JP4978873B2 - Fully driven wheel with rotating body and inverted control unicycle - Google Patents

Description

  The present invention includes a plurality of rotating bodies that are driven and rotated in a direction orthogonal to the straight traveling direction of a wheel by a driving source different from the wheel around the wheel that is driven and rotated in the straight traveling direction, and are omnidirectional on a plane. In particular, the present invention relates to a wheel with an all drive type rotator and an inverted control type unicycle in which all rotators are actively rotated instead of passively rotating.

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

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

  The wheel with a rotating body described in Patent Document 2 includes a plurality of rotating bodies that are rotated in a direction orthogonal to the straight traveling direction of the wheel around the wheel that is driven and rotated in the straight traveling direction. , Supported rotatably around a rotation axis that intersects the radial direction about the axle, and the diameter of the front end corresponding to the front side of the wheel rotation direction is smaller than the diameter of the rear end, So that the tip of each rotating body can be close to the base end of the adjacent rotating body, so that the tip of each rotating body is close to the base of the adjacent rotating body. It is the structure which has penetrate | invaded partially into the recessed part formed in the part.

  The wheel for omnidirectional movement described in Patent Document 3 is arranged by connecting a plurality of barrel-shaped division rollers adjacent to each other on the outer side of the wheel, and a plurality of barrel-shaped division rollers whose outer surfaces coincide with the outer circumference of the wheel, Each barrel-shaped dividing roller is supported by a support member and a roller shaft, and includes power transmission means for transmitting a rotational force to one barrel-shaped dividing roller.

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

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

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

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

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

  As shown in FIG. 15, the omnidirectional moving wheel described in Patent Document 3 and the moving conveyance mechanism described in Patent Document 4 include a forward direction A and a reverse direction B that rotate the wheel without rotating the rotating body. The vehicle can travel in a total of 8 directions, ie, the lateral directions C and D that rotate the rotating body without rotating the wheel, and the diagonal directions E, F, G, and H that rotate the rotating body while rotating the wheel. It does not have a function to change direction.

  Therefore, the present inventor, about the wheel with a rotating body described in Patent Document 1 and Patent Document 2, even when the rotating wheel meets a step, while the rotating wheel rotates and generates a lateral movement component, As a solution to overcome this step, the driving of Patent Document 3 and Patent Document 4 is further considered as a structure for driving a rotating wheel, and the present invention has been completed through various ingenuity. is there.

Further, the inventor of the present invention paid attention to the following problems when driving a rotating wheel with respect to a wheel with a rotating body having rotating wheels described in Patent Document 1 and Patent Document 2.
That is, the rotating body described in Patent Document 1 has a barrel shape with a small diameter at both ends and a large center, and when rotating at a predetermined speed, the rotational speed of the rotating wheel continuously changes due to different installation positions. In addition, the rotating body described in Patent Document 2 is a semi-spindle type, and the rotation speed of the rotating wheel continuously changes due to different installation positions, and at the same time the large-diameter end of one rotating body that contacts the ground. Since the peripheral speed of the part and the small-diameter end of the other rotating body are different and the speed drops when changing from the large-diameter end to the small-diameter end, the state of changing from the large-diameter end to the small-diameter end is just a step. When it corresponds to, it will be locked and there is a possibility that the step cannot be overcome. Furthermore, the traveling direction may change due to the difference in peripheral speed between the large-diameter end of one rotating body and the small-diameter end of the other rotating body that are simultaneously grounded.

  The present invention has been devised in view of the above-described points. When the vehicle travels forward without rotating the rotating body by rotating the wheel, when traveling backward, and when traveling diagonally (rotating the rotating body by rotating the wheel) Provided with a wheel with an all-drive rotator and an inverted control type unicycle that can change the direction to the right or left at least when moving forward (when moving forward diagonally to the left, moving backward in the diagonally right direction, or moving backward in the diagonally left direction) The purpose is to do.

  The present invention provides a wheel with an all drive type rotating body and an inverted control type unicycle, in which all the rotating wheels are individually driven to rotate without passing through rotation transmission by a chain of rotating wheels so that the rotating wheels can smoothly get over the step. It is intended to provide.

  In addition, the present invention does not change the peripheral speed even if the diameter of the ground contact position of the rotating wheel changes due to the rotating wheel having a semi-spindle shape or a barrel shape. It is a further object to provide a wheel with an all-drive rotator and an inverted control type unicycle that can be stabilized and ride comfort is improved.

  In order to achieve the above object, a wheel with an all-drive rotator of the present invention is rotatably supported by a vehicle body frame and driven and rotated by a traveling motor supported by the vehicle body frame. A plurality of rotating bodies that have a peripheral surface that forms a circular arc of a wheel outer circumference circle and that is transmitted with the rotational power of the motor for rotating bodies and is driven to rotate in a direction orthogonal to the straight direction of the wheels; a traveling motor; A control unit that controls the rotation of the motor for the rotating body, and each of the plurality of rotating bodies receives the rotational power of the first rotating body motor individually from each other of the first group of rotating bodies, Each of the remaining second group of rotating bodies is configured to individually transmit the rotational power of the second rotating body motor, and the control unit is, among forward traveling, reverse traveling and oblique traveling, Command to change direction to right or left at least when moving forward When a force is applied, the grounding state of one rotating body ends and the grounding state of the next one rotating body starts, and the rotation in which the grounding state ends at the time when both of the two rotating bodies are in the grounding state. The configuration is such that the first and second motors for the rotating body are controlled so that the peripheral speed of the body and the peripheral speed of the rotating body where the ground contact state starts are different.

According to the present invention, when a command for changing the direction to the right or left is input to the control unit at the time of forward movement or reverse rotation when the wheel is rotated at the time of forward movement or backward movement and the rotating body is not rotated, As described above, the first and second rotating body motors are controlled differently depending on whether the first and second rotating body motors are provided outside the wheel or in the wheel. Of the first and second rotating body motors, the grounding state starts for one rotating body motor that drives and rotates the rotating body that starts the grounding state during the time period when both of the rotating bodies are in the grounding state. It is not different in performing the control to make the peripheral speed of the rotating body different from the peripheral speed of the rotating body where the grounding state ends, by applying the first and second rotating body motors alternately. .
With this control, the direction can be changed to the right or left when moving forward or backward. This control at the time of forward movement or reverse movement is performed in the same way regardless of whether the rotating body is a semi-spindle shape, a barrel shape, or a substantially short cylindrical shape.

According to the present invention, the plurality of rotating bodies are formed in a semi-spindle shape, or a barrel shape having a large diameter and a barrel shape having a small diameter are alternately arranged, and a part of the end portion having a small diameter is formed. In the case of a configuration provided in a state of entering the large end portion of the adjacent rotating body and a state in which a part of the end portion having a small diameter enters the large end portion of the adjacent rotating body, When the controller is running diagonally (when moving forward diagonally in the right direction, moving forward diagonally in the left direction, moving backward in the diagonally right direction, or moving backward in the diagonally left direction), even if the diameter of the grounding position of the rotating body changes The first and second rotating body motors are controlled so that the peripheral speed of the diameter portion becomes a predetermined speed, and the large-diameter end portion of one rotating body and the small-diameter end portion of the other rotating body; Are simultaneously grounded, the first and second rotating bodies so that the peripheral speed of the large-diameter end and the peripheral speed of the small-diameter end coincide with each other. The motor to have a phase shifting control.
Further, when a command for changing the direction to the right or left is input during traveling in an oblique direction, the grounding state of the first and second rotating body motors is started only during a time period in which the two rotating bodies are both in the grounded state. For one of the rotating body motors that drives and rotates the rotating body, the first and the second are controlled so that the peripheral speed of the rotating body where the grounding state starts differs from the peripheral speed of the rotating body where the grounding state ends. Apply the two rotating body motors alternately.
With this configuration, it is possible to stabilize the lateral speed component when traveling in an oblique direction, and to change the direction from oblique traveling to the right or left.

  According to the present invention, when the plurality of rotating bodies have a barrel shape of the same size, the control unit can reduce the diameter portion of the grounding position even when the diameter of the grounding position of the rotating body changes during oblique driving. When the speed change control is performed on the first or second rotating body motor so that the peripheral speed of the second rotating body becomes a predetermined speed, and a command for changing the direction to the right or left when traveling diagonally is input, the two rotating bodies Of the first and second rotating body motors, only one rotating body motor that drives and rotates the rotating body that starts the grounding state during the time period in which both are in the grounding state, the peripheral speed of the rotating body that starts the grounding state is The control for making the control different from the peripheral speed of the rotating body at which the grounding state ends is applied by alternating the first and second rotating body motors. With this configuration, it is possible to stabilize the lateral speed component when traveling in an oblique direction, and to change the direction from oblique traveling to the right or left.

  When a plurality of rotating bodies have a substantially short cylindrical shape of the same size, when the controller inputs a command to change the direction to the right or left when traveling in an oblique direction, the two rotating bodies are both grounded. Of the first and second rotating body motors, the rotating body that starts the grounding state is driven and rotated only during the time zone in which the grounding state starts. Applying the control to make the difference with respect to the peripheral speed of the rotating body at the end of the first and second rotating body motors is applied alternately. With this configuration, it is possible to change the direction from running diagonally to the right or left.

When moving forward or backward, the wheel is rotated and the rotating body is not rotated. When traveling in an oblique direction, the wheel is rotated and the rotating body is rotated.
The present invention includes both cases where the first and second rotating body motors are provided outside the wheel and inside the wheel. When the first and second rotating body motors are provided outside the wheel, the first and second rotating body motors are rotated in synchronization with the traveling motor, so that the first group and the second group are rotated. The first and second group of rotating bodies can be rotated by causing the first and second rotating body motors to rotate asynchronously with the traveling motor. Can do.
On the other hand, when the first and second rotating body motors are provided in the wheel, the first and second rotating body motors can be rotated regardless of the rotation of the traveling motor. The first group and the second group of rotating bodies can be rotated. In this case, slip rings and brushes are used to supply power to the first and second rotating body motors, and control is performed by communication.
The above control is different between the case where the first and second rotating body motors are provided outside the wheel and the case where they are provided inside the wheel, if attention is paid to the rotational speed of the motor. If attention is paid to the rotation of the body, the same control is understood.

  An inverted control type unicycle according to the present invention includes a wheel with an all-drive type rotator configured as described above, and the control unit performs an inversion control in the front-rear direction of the vehicle with respect to the traveling motor, and the first and second rotations. Inverting control in the lateral direction of the vehicle is performed on the body motor.

  According to the present invention, every other first group of rotating bodies individually transmits the rotational power of the first rotating body motor, and every other second group of rotating bodies is second. When the rotational power of the motor for the rotating body is individually transmitted and a command for changing the direction to the right or left is input at least when moving forward, the grounding state ends in the time zone when the two rotating bodies are both grounded. Since the controller controls the first and second rotating body motors so that the peripheral speed of the rotating body and the peripheral speed of the rotating body where the ground contact state starts are different, at least when moving forward, the direction is to the right or left Can be converted. In addition, all the semi-spindle-shaped or barrel-shaped rotating wheels are individually driven to rotate without passing through the rotation transmission between the rotating wheels. The attached wheel and the inverted control type unicycle can be provided.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic side view of a first embodiment of the present invention in which a wheel with a fully driven rotor is applied to an inverted control type unicycle. It is a schematic perspective view which shows the internal structure of the inverted control type unicycle with an all drive type rotary body of FIG. It is a typical longitudinal cross-sectional view which shows the internal structure of the inverted control type unicycle of FIG. It is an IV-IV arrow line view of the inverted control type unicycle of FIG. It is a movement direction figure which shows the direction which can move the inverted control type unicycle of FIG. It is a figure for demonstrating the control which changes direction from the forward drive or reverse drive of the inverted control type unicycle of FIG. It is explanatory drawing of one pattern made to change direction from a forward drive or reverse drive. It is explanatory drawing of the other pattern to which direction change is carried out from a forward drive or reverse drive. It is explanatory drawing of the other pattern to which direction change is carried out from a forward drive or reverse drive. It is explanatory drawing of the other pattern to which direction change is carried out from a forward drive or reverse drive. It is a figure for demonstrating the driving | running | working state of the diagonal direction. It is a figure for demonstrating the shift control from which a phase differs at the time of the driving | running | working of the diagonal direction. It is a figure for demonstrating the control which changes direction from the driving | running | working of the diagonal direction. It is explanatory drawing of one pattern made to change direction from the driving | running | working of the diagonal direction. It is explanatory drawing of another one pattern to which direction change is carried out from the driving | running | working of an oblique direction. It is explanatory drawing of another one pattern to which direction change is carried out from the driving | running | working of an oblique direction. It is explanatory drawing of another one pattern to which direction change is carried out from the driving | running | working of an oblique direction. (A) is a figure which shows when the rotating body which carries out grounding at the time of lateral direction driving | running | working, (b) is a figure which shows when the rotational body which carries out grounding at the time of lateral running is two. It is a typical longitudinal section showing the internal structure of a wheel with a full drive type rotator concerning a 2nd embodiment of the present invention. It is a typical longitudinal section showing the internal structure of a wheel with all drive type rotating bodies concerning a 3rd embodiment of the present invention. It is a typical longitudinal section showing the internal structure of a wheel with a full drive type rotator concerning a 4th embodiment of the present invention. It is a typical longitudinal section showing the internal structure of a wheel with a full drive type rotator concerning a 5th embodiment of the present invention. It is a typical front view which shows the principal part of the wheel with a full drive type rotary body concerning 6th Embodiment of this invention. It is explanatory drawing which shows the speed change of a rotary body when changing direction at the time of driving | running | working to a forward direction or a reverse direction. It is explanatory drawing which shows the speed change of a rotary body when changing direction to the right at the time of driving | running | working to a forward direction or a reverse direction. It is explanatory drawing which shows the speed change of a rotary body when changing the direction to the left at the time of driving | running | working to a forward direction or a reverse direction. It is explanatory drawing which shows the speed change of a rotary body when changing direction at the time of the driving | running | working to the diagonal direction. (A) is explanatory drawing which shows the time of driving | running | working to the right diagonal direction, (b) is explanatory drawing which shows the speed change of a rotary body when changing the direction to the right at the time of driving | running to the right diagonal direction, (c) is diagonally right. It is explanatory drawing which shows the speed change of a rotary body when changing the direction to the left at the time of driving | running | working to a direction. (A) is explanatory drawing which shows the time of driving | running | working to the left diagonal direction, (b) is explanatory drawing which shows the speed change of a rotary body when changing to the left at the time of driving | running to the left diagonal direction, (c) is diagonally left. It is explanatory drawing which shows the speed change of a rotary body when changing the direction to the right at the time of driving | running | working to a direction. It is a schematic front view which shows the principal part of the wheel with a all drive type rotary body concerning 7th Embodiment of this invention. It is explanatory drawing which shows the speed change of a rotary body when changing direction at the time of driving | running | working to a forward direction or a reverse direction. It is explanatory drawing which shows the speed change of a rotary body when changing direction at the time of the driving | running | working to the diagonal direction. It is a typical front view which concerns on 8th Embodiment of this invention and shows the principal part of the wheel with a all drive type rotary body. FIG. 4 is three indication diagrams in which intensities indicated according to angles of a line for instructing forward / backward movement of a rotating body, a line for instructing lateral movement in the left and right directions, and a line instructing direction change are different.

Hereinafter, a wheel with an all drive type rotator and an inverted control type unicycle according to an embodiment of the present invention will be described with reference to the drawings.
[First Embodiment]
1 and 2 show a wheel with an all drive type rotating body according to the first embodiment. This wheel 1 with a fully-driven rotator shows a case where it is applied to an inverted control type unicycle, and has a saddle 11 that can be adjusted to a height at which the driver M can sit and land on both feet. The saddle 11 is provided at the top of the body frame 12. In FIG. 1, the saddle 11 has a left end 11a on the vehicle front side and a right end 11b on the vehicle rear side. As shown in FIG. 2, the vehicle body frame 12 is formed in a cylindrical shape from the middle, and the controller 13, the battery 14, and the traveling motor 15 are accommodated in the cylindrical vehicle body frame 12. is doing. As shown in FIGS. 2 to 4, the vehicle body frame 12 has a wheel 16 that is driven and rotated by a traveling motor 15 at a lower portion, and is arranged around the wheel 16 and rotates in a direction orthogonal to the straight traveling direction of the wheel. A first rotating body motor 18 for driving and rotating a wheel portion composed of a plurality of rotating bodies 17a and 17b and every other first group of rotating bodies 17a provided on both sides of the wheel 16 and the remaining one. A second rotating body motor 19 for driving and rotating the second group of rotating bodies 17b is accommodated. The body frame 12 includes a pair of steps 121 on both sides at the lower end, and each step 121 includes an auxiliary wheel 122 protruding from the lower surface. The wheel 1 with all-drive rotator is maintained in an upright state with three-point support including two auxiliary wheels 122 when the inverted control is not performed.

  The traveling motor 15 is connected to the wheel 16 via the rotation transmission mechanism 20. The rotation transmission mechanism 20 is wound around a small-diameter original pulley 20a provided on the motor output shaft, a large-diameter secondary pulley 20b integrally provided on the side surface of the wheel 16, and the original pulley 20a and the secondary pulley 20b. A winding mechanism comprising an endless V-belt 20c is employed. Note that a gear transmission mechanism may be used instead of the winding transmission mechanism.

  As shown in FIGS. 4 and 6, all of the rotating bodies 17a and 17b have a small-diameter end portion 171 corresponding to the downstream side in the forward rotation direction of the wheel and a large other end corresponding to the upstream side in the forward rotation direction of the wheel. It is formed in a semi-spindle shape of a two-part structure having a peripheral surface that is a radial end portion 172 and forms an arc of a wheel outer peripheral circle. Further, a part of the small-diameter end 171 of each rotating body is provided in a state of entering the large-diameter end 172 of the rotating body adjacent to the downstream side in the rotation direction of the wheel. Every other first group of rotating bodies 17a is rotated by the first rotating body motor 18. The remaining second group of rotating bodies 17b is rotated by the second rotating body motor 19.

  As shown in FIG. 2, each rotating body 17 a, 17 b is positioned between each bracket of a plurality of brackets 26 arranged outside the cylindrical portion of the wheel 16, and is supported by a shaft 27 supported at both ends by the bracket 26. The wheel 16 is supported so as to be rotatable about an axis that intersects the radial direction around the rotation axis of the wheel 16. Thereby, each rotary body 17a, 17b can rotate in the orthogonal direction with respect to the rectilinear direction of a wheel.

  As shown in FIG. 3, the all-drive type wheel with a rotating body 1 is provided in the internal space of each rotating body 17 a of the first group in order to individually drive and rotate each of the rotating bodies 17 a of the first group. The rotation of the driven bevel gear 21a as a “slave vehicle” positioned and fixed and the rotation of the first sun spur gear 22a driven and rotated by the first rotating body motor 18 is distributed and transmitted to the plurality of driven bevel gears 21a. And a first rotation distribution transmission mechanism 22. Further, the all-drive type wheel with a rotating body 1 is fixed in the inner space of each of the second group of rotating bodies 17b in order to individually drive and rotate the remaining second group of rotating bodies 17b. The driven bevel gear 21b as the “follower wheel” and the second sun spur gear 23a driven and rotated by the second motor 19 for the rotating body are distributed and transmitted to the plurality of driven bevel gears 21b. And a rotation distribution transmission mechanism 23. Further, the fully drive type wheel 1 with a rotating body includes an absolute encoder 24 that detects the phase of the wheel 16.

  According to the above configuration, the first rotation distribution / transmission mechanism 22 for driving each of the first group of rotating bodies 17a and each of the second group of rotating bodies 17b are driven. Since the second rotation distribution transmission mechanism 23 is provided in the wheel 16, even when the number of the rotating bodies 17a and 17b arranged on the outer periphery of the wheel 16 is large, the individual driving of all the rotating bodies 17a and 17b is performed. Can be realized.

  The absolute encoder 24 outputs the phase of the wheel (position in the rotational direction) to the control unit 13 and outputs a predetermined pulse per one rotation of the vehicle body to the control unit 13. Thereby, the control part 13 can input the signal output from the absolute encoder 24, can detect the phase of a vehicle body sequentially, and can obtain a vehicle speed at any time.

As shown in FIG. 3, the first rotation distribution / transmission mechanism 22 includes a first sun bevel gear 22 a, and the first sun bevel gear 22 a rotates every other first of the plurality of rotating bodies. Distribution is transmitted to the driven bevel gear 21a fixed to the rotating body 17a of the group by the following configuration.
The first rotation distribution transmission mechanism 22 includes a first sun bevel gear 22a, a plurality of planetary bevel gears 22b disposed around the first sun bevel gear 22a and meshing with the first sun bevel gear 22a, It consists of a planetary bevel gear 22b and a driving bevel gear 22c provided coaxially and integrally, and the driving bevel gear 22c meshes with the driven bevel gear 21a. The shafts of the first sun bevel gear 22 a and the planetary bevel gear 22 b are pivotally supported by the wheel 16.

As shown in FIG. 3, the second rotation distribution transmission mechanism 23 includes a second sun bevel gear 23 a, and the rotation of the second sun bevel gear 23 a is transferred to every other second group of rotating bodies 17 b. Distribution is transmitted to the fixed driven bevel gear 21b by the following configuration.
The second rotation distribution transmission mechanism 23 includes a second sun bevel gear 23a, a plurality of planetary bevel gears 23b disposed around the second sun bevel gear 23a and meshing with the second sun bevel gear 23a, It consists of a planetary bevel gear 23b and a driving bevel gear 23c provided coaxially and integrally, and the driving bevel gear 23c meshes with the driven bevel gear 21b. The shafts of the second sun bevel gear 23 a and the planetary bevel gear 23 b are supported by the wheel 16.
The control unit 13 includes a CPU, a ROM storing a program, a speed calculation unit 131, a pulse output unit 132, a traveling motor 15, a first rotating body motor 18, and a second rotating body motor. 19, motor drivers 133, 134, and 135 corresponding to 19, and a gyro sensor 136 are provided. The speed calculation unit 131 receives the signal output from the absolute encoder 24 and sequentially detects the speed of the vehicle body. The pulse output unit 132 receives the angle signal output from the absolute encoder 24, calculates the phase of the wheel, and performs pulse shifting so that a predetermined pattern of variable speed rotation is performed based on the phase and the speed calculated by the speed calculation unit 131. Is output.

  In the control unit 13, the CPU reads a program stored in the ROM and executes the program based on a travel control signal from an input device (control handle) (not shown) for performing travel control of the vehicle. Thereby, a required pulse is output from the pulse output unit 132 to the motor drivers 133 to 135 corresponding to the respective motors, and the traveling motor 15, the first rotating body motor 18, and the second rotating body motor 19 are output. Rotation control is performed.

  The gyro sensor 136 calculates the tilt angle and tilt angular velocity of the vehicle body frame 12 for performing the inversion control every extremely short time, and outputs the tilt angle and the tilt angular velocity to the control unit 13. Further, since the gyro sensor 136 travels in the direction desired by the driver on the unicycle, the gyro sensor 136 takes the posture in which the body frame 12 is tilted and the angular velocity of the body frame 12 every short time by taking the posture of moving the weight in the desired travel direction. And output to the control unit 13.

[Inverted control of wheel 1 with fully driven rotating body]
As shown in FIG. 1, the wheel 1 with a fully-driven rotator is maintained in a state where it is erected forwardly with three-point support including two auxiliary wheels 122 when the inverted control is not performed. When the start switch 25 provided at the rear upper end of the vehicle body frame 12 is turned on, the inversion control is started and the vehicle becomes independent as shown in FIG.

  The control unit 13 inputs an inversion control signal from the gyro sensor 136 and controls the driving of the traveling motor 15 in an inverted manner. As a result, the rotation of the wheel 16 is controlled to control the inversion of the vehicle body frame 12 in the front-rear direction of the vehicle. The control unit 13 controls the inversion of driving of the first and second rotating body motors 18 and 19. Thus, the rotation of the rotating bodies 17a and 17b is controlled, and the vehicle body frame 12 is inverted in the lateral direction.

[All-direction movement of wheel 1 with all-drive rotator]
As shown in FIGS. 1 and 2, in the wheel 1 with a fully-driven rotator, after the start of the inversion control, when the driver M puts both feet on the step 121 and tilts the upper body in the desired movement direction, The body frame 12 tilts in the direction of movement, and the gyro sensor 136 measures the tilt direction, tilt angle, and tilt angular velocity every very short time, and sends a detection signal to the control unit 13.
The wheel 1 with a fully-driven rotator further controls the rotation of the wheel 16 and the rotators 17a and 17b while the control unit 13 simultaneously performs the inversion control in the front-rear direction and the inversion control in the left-right direction of the vehicle. As shown in FIG. 5, the travel is omnidirectional movement including the direction change by performing drive control of the travel motor 15 and the first and second rotating body motors 18 and 19 as selectively performed. It can be performed.

As shown in FIGS. 3 and 5, the control unit 13 moves the body weight in the traveling direction, thereby moving the wheel 16 forward without rotating the rotating bodies 17 a and 17 b, and the backward direction of the arrow B. Direction, the horizontal direction of arrows C and D that rotate the rotating bodies 17a and 17b without rotating the wheel 16, and the diagonal direction of arrows E, F, G, and H that rotate the wheel 16 and rotate the rotating bodies 17a, 17b The motor is controlled so that it can travel in a total of eight directions.
Further, the control unit 13 changes the weight movement posture for tilting the vehicle body without returning, so that the arrow A1, the arrow A1, during the traveling in the forward direction, the backward direction, the lateral direction, and the oblique direction are traveled. As shown by A2, B1, B2, C1, C2, D1, D2, E1, E2, F1, F2, G1, G2, H1, and H2, motor drive control is performed so that the direction can be changed to the left and right.

FIG. 34 shows three instruction diagrams in which the instructing intensity is different depending on the angle between a line for instructing forward / reverse movement, a line for instructing left / right lateral movement, and a line for instructing direction change. . The line indicating forward / backward movement is indicated by a solid sine curve in the range of + 180 ° to -180 °. When the direction of weight movement is 0 °, the forward indication value is maximum, and when it is ± 180 ° The reverse indicator value becomes the maximum value. A thick alternate long and short dash line is shown in the range of + 180 ° to -180 °, the indication value is 0 when the direction of weight movement is in the range of + 45 ° to -45 °, and the indication value in the right direction when it is + 90 ° Becomes the maximum value, the indication value in the left direction becomes the maximum value at −90 °, and the indication value becomes 0 at ± 180 °. The line indicating the direction change is indicated by a thin dotted sine curve in the range of -90 ° to + 90 °. When the value is + 45 °, the indicated value for the direction change to the right is the maximum, and when it is –45 °. The maximum value is indicated for the direction change to the left.
The control unit 13 has data corresponding to FIG. 34 and a program for collating this data.
The control unit 13 synthesizes the angle value in the weight movement direction obtained from the gyro sensor 136 by combining the movement speed in the front-rear direction, the lateral movement speed, and the direction conversion speed along the three instruction lines shown in FIG. By instructing the unit 13, natural driving control can be realized based on the posture of shifting weight, and an extra sensor can be omitted.
In addition, you may provide the indicator which instruct | indicates direction change with respect to the control part 13. FIG. In FIG. 1, a potentiometer 30 is provided at the left end (front end of the vehicle) 11 a of the saddle 11 as an indicator that instructs the control unit 13 to change direction. The potentiometer 30 has an instruction lever 30a that swings to the left and right, and a spring that returns the instruction lever 30a to the center position. By swinging the instruction lever 30a to the right or left, the lever moves to the right according to the tilt. Alternatively, the conversion support signal is output to the control unit 13 in the left direction. In FIG. 2, as an indicator for instructing the direction change to the control unit 13, a pair of left and right steps 121 includes a pair of pressure sensors 31 a and 31 b, and when the pressure sensor 31 a or 31 b is pressed with a sole, The conversion support signal is output to the control unit 13 in the right direction or the left direction.

[Running control in forward direction A and reverse direction B]
When the driver M takes a posture in which the weight is shifted in the forward direction of the arrow A or the backward direction of the arrow B with respect to the vehicle 1 from the vertical posture in which the vehicle is stopped, the forward direction of the arrow A or the arrow B can travel in the reverse direction.

The control unit 13 corresponds to the driver M taking the weight movement posture, and as a result of calculation based on the control command input from the gyro sensor 136, the forward direction of the arrow A in FIG. The contents of the control for driving the vehicle are derived and the following control is performed.
The control unit 13 performs motor control so that the rotating bodies 17a and 17b do not rotate and the wheel 16 rotates forward or backward.

In this embodiment, since the first and second rotating body motors 18 and 19 are provided outside the wheel 16, the control unit 13 includes the first and second sun bevel gears 22a and 23a. The driving of the traveling motor 15 and the first and second rotating body motors 18 and 19 is controlled so that the rotation coincides with the rotation of the wheel 16. Thereby, the rotating bodies 17a and 17b do not rotate, and the wheel 16 can be controlled to rotate forward or backward.
Furthermore, in this embodiment, the traveling motor 15 decelerates and rotates the wheel 16 via the winding mechanism, and the first and second rotating body motors 18 and 19 are the first and second sun bevel gears 22a, 23a is configured to linearly rotate, if the reduction ratio of the winding mechanism is 1: 3, the control unit 13 performs the three rotations of the traveling motor 15 and the first and second rotating bodies. The motors 18 and 19 are controlled so as to be synchronized with one rotation.
Note that once the driver M returns to the vertical posture, the vehicle is stopped.

[Driving control that changes the direction from the traveling state of the forward direction A and the backward direction B to the right or left]
When the driver M changes from the posture in which the weight is moved in the forward direction A or the backward direction B of the vehicle to the posture in which the weight is moved in the oblique traveling direction without returning to the vertical posture in which the vehicle is stopped, as shown in FIG. From traveling in the forward direction of the arrow A or the backward direction of the arrow B, the direction can be changed to the right direction of the arrow A1 or B1, or the left direction of the arrow A2 or B2.
The control unit 13 responds to the driver M changing the weight movement posture, and as a result of the calculation based on the control command input from the gyro sensor 136, the forward direction A or the reverse direction B shown in FIG. From the traveling, the control contents for changing the direction to the right of the arrow A1 or B1 or the left of the arrow A2 or B2 are derived, and the following control is performed.

FIG. 6 is a diagram for explaining control for changing the direction from the traveling in the forward direction A or the backward direction B in FIG. 5 to the right direction of the arrow A1 or B1, or the left direction of the arrow A2 or B2.
The state in which the grounding state of one rotating body (second rotating body 17a from the right in the figure) ends and the grounding state of the next one rotating body (third rotating body 17b from the right in the figure) begins. Show. Every other first group of rotators 17a is driven and rotated by the first rotator motor 18 so as to obtain the first speed graph in FIG. Further, every other second group of rotating bodies 17b is driven and rotated by the second rotating body motor 19 so that the second speed graph in FIG. 7 is obtained. As shown in FIG. 6, when the first rotating body 17b from the right is a rotating body where the grounding state ends, and the second rotating body 17a from the right is a rotating body where the grounding state starts, the 2 Corresponding to the time when both of the rotating bodies are in the grounding state, the second rotating body 17a from the right at which the grounding state ends is intermittently rotated (portion of the mountain shape p1). Next, when the second rotating body 17a from the right is a rotating body where the grounding state ends, and when the third rotating body 17b from the right is a rotating body where the grounding state starts, the two rotating bodies are Corresponding to the time when both are in the grounded state, the third rotating body 17b from the right at which the grounded state ends is intermittently rotated (portion of mountain shape p1). Thus, every time the two rotating bodies are in the grounded state at the same time, the first and second rotating body motors 18 and 19 are alternately driven intermittently, so that the first group of rotating bodies 17a and Direction change can be performed by alternately rotating the group of rotating bodies 17b.
Here, the peripheral speed of the rotating body that starts the grounding state is zero (rotation stop), and the rotating body that ends the grounding state rotates right or left, but the rotation that ends the grounding state A configuration in which the peripheral speed of the body is zero (rotation stop) and the rotating body where the ground contact state starts can be rotated clockwise or counterclockwise.

  In short, as described above, the control unit 13 performs control so that the rotating bodies 17a and 17b do not rotate and the wheel 16 rotates forward or backward as shown in FIG. The direction in which the rotating body 17a rotates intermittently as shown in the first speed graph and the rotating body 17b rotates intermittently as shown in the second speed graph having a phase different from that of the first speed graph. Perform conversion control. The intermittent rotation of the rotating bodies 17a and 17b is controlled so that the corresponding first rotating body motor 18 or second rotating body motor 19 generates a relative rotation with respect to the rotation of the traveling motor 15. It is executed by.

7 to 10 show control patterns in which the control unit 13 can change the direction to the right or left when moving forward or backward. The controller 13 does not have all the patterns, but has any one pattern. 7 to 10, each of the rotating bodies 17a and 17b is in a grounded state, and the grounding state of the lower rotating body ends in the figure, and the grounding state of the upper rotating body in the figure. Is represented as a rotator that begins. Moreover, it represents as having moved from the grounding state of (a) to the grounding state of (b) when there is forward rotation or reverse rotation for one rotating body.
7 (a) and 7 (b), as described with reference to FIG. 6, the rotating body in which the grounding state starts is repeatedly instantaneously rotated to change the direction to the right (directions of arrows A1 and B1 in FIG. 5). Conversion).
8 (a) and 8 (b), as described with reference to FIG. 6, the rotating body that starts the ground contact state is repeatedly instantaneously rotated to change the direction to the left (direction changes of arrows A2 and B2 in FIG. 5). ).
9 and 10 show direction changes other than those described with reference to FIG.
FIGS. 9A and 9B show a state where the rotating body whose grounding state ends is instantaneously rotated to change the direction to the right.
10 (a) and 10 (b) show that the rotating body whose grounding state ends is instantaneously rotated and the direction is changed to the left.
The control unit 13 performs control having one pattern that changes the direction to the right and one pattern that changes the direction to the left.

  Note that the driver M moves the weight in the original forward direction A or the reverse direction B from the posture in which the vehicle has moved in the forward direction A or the reverse direction B without returning to the vertical posture in which the vehicle is stopped. When returning to the posture, the control unit 13 is configured to end the control of the direction change and return to the control of traveling in the forward direction A or the reverse direction B.

[Slave travel control]
From the vertical posture in which the vehicle is in a stopped state, the driver M is in the diagonally forward right direction of the arrow E, the diagonally forward left direction of the arrow F, the diagonally backward right direction of the arrow G, the diagonally backward left direction of the arrow H in FIG. If the posture of moving the weight in any one of the four directions is taken, the vehicle can be run in an oblique direction that matches the posture in which the weight has been moved.

  The control unit 13 responds to the driver M changing the weight movement posture, and as a result of calculation based on a control command input from the gyro sensor 136, the weight of the arrows E to H in FIG. The control contents for traveling in an oblique direction that matches the moved posture are derived, and the following control is performed.

In order to travel in any one of the four directions indicated by arrows E to H shown in FIG. 5, it is necessary to rotate the wheel 16 and rotate the rotating bodies 17 a and 17 b. In the above configuration, the rotators 17a and 17b can be rotated by the relative rotation of the first sun spur gear 22a and the second sun spur gear 23a with respect to the wheel 16.

  The control unit 13 rotates the first sun spur gear 22a and the second sun spur gear 23a in the same direction in order to cause the rotating bodies 17a and 17b to rotate to generate a rightward movement component or a leftward movement component. In addition, the driving of the first and second rotating body motors 18 and 19 is controlled so as to cause relative rotation with respect to the wheel 16.

  In this embodiment, the traveling motor 15 decelerates and rotates the wheel 16 via the winding mechanism, and the first and second rotating body motors 18 and 19 rotate the first and second sun bevel gears 22a and 23a. Since it is the structure which carries out a linear motion rotation, when restricting each diagonal direction of arrow EH to the direction which has a plane angle of 45 degrees with respect to the front-back direction of a vehicle, the control part 13 is the peripheral speed of a wheel. Are controlled so that the peripheral speeds of the rotating bodies 17a and 17b are equal to each other.

  In this embodiment, the control unit 13 controls the first and second rotations so that the first sun spur gear 22a and the second sun spur gear 23a rotate at different speeds relative to the wheel 16. Of the rotary body motors 18 and 19 are controlled.

The control unit 13 performs an operation based on a control command input from the gyro sensor 136 in response to the driver M shifting his / her weight in an oblique direction of the vehicle. When the operation result is derived from the control result of traveling in the diagonal direction of any of the arrows E to H in FIG. 5, the control unit 13 alternates the first group of rotating bodies 17 a and the remaining one. Shift control is performed on the driving rotation of the traveling motor 15 and the first and second rotating body motors 18 and 19 so that the rotating body 17b of the second group rotates at different speeds.
The shift control with different phases is performed in order to eliminate inconveniences (to be described later) when traveling in the respective oblique directions of arrows E to H due to the rotary bodies 17a and 17b being semi-spindle-shaped. is there.

  In FIG. 11A, a line I is a rotational speed diagram of the traveling motor 15. When traveling is started, the rotational speed is increased to a predetermined speed, and when there is a traveling command to increase the speed, the rotational speed is further increased. Increase to a new predetermined speed. In straight traveling, the change in the rotational speed of the first rotating body motor 18 and the second rotating body motor 19 completely coincides with the line I, and the rotating bodies 17a and 17b do not rotate clockwise or counterclockwise.

  The traveling in the oblique direction is a traveling with a rightward movement component or a leftward movement component by rotating the rotating bodies 17a and 17b. The controller 13 controls the first rotating body motor 18 so as to change the rotational speed indicated by the line J in FIG. Is controlled so as to change the rotational speed indicated by the line K in FIG. FIG. 11D shows the lines I, J, and C overlapped. As can be seen from FIG. 11 (d), the portions L and N of the rotational speeds of the lines J and K that are different from the line I indicate the relative rotation of the motor, and this causes the rotating bodies 17a and 17b to rotate. become. If the part L rotates the rotators 17a and 17b to the right, the part M rotates the rotators 17a and 17b to the left.

As shown in FIG. 12, the controller 13 changes the rotational speeds of the rotating bodies 17a and 17b for the portions L and N of the rotational speeds different from the line I in the lines J and K shown in FIG. Control. The control unit 13 has a rotation speed change pattern for one rotation related to the first rotating body motor 18 in the ROM, and a rotation speed change corresponding to one rotation related to the second rotation body motor 19. Has a pattern.
When the control unit 13 produces the rotation speed portions L and N of the line J and the line K, which are different from the line I, shown in FIG. A motor drive signal corresponding to the pattern is generated and output to each of the motor drivers 133, 134, and 135 corresponding to each motor.

  FIG. 12 is a diagram for explaining shift control in which the phases of the rotating bodies 17a and 17b are different during traveling in the oblique direction of any of the arrows E to H in FIG. FIG. 12 shows the shift control and phase control of the first rotating body motor 18 and the second rotating body motor 19 in association with the rotation control of the traveling motor 15. In order to rotate the rotating motor 17, the first rotating body motor 18, and the second rotating body motor 19, for example, the rotating bodies 17 a and 17 b to the right, the rotational speed is smaller than the rotational speed of the wheel 16. Alternatively, in order to rotate counterclockwise, the rotation is controlled so that the rotation number is higher than the rotation number of the wheel 16.

In FIG. 12, the first group of rotators 17a is set to a speed change rotation indicated by a solid line, the second group of rotators 17b is indicated to be a speed change rotation indicated by a dotted line, and the solid line and the dotted line correspond to only one of the rotators. The phase is different. The control unit 13 performs shift control on the driving rotation of the first and second rotating body motors 18 and 19, so that the peripheral speed at the grounded portion is constant regardless of which portion of the rotating bodies 17a and 17b is at the grounding position. The rotating bodies 17a and 17b are rotated at different speeds.
The control unit 13 rotates the variable speed rotation for the first rotating body motor 18 and the variable speed rotation for the second rotating body motor 19 with the same pattern and with a phase shifted by one rotating body. Control.

Each oblique direction of arrows E to H in FIG. 5 may not be limited to a direction having a plane angle of 45 ° with respect to the front-rear direction.
When the driver M sits on the saddle 11 and tilts the upper body, the gyro sensor 136 can accurately detect the tilt direction of the vehicle body frame 12. Therefore, the control unit 13 can control the vehicle body frame 12 to travel in an arbitrary inclination direction based on the signal from the gyro sensor 136. The control unit 13 includes the traveling motor 15, the first and the second sun bevel gears 22 a and 23 a so that the first and second sun bevel gears 22 a and 23 a rotate at a predetermined ratio according to the control command signal. By controlling the driving of the second rotating body motors 18 and 19, it is possible to control the vehicle body 12 to travel in any direction in which the vehicle body frame 12 is inclined.

Inconveniences caused by driving and rotating the semi-spindle-shaped rotating bodies 17a and 17b at a constant speed when traveling in the respective oblique directions of arrows E to H in FIG. 5 will be described.
Since the plurality of rotating bodies 17a and 17b have a semi-spindle shape, when the wheel 16 rotates, the diameter of the ground contact position of the rotating bodies 17a and 17b constantly changes. For this reason, if the plurality of rotating bodies 17a and 17b are rotationally driven at a constant speed, the speed of the lateral movement component during the oblique traveling is constantly changed due to the diameter change of the ground contact position of the rotating bodies 17a and 17b. Ride comfort gets worse. In addition, since the plurality of rotating bodies 17a and 17b are semi-spindle-shaped, the moment of transfer from one rotating body traveling on the ground to the other rotating body, the other rotating body from the small-diameter end of the one rotating body. It is the moment of changing to the large diameter end of. If the rotating bodies 17a and 17b are rotated at a constant speed, the peripheral speed of the small-diameter end of one rotating body is different from the peripheral speed of the large-diameter end of the other rotating body. The speed of the direction moving component becomes discontinuous and changes the largest, the orthogonal direction changes, and the riding comfort becomes worse.

Therefore, in order to eliminate the inconvenience described above, the control unit 13 can reduce the peripheral speed of the ground contact position even when the diameter of the ground contact position of the rotators 17a and 17b changes, as shown in FIG. The first and second rotating body motors 18 and 19 are speed-change controlled so as to maintain a predetermined speed without fluctuation. Further, the control unit 13 is configured so that when the large-diameter end of one rotating body and the small-diameter end of the other rotating body are simultaneously in contact with the ground, the peripheral speed of the large-diameter end and the peripheral speed of the small-diameter end are So that the first and second rotating body motors 18 and 19 have a phase so that they coincide with each other.
As a result, even when the small diameter end of one rotating body changes to the large diameter end of the other rotating body, the peripheral speed does not change and the speed of the lateral movement component is stable during oblique running. And there is no change in the orthogonal direction, and a good riding comfort can be guaranteed.

  As described above, the controller 13 rotates the first group of rotating bodies 17a every other one of the plurality of rotating bodies 17a and 17b and the second group of the remaining second group when performing oblique running. The rotation control of the first rotating body motor 18 and the second rotating body motor 19 is performed so that the number of rotations is changed in the same direction separately from the body 17b. Further, the control unit 13 simultaneously sets the large-diameter portion of one rotating body and the small-diameter portion of the other rotating body of the two rotating bodies 17a and 17b that are simultaneously in a grounded state to have the same peripheral speed. Therefore, the rotation of the first rotating body motor 18 and the rotation of the second rotating body motor 19 are performed so that the rotation of the first group of rotating bodies 17a and the rotation of the second group of rotating bodies 17b are different in phase. Perform phase control for rotation.

As described above, in the wheel 1 with the all-drive rotator, the control unit 13 performs shift control and phase control for the rotation of the first rotator motor 18 and the rotation of the second rotator motor 19. Thus, the peripheral speed of the rotating bodies 17a and 17b can be maintained at a predetermined speed according to the travel command, and the speed of the wheels in the oblique direction can be stabilized to travel.
Note that once the driver M returns to the vertical posture, the vehicle is stopped.

[Driving control that changes the direction of the arrow from E to H to the right or left from the oblique traveling state]
The driver M does not return to the vertical posture in which the vehicle stops from the weight movement posture in which the driver M is traveling in the diagonal direction of any one of the arrows E to H in FIG. If the posture is changed to the posture of shifting the weight to the rear side of the vehicle or the side of the vehicle, the right direction indicated by the arrows E1, F1, G1, H1 or the arrows E2, F2 from the traveling in the right diagonal direction of the arrows E to H in FIG. , G2, H2 can be changed in the left direction.

  The control unit 13 responds to the fact that the driver M changes the weight movement posture, and as a result of the calculation based on the control command input from the gyro sensor 136, the control unit 13 in each diagonally right direction of arrows E to H in FIG. The following control is performed by deriving the control contents to change the direction to the right indicated by arrows E1, F1, G1, H1 or the left indicated by arrows E2, F2, G2, H2 from the running.

  FIGS. 13 to 17 are diagrams for explaining the control for changing the direction from the traveling state in any one of the arrows E to H in FIG. 5.

As shown in the speed graph in FIG. 13, in the traveling state in any one of the directions of arrows E to H in FIG. 5, every other first group of rotating bodies 17a and every other second one. The rotating body 17b of the group is rotated at different speeds with a phase different from that of one rotating body. The variable speed rotation of the rotating bodies 17a and 17b at this time is a rotation that does not change because the peripheral speed of the ground contact portion of the rotating body is maintained at a predetermined speed. When the driver M changes the weight movement posture for changing the direction, the control unit 13 changes the pulse output pattern stored in the ROM from the pulse output pattern corresponding to the speed graph in FIG. Switch to the pulse output pattern corresponding to the speed graph and read. In this case, the phase is adjusted using the signal of the absolute encoder 24.
The pulse output pattern corresponding to the speed graph in FIG. 13 executes rotation of the speed graph in FIG. The speed graph in FIG. 13 is characterized by a rotating body (second rotating body 17a from the right in the figure) where the grounding state ends and a rotating body (third rotating body 17b from the right in the figure) where the grounding state starts. The two rotators that are in the grounding state rotate intermittently at an increased speed (the portion of the chevron p2) corresponding to the time when both are in the grounding state. Next, when both of the two rotating bodies are in the grounding state, the rotating body in which the grounding state is started is intermittently rotated at an increased speed (portion of the mountain shape p2) corresponding to the time in which the two rotating bodies are both in the grounding state.
In this way, the first group of rotating bodies and the second group of rotating bodies are alternately rotated at intermittent speeds, and the peripheral speed of the rotating body where the grounding state starts and the peripheral speed of the rotating body where the grounding state ends are obtained. The direction change can be performed by making the difference. In addition, intermittent speed reduction rotation may be used instead of intermittent speed increase rotation. Further, the intermittent acceleration rotation or the intermittent deceleration rotation may be generated for the rotating body whose grounding state ends.

  In short, as described above, the control unit 13 rotates the wheel 16 and controls the rotating bodies 17a and 17b to have different phases so that the peripheral speed of the ground contact portion becomes a predetermined speed as the control before changing the direction. When there is an external input for performing direction change from the controlled state in which the speed is changed, any of the rotating bodies in the grounded state corresponds to the time during which the two rotating bodies are in the grounded state. The motor is controlled so as to change the direction by causing intermittent acceleration rotation or intermittent deceleration rotation.

  14 to 17 show control patterns in which the control unit 13 can change the direction from running in the oblique direction to the right or left. The controller 13 does not have all the patterns, but has any one pattern. 14 to 17, both of the rotators 17a and 17b are in a grounded state, and the lower rotator is a rotator at the end of the grounding state, and the upper rotator in the figure is It is represented as a rotating body where the grounding state begins. Moreover, each (a) of FIGS. 14-17 represents the running state of the diagonal direction. Each (b) and each (c) corresponding to each (a) represents a direction change to the right or left from the traveling in the oblique direction of each (a).

FIG. 14B shows that the rotating body whose grounding state ends is instantaneously accelerated and rotated to the right (from the direction of arrow E in FIG. 5 to the direction of arrow E1). .
FIG. 14 (c) shows a state in which the rotating body in which the grounding state starts is instantaneously accelerated and rotated to change the direction to the right (from the direction of arrow E in FIG. 5 to the direction of arrow E2).
FIG. 15 (b) shows a state in which the rotating body in which the grounding state starts is instantaneously accelerated and rotated to change the direction to the right (from the direction of arrow F in FIG. 5 to the direction of arrow F1).
FIG. 15 (c) shows that the rotating body whose grounding state ends is repeatedly rotated at an accelerated speed to change the direction to the left (from the direction of arrow F in FIG. 5 to the direction of arrow F2). .
FIG. 16 (b) shows a state in which the rotating body whose grounding state ends is repeatedly rotated at an accelerated speed to change the direction to the right (from the direction of arrow G in FIG. 5 to the direction of arrow G1). .
FIG. 16 (c) shows that the rotating body in which the grounding state starts is instantaneously accelerated and rotated to change the direction to the left (from the direction of arrow G in FIG. 5 to the direction of arrow G2).
FIG. 17 (b) shows a state in which the rotating body in which the grounding state starts is instantaneously accelerated and rotated to change the direction to the right (from the direction of arrow H in FIG. 5 to the direction of arrow H1).
FIG. 17 (c) shows that the rotating body whose grounding state ends is repeatedly rotated at an accelerated speed to change the direction to the left (from the direction of H in FIG. 5 to the direction of arrow H2).
14 to 17, the control unit 13 may have a pattern of instantaneously decelerated rotation instead of instantaneously accelerated rotation. In this case, the direction change in each figure is reversed.

  Note that when the driver M returns to the weight movement posture that is traveling in the original diagonal direction of any one of the arrows E to H without returning to the vertical posture in which the vehicle is stopped, the control unit 13 Then, the control of the direction change is finished, and the control returns to the original traveling in the oblique direction.

[Running control in the right lateral direction of arrow C and left lateral direction of arrow D]
When the driver M takes a posture in which the weight is shifted from the vertical posture in which the vehicle is stopped to the right lateral direction of the arrow C or the left lateral direction of the arrow D with respect to the vehicle 1 in FIG. The vehicle can travel in the lateral direction or the left lateral direction of the arrow D.

  The control unit 13 corresponds to the driver M taking the weight movement posture, and as a result of calculation based on the control command input from the gyro sensor 136, the right side direction of the arrow C or the arrow D shown in FIG. The control contents for driving in the left lateral direction are derived, and the following control is performed.

  The control unit 13 performs motor control so that the wheel 16 does not rotate and the rotating bodies 17a and 17b rotate clockwise or counterclockwise. Specifically, the control unit 13 is for the first and second rotating bodies so that the first and second sun bevel gears 22a and 23a rotate in the same direction at a predetermined rotational speed according to the control command signal. The drive of the motors 18 and 19 is controlled.

  Further, in this case, as shown in FIG. 18 (a), when there is one rotating body traveling on the ground, the control unit 13 determines whether the grounded rotating body is the first group of rotating bodies 17a, The first and second rotating body motors 18 and 19 are driven so as to have a predetermined rotation regardless of whether they are the two groups of rotating bodies 17b. The rotational speed at this time is preferably the average rotational speed when the first and second rotating body motors 18 and 19 are rotated at different speeds in the oblique traveling described later. Thereby, when there is one rotating body that travels on the ground, the wheel 1 with a fully driven rotating body can be laterally traveled at a predetermined speed to the right or left.

  Also, as shown in FIG. 18B, when there are two rotating bodies traveling on the ground, the peripheral speed of the small-diameter end of one rotating body (rotating body 17a in the figure) and another rotating body (see FIG. Then, the first and second rotating body motors 18 and 19 are driven to rotate at different constant speeds so that the peripheral speed of the large-diameter end of the rotating body 17b) becomes the same. As a result, when there are two rotating bodies that run on the ground, the wheel 1 with a fully driven type rotating body can be moved laterally to the right or left without causing a direction change at a predetermined speed.

[Travel control that changes the direction from the right lateral direction of arrow C and the left lateral direction of arrow D to right or left]
In FIG. 5, the driver M changes the weight movement posture without returning to the vertical posture in which the vehicle is stopped from the posture in which the weight is moved in the right lateral direction of the arrow C or the left lateral direction of the arrow D with respect to the vehicle 1 in FIG. When the vehicle is further changed to the rear or the front, the direction can be changed from the right lateral direction of the arrow C and the left lateral direction of the arrow D in FIG. 5 to the right direction of the arrow C1 or D1, or the left direction of the arrow C2 or D2. it can.
The control unit 13 responds to the driver M changing the weight movement posture, and as a result of the calculation based on the control command input from the gyro sensor 136, the forward direction A or the reverse direction B shown in FIG. From the running, the control contents for changing the direction to the right of the arrow A1 or B1 or the left of the arrow A2 or B2 are derived, and the rotation is applied to the rotating bodies 17a and 17b by rotating the wheels in the forward or reverse direction. It is configured to perform control.

  Note that the control unit 13 rotates the wheel 16 within an angle corresponding to one rotator and maintains the state where the number of rotators traveling on the ground is two as shown in FIG. 18B. When driving in the direction and the driver M takes the weight change posture of the direction change, the peripheral speed of the grounded portion of one of the two rotating bodies in the grounded state is set to the other rotating body. The direction can be changed by making it different from the peripheral speed of the ground contact portion, and a pivot turn can be made if the weight moving posture of the direction change is not returned.

As described above, according to this embodiment, by using the semi-spindle-shaped rotators 17a and 17b, the wheel 16 is driven to rotate and the rotators 17a and 17b are driven to rotate at a constant speed. The speed fluctuation of the lateral movement component is also eliminated by rotating the rotating bodies 17a and 17b at a variable speed and stabilizing the peripheral speed of the ground contact portion of the rotating bodies 17a and 17b.
In addition, while performing inversion control, not only can it move in all directions, front and rear, right and left, and diagonal four directions, but also a wheel with an all drive type rotating body and an inverted control type unicycle that can freely control the direction change. As can be seen from the above description, as a premise technique for freely controlling the direction change, every other first group of rotating bodies 17a and every other second group of rotating bodies 17b are run. It is necessary to realize a technique for individually driving and rotating by two motors different from the motor 15 for the motor, and the first rotation distribution transmission mechanism 22 and the second rotation distribution transmission mechanism 23 are provided in a small space of the wheel. This has been achieved.

[Second Embodiment]
FIG. 19 shows a wheel with a fully driven rotor according to the second embodiment. The wheel 2 with all drive type rotators of the second embodiment is positioned and fixed in the internal space of every other first group of rotators 17a in order to drive and rotate all the rotators individually. Further, a driven hypoid gear 21c as a “slave vehicle” is provided, and a driven hypoid gear 21d is meshed with the driven hypoid gear 21c, and is fixed in the inner space of every other second group of rotating bodies 17b. The driven hypoid gear 21d as a “follower wheel” is provided, and the driven hypoid gear 21d is meshed with the driven hypoid gear 23d as compared with the wheel 1 with a fully driven rotor according to the first embodiment. Is different. Moreover, the direction of the 1st sun spur gear 22a and the 2nd sun spur gear 23a is reverse compared with the wheel 1 with a full drive type rotary body of 1st Embodiment. About another structure, it is not different from the wheel 1 with a full drive type rotary body of 1st Embodiment.
Therefore, about the component of the wheel 2 with an all drive type rotary body of 2nd Embodiment, the same code | symbol is attached | subjected about the same component as the wheel 1 of the wheel 1 with an all drive type rotary body of 1st Embodiment, and description is carried out. Omitted. Moreover, since the effect of the wheel 2 with a full drive type rotary body of 2nd Embodiment is also the same as the wheel 1 with a full drive type rotary body of 1st Embodiment, description is abbreviate | omitted.

[Third Embodiment]
FIG. 20 shows a wheel with an all drive type rotator according to the third embodiment. In this all-drive type wheel 3 with rotating body, rotating bodies 17a and 17b arranged on the outer periphery of the wheel 16 are configured as friction wheels, and the original friction wheel 22g or 23g pressed against each rotating body 17a or 17b is the wheel 16. The configuration in which the rotation transmission by the friction drive is performed is different from that of the wheel 1 with the all drive type rotating body of the first embodiment.

  For this reason, the first rotation distribution transmission mechanism 22 includes the first sun bevel gear 22a, the planetary bevel gear 22b, the intermediate small bevel gear 22e coaxial with the planetary bevel gear 22b, and the original friction wheel 22g. An intermediate large bevel gear 22e that meshes with the intermediate small bevel gear 22e, and the second rotation distribution transmission mechanism 23 includes a second sun bevel gear 23a, a planetary bevel gear 23b, An intermediate small bevel gear 23e coaxially integrated with the planetary bevel gear 23b and an intermediate large bevel gear 23f provided coaxially with the original friction wheel 23g and meshing with the intermediate small bevel gear 23e are provided.

  The rotation transmission mechanism 20 that transmits the rotation of the traveling motor 15 to the wheel 16 is not a winding mechanism, but meshes with a small spur gear 20d provided on the motor output shaft and a large spur gear 20e provided on the side surface of the wheel 16. A gear transmission mechanism is employed.

About another structure, it is not different from the wheel 1 with a full drive type rotary body of 1st Embodiment.
Therefore, about the component of the wheel 2 with a all drive type rotary body of 3rd Embodiment, the same code | symbol is attached | subjected about the component same as the component of the wheel 1 with a full drive type rotary body of 1st Embodiment, and description is carried out. Omitted. Moreover, since the effect of the wheel 2 with an all drive type rotary body of 3rd Embodiment is also the same as the wheel 1 with an all drive type rotary body of 1st Embodiment, description is abbreviate | omitted.

[Fourth Embodiment]
FIG. 21 shows a wheel with a fully driven rotor according to the fourth embodiment. In the wheel 4 with a fully-driven rotator, a first rotator motor 18 and a second rotator motor 19 are provided in the wheel 16, and a power feeding means 27 that feeds power to the motors 18, 19 includes a wheel 16 includes two slip rings 27a fixed to a hollow axle 20f that supports 16 and brushes 27a that are in sliding contact with the slip rings. A slave control unit 28 is provided in the wheel 16, and the slave control unit 28 is provided with motor drivers 281 and 282 that drive the first and second rotating body motors 18 and 19. The control unit 13 and the slave control unit 28 provided in the wheel 16 include a transmission unit 29a disposed on the vehicle body side frame side of the center hole of the axle 20f and a reception unit 29b disposed on the wheel side of the center hole of the axle 20f. Rotational control of the first rotating body motor 18 and the second rotating body motor 19 is performed by performing radio wave communication or optical communication between the first rotating body motor 18 and the second rotating body motor 19.

  The rotation transmission mechanism 20 for transmitting the rotation of the traveling motor 15 to the wheel 16 employs a gear transmission mechanism comprising a small spur gear 20d provided on the motor output shaft and a large spur gear 20g provided on the axle 20f. ing.

About another structure, it is not different from the wheel 1 with a full drive type rotary body of 1st Embodiment.
Therefore, about the component of the wheel 2 with a all drive type rotary body of 3rd Embodiment, the same code | symbol is attached | subjected about the component same as the component of the wheel 1 with a full drive type rotary body of 1st Embodiment, and description is carried out. Omitted.

  In the wheel 4 with a fully-driven rotator according to the fourth embodiment, the first rotator motor 18 and the second rotator motor 19 are provided in the wheel 16. The first rotating body motor 18 and the second rotating body motor 19 are controlled differently from the wheel 1 with a fully driven type rotating body of the first embodiment.

  More specifically, since the first and second rotating body motors 18 and 19 are provided in the wheel 16, the rotation of the rotating bodies 17 a and 17 b is the same as that of the traveling motor 15. It does not occur by causing the relative rotation of the second rotating body motors 18, 19, but regardless of the rotation of the traveling motor 15, the first and second rotating body motors 18, 19 Occurs by rotation.

  Accordingly, the control unit 13 performs the traveling control of the traveling motor 15 and performs the lateral traveling when performing the forward traveling or the backward traveling while performing the inversion control of the three motors 15, 18, and 19. In this case, traveling control of the first and second rotating body motors 18 and 19 is performed, and when traveling in an oblique direction is performed, traveling control of the traveling motor 15 and the first and second rotating body motors are performed. Travel control of the motors 18 and 19 is performed. When the direction change control is performed, the shift control in which the phases of the traveling control of the first rotating body motor 18 and the traveling control of the second rotating body motor 19 are made different is performed. Detailed control of the direction change is the same as that in the first embodiment, and a description thereof will be omitted.

[Fifth Embodiment]
FIG. 22 shows a wheel with an all-drive rotator according to the fifth embodiment. This fully driven type wheel 5 with a rotating body is driven hypoid gear as a “slave vehicle” in the internal space of every other first group of rotating bodies 17a in order to drive and rotate all the rotating bodies individually. 21c is provided, and a driven hypoid gear 22d is engaged with the driven hypoid gear 21c, and a driven hypoid gear 21d as a "follower wheel" is provided in the internal space of the remaining second group of rotating bodies 17b. A driven hypoid gear 23d is meshed with the driven hypoid gear 21d. This configuration is the same as in the second embodiment.

  The first and second rotating body motors 18 and 19 are provided in the wheel 16 as in the fourth embodiment. The first rotating body motor 18 is uniaxially integrated with the first sun spur gear 22h and the driving hypoid gear 22d. Therefore, the rotation of the first rotating body motor 18 is transmitted to the driving hypoid gear 22d via the planetary bevel gear spur gear 22i meshing with the first sun spur gear 22h, and every other first group. It is transmitted to each rotating body 17a. The second rotating body motor 19 is provided integrally with the second sun spur gear 23h and the driving hypoid gear 23d. Therefore, the rotation of the second rotating body motor 19 is transmitted to the driving hypoid gear 23d via the planetary bevel gear spur gear 23i meshing with the second sun spur gear 23h, and each second group of the second group. It is transmitted to the rotator 17b.

About another structure, it is not different from the wheel 4 with an all drive type rotary body of 4th Embodiment.
Therefore, about the component of the wheel 5 with an all drive type rotary body of 5th Embodiment, the same code | symbol is attached | subjected about the same component as the wheel 4 with an all drive type rotary body of 4th Embodiment, and description is carried out. Omitted. Since the operation and effect of the wheel 5 with a fully driven rotator are the same as the operation effect of the wheel 4 with a fully driven rotator, the description thereof is omitted.

[Sixth Embodiment]
FIG. 23 shows a wheel with a fully driven rotor according to the sixth embodiment. In the wheel 6 with a fully-driven rotator, the rotators arranged around the wheel 16 alternately arrange a barrel-shaped rotator 17c having a large diameter and a barrel-shaped rotator 17d having a small diameter, In addition, a part of the end portion having the small diameter of the rotating body 17d is provided in a state where the end portion having the large diameter of the adjacent rotating body 17c is inserted.

  Although not shown, the first rotating body motor and the first rotation distribution and transmission mechanism for driving and rotating every other first group of rotating bodies 17c, and the rotation of the remaining first group of the first group. Any of the configurations shown in FIGS. 3, 19, 20, 21, and 22 is employed for the second rotating body motor and the second rotation distribution transmission mechanism for driving and rotating the body 17 d. To do.

  As shown in FIG. 24, the control unit of the wheel 6 with the all-drive type rotator performs the intermittent rotation indicated by the first speed graph when the rotator 17c changes direction when traveling in the forward direction or the reverse direction. The motor control is performed so that the rotating body 17d performs intermittent rotation indicated by the second speed graph. The first speed graph and the second speed graph indicate that the phase of one rotator is made different and intermittent rotation P3 is performed when the grounding state of each rotator 17c, 17d starts.

In FIG. 25 (a), when the grounding state of the rotating body 17d ends, the grounding state of the next rotating body 17c starts, and the grounding state is in a time zone when the two rotating bodies 17c and 17d are both grounded. A state in which the rotating body 17c that starts the grounding state is rotated without rotating the rotating body 17d that ends is illustrated. In FIG. 25 (b), the wheel 16 rotates by one rotator, the grounding state of the rotator 17c ends, and the grounding state of the next rotator 17d starts. The two rotators 17c and 17d are both A state in which the rotating body 17d where the grounding state starts is rotated without rotating the rotating body 17c at which the grounding state ends is shown during a time period in which the grounding state is reached. When the state shown in FIG. 25 (a) and the state shown in FIG. 25 (b) are alternately performed, the traveling direction in the forward direction or the backward direction can be changed to the right.
FIGS. 26 (a) and 26 (b) show a direction change from the traveling state in the forward direction or the backward direction to the left.

FIG. 27 shows that the direction can be changed when traveling in an oblique direction.
As shown in FIG. 27, the control unit of the wheel 6 with the all-drive type rotator, when traveling in an oblique direction, the rotator 17c performs variable speed rotation indicated by the first speed graph, and the rotator 17d The motor control is performed so as to perform the variable speed rotation indicated by the second speed graph. As a result, the peripheral speed of the ground contact portions of the rotator 17c and the rotator 17d is constant, the lateral movement component when traveling in an oblique direction is constant, and a stable speed is maintained.

  In the case of changing direction when traveling in an oblique direction, the rotating body 17c performs intermittent rotation using a speed graph obtained by adding the instantaneous speed-up rotation P4 to the first speed graph, and the rotating body 17d increases instantaneously to the second speed graph. Motor control is performed so as to perform intermittent rotation in the speed graph to which the fast rotation P4 is added. The first speed graph and the second speed graph indicate that the phase for one rotator is made different, and the instantaneously accelerated rotation P4 is performed when the grounding state of each rotator 17c, 17d starts. .

  FIG. 28A shows a state of traveling in the right diagonal direction, and the rotating body 17c and the rotating body 17d have the same peripheral speed of the ground contact portion. FIG. 28 (b) shows a state in which the rotating body 17c, which starts traveling in the right diagonal direction, changes its direction to the right by performing the instantaneous acceleration rotation P4. FIG. 28 (c) shows a state in which the rotating body 17 d whose grounding state ends from the traveling state in the diagonally right direction is changed in the right direction by instantaneously decelerating and rotating.

  FIG. 29A shows a traveling state in the diagonally left direction. FIG. 29 (b) shows a state in which the rotating body 17c, which starts traveling in the right diagonal direction, changes its direction to the left by performing the instantaneous acceleration rotation P4. FIG. 29 (c) shows a state in which the rotating body 17d whose grounding state ends from the traveling state in the diagonally left direction changes its direction to the left by instantaneously decelerating and rotating.

[Seventh Embodiment]
FIG. 30 shows a wheel with a fully driven rotor according to the seventh embodiment. In this all-drive type wheel 7 with a rotating body, the rotating bodies arranged around the wheel 16 are barrels having the same diameter, and although not shown, every other first group of rotating bodies 17e is driven. The first rotating body motor and the first rotation distribution transmission mechanism for rotating, and the second rotating body motor and the second rotation distribution for driving and rotating the remaining second group of rotating bodies 17f. Any of the configurations shown in FIGS. 3, 19, 20, 21, and 22 is adopted as the transmission mechanism.

  As shown in FIG. 31, the control unit of the wheel 7 with the all-drive type rotating body performs the intermittent rotation indicated by the first speed graph when the rotating body 17e changes the direction when traveling in the forward direction or the backward direction. The motor control is performed so that the rotating body 17f performs intermittent rotation indicated by the second speed graph. The first speed graph and the second speed graph show that intermittent rotation P5 is performed when the grounding state of each of the rotating bodies 17e and 17f starts by making the phase of one rotating body different.

FIG. 32 shows that the direction can be changed when traveling in an oblique direction.
As shown in FIG. 32, the control unit of the wheel 7 with the all-drive rotator, when traveling in an oblique direction, causes the rotator 17e to perform variable speed rotation indicated by the first speed graph, and the rotator 17f The motor control is performed so as to perform the variable speed rotation indicated by the second speed graph. As a result, the peripheral speed of the ground contact portions of the rotator 17e and the rotator 17f is constant, the lateral movement component when traveling in an oblique direction is constant, and a stable speed is maintained.

  In the case of changing direction when traveling in an oblique direction, the rotating body 17e performs intermittent rotation using a speed graph obtained by adding the instantaneous speed-up rotation P6 to the first speed graph, and the rotating body 17f increases instantaneously to the second speed graph. Motor control is performed so as to perform intermittent rotation in the speed graph to which the fast rotation P6 is added. The first speed graph and the second speed graph show that the instantaneously accelerated rotation P6 is performed when the grounding state of each of the rotators 17c and 17d starts by making the phase of one rotator different. .

[Eighth Embodiment]
FIG. 33 shows a wheel with an all drive type rotator according to an eighth embodiment. In this all-drive-type wheel 8 with a rotating body, the rotating bodies arranged around the wheel 16 have a barrel shape with the same diameter, and drive every other first group of rotating bodies 17g (not shown). The first rotating body motor and the first rotation distribution transmission mechanism for rotating, and the second rotating body motor and the second rotation distribution for driving and rotating the remaining second group of rotating bodies 17h. Any of the configurations shown in FIGS. 3, 19, 20, 21, and 22 is adopted as the transmission mechanism.

  The control part of the wheel 8 with a full drive type rotator performs the same control as the wheel 7 with a full drive type rotator of the seventh embodiment. Since there is little change in the diameter of the rotating body, even if the rotating body is rotated at a constant speed, the peripheral speed change is small and can be ignored, so there is no need to shift the rotating body to keep the peripheral speed constant. Also good. When the direction is changed during traveling in the forward direction or the backward direction, and when the direction is changed during traveling in an oblique direction, one of the two rotating bodies 17g and 17h is instantaneously accelerated and rotated during the time period in which both the rotating bodies 17g and 17h are in the grounded state. Alternatively, control for instantaneous deceleration rotation is performed.

[Other Embodiments]
The present invention is not limited to the above-described embodiment, and the technical scope described in the claims includes various design changes within the scope not departing from the gist of the invention.
(1) In the above embodiment, the wheel with an all drive type rotating body has been described for an inverted control type unicycle. However, the present invention is a four-wheeled vehicle having two front wheels and two rear wheels. The case where two wheels are applied as drive wheels is also included.
Further, in a four-wheeled vehicle having two front wheels and two rear wheels, the two rear wheels are directly coupled and driven by separate motors, and the motor rotation is branched through a winding mechanism to cause front wheels on each side. A four-wheel drive vehicle having a structure for transmitting to the vehicle may be configured, and the wheel with a full drive type rotating body of the present invention may be applied to the front wheel. In this case, the traveling motor 15 in FIG. 1 corresponds to a motor directly connected to the rear wheel.
(2) The present invention also includes a configuration in which a driven pulley is provided in the wheel and a driving pulley that distributes and transmits the rotation of the sun gear is provided in the wheel, and an endless winding body is wound around the driven pulley and the driving pulley. It is.

1-8 ... Wheels with all-drive rotator (inverted control unicycle),
11 ... saddle,
12 ... body frame,
13 ... control unit,
14 ... Battery,
15 ... Motor for running,
16 ... wheel,
17a to 17h ... rotating body,
18 ... first rotating body motor,
19 ... Second rotor motor,
20 ... Rotation transmission mechanism,
21a ... driven bevel gear (follower wheel),
21b ... driven bevel gear (follower wheel),
21c ... driven hypoid gear,
21d ... driven hypoid gear,
22 ... 1st rotation distribution transmission mechanism,
22a ... first sun spur gear,
23. Second rotational distribution transmission mechanism,
23a ... the second sun spur gear,
24. Absolute encoder,
M ... the driver,

Claims (10)

A wheel rotatably supported by the body frame and driven and rotated by a traveling motor supported by the body frame;
A plurality of rotating bodies that are provided around the wheel and have a peripheral surface that forms an arc of a wheel outer periphery circle, the rotational power of the motor for the rotating body is transmitted and driven to rotate in a direction orthogonal to the straight direction of the wheels;
A control unit for controlling rotation of the motor for traveling and the motor for rotating body;
In the wheel with all drive type rotating body with
In the plurality of rotating bodies, every other first group of rotating bodies individually transmits the rotational power of the first rotating body motor, and the remaining second group of rotating bodies is the second. The rotational power of the rotating body motor is individually transmitted,
When the control unit inputs a command to change the direction to the right or left at least during forward travel, reverse travel, and diagonal travel, the grounding state of one rotating body ends and the next one When the grounding state of the rotating body starts and the two rotating bodies are both in the grounded state, the peripheral speed of the rotating body where the grounding state ends and the peripheral speed of the rotating body where the grounding state begins are different. As described above, a wheel with an all-drive rotator is configured to control the first and second rotator motors. If you enter a command to change direction to the right or left when moving forward or backward,
The controller controls one of the rotating body motors that drives and rotates the rotating body that starts the grounding state among the first and second rotating body motors during a time period in which the two rotating bodies are in the grounded state. Applying the first and second rotating body motors alternately to control the circumferential speed of the rotating body that starts the grounding state to be different from the peripheral speed of the rotating body that ends the grounding state. A wheel with an all drive type rotating body according to claim 1, wherein: The plurality of rotating bodies are formed in the semi-spindle shape, or the barrel shape having the large diameter and the barrel shape having the small diameter are alternately arranged, and a part of the end portion having the small diameter is adjacent to the rotation. In the case of a configuration provided in a state of entering the large end of the body and a state in which a part of the end of the small diameter enters the large end of the adjacent rotating body,
The controller is
At the time of traveling in the oblique direction, the first and second rotating body motors are controlled so that the peripheral speed of the diameter portion of the grounding position becomes a predetermined speed even if the diameter of the grounding position of the rotating body changes, In addition, when the large-diameter end of one rotating body and the small-diameter end of the other rotating body are in contact with each other at the same time, the peripheral speed of the large-diameter end matches the peripheral speed of the small-diameter end. Shifting control of the first and second rotating body motors with different phases;
Further, when a command to change the direction to the right or left is input during the oblique traveling, the motors for the first and second rotating bodies are used only during the time period in which the two rotating bodies are in a grounded state. For one rotating body motor that drives and rotates the rotating body that starts the grounding state, control is performed to make the peripheral speed of the rotating body that starts the grounding state different from the peripheral speed of the rotating body that ends the grounding state. The wheel with a full drive type rotating body according to claim 1 or 2, wherein the first and second rotating body motors are alternately applied. When the plurality of rotating bodies are barrels of the same size,
The controller is configured for the first and second rotating bodies so that the circumferential speed of the diameter portion of the ground contact position becomes a predetermined speed even when the diameter of the ground contact position of the rotating body changes during the oblique traveling. The first and second rotating bodies are controlled only during a time period when both of the two rotating bodies are in a grounded state when a command for changing the direction of the motor to shift to the right or left is input when the motor travels in an oblique direction. For one rotating body motor that drives and rotates the rotating body that starts the grounding state, the peripheral speed of the rotating body that starts the grounding state is set to the peripheral speed of the rotating body that ends the grounding state. The wheel with an all drive type rotating body according to claim 1 or 2, wherein the different control is applied by alternating the first and second rotating body motors. When the plurality of rotating bodies are substantially short cylindrical shapes of the same size,
The control unit controls the first and second rotating body motors at a constant speed, and further inputs a command to change the direction to the right or left when traveling in the oblique direction, the two rotating bodies are grounded together. Of the first and second rotating body motors, the rotational speed of the rotating body at which the grounding state starts is one of the first and second rotating body motors that drives and rotates the rotating body at the ground state. The first and second rotating body motors are alternately applied to perform the control for making the difference with respect to the peripheral speed of the rotating body at which the grounding state ends. A wheel with a fully-driven rotating body of 2 records. Rotating means for individually rotating the plurality of rotating bodies,
A slave wheel fixed to each rotating body,
Distributing and transmitting the rotation of the first sun gear including the first sun gear provided in the wheel to the slave wheel fixed to every other first group of rotating bodies among the plurality of rotating bodies. A first rotational distribution transmission mechanism that
A second rotation distribution transmission that includes a second sun gear provided in the wheel and distributes the rotation of the second sun gear to the slave wheel that is fixed to every other second group of rotating bodies. Mechanism,
The wheel with an all drive type rotary body according to any one of claims 1 to 5, characterized by comprising: Rotating means for individually rotating the plurality of rotating bodies,
A first sun gear including a first sun gear provided in the wheel is distributed and transmitted by a friction drive to every other first group of rotating bodies among the plurality of rotating bodies. 1 rotational distribution transmission mechanism;
A second rotational distribution transmission mechanism that includes a second sun gear provided in the wheel and distributes and transmits the rotation of the second sun gear to the remaining second group of rotating bodies by a friction drive. When,
The wheel with an all drive type rotary body according to any one of claims 1 to 5, characterized by comprising:   The wheel with a full drive type rotating body according to any one of claims 1 to 7, wherein the first and second rotating body motors are provided outside the wheel.   The wheel with a fully-driven rotator according to any one of claims 1 to 7, wherein the first and second motors for a rotator are provided in the wheel.   A wheel with an all-drive type rotator according to any one of claims 1 to 9, wherein the control unit performs an inversion control in the front-rear direction of the vehicle with respect to the traveling motor, and the first and second An inversion control type unicycle that is configured to perform the inversion control in the lateral direction of the vehicle with respect to the motor for the rotating body.

Images