JP2015105080A - Wheel with rotor and movable body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a wheel with a rotor and a movable body having the wheel with the rotor which allow stable traveling regardless of low load or high load and reduce vibration during traveling.SOLUTION: In a wheel with a rotor comprising: a wheel 21 rotating around a rotation axis; a plurality of bearing arms 23 fixed to the wheel 21; and rotors 25, 27 supported on each bearing arm 23 and rolling around a rolling axis Lr, a tip of the other rotor 25 is inserted to a recess 41 at the base end part of one rotor 27. The wheel 21 has a pair of flange parts 29 spaced part in a direction along the rotation axis. The plurality of bearing arms 23 have: arm parts 31 disposed substantially perpendicularly to the rolling axis and supported by the pair of flange parts 29; and a pair of bearing projections 33 projecting coaxially from the arm parts 31 toward both sides in the rotation direction of the wheel 21. The plurality of rotors have the rotors 25, 27 disposed on both side across each arm part 31, and the rotors 25, 27 are supported on the pair of bearing projections 33 respectively and connected with each other.

Description

  The present invention relates to a wheel with a rotating body and a moving body including the wheel with a rotating body.

Conventionally, there is known a wheel with a rotating body provided with a plurality of rotating bodies that roll in a direction different from the rotation direction of the wheel on the outer periphery of the wheel (for example, Patent Documents 1 and 2). In this wheel with a rotator, each rotator has a substantially frustum shape whose tip is smaller in diameter than the base end, and the other rotation is in the recess at the base end of one rotator adjacent to each other in the rotation direction. The tip of the body is inserted.
The axial section of the outer peripheral surface of each rotating body has an arc shape centered on the rotating shaft of the wheel. When the wheel rotates, the outer peripheral surfaces of the plurality of rotating bodies sequentially touch and travel.

JP 2002-137602 A JP 2003-154803 A

  Here, in the wheel with a rotating body of Patent Document 1, each bearing arm is fixed to the wheel at one end side, and this bearing arm enters between the concave portion and the distal end portion of the proximal end portion of the adjacent rotating body. The tip of each rotating body was supported by cantilever.

  Further, in the wheel with a rotating body of Patent Document 2, each bearing arm is fixed to the wheel at one end side, the rotating body is separated into a distal end side portion and a proximal end side portion, and the bearing arm enters the slit between them. The rotating body was supported at this part.

In these vehicles with a rotating body, if the strength of the bearing arm is insufficient, the wheel may fall in the radial direction and be deformed. Then, the circular shape of the outer periphery of the wheel may be deformed, or rotating bodies adjacent in the circumferential direction may come into contact with each other, which may hinder stable traveling.
Further, since the bearing arms are arranged between the circumferentially adjacent rotating bodies and in the narrow gap, if the bearing arm is thick and sufficient strength is secured, the gap between the adjacent rotating bodies and the gap between the slits are wide. Therefore, there is a possibility that the vibration becomes large when the wheel rotates.

  Therefore, in the present invention, a wheel with a rotating body that can stably travel at low load or high load and can reduce vibration during traveling, and a moving body including the wheel with the rotating body, The purpose is to provide.

  A wheel with a rotating body of the present invention that achieves the above object includes a wheel that rotates around a rotating shaft, a plurality of bearing arms that are arranged and fixed around the outer periphery of the wheel, and a rolling shaft that is supported by each bearing arm. A rotating body supported by the other bearing arm is inserted into the recess of the base end of the rotating body supported by one of the adjacent bearing arms. The wheel has a rotating body, the wheel has a pair of flange portions that are spaced apart in a direction along the rotation axis, and the plurality of bearing arms are arranged substantially orthogonal to the rolling shaft, and the pair of flanges And a pair of bearing projections projecting coaxially from the arm portion toward both sides in the rotational direction of the wheel. The plurality of rotating bodies sandwich each arm portion. Having a first rotating body and a second rotating body arranged on both sides, Rotary body and the second rotary member is supported on a pair of bearings projections are connected to one another.

  The moving body of the present invention that solves the above problems includes such a wheel with a rotating body.

  According to the wheel with a rotating body and the moving body of the present invention, even when a low load is applied or a high load is applied, stable running is possible and vibration during running is possible. Can be reduced.

It is a schematic plan view of the moving body which concerns on embodiment of this invention. It is a perspective view of the wheel with a rotating body concerning the embodiment of the present invention. It is sectional drawing of a pair of 1st and 2nd rotary body which concerns on embodiment of this invention. It is an exploded view of a pair of 1st and 2nd rotary body which concerns on embodiment of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[Moving object]
In the present embodiment, description will be made using an example of a moving body 10 as shown in FIG. The moving body 10 is mounted on the moving body main body 11 according to various applications, the wheel 20 with a rotating body mounted on the moving body main body 11, and is driven in the forward and reverse directions. Drive wheels 12.

  The moving body 10 may be anything that travels on the road, such as a vehicle such as an automobile, a robot, a transfer device, or a carry bag, and the application is not particularly limited. Although the mobile body 11 is equipped with equipment corresponding to each application, the illustration is omitted.

[Wheel with rotating body]
As shown in FIG. 2, the wheel 20 with a rotating body includes a wheel 21 that is rotatable around a rotation axis Lc, a plurality of bearing arms 23 that are arranged and fixed around the outer periphery of the wheel 21, and each bearing arm 23. And a plurality of first rotating bodies 25 and second rotating bodies 27 that roll around the rolling axis Lr.

  In this embodiment, the first rotating body 25 and the second rotating body 27 are alternately arranged in the rotation direction of the wheel 21, and each bearing arm 23 has a pair of the first rotating body 25 and the second rotating body. 27 is supported. Further, the first rotating body 25 and the second rotating body 27 supported by the bearing arms 23 can roll around the same rolling axis Lr, and each rolling axis Lr is in one direction with respect to the tangent to the wheel 21. Is inclined at a predetermined angle toward the rotational direction.

[wheel]
The wheel 21 is mounted on the movable body 11 so as to be able to rotate forward and reverse about the rotation axis Lc. The wheel 21 is provided with a pair of circular flange portions 29 extending in a direction substantially orthogonal to the rotation axis Lc at positions separated from each other along the rotation axis Lc.

[Bearing arm]
As shown in FIGS. 2 to 4, the plurality of bearing arms 23 support the first rotating body 25 and the second rotating body 27 by being fixed to the arm section 31 and supported by the wheel 21. And a pair of bearing projections 33.

  The arm portion 31 is formed in a shape that can be disposed between the first rotating body 25 and the second rotating body 27 so as to be substantially orthogonal to the rolling axis Lr, and the end portion side is fixed to at least the pair of flange portions 29. Yes. Here, the arm portion 31 is formed in a flat plate shape and is bridged between a pair of flange portions 29.

  The pair of bearing projections 33 are provided so as to project in an annular shape from each arm portion 31 toward both sides in the rotation direction of the wheel 21. The pair of bearing projections 33 are formed coaxially along the same rolling axis Lr, and the end surfaces of the bearing projections 33 are formed substantially orthogonal to the rolling axis Lr. The both bearing projections 33 are provided with through holes 35 coaxially along the rolling axis Lr.

[Rotating body]
As shown in FIGS. 2 to 4, the first rotating body 25 and the second rotating body 27 are disposed on both sides of each arm portion 31, and are supported by the respective bearing protrusions 33.
Each of the first rotating body 25 and the second rotating body 27 has a side peripheral surface whose diameter gradually increases toward one rotation direction of the wheel 21. The first rotator 25 and the second rotator 27 supported by the bearing arms 23 as a whole have a semi-spindle shape, a tip end portion 37 is provided at one end of the first rotator 25, and the second rotator 27. A base end portion 39 is provided at the other end of the base plate.

The base end portion 39 is provided with a recess 41, and when mounted on the wheel 21, the other bearing arm 23 is provided in the recess 41 of the second rotating body 27 supported by one of the adjacent bearing arms 23. The distal end portion 37 of the first rotating body 25 supported by is inserted.
The cross-sectional shapes of the first rotating body 25 and the second rotating body 27 along the rolling axis Lr are formed in an arc shape with the rotating axis Lc of the wheel 21 as the center.

  The first rotating body 25 and the second rotating body 27 have a hard core 43 and an outer peripheral member 45 attached around the side of the core 43. The outer peripheral member 45 is made of an elastic material such as an elastic body such as rubber or sponge, or a hollow body such as a pneumatic member, and has a number of grooves on the side peripheral surface in the direction of the rolling axis Lr and the direction orthogonal to the rolling axis Lr. Is provided.

  The core 43 of the first rotating body 25 and the second rotating body 27 are respectively provided with an annular recess 47 that accommodates the bearing projection 33 and an inner periphery of the annular rotor 47, and the core of the first rotating body 25. 43 and a connecting portion 49 for connecting the core 43 of the second rotating body 27 to each other.

  Here, the connecting portion 49 has a fixing connecting hole 51 and is formed in a cylindrical shape, and the rotating body fixing shaft 53 is disposed therethrough. The first rotating body 25 and the second rotating body 27 are fixed to each other by fastening the first core 43 and the second core 43 by tightening in the direction along the rolling axis Lr by the rotating body fixing shaft 53. Are integrated. At this time, the tip of the connecting portion 49 of the first rotating body 25 and the tip of the connecting portion 49 of the second rotating body 27 are in contact with each other, and the relative position value is a predetermined position.

  The annular recesses 47 of the first rotating body 25 and the second rotating body 27 are formed so as to be attachable to the bearing protrusion 33 of the bearing arm 23 with a bearing interposed therebetween. A rolling bearing 55 as a radial bearing is mounted between the inner peripheral surface provided on the outer peripheral member 45 side of the annular recess 47 and the outer peripheral surface of the bearing projection 33. Further, a slide bearing 57 as a radial bearing is mounted between the outer peripheral surface of the connecting portion 49 and the inner peripheral surface of the through hole 35 of the bearing projection 33.

  Further, a sliding bearing 57 as a thrust bearing is disposed between the end surface of the bearing protrusion 33 and the bottom surface of the annular recess 47. The sliding bearing 57 as a thrust bearing is composed of a flange portion of the sliding bearing 57 as a radial bearing and is integrally formed.

[Operation of wheel with rotating body and moving body]
The moving body 10 equipped with such a wheel 20 with a rotating body moves forward or backward when each driving unit 12 rotates or reverses each driving wheel 12 at the same speed. At this time, in the wheel 20 with a rotating body, the outer peripheral surfaces of the first rotating body 25 and the second rotating body 27 are sequentially grounded, and each rotating body 21a, 22a does not roll and the wheel 20 with the rotating body rotates forward or reverse. To do.

  When the driving wheels 12 are rotated in the same direction at different speeds, the first rotating body 25 or the second rotating body 27 that is grounded on the road is sequentially rotated by the wheels 21 while rotating in the same direction at the different speeds of the wheels 20 with the rotating body. Rolling in a direction different from the rotation direction of the moving body 10, and the moving body 10 moves forward or backward while changing the course.

  Further, when each drive wheel 12 is rotated in the opposite direction, the first rotating body 25 or the second rotating body 27 that contacts the running road rolls while the wheel 20 with the rotating body rotates in a different direction, and the moving body 10 moves. Change direction while changing the same position or position.

[Operational effect of wheel with rotating body and moving body]
According to the wheel 20 with a rotating body of the moving body in the present embodiment as described above, since the bearing arm 23 is supported at both ends by the flange portion 29 of the wheel 21, sufficient rigidity of the arm portion 31 of the bearing arm 23 is achieved. Can be easily secured. Therefore, when a high load is applied to the wheel 20 with the rotating body, the bearing arm 23 is not easily deformed, and displacement of the first rotating body 25 and the second rotating body 27 in the radial direction and the falling direction can be prevented.

  Moreover, since the 1st rotary body 25 and the 2nd rotary body 27 which are arrange | positioned on both sides on both sides of the arm part 31 are mutually connected, the direction along the rolling axis Lr of the 1st rotary body 25 and the 2nd rotary body 27 Can be prevented.

  Therefore, even when a high load is applied, each rotating body 25, 27 can be grounded to the road surface at a predetermined position and orientation. The rotating bodies 25 and 27 supported by the bearing arms 23 adjacent to each other or the rotating bodies 25 and 27 supported by the same bearing arm 23 do not come into contact with each other. Thereby, even when a low load is applied or a high load is applied, stable traveling is possible.

  Furthermore, since the rigidity of the arm portion 31 can be secured by being supported at both ends by the flange portion 29, the amount of displacement of each of the rotating bodies 25 and 27 is small, and accordingly, the rotating body 25 supported by the bearing arms 23 adjacent to each other. , 27 can be reduced. Moreover, since each arm part 31 can be formed thinly, the clearance gap between the 1st rotary body 25 and the 2nd rotary body 27 arrange | positioned at the both sides of the same bearing arm 23 can also be narrowed.

Therefore, since both the gaps between the rotary bodies 25 and 27 and the gaps between the first rotary bodies 25 and the second rotary bodies 27 are narrow, the rotary bodies 25 and 27 are rotated when the wheel 21 rotates and travels. It is possible to reduce vibration during traveling due to the gap between them.
As a result, even when a low load is applied or a high load is applied, stable travel is possible and vibration during travel can be reduced.

  In the wheel 20 with a rotating body, the first rotating body 25 and the second rotating body 27 are fixed and integrated with each other, so that one of the first rotating body 25 and the second rotating body 27 is loaded. The load is not only supported by one bearing projection 33 of the bearing arm 23 but also through the other one of the first rotating body 25 and the second rotating body 27 fixed together, the other bearing protruding section. 33 is also supported. Therefore, more stable travel is possible when a high load is applied to the wheel 20 with the rotating body.

  In the wheel 20 with the rotating body, the first rotating body 25 and the second rotating body 27 are fastened and fastened by the rotating body fixing shaft 53 in the direction along the rolling axis Lr. Accordingly, the displacement caused by the crossing or the like that is structurally present in the radial bearing can be reduced, and the rotating bodies 25 and 27 can be supported and rolled more stably.

  In the wheel 20 with the rotating body, the first rotating body 25 and the second rotating body 27 include an annular recess 47 that houses the bearing projection 33, and the first rotating body 25 and the second rotating body 27 inside the annular recess 47. Since the first rotating body 25 and the second rotating body 27 can be rotatably mounted on both sides of the arm portion 31 and can be connected to each other with a simple structure. .

  Since not only a radial bearing is mounted between the bearing projection 33 and each of the rotating bodies 25 and 27, but also a thrust bearing is mounted, the rotating bodies 25 and 27 can be moved from the axial direction while reducing rotational resistance. Can support firmly. Therefore, it can drive more stably.

  When the semi-spindle-shaped rotators 25 and 27 are used, when the rotators 25 and 27 are grounded, the rolling shaft Lr is inclined with respect to the road surface, and the forces along the axial direction of the rotators 25 and 27 are the same. Works. At this time, if the rotating bodies 25 and 27 are supported from the axial direction by the thrust bearing, a slight displacement in the axial direction of the rotating bodies 25 and 27 can be prevented and stable running is possible.

  Since the radial bearing is composed of the rolling bearing 55 and the sliding bearing 57, the advantages of the rolling bearing 55 and the sliding bearing 57 can be effectively used according to the load by making each tolerance at the mounting position of the rolling bearing 55 and the sliding bearing 57 appropriate. Available to: In other words, the rolling bearing 55 can cope with high rotation with low friction at low loads, and the sliding bearing 57 can accommodate large loads with low friction at high loads.

The embodiment can be appropriately changed within the scope of the present invention.
For example, the bearing arm 23 is formed in a plate shape having a substantially constant width, but the shape of the bearing arm 23 is not particularly limited as long as it can be supported at both ends by the pair of flange portions 29 of the wheel 21.
Further, the shape of the bearing projection 33 and the mounting position of the bearing are not limited at all, and it is sufficient that the rotating bodies 25 and 27 can be supported in a freely rolling manner.

  In the embodiment, an example has been described in which both the rolling bearing 55 and the sliding bearing 57 are mounted as radial bearings for supporting the rotating bodies 25 and 27. However, it is not always necessary to mount both, depending on required characteristics and the like. It is also possible to mount only one of the rolling bearing 55 and the sliding bearing 57. Thereby, the cost can be suppressed according to the required characteristics.

  For example, the required characteristic of being able to cope with high-speed running with a low load can be equipped with only the rolling bearing 55 because the rolling bearing 55 is excellent in low friction rotation. On the other hand, the required characteristic of being able to cope with low-speed running with a high load can be equipped with only the sliding bearing 57 because the sliding bearing 57 has excellent impact resistance.

  When only one bearing is mounted, the shape of the bearing protrusion 33 may be different from that of the embodiment, but the same shape is used, and the core 43 and the bearing protrusion 33 are not mounted without mounting the other bearing. The gaps may be left as gaps, so that parts can be shared.

  In the embodiment in which both the rolling bearing 55 and the sliding bearing 57 are mounted, the sliding bearing 57 is disposed on the inner peripheral side and the rolling bearing 55 is disposed on the outer peripheral side. However, the rolling bearing 55 is disposed on the inner peripheral side. It is also possible to arrange the sliding bearing 57 on the outer peripheral side.

  In the above description, the first rotating body 25 and the second rotating body 27 are integrated with each other by being fixedly connected to each other so that relative rolling is impossible. You may mutually be connected in the state which can roll.

Explanation of sign

Lc Rotating shaft Lr Rolling shaft 10 Moving body 11 Moving body main body 12 Driving wheel 13 Driving section 20 Wheel with rotating body 21 Wheel 23 Bearing arm 25 First rotating body 27 Second rotating body 29 Flange section 31 Arm section 33 Bearing protrusion 35 through-hole 37 distal end 39 base end 41 recess 43 core 45 outer peripheral material 47 annular recess 49 connecting portion 51 fixing connection hole 53 rotating body fixing shaft 55 rolling bearing 57 sliding bearing

Claims (6)

A wheel that rotates around a rotation axis, a plurality of bearing arms arranged and fixed around the outer periphery of the wheel, and a plurality of rotating bodies that are supported by the bearing arms and roll around the rolling axis. A wheel with a rotating body in which a distal end portion of a rotating body supported by the other bearing arm is inserted into a recess of a base end portion of the rotating body supported by one bearing arm adjacent to each other,
The wheel has a pair of flange portions separated in a direction along the rotation axis,
The plurality of bearing arms are arranged substantially orthogonal to the rolling shaft and supported at both ends by the pair of flange portions, and project from the arm portions coaxially toward both sides in the rotational direction of the wheel. A pair of bearing projections provided,
The plurality of rotators have a first rotator and a second rotator disposed on both sides of the arm portions, and the first rotator and the second rotator are disposed on the pair of bearing protrusions. Wheels with rotating bodies that are supported and connected to each other.   The wheel with a rotating body according to claim 1, wherein the first rotating body and the second rotating body are fixed and integrated with each other.   The first rotating body and the second rotating body include an annular recess that accommodates the bearing protrusion, and a connecting portion that connects the first rotating body and the second rotating body inside the annular recess. The wheel with a rotary body of Claim 1 or 2.   The wheel with a rotating body in any one of Claims 1 thru | or 3 with which the radial bearing and the thrust bearing are each mounted | worn between each said rotating body and the said bearing arm.   The wheel with a rotating body according to claim 4, wherein the radial bearing includes a rolling bearing and a sliding bearing.   A moving body comprising the wheel with a rotating body according to claim 1.

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