JPS62120231A - Steering mechanism for omnidirectional mobile - Google Patents

Abstract

PURPOSE:To make it possible to obtain several kinds of omnidirectionally turning modes such as an omnidirectional mode, a car mode and a rotation mode with a simple structure, by devising a mechanism for controlling the rotations of steering shafts supporting respectively at least three wheels. CONSTITUTION:Steering shafts 21a through 21d (subscripts such as 'a', 'b'... will be hereinbelow omitted from reference numerals) are rotatably attached respectively to four corners of a vehicle body 20, each shaft 21 being provided at its lower end with an axle bearing 23 journalling a wheel 27 and in its upper section with a driven pulley 24. The rotation of a drive shaft 30 is transmitted to each wheel through the meshing of bevel gears 31, 38 while the drive shaft 30 is rotated by a traveling drive unit which is not shown in the drawing. Further, the above-mentioned driven pulley 24 is associated with a control pulley 33 rotatably supported on a slider 36 which may be slid along a guide shaft 40 by means of a slider drive unit 39, through drive belts 41, 42. Further, the control pulley 33 is rotated by means of a rotary drive unit 37 through an auxiliary belt 37c.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention 1] The present invention relates to a steering mechanism for an omnidirectional vehicle that has at least three or more wheels and travels by turning each wheel in an arbitrary direction.

[Background of the Invention] In general, there are two types of mobile vehicles that move on the floor using wheels: vehicle-type mobile vehicles that move while changing the direction of the vehicle body by steering the front wheels, and mobile vehicles that move while changing the direction of the vehicle body by steering the front wheels, and mobile vehicles that move by changing the direction of the vehicle body by changing the direction of all wheels. There are omnidirectional vehicles that move in all directions, forward, backward, left, right, and diagonally without changing their direction, but the above-mentioned vehicles have a large turning radius when changing the direction of travel, so for example, # = moving vehicles that move while changing direction in narrow spaces between desks, etc., such as office robots, moving vehicles that move according to a specified complex movement pattern, or moving vehicles that are required to change direction at a sharp angle, etc. 1-2 is not suitable. Therefore, omnidirectional vehicles are used that move in all directions without changing the direction of the vehicle body by changing the direction of all wheels.

[I. PRIOR ART M1 As a steering mechanism for an omnidirectional vehicle such as described in 42, there is a conventional steering mechanism constructed as shown in FIGS. 10(A) and 10(B). That is, in this type of steering mechanism, four steering shafts 2 and Φ are provided perpendicularly to the vehicle body l, and each of the vehicle bearings 3 at the lower end of the steering shafts 2 is made of a rubber tire or the like. The wheels 4-- are rotatably provided, and a pulley 5-- is provided on the upper part of each steering shaft 2--, and one belt 6 is wound around the pulley 5. 2 sliding shafts 2C and
The wheels are rotated by a predetermined angle (each 11", 4σ), 1c) -1 to change the running direction, 4, -, 4, in this case, the name wheels 4... are not shown. When the drive mode C is turned off, the vehicle moves in all directions (91, 7).

However, in such a steering mechanism, the rotation of one steering shaft 2 is transmitted to each steering shaft 2 at the wheel 4,
Since the direction of . . . is only changed in the same direction, the first
The all-direction mode shown in Figure 1 (A) (+i'ii straight-line travel in left, right, left, and diagonal directions) is 0 ■ possible, but the upper-back car shown in Figure 1 (B) is mode(
Various mechanisms by which the automatic type rotates) or the same figure (C
) It is not possible to perform the lobe mode (function such as pivoting) as shown in -.

[Second artificial technology] In addition to the above-mentioned steering mechanism, the first
As shown in Figure 2 (A) and (B), the front unit 7 and the rear unit are arranged so that each wheel 4 and fist operate separately on the front side (right side in the figure) and rear side (left side in the figure). There are 8 parts. That is, among these units 7.8,
The front unit 7 includes a drive unit 2 provided on the lower surface of the vehicle body l.
! Each driving shaft 9a of 9 is made to protrude toward the L side of the vehicle body 1, and is rotatably attached to the vehicle body 1 via a bearing 9b,
A driving pulley 10 is provided on each driving shaft 9a projecting upward, and a belt 11 is wound around the driving pulley 10 for transmitting the rotation to each pulley 5a, 5a of the right steering shaft 2a, 2a, Each front (right side) steering shaft 2a, 2a is appropriately rotated by a drive pulley lO which rotates forward and reverse by a drive unit 229, and each wheel 4a
, 4a in a predetermined direction. On the other hand, similarly to the front unit 7 described above, the rear unit 8 also includes a drive unit ff112, a drive pulley 13 provided on its driving shaft 12a, and a steering shaft 22 that rotates the drive pulley 13 provided on the drive shaft 12a.
The belt 14 transmits power to the pulleys 5b, 2b, and the rear (left side) steering shafts 2b, 2b are appropriately rotated by the drive boob 913, which is rotated +E and reversed by the drive device 12. The direction of the eleven wheels 4b, 4b is changed to a predetermined direction.

However, in such a steering mechanism, the front unit 7 and the rear unit 8 move independently, so the omnidirectional mode shown in JSti diagram (A),
In the Kermode shown in Figure (B), rtT is salmon, but Ii? Since the two wheels 4a, 4a of the J side unit 7 or the two DI wheels 4b, 4b of the rear unit 8 always move in synchronization, the lobe motion mode shown in FIG. In the case of Carmort, there is a large angular difference between the rolling direction of the wheels 4a, 4a and 4b, 4b and the actual direction of blood circulation when the wheels are turned with a small diameter, as shown in FIGS. 13(A) and 13(B). .

As a result, resistance increases during running, a braking phenomenon occurs, and there is also the problem that it is impossible to reduce the turning speed in practical use, resulting in a small turn and no S'.

[Objective of the Invention 1 This invention was made in consideration of the above-mentioned circumstances, and its purpose is to provide a system with a relatively simple structure that can be used in multiple modes such as omnidirectional mode, car mode, rotation mode, etc. 5. To provide a steering mechanism for an omnidirectional vehicle that has various direction change functions and can be run smoothly on rivers and mountains, and has an extremely high degree of freedom in turning into mountains.
[Disadvantages of the Invention] In order to achieve the above-mentioned objects, the present invention provides a driving pulley for each of three or more steering shafts rotatably provided on a heavy body, and also provides a driven pulley for each of three or more steering shafts rotatably provided on a heavy body, and also provides a driven pulley on a sliding portion of the vehicle body. Two control pulleys are rotatably provided on the moving means, and a drive belt is wound around the control pulleys and the driven pulley, and the f! The driving seat rotates once by the driving means under the control of jJ (the auxiliary belt is wound around the 5th wheel).

By rotating the control sheath with the drive pulley, the rotation is transmitted to each driven pulley.1. τ゛Each! Convert the V-wheel to an omnidirectional upper seat, move the control pulley in one step of the movement T', and the auxiliary heald rotates the control seat according to the movement, and each Appropriate driven pulley
``By rotating, each wheel can be switched to car mode, rotation mode, etc.

[Configuration of Embodiment] An embodiment of the present invention will be described with reference to FIGS. 114 to 7.

FIGS. 1A to 1C show an omnidirectional vehicle.

The heavy body 20 of this omnidirectional moving vehicle has four steering shafts 21a to 21d with bearings 221 located near the eyes.
1#--, and is rotatably provided. Each of the steering shafts 21a to 21d has a cylindrical shape, and a vehicle bearing 23 is provided at the lower end thereof.
The second part is provided with driven pulleys 24a to 24d.

The axle bearings 23-- rotate together with the respective steering shafts 21a to 21d, and each of the axle bearings 23-- rotates with the respective steering shafts 21a-21d.
5-・Conflict rotates through bearing 26・1111 QT
Im, and each axle 25... is provided with wheels 27a to 27d and a bevel gear 28, respectively. These bevel gears 28 and 1111 are meshed with bevel gears 31, which rotate integrally with drives @30a to 30d, which are rotatably provided in each of the steering shafts 21a to 21d via bearings 29,... , drive shaft 3
When 0a to 30d are driven by a traveling drive device 32 to be described later, the bevel gears 28--Φ are connected via the bevel gears 31...
rotates, and this rotation is transmitted to the vehicles 25..., each one
J wheels 27a to 27d rotate.

Further, a moving device 34 including control pulleys 33a and 33b is provided in the center of the heavy body 20, and this moving device 34 is provided with control pulleys 33a and 33b.
The vehicle body 20 on the moving direction side of the h device 34 is provided with a rotation drive device δ37 that rotates the control pulleys 33a and 33b. That is, the control pulleys 33a and 33b each consist of drive control pulleys 33a+ and 33b+ and driven control pulleys 33a2 and 33b2, and are respectively attached to the L portion of the support wheel 35.35. The moving device 34 supports each support shaft 35.3 of the control pulleys 33a, 33b.
A slider 36 for setting 5 to the rotation uT function, a moving mechanism 38 for sliding this slider 36, and this moving machine 4.
11438), the slider 36 is connected to the opening ZOa in the center of the vehicle body 20.
The inner hook is slidably provided on two guide shafts 40, 40 through sleeves 40a, 40a, and support shafts 35, 35 are attached to bearings 35 on both sides of the front and rear sides.
It is attached to the rotation ηf function via a and 35a.
#f/Iala 38 includes a binion shaft 38b that is rotatably provided on the vehicle body 20 via a bearing 38a, a binion 38c that is provided at one end of this binion shaft 38b and rotates together, and the above-mentioned guide on the slider 36. axis 40
．． 40 and a rack 38d in the f row, which is engaged with the binion 38c and the binion 38c is engaged with the rack 38c.
8d and rotates, the rack 38d is moved and the slider 36 is moved in the directions of arrows x and x' (vehicle body 2
0 width direction). The slider drive device 39 consists of a speed reducer, a motor, and an encoder shaft, and is provided under the vehicle body 20, and the lower end of the binion shaft 38b is connected to its output shaft. Further, the rotation drive device 37 includes two rotation shafts 37a, 37a vertically installed on the vehicle body 20, and the rotation shaft 37.
Drive pulleys 37b and 3 provided on a and 37a, respectively.
7b, and one of the auxiliary belts 37c wound around the drive pulleys 37b, 37b and the control pulleys 33a, 33b on the slider 36 (lower side in FIG. 1(A)).
A pulley drive that rotates the drive boob 937b! ! The zero-rotation shafts 37a, 37a, which are made up of components such as 2t37d, are rotatably installed on the vehicle body 20 on the moving direction side of the slider 36, and drive pulleys 37b, 3
7b are provided so as to rotate together.

The auxiliary belt 37c controls the rotation of the drive pulley 37b/-
Of the seven control pulleys 33a, 33b, driven control pulleys 33a2, 33b2 are It is wrapped to prevent it from slipping. In this case, the tension (D-
Each of the sliders 376a** is rotatably provided on the slider 36t. Also, pulley use! ! ! The 7 device 37d is composed of a speed reducer, a motor, an encoder, etc., and is provided under the vehicle body 20, and the end of the rotary wheel 37a is connected to its output shaft. Therefore, the drive pulley 33a,
33b is rotated by the pulley driving device 37, and the moving mechanism 3 is rotated by the slider NA+ device 11139.
When the pinion 38e of No. 8 is driven, the slider 36
moves along the guide axis 40.40 and arrows x, x'
move in the direction.

On the other hand, drive belts 41 and 42 are wound around the 1j control pulleys 33a and 33b and the driven pulleys 24a to 24d. That is, the drive belt 41 is connected to the drive control pulley 33a1 above the control pulley 33a and the driven pulleys 24a and 24a.
4b, and rotates each steering shaft 2La, 21b of the front unit (right side in FIG. 1(A)) to change the direction of the wheels 27a, 27b. On the contrary, the drive belt 42 is wound around the drive control pulley 33b1 above the drive pulley 33b and the driven pulleys 24c and 24d, and rotates each steering shaft 21c and 21d of the backup unit (left side in the figure) to drive the wheels. The directions of 27c and 27d can be changed.

Further, each drive belt 41, 42 is adjusted by a tension adjustment device 43, 43 so that its tension is always constant. The tension adjustment devices 2143, 43 are the same, and the tension adjustment device 43 of the front unit will be explained here. This tension adjustment device 21
Reference numeral 43 denotes a rotating arm 43a rotatably attached to the steering shaft 21b, a shaft 43b provided at the tip of the rotating arm 43a, and a bearing 43c attached to the vehicle 43b.
A tension roller 43c rotatably provided through the
i and a coil spring 43e that always urges the rotating arm 43a toward the drive belt 41 (arrow Y, Y direction). Roller 43dt-11! It is brought into elastic contact with the moving belt 41.

Note that the traveling drive device 32 that drives each of the wheels 27a to 27d includes a reduction gear 32 as shown in FIG. 2 (A) CB).
a, a motor 32b, and an encoder 32c, each steering shaft 2 is connected via a differential unit 45.
Rotate the drive shafts 30a to 30d in 1a to 21ci,
Each drive shaft 30a to 30d rotatably provided within each steering shaft 21a to 21d is adapted to drive wheels 27a to 27d. Pulleys 46a to 46d are provided at the portions that protrude toward the force, and each drive shaft 30a on the side unit side.

4# and 1 gears 47.47 are provided at the upper end of each gear 30b, and these bevel gears 47.47 are connected to each output shaft 45a of the differential gear unit 45.

The bevel gears 48 and 48 provided at the tip of the gear 45a are engaged with each other, so that the drive shafts 30a and 30 of the front unit are engaged with each other.
b rotates to rotate wheels 27a and 27b via bevel gears 31 and 28 at their lower ends. On the other hand, each drive shaft 30c, 30d of the rear unit has each pulley 46c on its upper part,
46d and each pulley 46a, 46b of the front unit.
c, 27d.

[Operation of the Embodiment] Next, the operation of the steering mechanism of the omnidirectional vehicle configured as described in [2] will be described with reference to FIGS. 3 to 8.

First, the case of omnidirectional mode will be explained.

In this case, as shown in FIG. 3(A), the drive pulley 3
3a and 33b are located on the center line L of the heavy body 20, and the slider 36 is located on the moving fJJ mechanism 38 and the slider drive device 3.
IIJ is determined by 9. In this state, the rotary drive device 3
When the pulley drive bag 7137d of No. 7 rotates the drive pulley 37b via one of the support shafts 35, this rotation is transmitted to the lower driven control pulleys 33a2 of the i control pulleys 33a and 33b via the auxiliary bell l-37e. .33b2 to rotate each control pulley 33a, 33b in opposite directions. When the control pulleys 33a and 33b rotate in this manner, the upper driving control pulley 33a+.

33b+, the driven pulleys 24a to 24d of all the steering shafts 21a to 21d rotate by the same amount in the same direction. That is,
When the control pulleys 33a and 33b rotate, each of the driven pulleys 24a to 24d rotates by a predetermined angle of 0 in accordance with the amount of movement of the drive belt 41, 42. When the driven pulleys 24a to 24d rotate in this way, each steering shaft 2L
a to 21d also rotate, and as shown in Fig. 4, all the wheels 2
7a to 27d rotate by θ in the same direction. This switches the traveling direction of the omnidirectional vehicle. When the wheels 27a to 27d are driven by the driving bag 2232, the omnidirectional vehicle travels in the set direction. In this case, each of the wheels 27a to 27d turns by 3θθ degrees around each of the steering shafts 21a to 21d, so that the omnidirectional vehicle can travel in all directions, front, back, left, right, and diagonally. In addition, drive pulleys 33a, 33
Since the rotation angle θ of b is detected by the encoder of the pulley drive device 37d and controlled based on this detection signal, the orientation of each of the heavy wheels 27a to 27d can be set accurately.

Next, the case of car mode will be explained. In this case, as shown in FIG. 3(B), the control pulleys 33a, 33
b is moved by a predetermined amount (distance) WI in the direction of arrow X. That is, the slider drive device 39 moves the pinion 3 of the moving mechanism 38.
8c and move the rack 38d that engages with this binion 38c, the slider 36 is moved in the direction of the arrow X.
direction, and control pulleys 33a, 33b are moved in the same direction. In this case, the amount of movement (distance) of the second control pulleys 33a and 33b is determined by detecting the amount of rotation (rotation a) of the binion 38c with the encoder of the slider NA movement device 2139, and controlling the amount of rotation based on this detection signal. , set accurately. Further, when the control pulleys 33a and 33b move, the rotation drive device 37 causes the drive pulleys 37b and 33b to move.
37b is fixed (I!il), the auxiliary belt 37c does not move, but as it moves, the control pulleys 33a, 33b rotate in opposite directions. In this way, the control pulleys 33a, 33b rotate. When the belt moves, each drive belt 41, 42 moves with this rotation, and each driven pulley 24
Rotate a to 24d as follows. That is, in the right front unit, the drive belt 41 moves in the direction of arrow Z1 due to the rotation accompanying the movement of the control pulley 33a, and each driven pulley 24a, 24b rotates in the same direction (clockwise).

The rotation of 24b is different for each gate, and the driven pulley 24a
The rotation angle θd of the driven pulley 24b is small, and the rotation angle θh of the driven pulley 24b is small.
becomes larger. This is because the moving length of the driving bell) 41 between the control pulley 33a and the driven pulley 24a is short, and conversely, the moving length of the driving bell) 41 between the control pulley 33a and the driven pulley 24b is long. It is from. The tension roller 43d of the tension adjustment gM device δ43 is constantly driven by the drive belt 41 by the coil spring 43e.
The drive belt 41 is biased so that it does not slacken (, -
I'm here. Similarly, the rear colnit is driven by the rotation accompanying the movement of the control pulley 33h.
Rotate in the same direction (anti-chronological direction). In this case as well, the rotation angles of the driven pulley 24c and the driven pulley 24d are different, and the rotation angle θC of the driven pulley 24c is smaller than the rotation angle θd of the driven pulley 24d. Moreover, driven pulley 2
The rotation angle Oc of 4e is opposite in direction to the rotation angle θ4 of the driven pulley 24a of the front unit, but the absolute value is the same,
Similarly, the rotation angle od of the driven pulley 24d is also
The rotation angle θb of the lens 24b and the absolute Iha are the same.

When each driven pulley Z 4 a to 24ti rotates in this way, 87. Daring th2 i a -2L
d 4s lr Rotates in the same manner as described above, and as shown in FIG. 5, the total Φ 27 a = 27 d rotates in different directions and at different angles. The tab 41 and the F wheel 27a of the front knee foot are driven/rear 24. The wheel 27b rotates downward to the right at the same rotation angle θ, which is the same as a, and the wheel 27b rotates downward to the right at the same rotation angle ob as the driven pulley 248b. The valley heavy wheels 27a and 27b rotated in this way, respectively, on the tangent line of the circle centered on the turning center P while moving in all directions.
- located at Same side, rear knee, and wheels 27'
c is the same 11 rotation angle as the driven pulley 24c □C (-〇a)
4. Turn only downward to the left. hL, +Jt wheel 27 d ti Rotate downward to the left by the same rotation angle θd (-0b) as the driven pulley 24d 12, while turning in $fil in all directions / 1
) located on the tangent to the circle centered at P. therefore,
All the heavy wheels 27a to 27d roll smoothly when the omnidirectional vehicle turns, and even if the turning radius Mi is small, the wheels 27a to 27d roll smoothly. This is from Figure 7. II
I, FIG. 7 shows the L between the steering shafts 21a to 21ri.
/W is 2.0, the horizontal axis is the slide hkW×, and the vertical axis is the rotation angle of the wheels 27a, 27b, and as the slide ♀″W increases, the wheels 27a, 2
As the angle 7b increases, the dotted line curves Qa, Qb
As shown, the angle difference between the wheel 27a and the heavy wheel 27b gradually increases, and the dashed line Qx indicates the conventional one. In addition, wheels 27a corresponding to the post-moe,
27c and wheels 27b and 27d have the same turning trajectory -L
Since the wheels roll, the omnidirectional vehicle can run even more smoothly. In addition, in the case described above, the control pulley 3
3a and 33b are moved upward as shown in FIG. 3(B) to cause the omnidirectional vehicle to turn to the right, but the control pulleys 33a and 33b are moved downward to cause the omnidirectional vehicle to turn. It may also be made to turn to the left.

Furthermore, the case of rotation mode will be explained.

In this case, as shown in FIG. 3(C), the control pulley 3
3a, 33b - ■: Same as the car mode mentioned above, press the arrow
move further in the direction. That is, the slider drive device 3
By rotating the binion 38c of the moving mechanism 38 at 9 and moving the rack 38d meshed with this binion 38c, the slider 36 is moved by a predetermined distance (distance #) in the direction of the arrow X.
Wz# to move the control pulleys 33a and 33b in the same direction. This movement; positive (distance fi) W2 is the length by which each driven pulley 24a to 24di is rotated so that each wheel 27a to 27d located diagonally faces 1f, and is detected by the encoder of the slider drive device 39. is set accurately by controlling the rotation of the pinion 38c based on this detection number 43. In this way, the control pulley 3
3a, 33b moves, each drive bell) 41, 42 moves with this movement, and each driven pulley 24a to 24d
rotates in the same way as in the car mode described above. Therefore, each driven pulley 24a, 24 of the right front unit
b is a rotation angle of 0. ．． 02 rotates a lot. Similarly, in the rear unit, the driven pulleys 24c and 24d rotate sharply when the car mode is 0) and the rotation angle θ], 04 is large and sharp. In this case as well, the rotation angle 03 of the driven pulley 24e is opposite in direction to the rotation angle 01 of the driven pulley 24a of the front unit, but the absolute value is the same, and the rotation angle θ4 of the driven pulley 24d is the rotation angle θ4 of the driven pulley 24b. The absolute value is the same as the rotation angle θ2.

When the valley driven boots 24a to 24d rotate in this way, the respective steering shafts 21a to 21d also rotate in the same manner as described above, and the heavy wheels 27a to 27d of the total τ are rotated as shown in FIG.
each rotates at a different angle in a different direction. In other words,
The wheel 27a of the front unit rotates downward to the right by the same rotation angle θI as the driven pulley 24a.6. Does the wheel 27b have the same rotation angle θ as the driven pulley 24b? It rotates downward to the right.

Similarly, the wheels 27c of the rear unit are driven by the driven pulley 24e.
The wheel 27d rotates downward to the left by the same rotation angle 03 (-〇+), and the wheel 27d rotates at the same rotation angle θ4 (=02) as the driven pulley 24d.
) rotates downward to the left. This J, V rotation [7 name wheels 27 a-27d are] -re[re, the pivot rotation center of the omnidirectional vehicle (center of the omnidirectional vehicle) 0 and -t
, i one circular plastic line 1-1. ``Place I☆, island on diagonal 42? i % 'j To wheel 27a-・27 (1 faces η-I, but-] r, all jj direction shift! fJJ weight moxibustion I: center point It rotates at that location centering on O. J7 nose, all wheels 27 a ” 27 t4 is the center point ol in dl
+ Since the tangent to the circle 4 is located at 1, it rolls smoothly, 2 and the omnidirectional vehicle can be rotated well.

In addition, this invention is implemented by the above-mentioned implementation @1. It is not limited to X--for example, it is possible to modify the rudder 1J--for example in FIGS. 8 and 9.

That is, the :JSB figure shows a modification of the winding structure of the auxiliary bell) 37e. This modification has 4 drives! -150-11-
and the two control pulleys 33a, 33b of the slider 36F-
(Toni Auxiliary Hel) 37eQJ. In this case, each of the four drive pulleys 50...
6 on the vehicle body 20-1- on the moving force direction side and on a straight line -L passing through the center of each control pulley 33a, 33b of the slider 36-1-, one of which is a pulley drive device 137d. It is designed to be driven by.

Therefore, this type of device also has the same effects as the above-mentioned embodiment.

Further, FIG. 9 shows a further modification of the present invention, in which an auxiliary belt 37c is wound inside the control pulleys 33a and 33b. That is, there are 144 bodies 20- and four gA moving units 51 on the side in the moving direction of the slider 36.
ψ..., and wind the auxiliary bell) 37c around this drive pulley 5t. The belt 37c is attached to the tension roller 52@.
・Each control boo 1. ．． + 33a, 33b are pressed inside, so that each control pulley 33a, 33b rotates in accordance with the movement of the auxiliary belt 37c and the movement of each control pulley 33a, 33b accompanying the slider 36. It goes without saying that this type of device also has the same effects as the above-described embodiment.

[9. Effect of light] As explained in 1, according to the steering mechanism for an omnidirectional vehicle according to the present invention, driven pulleys are respectively attached to three or more steering shafts provided in the middle body so as to be able to rotate freely once. and two control pulleys with a rotation capacity of 11T are provided one step above the movable member slidably provided on the heavy body,
A drive belt is wound around this M control pulley and the driven pulley, and an auxiliary belt is wound around the control pulley and a drive pulley rotated by the drive/first stage, and the 1jIIJl pulley is rotated by the drive pulley. The rotation is transmitted to each driven pulley to switch each wheel to the omnidirectional mode, and the moving means moves the control pulley, and the auxiliary belt moves the control pulley in accordance with the movement.
By rotating the pulley and rotating each driven pulley appropriately, each heavy wheel can be switched to car mode, rotation mode, etc. With a relatively compact structure, it can be used in omnidirectional mode, car mode, rotation mode, etc. Many types of Yamauchi Tenjo J such as sion mode! ! ! In addition to being able to have an a-plane, it is also possible to run well, and it is possible to obtain an extremely high degree of freedom in changing direction.

[Brief explanation of drawings]

1 to 7 show an embodiment of the present invention, FIG. 1(A) is a plan view of the omnidirectional vehicle, FIG. 1(B) is a cutaway side view of the essential parts, and FIG. (C) is A-A sectional view, the second
Figure (A) is a plan view showing the traveling drive device, Figure 2 (B)
3(A) is a diagram showing the state in omnidirectional mode, FIG. 3(B) is a diagram showing the state in car mode, and FIG. 3(C) is a diagram showing the state in rotation mode. Figure 4 is a diagram showing the state, Figure 4 is a diagram showing the direction of the wheels in omnidirectional mode, Figure 5 is
Figure 6 shows the orientation of the wheels in car mode, Figure 6 shows the orientation of the wheels in rotation mode, and Figure 7 shows the relationship between the sliding amount of the drive pulley and the rotation angle of the driven pulley. , FIG. 8 is a diagram showing a first modified example of the winding structure of the auxiliary belt, and FIG. 9 is a diagram further showing a second modified example of the winding structure of the auxiliary belt.
0 to 13 show conventional examples, and FIG. 10 (A) shows the first conventional example 6 and 14. 10(B) is a 70E-E sectional view, FIG. 11(A) is a diagram showing the omnidirectional mode, 111N (B) is a diagram showing the car mode, and FIG. 11(C) is a diagram showing the rotary mode. Figure 12 (A) showing the mode of operation
12N is a Y-plane view showing the second conventional example, No. 12N (B) is a FF sectional view thereof, FIG. 13 (A) is a view showing the orientation of the 117 wheel in car mode, and FIG. 13 (B) is an enlarged view. 20... Vehicle body, 21a-21d... Steering shaft, 24a-24d... Driven pulley, 27a-27d... Wheel, 33a, 33b.
...Control pulley, 34...Movement device, 3
6...Slider, 37... Rotation drive device, 37b... Drive pulley. 37c... Auxiliary belt, 37d... Pulley drive device, 39... Slider drive device, 41.42... Drive belt. Figure 1 (8) Main part fracture -i1'r4-reverse surface E A-A@[I! ] Figure 3 (A) Top view when in full mode Figure 3 (B) Car mode side screen ■ Figure 3 (C) When in low control mode/) Between planes Figure 4 Bottom Direction t - How to rotate the wheel 7 Fig. 6 The axle A direction of the low-speed 3 mode FI exclusive Fig. 7 The difference between the 9 pulley width amount and the wheel rotation @ angle 1 water diagram Figure 9 hty belt loading and closing 2 deformation child 1 water diagram E-El
! rr[i17U 1 Low T show>C-FF-F battle scene

Claims (1)

[Scope of Claims] A steering mechanism for an omnidirectional vehicle that is equipped with at least three or more wheels and that travels by changing the direction of each wheel, the steering mechanism being rotatably provided on the vehicle body, and each of the wheels located at the bottom of the vehicle. A driven pulley is provided on the upper part of each rotatably mounted steering shaft, a moving means is slidably provided on the vehicle body, and a driven pulley is rotatably provided on the moving means, and two control pulleys that rotate each of the driven pulleys; a drive pulley that is provided on the vehicle body on the moving direction side of the moving means, one of which is rotated by a drive means; the drive pulley and the control pulley; A steering mechanism for an omnidirectional vehicle, comprising an auxiliary belt wound around the drive pulley and rotating the control pulley in response to the rotation of the drive pulley and the movement of the control pulley moved by the moving means.