JP2007210576A - Spherical wheel for omnidirectional moving body and omnidirectional moving body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a spherical wheel for an omnidirectional moving body and the omnidirectional moving body having a smaller number of components and excellent capability to overstride a step. <P>SOLUTION: This spherical wheel 26 for the omnidirectional moving body is moved to a direction vertical to an overall wheel rotating shaft 16a and parallel with a traveling face by rotation of the overall wheel. To the same direction as that of the overall wheel rotating shaft 16a, the spherical wheel 26 for the omnidirectional moving body is moved by rotation of hemispherical wheels 15 in the case other than that where a rotating shaft of the hemispherical wheels 15 is vertical to the traveling face, and is moved by rotation of small wheels 17 in the case where the rotating shaft of the hemispherical wheels 15 is vertical to the traveling face. In addition, at the time of overstriding a step, the rotating shaft of the hemispherical wheels 15 is made horizontal while maintaining contact with the step. That is, the diameter of the hemispherical wheels 15 on which the step overstriding capacity depends is maximized, so as to enable overstriding of the step. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

The present invention relates to a spherical wheel for an omnidirectional mobile body.
The present invention also relates to an omnidirectional moving body.

  Conventionally, when a moving body changes its traveling direction, there is one that changes the steering angle of a wheel. However, this type of moving body has to wait until the wheel finishes turning the steering wheel when changing the traveling direction on the spot, and cannot move instantaneously in any direction.

  In order to solve the above problem, an omni wheel as shown in FIG. 1 is disclosed (for example, see Non-Patent Document 1). FIG. 1 is a perspective view showing an example of an omni wheel. FIG. 2 is a three-side view showing an example of an omni wheel. (A) Side view, (b) is a front view, (c) is a cross-sectional view when the side view (a) is cut along AA, and (d) is a side view taken along BB. Sectional drawing when it cut | disconnects by is represented. FIGS. 3A and 3B are perspective views showing an example of an omnidirectional vehicle using the omni wheel 5. FIG. 4 is a three-view diagram showing an example of an omnidirectional vehicle using the omni wheel 5. (A) is a top view, (b) is a front view, (c) is a side view, and (d) is a bottom view. As shown in FIG. 2, the barrel-shaped passive rotating small wheel 1 of the omni wheel 5 is disposed so as to be rotatable with respect to the barrel-shaped passive rotating small wheel holding body with a small wheel shaft 4 and a small wheel bearing 4a. Has been.

  Further, a mecanum wheel is disclosed (for example, see Non-Patent Document 1).

  Moreover, the biaxial type directional wheel is disclosed (for example, refer nonpatent literature 1).

Also, spherical wheels have been reported (see, for example, Patent Document 1, Patent Document 2, and Patent Document 3).
Co-authored by Kane Yoneda, Hisashi Osumi and Takashi Tsubouchi, “Robot Creation Design I Want to Know” Kodansha Publishing, September 20, 2005, p. 21-27 JP 2001-55156 A (paragraphs 0010 to 0015) JP 2001-354156 A (paragraphs 0014 to 0018) JP 2001-301406 A (paragraphs 0009 to 0014)

However, since the ability to get over the step generally depends on the radius of the wheel, in the omni wheel, when the barrel-shaped passive rotating small wheel 1 moves in the rolling direction as shown in FIG. There is a problem that the ability to climb over a step is lower than the overall diameter.
There is also a problem of an increase in the number of components.

Similarly, in the case of the Mecanum wheel, there is a problem that when the small wheel moves in the rolling direction, the step-over ability is lower than the diameter of the entire omnidirectional wheel.
There is also a problem of an increase in the number of components.

    Further, in the spherical wheel, the support mechanism for holding the relative position on the mechanism of the wheel needs to be attached at a position lower than the radius of the sphere, and the holder contacts the step ahead of the spherical wheel depending on the direction. There is a problem.

  In the case of a biaxial directional wheel, since the holding portion is outside the wheel, the holding portion may come into contact with the step when climbing over the step.

The present invention has been made in view of such problems, and an object of the present invention is to provide a spherical wheel for an omnidirectional mobile body that has a small number of components and has a high step-over ability.
Moreover, an object of this invention is to provide the moving body carrying this wheel.

  According to the spherical wheel for an omnidirectional mobile body of the present invention, when moving over a step, the hemispherical passive wheel has a rotating shaft in a horizontal state while maintaining contact with the step, that is, the passive wheel on which the step-over ability depends. By maximizing the diameter, it is possible to overcome high steps.

  Moreover, the moving body of this invention has two or more spherical wheels for said omnidirectional moving bodies. Further, in order to obtain an omnidirectional movement function for the moving body, at least three spherical wheels for the omnidirectional moving body described above are required.

  According to the omnidirectional mobile body of the present invention, the main body of the mobile body has a polyhedral shape, and the entire wheel rotation axis of the spherical wheel for the omnidirectional mobile body is arranged in a direction that coincides with a straight line extending from the center toward the apex. For example, the main body of the moving body is surrounded by wheels. As a result, no matter what posture the moving body becomes, the wheel is grounded to the outside on a plane to protect the main body.

The present invention has the following effects.
According to the spherical wheel for an omnidirectional mobile body according to the first aspect of the invention, the wheel moves in the direction perpendicular to the entire wheel rotation axis and parallel to the traveling surface by the rotation of the entire wheel, and moves in the same direction as the wheel rotation axis. When doing so, the hemispherical wheel can be moved by the rotation of the hemispherical wheel, except when the axis of rotation of the hemispherical wheel is perpendicular to the running surface. In addition, when climbing over a step, the hemispherical wheel rotation axis is kept in a horizontal state while maintaining contact with the step, that is, the diameter of the hemispherical wheel on which the step overcoming ability depends on the maximum diameter, the step over the step is performed. Is possible.

  According to the spherical wheel for an omnidirectional moving body of the invention described in claim 2, the wheel moves in the direction perpendicular to the whole wheel rotation axis and parallel to the traveling surface by the rotation of the whole wheel, and is the same as the whole wheel rotation axis. In the direction, it moves by the rotation of the hemispherical wheel. Even when the rotation axis of the hemispherical wheel is perpendicular to the traveling surface, the small wheel can be rotated to move without sliding friction. In addition, when climbing over a step, the hemispherical wheel rotation axis is kept in a horizontal state while maintaining contact with the step, that is, the diameter of the hemispherical wheel on which the step overcoming ability depends on the maximum diameter, the step over the step is performed. Is possible.

  According to the spherical wheel for an omnidirectional moving body of the invention described in claim 3, the wheel moves in the direction perpendicular to the entire wheel rotation axis and parallel to the traveling surface by the rotation of the entire wheel, and in the same direction as the wheel rotation axis. The hemispherical wheel can be moved by the rotation of the hemispherical wheel except when the rotation axis of the hemispherical wheel is perpendicular to the traveling surface. Also, the hemispherical wheel support has a structure that is easy to ensure strength in structure. In addition, when climbing over a step, the hemispherical wheel rotation axis is kept in a horizontal state while maintaining contact with the step, that is, the diameter of the hemispherical wheel on which the step overcoming ability depends on the maximum diameter, the step over the step is performed. Is possible.

  Moreover, according to the moving body of the invention described in claim 4, by having three or more spherical wheels for the omnidirectional moving body described in claims 1, 2, and 3, it is possible to instantaneously move in any direction in any direction. It becomes. In addition, when climbing over a step, the hemispherical wheel rotation axis is kept in a horizontal state while maintaining contact with the step, that is, the hemispherical wheel whose turning ability depends on the maximum diameter is rotated to overcome the step. It becomes possible.

  Moreover, according to the moving body of the invention described in claim 4, by having three or more spherical wheels for the omnidirectional moving body described in claims 1, 2, and 3, the omnidirectional movement in an arbitrary direction is possible instantaneously. It becomes. Also, when climbing over a step, the hemispherical wheel rotation axis is kept in a horizontal state while maintaining contact with the step, that is, the hemispherical wheel diameter that depends on the step overcoming ability is rotated to the maximum diameter to overcome the step. It becomes possible. In addition, since the main body of the moving body is surrounded by the wheels, the wheel contacts the outside world on the plane and protects the main body on any plane. In other words, even if the vehicle falls over, the wheels are always grounded first and the main body is not grounded.

BEST MODE FOR CARRYING OUT THE INVENTION The best mode for carrying out the spherical wheel for an omnidirectional mobile body and the omnidirectional mobile body of the present invention will be described below.
First, the best mode for carrying out the invention of claim 1 concerning a spherical wheel for an omnidirectional mobile body will be described.

6A and 6B are perspective views showing an example of a spherical wheel for an omnidirectional mobile body according to the present invention.
FIG. 7 is a perspective view showing an internal structure by cutting a quarter of an example of a spherical wheel for an omnidirectional mobile body of the present invention. FIG. 18 is a three-view drawing of an example of a spherical wheel for an omnidirectional mobile body of the present invention. 18A is a side view, FIG. 18B is a cross-sectional view taken along a cross-section AA in the side view A, and FIG. 18C is a cross-section BB in the side view A. Sectional drawing at the time of cutting by is represented. The spherical wheel 25 for an omnidirectional moving body includes a hemispherical wheel 9, a hemispherical wheel support 10, an entire wheel rotating shaft 11, a bearing 13, a bearing retainer 14, and a rotation driving unit 12.

The hemispherical wheel 9 will be described.
There are two hemispherical wheels 9. The number of divided hemispherical wheels 9 is not limited to two. The number of hemispherical wheels 9 may be two or more. The hemispherical wheel 9 is preferably made of metal, but is not limited thereto, and plastic, wood or the like can be used as a material. Moreover, it is preferable that the spherical surface part which contacts the running surface of the hemispherical wheel 9 is made of an elastic material such as rubber which increases grip. The hemispherical wheels 9 are arranged symmetrically with respect to the entire wheel rotation axis so that the centers of curvature of the hemispherical wheels 9 coincide with each other. The hemispherical wheel 9 rotates relative to the hemispherical wheel support.

The hemispherical wheel support 10 will be described.
There is one hemispherical wheel support 10. The number of hemispherical wheel supports 10 is not limited to one. If the relative position of each hemispherical wheel support does not change, the number of hemispherical wheel supports 10 may be one or may be integrated by a plurality of parts. The material of the hemispherical wheel support 10 is preferably a metal, but is not limited thereto, and plastic, wood, or the like can be used.

The entire wheel rotation shaft 11 will be described.
The entire wheel rotation shaft 11 is arranged so as to be perpendicular to the rotation shaft of the hemispherical wheel 9. Further, the entire wheel rotation shaft 11 is located at the center of the plurality of hemispherical wheels 9. The entire wheel support shaft is preferably made of metal, but is not limited to this, and plastic, wood, or the like can be used.

The bearing 13 and the bearing retainer 14 will be described.
In order to rotate the hemispherical wheel 9 relative to the hemispherical wheel support 10, it is preferable to provide a bearing 13 and a bearing retainer 14. The bearing retainer 14 is preferably made of metal, but is not limited to this, and plastic, wood, or the like can be used.

The rotation drive unit 1212 will be described.
In order to actively rotate the spherical wheel for the omnidirectional mobile body, the rotation drive unit 12 may be provided. In general, a rotary actuator such as a motor can be used for the rotation drive unit 12. The axis of the rotation drive unit 12 coincides with the entire wheel rotation axis 11 and is connected to the entire wheel drive axis. When the spherical wheel for an omnidirectional moving body according to claim 1 is actively rotated around the entire wheel rotation shaft 11, the spherical wheel is provided with the rotation driving body and is driven to rotate by the almost rotation driving body. When the spherical wheel for an omnidirectional moving body according to claim 1 is passively rotated around the entire wheel rotation shaft 11, the rotation drive unit 12 is not necessary.

  From the above, according to the best mode for carrying out the invention of claim 1, the whole wheel rotates in the direction perpendicular to the whole wheel rotation shaft 11 and parallel to the traveling surface by the whole wheel rotation. In the same direction as the shaft 11, the hemispherical wheel 9 can be moved by the rotation of the hemispherical wheel 9 except when the rotation axis of the hemispherical wheel 9 is perpendicular to the traveling surface. Further, when climbing over the step, the rotation axis of the hemispherical wheel 9 is kept in a horizontal state while maintaining contact with the step, that is, by maximizing the diameter of the hemispherical wheel 9 on which the step overcoming ability depends, the step over the step is overcome. Can be done.

  Next, the best mode for carrying out the invention of claim 2 concerning a spherical wheel for an omnidirectional mobile body will be described.

FIG. 8 is a perspective view showing an example of a spherical wheel for an omnidirectional vehicle according to claim 2 of the present invention.
FIG. 9 is a perspective view showing an internal structure by cutting a quarter of an example of a spherical wheel for an omnidirectional mobile body according to claim 2 of the present invention. FIG. 10 is a three-view drawing of an example of a spherical wheel for an omnidirectional mobile body according to claim 2 of the present invention. 10A is a front view, FIG. 10A is a side view, FIG. 10C is a front view, and FIG. 10A is a front view, and FIG. ) Shows a cross-sectional view when cut along a cross-section BB. The spherical wheel 26 for the omnidirectional mobile body includes a hemispherical wheel 15, a small wheel 17, a small bearing 18, a small bearing shaft 19, a hemispherical wheel / small wheel total support 16, an entire wheel rotating shaft 16 a, and a hemispherical wheel. The bearing 20 for rotation and the rotational drive part 12 are comprised.

The hemispherical wheel 15 will be described.
There are two hemispherical wheels 15. The number of divisions of the hemispherical wheel 15 is not limited to two. The number of hemispherical wheels 15 may be two or more. The hemispherical wheel 15 is preferably made of metal, but is not limited thereto, and plastic, wood, or the like can be used as a material. Further, it is preferable that the spherical surface portion contacting the running surface of the hemispherical wheel 15 is made of an elastic material such as rubber to increase the grip. The hemispherical wheel 15 is arranged symmetrically with respect to the entire wheel rotation shaft 16a so that the centers of curvature of the hemispherical wheels 15 coincide. The hemispherical wheel 15 rotates relative to the hemispherical wheel support.

The small wheel 17 will be described.
The small wheel 17 is preferably made of metal, but is not limited to this, and plastic, wood, or the like can be used. Further, it is preferable that the spherical surface portion that contacts the running surface of the small wheel 17 is made of an elastic material that increases grip such as rubber. The small wheel 17 is disposed at a location located at the intersection of the hemispherical wheel 15 and the end of the hemispherical wheel 15 and the small wheel support. That is, the hemispherical wheel 15 is disposed at a position corresponding to the intersection of the spherical outer surface portion of the hemispherical wheel 15 and the rotation axis of the hemispherical wheel 15 itself. The rotation axis of the small wheel 17 is perpendicular to both the rotation axis of the hemispherical wheel 15 and the rotation axis 16a of the entire wheel. That is, when the spherical wheel for an omnidirectional mobile body according to claim 2 moves in the direction of the entire wheel rotation axis 16a and the rotation axis of the hemispherical wheel 15 is perpendicular to the traveling surface, the small wheel 17 is By rotating, it can move without sliding friction with the ground. Further, by making the shape of the small wheel 17 into a barrel shape having the same curvature as the hemispherical wheel 15, smoother running is possible.

The small bearing 18 will be described.
The small bearing 18 is for rotating the small wheel 17 relative to the small bearing shaft 19. Although two small bearings 18 are provided for each small wheel 17 in FIG. 9, two or more small bearings 18 may be provided as long as they fit within the small wheel 17.

The small bearing shaft 19 will be described.
The small bearing shaft 19 is preferably made of metal, but is not limited to this, and plastic, wood, or the like can be used. The small bearing shaft 19 is disposed at a position where the outer surface of the small wheel 17 is made to coincide with the intersection of the rotation shaft of the hemispherical wheel 15 and the entire wheel rotation shaft 16a. The direction of the small bearing shaft 19 is perpendicular to both the hemispherical wheel 15 and the entire wheel rotation shaft 16a.

The hemispherical wheel / small wheel total support will be described.
There is one hemispherical wheel / small wheel total support. The number of hemispherical wheel / small wheel total supports is not limited to one. If the relative positions of the components that make up the hemispherical wheel / small wheel total support body do not change, even if the number of components of the hemispherical wheel / small wheel total support body is 1, It may be configured. In order to facilitate disassembly and assembling work at the time of repair or the like, it is preferable to have a structure that can be divided near the center. The material of the hemispherical wheel / small wheel total support is preferably metal, but is not limited thereto, and plastic, wood, or the like can be used.

The entire wheel rotation shaft 16a will be described.
The entire wheel rotation shaft 16 a is disposed so as to be perpendicular to the rotation shaft of the hemispherical wheel 15. Further, the entire wheel rotation shaft 16 a is located at the center of the plurality of hemispherical wheels 15. The material of the entire wheel support shaft is preferably metal, but is not limited to this, and plastic, wood, or the like can be used.

The hemispherical wheel bearing 20 will be described.
The hemispherical wheel bearing 20 is preferably provided to rotate the hemispherical wheel 15 relative to the hemispherical wheel support 10.

The rotation drive unit 12 will be described. In order to actively rotate the spherical wheel for the omnidirectional mobile body, the rotation drive unit 12 may be provided. In general, a rotary actuator such as a motor can be used for the rotation drive unit 12. The axis of the rotation drive unit 12 coincides with the entire wheel rotation shaft 16a and is connected to the entire wheel drive shaft. When the spherical wheel for an omnidirectional moving body according to claim 2 is actively rotated around the entire wheel rotation shaft 16a, the spherical wheel is provided with this rotational drive body and is driven to rotate by the almost rotational drive body. When the spherical wheel for an omnidirectional moving body according to claim 2 is passively rotated around the entire wheel rotation shaft 16a, the rotation drive unit 12 is not necessary.

  From the above, according to the best mode for carrying out the invention of claim 2, the entire wheel rotates in the direction perpendicular to the entire wheel rotation shaft 16 a and parallel to the traveling surface by the rotation of the entire wheel. When the rotation axis of the hemispherical wheel 15 is perpendicular to the traveling surface by the rotation of the hemispherical wheel 15 except when the rotation axis of the hemispherical wheel 15 is perpendicular to the traveling surface in the same direction as the shaft 16a. It is possible to move by rotating the small wheel 17. Further, when climbing over the step, the rotation axis of the hemispherical wheel 15 is kept in a horizontal state while maintaining contact with the step, that is, by maximizing the diameter of the hemispherical wheel 15 on which the step overcoming ability depends, thereby overcoming the step. Can be done.

  The present invention is not limited to the best mode for carrying out the above-described invention, and various other configurations can be adopted without departing from the gist of the present invention.

  Next, the best mode for carrying out the invention of claim 3 concerning a spherical wheel for an omnidirectional mobile body will be described.

11 (a) and 11 (b) are front views showing an example of a spherical wheel for an omnidirectional vehicle according to claim 3 of the present invention. The spherical wheel includes a central ring 21, a hemispherical wheel 22, or a hemispherical wheel 22 b, a small wheel 24, a small bearing, a small bearing shaft, a central ring, a hemispherical wheel, a small wheel total support 23, and a whole wheel rotation shaft. 23a23a, a hemispherical wheel bearing. When the whole is actively rotated, the rotation drive unit is attached to the central ring, hemispherical wheel, and small wheel total support 23.

The center ring 21 will be described.
There is one central ring 21. The center ring 21 has a shape formed when both ends of the spherical portion of the spherical wheel for an omnidirectional mobile body are cut off and only the central portion is left. Moreover, in order to make it rotate relatively with respect to a hemispherical wheel and the center ring 21, and a small wheel support body, it has a hole on the cylinder for bearing arrangement | positioning inside. The center ring 21 is preferably made of metal, but is not limited to this, and plastic, wood, or the like can be used. Further, it is preferable that the spherical surface portion contacting the running surface of the central ring 21 is made of a material that increases grip such as rubber. The center ring 21 is arranged at the center of the spherical wheel for an omnidirectional mobile body, that is, the center of the center ring 21 coincides with the entire wheel rotation shaft 23a.

The hemispherical wheel will be described.
There are two hemispherical wheels. The number of divided hemispherical wheels is not limited to two. The number of hemispherical wheels may be two or more. The hemispherical wheel is preferably made of metal, but is not limited to this, and plastic, wood, or the like can be used. Moreover, it is preferable that the spherical surface portion that contacts the running surface of the hemispherical wheel is made of a material that increases grip such as rubber. The hemispherical wheels are arranged symmetrically with respect to the entire wheel rotation shaft 23a so that the centers of curvature of the hemispherical wheels coincide with each other. The hemispherical wheel rotates relative to the central ring, hemispherical wheel, and small wheel total support 23.

The small wheel 24 will be described.
There are two small wheels 24. There is no problem even if the small wheels 241 are divided.
The number of hemispherical wheels may be two or more. The small wheel 24 is preferably made of metal, but is not limited to this, and plastic, wood, or the like can be used as a material. The spherical surface portion that contacts the running surface of the small wheel 24 is preferably provided with an elastic material such as rubber that increases grip. The small wheel 24 is disposed at a location located at the intersection of the hemispherical wheel and the end of the hemispherical wheel and the small wheel support. That is, it arrange | positions in the position which hits the intersection of the spherical outer surface part of a hemispherical wheel, and the rotating shaft of this hemispherical wheel itself. The rotation axis of the small wheel 24 is perpendicular to both the rotation axis of the hemispherical wheel and the rotation axis 23a of the entire wheel. That is, when the spherical wheel for an omnidirectional mobile body according to claim 2 moves in the direction of the entire wheel rotation axis 23a and the rotation axis of the hemispherical wheel is perpendicular to the traveling surface, the small wheel 24 rotates. By doing so, it can move without sliding friction with the ground. Further, by making the shape of the small wheel 24 into a barrel shape having the same curvature as that of the hemispherical wheel, it is possible to travel more smoothly.

The small bearing will be described.
The small bearing is for rotating the small wheel 24 relative to the small bearing shaft. Although two small bearings are provided for each small wheel 24 in the figure, two or more small bearings may be provided as long as they fit within the small wheel 24.

The small bearing shaft will be described.
The small bearing shaft is preferably made of metal, but is not limited to this, and plastic, wood, or the like can be used. The small bearing shaft is disposed at a position where the outer surface of the small wheel 24 coincides with the intersection of the rotation axis of the hemispherical wheel and the entire wheel rotation shaft 23a. The direction of the small bearing shaft is perpendicular to both the hemispherical wheel and the entire wheel rotation shaft 23a.

The central ring / semispherical wheel / small wheel total support 23 will be described.
There is one central ring, hemispherical wheel, and small wheel total support 23. The number of central rings, hemispherical wheels, and small wheel total supports 23 is not limited to one. If the relative positions of the central ring, hemispherical wheel, and small wheel total support 23 do not change, even if the number of the central ring, hemispherical wheel, and small wheel total support 23 is one, they are integrated by a plurality of parts. It may be configured. The material of the central ring, hemispherical wheel, and small wheel total support 23 is preferably metal, but is not limited to this, and plastic, wood, or the like can be used.

The entire wheel rotation shaft 23a will be described.
The entire wheel rotation shaft 23a is arranged to be perpendicular to the rotation axis of the hemispherical wheel. Further, the entire wheel rotation shaft 23a is located at the center of the plurality of hemispherical wheels. Metal is preferably used as the material for the entire wheel support shaft, but the material is not limited to this, and plastic, wood, or the like can be used.

The hemispherical wheel bearing will be described.
The hemispherical wheel bearing rotates the hemispherical wheel relative to the central ring, hemispherical wheel, and small wheel total support 23.

The rotation drive unit 12 will be described. In order to actively rotate the spherical wheel for the omnidirectional mobile body, the rotation drive unit 12 may be provided. In general, a rotary actuator such as a motor can be used for the rotation drive unit 12. The axis of the rotation drive unit 12 coincides with the entire wheel rotation shaft 23a and is connected to the entire wheel drive shaft. When the spherical wheel for an omnidirectional moving body according to claim 3 is actively rotated around the entire wheel rotation shaft 23a, the spherical wheel is provided with this rotational drive body and is driven to rotate by the almost rotational drive body. When the spherical wheel for an omnidirectional mobile body according to claim 3 is passively rotated around the entire wheel rotation shaft 23a, the rotation drive unit 12 is not necessary.

  From the above, according to the best mode for carrying out the invention of claim 3, the entire wheel rotates in the direction perpendicular to the entire wheel rotation shaft 23 a and parallel to the traveling surface by the rotation of the entire wheel. In the same direction as the shaft 23a, the hemispherical wheel can be moved by the rotation of the hemispherical wheel except when the rotational axis of the hemispherical wheel is perpendicular to the traveling surface. In addition, when climbing over a step, the hemispherical wheel rotation axis is kept in a horizontal state while maintaining contact with the step, that is, the diameter of the hemispherical wheel on which the step overcoming ability depends on the maximum diameter, the step over the step is performed. Is possible.

  The present invention is not limited to the best mode for carrying out the above-described invention, and various other configurations can be adopted without departing from the gist of the present invention.

  Next, the best mode for carrying out the invention of claim 4 concerning a spherical wheel for an omnidirectional mobile body will be described.

The omnidirectional mobile body is constituted by mounting a plurality of spherical wheels for an omnidirectional mobile body according to claims 1, 2, and 3 on a vehicle body.
As shown in FIGS. 12 and 13, four spherical wheels for an omnidirectional mobile body according to claim 2 are mounted on a flat-shaped vehicle body 27 to constitute the omnidirectional mobile body of claim 4 of the present invention.
As shown in FIG. 14, the omnidirectional mobile body according to claim 4 of the present invention may be configured by mounting the spherical wheels for the omnidirectional mobile body according to claim 2 on the flat-shaped vehicle body 27.

As shown in FIG. 15, a tetrahedral omnidirectional mobile body may be configured by mounting four spherical wheels for an omnidirectional mobile body according to claim 1 on a polyhedral body. Moreover, it is good also as a polyhedral moving body by providing not only a tetrahedron but four or more wheels. For example, as shown in FIG. 17, eight spherical wheels for an omnidirectional mobile body according to claim 1 can be mounted to form an octahedral omnidirectional mobile body.

  The present invention is not limited to the best mode for carrying out the above-described invention, and various other configurations can be adopted without departing from the gist of the present invention.

It is a perspective view which shows an example of the conventional omni wheel. It is a trihedral view showing an example of a conventional omni wheel. (A) Side view, (b) is a front view, (c) is a cross-sectional view when the side view (a) is cut along AA, and (d) is a side view taken along BB. Sectional drawing when it cut | disconnects by is represented. It is a perspective view which shows an example of the omnidirectional vehicle using the conventional omni wheel. It is a three-plane figure which shows an example of the omnidirectional vehicle using the conventional omni wheel. (A) is a top view, (b) is a front view, (c) is a side view, and (d) is a bottom view. It is a side view showing the moment when a conventional omni wheel encounters a step and gets over the step when propelled in the direction of the rotation axis of the entire wheel. (A), (b) is a perspective view of an example of the spherical wheel for omnidirectional moving bodies according to claim 1 of the present invention. FIG. 4 is a perspective view showing an internal structure by cutting a quarter of an example of a spherical wheel for an omnidirectional mobile body according to claim 1 of the present invention. It is a perspective view of an example of the spherical wheel for omnidirectional mobile bodies in Claim 2 of the present invention. It is the perspective view which cut the quarter of an example of the spherical wheel for omnidirectional moving bodies of Claim 2 of this invention, and showed the internal structure. It is a three-plane figure of an example of the spherical wheel for omnidirectional moving bodies of Claim 2 of this invention. (A) is a front view, (b) is a side view, (c) is a front view (a), a cross-sectional view taken along section AA, and (d) is a front view (a). Sectional drawing at the time of cutting with the cross section BB is represented. It is a front view of an example of the spherical wheel for omnidirectional moving bodies of Claim 3 of this invention. (A) represents a wheel corresponding to claim 1, and (b) represents a wheel corresponding to claim 2. It is a perspective view which shows an example of the omnidirectional mobile body of Claim 4 of this invention which mounted the spherical wheel for omnidirectional mobile bodies of Claim 2 on the flat-shaped vehicle body. It is a perspective view which shows the back surface of an example of the omnidirectional mobile body of Claim 4 of this invention which mounted the spherical wheel for omnidirectional mobile bodies of Claim 2 on the flat-shaped vehicle body. It is a three-view figure of an example of the omnidirectional mobile body of Claim 4 which mounted four spherical wheels for omnidirectional mobile bodies of Claim 2 on the flat-shaped vehicle body. (A), (b), (c) are perspective views showing an example of the omnidirectional mobile body according to claim 4 of the present invention, in which four spherical wheels for the omnidirectional mobile body of claim 1 are mounted on a polyhedral body. FIG. It is a three-plane figure which shows an example of the omnidirectional mobile body of Claim 4 of this invention which mounted the four spherical wheels for omnidirectional mobile bodies of Claim 1 in the polyhedral body. (A) is a top view, (b) is a front view, (c) is a side view, and (d) is a side view. It is the trihedral figure and perspective view which show an example of the omnidirectional mobile body of Claim 4 of this invention which mounted the spherical wheel for omnidirectional mobile bodies of Claim 1 in the polyhedral body. (A) is a top view, (b) is a front view, (c) is a side view, (d) is a side view, and (e) is a perspective view. It is a three-plane figure of an example of the spherical wheel for omnidirectional moving bodies of Claim 1 of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... barrel-shaped passive rotation small wheel, 2 ... axle, 3 ... barrel-shaped passive rotation small wheel holder, 4 ... small wheel shaft, 4a ... small wheel bearing, 5 ... omni wheel, 6 ··· Base, 7 ··· Battery holder, 9 · · · Hemispherical wheel, 10 · · · Hemispherical wheel support, 11 · · · Wheel rotation shaft, 12 · · · Rotation drive unit, 13 · · · Bearing, 14 · · · Bearing retainer , 15 hemispherical wheel, 16 hemispherical wheel / small wheel total support, 17 small wheel, 18 small bearing, 19 small bearing shaft, 20 hemispherical wheel bearing, 21 ... Central ring, 22 ... Hemispherical wheel, 22b ... Hemispherical wheel, 23 ... Central ring, hemispherical wheel and small wheel total support, 23a ... Whole wheel rotation axis, 24 ... Small wheel, 25 ... Spherical wheel for omnidirectional mobile body, 26 ... Sphere for omnidirectional mobile body Wheels, 27 ‥‥ flat shape body, 28 ‥‥ battery holder, 29 ‥‥ tetrahedral body, 30 ‥‥ octahedral body, 16a ‥‥ wheel entire rotation axis

Claims (4)

A spherical wheel for an omnidirectional mobile body including the following hemispherical wheel, hemispherical wheel support, and a whole wheel rotation axis.
(A) A hemispherical wheel having an outer surface in contact with the outside world having a constant radius of curvature during movement (b) An outer surface having all the rotating shafts of the hemispherical wheel on the same straight line and having the constant radius of curvature of the hemispherical wheel A hemispherical wheel support surrounded by (c) having a center of curvature radius of the hemispherical wheel perpendicular to the rotational axis of the hemispherical wheel, on its own rotational axis or on an extension line of the rotational axis; The entire wheel rotation axis that enables rotation of the entire wheel including both the hemispherical wheel and the hemispherical wheel support. A spherical wheel for an omnidirectional mobile body including the following hemispherical wheel, small wheel, hemispherical wheel / small wheel total support, and a whole wheel rotation shaft.
(D) A hemispherical wheel having a constant radius of curvature on the outer surface in contact with the outside during movement (e) The intersection of the hemispherical wheel rotation axis and the curved surface in contact with the outer world during movement of the hemispherical wheel A small wheel having a rotation axis at a position where it can be included in (f) The rotation axis of the hemispherical wheel is kept on the same straight line, and the rotation axis of the small wheel is perpendicular to the rotation axis of the hemispherical wheel. A hemispherical wheel / small wheel total support body (g) that is supported by a rotating pair and is surrounded by an outer surface having a constant curvature of the hemispherical wheel (g) The curvature of the hemispherical wheel that is perpendicular to the rotation axis of the hemispherical wheel A wheel having the center of the radius on its own rotation axis or on the extension line of the rotation axis so that the entire wheel including the hemispherical wheel, the small wheel, and the hemispherical wheel / small wheel total support body can be rotated. Overall rotation axis The center ring including the center of the sphere among three or more spheres divided by two or more parallel planes such that the center of the sphere is located in between. Item 1. A spherical wheel for an omnidirectional vehicle according to claim 1 or 2. An omnidirectional mobile body having a plurality of spherical wheels for an omnidirectional mobile body according to claim 1, 2, or 3.

Images