JP2011084229A - Vehicle with omnidirectional driving wheel - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle with an omnidirectional driving wheel. <P>SOLUTION: A plurality of rotatable driving short shafts 1 are arranged so as to come into contact with each other through contact shaft ends 10 thereof and respectively have casters 2 with a small diameter fixed to the contact shaft ends 10. The casters 2 are freely rotatably held by bearing metal fittings 3 and receive power transmission by couplings 4. Some of the casters 2 are coupled to power distribution pulleys 7 by torsion transmission bodies 6. The power distribution pulleys 7 are freely rotatably supported by pulley coupling shafts 8. Side plates 80 radially keeping the bearing metal fittings 3 thereon are integrated by the pulley coupling shafts 8 to be coupled to a lateral advance motor 15 for driving a sun gear 9 at the center, which allows a reversal of a direction. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

The present invention relates to a vehicle with omnidirectional drive wheels.

Japanese Patent Laid-Open No. 10-17960 discloses a wheelchair-like pedal drive vehicle having a drive wheel with a multi-wheel configuration tire.

However, the conventional pedal-driven wheelchair has a drawback in that it cannot turn smoothly because it cannot steer as expected.

Japanese Patent Laid-Open No. 10-17960

A wheelchair-like vehicle having driving wheels with multi-wheeled tires is good at straight running, but it is difficult to turn as intended. SUMMARY OF THE INVENTION An object of the present invention is to provide a vehicle configured to be able to go straight and turn as desired and to make a small turn or turn on the spot.

The idea of an omnidirectional drive wheel that can go straight and sideways was devised, and the vehicle with this was devised.
That is, the present invention is arranged such that a plurality of drive short shafts 1, 1. A caster 2 with a small-diameter groove is fixed to this, and the caster 2 is rotatably held by a bearing fitting 3 and transmitted by a coupling 4, and several casters are provided by a torsion transmission 6. 2 is connected to a power distribution pulley 7, and the power distribution pulley 7 is a vehicle with an omnidirectional drive wheel characterized by being connected to a solar rotating body 9 and a lateral motor 15 for driving the solar rotating body 9.
The rider can control the lateral motor 15 to slide and change direction.

  It goes without saying that the straight-wheeled pedal 59 or the straight motor 16 can turn the multi-wheeled tire, that is, the casters 2, 2, 2,.

In the vehicle with an omnidirectional drive wheel according to the present invention, a large number of drive short shafts 1 that can be rotated are arranged so that they can come into contact with each other by contact shaft ends 10. The bearing bracket 3 is rotatably held and the power is transmitted by the coupling 4. Some of the casters 2 are twisted by a torsional transmission body 6, a power distribution pulley 7, a solar rotating body 9, and a lateral motor 15. Therefore, the rider can control the rotation of the transverse motor 15 to generate a lateral force on the caster 2 and change the direction.
Since the drive short shafts 1, 1, 1, 1. Hard to do.

According to the second aspect of the present invention, it is possible to drive well while stepping on the pedal 59 and balancing.

According to the third aspect of the present invention, it is possible to drive well by performing rotation control of the lateral motor 15 and the lateral motor 16 while balancing the upper body.

According to the fourth aspect of the present invention, stability can be ensured by the omnidirectional driving wheel and the rear wheel 70, and driving can be performed more safely.

The top view which shows 1st Example of this invention Side view of FIG. 1 part sectional view of FIG. Sectional drawing of the wheel part which shows 2nd Example of this invention Sectional drawing of the wheel part which shows 3rd Example of this invention Side view of wheel portion showing third embodiment of the present invention

1 to 3 show a first embodiment of the present invention.
The drive short shafts 1, 1, 1,... Which can rotate are arranged in an annular shape so as to come into contact with each other by the contact shaft end 10, and a small-diameter caster 2 is fixed thereto. Reference numeral 3 denotes a bearing fitting that rotatably supports the drive short shaft 1. The drive short shaft 1 is rotated in the same direction by a spring or a bellows coupling 4. Reference numeral 6 denotes a torsional transmission body which is twisted and mounted on four casters 2 in which grooves are formed. Reference numeral 7 denotes four power distribution pulleys. A torsion transmission 6 is mounted between the grooved casters 2 and the power distribution pulley 7 so that power can be transmitted. A pulley shaft coupling body 8 rotatably supports the power distribution pulley 7 and couples the left and right side plates 80 together. Reference numeral 9 denotes a solar rotating body that can frictionally drive the power distribution pulley 7. Reference numeral 15 denotes a transverse motor that can drive the solar rotating body 9. A battery 54 supplies lateral energy. Reference numeral 55 denotes a rectilinear drive shaft which is configured to turn the caster 2 together with the side plate 80 together with the large-diameter wheel so as to advance straight.
56 is a bearing that supports the linear drive shaft 55, 57 is a crank that rotationally drives the linear drive shaft 55, 58 is a pedal shaft at the end of the crank 57, 59 is a pedal attached to the pedal shaft 58, and 62 is a fork having a large diameter. The entire wheel is supported rotatably. 64 is a fork shoulder, 66 is a body frame welded to the fork shoulder 64, 67 is a handle provided at the front of the body frame 66, 68 is a lateral control lever mounted on the handle 67, and 70 is a body frame 66. A rear wheel 95 attached to the rear portion is a saddle provided on the top of the fork 62.

In a vehicle with an omnidirectional drive wheel having the above structure, a rider sits on a saddle 95, holds a handle 67, and steps on a pedal 59 to travel straight or reverse.
By operating the lateral control lever 68 to supply energy from the battery 54 and controlling the rotational of the lateral motor 15, the solar rotating body 9, the power distribution pulley 7, the torsion transmission body 6 and the caster 2 can be moved to make a side-sliding motion. Turn the vehicle right or left.

  FIG. 4 shows a second embodiment of the present invention. This is different from the above-described embodiment in that the linear motor 16 is used for the straight movement without using the pedal, and the lateral drive shaft 31 is a sprocket and chain 35 at the end of the shaft. The linear drive shaft 32 is also connected to the linear motor 16 by a sprocket and a chain 36 at the shaft end.

The lateral drive shaft 31 and the rectilinear drive shaft 32 can rotate coaxially around the fixed shaft 17. The two motors 15 and 16 are respectively attached to both sides of the fork 62 and output from the output shaft sprocket by the chains 35 and 36, respectively.
In addition, the coupling 4 is configured such that power is transmitted when the two thin plate-shaped gears that are attached to the drive short shaft 1 are engaged with each other.

5 and 6 show a third embodiment of the present invention.
This also has the same overall shape as in the first embodiment, but the large-diameter wheel with multi-wheeled tires does not have a pedal and travels straight by the straight motor 16.
A number of drive short shafts 1, 1,... That can be rotated are arranged so as to contact each other by means of an uneven contact shaft end 10, and grooved casters 2 having the same shape are fixed to each other. 3, while being rotatably held by the thin plate gear couplings 4, 5, the power of the four adjacent grooved casters 2 is transferred to the four power transmissions by the four torsion transmission members 6. The power distribution pulley 7 is connected to the distribution pulley 7 and is rotatably supported by the pulley shaft connection body 8. The two side plates 80 to which the bearing fittings 3 are attached in a radial manner are integrated by the connecting body 8.

Reference numeral 9 denotes a sun rotator that can rotate and drive the four power distribution pulleys 7 in contact with the outer periphery thereof. The solar rotating body 9 has a structure that is axially driven by a transverse motor 15.
Reference numeral 15 denotes a transverse motor which is driven to rotate the solar rotating body 9 via a shaft 32. Reference numeral 16 denotes a rectilinear motor which drives the rectilinear shaft 31 so that the side plate 80 to which the bearing fitting 3 is attached is swung together with the casters 2 so as to travel straight. Energy is supplied from the battery 54. The overall shape is almost the same as in FIG. 2 except that there is no pedal.

In a vehicle with an omnidirectional drive wheel having the above-described structure, the rider rotates the rectilinear motor 16 to advance and retreat, and the transversal motor 15 rotates to drive the transversal drive shaft 32. The solar rotating body 9, the power distribution pulley 7, All casters 2 arranged in an annular shape via a torsion transmission 6 are simultaneously rotated forward or reverse by couplings 4 and 5 to turn right and turn left and turn on the spot.

The vehicle with an omnidirectional drive wheel of the present invention can be applied not only to children and elderly people but also to bicycles for parent and child rides and Abeck, as well as cleaning vehicles and transport vehicles.

1 is a drive short shaft 2 is a grooved caster 3 is a bearing bracket 4 is a coupling 5 is a coupling 6 is twisted A transmission body 7 is a power distribution pulley 8 A pulley shaft coupling body 9 A solar rotor 10 is a contact shaft end 15 The lateral motor 16 is the linear motor 17 The mounting screw 18 The mounting screw 19 The fixing plate 20 The fixed plate 31 The linear driving shaft 32 The lateral driving shaft 56 The crank shaft cap 57 The crank 58 The pedal shaft 59 The pedal 62 fork 64 fork shoulder 66 for vehicle body frame 67 handle 68 for control lever 70 rear wheel 95 for saddle

Claims (4)

A large number of drive short shafts 1 that can rotate are arranged so that they can come into contact with each other by contact shaft ends 10, each having a small-diameter caster 2 fixed thereto, and the casters 2 are rotatably held by bearing fittings 3. In addition, some of the casters 2 are connected to a plurality of power distribution pulleys 7 by a torsional transmission body 6, and the power distribution pulley 7 is connected to the solar rotating body 9 and the lateral side. The rectilinear function drive shaft 31 and the lateral motor 15 are connected to each other, and the omnidirectional drive wheel is provided with the lateral function drive shaft 31 and the rectilinear function drive shaft 32 coaxially. The tire can be driven to turn, and the transverse drive shaft 31 drives the power distribution pulley 7 around which the torsional transmission body 4 is wound to turn the caster 2 in a sliding manner. Omnidirectional driving wheeled vehicles, characterized in that it is made so that 2. A vehicle with an omnidirectional drive wheel according to claim 1, wherein a crank 57, a pedal shaft 58, and a pedal 59 are provided on the straight drive function drive shaft 32 of the omnidirectional drive wheel so that the pedal can be propelled. 2. A vehicle with an omnidirectional drive wheel according to claim 1, wherein a linear motor 16 is connected to the drive shaft 32 of the omnidirectional drive wheel and the electric motor is controlled in both the straight and lateral directions. The omnidirectional drive according to any one of claims 1 to 3, wherein a vehicle body frame 64 is attached to a shoulder 64 of a fork 62 holding an omnidirectional drive wheel, and a rear wheel 70 is provided at a rear portion of the vehicle body frame 64. Wheeled vehicle

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