JP2011184004A - Wheel with all-driving type rotary body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a wheel with an all-driving type rotary body capable of smoothly getting over a step height by individually driving all rotary wheels. <P>SOLUTION: The wheel supports a wheel 11 by a hollow wheel shaft 16, and has driven pulleys 13a and 12b in a plurality of rotary bodies 12a and 12b around the wheel 11, and has a first rotation distribution transmitting mechanism 14 having a first ring-shaped sun gear 14a and a second rotation distribution transmitting mechanism 15 having a second ring-shaped sun gear 15a in the wheel 11. A wheel shaft 16 is driven by a traveling motor 17, and the first ring-shaped sun gear 14a is driven by a rotary body driving first motor 18, and the second ring-shaped sun gear 15a is driven by a rotary body driving second motor 19. Electric power supply to the motors 19 and 21 is performed by a slip ring sand a brush, and control is performed by communication through a hollow part of the wheel shaft 16. When rotating the rotary bodies 12a and 12b, the first ring-shaped sun gear 14a and the second ring-shaped sun gear 15a are rotated in the same direction, and a phase is made different so that an average rotating speed is the same. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention is used for an omnidirectional vehicle that travels in all directions on a plane, and a wheel with a rotating body in which a plurality of rotating bodies that rotate in a direction orthogonal to the straight traveling direction of the wheel are arranged around the wheel. In particular, the present invention relates to a wheel with a fully-driven rotator that rotates all rotators actively instead of passively.

An omnidirectional vehicle that travels in all directions on a plane includes wheels with an all-drive rotator. A wheel with a fully-driven rotator that actively rotates all rotators by a motor other than the motor that drives the wheels, instead of passive rotation, is a wheel and a plurality of rotations arranged around the wheel. And a motor for driving and rotating the wheel, and another motor for driving and rotating the plurality of rotating bodies. The plurality of rotators are supported by an axle that is provided on a bracket on the outer peripheral surface of the wheel and has an axis in the plane of rotation of the wheel.
Therefore, each rotating body rotates in a direction orthogonal to the rotating direction of the wheel. Thus, fore-and-aft traveling is performed by rotating the wheel forward or backward with one motor, and lateral traveling is performed by rotating the wheel clockwise or counterclockwise with another motor, and traveling in an oblique direction is performed. , By rotating the wheel and rotating all the rotating bodies.
For example, Patent Documents 1 to 4 are known as conventional wheels with a fully driven type rotating body that actively rotates all rotating bodies instead of passively rotating.

  The fixed type wheel described in Patent Document 1 has a circular shaft on the outer periphery of the wheel, and rollers and buffer members that rotate in a direction perpendicular to the rotation direction of the wheel can be alternately and continuously disposed on this shaft. It is a configuration that can change direction.

  In the wheel with a rotating body described in Patent Document 2, a plurality of rotating bodies that rotate in a direction orthogonal to the straight traveling direction of the wheel are arranged around the wheel, and each rotating body is centered on an axle. Rotating around the rotation axis that intersects the radial direction, the front end of the wheel in the direction of wheel rotation is smaller in diameter than the rear end, and the peripheral bus is the arc of the wheel outer circle. A recess formed at the proximal end of the adjacent rotating body so that the distal end of each rotating body can be close to the proximal end of the adjacent rotating body. It is the structure which has penetrate | invaded partially.

  The omnidirectional moving wheel described in Patent Document 3 includes a plurality of barrel-shaped dividing rollers outside the wheel. The plurality of barrel-shaped split rollers are respectively supported by a support member and a roller shaft, and the outer surface forms part of the wheel outer circumference circle. The plurality of barrel-shaped split rollers are connected in a chain via a roller shaft. The power transmission means transmits the rotational force to one barrel-shaped dividing roller. The other barrel-shaped dividing roller is transmitted with power through a roller shaft.

  The mobile conveyance mechanism described in Patent Document 4 includes a plurality of auxiliary wheels rotatably supported around a wheel member, and includes a wheel, a fixed wheel rotation center shaft, and an output member for driving the auxiliary wheel. Coaxially opposed and connected by a differential mechanism, and further, the differential mechanism is connected to the auxiliary wheel, the auxiliary wheel is rotated by rotation of the output member, and the wheel member is rotated along with the revolution of the output member. It is a configuration that rotates.

Japanese Patent Laid-Open No. 11-227404 JP 2002-137602 A JP 2005-67334 A JP 2009-179110 A

  Since the technology described in Patent Document 1 and Patent Document 2 is not configured to drive a rotating wheel, the rotating wheel rotates while the wheel rotates, and the rotating wheel enters a traveling component into the side. If it encounters a step, it will lock and you may not be able to get over this step.

  In the omnidirectional moving wheel described in Patent Document 3, the rotational force is transmitted to the barrel-shaped split roller to which the rotational force is directly transmitted from the power transmission means, but the barrel-shaped split roller has a lot of backlash and backlash, From the barrel-shaped dividing roller to which the rotational force is directly transmitted, the rotating force is hardly transmitted to the adjacent barrel-shaped divided roller, and the rotational force is further hardly transmitted to the opposite barrel-shaped divided roller. According to this omnidirectional moving wheel, if a load is applied to the opposite barrel-shaped dividing roller, this load acts as a lock on the barrel-shaped dividing roller to which the rotational force is directly transmitted. For this reason, according to this omnidirectional moving wheel, the barrel-shaped dividing roller cannot be driven to rotate smoothly.

  In the moving conveyance mechanism described in Patent Document 4, the secondary wheels at the four-divisional positions in the circumferential direction are driven, and the remaining auxiliary wheels are rotationally transmitted from the driven auxiliary wheels via the shaft. For this reason, since the number of driven auxiliary wheels is four in this moving conveyance mechanism, the driving performance of the auxiliary wheels is improved. Basically, the omnidirectional moving wheel described in Patent Document 3 is used. As with, the same problem that the drivability of the auxiliary wheel is bad remains.

  Therefore, the present inventor, for the wheels with rotating bodies described in Patent Document 1 and Patent Document 2, when the rotating wheel encounters a step while the rotating wheel rotates and generates a lateral movement component, The present inventors have completed the present invention as a result of considering the drive of Patent Document 3 and Patent Document 4 as a structure for driving a rotating wheel, and further studying it, considering that it is desired to overcome the step.

  And this inventor paid attention to the following problems, when giving a drive to a rotating wheel about the wheel with a rotating body which has the rotating wheel described in patent document 1 and patent document 2. FIG. The rotating body described in Patent Document 1 has a barrel shape whose diameter is small at both ends and large at the center. When the rotating body rotates at a predetermined speed, the rotational speed of the rotating wheel continuously changes due to different installation positions. In addition, the rotating body described in Patent Document 2 is a semi-spindle type, and the rotation speed of the rotating wheel continuously changes due to different installation positions, and at the same time the large-diameter end of one rotating body that contacts the ground. Since the peripheral speeds of the part and the small-diameter end of the other rotating body are different, there is a possibility that the speed will drop and the step cannot be overcome in the state of changing from the large-diameter end to the small-diameter end.

  The present invention has been devised in view of the above-described points, and smoothly rotates all the rotating wheels individually without involving the transmission of rotation by a chain of rotating wheels, and the rotating wheels come into contact with a step. The object of the present invention is to provide a wheel with an all-drive type rotating body that can overcome the above.

  The present invention also provides a wheel with a fully-driven rotator that can move at a stable speed without changing the moving speed of the rotating wheel in accordance with the change in the diameter of the ground contact position of the rotating wheel. It is an object.

  In order to achieve the above object, a wheel with a fully-driven rotator of the present invention has a wheel and a circumferential surface arranged around the wheel to form an arc of a wheel outer circumference, and is orthogonal to the straight direction of the wheel. Rotation of a first sun gear including a plurality of rotating bodies that are rotatable in a direction, a slave wheel fixed to each rotating body, and a first sun gear having internal and external teeth provided in a wheel 1st rotation distribution transmission mechanism which distributes and transmits to each sub-vehicle fixed to the 1st group rotation body of every other rotation body among a plurality of rotation bodies, and has internal teeth and external teeth provided in the wheel A second rotation distribution transmission mechanism that includes the second sun gear and distributes and transmits the rotation of the second sun gear to each of the slave wheels fixed to the remaining second group of rotating bodies; An axle that can be supported and supports the wheel, and a body frame that rotates on the axle. A row motor, a rotating body driving first motor provided in the wheel for rotating the first sun gear, a rotating body driving second motor provided in the wheel for rotating the second sun gear, and an axle Power supply means for supplying electric power to the first rotating body driving motor and the second rotating body driving motor via two slip rings fixed to each other and a brush slidably contacting each slip ring, and a traveling motor disposed on the vehicle body frame side Radio communication or optical communication between a master control unit that performs traveling control of the vehicle and a transmission unit that is provided in the wheel and disposed on the vehicle body frame side and a reception unit that is disposed on the wheel side between the master control unit And a slave control unit that receives a control signal and controls the rotation of the first rotating body driving motor and the second rotating body driving motor.

  In summary, a wheel with a fully-driven rotator includes a plurality of rotators around the wheel, and includes a first rotation distribution transmission mechanism and a second sun gear including a first sun gear in the wheel. Including a second rotation distribution and transmission mechanism, a wheel supported by a hollow axle is driven by a traveling motor, a first sun gear is driven by a first motor for driving a rotating body, and a second sun gear is Driven by the second motor for driving the rotating body. By sliding the brush on the slip ring provided on the axle to supply power to the first and second motors for driving the rotating body, and communicating with the master control unit and the slave control unit through the center hole of the axle, Drive control of the first and second motors for driving the rotating body is performed.

According to the above configuration, when only the traveling motor is driven, it is possible to cause the all-drive type rotating body-equipped wheel to travel straight. When the first motor for rotating body driving and the second motor for rotating body driving are driven in addition to the driving of the driving motor, traveling with a speed component in the lateral direction can be performed. If the first motor for driving the rotating body and the second motor for driving the rotating body are driven without driving the motor for driving, the vehicle can run in the lateral direction. When traveling with a speed component in the lateral direction and traveling in the lateral direction, the first sun gear and the second sun gear are rotated in the same direction and with the same average rotational speed so as to rotate the rotating body drive. When the rotation of one motor and the second motor for driving the rotating body is controlled so that the rotating body is rotated in the same direction and the average rotational speed is the same, the lateral speed component of the wheel with all drive type rotating bodies is obtained. It can be stabilized.
Therefore, according to the above-described configuration, it is possible to realize a configuration in which all the rotating wheels are individually driven to rotate without involving rotation transmission by a chain of rotating wheels. You can get over.

  In the wheel with a full drive type rotator of the present invention, the rotator has a peripheral surface forming an arc of a wheel outer periphery circle and is formed in a barrel shape, or a front end in a forward rotation direction of the wheel. Is formed in a semi-spindle shape in which the diameter of the rear end is smaller than the diameter of the rear end, and a part of the end with a small diameter is provided in a state in which it enters an end with a large diameter of an adjacent rotating body, However, it is divided into a first group of rotating bodies of every other rotating body and a second group of rotating bodies of every other rotating body, and the rotational control is performed so that the rotational speed changes separately in the same direction. Of the two rotating bodies that are in contact with each other at the same time, the large-diameter portion of one rotating body and the small-diameter portion of the other rotating body have the same circumference in the direction orthogonal to the straight direction of the wheel. The rotation of the first group of rotating bodies and the rotation of the second group of rotating bodies are different in phase so that they rotate at a high speed. Configuration that is preferred.

  With this configuration, the moving speed of the rotating wheel does not change according to the change in the diameter of the ground contact position of the rotating wheel, so that the moving of the rotating wheel can be performed at a stable speed.

  According to the present invention, it is possible to realize a configuration in which all the rotating wheels are individually driven to rotate without involving rotation transmission by a chain of rotating wheels, and the rotating wheels can smoothly get over the steps. A wheel with a rotating body can be provided.

  According to the present invention, since the mechanism is provided with a mechanism for distributing and transmitting the rotation in a double manner in the wheel, even a wheel with an all-drive type rotating body having a large number of barrel-shaped rotating bodies has a small wheel. It is possible to realize a wheel with a full drive type rotating body that fits in a space and drives each of the rotating bodies one by one. Further, according to the present invention, the barrel-shaped rotating bodies having different diameters are alternately arranged, and the peripheral speed of the ground contact portion of the large-diameter rotating body and the peripheral speed of the ground contact portion of the small-diameter rotating body when the wheel rotates. In the case of realizing a wheel with an all drive type rotating body that performs speed change control according to the diameter so as to be the same, a configuration including a mechanism for distributing and transmitting double rotation in the wheel is useful.

It is a schematic longitudinal cross-sectional view of the wheel with a full drive type rotary body which concerns on 1st Embodiment of this invention. It is an II-II arrow line view of the wheel with a full drive type rotary body of FIG. It is a III-III arrow line view of the wheel with a full drive type rotary body of FIG. It is a graph which shows the enlarged view of the rotary body of the earthing | grounding position, and the change of rotation speed for demonstrating the speed change phase rotation control of the rotary body of the wheel with a full drive type rotary body of FIG. It is a schematic longitudinal cross-sectional view of the wheel with a full drive type rotary body which concerns on 1st Embodiment of this invention.

Hereinafter, a wheel with an all drive type rotator according to an embodiment of the present invention will be described with reference to the drawings.
[First Embodiment]
As shown in FIGS. 1 to 3, the wheel 1 with a fully driven rotator of the first embodiment includes a wheel 11, a hollow axle 16 that supports the wheel 11, and a traveling motor 17 that drives the axle 16. And a plurality of rotating bodies 12 a and 12 b arranged around the wheel 11.
The fully driven type wheel 1 with a rotating body individually drives each of the first group of rotating bodies 12a, so that the driven pulley 13a as a "follower" fixed to each of the rotating bodies 12a of the first group. And a first rotation distribution transmission mechanism 14 that distributes and transmits the rotation of the first ring-shaped sun gear 14a having internal teeth and external teeth to the plurality of driven pulleys 13a, and the first ring-shaped sun gear 14a is driven. And a first motor 18 for driving the rotating body.
The wheel 1 with all drive type rotator according to the first embodiment drives the remaining second group of rotators 12b individually, so that it is fixed to each rotator 12b of the second group. , A second rotation distribution transmission mechanism 15 that distributes and transmits the rotation of the second ring-shaped sun gear 15a having internal teeth and external teeth to the plurality of driven pulleys 13b, and a second ring shape. And a rotating body driving second motor 19 for driving the sun gear 15a.
The fully driven type wheel 1 includes a power supply means 20, a master control unit 21 for controlling the rotation of each motor, a slave control unit 29 provided in the wheel 11, and an absolute provided on the axle 16. And an encoder 22.

Hereinafter, the wheel 1 with all drive type rotators will be described in detail.
As shown in FIG. 2, the rotating bodies 12 a and 12 b are positioned between the brackets of the plurality of brackets 23 disposed outside the cylindrical portion of the wheel 11, and are supported by the shafts 24 supported at both ends by the brackets 23. The shaft 16 is supported so as to be rotatable about an axis that intersects the radial direction with the axle 16 as the center. Thereby, each rotary body 12a, 12b rotates in the orthogonal direction with respect to the rectilinear direction of a wheel.

  As shown in FIGS. 2 to 4, each of the rotating bodies 12 a and 12 b has a peripheral surface forming an arc of a wheel outer periphery circle, and the diameter of the front end 121 in the forward rotation direction of the wheel is the rear end 122. Is formed in a semi-spindle shape that continuously increases from the front end 121 toward the rear end 122, and a part of the front end 121 is adjacent to the front side in the forward rotation direction of the wheel. It is provided in a state of entering the inside of the rear end 122 of the rotating body.

  The driven pulleys 13a and 13b are fixed by providing a peripheral groove having a deep pulley width at the center of the rotating body 12a or 12b. The driven pulley may be fixed to the rotating body with an arbitrary configuration, but it is preferable that the driven pulley is molded at the same time as the rotating body is formed. Specifically, a plurality of through holes are provided in the driven pulley, and molding is performed in a state where the resin constituting the rotating body has entered the through holes.

  The details of the wheel 11 are omitted in FIG. 1 and are shown by dotted lines. The wheel 11 includes, for example, an inner end surface portion fixed to the axle 16, a cylindrical portion extending integrally from the outer peripheral portion of the inner end surface portion, and an outer end surface portion (open / closed) fixed to the cylindrical portion with a fastener such as a bolt. And a lid). The wheel 11 accommodates first and second rotation distribution transmission mechanisms 14 and 15. The cylindrical portion is provided with openings for connecting the driven pulleys 13a and 13b with the belts of the first and second rotation distribution transmission mechanisms 14 and 15.

As shown in FIGS. 1-3, the 1st rotation distribution transmission mechanism 14 contains the 1st ring-shaped sun gear 14a, and rotation of the 1st ring-shaped sun gear 14a is one of several rotary bodies. Distribution is transmitted to the driven pulley 13a fixed to the rotary member 12a of the first group by the following configuration.
The first rotation distribution transmission mechanism 14 includes a first ring-shaped sun gear 14a and a plurality of planetary gears arranged around the first ring-shaped sun gear 14a and meshing with external teeth of the first ring-shaped sun gear 14a. A spur gear 14b, a first intermediate bevel gear 14c provided coaxially with each planetary spur gear 14b, a second intermediate bevel gear 14d meshing with the first intermediate bevel gear 14c, and a second intermediate bevel gear It comprises a driving pulley 14e provided coaxially with 14d, and a belt 14f wound around the driving pulley 14e and the driven pulley 13a. These gears and pulleys constituting the first rotation distribution transmission mechanism 14 are pivotally supported by the wheel 11. A timing gear is preferably used for the driving pulley 14e and the driven pulley 13a, and a timing belt is preferably used for the belt 14f.

The second rotation distribution / transmission mechanism 15 includes a second ring-shaped sun gear 15a, and a driven pulley fixed to the other second group of rotating bodies 12b for the rotation of the second ring-shaped sun gear 15a. 13b is distributed and transmitted by the following configuration.
The second rotation distribution transmission mechanism 15 includes a second ring-shaped sun gear 15a and a plurality of planetary gears arranged around the second ring-shaped sun gear 15a and meshing with external teeth of the second ring-shaped sun gear 15a. A spur gear 15b, a first intermediate bevel gear 15c provided coaxially with each planetary spur gear 15b, a second intermediate bevel gear 15d meshing with the first intermediate bevel gear 15c, and a second intermediate bevel gear A driving pulley 15e coaxially provided with 15d, and a belt 15f wound around the driving pulley 15e and the driven pulley 13b. These gears and pulleys constituting the second rotation distribution transmission mechanism 15 are pivotally supported by the wheel 11. A timing gear is preferably used for the driving pulley 15e and the driven pulley 13b, and a timing belt is preferably used for the belt 15f.

  A traveling motor 17 for driving the axle 16 is supported on the vehicle body frame F, and a first rotating body driving motor 18 for driving the first ring-shaped sun gear 14 a and a second ring-shaped sun are mounted in the wheel 11. A rotating body driving second motor 19 for driving the gear 15a is supported.

  The traveling motor 17 drives the wheel 11 through meshing of a gear 25 fixed to the output shaft and a gear 26 fixed to the axle 16. The first rotating body driving motor 18 drives the first ring sun gear 14a via a gear 27 that is fixed to the output shaft and meshes with the internal teeth of the first ring sun gear 14a. The second motor 19 for driving the rotator drives the second ring-shaped sun gear 15a via a gear 28 that is fixed to the output shaft and meshes with the internal teeth of the second ring-shaped sun gear 15a.

  The power supply means 20 supplies power to a slave control unit 29 provided on the wheel 11 via two slip rings 20a and 20b fixed to the axle 16 and brushes 20c and 20d slidably in contact with the slip rings. The slave control unit 29 includes motor drivers 291 and 291.

  The master control unit 21 performs traveling control of the traveling motor 17 via the motor driver 211. Further, the master control unit 21 communicates with the slave control unit 29 provided on the wheel side, so that the first rotating body driving first is provided via the motor drivers 291 and 291 provided in the slave control unit 29. The rotation control of the motor 18 and the second motor 19 for driving the rotating body is performed.

  Communication between the master control unit 21 and the slave control unit 29 includes a transmission unit 30 disposed on the vehicle body frame side of the center hole of the axle 16 and a wheel provided in the slave control unit 29 and in the center hole of the axle 16. Radio wave communication or optical communication is performed through the center hole of the axle 16 with the receiving unit 31 arranged on the side. Thereby, the master control unit 21 provided in the vehicle body frame F in a non-rotating manner communicates with the slave control unit 29 provided in the wheel 11 and rotated along with the traveling rotation of the wheel 11.

  All of the rotating bodies 12a and 12b need to be rotated in the same direction which is the right direction or the left direction. For this reason, the master control unit 21 rotates the first ring-shaped sun gear 14a and the second ring-shaped sun gear 15a in the same direction so that the first rotating body driving motor 18 and the second rotating body driving second gear are rotated. The rotation of the motor 19 is controlled.

  According to the above configuration, it is possible to provide a rotation distribution mechanism for driving each of the rotating bodies 12 a and 12 b arranged on the outer periphery of the wheel 11 in a narrow space in the wheel 11. Moreover, according to the said structure, the control which performs driving | running | working of a wheel, the right rotation of a rotary body, and left rotation with the two motors 18 and 19 with which the inside of the wheel 11 is equipped with the outside of the wheel 11 can be performed, It is possible to perform straight traveling of the wheel, right / left traveling, and traveling in a diagonal direction. Further, according to the above configuration, since the rotating bodies 12a and 12b are driven, the rotating bodies 12a and 12b can smoothly get over the step in the right / leftward or diagonally right / left traveling.

  The absolute encoder 22 outputs a wheel angle signal to the master control unit 21 and outputs a predetermined pulse per one rotation of the vehicle body to the master control unit 21. Thereby, the master control part 21 can input the signal output from the absolute encoder 22, can detect the phase of a vehicle body sequentially, and can obtain a vehicle speed at any time.

  The master control unit 21 includes a CPU, a ROM that stores a program, a speed calculation unit 212, and a pulse output unit 213. The speed calculation unit 212 receives the signal output from the absolute encoder 22 and sequentially detects the speed of the vehicle body. The pulse output unit 213 receives the angle signal output from the absolute encoder 22 and calculates the phase of the wheel, and outputs a pulse based on the phase and the speed calculated by the speed calculation unit 212.

  In the master control unit 21, the CPU reads a program stored in the ROM, executes the program based on a travel control signal from an input device (steering handle) (not shown) for performing travel control of the vehicle, The output unit 213 outputs a required pulse to each of the motor drivers 211, 291, and 292, and performs rotation control of the traveling motor 17, the rotating body driving first motor 18, and the rotating body driving second motor 19.

  When the control command from the steering handle is straight running, that is, when the wheel 11 is rotated and the rotating bodies 12a and 12b are not rotated, the master control unit 21 outputs a required pulse to the motor driver 211 and travels. The rotation of the motor 17 is controlled. However, no pulse is output to the motor drivers 291 and 292, and the rotation control of the first rotating body driving motor 18 and the second rotating body driving motor 19 is not performed.

The master control unit 21 is a command in which a control command from the steering handle commands a right diagonal direction or a left diagonal direction. Therefore, it is necessary to rotate the wheel 11 and rotate the rotating bodies 12a and 12b to the right or left. When there is, variable speed rotation control with different phases is performed so that the first motor 18 for rotating body driving and the second motor 19 for rotating body driving are in the same direction and the same average rotation speed.
Further, the master control unit 21 commands the right lateral direction or the left lateral direction from the steering handle. Therefore, it is necessary to rotate the rotating bodies 12a and 12b to the right or to the left without rotating the wheel 11. In some cases, the rotation of the traveling motor 17 is controlled, and the phase is adjusted so that the first rotating body driving motor 18 and the second rotating body driving motor 19 are in the same direction and have the same average rotational speed. Different speed and rotation control is performed.

  According to the above configuration, the rotation distributing mechanism for driving each of the first group of rotating bodies 12a and the rotation distributing mechanism for driving each of the second group of rotating bodies 12b are wheeled. 11, even when the number of rotating bodies 12 a and 12 b arranged on the outer periphery of the wheel 11 is large, it is possible to provide the rotation distribution mechanism in a narrow space in the wheel 11. And according to the said structure, the two motors 18 and 19 with which the outside of the wheel 11 is equipped make the 1st group rotary body 12a and the 2nd group rotary body 12b the same direction, and an average rotational speed is the same. As described above, the rotation can be controlled with different phases, whereby the vehicle can travel straight ahead, go left and right, and travel in a diagonal direction. Furthermore, according to the said structure, even if the rotary bodies 12a and 12b contact | abut on a level | step difference in advance to the right or left direction or the left-right diagonal direction, it can get over smoothly.

  The rotating bodies 12a and 12b of this embodiment are formed in a semi-spindle shape in which the diameter of the front end in the forward rotation direction of the wheel is smaller than the diameter of the rear end. Therefore, when rotating the wheels and rotating the rotating bodies 12a and 12b, the diameter of the ground contact position of the rotating bodies 12a and 12b changes. In the structure for driving the rotators 12a and 12b, the peripheral speed of the rotators 12a and 12b is changed by the change in the diameter of the ground contact position of the rotators 12a and 12b even if the rotation speed of the rotators 12a and 12b is constant. Therefore, the speed component in the right direction or left direction of the wheel changes in an unstable manner.

  Therefore, it is necessary to perform the shift control and phase control of the first rotating body driving motor 18 and the second rotating body driving motor 19 as shown in FIG. The master control unit 21 performs control by changing the number of rotations of the rotating bodies 12a and 12b and changing the phase.

  In FIG. 4, the speed graph of the A group shows a change in the rotational speed of the first group of rotating bodies 12a, and the speed graph of the B group shows a change of the rotational speed of the second group of rotating bodies 12b. As can be seen from FIG. 4, regarding the change in the rotation speed of the first group of rotating bodies 12a and the change in the rotation speed of the second group of rotating bodies 12b, the peripheral speed is predetermined regardless of the change in the diameter of the ground contact position. The first group of rotating bodies 12a and the second group of rotating bodies 12b, which have a large diameter and a small rotational speed, and a small diameter and a large rotational speed, are controlled so as to achieve speed.

Further, the master control unit 21 sets the phase of the rotational rotation with respect to the first rotating body driving motor 18 and the speed shifting rotation with respect to the second rotating body driving motor 19 in the same pattern and as much as the positional deviation of one rotating body. Hold it to control rotation.
The master control unit 21 has a pattern of change in the number of rotations for one rotation related to the first rotating body driving motor 18 in the ROM, and the number of rotations for one rotation regarding the second motor 19 for rotating body driving. Has a pattern of change. The master control unit 21 generates a motor driving signal corresponding to the change pattern read from the ROM in relation to the angle signal of the absolute encoder 22 and outputs the motor driving signal to each of the motor drivers 291 and 292.

As described above, in order to stabilize the speed component in the right direction or the left direction of the wheel, the master control unit 21 has the first group every other rotation transmission system for the plurality of rotating bodies 12a and 12b. The rotational control of the first rotating body driving motor 18 and the second rotating body driving motor 19 is performed so that the rotating body 12a of the second rotating body 12a and the remaining second group of rotating bodies 12b are rotated in the same direction. Do.
Further, the master control unit 21 causes the large-diameter portion of one rotating body and the small-diameter portion of the other rotating body, of the two rotating bodies 12a and 12b that are simultaneously in a grounded state, to have the same peripheral speed. In addition, the rotation of the first motor 18 for rotating body and the rotation of the second motor 19 for rotating body driving are performed so that the rotation of the first group of rotating bodies 12a and the rotation of the second group of rotating bodies 12b have different phases. Phase control is performed for.

  As described above, in the all drive type wheel 1 with a rotating body, the master control unit 21 performs the shift control and the phase control with respect to the rotation of the rotating body driving first motor 18 and the rotation of the rotating body driving second motor 19. Thus, the peripheral speeds of the rotating bodies 12a and 12b can be maintained at a predetermined speed according to the travel command, and the right or left speed of the wheels can be stabilized to travel.

[Second Embodiment]
As shown in FIG. 5, the wheel 2 with a fully driven rotor according to the second embodiment is the same as the wheel 1 with a fully driven rotor according to the first embodiment. The first rotation transmission mechanism driven by one motor 18 is different from the second rotation transmission mechanism driven by the second motor 19 for rotating body drive.
Accordingly, as for the components of the wheel 2 with a fully driven type rotator of the second embodiment, the same components as those of the wheel 1 with a fully driven type rotator of the first embodiment are denoted by the same reference numerals and described. Omitted.

The wheel 2 with all-drive rotator is fixed to the wheel 11A, a plurality of rotators 12a and 12b arranged around the wheel 11A, and each other rotator 12a of the first group. , A driven gear 32b as a “follower wheel” fixed to every other second group of rotating bodies 12b, and a plurality of driven gears that rotate the first sun bevel gear 33a. A first rotation distribution transmission mechanism 33 that distributes and transmits to 32a, a second rotation distribution transmission mechanism 34 that distributes and transmits the rotation of the second sun bevel gear 34a to the plurality of driven gears 32b, and a hollow that supports the wheel 11. Axle 16 and a traveling motor 17 for driving the axle 16, a rotating body driving first motor 18 for driving the first sun bevel gear 33a, and a rotating body driving for driving the second sun bevel gear 34a. The second motor 18 and each module A master control unit 21 for controlling the rotation of the motor, the slave control unit 29 provided in the wheel 11A, the absolute encoder 22 provided on the axle 16 and provided with a.

  The first rotating body driving motor 18 is provided in the wheel 11 and includes a cylindrical first rotating body drive shaft 33h that rotatably supports the first sun bevel gear 33c and a spur gear 33a. Driven through meshing with the gear 33b. The second rotating body driving motor 19 is provided in the wheel 11, and the second rotating body drive shaft 34h that rotatably supports the second sun bevel gear 34c is connected to the spur gear 34a and the spur gear 34b. And drive through the mesh.

The first rotation distribution / transmission mechanism 33 includes a first sun bevel gear 33c, and the rotation of the first sun bevel gear 33c is fixed to every other first group of rotating bodies 12a among the plurality of rotating bodies. The following transmission is distributed and transmitted to the driven gear 32a.
The first rotation distribution transmission mechanism 33 includes a first sun bevel gear 33c, a plurality of planetary bevel gears 33d disposed around the first sun bevel gear 33c and meshing with the first sun bevel gear 33c, The first intermediate bevel gear 33e provided coaxially with the planetary bevel gear 33d, the second intermediate bevel gear 33f meshing with the first intermediate bevel gear 33e, and the second intermediate bevel gear 33f provided coaxially. The driven spur gear 33g meshes with the driven gear 32a. These gears constituting the first rotation distribution transmission mechanism 33 are pivotally supported on the wheel 11A.

The second rotation distribution / transmission mechanism 34 includes a second sun bevel gear 34c, and rotates the second sun bevel gear 34c to the driven gear 32b fixed to the remaining second group of rotating bodies 12b. The distribution is transmitted by the following configuration.
The second rotation distribution transmission mechanism 34 includes a second sun bevel gear 34c, a plurality of planetary bevel gears 34d disposed around the second sun bevel gear 34c and meshing with the second sun bevel gear 34c, A second intermediate bevel gear 34e provided coaxially with the planetary bevel gear 34d, a second intermediate bevel gear 34f meshing with the second intermediate bevel gear 34e, and provided coaxially with the second intermediate bevel gear 34f. The driven spur gear 34g meshes with the driven gear 32b. These gears constituting the second rotation distribution transmission mechanism 34 are pivotally supported by the wheel 11A.

  Also in the second embodiment, each control by the master control unit 21 described with reference to FIG. 4 is applied. That is, the shift control and phase control of the first and second motors 18 and 19 for driving the rotating body are performed in association with the rotation control of the traveling motor 17. Further, the shift control and phase control of the rotating bodies 12a and 12b are also performed in association with the rotation control of the traveling motor 17.

[Other Embodiments]
The present invention is not limited to the above-described embodiments, and variously modified forms are included without departing from the spirit of the invention.
(1) In the embodiment described above, one wheel with a full drive type rotating body has been described. However, the present invention drives a front wheel or a rear wheel in a two-wheeled four-wheeled vehicle. The present invention also includes a case where the wheel with a full drive type rotating body of the present invention is applied as a wheel.
In addition, in a four-wheeled vehicle with two front wheels and two rear wheels, the two rear wheels are driven directly by separate motors, and the motor rotation is split through the winding mechanism and transmitted to the front wheels on each side. The present invention also includes a case where a four-wheel drive vehicle having a structure as described above is configured and a wheel with a full drive type rotating body of the present invention is applied to a front wheel. In this case, the traveling motor 17 in FIG. 1 corresponds to a motor directly connected to the rear wheel.
(2) In the above embodiment, the driven pulleys 13a and 13b are fixed to the central portion of the rotating body 12a or 12b, but the driven pulleys 13a and 13b may be fixed to the end of the rotating body 12a or 12b. It is included in the present invention.
(3) In the above embodiment, the rotating bodies 12a and 12b formed in a semi-spindle shape are used. However, the present invention includes a case where a barrel-shaped rotating body is used. In the modification that drives the barrel-shaped rotator of the fixed wheel shown in Patent Document 1, since the number of rotators is large, a mechanism for distributing and transmitting the rotation in a small space within the wheel 11 is required. Therefore, the present invention is applicable. When a plurality of barrel-shaped rotating bodies having the same diameter are used, the control unit controls the shift according to the diameter of the ground contact position so that the peripheral speed of the ground contact portion becomes a predetermined speed when the rotating body rotates the wheel. To do. When the peripheral speed of the contact portion is set to a predetermined speed, the rotating body rotates at a high speed at both ends and at a low speed at the center due to the size of the diameter. The present invention can also be applied to a modification for driving a barrel-shaped rotating body of a fixed wheel shown in FIG. 22 of Patent Document 4. In this case, every other barrel-shaped rotating body has a small diameter, the remaining barrel-shaped rotating body has a large diameter, and a part of the end of the small-diameter barrel-shaped rotating body has a large diameter. The end of the shape of the rotating body. For this reason, since the peripheral speed is different between the small-diameter barrel-shaped rotating body and the end portion of the large-diameter barrel-shaped rotating body when driven at the same variable speed rotation, the double rotation according to the present invention is distributed and transmitted. Shifting rotation control and phase control are performed by a mechanism that performs this.

1, 2 ... Wheels with all-drive rotator,
11 ... wheel,
12a, 12b ... rotating body,
13a, 13b ... driven pulley (follower vehicle),
14 ... 1st rotation distribution transmission mechanism,
14a ... 1st ring-shaped sun gear (1st sun gear),
15 ... Second rotational distribution transmission mechanism,
15a ... second ring-shaped sun gear (second sun gear),
16 ... Axle,
17 ... Motor for running,
18... First motor for driving the rotating body,
19 ... a second motor for driving the rotating body,
20 ... Power supply means,
20a, 20b ... slip rings,
20c, 20d ... brush,
21 ... Master control unit,
22: Absolute encoder,
29 ... Slave control unit,
30: Transmitter,
31 ... receiving part,
32a, 32b ... driven gear (follower wheel),
33. First rotation distribution transmission mechanism,
33c ... first sun bevel gear (first sun gear),
34 ... Second rotational distribution transmission mechanism,
34c ... second sun bevel gear (second sun gear),
F ... Body frame,

Claims (4)

Wheels,
A plurality of rotating bodies having a peripheral surface arranged around the wheel and forming a circular arc of a wheel outer periphery circle, and capable of rotating in a direction orthogonal to a straight traveling direction of the wheel;
A slave wheel fixed to each rotating body,
A first sun gear having internal teeth and external teeth provided in the wheel is included, and the rotation of the first sun gear is fixed to every other first group of rotating bodies among the plurality of rotating bodies. A first rotation distribution and transmission mechanism for distributing and transmitting to each slave vehicle;
A second sun gear having internal teeth and external teeth provided in the wheel is included, and the rotation of the second sun gear is distributed to each slave wheel fixed to the remaining second group of rotating bodies. A second rotational distribution transmission mechanism for transmitting;
An axle that is rotatably supported by the body frame and supports the wheel;
A traveling motor provided on the body frame and rotating the axle;
A first motor for driving a rotating body that is provided in the wheel and rotates the first sun gear;
A second motor for driving a rotating body that is provided in the wheel and rotates the second sun gear;
Power supply means for supplying power to the first motor for driving the rotating body and the second motor for driving the rotating body via two slip rings fixed to the axle and a brush slidingly contacting each slip ring;
A master control unit that is disposed on the vehicle body frame side and that controls the traveling motor;
A control signal is received via radio wave communication or optical communication between a transmission unit provided in the wheel and disposed on the vehicle body frame side with the master control unit and a reception unit disposed on the wheel side. A slave control unit that performs rotation control of the first rotating body driving motor and the second rotating body driving motor;
A wheel with an all-drive type rotating body.   The rotation control of the first motor for driving the rotating body and the second motor for driving the rotating body so as to rotate the first sun gear and the second sun gear in the same direction. Fully driven wheel with rotating body.   The rotating body is formed in a semi-spindle shape in which the diameter of the front end portion in the forward rotation direction is smaller than the diameter of the rear end portion, and a part of the end portion having a small diameter has a large diameter of the adjacent rotating body. The wheel with a full drive type rotary body of Claim 1 or 2 which is the structure provided in the state which entered the edge part, or is formed in the barrel shape.   Regardless of the change in the diameter of the rotating body, the first rotating motor and the second motor for driving the rotating body are controlled so as to rotate at the same peripheral speed in the direction orthogonal to the straight direction of the wheel. The wheel with a full drive type rotary body in any one of Claims 1 thru | or 3 which is the structure which carries out.

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