JP6618170B2 - Mobile transfer device - Google Patents

Description

  The present invention relates to a mobile conveyance device, and more particularly to a mobile conveyance device having wheels.

  In a robot or the like that can move in all directions on a plane, wheels called omni wheels are used. Here, the omni wheel is referred to as an omni wheel. In this omni wheel, auxiliary wheels are arranged on the outer periphery of the main wheel, the rotation center axis of the auxiliary wheel extends in a direction substantially coincident with the circumferential direction of the main wheel, and the auxiliary wheel is freely rotatable. When driving omni wheels, only the main wheels are driven to rotate. Since the auxiliary wheel is rotatable, the omni wheel can passively move in a direction parallel to the rotation center axis of the main wheel.

  Further, for example, as shown in FIGS. 22 and 23, there has been proposed a moving transport mechanism capable of performing rotation driving of the main wheel and rotation driving of the auxiliary wheel. FIG. 22 is a cross-sectional view of this moving conveyance mechanism. FIG. 23 is a cross-sectional view taken along line AA in FIG. As shown in FIGS. 22 and 23, the main wheel 110 has a structure in which the auxiliary wheel 130 is rotatably supported by a wheel member 120 supported by the casing 112 so as to be rotatable about a wheel rotation center shaft 121. It has become. A rotation center axis 131 of the auxiliary wheel 130 extends along a virtual circumference centered on the wheel rotation center axis 121. The wheel member 120 and the auxiliary wheel 130 rotate when the rotation of the motors 114 a and 114 b is distributed through the differential mechanism 140. The differential mechanism 140 meshes with both the first and second input bevel gears 118a and 118b and the first and second input bevel gears 118a and 118b, which are disposed coaxially with the wheel rotation central shaft 121. An output bevel gear 142 capable of rotating and revolving around the wheel rotation central axis 121. The output bevel gear 142 is fixed to one end of the rotation shaft 143, and the rotation shaft 143 is rotatably supported by a rotation support member 126 fixed to the wheel member 120. When the rotation of the motors 114a and 114b is transmitted to the first and second input bevel gears 118a and 118b, when the output bevel gear 142 rotates, the rotation due to the rotation of the output bevel gear 142 is transmitted to the sub wheels 130, and The wheel 130 rotates. Due to the rotation of the auxiliary wheel 130 in contact with the floor surface 102, the moving conveyance mechanism moves in the lateral direction (left-right direction in FIG. 22 and vertical direction in FIG. 23). When the rotation of the motors 114 a and 114 b is transmitted to the first and second input bevel gears 118 a and 118 b and the output bevel gear 142 revolves, the wheel member 120 rotates with the revolution of the output bevel gear 142 and the main wheel 110. And the moving conveyance mechanism moves in the front-rear direction (the direction perpendicular to the paper surface in FIG. 22 and the left-right direction in FIG. 23). When the rotation of the motors 114a and 114b is transmitted to the first and second input bevel gears 118a and 118b and the output bevel gear 142 rotates and revolves, the auxiliary wheel 130 and the main wheel 110 rotate. Move diagonally. (For example, refer to Patent Document 1).

  A wheel mechanism 201 shown in FIGS. 24 and 25 has been proposed. FIG. 24 is a front view of the wheel mechanism 201. FIG. 25 is a perspective view of a main part of the wheel mechanism 201. The main wheel 202 has a relatively high-rigidity annular member and a flexible endless cylindrical body that is externally mounted on the annular member. Alternatively, the main wheel 202 may include a relatively hard annular member and a plurality of sleeves that are separately mounted on the annular member so as to be rotatable. As shown in FIGS. 24 and 25, in the wheel mechanism 201, free rollers 203R and 203L provided on the left and right rotating members 204R and 204L are in contact with the main wheel 202 in a twisted state. When the left and right rotating members 204R and 204L rotate in the same direction at the same speed, the main wheel 202 rotates around the rotation center axis B of the main wheel 202, and the wheel mechanism 201 moves in the front-rear direction (in FIG. ). When the left and right rotating members 204R and 204L rotate in the opposite directions at the same speed, the main wheel 202 does not rotate around the rotation center axis B of the main wheel 202, but is an endless cylindrical body or sleeve as a sub wheel. Rotates around the center line C of the main wheel 202, and the wheel mechanism 201 is driven in the lateral direction (left-right direction in FIG. 24) (see, for example, Patent Document 2).

Japanese Patent No. 5158698 International Publication No. 2008/132777

  Wheels that can actively move not only in the front-rear direction but also in the lateral direction and the oblique direction, such as the moving conveyance mechanism in FIG. 22 and the wheel mechanism 201 in FIG. 24, are collectively referred to as omnidirectional wheels. I will do it. The omnidirectional wheel is not limited to the moving conveyance mechanism shown in FIG. 22 and the wheel mechanism 201 shown in FIG. When omnidirectional wheels are used, it is possible to actively move not only in the front-rear direction but also in the lateral and oblique directions. Also, these wheels and omni wheels or ordinary wheels (there are no auxiliary wheels, which are driven in one direction when the wheels are rotated, cannot be moved actively or passively in the direction intersecting the driven direction) (Hereinafter referred to as “normal wheels”) and driving them with a motor makes it possible to turn on the floor and perform various operations.

  Even when omnidirectional wheels are not used, movement and turning on the floor surface can be performed by using a plurality of wheels. For example, this applies to the case where a plurality of omni wheels are used, the case where a plurality of ordinary wheels are used, the case where both omni wheels and ordinary wheels are used, and the like.

  When a motor is used as a drive source, two motors are required to drive the main wheel and the auxiliary wheel of the omnidirectional wheel. Combining two omnidirectional wheels allows for active movement in the longitudinal and lateral directions and turning. In this case, if a total of four motors are used, the main wheel and the sub wheel of two omnidirectional wheels can be driven, respectively.

  When driving omnidirectional wheels and omni wheels or ordinary wheels in combination, three or more motors are required. In addition, even when not using omnidirectional wheels, when using a plurality of omni wheels, when using a plurality of ordinary wheels, or when using both omni wheels and ordinary wheels, to drive these Two or more motors are required.

  However, an increase in the number of motors serving as drive sources causes an increase in weight, volume, and cost, so it is desirable to reduce the number of motors as much as possible.

  In view of such a situation, the present invention is intended to provide a mobile conveyance device that can perform various operations with a small number of drive sources.

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

The mobile conveyance device includes (a) a drive source that outputs rotation, (b) an input unit that is greater in number than the number of the drive sources, and (c) a rotation transmission unit that includes first to third rotation transmission paths. , (D) coupled to the two input units, and when one or both of the input units rotate, the omnidirectional wheel is driven in one or both of two different directions, and the one input unit An omni wheel coupled to the input unit, driven in one direction when the input unit rotates, and movable in a direction crossing the driven direction, and coupled to the one input unit, A wheel unit including at least one omnidirectional wheel among normal wheels that are driven in one direction when rotated and are not movable in a direction intersecting the driven direction. (I) The first rotation transmission path includes a clutch so that the rotation is releasably transmitted between the one drive source and the one input unit to which the omnidirectional wheel is coupled. (Ii) The second rotation transmission path is connected to the same one drive source as the drive source to which the first rotation transmission path is connected, and the first rotation transmission path is connected. Another clutch and a reverse rotation device connected in series so that the rotation can be released and converted into a reverse rotation and transmitted to the same input unit as the input unit. (Iii) the third rotation transmission path is the same as the drive source to which the first rotation transmission path is connected and the same as the drive source to which the second rotation transmission path is connected 1 Different from the input unit to which the plurality of drive sources and the first rotation transmission path are connected, and The second rotation transmission path is different from the input unit to which the second rotation transmission path is connected, and the other input unit to which the omnidirectional wheel is coupled is further clutched so that the rotation is releasably transmitted. The first configuration is connected via a second connection, or the second configuration is connected so that the rotation is always transmitted.

  According to the above configuration, when the clutch of the first rotation transmission path is in the connected state and the clutch of the second rotation transmission path is in the disengaged state, the mobile conveyance device is rotated from the drive source by the first rotation transmission path. By being transmitted, the first operation can be executed. On the other hand, when the clutch of the first rotation transmission path is in the disengaged state and the clutch of the second rotation transmission path is in the connection state, the rotation is transmitted from the drive source through the second rotation transmission path, so that the second The operation can be executed. Accordingly, when the number of motors is N, the mobile conveyance device can be configured to perform N + 1 types or more of operations. That is, the mobile conveyance device can perform various operations with a small number of drive sources.

  “One direction” of “driving in one direction” means, for example, “front-rear direction”. In other words, both “forward” and “rear” directions, such as driving in both directions on the same straight line and facing each other, and driving in one direction are expressed as “driving in one direction”. To do. “Two different directions” means, for example, “front-rear direction” and “left-right direction”.

Preferably, the third rotation transmission path has the first configuration, and the wheel portion further includes one omni wheel or one ordinary wheel. The rotation transmission unit is connected to (iv) one drive source that is the same as the drive source to which the first to third rotation transmission paths are connected, and one omni wheel or one ordinary wheel. A fourth rotation transmission path that connects the one input section that is transmitted via another clutch so that the rotation is releasably transmitted; and (v) the first to third rotation transmission paths. The one drive source that is the same as the drive source to be connected to and the one input unit that is the same as the input unit to which the fourth rotation transmission path is connected are releasable in the reverse direction. A fifth rotation transmission path connected via another clutch and a reverse rotation device connected in series so as to be converted into rotation and transmitted.

In this case, the wheel portion includes an omnidirectional wheel and an omni wheel or a normal wheel .

Preferably, the third rotation transmission path has the first configuration, and the wheel unit includes a first omnidirectional wheel coupled to the first and second input units, and a third and a third wheel. And the second omnidirectional wheel coupled to the four input units. The rotation transmission unit includes two sets of the first to third rotation transmission paths configured to connect one common driving source and the first to fourth input units. .

In this case, the wheel portion, including two omnidirectional wheels.

  Preferably, the apparatus further includes a rotation prohibition unit that allows selection of a stop state in which rotation of at least one of the input units is prohibited and a stop release state in which rotation of the input unit is allowed.

  In this case, the types of operations of the mobile conveyance device can be increased.

Moving the transport device, and (a) a first and a second driving source that outputs a rotation, (b) the first to third input unit, (c) a rotation transmitting route of the first to fourth, (D) All of the first and second input units coupled to the first and second input units and driven in one or both of two different directions when one or both of the first and second input units rotate. the direction wheel, and coupled to (e) said third input unit, the third is the input portion is driven in one direction rotates the Omni wheel in a direction intersecting the direction to be driven is movable, equipped with a. The first rotation transmission path before SL is connected wherein the first drive source and a second input, via a first clutches so that the rotation is releasably transmission. The second rotation transmission path connects the first drive source and the second input unit in series so that the rotation can be released and converted into rotation in the reverse direction and transmitted. It has been second clutches and through the reverse rotation device connected. The third rotation transmission path connects the first drive source and the first input unit so that the rotation is always transmitted. The fourth rotation transmission path of, and the second drive source and said third input unit, to connect to the rotation is always transmitted.

Moving the transport device, and (a) a first and a second driving source that outputs a rotation, (b) the first to third input unit, (c) a rotation transmitting route of the first to fourth, (d) is pre SL coupled to the first and second input, when one or both of the first and second input unit is rotated, is driven in either one or both of the two different directions the omnidirectional wheels, coupled to the third input (e), the third input unit is driven when rotated in one direction, and the omni wheel in a direction intersecting the direction to be driven is movable (F) a rotation prohibiting unit that enables selection of a stop state in which rotation of the third input unit is prohibited and a stop release state in which rotation of the third input unit is allowed ; It said first rotation transmission path is connected wherein the first drive source and a second input, via a first clutches so that the rotation is releasably transmission. Said second rotation transmission path is connected the said second drive source and a second input, via the second clutches so that the rotation is releasably transmission. The third rotation transmission path connects the first drive source and the first input unit so that the rotation is always transmitted. The fourth rotation transmission path of, and the second drive source and said third input unit, to connect via a third clutches so that the rotation is releasably transmission.

Moving the transport device, and (a) a first and a second driving source that outputs a rotation, (b) the first to fourth input unit, (c) a rotation transmitting route of the first to sixth, (d) is pre SL coupled to the first and second input, when one or both of the first and second input unit is rotated, is driven in either one or both of the two different directions A first omnidirectional wheel; and (e) one of two directions different from each other when either or both of the third and fourth input sections rotate and are coupled to the third and fourth input sections. A second omnidirectional wheel driven by one or both. It said first rotation transmission path is connected wherein the first drive source and a second input, via a first clutches so that the rotation is releasably transmission. Said second rotation transmission path is connected the said second drive source and a second input, via a fourth clutches so that the rotation is releasably transmission. The third rotation transmission path connects the first drive source and the first input unit so that the rotation is always transmitted. The fourth rotation transmission path is connected wherein the first drive source and a third input unit, via the second clutches so that the rotation is releasably transmission. Rotation transmission path of the fifth connecting said second drive source and a third input unit, through the third clutches so that the rotation is releasably transmission. The sixth rotation transmission path of, and the second driving source and the fourth input unit, to connect to the rotation is always transmitted.

  According to the present invention, various operations are possible with a small number of drive sources.

It is explanatory drawing of a structure of a mobile conveyance apparatus. (Example 1-1) It is explanatory drawing of an example of the specific structure of a mobile conveyance apparatus. (Example 1-1) It is explanatory drawing of a structure of a mobile conveyance apparatus. (Example 1-2) It is explanatory drawing of a structure of a mobile conveyance apparatus. (Example 1-3) It is explanatory drawing of a structure of a mobile conveyance apparatus. (Example 2-1) It is explanatory drawing of a structure of a mobile conveyance apparatus. (Example 2-2) It is explanatory drawing of a structure of a mobile conveyance apparatus. (Example 2-3) It is explanatory drawing of a structure of a mobile conveyance apparatus. (Example 3) It is explanatory drawing of a structure of a mobile conveyance apparatus. ( Reference Example 4-1) It is explanatory drawing of a structure of a mobile conveyance apparatus. ( Reference Example 4-2) It is explanatory drawing of a structure of a mobile conveyance apparatus. ( Reference Example 4-3) It is explanatory drawing of a structure of a mobile conveyance apparatus. ( Reference Example 4-4) It is explanatory drawing of a structure of a mobile conveyance apparatus. ( Reference Example 5-1) It is explanatory drawing of a structure of a mobile conveyance apparatus. ( Reference Example 5-2) It is explanatory drawing of a structure of a mobile conveyance apparatus. ( Reference Example 5-3) It is explanatory drawing of a structure of a mobile conveyance apparatus. ( Reference Example 5-3) It is explanatory drawing of a structure of a mobile conveyance apparatus. ( Reference Example 5-3) It is explanatory drawing of a structure of a mobile conveyance apparatus. (Example 6-1) It is explanatory drawing of a structure of a mobile conveyance apparatus. (Example 6-2) It is explanatory drawing of a structure of a mobile conveyance apparatus. (Example 6-3) It is explanatory drawing of a structure of a mobile conveyance apparatus. (Example 6-4) It is sectional drawing of a moving conveyance mechanism. (Conventional example 1) It is sectional drawing cut | disconnected along line AA of FIG. (Conventional example 1) It is a front view of a wheel mechanism. (Conventional example 2) It is a principal part perspective view of a wheel mechanism. (Conventional example 2)

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

  First, a description will be given of the mobile conveyance device of Example 1-1, Example 1-2, and Example 1-3 including one motor as a drive source, two input units, and one omnidirectional wheel as a wheel unit.

  <Example 1-1> FIG. 1 is an explanatory diagram conceptually illustrating the configuration of the mobile conveyance device 10 of Example 1-1. As shown in FIG. 1, the mobile conveyance device 10 includes a main body (not shown in FIG. 1), one motor 22 that is a driving source that outputs rotation, and first and second input units 12 and 14. One omnidirectional wheel 13a which is a wheel part and a rotation transmission part 20 which enables transmission of rotation from the motor 22 to the first and second input parts 12 and 14 are provided. The number of input units 12 and 14 is 2, which is larger than 1 of the number of motors 22 that are driving sources. The motor 22 is held by the main body (not shown in FIG. 1) of the mobile conveyance device 10 and outputs rotation with respect to the main body. Even if the rotation transmission unit 20 other than the motor 22, the input units 12 and 14, and the omnidirectional wheel 13 a are directly held by the main body, they are indirectly connected to the main body via the output shaft (not shown in FIG. 1) of the motor 22. It may be held.

  The rotation transmission unit 20 includes a first rotation transmission path 21 a that connects the motor 22 and the second input unit 14 via a first clutch 31 so that the rotation can be released, and the motor 22. The second input unit 14 is connected to the second input unit 14 via the second clutch 32 and the reverse rotation device 40 connected in series so that the rotation can be released and converted into the rotation in the reverse direction. It has the 2nd rotation transmission path | route 21b, and the 3rd rotation transmission path | route 21c which connects the motor 22 and the 1st input part 12 so that rotation may always be transmitted. The first and second clutches 31 and 32 can switch between a connected state in which rotation is transmitted and a disconnected state in which rotation is not transmitted. The reverse rotation device 40 converts the rotation into a reverse rotation and transmits the rotation. In addition, the order of the 2nd clutch 32 and the reverse rotation apparatus 40 may be replaced, the 2nd clutch 32 may be arrange | positioned at the 2nd input part 14 side, and the reverse rotation apparatus 40 may be arrange | positioned at the motor 22 side.

  The omnidirectional wheel 13a is configured, for example, in the same manner as the omnidirectional wheel of the conventional example shown in FIGS. 22 and 24, and the first and second input units 12, 14 are coaxial with the rotation center axis of the omnidirectional wheel 13a. Are combined. As will be described in detail later, the omnidirectional wheel 13a is driven in either one or both of two different directions when one or both of the first and second input units 12 and 14 rotate.

  FIG. 1 of the present embodiment and similar drawings of the following embodiments show a state in which the mobile conveyance device placed so that the wheels are in contact with the floor surface is viewed from above. In FIG. 1 and similar figures in the following embodiments, it is assumed that the upward direction indicates the front direction of the mobile conveyance device, and the right direction indicates the right direction of the mobile conveyance device. However, the rotation transmission paths 21a to 21c of the rotation transmission unit 20 including the motor 22, the clutches 31 and 32, and the reverse rotation device 40 are arranged on the front side, the right side, and the left side of the omnidirectional wheel 13a in FIG. The direction in which these are arranged with respect to the omnidirectional wheel 13a is not limited to the illustrated one. The same applies to similar drawings in the following embodiments.

  Next, the operation of the mobile conveyance device 10 will be described. An output shaft from which the motor 22 outputs rotation (hereinafter, also referred to as “output shaft of the motor 22”), and the rotation directions of the first and second input units 12 and 14 include a forward direction and a reverse direction. is there. In this embodiment, the angular velocity is handled as having no positive or negative sign. The same applies to the following embodiments.

  The omnidirectional wheel is configured in the same manner as in FIGS. 22 and 24, and the main wheel and the auxiliary wheel rotate. When both the first and second input units 12 and 14 rotate at the same angular velocity in the forward direction, the main wheel of the omnidirectional wheel 13a rotates in the forward direction and the auxiliary wheel does not rotate. Suppose that 13a drives the moving conveyance apparatus 10 to the front. When the first and second input units 12 and 14 both rotate in the opposite direction at the same angular velocity, the main wheel of the omnidirectional wheel 13a rotates in the reverse direction, and the auxiliary wheel of the omnidirectional wheel 13a does not rotate. Therefore, it is assumed that the omnidirectional wheel 13a drives the mobile conveyance device 10 backward. When the first input unit 12 rotates in the forward direction and the second input unit 14 rotates in the reverse direction at the same angular velocity, the auxiliary wheel of the omnidirectional wheel 13a rotates in the forward direction and the main wheel of the omnidirectional wheel 13a rotates. Without this, it is assumed that the omnidirectional wheel 13a drives the mobile conveyance device 10 in the right direction. When the first input unit 12 rotates in the reverse direction and the second input unit 14 rotates in the forward direction at the same angular velocity, the auxiliary wheel of the omnidirectional wheel 13a rotates in the reverse direction and the main wheel of the omnidirectional wheel 13a rotates. Without this, it is assumed that the omnidirectional wheel 13a drives the mobile conveyance device 10 leftward.

  When the output shaft of the motor 22 rotates in the forward direction, the first input unit 12 rotates in the forward direction, and when the output shaft of the motor 22 rotates in the reverse direction, the first input unit 12 rotates in the reverse direction. When the first clutch 31 is in the connected state and the second clutch 32 is in the disconnected state, when the output shaft of the motor 22 rotates in the positive direction, the second input unit 14 rotates in the positive direction, and the output of the motor 22 It is assumed that when the shaft rotates in the reverse direction, the second input unit 14 rotates in the reverse direction. When the first clutch 31 is in the disengaged state and the second clutch 32 is in the connected state, the output shaft of the motor 22 rotates in the forward direction because the second rotation transmission path 21b includes the reverse rotation device 40. Then, the second input unit 14 rotates in the reverse direction, and when the output shaft of the motor 22 rotates in the reverse direction, the second input unit 14 rotates in the forward direction.

  In this embodiment and the following embodiments, a case where the angular velocities of the input units (in this embodiment, the input units 12 and 14) to which rotation is transmitted from one motor (in this embodiment, the motor 22) is the same is taken up. But it can be different. In the following embodiments, a case where a plurality of motors are used will be taken up, but a case where the angular velocities of the input units to which rotation is transmitted from different motors may be the same or different may be taken up. For example, when there are first and second motors, the angular velocity of the input unit to which rotation is transmitted from the first motor and the angular velocity of the input unit to which rotation is transmitted from the second motor are different or the same. I do not care.

  When the first clutch 31 is in the connected state and the second clutch 32 is in the disconnected state, when the output shaft of the motor 22 rotates in the forward direction, both the first and second input parts 12 and 14 are in the forward direction. , The omnidirectional wheel 13a drives the mobile conveyance device 10 forward. Conversely, when the output shaft of the motor 22 rotates in the reverse direction, both the first and second input units 12 and 14 rotate at the same angular velocity in the reverse direction, so that the omnidirectional wheel 13a moves the mobile conveyance device 10 backward. Drive to.

  When the first clutch 31 is in the disengaged state and the second clutch 32 is in the connected state, when the output shaft of the motor 22 rotates in the forward direction, the first input unit 12 moves in the forward direction and the second input Since the unit 14 rotates in the reverse direction at the same angular velocity, the omnidirectional wheel 13a drives the mobile conveyance device 10 to the right. On the contrary, when the output shaft of the motor 22 rotates in the reverse direction, the first input unit 12 rotates in the reverse direction and the second input unit 14 rotates in the forward direction at the same angular velocity, so that the omnidirectional wheel 13a is moved and conveyed. The device 10 is driven to the left.

  By switching the states of the first and second clutches 31 and 32 in this way, the omnidirectional wheel 13a can be moved by driving the movable conveyance device 10 in the front-rear direction and the left-right direction with one motor 22. it can.

  Next, an example of a specific structure of Example 1-1 will be described with reference to FIG.

  As shown in FIG. 2, the 1st and 2nd input parts 12 and 14 exist in the right side of the omnidirectional wheel 13a, and are couple | bonded coaxially with the rotation center axis | shaft of the omnidirectional wheel 13a. The first input unit 12 is a hollow shaft, and the second input unit 14 is coaxially disposed inside the first input unit 12. The case where the rotation center axis of the omnidirectional wheel 13a and the first and second input parts 12 and 14 are coaxial will be described as an example, but the first and second coupled to the omnidirectional wheel 13a will be described. The rotation center axes of the input units 12 and 14 may be crossed or separated from each other, may be parallel to each other, or may not be parallel to each other. Further, the case where the first and second input units 12 and 14 are on one side (right side) of the omnidirectional wheel 13a will be described as an example, but the first and second input units 12 and 14 are omnidirectional wheels. You may arrange | position separately on both sides (left side and right side) of 13a.

  First to third output gears 22a, 22b, and 22c are coupled to the output shaft 22x of the motor 22. The first output gear 22 a meshes with the first input gear 12 a fixed to the first input unit 12. The second output gear 22 b meshes with the second input gear 14 a that is fixed to the second input portion 14 via the first clutch 31. The third output gear 22c meshes with the intermediate gear 40a that is a reverse rotation device. The intermediate gear 40 a meshes with the third input gear 14 b fixed to the second input portion 14 via the second clutch 32. The gears 12a, 14a, 22a, 22b have the same number of teeth. The gears 14b and 22c have the same number of teeth.

  The first rotation transmission path 21 a of the rotation transmission unit 20 includes an output shaft 22 x of the motor 22, a second output gear 22 b, a second input gear 14 a, and a first clutch 31. . The second rotation transmission path 21b of the rotation transmission unit 20 includes an output shaft 22x of the motor 22, a third output gear 22c, an intermediate gear 40a, a third input gear 14b, and a second clutch 32. It is constituted by. The third rotation transmission path 21c of the rotation transmission unit 20 is configured by the output shaft 22x of the motor 22, the first output gear 22a, and the first input gear 12a.

  Next, the operation of the mobile conveyance device 10 will be described. In FIG. 2, hatched lines attached to the clutches 31 and 32 indicate a connected state in which rotation is transmitted.

  As shown in FIG. 2A, when the first clutch 31 is in the connected state and the second clutch 32 is in the disconnected state, the first and second input portions 12 and 14 are not rotated by the rotation of the motor 22. The omnidirectional wheel 13a is driven only by the main wheel and moves in the front-rear direction as indicated by the arrow 13x.

  As shown in FIG. 2B, when the first clutch 31 is in the disengaged state and the second clutch 32 is in the connected state, the rotation of the motor 22 causes the first and second input units 12 and 14 to be connected to each other. When rotating in the opposite direction and at the same angular velocity, the omnidirectional wheel 13a is driven only by the auxiliary wheel and moves in the left-right direction as indicated by the arrow 13y.

  <Example 1-2> FIG. 3 is an explanatory diagram conceptually showing the configuration of the mobile transfer apparatus 10a of Example 1-2. As illustrated in FIG. 3, the mobile conveyance device 10 a according to the exemplary embodiment 1-2 includes one motor 22, one omnidirectional wheel 13 a, first and second input units 12 and 14, and rotation transmission. A unit 20a, a rotation prohibiting unit 28a, and a main body 11. The mobile conveyance device 10a according to the embodiment 1-2 is different from the mobile conveyance device 10 according to the embodiment 1-1 illustrated in FIG. 1 in the stop state in which the rotation of the second input unit 14 is prohibited and the second input unit 14. A rotation prohibiting unit 28a that allows selection of a stop release state that allows rotation is added. The rotation prohibition unit 28 a connects the second input unit 14 and the main body 11 of the mobile conveyance device 10 a via the third clutch 33. When the third clutch 33 is in the connected state, the second input unit 14 is connected to the main body 11, the rotation of the second input unit 14 is prohibited, and the second input unit cannot be rotated. When the third clutch 33 is in the disengaged state, the rotation of the second input unit 14 is allowed.

  When the third clutch 33 is in the disengaged state, the mobile conveyance device 10a according to the exemplary embodiment 1-2 can perform the same operation as the mobile conveyance device 10 according to the exemplary embodiment 1-1 described above.

  On the other hand, when the first and second clutches 31 and 32 are in the disengaged state and the third clutch 33 is in the connected state, the second input unit 14 cannot rotate. When the motor 22 is rotated in this state, only the first input unit 12 rotates, so that both the main wheel and the sub wheel of the omnidirectional wheel 13a rotate, and the mobile conveyance device 10a moves in the front right direction or the rear left. It can be driven in an oblique direction.

  Therefore, by switching the states of the first to third clutches 31, 32, 33, the omnidirectional wheel 13 a can drive the mobile conveyance device 10 a in the front-rear direction and the left-right direction with one motor 22, and the front right It is also possible to drive in an oblique direction that is a direction or a left rear direction.

  <Example 1-3> FIG. 4 is an explanatory diagram conceptually showing the configuration of the mobile transfer apparatus 10b of Example 1-3. As illustrated in FIG. 4, the mobile conveyance device 10 b according to the first to third embodiments includes one motor 22, one omnidirectional wheel 13 a, first and second input units 12 and 14, and rotation transmission. A portion 20b, rotation prohibiting portions 28a and 28b, and a main body 11 are provided. In the mobile conveyance device 10b of Example 1-3, a fourth clutch 34 is added to the third rotation transmission path 21c that connects the first input unit 12 and the motor 22 to the configuration of Example 1-2. In addition, a rotation prohibiting unit 28b that allows selection of a stop state that prohibits the rotation of the first input unit 12 and a stop release state that allows the rotation of the first input unit 12 is added. The rotation prohibiting unit 28 b connects the first input unit 12 and the main body 11 via the fifth clutch 35. When the fifth clutch 35 is in a connected state, the first input unit 12 is not allowed to rotate, and when the fifth clutch 35 is in a disconnected state, the first input unit 12 is allowed to rotate.

  When the fourth clutch 34 is in the connected state and the fifth clutch 35 is in the disengaged state, the mobile transfer device 10b of the embodiment 1-3 performs the same operation as the mobile transfer device 10a of the embodiment 1-2. Is possible.

  On the other hand, when the fourth clutch 34 is in the disengaged state and the fifth clutch 35 is in the connected state, the first input unit 12 cannot rotate. In this state, one of the first clutch 31 and the second clutch 32 is connected, the other is disconnected, and the third clutch 33 is disconnected, and the motor 22 is rotated. Only the second input unit 14 rotates. Therefore, both the main wheel and the sub wheel of the omnidirectional wheel 13a are rotated, and the mobile conveyance device 10b can be driven in an oblique direction that is the front left direction or the rear right direction.

  Therefore, by switching the states of the first to fifth clutches 31 to 35, the omnidirectional wheel 13a can drive the mobile conveyance device 10b in the front-rear direction and the left-right direction with one motor 22, and the front-right direction or It can also be driven in an oblique direction that is the rear left direction, the front left direction, or the rear right direction.

  Further, when all the clutches 31 to 35 are in the disengaged state, both the first input unit 12 and the second input unit 14 are free to rotate. Can be rotated.

Regarding the mobile conveyance device 10b of Example 1-3, the connected state / disconnected state of the first to fifth clutches 31 to 35, the rotation direction of the output shaft of the motor 22, and the first and second input units 12 , 14 and the relationship with the rotation are shown in Table 1 below.

  In Table 1, “clutch 1” to “clutch 5” are the first to fifth clutches 31 to 35, “motor shaft” is the output shaft of the motor 22, and “input unit 1” is the first input. The “input unit 2” is the second input unit 14.

  The mobile conveyance device 10b according to the first to third embodiments includes a first rotation transmission path that connects the motor 22 and the second input unit 14 via the first clutch 31 so that the rotation can be released. 21a, the motor 22 and the second input unit 14 are connected in series so that the rotation can be released and converted into the rotation in the reverse direction and transmitted, and the second clutch 32 and the reverse rotation device connected in series. And a second rotation transmission path 21b connected via 40, and a stop state in which the rotation of the second input unit 14 is prohibited and a stop release state in which the rotation of the second input unit 14 is allowed can be selected. A rotation prohibiting portion 28a. The rotation prohibition unit 28 a connects the second input unit 14 and the main body 11 of the mobile conveyance device 10 b via the third clutch 33. As shown in Table 1, the second input unit 14 rotates in the forward direction depending on the combination of the connected state / disconnected state of the first to third clutches 31, 32, 33 and the rotational direction of the motor 22. The four states of reverse rotation, non-rotation, and free rotation can be switched.

  On the other hand, the first input unit 12 is also rotated in the forward direction, the reverse direction, the non-rotatable state, and the free rotation according to the combination of the connected state / disconnected state of the fourth and fifth clutches 34 and 35 and the rotating direction of the motor 22. These four states can be switched.

  In addition, the moving conveyance apparatus 10b of Example 1-3 does not have the rotation transmission path which connects the motor 22 and the 1st input part 12 via the clutch and reverse rotation apparatus which were connected in series. This is because the motor 22 can rotate both in the forward direction and in the reverse direction. Therefore, if the fourth clutch 34 is engaged, the first input unit 12 can be moved in the reverse direction. This is because the rotation transmission path for connecting the motor 22 and the first input unit 12 via the clutch and the reverse rotation device connected in series is not necessarily required. Thus, when a motor that can rotate in both directions is used, the rotation transmission path can be simplified.

Table 2 below shows an example of the active operation of the movable transfer device 10b that is enabled by switching the state of the first and second input units 12 and 14 to forward rotation, reverse rotation, and non-rotation.

  In Table 2, “input unit 1” is the first input unit 12, and “input unit 2” is the second input unit 14.

  By switching the combination of the states of the first and second input units 12 and 14, the mobile conveyance device 10b can perform the active operation shown in Table 2. If both the first and second input parts 12 and 14 are free to rotate, the omnidirectional wheel 13a can be passively rotated.

  In order to enable each of the input units 12 and 14 to switch between the four states of forward rotation, reverse rotation, non-rotation, and free rotation, five clutches 31 as in the embodiment 1-3. ~ 35 is required. However, there are cases where it is not necessary to switch the four states of forward rotation, reverse rotation, non-rotation, and free rotation at the input units 12 and 14. For example, when only the movement in the front-rear direction and the left-right direction is required, the input units 12 and 14 are not allowed to rotate and are not required to rotate freely. In this case, the clutch may be used only for the first and second rotation transmission paths 21a and 21b, as in the structure of Example 1-1 described above.

  Next, Example 2-1 and Example including one motor as a drive source, three input units, and one omnidirectional wheel and one omni wheel as a wheel unit, or one omnidirectional wheel and one ordinary wheel The moving conveyance device of 2-2 and Example 2-3 will be described. The number of input units is greater than the number of motors.

  <Example 2-1> FIG. 5 is an explanatory diagram conceptually showing the configuration of the mobile transfer apparatus 10c of Example 2-1. As illustrated in FIG. 5, the mobile conveyance device 10 c according to the example 2-1 includes one motor 22, one omnidirectional wheel 13 a, one omni wheel 13 b, and first to third inputs. Units 12, 14, 16, a rotation transmission unit 20 c, rotation inhibition units 28 a, 28 b, 28 c, and a main body 11. In this embodiment and the following embodiments, in order to facilitate understanding, an example in which all the wheels have the same diameter (the diameter of the main wheel in an omnidirectional wheel or an omni wheel) is taken, but this is not always necessary. Further, in this embodiment, an example will be taken in which the omnidirectional wheel 13a and the omni wheel 13b are arranged so that the rotation center axes of the omnidirectional wheel 13a and the omni wheel 13b are coaxial.

  The omnidirectional wheel 13a is coupled with the first and second input portions 12 and 14 coaxially with the rotational central axis of the omnidirectional wheel 13a, and the omni wheel 13b is coaxially coupled with the rotational central axis of the omni wheel 13b. The input unit 16 is coupled. The omni wheel 13b is driven in one direction when the third input unit 16 rotates, and is movable in a direction crossing the driven direction. The omni wheels taken up in this embodiment and the following embodiments are those that are driven in one direction when the input unit coupled to the omni wheels rotates and that are movable in a direction orthogonal to the driven direction. It is not necessarily limited to that. The definitions of the forward direction and the reverse direction of rotation of the first and second input units 12 and 14 are the same as those of the first and second input units 12 and 14 of Example 1-1. When the third input unit 16 rotates in the forward direction, the omni wheel 13b drives the mobile conveyance device 10c in the forward direction.

  The first to third rotation transmission paths 21a to 21c and the rotation prohibiting sections 28a and 28b that connect the motor 22 to the first and second input sections 12 and 14 are the same as those of the embodiment 1-3 illustrated in FIG. The same. Thereby, the 1st and 2nd input parts 12 and 14 can change the state of forward rotation, reverse rotation, rotation impossible, and rotation free using the 1st thru | or 5th clutches 31-35. .

  With respect to the third input unit 16 coupled to the omni wheel 13b, the rotation transmission unit 20c transmits the motor 22 and the third input unit 16 via the sixth clutch 36 so that the rotation can be releasably transmitted. The fourth rotation transmission path 21d connected to each other, the motor 22 and the third input unit 16 are connected in series so that the rotation can be released and converted into the rotation in the reverse direction and transmitted. And a fifth rotation transmission path 21e connected via the seventh clutch 37 and the reverse rotation device 42. The rotation prohibiting unit 28 c connects the third input unit 16 and the main body 11 of the moving conveyance device 10 c via the eighth clutch 38. The rotation prohibition unit 28 c enables selection of a stop state in which the rotation of the third input unit 16 is prohibited and a stop release state in which the rotation of the third input unit 16 is allowed. Thereby, the 3rd input part 16 can change the state of forward rotation, reverse rotation, rotation impossible, and rotation free using the 6th thru / or 8th clutches 36-38.

  That is, by using the first to eighth clutches 31 to 38, the input units 12, 14, and 16 can be switched between forward rotation, reverse rotation, non-rotation, and free rotation.

Examples of active operations that can be performed by the mobile conveyance device 10c of Example 2-1 are shown in Table 3 below.

  In Table 3, “input unit 1” is the first input unit 12, “input unit 2” is the second input unit 14, and “input unit 3” is the third input unit 16.

  “Super-superior turn” is a turn centered on the center of the two wheels. “Right super-spindle turn” means clockwise super-spindle turn. This means a counterclockwise turn in the counterclockwise direction. “Successful turning” means turning around the position of one wheel, “right turning” means clockwise turning, and “left turning” means turning counterclockwise. Means. “Other turn” means a turn other than the super turn and the turn.

  As shown in Table 3, by using one motor 22, the moving and conveying device 10c is moved in the front-rear direction and the left-right direction, and the front right, front left, rear right, and rear left are moved in diagonal directions. Trust turn, trust turn, and other turns are possible.

  <Example 2-2> FIG. 6 is an explanatory diagram conceptually showing the configuration of the mobile transfer apparatus of Example 2-2. As shown in FIG. 6, the mobile conveyance device of Example 2-2 includes one motor (not shown in FIG. 6), first to third input units 12, 14, and 16, and one whole. A direction wheel 13a, one normal wheel 13c, a rotation transmission unit (not shown in FIG. 6), a rotation prohibition unit (not shown in FIG. 6), and a main body (not shown in FIG. 6) are provided.

  The rotation transmitting unit and the rotation prohibiting unit have the same configuration as that of the above-described Example 2-1, and the input units 12, 14, and 16 are switched between forward rotation, reverse rotation, non-rotation, and free rotation. In some of the following embodiments, illustration of the rotation transmitting unit, the rotation prohibiting unit, the motor, the main body, and the like is omitted.

  The difference from the embodiment 2-1 is that the third input unit 16 is coupled to the ordinary wheel 13c instead of the omni wheel 13b, and the other configuration is the same as that of the embodiment 2-1. It is. The third input portion 16 is coupled coaxially with the rotation center axis of the ordinary wheel 13c, and the position of the rotation center axis of the ordinary wheel 13c is the same as the position of the rotation center axis of the omni wheel 13b of the embodiment 2-1, that is, all It is coaxial with the rotation center axis of the direction wheel 13a. The normal wheel 13c is driven in one direction when the third input unit 16 rotates, and cannot move in a direction intersecting the driven direction. The definitions of the forward direction and the reverse direction of rotation of the first to third input units 12, 14, and 16 are the same as those in Example 2-1.

Examples of active operations that can be performed by the mobile conveyance device of Example 2-2 are shown in Table 4 below.

  In Table 4, “input unit 1” is the first input unit 12, “input unit 2” is the second input unit 14, and “input unit 3” is the third input unit 16.

  As can be seen from Table 4, in Example 2-2, it is possible to move in the front-rear direction, turn around the superstrate, and turn around the belief with a single motor.

  <Example 2-3> FIG. 7 is an explanatory diagram conceptually showing the configuration of the mobile transfer apparatus of Example 2-3. As shown in FIG. 7, the mobile conveyance device of Example 2-3 includes one motor (not shown in FIG. 7), first to third input units 12, 14, and 16, and one whole. A direction wheel 13a, one normal wheel 13c, a rotation transmission unit (not shown in FIG. 7), a rotation prohibition unit (not shown in FIG. 7), and a main body (not shown in FIG. 7) are provided.

  The difference from Example 2-2 is the direction in which the normal wheels 13c are arranged. As shown in FIG. 7, the rotation center axis of the normal wheel 13c to which the third input unit 16 is coaxially coupled and the rotation center axis of the omnidirectional wheel 13a are arranged so as to be perpendicular to each other. The normal wheel 13c is on the extension line of the rotation center axis of the wheel 13a.

  The definitions of the forward direction and the reverse direction of the rotation of the first and second input units 12 and 14 are the same as those in Example 2-1. When the third input unit 16 coupled to the normal wheel 13c rotates in the forward direction, it drives the mobile conveyance device to the right, and when it rotates in the reverse direction, it drives the mobile conveyance device to the left.

Examples of active operations that can be performed by the mobile conveyance device according to the embodiment 2-3 are shown in Table 5 below.

  In Table 5, “input unit 1” is the first input unit 12, “input unit 2” is the second input unit 14, and “input unit 3” is the third input unit 16.

  As can be seen from Table 5, in Example 2-3, it is possible to move in the left-right direction, turn around the ground, and make other turns with a single motor.

  Next, a description will be given of a mobile conveyance device according to a third embodiment that includes one motor as a drive source, four input units, and two omnidirectional wheels as wheel units. The number of input units is greater than the number of motors.

  <Third Embodiment> FIG. 8 is an explanatory diagram conceptually showing the configuration of a mobile transfer apparatus according to a third embodiment. As shown in FIG. 8, the mobile conveyance device according to the third embodiment includes one motor (not shown in FIG. 8), four input units 12, 14, 16, 18 and two omnidirectional wheels 13a. 15a, a rotation transmission part (not shown in FIG. 8), a rotation prohibition part (not shown in FIG. 8), and a main body (not shown in FIG. 8). For example, the rotation transmitting unit shares a motor, and the first and second input units 12 and 14 and the third and fourth input units 16 and 18 are rotated in the same manner as in the first to third embodiments. Has a transmission path. The rotation prohibiting unit has, for example, the first and second input units 12 and 14 and the third and fourth input units 16 and 18 similar to those of the above-described first to third embodiments.

  In the present embodiment, an example will be taken in which the two omnidirectional wheels 13a and 15a are arranged so that the respective rotation center axes are coaxial.

  The first and second input portions 12 and 14 are coupled to the first omnidirectional wheel 13a coaxially with the rotation center axis of the first omnidirectional wheel 13a, and the third and fourth omnidirectional wheels 15a are connected to the third and fourth. The input portions 16 and 18 are coupled coaxially with the rotation center axis of the second omnidirectional wheel 15a. The definitions of the forward direction and the reverse direction of the rotation of each input unit 12, 14, 16, 18 are the same as those in Example 1-1.

Examples of active operations that can be performed by the mobile conveyance device of the third embodiment are shown in Table 6 below.

  In Table 6, “input unit 1” to “input unit 4” are the first to fourth input units 12, 14, 16, and 18.

  As can be seen from Table 6, in the third embodiment, the movement in the front-rear direction and the left-right direction with one motor, the movement in the oblique directions of the front right, front left, rear right, and rear left, super turning, A belief is possible.

Then, the one motor, and two inputs, two wheels other than the omnidirectional wheels, i.e., using the omni wheels or ordinary wheel, omnidirectional wheels are not used in Reference Example 4-1 to Reference A mobile conveyance device of Example 4-4 will be described. The number of input units is greater than the number of motors.

  In the following embodiments, the input units 12, 14, and 16 are omni-wheels 13b, 15b, and 17b or ordinary wheels 13c, coaxially with the rotation center axis of the omni wheels 13b, 15b, and 17b or ordinary wheels 13c and 15c. The case where it couple | bonds with 15c is demonstrated.

Reference Example 4-1 FIG. 9 is an explanatory diagram conceptually showing the configuration of the mobile transfer apparatus of Reference Example 4-1. As shown in FIG. 9, the mobile conveyance device of Reference Example 4-1 includes one motor (not shown in FIG. 9), two omni wheels 13 b and 15 b, and two input units 12 and 14. A rotation transmitting unit (not shown in FIG. 9), a rotation prohibiting unit (not shown in FIG. 9), and a main body (not shown in FIG. 9). For example, the rotation transmitting unit and the rotation prohibiting unit related to the input units 12 and 14 are configured in the same manner as in Example 1-3 described above.

  In the present embodiment, the input portions 12 and 14 are coupled to the omni wheels 13b and 15b coaxially with the rotation center axis of the omni wheels 13b and 15b. Omni wheel 13b, 15b is arrange | positioned so that each rotation center axis | shaft may become coaxial. The definitions of the forward direction and the reverse direction of the rotation of the input units 12 and 14 are the same as those of the input unit 16 coupled to the omni wheel 13b of Example 2-1.

Examples of active operations that can be performed by the mobile conveyance device of Reference Example 4-1 are shown in Table 7 below.

  In Table 7, “input unit 1” is the first input unit 12, and “input unit 2” is the second input unit 14.

  As can be seen from Table 7, a single motor can move in the front-rear direction, turn around, and turn around.

Reference Example 4-2 FIG. 10 is an explanatory diagram conceptually showing the configuration of the mobile transfer apparatus of Reference Example 4-2. As shown in FIG. 10, the mobile conveyance device of Reference Example 4-2 includes one motor (not shown in FIG. 10), one omni wheel 13b and one ordinary wheel 13c, and two pieces. Input units 12 and 14, a rotation transmission unit (not shown in FIG. 10), a rotation prohibition unit (not shown in FIG. 10), and a main body (not shown in FIG. 10). For example, the rotation transmitting unit and the rotation prohibiting unit related to the input units 12 and 14 are configured in the same manner as in the first to third embodiments. The first input portion 12 is coupled to the omni wheel 13b coaxially with the rotation center axis of the omni wheel 13b. A second input portion 14 is coupled to the ordinary wheel 13c coaxially with the rotation center axis of the ordinary wheel 13c. The definitions of the forward direction and the reverse direction of the rotation of the first input unit 12 coupled to the omni wheel 13b and the second input unit 14 coupled to the ordinary wheel 13c are coupled to the omni wheel 13b of Example 2-1. It is assumed that the input unit 16 is the same.

Examples of active operations that can be performed by the mobile conveyance device of Reference Example 4-2 are shown in Table 8 below.

  In Table 8, “input unit 1” is the first input unit 12, and “input unit 2” is the second input unit 14.

  As can be seen from Table 8, a single motor can move in the front-rear direction, turn around the superstrate, and turn around the ground.

Reference Example 4-3 FIG. 11 is an explanatory diagram conceptually showing the configuration of the mobile transfer apparatus of Reference Example 4-3. As shown in FIG. 11, the mobile conveyance device of Reference Example 4-3 includes one motor (not shown in FIG. 11), similarly to the mobile conveyance device of Reference Example 4-2 shown in FIG. One omni wheel 13b and one ordinary wheel 13c, two input parts 12, 14, a rotation transmission part (not shown in FIG. 11), a rotation prohibition part (not shown in FIG. 11), And a main body (not shown in FIG. 11). For example, the rotation transmitting unit and the rotation prohibiting unit related to the input units 12 and 14 are configured in the same manner as in the first to third embodiments.

The difference from Reference Example 4-2 is the direction in which the normal wheels 13c are arranged. As shown in FIG. 11, the wheels 13b and 13c are arranged such that the respective rotation center axes are perpendicular to each other, and the normal wheel 13c is arranged on an extension line of the rotation center axis of the omni wheel 13b. The definition of the forward direction and the reverse direction of the rotation of the first input unit 12 coupled to the omni wheel 13b is the same as that of the third input unit 16 coupled to the omni wheel 13b of Example 2-1. The definition of the forward direction and the reverse direction of the rotation of the second input unit 14 coupled to the ordinary wheel 13c is the same as that of the third input unit 16 coupled to the ordinary wheel 13c of Example 2-3.

Examples of active operations that can be performed by the mobile conveyance device of Reference Example 4-3 are shown in Table 9 below.

  In Table 9, “input unit 1” is the first input unit 12, and “input unit 2” is the second input unit 14.

  As can be seen from Table 9, a single motor can move left and right, turn around the ground, and make other turns.

Reference Example 4-4 FIG. 12 is an explanatory diagram conceptually showing the configuration of the mobile transfer apparatus of Reference Example 4-4. As shown in FIG. 12, the mobile conveyance device of Reference Example 4-4 has one motor (not shown in FIG. 12), two ordinary wheels 13c, 15c, and two input units 12,14. A rotation transmission unit (not shown in FIG. 12), a rotation prohibition unit (not shown in FIG. 12), and a main body (not shown in FIG. 12). For example, the rotation transmitting unit and the rotation prohibiting unit related to the input units 12 and 14 are configured in the same manner as in the first to third embodiments.

The only difference from Reference Example 4-1 shown in FIG. 9 is that the ordinary wheels 13c and 15c are used instead of the omni wheels 13b and 15b, and the other points are the same.

That is, the input portions 12 and 14 are coupled to the normal wheels 13c and 15c coaxially with the rotation center axis of the normal wheels 13c and 15c. The normal wheels 13c and 15c are arranged so that the respective rotation center axes are coaxial. The definitions of the forward direction and the reverse direction of the rotation of the input units 12 and 14 coupled to the normal wheels 13c and 15c are the same as those of the first and second input units 12 and 14 in Reference Example 4-1.

Examples of active operations that can be performed by the mobile conveyance device of Reference Example 4-4 are shown in Table 10 below.

  In Table 10, “input unit 1” is the first input unit 12, and “input unit 2” is the second input unit 14.

  As can be seen from Table 10, a single motor can move back and forth, turn around, and turn around.

Then, the one motor, and three input unit, for moving the transport device of Reference Examples 5-1 to Reference Example 5-3 using the three wheels other than the omnidirectional wheels will be described. The number of input units is greater than the number of motors.

Reference Example 5-1 FIG. 13 is an explanatory diagram conceptually showing the configuration of the mobile transfer apparatus of Reference Example 5-1. As shown in FIG. 13, the mobile conveyance device of Reference Example 5-1 has one motor (not shown in FIG. 13), three omni wheels 13b, 15b, 17b, and three input units 12. , 14, 16, a rotation transmission unit (not shown in FIG. 13), a rotation prohibition unit (not shown in FIG. 13), and a main body (not shown in FIG. 13). For example, the rotation transmission unit and the rotation prohibition unit related to the input units 12, 14, and 16 are configured in the same manner as in Example 2-1.

  The first and second omni wheels 13b and 15b are arranged so that their respective rotation center axes are coaxial, and the third omni wheel 17b has the first and second rotation center axes of the third omni wheel 17b. The first omni wheel 13b and the second omni wheel 15b are perpendicular to the rotation center axis of the omni wheels 13b and 15b and from the midpoint of the first omni wheel 13b and the second omni wheel 15b. Suppose they are separated by half the distance between.

Input portions 12, 14, and 16 are coupled to the omni wheels 13b, 15b, and 17b coaxially with the rotation center axis of the omni wheels 13b, 15b, and 17b. The definition of the direction of rotation of the first and second input parts 12 and 14 coupled to the first and second omni wheels 13b and 15b is the third definition coupled to the omni wheel 13b of Example 2-1. The same as the input unit 16. The definition of the direction of rotation of the input unit 16 coupled to the third omni wheel 17b is the same as that of the second input unit 14 coupled to the ordinary wheel 13c of Reference Example 4-3.

Examples of active operations that can be performed by the mobile conveyance device of Reference Example 5-1 are shown in Table 11 below.

  In Table 11, “input unit 1” is the first input unit 12, “input unit 2” is the second input unit 14, and “input unit 3” is the third input unit 16.

As can be seen from Table 11, one motor can move in the front-rear and left-right directions, forward right, front left, rear right, rear left, diagonal movement, super-turn, and other turns. is there. A turning "super pivot turn" is the two wheels 13b of the movement conveying device of Reference Example 5-2 to Reference Example 5-1, the midpoint of 15b as a rotation center, "right ultra stationary turn "" Means a right-handed super-trust turn, and "left-hand super-turn" means a left-hand turn. “Successful turn” is turning with the position of one of the wheels 13b, 15b as the center of rotation, “Right turn” means clockwise turning, and “Left turn” is left. This means turning around. “Other turn” means a turn other than the super turn and the turn.

Reference Example 5-2 FIG. 14 is an explanatory diagram conceptually showing the configuration of the mobile transfer apparatus of Reference Example 5-2. As shown in FIG. 14, the mobile conveyance device of Reference Example 5-2 includes one motor (not shown in FIG. 14), three omni wheels 13b, 15b, and 17b, and three input units 12. , 14, 16, a rotation transmission unit (not shown in FIG. 14), a rotation prohibition unit (not shown in FIG. 14), and a main body (not shown in FIG. 14). For example, the rotation transmission unit and the rotation prohibition unit related to the input units 12, 14, and 16 are configured in the same manner as in Example 2-1.

  In this embodiment, as shown in FIG. 14, the first and second omni wheels 13b and 15b are arranged so that the respective rotation center axes are perpendicular to each other, and the rotation center axis of the first omni wheel 13b is arranged. The second omni wheel 15b is arranged on the extended line. The first omni wheel 13b and the third omni wheel 17b are arranged so that the respective rotation center axes are perpendicular to each other, and the first omni wheel 17b is on the extension line of the rotation center axis of the third omni wheel 17b. The wheels 13b are arranged such that the distance between the first omni wheel 13b and the second omni wheel 15b is the same as the distance between the first omni wheel 13b and the third omni wheel 17b. ing.

Input portions 12, 14, and 16 are coupled to the omni wheels 13b, 15b, and 17b coaxially with the rotation center axis of the omni wheels 13b, 15b, and 17b, respectively. The definition of the direction of rotation of the first input unit 12 coupled to the first omni wheel 13b is the same as that of the third input unit 16 of Example 2-1. The definition of the direction of rotation of the second and third input units 14 and 16 coupled to the second and third omni wheels 15b and 17b is the same as that of the second input unit 14 of Reference Example 4-3. And

Examples of active operations that can be performed by the mobile conveyance device of Reference Example 5-2 are shown in Table 12 below.

  In Table 12, “input unit 1” is the first input unit 12, “input unit 2” is the second input unit 14, and “input unit 3” is the third input unit 16.

  As can be seen from Table 12, a single motor can move in the front-rear and left-right directions, forward right, front left, rear right, rear left diagonal movements, pivots, and other turns. .

Reference Example 5-3 FIGS. 15 to 17 are explanatory views conceptually showing the configuration of the mobile transfer apparatus of Reference Example 5-3. As shown in FIGS. 15 to 17, the mobile conveyance device of Reference Example 5-3 includes one motor (not shown in FIGS. 15 to 17) and three wheels 13 b and 13 c other than omnidirectional wheels. 15b, 15c; 17b, three input parts 12, 14, 16; a rotation transmission part (not shown in FIGS. 15 to 17); a rotation prohibition part (not shown in FIGS. 15 to 17); And a main body (not shown in FIGS. 15 to 17). For example, the rotation transmission unit and the rotation prohibition unit related to the input units 12, 14, and 16 are configured in the same manner as in Example 2-1. By switching forward rotation, reverse rotation, non-rotation, rotation freedom, etc. for the input units 12, 14, 16 coupled to the wheels 13b, 13c; 15b, 15c; Various active operations are possible.

  In the example shown in FIG. 15A, the rotation center axes of the three omni wheels 13b, 15b, and 17b intersect at one point and intersect at an equal angle (120 °). In this example, movement and turning in the front-rear direction and the oblique direction are possible.

  In the example shown in FIG. 15B, the first and second omni wheels 13b, 15b are arranged coaxially. The third omni wheel 17b is arranged so that the rotation center axis of the third omni wheel 17b is parallel to the rotation center axes of the first and second omni wheels 13b and 15b, and the third omni wheel 17b is The first and second omni wheels 13b and 15b are spaced apart by an equal distance. In this example, movement and turning in the front-rear direction are possible.

  In the example shown in FIG. 15C, the first and second omni wheels 13b and 15b are arranged coaxially. The third omni wheel 17b includes first and second omni wheels 13b such that the rotation center axis of the third omni wheel 17b is perpendicular to the rotation center axes of the first and second omni wheels 13b and 15b. , 15b are arranged on the extension line of the rotation center axis at a distance equal to both the first and second omni wheels 13b, 15b. In this example, movement and turning in the front-rear direction, the left-right direction, and the oblique direction are possible.

  In the example shown in FIG. 16 (a), the third omni wheel 17b in FIG. 15 (c) replaces the normal wheel 13c. In this example, left-right movement and turning are possible.

  In the example shown in FIG. 16B, the first and second omni wheels 13b and 15b are arranged in parallel to each other. The positions of the first and second omni wheels 13b and 15b in the direction of the rotation center axis of the first and second omni wheels 13b and 15b are aligned. The ordinary wheel 13c is equal to both the first and second omni wheels 13b and 15b so that the rotation center axis of the ordinary wheel 13c is perpendicular to the rotation center axes of the first and second omni wheels 13b and 15b. They are located a distance apart. In this example, movement and turning in the front-rear direction are possible.

  In the example shown in FIG. 17A, the first and second omni wheels 13b and 15b in FIG. 13 are replaced with ordinary wheels 13c and 15c. In this example, movement and turning in the front-rear direction are possible.

  In the example shown in FIG. 17 (b), the first and second omni wheels 13b, 15b in FIG. 15 (b) are replaced with ordinary wheels 13c, 15c. In this example, movement and turning in the front-rear direction are possible.

  Next, Example 6-1 to Example 6 using two motors, three or four input units, one omnidirectional wheel and one omni wheel, or two omnidirectional wheels -4 will be described. The number of input units is greater than the number of motors.

  <Example 6-1> FIG. 18 is an explanatory diagram conceptually illustrating the configuration of the mobile conveyance device 10d of Example 6-1.

  Of the wheel arrangements shown in the case of using one motor as described above, the case of using two motors can be considered for any of the wheel arrangements in which the number of input units is three or more.

  As shown in FIG. 18, Example 6-1 is a modified example of Example 2-1, and uses two motors as a drive source. 18, the configuration shown above the input units 12, 14, and 16 is the same as that of the embodiment 2-1 shown in FIG. In Example 6-1, the configuration shown below the input units 12, 14, and 16 in FIG. 18 is added to the configuration of Example 2-1. That is, the second motor 24, and rotation transmission paths 23a to 23e including the clutches 51, 52, 54, 56, 57 and the reverse rotation devices 44, 46 are added.

  The rotation transmission unit 20d rotates between the second motor 24 and the first and second input units 12 and 14, and between the first motor 22 and the first and second input units 12 and 14. Rotation transmission paths 23a, 23b, and 23c having the same configuration as the transmission paths 21a, 21b, and 21c are added. For this reason, the same thing as rotation of the 1st and 2nd input parts 12 and 14 implement | achieved by the 1st motor 22 is also possible by the 2nd motor 24. FIG.

  Between the second motor 24 and the third input unit 16, rotation transmission paths 23d and 23e having the same configuration as the rotation transmission paths 21d and 21e between the first motor 22 and the third input unit 16 are provided. Has been added. For this reason, the same thing as the rotation of the third input unit 16 realized by the first motor 22 is also possible by the second motor 24.

  That is, each input unit 12, 14, 16 is rotated in the forward direction by the first motor 22, rotated in the reverse direction by the first motor 22, rotated in the forward direction by the second motor 24, and reversed in the reverse direction by the second motor 24. It is possible to switch between six states: rotation, non-rotation, and free rotation. Compared to the case where there is only one motor, the types of active operation of the movable transfer device 10d that can be performed increase.

  For example, in Example 2-1 using only one motor, the direction could not be changed while moving back and forth. On the other hand, in the present embodiment, for example, the first and second input portions 12 and 14 are connected to the first motor by setting the clutches 31, 34, and 56 to the connected state and the other clutches to the disconnected state. 22 is driven, and the third input unit 16 can be driven by the second motor 24. Therefore, there is a difference between the moving speed in the front-rear direction of the omnidirectional wheel 13a and the moving speed in the front-rear direction of the omni wheel 13b. It is also possible to change the direction while moving back and forth.

  Of all the wheel arrangements shown in the case where one motor is used, the rotation transmission path using the motor 24 can be added to any of the wheel arrangements in which the number of input units is three or more. As a result, the types of active operations of the mobile conveyance device that can be performed may increase.

  In Example 6-1, the structure having many rotation transmission paths was shown for the case of having two motors. However, in actuality, it is sufficient to configure only the necessary rotation transmission path in consideration of the operation required for the mobile conveyance device. In Example 6-2 described below, a part of the structure of Example 6-1 is omitted.

  <Example 6-2> FIG. 19 is an explanatory diagram conceptually showing the configuration of the mobile transfer apparatus 10e of Example 6-2.

  As illustrated in FIG. 19, the mobile conveyance device 10 e of Example 6-2 includes two motors 22 and 24 that are drive sources, three input units 12, 14, and 16, and all directions that are wheel units. The wheel 13a and the omni wheel 13b, and the rotation transmission part 20e are provided. The types of the wheels 13a and 13b, the arrangement of the wheels 13a and 13b and the input units 12, 14, and 16, and the number of the motors 22 and 24 and the input units 12, 14, and 16 are the same as those in the example 6-1, The rotation transmission unit 20e has a simpler configuration than that of Example 6-1. Moreover, although Example 6-1 is provided with the rotation prohibition part, Example 6-2 is not provided.

  The rotation transmission unit 20e is connected between the input units 12 and 14 coupled to the omnidirectional wheel 13a and the motor 22 and transmits rotation to the rotation transmission paths 21a, 21b and 21c, and the input coupled to the omni wheel 13b. The rotation transmission path 23a which connects the part 16 and the 2nd motor 24 and transmits rotation is provided. That is, the rotation transmission unit 20e is (i) a first rotation that connects the first motor 22 and the second input unit 14 via the first clutch 31 so that the rotation is releasably transmitted. The transmission path 21a, and (ii) the first motor 22 and the second input unit 14 are connected in series so that the rotation can be released and converted into the rotation in the reverse direction and transmitted. The second rotation transmission path 21b connected through the second clutch 32 and the reverse rotation device 40, and (iii) the first motor 22 and the first input unit 12 so that the rotation is always transmitted. A third rotation transmission path 21c to be connected; and (iv) a fourth rotation transmission path 23a for connecting the second motor 24 and the third input unit 16 so that the rotation is always transmitted. ing.

  From another viewpoint, the configuration of Example 1-1 includes an omni wheel 13b, a third input unit 16 coaxially coupled to the omni wheel 13b, a second motor 24, and a second motor 24. A rotation transmission path 23 a that always connects the third input unit 16 and transmits the rotation of the second motor 24 to the third input unit 16 is added.

  The omnidirectional wheel 13a is driven in the front-rear direction and the left-right direction by switching the clutches 31 and 32, as in the case of Example 1-1. The omni wheel 13b is driven in the front-rear direction and is movable in the left-right direction.

  When the first clutch 31 is in the connected state and the second clutch 32 is in the disconnected state, the first motor 22 rotates the first and second input portions 12 and 14 in the same direction and at the same angular velocity. The omnidirectional wheel 13a is driven only by the main wheel, and the omnidirectional wheel 13a moves in the front-rear direction. The omni wheel 13 b moves in the front-rear direction by the rotation of the second motor 24.

  When the omnidirectional wheel 13a and the omni wheel 13b move at the same speed in the front-rear direction, the moving conveyance device 10e moves in the front-rear direction. If there is a difference between the moving speed in the front-rear direction of the omnidirectional wheel 13a and the moving speed in the front-rear direction of the omni wheel 13b, the mobile conveyance device 10e turns. Note that when the first clutch 31 is in the connected state, the omnidirectional wheel 13a is in a state in which the rotation of the auxiliary wheel is prohibited, and thus the mobile transfer device 10e does not move in the left-right direction.

  When the first clutch 31 is in the disengaged state and the second clutch 32 is in the connected state, the first and second input portions 12 and 14 are in the opposite directions and the same by the rotation of the first motor 22. Rotates at angular velocity. In this case, only the sub wheel is driven as the omnidirectional wheel 13a, and the omnidirectional wheel 13a moves in the left-right direction.

  At this time, when the third input unit 16 is rotated by the rotation of the second motor 24, the omni wheel 13b moves in the front-rear direction. As a result, the mobile conveyance device 10e turns.

  On the other hand, when the second motor 24 is stopped, the omni wheel 13b is movable in the left-right direction. Therefore, only by driving the auxiliary wheel of the omnidirectional wheel 13a by the rotation of the first motor 22, the mobile conveyance device. 10e moves in the left-right direction.

  As described above, the moving conveyance device 10e according to the embodiment 6-2 can move and turn in the front-rear direction and the left-right direction using the two motors 22 and 24.

  <Example 6-3> FIG. 20 is an explanatory diagram conceptually illustrating the configuration of the mobile conveyance device 10f of Example 6-3.

  As illustrated in FIG. 20, the mobile conveyance device 10 f of Example 6-3 includes two motors 22 and 24 that are driving sources, three input units 12, 14, and 16, and all directions that are wheel units. The wheel 13a and the omni wheel 13b, the rotation transmission part 20f, the rotation prohibition part 29, and the main body 11 are provided. The types of the wheels 13a and 13b, the arrangement of the wheels 13a and 13b and the input units 12, 14, and 16, and the number of the motors 22 and 24 and the input units 12, 14, and 16 are the same as those in the example 6-1, The rotation transmitting unit 20f and the rotation prohibiting unit have a simpler configuration than that of Example 6-1.

  That is, the rotation transmission unit 20f is (i) a first rotation that connects the first motor 22 and the second input unit 14 via the first clutch 31 so that the rotation is releasably transmitted. A transmission path 21a, and (ii) a second rotation transmission path 23a that connects the second motor 24 and the second input unit 14 via a second clutch 32 so that the rotation can be transmitted in a releasable manner. And (iii) a third rotation transmission path 21b that connects the first motor 22 and the first input unit 12 so that rotation is always transmitted, and (iv) a second motor 24 and a third The fourth rotation transmission path 23b is connected to the input section 16 via the third clutch 33 so that the rotation is releasably transmitted. The rotation prohibition unit 29 connects the main body 11 of the mobile conveyance device 10f and the third input unit 16 via the fourth clutch 34, and a third state in which the rotation of the third input unit 16 is prohibited. A stop release state that allows rotation of the input unit 16 can be selected.

  Next, the operation of the mobile conveyance device 10f of Example 6-3 will be described.

  When the first clutch 31 is in the connected state, the second clutch 32 is in the disconnected state, the third clutch 33 is in the connected state, and the fourth clutch 34 is in the disconnected state, When the 1st and 2nd input parts 12 and 14 rotate at the same angular velocity in the same direction, only the main wheel drives the omnidirectional wheel 13a, and the omnidirectional wheel 13a moves only in the front-back direction. The omni wheel 13b moves in the front-rear direction by the rotation of the second motor 24. If the moving speeds of the wheels 13a and 13b are the same, the mobile conveyance device 10f moves in the front-rear direction. If there is a difference between the moving speeds of the wheels 13a and 13b, the mobile conveyance device 10f turns. In addition, since the omnidirectional wheel 13a is in a state in which the auxiliary wheel cannot rotate, the mobile conveyance device 10f does not move in the left-right direction.

  When the first clutch 31 is in the disengaged state, the second clutch 32 is in the connected state, the third clutch 33 is in the disengaged state, and the fourth clutch 34 is in the connected state, the first motor 22 rotates to The second input unit 14 is rotated by the rotation of the second motor 24, the omnidirectional wheel 13a is driven by either or both of the main wheel and the auxiliary wheel, and the omnidirectional wheel 13a is It is possible to move in the front-rear direction, left-right direction, and diagonal direction. Since the third clutch 33 is in the disengaged state and the fourth clutch 34 is in the connected state, the omni wheel 13b is prohibited from moving in the front-rear direction and can only move in the left-right direction. As a result, the mobile conveyance device 10f moves or turns in the left-right direction as the omnidirectional wheel 13a is driven.

  As described above, the mobile conveyance device 10f of Example 6-3 can move in the front-rear direction and the left-right direction, and can turn using the two motors 22 and 24.

  <Example 6-4> FIG. 21 is an explanatory diagram conceptually illustrating the configuration of the mobile conveyance device 10g according to Example 6-4.

  As shown in FIG. 21, the mobile conveyance device 10g of Example 6-4 includes two motors 22, 24, four input units 12, 14, 16, 18, and two wheel units. Directional wheels 13a and 15a and a rotation transmission unit 20g are provided.

  The first and second input portions 12 and 14 are coupled to the first omnidirectional wheel 13a coaxially with the first omnidirectional wheel 13a. The second omnidirectional wheel 15a is connected to the third and fourth input portions 16 and 18 coaxially with the second omnidirectional wheel 15a.

  The rotation transmission unit 20g is (i) a first rotation transmission path that connects the first motor 22 and the second input unit 14 via the first clutch 31 so that rotation can be released. 21a, and (ii) a second rotation transmission path 23a that connects the second motor 24 and the second input unit 14 via a fourth clutch 34 so that the rotation is releasably transmitted, (Iii) a third rotation transmission path 21c that connects the first motor 22 and the first input unit 12 so that rotation is always transmitted; and (iv) the first motor 22 and the third input. A fourth rotation transmission path 21b that connects the part 16 via the second clutch 32 so that the rotation is releasably transmitted, and (v) the second motor 24 and the third input part 16 Is connected via the third clutch 33 so that the rotation is transmitted releasably. The rotation transmission path 23b, and (vi) a sixth rotation transmission path 23c that connects the second motor 24 and the fourth input unit 18 so that the rotation is always transmitted.

  Next, the operation of the mobile conveyance device 10g according to Example 6-4 will be described.

  When the first clutch 31 is in the connected state, the second clutch 32 is in the disconnected state, the third clutch 33 is in the connected state, and the fourth clutch 34 is in the disconnected state, The first and second input units 12 and 14 rotate in the same direction at the same angular velocity, the first omnidirectional wheel 13a is driven only by the main wheel, and the first omnidirectional wheel 13a moves only in the front-rear direction. Further, by the rotation of the second motor 24, the third and fourth input units 16, 18 rotate in the same direction at the same angular velocity, and the second omnidirectional wheel 15a is driven only by the main wheel, and the second The omnidirectional wheel 15a moves in the front-rear direction. If the speed at which the first and second omnidirectional wheels 13a and 15a move is the same, the movable transfer device 10g moves in the front-rear direction and the speed at which the first and second omnidirectional wheels 13a and 15a move. If there is a difference, turn. In addition, since the 1st and 2nd omnidirectional wheel 13a, 15a is a state which cannot rotate a subwheel, the moving conveyance apparatus 10g does not move to the left-right direction.

  When the first clutch 31 is in the disengaged state, the second clutch 32 is in the connected state, the third clutch 33 is in the disengaged state, and the fourth clutch 34 is in the connected state, The first input unit 12 and the third input unit 16 rotate at the same speed in the same direction, and the second input unit 14 and the fourth input unit 18 are the same in the same direction by the rotation of the second motor 24. Rotates at speed. As a result, the first and second omnidirectional wheels 13a and 15a are driven so that the moving speed is the same as the moving direction, and the movable transfer device 10g moves in the front-rear direction, the left-right direction, and the oblique direction.

  As described above, the mobile conveyance device 10g of Example 6-4 can be moved and swung in the front-rear direction, the left-right direction, and the diagonal direction using the two motors 22 and 24.

  <Summary> The mobile conveyance devices 10 and 10a to 10g described above can perform various operations with a small number of motors.

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

  For example, the omnidirectional wheel may be of a type different from the conventional examples 1 and 2. The diameter of each wheel may be the same or different. A reverse rotation device that changes the rotation direction, a speed reduction mechanism or a speed increase mechanism that changes the rotation speed, and the like may be added to the rotation transmission path.

  The arrangement of the wheels when the diameters of the wheels are different may be as follows. In each embodiment, the location where “the wheels are arranged so that the rotation center axes of the two wheels are coaxial” is “when the mobile conveyance device is viewed from above, the rotation center axes of the two wheels appear to be coaxial. So that the wheels are arranged ". In each embodiment, the location where “the wheels are arranged so that the rotation center axes of the two wheels are vertical” is “when the mobile conveyance device is viewed from above, the rotation center axes of the two wheels appear to be vertical. So that the wheels are arranged ".

  The omnidirectional wheel, the omni wheel, and the ordinary wheel may be coupled to the input unit so that the rotation center axis of the omnidirectional wheel, the omni wheel, and the ordinary wheel and the input unit are not coaxial.

  The shape of the input unit may be an axial shape or may not be an axial shape, as long as it has an axis that serves as the center of rotation (rotation center axis). For example, a disk shape may be sufficient.

  The omni wheel taken up in the embodiment is driven in one direction when the input unit coupled to the omni wheel rotates, and is movable in a direction orthogonal to the driven direction. Absent. When the input unit coupled to the omni wheel rotates, the input unit may be driven in one direction and movable in a direction intersecting the driven direction, for example, a direction intersecting obliquely. For example, a wheel called a mecanum wheel may be used. The Mecanum wheel is a sub wheel arranged on the outer periphery of the main wheel, and when viewed from the center of the main wheel, the rotation center axis of the sub wheel is oblique to the circumferential direction of the main wheel, The auxiliary wheel is rotatable.

  Add rotatable auxiliary wheels to the mobile conveyance device of the present invention, add wheels that are driven forward and backward, and omnidirectional wheels that are driven and can move in the front-rear, left-right, and diagonal directions. It doesn't matter.

  The mobile conveyance device of the present invention is not limited to the configuration in which the wheels protrude downward and contact the floor surface or the like, but can also be used in a configuration in which the top and bottom are reversed. For example, it is also possible to support the object to be conveyed from below with the wheels protruding upward, and to move or turn the object to be conveyed in a desired direction by driving the wheel.

  The present invention can be applied to, for example, welfare equipment such as wheelchairs and mobile devices for the elderly, and mobile transport equipment such as transport carts, transport vehicles, forklifts, and mobile vehicles used in factories and warehouses.

10, 10a to 10g Mobile transfer device 11 Main body 12, 14, 16, 18 Input part 13a, 15a Omnidirectional wheel (wheel part)
13b, 15b, 17b Omni wheel (wheel part)
13c, 15c Normal wheel (wheel part)
20, 20a-20g Rotation transmission part 21a-21e Rotation transmission path 22 Motor (drive source)
23a-23e Rotation transmission path 24 Motor (drive source)
28a-28c, 29 rotation prohibition part 31-38 clutch 40, 42, 44, 46 reverse rotation device 51, 52, 54, 56, 57 clutch

Claims (7)

A drive source that outputs rotation;
An input unit having a number larger than the number of the driving sources;
A rotation transmission portion including first to third rotation transmission paths;
Coupled to the two input units, and when one or both of the input units rotate, the omnidirectional wheel is driven in one or both of two different directions and coupled to the one input unit. When the input unit rotates, the omni wheel is driven in one direction, and is movable in a direction crossing the driven direction. The omni wheel is coupled to one input unit, and the input unit rotates in one direction. A wheel portion including at least one omnidirectional wheel among normal wheels that are not movable in a direction intersecting the driven direction.
With
The first rotation transmission path connects one drive source and one input unit combined with the omnidirectional wheel via a clutch so that the rotation is releasably transmitted. And
The second rotation transmission path includes one drive source that is the same as the drive source to which the first rotation transmission path is connected and one input section that is the same as the input unit to which the first rotation transmission path is connected. The input unit is connected via another clutch and a reverse rotation device connected in series so that the rotation can be released and converted into a reverse rotation and transmitted.
The third rotation transmission path is the same as the drive source to which the first rotation transmission path is connected and the same drive source as the drive source to which the second rotation transmission path is connected; and The other input unit to which the omnidirectional wheel is coupled is different from the input unit to which the first rotation transmission path is connected and is different from the input unit to which the second rotation transmission path is connected. The first structure is connected via another clutch so that the rotation is releasably transmitted, or the second structure is connected so that the rotation is always transmitted. Mobile transport device. The third rotation transmission path is the first configuration,
The wheel portion is
One omni wheel or one ordinary wheel further,
The rotation transmission unit is
One drive source that is the same as the drive source to which the first to third rotation transmission paths are connected, and one input unit to which one omni wheel or one ordinary wheel is coupled. A fourth rotation transmission path connected via a further clutch so that the rotation is releasably transmitted;
One drive source that is the same as the drive source to which the first to third rotation transmission paths are connected, and one input section that is the same as the input section to which the fourth rotation transmission path is connected, A fifth rotation transmission path connected via another clutch and a reverse rotation device connected in series so that the rotation can be released and converted into a reverse rotation and transmitted;
The mobile conveyance device according to claim 1, comprising: The third rotation transmission path is the first configuration,
The wheel portion is
A first omnidirectional wheel coupled to the first and second inputs;
A second omnidirectional wheel coupled to the third and fourth inputs;
Including
The rotation transmission unit is
Including two sets of the first to third rotation transmission paths configured to connect one common driving source and the first to fourth input units; The mobile conveyance device according to claim 1.   The rotation prohibiting unit that enables selection of a stop state in which rotation of at least one of the input units is prohibited and a stop release state in which rotation of the input unit is allowed are further provided. 4. The mobile conveyance device according to any one of 3. First and second drive sources for outputting rotation;
First to third input units;
A rotation transmitting route of the first to fourth,
Coupled to the first and second input unit before reporting, the when one or both of the first and second input unit is rotated, omnidirectional wheels driven in either one or both of the two different directions and,
Coupled before Symbol third input, said third input unit is driven in one direction is rotated, the omni wheels in a direction that is movable intersecting the direction to be driven,
Equipped with a,
It said first rotation transmission path is connected wherein the first drive source and a second input, via a first clutches so that the rotation is releasably transmission,
The second rotation transmission path connects the first drive source and the second input unit in series so that the rotation can be released and converted into rotation in the reverse direction and transmitted. It is second clutches and through the reverse rotation system connected with,
The third rotation transmission path connects the first drive source and the first input unit so that the rotation is always transmitted,
The fourth rotation transmission path of, said second driving source and the third input unit, and connected to said and Turkey, as the rotation is always transmitted, the mobile transport device. First and second drive sources for outputting rotation;
First to third input units;
A rotation transmitting route of the first to fourth,
Coupled to the first and second input unit before reporting, the when one or both of the first and second input unit is rotated, omnidirectional wheels driven in either one or both of the two different directions When,
Coupled before Symbol third input, said third input unit is driven in one direction is rotated, the omni wheels in a direction that is movable intersecting the direction to be driven,
A rotation inhibiting unit which allows select and stop released state to allow rotation of the front Symbol third the stopped state to prohibit the rotation of the input portion of the third input,
With
It said first rotation transmission path is connected wherein the first drive source and a second input, via a first clutches so that the rotation is releasably transmission,
Said second rotation transmission path is connected the said second drive source and a second input, via the second clutches so that the rotation is releasably transmission,
The third rotation transmission path connects the first drive source and the first input unit so that the rotation is always transmitted,
The fourth rotation transmission path of, and the second drive source and said third input unit, and a benzalkonium be connected through the third clutches so that the rotation is releasably transferred A feature of the mobile transfer device. First and second drive sources for outputting rotation;
First to fourth input units;
A rotation transmitting route of the first to sixth,
Coupled to the first and second input unit before reporting, when one or both of the first and second input unit is rotated, the first driven in either one or both of the two different directions Omnidirectional wheels,
A second whole coupled to the third and fourth inputs and driven in either or both of two different directions when either or both of the third and fourth inputs rotate. Directional wheels,
With
It said first rotation transmission path is connected wherein the first drive source and a second input, via a first clutches so that the rotation is releasably transmission,
Said second rotation transmission path is connected the said second drive source and a second input, via a fourth clutches so that the rotation is releasably transmission,
The third rotation transmission path connects the first drive source and the first input unit so that the rotation is always transmitted ,
The fourth rotation transmission path is connected wherein the first drive source and a third input unit, via the second clutches so that the rotation is releasably transmission,
Rotation transmission path of the fifth is connected wherein the second drive source and a third input unit, through the third clutches so that the rotation is releasably transmission,
The rotation transmission path of the sixth, said second driving source and the fourth input unit, and connected to said and Turkey, as the rotation is always transmitted, the mobile transport device.

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