JP2010215082A - Omnidirectional moving device of sphere driving type - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an omnidirectional moving device of a sphere driving type which can restrain its manufacturing cost from increasing, and has four spheres which prevent its running stability from easily being disturbed due to the condition of a floor surface. <P>SOLUTION: The omnidirectional moving device 10 of the sphere driving type includes: the four spheres 1-4 whose centers form a rectangle or a square in its planar view; and a first to a fourth driving force transmission mechanisms 12-15 each provided with pairs of rollers (31, 32), (33, 34), (35, 36), (37, 38) which abut on the peripheral surfaces of the spheres (4, 1), (1, 2), (2, 3), (3, 4) adjoining to each other. The rollers (37, 38) can be driven and rotated so as to be synchronized with rollers (33, 34). A first to a third motors 16-18 each provided in the first to the third driving force transmission mechanisms 12-14 are each driven by a first controller 71 and a first driver 74, a second controller 72 and a second driver 75, and a third controller 73 and a third driver 76. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

The present invention relates to a sphere-driven omnidirectional movement device capable of omnidirectional movement and pivot turn on a floor surface, and can be used for, for example, a conveyance carriage (AGV), a conveyance robot, an electric vehicle, a home robot, an electric wheelchair, etc. The present invention relates to a spherical drive type omnidirectional movement device.

The sphere-driven omnidirectional movement device has a simple structure that enables omnidirectional translation and rotation on the floor, and has features such as being less susceptible to uneven speed in movement in any direction on the floor. .
As such a moving device using a sphere driving method, for example, there is a three-sphere moving device in which one driving motor is provided for each of three spheres (see, for example, Non-Patent Document 1).
However, this sphere-driven three-ball type moving device is used as, for example, a transport carriage, and when traveling with a load placed on a mounting table arranged at the top of the moving device, depending on the position of the center of gravity of the load. , Behavior during running may become unstable.

This is because the three-ball mobile device touches the floor surface with three spheres at three points, and the center of gravity of the load has a greater influence on the behavior during travel than other mobile devices that touch the floor surface with four or more points. by.
In addition, even if a uniform weight is applied to the three contact points of the three-ball moving device and the floor surface in a stationary state, the frictional force generated between one of the spheres and the floor surface is affected by the unevenness of the floor surface. When it is smaller than other spheres, running may become extremely unstable.

Naoki Matsumoto, Shigeru Takeda, Shinji Iida, Masatsugu Ito, “Movement and control of omnidirectional movement mechanism using three spheres”, Transactions of the Japan Society of Mechanical Engineers, August 1994, Vol. 60, No. 576, p. 266-273

Therefore, a four-ball type moving device having four spheres in contact with the floor surface has been proposed as a moving device having higher stability during traveling than the three-ball type moving device in contact with the floor surface at three points. Yes.
As one form of the four-ball type moving device, there are four driving force transmission mechanisms each provided with a motor, and the driving force transmission mechanisms are arranged in contact with the four spheres from two different horizontal directions. A driving force can be applied so that each sphere rotates in any direction on the floor surface, and one controller and driver are used for each motor, and there are four controllers, drivers, and motors. It is done.

In order for this four-ball type moving device to move in a desired direction and change direction (pivot turn), it is only necessary to control the rotational speed and direction of each motor. In addition, the configuration for realizing the control of the rotation speed and the rotation direction of each motor is difficult to simplify, and if the configuration is complicated, the manufacturing cost of the moving device is increased.
Therefore, it is one of the problems to simplify this configuration and reduce the manufacturing cost.
Further, this four-ball type moving device has four controllers, drivers, and motors, but if these numbers can be reduced, it is possible to provide a moving device excellent in economy with reduced manufacturing costs.

It is an object of the present invention to provide a sphere-driven omnidirectional movement device that has four spheres, can be manufactured at a low cost, and realizes stable travel.

The sphere-driven omnidirectional movement device according to the present invention that meets the above-mentioned object is arranged to be rollable at the bottom of the carriage main body and the carriage main body, and each spherical center forms a rectangle or a square in plan view. In a sphere-driven omnidirectional mobile device having four spheres 1 to 4,
Peripheral surfaces of the spheres (4, 1), (1, 2), (2, 3), (3, 4) that are attached to the cart body and are adjacent to each other among the four spheres 1 to 4 The first to fourth driving force transmission mechanisms each having a pair of rollers that are in contact with each other and synchronously rotate in the same direction, and the pair of rollers provided to the fourth driving force transmission mechanism are the second drive. A power control mechanism that can be driven to rotate in synchronization with the pair of rollers provided in the force transmission mechanism;
The first to third driving force transmission mechanisms are provided with first to third motors that respectively apply driving force to the first to third driving force transmission mechanisms, respectively. The motors are driven by a first controller and a first driver, a second controller and a second driver, a third controller and a third driver, respectively.

In the sphere-driven omnidirectional movement device according to the present invention, the second motor has a smaller motor capacity (output) than the first and third motors, and the fourth driving force transmission mechanism includes the first motor. And a second motor that is driven by the second controller and the second driver to provide a driving force to the pair of rollers provided in the fourth driving force transmission mechanism is equal to the second motor. And the power control mechanism rotates the pair of rollers provided in the fourth driving force transmission mechanism in the same direction in synchronization with the pair of rollers provided in the second driving force transmission mechanism. It is preferable to have an electric control unit that can be synchronously rotated in the reverse direction.

In the sphere-driven omnidirectional movement device according to the present invention, the power control mechanism is provided in the fourth driving force transmission mechanism, and a rotational force is applied to the pair of rollers provided in the fourth driving force transmission mechanism. A toothed pulley to be applied, a shaft connected to the output shaft of the second motor, the drive of the second motor being transmitted to the input shaft of the toothed pulley, and the toothed pulley being rotatable. It is also possible to have a clutch for turning on and off the drive transmission to the toothed pulley by connecting the shaft to the input shaft and disconnecting it from the input shaft.

In the sphere driven omnidirectional movement device according to the present invention, it is preferable that the spheres 1 to 4 are attached to the cart body via a ball caster.
In the sphere drive omnidirectional movement device according to the present invention, each of the first to fourth driving force transmission mechanisms may include power transmission means for transmitting one rotation of the two pairs of rollers to the other. preferable.

In the sphere-driven omnidirectional movement device according to the present invention, the power transmission means is provided on a pair of auxiliary teeth mounted on the same axis of the two pairs of rollers and the pair of auxiliary teeth mounted on the vehicle. It is preferable to have a meshing belt or chain.
In the sphere driven omnidirectional movement device according to the present invention, the spheres 1 to 4 are preferably spheres having the same radius.

Since the sphere-driven omnidirectional movement device according to any one of claims 1 to 7 travels in contact with the floor surface at four points with four spheres arranged so as to be able to roll on the bottom of the carriage body, Compared to the moving device in contact with it, it is less affected by the position of the center of gravity of the load placed on the carriage body, and furthermore, the friction force generated between one of the spheres and the floor surface is generated in the other spheres due to the unevenness of the floor surface. Even if it becomes smaller than the thing, driving is not likely to become unstable.
In addition, since the spherical center of the sphere forms a rectangle or a square when viewed in plan, the length of the luggage placed on the cart body compared to a rectangle or a rectangle other than a square or a rectangle other than a square with the same side length. The influence of the position of the center of gravity on the running stability can be reduced.

In particular, the spherically driven omnidirectional movement device according to claim 2 is configured such that the pair of rollers provided in the fourth driving force transmission mechanism is synchronized with the pair of rollers provided in the second driving force transmission mechanism in the same direction. In addition to being driven to rotate, it can also be driven to rotate in the opposite direction synchronously, so that translational motion and rotational motion that do not change the relative direction with respect to the floor surface of the cart body can be stably performed.
Further, both the second and fourth motors have smaller motor capacities (outputs) than the first and third motors, and are driven by the same controller and driver. The manufacturing cost can be reduced as compared with the case of using the same capacity as that of the three motors or the case of using one set of controller and driver for each motor.

The sphere-driven omnidirectional movement device according to claim 3 can rotationally drive a toothed pulley that rotates a pair of rollers provided in the fourth driving force transmission mechanism by driving the second motor. Therefore, the pair of rollers provided in the fourth driving force transmission mechanism is synchronized with the pair of rollers provided in the second driving force transmission mechanism in the same direction. Besides rotating, it is possible not to rotate in synchronization.

In the sphere-driven omnidirectional moving device according to claim 4, since the spheres 1 to 4 are attached to the carriage main body via ball casters, the position of the sphere center and the carriage main body in the direction perpendicular to the floor surface. The distance between them can be kept constant, and the spheres 1 to 4 can roll without generating a large resistance between the spheres 1 and 4.
In the spherical drive type omnidirectional movement device according to claim 5, since one rotation of the roller of the driving force transmission mechanism is transmitted to the other roller by the power transmission means, the power transmission means contacts the pair of rollers. A stable rotational force in the same direction can be given to two spheres in contact.

The sphere-driven omnidirectional movement device according to claim 6 is provided with auxiliary teeth since the power transmission means includes an auxiliary toothed wheel on which the two rollers are coaxially mounted and a belt or a chain meshing with them. One rotation of the roller can be transmitted to the other without slippage between the car and the belt or chain.
Since the spheres 1 to 4 have the same radius, the sphere-driven omnidirectional movement device according to claim 7 can easily control the spheres to travel without causing slippage with the floor surface.

1 is a partially omitted plan view of a sphere-driven omnidirectional moving device according to a first embodiment of the present invention. It is a partially omitted front view of the same sphere driven omnidirectional movement device. It is a block diagram which shows control of the same spherical body drive type omnidirectional movement apparatus. It is explanatory drawing of operation | movement of the same spherical body drive type omnidirectional movement apparatus. (A), (B), (C), (D) is explanatory drawing of operation | movement of the same spherical body drive type omnidirectional movement apparatus. FIG. 6 is a partially omitted plan view of a sphere-driven omnidirectional moving device according to a second embodiment of the present invention. It is a partially omitted front view of the same sphere driven omnidirectional movement device. It is a block diagram which shows control of the same spherical body drive type omnidirectional movement apparatus. It is explanatory drawing of operation | movement of the same spherical body drive type omnidirectional movement apparatus. It is explanatory drawing of operation | movement of the same spherical body drive type omnidirectional movement apparatus.

Next, embodiments of the present invention will be described with reference to the accompanying drawings for understanding of the present invention.

As shown in FIGS. 1 and 2, a sphere-driven omnidirectional moving device (hereinafter also simply referred to as “moving device”) 10 according to the first embodiment of the present invention includes a cart body 11 and a cart body 11. Four spheres 1 to 4 having the same radius, which are arranged so as to be able to roll on the bottom of each of the spheres and form a square when viewed in plan, and spheres (4, 1) located next to each other , (1,2), (2,3), (3,4) and a pair of rollers (31, 32), (33, 34), (35, 36) and (37, 38), the first to fourth driving force transmission mechanisms 12 to 15, respectively.
The first to fourth driving force transmission mechanisms 12 to 15 are respectively provided with first to fourth motors 16 to 19 that give driving force, and the moving device 10 drives the first to fourth motors 16 to 19. To move in an arbitrary direction on the horizontal floor 20.

The first to fourth driving force transmission mechanisms 12 to 15 are fixed to the carriage main body 11 by a support member 21 having a bearing and a housing (not shown) therein.
The carriage body 11 includes a mounting table 22 made of a square flat plate, and a total of eight side plates 24 attached via a height adjusting member 23 at positions below the mounting table 22 and having spheres 1 to 4 inside. have. Inside each side plate 24, wheel type casters 25 are attached via four long bolts 26, and each wheel type caster 25 abuts the spheres 1-4 from two different horizontal directions. The guide wheels 27 that roll are provided.
More precisely, the angle formed by the directions of the two guide wheels 27 contacting the spheres 1 to 4 from different directions is a right angle, and the height position of the guide wheels 27 is the centroid height of the spheres 1 to 4. It is arranged to be the same.
The four bolts 26 are urged toward the inside of the mounting table 22 by springs 28 so that the wheel casters 25 abut against the peripheral surfaces of the spheres 1 to 4 with a constant pressure.

A ball caster 29 is provided at each of the bottom surfaces near the four corners of the mounting table 22 and at the spherical center positions of the spheres 1 to 4, and each ball caster 29 has one rollable ball 30 having the same radius. is doing.
The first to fourth driving force transmission mechanisms 12 to 15 are respectively attached to the bottom of the mounting table 22 via two support members 21 and are paired spheres (4, 1), (1, 2), (2 3), (3, 4), two rollers (31, 32), (33, 34), (35, 36), (37, 38) in contact with the peripheral surface.
These rollers 31 to 38 have the same radius and are respectively attached to the lower part of the support member 21 via the rotation shaft 39 so as to be rotatable at the sphere center height positions of the spheres 1 to 4. Are provided with auxiliary teeth-equipped wheels 41 to 48 that have the same axial center and angular velocity as the rollers 31 to 38, respectively.
In addition, all the wheels 41-48 with an auxiliary tooth have the same radius.

The pair of auxiliary toothed wheels (41, 42), (43, 44), (45, 46), and (47, 48) are spanned so that the toothed belts 49 to 52 mesh with each other. Here, a pair of auxiliary toothed wheels (41, 42), (43, 44), (45, 46), (47, 48) and toothed belts 49 to 52 corresponding to the paired wheels are paired. Power transmission means for transmitting one rotation of the roller to the other is formed.
The first to fourth driving force transmission mechanisms 12 to 15 are provided with first to fourth motors 16 to 19, respectively, and are driven by the first to fourth motors 16 to 19 so that their output shafts have shaft axes. The power toothed wheels 53 to 56 fixed so as to be the same are rotated in synchronization with the driving of the first to fourth motors 16 to 19, respectively, and are engaged with the power toothed wheels 53 to 56. The toothed belts 57 to 60 are driven.
As the power toothed belts 57 to 60 are driven, the transmission toothed wheels 61 to 64 meshing with the power toothed belts 57 to 60 rotate in the same direction in synchronization with the power toothed wheels 53 to 56, respectively. The transmission toothed wheels 61 to 64 all have the same radius.

Then, in synchronization with the rotation of the transmission toothed wheels 61 to 64, the auxiliary toothed wheels 42, 44, 46, and 48 having the same shaft center and angular velocity as the transmission toothed wheels 61 to 64 rotate, The toothed belts 49 to 52 meshing with them are respectively driven, and the auxiliary toothed wheels 41, 43, 45 and 47 are rotated in accordance with the driving.
Incidentally, the pair of auxiliary toothed wheels (41, 42), (43, 44), (45, 46), (47, 48) are rotated in the same direction and the same angular velocity, respectively. The rollers (31, 32), (33, 34), (35, 36), (37, 38) are rotated in the same direction and the same angular velocity, respectively.

The first to fourth motors 16 to 19 are fixed to the bottom of the carriage body 11 and the driving speed (the angular speed of the rotational drive) is controlled, so that the first to fourth driving force transmission mechanisms 12 to 12 are controlled. The spheres 1 to 4 with which the 15 rollers 31 to 38 abut are rotated in a predetermined direction.
The second and fourth motors 17 and 19 can be controlled to switch in the same direction in synchronization with each other or in the opposite direction in synchronization with each other. The pair of rollers (33, 34) provided and the pair of rollers (37, 38) provided in the fourth driving force transmission mechanism 15 are synchronously rotated in the same direction or synchronously rotated in the opposite direction. Can be switched.

As shown in FIG. 3, the first to fourth motors 16 to 19 are driven by the first to third controllers 71 to 73 and the first to third controllers 71 to 73 connected to the first to third controllers 71 to 73, respectively. Controlled by an electric control unit 70 having third drivers 74 to 76 and a forward / reverse selector switch 77.
The first and third motors 16 and 18 are respectively driven by the first controller 71 and the first driver 74, the third controller 73 and the third driver 76, and the second and fourth motors 17 are driven. , 19 are both driven by the second controller 72 and the second driver 75.
Note that pulse motors are used as the first to fourth motors 16 to 19.
The first and third drivers 74 and 76 are electrically connected to the first and third motors 16 and 18, respectively, and the second driver 75 includes a second motor 17 and a forward / reverse selector switch 77. The forward / reverse changeover switch 77 is also connected to the second controller 72 via an electric circuit.
Each of the first to third controllers 71 to 73 converts drive instruction data corresponding to the first to third controllers 71 to 73 transmitted from a drive instruction unit (not shown) into a pulse signal, and each of the pulse signals is converted to a pulse signal. It transmits to the 1st-3rd drivers 74-76.

The first and third drivers 74 and 76 convert this pulse signal into a drive current, and drive the first and third motors 16 and 18 with this drive current.
The second driver 75 converts the received pulse signal into a drive current, and drives the second and fourth motors 17 and 19 at the same angular velocity by this drive current.
Further, the forward / reverse selector switch 77 switches the electric circuit in accordance with the output signal from the second controller 72 so that the rotation direction driven by the fourth motor 19 is the same direction as the second motor 17 or Switching control for reverse direction is performed.
Since the moving device 10 has three controllers and three drivers, the manufacturing cost can be reduced compared to a moving device having four controllers and four drivers for four motors.
Further, the second and fourth motors 17 and 19 have the same motor capacity (output) and are smaller in motor capacity than the first and third motors 16 and 18, for example, motors having a half motor capacity. Therefore, it is possible to employ a motor that is cheaper than using a motor having the same motor capacity as the first and third motors 16 and 18.
The electric control unit 70 and a drive instruction unit (not shown) constitute a power control mechanism.

As shown in FIGS. 1 and 2, each of the spheres 1 to 4 has a ball caster 29 from above the circumferential surface, a wheel caster 25 from two different horizontal directions (right angles), and two different horizontal directions. The rollers (32, 33), (34, 35), (36, 37), (38, 31) are in contact with each other and fixed to the carriage body 11, and the spheres 1 to 4 are rotated. The moving device 10 can move on the horizontal floor surface 20.
Since the spheres 1 to 4 are spheres having the same radius, the moving device 10 can keep the mounting table 22 parallel to the floor surface 20, and each of the spheres 1 to 4 has the floor surface 20. And easy control for traveling without slipping.
Furthermore, although the spheres 1-4 use hard elastic materials such as silicon resin and urethane resin, for example, iron, stainless steel, copper alloy, ceramic, plastic, and the like can be used as raw materials.

As shown in FIG. 4, a point located at the center of a square or rectangle formed by connecting the spheres P1 to P4 of the spheres 1 to 4 is the origin O, and d _x and _dy are positive values. x-axis relative to the origin O of the heart P1 to P4, the coordinates on the y-axis, respectively _{(d x, d y),} (- d x, d y), (- d x, -d y), (d _x , −d _y ).
Further, the angular velocity of the rotational motion relative to the floor 20 with respect to the origin O of the moving device 10 is defined as r _Z with the counterclockwise direction being positive, and the x component of the speed of the translational motion of the origin O with respect to the floor 20 is represented by v _x , the y-component and _{v y.}

As shown in FIGS. 5 (A), (B), (C), and (D), with respect to the rotation of the spheres 1 to 4, the respective angular velocities are expressed as w _1x , w _1y , w _2x , in the order of x component and y component. w _2y , w _3x , w _3y , w _4x , and w _4y, and w _1x , w _2x , w _3x , and w _4x are the rotation directions when the spheres 1 to 4 roll in the positive direction of the x-axis, respectively. And w _1y , w _2y , w _2y , and w _3y each have a positive direction as the rotation direction when the spheres 1 to 4 roll in the positive direction of the y-axis. Further, the angular velocities due to the rotation of the power toothed wheels 53 to 56 are λ ₄₁ , λ ₁₂ , λ ₂₃ , and λ ₃₄ , and the positive direction of these λ ₄₁ is λ ₄₁ when viewed from the positive to the negative direction of the x axis. ₁₂ is viewed from the positive to negative direction of the y-axis, λ ₂₃ is viewed from the negative to positive direction of the x-axis, and λ ₃₄ is viewed clockwise from the negative to positive direction of the y-axis.
Furthermore, the radius of the spheres 1 to 4 is r _B , and the radius of the power toothed wheels 53 to 56 is r _M.

_{Then, w 1x, w 1y, w} 2x, w 2y, w 3x, w 3y, w 4x, w 4y, v x, v y, the following relationship holds in the formula 1 below in r _Z.

_{Also, w 1x, w 1y, w} 2x, w 2y, w 3x, w 3y, w 4x, w 4y, λ 12, λ 23, λ 34, the lambda ₄₁ holds the relationship of Equation 2 below.

Therefore, the following equation 3 is established from equations 1 and 2.

When formula 3 is arranged, the relationship of formula 4 below is established between λ ₁₂ , λ ₂₃ , λ ₃₄ , λ ₄₁ and v _x , v _y , r _Z.

Equation 4 has a determinant consisting of 3 columns and 4 rows, and since this determinant is not a square matrix, an inverse matrix cannot generally be obtained.
Therefore, v _x , v _y , and r _Z cannot be uniquely determined from λ ₁₂ , λ ₂₃ , λ ₃₄ , and λ _41. This is because each of the first to fourth motors 16 to 19 is different from the other motors. In the case of rotationally driving without having a certain relationship, it means that the translational motion and rotational motion of the moving device 10 cannot be controlled in a predetermined direction and speed.
Therefore, λ ₁₂ , λ ₂₃ , and λ ₄₁ are independent values, and λ ₃₄ is a value that has a certain relationship with the values of λ ₁₂ , λ ₂₃ , and λ _41. The control will be described.
From Equation 4, λ ₁₂ , λ ₂₃ , λ ₄₁ and v _x , v _y , r _Z hold the relationship of Equation 5 below.

When an inverse matrix is obtained from the square matrix of Equation 5 and λ ₁₂ , λ ₂₃ , and λ ₄₁ relationships with respect to v _x , v _y , and r _Z are derived, Equation 6 below is obtained.

It can be seen from Equation 6 that v _x , v _y , and r _Z are uniquely determined by λ ₁₂ , λ ₂₃ , and λ ₄₁ .
Since the spherical centers P1 to P4 form a square, d _x and _dy have the same value, and after replacing these with d, λ ₃₄ and λ ₁₂ , λ ₂₃ , λ ₄₁ and Is derived, the following relationship is established.

Thus, ₁₂ and lambda ₃₄ shown in Equation 7 _lambda, lambda _23, if provided with a relationship between lambda _41, the mobile device 10 is a predetermined translation, although it is possible to rotational movement, of any to lambda ₃₄ In order to always have this relationship without giving a condition, a complicated control configuration is required.
When the relationship of Expression 7 is not satisfied, a large load is generated inside the moving device 10, and slipping or the like occurs between the spheres 1 to 4 and the rollers 31 to 38 that are in contact with the spheres 1 to 4. .
Therefore, in order to simplify the control of the driving of the first to fourth motors 16 to 19, the moving device 10 has a certain condition described below.
The relationship between the velocity components of the translational motion and the rotational motion of the moving device 10 with respect to λ ₁₂ and λ ₃₄ , that is, v _x , v _y , and r _Z is expressed by the following equations 8 and 9.

Equation 8, Equation 9 lambda _12, lambda ₃₄ are both _v x, and r _Z has a constant relationship indicates that no relationship to the _{v y.}
Accordingly, the driving of the second and fourth motors 17 and 19 affects the translational motion x-component and the rotational speed of the rotational motion, but does not affect the translational motion y-component. It will be. Here, to be precise, the operation of the moving device 10 means the operation of the origin O of the moving device 10, and so on.
In addition, the mutual relationship between λ ₁₂ and λ ₃₄ from Equations 8 and 9 is the same when the moving device 10 operates without the x component of the translational motion, and when the motioning device 10 operates without the rotational motion, the positive / negative is On the contrary, it becomes the same size.

Here, the kind that can physically be a translational motion, a rotational motion on the x-axis and a y-axis, or a motion that is a mixture of these is a translational motion that does not involve rotation, and a translational motion that includes only the x component (motion A). , Y translational motion (motion B), and x motion and y motion (motion C).
In addition, rotational motion that does not involve translation (motion D), rotational motion that involves translation of only the x component (motion E), and rotational motion that involves translation of only the y component (motion F) , A rotational motion (motion G) accompanied by a translational motion having an x component and a y component.
The operation having no x component of the translational motion described above means that the motion of the moving device 10 is motion B, motion D, and motion F, and the motion not involving rotational motion is the motion of the mobile device 10. It means A, operation B, and operation C.

Accordingly, when λ ₃₄ is the same as λ ₁₂ or the relationship where the sign is opposite and the same magnitude is always satisfied, the mobile device 10 may perform the operation A, the operation B, the operation C, the operation D, and the operation F. it can.
The relationship of λ ₃₄ with respect to λ ₁₂ indicates that the above-described fourth motor 19 that can be controlled by the moving device 10 is driven to rotate in the opposite direction synchronously with the second motor 17 or in the same direction synchronously. Is consistent with
Therefore, assuming that the forward and right directions of the moving device 10 are the positive directions of the y-axis and the x-axis, respectively, the moving device 10 translates right and left, back and forth, and diagonally without any change in direction (motion A, motion B, motion). C), in-situ swivel motion (motion D), and forward / backward translation motion (motion F) can be performed at a desired speed, moving device to move and change direction in a narrow place It is possible to realize the operation required for

Further, as compared with the control for determining the fourth motor 19 so as to satisfy the expression 7 without limitation, the fourth motor 19 is restrained only by the second motor 17 and is synchronized with the second motor 17 in the opposite direction. A configuration that satisfies only the rotational drive in the same direction or in the same direction is not complicated, and the cost for realizing this can be suppressed.
Further, it is assumed that the movement measure 10 has the main direction of the propulsion motion as the front and rear.
Therefore, the second and fourth motors 17 and 19 that give power to the moving device 10 are driven mainly to change the direction, and the first and third motors 16 and 18 that give power to the front and rear are mainly used. Driven for propulsion movement.
Therefore, an inexpensive motor having a smaller motor capacity than the first and third motors 16 and 18 can be adopted as the second and fourth motors 17 and 19.
In addition, the square formed by the spherical centers of the spheres 1 to 4 in plan view may be a rectangle, and a pair of auxiliary toothed wheels (41, 42), (43, 44), (45, 46), The toothed belts 49 to 52 meshed with each other (47, 48) may be chained.

Next, with reference to FIGS. 6-10, the spherical body drive type omnidirectional movement apparatus 90 which concerns on the 2nd Embodiment of this invention is demonstrated. In addition, description of a part number and detailed description are abbreviate | omitted about the component same as the moving apparatus 10. FIG.
As shown in FIGS. 6 and 7, the moving device 90 includes a toothed pulley 92 without the fourth motor, whereas the moving device 10 has the fourth motor 19. It is a feature. The second motor 91 of the moving device 90 is a pulse motor fixed to the bottom of the carriage body 11 and is provided in the second driving force transmission mechanism 13, and is driven by the second motor 91. The fixed power toothed wheel 54 is rotated with the same shaft center as the output shaft.

The toothed pulley 92 has the same radius as that of the power toothed wheel 54 and is fixed to the bottom of the carriage main body 11 by a support member 96 having a bearing and a housing (not shown) therein, and a fourth driving force transmission mechanism in plan view. It is arranged so as to be located near the center of 15.
Further, a shaft 94 connected to the output shaft of the second motor 91 by a fixing member 93 is provided on the axis of the second motor 91 on the opposite side where the power toothed wheel 54 is provided. It has been.
The shaft 94 is arranged coaxially with the toothed pulley 92, and is connected to the input shaft of the toothed pulley 92 by controlling an electromagnetic clutch 95 which is an example of a clutch provided between the shaft 94 and the toothed pulley 92. The toothed pulley 92 can be separated from the input shaft.
Therefore, when the shaft 94 is connected to the toothed pulley 92 by the electromagnetic clutch 95, the shaft 94 and the toothed pulley 92 rotate in the same direction synchronously, and the shaft 94 is separated from the toothed pulley 92. When this is the case, the toothed pulley 92 can be rotated without being constrained by the rotation of the shaft 94.

The toothed pulley 92 is a toothed wheel, and the power toothed belt 60 meshed with the outer periphery thereof is driven by the rotation of the toothed pulley 92, and the roller provided in the fourth driving force transmission mechanism 15 by the rotation of the toothed pulley 92. 37 and 38 rotate in the same direction synchronously.
Therefore, under the control of the electromagnetic clutch 95, the rotation of the pair of rollers (37, 38) provided in the fourth driving force transmission mechanism 15 at an arbitrary timing causes the pair of rollers (37, 38) provided in the second driving force transmission mechanism 13 ( It is possible to switch to the same direction in synchronism with the rotation of 33, 34) or not to synchronize.

As shown in FIG. 8, the driving of the first to third motors 16, 91, and 18 is performed by the first to third controllers 71, 101, 73 and the first to third controllers 71, 101, 73, respectively. It is controlled by the electric control unit 103 having the connected first to third drivers 74, 102, and 76 and the electromagnetic clutch 95.
The second driver 102 is connected to the second motor 91 and the second controller 101, and the second controller 101 is connected to the electromagnetic clutch 95.
The second controller 101 converts a drive instruction command (drive instruction command) and a clutch control command (clutch control command) transmitted from a drive instruction unit (not shown) into a pulse signal and a clutch on / off signal, respectively. To the driver 102 and the electromagnetic clutch 95 respectively.
The second driver 102 converts the pulse signal converted from the drive instruction signal into a drive current, and drives the second motor 91 with the drive current.

Further, the electromagnetic clutch 95 performs rotation transmission from the shaft 94 to the toothed pulley 92 by the pulse signal converted from the clutch control data from the second controller 101, and rotates the toothed pulley 92 to the second. Control whether to synchronize with the motor 91 in the same direction or not.
Since the moving device 90 has three controllers and three drivers, the manufacturing cost can be reduced compared to a moving device that has four controllers and drivers for four motors.
The electric control unit 103 having the electromagnetic clutch 95, the toothed pulley 92, the fixing member 93, the shaft 94, and a drive instruction unit (not shown) constitute a power control mechanism.

As shown in FIGS. 9 and 10, the operation of the moving device 90 also has the relations of Equations 1 to 9 by replacing the toothed pulley 56 in the moving device 10 with a toothed pulley 92. Here, the radius of the toothed pulley 92 is r _M , and the angular velocity by rotation is λ ₃₄ .
Since the moving device 90 can rotate the toothed pulley 92 in the same direction in synchronization with the second motor 91, λ ₃₄ can be set to the same value as λ _12, and the relational expressions of Expressions 8 and 9 satisfy this condition. Is when the value of r _z is 0 (zero), that is, when the moving device 90 proceeds by translational motion without motion (motion A, motion B, motion C).
Therefore, the moving device 90 can freely translate on the floor surface 20.

Further, assuming that the forward and right directions of the moving device 90 are the positive directions of the y-axis and the x-axis, respectively, when the electromagnetic clutch 95 is separated from the toothed pulley 92 and the shaft 94, the toothed pulley 92 is 2 can rotate without being synchronized with the driving of the motor 91, and the components in the x-axis direction of the rolling of the spheres 3, 4 are the frictional force with the floor surface 20 of the spheres 3, 4 and the configuration of the moving device 90. It is determined by the force received from the member.
Accordingly, the moving device 90 drives the second motor 91 to apply the rotational force in the x-axis direction to the spheres 1 and 2 while moving in the y-axis direction by driving the first and third motors 16 and 18. At the same time, by separating the toothed pulley 92 and the shaft 94, it is possible to change the direction in the x-axis direction while proceeding in the y-axis direction.

Therefore, the moving device 90 can perform a direction change, translational motion, and a mixed operation on the floor surface 20, and can realize an operation required for the moving device 90 when used in a narrow place.
Compared to a moving device having an unrestricted mechanism that satisfies Equation 7, the moving device 90 can be simplified in configuration, particularly in the part that controls the rolling direction and speed of each of the spheres 1 to 4. The overall manufacturing cost can be reduced and it is economical.

As mentioned above, although embodiment of this invention was described, this invention is not limited to above-described embodiment, The change in the range which does not change the summary of this invention is possible, Each above-mentioned The case where the sphere-driven omnidirectional moving device of the present invention is configured by combining some or all of the embodiments and modifications is also included in the scope of the right of the present invention.
For example, a servo motor other than the pulse motor can be used for the motor.

1-4: Sphere, 10: Sphere drive omnidirectional movement device, 11: Cart body, 12: First drive force transmission mechanism, 13: Second drive force transmission mechanism, 14: Third drive force transmission mechanism , 15: fourth driving force transmission mechanism, 16: first motor, 17: second motor, 18: third motor, 19: fourth motor, 20: floor surface, 21: support member, 22 : Mounting table, 23: height adjusting member, 24: side plate, 25: wheel caster, 26: bolt, 27: guide wheel, 28: spring, 29: ball caster, 30: ball, 31-38: roller, 39 : Rotating shaft, 41-48: car with auxiliary teeth, 49-52: toothed belt, 53-56: car with power tooth, 57-60: belt with power tooth, 61-64: car with transmission tooth, 70: Electric control unit 71: first controller 72: second controller Troller, 73: third controller, 74: first driver, 75: second driver, 76: third driver, 77: forward / reverse selector switch, 90: sphere-driven omnidirectional movement device, 91: first 2 motor, 92: toothed pulley, 93: fixed member, 94: shaft, 95: electromagnetic clutch, 96: support member, 101: second controller, 102: second driver, 103: electric control unit

Claims (7)

In a sphere-driven omnidirectional mobile device including a trolley body and four spheres 1 to 4 that are arranged to be rollable at the bottom of the trolley body and each sphere center forms a rectangle or square in plan view. ,
Peripheral surfaces of the spheres (4, 1), (1, 2), (2, 3), (3, 4) that are attached to the cart body and are adjacent to each other among the four spheres 1 to 4 The first to fourth driving force transmission mechanisms each having a pair of rollers that are in contact with each other and synchronously rotate in the same direction, and the pair of rollers provided to the fourth driving force transmission mechanism are the second drive. A power control mechanism that can be driven to rotate in synchronization with the pair of rollers provided in the force transmission mechanism;
The first to third driving force transmission mechanisms are provided with first to third motors that respectively apply driving force to the first to third driving force transmission mechanisms, respectively. A sphere-driven omnidirectional moving device, wherein the motor is driven by a first controller and a first driver, a second controller and a second driver, a third controller and a third driver, respectively. 2. The sphere-driven omnidirectional movement device according to claim 1, wherein the second motor has a smaller motor capacity than the first and third motors, and the fourth driving force transmission mechanism includes the second driving force transmission mechanism. A fourth motor that is driven by a controller and the second driver and has a motor capacity equal to that of the second motor to provide a driving force to the pair of rollers provided in the fourth driving force transmission mechanism; The power control mechanism is configured to rotate and drive the pair of rollers included in the fourth driving force transmission mechanism in the same direction in synchronization with the pair of rollers included in the second driving force transmission mechanism. A sphere-driven omnidirectional movement device having an electric control unit that can be driven to rotate in the reverse direction. 2. The sphere-driven omnidirectional movement device according to claim 1, wherein the power control mechanism is provided in the fourth driving force transmission mechanism, and a rotational force is applied to the pair of rollers provided in the fourth driving force transmission mechanism. A toothed pulley that provides rotation, and a shaft that is coupled to the output shaft of the second motor, and that can transmit the drive of the second motor to the input shaft of the toothed pulley to rotationally drive the toothed pulley; A spherically driven omnidirectional movement device comprising: a clutch for turning on and off drive transmission to the toothed pulley by connecting and disconnecting the shaft from the input shaft. 4. The sphere-driven omnidirectional movement device according to claim 1, wherein the spheres 1 to 4 are attached to the carriage main body via a ball caster. Omni-directional moving device. 5. The spherical body drive type omnidirectional movement device according to claim 1, wherein each of the first to fourth driving force transmission mechanisms transmits one rotation of the two pairs of rollers to the other. A sphere-driven omnidirectional movement device comprising power transmission means. 6. The sphere-driven omnidirectional moving device according to claim 5, wherein the power transmission means includes a pair of auxiliary toothed wheels mounted on the same axis of the two pairs of rollers and the paired auxiliary toothed wheels. A spherically driven omnidirectional moving device having a toothed belt or a chain meshing with each other. The sphere driven omnidirectional movement device according to any one of claims 1 to 6, wherein the spheres 1 to 4 are spheres having the same radius.

Images