JP2015047956A - Wheel type movable body, and wheel chair - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a wheel type movable body which can get over an obstacle with a simple structure.SOLUTION: A wheel type movable body 1 comprises: a drive wheel 21 pivotally supported on a main body 10; a driven front wheel 41 and a driven rear wheel 61 which are arranged respectively in the front and the rear of the drive wheel 21 and are respectively rotatably disposed on a front wheel support member 40 and a rear wheel support member 60; a front wheel side connection member 30 which connects the main body 10 and the front wheel support member 40 to each other and is so disposed as to be rotatable with respect to the main body 10 and the front wheel support member 40; a rear wheel side connection member 50 which connects the main body 10 and the rear wheel support member 60 to each other and is so disposed as to be rotatable with respect to the main body 10 and the rear wheel support member 60; and a connection member 70 which connects the front wheel side connection member 30 and the rear wheel side connection member 50 to each other. The connection member 70 so connects the front wheel side connection member 30 and the rear wheel side connection member 50 as to rotate those connection members in a reverse direction, and consequently, the front wheel support member 40 and the rear wheel support member 60 move in a same direction.

Description

  The present invention relates to a wheel type moving body and a wheelchair.

  A method using wheels such as a bicycle or a car is generally used for moving on a flat ground. Also in the robot, the wheel type robot has many advantages over the walking type robot, such as generally high movement speed, high efficiency, low cost, and simple structure.

  On the other hand, paying attention to obstacles such as steps, there is a drawback that obstacles that can be overcome greatly depend on the size of the wheels. There are many obstacles in the human living environment that interfere with running on wheels, such as steps and stairs. In order to adapt the wheeled robot to the human living environment, it is necessary to be able to overcome such obstacles.

  As a wheel type robot capable of getting over obstacles such as steps, there is a rocker / bogie type wheel type robot in which all wheels are driven wheels. Moreover, there exists a wheel type robot which a wheel divides | segments like patent document 1. FIG.

JP 2010-155520 A

  In a rocker / bogie type wheel robot, a drive source such as a motor must be installed on all wheels. In addition, the wheel-type moving body of Patent Document 1 also requires a drive source such as a motor to be installed on all wheels, and requires a device such as a splittable wheel and an air cylinder. Since the structure is complicated, the manufacturing cost is high.

  The present invention has been made in view of the above matters, and an object of the present invention is to provide a wheel-type moving body and a wheelchair that can travel over obstacles with a simple configuration.

The wheel type moving body according to the first aspect of the present invention is:
A drive wheel pivotally supported by the main body,
A passive front wheel and a passive rear wheel, which are respectively arranged on the front and rear of the shaft of the drive wheel, and are respectively installed on the front wheel support member and the rear wheel support member so as to be freely rotatable;
A front wheel side connecting member that connects the main body and the front wheel support member, and is rotatably installed with respect to the main body and the front wheel support member;
A rear wheel side connection member that connects the main body and the rear wheel support member, and is rotatably installed with respect to the main body and the rear wheel support member;
A connecting member for connecting the front wheel side connecting member and the rear wheel side connecting member,
The connecting member is connected so as to rotate the front wheel side connecting member and the rear wheel side connecting member in opposite directions in a side view, and the front wheel supporting member and the rear wheel supporting member move in the same direction. ,
It is characterized by that.

  In addition, when the wheel type moving body is placed on a plane, it is desirable that an angle formed by the plane and the front wheel side connecting member is larger than 0 °.

  Moreover, it is desirable to provide a pressing member that presses the passive front wheel downward.

The wheelchair according to the second aspect of the present invention is
A wheel type moving body according to the first aspect of the present invention;
A chair installed on the wheel-type moving body,
It is characterized by that.

  The wheel type moving body according to the present invention can travel over obstacles such as steps with a simple configuration.

It is a top view of a wheel type moving object. It is a figure of the wheel type moving body seen from A-A 'of FIG. It is a front view of a wheel type moving body. It is a rear view of a wheel type moving body. It is a figure explaining a motion of a wheel type moving object. It is a figure explaining a motion of a wheel type moving object. It is a figure explaining the operation | movement which a wheel type moving body climbs a level | step difference. It is a figure explaining the operation | movement which a wheel type moving body climbs a level | step difference. It is a figure explaining the operation | movement which a wheel type moving body climbs a level | step difference. It is a figure explaining the operation | movement which a wheel type moving body climbs a level | step difference. It is a figure explaining the operation | movement which a wheel type moving body climbs a level | step difference. It is a figure explaining the operation | movement which a wheel type moving body climbs a level | step difference. It is a figure explaining the operation | movement which a wheel type moving body climbs a level | step difference. It is a figure explaining the operation | movement which a wheel type moving body climbs a level | step difference. It is a figure explaining the connection member which concerns on another form. It is a figure explaining the connection member which concerns on another form.

  The wheel type moving body according to the present embodiment will be described with reference to the drawings. As shown in FIGS. 1 to 4, the wheel type moving body 1 includes a main body 1, a drive shaft 20, drive wheels 21 and 22, front wheel side connection members 30 and 31, a front wheel support member 40, a passive front wheel 41, and a rear wheel side. Connection members 50 and 51, a rear wheel support member 60, a passive rear wheel 61, connection members 70 and 71, and a pressing member 80 are provided.

  A drive shaft 20 is installed in the main body 10. The drive shaft 20 is rotated by a drive source such as a motor (not shown) installed in the main body 10. Drive wheels 21 and 22 are attached to both ends of the drive shaft 20. The drive wheels 21 and 22 are rotated by the rotation of the drive shaft 20, and the wheel type moving body 1 travels.

  A front wheel support member 40 is disposed on the front side and a rear wheel support member 60 is disposed on the rear side with the drive shaft 20 interposed therebetween. A passive front wheel 41 and a passive rear wheel 61 are pivotally supported on the front wheel support member 40 and the rear wheel support member 60, respectively. The passive front wheel 41 and the passive rear wheel 61 are wheels that do not have a drive source, and are installed on the front wheel support member 40 and the rear wheel support member 60 so as to be freely rotatable.

  The main body 10 and the front wheel support member 40 are connected by front wheel side connection members 30 and 31. The front wheel side connection members 30 and 31 are installed so as to sandwich the main body 10 and the front wheel support member 40.

  The front wheel side connection members 30 and 31 are each composed of two links 30a, 30b, 31a and 31b. The rear ends of the links 30a and 30b are rotatably connected to the main body 10 via joints J3 and J4, respectively. The front ends of the links 30a and 30b are rotatably connected to the front wheel support member 40 via joints J1 and J2, respectively. The links 31a and 31b are also connected in the same manner as described above.

  On the other hand, the main body 10 and the rear wheel support member 60 are connected by rear wheel side connection members 50 and 51. The rear wheel side connection members 50 and 51 are installed so as to sandwich the main body 10 and the rear wheel support member 60.

  The rear wheel side connection members 50 and 51 are each composed of two links 50a, 50b, 51a and 51b. The front ends of the links 50a and 50b are rotatably connected to the main body 10 via joints J8 and J7, respectively. The rear ends of the links 50a and 50b are rotatably connected to the rear wheel support member 60 through joints J9 and J10, respectively. The links 51a and 51b are also connected in the same manner as described above.

  The front wheel side connection members 30 and 31 and the rear wheel side connection members 50 and 51 are connected by connecting members 70 and 71, respectively. The connection members 70 and 71 have a function of rotating the front wheel side connection members 30 and 31 and the rear wheel side connection members 50 and 51 in opposite directions in a side view.

  The connecting member 70 is rotatably connected to the link 30a via the joint J5, and is rotatably connected to the link 50b via the joint J6. Similarly to the connection member 70, the connection member 71 is connected to the link 31a and the link 51b via a joint (not shown).

  The main body 10 and the front wheel support member 40 are connected by a pressing member 80. Both ends of the pressing member 80 are connected to the main body 10 and the front wheel support member 40 through joints (not shown), respectively. When the wheel-type moving body 1 gets over an obstacle, the pressing member 80 presses the passive front wheel 41 downward, that is, against the obstacle and the like, and lifts the drive wheels 21 and 22 to make the wheel-type moving body 1 smooth. Has the function of running. Any mechanism may be used as long as the pressing member 80 can perform the above function, and examples thereof include a damper such as an air cylinder and a spring.

  Next, the connecting operation of the front wheel side connecting members 30 and 31, the front wheel supporting member 40, the rear wheel side connecting members 50 and 51, and the rear wheel supporting member 60 by the connecting members 70 and 71 will be described.

  As shown in FIG. 5, when the passive front wheel 41 and the front wheel support member 40 rise from the state shown in FIG. 2, the front wheel side connection member 30 rotates counterclockwise on the paper surface. Specifically, the links 30a and 30b rotate counterclockwise around the joints J3 and J4, respectively. When the front wheel side connecting member 30 rotates counterclockwise, the link 30a and the link 50b are connected by the connecting member 70 via joints J5 and J6, respectively. , Rotate clockwise. As a result, the rear wheel support member 60 and the passive rear wheel 61 are raised. The link 50a also rotates clockwise around the joint J8.

  On the other hand, as shown in FIG. 6, when the passive front wheel 41 and the front wheel support member 40 are lowered from the state shown in FIG. 2, the front wheel side connection member 30 rotates clockwise on the paper surface. Specifically, the links 30a and 30b rotate clockwise around the joints J3 and J4, respectively. When the front wheel side connecting member 30 rotates clockwise, the links 30a and 50b are connected by the connecting member 70 via the joints J5 and J6, respectively. Rotate clockwise. As a result, the rear wheel support member 60 and the passive rear wheel 61 are lowered. The link 50a also rotates counterclockwise around the joint J8.

  Thus, in the wheel type moving body 1, when the front wheel support member 40 and the passive front wheel 41 move, the front wheel side connection members 30 and 31 and the rear wheel side connection members 50 and 51 rotate in opposite directions. Then, the rear wheel support member 60 and the passive rear wheel 61 move in the same direction as the movement direction of the front wheel support member 40 and the passive front wheel 41. The relative angle between the front wheel support member 40 and the rear wheel support member 60 is constantly maintained constant (here, the front wheel support member 40 and the rear wheel support member 60 are maintained in parallel). .

  When the wheel type moving body 1 is placed on a flat surface, an angle (θ1 shown in FIG. 2) formed by the front wheel side connecting members 30, 31 and the flat surface is set to be larger than 0 °. When the wheel-type moving body 1 is traveling, the passive front wheel 41 first collides with an obstacle such as a step. This is because the passive front wheel 41 is lifted to get over the obstacle. Further, θ1 is preferably 60 ° or less so that the front wheel side connection members 30 and 31 have a rotatable capacity.

  In addition, the angle (θ2 shown in FIG. 2) formed by the rear wheel side connecting members 50 and 51 and the plane is preferably set to be larger than 0 °.

  Next, the operation of overcoming the obstacle of the wheel type moving body 1 will be described with reference to FIGS. Here, the operation of climbing a step as an obstacle will be described. The movements of the drive wheel 22, the front wheel side support member 31 (links 31a and 31b), the rear wheel side support member 51 (links 51a and 51b), and the connecting member 71 are the same as the drive wheel 21, the front wheel side support member 30 (link 30a). 30b), the rear wheel side support member 50 (links 50a, 50b), and the connection member 70, the description is omitted.

  First, as shown in FIG. 7, the drive wheel 21 rotates and the wheel type moving body 1 travels on a flat ground. And as shown in FIG. 8, the passive front wheel 41 of the wheel type moving body 1 collides with the side surface of the step.

  Since the driving wheel 21 is rotating, the propulsive force lifts the passive front wheel 41 along the side surface of the step as shown in FIG. Further, as the passive front wheel 41 rises, the front wheel support member 40 also rises, so that the rear wheel support member 60 and the passive rear wheel 61 also move in the same direction as described above. As a result, the main body 10 also rotates counterclockwise.

  And as shown in FIG. 10, it raises until the passive front wheel 41 touches the upper surface of a level | step difference. At this time, the pressing member 80 prevents the passive front wheel 41 and the front wheel support member 40 from further rising and being separated from the upper surface of the step. And the wheel type moving body 1 moves forward with the attitude | position.

  The wheel-type moving body 1 moves forward, and the drive wheels 21 collide with the steps as shown in FIG. The drive wheel 21 gets over the step as shown in FIGS. 12 and 13 by its own rotation. At this time, the extension force of the pressing member 80 functions so that the drive wheel 21 and the main body 10 are easily raised, and assists in overcoming the step.

  And as shown in FIG. 14, the wheel type mobile body 1 returns to the original attitude | position shown in FIG. 7, and advances. The wheel type moving body 1 can travel over a plurality of steps by repeating the same operation as described above.

  As described above, the wheel-type moving body 1 can travel over obstacles such as steps, even if a drive source such as a motor is not installed on all wheels. Since the wheel type mobile body 1 has a simple configuration, it has an advantage that the manufacturing cost is low.

  Even if the radius of the passive front wheel 41 is smaller than the height of an obstacle such as a step, the wheel-type moving body 1 is an obstacle such as a step having a height shorter than the radius of the driving wheels 21 and 22. You can get over and run.

  In addition, although the example which used the link mechanism as the connection members 70 and 71 was demonstrated above, the front wheel side connection members 30 and 31 and the rear wheel side connection members 50 and 51 are rotated in the reverse direction in a side view, and the front wheels Any mechanism such as a mechanism using a gear or a mechanism using a belt may be used as long as the support member 40 and the rear wheel support member 60 can be moved in the same direction.

  For example, as the connecting members 70 and 71, as shown in FIG. 15, fixed gears G1 and G2 such as spur gears are fixed to the link 30a and the link 50b, respectively, and a plurality of gears G are interposed between the fixed gears G1 and G2. Is a mechanism in which is arranged. If an even number of gears G are arranged between the fixed gears G1 and G2, when the link 30a rotates, the link 50b rotates in the reverse direction. In FIG. 15, the concave and convex portions of the fixed gears G1 and G2 and the gear G are omitted.

  Further, as shown in FIG. 16, a shaft SH in which bevel gears BG1 and BG2 are fixed to the link 30a and the link 50b and bevel gears BG3 and BG4 are fixed to both ends is disposed between the bevel gears BG1 and BG2. Mechanism. When the link 30a rotates, the bevel gear BG1 fixed to the link 30a rotates, so that the shaft SH to which the bevel gears BG3 and BG4 are fixed at both ends rotates and is transmitted to the bevel gear BG2 fixed to the link 50b. Rotates in the opposite direction to the link 30a.

  In the above description, the example in which the pressing member 80 is connected to the main body 10 and the front wheel support member 40 has been described. However, the pressing member 80 may be installed anywhere as long as the function described above can be achieved. For example, the pressing member 80 may be configured to connect the main body 10 and the front wheel side connecting members 30, 31, or may be configured to connect the front wheel support member 40 and the front wheel side connecting members 30, 31.

  The wheel-type moving body 1 described above can be used by applying to various forms such as a rescue robot and an industrial robot. For example, it can be suitably applied to a wheelchair. When used as a wheelchair, it can be applied by appropriately installing a chair on which the person can sit on the main body 10 of the wheel-type moving body 1 and other necessary members. It is possible to travel over obstacles such as steps that could not be overcome with conventional wheelchairs.

  Various embodiments and modifications can be made to the present invention without departing from the broad spirit and scope of the present invention. The above-described embodiments are for explaining the present invention and do not limit the scope of the present invention. In other words, the scope of the present invention is shown not by the embodiments but by the claims. Various modifications within the scope of the claims and within the scope of the equivalent invention are considered to be within the scope of the present invention.

  Wheel type moving bodies can travel over obstacles such as steps, and can travel on various rough terrain, so it is expected to be applied to various robots such as wheelchairs, industrial robots, rescue robots, etc. .

DESCRIPTION OF SYMBOLS 1 Wheel type moving body 10 Main body 20 Drive shaft 21, 22 Drive wheel 30, 31 Front wheel side connection member 30a, 30b, 31a, 31b Link 40 Front wheel support member 41 Passive front wheel 50, 51 Rear wheel side connection member 50a, 50b, 51a 51b Link 60 Rear wheel support member 61 Passive rear wheel 70, 71 Connecting member 80 Pressing member J1-J10 Joint G1, G2 Fixed gear G Gear BG1-BG4 Bevel gear SH Shaft

Claims (4)

A drive wheel pivotally supported by the main body,
A passive front wheel and a passive rear wheel, which are respectively arranged on the front and rear of the shaft of the drive wheel, and are installed on the front wheel support member and the rear wheel support member so as to be freely rotatable,
A front wheel side connecting member that connects the main body and the front wheel support member, and is rotatably installed with respect to the main body and the front wheel support member;
A rear wheel side connection member that connects the main body and the rear wheel support member, and is rotatably installed with respect to the main body and the rear wheel support member;
A connecting member for connecting the front wheel side connecting member and the rear wheel side connecting member,
The connecting member is connected so as to rotate the front wheel side connecting member and the rear wheel side connecting member in opposite directions in a side view, and the front wheel supporting member and the rear wheel supporting member move in the same direction. ,
A wheel type moving body characterized by that. When the wheel type moving body is placed on a flat surface, an angle formed by the flat surface and the front wheel side connecting member is larger than 0 °.
The wheel type moving body according to claim 1, wherein: A pressing member that presses the passive front wheel downward;
The wheel type moving body according to claim 1 or 2, wherein The wheel type moving body according to any one of claims 1 to 3,
A chair installed on the wheel-type moving body,
A wheelchair characterized by that.

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