JP5221486B2 - Friction drive - Google Patents

Description

  BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for adjusting a gap between a roller and a bush, and more particularly, to a method for adjusting a gap between a roller and a bush in a support structure of a roller provided with a flanged bush having a flange facing the axial end surface of the roller. Is.

  As a travel drive device for an omnidirectional mobile body, a plurality of endless annular shaft bodies and a plurality of annular shaft bodies arranged in the ring direction around the tangential axis of the annular shaft body at each of the arrangement positions A main wheel including a driven roller in the form of a rotatable free roller; left and right drive disks arranged to rotate about its own central axis on both left and right sides in the axial direction of the main wheel; and each of the left and right drive disks And a drive roller in the form of a plurality of free rollers that are arranged to be rotatable about an axis that forms a torsional relationship with respect to the center axis of the drive disk and that has an outer peripheral surface that contacts the outer peripheral surface of the driven roller. (For example, Patent Document 1).

  This friction drive is used as a traveling unit of a single-wheel inverted pendulum type moving body, and left and right drive disks are supported rotatably from the frame of the inverted pendulum type moving body, and the left and right drive rollers are driven rollers. The main wheel is supported so as to be able to rotate (revolve) so as to be sandwiched from the left and right.

  In the inverted pendulum type moving body using this friction type driving device, the drive roller is pressed against the driven roller, and the rotation of the drive disk is transmitted from the drive roller to the driven roller by the friction between the drive roller and the driven roller. When the drive disks are driven to rotate in the same direction and at the same speed, the main wheels revolve, and when the left and right drive disks are driven to rotate in different directions or at different speeds, the main wheels revolve. The driven roller rotates (rotates around the tangential axis of the annular shaft) or the main wheel does not revolve, and the driven roller rotates and moves (runs) diagonally in the front, rear, left, right, and left directions with the inverted pendulum control. be able to.

International Publication No. 2008/13279 Pamphlet

  In the case of providing a plurality of drive rollers for transmitting driving force to a plurality of driven rollers as in Patent Document 1, the relationship of the relative contact direction of the drive roller with respect to the driven roller is any driven roller. It seems that it is always constant with any drive roller. For this purpose, the drive roller is required to be assembled to the drive disk with high accuracy.

  On the other hand, as a support structure of the drive roller, the drive roller is supported so as to be sandwiched in the axial direction between a pair of side walls facing each other in parallel provided integrally with the drive disk. A bushing with a hook that rotatably supports the roller shaft is provided in the side wall portion so that the axial end surfaces of the bushing portion and the drive roller face each other. Then, a shim having a thickness corresponding to the gap generated between the collar and the drive roller is interposed, and the drive roller is assembled so that the gap is within a predetermined tolerance.

  However, in the assembly structure of the drive roller as described above, since shims are respectively provided on both end surfaces in the axial direction of the drive roller, those involved in the gap with respect to the axial direction of the drive roller are the thickness of the bush flange, The axial width of the drive roller and the thickness of the shim, the number of these parts is large, and there is an error (tolerance) for each part, so the error as a whole is the integrated value of each machining error, and the drive There has been a problem that the backlash in the axial direction of the roller increases and the assembly accuracy of the drive roller is lowered. For this, it is necessary to increase the accuracy of each component, and there is a problem that the manufacturing cost increases due to the high accuracy of processing and assembly.

In order to solve such problems and to improve the accuracy of the clearance between the bush and the roller in the roller support structure provided with the bush with a simple configuration, in the present invention, the annular body and the annular body are A plurality of main wheels including a driven roller which is arranged in a ring direction and is rotatable about a tangential axis of the annular body at each of the arrangement positions; Left and right drive disks arranged to be rotatable around a central axis, and each of the left and right drive disks is arranged to be rotatable about an axis that forms a twist relationship with respect to the central axis of the drive disk, and has an outer peripheral surface. a plurality of drive rollers (56L, 56R) in contact with the outer peripheral surface of said driven roller and a friction drive having a said drive roller pair of axial end faces Has 56a), said drive rollers (56L, rotatably a pair of support portions for supporting (47L, 47R) roller support comprising a provided axially outer sides and said drive roller (56L, 56R) of 56R) A member (48L, 48R) and a radially outward flange (53a) confronting the axial end surface (56a) are coaxial, and the drive roller (56L, 56R) and the support (47L, 47R) ) have a pair of bushings (53) provided between the said drive rollers (56L, and the axial end surface between (56a) thickness 56R), the axial direction of the flange portion (53a) From the thickness and the dimension between the pair of support portions (47L, 47R) , the drive roller (56L, 56R) is connected to the support portion (47L, 47R) via the bush (53). An axial clearance with respect to the axial direction of the drive rollers (56L, 56R) generated between the axial end face (56a) and the flange portion (53a) in the assembled state is obtained, and a thickness corresponding to the axial clearance is obtained. The lubricating film layer (562) is provided on either the axial end face (56a) or the flange portion (53a) on both outer sides in the axial direction of the drive roller to adjust the axial gap . .

  According to this, since the adjustment of the gap between the bush collar portion and the axial end surface of the roller can be adjusted by the thickness of the lubricating coating layer, it is not necessary to use a shim made of a separate member. Further, even if there is a variation due to a processing error of each component, the gap in the axial direction in the support portion of the roller can be easily and accurately adjusted without any problem.

  Thus, according to the present invention, there is no need to adjust the gap between the bush flange and the axial end surface of the roller so as to sandwich a shim made of another member. Can be reduced, an increase in error when the number of parts is large can be suppressed, and high-precision clearance adjustment can be easily performed. In addition, in the case of a general purpose shim, even a thin object has a certain thickness, and the use of the shim increases the weight. On the other hand, when a lubricating film layer is formed, it is more extreme than the shim. Therefore, the weight can be reduced and the weight can be reduced as compared with the case where a shim is used.

The perspective view of the saddle step storing state which shows one Example of the inverted pendulum type mobile body to which this invention was applied. FIG. 2 is a perspective view of the saddle step of FIG. The longitudinal cross-sectional view of the friction-type drive device by a present Example. The perspective view of the principal part of the friction-type drive device by a present Example. The expansion perspective view of the drive roller support part of the friction type drive device by a present Example. The expanded sectional view of the drive roller support part of the friction type drive device by a present Example. It is explanatory drawing of the clearance gap adjustment point based on this invention. It is explanatory drawing which shows the clearance gap adjustment state using the conventional shim.

  Embodiments of a friction type drive device and an inverted pendulum type moving body to which the present invention is applied will be described below with reference to FIGS. Note that the vertical three-dimensional coordinate axes in the vertical direction, the front-rear direction, and the horizontal direction are defined as illustrated according to the moving direction of the moving body.

  First, the overall configuration of an inverted pendulum type moving body that includes the friction type driving device according to the present embodiment as a traveling unit will be described with reference to FIGS. The inverted pendulum type moving body has a lower frame 10 and an upper frame 20 that are connected to each other. 1 and 2, the left side is shown on the front side, and the reference numerals of the parts hidden behind the right side that is the back side are not shown, and only the reference numerals are described in the following description of FIGS. 1 and 2. The part corresponding to the reference numeral on the right side is shown in FIG.

  The lower frame 10 supports the traveling unit 40. The traveling unit 40 is of a single wheel type, and the whole of the lower frame 10 and the upper frame 20 is kept in an upright posture under the control of an inverted pendulum using a built-in gyroscope and a load sensor (not shown). It is responsible for traveling in all directions diagonally forward, backward, left and right.

  On the left and right sides of the lower frame 10, left and right steps 14L and 14R are provided so as to be retractable. 1 shows a state in which the left and right steps 14L and 14R are stored in the step storage units 16L and 16R formed on the left and right sides of the lower frame 10, and FIG. 2 shows that the left and right steps 14L and 14R are from the step storage units 16L and 16R. Each state is shown in a horizontal position.

  On the left and right sides of the upper frame 20, left and right individual saddles 30L and 30R are provided so as to be retractable by left and right curved saddle arms 22R and 22L. Further, the upper frame 20 is provided with a handle 26 for carrying the moving body so that it can be stored.

  The saddles 30L and 30R are occupant seats that individually handle the occupant's buttocks and thighs on the left and right sides, and each has a disk shape in plan view. FIG. 1 shows a state in which the left and right saddles 30L and 30R are stored in a saddle storage portion 24 by a cylindrical space formed by penetrating the upper frame 20 in the left and right direction, and FIG. , 22R respectively show a state of being fed out from the saddle storage unit 24 to a horizontal posture.

  Next, details of the traveling unit 40 (friction type driving device) according to the present embodiment will be described with reference to FIGS.

  The lower frame 10 has a left side wall part 12L and a right side wall part 12R that are opposed to each other at an interval in the left-right direction. The traveling unit 40 is disposed between the left wall portion 12L and the right wall portion 12R of the lower frame 10.

  The traveling unit 40 includes cylindrical left and right mount members 42L and 42R. The left and right mounting members 42L and 42R are fixedly mounted inside the left wall portion 12L and the right wall portion 12R by mounting bolts 44, respectively. The left and right mount members 42L and 42R have a single central axis A extending in the left-right direction as a common central axis. That is, the left and right mounting members 42L and 42R are fixed to the lower frame 10 concentrically with each other with the central axis A.

  The left and right mount members 42L and 42R respectively support left and right annular drive disks 48L and 48R rotatably on the outer circumferences of the cylindrical portions 421L and 421R by cross roller bearings 46L and 46R. The cross roller bearings 46L and 46R are rolling bearings that can handle a radial load and an axial load (thrust load). The outer circumferences of the cylindrical portions 421L and 421R of the mount members 42L and 42R and the cylindrical portions of the drive disks 48L and 48R. The mounting members 42L and 42R and the drive disks 48L and 48R are fixed at fixed positions in the axial direction by fastening rings 50 and 52 respectively screwed to the inner circumferences of 481L and 481R.

  The left and right drive disks 48L and 48R have outer ring portions 482L and 482R having a larger diameter than the cylindrical portions 481L and 481R, respectively. The outer ring portions 482L and 482R form the outer periphery of the drive disks 48L and 48R, and the outer ring portions 482L and 482R include the central axes of the drive disks 48L and 48R as shown in FIG. Slots 49L and 49R along one virtual plane that is neither parallel nor orthogonal to the center of the drive disks 48L and 48R are spaced at equal intervals in the circumferential direction of the drive disks 48L and 48R, in this embodiment at equal intervals. A plurality of pieces are formed by cutting so as to be rotationally symmetric with respect to the axis of symmetry.

  In each slot 49L, 49R, left and right drive rollers 56L, 56R are rotatably arranged by roller shafts 54L, 54R. The drive rollers 56L and 56R are made of a highly rigid material such as metal or hard plastic, and are rotatable around the central axes of the roller shafts 54L and 54R, respectively.

  As shown in FIG. 6 (represented on the left side), the roller shafts 54L and 54R are opposed to each other, both ends of which are formed by drilling or milling in the side walls 47L and 47R of the slots 49L and 49R. The pair of bearing holes 51 are inserted together with a flanged bushing 53 having a radially outward flange portion coaxially, and are parallel to or perpendicular to the imaginary plane (the center axis of the drive disks 48L and 48R). One imaginary plane) extends in a direction orthogonal to each other. The roller shafts 54L and 54R pass through the center holes 561 of the drive rollers 56L and 56R, and support the drive rollers 56L and 56R.

  The axial direction of the roller shafts 54L and 54R is determined by the drilling direction of the bearing hole 51. By assuring the drilling direction of the bearing hole 51 of each roller shaft 54L and 54R with drilling and milling with a required accuracy. The axial directions of the roller shafts 54L and 54R can be ensured with the required accuracy, and the arrangement postures of the drive rollers 56L and 56R can be easily set with high accuracy.

  The arrangement postures of the drive rollers 56L and 56R are such that the axial direction of the roller shafts 54L and 54R is orthogonal to one virtual plane that is neither parallel nor orthogonal to the central axes (A in FIG. 3) of the drive disks 48L and 48R. Thus, the rotation surface is arranged in a plane parallel to one imaginary plane that is neither parallel nor orthogonal to the central axis A of the drive disks 48L and 48R.

  As described above, the side wall portions 47L and 47R as the support portions formed integrally with the outer peripheral portions of the drive disks 48L and 48R as the roller support members are arranged at equal intervals in the circumferential direction. That is, the support portions for the drive rollers 56L and 56R are directly formed on the side wall portions 47L and 47R. This eliminates the need for brackets for attaching the drive rollers 56L and 56R to the drive disks 48L and 48R. This greatly contributes to the reduction of the number of parts and assembly man-hours.

  Further, the disposition posture of the drive rollers 56L and 56R is determined by the processing accuracy of the bearing hole 51, not depending on the mounting accuracy of the bracket, and this processing accuracy can be sufficiently guaranteed by the current machine tool. Can be easily and uniformly arranged without being affected by the mounting error of the bracket.

  In the present embodiment, the roller shafts 54L and 54R are press-fitted into the center holes 561 of the drive rollers 56L and 56R, are integrated with the drive rollers 56L and 56R, and are rotatable with respect to the bush 53 with the flange. With such a fitting relationship, the drive rollers 56L and 56R are rotatably supported by the drive disks 48L and 48R.

  The flanged bush 53 is made of a solid lubricant sintered metal containing a solid lubricant such as molybdenum disulfide or graphite. The flange portion 53a of the flanged bush 53 is between the side surface 56a, which is the axial end surface of the drive rollers 56L, 56R, and the side surfaces of the side wall portions 47L, 47R, and the backlash of the drive rollers 56L, 56R in the axial direction. Reduced or eliminated. On the side surfaces 56a of the drive rollers 56L and 56R, a lubricating coating layer 562 made of, for example, a fluororesin is formed on a portion that becomes a sliding surface that is in sliding contact with the flange portion 53a of the flanged bush 53 by a coating process or the like. Note that the lubricating coating layer 562 may be provided on the flange portion 53a.

  As described above, the flanged bush 53 is made of solid lubrication sintered metal, so that the lubrication performance in the rotational motion of the drive rollers 56L and 56R is improved, and a lubricating film layer 562 made of fluororesin is formed. As a result, the drive rollers 56L and 56R are smoothly rotated with low frictional resistance.

  In other words, the drive rollers 56L and 56R and the side wall portions 47L and 47R forming the bearing pieces have the same width and are alternately present around the circumference of the drive disks 48L and 48R. Yes. Thus, one side wall portion 47L (47R) also serves as one of the bearing portions of the two drive rollers 56L (56R) located on both sides in the circumferential direction. Therefore, the side wall portions 47L and 47R are respectively provided with bearing holes 51 at two different positions in the axial direction of the drive disks 48L and 48R.

  With this configuration, the drive rollers 56L and 56R can be easily and densely arranged around the circumference of the drive disks 48L and 48R with a minimum bearing bracket configuration.

  This means that at least one pair of left and right drive rollers 56L and 56R is always in contact with a driven roller 92 of a main wheel 84, which will be described later, which is grounded at the lowest portion, and is at least grounded by the drive rollers 56L and 56R. This greatly contributes to a setting in which a driving force (rotational force) is always applied to the driven roller 92.

  The left and right roller shafts 54L and 54R have a symmetrical arrangement and extend in the axial direction that forms a twisted relationship with respect to the central axis A, respectively. As a result, the left and right drive rollers 56L and 56R supported by the left and right roller shafts 54L and 54R are symmetrical to each other and have the same inclination as the helical gear teeth.

  The left and right drive disks 48L and 48R have cylindrical extensions 483L and 483R extending in a direction approaching each other in the axial direction. The cylindrical extensions 483L and 483R are provided so as to be relatively rotatable by a cross roller bearing 58. The cross roller bearing 58 is a rolling bearing that can handle a radial load and an axial load (thrust load). Is fitted to the inner peripheral surface of the. The inner race of the cross roller bearing 58 is fixed to the cylindrical extension 483L in the axial direction by a fastening ring 62 screwed to the outer periphery of the cylindrical extension 483L, and the outer race of the cross roller bearing 58 is screwed to the outer periphery of the cylindrical extension 483R. The fastening ring 60 is fixed to the cylindrical extension 483R in the axial direction.

  The cross roller bearing 58 is a main part of a coupling mechanism that couples the left and right drive disks 48L and 48R so as to be relatively rotatable. By the above-described assembly, both the radial direction and the axial direction of the left and right drive disks 48L and 48R are formed. The relative displacement is regulated (prohibited). In other words, the above-described assembly structure of the cross roller bearing 58 connects the left and right drive disks 48L and 48R concentrically so as to be relatively rotatable, and prevents them from being displaced in the axial direction.

  As a result, the concentric accuracy of the left and right drive disks 48L and 48R is ensured, and the distance between the left and right drive disks 48L and 48R in the axial direction is set to a predetermined value.

  The left and right electric motors 64L and 64R are provided in the cylindrical space portions 484L and 484R defined inside the cylindrical portions 481L and 481R of the left and right drive disks 48L and 48R, that is, in the center portions of the left and right drive disks 48L and 48R. Has been placed. In the left and right electric motors 64L and 64R, outer housings 66L and 66R each including a stator coil (not shown) and the like are fixed to left and right mounting members 42L and 42R by bolts 68. The left and right electric motors 64L and 64R are both concentric with the central axis A and have rotor shafts 70L and 70R extending in a direction approaching each other in the axial direction.

  The left and right electric motors 64L and 64R each include a portion overlapping with the left and right drive rollers 56L and 56R in the axial direction when viewed in one radial direction of the left and right drive disks 48L and 48R. In other words, on one projection plane parallel to the central axis A, the left and right electric motors 64L, 64R and the left and right drive rollers 56L, 56R include portions that overlap in the axial direction.

  Wave plugs 74L and 74R of the left and right wave gear devices 72L and 72R are fixedly connected to the tip portions of the rotor shafts 70L and 70R. The wave gear devices 72L and 72R have a well-known structure. The left and right electric motors 64L and 64R are arranged concentrically with the central axis A, and have high elliptical wave plugs 74L and 74R as input members. Wave flanges 76L, 76R fitted and fitted to the outer peripheral surfaces of the wave plugs 74L, 74R, and a thin-walled cylindrical flexible cylinder with a flange that has friction engagement with the outer peripheral surfaces of the wave bearings 76L, 76R and has outer teeth on the outer peripheral surface The external teeth members 78L and 78R and the high-rigidity ring-shaped internal teeth members 80L and 80R having internal teeth that mesh with the external teeth of the flexible external teeth members 78R and 78L. The internal gear members 80L and 80R are output members, and are fixedly connected to the left and right drive disks 48L and 48R by bolts 82.

  Thereby, the output rotations of the left and right electric motors 64L and 64R are decelerated by the left and right wave gear devices 72L and 72R, and are individually transmitted to the left and right drive disks 48L and 48R.

  In this embodiment, the wave plugs 74L and 74R, the wave bearings 76L and 76R, and the internal teeth members 80L and 80R are disposed in the inner space of the extension cylindrical portions 483L and 483R of the drive disks 48L and 48R. In combination with this, the electric motors 64L and 64R are arranged in the inner space of the cylindrical portions 481L and 481R of the drive disks 48L and 48R, so that the axial dimension of the traveling unit 40 can be reduced. .

  The left and right drive disks 48L and 48R support the main wheel 84 on the center axis that is the same as or approximate to the center axis A so as to be sandwiched from the left and right sides by an annular roller group of a plurality of left and right drive rollers 56L and 56R. . In other words, the main wheel 84 is the same as or approximate to the central axis A from the left and right drive disks 48L and 48R so as to be sandwiched from the left and right sides by a group of rollers arranged in an annular shape by a plurality of left and right drive rollers 56L and 56R. It is supported on the center axis of the shaft without axis, and can rotate (revolve) around its own center.

  The main wheel 84 includes an endless annular ring body 86 formed of a prismatic body, a plurality of inner sleeves 88 fitted and mounted on the outer periphery of the annular body 86 around the ring direction axis, and the outer periphery of each inner sleeve 88. And a plurality of driven rollers 92 rotatably mounted by ball bearings 90.

  The driven roller 92 is a grounding roller, and is configured by a metal cylindrical portion 92A that fits with the ball bearing 90 and a rubber cylindrical portion 92B that is vulcanized and bonded to the outer periphery of the metal cylindrical portion 92A. Yes. A plurality of driven rollers 92 are arranged in the ring direction (circumferential direction) of the annular body 86 together with the inner sleeve 88, and can be rotated (rotated) around the tangential axis of the annular body 86 at the position where the driven roller 92 is disposed.

  The left and right drive rollers 56L and 56R come into contact with the outer peripheral surface of the rubber cylindrical portion 92B of the driven roller 92 that forms the substantial outer peripheral surface of the main wheel 84 with the outer peripheral surface, and the drive disks 48L and 48R rotate (propulsion) by friction. Force) to the driven roller 92.

  Regarding the relationship (number) between the driven roller 92 and the left and right drive rollers 56L, 56R, at least one pair of the left and right drive rollers 56L, 56R is always in contact with the driven roller 92 that is grounded at the lowermost portion. 56L and 56R are set so that a propulsive force (rotational force) is always applied to at least the driven roller 92 in a grounded state.

  The left and right drive rollers 56L and 56R are each in the rotational direction around the central axis (ring center) of the main wheel 84, more precisely, in the tangential direction at the contact point of the drive rollers 56L and 56R with the driven roller 92. Thus, it is rotatably arranged around a central axis extending in a direction that is neither orthogonal nor parallel.

  That is, the left and right drive rollers 56L and 56R are inclined with respect to the rotation direction (revolution direction) around the central axis of the main wheel 84, and rotate in a twisted relationship with the rotation axes of the drive disks 48L and 48R. The arrangement has an axis and a rotation plane along one imaginary plane that is neither parallel nor orthogonal to the center axis of the drive disks 48L, 48R.

  In other words, the center axis of each of the left and right drive rollers 56L and 56R is inclined at a certain angle with respect to the radial line of the annular body 86 corresponding to the central axis of the driven roller 92, and at the same time, the center line of the annular body 86 contacts. It is inclined at an angle with respect to the virtual plane. Due to this three-dimensional inclination of the central axis, the arrangement of the drive rollers 56L and 56R on the drive disks 48L and 48R can be compared with the teeth (teeth) of the “helical bevel gear” placed on a conical surface at a certain angle. It is similar to the slope of streaks. Please refer to the pamphlet of International Publication No. 2008/139740 if you need more detailed explanation about this.

  In the present embodiment, if the left and right drive disks 48L and 48R have different rotational directions and / or rotational speeds by the left and right electric motors 64L and 64R, the circumferential (tangential) direction of the drive disks 48L and 48R is caused by the rotational force. With respect to the force, a component force in a direction orthogonal to the force acts on the contact surface between the left and right drive rollers 56L, 56R and the driven roller 92. Due to this component force, a force that twists the driven roller 92 acts on the outer surface of the driven roller 92, and the driven roller 92 rotates (rotates) around its own central axis.

  The rotation of the driven roller 92 is determined by the rotational speed difference between the left and right drive disks 48L and 48R. For example, when the left and right drive disks 48L and 48R are rotated in the opposite directions at the same speed, the main wheel 84 does not revolve at all, and only the driven roller 92 rotates. As a result, a driving force in the left-right direction is applied to the main wheel 84, and the inverted pendulum moving body moves in the left-right direction (true lateral movement).

  On the other hand, when the rotational directions and rotational speeds of the left and right drive disks 48L and 48R are the same, the driven roller 92 does not rotate, the main wheel 84 revolves, and the inverted pendulum moving body 10 moves forward. (Go straight) or go backward.

  Thus, the inverted pendulum moving body can move in all directions on the road surface by independently controlling the rotation speed and rotation direction of the left and right drive disks 48L, 48R by the left and right electric motors 64L, 64R. .

  Next, a method for adjusting the axial clearance of the roller according to the present invention will be described. As described above, on the axial end surface 56a of the drive roller 56L as a roller (the left side will be described as a representative. The same applies hereinafter), the lubricating coating layer 562 is provided at least in a portion facing the flange portion 53a of the flanged bush 53. Is provided.

  As described above, the lubricating coating layer 562 may be, for example, a fluororesin, and is formed with a predetermined thickness (t in FIG. 6). The thickness t causes the axial end surface 56a of the drive roller 56L to The clearance with the flange 53a is adjusted.

  That is, as shown in FIG. 7 schematically showing the drive roller 56L, the side wall portion 47L, and the flanged bush 53, a space between the pair of side wall portions 47L facing each other so as to sandwich the drive roller 56L in the axial direction (slot 49L). ) Is a, the thickness of the flange 53a is b, the axial width of the drive roller 56L is c, and although not shown, the sliding property between the flange 53a and the driven roller 56L is improved. When the minute gap for ensuring is d, the thickness t of the lubricating coating layer 562 is set to 2t = a− (2b + c + 2d).

  As a result, the axial clearance between the drive roller 56L and the flanged bush 53 can be adjusted without using shims. In this way, by forming the lubricating film layer 562 before the assembly of the drive roller 56L, the drive roller 56L becomes the same as one component in which the lubricating film layer 562 is integrated, and the drive roller support having the bush 53 is provided. In the structure, the axial clearance between the drive roller 56L and the bush can be adjusted with a minimum number of parts. Therefore, the integrated value of errors generated for each part can be reduced, the increase in errors due to the large number of parts can be suppressed, and the backlash in the axial direction of the assembled drive roller 56L can be reduced. That is, the position accuracy of the assembled state of the drive roller 56L can be increased.

  On the other hand, in the case of the conventional shim adjustment, as shown in FIG. 8, a shim 99 is interposed between the flange portion 53a of the flanged bush 53 and the drive roller 56L to adjust the gap. In this case, using a general-purpose product for the shim 99 is effective for cost reduction, but the general-purpose product has a minimum thickness limit. Therefore, each part is processed so that a gap larger than the thickness is generated, and a shim 99 corresponding to the gap generated due to a processing error or the like is selected and assembled. Further, the setting of the difference in thickness of the shim 99 is also a predetermined pitch and is selected stepwise, so that it cannot correspond to an intermediate thickness. For this reason, there is a problem that the gap adjustment with high accuracy cannot be performed.

  On the other hand, according to the present invention, since the lubricating film layer 562 is formed on the drive roller 56L (or the flanged bush 53), the thickness thereof can be set to an arbitrary value rather than stepwise. Therefore, even if there are variations in processing errors of each part and different gaps are generated in each assembling part, it is possible to assemble the drive roller 56L with a dimensional accuracy that ensures a certain tolerance for each different gap. Therefore, the position of the assembly state of the drive roller 56L becomes highly accurate, and it becomes easy to realize highly accurate control in the inverted pendulum type moving body using the friction type driving device as a traveling unit.

  Further, as described above, since the shim 99 has a minimum thickness, there is an increase in weight due to this. On the other hand, the lubricating coating layer 562 can be formed extremely thin with respect to the shim 99, resulting in an increase in weight. There is almost no. Therefore, not only the complexity of the assembly due to the reduction in the number of parts can be reduced, but also the weight reduction of the apparatus can be promoted.

  The method for adjusting the gap between the roller and the bush according to the present invention can easily adjust the mailer axial gap without using a shim, and can be applied to various types using a roller support structure using a bush. .

47L, 47R Side wall (support)
48L, 48R drive disk (roller support member)
53 Bush with bush (Bush)
53a collar part 56a axial direction end surface 56L, 56R roller 562 lubricating film layer

Claims (2)

A main wheel including an annular body and a plurality of driven rollers arranged in the annular direction of the annular body and rotatable about a tangential axis of the annular body at each of the arrangement positions, and an axial direction of the main wheel The left and right drive disks can be rotated around their own central axis, and the left and right drive disks can be rotated around an axis that is twisted with respect to the central axis of the drive disk. A friction type driving device having a plurality of drive rollers disposed on the outer peripheral surface and in contact with the outer peripheral surface of the driven roller,
The drive roller has a pair of axial end faces ;
Yes and the roller support member comprising a pair of support portions rotatably supporting the provided and the drive roller in the axial direction both outside of the drive roller, the flange portion of the radially outwardly facing the said axial end face coaxially the have a pair of bushings provided between the drive roller and the supporting portion vital,
From the thickness between the axial end surfaces of the drive roller, the axial thickness of the flange portion, and the dimension between the pair of support portions, the drive roller is assembled to the support portion via the bush. An axial gap with respect to the axial direction of the drive roller generated between the axial end face and the flange is obtained, and a lubricating coating layer having a thickness corresponding to the axial gap is provided on both outer sides in the axial direction of the drive roller. A friction type drive device that is provided on any one of the axial end face and the flange and adjusts the axial clearance . The thickness (t) of the lubricating coating layer is a value obtained by subtracting a gap (d) for ensuring slidability between the roller and the bush from the axial gap (d + t). The friction type drive device according to claim 1.

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