JP5158698B2 - Moving transport mechanism - Google Patents

Description

  The present invention relates to a moving transfer mechanism, and more particularly, to a moving transfer mechanism including wheels that can move in all directions, and a moving transfer apparatus using the same.

  Wheels called omni wheels are used in robots that can move in all directions on a plane, transport equipment in factories, and the like. In this omni wheel, auxiliary wheels are arranged on the outer periphery of the main wheel, the rotation center axis of the auxiliary wheel extends in a direction substantially coincident with the circumferential direction of the main wheel, and the auxiliary wheel is freely rotatable. When driving an omni wheel, only the main wheel is driven to rotate.

  When two omni wheels are combined and arranged at a right angle, for example, it is possible to realize a mobile conveyance device having two degrees of freedom of front and rear movement and left and right movement. When three or more omni wheels are used in combination, in addition to forward / backward and left / right movements, turning is also possible, and a three-degree-of-freedom mobile conveyance device can be realized.

An omnidirectional moving wheel configured to rotationally drive the auxiliary wheel has been proposed. For example, as shown in a perspective view of FIG. 28 and an enlarged view of a main part of FIG. 29, a plurality of support members 103 project from the outer peripheral surface of the wheel member 102 attached to the axle of the mobile conveyance device, and serve as auxiliary wheels The barrel-shaped dividing roller 104 is rotatably supported. By connecting the adjacent barrel-type split rollers 104 with the power transmission means 106 and transmitting the rotation of the motor 151 disposed in the wheel member 102 to one barrel-type split roller 104 via the chain 153, all The barrel-shaped dividing roller 104 is rotationally driven (see, for example, Patent Document 1).
JP 2005-67334 A JP 2006-168659 A JP 2007-106254 A JP-A-8-67268

  One omnidirectional moving wheel can realize a moving and conveying operation with two degrees of freedom, front and rear, and left and right. When two or more are combined, in addition to forward / backward and left / right movement, turning is also possible, and a moving conveyance operation with three degrees of freedom can be realized. Therefore, the mobile conveyance device can be configured with a smaller number of use than the omni wheel.

  However, since a motor for driving the auxiliary wheel is provided inside the wheel, only a small motor can be used for driving the auxiliary wheel, and the torque of the auxiliary wheel is small. Therefore, the difference between the driving force when driving the main wheel and the driving force when driving the auxiliary wheel is large. In addition, since the motor is inside the rotating main wheel, wiring for supplying energy such as electricity to the motor inside the main wheel becomes troublesome and the configuration becomes complicated.

  In view of such circumstances, the present invention can perform rotation driving of the main wheel and rotation driving of the auxiliary wheel with a simple configuration, and can carry a wide variety of types and sizes of driving sources. It is an object of the present invention to provide a mechanism and a mobile conveyance device using the mechanism.

  In order to solve the above-mentioned problems, the present invention provides a moving conveyance mechanism configured as follows.

  The moving conveyance mechanism includes: (a) at least one wheel member rotatably supported around a wheel rotation center axis; and (b) rotation of each sub-wheel along a circumference centered on the wheel rotation center axis. At least one auxiliary wheel having a central axis extending and rotatably supported by the wheel member; and (c) first and second inputs rotatably disposed coaxially with the central axis of wheel rotation. A differential mechanism including a member and an output member that contacts both the first and second input members, is capable of rotating about a rotation center axis, and is capable of revolving around the wheel rotation center axis; (D) a rotation support member fixed to the wheel member and rotatably supporting the output member of the differential mechanism about the rotation center axis; and (e) the output member of the differential mechanism. And at least one Serial coupled between the sub-wheel, rotation by rotation around the rotation center axis of the output member is transmitted to the auxiliary wheel to rotate the auxiliary wheel, and a rotation transmitting member. The wheel member rotates about the wheel rotation center axis as the output member of the differential mechanism revolves around the wheel rotation center axis.

  In the above configuration, when a plurality of auxiliary wheels are used, all the auxiliary wheels may be directly rotated via the rotation transmission member. Alternatively, the auxiliary wheel that is not directly rotated via the rotation transmission member is connected to the auxiliary wheel that is directly rotated via the rotation transmission member so that the rotation is transmitted, and both the auxiliary wheels are rotated simultaneously. Good.

  The differential mechanism can transmit rotation by friction like friction drive even if it is composed of gears such as bevel gears, face gears, hypoid gears, and planetary gears using ordinary cylindrical gears. Or you may comprise by what uses traction oil like a traction drive. A differential mechanism that transmits rotation through a belt, a wire, or the like may be used.

  According to the said structure, a main wheel is comprised by a wheel member and a subwheel. When the first and second input members rotate at a predetermined angular velocity ratio (for example, when the first and second input members rotate at the same angular velocity in the same direction (the same direction as viewed from one coordinate system set in space)) ), The output member revolves around the wheel rotation center axis. The wheel member to which the rotation support member that rotatably supports the output member is fixed rotates together with the output member around the wheel rotation center axis as the output member revolves. That is, the main wheel rotates. At this time, the surface in contact with the auxiliary wheel has a direction perpendicular to the wheel rotation central axis and parallel to the surface in contact with the auxiliary wheel (the direction of intersection between the plane perpendicular to the wheel rotation central axis and the surface in contact with the auxiliary wheel) ) Acts, and it is possible to move and convey in a direction perpendicular to the wheel rotation center axis and parallel to the surface with which the auxiliary wheel contacts.

  On the other hand, when the first and second input members are rotated at a predetermined angular velocity ratio different from that described above (for example, the absolute values are the same in opposite directions (reverse directions when viewed from one coordinate system set in space)) When rotating at the angular velocity), the output member rotates. By rotation of the output member, the auxiliary wheel rotates through the rotation transmission member. At this time, a force in a direction parallel to the wheel rotation center axis acts on the surface with which the auxiliary wheel comes into contact, and movement and conveyance in a direction parallel to the wheel rotation center axis becomes possible.

  When the first and second input members rotate in a manner other than the above, the output member revolves and rotates. The main wheel rotates by the revolution of the output member, and the auxiliary wheel rotates by the rotation of the output member. At this time, the surface in contact with the auxiliary wheel is parallel to the wheel rotation central axis due to rotation of the auxiliary wheel and the force in the direction perpendicular to the wheel rotation central axis due to rotation of the main wheel and parallel to the surface where the auxiliary wheel contacts. Directional force acts. That is, a force in an oblique direction acts on the wheel rotation center axis parallel to the surface with which the auxiliary wheel contacts. Thereby, it is possible to move and convey in an oblique direction with respect to the wheel rotation center axis parallel to the surface with which the auxiliary wheel contacts.

  With the above configuration, the first and second input members of the differential mechanism can be rotationally driven from the outside, and there is no need to arrange a drive source inside the wheel member, so that the configuration can be simplified. it can. Further, since there is no need to arrange a drive source inside the wheel member, there are few restrictions on the drive sources that can be used, and it is possible to use a wide variety of types and sizes of drive sources. For example, if a motor with a large torque is used, the driving force can be increased. Furthermore, even when moving and transporting in a direction parallel to the wheel rotation center axis, the same drive source can be used as when moving and transporting in a direction perpendicular to the wheel rotation center axis and parallel to the surface in contact with the auxiliary wheel. It is also possible to reduce the difference between the driving force during movement and conveyance in the direction parallel to the rotation center axis and the driving force during movement and conveyance in the direction perpendicular to the wheel rotation center axis and parallel to the surface in contact with the sub wheels.

  Preferably, the first input member of the differential mechanism has a first engagement portion that engages with the output member. The second input member of the differential mechanism has a second engagement portion that engages with the output member. The first engaging portion and the second engaging portion are opposed to each other. At least one of the output members of the differential mechanism is disposed only on one side with respect to the wheel rotation center axis when seen through from a certain direction perpendicular to the wheel rotation center axis.

  In this case, even if the output member of the differential mechanism is engaged by directly contacting the first engaging portion of the first input member and the second engaging portion of the second input member, Or may be indirectly engaged through a wire or the like. The output member of the differential mechanism is disposed only on one side with respect to the wheel rotation center axis when seen through from a direction perpendicular to the wheel rotation center axis, and does not straddle the wheel rotation center axis. Therefore, it is easy to arrange a plurality of output members around the wheel rotation center axis, and it becomes easy to rotationally drive each auxiliary wheel evenly.

  Preferably, the rotation center axis of the output member of the differential mechanism is arranged non-parallel to the wheel rotation center axis. The output member of the differential mechanism includes the first engagement portion of the first input member of the differential mechanism and the second engagement portion of the second input member of the differential mechanism. And a third engaging portion that engages both of the first and second engaging portions.

  In this case, the first and second engaging portions can be easily symmetric, and the configuration can be simplified.

  Preferably, the first and second engaging portions or the first to third engaging portions are tooth surfaces of a bevel gear.

  In this case, loss of rotation transmission in the differential mechanism can be reduced by meshing of teeth. Use of a bevel gear simplifies the configuration of the differential mechanism.

  Preferably, the auxiliary wheel rotates while deforming around the auxiliary wheel rotation central axis while maintaining at least a part of the auxiliary wheel rotation central axis in an arc shape.

  In this case, when the number of sub wheels is reduced, the occurrence of gaps between adjacent sub wheels is reduced, the main wheel rotates, and the sub wheels sequentially contact the floor, the gap between adjacent sub wheels The number of occurrences of rattling can be reduced. In particular, by reducing the number of secondary wheels to the minimum (1) and keeping the secondary wheel rotation center axis in a ring shape, the clearance between the secondary wheels disappears, and when the main wheel rotates, the clearance between the secondary wheels The generated rattling can be eliminated.

  Preferably, the rotation transmission member includes an endless circulation member. The endless circulation member is engaged with the auxiliary wheel. The endless circulation member has a surface extending along the ground contact surface of the outer peripheral surface of the auxiliary wheel.

  As a specific aspect, the rotation transmission member is disposed in a region between a pair of virtual planes perpendicular to the wheel rotation center axis that are in contact with both sides of the auxiliary wheel in the wheel rotation center axis direction. The In this case, the rotation transmitting member is configured not to protrude outward in the wheel rotation center axis direction from the auxiliary wheel, and the width of the main wheel (dimension in the wheel rotation center axis direction) can be shortened.

  As another specific aspect, at least a part of the rotation transmission member is between a pair of virtual planes perpendicular to the wheel rotation center axis that are in contact with both sides of the auxiliary wheel in the wheel rotation center axis direction. Arranged outside the area. In this case, the end on the auxiliary wheel side of the rotation transmitting member can be arranged so as to avoid the narrowest gap between the adjacent auxiliary wheels (the gap closer to the wheel rotation center axis). , And the rattling when the main wheel rotates can be reduced.

  As the rotation transmission member, a gear, a belt, a toothed belt, a chain, a wire, a rotation shaft, a shaft coupling, or the like can be used. As a preferable aspect, the rotation transmission member includes a round belt.

  In this case, the rotation can be transmitted in a small space by bending the round belt. Further, the configuration can be simplified. The round belt is usually an endless belt member having a circular cross section, but the cross section does not have to be a constant size. For example, the size of the cross section changes periodically in the direction of the central axis, and the surface has teeth. Such an uneven shape may be formed. The round belt having a concavo-convex shape on the surface can suppress slipping between the belt and the pulley.

  In addition, the present invention provides a mobile conveyance device configured as follows.

  The mobile transport device is capable of (a) rotating at least one mobile transport mechanism according to any one of the above-described configurations; and (b) rotating the wheel member of the mobile transport mechanism about the wheel rotation center axis. (C) fixed to the main body, and coupled to the first and second input members of the differential mechanism of the movable transport mechanism, respectively, and the first and second input members are respectively First and second drive sources for rotational driving.

  According to the above configuration, when at least one of the first and second input members is rotationally driven by the drive source in a state where the sub wheels of the moving transport mechanism are in contact with the surface, the surface of the mobile transport mechanism contacting the sub wheels is in contact with the surface. The main body moves relatively. Therefore, the mobile transfer device can realize a mobile transfer operation with two degrees of freedom (front and rear, left and right) or three degrees of freedom (front and rear, left and right, and turn).

  The present invention also provides a driving method for a moving transport mechanism configured as follows.

  The driving method of the moving conveyance mechanism includes a step of preparing the moving conveyance mechanism and a step of driving the moving conveyance mechanism. The moving conveyance mechanism includes: (a) a main wheel; (b) a sub wheel disposed along an outer periphery of the main wheel; (c) first and second input members; and the first and second An output member that engages with the input member, and a differential mechanism that is disposed on the inner side in the radial direction of the main wheel with respect to the auxiliary wheel. The moving conveyance mechanism is configured such that the main wheel rotates by revolution of the output member of the differential mechanism, and the auxiliary wheel rotates by rotation of the output member of the differential mechanism. In the step of driving the moving conveyance mechanism, (i) when only the main wheel is rotated, the output member of the differential mechanism revolves and the first angular speed ratio of the differential mechanism does not rotate. And (ii) when rotating only the auxiliary wheel, the output member of the differential mechanism rotates and does not revolve at a second angular velocity ratio, and the differential mechanism of the differential mechanism is rotated. When the first and second input members are driven to rotate, and (iii) both the main wheel and the auxiliary wheel are rotated, the angular velocity ratio is different from the first angular velocity ratio and different from the second angular velocity ratio. The first and second input members of the differential mechanism are rotationally driven.

  According to the present invention, the mobile conveyance mechanism can perform the rotation driving of the main wheel and the rotation driving of the auxiliary wheel with a simple configuration, and can use various types and sizes of driving sources. .

  Hereinafter, embodiments of the present invention will be described with reference to FIGS.

  <Example 1> First, the structure of the moving conveyance mechanism 10 is demonstrated, referring FIG.1 and FIG.2. FIG. 1 is a cross-sectional view schematically showing a cross section of the moving transport mechanism 10 with a portion necessary for explanation. 2 is a cross-sectional view taken along line AA in FIG. 1 and showing a state where the input bevel gear 18b is removed. In FIG. 1, motors 14 a and 14 b and a casing 12 other than the moving conveyance mechanism 10 are also illustrated.

  In the moving conveyance mechanism 10, a pair of wheel members 20 is rotatably supported by the casing 12 via first and second rotating shafts 16a and 16b. The pair of wheel members 20 are substantially circular, and are coupled to each other in parallel by the first to third coupling members 22, 24, and 26 with a space therebetween.

  The auxiliary wheel 30 is rotatably supported by the outermost first coupling member 22. The rotation shaft 31 of the auxiliary wheel 30 is disposed substantially parallel to the outer periphery 20a of the wheel member 20 and extends in a direction perpendicular to the wheel rotation center axis 20s of the wheel member 20. The auxiliary wheel 30 protrudes outward in the radial direction of the wheel member 20 from the outer periphery 20 a of the wheel member 20, and comes into contact with the floor surface 2.

  A pulley 32 is fixed to a part of the auxiliary wheel 30 and is rotationally driven via a transmission belt 49. The adjacent auxiliary wheels 30 are connected to each other via a connecting member (not shown) (for example, a coupling having claw portions formed at both ends, an axial elastic member, etc.). Integrally, each auxiliary wheel 30 rotates about the auxiliary wheel rotation center axis 31x.

  In the center of the pair of wheel members 20, four output bevel gears 42 (see FIG. 1) are disposed between a pair of input bevel gears 18a and 18b that are arranged coaxially with the wheel rotation center axis 20s of the wheel member 20 and face each other. , Only one of them is shown). The pair of input bevel gears 18a and 18b are gears having the same specifications. The pair of input bevel gears 18a and 18b are fixed to the ends of the first and second rotating shafts 16a and 16b, respectively. The first and second rotating shafts 16a and 16b are separately driven to rotate by motors 14a and 14b, respectively.

  For the differential mechanism, instead of the bevel gear, a configuration in which teeth mesh, such as a gear such as a face gear or a hypoid gear, or a planetary gear device using a cylindrical gear, can be used. Moreover, you may use the structure without the teeth | gears to mesh | engage like a friction drive (thing using friction transmission), a traction drive (thing using traction oil), etc. A belt or a wire may be used.

  The output bevel gear 42 is fixed to one end of an output bevel gear rotation shaft 43 that is rotatably supported by the coupling member 26. A first intermediate gear 44 is fixed to the other end of the output bevel gear rotation shaft 43. The first intermediate gear 44 meshes with a second intermediate gear 46 fixed to one end of an intermediate rotation shaft 47 that is rotatably supported by the second coupling member 24. A pulley 48 is fixed to the intermediate rotating shaft 47. The pulley 48 and the pulley 32 fixed to the auxiliary wheel 30 are coupled via a transmission belt 49 so that rotation is transmitted.

  An output bevel gear rotating shaft 43, a first intermediate gear 44, a second intermediate gear 46, an intermediate rotating shaft 47, a pulley 48, and a transmission belt, which are rotation transmission members for coupling between the output bevel gear 42 and the auxiliary wheel 30. It is a preferable aspect that 49 is arrange | positioned in the area | region between a pair of virtual planes perpendicular | vertical to the wheel rotation center axis | shaft 20s which contact | connects the wheel rotation center axis | shaft 20s direction both sides of the subwheel 30, respectively. In this case, the rotation transmission members 43, 44, 46, 47, 48, 49 are configured not to protrude outward in the wheel rotation center axis 20 s direction from the auxiliary wheel 30, and the width of the main wheel 80 (the wheel rotation center axis 20 s Direction dimension) can be shortened.

  Although not shown, the wheel member 20 is also configured to be disposed in a region between a pair of virtual planes perpendicular to the wheel rotation center axis 20s that are in contact with both sides of the auxiliary wheel 30 in the wheel rotation center axis 20s direction. If so, the width of the main wheel 80 can be reduced to the width of the auxiliary wheel 30.

  Next, the operation of the moving conveyance mechanism 10 will be described with reference to the schematic diagram of FIG. FIG. 3 shows a state in which the moving conveyance mechanism 10 and the casing 12 are viewed from the floor surface 2. In FIG. 3, only one auxiliary wheel 30 is illustrated for the main wheel 80 in which the auxiliary wheel 30 is disposed on the wheel member 20.

  When both of the pair of input bevel gears 18a and 18b of the differential mechanism are rotationally driven in the same direction at the same angular velocity, the output bevel gear 42 revolves around the wheel rotation center shaft 20s without rotating. As a result, as shown in FIG. 3A, the wheel member 20 is rotated while the auxiliary wheel 30 is stopped, that is, the auxiliary wheel 30 is not rotating, and the main wheel 80 is indicated by an arrow 83. Rotate. As a result, as indicated by an arrow 86, the casing 12 moves relative to the floor surface 2 in the front-rear direction (vertical direction in FIG. 3A).

  When the pair of input bevel gears 18a and 18b of the differential mechanism are rotationally driven in opposite directions at the same angular velocity, the output bevel gear 42 rotates without revolving. As a result, as shown in FIG. 3B, with the wheel member 20 stopped, the auxiliary wheel 30 rotates (spins) around the auxiliary wheel rotation center axis 30s as indicated by an arrow 85. As a result, as indicated by an arrow 88, the casing 12 moves relative to the floor surface 2 in the left-right direction (left-right direction in FIG. 3B).

  When the pair of input bevel gears 18a and 18b of the differential mechanism is rotationally driven at angular velocities having different absolute values, the output bevel gear 42 rotates and revolves. As a result, the main wheel 80 rotates as indicated by an arrow 83 in FIG. 3C, and the auxiliary wheel 30 rotates (spins) as indicated by an arrow 85. As a result, as shown by an arrow 87, for example, the casing 12 moves relative to the floor surface 2 in an oblique direction as shown in FIG.

  The moving conveyance mechanism 10 can move in all directions within a plane by controlling the rotation of the left and right motors 14a and 14b.

  That is, when the casing 12 is to be moved in the front-rear direction (the direction indicated by the arrow 86 in FIG. 3A) with respect to the floor surface 2, if the wheel member 20 is rotated without the auxiliary wheel 30 rotating. Therefore, the rotation of the motors 14a and 14b is performed so that both the input bevel gears 18a and 18b are rotationally driven in the same direction at the same angular velocity (first angular velocity ratio) so that the output bevel gear 42 revolves and does not rotate. To control.

  When it is desired to move the casing 12 in the left-right direction with respect to the floor surface 2 (the direction indicated by the arrow 88 in FIG. 3B), the auxiliary wheel 30 rotates and the wheel member 20 does not rotate. Therefore, in order to prevent the output bevel gear 42 from rotating and revolving, the input bevel gears 18a and 18b are rotated in the opposite directions to each other at the same angular velocity (second angular velocity ratio). Control the rotation.

  When it is desired to move the casing 12 in an oblique direction that is neither the front-rear direction nor the left-right direction with respect to the floor surface 2 (the direction indicated by the arrow 87 in FIG. 3C), the auxiliary wheel 30 rotates and the wheel Since the member 20 only needs to rotate, the input bevel gears 18a and 18b are rotationally driven at an angular velocity ratio different from the first angular velocity ratio and different from the second angular velocity ratio so that the output bevel gear 42 rotates and revolves. Thus, the rotation of the motors 14a and 14b is controlled.

  Since all the driving motors 14a and 14b can be arranged on the casing 12, the moving and transport mechanism 10 can use a motor with a larger torque than when the motor is built in the main wheel. Therefore, the torque of the auxiliary wheel can be increased, and the difference in driving force between the main wheel and the auxiliary wheel can be reduced or eliminated.

  Moreover, since the moving conveyance mechanism 10 does not incorporate a motor in the main wheel, wiring such as electric supply to the motor is easy.

  The moving conveyance mechanism 10 can be used for various moving conveyance apparatuses.

  For example, when a set of the mobile transport mechanism 10 is used for a mobile transport device such as a robot, the mobile transport device may be prevented from falling down using a ball wheel or an omni wheel. Alternatively, the balance may be maintained by an inverted pendulum technique. In this case, a moving operation with two degrees of freedom can be realized.

  When two or more moving and conveying mechanisms are used, a moving and conveying device having three degrees of freedom of front and rear, left and right movement, and turning can be realized.

  For example, the mobile transport device 60 schematically shown in the sectional view of FIG. 4A and the bottom view of FIG. 4B uses two mobile transport mechanisms 10 of the present invention. The main wheel 80 and the two ball wheels 68 of the two transporting mechanisms 10 are configured to protrude from the bottom surface 64 of the main body 62. The moving conveyance mechanism 10 is rotationally driven by motors 14a and 14b, respectively. The mobile conveyance device 60 can realize three degrees of freedom with a total of four motors.

  In the mobile conveyance device 60, for example, the main wheels of the two mobile conveyance mechanisms 10 are arranged in parallel to each other, the wheel rotation central axes coincide with each other, and the center of gravity of the mobile conveyance device 60 is between the movement conveyance mechanism 10 and 2 The arrangement between the two ball wheels 68 is preferable because it is stable during movement and transportation.

  Next, the differential mechanism used in the mobile conveyance mechanism of the present invention will be further described with reference to the schematic diagrams of FIGS. 5 to 7 schematically show the differential mechanism as seen through from the direction perpendicular to the rotation center axis of one output member and perpendicular to the wheel rotation center axis.

  5 (1) to 5 (6) show that the two positions where the pair of input members arranged coaxially and the output member are engaged are the rotation center axis (wheel rotation center axis of the input member) in the figure. ) On one side (the lower side of the rotation center axis of the input member in the figure) and on both sides of the rotation center axis of the output member.

  FIG. 5A shows a configuration corresponding to the input bevel gears 18 a and 18 b and the output bevel gear 42 of the moving conveyance mechanism 10 described above, and the rotation center shaft of the pair of input members 50 and 52 and the rotation of the output member 54. The central axis is at a right angle. The engaging portion 55 of the output member 54 is engaged with both the engaging portions 51 and 53 of the pair of input members 50 and 52. For example, the teeth provided at the engaging portion are engaged with each other to engage with each other. Alternatively, the surfaces of the engaging portions come into contact with each other and are engaged by friction. In this case, the reduction ratio is easily symmetric between the one input member 50 and the output member 54 and between the other input member 52 and the output member 54, and the mechanical strength and rigidity are also easily symmetric.

  FIG. 5 (2) shows a case where the rotation center axis of the output member 54a is inclined and non-perpendicular with respect to the rotation center axes of the input members 50a and 52a. The engaging portion 55a of the output member 54a is engaged with both the engaging portions 51a and 53a of the pair of input members 50a and 52a. The reduction ratio tends to be asymmetric between the one input member 50a and the output member 54a and between the other input member 52a and the output member 54a, and the mechanical strength and rigidity tend to be asymmetric.

  In FIG. 5 (3), the output member 54b is provided with two engaging portions 55b and 56b, which are engaged with the engaging portion 51b of one input member 50b and the engaging portion 53b of the other input member 52b, respectively. Indicates the case. The rotation center axis of the pair of input members 50b and 52b and the rotation center axis of the output member 54b are perpendicular to each other. In this case, the reduction ratio can be the same between one input member 50b and the output member 54b and between the other input member 52b and the output member 54b, but the mechanical strength and rigidity are asymmetric. It is easy to become.

  FIGS. 5 (4) to (6) show a case where one input member 50, 50a, 50b of FIGS. 5 (1) to 5 (3) is rotationally driven from the same side as the other input member 52, 52a, 52b. Show. Thus, when it is set as the structure driven rotationally from one side, drive systems, such as a motor, can be provided only in one side.

  In FIG. 5 (4), as in FIG. 5 (1), the rotation center axis of the pair of input members 50c and 52c and the rotation center axis of the output member 54c are perpendicular to each other. The engaging portion 55c of the output member 54c is engaged with both the engaging portions 51c and 53c of the pair of input members 50c and 52c. In this case, the reduction ratio is easily symmetric between the one input member 50c and the output member 54c and between the other input member 52c and the output member 54c, and the mechanical strength and rigidity are also easily symmetric to some extent.

  In FIG. 5 (5), as in FIG. 5 (2), the rotation center axis of the output member 54d is inclined with respect to the rotation center axis of the pair of input members 50d and 52d, and is not perpendicular. The engaging portion 55d of the output member 54d is engaged with both the engaging portions 51d and 53d of the pair of input members 50d and 52d. In this case, the reduction ratio tends to be asymmetric between the one input member 50d and the output member 54d and between the other input member 52d and the output member 54d, and the mechanical strength and rigidity tend to be asymmetric.

  In FIG. 5 (6), as in FIG. 5 (3), the rotation center axis of the pair of input members 50e and 52e and the rotation center axis of the output member 54e are at right angles, and the two engaging portions 55e of the output member 54e. , 56e are engaged with the engaging portion 51e of one input member 50e and the engaging portion 53e of the other input member 52e, respectively. In this case, the reduction ratio can be the same between one input member 50e and the output member 54e and between the other input member 52e and the output member 54e, but the mechanical strength and rigidity are asymmetric. It is easy to become.

  5 (7a) and (7b) show a planetary gear device using a cylindrical gear used for a differential mechanism. FIG. 5 (7a) is a configuration diagram schematically showing a cross section perpendicular to the axis, and FIG. 5 (7b) is a configuration diagram schematically showing a cross section including the axis. Only one planetary gear 92 is shown for simplicity of illustration. The differential mechanism uses an external sun gear 90 and an internal gear 94 as input members, and a planetary gear 92 as an output member. An appropriate rotation transmission system is provided, and the rotation of the carrier 93 (revolution of the planetary gear 92) is used for the rotation of the main wheel, and the rotation of the planetary gear 92 is used for the rotation of the auxiliary wheel.

  The schematic diagram of FIG. 6 shows that two locations where the pair of input members 50 s and 52 s and the output member 54 s that are coaxially engaged with each other are on both sides of the rotation center axis of the pair of input members 50 s and 52 s, and The case where it arrange | positions to the one side of the autorotation center axis | shaft of the output member 54s is shown. The output member 54s is provided with two engaging portions 55s and 56s, which are engaged with the engaging portions 51s and 53s of the input members 50s and 52s, respectively. Also in this case, the output member 54s can rotate and revolve. However, since the input members 50s and 52s and the output member 54s are engaged on both sides of the rotation center axis of the pair of input members 50s and 52s in the drawing (upper and lower sides of the rotation center axis of the input member in the drawing). If a plurality of output members 54s are arranged, the configuration becomes complicated.

  The schematic diagram of FIG. 7 shows another differential mechanism applicable to the moving conveyance mechanism of the present invention.

  In FIG. 7A, two places where the engaging portions 51x and 53x of the pair of input members 50x and 52x arranged coaxially and the engaging portions 55x and 56x of the output member 54x are engaged are a pair. The input members 50x and 52x are disposed on one side of the rotation center axis and on the one side of the rotation center axis of the output member 54x.

  In this configuration, if the reduction ratio between one input member 50x and the output member 54x is the same as the reduction ratio between the other input member 52x and the output member 54x, the output member 54x is a pair of Even if the input members 50x and 52x are stopped, they can rotate (revolve and rotate), which causes inconvenience.

  Therefore, in order to be able to be used for the moving conveyance mechanism of the present invention, the output member 54x and the output of the one input member 50x are prevented so that the output member 54x cannot rotate (revolve and rotate) when the pair of input members 50x and 52x are stopped. The speed reduction ratio between the member 54x and the speed reduction ratio between the other input member 52x and the output member 54x need to be different.

  In FIG. 7B, two locations where the engaging portions 51y, 53y of the pair of input members 50y, 52y and the engaging portions 55y, 56y of the output member 54y are coaxially arranged are a pair. The input members 50y and 52y are arranged on one side of the rotation center axis and on the one side of the rotation center axis of the output member 54y.

  In this case, the reduction ratio between one input member 50y and the output member 54y and the other so that the output member 54y cannot rotate (revolution and rotation) when the pair of input members 50y and 52y are stopped. If the reduction ratio between the input member 52y and the output member 54y is different, the present invention can be applied to the moving conveyance mechanism of the present invention.

  In FIG. 7C, the pair of input members 50z and 52z and the output member 54z arranged coaxially are arranged so as to be inclined at a non-right angle. Two places where the engaging portions 51z and 53z of the input members 50z and 52z engage with the engaging portions 55z and 56z of the output member 54z are both sides of the rotation center axis of the pair of input members 50z and 52z, and the output. It arrange | positions at the both sides of the autorotation center axis | shaft of the member 54z.

  In this case, if the reduction ratio between the one input member 50z and the output member 54z is different from the reduction ratio between the other input member 52z and the output member 54z, the mobile conveyance mechanism of the present invention can be used. Applicable.

  Next, the rotation transmission member used in the moving conveyance mechanism of the present invention will be further described with reference to the schematic diagrams of FIGS.

  A round belt which is an endless belt member having a circular cross section may be used as the rotation transmitting member. The round belt may not have a constant cross section. For example, the round belt may have a tooth-like irregular shape formed on the surface by periodically changing the cross section size in the central axis direction. Well, when such a round belt is used, slip between the pulleys can be suppressed.

  For example, as schematically shown in FIG. 8, the round belt 78 transmits the rotation due to the rotation of the output bevel gear 71 b engaged with the input bevel gear 71 a of the differential mechanism 71 to the auxiliary wheel 72. In this case, the transmission path between the differential mechanism and the auxiliary wheel 72 is simplified by bending the circulation path of the round belt 78, the radial distance is shortened, and the outer diameter of the main wheel 70 is reduced. Is possible.

  As shown in the block diagram of FIG. 9, the circulation path of the round belt 78 includes a pulley 73 fixed to the auxiliary wheel 72 through a central gap 73b between adjacent auxiliary wheels 72, 74 in a direction substantially perpendicular to the paper surface. You may comprise so that it may rotate. In this case, the round belt 78 has a gap 73a on the inner side (the wheel rotation center axis side of the main wheel 70) between the adjacent auxiliary wheels 72 and 74, for example, as schematically shown in FIG. The inner gap 73a between the adjacent auxiliary wheels 72 and 74 can be made smaller than when reaching the pulley 73 fixed to the auxiliary wheel 72 in the direction, that is, parallel to the paper surface. As a result, the gap 73c on the outside (the radial outside of the main wheel 70) between the adjacent sub wheels 72 and 74 is also reduced, so that the main wheel 70 is rotated and the sub wheels are in contact with the floor in turn. Tack can be reduced.

  10A, a pulley 76 coupled to the auxiliary wheel 75 and a driving pulley 77 are arranged so that the path of the round belt 78 is twisted by 90 degrees, for example. In this case, the driving pulley 77 and the output bevel gear of the differential mechanism are directly connected by the rotation shaft, and the auxiliary wheel can be rotationally driven.

  Alternatively, as shown in FIG. 10 (b), a main part configuration diagram, and FIG. 10 (c), which is an enlarged view of the main part taken along line CC in FIG. 10 (b). The intermediate portions 79a and 79b of the round belt 79 are hung on the upper and lower sides of the pulleys 76a and 76b fixed on both sides, and one of the pulleys 77a and 77b hung on both ends of the round belt 79 is an output bevel gear of a differential mechanism (not shown). The other side may be coupled via a rotating shaft, and the other side may be idled as a tension adjustment tensioner. In this case, since the belt path does not expand like a fan as shown in FIG. 10A, the gap between the auxiliary wheel (not shown) adjacent to the auxiliary wheel 75 can be reduced.

  <Modification 1> If there is a gap between adjacent auxiliary wheels, rattling occurs due to contact between the auxiliary wheels and the floor when the main wheel rotates. When configured as follows, the occurrence of such rattling can be reduced.

  <Modification 1-1> For example, like the moving conveyance mechanism 10a shown in the block diagram of FIG. For example, by using an elastic member or overlapping cylindrical parts in a bellows shape, the auxiliary wheel 30a is rotated around the auxiliary wheel rotation central axis while keeping the auxiliary wheel rotation central axis in an arc shape. It can be configured to rotate while deforming. When such arc-shaped auxiliary wheels 30a are used, the number of auxiliary wheels 30a is reduced, the occurrence of gaps between adjacent auxiliary wheels 30a is reduced, and the gap between adjacent auxiliary wheels is reduced when the main wheel rotates. The number of times that rattling occurs can be reduced.

  Instead of using a plurality of sub-wheels 30a divided into arcs, it is possible to use only one sub-wheel configured to rotate around the ring-shaped sub-wheel rotation center axis while maintaining the ring shape. . In this case, since there is no gap between adjacent auxiliary wheels in the first place, rattling caused by the gap between adjacent auxiliary wheels when the main wheel rotates can be suppressed.

  <Modification 1-2> For example, as shown in FIG. 12A, a main part configuration diagram, and FIG. 12B, which is a main part sectional view taken along line AA in FIG. 12A. In addition, the outer peripheral surface of the auxiliary wheel 36 may be rotatably supported by a roller 37 that is rotatably supported by a support member 22b fixed to the wheel member side. If there is a gap on the outer peripheral surface of the sub wheel 36 when the main wheel rotates, rattling will occur, but if the outer peripheral surface of the sub wheel 36 is supported by the roller 37, there will be no gap in the part that supports the sub wheel 36. Shaking caused by the auxiliary wheel 36 itself can be eliminated.

  <Modification 1-3> The surface of the auxiliary wheel may be directly driven. For example, as shown in the configuration diagram of FIG. 13, a roller 38 in contact with the auxiliary wheel 36 is rotationally driven by rotation transmission from a differential mechanism (not shown), and the auxiliary wheel 36 and the roller 38 are engaged using the auxiliary wheel 36. The wheels may be driven. The frictional engagement may be such that the roller simply contacts the secondary wheel.

  As shown in FIG. 14 which is a cross-sectional view of the main part cut along the line AA in FIG. 13 and a perspective view of the main part in FIG. 15, a convex portion is formed on the surface where the auxiliary wheel 36 and the roller 38 come into contact. 36a, 38a and recesses 36b, 38b are formed so as to mesh with each other so that slippage is prevented from occurring on the contact surface between the roller 38 and the auxiliary wheel 36, and the auxiliary wheel is reliably rotated. can do. Further, as schematically shown in FIG. 15, the positions of the concave portion 36 b and the convex portion 36 a of the auxiliary wheel 36 may be changed for each cross-sectional position.

  <Modification 1-4> By combining the above configurations, a gap between adjacent auxiliary wheels can be eliminated. For example, when the main wheel is rotated by forming a secondary wheel with a ring-shaped elastic member and supporting the outer peripheral surface of the secondary wheel using a roller and driving the surface of the secondary wheel with the roller, It can prevent rattling.

  <Modification 2> When the auxiliary wheel is driven by an endless circulation member such as a belt, a gap between adjacent auxiliary wheels is not formed as much as possible, and rattling when the main wheel rotates can be prevented.

  <Modification 2-1> As shown in the main configuration diagram of FIG. 16, the end portions of the adjacent auxiliary wheels 34a are rotatably supported, and the substantially cylindrical small-diameter portion formed at the end portion of the auxiliary wheel 34a. A belt 49a is hung on 35a, and the belt 49a is rotationally driven by transmission of rotation from a differential mechanism (not shown).

  Although not shown, a toothed belt may be used for the belt 49a and teeth may be formed on the small diameter portion 35a. Instead of the belt 49a, a member having higher rigidity capable of transmitting a driving force while maintaining a ring shape may be used.

  In FIG. 16, although the center axis 35z of the edge part 35a of the adjacent sub wheel 34a is in agreement, as shown in the principal part block diagram of FIG. 17, of the adjacent sub wheels 34s and 34t supported rotatably. The center axes 34x and 34y of the end portions 35s and 35t may not coincide with each other.

  In FIG. 16, the cross section of the outer peripheral surface 49x of the belt 49a is linear, and the radius of curvature is different from that of the outer peripheral surface of the sub-wheel 34a having a circular cross section, but the outer peripheral surface of the belt 49b as shown in FIG. If the 49y is formed in accordance with the curvature of the outer peripheral surface of the auxiliary wheels 34s and 34t, and the outer peripheral surface of the auxiliary wheels 34s and 34t and the outer peripheral surface of the belt 49b are smoothly connected in an arc shape, the main wheel rotates. It is possible to prevent the rattling from occurring.

  <Modification 2-2> As shown in the cross-sectional view of the main part in FIG. 18A, the auxiliary wheel 34c moves around the auxiliary wheel rotation center axis 34k while keeping the auxiliary wheel rotation center axis 34k in an arc shape. Rotates while elastically deforming. A groove 35 is provided on the outer peripheral surface 34p of the auxiliary wheel 34c, and a belt (not shown) that is rotationally driven by a differential mechanism is hung on the groove 35. When a toothed belt is used as the belt, teeth are formed on the bottom surface of the groove 35.

  When the auxiliary wheel rotates while being elastically deformed, the groove 35 of the auxiliary wheel 34c becomes wider on the outer side (35m side) and becomes narrower closer to the inner side (35n side). There is a case. In such a case, the following configuration is preferable.

  For example, a taper 49m is formed on the groove bottom surface side of the belt 49c as shown in the cross-sectional view of the main part of FIG. 18B, and a groove of the auxiliary wheel 34c in contact with the taper 49m of the belt 49c as shown in FIG. A taper is also formed on the side surface of the belt 35 so that the belt 49c can easily fit into the groove 35 and come out easily.

  Alternatively, as shown in the perspective view of the main part of FIG. 19 and the cross-sectional view of FIG. 20A, the thickness of the central part 49k of the belt 49d is reduced and the width of the groove 35 of the auxiliary wheel 34c is narrow. As shown in the sectional view of (b), the side surface 49m of the belt 49d is pressed, and the central portion 49k of the belt 49d is elastically deformed so that the width of the belt 49d becomes narrow.

  Alternatively, as schematically shown in the configuration diagram of FIG. 21, in addition to the pulley 48s driven by rotation transmission from a differential mechanism (not shown), intermediate pulleys 39a and 39b are provided adjacent to the auxiliary wheel 34, The angle at which the belt 49e is hung on the auxiliary wheel 34 is reduced so that the belt 49e is not hung in a range where the groove is narrowed.

  The method of forming a taper on the side surface of the belt and the side surface of the groove of the auxiliary wheel (FIG. 18), the method using the belt as shown in FIG. 19, and the method using the intermediate pulley as shown in FIG. It can also be used when two auxiliary wheels are driven by a belt.

  <Modification 2-3> The outer surfaces of the barrel-shaped auxiliary wheels 30k and 30t may be driven by belts 49s and 49t, as in the moving conveyance mechanism 10b shown in the configuration diagram of FIG. Since the radius of the auxiliary wheel 30k, 30t of the barrel type differs from the rotation center axis of the auxiliary wheel depending on the location of the outer peripheral surface, the speed on the outer peripheral surface differs depending on the location even if the angular velocity of the auxiliary wheel is constant, but can be used without any problem. There are also uses.

  Using barrel-shaped auxiliary wheels 30k, 30t reduces the number of auxiliary wheels 30k, 30t, reduces the occurrence of gaps between auxiliary wheels 30k, 30t, and reduces the occurrence of rattling when the main wheel rotates. Can do.

  <Modification 3> Other than the belt, such as a rotating shaft or a cylindrical gear, may be used as the rotation transmission member that transmits the driving force from the differential gear to the auxiliary wheel.

  <Modification 3-1> You may make it couple | bond between a differential mechanism and a subwheel with a rotating shaft. For example, as shown in the block diagram of FIG. 23, one end of the rotating shaft 43x is coupled to the output bevel gear 42 of the differential mechanism, and a bevel gear 44x is provided at the other end of the rotating shaft 43x, and the bevel gear meshes with the bevel gear 44x. 32x is provided on the auxiliary wheel 30x. In this case, the configuration is simplified. Further, it is easy to reduce the outer diameter of the main wheel or the width of the main wheel, and it is easy to reduce the size.

  <Modification 3-2> A cylindrical gear may be used. For example, as shown in the block diagram of FIG. 24, one end of the rotating shaft 43y is coupled to the output bevel gear 42 of the differential mechanism, and a bevel gear 44y is provided at the other end of the rotating shaft 43y. A bevel gear 46y meshing with the bevel gear 44y is fixed to one end of the rotation shaft 47y, and a cylindrical gear 48y is provided at the other end of the rotation shaft 47y. A cylindrical gear 32y that meshes with the cylindrical gear 48y is provided on the auxiliary wheel 30y.

  <Modification 3-3> A gear train may be used. For example, as shown in the main configuration diagram of FIG. 25, the rotation from the differential mechanism is transmitted to the cylindrical gear 32z coupled to the auxiliary wheel 30z using the gear trains 46z, 47z, and 48z of the cylindrical gear.

  Alternatively, a chain or a wire may be used for the rotation transmission member.

  <Embodiment 2> Even if combining one movable conveyance mechanism 10 of the present invention and an omni wheel of a conventional example that can be driven only in one direction and can be moved passively, it has three degrees of freedom. A mobile conveyance device can be realized.

  <Embodiment 2-1> For example, like the moving transfer device 60a schematically shown in the configuration diagram of FIG. 26, one moving transfer mechanism (only the main wheel 80 is shown) of the first embodiment and two drive motors. (Not shown), a conventional omni-wheel 190 that can be driven only in one direction, and one drive motor (not shown) are mounted on the casing 12, 3 freedom with a total of 3 motors Can be realized. A one-dot chain line 80a in the figure indicates the wheel rotation center axis, and a one-dot chain line 190a indicates the omni wheel rotation center axis. The omni wheel 190 can generate a driving force in a direction perpendicular to the omni wheel rotation center axis 190a and parallel to the surface in contact with the omni wheel 190, and passively in a direction parallel to the omni wheel rotation center axis 190a. It is movable.

  <Embodiment 2-2> For example, like the moving transfer device 60b schematically shown in the block diagram of FIG. 27, one moving transfer mechanism (only the main wheel 80 is shown) of the first embodiment and two drive motors (Not shown) and the conventional omni-wheel 190 that can be driven only in one direction and one motor (not shown) for driving (not shown) can be combined with a total of four motors for 3 degrees of freedom. A mobile conveyance device can be realized. A one-dot chain line 80a in the figure indicates the wheel rotation center axis, and a one-dot chain line 190a indicates the omni wheel rotation center axis.

  <Summary> As described above, the mobile conveyance mechanism of the present invention can drive both the main wheel and the sub wheel independently using a common drive source by using the differential mechanism. In addition, with a simple configuration, it is possible to perform rotation driving of the main wheel and rotation driving of the auxiliary wheel. Moreover, there are few restrictions regarding the drive source which can be used, and it is possible to use drive sources of a wide variety and size.

  The present invention is not limited to the above-described embodiment, and can be implemented with various modifications.

  The mobile transport mechanism of the present invention is not limited to the mobile transport device in which the auxiliary wheel protrudes downward and comes into contact with the floor surface or the like, but can also be used in a configuration in which the top and bottom are reversed. For example, it is also used for a mobile conveyance device that supports a conveyed object from below with auxiliary wheels protruding upward, and moves or turns the conveyed object in a desired direction by a combination of rotation of the main wheel and the auxiliary wheel. Can do.

It is sectional drawing of a moving conveyance mechanism. Example 1 It is sectional drawing cut | disconnected along line AA of FIG. Example 1 It is a schematic diagram for demonstrating operation | movement of a moving conveyance mechanism. Example 1 It is (a) sectional drawing and (b) bottom view of the movement conveyance apparatus using a movement conveyance mechanism. Example 1 It is a schematic diagram which shows the structure of a differential mechanism. Example 1 It is a schematic diagram which shows the structure of a differential mechanism. Example 1 It is a schematic diagram which shows the structure of a differential mechanism. Example 1 It is a schematic diagram which shows the structure of a rotation transmission system. Example 1 It is a block diagram which shows typically arrangement | positioning of a subwheel. Example 1 It is a principal part block diagram which shows a rotation transmission system typically. Example 1 It is a block diagram of a moving conveyance mechanism. (Modification 1-1) It is (a) principal part block diagram of a moving conveyance mechanism, (b) principal part sectional drawing. (Modification 1-2) It is a block diagram of a moving conveyance mechanism. (Modification 1-3) It is principal part sectional drawing of a moving conveyance mechanism. (Modification 1-3) It is a principal part perspective view of a moving conveyance mechanism. (Modification 1-3) It is a principal part block diagram of a moving conveyance mechanism. (Modification 2-1) It is a principal part block diagram of a moving conveyance mechanism. (Modification 2-1) It is (a) principal part sectional drawing of a subwheel of a movement conveyance mechanism, (b) principal part sectional drawing of a belt. (Modification 2-2) It is a principal part perspective view of the belt of a moving conveyance mechanism. (Modification 2-2) It is sectional drawing of the belt of a moving conveyance mechanism. (Modification 2-2) It is a block diagram of a moving conveyance mechanism. (Modification 2-2) It is a block diagram of a moving conveyance mechanism. (Modification 2-3) It is a block diagram of a moving conveyance mechanism. (Modification 3-1) It is a block diagram of a moving conveyance mechanism. (Modification 3-2) It is a principal part block diagram of a moving conveyance mechanism. (Modification 3-3) It is a block diagram of a moving conveyance apparatus. (Example 2-1) It is a block diagram of a moving conveyance apparatus. (Example 2-2) It is a perspective view of an omnidirectional movement wheel. (Conventional example) It is a principal part enlarged view of an omnidirectional movement wheel. (Conventional example)

Explanation of symbols

DESCRIPTION OF SYMBOLS 10, 10a, 10b Moving conveyance mechanism 12 Casing 14a, 14b Motor 16a 1st rotating shaft 16b 2nd rotating shaft 18a, 18b Input bevel gear (1st and 2nd input member)
20 wheel member 20a outer periphery 20s wheel rotation center axis 22 first coupling member 24 second coupling member 26 third coupling member (rotation support member)
30, 30a, 30k, 30t, 30x, 30y Subwheel 31 Rotating shaft 31x Subwheel rotating central shaft 32 Pulley (Rotation transmission member)
34, 34a, 34c, 34s, 34t Secondary wheel 36 Secondary wheel 38 Roller (rotation transmission member)
42 Output bevel gear (output member)
43 Output bevel gear rotation shaft (rotation transmission member)
44 1st intermediate gear (rotation transmission member)
46 Second intermediate gear (rotation transmission member)
47 Intermediate rotation shaft (rotation transmission member)
48, 48s pulley (rotation transmission member)
49 Transmission belt (rotation transmission member)
49a to 49e, 49s, 49t belt (rotation transmission member)
50, 50a-50e, 50s, 50x-50z 1st input member 51, 51a-51e, 51s, 51x-51z Engagement part (1st engagement part)
52, 52a to 52e, 52s, 52x to 52z Second input member 53, 53a to 53e, 53s, 53x to 53z Engaging portion (second engaging portion)
54, 54a to 54e, 54s, 54x to 54z Output member 55, 55a, 55c, 55d Engaging portion (third engaging portion)
60, 60a, 60b Moving and conveying device 62 Main body 64 Bottom surface 68 Ball wheel 70 Main wheel 71 Differential mechanism 71a Input bevel gear 71b Output bevel gear 72 Secondary wheel 73 Pulley (rotation transmission member)
74 secondary wheel 75 secondary wheel 76, 76a, 76b pulley (rotation transmission member)
77 Pulley (Rotation transmission member)
78, 79 Round belt (rotation transmission member)
80 main wheels 90 external gear sun gear (first input member)
92 Planetary gear (output member)
93 Carrier 94 Internal gear (second input member)

Claims (11)

At least one wheel member supported rotatably about a wheel rotation center axis;
At least one auxiliary wheel, each auxiliary wheel rotation central axis extending along a circumference centered on the wheel rotation central axis, and rotatably supported by the wheel member;
The first and second input members disposed so as to be rotatable coaxially with the wheel rotation center axis, and both the first and second input members, and capable of rotating about the rotation center axis; and A differential mechanism including an output member capable of revolving around the wheel rotation center axis;
A rotation support member fixed to the wheel member, and rotatably supporting the output member of the differential mechanism about the rotation center axis;
The output member of the differential mechanism and at least one auxiliary wheel are coupled to each other, and the rotation of the output member caused by rotation about the rotation center axis is transmitted to the auxiliary wheel to rotate the auxiliary wheel. A rotation transmission member,
With
The moving conveyance mechanism according to claim 1, wherein the wheel member rotates about the wheel rotation center axis as the output member of the differential mechanism revolves around the wheel rotation center axis. The first input member of the differential mechanism has a first engagement portion that engages with the output member;
The second input member of the differential mechanism has a second engagement portion that engages with the output member,
The first engaging portion and the second engaging portion are opposed to each other,
At least one of the output members of the differential mechanism is disposed only on one side with respect to the wheel rotation center axis when seen through from a direction perpendicular to the wheel rotation center axis. The moving conveyance mechanism according to claim 1. The rotation center axis of the output member of the differential mechanism is arranged non-parallel to the wheel rotation center axis,
The output member of the differential mechanism includes the first engagement portion of the first input member of the differential mechanism and the second engagement portion of the second input member of the differential mechanism. The movable transport mechanism according to claim 2, further comprising a third engaging portion that engages both of the first and second engaging portions.   4. The moving conveyance mechanism according to claim 2, wherein the first and second engaging portions or the first to third engaging portions are tooth surfaces of a bevel gear.   5. The auxiliary wheel according to claim 1, wherein the auxiliary wheel rotates while deforming around the auxiliary wheel rotation central axis while maintaining at least a part of the auxiliary wheel rotation central axis in an arc shape. The moving conveyance mechanism as described in one.   6. The rotation transmission member according to claim 1, further comprising an endless circulation member that engages with the auxiliary wheel and has a surface extending along a ground contact surface of an outer peripheral surface of the auxiliary wheel. The moving conveyance mechanism as described in any one.   The rotation transmission member is disposed in a region between a pair of virtual planes perpendicular to the wheel rotation center axis that are in contact with both sides of the auxiliary wheel in the wheel rotation center axis direction, respectively. Item 7. The moving conveyance mechanism according to any one of Items 1 to 6.   At least a part of the rotation transmission member is disposed outside a region between a pair of virtual planes perpendicular to the wheel rotation center axis that are in contact with both sides of the auxiliary wheel in the wheel rotation center axis direction. The moving conveyance mechanism according to any one of claims 1 to 6, wherein the movement conveyance mechanism is characterized.   The moving conveyance mechanism according to claim 1, wherein the rotation transmission member includes a round belt. At least one moving conveyance mechanism according to any one of claims 1 to 9,
A main body that rotatably supports the wheel member of the moving conveyance mechanism about the wheel rotation center axis;
First and second fixed to the main body, coupled to the first and second input members of the differential mechanism of the moving transport mechanism, respectively, and rotationally driving the first and second input members, respectively. A driving source;
A moving and conveying apparatus comprising: The main wheel,
Sub wheels disposed along the outer periphery of the main wheel;
It has a 1st and 2nd input member, and an output member engaged with the 1st and 2nd input member, and is arranged in the diameter direction inside of the main wheel in the main wheel rather than the sub wheel. A differential mechanism;
With
Preparing a moving conveyance mechanism configured to rotate the main wheel by the revolution of the output member of the differential mechanism, and to rotate the auxiliary wheel by the rotation of the output member of the differential mechanism;
When rotating only the main wheel, the first and second input members of the differential mechanism are driven to rotate at a first angular velocity ratio at which the output member of the differential mechanism revolves and does not rotate.
When rotating only the auxiliary wheel, the first and second input members of the differential mechanism are rotationally driven at a second angular velocity ratio in which the output member of the differential mechanism rotates and does not revolve,
When rotating both the main wheel and the auxiliary wheel, the first and second input members of the differential mechanism are different from each other in the angular velocity ratio that is different from the first angular velocity ratio and different from the second angular velocity ratio. A step of rotationally driving;
A driving method for a moving conveyance mechanism, comprising:

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