JP2007022342A - Omnidirectional wheel and omnidirectional moving device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an omnidirectional wheel and an omnidirectional moving device materializing a motor-in mechanism which is not bulky and compact, without increasing a wheel diameter. <P>SOLUTION: The omnidirectional wheel is equipped with one or a plurality of roller frames 1 which can be rotated by a first rotating shaft. The roller frame 1 holds a plurality of free rollers 2 along a peripheral edge thereof. A frame rotating means 4 rotating the roller frame itself about the first rotating shaft is stored inside of the roller frame 1. In the omnidirectional wheel, the frame rotating means 4 may be an out rotor type driving mechanism using the roller frame 1 as an out rotor. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an omni foil as a drive wheel of an omnidirectional moving device and an omnidirectional moving device including the same.

  Conventionally, as an omnidirectional foil (omni foil) provided in an omnidirectional mobile body, three rollers are rotatably provided in the circumferential direction of a roller frame to form a foil structure, and the two foil structures are mutually connected. There are those fixed by shifting the phase of the rollers (see, for example, Patent Document 1). The foil structure fixed in this way is provided so as to be able to turn around the horizontal turning shaft on the omnidirectional moving body. Further, a plurality of wheels are provided at both ends of the plurality of axles intersecting at the approximate center in plan view of the omnidirectional mobile body so that the respective side faces the approximate center in plan view.

  However, in the conventional omni foil, the motor must be externally attached to the outside of the foil. Since an independent drive motor is required for each wheel for omnidirectional movement, the entire omnidirectional movement apparatus requires a plurality of motors and a driving force transmission mechanism, which increases the volume.

  In addition, in such a conventional omni foil, a plurality of rollers are supported around the structure, and the structure is fixed by shifting the phase of each other. It was not possible.

JP-A-2-249769

  Accordingly, an object of the present invention is to provide an omni foil and an omnidirectional moving device that achieve a motor-in mechanism as a compact one that does not increase in volume without increasing the wheel diameter.

  In order to solve the above problems, the following means (1) to (5) are adopted.

  (1) The omni foil of the present invention comprises one or a plurality of roller frames 1 that can be rotated (that is, rotated in the forward and reverse directions) by a first rotation shaft. Is a frame rotation for holding a plurality of free rollers 2 along the periphery of the roller frame itself and rotating the roller frame itself around the first rotation axis in the roller frame itself. The moving means 4 is accommodated.

  (2) In the omni foil, the frame rotation means 4 may be an out-rotor type drive mechanism in which the roller frame 1 is an out-rotor.

  If it is such a thing, roller frame 1 itself will rotate at high speed as a rotation part of an out rotor. Since the roller frame serving as the surrounding foil is integrated as a housing-type rotating portion, a transmission mechanism for rotating the shaft becomes unnecessary. For example, as in the case of an inner shaft rotating motor, it is not necessary to transmit the shaft turning power to the outer peripheral foil with the wheel box or to absorb the shaft misalignment due to vibration between the shaft and the foil. Further, it does not house a rotating mechanism that is housed like an inner shaft rotating motor, but directly rotates the roller frame 1 and is compared with a mechanism for rotation (for example, a coil that is an electromagnetic derivative). Large space can be secured. For example, when a coil having a relatively large diameter is used as an electromagnetic derivative, high torque can be obtained without incorporating a mechanical structure such as a gear. Since the mechanical gear is not required and the rotating means is formed with a simple configuration, these provide an omni foil with a simple mechanism that has excellent durability and high safety.

(3) In addition any of the above Omunihoiru is an internal accommodation space 3 along the first rotation axis A ₁ direction of the roller frame 1 is provided, on the inner housing space 3, with an actuator 41 (substantially cylindrical ) becomes houses the frame turning means 4, the actuator 41, the rotary actuator 41 to its own rotational drive shaft is disposed so as to face the first pivot axis a ₁ direction of the roller frame 1 It is also good.

If it is such, since the rotation drive shaft of itself turns to the _1st rotation axis A1 direction of the roller frame 1, the rotation drive force can be transmitted to the roller frame 1 stably.

  (4) Further, in any one of the above omnifoils, the frame rotation means 4 includes a rotation gear group (421 to 423) including the planetary gear 422 structure, and the axis position of the gear shaft 422s of the planetary gear 422 is It is characterized by being fixed to the wheel box 44.

  In such a case, the shaft position of the planetary gear 422 is moved by the gear rotation of the planetary gear 422 structure, and the gear force is output to the wheel box 44. Thereby, the gear excellent in the stable gear transmission and durability can be comprised. For example, the wheel box is fixed to the roller frame and integrated with the roller frame, whereby the axial force of the rotating gear group (421 to 423) is transmitted to the roller frame.

  (5) Further, in the omnidirectional movement apparatus of the present invention, any one of the omnifoils includes a fixing means 5 to the moving apparatus as fixed to each frame rotating means 4, and the fixing means 5 A plurality of wheels are fixed to the moving device.

  In such an omnidirectional movement device, each omni foil accommodates the frame rotation means inside and rotates by itself, so that a space for the drive mechanism is not required and the device becomes compact. In addition, the weight of the foot is relatively large, and the running is stable. In particular, it can be preferably used for, for example, an apparatus for carrying precision parts that requires smooth omnidirectional movement with little vibration or an omnidirectional moving body for walking training.

  The omni foil of the present invention has the above-described configuration, and achieves a motor-in mechanism that accommodates the frame rotation means, so that the wheel diameter is not increased and the volume does not increase. Become.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of the invention will be described with reference to the drawings illustrating the embodiments. FIGS. 1 and 2 are a front view and a side sectional explanatory view, respectively, of the omni foil according to the first embodiment of the present invention, and FIGS. An example shows a bottom view and a side view, respectively. 5 and 6 show a front view and an explanatory side sectional view, respectively, of the omni foil of Example 2 of the present invention. 7 and 8 show a front view and an explanatory side sectional view, respectively, of the omni foil of Example 3 of the present invention.

Omunihoiru of the invention, a substantially horizontal first pivot axis A ₁ around by rotation (i.e., forward and reverse rotation direction) the possible roller frame 1, one or more, the first rotation axis A ₁ in common. Roller frame 1 along the first pivot axis A ₁ roller frame 1 perimeter itself around the holds a plurality of free rollers 2 freely rotatably. The roller frame 1 therein, an internal accommodation space 3 along the first rotation axis A ₁ direction is provided, on the inner housing space 3, the roller frame 1 itself first rotation axis A ₁ around twice The frame rotating means 4 to be moved is accommodated.

Moreover, the omnidirectional movement apparatus of the present invention is characterized in that any one of the omni foils is fixed to a plurality of wheels and each frame rotation means 4 is fixed to the apparatus main body. At this time, the axle of each omni foil, that is, the first rotation axis A ₁ is fixed as non-variable, and moves in an arbitrary direction by adjusting the rotation speed by the frame rotation means 4. Hereafter, each structure is explained in full detail.

(Roller frame 1)
The roller frame 1 is rotated around a _first rotation axis A1 by a frame rotation means 4 described later, and can be rotated on the ground surface. The first pivot axis A ₁ at this time is substantially horizontal with respect to the ground plane.

When there are a plurality of roller frames 1, the respective rows are arranged and fixed with their phases shifted from each other around the common first rotation axis A ₁ . Moreover, the some free roller 2 is hold | maintained on the same plane along the periphery of itself. The roller frame 1 is two of the first roller frame 11 and the second roller frame 12 in this embodiment. The two sheets, two rows, the first pivot axis A ₁ of a substantially horizontal axis as a common axis, formed by columns set fixed out of phase with each other. In the case of two rows, the amount of phase to be shifted is half of the phase of the mounting interval of the free rollers 2 when the roller frame is viewed from the front (see the dotted line in FIG. 1 or FIG. 5 showing Example 2). Here, a column in plan view the outer case of fixing in all directions moving device (circumferential outer substantially circular frames F ₁ in FIG. 3) and the first roller frame 11, in plan view inside (Fig. 3 The row of the substantially circular pipe frame F ₁ (center side) is defined as the second roller frame 12. The first and second roller frames 1 have substantially the same shape, and hold five free rollers 2 at equal intervals on the same plane.

((First and second) roller frames 11, 12 (1))
First and second roller frame 12 is itself made of a thin turning body turning in the first pivot axis A ₁ of the common. When the first of the pivot axis A ₁ and the front surface of a normal line, as shown in FIG. 1, to hold the radially at least five free rollers 2 at regular intervals in a plane. At this time, the axis of the free roller 2 forms a regular polygon in the rolling surface of the roller frame 1.

A first roller frame 11 and the second roller frame 12, with only the phase shift half the first arrangement angle of the rotation axis A ₁ free roller 2 around the are arrayed. In the embodiment, by arranging two rows by the first and second roller frames 11 and 12, the thickness direction (the direction in which the rows are overlapped) is made compact, but a row that should constitute one omni foil That is, the number of roller frames 1 may be three or four.

(Free roller 2)
A plurality of free rollers 2 are held so as to be freely rotatable on the same plane along the periphery of the roller frame 1 in each row. The same plane is a plane perpendicular respectively ground plane and the first pivot axis A _1. The plurality of free rollers 2 are rollers that can freely rotate in forward and reverse directions on _{second to} sixth rotation axes (A _{2 to} A ₆ ) in each roller frame 1. When the second to sixth rotation axes (A _{2 to} A ₆ ) write a circle with a certain radius centered on the first rotation axis A ₁ in the vertical plane, the tangent of this circle It becomes. The plurality of free rollers 2 are preferably held at equal intervals in the roller frame 1 of each row. Further, when the roller frame 1 of the plurality of rows is column set fixed out of phase, it is preferable to roller frame 1 when viewed from the side are arranged at equal intervals around the first pivoting axis A _1. At this time, at least one of the plurality of free rollers 2 is grounded around the roller frame of each row. When the number of the free rollers 2 that the roller frames 1 in each row hold on the same plane is at least five, the internal housing space 3 described later can be made relatively large.

As shown in FIG. 1, the free roller 2 is an axisymmetric and biaxially symmetric barrel-shaped roller having a turning diameter that increases from both ends to the center of the turning shaft. In the embodiment, five free rollers 2 are pivotally supported by the roller frame 1 so as to be freely rotatable and provided on a substantially vertical plane. The free roller 2 has _five axes of _{second to} sixth rotation axes A ₂ , A ₃ , A ₄ , A ₅ , A ₆ , and the first rotation axis is centered on the front view. It is formed as a regular pentagon that is a polygon (see FIG. 2). Both ends of the barrel-shaped rollers having the center axes of the second to sixth rotation axes A ₂ , A ₃ , A ₄ , A ₅ , A ₆ are held by the roller frame 1 so as to be freely rotatable. A shaft hole 22 is provided at the center of the surface, and a substantially cylindrical shaft body 21 is accommodated in the shaft hole so as to be freely rotatable.

  As described above, the plurality of rows of roller frames 1 are arranged and fixed while changing the phase. As shown in FIG. 1, it arrange | positions so that the clearance gap between the free rollers 2 of one row | line | column may be complemented between the free rollers 2 of another row | line | column by a front view, and the front view circular contact | abutting part is formed.

The number of the free rollers 2 is five in the embodiment, but may be six, seven, or eight or more as long as it is more. Thus the number of free rollers 2 that was 5 or more, it is possible to secure the internal accommodation space 3 around the first pivoting axis A ₁ therein. Further, if the number of free rollers 2 in each row is 5 or more and a plurality of roller frames 1 are arranged and fixed while being shifted in phase, the roller frames 1 are provided with the first rotation axis A. When it rotates around ₁ time, the distance L (refer FIG. 4) between the free rollers to earth | ground can be made shorter. For this reason, there is little vibration and it is excellent in running stability.

(Internal housing space 3)
The internal housing space 3 is a cylindrical hole-shaped space having the first rotation axis A1 of the roller frame ₁ as a central axis. The internal housing space 3 is a space that houses at least a part of the drive mechanism of the frame rotation means 4. In the case of the plurality of roller frames 1, each row is arranged and fixed, and one internal housing space 3 is provided in the vicinity of the first rotation axis A ₁ of the entire omni foil. Internal accommodation space 3, about the first pivot axis A ₁ of the roller frame 1, which is column set fixed, by a roller frame 1 of the plurality of rows, a portion of the mechanical structure such as a driving device from either both sides It is provided so as to accommodate the frame rotation means 4 described later without being extremely projected (preferably in a state of being completely accommodated without protruding at all). In the embodiment has a cylindrical hole-shaped space centered axis first pivot axis A ₁ of the roller frame 1, the inner housing space 3 smaller cylindrical frame rotating means 4 slightly larger than itself, bearings, It is housed in a rotatable manner by a wheel box or the like.

(Frame rotating means 4)
The frame rotation means 4 includes a substantially cylindrical actuator 41. Further, the inner serving first around pivot axis A ₁ of the roller frame 1, the inner housing space 3 along the first rotation axis A ₁ direction is provided, on the inner housing space 3, substantially comprising an actuator 41 A cylindrical frame rotating means 4 is accommodated.

The actuator 41 is housed in an internal housing space that is inside the roller frame 1. It is preferable its own rotary drive shaft is rotated actuator disposed so as to face the first pivot axis A ₁ direction. If it is such, since the rotation drive shaft of itself turns to the _1st rotation axis A1 direction of the roller frame 1, the rotation drive force can be transmitted to the roller frame 1 stably.

Frame pivoting means 4 transmits an electric motor serving as an actuator 41, a driving force of provided by the electric motor on both sides or either one side of and out of the roller frame 1 as the first about the pivot axis A ₁ of A wheel box 44 (and shock and vibration of the roller frame 1 is buffered) and a side bearing 43 that supports the roller frame 1 so as to be able to rotate around the side of the frame rotating means 4 are provided.

  Specifically, the inner shaft rotating electric motor and the rotating gear 42 are disposed in a cylindrical actuator unit 40. The actuator unit 40 is accommodated in the internal accommodating space 3 via a plurality of rows of side bearings 43 provided on the side peripheral surface and a wheel box provided at the center of the top surface.

(Actuator 41)
Actuator 41, its own rotational drive shaft is disposed a rotary drive device in the form of rotating type electric motor so as to face the first pivot axis A ₁ direction of the roller frame 1. The rotation shaft of the electric motor, a first pivot axis A ₁ of the roller frame 1 directed to the same direction, slightly eccentric to the first vertically downward from the rotational axis A _1. Due to this eccentricity, the torque necessary for the rotation drive of the roller frame 1 is easily secured. In addition, by decentering vertically downward, the center of gravity is located below the center and stable running is possible.

  An inner shaft rotation type electric motor as an actuator that can be specifically used includes, for example, a 16-pole permanent magnet and a three-phase winding of four pole pieces, an output of 30 W, a no-load rotation speed of 4400 rpm, and a stationary A brushless, Hall sensor built-in type with a torque of 260 mNm and a thrust preload of 5 N or more.

(Rotating gear 42)
The rotation gear 42 of the present embodiment is connected to the center inside of the wheel box. Gear conversion is performed with the drive rotation shaft 41s of the electric motor as the input side and the gear output shaft 42s as the output side. Gear shaft 41s protrudes on the side outward, common to the first pivot axis A ₁ of the roller frame 1 (Fig 2).

  Specifically usable rotation gears 42 are, for example, continuous and intermittent maximum torques of 2.0 and 2.5 Nm, linear gear heads, and a reduction ratio of 111: 1.

(Side bearing 43)
The side bearings 43 are provided in a plurality of rows on the side peripheral surface of the actuator unit 40 so as to extend over the side periphery. In the embodiment, a rolling bearing is used. The number of rows is preferably the same as the number of rows of the roller frame 1.

(Foil box 44)
The wheel box 44 is provided in the internal housing space 3 and on the outermost surface of the roller frame 1 (on the right side when viewed from the side in FIG. 2), and the driving force of the electric motor as the actuator 41 is supplied to the roller frame. 1 and the vibration and shock of the roller frame 1 are buffered. Specifically, a coupling mechanism housed inside the first roller frame 11 which is the outermost roller frame 1 and a substantially vertical surface outside the coupling mechanism and the first roller frame 11 are covered ₁ And a wheel cap 44c.

  The coupling mechanism is connected to the gear output shaft 42s, and a substantially cylindrical body having the first rotation axis A as an axis is fitted into the inside of the wheel cap 44c via a circular plate, and the coupling structure is elastic. Absorbs vibrations and shocks by function (Fig. 2). The wheel cap 44c has an outer surface of a partial spherical crown, and its inner periphery is bolted to the side surface of the first roller frame (the vertical line portion on the right side when viewed from the side in FIG. 2).

(Example of omnidirectional mobile device)
The omni foil of the present invention is provided with a fixing means to the moving device fixed to each frame rotating means 4 and a plurality of wheels are fixed to the lower part of the apparatus main body by the fixing means. That is, the omni foil of the present invention can be omnidirectionally arranged by fixing a plurality of wheels, equidistantly in plan view, at the lower part of the frame of the apparatus body as shown in the omnidirectional moving device embodiment of FIGS. Provided in the mobile device. 4 is an omnidirectional movement device in which four wheels of the omni foil of Example 1 are fixed to a frame so that each of the first rotation shafts is substantially horizontal and equidistant. Specifically, it is a substantially circular horizontal frame walking trainer omnidirectional mobile body, and is fixed by an L-shaped angle as a fixing means 5 to the main body as shown in FIG.

The omnidirectional moving device shown in FIGS. 3 and 4 is a gait trainer used in physical therapy or the like. Its structure is mainly capable of trainee enters from the rear of the step lifting unit F _1G, a lower pipe frames F ₁ bent in a generally circular plan view, front pipe frame F ₂ erected from the front of the lower pipe frame If consists of a control panel O installed near the front pipe frame F ₂ upper, upper limb support portion H extending substantially horizontally from the front pipe frame F ₂ upper to the plan view the inside (FIG. 3, FIG. 4).

The upper portion of the front pipe frame F ₂ More specifically, extends in two directions is curved inward plan view, constitutes a horizontal plate of substantially T-in a plan view. The operation plate O is fixed to the upper surface of the horizontal plate, and the upper limb support portion H is provided by a support portion teacher support pin Hp so that the horizontal position can be adjusted.

On both sides of the lower pipe frame F _1, comprises as a drive source a battery B of a plurality wheel portion of the frame pivoting means Omunihoiru 4. Since the present invention is a compact omnifoil incorporating the actuator unit 40, a wide space for the trainer is secured by using the actuator unit 40 in this manner. This increases safety and freedom of walking training. Further, in the embodiment, the number of free rollers 2 is relatively large as 10 per wheel, and the distance L between the ground rollers (see FIG. 4) is relatively short, so that vibration (rattle) at the time of traveling is smaller than that of a conventional omni foil. There are few, and smooth running suitable as a walk training device is attained.

  The omnidirectional mobile device including a plurality of wheels of the omni foil according to the present invention can be self-propelled in only the moving direction in the appropriate direction and at the appropriate speed while keeping the direction of the trainee substantially constant. For this reason, the effective walking training which is not in the past can be performed. In other words, the complex training in all directions makes it possible to effectively train the gluteus medius, the gluteus medius, the gluteus medius, etc., which play an important role in walking and maintaining balance. As a result, early recovery and fall prevention effects can be expected. Furthermore, since the speed control according to the trainee's state can be performed by the trainer's own direction instruction, there is an effect of preventing the fall. Moreover, since the drive mechanism is built in by the frame rotating means 4, a walking space for the trainer (viewer) can be secured, and safe walking training can be performed.

  The omni foil of Example 2 is shown in FIGS. The frame rotating means 4 of the second embodiment is an out-rotor type drive mechanism (out-rotor type motor) having the roller frame 1 as an out-rotor. Specifically, the actuator 4 is fixed to the frame F1 (via the fixing means 5), the non-rotating core part 45 fixed around the actuator unit 40, and the non-rotating core part. A roller frame 1 as a rotor that rotates around 45, and a magnetic body 46 and an electromagnetic derivative 47 that are built in either the non-rotating core portion 45 or the roller frame 1. The Any one of the actuator unit 40, the non-rotating core portion 45, and the magnetic body 46 and the electromagnetic derivative 47 incorporated in the non-rotating core portion 45 is disposed in the internal housing space 3 as a fixed non-rotating portion. The

  In the embodiment, the magnetic body 46 is continuously connected in an annular shape with S poles and N poles alternately arranged, and is built in an axially symmetric position around the inner housing space 3 in the roller frame 1. The electromagnetic derivative 47 is wound in a donut shape at both ends of the non-rotating core portion 45 and incorporated. The magnetism of the electromagnetic derivative 47 is switched by a commutator (not shown).

  The magnetic body refers to, for example, a permanent magnetic body that reacts to the electromagnetism of an electromagnetic derivative. In the embodiment, the magnetic body is a permanent magnet having SN bipolar electrodes. Each of the S-pole magnetic body and the N-pole magnetic body is disposed at a symmetrical position in cross-sectional view so as to surround the periphery of the fixed electromagnetic derivative.

  As an embodiment different from the present embodiment, a set of magnetic bodies 46 of the S pole and the N pole is built in the non-rotating core portion 45, and an electromagnetic derivative 47 including a set of electromagnetic coils is used as the roller frame 1. It is good also as what is built in. For example, the S-pole and N-pole partial columnar magnetic bodies 46 are combined and arranged in a substantially cylindrical shape in the non-rotating core portion 45, and the electromagnetic derivative 47 is placed in the inner housing space 3 in the roller frame 1. It is good also as what is wound along an inner cylindrical surface.

  With such a structure, the number of turns of the coil can be ensured, so that the actuator 4 that generates high torque is obtained. Further, since the roller frame 1 is integrated as a housing-type rotation part, a transmission mechanism for rotating the shaft is not necessary. For example, unlike the inner shaft rotation motor of the first embodiment, it is not necessary to transmit the shaft rotational power to the outer peripheral foil with the wheel box, or to absorb the shaft misalignment due to vibration between the shaft and the foil. Further, it does not contain a rotating mechanism that is housed like the inner shaft rotating motor of the first embodiment, but directly rotates the roller frame 1 and is compared with an electromagnetic derivative or a magnetic material that directly generates a rotational force. Large space can be secured. For example, when a coil having a relatively large diameter is used as an electromagnetic derivative as in this embodiment, sufficient torque can be obtained without incorporating a mechanical structure such as a gear. Since the mechanical gear is not required and the rotating means is formed with a simple configuration, these provide an omni foil with a simple mechanism that has excellent durability and high safety.

  Furthermore, since the relatively large side bearing 43 absorbs and supports the fluctuation of the external force, the bearing structure dedicated to the motor is compared with the inner shaft rotation type motor such as the actuator 41 of the first embodiment. It becomes unnecessary.

  In addition, the out-rotor type drive mechanism generally has a slower response speed at startup / stop due to the generation of moment of inertia, etc., compared to the inner shaft rotation motor. Therefore, dangerous sudden start and sudden braking can be reliably suppressed in terms of mechanism, which is preferable in physical therapy.

Fixing means 5 of the present embodiment is a so-called cantilever type, with L-shaped angle 50, the first pivot axis A ₁ around a plurality of fixing bolts 51, fixedly connected to the actuator unit 40, fixing bolts 52 is screwed to the lower surface of the lower pipe frame F1. The foil box 44 is fixed to the outside in a side view of the actuator unit 40 by a fixing bolt 53, and functions as a foil cap 44c. Side bearings 43 for rotating the roller frame 1 are provided around the respective sides of the wheel box 44 and the actuator unit 40 (FIG. 6). Actuator unit 40 has a hollow actuator shaft 40p around the first pivoting axis _{A 1} (FIG. 6). Along with this hollow shaft 40p, the box 44 also has a hollow box shaft 44p, which fulfills the function of radiating heat generated from the frame rotating means. Other configurations are the same as those in the first embodiment.

  The omni foil of Example 3 is shown in FIGS. The omni foil of the third embodiment is characterized in that, in the omni foil provided with the out-roller type motor of the second embodiment, the fixing means to the moving device main body is a double-supported type. Specifically, the fixing means 5 is an inverted U-shaped doubly supported angle in a side view. That is, it extends upward from both the inner and outer sides of the bracket 40, and each of them is bent and connected above the omni foil. As a result, the torsional strength and the like are increased, and when a relatively large load is applied, safety due to running stability and durability can be ensured. In addition, since a load is applied to the center in the thickness direction (left and right direction in FIG. 8) in a side view, more stable traveling is possible. In particular, it is preferable to fix a plurality of rows of frames in a plurality of rows because the ground contact force of the rollers can be made uniform between the rows. Other configurations are the same as those of the second embodiment.

  The omni foil of Example 4 is shown in FIGS. The omni foil of Example 4 is characterized in that a gear box is integrated with a roller frame by a rotating gear group including a planetary gear structure.

  Specifically, the frame rotation means 4 is an inner shaft rotation type motor that is an actuator 41 accommodated in the internal accommodation space 3, and a rotation gear group (421) that transmits the driving torque of this motor to the roller frame 1. ˜423). The rotating gear group includes a planetary gear structure that outputs rotational force to the wheel box 44.

  To describe the rotation gear group in detail, a sun gear 421 that is fixed to the outer periphery of the drive rotation shaft 41s of the inner shaft rotation type motor and rotates together with the drive rotation shaft 41s (that is, forward / reverse rotation), and this sun A plurality of planetary gears 422 meshed with the gears 421 and an internal gear 423 provided in the shape of an inner cylinder near the outer portion of the actuator unit 40 as a fixed portion and meshed with the planetary gears 422 (see FIG. 9).

(In Example 3) several planet gears 422 are disposed spaced from each other a predetermined equidistant first the pivot axis A ₁ as the axis around the sun gear 421. Then, by driving the inner shaft once Doshiki motor, by the sun gear 421 rotates the first rotation axis A ₁ in common with the drive rotating shaft 41s as a shaft, the planetary gear 422 includes a sun gear 421 It circulates while rotating around the sun gear 421 with the internal gear 423.

  Here, the wheel box 44 is fixed to the gear shaft 422 s of all the planetary gears 422 (in the embodiment, at the apex position of an equilateral triangle) and is fixed to the outermost roller frame 11. Therefore, a gear force is output to the roller frame 11 integrated with the wheel box by the rotation of the planetary gear 422 structure. Thereby, for example, the single gear output shaft 42s as in the first embodiment is not required, and a gear excellent in stable gear transmission and durability can be configured.

  In the present embodiment, the gear box 42 as in the first embodiment is not used, and the output unit itself is integrated with the roller frame. For this reason, for example, the carrier function of the rotating gear 42 in the first embodiment is achieved as the wheel box 44 integrated with the roller frame 11, and stable gear force transmission is achieved.

  Further, the rotation gear group has a larger gear connection than the unit-type rotation gear 42 as in the first embodiment. Thereby, the play of a gear meshing part can be made comparatively large, and the vibration etc. by the external force to the roller frame 11 shall be absorbed.

  In addition, the load of the entire roller frame 1 is received by relatively large side bearings 43 provided near both ends in a side view. This also fulfills the functions of a plurality of internal bearing groups normally used in the unit-type rotating gear 42 of the first embodiment, for example, and the necessary bearing functions are concentrated in the large side bearing 43. , Enabling stable running. Other configurations are the same as those in the first embodiment.

  It can be used as an omnidirectional mobile device having a gantry, and among them, for example, it can be used as an omnidirectional mobile body for carrying precision parts or walking training that moves in all directions without changing the direction.

BRIEF DESCRIPTION OF THE DRAWINGS Front explanatory drawing of the omni foil of Example 1 of this invention. Side view center cross-section explanatory drawing of the omni foil of Example 1 shown in FIG. The bottom explanatory drawing of the example of the form of the omnidirectional movement apparatus provided with the omni foil of Example 1 shown in FIG. The side view of the example of the form of the omnidirectional movement apparatus provided with the omni foil of Example 1 shown in FIG. Front explanatory drawing of the omni foil of Example 2 of this invention. Side view center cross-section explanatory drawing of the omni foil of Example 2 shown in FIG. Front explanatory drawing of the omni foil of Example 3 of this invention. Side surface center cross-section explanatory drawing of the omni foil of Example 3 shown in FIG. Front explanatory drawing of the omni foil of Example 4 of this invention. Side surface center cross-section explanatory drawing of the omni foil of Example 4 shown in FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Roller frame 11 1st roller frame 12 2nd roller frame 2 Free roller 21 Shaft body 22 Shaft hole 3 Internal accommodation space 4 Frame rotation means 41 Actuator 41s Drive rotation shaft 42 Rotation gear 42s Gear output shaft 43 side Part bearing 40 Actuator unit 44 Wheel box 44c Wheel cap 5 Fixing means A ₁ First rotation shaft

Claims (5)

  One or a plurality of roller frames that can be rotated by a first rotation shaft, the roller frame holding a plurality of free rollers along the periphery of the roller frame, and itself The omni foil is characterized in that frame rotation means for rotating the roller frame about the first rotation axis is accommodated in the interior.   The omni foil according to claim 1, wherein the frame rotation means is an out-rotor type drive mechanism having a roller frame as an out-rotor.   An internal storage space is provided along the first rotation axis direction of the roller frame, and frame rotation means including an actuator is stored in the internal storage space. The actuator has its own rotation drive shaft. The omni foil according to claim 1, wherein the omni foil is a rotation actuator arranged to face a first rotation axis direction of the roller frame.   The frame rotation means comprises a rotation gear group including a planetary gear structure, and the shaft position of the gear shaft of the planetary gear is fixed to the wheel box. Or omni foil.   The omni foil according to any one of claims 1, 2, 3 and 4 includes a fixing means for the moving device as fixed to each frame rotating means, and a plurality of wheels are fixed to the moving device by the fixing means. An omnidirectional movement device characterized by being made.

Images