JP2004231043A

JP2004231043A - Omnidirectional moving vehicle

Info

Publication number: JP2004231043A
Application number: JP2003021968A
Authority: JP
Inventors: Kenji Matsukuma; 研司松熊
Original assignee: Yaskawa Electric Corp
Current assignee: Yaskawa Electric Corp
Priority date: 2003-01-30
Filing date: 2003-01-30
Publication date: 2004-08-19
Anticipated expiration: 2023-01-30
Also published as: JP4147581B2

Abstract

<P>PROBLEM TO BE SOLVED: To provide an omnidirectional moving vehicle enhancing acceleration, stepped part riding-over and slope rising performance by utilizing power of a rotation shaft driving motor for driving of a wheel when the moving vehicle constantly travels in an advancement direction. <P>SOLUTION: In an omnidirectional moving vehicle, there are provided at least two pairs of driving wheel mechanisms comprising: a rotation shaft 102 arranged in perpendicular to a traveling surface and rotatably mounted to a car body 101; an axle 103 horizontally arranged at a position apart from an axis of the rotation shaft 102 by a predetermined distance; a wheel 104 mounted to the axle 103 so as to rotate along a virtual plane perpendicular to an axis of the axle 103; a wheel driving means 105 for rotating the wheel 104; and a rotation shaft driving means 106 for rotating the rotating shaft 102. The omnidirectional moving vehicle is also provided with an output changing means 107 for freely changing an output of the rotation shaft driving means 106 to rotation of the wheel 104 and rotation of the rotation shaft 102. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

【０００１】
【発明の属する技術分野】
本発明は、工場や医療福祉施設、家庭等において、荷物や人等の搬送用に使用されると共に、車体の方向を変えずに、水平面内の全方向に即座に移動できる、環境適用性の高い全方向移動車に関する。
【０００２】
【従来の技術】
従来、工場、医療福祉施設あるいは家庭等において、荷物や人等の搬送用に用いられると共に、車体の方向を変えずに、水平面内の全方向に即座に移動できる全方向移動車は、図５のようになっている（例えば、特許文献１を参照）。
図５は従来例における全方向移動車の動輪機構を示す図であり、（ａ）は正面図、（ｂ）は側面図である。なお、図５（ａ）では旋回軸駆動モータ１０６の図示を省略している。
図５において、１０１は車体、１０２は旋回軸、１０３は車軸、１０４は車輪、１０５は車輪駆動モータ、１０６は旋回軸駆動モータ、１０８は傘歯車、１０９は傘歯車、１１０はプーリ、１１１はベルト、１１２はプーリである。
車体１０１には走行面に垂直な軸周りに旋回自在な旋回軸１０２が設置されている。旋回軸１０２の軸心から所定距離隔てた位置には、車軸１０３が走行面に対して水平に配置されると共に、旋回軸１０２に設けられた支持部を介して回転自在に支持されている。車軸１０３には、車輪１０４が固定されている。また、車体１０１には車輪１０４を駆動する車輪駆動モータ１０５および旋回軸１０２を駆動する旋回軸駆動モータ１０６が固定されている。
次に、伝達手段の詳細な構成の一例を説明する。
車輪駆動モータ１０５の出力軸は旋回軸１０２を貫通して傘歯車１０８に連結されている。そして、傘歯車１０８に噛み合う傘歯車１０９にはプーリ１１０が固定されると共に、プーリ１１０の動きがベルト１１１を介してプーリ１１２に伝達されることでプーリ１１２に固定された車輪１０４を駆動させる。また、旋回軸駆動モータ１０６の出力軸には歯車１１３が固定され、歯車１１３が旋回軸１０２上の歯車１１４と噛合することで旋回軸１０２を旋回させる。
【０００３】
図６は従来例に基づく全方向移動車の全方向移動の一例を上面から見た図であって、（ａ）は車体が前方方向に進む場合、（ｂ）は横方向に進む場合、（ｃ）は斜め方向に進む場合、（ｄ）は旋回する場合を示したものである。
図６において、２１１は車体、２１２および２１３は上記で説明した動輪機構であり、動輪機構２１２、２１３は車体２１１の対角線上に設置されている。また、２１４および２１５は車体２１１のもう一方の対角線上に設置されたキャスタ型の旋回自在な従動輪である。図６（ａ）では動輪機構２１２、２１３の各々において、動輪機構に設けた車輪１０４を同じ速度で駆動することにより、車体２１１には車輪１０４の向きと同じ方向に推進力が発生し、車体２１１は前方（紙面上方）に進む。ここで動輪機構２１２、２１３の各々において車輪１０４を駆動しながら旋回軸１０２を９０度旋回させると、動輪機構２１２、２１３は図６（ｂ）に示すような方向に姿勢を変えることになり、車体２１１は姿勢を変えることなく横方向に進むことができる。同様に、図６（ｃ）のように、動輪機構２１２、２１３の車輪１０４を斜め方向に向けると、車体２１１は姿勢を変えることなく斜め方向に進むこともできるし、図６（ｄ）のように、動輪機構２１２、２１３の車輪１０４を点線で示した円周の接線方向に向けると、車体２１１は併進せずにその場で旋回する。このように、全方向移動車は上記のような動輪機構を車体２１１に少なくとも２個以上設けることにより、準備動作を必要とすることなく、水平面内の全方向に即座に移動できる。
【０００４】
【特許文献１】
特開昭６１−２８５２１９号公報
【０００５】
【発明が解決しようとする課題】
一般に、全方向移動車が工場や医療福祉施設等の建物内を走行する場合には、廊下などを進行方向一定で走行する期間が長い。上記従来例においては、図６（ａ）から同図（ｂ）へ進行方向を変化する時または図６（ａ）から同図（ｃ）へ進行方向を変化する時には旋回軸１０２を動作させるものの、旋回軸１０２が進行方向を向いた後、進行方向一定で走行している間は、旋回軸１０２を動作させる必要がないため、旋回軸駆動モータ１０６を使用しておらず、モータ出力が有効に活用できていないという問題点があった。一方で、車輪駆動モータ１０５は走行中に常時使用しているが、加速や段差乗り越え、あるいは斜面登坂時には多くの出力を必要としなければならなかった。
【０００６】
本発明は上記課題を解決するためになされたものあリ、移動車が進行方向一定で走行している時には旋回軸駆動モータのパワーを車輪の駆動に活用し、加速、段差乗り越えあるいは斜面登坂といった走行性能を向上させることができる全方向移動車を提供することを目的とする。
【０００７】
【課題を解決するための手段】
上記課題を解決するために、請求項１の発明は、走行面に対して垂直に配置され、車体に旋回自在に取り付けられた旋回軸と、前記旋回軸の軸心から所定距離隔てた位置に水平に配置されると共に、前記旋回軸に設けられた支持部に回転自在に支持された車軸と、前記車軸の軸心に直交した仮想平面に沿って回転するように前記車軸に取り付けられた車輪と、前記車輪を回転させる車輪駆動手段と、前記旋回軸を旋回させる旋回軸駆動手段とからなる動輪機構を少なくとも２組以上設けた全方向移動車において、前記旋回軸駆動手段の出力を、前記車輪の回転と前記旋回軸の旋回とに切替自在な出力切替手段を備えたものである。
請求項２の発明は、請求項１記載の全方向移動車において、前記出力切替手段は、前記旋回軸駆動手段の出力軸に固定された第１歯車と、前記車輪駆動手段の出力軸に固定された第２歯車と、前記旋回軸に固定された第３歯車と、前記第１歯車に常に噛合するとともに、前記第２歯車および前記第３歯車との噛合を切替自在に構成された第４歯車とを有したものである。
請求項３の発明は、請求項２に記載の全方向移動車において、前記出力切替手段は、前記第４歯車が前記第２歯車と噛合している時に、前記第３歯車を垂直軸周りに固定するための固定歯車（１１９）を備えたものである。
請求項４の発明は、請求項２または３に記載の全方向移動車において、前記第１歯車、第２歯車、第３歯車、および第４歯車からなる伝達機構に替えて、摩擦車を用いたものである。
請求項５の発明は、走行面に対して垂直に配置され、車体に旋回自在に取り付けられる旋回軸と、前記旋回軸の軸心から所定距離隔てて水平に固定された車軸と、前記車軸の軸心に直交した仮想平面に沿って回転自在に設けられた２つの車輪と、前記車輪を回転させる車輪駆動手段を備えた全方向移動車において、前記車輪駆動手段は前記車体に固定された２つの車輪駆動手段で構成され、一方の前記車輪駆動手段の出力を前記車輪に伝達する第１動力伝達手段と、他方の前記車輪駆動手段の出力を前記車輪に伝達する第２動力伝達手段とからなる動輪機構を少なくとも２組以上設けたものである。
【０００８】
【発明の実施の形態】
以下、本発明の実施例を図に基づいて説明する。
［第１実施例］
図１は本発明の第１実施例における全方向移動車の動輪機構を示す図であり、図１（ａ）は正面図、図１（ｂ）は側面図である。なお、本発明の構成要素が従来技術と同じものについては、同一符号を付して説明を省略し、異なる点のみ説明する。
図において、１０７は出力切替手段である。
【０００９】
本発明が従来技術と異なる点は、以下のとおりである。
すなわち、旋回軸駆動モータ１０６の出力を、車輪１０４の回転と旋回軸１０２の旋回とに切替自在な出力切替手段１０７を備えた点である。なお、車輪駆動モータ１０５、旋回軸駆動モータ１０６および出力切替手段１０７は車体１０１に固定されており、図１（ａ）では旋回軸駆動モータ１０６および出力切替手段１０７の図示を省略している。以下に、出力切替手段１０７の詳細な構成を説明する。
【００１０】
図２は本発明の第１実施例の出力切替手段の詳細構成を示す図であって、（ａ）は、第４歯車が第１歯車および第３歯車と噛合した状態、（ｂ）は第４歯車が第１歯車および第２歯車と噛合した状態を示す。
図において、１１３は旋回軸駆動モータ１０６の出力軸に固定された第１歯車、１１８は車輪駆動モータ１０５の出力軸に固定された第２歯車、１１４は旋回軸１０２上に固定された第３歯車、１１７は歯車１１３と歯車１１８、１１４との間隙に配置された第４歯車である。１１５は車体１０１に固定された送り機構であり、並進方向の推進力を発生する。例としてはソレノイドや、図示しないモータに接続されたボールネジ等が考えられる。１１６は送り機構１１５の可動部に固定された可動棒である。可動棒１１６は送り機構１１５によって垂直方向に摺動自在であり、図２（ａ）に示す位置あるいは図２（ｂ）に示す位置に移動できる。可動棒１１６の摺動部は例えば正方形の断面を有し、送り機構１１５に対して垂直軸周りには回転しないように構成されている。可動棒１１６の先端部は円形の断面を有し、所定の位置に歯車１１７が垂直軸周りに回転自在に、かつ垂直方向には動かないように取り付けられている。また可動棒１１６の最先端には、固定歯車１１９が垂直軸周りに回転しないように固定されている。なお、出力切換手段において、送り機構１１５によって可動棒１１６を上下させながら各歯車を噛み合わせる際に、歯欠け等が生じないようにモータ速度を変化させるなどして、正しい噛合になるまで調節するようにしている。
【００１１】
次に動作について説明する。
今、全方向移動車において、可動棒１１６が送り機構１１５によって図２（ａ）に示す位置に移動した場合、第４歯車１１７は第１歯車１１３および第３歯車１１４と噛合する。これにより、旋回軸駆動モータ１０６の出力は第１歯車１１３から第４歯車１１７を介して第３歯車１１４に伝えられるので、旋回軸１０２を旋回することができる。
次に、可動棒１１６が送り機構１１５によって図２（ｂ）に示す位置に移動した場合、第４歯車１１７は第１歯車１１３および第２歯車１１８と噛合する。これにより、旋回軸駆動モータ１０６の出力は第１歯車１１３から第４歯車１１７を介して第２歯車１１８に伝えられるので、車輪駆動モータ１０５の出力軸に伝わる。ここで、旋回軸駆動モータ１０６と車輪駆動モータ１０５を、車輪駆動モータ１０５の出力軸で同じ速度になるような指令で動作させれば、両モータをあわせた出力が車輪駆動モータ１０５の出力軸に発生し、これにより車輪１０４を駆動することができる。一方で、第３歯車１１４は固定歯車１１９と噛合するが、固定歯車１１９は可動棒１１６とともに送り機構１１５に対し垂直軸周りに回転しないように固定されているので、第３歯車１１４および旋回軸１０２は車体１０１に固定される。
【００１２】
本発明の第１実施例は、走行面に対して垂直に配置され、車体１０１に旋回自在に取り付けられた旋回軸１０２と、旋回軸１０２の軸心から所定距離隔てた位置に水平に配置されると共に、旋回軸１０２に設けられた支持部に回転自在に支持された車軸１０３と、車軸１０３の軸心に直交した仮想平面に沿って回転するように車軸１０３に取り付けられた車輪１０４と、車輪１０４を回転させる車輪駆動手段１０５と、旋回軸１０２を旋回させる旋回軸駆動手段１０６とからなる動輪機構を少なくとも２組以上設けた全方向移動車において、旋回軸駆動手段１０６の出力を、車輪１０４の回転と旋回軸１０２の旋回とに切替自在な出力切替手段１０７を備えたので、旋回軸駆動モータ１０６の出力を進行方向一定の時には車輪１０４の回転に切り替え、また進行方向を変更する時には旋回軸１０２の旋回に切り替えることで、進行方向一定で走行している時にも旋回軸駆動モータ１０６の出力を車輪１０４の駆動に活用し、加速、段差乗り越えあるいは斜面登坂といった走行性能を向上させることができる。
また、出力切替手段１０７は、旋回軸駆動手段１０６の出力軸に固定された第１歯車１１３と、車輪駆動手段１０５の出力軸に固定された第２歯車１１８と、旋回軸１０２に固定された第３歯車１１４と、第１歯車１１３に常に噛合するとともに、第２歯車１１８および第３歯車１１４との噛合を切替自在に構成された第４歯車１１７を備えたので、旋回軸１０２を車体１０１に固定することで、車輪１０４のトー角（垂直軸周りの角度）が固定され、進行方向一定の走行時に車輪１０４がぶれて走行誤差が生じるのを防ぐことができる。
【００１３】
［第２実施例］
次に、本発明の第２実施例について説明する。
図３は第２実施例による全方向移動車の動輪機構を示す図であり、図３（ａ）は正面図、図３（ｂ）は側面図である。なお、図３（ａ）では車輪駆動モータ１２４の図示を省略している。
図において、１２０はプーリ、１２１はベルト、１２２はプーリ、１２３は車輪、１２４は車輪駆動モータ、１２５はシャフト、１２６は歯車、１２７は歯車、１２８は傘歯車、１２９は傘歯車である。
第２実施例が第１実施例と異なる点は、車軸１０３に旋回軸１０２の軸心から所定距離隔てて二つの車輪１０４、１２３が回転自在に取り付けられており、また、車体１０１には車輪１０４を駆動する車輪駆動モータ１０５および車輪１２３を駆動する車輪駆動モータ１２４が固定されている点である。ここで、車輪駆動モータ１０５の出力を車輪１０４に伝達するために、傘歯車１０８、傘歯車１０９、プーリ１１０、ベルト１１１、プーリ１１２からなる第１動力伝達手段が設けられている。また、車輪駆動モータ１２４の出力を車輪１２３に伝達するために、歯車１２６、歯車１２７、シャフト１２５、傘歯車１２８、傘歯車１２９、プーリ１２０、ベルト１２１、プーリ１２２からなる第２動力伝達手段が設けられている。
【００１４】
次に、上記伝達手段の詳細な構成について説明する。
旋回軸１０２には同一の軸心周りに旋回可能なシャフト１２５が設けられている。車輪駆動モータ１０５の出力軸は旋回軸１０２およびシャフト１２５を貫通して傘歯車１０８に連結されている。傘歯車１０８に噛み合う傘歯車１０９にはプーリ１１０が固定され、ベルト１１１を介してプーリ１１２、およびそれに固定された車輪１０４を駆動する。また、車輪駆動モータ１２４の出力軸には歯車１２６が固定され、歯車１２６がシャフト１２５上の歯車１２７と噛合することでシャフト１２５を旋回させる。さらに、シャフト１２５の他端には傘歯車１２８が連結されており、傘歯車１２８に噛み合う傘歯車１２９にはプーリ１２０が固定されている。プーリ１２０はベルト１２１を介してプーリ１２２、およびそれに固定された車輪１２３を駆動する。
【００１５】
図４は第２実施例による全方向移動車の全方向移動の一例を上面から見た図であって、（ａ）は車体が前方方向に進む場合、（ｂ）は横方向に進む場合、（ｃ）は斜め方向に進む場合、（ｄ）は旋回する場合を示したものである。
図において、２０１は車体、２０２および２０３は上記で説明した動輪機構であり、動輪機構２０２、２０３は車体２０１の対角線上に設置されている。２０４および２０５は車体２０１のもう一方の対角線上に設置されたキャスタ型の旋回自在な従動輪である。
【００１６】
次に動作を説明する。
図４（ａ）では動輪機構２０２、２０３の各々において車輪１０４、１２３を同じ速度で駆動することにより、車体２０１には車輪の向きと同じ方向に推進力が発生し、車体２０１は前方（紙面上方）に進む。ここで車輪１０４、１２３の回転数に差をつけると、旋回軸１０２には垂直軸周りの旋回が発生し、これに伴い動輪機構２０２、２０３は図４（ｂ）のような方向になる。続いて各々の車輪１０４、１２３を同じ速度で駆動することにより、車体２０１は姿勢を変えることなく横方向に進むことができる。
同様に、図４（ｃ）に示すように動輪機構２０２、２０３を各々の車輪１０４、１２３が斜め方向になるように向けることで斜め方向に進むこともできるし、図４（ｄ）に示すように動輪機構２０２、２０３を各々の車輪１０４、１２３が円周の接線上になるように向けることで、その場で旋回することもできる。すなわち、上記のような動輪機構を車体に少なくとも２個以上設けることにより、準備動作を必要とせず水平面内の全方向に即座に位置姿勢を変化させることが可能となる。
【００１７】
本発明の第２実施例は、走行面に対して垂直に配置され、車体１０１に旋回自在に取り付けられる旋回軸１０２と、前記旋回軸１０２の軸心から所定距離隔てて水平に固定された車軸１０３と、前記車軸１０３の軸心に直交した仮想平面に沿って回転自在に設けられた２つの車輪１０４および１２３と、前記車輪１０４を回転させる車輪駆動手段を備えた全方向移動車において、前記車輪駆動手段は前記車体１０１に固定された２つの車輪駆動手段１０５および１２４で構成され、前記車輪駆動手段１０５の出力を前記車輪１０４に伝達する第１動力伝達手段と、前記車輪駆動手段１２４の出力を前記車輪１０５に伝達する第２動力伝達手段とからなる動輪機構を少なくとも２組以上設けたので、車輪の回転および旋回軸の旋回のどちらにも、車輪駆動モータ１０５および車輪駆動モータ１２４を合わせた出力が用いられ、進行方向一定で走行している時も進行方向を変更している時も、搭載する全てのモータの出力を有効に活用し、加速や段差乗り越え、あるいは斜面登坂性能を向上させることができる。
さらに、車輪を回転させずに垂直軸周りに旋回させるような、いわゆる据え切り動作が発生しないので、車輪や路面を傷めることがない。
【００１８】
なお、第１実施例において、動輪機構の動力伝達に歯車を用いた例を示したが、歯車に替えて摩擦車あるいは油圧による動力伝達手段を用いても構わない。摩擦車は摩擦によって動力を伝達できるので、歯車のように歯の噛合を調節することなく、容易に出力を切り替えることができる。
【００１９】
【発明の効果】
以上述べたように本発明によれば、以下の効果がある。
本発明の第１実施例は走行面に対して垂直に配置され、車体に旋回自在に取り付けられた旋回軸と、旋回軸の軸心から所定距離隔てた位置に水平に配置されると共に、旋回軸に設けられた支持部に回転自在に支持された車軸と、車軸の軸心に直交した仮想平面に沿って回転するように車軸に取り付けられた車輪と、車輪を回転させる車輪駆動手段と、旋回軸を旋回させる旋回軸駆動手段とからなる動輪機構を少なくとも２組以上設けた全方向移動車において、旋回軸駆動手段の出力を、車輪の回転と旋回軸の旋回とに切替自在な出力切替手段を備えたため、旋回軸駆動モータの出力を進行方向一定の時には車輪の回転に切り替え、また進行方向を変更する時には旋回軸の旋回に切り替えることで、進行方向一定で走行している時にも旋回軸駆動モータの出力を車輪の駆動に活用し、加速、段差乗り越えあるいは斜面登坂といった走行性能を向上させることができる。
また、出力切替手段は、旋回軸駆動手段の出力軸に固定された第１歯車と、車輪駆動手段の出力軸に固定された第２歯車と、旋回軸に固定された第３歯車と、第１歯車に常に噛合するとともに、第２歯車および第３歯車との噛合を切替自在に構成された第４歯車を備えたため、旋回軸を車体に固定することで、車輪のトー角（垂直軸周りの角度）が固定され、進行方向一定の走行時に車輪がぶれて走行誤差が生じるのを防ぐことができる。
【００２０】
本発明の第２実施例は走行面に対して垂直に配置され、車体に旋回自在に取り付けられる旋回軸と、旋回軸の軸心から所定距離隔てて水平に固定された車軸と、車軸の軸心に直交した仮想平面に沿って回転自在に設けられた２つの車輪と、車輪を回転させる車輪駆動手段を備えた全方向移動車において、車輪駆動手段は車体に固定された２つの車輪駆動手段で構成され、一方の車輪駆動手段の出力を車輪に伝達する第１動力伝達手段と、他方の車輪駆動手段の出力を車輪に伝達する第２動力伝達手段とからなる動輪機構を少なくとも２組以上設けたため、車輪の回転および旋回軸の旋回のどちらにも、２つの車輪駆動モータを合わせた出力が用いられ、進行方向一定で走行している時も進行方向を変更している時も、搭載する全てのモータの出力を有効に活用し、加速や段差乗り越え、あるいは斜面登坂性能を向上させることができる。
さらに、車輪を回転させずに垂直軸周りに旋回させるような、いわゆる据え切り動作が発生しないので、車輪や路面を傷めることがない。
【図面の簡単な説明】
【図１】本発明の第１実施例における全方向移動車の動輪機構を示す図であり、図１（ａ）は正面図、図１（ｂ）は側面図である。
【図２】第１実施例の出力切替手段の詳細構成を示す側面図であって、（ａ）は、第４歯車が第１歯車および第３歯車と噛合した状態、（ｂ）は第４歯車が第１歯車および第２歯車と噛合した状態を示す。
【図３】第２実施例による全方向移動車の動輪構構を示す図であり、（ａ）は正面図、（ｂ）は側面図である。
【図４】第２実施例による全方向移動車の全方向移動の一例を上面から見た図であって、（ａ）は車体が前方方向に進む場合、（ｂ）は横方向に進む場合、（ｃ）は斜め方向に進む場合、（ｄ）は旋回する場合を示したものである。
【図５】従来例における全方向移動車の動輪機構を示す図であり、（ａ）は正面図、（ｂ）は側面図である。
【図６】従来例に基づく全方向移動車の全方向移動の一例を上面から見た図であって、（ａ）は車体が前方方向に進む場合、（ｂ）は横方向に進む場合、（ｃ）は斜め方向に進む場合、（ｄ）は旋回する場合を示したものである。
【符号の説明】
１０１車体
１０２旋回軸
１０３車軸
１０４車輪
１０５車輪駆動モータ（車輪駆動手段）
１０６旋回軸駆動モータ（旋回軸駆動手段）
１０７出力切替手段
１０８傘歯車
１０９傘歯車
１１０プーリ
１１１ベルト
１１２プーリ
１１３第１歯車
１１４第３歯車
１１５送り機構
１１６可動棒
１１７第４歯車
１１８第２歯車
１１９固定歯車
１２０プーリ
１２１ベルト
１２２プーリ
１２３車輪
１２４車輪駆動モータ
１２５シャフト
１２６歯車
１２７歯車
１２８傘歯車
１２９傘歯車
２０１車体
２０２、２０３動輪機構
２０４、２０５従動輪[0001]
TECHNICAL FIELD OF THE INVENTION
INDUSTRIAL APPLICABILITY The present invention is used for transporting luggage or people in factories, medical welfare facilities, homes, and the like, and can be immediately moved in all directions in a horizontal plane without changing the direction of a vehicle body. For high omnidirectional vehicles.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, an omnidirectional vehicle that is used for transporting luggage, people, and the like in factories, medical welfare facilities, or homes, and that can immediately move in all directions in a horizontal plane without changing the direction of a vehicle body is shown in FIG. (For example, see Patent Document 1).
FIGS. 5A and 5B are diagrams showing a driving mechanism of a conventional omnidirectional vehicle, wherein FIG. 5A is a front view and FIG. 5B is a side view. In FIG. 5A, the illustration of the turning shaft drive motor 106 is omitted.
5, 101 is a vehicle body, 102 is a turning shaft, 103 is an axle, 104 is a wheel, 105 is a wheel drive motor, 106 is a turning shaft drive motor, 108 is a bevel gear, 109 is a bevel gear, 110 is a pulley, and 111 is a pulley. A belt 112 is a pulley.
A turning shaft 102 that can turn around an axis perpendicular to the running surface is installed on the vehicle body 101. An axle 103 is disposed horizontally at a predetermined distance from the axis of the turning shaft 102 with respect to the running surface, and is rotatably supported via a support provided on the turning shaft 102. Wheels 104 are fixed to the axle 103. A wheel drive motor 105 for driving wheels 104 and a turning shaft drive motor 106 for driving the turning shaft 102 are fixed to the vehicle body 101.
Next, an example of a detailed configuration of the transmission unit will be described.
An output shaft of the wheel drive motor 105 passes through the turning shaft 102 and is connected to a bevel gear 108. The pulley 110 is fixed to the bevel gear 109 meshing with the bevel gear 108, and the movement of the pulley 110 is transmitted to the pulley 112 via the belt 111, thereby driving the wheel 104 fixed to the pulley 112. A gear 113 is fixed to the output shaft of the turning shaft drive motor 106, and the gear 113 meshes with a gear 114 on the turning shaft 102 to turn the turning shaft 102.
[0003]
6A and 6B are diagrams illustrating an example of an omnidirectional movement of an omnidirectional vehicle based on a conventional example, as viewed from above, where FIG. 6A illustrates a case where a vehicle body moves forward, FIG. c) shows a case where the vehicle travels in an oblique direction, and (d) shows a case where the vehicle turns.
In FIG. 6, reference numeral 211 denotes a vehicle body, and 212 and 213 denote the driving wheel mechanisms described above. The driving wheel mechanisms 212 and 213 are installed on a diagonal line of the vehicle body 211. Reference numerals 214 and 215 denote caster-type rotatable driven wheels provided on the other diagonal line of the vehicle body 211. In FIG. 6A, in each of the wheel mechanisms 212 and 213, by driving the wheels 104 provided in the wheel mechanisms at the same speed, a propulsive force is generated in the body 211 in the same direction as the direction of the wheels 104. 211 moves forward (upward in the drawing). Here, when the turning shaft 102 is turned 90 degrees while driving the wheels 104 in each of the driving wheel mechanisms 212 and 213, the driving wheel mechanisms 212 and 213 change their postures in the direction shown in FIG. The vehicle body 211 can move in the lateral direction without changing the posture. Similarly, as shown in FIG. 6C, when the wheels 104 of the driving wheel mechanisms 212 and 213 are directed in an oblique direction, the vehicle body 211 can move in an oblique direction without changing the posture, and in FIG. As described above, when the wheels 104 of the wheel mechanisms 212 and 213 are directed in the tangential direction of the circumference indicated by the dotted line, the vehicle body 211 turns on the spot without translating. As described above, the omnidirectional vehicle can be instantaneously moved in all directions in the horizontal plane without requiring a preparation operation by providing at least two or more of the above-described wheel mechanisms on the vehicle body 211.
[0004]
[Patent Document 1]
JP-A-61-285219
[Problems to be solved by the invention]
In general, when an omnidirectional vehicle travels in a building such as a factory or a medical welfare facility, the traveling period in a corridor or the like in a constant traveling direction is long. In the above-mentioned conventional example, when the traveling direction is changed from FIG. 6A to FIG. 6B or when the traveling direction is changed from FIG. 6A to FIG. Since the turning shaft 102 does not need to be operated while traveling in a constant traveling direction after the turning shaft 102 turns in the traveling direction, the turning shaft drive motor 106 is not used, and the motor output is effective. There was a problem that it could not be utilized. On the other hand, although the wheel drive motor 105 is constantly used during traveling, a large amount of output has to be required when accelerating, climbing over a step, or climbing a slope.
[0006]
The present invention has been made in order to solve the above-described problems. When the moving vehicle is traveling in a constant traveling direction, the power of the turning shaft drive motor is used for driving the wheels, and acceleration, climbing over a step or climbing a slope is performed. An object of the present invention is to provide an omnidirectional vehicle that can improve running performance.
[0007]
[Means for Solving the Problems]
In order to solve the above-mentioned problem, the invention according to claim 1 is provided at a position which is arranged perpendicular to a running surface and is pivotally attached to a vehicle body and is located at a predetermined distance from an axis of the pivot. An axle horizontally disposed and rotatably supported by a support provided on the turning shaft; and a wheel attached to the axle so as to rotate along a virtual plane orthogonal to the axis of the axle. And an omnidirectional vehicle provided with at least two or more sets of moving wheel mechanisms including a wheel driving unit for rotating the wheels and a turning shaft driving unit for turning the turning shaft, wherein the output of the turning shaft driving unit is It is provided with an output switching means capable of switching between rotation of a wheel and turning of the turning shaft.
According to a second aspect of the present invention, in the omnidirectional vehicle according to the first aspect, the output switching unit is fixed to a first gear fixed to an output shaft of the turning shaft driving unit and to an output shaft of the wheel driving unit. A fourth gear configured to be always meshed with the second gear, the third gear fixed to the turning shaft, and the first gear, and to be able to switch meshing between the second gear and the third gear. And a gear.
According to a third aspect of the present invention, in the omnidirectional vehicle according to the second aspect, when the fourth gear is meshed with the second gear, the output switching means rotates the third gear about a vertical axis. It is provided with a fixed gear (119) for fixing.
According to a fourth aspect of the present invention, in the omnidirectional vehicle according to the second or third aspect, a friction wheel is used in place of the transmission mechanism including the first gear, the second gear, the third gear, and the fourth gear. It was what was.
According to a fifth aspect of the present invention, there is provided a swivel shaft arranged vertically to a running surface and rotatably attached to a vehicle body, an axle horizontally fixed at a predetermined distance from an axis of the swivel shaft, In an omnidirectional vehicle having two wheels rotatably provided along an imaginary plane orthogonal to the axis and wheel driving means for rotating the wheels, the wheel driving means is fixed to the vehicle body. A first power transmission means for transmitting the output of one of the wheel driving means to the wheel, and a second power transmission means for transmitting the output of the other wheel driving means to the wheel. At least two or more sets of driving wheel mechanisms are provided.
[0008]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[First embodiment]
FIG. 1 is a view showing a wheel mechanism of an omnidirectional vehicle according to a first embodiment of the present invention. FIG. 1 (a) is a front view, and FIG. 1 (b) is a side view. In addition, the same components as those of the related art are denoted by the same reference numerals, and description thereof will be omitted. Only different points will be described.
In the figure, reference numeral 107 denotes output switching means.
[0009]
The differences between the present invention and the prior art are as follows.
That is, an output switching unit 107 that can switch the output of the turning shaft drive motor 106 between the rotation of the wheel 104 and the turning of the turning shaft 102 is provided. Note that the wheel drive motor 105, the turning shaft drive motor 106, and the output switching means 107 are fixed to the vehicle body 101, and the turning shaft drive motor 106 and the output switching means 107 are not shown in FIG. Hereinafter, a detailed configuration of the output switching unit 107 will be described.
[0010]
2A and 2B are diagrams showing a detailed configuration of the output switching means according to the first embodiment of the present invention, wherein FIG. 2A shows a state in which a fourth gear meshes with a first gear and a third gear, and FIG. 4 shows a state in which four gears mesh with the first gear and the second gear.
In the figure, reference numeral 113 denotes a first gear fixed to the output shaft of the turning shaft drive motor 106, 118 denotes a second gear fixed to the output shaft of the wheel drive motor 105, and 114 denotes a third gear fixed to the turning shaft 102. The gear 117 is a fourth gear disposed in the gap between the gear 113 and the gears 118 and 114. Reference numeral 115 denotes a feed mechanism fixed to the vehicle body 101, which generates a propulsive force in the translation direction. Examples include a solenoid and a ball screw connected to a motor (not shown). Reference numeral 116 denotes a movable bar fixed to a movable portion of the feed mechanism 115. The movable rod 116 is vertically slidable by the feed mechanism 115 and can be moved to the position shown in FIG. 2A or the position shown in FIG. The sliding portion of the movable bar 116 has a square cross section, for example, and is configured not to rotate around a vertical axis with respect to the feed mechanism 115. The distal end of the movable rod 116 has a circular cross section, and a gear 117 is mounted at a predetermined position so as to be rotatable about a vertical axis and not to move in the vertical direction. A fixed gear 119 is fixed to the leading end of the movable bar 116 so as not to rotate around a vertical axis. In the output switching means, when the gears are meshed while the movable rod 116 is moved up and down by the feed mechanism 115, the motor speed is changed so as to prevent the occurrence of tooth missing or the like, and adjustment is performed until the gears are meshed correctly. Like that.
[0011]
Next, the operation will be described.
Now, in the omnidirectional vehicle, when the movable bar 116 moves to the position shown in FIG. 2A by the feed mechanism 115, the fourth gear 117 meshes with the first gear 113 and the third gear 114. Accordingly, the output of the turning shaft drive motor 106 is transmitted from the first gear 113 to the third gear 114 via the fourth gear 117, so that the turning shaft 102 can be turned.
Next, when the movable rod 116 is moved to the position shown in FIG. 2B by the feed mechanism 115, the fourth gear 117 meshes with the first gear 113 and the second gear 118. As a result, the output of the turning shaft drive motor 106 is transmitted from the first gear 113 to the second gear 118 via the fourth gear 117, and is transmitted to the output shaft of the wheel drive motor 105. Here, if the turning shaft drive motor 106 and the wheel drive motor 105 are operated by a command such that the output shaft of the wheel drive motor 105 has the same speed, the output of both motors will be the output shaft of the wheel drive motor 105. , Whereby the wheels 104 can be driven. On the other hand, the third gear 114 meshes with the fixed gear 119, but the fixed gear 119 is fixed to the feed mechanism 115 together with the movable rod 116 so as not to rotate around a vertical axis. 102 is fixed to the vehicle body 101.
[0012]
The first embodiment of the present invention is arranged vertically to a running surface, and is horizontally arranged at a position separated by a predetermined distance from an axis of the swivel shaft 102 which is rotatably mounted on a vehicle body 101 and a center of the swivel shaft 102. An axle 103 rotatably supported by a support provided on the turning shaft 102; a wheel 104 attached to the axle 103 so as to rotate along a virtual plane orthogonal to the axis of the axle 103; In an omnidirectional vehicle provided with at least two or more sets of moving wheel mechanisms including a wheel driving means 105 for rotating the wheels 104 and a turning axis driving means 106 for turning the turning axis 102, the output of the turning axis driving means 106 is Since the output switching means 107 is provided which can switch between rotation of the rotation shaft 104 and rotation of the rotation shaft 102, the output of the rotation shaft drive motor 106 is changed to the rotation of the wheel 104 when the traveling direction is constant. By switching to the turning of the turning shaft 102 when changing the traveling direction or changing the traveling direction, the output of the turning shaft drive motor 106 is used for driving the wheels 104 even when the vehicle is traveling in a constant traveling direction, so that acceleration and over-stepping can be performed. Alternatively, it is possible to improve running performance such as climbing a slope.
The output switching means 107 is fixed to the first gear 113 fixed to the output shaft of the turning shaft driving means 106, the second gear 118 fixed to the output shaft of the wheel driving means 105, and fixed to the turning shaft 102. Since the third gear 114 and the first gear 113 are always meshed with each other and the fourth gear 117 configured to be able to switch the meshing between the second gear 118 and the third gear 114 is provided, the turning shaft 102 is connected to the vehicle body 101. , The toe angle (the angle around the vertical axis) of the wheel 104 is fixed, and it is possible to prevent the running of the wheel 104 during traveling in a constant traveling direction to prevent a traveling error.
[0013]
[Second embodiment]
Next, a second embodiment of the present invention will be described.
FIGS. 3A and 3B are diagrams showing a wheel mechanism of an omnidirectional vehicle according to a second embodiment, wherein FIG. 3A is a front view and FIG. 3B is a side view. In FIG. 3A, the illustration of the wheel drive motor 124 is omitted.
In the figure, 120 is a pulley, 121 is a belt, 122 is a pulley, 123 is a wheel, 124 is a wheel drive motor, 125 is a shaft, 126 is a gear, 127 is a gear, 128 is a bevel gear, and 129 is a bevel gear.
The difference between the second embodiment and the first embodiment is that two wheels 104 and 123 are rotatably mounted on the axle 103 at a predetermined distance from the axis of the turning shaft 102, and the vehicle body 101 has wheels. Wheel drive motor 105 for driving wheel 104 and wheel drive motor 124 for driving wheel 123 are fixed. Here, in order to transmit the output of the wheel drive motor 105 to the wheels 104, a first power transmission unit including a bevel gear 108, a bevel gear 109, a pulley 110, a belt 111, and a pulley 112 is provided. Further, in order to transmit the output of the wheel drive motor 124 to the wheels 123, a second power transmission unit including a gear 126, a gear 127, a shaft 125, a bevel gear 128, a bevel gear 129, a pulley 120, a belt 121, and a pulley 122 is provided. Is provided.
[0014]
Next, a detailed configuration of the transmission means will be described.
The turning shaft 102 is provided with a shaft 125 that can turn around the same axis. The output shaft of the wheel drive motor 105 passes through the turning shaft 102 and the shaft 125 and is connected to the bevel gear 108. A pulley 110 is fixed to a bevel gear 109 meshing with the bevel gear 108, and drives a pulley 112 and a wheel 104 fixed thereto via a belt 111. A gear 126 is fixed to an output shaft of the wheel drive motor 124, and the gear 126 meshes with a gear 127 on the shaft 125 to rotate the shaft 125. Further, a bevel gear 128 is connected to the other end of the shaft 125, and a pulley 120 is fixed to the bevel gear 129 that meshes with the bevel gear 128. The pulley 120 drives a pulley 122 via a belt 121 and wheels 123 fixed thereto.
[0015]
4A and 4B are diagrams illustrating an example of the omnidirectional movement of the omnidirectional vehicle according to the second embodiment, as viewed from above, where FIG. 4A illustrates a case where the vehicle body moves forward, FIG. (C) shows a case where the vehicle travels in an oblique direction, and (d) shows a case where the vehicle turns.
In the figure, 201 is a vehicle body, 202 and 203 are the wheel mechanisms described above, and the wheel mechanisms 202 and 203 are installed on a diagonal line of the vehicle body 201. Reference numerals 204 and 205 denote caster-type rotatable driven wheels installed on the other diagonal line of the vehicle body 201.
[0016]
Next, the operation will be described.
In FIG. 4 (a), by driving the wheels 104 and 123 at the same speed in each of the wheel mechanisms 202 and 203, a propulsive force is generated in the vehicle body 201 in the same direction as the direction of the wheels, and the vehicle body 201 (Upward). Here, if there is a difference between the rotation speeds of the wheels 104 and 123, the turning shaft 102 turns around the vertical axis, and accordingly, the driving wheel mechanisms 202 and 203 move in the direction shown in FIG. 4B. Subsequently, by driving each of the wheels 104 and 123 at the same speed, the vehicle body 201 can move in the lateral direction without changing the posture.
Similarly, as shown in FIG. 4 (c), the wheel mechanisms 202, 203 can be turned obliquely by turning the wheels 104, 123 so as to be oblique, or as shown in FIG. 4 (d). By turning the wheel mechanisms 202 and 203 such that the wheels 104 and 123 are on the tangent of the circumference, it is also possible to turn on the spot. That is, by providing at least two or more wheel mechanisms as described above on the vehicle body, it is possible to immediately change the position and orientation in all directions in the horizontal plane without requiring a preparation operation.
[0017]
A second embodiment of the present invention is directed to a turning shaft 102 which is disposed perpendicularly to a running surface and is pivotally attached to a vehicle body 101, and an axle fixed horizontally at a predetermined distance from the axis of the turning shaft 102. 103, two wheels 104 and 123 rotatably provided along an imaginary plane perpendicular to the axis of the axle 103, and an omnidirectional vehicle having wheel driving means for rotating the wheels 104. The wheel driving means is composed of two wheel driving means 105 and 124 fixed to the vehicle body 101, a first power transmission means for transmitting the output of the wheel driving means 105 to the wheels 104, Since at least two or more sets of the driving wheel mechanism including the second power transmission means for transmitting the output to the wheel 105 are provided, both the rotation of the wheel and the turning of the turning shaft are provided. The combined output of the wheel drive motor 105 and the wheel drive motor 124 is used.Even when traveling in a constant traveling direction or changing the traveling direction, the outputs of all mounted motors are effectively utilized, It is possible to improve acceleration, climbing over a step, or climbing a slope.
Further, since a so-called stationary operation, such as turning around the vertical axis without rotating the wheel, does not occur, the wheel and the road surface are not damaged.
[0018]
In the first embodiment, an example in which a gear is used for power transmission of the driving wheel mechanism has been described, but a friction wheel or a hydraulic power transmission means may be used instead of the gear. Since the friction wheel can transmit power by friction, the output can be easily switched without adjusting the meshing of the teeth like a gear.
[0019]
【The invention's effect】
As described above, the present invention has the following effects.
The first embodiment of the present invention is arranged vertically with respect to a running surface, is pivotally mounted on a vehicle body, and is horizontally disposed at a predetermined distance from the axis of the pivot, and is pivoted. An axle rotatably supported by a support portion provided on the axle, a wheel attached to the axle so as to rotate along a virtual plane perpendicular to the axis of the axle, and wheel driving means for rotating the wheel, In an omnidirectional vehicle provided with at least two or more sets of moving wheel mechanisms comprising a turning shaft driving means for turning the turning shaft, an output switchable in which the output of the turning shaft driving means can be switched between wheel rotation and turning of the turning shaft. Means, the output of the turning shaft drive motor is switched to the rotation of the wheels when the traveling direction is constant, and when the traveling direction is changed, the output is switched to the turning of the pivot axis. Shaft drive Utilizing the output of the motor for driving the wheels, the acceleration, it is possible to improve the level difference overcome or running performance such as slope climbing.
The output switching means includes a first gear fixed to the output shaft of the turning shaft driving means, a second gear fixed to the output shaft of the wheel driving means, a third gear fixed to the turning shaft, Since the fourth gear is provided so as to always mesh with one gear and switch between meshing with the second gear and the third gear, the toe angle of the wheel (around the vertical axis) is secured by fixing the turning shaft to the vehicle body. Angle) is fixed, and it is possible to prevent a running error due to the wheels being shaken during traveling in a constant traveling direction.
[0020]
A second embodiment of the present invention is a vertical axis with respect to a running surface, and is mounted on a vehicle body so as to be pivotable, an axle fixed horizontally at a predetermined distance from the axis of the pivot axis, and an axle axis. In an omnidirectional vehicle provided with two wheels rotatably provided along a virtual plane perpendicular to the heart and wheel driving means for rotating the wheels, the wheel driving means are two wheel driving means fixed to the vehicle body And at least two sets of driving wheel mechanisms each including a first power transmission means for transmitting the output of one wheel driving means to the wheels and a second power transmission means for transmitting the output of the other wheel driving means to the wheels. Because of this, the combined output of the two wheel drive motors is used for both the rotation of the wheels and the turning of the turning axis, and it is mounted when the traveling direction is constant or when the traveling direction is changed Of all motors Leverage the power effectively, overcome acceleration or step, or it is possible to improve the slope climbing performance.
Further, since a so-called stationary operation, such as turning around the vertical axis without rotating the wheel, does not occur, the wheel and the road surface are not damaged.
[Brief description of the drawings]
FIGS. 1A and 1B are views showing a wheel mechanism of an omnidirectional vehicle according to a first embodiment of the present invention, wherein FIG. 1A is a front view and FIG. 1B is a side view.
FIGS. 2A and 2B are side views showing a detailed configuration of the output switching means of the first embodiment, wherein FIG. 2A is a state in which a fourth gear meshes with a first gear and a third gear, and FIG. The state where the gear meshes with the first gear and the second gear is shown.
3A and 3B are diagrams showing a driving wheel structure of an omnidirectional vehicle according to a second embodiment, wherein FIG. 3A is a front view and FIG. 3B is a side view.
4A and 4B are diagrams illustrating an example of omnidirectional movement of an omnidirectional vehicle according to a second embodiment, as viewed from above, where FIG. 4A illustrates a case where a vehicle body moves forward, and FIG. , (C) shows a case in which the vehicle travels in an oblique direction, and (d) shows a case in which the vehicle turns.
5A and 5B are diagrams showing a wheel mechanism of an omnidirectional vehicle in a conventional example, wherein FIG. 5A is a front view and FIG. 5B is a side view.
6A and 6B are diagrams illustrating an example of an omnidirectional movement of an omnidirectional vehicle based on a conventional example, as viewed from above, wherein FIG. 6A illustrates a case where a vehicle body moves forward, FIG. (C) shows a case where the vehicle travels in an oblique direction, and (d) shows a case where the vehicle turns.
[Explanation of symbols]
101 body 102 turning axis 103 axle 104 wheels 105 wheel drive motor (wheel drive means)
106 Swivel axis drive motor (swivel axis drive means)
107 Output switching means 108 Bevel gear 109 Bevel gear 110 Pulley 111 Belt 112 Pulley 113 First gear 114 Third gear 115 Feed mechanism 116 Movable rod 117 Fourth gear 118 Second gear 119 Fixed gear 120 Pulley 121 Belt 122 Pulley 123 Wheel 124 Wheel drive motor 125 Shaft 126 Gear 127 Gear 128 Bevel gear 129 Bevel gear 201 Body 202, 203 Wheel drive mechanism 204, 205 Follower wheel

Claims

A turning shaft (102), which is arranged perpendicular to the running surface and is pivotally attached to the vehicle body (101), and is horizontally arranged at a predetermined distance from the axis of the turning shaft (102); An axle (103) rotatably supported by a support provided on the turning shaft (102); and an axle (103) rotating along an imaginary plane orthogonal to the axis of the axle (103). ), A wheel driving mechanism including at least a wheel (104), a wheel driving means (105) for rotating the wheel (104), and a turning shaft driving means (106) for turning the turning shaft (102). In an omnidirectional vehicle with two or more sets,
Omnidirectional movement characterized by comprising output switching means (107) capable of switching the output of the turning axis driving means (106) between rotation of the wheels (104) and turning of the turning axis (102). car.

The output switching means (107) includes a first gear (113) fixed to an output shaft of the turning shaft driving means (106) and a second gear (113) fixed to an output shaft of the wheel driving means (105). 118), a third gear (114) fixed to the turning shaft (102), and always meshes with the first gear (113), and the second gear (118) and the third gear (114). The omnidirectional vehicle according to claim 1, further comprising a fourth gear (117) configured to be able to switch meshing with the fourth gear (117).

The output switching means (107) is a fixed gear (114) for fixing the third gear (114) around a vertical axis when the fourth gear (117) is engaged with the second gear (118). 119. The omnidirectional vehicle according to claim 2, further comprising: 119).

A friction wheel is used in place of the transmission mechanism including the first gear (113), the second gear (118), the third gear (114), and the fourth gear (117). Or the omnidirectional vehicle according to 3.

A turning shaft (102) disposed perpendicular to the running surface and rotatably attached to the vehicle body (101); and an axle (103) fixed horizontally at a predetermined distance from the axis of the turning shaft (102). And two wheels (104) and (123) rotatably provided along an imaginary plane orthogonal to the axis of the axle (103), and a wheel drive for rotating the wheels (104) and (123). In an omnidirectional vehicle equipped with means,
The wheel drive means comprises two wheel drive means (105) and (124) fixed to the vehicle body (101);
First power transmission means for transmitting the output of one of the wheel driving means (105) to the wheel (104) and second power for transmitting the output of the other wheel driving means (124) to the wheel (123) An omnidirectional vehicle, wherein at least two or more sets of wheel mechanisms including transmission means are provided.