JP2005131174A - Attachment structure of spherical driving wheel to body of vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an attachment structure of a spherical driving wheel to a body of a vehicle with which maneuverability is stable regardless of a road surface condition and a vibration to an operator can be controlled regardless of the road surface condition. <P>SOLUTION: The spherical driving wheel 2 is attached to the body of the vehicle 1 through a parallel movement mechanism 7 and the spherical driving wheel 2 maintains the same posture regardless of a relative positional relation in a vertical direction between the body of the vehicle 1 and the spherical driving wheel 2. One of two links 70 and 71 to connect the main body of the vehicle 1 and the spherical driving wheel 2 is disposed with an extension part 72. A compression coil spring 84 to connect mutually the above extension part 72 of the above link 70 and the main body of the vehicle 1 is disposed and a shock absorber 8 to prevent a shocking expansion and contraction of the compression coil spring 84 is disposed in a space part of a bore of the compression coil spring 84. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a structure for mounting a spherical drive wheel, which is suitably used as a traveling wheel of various vehicles such as a wheelchair, a distribution vehicle, an aerial work vehicle, and an automated guided vehicle, to a vehicle body.

  As shown in FIG. 5, the spherical driving wheel is obtained by tilting the rotation axis J with respect to the vertical line by the rotational force of the motor, which is held in a state where the ball wheel 90 is accommodated in the holding body 91 more than half (inclination). It is made to rotate in the state made into the angle (beta)), and it is made to attach to the vehicle main body 9 via the shaft 92 for attachment and the bracket 93 with which the said spherical drive wheel was equipped (for example, patent document 1). ).

As shown in FIG. 5, the mounting shaft body 92 is loosely inserted by a nut n screwed into one end of the mounting shaft body 92 while being loosely inserted into a hole h provided in the vehicle body 9. In order to maintain a predetermined distance from the road surface of the vehicle main body 9, a pushing force is applied to the vehicle main body 9 by a compression coil spring 95 extrapolated to the mounting shaft 92. On the other hand, the bracket 93 is swingably attached to the vehicle main body 9 by a pin 94 as shown in FIG.
JP, 2003-94904, A Therefore, when the above-mentioned attachment structure is adopted, the spherical driving wheel can swing around the pin 94 in a mode in which the compression coil spring 95 is compressed and restored, and the impact force from the road surface is the vehicle body 9. Even if there is a step on the road surface, it can be absorbed to some extent.

However, the structure for mounting the spherical drive wheel to the vehicle body has the following problems (1) and (2).
(1) Since the spherical drive wheel is configured to swing around the pin 94, the inclination angle β of the rotation axis J with respect to the vertical line changes when moving on a road surface with steps or irregularities, and the spherical wheel 90 The contact point to the road surface changes (for example, changes from A to B). As a result, the travel distance per rotation of the ball wheel 90 changes, and a desired speed cannot be obtained depending on the road surface condition, and the ball wheels 90 are different from each other. That is, there is a possibility that a problem that the operability when moving on a road surface with steps or unevenness is not stable may occur.
(2) Since the distance between the spherical drive wheel and the vehicle body 9 is maintained by the compression coil spring 95, even if there is a step on the road surface, it can be absorbed to some extent by the compression / return of the compression coil spring 95. There also occurs a situation in which shocking vibration is transmitted to the vehicle body 9 at the time of compression / return (particularly at the time of return).

  Therefore, an object of the present invention is to provide a structure for mounting a spherical drive wheel to a vehicle body that has stable operability regardless of the road surface condition.

  Another object of the present invention is to provide a structure for mounting a spherical drive wheel to a vehicle body that has stable operability regardless of the road surface condition and that shock vibration is not easily transmitted to the vehicle body 9 side. .

(Invention of Claim 1)
According to the mounting structure of the spherical drive wheel to the vehicle body of the present invention, the spherical drive wheel is attached to the vehicle body via a parallel motion mechanism, and the spherical drive wheel is spherical regardless of the vertical relative positional relationship between the vehicle body and the spherical drive wheel. The drive wheels maintain the same posture.
(Invention of Claim 2)
The mounting structure of the spherical drive wheel to the vehicle main body according to the present invention relates to the invention according to claim 1, wherein an extension is provided on one of two links connecting the vehicle main body and the spherical drive wheel, and the link is extended. A compression coil spring that connects the vehicle body and the vehicle body is provided, and a shock absorber is provided in the inner diameter space of the compression coil spring to prevent shock compression of the compression coil spring.
(Invention of Claim 3)
The mounting structure of the spherical drive wheel to the vehicle main body according to the present invention relates to the invention according to claim 1 or 2, wherein the spherical drive wheel has the rotation axis of the spherical wheel inclined with respect to the vertical line.

  In the structure for mounting the spherical drive wheel to the vehicle main body according to the invention, the operability is stable regardless of the road surface condition.

  Further, in the structure for mounting the spherical drive wheel to the vehicle main body according to the above invention, the operability is stable regardless of the road surface state, and shocking vibration is hardly transmitted to the vehicle main body side.

  Hereinafter, an embodiment as the best mode for carrying out a structure for mounting a spherical drive wheel to a vehicle body according to the present invention will be described in detail.

FIG. 1 is a side view of a wheelchair A adopting a structure for mounting a spherical drive wheel 2 to a vehicle body 1 according to this embodiment, and FIG. 2 is a front view showing a state of mounting the spherical drive wheel 2 to the vehicle body 1. 3 is a side view showing a state in which the spherical driving wheel 2 is attached to the vehicle body 1, and FIG. 4 is a side view showing a state in which the position of the spherical driving wheel 2 is changed in the vertical direction with respect to the vehicle body 1.
(About the basic configuration of wheelchair A)
As shown in FIGS. 1, 2 and 3, the wheelchair A includes a vehicle main body 1 and four spherical drive wheels 2 provided in a manner inclined vertically with respect to the left and right front and rear of the vehicle main body 1. A base plate 3 bolted on the vehicle body 1 so as to be adjustable in height and inclination, a seating portion 4 bolted on the base plate 3, an armrest portion 40 provided on the seating portion 4 and an operation A portion 41; a footrest portion 5 provided on the base plate 3 so as to be openable / closable; a hand bar 6 detachably attached to the base plate 3 via a bracket 60; a vehicle body 1 and a spherical drive wheel 2; And a parallel motion mechanism 7 to be connected.

Hereinafter, the spherical drive wheel 2, the parallel motion mechanism 7, the shock absorber 8 and the compression coil spring 84 that are related to the main structure of the spherical drive wheel 2, the parallel structure of the spherical drive wheel 2 to the vehicle body 1 will be described.
(About the configuration of the spherical drive wheel 2)
As shown in FIG. 3, the configuration of the spherical drive wheel 2 is basically the same as that disclosed in Japanese Patent Application Laid-Open No. 2003-94904, and the difference is that the compression coil spring is for extrapolation installation. This is only where the mounting shaft 92 is not present. Therefore, the description of the spherical drive wheel 2 will be limited to an approximate level as shown below.

  As shown in FIG. 3, in the spherical drive wheel 2, the rotational force of the motor 20 is such that the rotation shaft 20a of the motor 20 → the gear 21 (by meshing with the rotation shaft 20) → the roller holding having a plurality of holding rollers 22a. It is transmitted as a rotational force of the ball wheel 23 through a path from the body 22 to the ball wheel 23 (by being held by the plurality of holding rollers 22a). Here, in this spherical driving wheel 2, the upper portion of the spherical wheel 23 is pressed by a top support roller 24 that is rotatably provided on the shaft 25, and the block 26 that supports the shaft 25 is a roller. It is attached to the holding body 22 via bearings 27 and 27. Accordingly, the top support roller 24 rotates integrally with the block 26 in a direction that does not obstruct the traveling direction of the wheelchair A, like a so-called free roller.

In this spherical drive wheel 2 as well, the rotational axis J of the spherical wheel 23 is inclined (inclination angle β) with respect to the vertical line.
(Regarding the parallel motion mechanism 7 and its associated shock absorber 8 and compression coil spring 84)
The parallel motion mechanism 7 is for keeping the spherical driving wheel 2 in the same posture regardless of the vertical relative positional relationship between the vehicle main body 1 and the spherical driving wheel 2, as shown in FIG. The bracket 10 provided in the vehicle body 1 and the bracket 73 provided on the spherical drive wheel 2 are connected by links 70 and 71 arranged in parallel. As a specific connection, the ends of the link 70 and the link 71 are pivotally supported by the bracket 10 and the bracket 73, respectively.

Here, in this wheelchair A, as shown in FIGS. 2 and 3, one of the two links 70, 71 connecting the vehicle body 1 and the spherical drive wheel 2 is provided with an extension 72, A shock absorber 8 that connects the extension 72 of the link 70 and the vehicle body 1 is provided. As shown in FIG. 3, the shock absorber 8 has flanges 80 and 81 at both ends thereof, and swings one end side toward the vehicle body 1 side and the other end side toward the extension portion 72 side. Pinned freely. A compression coil spring 84 is provided between the flanges 80 and 81 of the shock absorber 8 described above, and the vehicle body 1 is supported by the presence of the compression coil spring 84.
(About the excellent action and effect of the mounting structure of the spherical drive wheel 2 to the vehicle body 1)
(1) Since the spherical drive wheel 2 is attached to the vehicle main body 1 via the parallel motion mechanism 7, the vertical relative of the vehicle main body 1 and the spherical drive wheel 2 when moving on a stepped or uneven road surface. Even if the positional relationship changes, as shown in FIGS. 4A, 4B, and 4C, the spherical drive wheels 2 maintain the same posture. That is, the inclination angle β with respect to the vertical line of the rotation axis J of the ball wheel 23 does not change. Accordingly, there is almost no change in the contact point of the ball wheel 90 to the road surface, and the traveling distance per rotation of the ball wheel 23 is almost the same between the ball wheels 23. That is, the operability when moving on a road surface with steps or unevenness is stable.
(2) Since the compression coil spring 84 keeps the vertical distance between the spherical drive wheel 2 and the vehicle body 1 and the shock absorber 8 is provided to prevent the compression coil spring 84 from expanding and contracting shock, When there is a step on the road surface, the shocking vibration is not transmitted to the vehicle body 1 when the compression coil spring 84 is compressed and restored (particularly at the time of restoration).
(About other embodiments)
In the first embodiment, the type of vehicle is a wheelchair. However, the present invention is not limited to this, and can also be applied to a distribution vehicle and an aerial work vehicle.

The side view of the wheelchair which employ | adopted the attachment structure to the vehicle main body of the spherical drive wheel of this invention. The front view which shows the attachment state to the vehicle main body of the said spherical drive wheel. The side view which shows the attachment state of the spherical drive wheel with respect to a vehicle main body. The side view which shows a mode that the attachment position of the spherical drive wheel changed to the vertical direction with respect to the vehicle main body. The front view which shows the attachment state to the vehicle main body of the conventional spherical drive wheel.

Explanation of symbols

A Wheelchair J Rotating axis 1 Vehicle body 2 Spherical drive wheel 3 Base plate 4 Seating part 5 Foot rest part 6 Hand bar 7 Parallel motion mechanism 8 Shock absorber 70 Link 71 Link 72 Extension part 84 Compression coil spring

Claims (3)

A spherical drive wheel is attached to the vehicle body via a parallel motion mechanism, and the spherical drive wheel maintains the same posture regardless of the vertical relative positional relationship between the vehicle body and the spherical drive wheel. A structure for mounting the spherical drive wheel to the vehicle body. Of the two links connecting the vehicle main body and the spherical drive wheel, an extension is provided on one side, a compression coil spring is provided connecting the extension of the link and the vehicle main body, and a compression coil spring is provided in the inner diameter space of the compression coil spring. The structure for mounting a spherical drive wheel to a vehicle body according to claim 1, further comprising a shock absorber for preventing shock expansion and contraction. The structure for mounting a spherical drive wheel to a vehicle body according to claim 1 or 2, wherein the spherical drive wheel has a rotation axis of the spherical wheel inclined with respect to a vertical line.

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