JP5412620B2 - Wheels and travel equipment - Google Patents

Description

  The present invention relates to a wheel capable of getting over an obstacle with a simple mechanism and a traveling device including the wheel.

  Traveling devices such as wheelchairs, walker, and wheeled robots are provided with wheels, and these traveling devices move forward and backward by rotating the wheels. FIG. 17 is a schematic diagram of a traveling device in the prior art.

  The traveling device 801 includes a pedestal 802 and wheels 803 that support the pedestal 802 and that allow the traveling device 801 to move forward and backward. The wheel 803 rotates on the floor surface 804 to move the traveling device 801 forward and backward. Here, a step 805 (such as a staircase or an obstacle) may exist on the floor surface 804.

  If there is such a step 805, the wheel 803 cannot exceed the step 805 only by its rotational movement, which is very inconvenient for the user. In general, it is said that a wheel cannot cross a step or an obstacle that is more than one third of the wheel diameter.

  Several technical proposals have been made on such wheels over steps and obstacles (see, for example, Patent Document 1, Patent Document 2, and Patent Document 3).

  Patent Document 1 discloses a technique in which when a wheel stops rotating, a ratchet pops out to lift the wheel upward, and the wheel exceeds a step.

  Patent Document 2 discloses a technique in which when a wheel collides with a step or an obstacle, a motor revolves around the wheel and starts up jacking up to lift the wheel.

Patent Document 3 discloses a technique for overcoming a step or an obstacle by providing wheels having various shapes.
JP 2008-132908 A JP 2007-69803 A JP-A-51-61932

  However, the prior art has the following problems.

  In the wheel of Patent Document 1, a ratchet is charged in the wheel, and when the rotation of the wheel stops, the ratchet pops out and lifts the wheel upward. However, in Patent Document 1, (1) Since the rotation of the wheel remains stopped, there is no rotation operation of the wheel after being lifted upward, and the operation of moving forward with respect to a step or an obstacle is weak. (2) The ratchet has the function of lifting the wheel upwards, but has the problem that it has almost no function of catching steps or obstacles, and it can move forward (or move backward) over the steps or obstacles. Not enough.

  The wheel of Patent Document 2 is jacked up by the revolution of the motor, and the wheel is lifted. With such a jack-up, in addition to the problems (1) and (2) of Patent Document 1, there is a weak function to advance or retreat the step even though it has a function to rise with respect to the step. . Further, in the case of a ratchet or jack-up, there is a problem that it takes time to jump out from the wheel and to store in the wheel, and it takes time to go over a step or an obstacle.

  As described above, in the techniques disclosed in Patent Documents 1 and 2, when a wheel collides with a step or an obstacle, the function of the wheel is stopped and the function is changed to a function of lifting the wheel. For this reason, the techniques of Patent Documents 1 and 2 sufficiently exhibit the two functions of (A) exceeding the step and the obstacle, and (B) moving forward and backward on the step and the obstacle while exceeding. It cannot be used as a wheel for a traveling device that cannot be stepped over obstacles and obstacles.

  Moreover, the technique of patent document 3 discloses the technique which gets over a level | step difference and an obstruction by providing the wheel which is not circular, such as a star shape and a square shape, beforehand. If it is intended only to get over the step, a wheel having such a special shape that is not circular may be used, but it is inconvenient when traveling on a normal floor or ground.

  Further, FIG. 7 of Patent Document 3 discloses a wheel in which the claw jumps out using an eccentric cam. However, such a wheel protrudes upward even while traveling on a flat floor surface, so that it is very convenient to use. bad. Of course, when the number of rotations of the wheel becomes high (that is, when the traveling operation becomes high speed), there arises a problem that the nail that protrudes hits the floor surface. The wheel and the traveling device disclosed in Patent Document 3 are less inconvenient in use as long as they are used for, for example, toys, but are not suitable for practical products such as wheelchairs and walker.

  As described above, the techniques of Patent Documents 1 to 3 simultaneously have two functions: (A) exceeding a step or an obstacle, and (B) moving forward or backward on the step or the obstacle while passing. In addition, there is a problem that the wheel function when traveling on the floor and the wheel function when lifting over a step or an obstacle can only be exhibited alternatively.

  The present invention solves the above-described problems, and has no obstacle when traveling on the floor surface, and when traveling over a step or an obstacle, the wheel and the traveling device are provided with a forward movement while lifting the wheel upward. The purpose is to provide.

In view of the above problems, the wheel of the present invention includes a rotatable drive shaft, a first wheel member circular rotated by rotation of the drive shaft, and rotated by the rotation of the first wheel member, the outer diameter than the first wheel member and a circular second wheel members large, the first wheel member and a second wheel member is rotatable independently, the first wheel member to be projectable into the outer periphery of the second wheel member It has a claw portion, the second wheel member includes a guide rail serving as a guide passage to project the pawl portion, and covers the outer periphery of the first wheel member, provided with an opening at a position projecting claws The first wheel member and the second wheel member are connected by an elastic body for conduction of the rotational force, and an obstruction factor occurs in the rotation of the second wheel member. When there is a difference between the rotational speed and the rotational speed of the second wheel member, the center of the first wheel member and the second In a state that is matched with the center of the ring member, wherein the claw portion is protruded.

  When the wheel of the present invention travels on a normal floor surface, it travels by the first wheel member and the second wheel member in response to rotation from the drive shaft. When the wheel collides with a step or an obstacle during traveling, an obstacle is generated in the rotation of the second wheel member, and the claw protrudes. This claw lifts (a) the wheel upward, and (b) the step or the obstacle. (C) The forward movement of the first wheel member that rotates autonomously by the power from the drive shaft is added, and the steps and obstacles are smoothly overcome.

  Further, since the plurality of claws protrude, it is possible to simultaneously realize a plurality of functions for lifting the wheel and for catching a step or an obstacle.

  A traveling device using such a wheel can be used in a wide range of fields such as a wheelchair, a walker, and a robot with wheels.

A wheel according to a first aspect of the present invention includes a rotatable drive shaft, a circular first wheel member that is rotated by the rotation of the drive shaft, and a wheel that is rotated by the rotation of the first wheel member. comprising a second wheel member having a diameter larger circle, and a first wheel member and the second wheel member is rotatable independently, the first wheel member can protrude to the outer periphery of the second wheel member a claw portion have a second wheel member includes a guide rail comprising a guide passage to project the pawl portion, and covers the outer periphery of the first wheel member, with an open portion at a position projecting claws The first wheel member and the second wheel member are connected by an elastic body for conduction of rotational force, and an obstruction factor occurs in the rotation of the second wheel member, and the first wheel member If there is a difference between the rotational speed of the first wheel member and the rotational speed of the second wheel member, In a state that is matched with the center of the ring member, wherein the claw portion is protruded.

  With this configuration, the wheel easily climbs over steps and obstacles.

With this configuration, it is possible to detect that the wheel has collided with a step or an obstacle by the difference in the rotational speed between the second wheel member and the first wheel member, and when the collision occurs, the claw projects. The protruding claw lifts the wheel or causes the step to be caught, so that the wheel can easily get over the step and the obstacle.

  With this configuration, the first wheel member plays a role of driving the second wheel member, and the second wheel member plays a role of causing an actual travel and an opportunity to project the claws. Moreover, the width direction of a wheel can be reduced in size because a 2nd wheel member covers the outer periphery of a 1st wheel member.

In the wheel according to the second aspect of the present invention, in addition to the first invention, the claw part has at the outer periphery of the first wheel member, a plurality of pawls to be projectable into the different positions.

  This configuration makes it easier for the wheel to get over the step or obstacle.

In the wheel according to the third aspect of the present invention, in addition to the second aspect , the plurality of claws have a crossing angle of 90 degrees or more.

  With this configuration, one claw lifts the wheel upward, and another claw causes the step to be caught. Together, these two functions make it easier for the wheel to get over steps and obstacles.

In the wheel according to the fourth aspect of the present invention, in addition to the second or third aspect , at least a part of the plurality of claws has a slip stopper.

  With this configuration, the nail can easily catch a step or an obstacle. In addition, it becomes difficult to reversely slide against the floor surface, and it is possible to prevent idle rotation of the wheels.

In the wheel according to the fifth aspect of the present invention, in addition to any one of the second to fourth aspects, at least one of the plurality of claws has a tapered portion at the tip thereof.

  With this configuration, it is possible to prevent idle rotation of the wheels.

In the wheel according to the sixth invention of the present invention, in addition to any of the second to fifth inventions, the claw protruding toward the ground contact surface of the first wheel member among the plurality of claws is the first wheel. The claw which raises the member from the ground contact surface and protrudes in the traveling direction of the first wheel member among the plurality of claws causes the obstacle to be located in the traveling direction.

  With this configuration, the wheel can easily move forward over a step or obstacle.

  Hereinafter, it demonstrates using drawing.

  In this specification, the term "wheel" includes a wide range of wheels used for traveling devices that run on wheels, such as wheelchairs, walker, bicycles, automobiles, transportation equipment, wheeled robots, wheeled toys, and wheeled measuring devices. . This includes a wide range of tires, metal wheels, and wooden and resin wheels.

  The traveling device includes a wide range of devices that travel on the floor or the ground (whether manual or automatic) with wheels.

  The terms “first” and “second” in the first wheel member and the second wheel member are used for convenience.

(Embodiment 1)
First, an overall outline will be described.

(Overview)
FIG. 1 is a schematic diagram of a traveling device according to Embodiment 1 of the present invention. FIG. 1 shows a traveling device 1 having wheels. The outline of the wheel of the first embodiment will be described by the description of the traveling device 1.

  The traveling device 1 includes a pedestal 2, a shaft 5 extending from the pedestal 2, and a front wheel 3 and a rear wheel 4 that are rotatably connected to the tip of the shaft 5. The front wheel 3 and the rear wheel 4 are rotated by driving a drive shaft (not shown) provided at the tip of the shaft 5 to cause the traveling device 1 to move forward and backward.

  As will be described later, the front wheel 3 and the rear wheel 4 are wheels having a first wheel member and a second wheel member, and having a claw portion from which the first wheel member protrudes to the outside. In addition, any of the 1st wheel member and the 2nd wheel member may have a nail | claw part.

  When the floor surface 10 is in a flat state, the front wheels 3 and the rear wheels 4 normally rotate on the floor surface to advance the traveling device 1. At this time, the front wheel 3 and the rear wheel 4 rotate while having a circular shape. Specifically, the first wheel member is rotated by the rotation of the drive shaft connected to the rotating drive shaft, and the first wheel member rotates the second wheel member by the rotation. In the state where the floor surface 10 is flat, the first wheel member is rotated by the rotational force from the drive shaft, and the second wheel member is rotated as it is by the rotation of the first wheel member. This is because the floor surface is flat, so that no obstruction factor occurs in the rotation of the first wheel member and the second wheel member.

  Here, the traveling device 1 collides with the step 11. Specifically, the front wheel 3 collides with the step 11. The first wheel member included in the front wheel 3 continues to rotate because it receives the driving force from the drive shaft. However, the second wheel member rotates due to the rotation of the first wheel member. The rotation of the wheel member is reduced. Thus, the second wheel member is subjected to a hindrance to the rotational operation due to the collision with the step 11. In other words, a difference in rotational speed occurs between the first wheel member and the second wheel member.

  Here, the first wheel member has a claw portion 6 that protrudes from the inside to the outside of the outer periphery of the first wheel member. The claw portion 6 has an obstruction factor in the rotation of the second wheel member (a difference occurs in the rotation speed between the first wheel member and the second wheel member), and only the second wheel member stops and only the first wheel member. When it comes to rotate, it protrudes by this rotational force.

  One of the first wheel member and the second wheel member includes a cam mechanism that causes the claw portion 6 to protrude, and the other includes a guide rail that serves as a guide passage when the claw portion 6 protrudes by the cam mechanism. When the first wheel member and the second wheel member share the cam mechanism and the guide rail, the claw portion 6 is provided when a difference in rotational speed between the first wheel member and the second wheel member occurs. Make it protrude. The first wheel member and the second wheel member only need to share the cam mechanism and the guide rail, and the claw portion 6 may be stored in either the first wheel member or the second wheel member. . Moreover, the nail | claw part 6 should just be connected with the wheel provided with a cam mechanism through a cam mechanism, even if it is not stored in either the 1st wheel member or the 2nd wheel member.

  The protruding claw part 6 catches the step 11 and lifts the front wheel 3. As a result, the front wheel 3 gets over the step 11. The rear wheel 4 also has the same configuration as the front wheel 3, and when the rear wheel 4 also collides with the step 11, the claw portion 6 protrudes and gets over the step 11.

  Thus, the traveling device 1 gets over the step 11 by the front wheel 3 and the rear wheel 4 getting over the step 11 using the claw portion 6.

(Wheel and wheel operation)
Next, the configuration of the wheel and the operation of the wheel will be described with reference to FIGS. 2 and 3 are side views of the wheel according to Embodiment 1 of the present invention. 2 and 3 show the wheels as viewed from the side. In addition, FIG. 2 has shown the state which saw through the inside of the 1st wheel member from the 2nd wheel member.

  The wheel 15 is used for the front wheel 3 and the rear wheel 4 of FIG.

  The wheel 15 includes a rotatable drive shaft 20, a first wheel member 16 that rotates by rotation of the drive shaft 20, and a second wheel member 17 that rotates by rotation of the first wheel member 16. The first wheel member 16 and the second wheel member 17 can rotate independently. In FIGS. 2 and 3, the second wheel member 17 covers the outer periphery of the first wheel member 16.

  Further, the first wheel member 16 includes a cam mechanism that causes the claw 18 to protrude, and the second wheel member 17 includes a guide rail that guides the protrusion of the claw 18. The claw 18 is connected to the first wheel member 16 by a cam mechanism.

  The first wheel member 16 includes a claw portion, and the claw portion has a plurality of claws 18. The plurality of claws 18 protrude from the inside of the first wheel member 16 to the outside of the outer periphery of the first wheel member 16. Is possible. Due to the protrusion of the plurality of claws 18, the wheel 15 can cross a step or an obstacle. In addition, although the nail | claw part has the some nail | claw 18, you may have a single nail | claw. 2 and 3, the first wheel member 16 may have a claw 18.

  The claw 18 is housed inside the first wheel member 16 during normal travel, and protrudes outside the first wheel member 16 when the wheel 15 crosses a step or an obstacle. 2 and 3 includes the second wheel member 17 that covers the outer periphery of the first wheel member 16, the claw 18 is the second wheel member starting from the outer periphery of the first wheel member 16. 17 protrudes from the outer periphery.

The wheel 15 does not project the claw 18 as shown in FIG. 2 while traveling on a flat floor surface or the ground. The drive shaft 20 applies a rotational force to the first wheel member 16 to rotate the first wheel member 16. Since the second wheel member 17 covers the outer periphery of the first wheel member 16, the second wheel member 17 rotates by the rotational force given by the rotation of the first wheel member 16. Here, the 1st wheel member 16 and the 2nd wheel member 17 are connected with the elastic body 19 for conduction of rotational force. The elastic body 19 conducts the rotational force of the first wheel member 16 (here, rotational force when moving forward) to the second wheel member 17 covering the outer periphery, that is, the first wheel member 16 rotates when moving forward. Is provided to the second wheel member 17 via the elastic body 19. When the floor surface or the ground is flat, the rotation of the first wheel member 16 is directly applied to the second wheel member 17, and the second wheel member 17. Moves forward on the floor and ground. That is, when the floor or the ground is flat, there is no difference in the rotational speed between the first wheel member 16 and the second wheel member 17, and the first wheel member 16 and the second wheel member 17 are Move forward with respect to the floor or ground. In this case, the claw 18 does not protrude from the first wheel member.

  Here, when the wheel 15 collides with a step or an obstacle, an obstruction factor is generated in the rotation of the second wheel member 17 that is actually in contact with the floor or the ground. On the other hand, since the first wheel member 16 receives the rotational force from the drive shaft 20, no obstruction to rotation occurs. In particular, since the first wheel member 16 and the second wheel member 17 can rotate independently with reference to the drive shaft 20, even if the rotation of the second wheel member 17 is reduced or stopped, the first wheel member 16 and the second wheel member 17 can be rotated. The wheel member 16 continues to rotate according to the rotational force received from the drive shaft 20.

  That is, when the wheel 15 collides with a step or an obstacle, a difference occurs in the rotation speed between the first wheel member 16 and the second wheel member 17 in the wheel 15.

  Here, the claw 18 protrudes due to the difference in rotational speed between the first wheel member 16 and the second wheel member 17. The first wheel member 16 includes a cam mechanism connected to the claw 18, and the second wheel member 17 includes a guide rail serving as a guide passage through which the claw 18 protrudes. The claw 18 tends to pop out by the rotational force of the first wheel member 16 in the forward direction and is stored by the rotation of the second wheel member 17 in the forward direction (the cam mechanism provided in the first wheel member 16 and It can be realized by being connected). For this reason, when the obstruction factor arises in rotation of the 2nd wheel member 17, and the difference arises in the rotation speed of the 1st wheel member 16 and the 2nd wheel member 17, the nail | claw 18 protrudes outside through a guide rail. FIG. 3 shows a state in which the claw 18 protrudes to the outside as described above. In the figure, a state in which the first wheel member 16 projects from the outer periphery of the second wheel member 17 via the second wheel member 17 is shown.

  The nail | claw 18 protrudes outside, and raises the wheel 15 upwards and causes a step or an obstacle to be caught. As a result, the wheel 15 gets over the step and the obstacle and moves forward on the step and the obstacle. As a result, even if there are steps (such as stairs) or obstacles on the running surface, the wheel 15 can continue to move forward over these.

  2 and 3, the second wheel member 17 covers the outer periphery of the first wheel member 16, but the second wheel member 17 is disposed on the side surface of the first wheel member 16. May be.

  FIG. 4 is a front view of the wheel in the first embodiment of the present invention. The state in which the first wheel member and the second wheel member are connected to each other is shown.

  The first wheel member 16 is connected to the drive shaft 20 and rotates by receiving the rotational force of the drive shaft 20. The first wheel member 16 has a second wheel member 17 connected to its side surface, and transmits the rotational force of the first wheel member 16 itself to the second wheel member 17 to rotate the second wheel member 17. The first wheel member 16 and the second wheel member 17 are connected by an elastic body 19, and the first wheel member 16 conducts rotational force to the second wheel member 17 by the elastic body 19. In addition, even if it is not an elastic body, the 1st wheel member 16 and the 2nd wheel member 17 should just be connected by the connection member.

  Here, the diameter of the second wheel member 17 is larger than the diameter of the first wheel member 16, and the second wheel member 17 rotated by the rotational force from the first wheel member 16 is in contact with the actual floor surface or the ground. The wheel 15 is made to travel.

  In the case of the wheel 15 in FIG. 4 as well, the second wheel member 17 is prevented from rotating when it collides with a step or an obstacle as in the case of the wheel in FIGS. Even if the rotation of the second wheel member 17 is hindered, the first wheel member 16 continues to rotate due to the rotational force from the drive shaft 20. For this reason, when the wheel 15 collides with a step or an obstacle, a difference occurs in the rotation speed between the first wheel member 16 and the second wheel member 17. Since the first wheel member 16 continues to rotate in the forward direction even when the second wheel member 17 stops rotating, a difference in rotational speed between the first wheel member 16 and the second wheel member 17 occurs. The first wheel member 16 has a cam mechanism, and the second wheel member 17 has a guide rail. When a difference in rotational speed between the first wheel member 16 and the second wheel member 17 occurs, the cam mechanism of the first wheel member 16 operates. The cam mechanism is connected to the claw 18, and the claw 18 protrudes according to the guide rail provided in the second wheel member 17 in the stopped state. As a result, the claw 18 protrudes from the second wheel member 17 to the outside.

  When the claw 18 protrudes to the outside, the claw 18 pushes the wheel 15 upward from the floor surface or the ground and causes a step or an obstacle to be caught. At this time, since the first wheel member 16 continues to rotate, the wheel 15 riding on the step or obstacle rotates on the step or obstacle using the rotational force of the first wheel member 16. Then move forward. As a result of moving forward, if the obstruction to the rotation of the second wheel member 17 disappears, the second wheel member 17 is also rotated by the rotational force from the first wheel member 16, and the wheel 15 continues to move forward.

  As described above, as shown in FIG. 4, the first wheel member 16 and the second wheel member 17 may be connected to each other at the side surfaces. As shown in FIGS. 2 and 3, the wheel in the first embodiment is the first wheel as shown in FIG. 4 even if the second wheel member 17 covers the outer periphery of the first wheel member 16. Even if the member 16 and the second wheel member 17 are connected to each other at the side surfaces, the claw 18 protrudes due to the difference in the rotational speed between the first wheel member 16 and the second wheel member 17. The nail | claw 18 raises the wheel 15 and produces a level | step difference and a catch on an obstruction. Further, even in this case, the first wheel member 16 does not stop the rotation, so that a force in the forward direction is also generated. Together, these wheels 15 easily get over steps and obstacles. Of course, after getting over, the rotation speeds of the first wheel member 16 and the second wheel member 17 are balanced, so that the claws 18 are stored, and there is no adverse effect on traveling on the floor or the ground.

(Detailed drawing of wheel)
FIG. 5 to FIG. 10 show wheel structural diagrams. FIGS. 5-10 shows the wheel which has a structure where a 2nd wheel member covers the outer periphery of a 1st wheel member similarly to FIG. 2, FIG.

  FIG. 5 is a side view of the wheel according to the first embodiment of the present invention. FIG. 5 shows a state in which the wheel 15 from which the claw 18 does not protrude is viewed from the side.

  The first wheel member 16 is connected to the drive shaft 20 so as to receive the rotational force of the drive shaft 20. The first wheel member 16 is rotated by the rotation of the drive shaft 20. The first wheel member 16 stores the claw 18 therein. The first wheel member 16 includes a cam mechanism, and the claw 18 is pushed out by the operation of the cam mechanism. The cam mechanism causes the claw 18 to protrude to the outside when a difference in rotational speed between the first wheel member 16 and the second wheel member 17 occurs. The second wheel member 17 includes a guide rail 30. The guide rail 30 guides the protrusion of the claw 18.

  The first wheel member 16 and the second wheel member 17 are connected by an elastic body 19. The elastic body 19 is a rod-shaped body made of a spring, rubber, or an elastic material, a string, a bent spring, a helical spring, or the like. In the forward movement, the elastic body 19 transmits the rotation operation from the first wheel member 16 to the second wheel member 17. For this reason, when an obstruction factor arises in rotation of the 2nd wheel member 17, the 1st wheel member 16 continues rotation, the 2nd wheel member 17 stops rotation, and the 1st wheel member 16 and the 2nd wheel member A difference in rotational speed from 17 occurs. However, when the claw 18 protrudes and the second wheel member 17 rotates, the first wheel member 16 and the second wheel member 17 come to rotate and the idling of the first wheel member 16 is eliminated.

  When the floor or the ground is flat by the elastic body 19, the first wheel member 16 transmits the rotation to the second wheel member 17, and the second rotation speed is the same as the rotation speed of the first wheel member 16. The wheel member 17 rotates.

  FIG. 6 is a front view of the wheel according to the first embodiment of the present invention. FIG. 6 shows a state in which the wheel of FIG. 5 is viewed from the front.

  Also in FIG. 6, the wheel 15 is in a normal state, and the claw 18 is not protruded.

  FIG. 7 is a perspective view of the wheel according to the first embodiment of the present invention. FIG. 7 shows a state in which the wheels of FIGS. 5 and 6 are viewed from an oblique direction. FIG. 7 also shows the wheel 15 before the claw 18 protrudes.

  5 to 7, the wheel 15 includes a first wheel member 16 on the inner peripheral side and a second wheel member 17 on the outer peripheral side, and the first wheel member 16 rotates the second wheel member 17. The wheel 15 travels.

  FIG. 8 shows a state in which the wheel 15 shown in FIGS. 5 to 7 collides with a step or an obstacle, and the claw 18 is protruded.

  FIG. 8 is a side view of the wheel according to the first embodiment of the present invention. FIG. 8 shows a state in which the claw 18 protrudes from the first wheel member 16 from the side surface. When the wheel 15 collides with a step or an obstacle from a flat floor surface or the ground, the rotation of the second wheel member 17 covering the outer periphery is inhibited. Since the first wheel member 16 continues to receive the rotational force from the drive shaft 20, the first wheel member 16 continues to rotate inside the second wheel member 17. For this reason, a difference arises in the rotation speed of the 1st wheel member 16 and the 2nd wheel member 17.

  Since the first wheel member 16 and the second wheel member 17 are connected in the forward direction by the elastic body 19, when the rotation of the second wheel member 17 is reduced or stopped, the elastic body 19 is extended and the first wheel member is extended. The cam mechanism stored in 16 is operated. The cam mechanism connects the claw 18. The claw 18 is pushed out through the guide rail 30 by the operation of the cam mechanism. The cam mechanism includes various cams such as a plate cam, a conjugate cam, and an end face cam. The cam mechanism operates based on the difference in rotational speed between the first wheel member 16 and the second wheel member 17. That is, it can be said that the cam mechanism plays a role of a kind of sensor.

  The second wheel member 17 includes an opening portion 21 at a position where the claw 18 protrudes, and the claw 18 protrudes from the inside of the first wheel member 16 or the second wheel member 17 to the outside via the opening portion 21. To do. In FIG. 8, the first wheel member 16 includes four claws 18, and the four claws 18 protrude from predetermined positions. Thus, when the 2nd wheel member 17 has the structure which covers the outer periphery of the 1st wheel member 16, the 2nd wheel member 17 is provided with the opening part 21 which can project claw 18, and claw 18 It protrudes to the outside via the opening 21.

  FIG. 9 is a front view of the wheel in the first embodiment of the present invention. FIG. 9 shows a state in which the wheel of FIG. 8 is viewed from the front. As in FIG. 8, a difference occurs in the rotation speed between the first wheel member 16 and the second wheel member 17, and the claw 18 protrudes from the inside of the first wheel member 16 to the outside of the outer periphery.

  FIG. 10 is a perspective view of the wheel in the first embodiment of the present invention. FIG. 10 shows a state in which the wheel of FIG. 8 is viewed from an oblique direction. After all, the nail | claw 18 protrudes.

  As apparent from FIGS. 8 to 10, when the wheel 15 collides with a step or an obstacle, the rotation of the second wheel member 17 is inhibited. As a result of this inhibition, a difference occurs between the rotation speed of the first wheel member 16 and the rotation speed of the second wheel member 17, and the cam mechanism inside the first wheel member 16 pushes out the claw 18 to release the guide rail 30. The nail | claw 18 protrudes outside via the part 21. FIG.

  As described above, the wheel according to the first embodiment includes the first wheel member that continues to rotate even if it collides with a step or an obstacle, and the second wheel member that reduces the rotation operation when it collides with a step or an obstacle. By providing, when a difference arises between the rotation speed of the first wheel member and the rotation speed of the second wheel member, the first wheel member causes the claw to protrude. This claw lifts the wheel upward and causes a step or an obstacle to be caught. Furthermore, since the first wheel member continues to rotate, the forward travel is continued even after riding on the step or obstacle, and as a result, the wheel can travel over the step or obstacle.

  Next, the detail of each part is demonstrated.

(First wheel member)
The first wheel member 16 is rotated by the rotational force from the drive shaft 20. The first wheel member 16 includes a cam mechanism connected to the claw 18.

  The first wheel member 16 includes a wide range of rubber tires, wheels made of iron, wheels made of wood or resin, and the like.

  The first wheel member 16 is rotated by the rotational force from the drive shaft 20, but the drive shaft 20 is manually rotated even when the drive shaft 20 is rotated by a drive unit that automatically rotates, such as a motor or an engine. Even if it does, it rotates with the rotational force from the drive shaft 20. For example, when the wheel 15 is attached to a traveling device having a driving unit such as a motor or an engine such as a toy radio control, a robot, an electric wheelchair, or an electric walker, the wheel 15 is driven by the driving force from the motor or the engine. The shaft 20 rotates. On the other hand, when the wheel 15 is attached to a traveling device that is manually driven, such as a wheelchair, a manual toy, or a manual walker, the driving shaft 20 is rotated by a driving force applied manually. The first wheel member 16 is rotated by the rotation of the drive shaft 20.

  Thus, the first wheel member 16 rotates by receiving the rotational force from the drive shaft 20.

  The first wheel member 16 may be provided inside the second wheel member 17 or may be provided on the side surface of the second wheel member 17. Further, the first wheel member 16 has a function of giving a rotational force from the drive unit 20 to the second wheel member 17, and the first wheel member 16 itself has a function of traveling in contact with the floor surface or the ground. Absent.

  The first wheel member 16 is connected to the second wheel member 17 in order to transmit the rotational force to the second wheel member 17. This is because when the second wheel member 17 collides with an obstacle and stops its rotation, the first wheel member 16 receives the rotation from the drive shaft 20 and idles, thereby causing the first wheel member 16 and the second wheel to rotate. This is because a difference in rotational speed with the member 17 is generated. Of course, if the second wheel member 17 starts to operate on the obstacle by the action of the claw 18, the first wheel member 16 and the second wheel member 17 rotate together.

  As an example, in a state where the first wheel member 16 is connected to the second wheel member 17 by the elastic body 19 and the rotation of the first wheel member 16 is given to the second wheel member 17 as it is, the elastic body 19 is stationary. If there is an obstruction factor when the rotation of the first wheel member 16 is transmitted to the second wheel member 17 in the state, the elastic body 19 is in an extended state. Thus, the elastic body 19 that connects the first wheel member 16 and the second wheel member 17 transmits the rotational force of the first wheel member 16 to the second wheel member 17, and at the same time, the first wheel member 16 and the second wheel member 16. A difference in rotational speed with the wheel member 17 can be detected. By this detection, the cam mechanism is actuated to cause the claw 18 to protrude.

  The first wheel member 16 only needs to have a function of transmitting the rotational force of the drive shaft 20 to the second wheel member 17, and may be not only circular but also elliptical or polygonal.

(Second wheel member)
The second wheel member 17 actually travels the wheel 15 in contact with the floor surface or the ground. The second wheel member 17 includes a guide rail 30 serving as a guide passage through which the claw 18 protrudes.

  The second wheel member 17 may be formed so as to cover the outer periphery of the first wheel member 16 or may be formed on a side surface of the first wheel member 16. The second wheel member 17 rotates in response to the rotational force from the first wheel member 16 and travels on the floor surface or the ground.

  The second wheel member 17 has the same rotation axis as that of the first wheel member 16 (that is, rotates with respect to the drive shaft 20), but can rotate independently of the first wheel member 16. That is, the case where the 1st wheel member 16 and the 2nd wheel member 17 rotate with the same rotation speed and the case where it rotates with a different rotation speed arise. In the latter case, a difference occurs in the rotation speed between the first wheel member 16 and the second wheel member 17, and the claw 18 protrudes from the first wheel member 16 as described later.

  Similarly to the first wheel member 16, the second wheel member 17 includes a wide range of rubber tires, wheels made of iron, wheels made of wood or resin, and the like. It only needs to be able to travel on the floor or the ground, so there is no question of the material, structure, or manufacturing method.

  The second wheel member 17 may be oval or polygonal like the first wheel member 16, but is preferably circular because it travels in contact with the floor or the ground. When the second wheel member 17 is configured to cover the outer periphery of the first wheel member 16, the second wheel member 17 is provided with an opening 21 for passing the claw 18 protruding from the first wheel member 16.

  In the case where the second wheel member 17 is installed on the side surface of the first wheel member 16 as shown in FIG. 4, the diameter of the second wheel member 17 is larger than the diameter of the first wheel member 16. Is preferable from the viewpoint of grounding.

  The first wheel member 16 and the second wheel member 17 are not particularly distinguished from each other by the terms “first” and “second”, and only need to share the necessary functions.

(claw)
Next, the claw 18 will be described.

  The first wheel member 16 includes a claw portion for overcoming a step or an obstacle, and the claw portion includes one or a plurality of claws 18.

  The details of the nail will be described with reference to FIG.

  FIG. 11 is a side view of the wheel according to the first embodiment of the present invention. FIG. 11 shows a state where the wheel 15 from which the claw protrudes is about to exceed the step.

  It is also preferable that the first wheel member 16 includes a plurality of claws 18 that can protrude to different positions on the outer periphery of the first wheel member 16.

  The claw 18 has a role of lifting the wheel 15 upward and a role of catching the step. If the nail 18 is singular, only one of these roles can be played simultaneously. For this reason, when the level | step difference and an obstruction are large, there also exists a problem that the wheel 15 cannot fully pass a level | step difference and an obstruction.

  In FIG. 11, the first wheel member 16 includes four claws 18.

  Of the four claws 18, the claws 18 a protrude below the wheel 15 (that is, the floor surface 50) and lift the wheel 15 upward from the floor surface 50. On the other hand, the claw 18 b protruding at the same time protrudes in the forward direction of the wheel 15 and catches the step 51. The four claws 18 project to different positions of the first wheel member 16, but by projecting simultaneously to different positions, one claw 18 a plays a role of lifting the wheel 15, and the other claw 18 b It plays a role of hooking on the step 51.

  Here, it is preferable that the plurality of claws 18 have a crossing angle of 90 degrees or more. This is because by having an intersection angle of 90 degrees or more, it is possible to share the roles of a claw that lifts the wheel 15 upward and a claw that hooks the wheel 15 on the step 51. When the claws have an intersection angle of less than 90 degrees, the claw 18 protruding in the forward direction of the wheel 15 (the direction toward the step 51) catches the step 51, and the floor surface 50 is slanted. There will be a claw 18 protruding forward. If it becomes like this, since the force which pushes back rather than lifting the wheel 15 will generate | occur | produce, the wheel 15 becomes difficult to exceed the level | step difference 51. FIG. Also from such a point, it is preferable that the claws 18 have a crossing angle of 90 degrees or more.

  It is also preferable that a part of the claw 18 is provided with a non-slip.

  For example, it is preferable that a friction body or a friction surface is provided at the tip of the claw 18 or at least a part of the front or back surface. The claw 18 lifts the wheel 15 from the floor surface 50 or hooks the wheel 15 on the step 51. At this time, since the claw 18 has a non-slip, it becomes difficult to slide with respect to the floor surface 50 or the step 51, and it is possible to prevent the wheel 15 colliding with the step 51 from spinning idle.

  The anti-slip may be processed directly on the nail 18, or an anti-slip material may be applied or affixed thereto.

  It is also preferable that at least one of the claws 18 has a tapered portion 40 at the tip. By having the tapered portion 40, there is an advantage that obstacles are reduced when the claw 18 kicks up the floor surface 50.

  In the case where the tapered portion 40 is not provided, when the claw 18 protrudes substantially perpendicular to the floor surface 50, the ground contact area between the floor surface 50 and the tip of the claw 18 increases. In this case, the claw 18 stands upright on the floor surface 50 and generates a vector for moving the wheel 50 in both the forward and backward directions. If it becomes like this, the wheel 15 will be easy to rotate idly when it collides with the level | step difference 51. FIG. On the other hand, when the taper portion 40 is provided, even when the claw 18 is erected substantially perpendicular to the floor surface 50, the area where the claw 18 is in contact with the floor surface 50 is small. It is difficult to generate a vector for moving the wheel 15 backward. Further, as shown in FIG. 11, since the tapered portion is formed in the forward direction of the wheel 15, when the claw 18 a of FIG. 11 is erected substantially perpendicular to the floor surface 50, the tapered portion 40 is By being in the forward direction of the wheel 15, the wheel 15 becomes unstable in the forward direction with the claw 18a as a reference, and the wheel 15 rotates forward. As a result, since the traveling force in the forward direction can be continued even when the wheel 15 collides with the step 51, the wheel 15 is less likely to idle.

  Also, the number and shape of the claws 18 may be other than those shown in FIG. Further, the amount protruding from the wheel 15 may be determined as appropriate depending on the specifications of the wheel, the performance required of the traveling device, and the like. For example, the wheel 15 may include two or three claws 18. The provision of five or more claws 18 is not excluded.

  Further, the claw 18 may be formed of the same material as the first wheel member 16 and the second wheel member 17 or may be formed of a different material. Various known techniques necessary for catching on the step 51 and lifting the wheel 15 may be used.

  The claw 18 may be stored in the first wheel member 16 or the second wheel member 17.

  As described above, in the wheel according to the first embodiment, when a difference between the rotation speed of the first wheel member and the rotation speed of the second wheel member is generated, the claw is protruded to the outside of the outer periphery, and the wheel is made to the floor surface. Lifts from the top and causes catching on steps and obstacles. For this reason, the wheel first rides on the step. Further, since the rotation of the first wheel member continues, the wheel advances on the step and eventually gets over the step. Since the rotation speeds of the first wheel member and the second wheel member in the wheel over the step are the same again, the claws are stored inside the first wheel member, and the wheel travels on a flat floor surface.

  In the first embodiment, the claw is described based on protruding from the first wheel member. However, the first wheel member is rotated by the drive shaft and has a cam mechanism. When the claw is stored, the claw projects from the inside of the second wheel member by the cam mechanism of the first wheel member. The claw may be stored in either the first wheel member or the second wheel member, and the roles of (1) and (2) are determined for the first wheel member and the second wheel member. It is.

  (1) The first wheel member rotates by rotation from the drive shaft, and transmits the rotational force to the second wheel member.

  (2) The second wheel member is rotated by the rotation of the first wheel member.

  Whether the first wheel member or the second wheel member has a role other than (1) and (2), (3) a cam mechanism that pushes out the claw, and (4) a guide rail that stores and protrudes the claw. Is appropriately determined according to the specification. However, the role (3) and the role (4) need to be different between the first wheel member and the second wheel member.

  In this state, if the first wheel member has the role (3) and the second wheel member has the role (4), the claw protrudes from the second wheel member, and the first wheel member plays the role ( 4) and the second wheel member has the role (3), the claw projects from the first wheel member.

  As described above, the first wheel member and the second wheel member are terms for convenience that are distinguished in terms of roles, and any of them may play any role as long as the operation according to the role sharing is performed.

(Embodiment 2)
Next, a second embodiment will be described.

  In the second embodiment, a traveling device using the wheels described in the first embodiment will be described.

  The wheel described in Embodiment 1 can be applied to any device that travels using the wheel. That is, the traveling device including the wheel described in the first embodiment, a driving unit that applies a driving force to the driving shaft of the wheel, and a pedestal to which the wheel is attached uses the wheel described in the first embodiment. And get over obstacles easily.

  The traveling device is various such as a wheelchair, an electric wheelchair, a walker, an electric walker, a wheeled robot, a wheeled toy, and an indoor traveling device.

  Examples of wheeled robots include pet robots, cleaning robots, guidance robots at events and shopping centers, housework robots, and transport robots.

  The travel device and the operation of the travel device will be described with reference to FIGS.

  12, 13, 14, and 15 are schematic diagrams of a traveling device according to Embodiment 2 of the present invention.

  FIG. 12 shows a state where the traveling device 60 is traveling on a flat floor surface without an obstacle. FIG. 13 is a drawing subsequent to FIG. 12 and shows a state in which the traveling device 60 has collided with the step 70. FIG. 14 shows a state in which the claw 18 starts to protrude from the wheel 15 after the traveling device 60 collides with the step 70 in a state following FIG. FIG. 15 shows a state in which the wheel 15 starts to climb over the step 70 by the claw 18 in a state following FIG.

  The traveling device 60 includes four wheels 15 and a pedestal 61 to which the four wheels 15 are attached. Further, the drive unit 20 gives a rotational force to the first wheel member included in the wheel 15. 12-15, although the drive means which gives a drive force to the drive shaft 20 is not shown in figure, the traveling device 60 is provided with drive means, such as a motor, and a drive means gives drive force to the drive shaft 20 automatically. It may be configured.

  As described in the first embodiment, the wheel 15 includes the first wheel member that rotates by the rotation of the drive shaft 20 and the second wheel member that rotates by the rotation of the first wheel member. 12 to 15 are not shown for convenience of drawing. Moreover, the 1st wheel member is also provided with the nail | claw which can protrude outside the outer periphery of a 1st wheel member.

  In addition, the pedestal 61 constitutes a base of the traveling device 60 while attaching the four wheels 15. Furthermore, you may provide the drive means as needed.

  The traveling device 60 in the second embodiment is a device that easily climbs over a step or an obstacle by providing the wheel 15 described in the first embodiment, so that the driving method and other operations are known to the traveling device. This technique may be used as necessary. Description of these known techniques is omitted. However, the traveling device of the second embodiment includes various traveling devices to which known techniques that do not depart from the spirit of the traveling device using the wheels of the first embodiment are added.

  The operation of the traveling device 60 will be described in the order of FIGS.

(Stage of FIG. 12)
The traveling device 60 travels on a flat floor surface. Since the floor surface is flat, the traveling device 60 moves forward by the rotation of the wheels 15. The wheel 15 includes a first wheel member and a second wheel member, but since the floor surface is flat, there is no hindrance to the rotation of the second wheel member, and the rotational force from the first wheel member is All are transmitted to the second wheel member. As a result, the rotation speeds of the first wheel member and the second wheel member are the same.

  Since there is no difference in the rotation speed between the first wheel member and the second wheel member, the wheel 15 rotates on a flat floor without protruding the claw 18 from the first wheel member. The traveling device 60 moves forward on the floor surface by the wheels 15 rotating on the floor surface. At this time, since the claw 18 does not protrude, the travel of the travel device 60 is not hindered.

(Stage of FIG. 13)
There may be a step 70 on the floor. In FIG. 13, the traveling device 60 that has traveled on a flat floor collides with the step 70.

  The wheel 15 collides with the step 70, and the rotation of the second wheel member that is the outer ring is reduced or stopped.

(Stage of FIG. 14)
Although the rotation of the second wheel member is hindered, the first wheel member continues to receive the rotational force from the drive shaft 20, so that a difference occurs in the rotation speed between the first wheel member and the second wheel member.

  Here, one of the first wheel member and the second wheel member is provided with a claw 18 that can protrude outward. The claw 18 protrudes by a cam mechanism that operates when a difference occurs in the rotation speed between the first wheel member and the second wheel member. FIG. 14 shows how the claws 18 protrude.

(Stage of FIG. 15)
There are a plurality of claws 18, and when the projection of the claw 18 advances, a certain claw 18 projects downward of the wheel 15 and lifts the wheel 15 upward from the floor surface. Further, the other claw 18 protrudes toward the front of the wheel 15 and is caught on the step 70. That is, the claw 18 protruding forward catches the step 70.

  By combining these two actions, the wheel 15 starts to climb the step 70. As shown in FIG.

  Further, since the first wheel member continues to rotate inside the wheel 15, the wheel 15 also performs forward movement on the step 70. Coupled with this forward movement, the traveling device 60 goes over the step 70 by exceeding the step 70 and also moving forward.

  As described above, the traveling device 60 according to the second embodiment can move forward over a step or an obstacle. Such a traveling device 60 is widely applied to a wheelchair, an electric wheelchair, a walker, an electric walker, a wheeled robot, a wheeled toy, an indoor traveling device, etc., so that the user's benefit is enhanced.

  Next, experimental examples will be described.

(Experimental example)
The inventor manufactured the prototype shown in FIG. 16 and actually performed the experiment on the floor. FIG. 16 is a schematic diagram of a traveling device that was prototyped in an experimental example of the present invention.

  The prototype is a traveling device having the following specifications.

(1) Overall length, overall width, overall height = 650mm x 400mm x 320mm
(2) Weight 7.1kg
(3) Motor Tamiya Geared Motor Part No. “540K300”
(4) Battery Tamiya Nickel Metal Hydride Battery 7.2V (Volt) Part No. "3700HV"
(5) Propo Futaba Denshi Kogyo product number “4EX”
(6) Amplifier Futaba Denshi Kogyo product number “MC330CR”
(7) Wheel diameter 150mm
(8) Wheel width 40mm
(9) Nail width 32.5mm
This traveling device is driven on the floor surface, and the condition of the floor surface according to the conditions of <Condition 1> Height 70 mm and <Condition 2> Height 140 mm is driven at a speed of about 0.3 m / sec. It was.

  As a result of the experiment, the traveling device was able to get over the steps under any condition. From the result of <Condition 2>, it can be seen that a step difference of 140 mm corresponding to 93% of the wheel diameter of 150 mm can be exceeded. Considering that it is said that a normal wheel has a limit of exceeding a step of about one third of the wheel diameter, the traveling device prototyped in accordance with the gist of the present invention has a very remarkable and excellent effect. It can be seen that

  The experimental example is an example of the traveling device in the second embodiment, and does not indicate the performance limit of the wheel in the first embodiment or the traveling device in the second embodiment.

  Further, since the traveling device of the experimental example is composed of only wheels, driving means, and a pedestal, it can be applied to various traveling devices by attaching a casing and an external device to the traveling device.

  In the second embodiment, the claw is described based on protruding from the first wheel member. However, the first wheel member is rotated by the drive shaft and has a cam mechanism. When the claw is stored, the claw projects from the inside of the second wheel member by the cam mechanism of the first wheel member. The claw may be stored in either the first wheel member or the second wheel member, and the roles of (1) and (2) are determined for the first wheel member and the second wheel member. It is.

  (1) The first wheel member rotates by rotation from the drive shaft, and transmits the rotational force to the second wheel member.

  (2) The second wheel member is rotated by the rotation of the first wheel member.

  Whether the first wheel member or the second wheel member has a role other than (1) and (2), (3) a cam mechanism that pushes out the claw, and (4) a guide rail that stores and protrudes the claw. Is appropriately determined according to the specification. However, the role (3) and the role (4) need to be different between the first wheel member and the second wheel member.

  In this state, if the first wheel member has the role (3) and the second wheel member has the role (4), the claw protrudes from the second wheel member, and the first wheel member plays the role ( 4) and the second wheel member has the role (3), the claw projects from the first wheel member.

  As described above, the first wheel member and the second wheel member are terms for convenience that are distinguished from each other in terms of roles, and perform operations in accordance with the division of roles. The traveling device of the second embodiment travels by using a wheel including such a first wheel member and a second wheel member.

  As described above, the wheel and the traveling device described in the first and second embodiments are examples for explaining the gist of the present invention, and include modifications and modifications without departing from the gist of the present invention.

It is a schematic diagram of the traveling apparatus in Embodiment 1 of this invention. It is a side view of the wheel in Embodiment 1 of the present invention. It is a side view of the wheel in Embodiment 1 of the present invention. It is a front view of the wheel in Embodiment 1 of the present invention. It is a side view of the wheel in Embodiment 1 of the present invention. It is a front view of the wheel in Embodiment 1 of the present invention. It is a perspective view of the wheel in Embodiment 1 of the present invention. It is a side view of the wheel in Embodiment 1 of the present invention. It is a front view of the wheel in Embodiment 1 of the present invention. It is a perspective view of the wheel in Embodiment 1 of the present invention. It is a side view of the wheel in Embodiment 1 of the present invention. It is a schematic diagram of the traveling apparatus in Embodiment 2 of this invention. It is a schematic diagram of the traveling apparatus in Embodiment 2 of this invention. It is a schematic diagram of the traveling apparatus in Embodiment 2 of this invention. It is a schematic diagram of the traveling apparatus in Embodiment 2 of this invention. It is a schematic diagram of the traveling apparatus made as an experiment in the experimental example of the invention. It is a schematic diagram of the traveling apparatus in a prior art.

DESCRIPTION OF SYMBOLS 1 Traveling apparatus 2 Base 3 Front wheel 4 Rear wheel 5 Shaft 6 Claw 15 Wheel 16 1st wheel member 17 2nd wheel member 18 Claw 19 Elastic body 20 Drive shaft 21 Opening part

Claims (8)

A rotatable drive shaft;
A circular first wheel member rotating by rotation of the drive shaft;
A second wheel member that is rotated by rotation of the first wheel member and has a circular second wheel member having an outer diameter larger than that of the first wheel member ;
The first wheel member and the second wheel member are independently rotatable,
Said first wheel member, have a claw portion which can protrude to the outer periphery of the second wheel member,
The second wheel member includes a guide rail serving as a guide passage through which the claw portion protrudes, covers the outer periphery of the first wheel member, and includes an open portion at a position where the claw portion protrudes,
The first wheel member and the second wheel member are connected by an elastic body for conduction of rotational force ,
When an obstruction factor occurs in the rotation of the second wheel member,
When a difference occurs between the rotation speed of the first wheel member and the rotation speed of the second wheel member, the center of the first wheel member and the center of the second wheel member are matched, claw wheel that project. The claw portion, the at the outer periphery of the first wheel member, the wheel of claim 1 Symbol mounting having a plurality of pawls to be projectable into the different positions. The wheel according to claim 2 , wherein the plurality of claws have a crossing angle of 90 degrees or more. The wheel according to claim 2 or 3 , wherein at least some of the plurality of claws have a slip stopper. The wheel according to any one of claims 2 to 4 , wherein at least one of the plurality of claws has a tapered portion at a tip thereof. Of the plurality of claws, the claw protruding toward the ground contact surface of the first wheel member raises the first wheel member from the ground contact surface,
The wheel according to any one of claims 2 to 5 , wherein a claw that protrudes in a traveling direction of the first wheel member among the plurality of claws causes a catch to an obstacle located in the traveling direction. A plurality of wheels according to any one of claims 1 to 6 ;
Driving means for applying a driving force to the driving shaft;
And a pedestal for mounting the plurality of wheels. The traveling device according to claim 7 , wherein the traveling device is one of a wheelchair, an electric wheelchair, a walker, an electric walker, and a robot with wheels.

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