive shaft 15R via the flange 21R and the support portion 30R fixed to the base portion 10. On the other hand, it is connected to be integrally rotatable. This connection is performed by key combination, for example.

  A transmission belt 18R is stretched between the pulley 16R and the pulley 17R.

  In order to prevent the drive wheels 13R and the drive shaft 15R from slipping out while the vehicle is running, drop prevention nuts 22R and 23R are attached to both ends of the drive shaft 15R. Similarly, the nuts 22L and 23L are attached to both ends of the drive shaft 15L around the left drive wheel 13L.

  Since it is configured as described above, even if a force acts on the drive shafts 15R and 15L outwardly of the vehicle width, the drive wheels 13R and 13L do not separate from the vehicle body together with the drive shafts 15R and 15L. .

  Furthermore, a pressing plate 40 is provided at the + Z side ends of the support portions 30R and 30L fixed to the base portion 10. Therefore, when the self-propelled vehicle 1 travels, the support portions 30R and 30L do not receive a transient load with respect to the outside of the vehicle width. Thereby, the driving force by the drive motors 121R and 121L is smoothly transmitted to the drive wheels 13R and 13L. The holding plate 40 is fastened to the pair of left and right support portions 30R and 30L by bolts or the like.

  Depending on the type of the self-propelled vehicle 1, there may be a restriction on the vehicle width. For example, in the case of a self-propelled cleaning vehicle that cleans the inside of a station, it is desirable that the vehicle has a size that can pass through an automatic ticket gate. Therefore, the self-propelled vehicle 1 that can flexibly change the distance between the support portion 30R and the support portion 30L, that is, the width of the vehicle width, is effectively used according to the type of vehicle, the usage environment, and the like. obtain. However, in the case of a vehicle with a limited vehicle width as described above, if the drive motors 121R and 121L corresponding to the left and right drive wheels 13R and 13L are arranged on the same axis, the drive motors 121R and 121L interfere with each other. Therefore, the vehicle width cannot be narrowed to an interval within the limit.

  Therefore, in the drive mechanism 5 according to the present embodiment, the drive motors 121R and 121L are arranged so that the drive motors 121R and 121L pass through one plane perpendicular to the drive shafts 15R and 15L. Specifically, the drive motors 121R and 121L are arranged by shifting the axis of the motor shaft to a position where the left and right drive motors 121R and 121L do not interfere with each other. As a result, the vehicle width can be further reduced, so that further downsizing of the self-propelled vehicle 1 can be realized.

  Next, the arrangement of the motor shaft will be described with reference to FIG. FIG. 7 is a right side view of the drive mechanism 5, and illustration of the drive wheel 13R and the protective cover 20R is omitted. The pulley 16L and the drive motor 121L are indicated by broken lines.

  As shown in FIG. 7, the y-axis direction distance (horizontal distance L1) between the drive shaft 15R of the drive wheel 13R and the motor shaft of the drive motor 121R is such that the drive shaft 15L of the drive wheel 13L and the motor shaft of the drive motor 121L. It is preferable to arrange the two motor shafts so as to be equal to the distance in the y-axis direction (horizontal distance L2). Specifically, it is preferable that the driving motor 121R and the driving motor 121L are arranged so as to be shifted in the y-axis direction so as not to interfere with each other. The arrangement of these motors is symmetric with respect to the line segment AA. More specifically, the right drive motor 121R is disposed at a position shifted by L1 in the −y direction with respect to the line segment AA, and the left drive motor 121L is disposed in the + y direction with respect to the line segment AA. Arranged at a position shifted by L2. This is because the center of gravity balance is excellent and the stability of the vehicle is excellent.

  Since the drive mechanism 5 is configured as described above, the self-propelled vehicle 1 in which the vehicle width interval between the left and right drive wheels 13R and 13L is further narrow can be manufactured. Thereby, it is possible to realize further downsizing of the self-propelled vehicle 1. Further, when the drive mechanism 5 is viewed from the right side, the drive portion around the right drive wheel 13R and the drive portion around the left drive wheel 13L are arranged symmetrically with respect to the line segment AA, so that the size is small. And the self-propelled vehicle excellent in vehicle stability can be provided with a simple configuration.

  Next, a method for assembling the drive mechanism 5 constituting the self-propelled vehicle 1 having different vehicle widths will be described.

  When manufacturing a plurality of self-propelled vehicles 1 having different vehicle widths, the assembling worker supports the support portion 30R (or 30L) that supports the drive force generation portion 12R (or 12L) and the drive wheels 13R (or 13L). A plurality of drive mechanisms 5 configured to be assembled are assembled. The method for assembling the drive portion around the right drive wheel 13R constituting the drive mechanism 5 and the method for assembling the drive portion around the left drive wheel 13L constituting the drive mechanism 5 are basically the same.

  First, the assembly worker attaches the bearing holder 19R and the drive motor 121R to predetermined positions of the support portion 30R. Next, the drive shaft 15R is inserted so that the drive shaft 15R is supported by the bearing incorporated in the bearing holder 19R. Specifically, the drive shaft 15R is inserted near the end on the −z side in the center of the support portion 30R. Next, the pulley 17R is inserted from the + x side end of the drive shaft 15R, and the pulley 17R is connected to the drive shaft 15R so as to be integrally rotatable by key coupling. Next, on the −x side of the pulley 16R, the motor shaft end of the drive motor 121R and the pulley 16R are coupled together by key coupling so as to be integrally rotatable. Next, the transmission belt 18R is wound around the pulley 16R and the pulley 17R.

  From the viewpoint of the support strength of the pulley 16R, the shaft end of the shaft 26R and the pulley 16R may be coupled to each other on the + x side of the pulley 16 so as to be integrally rotatable by key coupling. In this case, the motor shaft of the drive motor 121R and the shaft of the shaft 26R are arranged on the same straight line. As a result, the pulley 16R is supported by the bearing 25R incorporated in the bearing holder 24R via the shaft 26R. Next, the protective cover 20R to which the bearing holder 24R is attached is fastened to the support portion 30R with bolts or the like. Next, the drive shaft 15R and the drive wheel 13R are fixed to the flange 21R so as to be integrally rotatable. Next, the drive shaft 15R and the drive wheel 13R are connected by the flange 21R so as to be integrally rotatable. The connection is performed by inserting the drive shaft 15R through an insertion hole formed at the rotational center position of the drive wheel 13R and the flange 21R. Next, the removal prevention nuts 22R and 23R are attached to both ends of the drive shaft 15R, respectively. The insertion hole for inserting the motor shaft of the drive motor 121R formed in the support portion 30R is formed at a position shifted in the y-axis direction with respect to the insertion hole for inserting the drive shaft of the drive wheel 13R. Therefore, the drive wheel 13R and the drive motor 121R are arranged at positions shifted in the y-axis direction.

  The configuration around the right drive wheel 13R and the configuration around the left drive wheel 13L are basically the same. Therefore, the drive part including the drive motor and the support part that supports the drive wheel can be used as a drive part around the right drive wheel 13R and a drive part around the left drive wheel 13L. As a result, the cost of the member can be reduced.

  Further, since the members are common to the left and right, when the support portion 30R to which the drive motor 121R and the drive wheel 13R are attached and the support portion 30L to which the drive motor 121L and the drive wheel 13L are attached are fixed to the base 10, FIG. Thus, the drive portion is arranged symmetrically with respect to the line segment AA. For this reason, it is possible to provide the self-propelled vehicle 1 that is excellent in miniaturization and excellent in balance of the center of gravity.

  Moreover, since the drive mechanism 5 is comprised as mentioned above, it is excellent in arrangement | positioning balance. For this reason, the self-propelled vehicle 1 equipped with the drive mechanism 5 has a stable center of gravity and can be made more compact, so that it is possible to smoothly perform a traveling while making a slight course change, a folding operation, and the like. .

  Further, the drive mechanism 5 has a separation structure that can easily remove the support portion 30R to which the drive motor 121R and the drive wheels 13R are attached and the support portion 30L to which the drive motor 121L and the drive wheels 13L are attached from the base portion 10. It has become. Therefore, the drive mechanism 5 corresponding to the self-propelled vehicle 1 having various vehicle widths can be easily assembled only by preparing the base portions 10 having different distances between the fixed positions of the pair of support portions 30R and 30L.

  Since the drive part including the left drive wheel 13L and the drive part including the right drive wheel 13R basically use the same parts, the cost of the members can be reduced.

  The drive mechanism 5 has the above configuration. Therefore, it is possible to efficiently manufacture the self-propelled vehicle 1 having different vehicle widths.

  Next, operation | movement of the drive mechanism 5 with which the self-propelled vehicle 1 is provided is demonstrated.

  The self-propelled vehicle 1 is connected to a pair of left and right via a motor driver (not shown) so as to be able to travel in a predetermined traveling pattern based on a map stored in advance and detection signals from the encoders 122R and 122L. The drive motors 121R and 121L are controlled. The pulleys 16R and 16L are rotated by the rotation of the drive motors 121R and 121L, and the rotational force of the pulleys 16R and 16L is transmitted to the pulleys 17R and 17L via the transmission belts 18R and 18L. As described above, the drive wheels 13R and 13L are driven to rotate according to the rotation of the drive motors 121R and 121L. In the following description, the operation around the right drive wheel 13R will be described.

  As described above, the power of the drive motor 121R is transmitted to the drive wheel 13R via the transmission belt 18R that is stretched over the pulleys 16R and 17R. And the rotational speed of drive motor 121R is decelerated by making the diameter of pulley 16R and pulley 17R into different diameters. Since the drive mechanism 5 has the operation mechanism as described above, the drive motor 121R can transmit an appropriate torque and rotation speed to the drive wheel 13R according to the use situation, environment, and the like. Since the operation around the left drive wheel 13L is basically the same as the operation around the right drive wheel 13R, description thereof is omitted.

  In addition, a subtle course change or folding operation of the self-propelled vehicle 1 is performed by providing a difference in the rotational speed between the pair of left and right drive wheels 13R and 13L. Further, by transmitting a drive command signal for reversely rotating the drive motors 121R, 121L from the control device 3 to the motor driver, the drive wheels 13R, 13L rotate in the reverse direction. Therefore, the self-propelled vehicle 1 can be driven in the reverse direction.

  Since the drive motors 121R and 121L can be rotated in the reverse direction, the self-propelled vehicle 1 can easily travel even in a narrow path, for example. Furthermore, since the left and right drive portions of the drive mechanism 5 are arranged in a well-balanced manner, it is possible to cope with a sudden change of direction of the self-propelled vehicle 1 such as turning, turning operation, and reverse driving. Therefore, the self-propelled vehicle 1 is excellent in vehicle stability and suitable for downsizing.

  The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above-described embodiments, and various modifications can be made to the above-described embodiments without departing from the scope of the present invention. And substitutions can be added.

  For example, in the present embodiment, a belt transmission system in which pulleys are spanned by a transmission belt has been described as an example, but the present invention is not limited to this configuration. You may employ | adopt the transmission system by the chain which used the sprocket instead of the pulley. Since it is difficult for slippage to occur between the sprocket and the chain, it is possible to maintain a constant rotation ratio.

  In the present embodiment, the both-end support structure that supports the pulleys 16R and 16L on the drive motor side from both sides has been illustrated and described. However, the present invention is not limited to this. When there is no problem in the support strength of the pulleys 16R and 16L, a cantilever support structure in which the pulleys 16R and 16L are supported only by bearings built in the drive motors 121R and 121L may be used. As described above, the support method of the pulley 16R may be determined in consideration of the motor shaft length and motor shaft diameter of the drive motors 121R and 121L, the weight of the pulleys 16R and 16L, and the like. As a result, the number of parts of the drive mechanism 5 is reduced, and the weight of the self-propelled vehicle 1 is further reduced.

  Further, in the present embodiment, the configuration in which the rotational speed of the drive motor is reduced by making the two pulley diameters on the drive shaft side and the drive motor side different from each other has been described, but the present invention is not limited to this. For example, the rotational speed of the drive motor may be reduced by providing a gear head (not shown) between the drive motor 121R and the pulley 16R. Thereby, even when pulleys having the same diameter are used on the drive shaft side and the drive motor side, the same deceleration effect can be produced. Further, pulleys having different diameters may be used on the drive shaft side and the drive motor side, and a gear head may be provided between the drive motor and the pulley to perform two-stage deceleration, or two or more stages of deceleration. It is good.

  In this embodiment, in order to narrow the vehicle width of the self-propelled vehicle 1, the left and right drive motors 121R and 121L are arranged in the x-axis direction (vehicle width (Direction). That is, the left and right drive motors 121R and 121L are arranged so as to be lined up and down in the y-axis direction (vehicle longitudinal direction). However, the present invention is not limited to this configuration. For example, the left and right drive motors 121R and 121L are arranged such that their axis centers are shifted in order to improve the center-of-gravity balance, even when arranged so as not to overlap in the x-axis direction (vehicle width direction). May be.

  Further, in this embodiment, when the drive mechanism 5 is viewed from the right side surface, the left and right drive portions are illustrated as being symmetrically arranged with respect to the line segment AA. However, the present invention is not limited to this. It is not limited to the configuration. The left and right drive parts are asymmetric with respect to the line segment A-A so that the balance of the center of gravity can be improved including the arrangement of other components such as the control device 3 and the battery 4 constituting the self-propelled vehicle 1. May be arranged.

  In the above-described embodiment, the brushed DC servo motor combined with the encoders 122R and 122L is used as the drive motors 121R and 121L. However, it goes without saying that a stepping motor, a brushless DC servo motor, or the like can be used. Absent.

  In addition, if the self-propelled vehicle 1 which concerns on this embodiment is a vehicle which has the right-and-left drive wheel driven separately by a separate drive motor, there will be no limitation in a vehicle type. For example, the self-propelled vehicle 1 may be a self-propelled cleaning vehicle or an unmanned monitoring vehicle.

DESCRIPTION OF SYMBOLS 1 Self-propelled vehicle 12R, 12L Drive force generation part 13R, 13L Drive wheel 15R, 15L Drive shaft

Claims (3)

A self-propelled vehicle comprising a first drive motor for driving the first drive wheel and a second drive motor for driving the second drive wheel;
The first motor shaft of the first drive motor, the second motor shaft of the second drive motor, the first drive shaft of the first drive wheel, and the second drive shaft of the second drive wheel are parallel,
The first drive shaft and the second drive shaft are on the same straight line;
The first motor shaft and the second motor shaft are offset;
Self-propelled vehicle. The first drive motor and the second drive motor pass through the same plane perpendicular to the same straight line,
The self-propelled vehicle according to claim 1. A distance between the first drive shaft and the first motor shaft is equal to a distance between the second drive shaft and the second motor shaft;
The self-propelled vehicle according to claim 1 or 2.

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