JP2003127605A - Wheel structure for omni-directional moving vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve a problem that a conventional wheel called as a Mecanum wheel wherein a free rotating element is arranged on the whole circumference of an outer peripheral portion of the wheel so as to tilt by 45 degrees in regard to an axle, and a wheel structure is so complex and heavy cannot make full use of moving performance. SOLUTION: In this wheel 1 for an omni-directional moving vehicle, at least three sets of the wheels 1 having a different linear moving direction is provided on a bottom portion of a base A, and the moving amount of each wheel 1 is controlled, thereby moving or rotating the base A in a specified direction. The wheel 1 is composed of a hub 2 fitted with a driving shaft, an outer peripheral ring 3, and a coupling supporting portion 5 coupling the hub 2 and the outer peripheral ring 3. A plurality of rotating elements 4 are rotatably journaled to the outer peripheral ring 3 by using the outer peripheral ring 3 as a shaft.

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to a mobile device for nursing care,
The present invention relates to a vehicle such as a carrier device that moves on a floor surface in a warehouse or a factory, a carrier device that is outdoors, and the like, and relates to a wheel structure of an omnidirectional vehicle that can move forward, backward, leftward and rightward, move in any direction, or rotate.

[0002]

2. Description of the Related Art Conveying vehicles used in hospitals, factories, warehouses, etc. are required to have omnidirectionality so that they can move freely in all directions on a narrow floor. Therefore, a traveling vehicle in which an independent steering mechanism is attached to each wheel has been developed. In addition, omni-α, Mecanum vehicles, etc. have been developed in order to add a holonomic maneuverability capable of instantaneously changing direction.

FIG. 15 shows that the wheel 2 is attached to the outer periphery of the wheel 20.
It is a perspective view of a wheel called a Mecanum wheel in which a free rotating body 21 inclined by 45 degrees with respect to an axle of 0 is arranged. FIG. 16 is a diagram showing the operation of a vehicle in which four wheels 20 called mecanum wheels are arranged on a base B. By controlling the rotation direction and rotation speed of each wheel, omnidirectional movement is possible. It will be possible.

The principle of omnidirectional movement will be described with reference to FIG. In the figure, when the wheel rotates, a driving force is generated in a direction orthogonal to the rotation axis of the free rotating body 21 that is in contact with the floor. For example, four wheels 20a, 20b, 20
When the driving forces 22a, 22b, 22c, and 22d indicated by the arrows are obtained by rotating c and 20d in the same direction, the horizontal component of the driving force is canceled and the vertical driving force component is The directions of the driving forces that have been added and combined are the traveling direction 14 shown by the arrow. When each wheel is rotated in the reverse direction, the direction of the combined driving force is opposite to the traveling direction 14.

On the other hand, the driving force 22b of the wheel 20b is changed by the wheel 2
When the driving force is in the opposite direction to the driving force 22c of 0c, the components of the driving force in the vertical direction are canceled, the components of the driving force in the horizontal direction are added, and the direction of the combined driving force is clockwise from the traveling direction 14. It is rotated 90 degrees. Further, the driving force 22a of the wheel 20a is equal to the driving force 2 of the wheel 20d.
In the case of the direction opposite to 2d, the vertical driving force component is canceled, the horizontal driving force component is added, and the combined driving force direction is 90 degrees counterclockwise from the traveling direction 14. It is the direction of rotation.

Further, if the rotational speeds of the left and right wheels are made different, the wheels can be moved in directions other than up, down, left and right. For example, rather than the rotational speeds of the wheels 20a, 20d, the wheels 20b,
If the rotation speed of 20c is slowed down, it moves in the direction of the angle rotated clockwise from the traveling direction 14. In addition, the wheels 20a, 2
If the rotational speeds of the wheels 20b and 20c are made faster than the rotational speed of 0d, the wheels 20b and 20c move in the direction of the angle rotated counterclockwise from the traveling direction 14. In this way, by individually controlling the rotation direction (forward rotation and reverse rotation) and the number of rotations of each wheel, it is possible to move in any direction.

[0007]

However, in the above-mentioned wheel called the Mecanum wheel, since the free rotating body is arranged at an angle of 45 degrees with respect to the axle, the wheel is arranged over the entire circumference of the outer peripheral portion of the wheel. Not only is the structure very complex, but it is also heavy. Therefore, there is a problem that the weight of the entire vehicle becomes heavy and the exercise performance cannot be sufficiently exhibited. The present invention has been made to solve such problems, and by simplifying the wheel structure,
The purpose is to improve athletic performance.

[0008]

According to claim 1 of the present invention,
In order to simplify the wheel structure and reduce the weight, at least 3 different linear movement directions are provided on the bottom of the base.
In a wheel of an omnidirectional vehicle in which a set of wheels is provided and the amount of movement of each of the wheels is controlled to allow the base to move in a specific direction or rotate in a specific direction,
The wheel has a hub fitted to a drive shaft, an outer ring,
The wheel structure of the omnidirectional vehicle is composed of a connection support portion that connects the hub and the outer peripheral ring, and a plurality of rotating bodies are rotatably supported on the outer peripheral ring about the outer peripheral ring.

According to a second aspect of the present invention, the connecting support portion connecting the hub and the outer peripheral ring is a compression member. In the present invention,
Since only the bending load is applied to the outer peripheral ring due to the wheel structure, the outer peripheral ring can be made thin and lightweight. In the third aspect, the connecting support portion connecting the hub and the outer peripheral ring is the tension member, and the connecting support portion can be made thin to reduce the weight.

According to a fourth aspect of the present invention, the outer peripheral ring is manufactured by fitting a cylindrical bush on the outer peripheral portion of the outer peripheral ring, and rotatably supporting the rotating body on the outer peripheral portion of the bush. It's easy. Further, according to the fifth aspect, the outer peripheral portion of the rotating body is formed of an elastic body to reduce vibration and noise generated when the wheel rotates.

According to a sixth aspect of the present invention, the outer peripheral ring has a polygonal shape, and the rotating body is pivotally supported by a linear portion of the polygon, so that the supporting structure of the rotating body is simplified. Further, according to claim 7, the rotating body and the outer peripheral ring are fitted with each other through a bearing so that the rotational resistance of the rotating body becomes extremely small.

According to an eighth aspect of the present invention, the outer shape of the rotating body is formed into a barrel shape, and the outer peripheral line of the rotating body and the outer peripheral line of the outer peripheral ring are concentric circles. Has been reduced. Further, according to claim 9, the rotating body is formed into a spherical shape, and the outer peripheral line of the wheel and the outer peripheral line of the rotating body are made to coincide with each other, thereby reducing vibration and noise generated when the wheel rotates, It facilitates the manufacture of rotating bodies.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail below with reference to the drawings. FIG. 1 shows an example of a first embodiment of the present invention, in which (a) is a side view of a wheel,
(B) is an enlarged side sectional view showing a mounted state of the rotating body. In FIG. 1, a wheel 1 includes a hub 2, an outer peripheral ring 3,
It is composed of a rotating body 4 and a connecting support portion 5. The hub 2 is fitted to a drive shaft (not shown). The outer peripheral ring 3 is a circular rod-shaped or hollow rod. The rotating body 4 is rotatably rotatably supported with an appropriate gap provided on the outer peripheral portion of the outer peripheral ring 3. At the mounting portion of the rotating body 4, as shown in FIG. 1 (b), the contact area in the circumferential direction between the inner diameter portion of the hole of the rotating body 4 and the outer peripheral portion of the outer peripheral ring 3 is narrowed so that the rotating body 4 becomes smooth. The inner diameter of the hole of the rotator 4 is slightly larger than the outer diameter of the outer peripheral ring 3 so that the rotor 4 can rotate.

The connection support portion 5 connects the hub 2 and the outer peripheral ring 3 and is formed radially from the hub 2 in the direction of the outer peripheral ring 3. With such a structure, when the wheel 1 receives the driving force from the drive shaft and rotates, the outer peripheral portion of the rotating body 4 contacts the floor, and the friction force generated on the contact surface causes the wheel to obtain the driving force. . Conventional Mecanum
Since the structure of the portion that axially supports the rotating body 4 is simpler than that of the wheel, the wheel width in the axial direction can be markedly reduced and the weight of the wheel can be reduced.

2A and 2B show an example of the second embodiment of the present invention. FIG. 2A is a side view of a wheel, and FIG. 2B is an enlarged cross-sectional view of a connection support portion. In FIG. 2B, the connection support portion 5a is formed of a compression member formed of a hollow pipe. The compression member is lightweight, yet has sufficient strength to withstand a compression force when applied, and is fixed to the hub 2a and the outer peripheral ring 3a by screwing or welding. It is the rotor 4a that is in contact with the floor that receives the weight of the omnidirectional vehicle,
A connecting support portion 5a is formed by sandwiching the outer peripheral ring 3a, which is the axis thereof, and the rotating body 4a in the circumferential direction. Outer ring 3a
1 pitch, the bending load is applied from the rotating body 4a only once per one rotation of the wheel. Therefore, the outer ring 3
The weight a can be made thin by reducing the fatigue fracture limit. The wheel structure and functions other than the connection support portion 5a are the same as those in the first embodiment.

FIGS. 3A and 3B show an example of the third embodiment of the present invention. FIG. 3A is a side view of a wheel, and FIG. 3B is an explanatory view showing a fastening state of a connection support portion. In FIG. 3B, the connection support portion 5b is formed of a tensile member such as a wire or a rod. The tension member is lightweight and has strength enough to withstand a tensile force when applied, and is fixed to the hub 2b and the outer peripheral ring 3b by welding or screwing. When the weight of the omnidirectional vehicle is added to the hub 2b, the hub 2b is connected to the rotor 4b that is in contact with the floor, and the connecting support portion 5 is located near the opposite side by 180 degrees.
b is pulled, and the load is transmitted to the rotating body 4b that contacts the floor via the outer peripheral ring 3b. Since the connecting and supporting portion 5b receives a tensile force only once per one rotation of the wheel, the connecting and supporting portion 5b can be made thin and lightweight so as not to cause fatigue failure. The wheel structure and functions other than the connection support portion 5b are the same as those in the first embodiment.

FIG. 4 is an enlarged side sectional view of an essential part showing an example of the fourth embodiment of the present invention. In FIG. 4, the rotating body 4
A bush 6c is rotatably supported at the center of c.
The outer peripheral surface of the bush 6c is formed in a cylindrical shape, and is rotatably inserted into the inner peripheral surface of the rotating body 4c. Also,
The hole of the bush 6c is formed in a shape along the curved surface of the outer peripheral ring 3c and is fixed to the outer peripheral portion of the outer peripheral ring 3c.
It functions as an axis for the rotating body 4c. Also,
As another embodiment, the rotating body 4c is formed of an elastic body. Since the elastic body is formed into a cylindrical shape or a spherical shape using rubber, plastic, or the like, it has elasticity and has a shock absorbing ability when it comes into contact with the floor surface. Therefore, with such a configuration, it is possible to reduce the vibration and noise generated by the contact between the rotating body 4c and the floor surface when the wheels rotate. The wheel structure and functions other than the rotating body 4c and the bush 6c are the same as those in the first embodiment.

FIG. 5 is an enlarged side view of essential parts of a wheel showing an example of the fifth embodiment of the present invention. In FIG. 5, the outer peripheral ring 3d is formed in a polygonal shape, and each corner 31d of the polygonal shape of the outer peripheral ring 3d and the hub are connected by a connection support portion 5d. The rotating body 4d is rotatably supported by the linear portion of the outer peripheral ring 3d. The wheel structure and functions other than the outer peripheral ring 3d are the same as those in the first embodiment.

FIG. 6 is an enlarged side sectional view of an essential part of a wheel showing an example of a sixth embodiment of the present invention. In this embodiment, the bearing 7e is fitted between the outer peripheral ring 3e and the rotating body 4e. As the bearing 7e, a rolling bearing, a sliding bearing, a thrust bearing, a radial bearing, or the like can be used, and a rolling bearing is most preferable. The wheel structure and functions other than the rotating body 4e and the bearing 7e are the same as those in the first embodiment.

FIG. 7 is a side view of essential parts of a wheel showing an example of the seventh embodiment of the present invention. In FIG. 7, the rotating body 4f
Is formed in a barrel shape in which the outer diameter gradually increases from both ends to the central portion, and is rotatably supported by the outer peripheral ring 3f. The outer peripheral line 8f of the rotating body 4f and the outer peripheral line of the outer peripheral ring 3f are concentric circles. Therefore, the impact caused by the contact of the rotating body 4f with the floor surface during wheel rotation is mitigated, and vibration and noise are reduced. The wheel structure and functions other than the rotating body 4f are the same as those in the first embodiment.

FIG. 8 is a side view of the essential parts of a wheel showing an example of the eighth embodiment of the present invention. In FIG. 8, the rotating body 4g
Has a spherical outer shape. Thereby, the seventh
In addition to having the same effect as the embodiment, since the rotating body 4g is spherical, it can be made lighter than the barrel.
The wheel structure and functions other than the rotating body 4g are the same as those in the first embodiment.

FIG. 9 is a view showing an arrangement example of wheels of an omnidirectional vehicle according to the present invention. In FIG. 9, the wheels arranged at the four corners of the base A are arranged at predetermined angles with respect to the outer frame sides of the base A. In the present embodiment, the axles 9a and 9d and 9b and 9c of the respective wheels are on coaxial lines, the axes 9a and 9d are orthogonal to the axes 9b and 9c, and the wheels 9a, 9b, 9c, When 9d is driven, a driving force is generated in the in-plane direction of each wheel. For example, the wheels 9a, 9b, 9c, 9d are rotated in the directions of the arrows to drive the respective driving forces 10a, 10b, 10c, 10d.
Thus, the vertical driving forces of the wheels 9a and 9b and the wheels 9c and 9d cancel each other out. Also, wheels 9
The driving forces in the left and right directions of a and 9b and wheels 9c and 9d are added respectively. Therefore, all the wheels 9a, 9
When the driving forces of b, 9c, and 9d are combined, they move in the traveling direction 11.

FIG. 10 is a diagram showing another operation example.
Rotate the wheels 9a, 9b, 9c, 9d in the directions of the arrows,
When the driving forces 10a, 10b, 10c and 10d are obtained, the vertical driving forces of the wheels 9a and 9b and the wheels 9c and 9d cancel each other out. Further, the lateral driving forces of the wheels 9a and 9b and the wheels 9c and 9d are added, respectively. Therefore, all wheels 9a, 9b, 9c, 9d
When the driving forces of (1) and (2) are combined, the traveling direction becomes 12, which is opposite to the traveling direction 11.

FIG. 11 is a diagram showing another operation example.
Rotate the wheels 9a, 9b, 9c, 9d in the directions of the arrows,
When the driving forces 10a, 10b, 10c and 10d are obtained, the driving forces in the left and right directions of the wheels 9a and 9c and the wheels 9b and 9d cancel each other out. Further, the vertical driving forces of the wheels 9a and 9c and the wheels 9b and 9d are added, respectively. Therefore, all wheels 9a, 9b, 9c, 9d
When the driving forces of 1 are combined, it becomes the traveling direction 13, which is a direction rotated 90 degrees clockwise from the traveling direction 11.

FIG. 12 is a diagram showing another operation example.
Rotate the wheels 9a, 9b, 9c, 9d in the directions of the arrows,
When the driving forces 10a, 10b, 10c and 10d are obtained, the driving forces in the left and right directions of the wheels 9a and 9c and the wheels 9b and 9d cancel each other out. Further, the vertical driving forces of the wheels 9a and 9c and the wheels 9b and 9d are added, respectively. Therefore, all wheels 9a, 9b, 9c, 9d
When the driving forces of 1 are combined, the traveling direction becomes 14, which is a direction rotated 90 degrees counterclockwise from the traveling direction 10.

FIG. 13 is a diagram showing another operation example.
Rotate the wheels 9a, 9b, 9c, 9d in the directions of the arrows,
When the driving forces 10a, 10b, 10c and 10d are obtained, it is 15
Turn like the arrow shown in. When it is desired to turn in the direction opposite to the direction of the arrow indicated by 15, the wheel 9
Rotate a, 9b, 9c, 9d in the opposite direction to the direction shown,
It suffices to obtain a driving force in the direction opposite to that shown in the drawing.

FIG. 14 is a view showing an arrangement example of wheels according to another embodiment of the present invention. In FIGS. 9 to 13 described above, four wheels are attached to the bottom of the base, but as shown in FIG. 14, three sets of different linear movement directions are provided on the bottom of the base. By providing wheels and controlling the amount of movement of each wheel, a wheel structure for an omnidirectional vehicle having the same function as described above can be obtained.

In FIG. 9, when the rotational speeds of the wheels 9a and 9d are smaller than the rotational speeds of the wheels 9c and 9d, the traveling direction of the omnidirectional vehicle is counterclockwise than the traveling direction 11. It will rotate to some extent. When the rotation speeds of the wheels 9a and 9d are set higher than the rotation speeds of the wheels 9c and 9d, the traveling direction of the omnidirectional vehicle is
It is a direction that is rotated clockwise to some extent from the traveling direction 11. In this way, the omnidirectional vehicle can move in all directions by individually controlling the rotation directions and the rotation speeds of the wheels 9a, 9b, 9c, 9d, and the turning operation can be performed in a small turn.

[0029]

Since the wheel structure of the omnidirectional vehicle according to the present invention is constructed as described above, the wheel structure is simpler than that of the conventional omnidirectional vehicle. It is possible to provide an omnidirectional vehicle that is light in weight and has excellent maneuverability and operability.

[Brief description of drawings]

FIG. 1 shows an example of a first embodiment of the present invention,
(A) is a side view of a wheel, (b) is an enlarged side sectional view showing a mounted state of a rotating body.

FIG. 2 shows an example of a second embodiment of the present invention,
(A) is a side view of a wheel, (b) is an enlarged sectional view of a connection support part.

FIG. 3 shows an example of a second embodiment of the present invention,
(A) is a side view of a wheel, (b) is explanatory drawing which shows the fastening state of a connection support part.

FIG. 4 is an enlarged side sectional view of an essential part showing an example of a fourth embodiment of the present invention.

FIG. 5 is an enlarged side view of essential parts of a wheel showing an example of a fifth embodiment of the present invention.

FIG. 6 is an enlarged side sectional view of an essential part of a wheel showing an example of a sixth embodiment of the present invention.

FIG. 7 is an enlarged side view of essential parts of a wheel showing an example of a seventh embodiment of the present invention.

FIG. 8 is an enlarged side view of a main part of a wheel showing an example of an eighth embodiment of the present invention.

FIG. 9 is a diagram showing an arrangement example of wheels of an omnidirectional vehicle according to the present invention.

FIG. 10 is a diagram showing another operation example of the present invention.

FIG. 11 is a diagram showing another operation example of the present invention.

FIG. 12 is a diagram showing another operation example of the present invention.

FIG. 13 is a diagram showing another operation example of the present invention.

FIG. 14 is a view showing an arrangement example of wheels according to another embodiment of the present invention.

FIG. 15 is a perspective view of a conventional Mecanum wheel wheel.

FIG. 16 is an operation diagram of a vehicle in which conventional Mecanum wheels are arranged on the vehicle body.

[Explanation of symbols]

1, 9a-9d, 20, 20a-20d wheels 2, 2a, 2b hub 3, 3a-3g Outer ring 4, 4a-4g, 21 rotating body 5, 5a to 5g Connection support member 6c bush 7e bearing 8 wheel periphery 10a to 10d, 21a to 21d Driving force 11, 12, 13, 14 Direction of travel 15 Turning direction A, B body

Claims (9)

[Claims] 1. A bottom portion of a base is provided with at least three sets of wheels each having a different linear movement direction, and by controlling the amount of movement of each of the wheels, the base is moved in a specific direction or in a specific direction. In a wheel of an omnidirectional vehicle capable of rotating in an axial direction, the wheel comprises a hub fitted to a drive shaft, an outer peripheral ring, and a connecting support portion connecting the hub and the outer peripheral ring. A wheel structure for an omnidirectional vehicle, wherein a plurality of rotating bodies are rotatably supported around the outer peripheral ring as an axis. 2. The wheel structure for an omnidirectional vehicle according to claim 1, wherein, in the wheel, a connection support portion that connects the hub and the outer peripheral ring is a compression member. 3. The wheel structure for an omnidirectional vehicle according to claim 1, wherein, in the wheel, a connection support portion that connects the hub and the outer peripheral ring is a tension member. 4. The omnidirectional wheel according to claim 1, wherein in the wheel, a bush is rotatably supported on an inner peripheral portion of a rotating body, and the bush is fixed to an outer peripheral ring. Wheel structure of moving vehicle. 5. The wheel structure for an omnidirectional vehicle according to claim 4, wherein an outer peripheral portion of the rotating body of the wheel is formed of an elastic material. 6. The wheel according to claim 1, wherein the outer peripheral ring is formed in a polygonal shape, and each rotating body is axially supported by a straight portion of the outer peripheral ring. The wheel structure of the omnidirectional vehicle described. 7. The omnidirectional vehicle according to claim 1, wherein, in the wheel, a rotating body and an outer peripheral ring are fitted via a bearing. Wheel structure. 8. The wheel structure for an omnidirectional vehicle according to claim 1, wherein in the wheel, an outer peripheral line of the rotating body and an outer peripheral line of the outer peripheral ring are concentric circles. 9. The wheel structure for an omnidirectional vehicle according to claim 8, wherein a rotating body is formed in a spherical shape in the wheel. Electric wheelchair wheel structure.