JP5467423B2 - Step-over wheels and wheel type robots - Google Patents

Description

  The present invention relates to a step-over wheel and a wheel-type robot that can overcome a convex step.

  Examples of conventional step-over wheels include those shown in FIGS. 10 and 11 described in Non-Patent Documents 1 and 2, for example.

  A step overpass wheel 301 shown in FIG. 10 is obtained by supporting four small small wheels 305 on a wheel support 303. In this step overpass wheel 301, the stairs S can be raised by the rotation of the small wheel 305 and the rotation of the wheel support 303.

  However, if there is a small level difference, the diameter of the small wheel 305 is small, so the resistance increases, and there is a risk that traveling will be difficult. Further, the distance between the small wheels 305 in the direction of the radius of rotation of the wheel support 303 needs to be at least twice as large as the level difference so that the stairs S can be smoothly climbed. For this reason, there existed a problem that it enlarged in whole.

  A step overpassing wheel 401 shown in FIG. 11 has a traveling wheel 403 provided with a projection 405 that can be expanded and contracted. The step-over wheel 401 extends over the step by extending the protrusion 405 at the step portion of the staircase S.

  However, in order to get over the step smoothly, the size of the traveling wheel 403 needs to be about twice the step.

  In addition, the sizes of the wheel support 303 and the traveling wheel 403 are both fixed, and it is difficult to adjust according to the height of the step.

http://www.webshiro.com/syouhinsetumei/m207dka.htm http://www.crc.uec.ac.jp/japanese/taguchiHP/hoshi-sotsu.pdf

  The problem to be solved is that the whole wheel becomes large and adjustment according to the height of the step is difficult.

The present invention can reduce the size of the entire wheel and can be adjusted according to the height of the step so that the rotation has a plurality of claw support portions provided at predetermined intervals in the circumferential direction and projecting in the radial direction. A support and a tip of each of the claw support portions are rotatably supported, respectively, and in a circumferentially closed rotation position, each of them cooperates in the circumferential direction to form a rolling peripheral surface and radially with respect to the claw support portion. and the rolling pawl member end portion is projected into the rolling circumference outside the deployment rotational position of said a development driving unit for adjusting driving the deployment rotational position of each rolling pawl body, the expansion drive unit, the A deployment drive shaft that is coupled to a rotation center of a rotary support so as to be relatively rotatable, and is rotationally driven by a deployment actuator; and a gear mechanism that rotationally interlocks the deployment drive shaft and the rolling claw body, the gear mechanism Is fixed to the deployment drive shaft so as to be integrally rotatable. 1 gear, a second gear fixed to each rolling claw body at the tip of each claw support portion so as to be integrally rotatable, and a third gear that interlocks and connects the two gears. The width of the claw support portion in the circumferential direction and the diameters of the first, second, and third gears are arranged in the radial direction along the claw support portion. Is smaller than the circumferential width passing through the center of rotation of the rolling claw body at a position where the rolling claw body is deployed in the radial direction along the claw support portion, and the rolling claw body is semi-deployed and radially inclined with respect to the radial direction. It is characterized in that it can be fully developed that the space between the respective rolling claws at the position along the direction opens to the inner diameter side with respect to the rolling circumferential surface .

The step-over wheel of the present invention is provided with a rotation support body having a plurality of claw support portions that are provided at predetermined intervals in the circumferential direction and project in the radial direction, and is rotatably supported at the tip portions of the claw support portions, respectively. A rolling claw body that forms a rolling circumferential surface in cooperation with each other in a circumferential rotation position at a closed rotation position, and has an end projecting out of the rolling circumferential surface in a radial rotation position with respect to the claw support portion; A deployment drive unit that adjusts and drives the deployment rotation position of each rolling claw body, and the deployment drive unit is rotatably coupled to the rotation center of the rotary support and is driven to rotate by a deployment actuator. A deployment drive shaft, and a gear mechanism that rotationally interlocks the deployment drive shaft and the rolling claw, wherein the gear mechanism is fixed to the deployment drive shaft so as to be integrally rotatable, and Can rotate integrally with each rolling claw body at the tip of each claw support And a third gear that interlocks and couples the two gears, and is arranged in the radial direction of the rotary support along the claw support portion, and the circumferential direction of the claw support portion And the diameter of each of the first, second, and third gears is the rotational center of the rolling claw body at a position where the rolling claw body is developed in the radial direction along the claw support portion. It is smaller than the width in the circumferential direction that passes, and the rolling pawls are half-deployed inclined with respect to the radial direction and the positions along the radial direction are between the rolling pawls closer to the inner diameter side than the rolling circumferential surface. It can be a full development that opens up to .

  For this reason, since the rolling peripheral surface is formed with the rolling claw body as the closed rotation position, the rolling radius can be reduced.

  Since the deployment rotation position of each rolling claw body is adjusted and driven by the deployment drive unit, adjustment according to the height of the step can be performed.

It is a principal part plane sectional view of a wheel type robot provided with a leveling overpass wheel. Example 1 It is a side view of the closed state of a level difference wheel. Example 1 It is a side view of the fully developed state of a step overpass wheel. Example 1 It is a side view of the semi-deployed state of the stepped wheels. Example 1 It is sectional drawing which shows the relationship with the axle shaft of a wheel type robot. Example 1 It is a whole side view of a wheel type robot. Example 1 It is a whole side view of a wheel type robot. Example 1 It is a side view of a step overpass wheel. (Example 2) It is a principal part plane sectional view of a wheel type robot provided with a leveling overpass wheel. (Example 3) It is a side view which shows the level change state of a level difference wheel. (Conventional example) It is a side view which shows the level change state of a level difference wheel. (Conventional example)

  The purpose of enabling the wheel to be downsized and adjusting according to the height of the step is realized by the rolling claw body and the unfolding drive unit.

[The main parts of wheel type robots and step-over wheels]
FIG. 1 is a cross-sectional plan view of a main part of a wheel-type robot provided with a step-over wheel according to a first embodiment of the present invention, FIG. 2 is a side view of the step-over wheel in a closed state, and FIG. FIG. 4 is a side view of the step-override wheel in a semi-deployed state.

  FIG. 1 shows, for example, the front wheel side of a wheel type robot, but the rear wheel side may have the same configuration. However, the traveling actuator can be provided on only one of the front and rear wheels.

  As shown in FIG. 1, the wheel type robot 1 includes stepped wheels 3 and 5. In addition to the wheel type robot 1, the stepped wheels 3 and 5 can be widely used as wheels of traveling machine equipment such as a carriage and a wheelchair.

  As shown in FIGS. 1 and 2, the stepped wheels 3 and 5 include a rotation support body 7, a rolling claw body 9, and a deployment drive unit 11.

  The rotation support 7 is formed by a pair of cross plates 13 in the rotation axis direction. The cross plate portion 13 is provided with a plurality of, for example, four claw support portions 17, 19, 21, and 23 that protrude in the radial direction from the respective annular portions 15 on the rotation center portion side so as to face each other in the rotation axis direction. . The claw support portions 17, 19, 21, and 23 are arranged at a predetermined interval in the circumferential direction, for example, at an interval of 90 °.

  Each of the rolling claws 9 is formed of, for example, sponge rubber or the like and has a U-shaped cross section. These rolling claw bodies 9 have a first arcuate wall portion 33 that constitutes a part of the rolling circumferential surface P and a second arcuate edge portion 35 that is symmetric with the first arcuate wall portion 33, and have a symmetrical shape. Is formed.

  The center of the rolling claw body 9 is rotatably supported by pins 25, 27, 29, and 31 at the tips of the claw support portions 17, 19, 21, and 23, respectively. Each rolling claw body 9 forms a rolling peripheral surface P at the closed rotation position in the circumferential direction of FIG. 2 in cooperation with the circumferential direction, and the claw support portions 17, 19, 21, 23 with respect to FIG. The end protrudes out of the rolling peripheral surface P at the radial rotation position in FIG.

  The unfolding drive unit 11 adjusts and drives the unfolding rotation position of each rolling claw body 9, and unfolds drive shafts 39 and 41 that are rotationally driven by a unfolding electric motor 37 that is a unfolding actuator, and the unfolding drive shaft. 39, 41 and gear mechanisms 43, 45 for rotating and interlocking the rolling claw bodies 9 with each other.

  The unfolding electric motor 37 is controlled by a controller (not shown), for example, and is attached to a central frame portion 49 of the chassis frame 47. Side frame parts 51 and 53 comprising two front and rear members extending in the vehicle width direction are attached to both sides of the central frame part 49, and bearing parts 55 and 57 are attached between the side frame parts 51 and 53. Yes. Side brackets 59 and 61 are attached to the outer ends of the side frame portions 51 and 53.

  The motor output shaft 63 of the deploying electric motor 37 is rotatably supported on the central frame portion 49 via a ball bearing, and includes a worm 65.

  A deployment intermediate shaft 67 is disposed orthogonally to the motor output shaft 63 and is rotatably supported by the central frame portion 49 via a ball bearing. The development intermediate shaft 67 is provided with a worm wheel 69 that meshes with the worm 65, and the worm 65 and the worm wheel 69 constitute a worm gear mechanism 71. Input bevel gears 77 and 79 that are input gears of the differential mechanisms 73 and 75 are provided at both ends of the development intermediate shaft 67.

  Therefore, the worm gear mechanism 71 is interposed between the deployment electric motor 37 as the deployment actuator and the input bevel gears 77 and 79 as the input gears of the differential mechanisms 73 and 75.

  The unfolding drive shafts 39 and 41 are arranged at the axial center of the axle, and the outer end in the axial direction is coupled to the center of the annular portion 15 of the rotary support 7 via a ball bearing, and the differential mechanism is connected to the inner end in the axial direction. Output bevel gears 81 and 83, which are output gears 73 and 75, are provided.

  Therefore, the differential mechanisms 73 and 75 are interposed between the deployment electric motor 37 that is the deployment actuator and the deployment drive shafts 39 and 41, and the input / output bevel gear 77 that is the input / output gear of the differential mechanisms 73 and 75, respectively. , 81, 79, 83.

  The input / output bevel gears 77, 79, 81, 83 mesh with the planetary bevel gears 85, 87, and the planetary bevel gears 85, 87 are rotatably supported by the pinion shaft 89. The pinion shaft 89 is supported by carriers 91 and 93. The carriers 91 and 93 are supported on the inner end sides of the deployment drive shafts 39 and 41 through a ball bearing so as to be relatively rotatable. They are joined together.

  Spur gears 95 and 97 are fitted to inner end portions of hollow axles 99 and 101 which are axles so as to be relatively rotatable. The hollow axles 99 and 101 are rotatably supported by the bearing portions 55 and 57 and the side brackets 59 and 61 via ball bearings.

  The spur gears 95 and 97 are engaged with spur gears 103 and 105 having half the number of teeth, and the spur gears 103 and 105 are attached to one ends of shafts 107 and 109. The shafts 107 and 109 are rotatably supported by bearing portions 55 and 57 via ball bearings.

  Spur gears 111 and 113 are attached to the other ends of the shafts 107 and 109, and spur gears 115 and 117 having the same number of teeth mesh with the spur gears 111 and 113. The spur gears 115 and 117 are fixed to the hollow axles 99 and 101 and receive rotational input.

  Accordingly, the rotational speed of the hollow axle 99 can be transmitted to the carrier 91 that supports the planetary bevel gear 85 via the spur gears 115 and 111, the shaft 107, the spur gear 103, and the spur gear 95. . The rotational speed of the hollow axle 101 can be transmitted to the carrier 91 that supports the planetary bevel gear 87 via the spur gears 117 and 113, the shaft 109, the spur gear 105, and the spur gear 97.

  In other words, a gear mechanism for transmitting the rotation speed to ½ between the hollow axles 99 and 101 and the carrier 91 supporting the planetary bevel gears 85 and 87 of the differential mechanisms 73 and 75 is provided. It has become.

  The axial outer ends of the hollow axles 99 and 101 are coupled to the annular portion 15 of the rotary support 7 via hubs 119 and 121.

  A spur gear 123 is fixed to the unfolding drive shafts 39 and 41 between the cross plate portions 13 and meshes with four spur gears 125 on the outer peripheral side. The spur gear 125 is attached to a pin 127 supported on the annular portion 15 via a ball bearing.

  Each spur gear 125 meshes with four spur gears 129 fixed to the pins 25, 27, 29, and 31, respectively.

  Therefore, the rotation of the unfolding drive shafts 39, 41 can be transmitted to the rolling claw bodies 9 via the spur gears 123, 125, 129, and the unfolding driving shafts 39, 41 and the rolling nail bodies 9 And a gear mechanism 43, 45 for rotating and interlocking with each other.

  Traveling electric motors 1131 and 133 which are travel actuators are attached to the side brackets 59 and 61. Timing pulleys 135 and 137 are attached to the output shafts of the traveling electric motors 131 and 133 and the hollow axles 99 and 101, and a timing belt 139 is wound around the timing pulleys 135 and 137.

  Therefore, the rotation support body 7 is rotationally driven by the driving of the traveling electric motors 131 and 133 through the timing pulley 135, the timing belt 139, the timing pulley 137, the hollow axles 99 and 101, and the hubs 119 and 121. The wheels 3 and 5 can be driven to travel.

That is, the rotary support 7 is mounted on the hollow axles 99 and 101 that are externally mounted on the unfolding drive shafts 39 and 41 and rotatably supported by the chassis frame 47 and are rotationally driven by the travel electric motors 131 and 133 that are travel actuators. It is a combined configuration. Moreover, it has the structure which provided the traveling drive part which rotationally drives the hollow axles 99 and 101 which are axles.
[Unfolding operation of stepped wheels]
When the deployment electric motor 37 is driven, the deployment intermediate shaft 67 rotates through the worm gear 65 and the worm wheel 69, and the input bevel gears 77 and 79 of the differential mechanisms 73 and 75 rotate. The rotation of the input bevel gears 77 and 79 is transmitted to the output bevel gears 81 and 83 through the rotation of the planetary bevel gears 85 and 87, and the deployment drive shafts 39 and 41 rotate.

  The rolling claw body 9 is rotated through the spur gears 123, 125, 129 and the pins 25, 27, 29, 31 by the rotation of the deployment driving shafts 39, 41, and the rolling claw body 9 is fully deployed along the radial direction. (FIG. 3), the deployment rotation position such as semi-deployment (FIG. 4) in which the rolling claw body 9 is inclined with respect to the radial direction can be adjusted and driven.

  The force in the closing direction when the rolling claw body 9 is unfolded includes the pins 25, 27, 29, 31, spur gears 129, 125, 123, the unfolding drive shafts 39, 41, the output bevel gears 81, 83, and the planetary bevel. Transmission to the deployment intermediate shaft 67 via gears 85 and 87 and input bevel gears 77 and 79.

  This reverse rotation force to the deployment intermediate shaft 67 is not transmitted to the motor output shaft 63 due to the low transmission efficiency of the worm gear mechanism 71 in the reverse direction, and the closing force is applied to the rolling claw body 9 when overcoming the step. Even if you work, you can maintain its state of development.

At the closed rotation position of the rolling claw body 9, the tip portions of the adjacent rolling claw bodies 9 come into contact with each other, so that the rolling peripheral surface P can be reliably formed.
[Relationship between unfolding operation of stepped wheels and traveling operation]
When the traveling electric motors 131 and 133 are driven to rotate, the stepped wheels 3 and 5 are driven to travel as described above.

  At the same time, the spur gears 115 and 117 rotate via the hollow axles 99 and 101.

  The rotation of the spur gears 115 and 117 is transmitted to the spur gears 95 and 97 through the spur gears 111 and 103 and the spur gears 113 and 105 as rotation in the same direction at a rotational speed of 1/2.

  The spur gears 95 and 97 rotate the carrier 91 of the differential mechanisms 73 and 75 integrally.

  The rotation of the carrier 91 causes the planetary bevel gears 85 and 87 to revolve via the pinion shaft 89.

  At this time, if the unfolding operation of the rolling claw body 9 has already been completed and the unfolding electric motor 37 is stopped, the input bevel gears 77 and 79 are stationary, so the output bevel gears 81 and 83 are It rotates in the same direction as the carrier 91 at twice the number of rotations of the carrier 91.

  The rotation of each carrier 91 is rotated in the same direction as the hollow axles 99, 101 at the half of the hollow axles 99, 101 integrally with the spur gears 95, 97. , 83 rotate in the same direction as the hollow axles 99, 101 at the same rotational speed.

For this reason, the unfolding drive shafts 39 and 41 rotate integrally in the same direction as the hollow axles 99 and 101, and the unfolding rotation position of the rolling claw body 9 is maintained as it is.
[Wheel type robot]
FIG. 5 is a sectional view showing the relationship with the axle of the wheel type robot, FIGS. 6 and 7 are side views of the whole of the wheel type robot, FIG. 6 shows a state in which a large step is raised, and FIG. Shows the state of climbing a small step.

  The wheel type robot 1 of FIGS. 5 to 7 is a steering frame shaft 207 having interlocking bevel gears 203 and 205 and a front and rear wheel steering shaft having steering bevel gears 209 and 211 with respect to the chassis frame 47. 213 and 215 and front and rear wheels 217, 219, 221 and 223 which are the stepped wheels 3 and 5. Therefore, the unfolding structure and driving structure of the front and rear wheels 217, 219, 221, and 223 are the structure of FIG.

  In the present embodiment, the traveling electric motors 131 and 133 constituting the traveling drive unit are provided only on the front wheels 217 and 219 side. The traveling electric motors 131 and 133 can be provided only on the rear wheels 221 and 223 side or on both the front and rear wheels 217, 219, 221 and 223. The front and rear wheels 217, 219, 221, and 223 may have the structure of the stepped wheels 3 and 5 at least only the driving wheels.

  The central frame portion 49 and the side frame portions 51 and 53 constitute a front horizontal frame on the front wheels 217 and 219 side, and the central frame portion 49 and the side frame portion 51 on the rear wheels 221 and 223 side. , 53 constitute a rear horizontal frame.

  The chassis frame 47 includes a front wheel chassis part 229 and a rear wheel chassis part 231 that extend in the traveling front-rear direction and are disposed in the front-rear direction. The front wheel chassis part 229 and the rear wheel chassis part 231 are formed of a rectangular plate material such as metal or resin.

  On the front wheel chassis part 229, there are provided a bearing case 233 having a rotating shaft center incorporated as a bearing part in the longitudinal direction of travel and shaft support fittings 235 and 237 formed of bearing metal or the like. A bearing case 239 having a built-in bearing as a bearing portion whose rotational axis is in the vertical direction is provided at a lower portion of the front end of the front wheel chassis portion 229.

  On the rear wheel base 231, there are provided bearing cases 241 and 243 each having a built-in bearing as a bearing portion in the longitudinal direction of rotation. A bearing case 245 having a built-in bearing as a bearing portion whose rotational axis is in the vertical direction is provided at a lower portion of the rear end of the rear wheel base portion 231.

  The steering interlocking shaft 207 is a rotating shaft made of metal or the like, and is rotatably supported on the front wheel chassis portion 229 by the bearing case 233 and shaft support brackets 235 and 237, and by the bearing cases 241 and 243. The rear wheel pedestal 231 is rotatably supported.

  The steering interlocking shaft 207 extends in the front-rear direction on the chassis frame 47 and includes the interlocking bevel gears 203 and 205 at the front and rear portions.

The front and rear wheel steering shafts 213 and 215 are rotatably supported by bearing cases 239 and 245, respectively. The steering bevel gears 209 and 211 are concentrically fixedly supported on the upper ends of the front and rear wheel steering shafts 213 and 215, respectively. The steering bevel gears 209 and 211 mesh with the interlocking bevel gears 203 and 205, respectively. Lower ends of the front and rear wheel steering shafts 213 and 215 are integrally attached to the member 49a on the central frame portion 49 side.
[Operation of wheel type robot]
The operation of the wheel type robot 1 according to the embodiment of the present invention includes the control of the unfolding electric motor 37 and the traveling electric motors 131 and 133 by remote operation, and the unfolding electric motor 37 and the traveling electric motors 131 and 133 provided with various sensors and controllers. Any of the controls may be used.

(Over the step)
When the rolling claw body 9 on the front wheels 217, 219 side is fully deployed as shown in FIG. 3 by driving the deployment electric motor 37, the rolling claw body 9 protrudes along the radial direction, and the turning radius increases. For this reason, it is suitable for going up the staircase S1 having a large step as shown in FIG.

  When the rolling claw body 9 on the front wheels 217, 219 side is semi-deployed as shown in FIG. 4 by driving the deployment electric motor 37, the rolling claw body 9 protrudes in the radial direction and tilts in the circumferential direction. For this reason, it is suitable for climbing the staircase S2 having a relatively small step as shown in FIG.

  6 and 7, the rear wheels 221 and 223 can be similarly deployed, and the rear wheels 221 and 223 can be similarly deployed to reduce the front and rear inclination of the chassis frame 47. Can do.

  When the front and rear wheels 217, 219, 221, and 223 are deployed, the degree of deployment can be changed.

  When the wheel type robot 1 moves backward, the rear wheels 221 and 223 can be developed in the same manner, and the stairs and the like can be moved up backward.

(Straight running)
When driving both electric motors 131 and 133 at the same rotation speed on flat ground, the rotation is supported via the timing pulley 135, the timing belt 139, the timing pulley 137, the hollow axles 99 and 101, and the hubs 119 and 121. The body 7 is rotationally driven, and the stepped wheels 3 and 5 can be driven to travel at the same speed.

  Therefore, the wheel type robot 1 can travel straight.

(Turning)
When one of the traveling electric motors 131 and 133, for example, the right traveling electric motor 133 is rotationally driven faster than the left traveling electric motor 131 or only the right traveling electric motor 133 is rotationally driven, the right front wheel 219 is moved to the left. It rotates in advance with respect to the front wheel 217.

  Due to the preceding rotation of the right front wheel 219, the front horizontal frame including the central frame portion 49 and the side frame portions 51 and 53 is manipulated with respect to the bearing case 239 on the front wheel chassis 229 side via the front wheel steering shaft 213. It rotates in the opposite direction.

  The rotation of the front wheel steering shaft 213 causes the steering bevel gear 209 to rotate about the axis, and this rotation causes the interlocking bevel gear 203, the steering interlocking shaft 207, the interlocking bevel gear 205, and the steering bevel gear 211. To the rear wheel steering shaft 215.

  By this rotation transmission, the rear wheel steering shaft 215 is steered and rotated with respect to the bearing case 245, and the rear horizontal frame including the center frame portion 49 and the side frame portions 51 and 53 on the rear wheel side becomes the front horizontal frame. It turns in the opposite direction.

By turning the front and rear horizontal frames, the turning center of the wheel type robot 1 can be set on a straight line that crosses the center between the front and rear axles, and the front and rear wheels 217, 219, 221, and 223 are moved on the same track without any difference between the inner wheels. It can be made to turn, and a movement without waste can be performed.
[Effect of Example 1]
In the first embodiment of the present invention, the rotary support 7 having a plurality of claw support portions 17, 19, 21, and 23 provided at predetermined intervals in the circumferential direction and projecting in the radial direction, and the claw support portions 17, 19, and 21 described above. , 23 are rotatably supported at the distal end portions of each of them, and in a radially closed rotation position, each of them cooperates in the circumferential direction to form a rolling peripheral surface P, and the radial direction with respect to the claw support portions 17, 19, 21, 23 A rolling claw body 9 having an end projecting out of the rolling circumferential surface P at a deployment rotation position toward the center, and a deployment drive unit 11 for adjusting and driving the deployment rotation position of each rolling claw body 9.

  For this reason, since the rolling peripheral surface P is formed with the rolling claw body 9 as the closed rotation position, the rolling radius can be reduced. In addition, the small step can be easily overcome by the rolling peripheral surface P.

  Since the unfolding rotation position of each rolling claw body 9 is adjusted and driven by the unfolding drive unit 11, the adjustment according to the height of the steps of the stairs S1 and S2 can be performed.

  The rolling claw body 9 is formed in a symmetrical shape having a first arc portion 33 constituting a part of the rolling peripheral surface P and a second arc portion 35 symmetrical to the first arc portion 33, and The center of the moving nail body P was supported by the tip portions of the nail support portions 17, 19, 21, 23.

  For this reason, it is possible to raise the step by adjusting the rolling claw bodies 9 in a suitable direction regardless of whether the stepped wheels 3 and 5 are moving forward or backward.

  The deployment drive unit 11 is coupled to a rotation center portion of the rotary support 7 so as to be relatively rotatable, and is deployed and driven by a deployment electric motor 37. The deployment drive shafts 39 and 41, Spur gears 123, 125, and 129 serving as a gear mechanism for rotating and interlocking with the rolling claw body 9 were provided.

  For this reason, the rolling claw body 9 can be reliably unfolded and adjusted via the unfolding drive shafts 39 and 41 and the spur gears 123, 125 and 129 by driving the unfolding electric motor 37.

  The rotary support 7 is coupled to hollow axles 99 and 101, which are axles, and travel electric motors 131 and 133 are provided as travel drive units that rotationally drive the hollow axles 99 and 101.

  For this reason, the rotation support body 7 can be rotated via the hollow axles 99 and 101 by the driving of the traveling electric motors 131 and 133, and the stepped wheels 3 and 5 can be driven to travel.

  The rotation support body 7 is coupled to hollow axles 99 and 101 which are externally mounted on the unfolding drive shafts 39 and 41 and rotatably supported by the chassis frame 47 and are rotationally driven by the travel electric motors 131 and 133. Differential mechanisms 73 and 75 are interposed between the motor 37 and the unfolding drive shafts 39 and 41, respectively, and are coupled to the input / output bevel gears 77, 79, 81 and 83 of the differential mechanisms 73 and 75, respectively. Spur gears 115, 117, 111 as gear mechanisms that transmit the rotational speed to ½ between the axles 99, 101 and the carrier 91 that supports the planetary bevel gears 85, 87 of the differential mechanisms 73, 75. , 113, 103, 105, 95, 97.

  For this reason, the unfolding drive shafts 39, 41 rotate integrally in the same direction as the hollow axles 99, 101, the unfolding rotation position of the rolling claw body 9 is maintained as it is, and the left and right steps are moved by the single unfolding electric motor 37. The unfolding drive of the passing wheels 3 and 5 can be performed.

  A worm gear mechanism 71 is interposed between the development electric motor 37 and the input bevel gears 77 and 79 of the differential mechanisms 73 and 75.

  For this reason, when the rolling claw body 9 attempts to close to the closed rotation position, the reverse rotation force to the deployment intermediate shaft 67 via the deployment drive shafts 39, 41, etc. is transmitted in the reverse direction of the worm gear mechanism 71. Due to the low efficiency, it is not transmitted to the motor output shaft 63, and the unfolded state is maintained even if a closing force is applied to the rolling claw body 9 when overcoming a step.

  A chassis frame 47 that extends in the front-rear direction and includes the front wheel base part 229 and the rear wheel base part 231 in the front-rear direction and the front and rear wheel base parts 229, 231 are provided with bearings in the front-rear direction. A steering interlocking shaft 207 which is rotatably supported by the cases 233, 241, 243 and the shaft support brackets 235, 237 and extends in the front-rear direction to the chassis frame 47 and has interlocking bevel gears 203, 205 at the front and rear portions. The center frame 49 and the side frame, which are separately provided on the front and rear wheel chassis parts 229 and 231 and whose rotation axis is rotatably supported by bearing cases 239 and 245 in the vertical direction and which are front and rear horizontal frames at the bottom. Steering bevel gears 209, 2 which are fixedly supported by the respective portions 51, 53 and mesh with the front and rear interlocking bevel gears 203, 205, respectively. The front and rear wheel steering shafts 213 and 215, each of which is fixed separately, and the left and right front and rear wheels 217 and 219 rotatably supported on the left and right sides of the front and rear central frame portions 49 and the side frame portions 51 and 53, respectively. , 221, 223, and travel electric motors 131, 133 that rotationally drive the front wheels 217, 219, and the front and rear wheels 217, 219, 221, 223 are the stepped wheels 3,5.

  For this reason, when one of the left and right front and rear wheels 217, 219, 221, and 223, for example, the front wheel 217 gets over an obstacle, the front horizontal frame (the central frame portion 49 and the side frame portions 51 and 53) on the ride wheel 217 side is Inclined to the right, this inclination is allowed by the relative rotation of the front and rear wheel chassis parts 229 and 231 about the steering interlocking shaft 207.

  By allowing the front horizontal frame (the central frame portion 49 and the side frame portions 51 and 53) to be inclined, the four wheels 217, 219, 221, and 223 are brought into contact with the ground when obstacles are climbed to perform stable running. Can do.

  At the same time, the rear lateral frame (the central frame portion 49 and the side frame portions 51 and 53) is corrected in the direction in which the straightness is corrected and maintained through the steering bevel gear 209 and the interlocking bevel gear 203, The straightness of the wheel type robot 1 can be improved.

  Since the rear horizontal frame is steered in the reverse direction via the steerable bevel gears 209 and 211 and the interlocking bevel gears 203 and 205 by the steering of the front lateral frame in the flat ground steering, It can be taken on a straight line that crosses the center between the front and rear axles, and the front and rear wheels 217, 219, 221, and 223 can be turned on the same track without any difference between the inner wheels, and a lean movement can be performed. it can.

  In addition, when one of the front wheels 217 and 219 gets over the obstacle, the chassis frame 47 is inclined with respect to the straight traveling direction when viewed from the plane due to the inclination of the front horizontal frame, but the steering bevel gears 209 and 211 and the interlocking Since the posture of the rear lateral frame is corrected through the bevel gears 203 and 205 in conjunction with the direction of correcting the straightness, the posture of the rear lateral frame in the straight direction is generally maintained, and the straightness of the wheel robot 1 is improved. Can be made.

  FIG. 8 is a side view of the stepped wheels according to the second embodiment of the present invention.

  The basic configuration is the same as that of the first embodiment, and the same or corresponding components are denoted by the same reference numerals or the same reference numerals with A added thereto, and redundant description is omitted.

  In the stepped wheels 3A and 5A of the present embodiment, the shape of the rolling claw body 9A was changed.

  The rolling claw body 9A has a first circular arc portion 253 that constitutes a part of the rolling peripheral surface P and a second circular arc portion 255 that is curved in the same direction as the first circular arc portion 253, and has a base end circular shape. It is formed in a shape that gradually narrows from the portion 257 to the tip portion 259.

  In this rolling claw body 9A, the center portion of the base end circular portion 257 is supported by the tip portions of the claw support portions 17, 19, 21, 23 shown in FIG.

Therefore, the rolling claw body 9A can arbitrarily adjust and drive the deployment rotation position between the closed rotation position shown by the solid line and the deployment rotation position shown by the two-dot chain line.
[Effect of Example 2]
The rolling claw body 9A has a first circular arc portion 253 that constitutes a part of the rolling peripheral surface P and a second circular arc portion 255 that is curved in the same direction as the first circular arc portion 253, and has a base end circular shape. The base end circular portion 257 of the rolling claw body 9A is supported by the front end portions of the claw support portions 17, 19, 21, and 23.

  For this reason, the rolling claw body 9A can be protruded more greatly from the tips of the claw support portions 17, 19, 21, 23, and a larger step can be dealt with. Further, it is possible to cope with the steps while reducing the rolling peripheral surface P of the stepped wheels 3A, 5A.

  At the closed rotation position of the rolling claw body 9A, the distal end portion of the rolling claw body 9A comes into contact with the proximal circular portion 257 of the adjacent rolling claw body 9A, so that the rolling circumferential surface P can be reliably formed. .

  FIG. 9 is a cross-sectional plan view of a main part of a wheeled robot provided with stepped wheels according to a third embodiment of the present invention. The basic configuration is the same as that of the first embodiment, and the same or corresponding components are denoted by the same reference numerals or the same reference numerals with B added thereto, and redundant descriptions are omitted.

  In the wheel type robot 1B provided with the stepped wheels 3, 5 (3A, 5A) of the present embodiment, the differential mechanisms 73, 75 and the like of the first embodiment are omitted, and the left and right stepped wheels 3, 5 (3A, 5A) are omitted. ) Deployment electric motors 37Ba and 37Bb are provided for each.

  The deployment electric motors 37Ba and 37Bb are arranged on the left and right sides along the side frame portions 51 and 53, and are attached to support brackets 261 and 263 provided on the side frame portions 51 and 53, respectively.

  The hollow axles 99B and 101B, which are axles, are rotatably supported by side brackets 59 and 61 and bearing brackets 265 and 267 provided alongside the side brackets 59 and 61 via ball bearings.

  The unfolding drive shafts 39B and 41B penetrating through the hollow axles 99B and 101B are detachably linked to the motor output shafts 63Ba and 63Bb by couplings 269 and 271 between the bearing brackets 265 and 267 and the support brackets 261 and 263, respectively. .

  When the development electric motors 37Ba and 37Bb are driven, the development drive shafts 39B and 41B rotate.

  Due to the rotation of the unfolding drive shafts 39B and 41B, the rolling claw body 9 rotates via the spur gears 123, 125, 129 and the pins 25, 27, 29, 31 as in the first embodiment, and the rolling claw body 9 It is possible to adjust and drive the deployment rotation position such as full deployment along the radial direction (FIG. 3) and semi-deployment (FIG. 4) in which the rolling claw body 9 is inclined with respect to the radial direction.

  The force in the closing direction when the rolling claw body 9 is deployed is transmitted to the pins 25, 27, 29, 31, the spur gears 129, 125, 123, and the deployment drive shafts 39B, 41B.

  This reverse force applied to the unfolding drive shafts 39B and 41B can be received by driving control of the unfolding electric motors 37Ba and 37Bb, and the unfolded state can be maintained.

  It is also possible to maintain the unfolded state by causing the support brackets 261, 263 and the like to receive the reverse rotation force to the unfolding drive shafts 39B, 41B by providing an appropriate brake device or the like.

  The drive control of the development electric motors 37Ba and 37Bb for receiving the reverse force or the ON / OFF state of the brake device is detected based on the detection of the reverse force to the development drive shafts 39B and 41B, for example. be able to.

  The unfolding operation of the stepped wheels 3, 5 (3A, 5A) can be individually set by unfolding control by controlling the unfolding electric motors 37Ba and 37Bb, and the left and right unfolding states can be changed according to the grounding environment. Can do.

The structure of FIG. 9 can be applied to the front and rear wheels as the wheel type robot 1 of the embodiment of the present invention, and the deployment state of the four wheels can be controlled simultaneously or separately.
[Others]
As mentioned above, although the Example of this invention was described, this invention is not limited to this. Therefore, the present invention can be modified in various manners accompanied by components of the embodiment.

  For example, the unfolding actuator is not limited to an electric motor, and may be configured by a hydraulic or pneumatic cylinder or the like that is coupled between a rotary support and a rolling claw.

  Further, the rolling claw body may be manually developed by omitting the actuator. In this case, it is preferable to provide a locking means capable of maintaining the developed state of the rolling claw body.

  When deploying rolling claws, connect the rolling claws with links, deploy them all together, close them, and provide a biasing member such as a spring that biases them in the closing direction or deployment direction May be.

  When urging in the closing direction, the rolling claw members are all deployed at once by link coupling against the urging force by operating the handle or the like, and the deployed state is maintained by a stopper or the like in the deployed state. When the stopper is removed, the rolling claws are collectively closed by the urging force. In order to bring the rolling claw into a semi-deployed state, for example, the handle is locked at the half-operation position.

  When urging in the unfolding direction, the rolling claws are all closed by link connection against the urging force by operating the handle or the like, and this closed state is maintained by a stopper or the like. When the stopper is removed, the rolling claws are in a deployed state by the urging force. In order to bring the rolling claw into a semi-deployed state, for example, the handle is locked at the half-operation position.

  In the said Example, although applied to the traveling machine instrument which has a drive source, it is also possible to apply to the traveling machine instrument which drive | works with a human power, for example.

  The traveling drive unit can also be configured by gear transmission or the like.

  In the above-described embodiment, the wheel has been described as overcoming the step, but it is also possible to prevent slipping by running the wheel not only in the step but also in a swampy area where slipping easily occurs.

DESCRIPTION OF SYMBOLS 1 Wheel type robot 3,3A, 5,5A Step overpass wheel 7 Rotation support body 9,9A Rolling nail | claw body 11 Deployment drive part 17,19,21,23 Claw support part 37,37Ba, 37Bb Deployment electric motor 39,39B , 41, 41B Unfolding drive shaft 43, 45 Gear mechanism 47 Chassis frame 49, 49B Central frame (front and rear horizontal frame)
51, 53 Side frame (front / rear / horizontal frame)
71 Worm gear mechanism 73, 75 Differential mechanism 77, 79 Input bevel gear (input gear)
81,83 Output bevel gear (output gear)
95, 97, 103, 105, 111, 113, 115, 117 Spur gear (gear mechanism)
99,99b, 101,101B Hollow axle (axle)
131, 133 Traveling electric motor (traveling actuator)
203, 205 Interlocking bevel gear 207 Steering interlocking shafts 217, 219 Front wheels (step-over wheels)
221 and 223 Rear wheels (step-over wheels)
229 Front wheel chassis part 231 Rear wheel chassis part 233, 239, 241, 243, 245 Bearing case (bearing part)
235, 237 Shaft support brackets 241, 243 Bearing case (bearing part)
P Rolling circumferential surface S1, S2 Stairs

Claims (8)

A rotation support body having a plurality of claw support portions provided at predetermined intervals in the circumferential direction and protruding in the radial direction;
A rotation rotation position in the radial direction with respect to the claw support portion by forming a rolling circumferential surface in cooperation with each other in the circumferential rotation direction at a rotation position that is rotatably supported at the tip of each claw support portion. A rolling claw body whose end protrudes outside the rolling circumferential surface,
A deployment drive unit that adjusts and drives the deployment rotation position of each rolling claw ,
The unfolding drive unit is coupled to the rotation center of the rotary support so as to be relatively rotatable, and is unfolded and rotated by a unfolding actuator, and a gear mechanism that rotationally links the unfolding drive shaft and the rolling claw body. And
The gear mechanism includes a first gear fixed to the unfolding drive shaft so as to be integrally rotatable, and a second gear fixed to the rolling claw bodies so as to be integrally rotatable at a tip portion of each claw support portion. And a third gear that interlocks and connects the two gears, and is arranged in the radial direction of the rotary support body along the claw support portion,
The circumferential width of the claw support portion and the diameters of the first, second, and third gears are the positions where the rolling claw body is developed in the radial direction along the claw support portion. It is smaller than the width in the circumferential direction 0 passing through the rotation center of the moving claw body,
The rolling claws can be fully unfolded at a position along the radial direction with a semi-deployment inclined with respect to the radial direction and between the rolling claw bodies to the inner diameter side of the rolling peripheral surface.
A step-over wheel characterized by that. The step overpass wheel according to claim 1,
The rolling claw body is formed in a symmetric shape having a first arc portion constituting a part of the rolling circumferential surface and a second arc portion symmetrical to the first arc portion,
The center of the rolling nail body is supported by the tip of the nail support part,
A step-over wheel characterized by that. The step overpass wheel according to claim 1,
The rolling claw has a first arc portion that constitutes a part of the rolling peripheral surface and a second arc portion that is curved in the same direction as the first arc portion, and is from the proximal circular portion to the distal end portion. Formed into a gradually narrowing shape,
The base end circular part of the rolling claw body is supported by the tip part of the claw support part,
A step-over wheel characterized by that. A step Norikoshi wheels according to any one of claims 1 to 3,
The rotating support is coupled to an axle;
A travel drive unit that rotationally drives the axle is provided.
This is a wheel type robot. The step overpass wheel according to any one of claims 1 to 4 ,
The rotary support is coupled to a hollow axle that is externally mounted on the deployment drive shaft and is rotatably supported by a chassis frame and is rotationally driven by a travel actuator;
A differential mechanism is interposed between the unfolding actuator and the unfolding drive shaft, and each is linked to the input / output gear of the differential mechanism,
Between the hollow axle and the carrier that supports the planetary gear of the differential mechanism, a gear mechanism that transmits the rotational speed by half is interposed.
This is a wheel type robot. The wheel type robot according to claim 5 ,
A worm gear mechanism is interposed between the deployment actuator and the input gear of the differential mechanism.
This is a wheel type robot. The step overpass wheel according to any one of claims 1 to 4 ,
The rotary support is coupled to a hollow axle that is externally mounted on the deployment drive shaft and is rotatably supported by a chassis frame and is rotationally driven by a travel actuator;
A deployment actuator supported on the chassis frame side is directly connected to the deployment drive shaft.
This is a wheel type robot. The wheel type robot according to any one of claims 4 to 7 ,
A chassis frame that extends in the front-rear direction and includes a front-wheel base part and a rear-wheel base part in the front-rear direction,
Steering interlocking provided in each of the front and rear wheel chassis parts with a rotating shaft center rotatably supported by a bearing part in the longitudinal direction of travel and extending across the chassis frame and having an interlocking bevel gear on the front and rear parts. The axis,
Steering gears that are separately provided on the front and rear wheel chassis sections and whose rotating shafts are rotatably supported by bearings in the vertical direction, and that the front and rear horizontal frames are fixedly supported at the bottom and mesh with the interlocking bevel gears of the front and rear sections. Front and rear wheel steering shafts with bevel gears fixed separately,
Left and right front and rear wheels rotatably supported on the left and right sides of the front and rear horizontal frames,
A drive unit that rotationally drives at least one of the front and rear wheels;
The front and rear wheels are the stepped wheels.
This is a wheel type robot.

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