JP2019182378A - Omnidirectional movement wheel and movement vehicle including the same - Google Patents

Abstract

To provide an omnidirectional movement wheel in which a rotation body being a tire has long life and laterally rotates smoothly, a foreign matter does not enter a sliding part, travel vibration and rotation noise are low, and appearance is preferable.SOLUTION: In an omnidirectional movement wheel 10, a rotation body 60 of which rotation axis is flexible is a tire, and a plurality of support rings having a core material 40 inserted to an inner diameter of the rotation body 60 are inserted. In the omnidirectional movement wheel 10, the core material 40 has an outer shape in which a plurality of short cylinders are continuously contacted with each other in a ring shape, a part of both ends of a small diameter ring 53 is inserted to an end part of a large diameter ring 52 so that an interval between adjacent support rings is made small, a region where the rotation body 60 cannot be supported by the inner diameter is almost eliminated to prolong the life of the rotation body 60, a position of the support ring with respect to the core material 40 is restricted by a lock piece 45 in a rotatable manner to eliminate strong contact between support rings to achieve smooth lateral rotation, and a high elastic material layer is provided in the inner diameter of the rotation body 60.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an omnidirectional moving wheel and a moving vehicle including the same.

  Examples of conventional omnidirectional wheels include the following wheels developed by the present inventors. (See Patent Document 1 and Patent Document 2) This wheel has a wheel body, a plurality of rotating body support members, a core member, a support ring, and a rotating body, and each rotating body support member is radially formed on the wheel body. Provided, and has a through-hole at the tip protruding from the outer periphery of the wheel body, and the plurality of core members have polygonal outlines formed by connecting short cylinders when the core members are combined with each other. By forming a ring shape, being inserted into the through hole of each of the rotating body support members, and after each rotating body support member is fitted into the groove on the outer periphery of the core material, it is pressed toward the center of the wheel body by the fixing member A ring-shaped structure formed with rigidity is formed, and each of the plurality of support rings has a core material inserted therein and is disposed corresponding to each of the cylindrical portions of the core material. Adjacent between members The cylindrical end surfaces of the support ring are aligned and arranged with a small gap until just before they come into contact with each other. The plurality of rotating bodies are cylindrical and have a flexibility that allows the central axis of the cylinder to bend. Curved so as to cover the outer diameter of the support ring disposed between the rotating body support members, a running tire is formed in a ring shape on the outer periphery of the wheel body, and the wheel is rotated by the shaft rotation of the wheel body. Is an omnidirectional moving wheel that moves in the direction of the axis of rotation of the wheel body (hereinafter referred to as traversal) when the grounded rotating body rotates in a state where the shaft is curved.

Utility Model Registration No. 3130323 Utility Model Registration No. 3142017

  In the omnidirectional moving wheels described in Patent Document 1 and Patent Document 2, even if the distance between adjacent support rings is reduced and the gap between the end faces on the wheel center side is minimized, It is impossible to avoid a large gap remaining between the adjacent support rings. In this gap portion, the rotating body, which is a tire, is not supported by the support ring, so that deformation occurs due to the load and damage progresses, causing a problem in durability of the rotating body.

  The omnidirectional moving wheel described in Patent Document 2 has a structure in which a core member is inserted into a support ring, and a support ring inner diameter cylindrical surface is disposed corresponding to the outer cylindrical surface of the core member. Thereby, compared with the omnidirectional moving wheel described in Patent Document 1, the load resistance of the wheel is increased, and the noise accompanying the change in the attitude of the support ring is reduced. However, since the support ring is not positioned in the rotational axis direction, the support ring may move slightly due to an axial force applied to the support ring during traveling. At this time, there is a problem that friction between the adjacent support rings occurs and the support rings cannot rotate smoothly, and the rotation resistance of the rotating body increases and smooth traverse cannot be performed. .

  Further, the end surface collar having the protrusion receives a reaction force caused by compressing and incorporating the rotating body in the axial direction, and the entire surface of the protrusion is in close contact with the rotating body supporting member, so that the end surface collar and the rotating body supporting member slide. The structure prevents foreign matter from entering the surface. However, the pressing force of the end collar due to the rotating body compression reaction force is strong on the side close to the axle and weak on the side far from the axle, and the end surface from the rotating body support member by the ground reaction force when the rotating body is grounded during wheel rotation. Because of the fact that a force to peel off the collar may be applied, and because there is a gap between the inner diameter of the end collar and the outer diameter of the core, the attitude of the end collar can be tilted. There was a problem that a gap was generated in the part, and foreign matter such as sand was caught, resulting in wear.

  In addition, a gap necessary for assembly is provided between the support ring and the end face collar and the core member in contact with the inner diameter or the rotating body in contact with the outer diameter. In the area where the rotating body is not in contact with the ground, all the parts move away from the axle in the direction in which the compression of the rotating body is weakened by the compression reaction force of the rotating body. As a result, the gap between the parts is the side far from the axle. Sent to. On the other hand, when the rotating body comes into contact with the ground, all parts to which the load is applied move to the side closer to the axle, and the gap between the parts is moved closer to the axle. Due to this action, when the wheel travels, each part moves and rubs, which causes a noise, which is a problem.

  In addition, in the state where the wheel alone is picked up, the rotating body as a tire moves easily by the gap between the parts, so it is regarded as a wheel with looseness in assembly, and recognition of an elaborate assembly is obtained. It was difficult.

  The present invention has been made by paying attention to such conventional problems, and the rotating body of the tire is less likely to be damaged, the traversing is smooth, foreign matter is prevented from being caught on the sliding surface, the rotational noise is low, and the appearance is good. It aims to provide good omnidirectional moving wheels.

In order to achieve the above object, the present invention provides the following means.
A wheel body, a plurality of rotating body support members, a plurality of fixing members, a plurality of core members, a plurality of support rings, and a plurality of rotating bodies, the wheel body has a plurality of hollow chambers around an axle, A plurality of communication grooves communicating with each hollow chamber at equiangular intervals with respect to the axle are provided on the outer periphery, and can be divided into two on a plane perpendicular to the axle across each hollow chamber and each communication groove. Each rotating body support member is inserted into each communication groove and provided radially on the wheel body, and has a tip portion protruding from the outer periphery of the wheel body and having a through hole, and a base portion disposed inside each hollow chamber, Each fixing member has elasticity, and is provided so that each rotating body support member can be fixed between the inner wall on the outer peripheral side of the wheel body of each hollow chamber and the base of each rotating body support member, The core is connected to a plurality of short cylinders to form a ring. In the omnidirectional moving wheel in which the outer contour of the ring-shaped core material is a polygon, the support ring determines the position of the spoke ring in which the core material locks each rotating body support member and the rotation axis direction of the support ring itself. A slide groove and a slide screw for positioning the groove and the plurality of lock pieces; and inserted into the inside of each support ring and the through hole of each rotary body support member and fixed to each rotary body support member, The plurality of support rings consist of a combination of an end face collar, a large diameter ring, and a small diameter ring, and each support ring has an outer contour that is omnidirectionally moved when the inner diameter surface is in contact with the outer contour surface of the core. Of the support ring, and at least the end collar and the large-diameter ring are rotatably provided with their rotational axis positions fixed. Each rotating body has a cylindrical shape and is flexible enough to bend the rotating shaft. The supporting ring is inserted into the inner diameter, and both ends are sandwiched between the end face collars and compressed in the direction of the rotating shaft. Assembled, curved so as to surround the outer periphery of the wheel body in a ring shape, and held so as to be rotatable around a rotation axis of a curve along the same vertical plane with respect to the rotation axis of the wheel body. And omnidirectional moving wheels.

  According to the omnidirectional moving wheel according to one aspect of the present invention, the large-diameter end face collar and the large-diameter ring are disposed on both sides of the small-diameter ring, and both ends of the small-diameter ring are inserted into the adjacent large-diameter support ring. For example, the gap between the support rings generated in the outer contour that could not be avoided when adjacent support rings of the same diameter can be reduced, and the inner diameter of the rotating body is supported almost continuously at the ground contact portion of the rotating body that is a tire. Therefore, even if a load is applied to the rotating body, deformation due to the gap does not occur, damage can be prevented, and durability of the rotating body is improved.

  Also, since the support ring can be made of plastic or metal, it has high rigidity, and even if the end of the support ring is made thin so as to avoid interference with the adjacent support ring, it is sufficient to support the load of the rotating body. Since a sufficient mechanical strength can be ensured, the gap can be further reduced.

  Moreover, according to the omnidirectional moving wheel which concerns on 1 aspect of this invention, a support ring is pressed on the side close | similar to an axle shaft with a lock piece, and the protrusion ring of the inner diameter side of a support ring is fitted in the support ring groove | channel of the core material. Therefore, the support ring does not move in the direction of its own rotation axis. As a result, it is possible to prevent a phenomenon in which the support rings rub against each other or bite each other, and a stable and smooth traversing motion can be obtained.

  In addition, since the posture of the end face collar is restricted by the action of the lock piece, there is no gap between the end face collar and the rotating body support member even when an external force is applied from the ground contact surface by running the wheel. No foreign matter such as sand is caught in the collar protrusions or the sliding surfaces of the support rings to prevent wear.

  In addition, since the lock piece can adjust the pressing force of the support ring with the slide screw, the contact pressure between the support ring and the core material can be adjusted, and the transverse rotation resistance can be adjusted according to the application of the omnidirectional wheel. Can do.

  In addition, the axial position of each support ring is restricted by a wide contact area between the core material and the protrusion ring having the inner diameter of the support ring, and the contact portion is close to the outer diameter portion of the wheel that receives external force from the ground contact surface. The stress generated in the part is small, the progress of the damage is slow, and the reliability can be maintained.

  Moreover, according to the omnidirectional moving wheel which concerns on 1 aspect of this invention, since a core material, three types of support rings, and a wheel main body do not have the shape which becomes an undercut, and can be shape | molded with a plastic mold, they are mass-productive. Can be manufactured inexpensively.

  Moreover, according to the omnidirectional moving wheel which concerns on 1 aspect of this invention, the said rotary body has the outer shape of the elastic material cylinder of thickness 0.3-2 mm, the trapezoidal ring-shaped ridge or the spiral ridge Is forming.

  In such a configuration, the elastic material cylinder covers most of the surface of the core material and each support ring, and the gap between the support rings is not exposed. No pebbles or hairpins bite, and stable operation for a long time is possible.

  In addition, since the heel is formed on the outer shape of the rotating body, which is a tire, only the tip of the heel is grounded, and damage to the elastic cylinder can be avoided, and stable long-term operation is possible.

  Moreover, since the space between the ribs is a groove and becomes a space for the elastic material cylinder to be retracted when the rotating body is bent, it can be bent and rotated without difficulty and a smooth traverse running can be realized.

  Moreover, according to the omnidirectional moving wheel which concerns on 1 aspect of this invention, the said rotary body has the multilayer structure which joined the cylinder of the highly elastic material whose thickness is 1-5 mm to the internal diameter of the elastic material cylinder.

  In such a configuration, the cylinder of the highly elastic material acts as a cushion and absorbs and reduces the vibration transmitted from the road surface quickly when traveling as a wheel, so that the ride is comfortable and the noise is low.

  Also, if the support ring on the core material is inserted into a rotating body having a multi-layer structure with a cylinder of high elastic material and curved, the layer of high elastic material is compressed more strongly than the outside inside the curve. The body is pressed to the side close to the axle, and all the gaps between the rotating body and each support ring are moved away from the axle, creating a stable state with no looseness between the parts when picked up by hand, and also looks good improves.

  In addition, when the rotating body is mounted at a predetermined position of the support ring on the core material, the compression reaction force in the length direction of the rotating body becomes larger than when there is no high elastic material layer, and the protrusion of the end face collar is supported by the rotating body. The force to be brought into close contact with the member is increased, and the entry of foreign matter can be more reliably prevented.

  According to the present invention, a rotating body as a tire has a long life, smooth rotation in a transverse direction, no foreign matter intrusion into a sliding surface, low vibration and rotational noise due to traveling, and a good-looking omnidirectional moving wheel. Can be provided.

It is a front view which shows the omnidirectional movement wheel of embodiment of this invention. It is sectional drawing of the omnidirectional moving wheel shown in FIG. It is the elements on larger scale of the omnidirectional movement wheel shown in FIG. It is a perspective view which shows one side of the wheel main body of the omnidirectional movement wheel shown in FIG. It is a perspective view which shows the rotary body support member of the omnidirectional movement wheel shown in FIG. It is a perspective view which shows the fixing member of the omnidirectional movement wheel shown in FIG. It is a perspective view which shows the core material of the omnidirectional movement wheel shown in FIG. It is a perspective view which shows the lock piece of the omnidirectional movement wheel shown in FIG. It is a cross-sectional perspective view which shows the end surface color of the omnidirectional movement wheel shown in FIG. It is a cross-sectional perspective view which shows the large diameter ring of the omnidirectional movement wheel shown in FIG. It is a cross-sectional perspective view which shows the small diameter ring of the omnidirectional movement wheel shown in FIG. It is a cross-sectional perspective view which shows the action before the lock piece shown in FIG. It is a cross-sectional perspective view which shows the effect | action of the lock piece shown in FIG. It is a cross-sectional perspective view which shows the rotary body before mounting | wearing of the omnidirectional movement wheel shown in FIG. It is a cross-sectional perspective view which shows the modification of the cylinder of the highly elastic material of the rotary body shown in FIG. It is a perspective view which shows the modification of the collar of the external shape of the rotary body shown in FIG.

Hereinafter, the omnidirectional moving wheel 10 which is embodiment of this invention is demonstrated based on figures.
As shown in FIGS. 1 and 2, the omnidirectional moving wheel 10 includes a wheel body 20, a rotating body support member 30, a rotating body 60, an end collar 51 that is a support ring, a large diameter ring 52, a small diameter ring 53, and a core material. 40.

  As shown in FIGS. 1, 2, and 4, the wheel body 20 is made of metal or plastic, has a disk shape, and has a shaft hole 21 for inserting the axle 11 in the center. The wheel main body 20 is rotatable about the axle 11 inserted into the shaft hole 21 as a rotation axis, and is divided into two parts having substantially the same size on a plane perpendicular to the rotation axis. As shown in FIG. 4, the wheel body 20 has six hollow chambers 22 around the rotation axis, and has six communication grooves 23 communicating with the respective hollow chambers 22 on the outer periphery. Each communication groove 23 is formed so as to form a radial shape from each hollow chamber 22 toward the outer periphery at equal angular intervals around the rotation axis. The wheel body 20 is divided across the hollow chambers 22 and the communication grooves 23. As shown in FIG. 1, the wheel main body 20 is configured such that two divided parts are closely fixed to each other by bolts 25 and nuts. The wheel body 20 has a number of hollow portions in addition to the hollow chambers 22 for weight reduction.

  As shown in FIGS. 1, 2, and 5, the rotating body support member 30 is made of metal, has a thin plate shape, has a circular tip portion 31 at one end, and the plate surface at the other end. It has a base 32 bent vertically. The rotating body support member 30 has a through hole 33 penetrating in the thickness direction at the distal end portion 31. As shown in FIG. 1, the number of rotating body support members 30 is six, and each communication groove 23 is in a state in which a distal end portion 31 protrudes from the outer periphery of the wheel body 20 and a base portion 32 is disposed inside each hollow chamber 22. And is provided radially on the wheel body 20.

As shown in FIGS. 2 and 6, the fixing member 24 has a cylindrical shape and is made of urethane having a resilience of about a Shore hardness A50. The fixing member 24 has characteristics that creep is small and compression durability is large. The fixing members 24 are inserted into the respective hollow chambers of the two wheel bodies 20, and the total number is 12 and two fixing members 24 are used for one rotating body support member 30. The two fixing members 24 face each other with a plate 25 provided between the two wheel main bodies 20 interposed therebetween. Each fixing member 24 is inserted between the inner wall of each hollow chamber 22 on the outer peripheral side of the wheel body 20 and the base 32 of each rotating body support member 30. The inner wall of each hollow chamber 22 on the outer peripheral side of the wheel main body 20 is inclined, and when the bolts 25 are tightened so that there is no gap between the two wheel main bodies 20, each rotating body support member 30 becomes a wheel. The wheel body 20, the rotating body support member 30, and the core member 40 are fixed by the compression elastic force of the fixing member 24 by being pressed in the direction of the rotation center of the main body 20.
The plate 25 facilitates assembly work.

  As shown in FIGS. 2, 3, and 7, the core member 40 is made of metal or plastic and forms a ring shape when two are combined. Since the core member 40 is formed in a shape in which short cylinders are connected, the outer contour when the ring shape is formed is a polygonal shape. The core member 40 in the ring shape has six spoke grooves 41 for hooking and positioning each rotary member support member 30 on the outer shape. The core member 40 in the form of a ring has 18 support ring grooves 42 for positioning a plurality of support rings on the outer shape. The core member 40 in the ring shape is provided with 24 through screws 47 for screwing the slide screws 46 into the outer shape. The core member 40 in the ring shape is provided with 48 slide grooves 44 for guiding the slide movement of the lock piece 45 on both side surfaces of the ring shape. The core member 40 is provided with a large number of dugouts for weight reduction on both side surfaces of the ring shape.

  The lock piece 45 shown in FIGS. 2 and 8 is made of plastic. Two surfaces engraved in parallel are fitted into the slide groove 44 of the core member 40 and guided. The lock piece 45 is slid and moved while the posture is maintained by turning the slide screw 46, and the outer diameter pushes and moves the inner diameter of the support ring.

As shown in FIGS. 2, 3, and 9, the end surface collar 51 is made of plastic and has a shape in which a flange is joined to a substantially cylindrical shape. The flange is provided with two protrusions 56 concentrically. When assembled, the two protrusions 56 are in close contact with the entire surface of the rotating body support member 30 at their tips. The end collar 51 is provided with a single protruding ring 54 by dividing the sliding surface 57 having a cylindrical inner diameter. The two sliding surfaces 57 having a cylindrical inner diameter form the same cylindrical surface. When the sliding surface 57 of the cylindrical inner diameter is pressed to a predetermined position of the outer contour of the core member 40, the substantially cylindrical outer contour of the end surface collar 51 is one circle together with the outer contours of all the other support rings. It is formed with the curve which comprises. The substantially cylindrical portion of the end collar 51 is provided with a hole 55 for inserting a tool for operating the slide screw 46 during assembly.
The protrusion ring 54 is fitted into the support ring groove 42 of the core member 40 and positions the end face collar 51 in the rotation axis direction. In the protrusion 56, a space between two concentric circles serves as an oil reservoir for lubricating grease. The protrusion ring 54 and the sliding surface 57 are lubricated with grease.

As shown in FIGS. 2, 3, and 10, the large-diameter ring 52 is made of plastic and has a substantially cylindrical shape. The large-diameter ring 52 is provided with a single projecting ring 54 by dividing the sliding surface 57 having a cylindrical inner diameter. The two sliding surfaces 57 having a cylindrical inner diameter form the same cylindrical surface. When the sliding surface 57 of the cylindrical inner diameter is pressed to a predetermined position of the outer contour of the core member 40, the substantially cylindrical outer contour of the large-diameter ring 52, together with the outer contours of all the other support rings, It is formed with a curve that forms a circle. A substantially cylindrical portion of the large diameter ring 52 is provided with a hole 55 for inserting a tool for operating the slide screw 46 during assembly.
The protrusion ring 54 is fitted into the support ring groove 42 of the core member 40 and positions the large diameter ring 52 in the rotation axis direction. The protrusion ring 54 and the sliding surface 57 are lubricated with grease.

As shown in FIGS. 2, 3, and 11, the small diameter ring 53 is made of plastic and has a substantially cylindrical shape. When the sliding surface 57 of the cylindrical inner diameter is pressed to a predetermined position of the outer contour of the core member 40, the substantially cylindrical outer contour of the small-diameter ring 53 is one circle together with the outer contours of all the other support rings. It is formed with the curve which comprises.
The substantially cylindrical end surface of the small-diameter ring 53 and the sliding surface 57 are lubricated with grease.

  As shown in FIGS. 1, 2, 3, and 14, the rotating body 60 has a substantially cylindrical shape, and has a multi-layered structure in which a high-elasticity material cylinder 62 is integrated with an inner diameter of an elastic material cylinder 61. Yes. The elastic material cylinder 61 is made of rubber such as NBR having a flange 63 integrally formed on the outer diameter thereof. The thin elastic cylinder 61 is rich in flexibility, and gives the bending flexibility to the rotating shaft of the rotating body 60. The elastic material cylinder 61 is a continuous body without a hole, and prevents foreign matter from entering the sliding portion of the support ring or the core material 40 inserted therein. The flange 63 formed to have an outer diameter protects the elastic cylinder 61 from damage by grounding the outermost diameter portion to the road surface. In order to increase the bending rigidity, the collar 63 may be integrated with a metal ring as a reinforcing material. As shown in FIG. 16, it is good also as the rotary body 60b used as the helical rod 64 integrated with the coil spring instead of the metal ring. In this case, since the distance between adjacent ridges is kept constant and the ridges do not fall down, a high load can be applied to the axle 11 for use.

  The highly elastic cylinder 62 is an independent foamed sponge made of, for example, chloroprene having a high cushioning effect. The high-elasticity material cylinder 62 may be integrally formed by casting to the inner diameter of the elastic material cylinder 61, or the outer diameter of the high-elasticity material cylinder 62 is attached to the entire inner surface of the elastic material cylinder 61. It may be integrated. Further, the high-elasticity material cylinder 62 may be attached only to the flange portion of the elastic material cylinder 61 with an outer diameter. As shown in FIG. 15, the rotating body 60 includes a rotating body 60 a in which a high-elasticity material cylinder 62 is formed as a high-elasticity material cylinder 62 a having a hole corresponding to the position where the elastic material cylinder 61 has no wrinkles. Also good. By selecting the shape and material of the highly elastic cylinder 62 and the joining method with the elastic cylinder 61, the flexibility of the rotating body 60 can be adjusted according to the application.

Next, the operation will be described.
As shown in FIG. 12, when the lock piece 45 is fitted into the slide groove 44 of the core member 40 and the engraved arc portion is positioned to contact the core member 40, the protruding ring 54 of the large-diameter ring 52 is It can move to a predetermined position for incorporation without interfering with both 45 and the core 40.
As shown in FIG. 13, when the slide screw 46 is turned and fed, the lock piece 45 is slid and the inner diameter sliding surface 57 of the large-diameter ring 52 is pushed in with the outer diameter, the projecting ring 54 becomes the support ring groove 42 of the core member 40. Then, the inner diameter sliding surface 57 comes into contact with the outer diameter of the cylindrical portion of the core member 40. In this state, the large-diameter ring 52 is fixed to a predetermined position of the core member 40 so as to be rotatable. By adjusting the pushing amount of the slide screw 46, the rotational resistance of the large-diameter ring 52 due to contact friction with the core member 40 can be adjusted. The large-diameter ring 52 is supported by the thick cylindrical surface of the core member 40 over the entire length of the sliding surface 57 having a cylindrical inner diameter. The core member 40 exhibits a ring-shaped continuous beam and is firmly fixed by the elastic force of the fixing member 24. Therefore, the load resistance is high, and even when a load is applied to the axle 11, the displacement of the large diameter ring 52 is small.
Similarly, the end face collar 51 can be fixed to a predetermined position of the core member 40 so as to be rotatable.
Both ends of the small-diameter ring 53 are inserted into the inner diameters of the end face collar 51 and the large-diameter ring 52 to restrict the movement in the axial direction, and the sliding surface 57 having the inner diameter is supported by the cylindrical surface of the core member 40. Therefore, it is fixed to a predetermined position of the core member 40 so as to be rotatable.

  The end face collar 51, the large-diameter ring 52, and the small-diameter ring 53 are not coated with an elastic material such as rubber and the outer diameter thereof is a material having high mechanical strength. When both ends of the small-diameter ring 53 are inserted into the inner diameters of the end surface collar 51 and the large-diameter ring 52, the thinner the cylindrical end portions of the end surface collar 51 and the large-diameter ring 52 are, the closer to the outer diameter side of the wheel between the parts. The gap can be reduced. In the omnidirectional moving wheel 10 of the present invention, the corners at both ends of the cylindrical outer diameter of the small-diameter ring 53 are further rounded and inserted deeply into the inner diameters of the end collar 51 and the large-diameter ring 52, so The gap is reduced to about 1 mm. As a result, since the inner diameter of the rotating body 60 is reliably supported at the position where it contacts the ground, abnormal deformation due to a load does not occur and the life is long.

  Since all the support rings are fixed in position, they are not displaced by a traveling load or the like, and do not rub or bite strongly. Thereby, the omnidirectional moving wheel 10 of the present invention can perform smooth traverse rotation without changing the rotational resistance of the rotating body 60.

  The end face collar 51, the large-diameter ring 52, and the small-diameter ring 53, which are support rings that support the rotating body 60 from the inner diameter side, are arranged at predetermined positions of the core member 40, so that the outer contour of all the support rings is the axle. It overlaps with a circle centered on 11. As a result, the omnidirectional moving wheel 10 of the present invention generates less vibration and noise due to traveling.

  A highly elastic cylinder 62 is integrated with the inner diameter of the rotating body 60. When the rotating body 60 is curved, the high-elasticity cylinder 62 is compressed more strongly on the inner side than on the outer side. As a result, the rotating body 60 is pressed against the wheel center side and comes into contact with the outer diameter contour of the support ring so that there is no backlash. Therefore, the omnidirectional moving wheel 10 of the present invention has a good appearance.

DESCRIPTION OF SYMBOLS 10 Omni-directional moving wheel 11 Axle 20 Wheel main body 21 Shaft hole 22 Hollow chamber 23 Communication groove 24 Fixed member 25 Bolt 26 Plate 30 Rotating body support member 31 Tip part 32 Base 33 Through-hole 40 Core material 41 Spoke groove 42 Support ring groove 44 Slide groove 45 Lock piece 46 Slide screw 47 Through screw 51 End face collar 52 Large diameter ring 53 Small diameter ring 54 Protrusion ring 55 Hole 56 Projection 57 Sliding surface 60 Rotating body 61 Elastic material cylinder 62 High elastic material cylinder 63 ６４ 64 Spiral Situation

Furthermore, according to the omnidirectional wheels according to one embodiment of the present invention, the rotating body has a thickness of the elastic member cylinder 0.5 to 2 mm in outside diameter, the cross section is trapezoidal annular ridge or helical A cocoon is formed.

In order to achieve the above object, the present invention provides the following means.
A wheel body, a plurality of rotating body support members, a plurality of fixing members, a plurality of core members, a plurality of support rings, and a plurality of rotating bodies, the wheel body has a plurality of hollow chambers around an axle, A plurality of communication grooves communicating with each hollow chamber at equiangular intervals with respect to the axle are provided on the outer periphery, and can be divided into two on a plane perpendicular to the axle across each hollow chamber and each communication groove. Each rotating body support member is inserted into each communication groove and provided radially on the wheel body, and has a tip portion protruding from the outer periphery of the wheel body and having a through hole, and a base portion disposed inside each hollow chamber, Each fixing member has elasticity, and is provided so that each rotating body support member can be fixed between the inner wall on the outer peripheral side of the wheel body of each hollow chamber and the base of each rotating body support member, The core is connected to a plurality of short cylinders to form a ring. In the omnidirectional moving wheel in which the outer contour of the ring-shaped core material is a polygon, the support ring determines the position of the spoke ring in which the core material locks each rotating body support member and the rotation axis direction of the support ring itself. A slide groove and a slide screw for positioning the groove and the plurality of lock pieces; and inserted into the inside of each support ring and the through hole of each rotary body support member and fixed to each rotary body support member, The plurality of support rings consist of a combination of an end face collar, a large diameter ring, and a small diameter ring, and each support ring has an outer contour that is omnidirectionally moved when the inner diameter surface is in contact with the outer contour surface of the core. Of the support ring, and at least the end collar and the large-diameter ring are rotatably provided with their rotational axis positions fixed. Each rotating body is cylindrical and flexible, and the support ring is inserted into the inner diameter, and both ends are sandwiched between the end face collars and compressed in the direction of the axis of rotation. An omnidirectionally moving wheel characterized in that it is curved so as to surround the outer periphery of the wheel in a ring shape and is rotatably held around a rotational axis of a curve along the same vertical plane with respect to the rotational axis of the wheel body. And

Claims (4)

A wheel body, a plurality of rotating body support members, a plurality of fixing members, a plurality of core members, a plurality of support rings, and a plurality of rotating bodies;
The wheel body has a plurality of hollow chambers around the axle, and has a plurality of communication grooves communicating with the hollow chambers at equal angular intervals with respect to the axle on the outer periphery, and crosses each hollow chamber and each communication groove. And can be divided into two on a plane perpendicular to the axle,
Each rotating body support member is inserted into each communication groove and provided radially on the wheel main body, and has a tip portion protruding from the outer periphery of the wheel main body and having a through hole, and a base portion disposed inside each hollow chamber. ,
Each fixing member has elasticity and is provided so that each rotating body support member can be fixed between the inner wall of the outer peripheral side of the wheel body of each hollow chamber and the base of each rotating body support member,
In the omnidirectional moving wheel in which the core material connects a plurality of short cylinders so as to form a ring, and the outer contour of the ring-shaped core material forms a polygon,
The core member has a spoke groove for locking each rotating body support member, a support ring groove for determining the position of the support ring in the rotation axis direction, a slide groove for positioning a plurality of lock pieces, and a slide screw. It is inserted into the inside of the ring and the through hole of each rotating body support member and fixed to each rotating body support member,
The plurality of support rings are a combination of an end face collar, a large diameter ring, and a small diameter ring. Each support ring has an outer contour that moves in all directions when the inner diameter surface contacts the outer contour surface of the core. It is configured so as to coincide with the same circle centered on the axle of the wheel, and at least the end face collar and the large diameter ring of the support ring are rotatably provided with their rotational axis positions fixed. And
Each rotating body is cylindrical and has the flexibility to bend the rotating shaft, the support ring is inserted into the inner diameter, both ends are sandwiched between the end face collars and compressed in the direction of the rotating shaft, and assembled. An omnidirectional curve characterized in that the outer periphery of the wheel body is curved so as to surround the outer periphery of the wheel body, and each rotating body is rotatably held around a rotational axis of a curve along the same vertical plane with respect to the axle. Moving wheels.   2. The omnidirectional device according to claim 1, wherein the rotating body has a trapezoidal ring-shaped ridge or a spiral ridge formed on an outer diameter of an elastic cylinder having a thickness of 0.5 to 2 mm. Moving wheels.   3. The omnidirectional moving wheel according to claim 1, wherein the rotating body has a multi-layer structure in which a cylinder of a highly elastic material having a thickness of 1 to 5 mm is joined to an inner diameter of the elastic material cylinder.   The mobile vehicle provided with the omnidirectional moving wheel of any one of Claims 1-3.

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