JP3142017U - Omnidirectional wheel - Google Patents

Abstract

The present invention provides an omnidirectional moving wheel that is less likely to damage a floor or the like and is less likely to break down by preventing a gap from being generated between the rotating body and the rotating body support member.
Each rotating body support member is provided radially on a wheel main body, and has a front end portion projecting from the outer periphery of the wheel main body and a through hole provided in the front end portion. Each rotating body 14 is cylindrical and has flexibility capable of bending the rotating shaft. Each rotating body 14 is curved so as to surround the outer periphery of the wheel main body 11 in a ring shape, and can be rotated around a rotation axis of a curve along the same vertical plane with respect to the rotation axis of the wheel main body 11. It is supported by the front end portion 24 of the adjacent rotating body support member 12. A core member 17 is inserted into each rotating body 14 and into the through hole 26. In the core member 17, the central axis of the portion that passes through each rotating body support member 12 is perpendicular to the protruding direction of each rotating body support member 12.
[Selection] Figure 2

Description

  The present invention relates to an omnidirectional moving wheel.

As conventional omnidirectional moving wheels, there are the following wheels developed by the present inventors (see, for example, Patent Document 1). That is, each rotating body support member provided radially on the wheel main body has a front end protruding from the outer periphery of the wheel main body and a through hole provided in the front end so as to face the outer periphery of the wheel main body. ing. The cylindrical rotating body has the flexibility to bend the rotation axis, and is curved so as to surround the outer periphery of the wheel body in a ring shape, and each curve rotates along the same vertical plane with respect to the rotation axis of the wheel body. Both ends are supported by the tip portions of adjacent rotating body support members via end face collars so as to be rotatable about an axis, and the inside communicates with the through hole. A ring-shaped core member is inserted into the inside of each rotating body and the through-hole of each rotating body support member, and is fixed to each rotating body support member. Thus, an omnidirectional moving wheel is configured.
According to this omnidirectional moving wheel, since each rotating body can be grounded by point contact, it is possible to travel even on rough roads and curved surfaces having irregularities. Further, even when a load is applied to each rotating body, each rotating body support member can reduce the displacement of the rotating shaft so as not to affect riding comfort.

Utility Model Registration No. 3130323

  In the omnidirectional moving wheel described in Patent Document 1, when the axle is fixed at a position where the rotating body support member faces the floor or the like, a portion of the rotating body that contacts the floor or the like is continuously weighted, and the portion is There is a possibility that a gap is generated between the end surface collar of the rotating body and the rotating body support member by moving in the direction away from the rotating body support member along the core material. If the gap is generated, the rotating body support member may be exposed and come into contact with the ground. In this state, if the rotating body is rotated around the rotation axis of the rotating body and the direction is changed, the rotating body support member may damage the floor or the like. There was a risk of wearing. In addition, dust or dust may be caught in the gap between the end surface collar of the rotating body and the rotating body support member, which may cause a failure.

  The present invention has been made paying attention to such a conventional problem, and by preventing a gap from being generated between the rotating body and the rotating body support member, it is difficult to damage the floor or the like. It aims to provide a difficult omnidirectional wheel.

  In order to achieve the above object, an omnidirectional moving wheel according to the present invention has a wheel body, a plurality of rotating body support members, a plurality of rotating bodies, and a core material, and each rotating body support member is attached to the wheel body. A tip provided radially and protruding from the outer periphery of the wheel main body and a through hole penetrating in a direction along the outer periphery of the wheel main body are provided in the tip, and each rotating body is cylindrical and has a rotating shaft. It has a bendable flexibility, is curved so as to surround the outer periphery of the wheel body in a ring shape, and can rotate around a rotation axis of a curve along the same vertical plane with respect to the rotation axis of the wheel body, Both ends are supported by the tip portion of the rotating body support member, the inside communicates with the through hole, the core is ring-shaped, and the inside of each rotating body and the through hole of each rotating body support member Each rotating body support inserted A central axis of a portion passing through each rotating body support member is perpendicular to a protruding direction of each rotating body support member along a plane perpendicular to the rotation axis of the wheel body, or rotation of the wheel body It is characterized in that it is inclined to move away from the rotating shaft as it moves away from the position of each rotating body support member along a plane perpendicular to the shaft.

  In the omnidirectional moving wheel according to the present invention, each rotating body is provided so as to be rotatable about a rotating axis of a curve along the same vertical plane with respect to the rotating axis of the wheel body. It can be rotated in a direction perpendicular to the direction of rotation. Thereby, even if the axle is fixed, the wheel can roll in an arbitrary direction on the road surface. Since each rotating body is provided so as to surround the outer periphery of the wheel body in a ring shape, the rotating body can be grounded by point contact, and can travel on rough roads and curved surfaces with irregularities. .

  Since both ends of each rotating body are supported by the tip portions of the adjacent rotating body support members, when a load is applied to each rotating body, the displacement of the rotating shaft can be reduced so as not to affect the riding comfort. it can. Moreover, each rotating body can be rotated while maintaining the curvature of the rotating shaft. Since the core material forms a strong ring reinforced by the rotating body support member, excessive displacement as a wheel can be suppressed. In addition, the rotating body can be prevented from being greatly deformed and damaged.

  In the omnidirectional moving wheel according to the present invention, the central axis of the portion of the core member that penetrates each rotating body support member is perpendicular to the protruding direction of each rotating body support member along the vertical plane with respect to the rotation axis of the wheel body. Or is inclined so as to move away from the rotating shaft as it moves away from the position of each rotating member supporting member along the vertical plane with respect to the rotating shaft of the wheel body, so that the rotating member supporting member faces the floor or the like. When the axle is fixed, even if a portion of the rotating body that is in contact with the floor or the like is continuously weighted, the portion does not move away from the rotating body support member. In particular, the central axis of the portion of the core member that penetrates each rotating body support member is inclined so as to move away from the rotating shaft as it moves away from the position of each rotating body support member along the plane perpendicular to the rotation axis of the wheel body. In this case, a portion of the rotating body that is grounded to the floor or the like is pressed against the rotating body support member along the inclination of the central axis. For this reason, it can prevent that a clearance gap produces between a rotary body and a rotary body support member. Further, since the rotator support member is not exposed due to a gap, it is possible to prevent the rotator support member from scratching the floor or the like. It is also possible to prevent a dust or dust from being caught in the gap between the rotating body and the rotating body support member and causing a failure.

The omnidirectional moving wheel according to the present invention has a plurality of end face collars, and each end face collar is provided between both ends of each rotating body and each rotating body support member, and an insertion portion inserted into each rotating body; A flange portion provided at one end of the insertion portion so as to be in contact with an end surface of each rotating body, and the flange portion is softer than each rotating body support member and outward from the tip end portion of each rotating body support member. It is preferable that it protrudes.
In this case, when the axle is fixed at a position where the rotating body support member faces the floor or the like, a portion of the rotating body that is grounded to the floor or the like is continuously weighted, and even if the portion is deformed by weight, each end face Since the collar flange portion protrudes outward from the tip end portion of each rotating body support member, the soft flange portion is grounded, and the rotating body support member can be prevented from being grounded. Thereby, it can prevent that a floor | bed etc. are damaged with a rotary body support member.

  According to the present invention, it is possible to provide an omnidirectional moving wheel that is less likely to damage a floor or the like and is less likely to fail by preventing a gap from being generated between the rotating body and the rotating body support member.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
1 to 4 show omnidirectional wheels according to an embodiment of the present invention.
As shown in FIGS. 1 to 4, the omnidirectional moving wheel 10 includes a wheel body 11, a rotating body support member 12, a fixing member 13, a rotating body 14, a support ring 15, an end surface collar 16, and a core material 17. ing.

  As shown in FIGS. 1 and 2, the wheel main body 11 is made of metal or plastic, has a disk shape, and has a shaft hole 21 for inserting the axle 1 in the center. The wheel main body 11 is rotatable about the axle 1 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. 2, the wheel main body 11 has four hollow chambers 22 around the rotation axis, and has four communication grooves 23 communicating with the respective hollow chambers 22 on the outer periphery. Each communication groove 23 is formed to form a radial shape from each hollow chamber 22 toward the outer periphery at equal angular intervals with respect to the rotation axis. The wheel body 11 is divided across the hollow chambers 22 and the communication grooves 23. As shown in FIG. 1, the wheel main body 11 is configured to fix two portions with bolts 11 a and nuts. The wheel body 11 has a number of hollow portions in addition to the hollow chambers 22 for weight reduction.

  As shown in FIG. 2, the rotating body support member 12 has a thin plate shape, has a circular distal end portion 24 at one end, and has a base portion 25 bent perpendicularly to one surface side at the other end. . The rotating body support member 12 has a through hole 26 penetrating in the thickness direction at the distal end portion 24. As shown in FIG. 1, there are four rotating body support members 12, each of the communication grooves 23 in a state where the distal end portion 24 protrudes from the outer periphery of the wheel body 11 and the base portion 25 is disposed inside each hollow chamber 22. The wheel body 11 is provided radially. Each rotating body support member 12 is provided such that each through hole 26 faces in a direction along the outer periphery.

  As shown in FIG. 2, the fixing member 13 is made of urethane having elasticity with a Shore hardness of about A50, and has a cylindrical shape. The fixing member 13 has characteristics that creep is small and compression durability is large. Eight fixing members 13 are used, and two fixing members 13 are used for one rotating body support member 12. Each fixing member 13 is inserted between the inner wall of each hollow chamber 22 on the outer peripheral side of the wheel main body 11 and the base portion 25 of each rotating body support member 12. Each fixing member 13 is deformable inside each hollow chamber 22 and can be fixed in a state in which each rotating body support member 12 is pressed in the direction of the rotation center of the wheel body 11.

  As shown in FIG. 1, the rotating body 14 has a cylindrical shape and includes a coil spring and an elastic body. The coil spring is made of rigid polyolefin and has strength anisotropy depending on the shape. The coil spring has flexibility capable of bending the rotating shaft and bending resistance in a direction perpendicular to the rotating shaft. The elastic body is made of soft polyurethane and covers the outside of the coil spring in a bellows shape. The elastic body is formed integrally with the coil spring. The rotating body 14 may be made of a commercially available flexible hose.

  As shown in FIG. 2, the support ring 15 has a cylindrical shape having a predetermined thickness and length. The support ring 15 has an outer diameter slightly smaller than the inner diameter of the rotating body 14 and an inner diameter slightly larger than the outer diameter of the core member 17. Five support rings 15 are inserted into one rotating body 14.

  As shown in FIG. 3, each end face collar 16 has a predetermined thickness and length, and has a cylindrical insertion portion 27 and a flange portion 28. The insertion portion 27 has an outer diameter that is substantially the same as the inner diameter of the rotating body 14, and has an inner diameter that is slightly larger than the outer diameter of the core member 17. The flange portion 28 is made of soft polyurethane, has elasticity, and is provided at one end of the insertion portion 27. The flange portion 28 has an outer diameter that is slightly smaller than the outer diameter of the rotating body 14. Each end face collar 16 has two protrusions 29 provided concentrically with the hollow outer edge on the end face on the flange portion 28 side.

  As shown in FIG. 2, each end face collar 16 is joined in close contact with both ends of each rotary body 14 by inserting the insertion part 27 into each rotary body 14 so that the flange portion 28 is in contact with the end face of each rotary body 14. Has been. Each end collar 16 is attached to both ends of the rotating body 14 with the flange portions 28 on the outside with the five support rings 15 sandwiched therebetween.

  As shown in FIG. 1 and FIG. 2, there are four rotating bodies 14, which have flexibility capable of bending the rotating shaft, and are attached to bend so as to surround the outer periphery of the wheel body 11 in a ring shape. Yes. Each rotating body 14 is attached so as to be rotatable around a rotational axis of a curve along the same vertical plane with respect to the rotational axis of the wheel body 11. Each rotating body 14 is attached so that the inside thereof communicates with the through hole 26 of each rotating body support member 12, and each protrusion 29 of the flange portion 28 of each end face collar 16 contacts the surface of each rotating body support member 12. ing. Each end face collar 16 is provided on the outer peripheral side of each rotary body 14 provided in a ring shape so that the flange portion 28 protrudes outward from the front end portion 24 of each rotary body support member.

  As shown in FIGS. 2 and 4, the core member 17 has a ring shape, and the cross section perpendicular to the central axis has the same shape, and the outer shape of the cross section is the same as the shape of the through hole 26 of the rotating body support member 12. It has almost the same shape. The core material 17 can be divided into two semicircular portions. The core member 17 has four cut portions 30 for hooking and positioning each rotary member support member 12 on the outer side surface. The core member 17 is inserted into each support ring 15 and each end face collar 16 and into the through hole 26 of each rotary member support member 12. The core member 17 is fixed to each rotary body support member 12 so that each rotary body support member 12 is fitted in each cut portion 30. Thereby, each rotary body 14 is supported by the front-end | tip part 24 of the adjacent rotary body support member 12 via the end surface collar 16 and the core material 17 of both ends, respectively. Further, in the core member 17, the central axis of the portion 31 penetrating each rotating body support member 12 is perpendicular to the protruding direction of each rotating body support member 12 along a vertical plane with respect to the rotation axis of the wheel body 11. . A portion 31 that penetrates each rotating body support member 12 extends to both sides with each rotating body support member 12 interposed therebetween.

Next, the operation will be described.
In the omnidirectional moving wheel 10, each rotating body 14 is provided so as to be rotatable around a rotating axis of a curve along the same vertical plane with respect to the rotating axis of the wheel main body 11. It can be rotated in a direction perpendicular to the rotation direction. Thereby, even if the axle 1 is fixed, the wheels can roll in any direction on the road surface. Since each rotating body 14 is provided so as to surround the outer periphery of the wheel body 11 in a ring shape, each rotating body 14 can be grounded by point contact, and travels on rough roads and curved surfaces with unevenness. can do. Since both ends of each rotating body 14 are supported by the tip portions 24 of the adjacent rotating body support members 12, when a load is applied to each rotating body 14, the displacement of the rotating shaft does not affect the riding comfort. Can be small. Moreover, each rotating body 14 can be rotated while maintaining the curvature of the rotating shaft in general.

For example, as shown in FIG. 5, when the central axis of the core material 51 is circular, the rotating body 53 and the end face collar 54 are fixed when the axle is fixed at a position where the rotating body support member 52 faces the floor or the like. The end face collar which is continuously weighted on the part grounded to the floor of the metal, moves in the direction away from the rotating body support member 52 along the shape of the core material 51, and is in close contact with the rotating body 53. There is a possibility that a gap is generated between the rotating body support member 52 and the rotating body support member 52.
On the other hand, in the omnidirectional moving wheel 10, the central axis of the portion 31 of the core member 17 provided on both sides of each rotating body support member 12 is perpendicular to the protruding direction of each rotating body support member 12. Therefore, even if the axle 1 is fixed at a position where the rotating body support member 12 faces the floor or the like and the portion of the rotating body 14 or the end face collar 16 that contacts the floor or the like is continuously weighted, the portion is It does not move in the direction away from the rotating body support member 12. For this reason, it is possible to prevent a gap from being generated between the end surface collar 16 and the rotating body support member 12 which are in close contact with and bonded to the rotating body 53. Further, since the rotator support member 12 is not exposed due to a gap, it is possible to prevent the rotator support member 12 from scratching the floor or the like. It is also possible to prevent failure due to dust, dust or the like being caught in the gap between the end face collar 16 and the rotating body support member 12 which are in close contact with the rotating body 53.

  When the axle 1 is fixed at a position where the rotating body support member 12 faces the floor or the like, a portion of the rotating body 14 that is grounded to the floor or the like is continuously weighted, and even if the portion is deformed by weight, each end face Since the flange portion 28 of the collar 16 protrudes outward from the distal end portion 24 of each rotary body support member 12 on the outer peripheral side of each rotary body 14, the soft flange portion 28 is grounded, and the rotary body support member 12. Can be prevented from being grounded. Thereby, it is possible to prevent the floor or the like from being damaged by the rotating body support member 12. Moreover, since the flange part 28 is soft, it can absorb an impact when it touches down and can make riding comfort comfortable. Since each end face collar 16 is tightly bonded to both ends of each rotating body 14, there is no gap between each end face collar 16 and each rotating body 14, and dust or dust is prevented from being caught. Can do.

  The omnidirectional moving wheel 10 is assembled as follows. First, the divided core members 17 are arranged in a substantially ring shape, and a predetermined number of the rotating body support members 12, the rotating bodies 14, the support rings 15, and the end face collars 16 are attached to the outer circumferences of the respective rotating bodies 14. It is constrained and compressed toward the center of the wheel so that the grid line of the rotating body 14 coincides with the outer diameter of the wheel, and the core member 17 is connected to form a single ring without a gap. At this time, each rotating body support member 12 has a shape projecting radially toward the center of the axle 1 inside the rotating body 14 arranged in a donut shape. Next, the fixing member 13 is adhered and temporarily fixed to the base 25 of each rotating body support member 12, and the rotating body support member 12 is divided into two so as to fit into the predetermined communication groove 23. Each rotating body support member 12 is sandwiched from both sides. As a result, each fixing member 13 is compressed between the inclined inner wall on the outer peripheral side of each hollow chamber 22 of the wheel body 11 and the base portion 25 of each rotating body support member 12, so that the rotating body is supported by the compression repulsive force. The effect of pressing the base portion 25 of the member 12 toward the center of the wheel is obtained, and the core member 17 is fixed as a single stronger ring to form a lightweight and durable wheel. Thus, although the omnidirectional moving wheel 10 has individual parts with a simple shape, it is easy to assemble and can reduce the manufacturing cost.

  Since the omnidirectional moving wheel 10 forms a strong ring in which the core member 17 is reinforced by the rotating body support member 12, excessive displacement as a wheel can be suppressed. Further, the inner wall of the rotating body 14 can be supported by the support ring 15 and the end face collar 16, and excessive displacement can be suppressed. As described above, the core member 17, the support ring 15, and the end face collar 16 can prevent the rotating body 14 from being greatly deformed and damaged. Each of the rotating body support members 12 is hooked on the ring-shaped core material 17, and a tension toward the center of the wheel body 11 is applied to each of the rotating body support members 12 by each fixing member 13, thereby making the core material 17 into a strong arch shape. Can increase the strength.

  In addition, the omnidirectional moving wheel 10 may have a plurality of holes penetrating in the thickness direction in addition to the through-holes 26 in order to reduce the weight. Further, in order to extend the life, the coil spring of each rotating body 14 may have a reinforcing core material such as a wire or a fiber material inside. Although the end face collar 16 and the support ring 15 are sliding bearings, the end face collar 16 and the support ring 15 may be used as rolling bearings for applications that require low rotational resistance.

It is a perspective view which shows the omnidirectional movement wheel of embodiment of this invention. It is a longitudinal cross-sectional view of the omnidirectional moving 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 side view which shows the core material of the omnidirectional movement wheel shown in FIG. It is a longitudinal cross-sectional view which shows the conventional omnidirectional moving wheel.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Axle 10 Omnidirectional movement wheel 11 Wheel main body 12 Rotating body support member 13 Fixed member 14 Rotating body 15 Support ring 16 End surface collar 17 Core material 21 Shaft hole 22 Hollow chamber 23 Communication groove 24 Tip part 25 Base part 26 Through hole 27 Insertion part 28 Flange part 29 Projection part 30 Cut part 31 part

Claims (2)

A wheel body, a plurality of rotating body support members, a plurality of rotating bodies, and a core material;
Each rotating body support member is provided radially on the wheel body, and has a tip portion protruding from the outer periphery of the wheel body and a through hole penetrating in a direction along the outer periphery of the wheel body at the tip portion.
Each rotating body has a cylindrical shape and is flexible so that the rotating shaft can be bent. The rotating body is curved so as to surround the outer periphery of the wheel body in a ring shape and is along the same vertical plane with respect to the rotating shaft of the wheel body. Both ends are supported by the tip portion of the rotating body support member so as to be rotatable around the rotational axis of the curve, and the inside communicates with the through hole,
The core material is ring-shaped, and is inserted into the inside of each rotating body and the through hole of each rotating body support member and fixed to each rotating body support member, and the central axis of the portion passing through each rotating body support member is As it is perpendicular to the protruding direction of each rotating body support member along a vertical plane with respect to the rotation axis of the wheel body, or as it moves away from the position of each rotating body support member along the vertical plane with respect to the rotation axis of the wheel body, Be inclined away from the axis of rotation,
Features omnidirectional moving wheels. Having multiple end face collars,
Each end surface collar is provided between both ends of each rotating body and each rotating body support member, and is provided at one end of the insertion section so as to be in contact with an end surface of each rotating body, and an insertion section inserted into each rotating body. A flange portion, and the flange portion is softer than each rotating body support member and protrudes outward from the tip portion of each rotating body support member.
The omnidirectional moving wheel according to claim 1, wherein:

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