JP2010082080A - Omnidirectional vehicle toy and wheel of the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a low-cost omnidirectional vehicle toy with stable quality by solving problems of a conventional bracket; and wheels of the same. <P>SOLUTION: The omnidirectional vehicle toy includes: a body on which a rotational drive part is mounted; a plurality of rotation shafts coupled with the rotational drive part via a deceleration part; center members attached to the rotation shafts; and a plurality of rolls rotatably inserted between a first center member and a second center member facing the first center member constituting the center members. An end of the first center member is inclined and bent toward the second center member to make a first support part for rotatably supporting one end of the rolls, and the second center member is also bent parallel to the first support part to make a second support part for rotatably supporting the other end of the rolls, so that the rolls are inclined relative to the center members and supported. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an omnidirectional vehicle toy and a wheel thereof, and more particularly to an omnidirectional vehicle toy and a wheel thereof that can be steadily operated with a small number of components.

  All patents, patent applications, patent gazettes, scientific papers, etc. cited or identified in this application are hereby incorporated by reference for the purpose of more fully explaining the current state of the art regarding the present invention. Include a description of

  For example, Cited Document 1 is an invention related to “improvement of a wheel for an auto-propelled vehicle with a stable course”, and in particular, in order to prevent vibration due to a roll, the arrangement thereof is proposed to form an uninterrupted wheel circumference. Has been. Further, only one roll is engaged with the base at a time during driving of the wheel so that a smooth motion can be obtained even when driving on a hard base.

  On the other hand, the cited document 2 relates to a motor-type wheelchair, and particularly relates to an omnidirectional motor-type wheelchair. In particular, like a conventional wheelchair, the forward movement, the backward movement, and the drive unit have four wheels, a wheel drive motor, and a speed reducer. Such motorized wheelchairs are suitable for use by elderly people who are difficult to walk alone and those who are weak, such as apartments, offices, shopping malls, hotels, hospitals, etc. Can act as a chair and a resting chair at home.

JP-A-49-134002 Japanese National Patent Publication No. 10-500049

  Here, since this patent document 1 fixes each roll individually with the bracket 7 extended from the center member 3, it is necessary to prepare the same number of brackets with respect to the number of rolls to be fixed. However, it is difficult to fix all the brackets in a well-balanced manner, and man-hours are increased in the manufacturing process, resulting in an increase in cost.

  Furthermore, the cited documents 1 and 2 disclose a tread parallel to the traveling direction or a roll having no tread. For this reason, although there is an effect that there is little vibration, the subject that appropriate grip power is insufficient has also arisen.

  An object of the present invention is to provide an omni-directional vehicle toy having stable quality at low cost and its wheels by solving the problems caused by the above-described conventional bracket.

  In order to solve the above problems, an omnidirectional vehicle toy according to the present invention is mounted on a vehicle body on which a rotation drive unit is mounted, a plurality of rotation shafts connected via the rotation drive unit and a reduction unit, and the rotation shaft. An omnidirectional vehicle in which a plurality of rolls are rotatably inserted between a central member that is formed, a first central member that constitutes the central member, and a second central member that faces the first central member In the toy, an end portion of the first center member is inclined and bent toward the second center member side, and a first support portion is provided to rotatably support one end of the roll. The center member is also provided with the second support portion that is bent so as to be parallel to the first support portion and rotatably supports the other end of the roll, thereby tilting the roll with respect to the center member. And support.

  The center member is provided with a front left center member and a front right center member at both front ends with respect to the vehicle body, and a rear left center member and a rear right center member are provided at both rear ends. The rotation axis of each roll of the member and the front right center member is arranged so that the front support part is arranged on the vehicle body side with respect to the traveling direction on the installation surface, and the rear support part is on the side away from the vehicle body. The rotation axis of the roll of each of the center member and the rear right center member is arranged such that the rear support portion is disposed on the vehicle body side with respect to the traveling direction on the installation surface, and the front support portion is on the side away from the vehicle body. It is characterized by.

  Further, the roll is formed in a spindle shape having a major axis side as a rotation axis, a tread is engraved in parallel with the rotation axis, and a tread perpendicular to the rotation axis is provided at the thickest portion. .

  On the other hand, the rotation drive unit is provided for each wheel.

  In addition, the rotation driving unit is driven by a radio control device.

  A wheel of an omnidirectional vehicle toy according to the present invention includes a vehicle body on which a rotation drive unit is mounted, a plurality of rotation shafts connected via the rotation drive unit and a reduction unit, and a central member attached to the rotation shaft. In the wheel of the omnidirectional vehicle toy in which a plurality of rotors are rotatably inserted between a first central member constituting the central member and a second central member facing the first central member, The first center member is provided with a first support portion that is bent at an angle toward the second center member and rotatably supports one end of the roll. The second support part that is bent so as to be parallel to the first support part and rotatably supports the other end of the roll is provided to support the tilted roll with respect to the central member. .

  The roll is formed in a spindle shape having a major axis side as a rotation axis, a tread is engraved in parallel with the rotation axis, and a tread perpendicular to the rotation axis is provided at the thickest portion.

  An omnidirectional vehicle toy according to the present invention and its wheels are provided, and the omnidirectional vehicle toy and its wheels can be prevented from increasing in cost by preventing quality variation and man-hours caused by conventional brackets. To do.

  Hereinafter, embodiments of the present invention will be described using a plurality of examples.

  In addition, this invention is not limited to said embodiment, Embodiment can be changed suitably within the range of the technical idea of this invention.

  FIG. 1 is a schematic view of an embodiment of an omnidirectional vehicle toy according to the present invention. The omnidirectional vehicle toy 2 includes a vehicle body 4, a front left wheel 6 provided on the front left side of the vehicle body 4, a front right wheel 8 provided on the front right side of the vehicle body 4, and a rear side provided on the rear left side of the vehicle body 4. The vehicle includes a left wheel 10 and a rear right wheel 12 provided on the rear right side of the vehicle body 4.

  2, the case 18 and the cover 20 are mounted on the side plates 30 and 31 and a bottom plate (not shown). Under the cover 20, four motors 22, 24, 26 and 28 are mounted for rotating the wheels 6, 8, 10 and 12.

  The side plate 30 has openings 32 and 34 on both sides thereof. The rotating shafts of the motors 26 and 28 protrude from the openings 32 and 34. Pinion gears 36 and 48 are attached to the tips of the rotation shafts of the motors 26 and 28. The pinion gear 36 rotationally drives the rotary shaft 46 via gears 38, 40, 42, 44. The front left wheel 6 is attached to the rotating shaft 46.

  On the other hand, the pinion gear 48 rotationally drives the rotary shaft 58 via gears 50, 52, 54, and 56. The rear left wheel 10 is attached to the rotary shaft 58. The gears 38, 40, 42, and 44 and the gears 50, 52, 54, and 56 are reduction gears having a reduction function.

  The side plate 31 is similarly provided with a reduction gear, and the front right wheel 8 and the rear right wheel 12 are mounted on the rotation shafts 47 and 59 provided in the respective gears via these gears.

  Next, enlarged views of the front left wheel 6 are shown in FIGS.

  The front left wheel 6 includes a flange 60 and a wheel cover 62. Six rolls 64, 66, 68, 70, 72, 74 are mounted between the flange 60 and the wheel cover 62.

  Six flanges 60 including the 60, 106, and 108 shown in the figure are projected as projecting portions projecting from the flange central portion and the peripheral end portion of the flange central portion. A total of six openings, each in a roll shape, are provided on the side of the protruding portion on the roll side. A central opening for the rotating shafts 46, 47, 58, 59 is provided at the center. A screw hole for fixing to the wheel cover 62 is also provided around the central opening.

The wheel cover 62 includes a central wheel portion 63, a bent portion 78 having an opening 81 having a central axis cap opened around the central wheel portion 63, a bent portion 76 adjacent to the bent portion 78, and a bent portion 76. An adjacent flat plate portion 82, a bent portion 84 adjacent to the flat plate portion 82, a flat plate portion 86 adjacent to the bent portion 84, a flat plate portion 88, a flat plate portion 88, a flat plate portion 90, a bent portion 92, A bent portion 96 adjacent to the bent portion 92, a flat plate portion 77 connected to the bent portion 96, a bent portion 98 adjacent to the flat plate portion 77, a bent portion 104 connected to the bent portion 98, and the bent portion 104. Is connected to the flat plate portion 77.
Of the bent portions, openings are provided at 78, 92, and 100.

  The roll 66 is shown in FIG. The roll 66 has a center shaft 75 passing through the center thereof, and caps 80 and 118 are attached to both ends of the center shaft 75. On the roll 66, treads 108a, 108b, 108c, 108d, and the like project radially from the center to the outside in a direction parallel to the central axis. On the other hand, a tread 116 is protruded in a direction perpendicular to the central axis 75 along the thickest shaft diameter portion of the roll 66.

  The caps 80 and 118 have bearings at one end and a rectangular cover at the other end. A washer may be attached when the caps 80 and 118 are attached to the central shaft 75. The roll 66 can freely rotate around the central axis 75. The caps 80 and 118 are attached to an opening (not shown) provided in the protruding portion 105 protruding from the flange 60 and an opening 81 provided in a bent portion 78 obtained by bending the end of the wheel cover 62. To be fixed. Here, the protruding portion 105 and the bent portion 78 are provided so as to be parallel to each other, but are inclined with respect to the rotation axis of the front left wheel 6. Similarly, the protruding portion 106 fixes the roll 68, the protruding portion 108 fixes the roll 70, while the bent portion 102 fixes the roll 64 and the bent portion 92 fixes the roll 74.

  Here, the front left wheel 6, the front right wheel 8, the rear left wheel 10, and the rear right wheel 12 have a feature that the roll is inclined with respect to the wheel axle.

  For example, when the front left wheel 6 is installed on the ground, the inclination of the rotation axis of the roll in contact with the ground with respect to the traveling direction of the wheel is such that one part of the roll is inclined toward the vehicle body 4 and the other part of the roll Is arranged so as to be separated from the vehicle body.

  By the way, the wheel mounted with the inclined roll as described above rotates in the opposite direction to the wheel when the wheel rotates. Due to the reverse rotation of the roll, an inclined propulsive force that is a force that proceeds perpendicular to the rotation axis of the roll is generated. This inclination thrust is shifted by the roll attachment angle with respect to the rotational direction of the wheel.

  That is, in the case of the front left wheel 6, when the wheel rotates forward, a tilt propulsion force is generated in a diagonally forward right direction. Conversely, when the wheel rotates backward, a tilting propulsive force is generated in the diagonally backward left direction.

  When the above is confirmed for other wheels, the front right wheel 8 is similarly arranged so that the front side is the vehicle body 4 side and the rear side is separated from the vehicle body. For this reason, when the wheel rotates forward, an inclined propulsive force is generated in the diagonally forward left direction. Conversely, when the wheel rotates rearward, a tilting propulsive force is generated in the diagonally backward right direction.

  On the other hand, the rear left wheel 10 is disposed such that the front is separated from the vehicle body, and the rear left wheel 10 is disposed on the vehicle body 4 side. For this reason, when the wheel rotates forward, an inclined propulsive force is generated in the diagonally forward left direction. Conversely, when the wheel rotates rearward, a tilting propulsive force is generated in the diagonally backward right direction.

  Further, the rear right wheel 12 is disposed such that the front is separated from the vehicle body, and the rear right wheel 12 is disposed on the vehicle body 4 side. For this reason, when the wheel rotates forward, a tilt propulsion force is generated in the diagonally forward right direction. Conversely, when the wheel rotates backward, a tilting propulsive force is generated in the diagonally backward left direction.

  Next, a radio-controlled transmitter and a receiver for operating the toy will be described with reference to FIGS.

  The transmitter 120 includes a power source 122, a control switch 124, a control IC 126, an RF modulation circuit 128, a filter unit 130, an antenna 132, a crystal oscillator circuit 134, and an RF oscillation circuit 136.

  The power source 122 supplies power to each circuit, and specifically uses a 9V battery or the like.

  The control switch 124 is a switch that determines a signal to be transmitted to the receiver. As shown in FIG. 7, the operation button on the left side of the transmitter is a forward signal by the forward signal switch 124a, a reverse signal by the reverse signal switch 124b, a left rotation signal by the left rotation signal switch 124c, and a right rotation by the right rotation signal switch 124d. The signal and the right operation button of the transmitter can transmit a left movement signal by the left movement signal switch 124e and a right movement signal by the right movement signal switch 124f.

  The control IC 126 is a control circuit for modulating the signal received from the control switch 124. This is a circuit device for converting a control voltage generated by operating a variable resistor and outputting a fluctuation signal such as a predetermined pulse width and the number of pulses.

  The RF modulation circuit 128 is a circuit that modulates the electromagnetic wave generated by the RF oscillation circuit 136 with the signal generated by the control IC 126 circuit and generates a radio wave to be transmitted to the receiver.

  The filter unit 130 is a filter circuit for eliminating unnecessary radiation from the electromagnetic waves generated by the RF modulation circuit 128.

  The electromagnetic wave generated by the filter unit 130 is transmitted to the receiver via the antenna 132.

  The crystal oscillation circuit 134 is a circuit that generates a clock having a fundamental frequency.

  The RF oscillation circuit 136 is a circuit that amplifies the clock generated by the crystal oscillation circuit 134 to generate an electromagnetic wave.

  With the above configuration, the transmitter 120 generates a radio control signal for controlling the omnidirectional vehicle toy according to the present invention.

  Next, a radio control receiving unit 139 for operating the toy will be described with reference to FIG.

  The receiving unit 139 includes an antenna 140, a receiver 142, a control IC 144, motor drive amplifiers 146, 150, 154, 158, a front left motor unit 148, a front right motor unit 152, and a rear left motor unit 156. The rear left motor unit 160 and a power source 162 are included. The receiving unit 139 is mounted on the vehicle body 4 of the omnidirectional vehicle toy 2.

  The antenna 140 is an antenna that receives a signal generated by the transmitter 120.

  The receiver 142 is a circuit that detects a control signal from the received electromagnetic wave.

  The control IC 144 is a control circuit that determines the motor to be driven and its rotation direction according to the signal transmitted from the transmitter 120 and transmits an operation signal.

  The motor drive amplifiers 146, 150, 154, 158 are amplifier circuits that supply electric power for driving the motor in accordance with the control IC 144.

  The front left motor unit 148 is a motor that drives the front left wheel 6.

  The front right motor unit 152 is a motor that drives the front right wheel 8.

  The rear left motor unit 156 is a motor that drives the rear left wheel 10.

  The rear left motor unit 160 is a motor that drives the rear left wheel 12.

  With the above configuration, the receiving unit 139 receives the signal generated by the transmitter 120 and controls the vehicle body 4 of the omnidirectional vehicle toy 2.

  Next, the operation of the omnidirectional vehicle toy 2 according to the present invention will be described with reference to FIGS.

  As shown in Table 1, forward, reverse, right rotation, left rotation, left movement, and right movement will be described in this order.

(Forward)
First, the forward signal is transmitted to the control IC 126 by selecting the forward signal switch 124 a with the left operation button in the transmitter 120, and the forward signal is transmitted from the antenna 132 via the RF modulation circuit 128 and the filter unit 130. Is done.

  The receiving unit 139 receives the forward signal with the antenna 140 and detects it with the receiver 142. When the control IC 144 receives the forward signal from the receiver 142 as shown in Table 1, the front left wheel 6 (FL), the front right wheel 8 (FR), the rear left wheel 10 (BL), and the rear right wheel. 12 (BR) all generate a forward rotation (F) signal. That is, the forward drive signal (F) is transmitted to all the motor drive amplifiers 146, 150, 154, 158. The motor drive amplifiers 146, 150, 154, 158 cause the front left motor unit 148, the front right motor unit 152, the rear left motor unit 156, and the rear left motor unit 160 to rotate forward (F), respectively.

  Then, the front left wheel 6 (FL) rotates forward (in the direction of the white arrow) as shown in FIG. 8, and a tilting propulsion force (right tilted arrow YFR) is generated in the diagonally forward right direction.

  Further, the front right wheel 8 (FR) rotates forward (in the direction of the white arrow) as shown in FIG. 8, and an inclined propulsive force (left inclined arrow YFL) is generated in the diagonally forward left direction.

  The rear left wheel 10 (BL) rotates forward (in the direction of the white arrow) as shown in FIG. 8, and a tilting propulsion force (left tilted arrow YFL) is generated in the diagonally forward left direction.

  The rear right wheel 12 (BR) rotates forward (in the direction of the white arrow) as shown in FIG. 8, and a tilting propulsion force (right tilted arrow YFR) is generated in the diagonally forward right direction.

  Here, the tilt propulsion force (right tilt arrow YFR) in the right diagonal forward direction of the front left wheel 6 (FL) and the tilt propulsion force (left tilt arrow YFL) in the diagonally forward left direction of the front right wheel 8 (FR) are When combined, the lateral thrusts cancel each other, leaving the forward thrust.

  Further, the tilt propulsion force (left tilt arrow YFL) in the left diagonal front direction of the rear left wheel 10 (BL) and the tilt propulsion force (right tilt arrow YFR) in the rear right wheel 12 (BR) right diagonal forward direction are also When combined, the lateral thrusts cancel each other, leaving the forward thrust.

  Therefore, as a whole, the vehicle body 4 moves forward.

(Backward)
Subsequently, in the transmitter 120, the reverse signal switch 124b is selected with the left operation button, whereby the reverse signal is transmitted to the control IC 126, and the reverse signal is transmitted from the antenna 132 via the RF modulation circuit 128 and the filter unit 130. Sent.

  The receiving unit 139 receives the backward signal with the antenna 140 and detects it with the receiver 142. When the control IC 144 receives the reverse signal from the receiver 142 as shown in Table 1, the front left wheel 6 (FL), the front right wheel 8 (FR), the rear left wheel 10 (BL), and the rear right wheel. 12 (BR) generates a signal for rotating backward (B). That is, the reverse drive signal (B) is transmitted to all the motor drive amplifiers 146, 150, 154, 158. The motor drive amplifiers 146, 150, 154, 158 respectively rotate the front left motor unit 148, the front right motor unit 152, the rear left motor unit 156, and the rear left motor unit 160 backward (B).

  Then, the front left wheel 6 (FL) rotates rearward (in the direction of the white arrow) as shown in FIG. 9, and a tilting propulsive force (left tilted arrow YBL) is generated in the diagonally backward left direction.

  Further, the front right wheel 8 (FR) rotates rearward (in the direction of the white arrow) as shown in FIG. 9, and a tilting propulsive force (right tilted arrow YBR) is generated in the diagonally rightward rearward direction.

  The rear left wheel 10 (BL) rotates rearward (in the direction of the white arrow) as shown in FIG. 9, and a tilting propulsive force (right tilted arrow YBR) is generated in the rearward and rightward direction.

  The rear right wheel 12 (BR) rotates rearward (in the direction of the white arrow) as shown in FIG. 9, and a tilting propulsive force (left tilted arrow YBL) is generated in the diagonally backward left direction.

  Here, the tilt propulsion force (left tilt arrow YBL) in the left diagonal rear direction of the front left wheel 6 (FL) and the tilt thrust force (right tilt arrow YBR) in the right diagonal rear direction of the front right wheel 8 (FR) are: When combined, the lateral thrusts cancel each other, leaving the reverse thrust.

  Further, the tilt propulsion force (right tilt arrow YBR) in the right rearward direction of the rear left wheel 10 (BL) and the tilt propulsion force (left tilt arrow YBL) in the rearward left tilt direction of the rear right wheel 12 (BR) are also obtained. When combined, the lateral thrusts cancel each other, leaving the reverse thrust.

  Therefore, as a whole, the vehicle body 4 moves backward.

(Right rotation)
Subsequently, in the transmitter 120, by selecting the right rotation signal switch 124c with the left operation button, the right rotation signal is transmitted to the control IC 126, and is transmitted from the antenna 132 via the RF modulation circuit 128 and the filter unit 130 to the right. A rotation advance signal is transmitted.

  The receiving unit 139 receives the right rotation signal with the antenna 140 and detects with the receiver 142. When the control IC 144 receives a right rotation signal from the receiver 142 as shown in Table 1 right rotation, the front left wheel 6 (FL) and the rear left wheel 10 (BL) are rotated forward (F), and the front right side A signal that reversely rotates (B) all the wheels 8 (FR) and the rear right wheel 12 (BR) is generated. That is, the forward drive signal (F) is transmitted to the motor drive amplifiers 146 and 154, and the reverse drive signal (B) is transmitted to the motor drive amplifiers 150 and 158.

  The motor drive amplifiers 146 and 154 rotate the front left motor unit 148 and the rear left motor unit 156 forward (F), and the motor drive amplifiers 150 and 158 respectively include the front right motor unit 152 and the rear left motor unit. 160 is rotated backward (B).

  Then, the front left wheel 6 (FL) rotates forward (in the direction of the white arrow) as shown in FIG. 10, and a tilting propulsive force (right tilted arrow YFR) is generated in the diagonally forward right direction.

  Further, the front right wheel 8 (FR) rotates rearward (in the direction of the white arrow) as shown in FIG. 10, and a tilting propulsive force (right tilted arrow YBR) is generated in the rearward and rightward direction.

  The rear left wheel 10 (BL) rotates forward (in the direction of the white arrow) as shown in FIG. 10, and a tilting propulsion force (left tilted arrow YFL) is generated in the diagonally forward left direction.

  The rear right wheel 12 (BR) rotates rearward (in the direction of the white arrow) as shown in FIG. 10, and a tilting propulsive force (left tilted arrow YBL) is generated in the diagonally backward left direction.

  Here, the tilt propulsion force (right tilt arrow YFR) in the right diagonal forward direction of the front left wheel 6 (FL), and the tilt propulsion force (right tilt arrow YBR) in the diagonally right rear direction of the front right wheel 8 (FR). The slant thrust (left slant arrow YFL) in the left diagonal front direction of the rear left wheel 10 (BL) and the slant thrust (left slant arrow YBL) in the left diagonal rear direction of the rear right wheel 12 (BR) are combined. As a result, a propulsive force that rotates rightward about the center of the vehicle body 4 remains.

  Therefore, as a whole, the vehicle body 4 rotates to the right.

(Rotate left)
Subsequently, in the transmitter 120, the left rotation signal switch 124 d is selected with the left operation button, whereby the left rotation signal is transmitted to the control IC 126, and left from the antenna 132 via the RF modulation circuit 128 and the filter unit 130. A rotation advance signal is transmitted.

  The receiving unit 139 receives the left rotation signal with the antenna 140 and detects with the receiver 142. When the control IC 144 receives a left rotation signal from the receiver 142 as shown in Table 1 left rotation, the front left wheel 6 (FL) and the rear left wheel 10 (BL) rotate backward (B), and the front right wheel A signal for causing all the wheels 8 (FR) and the rear right wheel 12 (BR) to rotate forward (F) is generated. That is, the reverse drive signal (B) is transmitted to the motor drive amplifiers 146 and 154, and the forward drive signal (F) is transmitted to the motor drive amplifiers 150 and 158.

  The motor drive amplifiers 146 and 154 rotate the front left motor unit 148 and the rear left motor unit 156 backward (B), and the motor drive amplifiers 150 and 158 respectively perform the front right motor unit 152 and the rear left motor unit. 160 is rotated forward (F).

  Then, the front left wheel 6 (FL) rotates rearward (in the direction of the white arrow) as shown in FIG. 11, and an inclined thrust force (left inclined arrow YBL) is generated in the diagonally backward left direction.

  Further, the front right wheel 8 (FR) rotates forward (in the direction of the white arrow) as shown in FIG. 11, and an inclined propulsion force (left inclined arrow YFL) is generated in the diagonally forward left direction.

  The rear left wheel 10 (BL) rotates rearward (in the direction of the white arrow) as shown in FIG.

  The rear right wheel 12 (BR) rotates forward (in the direction of the white arrow) as shown in FIG. 11, and a tilting propulsive force (right tilted arrow YFR) is generated in the diagonally forward right direction.

  Here, the tilt propulsion force (left tilt arrow YBL) in the left diagonal rear direction of the front left wheel 6 (FL), and the tilt thrust force (left tilt arrow YFL) in the left diagonal front direction of the front right wheel 8 (FR). The tilting propulsion force (right tilt arrow YBR) in the right rearward direction of the rear left wheel 10 (BL) and the tilt propulsion force (right tilt arrow YFR) in the right front direction of the rear right wheel 12 (BR) are combined. As a result, a propulsive force that rotates leftward about the center of the vehicle body 4 remains.

  Accordingly, as a whole, the vehicle body 4 rotates counterclockwise.

(Move left)
Subsequently, in the transmitter 120, the left movement signal switch 124e is selected with the operation button on the right side, whereby the left movement signal is transmitted to the control IC 126 and left from the antenna 132 via the RF modulation circuit 128 and the filter unit 130. A movement signal is transmitted.

  The receiving unit 139 receives the left movement signal with the antenna 140 and detects with the receiver 142. When the control IC 144 receives a left movement signal from the receiver 142 as shown in Table 1 left movement, the front left wheel 6 (FL) and the rear right wheel 12 (BR) rotate backward (B), and the front right wheel 8 (FR) and the rear left wheel 10 (BL) are all forwardly rotated (F). That is, the reverse drive signal (B) is transmitted to the motor drive amplifiers 146 and 158, and the forward drive signal (F) is transmitted to the motor drive amplifiers 150 and 154.

  The motor drive amplifiers 146 and 158 rotate the front left motor unit 148 and the rear left motor unit 160 backward (B), and the motor drive amplifiers 150 and 154 connect the front right motor unit 152 and the rear left motor unit 156, respectively. Rotate forward (F).

  Then, the front left wheel 6 (FL) rotates rearward (in the direction of the white arrow) as shown in FIG. 12, and a tilt propulsion force (left tilt arrow YBL) is generated in the diagonally backward left direction.

  Further, the front right wheel 8 (FR) rotates forward (in the direction of the white arrow) as shown in FIG. 12, and a tilt propulsion force (left tilt arrow YFL) is generated in the diagonally forward left direction.

  The rear left wheel 10 (BL) rotates forward (in the direction of the white arrow) as shown in FIG. 12, and an inclined propulsion force (left inclined arrow YFL) is generated in the diagonally forward left direction.

  The rear right wheel 12 (BR) rotates rearward (in the direction of the white arrow) as shown in FIG. 12, and an inclined thrust force (left inclined arrow YBL) is generated in the diagonally backward left direction.

  Here, the tilt propulsion force (left tilt arrow YBL) in the left diagonal rear direction of the front left wheel 6 (FL) and the tilt propulsion force (left tilt arrow YFL) in the left diagonal front direction of the rear left wheel 10 (BL). , The rear thrust of the front left wheel 6 (FL) and the front thrust of the rear left wheel 10 (BL) cancel each other, and only the left thrust is obtained.

  In addition, there is an inclination propulsion force (left inclination arrow YFL) in the left diagonal front direction of the front right wheel 8 (FR) and an inclination propulsion force (left inclination arrow YBL) in the diagonal rear left direction of the rear right wheel 12 (BR). When combined, the forward driving force of the front left wheel 8 (FR) and the backward driving force of the rear left wheel 12 (BR) cancel each other, and only the left driving force is obtained.

  Therefore, as a whole, the vehicle body 4 moves to the left.

(Move right)
Subsequently, in the transmitter 120, by selecting the right movement signal switch 124f with the right operation button, the right movement signal is transmitted to the control IC 126, and is transmitted from the antenna 132 via the RF modulation circuit 128 and the filter unit 130 to the right. A movement signal is transmitted.

  The receiver 139 receives the right movement signal with the antenna 140 and detects it with the receiver 142. When the control IC 144 receives the right movement signal from the receiver 142 as shown in Table 1 right movement, the front left wheel 6 (FL) and the rear right wheel 12 (BR) are rotated forward (F) to move the front right wheel. 8 (FR) and the rear left wheel 10 (BL) are all rotated backward (B). That is, the forward drive signal (F) is transmitted to the motor drive amplifiers 146 and 158, and the reverse drive signal (B) is transmitted to the motor drive amplifiers 150 and 154.

  The motor drive amplifiers 146 and 158 rotate the front left motor unit 148 and the rear left motor unit 160 forward (F), and the motor drive amplifiers 150 and 154 connect the front right motor unit 152 and the rear left motor unit 156, respectively. Reverse rotation (B) is performed.

  Then, the front left wheel 6 (FL) rotates forward (in the direction of the white arrow) as shown in FIG. 13, and a tilting propulsion force (right tilted arrow YFR) is generated in the diagonally forward right direction.

  Further, the front right wheel 8 (FR) rotates rearward (in the direction of the white arrow) as shown in FIG.

  The rear left wheel 10 (BL) rotates rearward (in the direction of the white arrow) as shown in FIG. 13, and a tilting propulsive force (right tilted arrow YBR) is generated in the rearward and rightward direction.

  The rear right wheel 12 (BR) rotates forward (in the direction of the white arrow) as shown in FIG. 13, and a tilting propulsive force (right tilted arrow YFR) is generated in the diagonally forward right direction.

  Here, the tilt propulsion force (right tilt arrow YFR) in the right diagonal forward direction of the front left wheel 6 (FL), and the tilt propulsion force (right tilt arrow YBR) in the diagonally right rear direction of the rear left wheel 10 (BL). , The forward thrust of the front left wheel 6 (FL) and the rear thrust of the rear left wheel 10 (BL) cancel each other, and only the rightward thrust is obtained.

  Further, there is an inclination propulsion force (right inclination arrow YBR) in the right diagonal rear direction of the front right wheel 8 (FR) and an inclination propulsion force (right inclination arrow YFR) in the right diagonal front direction of the rear right wheel 12 (BR). When combined, the rear thrust of the front left wheel 8 (FR) and the forward thrust of the rear left wheel 12 (BR) cancel each other, and only the right thrust is obtained.

  Therefore, as a whole, the vehicle body 4 moves to the right.

  As described above, forward, reverse, right rotation, left rotation, left movement, and right movement are prevented by performing the control as described in the present application, thereby preventing quality variations and prolonged man-hours caused by conventional brackets and preventing an increase in cost. An omnidirectional vehicle toy capable of supporting the vehicle and its wheels can be provided.

  Next, for example, the signal switches 124c to 124f are replaced with right front movement, left front movement, right rear movement, left rear movement instead of right rotation, left rotation, left movement, and right movement, and the control program of the control IC 144 is changed. It is also possible to perform the following operations.

(Move right front)
By selecting the right front movement signal switch 124 c with the right operation button in the transmitter 120, the right front movement signal is transmitted to the control IC 126, and the right front movement signal is transmitted from the antenna 132 via the RF modulation circuit 128 and the filter unit 130. Sent.

  The receiving unit 139 receives the right front movement signal with the antenna 140 and detects with the receiver 142. When the control IC 144 receives a right front movement signal from the receiver 142 as shown in Table 2 right front movement, the front left wheel 6 (FL) and the rear right wheel 12 (BR) rotate forward (F), and the front right wheel 8 (FR) and the rear left wheel 10 (BL) are all stopped (STOP). That is, the forward drive signal (F) is transmitted to the motor drive amplifiers 146 and 158, and the stop signal (STOP) is transmitted to the motor drive amplifiers 150 and 154.

  The motor drive amplifiers 146 and 158 rotate the front left motor unit 148 and the rear left motor unit 160 forward (F), and the motor drive amplifiers 150 and 154 connect the front right motor unit 152 and the rear left motor unit 156, respectively. Stop (STOP).

  Then, the front left wheel 6 (FL) rotates forward, and a tilting propulsive force (right tilted arrow YFR) is generated in a diagonally forward right direction.

  Further, the front right wheel 8 (FR) stops.

  The rear left wheel 10 (BL) stops.

  The rear right wheel 12 (BR) rotates forward, and a tilt propulsion force (right tilt arrow YFR) is generated in a diagonally forward right direction.

  Here, the tilt propulsion force (right tilt arrow YFR) in the right diagonal forward direction of the front left wheel 6 (FL), and the tilt propulsion force (right tilt arrow YFR) in the diagonally forward right direction of the rear right wheel 12 (BR). Are combined and the tilt propulsion force (right tilt arrow YFR) is tilted forward in the diagonally right direction, so that only the tilt propulsion force is tilted forward in the diagonally right direction.

  Therefore, as a whole, the vehicle body 4 moves rightward.

(Move left front)
Subsequently, in the transmitter 120, the left front movement signal switch 124d is selected with the operation button on the right side, whereby the left front movement signal is transmitted to the control IC 126, and from the antenna 132 via the RF modulation circuit 128 and the filter unit 130. A movement signal is transmitted.

  The receiving unit 139 receives the left front movement signal with the antenna 140 and detects with the receiver 142. When the control IC 144 receives a left front movement signal from the receiver 142 as shown in Table 2, left front movement, the front left wheel 6 (FL) and the rear right wheel 12 (BR) are stopped (STOP), and the front right wheel 8 is stopped. (FR) and the rear left wheel 10 (BL) are all forwardly rotated (F). That is, a stop signal (STOP) is transmitted to the motor drive amplifiers 146 and 158, and a forward drive signal (F) is transmitted to the motor drive amplifiers 150 and 154.

  The motor drive amplifiers 146 and 158 stop (STOP) the front left motor unit 148 and the rear left motor unit 160, and the motor drive amplifiers 150 and 154 advance the front right motor unit 152 and the rear left motor unit 156, respectively. Rotate (F).

  Then, the front left wheel 6 (FL) stops.

  Further, the front right wheel 8 (FR) rotates forward (in the direction of the white arrow), and a tilting propulsive force (left tilted arrow YFL) is generated in the diagonally forward left direction.

  The rear left wheel 10 (BL) rotates forward (in the direction of the white arrow), and a tilting propulsive force (left tilted arrow YFL) is generated in the diagonally forward left direction.

  The rear right wheel 12 (BR) stops.

  Here, the tilt propulsion force (left tilt arrow YFL) in the left diagonal front direction of the front right wheel 8 (FR), and the tilt propulsion force (left tilt arrow YFL) in the left diagonal front direction of the rear left wheel 10 (BL). When combined, only the left front propulsive force is obtained.

  Therefore, as a whole, the vehicle body 4 moves leftward.

(Move back right)
Subsequently, in the transmitter 120, the right rear movement signal switch 124e is selected by the operation button on the right rear side, so that the right rear movement signal is transmitted to the control IC 126 and passes through the RF modulation circuit 128 and the filter unit 130. A right rear movement signal is transmitted from the antenna 132.

  The receiving unit 139 receives the right rear movement signal with the antenna 140 and detects with the receiver 142. When the control IC 144 receives a right rear movement signal from the receiver 142 as shown in Table 2 right rear movement, the front left wheel 6 (FL) and the rear right wheel 12 (BR) are stopped (STOP), and the front right wheel A signal that reversely rotates (B) all the wheels 8 (FR) and the rear left wheel 10 (BL) is generated. That is, a stop signal (STOP) is transmitted to the motor drive amplifiers 146 and 158, and a reverse drive signal (B) is transmitted to the motor drive amplifiers 150 and 154.

  The motor drive amplifiers 146 and 158 stop (STOP) the front left motor unit 148 and the rear left motor unit 160, and the motor drive amplifiers 150 and 154 reverse the front right motor unit 152 and the rear left motor unit 156, respectively. Rotate (B).

  Then, the front left wheel 6 (FL) stops.

  Further, the front right wheel 8 (FR) rotates rearward, and a tilt propulsion force (right tilt arrow YBR) is generated in the diagonally right rear direction.

  The rear left wheel 10 (BL) rotates rearward, and an inclined propulsive force (right inclined arrow YBR) is generated in the diagonally rearward direction to the right.

  The rear right wheel 12 (BR) stops.

  Here, the tilt propulsion force (right tilt arrow YBR) in the right diagonal rear direction of the front right wheel 8 (FR), and the tilt propulsion force (right tilt arrow YBR) in the right diagonal rear direction of the rear left wheel 10 (BL). When combined, only the right rearward propulsive force is obtained.

  Therefore, as a whole, the vehicle body 4 moves rearward to the right.

(Move left rear)
In the transmitter 120, by selecting the left rear movement signal switch 124f with the left operation button, the left rear movement signal is transmitted to the control IC 126, and the left rear movement signal is transmitted from the antenna 132 via the RF modulation circuit 128 and the filter unit 130. A movement signal is transmitted.

  The receiving unit 139 receives the left rear movement signal with the antenna 140 and detects with the receiver 142. When the control IC 144 receives the left rear movement signal from the receiver 142 as shown in Table 2, the left rear movement, the front left wheel 6 (FL) and the rear right wheel 12 (BR) rotate backward (B), A signal for stopping (STOP) all of the right wheel 8 (FR) and the rear left wheel 10 (BL) is generated. That is, the reverse drive signal (B) is transmitted to the motor drive amplifiers 146 and 158, and the stop signal (STOP) is transmitted to the motor drive amplifiers 150 and 154.

  The motor drive amplifiers 146 and 158 rotate the front left motor unit 148 and the rear left motor unit 160 backward (B), and the motor drive amplifiers 150 and 154 connect the front right motor unit 152 and the rear left motor unit 156, respectively. Stop (STOP).

  Then, the front left wheel 6 (FL) rotates rearward, and a tilt propulsion force (right tilt arrow YBL) is generated in the diagonally backward left direction.

  Further, the front right wheel 8 (FR) stops.

  The rear left wheel 10 (BL) stops.

  The rear right wheel 12 (BR) rotates rearward, and an inclined propulsive force (right inclined arrow YBL) is generated in the diagonally backward left direction.

  Here, the tilt propulsion force (right tilt arrow YBL) in the left diagonal rear direction of the front left wheel 6 (FL), and the tilt thrust force (right tilt arrow YBL) in the left diagonal rear direction of the rear right wheel 12 (BR). Are combined and the tilt propulsion force (right tilt arrow YBL) is obliquely rearward leftward, and only the tilt propulsion force is obliquely forward rightward.

  Therefore, as a whole, the vehicle body 4 moves rearward left.

It is a general-view figure of one Example of the omnidirectional vehicle toy based on this invention. It is an exploded view of one Example of the omnidirectional vehicle toy based on this invention. It is a general-view figure of the tire of one Example of the omnidirectional vehicle toy based on this invention. It is sectional drawing of the tire of one Example of the omnidirectional vehicle toy based on this invention. It is a transmitter of one Example of the omnidirectional vehicle toy which concerns on this invention. It is a receiving part of one Example of the omnidirectional vehicle toy based on this invention. It is a transmitter of one Example of the omnidirectional vehicle toy which concerns on this invention. It is an operation | movement figure of one Example of the omnidirectional vehicle toy based on this invention. It is an operation | movement figure of one Example of the omnidirectional vehicle toy based on this invention. It is an operation | movement figure of one Example of the omnidirectional vehicle toy based on this invention. It is an operation | movement figure of one Example of the omnidirectional vehicle toy based on this invention. It is an operation | movement figure of one Example of the omnidirectional vehicle toy based on this invention. It is an operation | movement figure of one Example of the omnidirectional vehicle toy based on this invention.

Explanation of symbols

2 Omnidirectional vehicle toy 4 Car body 6 Front left wheel 8 Front right wheel 10 Rear left wheel 12 Rear right wheel 18 Case 20 Cover 22, 24, 26, 28 Motor 30, 31 Side plate 32, 34 Opening 36, 48 Pinion gear 38, 40, 42, 44 Gear 46, 47, 58, 59 Rotary shaft 50, 52, 54, 56 Gear 58 Rotary shaft 60 Flange 62 Wheel cover 64, 66, 68, 70, 72, 74 Roll 62 Wheel cover 63 Center Wheel portion 75 Center shaft 76 Bending portion 78 Bending portion 77 Flat plate portions 78, 92, 100 Bending portions 80, 118 Cap 81 Opening portion 82 Flat plate portion 84 Bending portion 86 Flat plate portion 88 Flat plate portion 90 Flat plate portion 92 Folding portion 96 Bending portion 98 Bending part 102 Bending part 104 Bending part 105, 106, 108 Projection 108a, 108b, 108c, 108d Tread 116 Tread 120 Transmitter 122 Power supply 124 Control switch 124a to 124f Signal switch 124a Forward signal switch 124b Reverse signal switch 124c Right rotation signal switch 124d Left front movement signal switch 124d Left rotation signal switch 124e Left movement signal Switch 124e Rear right movement signal switch 124f Right movement signal switch 124f Left rear movement signal switch 126 Control IC
128 RF modulation circuit 130 Filter unit 132 Antenna 134 Crystal oscillation circuit 136 RF oscillation circuit 139 Reception unit 140 Antenna 142 Receiver 144 Control IC
146, 150, 154, 158 Motor drive amplifier 148 Front left motor unit 152 Front right motor unit 156 Rear left motor unit 160 Rear left motor unit 162 Power supply

Claims (7)

A vehicle body on which a rotation drive unit is mounted, a plurality of rotation shafts connected via the rotation drive unit and the speed reduction unit, a center member mounted on the rotation shaft, and a first center member constituting the center member In the omnidirectional vehicle toy in which a plurality of rotors are rotatably inserted between the first central member and the second central member facing the first central member,
The first center member is provided with a first support portion that is bent at an angle toward the second center member and rotatably supports one end of the roll. Also, the second support portion that rotatably supports the other end of the roll that is set to be parallel to the first support portion is provided to support the tilted roll with respect to the center member. Omni-directional vehicle toy.   The center member is provided with a front left center member and a front right center member at both front ends with respect to the vehicle body, and a rear left center member and a rear right center member are provided at both rear ends. The rotation axis of each roll of the front right center member is arranged such that the front support portion is disposed on the vehicle body side with respect to the traveling direction on the installation surface, and the rear support portion is on the side away from the vehicle body. The rotation axis of each of the right and rear right center members is arranged such that the rear support part is arranged on the vehicle body side with respect to the traveling direction on the installation surface, and the front support part is on the side away from the vehicle body. The omnidirectional vehicle toy according to claim 1.   The roll is formed in a spindle shape having a major axis side as a rotation axis, a tread is engraved in parallel with the rotation axis, and a tread perpendicular to the rotation axis is provided at the thickest part. 1. An omnidirectional vehicle toy according to 1.   The omnidirectional vehicle toy according to claim 1, wherein the rotation driving unit is provided for each wheel.   The omnidirectional vehicle toy according to claim 1, wherein the rotation driving unit is driven by a radio control device. A vehicle body on which a rotation drive unit is mounted, a plurality of rotation shafts connected via the rotation drive unit and a speed reduction unit, a central member mounted on the rotation shaft, and a first central member constituting the central member In the wheel of the omnidirectional vehicle toy in which a plurality of rotors are rotatably inserted between the second central member facing the first central member,
The first center member is provided with a first support portion that is bent at an angle toward the second center member and rotatably supports one end of the roll. The second support part that is bent so as to be parallel to the first support part and rotatably supports the other end of the roll is provided to support the tilted roll with respect to the central member. Wheel of omnidirectional vehicle toy.   The roll is formed in a spindle shape having a major axis side as a rotation axis, a tread is engraved in parallel with the rotation axis, and a tread perpendicular to the rotation axis is provided at the thickest part. 6. The wheel of the omnidirectional vehicle toy according to 6.

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